Power supply system of carrying equipment, power supply method of carrying equipment and warehousing system

Abstract

The invention relates to a power supply system for carrying equipment, a power supply method for carrying equipment and a warehousing system. The power supply system comprises a sliding contact line, wherein the sliding contact line is continuously arranged in a first roadway in the extending direction of the first roadway of the warehouse; the electric brush assembly is arranged on the carrying equipment and comprises an electric brush head and a moving part, the moving part can enable the electric brush head to move between an extending position and a retracting position, in the extending position, the electric brush head is matched with the sliding contact line for power receiving, and in the retracting position, the electric brush head is separated from the sliding contact line; and the energy storage device is arranged on the carrying equipment, the electric brush head and the sliding contact line are matched for power receiving so that the energy storage device can be charged, and the energy storage device is used for supplying power to the carrying equipment.

Description

Technical Field

[0001] The present invention relates to a power supply system for a handling device, where the handling device is used in a warehousing system including a warehouse. Optionally engaging and disengaging of the electric brush head of the handling device with the sliding contact wire can be achieved. The present invention also relates to a power supply method for the handling device and a warehousing system. The present invention relates to the field of handling devices for warehousing systems. Background Art

[0002] Handling devices include shuttle cars, such as bin shuttle cars, pallet shuttle cars, etc., which can flexibly shuttle in the main and secondary aisles on each floor of a stereoscopic warehouse; and handling robots, such as AGVs (Automated Guided Vehicles), AMRs (Autonomous Mobile Robots), etc., which walk in the aisles between the shelves and have a large load capacity and strong mobility.

[0003] In the prior art, handling devices are mainly powered by built-in batteries to achieve the handling and walking functions of the handling devices. The capacity of the battery is limited. When the battery power is low, the handling device returns to the charging station for charging. However, the handling device cannot continue to perform handling work during charging, reducing the overall inbound and outbound efficiency of the warehousing system.

[0004] In order to reduce or even eliminate the time for the handling device to return to the charging station for charging, the current solution is to set up charging devices in the aisles where the handling device walks, allowing the handling device to charge while walking.

[0005] One type of prior art places restrictions on the aisles where the handling device walks, only allowing the handling device to walk in a circular aisle, and a continuous sliding contact wire is arranged along the circular aisle, and the fixed brush assembly of the handling device continuously cooperates with the sliding contact wire to receive power.

[0006] However, this solution stipulates the walking path of the handling device, restricting the handling device from performing handling tasks outside the aisle, such as handling goods for inbound and outbound.

[0007] Another type of prior art arranges intermittent sliding contact wires along both the main aisle and the secondary aisle of the aisle, where the sliding contact wire is interrupted at the intersection where the main aisle and the secondary aisle meet. When the handling device walks in the main aisle and the secondary aisle, the fixed brush assembly of the handling device cooperates with the sliding contact wire to receive power.

[0008] However, when the handling device of this solution walks along the main aisle, every time it passes through the intersection, the brush assembly needs to experience disengagement and reconnection with the intermittent sliding contact wire, seriously affecting the walking speed and charging efficiency of the handling device. The impact between the brush assembly and the sliding contact wire during reconnection also causes more electric sparks and reduces the lifespan of the parts.

[0009] Therefore, there is an urgent need to propose a flexible power supply solution for handling equipment, which can supply power to the handling equipment for a long time to eliminate the need for the handling equipment to return to the charging station, and allows the handling equipment to perform handling tasks outside the roadway. Summary of the Invention

[0010] In view of the above problems of the prior art, the inventor provides a power supply system for handling equipment. In a first example of this power supply system, the power supply system includes: a trolley wire, which is continuously arranged in the first roadway along the extending direction of the first roadway of the warehouse; a brush assembly, which is arranged on the handling equipment and includes an electric brush head and a moving part. The moving part can move the electric brush head between an extended position and a retracted position. In the extended position, the electric brush head cooperates with the trolley wire to receive power. In the retracted position, the electric brush head is disengaged from the trolley wire; and an energy storage device, which is arranged on the handling equipment. When the electric brush head cooperates with the trolley wire to receive power, it can charge the energy storage device, and the energy storage device is used to supply power to the handling equipment.

[0011] According to the above composition, when the brush assembly is in the extended position, it allows the handling equipment to move in the roadway without returning to the charging station for charging. When the brush assembly is in the retracted position, it is disengaged from the trolley wire, without hindering the handling equipment from leaving the original roadway.

[0012] In a second example of this power supply system, optionally including the first example, the power supply system further includes: when the electric brush head cooperates with the trolley wire to receive power, it can directly supply power to the handling equipment.

[0013] According to the above composition, it can reduce the electrical loss of charge and discharge and reduce the heat dissipation.

[0014] In a third example of this power supply system, optionally including one or more of the above examples, the power supply system further includes: the warehouse includes a second roadway intersecting with the first roadway, and a second roadway guide rail arranged in the second roadway. The second roadway guide rail has a trolley wire receiving groove penetrating along the direction of the first roadway, and the trolley wire is arranged in the trolley wire receiving groove.

