Tool vehicle and warehousing system

Abstract

The invention provides a tool car and a warehousing system.The tool car comprises a car body, a fixing assembly, a lifting assembly and a traveling assembly, the lifting assembly comprises a lifting driving part and at least one vertical guide rail, the vertical guide rail is fixedly arranged on the car body, and the fixing assembly is movably arranged on the vertical guide rail; the lifting driving part can drive the fixing assembly to do lifting motion along the vertical guide rail; the advancing assembly is located at the bottom of the vehicle body and used for supporting the vehicle body and allowing the vehicle body to travel along the ground. According to the tool trolley, the goods shelf robot can be kept in the standing state and transported to the goods shelf through the ground, compared with the prior art, the goods shelf robot only needs to be erected or hoisted at a certain fixed position, the goods shelf robot does not need to be hoisted and transported through top equipment such as a sky rail in the whole process, the installation operation difficulty is lowered, and the installation efficiency is improved. And therefore, the installation cost of the goods shelf robot is reduced while the installation efficiency of the goods shelf robot is improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a tooling vehicle for mounting a shelf robot and a warehousing system including the tooling vehicle. Background Technology

[0002] With the iteration of intelligent warehousing systems and the increase in shelf height, the application of rack robots in the field of warehousing equipment is becoming more and more widespread. Rack robots are directly installed on the side of the rack, and the weight of the execution device and goods is supported by the horizontal and vertical guide rail structure. They can adapt to racks of different heights. Compared with box-type storage robots, rack robots have smaller requirements for the space between racks and do not need to be set up with complex slide rails and lifting modules to adapt to the height of the racks, as box-type storage robots do. This can significantly reduce the material cost of the warehousing system and the scheduling cost of box-type storage robots, and improve the utilization rate of warehouse space.

[0003] Shelf robots typically include an execution component, a vertically positioned lifting component, and a lateral displacement component. The execution component is used to pick up and put down goods or bins, the lifting component can drive the execution component to move up and down, and the lateral displacement component is used to drive the execution component to move along the lateral guide rails on the shelf, thereby moving the execution component to each storage location on each shelf layer and performing the actions of picking up and putting in goods or bins.

[0004] In existing technologies, shelving robots are usually installed on the horizontal guide rails of the shelving by manual operation. However, since the overall length of the lifting components of the shelving robot is relatively long, the entire installation operation needs to be carried out in a hoisted state. This not only requires a large amount of storage space, but also requires the installation of hoisting equipment such as overhead rails above the shelving. Especially when shelving robots are deployed on large-sized and high-rise shelving, a large amount of material and labor costs are often required.

[0005] Therefore, how to provide a low-cost installation solution for shelving robots has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0006] This invention aims to address, to a certain extent, one of the technical problems in related technologies. To this end, the invention provides a tooling cart for installing a shelving robot, a method for installing a shelving robot, and a warehousing system including the tooling cart. This tooling cart can improve the installation efficiency of the shelving robot and reduce its installation cost.

[0007] To achieve the above objectives, as one aspect of the present invention, a tooling vehicle for installing a shelf robot is provided, characterized in that the tooling vehicle includes a vehicle body, a fixing component, a lifting component, and a traveling component, wherein,

[0008] The lifting assembly includes a lifting drive unit and at least one vertical guide rail. The vertical guide rail is fixedly mounted on the vehicle body, and the fixing assembly is movably mounted on the vertical guide rail. The lifting drive unit can drive the fixing assembly to move up and down along the vertical guide rail.

[0009] The travel assembly is located at the bottom of the vehicle body and is used to support the vehicle body and allow the vehicle body to travel along the ground.

[0010] Optionally, the lifting drive unit includes a first traction mechanism and a lifting belt, the lifting belt being connected between the fixed component and the lifting drive unit, and the first traction mechanism driving the fixed component to move up and down along the vertical guide rail by pulling the lifting belt;

[0011] Optionally, the first traction mechanism is disposed on the vehicle body, and the lifting assembly further includes a top beam and a first rope winding part. The top beam is fixedly disposed on the vertical guide rail and located above the lifting drive part and the fixing assembly. The first rope winding part is disposed on the top beam. The first end of the lifting belt is connected to the lifting drive part, and the second end of the lifting belt passes around the first rope winding part and is connected to the fixing assembly.

[0012] Optionally, the first rope winding section includes a first wheel axle seat and a first roller. The first wheel axle seat is disposed on the top beam, and the first roller is disposed in the first wheel axle seat and can rotate around its own axis in the first wheel axle seat. The lifting belt passes around the axis of the first roller and contacts the wheel surface of the first roller.

[0013] Optionally, the first traction mechanism is a winch.

[0014] Optionally, the vertical guide rails are arranged in pairs, and the top beam is connected between the vertical guide rails.

[0015] Optionally, the tooling vehicle further includes a vertical protective plate, which is connected between the vertical guide rails.

[0016] Optionally, the lifting assembly further includes a second rope winding section, which is disposed on the fixing assembly, and the second end of the lifting belt passes around the first rope winding section and the second rope winding section in succession and is fixedly connected to the top beam.

[0017] Optionally, the second rope winding section includes a second wheel axle seat and a second roller. The second wheel axle seat is disposed on the fixing assembly, and the second roller is disposed in the second wheel axle seat and is rotatable about its own axis in the second wheel axle seat. The lifting belt passes around the axis of the second roller and contacts the wheel surface of the second roller.

[0018] Optionally, the lifting drive unit includes a first transmission cylinder, the cylinder body of the first transmission cylinder is fixedly connected to the vehicle body, the output shaft of the first transmission cylinder is connected to the fixed assembly, and the first transmission cylinder is a hydraulic cylinder, a pneumatic cylinder, or an electric cylinder.

[0019] Optionally, the tooling vehicle further includes a height feedback component, which is used to provide feedback on the height position information of the shelf robot based on the lifting position of the fixed component.

[0020] Optionally, the height feedback component includes an indicator structure and a scale structure, one of which is fixed relative to the position of the vehicle body, and the other is fixed relative to the position of the fixed component. The height position information includes scale information in the scale structure corresponding to the current position of the indicator structure.

[0021] Alternatively, the altitude feedback component includes a ranging sensor and a target structure, wherein one of the ranging sensor and the target structure is fixed relative to the vehicle body, and the other is fixed relative to the fixed component, and the altitude position information includes the ranging result of the ranging sensor measuring the distance to the target structure.

[0022] Optionally, the fixing component includes multiple connection structures for fixed connection with the shelf robot.

[0023] Optionally, the fixing component includes at least one set of connecting structures, with multiple connecting structures in each set spaced apart in the vertical direction, and each set of connecting structures is used for fixed connection with the same column of the shelf robot.

[0024] Optionally, the connection structure has at least one mounting hole for being fixedly connected to the shelf robot by a fastener passing through the mounting hole.

[0025] Optionally, the connection structure includes a connecting part and a fixing part, one end of the connecting part extends in a horizontal direction away from the vehicle body and is fixedly connected to the fixing part, and the mounting hole is formed on the fixing part.

[0026] Optionally, the connection structures are arranged in pairs, with each pair of connection structures spaced apart in the horizontal direction, and each used for fixed connection with different uprights of the shelf robot.

[0027] Optionally, the connection structure includes a limiting block and a rotating mechanism. The limiting block is connected to the vehicle body through the rotating mechanism. The limiting block can rotate around the rotation axis of the rotating mechanism, and the cross-sectional shape of the limiting block is non-circular. The limiting block can rotate a preset angle after entering the limiting mating hole on the shelf robot to engage in the limiting mating hole.