[0015] In a fourth example of this power supply system, optionally including one or more of the above examples, optionally the power supply system further includes: the arrangement of the trolley wire and the brush assembly is selected from one of the following ways: the trolley wire receiving groove is U-shaped, and the trolley wire is installed on the bottom side of the U-shaped trolley wire receiving groove so that the opening direction of the butt joint of the trolley wire faces upward, and the moving part of the brush assembly is telescopic and linearly moves between the extended position and the retracted position along the vertical direction.

[0016] According to the above composition, the U-shaped groove facilitates the on-site installation of the trolley wire.

[0017] Optionally, the power supply system further includes: the trolley wire receiving groove is L-shaped, and the trolley wire is installed on the inner side of the L-shaped trolley wire receiving groove such that the open direction of the mating interface of the trolley wire faces the first roadway guide rail provided in the first roadway, and the moving part of the brush assembly is swingable and swings between the extended position and the retracted position along the circumferential direction.

[0018] With the above-described configuration, the trolley wire is open on the side, not easily prone to dust accumulation, and is protected by the second roadway guide rail directly above, not afraid of being damaged by falling goods hitting the trolley wire.

[0019] In the fifth example of the power supply system, optionally including one or more of the above examples, the power supply system further includes: the mating interface of the trolley wire is flared in the open direction.

[0020] With the above-described configuration, the trolley wire includes a flared open mouth, making it easy for the electric brush head to fit into the trolley wire for seating in place.

[0021] In the sixth example of the power supply system, optionally including one or more of the above examples, the power supply system further includes: the second roadway guide rail includes a first guide rail portion and a second guide rail portion stacked one above the other, and the trolley wire receiving groove is provided in the first guide rail portion.

[0022] With the above-described configuration, the upper layer is used to support the wheels of the four-way shuttle car and has a through slot for arranging the trolley wire therein, and the lower layer is used for load-bearing, and the upper layer and the lower layer are welded into a whole. In addition, it is easier to process compared to a single-layer guide rail.

[0023] In the seventh example of the power supply system, optionally including one or more of the above examples, the power supply system further includes: the warehouse includes a first roadway guide rail provided in the first roadway, the first roadway guide rail has a slot extending through the first roadway guide rail along the direction of the first roadway, and the slot is C-shaped, and the trolley wire is disposed in the slot, and the trolley wire is installed on the inner side of the C-shaped slot such that the open direction of the mating interface of the trolley wire faces the opposite first roadway guide rail of the first roadway guide rail.

[0024] With the above-described configuration, the C-shaped slot is more convenient for on-site installation of the trolley wire. The trolley wire is open on the side, not easily prone to dust accumulation, and is protected by the second roadway guide rail directly above, not afraid of being damaged by falling goods hitting the trolley wire.

[0025] The present invention also relates to a power supply method for a handling device. In a first example of this power supply method, the power supply method includes: a first roadway positioning step, in which the first roadway wheels of the handling device are positioned at the position of the first roadway guide rail in the warehouse; a contact step, in which the brush assembly of the handling device moves the electric brush head to the extended position to cooperate and contact with the continuous trolley wire in the first roadway of the warehouse; a contact judgment step, in which it is judged whether the electric brush head is in contact with the trolley wire. If the result is "no", then a retraction step is performed. In the retraction step, the electric brush head is moved to the retracted position, and the contact step is performed again. If the result is "yes", then the next step is performed; a cooperative power reception step, in which after confirming that the electric brush head is in contact with the trolley wire, the electric brush head is allowed to cooperate with the trolley wire to receive power and charge the energy storage device of the handling device. The energy storage device is arranged on the handling device and is used to supply power to the handling device.

[0026] According to the above configuration, the generation of electric sparks can be minimized by allowing the brush assembly to take power after contact and cooperation.

[0027] In a second example of this power supply method, optionally including the first example, the power supply method further includes: in the cooperative power reception step, the electric brush head can directly supply power to the handling device by cooperating with the trolley wire to receive power.

[0028] According to the above configuration, the electrical loss of charge and discharge can be reduced, and the heat dissipation can be reduced.

[0029] In a third example of this power supply method, optionally including one or more of the above examples, the power supply method further includes: a retraction step, in which the brush assembly of the handling device moves the electric brush head to the retracted position to disengage from the trolley wire; a free movement step, in which the energy storage device supplies power to the handling device, allowing the handling device to move freely and / or the handling assembly of the handling device to perform handling operations; and after completing the free movement step, the handling device returns to the first roadway and performs the first roadway positioning step.

[0030] According to the above configuration, the handling device can leave the first roadway, move freely and / or the handling assembly of the handling device can perform handling operations.

[0031] In a fourth example of this power supply method, optionally including one or more of the above examples, the power supply method further includes: a second roadway positioning step, in which the second roadway wheels of the handling device are positioned at the position of the second roadway guide rail in the warehouse; a retraction step, in which the brush assembly of the handling device moves the electric brush head to a retracted position to disengage from the trolley wire; an adjustment height step, in which the second roadway wheels of the handling device are lifted and lowered to adjust the height so that the second roadway wheels are positioned at the position of the second roadway guide rail; a second roadway walking step, in which the energy storage device supplies power to the handling device, allowing the handling device to travel in the direction of the second roadway and / or the handling assembly of the handling device to perform a handling action; and after completing the second roadway walking step, the handling device returns to the first roadway and performs the first roadway positioning step.

[0032] According to the above configuration, it is possible to enable the handling device to disengage from the first roadway and travel in the direction of the second roadway and / or the handling assembly of the handling device to perform a handling action.

[0033] The present invention also provides a warehousing system. In a first example of this warehousing system, the warehousing system includes the power supply system, the warehouse, and the handling device described in one or more of the above examples.

[0034] In a second example of this warehousing system, optionally including the first example, the warehousing system further includes: the top of the first roadway guide rail provided in the first roadway is flush with the top of the second roadway guide rail provided in the second roadway, and the top of the second roadway guide rail has a flat surface and a guide rail outer edge at at least one side. The flat surface is flush with the top of the first roadway guide rail, and the second roadway wheels of the handling device abut against the flat surface and are constrained by the guide rail outer edge in the lateral direction.

[0035] The power supply system for the handling device, the power supply method for the handling device, and the warehousing system provided in this application can realize that when the handling device travels in the roadway, it directly takes power by contacting the trolley wire through the brush assembly for the four-way shuttle car to travel and simultaneously charges the energy storage device. When it is necessary to leave the original roadway to travel, the brush assembly disengages from the trolley wire and is stored on the handling device.

[0036] The brush assembly cooperates with the trolley wire to continuously supply power to the handling device, thereby ensuring that the handling device can work continuously without returning to the charging station for charging, improving the overall working efficiency of the handling device. Description of the Drawings

[0037] To describe embodiments of the above and other features of the present invention, a more specific description of the present invention briefly described above will be presented with reference to the exemplary embodiments of the present invention shown in the accompanying drawings. It is understood that these drawings only depict the exemplary embodiments of the present invention and should not be considered as limiting its scope. The present invention will be described and explained by using the drawings and additional features and details. In the drawings:

[0038] Figure 1 is a top view of a warehouse of a warehousing system according to an embodiment of the present invention;

[0039] Figure 2 is Figure 1 a side view of the warehouse of observed along a first aisle, where the handling equipment is in the first aisle of the warehouse;

[0040] Figure 3 is Figure 1 a side view of the warehouse of observed along a second aisle, where the handling equipment is in the second aisle of the warehouse;

[0041] Figure 4 is an enlarged side view of a warehouse of a warehousing system according to an embodiment of the present invention;

[0042] Figure 5 is an enlarged side view of a warehouse of a warehousing system according to an embodiment of the present invention;

[0043] Figure 6 is a cross-sectional view of a guide rail in a second aisle of a warehouse of a warehousing system according to an embodiment of the present invention;

[0044] Figure 7 is a flowchart of a power supply method for a handling equipment according to an embodiment of the present invention;

[0045] Figure 8 is a flowchart of a power supply method for a handling equipment according to an embodiment of the present invention;

[0046] Figure 9 is a flowchart of a power supply method for a handling equipment according to an embodiment of the present invention.

[0047] The drawings are generally drawn to scale. However, the dimensions in the drawings are only illustrative and do not necessarily need to be drawn strictly to scale, but are intended to be more clearly illustrated. In other embodiments, other relative dimensions may be used. Throughout this and the following content, the same features appearing in different drawings are denoted by the same or similar reference numerals.

[0048] A coordinate system is provided in the accompanying drawings for reference. The z-axis can be a vertical axis (e.g., parallel to the direction of gravity), the x-axis can be a transverse axis (e.g., parallel to the horizontal direction), and the y-axis can be a longitudinal axis (e.g., the x-y plane is parallel to the horizontal plane). Solid circles can represent arrows and axes with their faces towards the view or positive to the view, and hollow rings can represent arrows and axes with their backs towards the view or negative to the view.

[0049] List of reference numerals:

[0050] 1 Warehouse

[0051] 1a First roadway

[0052] 1b Second roadway

[0053] 11 First roadway guide rail

[0054] 12 Second roadway guide rail

[0055] 121 First layer guide rail part

[0056] 122 Second layer guide rail part

[0057] 123 Pantograph housing groove

[0058] 124 Guide rail outer edge

[0059] 125 Flat surface

[0060] 13 Load beam

[0061] 14 Load-bearing column

[0062] 15 Pantograph

[0063] 151 Docking port

[0064] 2 Four-way shuttle

[0065] 21 Brush assembly

[0066] 211 Brush head

[0067] 212 Moving part

[0068] 22 Second roadway wheel Detailed implementation manners

[0069] First, the power supply system of the handling equipment involved in the present invention, where the handling equipment is used for a warehousing system including a warehouse. In particular, the power supply system of the present invention allows the handling equipment to walk out of the roadway and return to the roadway for charging. Judging whether the handling equipment needs to be charged and at which position it needs to be charged is not within the scope of discussion of the present invention.