[0028] Optionally, the rotating mechanism can drive the limiting block to rotate around the rotation axis of the rotating mechanism.

[0029] Optionally, the tooling vehicle further includes a counterweight fixing frame, which is located on both sides of the vehicle body, and the counterweight fixing frame is used to fix the counterweight.

[0030] Optionally, the fixing component includes a first lifting seat and at least one second lifting seat, both of which are movably disposed on the vertical guide rail, and both the first and second lifting seats are used to be fixedly connected to the shelf robot. The lifting drive unit can drive the first lifting seat to move up and down along the vertical guide rail.

[0031] Optionally, the traveling assembly includes multiple chassis structures and multiple traveling wheels. The multiple chassis structures are disposed on the vehicle body, and the traveling wheels are disposed on the chassis structures and located at the bottom of the tooling vehicle. The positions of at least some of the chassis structures are adjustable.

[0032] Optionally, the traveling assembly further includes a plurality of chassis seats, the chassis seats having guide receiving holes inside, and a plurality of chassis structural parts being disposed in the plurality of guide receiving holes and capable of moving along the corresponding guide receiving holes respectively.

[0033] Optionally, the traveling assembly further includes a retraction drive unit disposed on the chassis base, the retraction drive unit being capable of driving the chassis structure into and out of the guide receiving hole.

[0034] Optionally, the chassis structure includes multiple first chassis structures and multiple second chassis structures. The first chassis structures are fixedly connected to the vehicle body. A guide receiving hole is formed inside the first chassis structure. The second chassis structures are partially disposed in the guide receiving hole and are movable along the guide receiving hole.

[0035] Optionally, the traveling assembly further includes a retraction drive unit disposed on the first chassis structure, the retraction drive unit being capable of driving the corresponding second chassis structure into and out of the guide receiving hole.

[0036] Optionally, the retraction drive unit includes a drive motor, a drive gear, and a drive rack. The drive motor is fixed in a relative position to the vehicle body. The drive gear is connected to the output shaft of the drive motor. The drive rack is fixedly connected to the corresponding chassis structure. The drive motor can drive the drive gear to rotate so that the drive rack meshing with the drive gear drives the corresponding chassis structure into the guide receiving hole and out of the guide receiving hole.

[0037] Optionally, the retraction drive unit may further include a motor lead screw structure or a cylinder, hydraulic cylinder, or electric cylinder structure.

[0038] Optionally, the chassis structure includes a plurality of first chassis structures and a plurality of second chassis structures. The first chassis structures are fixedly connected to the vehicle body, and the second chassis structures are hingedly connected to the first chassis structures and are rotatable relative to the second chassis structures along the horizontal plane.

[0039] Optionally, the traveling component further includes a swing drive unit disposed on the first chassis structure, the swing drive unit being capable of driving the corresponding second chassis structure to rotate about its hinge position with the first chassis structure.

[0040] Optionally, the traveling component further includes a support mechanism, which is fixedly connected to the vehicle body. The bottom of the support mechanism has a ground-contacting support surface, and the height of the ground-contacting support surface is adjustable.

[0041] Optionally, the support mechanism includes a support adjustment seat, a support adjustment part, and a support foot pad. The support adjustment seat is fixedly connected to the vehicle body, and the support adjustment part can drive the support foot pad to move up and down relative to the support adjustment seat. The bottom of the support foot pad has the ground contact support surface.

[0042] Optionally, the tooling vehicle further includes a second traction mechanism, a flipping belt, and a flipping connector. The second traction mechanism is disposed on the vehicle body. One end of the flipping belt is fixedly connected to the flipping connector, and the other end of the flipping belt is connected to the second traction mechanism. The second traction mechanism can pull the flipping belt to drive the shelf robot connected to the flipping connector to flip from a lying state to a standing state.

[0043] Optionally, the tooling vehicle further includes a third rope winding section, which includes a third wheel axle seat and a third roller. The third wheel axle seat is disposed on the vehicle body and located above the second traction mechanism. The third roller is disposed in the third wheel axle seat and can rotate around its own axis in the third wheel axle seat. The wheel surface of the third roller is used to contact the turning belt.

[0044] Optionally, the tooling vehicle further includes a tilting stop structure, which is disposed on the vehicle body and is used to contact the bottom of the shelf robot so that the shelf robot tilts around the part where it rotates with the tilting stop structure.

[0045] Optionally, the second traction mechanism is a winch.

[0046] Optionally, the tooling vehicle further includes at least one support component, which is disposed on the vehicle body and can extend horizontally to the outside of the vehicle body.

[0047] Optionally, the support component can be stored in any of the following ways: folding; swinging; telescopic.

[0048] Optionally, the tooling vehicle further includes a position indicating component, which is used to generate relative position information based on the positional relationship between the transverse guide rail on the shelf and the shelf robot.

[0049] Optionally, the position indication component includes an image sensor, and the relative position information includes images obtained by the image sensor of the transverse guide rail and the shelf robot.

[0050] Optionally, the position indication component includes an optical path detection device, and the relative position information includes the detection result of the optical path detection device on the transverse guide rail.

[0051] Optionally, the position indicating component includes a reflector, and the relative position information includes an image of the transverse guide rail and the shelf robot reflected by the reflector to one side of the bottom of the tooling vehicle.

[0052] Optionally, the tooling vehicle further includes a guiding robotic arm, which is fixedly connected to the shelf and drives the tooling vehicle to move relative to the shelf so that the lateral displacement component of the shelf robot is aligned with the lateral guide rail on the shelf.

[0053] Optionally, the tooling vehicle further includes an installation execution unit, which is used to install anti-detachment blocking components on the end of the transverse guide rail after the transverse displacement component of the shelf robot is connected to the transverse guide rail on the shelf.

[0054] Optionally, the tooling vehicle further includes at least one push handle, which is fixedly mounted on the vehicle body.

[0055] Optionally, the tooling carriage includes a plurality of push handles, which are disposed on both sides of the fixing assembly along the vertical guide rail spacing direction.

[0056] As a second aspect of the present invention, a method for installing a shelf robot is provided. The method is implemented using a tooling vehicle provided in the embodiments of the present invention, and includes:

[0057] Optionally, the shelf robot is fixedly connected to the fixed components of the tooling vehicle;

[0058] Optionally, the shelf robot is driven to one side of the shelf, and the lateral displacement component of the shelf robot is aligned with the lateral guide rail on the shelf.

[0059] Optionally, the shelf robot is made to travel along the length of the transverse guide rail so that the transverse displacement component of the shelf robot is connected to the transverse guide rail.

[0060] Optionally, the tooling vehicle further includes a lifting assembly, which is mounted on the vehicle body and capable of driving the fixed assembly to move up and down; aligning the lateral displacement assembly of the shelf robot with the lateral guide rail on the shelf includes:

[0061] Optionally, the lifting assembly drives the fixed assembly to move up and down, so that the lateral displacement assembly of the shelf robot is aligned with the lateral guide rail on the shelf.

[0062] Optionally, the installation method of the shelf robot further includes adjusting the position of the chassis structure before the shelf robot travels along the length direction of the transverse guide rail, so that the width of the tooling vehicle in the horizontal direction perpendicular to the transverse guide rail is reduced.

[0063] Optionally, the installation method of the shelf robot further includes, before fixing the shelf robot to the fixed component, pulling the flipping belt by the second traction mechanism to drive the shelf robot connected to the flipping connector to flip from a lying state to a standing state.

[0064] As a third aspect of the present invention, a warehousing system is provided, the warehousing system including shelves and tooling carts provided in the embodiments of the present invention, wherein transverse guide rails are fixedly provided on the sides of the shelves.

[0065] Optionally, the storage system further includes at least one guide structure disposed on one side of the transverse guide rail along the height direction, and the distance between the guide structure and the transverse guide rail gradually increases towards the end of the transverse guide rail.

[0066] Optionally, the warehousing system further includes a third traction mechanism, a lifting belt, and a lifting connector. The third traction mechanism is disposed on the shelf. One end of the lifting belt is fixedly connected to the lifting connector, and the other end of the lifting belt is connected to the third traction mechanism. The third traction mechanism can pull the lifting belt to drive the shelf robot connected to the lifting connector and the tooling vehicle fixedly connected to the shelf robot to flip from a lying state to a standing state.

[0067] In the tooling vehicle, the installation method of the shelf robot, and the warehousing system provided by the present invention, the tooling vehicle is provided with a fixing component, which can be fixedly connected to the shelf robot, thereby fixing the shelf robot in a standing state on the tooling vehicle. The traveling component provided at the bottom of the vehicle body allows the tooling vehicle to carry the shelf robot freely on the warehouse floor to the shelf position where the shelf robot is to be installed, and pushes the shelf robot in by one end of the transverse guide rail, so that its transverse displacement component cooperates with the transverse guide rail and completes the installation operation.

[0068] Meanwhile, the lifting component can drive the fixed component to move up and down. Even if the height of the transverse guide rails of different shelves is inconsistent or there is a certain height error when fixing the shelf robot to the drive fixed component, the lifting component can drive the fixed component to move up and down to adjust the height of the shelf robot to be aligned with the transverse guide rails on the shelf. This ensures the adaptability of the tooling vehicle to different transverse guide rail heights and the convenience of adjusting the height of the shelf robot, thus ensuring the installation efficiency of the shelf robot.

[0069] The tooling vehicle provided by this invention can keep the shelf robot in a standing state and transport it to the shelf via the ground. Compared with the prior art, the solution of this invention only requires the shelf robot to be erected or hoisted at a fixed position. It is not necessary to hoist and transport the shelf robot through top equipment such as overhead rails. This saves the material cost and storage space occupied by the equipment when arranging related equipment on the top of the warehouse, and reduces the difficulty of manual installation. Thus, while improving the installation efficiency of the shelf robot, the installation cost of the shelf robot is also reduced. Attached Figure Description

[0070] The present invention will be further described below with reference to the accompanying drawings:

[0071] Figure 1 This is a schematic diagram of the structure of a tooling vehicle provided in one embodiment of the present invention;

[0072] Figure 2 This is a schematic diagram illustrating the principle of the tooling cart transporting shelf robot provided in an embodiment of the present invention;

[0073] Figure 3 yes Figure 2 A magnified view of a portion of region A in the middle;

[0074] Figure 4 This is a top view schematic diagram of the tooling vehicle provided in an embodiment of the present invention;

[0075] Figure 5 This is a top view of the tooling vehicle provided in this embodiment of the invention when the second chassis structure is retracted;

[0076] Figure 6 This is a schematic diagram of the structure of a tooling vehicle provided in one embodiment of the present invention;

[0077] Figure 7 yes Figure 6 A magnified view of a portion of region B in the middle;

[0078] Figure 8 This is a schematic diagram of the tooling vehicle provided in an embodiment of the present invention;

[0079] Figure 9 This is a schematic diagram of the tooling vehicle provided in an embodiment of the present invention;

[0080] Figure 10 This is a schematic diagram illustrating the principle of the tooling vehicle installing the shelf robot onto the shelf, as provided in an embodiment of the present invention.

[0081] Figure 11 yes Figure 10 A magnified view of a portion of region C in the middle;

[0082] Figure 12 This is a schematic diagram illustrating the principle of the tooling vehicle installing the shelf robot onto the shelf, as provided in an embodiment of the present invention.

[0083] Figure 13 This is a schematic diagram illustrating the principle of the tooling cart pulling the shelf robot provided in an embodiment of the present invention;

[0084] Figure 14 This is a schematic diagram illustrating the principle of the tooling cart pulling the shelf robot provided in an embodiment of the present invention;

[0085] Figure 15 This is a schematic diagram illustrating the principle of the tooling cart pulling the shelf robot provided in an embodiment of the present invention;

[0086] Figures 16 to 18 This is a schematic diagram illustrating the principle of the third traction mechanism on the shelf pulling the shelf robot in the warehousing system provided in this embodiment of the invention.

[0087] Explanation of reference numerals in the attached figures:

[0088] 100. Vehicle body; 200. Fixing component; 201. First lifting seat; 202. Second lifting seat; 210. Connecting structure; 211. Connecting part; 212. Fixing part; 300. Lifting component; 310. Lifting drive part; 311. First traction mechanism; 312. Lifting belt; 320. Vertical guide rail; 330. Top beam; 341. First rope winding part; 342. Second rope winding part; 350. First transmission cylinder; 400. Traveling component; 411. First chassis structure; 412. Second chassis structure; 413. Pin hole; 420. Traveling wheel; 510. Second traction mechanism; 520. Tilting belt; 530. Third rope winding part; 610. Vertical guard plate; 620. Counterweight fixing frame; 630. Support mechanism; 631. Support adjustment seat; 632. Support adjustment part; 633. Support foot pad; 640. Push handle; 10. Shelf; 20. Lateral guide rail; 21. Guide structure; 31. Third traction mechanism; 32. Lifting belt; 40. Shelf robot; 41. Upright column; 42. Lateral displacement component. Detailed Implementation

[0089] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain the present invention and should not be construed as limiting the invention.

[0090] The terms "an embodiment," "example," or "trademark" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this invention. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0091] To address the aforementioned technical problems, as one aspect of the present invention, a tooling vehicle for installing a shelf robot is provided, such as... Figures 1 to 7 As shown, the tooling vehicle includes a body 100, a fixing component 200, a lifting component 300, and a traveling component 400, wherein...

[0092] The fixing component 200 is used for fixed connection with the shelf robot 40;

[0093] The lifting assembly 300 includes a lifting drive unit 310 and at least one vertical guide rail 320. The vertical guide rail 320 is fixedly mounted on the vehicle body 100, and the fixing assembly 200 is movably mounted on the vertical guide rail 320. The lifting drive unit 310 can drive the fixing assembly 200 to move up and down along the vertical guide rail 320.

[0094] The travel assembly 400 is located at the bottom of the vehicle body 100 and is used to support the vehicle body 100 and allow the vehicle body 100 to travel along the ground.

[0095] The tooling vehicle body 100 provided by this invention is equipped with a fixing component 200 and a lifting component 300. The fixing component 200 can be fixedly connected to the shelf robot 40, thereby fixing the shelf robot 40 in a standing state onto the tooling vehicle. The traveling component 400 provided at the bottom of the vehicle body 100 allows the tooling vehicle to carry the shelf robot 40 freely on the warehouse floor to the shelf position where the shelf robot 40 is to be installed (e.g., Figure 10 As shown), and the shelf robot 40 is pushed in by one end of the transverse guide rail 20 (as shown). Figure 12 (As shown), so that its lateral displacement component 42 and the lateral guide rail 20 are fitted together and the installation operation is completed;

[0096] Meanwhile, the lifting component 300 can drive the fixed component 200 to move up and down. Even if the heights of the transverse guide rails of different shelves are inconsistent or a certain height error occurs when fixing the shelf robot 40 to the fixed component 200, the lifting component 300 can drive the fixed component 200 to move up and down to adjust the height of the shelf robot 40 to be aligned with the transverse guide rails on the shelf. This ensures the adaptability of the tooling vehicle to different transverse guide rail heights and the convenience of adjusting the height of the shelf robot 40, thus ensuring the installation efficiency of the shelf robot.