[0070] Directional terms used in this text, such as "upper", "lower", "inner", "outer", are used to assist in describing the present invention according to the directions of the embodiments shown in the drawings. Unless otherwise specified, such as "horizontal direction", "direction of gravity", etc., the directional terms are not absolute upper, lower, horizontal, vertical, etc., and should not be construed as limiting the present invention to any specific direction.

[0071] The terms "comprising", "having", "including" and their variants used in this text are intended to be open transitional phrases, terms or words that require the presence of the specified components / steps and also allow the presence of other components / steps.

[0072] In the present invention, unless expressly stated to the contrary, the terms "first", "second", etc. are not intended to indicate any difference in order, position, quantity or importance, but are merely used as labels to distinguish different positions and components for differentiating one element, component, region and / or position from another element, component, region and / or position.

[0073] In this application, a plurality of different embodiments of a power supply system for a handling device as described above will be provided. The specific structures of the respective embodiments will be described in detail below with reference to the drawings.

[0074] The warehousing system according to the present application includes a warehouse 1 and a handling device 2. The warehouse 1 includes a number of first aisles 1a (or main aisles) and a larger number of second aisles 1b (or secondary aisles), and the handling device 2 needs to travel in the first aisles 1a and second aisles 1b of the warehouse 1 and carry goods to a desired position.

[0075] The power supply system of the handling device of the present invention generally includes a trolley wire 15, a brush assembly 21 and an energy storage device.

[0076] In the present invention, the trolley wire 15 is continuously arranged in the first aisle 1a along the extension direction X of the first aisle 1a of the warehouse 1. When arranging the trolley wire on site, the continuous trolley wire is more convenient to arrange compared to the intermittent trolley wire. In addition, the handling device 2 travels along the first aisle 1a to carry goods for most of the time, and as it travels along the first aisle 1a, the electric brush head is in contact and cooperation with the trolley wire to receive power for most of the time.

[0077] In the present invention, the brush assembly 21 is arranged on the handling device 2 and includes an electric brush head 211 and a moving member 212. The moving member 212 can move the electric brush head 211 between an extended position and a retracted position. In the extended position, the electric brush head 211 cooperates with the trolley wire 15 to receive power, and in the retracted position, the electric brush head 211 is disengaged from the trolley wire 15.

[0078] In the present invention, in one case, warehouse 1 is a storage warehouse of a storage system, which includes a plurality of shelves, and the trolley wire 15 is a continuous trolley wire arranged along the main aisle between the shelves. Further, the handling device 2 is a handling robot.

[0079] When the handling device 2 travels in the aisle, the electric brush head 211 is in the extended position and cooperates with the trolley wire 15 to receive power. When necessary, it leaves the aisle to perform handling tasks, such as handling goods in and out of the warehouse.

[0080] In the present invention, in another case, warehouse 1 is a stereoscopic warehouse of a storage system, and the trolley wire 15 is a continuous trolley wire 15 arranged along the first aisle 1a (i.e., the main aisle) of the stereoscopic warehouse. Further, the handling device 2 is a four-way shuttle car.

[0081] Figure 1 is a top view of warehouse 1 of the storage system according to an embodiment of the present invention; Figure 2 is Figure 1 a side view of warehouse 1 observed along the first aisle 1a, where the handling device 2 is in the first aisle 1a of warehouse 1; Figure 3 is Figure 1 a side view of the warehouse observed along the second aisle 1b, where the handling device 2 is in the second aisle 1b of warehouse 1.

[0082] Warehouse 1 further includes a first aisle guide rail 11 arranged along the first aisle 1a and a second aisle guide rail 12 arranged along the second aisle 1b, a load-carrying beam 13 for carrying goods and / or goods pallets, and a plurality of load-bearing columns 14 for supporting the overall weight of the frame and goods of warehouse 1. When constructing a stereoscopic warehouse, in order to store as many goods as possible, there is generally not much gap between the frame of the warehouse and the height of the goods themselves. Therefore, if a long object extends from the four-way shuttle car, it is easy to collide with the frame and / or goods of the warehouse, which may damage the goods and the equipment of the four-way shuttle car.

[0083] When the four-way shuttle car travels along the main aisle, the electric brush head 211 is in the extended position and cooperates with the trolley wire 15 to receive power. When it needs to enter the secondary aisle, the electric brush head 211 returns to the retracted position, thus avoiding the situation where the electric brush always remains in the extended state and collides with the frame and / or goods of the warehouse, and does not prevent the four-way shuttle car from leaving the main aisle and entering the secondary aisle.