[0097] The tooling vehicle provided by this invention can keep the shelf robot 40 in a standing state and transport it to the shelf via the ground. Compared with the prior art, the solution of this invention only requires the shelf robot 40 to be erected or hoisted at a certain fixed position. It is not necessary to hoist and transport the shelf robot 40 through top equipment such as overhead rails. This saves the material cost and storage space occupied by the equipment when arranging related equipment on the top of the warehouse, and reduces the difficulty of manual installation operation. Thus, while improving the installation efficiency of the shelf robot, it also reduces the installation cost of the shelf robot.

[0098] As an optional embodiment of the present invention, such as Figure 1 , Figure 2 , Figure 6 , Figure 8 As shown, the lifting drive unit 310 includes a first traction mechanism 311 and a lifting belt 312. The lifting belt 312 is connected between the fixed component 200 and the lifting drive unit 310. The first traction mechanism 311 drives the fixed component 200 to move up and down along the vertical guide rail 320 by pulling the lifting belt 312.

[0099] As a preferred embodiment of the present invention, such as Figure 1 , Figure 2 , Figure 6 , Figure 8As shown, the first traction mechanism 311 is mounted on the vehicle body 100. The lifting assembly 300 also includes a top beam 330 and a first rope winding part 341. The top beam 330 is fixedly mounted on the vertical guide rail 320 and located above the lifting drive part 310 and the fixing assembly 200. The first rope winding part 341 is mounted on the top beam 330. The first end of the lifting belt 312 is connected to the lifting drive part 310, and the second end of the lifting belt 312 passes around the first rope winding part 341 and is connected to the fixing assembly 200.

[0100] In this embodiment of the invention, a first rope winding part 341 is provided on the top beam 330, and a first traction mechanism 311 is provided below it. By pulling the fixing component 200 through the lifting belt 312 that passes around the first rope winding part 341, the center of gravity of the tooling vehicle is lowered, thereby improving the driving stability of the tooling vehicle.

[0101] It is understandable that the function of the first rope winding part 341 is similar to that of a fixed pulley structure. The first rope winding part 341 can be a fixed component, such as a component with a groove structure, and the lifting belt 312 can pass around the groove and slide in the groove.

[0102] To reduce the friction between the lifting belt 312 and the first winding section 341, as a preferred embodiment of the present invention, such as Figure 1 As shown, the first rope winding section 341 includes a first wheel axle seat and a first roller. The first wheel axle seat is disposed on the top beam 330, and the first roller is disposed in the first wheel axle seat and can rotate around its own axis in the first wheel axle seat. The lifting belt 312 passes around the axis of the first roller and contacts the wheel surface of the first roller.

[0103] As an optional embodiment of the present invention, such as Figure 1 As shown, the first traction mechanism 311 is a winch. The operator can control the lifting and lowering of the fixed component 200 by shaking the lever, thereby manually adjusting the height of the shelf robot.

[0104] Alternatively, the first traction mechanism 311 can also be an automated device capable of automatically completing the take-up and release actions according to the control signal.

[0105] As an optional embodiment of the present invention, such as Figures 1 to 9 As shown, vertical guide rails 320 are arranged in pairs, and top beams 330 are connected between vertical guide rails 320.

[0106] As an optional embodiment of the present invention, such as Figures 1 to 9 As shown, the tooling cart also includes a vertical protective plate 610, which is connected between the vertical guide rails 320. The vertical protective plate 610 can shield the shelf robot fixed on the side of the tooling cart, providing a certain degree of protection. It can also be used as a sign to set up reminder information or records.

[0107] As a preferred embodiment of the present invention, such as Figures 1 to 8 As shown, the lifting assembly 300 also includes a second rope winding part 342, which is disposed on the fixed assembly 200. The second end of the lifting belt 312 passes around the first rope winding part 341 and the second rope winding part 342 in succession and is fixedly connected to the top beam 330. The lifting belt 312 passes around the second rope winding part 342 to form a movable pulley structure, thereby further reducing the force required for the staff to manually lift the fixed assembly 200 and improving the convenience of adjusting the height of the shelf robot.

[0108] To reduce the friction between the lifting belt 312 and the second winding section 342, as a preferred embodiment of the present invention, such as Figure 1 As shown, the second rope winding part 342 includes a second wheel axle seat and a second roller. The second wheel axle seat is disposed on the fixing assembly 200, and the second roller is disposed in the second wheel axle seat and can rotate around its own axis in the second wheel axle seat. The lifting belt 312 passes around the axis of the second roller and contacts the wheel surface of the second roller.

[0109] In other embodiments of the present invention, the lifting drive unit 310 may also employ other linear transmission pairs such as a linear motor and a lead screw and nut mechanism. For example, as an optional embodiment of the present invention, such as Figure 9 As shown, the lifting drive unit 310 includes a first transmission cylinder 350. The cylinder body of the first transmission cylinder 350 is fixedly connected to the vehicle body 100, and the output shaft of the first transmission cylinder 350 is connected to the fixed assembly 200. The first transmission cylinder 350 is a hydraulic cylinder, a pneumatic cylinder, or an electric cylinder.

[0110] In a preferred embodiment of the present invention, the tooling vehicle may further include a height feedback component, which is used to provide feedback on the height position information of the shelf robot 40 based on the lifting position of the fixed component 200, so that the operator or the automatic control system of the tooling vehicle can determine whether to lift or lower the shelf robot 40 to the required height based on the height position information, thereby further improving the installation efficiency.

[0111] As an optional embodiment of the present invention, the height feedback component may include an indicator structure and a scale structure, one of which is fixed relative to the position of the vehicle body 100, and the other is fixed relative to the position of the fixed component 200. The height position information includes the scale information in the scale structure corresponding to the current position of the indicator structure.

[0112] Alternatively, as another optional embodiment of the present invention, the altitude feedback component may include a ranging sensor and a target structure, one of which is fixed relative to the vehicle body 100 and the other is fixed relative to the fixed component 200, and the altitude position information includes the ranging result of the ranging sensor measuring the distance to the target structure.

[0113] Optionally, the target structure can be a reflective element positioned opposite the exit surface of the ranging sensor, such as a reflector or a metal sheet.

[0114] As an optional embodiment of the present invention, such as Figure 1 , Figure 4 , Figure 5 As shown, the fixing component 200 includes multiple connection structures 210 for fixed connection with the shelf robot 40.

[0115] As an optional embodiment of the present invention, such as Figure 1 , Figure 4 , Figure 5 As shown, the fixing component 200 includes at least one set of connecting structures 210. Multiple connecting structures 210 in each set are spaced apart in the vertical direction. Each set of connecting structures 210 is used to fix and connect to the same column 41 of the shelf robot 40. The figure shows the case of two sets, and the two sets of connecting structures 210 are used to fix and connect to the two columns 41 of the shelf robot respectively.

[0116] As an optional embodiment of the present invention, the connecting structure 210 has at least one mounting hole, which is used to fix the connecting structure 210 to the shelf robot 40 by means of a fastener passing through the mounting hole. For example, the fastener may include a pin, screw, bolt, etc.

[0117] As an optional embodiment of the present invention, such as Figure 4 , Figure 5 As shown, the connection structure 210 includes a connecting part 211 and a fixing part 212. One end of the connecting part 211 extends in a horizontal direction away from the vehicle body 100 and is fixedly connected to the fixing part 212. A mounting hole is formed on the fixing part 212.

[0118] As an optional embodiment of the present invention, the connection structures 210 are arranged in pairs, with each pair of connection structures 210 distributed at intervals along the horizontal direction, and are respectively used for fixed connection with different columns 41 of the shelf robot 40.

[0119] As an optional embodiment of the present invention, the connection structure 210 may include a limiting block and a rotating mechanism. The limiting block is connected to the vehicle body 100 through the rotating mechanism. The limiting block can rotate around the rotation axis of the rotating mechanism, and the cross-sectional shape of the limiting block is non-circular. The limiting block can rotate a preset angle after entering the limiting engagement hole on the shelf robot 40 so as to engage in the limiting engagement hole.

[0120] In some embodiments of the present invention, the connecting structure 210 may also be a device capable of automatically engaging with the shelf robot 40. For example, the rotating mechanism may drive the limiting block to rotate around the rotating axis of the rotating mechanism.

[0121] Alternatively, in other embodiments of the present invention, the connecting structure 210 may also be a clamping structure capable of automatically clamping the uprights of the shelf robot, or a magnetic suction structure capable of automatically adsorbing the shelf robot.

[0122] As a preferred embodiment of the present invention, the tooling vehicle also includes a counterweight fixing frame 620. The counterweight fixing frame 620 and the connecting structure 210 are respectively located on both sides of the vehicle body 100. The counterweight fixing frame 620 is used to fix the counterweight, so that when transporting the shelf robot 40 with a long length or large weight, the center of gravity of the tooling vehicle can be lowered by adding counterweight, thus ensuring the stability of the tooling vehicle.

[0123] As a preferred embodiment of the present invention, such as Figure 1 As shown, the fixed assembly 200 includes a first lifting seat 201 and at least one second lifting seat 202. Both the first lifting seat 201 and the second lifting seat 202 are movably disposed on the vertical guide rail 320, and both the first lifting seat 201 and the second lifting seat 202 are used to be fixedly connected to the shelf robot 40. The lifting drive unit 310 can drive the first lifting seat 201 to move up and down along the vertical guide rail 320.

[0124] In this embodiment of the invention, the lifting drive unit 310 only drives the first lifting seat 201 to move up and down, while the second lifting seat 202 can move freely along the vertical guide rail 320. Thus, when fixing the shelf robot, the position between the second lifting seat 202 and the first lifting seat 201 can be freely adjusted. This not only prevents the shelf robot from tipping over by using multiple lifting seats distributed along the height direction, but also allows for flexible adjustment of the installation position to adapt to different specifications of shelf robots.

[0125] As an optional embodiment of the present invention, such as Figures 1 to 7 As shown, the travel assembly 400 includes multiple chassis structures (such as the first chassis structure 411 and the second chassis structure 412 shown in the figure) and multiple travel wheels 420. The multiple chassis structures are mounted on the vehicle body 100, and the travel wheels 420 are mounted on the chassis structures and located at the bottom of the tooling vehicle. The positions of at least some of the chassis structures are adjustable, so that when the tooling vehicle enters a narrow aisle between shelves, the position of the travel wheels 420 can be adjusted to narrow the overall width of the tooling vehicle. When the tooling vehicle is driving freely on open ground outside the aisle, the position of the travel wheels 420 can be adjusted to widen the bottom of the tooling vehicle, ensuring the driving stability of the tooling vehicle.

[0126] As an optional embodiment of the present invention, the traveling component 400 also includes a plurality of chassis seats, the interior of which has guide receiving holes. The plurality of chassis structural parts are disposed in the plurality of guide receiving holes and can move along the corresponding guide receiving holes respectively, so that when the width of the tooling vehicle needs to be narrowed, the chassis structure can be retracted into the corresponding guide receiving hole.

[0127] As an optional embodiment of the present invention, the traveling component 400 further includes a retraction drive unit disposed on the chassis base. The retraction drive unit can drive the chassis structure into and out of the guide receiving hole, thereby realizing automatic adjustment of the tooling vehicle width.

[0128] As an optional embodiment of the present invention, such as Figures 1 to 3 As shown, the chassis structure includes multiple first chassis structures 411 and multiple second chassis structures 412. The first chassis structures 411 are fixedly connected to the vehicle body 100. A guide receiving hole is formed inside the first chassis structure 411. The second chassis structures 412 are partially disposed in the guide receiving hole and can move along the guide receiving hole.

[0129] When the width of the tooling vehicle needs to be narrowed, the second chassis structure 412 can be retracted into the guide receiving hole of the first chassis structure 411, such as... Figures 4 to 5 As shown, in addition, when the work vehicle exits the aisle after the shelf robot is installed, the second chassis structure 412 can also be retracted to prevent the second chassis structure 412 from taking the shelf robot out.

[0130] As an optional embodiment of the present invention, the traveling component 400 further includes a retraction drive unit disposed on the first chassis structure 411. The retraction drive unit can drive the corresponding second chassis structure 412 into the guide receiving hole and out of the guide receiving hole, thereby realizing automatic adjustment of the tooling vehicle width.

[0131] As an optional embodiment of the present invention, the retraction drive unit may include a drive motor, a drive gear and a drive rack. The drive motor is fixed in a relative position to the vehicle body 100, the drive gear is connected to the output shaft of the drive motor, and the drive rack is fixedly connected to the corresponding chassis structure. The drive motor can drive the drive gear to rotate so that the drive rack meshing with the drive gear can drive the corresponding chassis structure into the guide receiving hole and out of the guide receiving hole.

[0132] In other embodiments of the present invention, the retraction drive unit may also include a motor lead screw structure or a linear pair drive structure such as a cylinder, hydraulic cylinder, or electric cylinder.

[0133] As an optional embodiment of the present invention, such as Figure 6 , Figure 7As shown, the chassis structure includes multiple first chassis structures 411 and multiple second chassis structures 412. The first chassis structures 411 are fixedly connected to the vehicle body 100, and the second chassis structures 412 are hinged to the first chassis structures 411 and can rotate relative to the second chassis structures 412 along the horizontal plane. When the width of the tooling vehicle needs to be narrowed, the second chassis structures 412 can be rotated to be parallel to the driving direction of the tooling vehicle. After the rack robot is installed, when the tooling vehicle exits the aisle, the second chassis structures 412 can also be rotated to be parallel to the transverse guide rail to prevent the second chassis structures 412 from taking the rack robot out.

[0134] As an optional embodiment of the present invention, the traveling component 400 further includes a swing drive unit, which is disposed on the first chassis structure 411. The swing drive unit can drive the corresponding second chassis structure 412 to rotate around its hinge position with the first chassis structure 411, thereby realizing automatic adjustment of the tooling vehicle width.

[0135] As an optional embodiment of the present invention, such as Figure 7 As shown, the first chassis structure 411 is provided with a pin hole 413, and the second chassis structure 412 is provided with at least one pin mating hole. The first chassis structure 411 can be fixedly connected to the second chassis structure 412 by a pin passing through the pin hole 413 and the pin mating hole, so as to maintain the stability of the swing position of the second chassis structure 412.