[0084] In the present invention, an energy storage device (such as a battery) is provided on the handling device 2. The electric brush head 211 cooperating with the trolley wire 15 to receive power can charge the energy storage device, and the energy storage device is used to supply power to the handling device 2. Therefore, the handling device 2 does not need to return to the charging station for charging, which improves the overall working efficiency of the handling device.

[0085] The handling device 2 travels along the first lane (i.e., the main lane) most of the time to pick up, place, and handle goods. The built-in energy storage device only powers the actions when the device moves away from the main lane. Therefore, compared with the prior art, an energy storage device with a significantly reduced capacity can be built in, and thus has a smaller volume and weight. Even with the additional brush assembly 21, the occupied space and the total weight of the handling device can still be saved.

[0086] Preferably, the sliding contact wire 15 can be directly connected to the mains electricity in the warehouse area. Since the mains electricity is high-voltage alternating current, although the sliding contact wire can directly supply power in the form of high-voltage direct current, and the brush assembly converts the alternating and direct current after taking power, but because personnel need to enter the automated storage and retrieval system for maintenance, for the sake of environmental safety, preferably the sliding contact wire is a converted direct current power source with a voltage within a safe range.

[0087] Preferably, the electric brush head 211 cooperates with the sliding contact wire 15 to receive power and can directly supply power to the handling device 2. This arrangement can reduce the electrical loss of charge and discharge and reduce heat dissipation.

[0088] In the present invention, a power supply system for a handling device having the above structure will provide multiple different embodiments. Below, with reference to the accompanying drawings, the specific structures of each embodiment will be described in detail.

[0089] Embodiment 1

[0090] Figure 4 FIG. 16 is an enlarged side view of a warehouse 1 of a warehousing system according to an embodiment of the present invention. The warehouse 1 is an automated storage and retrieval system, the handling vehicle 2 is a four-way shuttle vehicle, and includes a first lane wheel and a second lane wheel 22. The first lane wheel is used to travel on the first lane guide rail 11, and the second lane wheel 22 is used to travel on the second lane guide rail 12.

[0091] The sliding contact wire 15 can be arranged to penetrate the second lane guide rail 12. The second lane guide rail 12 can have a sliding contact wire receiving groove 123 that penetrates the second lane guide rail 12 along the direction of the first lane 1a, and the sliding contact wire 15 can be arranged in the sliding contact wire receiving groove 123.

[0092] In this embodiment, the sliding contact wire receiving groove 123 is U-shaped, that is, open upward, and the sliding contact wire 15 is installed on the bottom side of the U-shaped of the sliding contact wire receiving groove 123 so that the opening direction of the docking port 151 of the sliding contact wire 15 faces upward. The U-shaped groove facilitates the on-site installation of the sliding contact wire 15.

[0093] In this embodiment, the moving part 212 of the brush assembly 21 is telescopic and linearly moves between an extended position and a retracted position along the vertical direction. The electric brush head 211 cooperates with the sliding contact wire at the downward extended position and returns to the handling device at the retracted position.

[0094] Embodiment 2

[0095] Figure 5 FIG. 5 is an enlarged side view of Warehouse 1 of a warehousing system according to another embodiment of the present invention, where Warehouse 1 is a stereoscopic warehouse and the handling vehicle 2 is a four-way shuttle vehicle.

[0096] In this embodiment, the trolley wire receiving groove 123 is L-shaped, and the trolley wire 15 is installed inside the L-shape of the trolley wire receiving groove 123 such that the opening direction of the docking port 151 of the trolley wire 15 faces the first roadway guide rail 11 provided in the first roadway 1a.

[0097] In this embodiment, the docking port 151 of the trolley wire 15 is open in the lateral direction (e.g., the y-direction), and the opening direction of the docking port makes it not easy to accumulate dust, and it is protected by the second roadway guide rail 12 directly above, without fear of the risk of goods falling and hitting and damaging the trolley wire 15.

[0098] In this embodiment, the moving part 212 of the brush assembly 21 is swing-type and swings between the extended position and the retracted position along the circumferential direction. The electric brush head 211 cooperates with the trolley wire in the extended position when it swings out, and returns to the handling equipment in the retracted position when it swings back.

[0099] In the present invention, preferably, the docking port 151 of the trolley wire 15 can be flared (i.e., trumpet-shaped) in the direction of its opening, making it easy for the electric brush head 211 to fit into the trolley wire 15 for seating.

[0100] Figure 6 FIG. 6 is a cross-sectional view of the second roadway guide rail 12 of Warehouse 1 of a warehousing system according to an embodiment of the present invention.