[0136] As an optional embodiment of the present invention, such as Figures 1 to 3 As shown, the traveling component 400 also includes a support mechanism 630, which is fixedly connected to the vehicle body 100. The bottom of the support mechanism 630 has a ground contact support surface, and the height of the ground contact support surface is adjustable. When the tooling vehicle stops moving, the ground contact support surface of the support mechanism 630 can be lowered to make it stably contact the ground, thereby ensuring the stability of the tooling vehicle's parking position.

[0137] As an optional embodiment of the present invention, such as Figure 3 As shown, the support mechanism 630 includes a support adjustment seat 631, a support adjustment part 632, and a support foot pad 633. The support adjustment seat 631 is fixedly connected to the vehicle body 100. The support adjustment part 632 can drive the support foot pad 633 to move up and down relative to the support adjustment seat 631. The bottom of the support foot pad 633 has a ground-contacting support surface.

[0138] As a preferred embodiment of the present invention, such as Figures 13 to 15As shown, the tooling vehicle also includes a second traction mechanism 510, a tilting belt 520, and a tilting connector. The second traction mechanism 510 is mounted on the vehicle body 100. One end of the tilting belt 520 is fixedly connected to the tilting connector, and the other end of the tilting belt 520 is connected to the second traction mechanism 510. The second traction mechanism 510 can pull the tilting belt 520 to rotate the shelf robot 40 connected to the tilting connector from a lying position to a standing position (e.g., ...). Figures 14 to 15 As shown in the figure, there is no need to set up a hoisting mechanism in the warehouse. The tooling vehicle itself can lift the lying shelf robot 40 to a standing state that can be fixedly connected to the fixed component 200, which further reduces the installation cost of the shelf robot.

[0139] As an optional embodiment of the present invention, such as Figure 13 As shown, the tooling vehicle also includes at least one support component, which is disposed on the vehicle body 100 and can extend horizontally to the outside of the vehicle body, thereby serving as a fulcrum when the second traction mechanism 510 pulls the shelf robot 40, ensuring the stability of the tooling vehicle's standing posture.

[0140] Alternatively, the tooling vehicle may have a support assembly only on the same side of the connecting structure 210 (i.e. the side used to fix the shelf robot 40).

[0141] As an optional embodiment of the present invention, the support component can be housed in any of the following ways:

[0142] Folding means that the support component is a multi-segment hinged structure, which can be folded and stored in the vehicle body 100 or unfolded to the outside of the vehicle body 100; swinging means that one end of the support component is hinged to the vehicle body 100, and the other end can swing outward or swing back into the vehicle body 100; telescopic means that the support component can be retracted into the corresponding receiving space on the vehicle body, or extended from the receiving space to the outside of the vehicle body 100.

[0143] As an optional embodiment of the present invention, such as Figures 13 to 15 As shown, the tooling vehicle also includes a third rope winding section 530, which includes a third wheel axle seat and a third roller. The third wheel axle seat is mounted on the vehicle body 100 and located above the second traction mechanism 510. The third roller is mounted in the third wheel axle seat and can rotate around its own axis in the third wheel axle seat. The wheel surface of the third roller is used to contact the turning belt 520.

[0144] As an optional embodiment of the present invention, the tooling vehicle also includes a tilting stop structure (not shown in the figure). The tilting stop structure is disposed on the vehicle body 100 and is used to contact the bottom of the shelf robot 40 and serve as the fulcrum for the tilting and rotation of the shelf robot 40, so that the shelf robot 40 tilts around the part where it rotates with the tilting stop structure.

[0145] As an optional embodiment of the present invention, the second traction mechanism 510 is a winch, or it may be a device for automatically taking in and releasing the rotating belt 520.

[0146] To ensure the docking accuracy between the lateral displacement component 42 of the shelf robot 40 and the lateral guide rail 20 on the shelf 10, in a preferred embodiment of the present invention, the tooling carriage further includes a position indicating component. The position indicating component is used to generate relative position information based on the positional relationship between the lateral guide rail 20 on the shelf 10 and the shelf robot 40, so that the automatic control system or operator can adjust the position of the tooling carriage in real time according to the relative position information, thereby further ensuring the docking accuracy between the lateral displacement component 42 of the shelf robot 40 and the lateral guide rail 20 on the shelf 10.

[0147] As an optional embodiment of the present invention, the position indication component includes an image sensor, and the relative position information includes images obtained by the image sensor from taking pictures of the transverse guide rail 20 and the shelf robot 40.

[0148] As an optional embodiment of the present invention, the position indication component includes an optical path detection device, and the relative position information includes the detection result of the optical path detection device on the transverse guide rail 20.

[0149] As an optional embodiment of the present invention, the position indication component includes a reflector, and the relative position information includes the image of the transverse guide rail 20 and the shelf robot 40 reflected by the reflector to the bottom side of the tooling vehicle. That is, the operator does not need to climb to a high place, and can directly visually inspect the positional relationship between the transverse guide rail 20 and the shelf robot 40 by simply observing the reflector on the top of the tooling vehicle.

[0150] To ensure the docking accuracy between the lateral displacement component 42 of the shelf robot 40 and the lateral guide rail 20 on the shelf 10, as a preferred embodiment of the present invention, the tooling cart also includes a guide robotic arm, which is used to be fixedly connected to the shelf and drive the tooling cart to move relative to the shelf 10 so that the lateral displacement component 42 of the shelf robot 40 is aligned with the lateral guide rail 20 on the shelf 10.

[0151] In a preferred embodiment of the present invention, the tooling vehicle further includes an installation execution unit, which is used to install an anti-detachment blocking component on the end of the transverse guide rail 20 after the transverse displacement component 42 of the shelf robot 40 is connected to the transverse guide rail 20 on the shelf 10.

[0152] In this embodiment of the invention, the tooling vehicle also includes an installation execution unit. After the lateral displacement component 42 of the shelf robot 40 slides into the lateral guide rail 20 on the shelf 10, the installation execution unit can install an anti-detachment blocking component at the end of the lateral guide rail 20, thereby preventing the shelf robot 40 from sliding out of the shelf through the anti-detachment blocking component, ensuring the safety of the installation operation of the shelf robot 40 on the shelf 10.

[0153] In some embodiments of the present invention, the traveling wheel 420 may be partly a driving wheel and partly a swivel wheel, thereby completing the straight-line and turning movements of the tooling vehicle through the synchronous rotation and differential rotation of the driving wheel.

[0154] Alternatively, all of the 420 travel wheels can be swivel wheels, allowing workers to push the work vehicle forward.

[0155] To facilitate the movement of the tool cart by staff, as a preferred embodiment of the present invention, such as... Figure 1 As shown, the tooling vehicle also includes at least one push handle 640, which is fixedly mounted on the vehicle body 100.

[0156] As an optional embodiment of the present invention, such as Figure 1 As shown, the tooling carriage includes multiple push handles 640, which are disposed on both sides of the fixing assembly 200 along the vertical guide rail 320 at intervals.

[0157] As a second aspect of the present invention, a method for installing a shelf robot is provided. The method for installing the shelf robot is implemented using a tooling vehicle provided by the present invention, and the method includes:

[0158] Step S1: Securely connect the shelf robot 40 to the fixing component 200 of the tooling cart;

[0159] Step S2: Move the shelf robot 40 to one side of the shelf 10 and align the lateral displacement component 42 of the shelf robot 40 with the lateral guide rail 20 on the shelf 10 (e.g., Figure 10 (as shown);

[0160] Step S3: Move the shelf robot 40 along the length of the transverse guide rail 20 so that the transverse displacement component 42 of the shelf robot 40 is connected to the transverse guide rail 20 (e.g., Figure 12 (As shown).