[0101] In the present invention, preferably, the second roadway guide rail 12 can include a first guide rail part 121 and a second guide rail part 122 stacked one above the other, and the trolley wire receiving groove 123 is provided in the first guide rail part 121. The upper layer of this double-layer arrangement is used to support the wheels of the four-way shuttle vehicle and has a through slot for the trolley wire to be arranged therein, and the lower layer is used for load-bearing, where the upper layer and the lower layer are welded into a whole. It is easier to process compared to a single-layer guide rail.

[0102] In the present invention, preferably, the top of the first roadway guide rail 11 provided in the first roadway 1a is flush with the top of the second roadway guide rail 12 provided in the second roadway 1b.

[0103] The top of the second roadway guide rail 12 has a flat surface 125 and a guide rail outer edge 124 at at least one side, and the flat surface 125 is flush with the top of the first roadway guide rail 11. Figure 6Two guide rail outer edges 124 are shown at both sides. The second roadway wheel 22 of the handling device 2 abuts against the flat surface 125 and is constrained by the guide rail outer edge 124 in the lateral direction.

[0104] Embodiment III

[0105] In an embodiment not shown, the warehouse 1 is a stereoscopic warehouse and the handling vehicle 2 is a four-way shuttle vehicle.

[0106] In this embodiment, the warehouse 1 includes a first roadway guide rail 11 disposed in the first roadway 1a. The first roadway guide rail 11 has a groove penetrating through the first roadway guide rail 11 along the direction of the first roadway 1a, and the groove is C-shaped, that is, laterally open. The C-shaped groove is more convenient for on-site installation of the sliding contact wire 15.

[0107] In this embodiment, the sliding contact wire 15 is disposed in the groove, and the sliding contact wire 15 is installed on the inner side of the C-shape of the groove so that the opening direction of the docking port 151 of the sliding contact wire 15 faces the opposite side of the first roadway guide rail 11 of the first roadway guide rail 11, for example, the y direction. The opening direction of the docking port makes it not easy to accumulate dust, and it is protected by the second roadway guide rail 12 directly above, without fear of the risk of goods falling and hitting and damaging the sliding contact wire 15.

[0108] In this embodiment, the moving part 212 of the brush assembly 21 is swing-type and swings between the extended position and the retracted position along the circumferential direction. The electric brush head 211 cooperates with the sliding contact wire at the extended position when it swings out, and returns to the handling device at the retracted position when it swings back.

[0109] In the present application, a power supply method for a handling device is also disclosed. The power supply method will be described in detail below with reference to the accompanying drawings.

[0110] Figure 7 is a flowchart of a power supply method for a handling device according to an embodiment of the present invention. To enable the handling device 2 to travel along the direction of the first roadway 1a and / or the handling assembly of the handling device 2 to perform a handling operation, the power supply method for the handling device of the present invention includes the following steps after starting.

[0111] After starting, it includes a first roadway positioning step 1001, in which the first roadway wheels of the handling device 2 are positioned at the position of the first roadway guide rail 11 of the warehouse 1.

[0112] A contact step 1003, in which the brush assembly 21 of the handling device 2 moves the electric brush head 211 to the extended position to cooperate and contact with the continuous sliding contact wire 15 in the first roadway 1a of the warehouse 1;

[0113] A judgment contact step 1005, in which it is judged whether the electric brush head 211 is in contact with the sliding contact wire 15 in the judgment contact step.

[0114] When the result is "No", that is, the electric brush head 211 is not in contact with the sliding contact wire 15, the retraction step 1006 is performed, where the brush assembly 21 of the handling device 2 moves the electric brush head 211 to the retracted position to disengage from the sliding contact wire 15, and the contact step 1003 is performed again.

[0115] When the result is "Yes", that is, the electric brush head 211 is in contact with the sliding contact wire 15, the next step is performed.

[0116] It is determined whether the electric brush head 211 is in contact with the sliding contact wire 15 through a known detector (such as a proximity sensor). Since there is continuous electricity on the sliding contact wire, allowing the brush assembly 21 to draw power after the contact fit can minimize the generation of electric sparks to the greatest extent.

[0117] In cooperation with the power receiving step 1007, in the power receiving step, after confirming that the electric brush head 211 is in contact with the sliding contact wire 15, the electric brush head 211 is allowed to cooperate with the sliding contact wire 15 to receive power and charge the energy storage device 22 of the handling device, where the energy storage device 22 is arranged on the handling device 2 and is used to supply power to the handling device 2, allowing the handling device 2 to travel in the direction of the first roadway 1a and / or the handling assembly of the handling device 2 to perform a handling operation.

[0118] In the present invention, preferably, in the power receiving step 1007, the electric brush head 211 and the sliding contact wire 15 can directly supply power to the handling device 2 when receiving power in cooperation. This arrangement can reduce the electrical loss of charge and discharge and reduce heat dissipation.

[0119] Figure 8 It is a flowchart of a power supply method for a handling device according to another embodiment of the present invention. In one case, the warehouse 1 is a storage warehouse of a warehousing system, and the handling device 2 is a handling robot. To enable the handling device 2 to freely travel away from the first roadway 1a and / or the handling assembly of the handling device 2 to perform a handling operation, the power supply method for the handling device of the present invention further includes the following steps.

[0120] The retraction step 1011, which performs the same content as the retraction step 1006, where the brush assembly 21 of the handling device 2 moves the electric brush head 211 to the retracted position to disengage from the sliding contact wire 15.

[0121] The free travel step 1013, in which the energy storage device 22 supplies power to the handling device 2, allowing the handling device 2 to freely travel and / or the handling assembly of the handling device 2 to perform a handling operation. The free travel step allows the handling device 2 to disengage from the first roadway 1a, for example, in the case of goods outbound and inbound, where the handling device 2 needs to handle goods between the shelves, sorting stations, trucks, etc.

[0122] After completing the free walking step 1013, the handling device 2 returns to the first lane 1a and performs the first lane positioning step 1001.

[0123] Figure 9 It is a flowchart of the power supply method for the handling device according to another embodiment of the present invention. In another case, the warehouse 1 is a storage warehouse of a warehousing system, and the handling device 2 is a handling robot. To enable the handling device 2 to walk freely away from the first lane 1a and / or the handling component of the handling device 2 to perform handling operations, the power supply method for the handling device of the present invention further includes the following steps.

[0124] The second lane positioning step 1021, in which the second lane wheels 22 of the handling device 2 are positioned at the position of the second lane guide rail 12 of the warehouse 1.

[0125] The retraction step 1023, which performs the same content as the retraction step 1006 and the retraction step 1011, in which the brush assembly 21 of the handling device 2 moves the electric brush head 211 to the retracted position to disengage from the sliding contact wire 15.

[0126] The height adjustment step 1025, in which the second lane wheels 22 of the handling device 2 are lifted and lowered to adjust the height so that the second lane wheels 22 are positioned at the position of the second lane guide rail 12, preparing to disengage from the first lane 1a (i.e., the main lane) and enter the second lane 1b (i.e., the secondary lane).

[0127] The second lane walking step 1027, in which the energy storage device 22 supplies power to the handling device 2, allowing the handling device 2 to walk in the direction of the second lane 1b and / or the handling component of the handling device 2 to perform handling operations. The second lane walking step 1027 allows the handling device 2 to disengage from the first lane 1a and enter the second lane 1b, for example, in the case of goods outbound and inbound in a stereoscopic warehouse.

[0128] After completing the second lane walking step 1027, the handling device 2 returns to the first lane 1a and performs the first lane positioning step 1001.

[0129] Above, in order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention have been clearly and completely described in combination with the specific embodiments of the present invention and the drawings.

[0130] It should be understood that the steps shown in the above combination of specific embodiments are illustrative. Those skilled in the art can add or delete corresponding steps, and can adjust the execution order of one or some of the steps, or replace one or more of the steps with similar steps.

[0131] Although various embodiments have been described above, it should be understood that the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments, and they are presented by way of example rather than limitation. It will be apparent to those skilled in the relevant art that the disclosed subject matter can be implemented in other specific forms without departing from its spirit and essential characteristics.

Claims

1. A power supply system for a handling device, the handling device (2) being used for a warehousing system including a warehouse (1), characterized in that, The power supply system includes: A sliding contact wire (15), which is continuously arranged in the first roadway (1a) of the warehouse (1) along the extension direction (X) of the first roadway (1a); A brush assembly (21), which is arranged on the handling device (2), includes a brush head (211) and a moving part (212), and the moving part (212) can move the brush head (211) between an extended position and a retracted position. In the extended position, the brush head (211) cooperates with the sliding contact wire (15) to receive power, and in the retracted position, the brush head (211) is disengaged from the sliding contact wire (15); and An energy storage device, which is arranged on the handling device (2), and the brush head (211) cooperating with the sliding contact wire (15) to receive power can charge the energy storage device, and the energy storage device is used to supply power to the handling device (2).

2. The power supply system according to claim 1, wherein The brush head (211) cooperating with the sliding contact wire (15) to receive power can directly supply power to the handling device (2).

3. The power supply system according to claim 1, wherein The warehouse (1) includes a second roadway (1b) intersecting with the first roadway (1a), a second roadway guide rail (12) arranged in the second roadway (1b), and the second roadway guide rail (12) has a sliding contact wire receiving groove (123) penetrating the second roadway guide rail (12) along the direction of the first roadway (1a), and The sliding contact wire (15) is arranged in the sliding contact wire receiving groove (123).