[0161] The installation method of the shelf robot provided by the present invention uses a tooling trolley to install the shelf robot 40 onto the shelf 10. The fixing component 200 of the tooling trolley can be fixedly connected to the shelf robot 40, thereby fixing the shelf robot 40 in a standing state onto the tooling trolley. The traveling component 400 provided at the bottom of the vehicle body 100 allows the tooling trolley to carry the shelf robot 40 freely on the warehouse floor to the shelf position where the shelf robot 40 is to be installed. The shelf robot 40 is pushed in by one end of the transverse guide rail 20, so that its transverse displacement component 42 cooperates with the transverse guide rail 20 to complete the installation operation.

[0162] In this invention, the tooling vehicle can keep the shelf robot 40 in a standing position and transport it to the shelf via the ground. Compared with the prior art, the solution of this invention only requires the shelf robot 40 to be erected or hoisted at a certain fixed position. It is not necessary to hoist and transport the shelf robot 40 throughout the entire process using top equipment such as overhead rails. This saves the material cost and storage space occupied by the equipment when arranging related equipment on the top of the warehouse, and reduces the difficulty of manual installation. Thus, while improving the installation efficiency of the shelf robot, it also reduces the installation cost of the shelf robot.

[0163] As a preferred embodiment of the present invention, such as Figures 1 to 9 As shown, the tooling vehicle also includes a lifting assembly 300, which is mounted on the vehicle body 100 and can drive the fixed assembly 200 to move up and down; aligning the lateral displacement assembly 42 of the shelf robot 40 with the lateral guide rail 20 on the shelf 10 includes:

[0164] The lifting component 300 drives the fixed component 200 to move up and down, so that the lateral displacement component 42 of the shelf robot 40 is aligned with the lateral guide rail 20 on the shelf 10.

[0165] In this embodiment of the invention, the tooling vehicle also includes a lifting component 300, which can drive the fixing component 200 to move up and down. Therefore, even if the heights of the transverse guide rails of different shelves are inconsistent or a certain height error occurs when fixing the shelf robot 40 to the fixing component 200, the lifting component 300 can drive the fixing component 200 to move up and down, so as to adjust the height of the shelf robot 40 to be aligned with the transverse guide rails on the shelf. This ensures the tooling vehicle's adaptability to different transverse guide rail heights and the convenience of adjusting the height of the shelf robot 40, further ensuring the installation efficiency of the shelf robot.

[0166] As a preferred embodiment of the present invention, the installation method of the rack robot further includes adjusting the position of the chassis structure before the rack robot 40 travels along the length direction of the transverse guide rail 20, so that the width of the tooling vehicle in the horizontal direction perpendicular to the transverse guide rail 20 is reduced. Thus, when the tooling vehicle enters the narrow aisle between the racks, the position of the travel wheels 420 can be adjusted to narrow the overall width of the tooling vehicle. When the tooling vehicle travels freely on the open ground outside the aisle, the position of the travel wheels 420 can be adjusted to widen the bottom of the tooling vehicle, ensuring the driving stability of the tooling vehicle.

[0167] As a preferred embodiment of the present invention, such as Figures 13 to 15 As shown, the tooling vehicle also includes a second traction mechanism 510, a tilting belt 520, and a tilting connector. The second traction mechanism 510 is mounted on the vehicle body 100. One end of the tilting belt 520 is fixedly connected to the tilting connector, and the other end of the tilting belt 520 is connected to the second traction mechanism 510. The second traction mechanism 510 can pull the tilting belt 520 to drive the shelf robot 40 connected to the tilting connector to tilt from a lying position to a standing position.

[0168] The installation method of the shelf robot also includes pulling the flipping belt 520 by the second traction mechanism 510 before fixing the shelf robot 40 to the fixed component 200, so as to drive the shelf robot 40 connected to the flipping connector to flip from the lying state to the standing state. Thus, there is no need to set up a hoisting mechanism in the warehouse. The tooling vehicle itself can lift the lying shelf robot 40 to the standing state that can be fixedly connected to the fixed component 200, which further reduces the installation cost of the shelf robot.

[0169] As a third aspect of the present invention, a storage system is provided, the storage system including a rack 10 and a tooling vehicle provided by the present invention, wherein a transverse guide rail 20 is fixedly provided on the side of the rack 10.

[0170] In the warehousing system provided by this invention, a fixing component 200 is provided on the body 100 of the tooling vehicle. The fixing component 200 can be fixedly connected to the shelf robot 40, thereby fixing the standing shelf robot 40 to the tooling vehicle. A traveling component 400 provided at the bottom of the body 100 allows the tooling vehicle to carry the shelf robot 40 freely on the warehouse floor to the shelf position where the shelf robot 40 is to be installed (e.g., Figure 10 As shown), and the shelf robot 40 is pushed in by one end of the transverse guide rail 20 (as shown). Figure 12 As shown), this allows the lateral displacement component 42 to engage with the lateral guide rail 20 and completes the installation operation.

[0171] In the warehousing system provided by this invention, the tooling vehicle can keep the shelf robot 40 in a standing state and transport it to the shelf via the ground. Compared with the prior art, the solution of this invention only requires the shelf robot 40 to be erected or hoisted at a certain fixed position. It is not necessary to hoist and transport the shelf robot 40 through top equipment such as overhead rails. This saves the material cost and storage space occupied by the equipment when arranging related equipment on the top of the warehouse, and reduces the difficulty of manual installation operation. Thus, while improving the installation efficiency of the shelf robot, the installation cost of the shelf robot is also reduced.

[0172] As a preferred embodiment of the present invention, such as Figure 10 , Figure 11 As shown, the storage system also includes at least one guide structure 21, which is disposed on one side of the transverse guide rail 20 along the height direction. The distance between the guide structure 21 and the transverse guide rail 20 gradually increases towards the end of the transverse guide rail 20.

[0173] like Figure 11 As shown, the guide structure 21 and the transverse guide rail 20 are spaced apart, and the distance between the guide structure 21 and the transverse guide rail 20 gradually increases towards the end of the transverse guide rail 20. This forms a guide flare between the guide structure 21 and the transverse guide rail 20 to guide the rollers in the transverse displacement component 42. Even if there is a slight deviation between the height of the shelf robot 40 and the height of the transverse guide rail 20, the guide structure 21 can guide the rollers of the transverse displacement component 42 to contact the transverse guide rail 20, thus ensuring the smooth installation of the shelf robot 40.

[0174] To further reduce the installation cost of the shelf robot, as a preferred embodiment of the present invention, such as Figures 16 to 18 As shown, the warehousing system also includes a third traction mechanism 31, a lifting belt 32, and a lifting connector. The third traction mechanism 31 is mounted on the shelf 10. One end of the lifting belt 32 is fixedly connected to the lifting connector, and the other end of the lifting belt 32 is connected to the third traction mechanism 31. The third traction mechanism 31 can pull the lifting belt 32 to drive the shelf robot 40 connected to the lifting connector and the tooling car fixedly connected to the shelf robot 40 to flip from a lying state to a standing state.

[0175] In this embodiment of the invention, the warehousing system further includes a third traction mechanism 31 mounted on the shelf 10. The third traction mechanism 31 can rotate the shelf robot 40 and the tooling cart from a lying position to a standing position by pulling the lifting belt 32, thus eliminating the need for additional hoisting equipment in the warehouse, saving material costs and storage space occupied by hoisting equipment, and further reducing the installation cost of the shelf robot. Furthermore, as... Figures 16 to 17As shown, the tooling cart can be fixedly connected to the shelf robot 40 when the shelf robot 40 is in a lying position, thereby further reducing the difficulty of connecting the shelf robot 40 and the tooling cart.

[0176] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes, but is not limited to, the contents described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of the present invention will be included within the scope of the claims.

Claims

1. A tooling vehicle for installing a shelf robot, characterized in that, The tooling vehicle includes a body (100), a fixing component (200), a lifting component (300), and a traveling component (400), wherein, The fixing component (200) is used for fixed connection with the shelf robot (40); The lifting assembly (300) includes a lifting drive unit (310) and at least one vertical guide rail (320). The vertical guide rail (320) is fixedly mounted on the vehicle body (100). The fixing assembly (200) is movably mounted on the vertical guide rail (320). The lifting drive unit (310) can drive the fixing assembly (200) to move up and down along the vertical guide rail (320). The travel assembly (400) is located at the bottom of the vehicle body (100) and is used to support the vehicle body (100) and allow the vehicle body (100) to travel along the ground.

2. The tooling vehicle according to claim 1, characterized in that, The lifting drive unit (310) includes a first traction mechanism (311) and a lifting belt (312). The lifting belt (312) is connected between the fixed component (200) and the lifting drive unit (310). The first traction mechanism (311) drives the fixed component (200) to move up and down along the vertical guide rail (320) by pulling the lifting belt (312). The first traction mechanism (311) is disposed on the vehicle body (100). The lifting assembly (300) further includes a top beam (330) and a first rope winding part (341). The top beam (330) is fixedly disposed on the vertical guide rail (320) and located above the lifting drive part (310) and the fixing assembly (200). The first rope winding part (341) is disposed on the top beam (330). The first end of the lifting belt (312) is connected to the lifting drive part (310), and the second end of the lifting belt (312) passes around the first rope winding part (341) and is connected to the fixing assembly (200).

3. The tooling vehicle according to claim 2, characterized in that, The lifting assembly (300) further includes a second rope winding part (342), which is disposed on the fixing assembly (200). The second end of the lifting belt (312) passes around the first rope winding part (341) and the second rope winding part (342) in succession and is fixedly connected to the top beam (330).

4. The tooling vehicle according to claim 1, characterized in that, The tooling vehicle also includes a height feedback component, which is used to provide feedback on the height position information of the shelf robot (40) based on the lifting position of the fixed component (200).

5. The tooling vehicle according to claim 4, characterized in that, The height feedback component includes an indicator structure and a scale structure. One of the indicator structure and the scale structure is fixed relative to the position of the vehicle body (100), and the other is fixed relative to the position of the fixed component (200). The height position information includes the scale information in the scale structure corresponding to the current position of the indicator structure. Alternatively, the altitude feedback component includes a ranging sensor and a target structure, one of which is fixed relative to the vehicle body (100) and the other is fixed relative to the fixed component (200), and the altitude position information includes the ranging result of the ranging sensor measuring the distance to the target structure.

6. The tooling vehicle according to claim 1, characterized in that, The fixing component (200) includes a first lifting seat (201) and at least one second lifting seat (202). The first lifting seat (201) and the second lifting seat (202) are both movably disposed on the vertical guide rail (320), and the first lifting seat (201) and the second lifting seat (202) are both used to be fixedly connected to the shelf robot (40). The lifting drive unit (310) can drive the first lifting seat (201) to move up and down along the vertical guide rail (320).

7. The tooling vehicle according to any one of claims 1 to 6, characterized in that, The traveling assembly (400) includes multiple chassis structures and multiple traveling wheels (420). The multiple chassis structures are disposed on the vehicle body (100), and the traveling wheels (420) are disposed on the chassis structures and located at the bottom of the tooling vehicle. The positions of at least some of the chassis structures are adjustable.

8. The tooling vehicle according to claim 7, characterized in that, The chassis structure includes a plurality of first chassis structures (411) and a plurality of second chassis structures (412). The first chassis structures (411) are fixedly connected to the vehicle body (100). A guide receiving hole is formed inside the first chassis structure (411). The second chassis structures (412) are partially disposed in the guide receiving hole and can move along the guide receiving hole. Alternatively, the second chassis structure (412) is hinged to the first chassis structure (411) and is rotatable relative to the second chassis structure (412) along the horizontal plane.

9. The tooling vehicle according to any one of claims 1 to 6, characterized in that, The tooling vehicle also includes a second traction mechanism (510), a flipping belt (520), and a flipping connector. The second traction mechanism (510) is mounted on the vehicle body (100). One end of the flipping belt (520) is fixedly connected to the flipping connector, and the other end of the flipping belt (520) is connected to the second traction mechanism (510). The second traction mechanism (510) can pull the flipping belt (520) to drive the shelf robot (40) connected to the flipping connector to flip from a lying state to a standing state.

10. The tooling vehicle according to claim 9, characterized in that, The tooling vehicle also includes at least one support component, which is disposed on the vehicle body (100) and can extend horizontally to the outside of the vehicle body (100).

11. The tooling vehicle according to claim 10, characterized in that, The support component can be stored in any of the following ways: folding; swinging; stretching.

12. The tooling vehicle according to any one of claims 1 to 6, characterized in that, The tooling vehicle also includes a position indicator component, which is used to generate relative position information based on the positional relationship between the transverse guide rail (20) on the shelf (10) and the shelf robot (40).

13. The tooling vehicle according to claim 12, characterized in that, The position indication component includes an image sensor, and the relative position information includes images obtained by the image sensor from photographs of the transverse guide rail (20) and the shelf robot (40); And / or, the position indication component includes an optical path detection device, and the relative position information includes the detection result of the optical path detection device on the transverse guide rail (20); And / or, the position indication component includes a reflector, and the relative position information includes an image of the transverse guide rail (20) and the shelf robot (40) reflected by the reflector to one side of the bottom of the tooling vehicle.

14. The tooling vehicle according to any one of claims 1 to 6, characterized in that, The tooling vehicle also includes a guide robotic arm, which is used to be fixedly connected to the shelf and drive the tooling vehicle to move relative to the shelf (10) so that the lateral displacement component (42) of the shelf robot (40) is aligned with the lateral guide rail (20) on the shelf (10).

15. The tooling vehicle according to any one of claims 1 to 6, characterized in that, The tooling vehicle also includes an installation execution unit, which is used to install anti-detachment blocking components on the end of the transverse guide rail (20) after the transverse displacement component (42) of the shelf robot (40) is connected to the transverse guide rail (20) on the shelf (10).

16. A warehousing system, characterized in that, The warehousing system includes a rack (10) and a tooling vehicle as described in any one of claims 1 to 15, wherein a transverse guide rail (20) is fixedly provided on the side of the rack (10).

17. The warehousing system according to claim 16, characterized in that, The storage system further includes at least one guide structure (21), which is disposed on one side of the transverse guide rail (20) along the height direction, and the distance between the guide structure (21) and the transverse guide rail (20) gradually increases along the side towards the end of the transverse guide rail (20).

18. The warehousing system according to claim 16, characterized in that, The warehousing system also includes a third traction mechanism (31), a lifting belt (32), and a lifting connector. The third traction mechanism (31) is mounted on the shelf (10). One end of the lifting belt (32) is fixedly connected to the lifting connector, and the other end of the lifting belt (32) is connected to the third traction mechanism (31). The third traction mechanism (31) can pull the lifting belt (32) to drive the shelf robot (40) connected to the lifting connector and the tooling car fixedly connected to the shelf robot (40) to flip from a lying state to a standing state.

Images