4. The power supply system according to claim 3, wherein The arrangement of the sliding contact wire (15) and the brush assembly (21) is selected from one of the following methods: The sliding contact wire receiving groove (123) is U-shaped, and the sliding contact wire (15) is installed on the bottom side of the U-shape of the sliding contact wire receiving groove (123) so that the opening direction of the docking port (151) of the sliding contact wire (15) faces upward, and the moving part (212) of the brush assembly (21) is telescopic and linearly moves between the extended position and the retracted position along the vertical direction; or The sliding contact wire receiving groove (123) is L-shaped, and the sliding contact wire (15) is installed on the inner side of the L-shape of the sliding contact wire receiving groove (123) so that the opening direction of the docking port (151) of the sliding contact wire (15) faces the first roadway guide rail (11) arranged in the first roadway (1a), and the moving part (212) of the brush assembly (21) is swing-type and swings between the extended position and the retracted position along the circumferential direction.

5. The power supply system according to claim 4, wherein The docking port (151) of the sliding contact wire (15) is flared in the opening direction.

6. The power supply system according to claim 3, wherein The second roadway guide rail (12) includes a first-layer guide rail part (121) and a second-layer guide rail part (122) stacked up and down, and the trolley wire accommodating groove (123) is arranged in the first-layer guide rail part (121).

7. The power supply system according to claim 1, wherein the warehouse (1) includes a first roadway guide rail (11) arranged in the first roadway (1a), the first roadway guide rail (11) has a groove penetrating through the first roadway guide rail (11) along the direction of the first roadway (1a), and the groove is C-shaped, and the trolley wire (15) is arranged in the groove, and the trolley wire (15) is installed on the inner side of the C-shape of the groove so that the opening direction of the docking port (151) of the trolley wire (15) faces the opposite first roadway guide rail (11) of the first roadway guide rail (11).

8. A power supply method for a handling device, the handling device (2) being used in a warehousing system including a warehouse (1), characterized in that, The power supply method includes: A first roadway positioning step, in which the first roadway wheels of the handling device (2) are positioned at the position of the first roadway guide rail (11) of the warehouse (1); A contact step, in which the brush assembly (21) of the handling device (2) moves the electric brush head (211) to the extended position to cooperate and contact with the continuous trolley wire (15) in the first roadway (1a) of the warehouse (1); A contact judgment step, in which it is judged whether the electric brush head (211) is in contact with the trolley wire (15), wherein when the result is "no", a retraction step is performed, in which the electric brush head (211) is moved to the retracted position, and the contact step is performed again, wherein when the result is "yes", the next step is performed; A cooperation and power receiving step, in which after confirming that the electric brush head (211) is in contact with the trolley wire (15), the electric brush head (211) is allowed to cooperate with the trolley wire (15) to receive power to charge the energy storage device of the handling device, wherein the energy storage device is arranged on the handling device (2) and is used to supply power to the handling device (2).

9. The power supply method according to claim 8, characterized in that The power supply method further includes: In the cooperation and power receiving step, the electric brush head (211) can directly supply power to the handling device (2) by cooperating with the trolley wire (15) to receive power.

10. The power supply method according to claim 8, characterized in that, When the handling device (2) needs to temporarily leave the first roadway (1a), the power supply method further includes: A retraction step, in which the brush assembly (21) of the handling device (2) moves the electric brush head (211) to the retracted position to disconnect from the trolley wire (15); A free walking step, in which the energy storage device supplies power to the handling device (2), allowing the handling device (2) to walk freely and / or the handling assembly of the handling device (2) to perform handling operations; and After completing the free walking step, the handling device (2) returns to the first roadway (1a) and performs the first roadway positioning step.

11. The power supply method according to claim 8, wherein The warehouse (1) further includes a second lane (1b) that intersects with the first lane (1a), and when the handling device (2) needs to travel in the direction of the second lane (1b), the power supply method further includes: A second-lane positioning step, in which the second-lane wheels of the handling device (2) are positioned at the position of the second-lane guide rail (12) of the warehouse (1); A retracting step, in which the brush assembly (21) of the handling device (2) moves the electric brush head (211) to a retracted position to disengage from the sliding contact wire (15); An adjusting height step, in which the second-lane wheels (22) of the handling device (2) are lifted and lowered to adjust the height so that the second-lane wheels (22) are positioned at the position of the second-lane guide rail (12); A second-lane traveling step, in which the energy storage device supplies power to the handling device (2), allowing the handling device (2) to travel in the direction of the second lane (1b) and / or the handling assembly of the handling device (2) to perform a handling operation; and After completing the second-lane traveling step, the handling device (2) returns to the first lane (1a) and performs the first-lane positioning step.

12. A warehousing system, characterized in that, The warehousing system includes: the power supply system according to claim 1, the warehouse (1), and the handling device (2).

13. The warehousing system according to claim 12, wherein The top of the first-lane guide rail (11) provided in the first lane (1a) is flush with the top of the second-lane guide rail (12) provided in the second lane (1b), and The top of the second-lane guide rail (12) has a flat surface (125) and a guide rail outer edge (124) at at least one side, the flat surface (125) is flush with the top of the first-lane guide rail (11), and The second-lane wheels (22) of the handling device (2) abut against the flat surface (125) and are constrained by the guide rail outer edge (124) in the lateral direction.

Images