Carrying robot and goods shelf warehousing system

Abstract

The utility model relates to a transfer robot and a goods shelf warehousing system, the transfer robot comprises a mother vehicle and a goods carrying table, the goods carrying table is connected with one ends of a plurality of lifting belts, the other ends of the lifting belts are connected to a lifting driving mechanism on the mother vehicle, and the mother vehicle drives the goods carrying table to lift through the lifting driving mechanism; the mother vehicle is provided with a walking mechanism used for being matched with a walking track arranged on a goods shelf in the first direction, and the first direction is parallel to the extending direction of a roadway. A telescopic goods taking and placing structure is arranged on the goods carrying table and used for taking and placing goods stored on the goods shelf in the side direction, and the carrying robot and the goods shelf warehousing system are high in storing and taking efficiency and flexibility.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics conveying equipment, and in particular to a handling robot and a shelf storage system. Background Art

[0002] The statements herein merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] In current warehousing technology, there are aerial transport vehicles that can automatically deliver goods to the target cargo position on the shelf or take goods out from the target cargo position. The aerial transport vehicle greatly improves the working efficiency of the warehousing system and reduces the labor intensity of the staff. For example, patent CN216997251U discloses a lifting belt and an aerial transport vehicle. The aerial transport vehicle moves along the transport track and drives the clamp to rise and fall through the lifting belt to achieve storage and retrieval of goods. However, in the above scheme, since the aerial transport vehicle can only achieve the lifting and lowering of goods, this requires that the goods can only be stored in vertical stacks, and can only be shipped out in the order of stacking, that is, first in and last out, and the flexibility of goods storage and retrieval is poor; or the goods are stored in a flat single layer, and the utilization of storage space is low. Utility Model Content

[0004] The purpose of the utility model is to overcome the deficiencies of the prior art and to provide a handling robot and a shelf storage system, which have high flexibility in storing and retrieving goods and high space utilization.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] In a first aspect, an embodiment of the utility model provides a handling robot, comprising a mother vehicle and a cargo platform, wherein the cargo platform is connected to one end of a plurality of lifting belts, and the other end of the lifting belts is connected to a lifting drive mechanism on the mother vehicle, and the mother vehicle can drive the cargo platform to rise and fall through the lifting drive mechanism;

[0007] The mother vehicle is provided with a walking mechanism for cooperating with a walking track arranged on the shelf along a first direction, wherein the first direction is parallel to the extension direction of the lane; the cargo platform is provided with a telescopic picking and placing structure for picking and placing goods stored on the shelf sideways.

[0008] Optionally, along the direction from top to bottom, the plurality of lifting belts are inclined toward the center position of the cargo platform and are arranged at a set angle with the vertical direction.

[0009] Optionally, the mother vehicle is also equipped with an angle adjustment mechanism, and the angle adjustment mechanism cooperates with the lifting belt to adjust the size of a set angle between the lifting belt and the vertical direction.

[0010] Optionally, the angle adjustment mechanism includes a horizontal movement driving mechanism installed on the mother vehicle, the horizontal movement driving mechanism is connected to the angle adjustment member, and the angle adjustment member is in contact with the lifting belt.

[0011] Optionally, the angle adjustment member is an angle adjustment wheel, which is connected to the horizontal movement drive mechanism and is in contact with and cooperates with the lifting belt.

[0012] Optionally, the cargo platform is slidably connected to a guide column, and the guide column is fixedly connected to the mother vehicle.

[0013] Optionally, the lifting drive mechanism includes a plurality of drive components, and each of the drive components is connected to a corresponding lifting belt to drive the cargo platform to perform lifting motion through the lifting belt.

[0014] Optionally, the driving assembly includes a lifting drive component installed on the mother vehicle, the output shaft of the lifting drive component is connected to the winch wheel, the lifting belt is wound around the winch wheel, and the movable end of the lifting belt is connected to the cargo platform.

[0015] Optionally, a posture detection element is installed on the cargo platform and / or the mother vehicle.

[0016] Optionally, the posture detection element adopts a gyroscope installed on the cargo platform, or the posture detection element adopts a laser rangefinder, and the laser rangefinder is installed on the top surface of the cargo platform or the bottom surface of the mother vehicle.

[0017] Optionally, at least one cargo platform stabilizing member is provided on both sides of the cargo platform, and the cargo platform stabilizing member includes a telescopic push rod or a rotating rocker arm, and the telescopic push rod or the rotating rocker arm can be against the shelf surface on the side of the cargo platform after the cargo platform moves into place.

[0018] Optionally, the mother vehicle includes a vehicle body, at least two first telescopic parts and at least two second telescopic parts are provided on both sides of the vehicle body, the first telescopic parts are connected to the telescopic shaft, the end of the telescopic shaft is connected to the layer changing gear, the second telescopic parts are connected to the axle, the end of the axle is connected to the walking wheel, and the telescopic shaft and the axle are both connected to a rotating drive mechanism installed on the vehicle body.

[0019] In a second aspect, an embodiment of the utility model provides a storage system, characterized in that it includes multiple rows of shelves, and the shelves on both sides of the lane are provided with walking tracks;

[0020] The walking track is provided with the transport robot described in the first aspect, and the transport robot is used to move horizontally in the lane along the walking track to pick up and place goods from the target cargo positions of the shelves on both sides of the lane.

[0021] Optionally, a lane-changing track is provided at the set height position of the shelf, which is used to connect the travel tracks of the same height in different lanes; the lane-changing track is arranged perpendicular to the travel track, and / or the lane-changing track is a curved track.

[0022] Optionally, it also includes a cargo handover device for handing over the cargo to be stored in the warehouse to the transport robot, or receiving the cargo to be stored out of the warehouse transported by the transport robot.

[0023] The beneficial effects of the above utility model are as follows:

[0024] 1. The handling robot of the utility model is provided with a walking mechanism on the mother vehicle, which moves horizontally on the walking track provided on the shelf, and the cargo platform is driven to rise and fall by the lifting belt, and the cargo platform is provided with a telescopic picking and placing structure, which can drive the horizontal movement of the goods, thereby realizing the lateral picking and placing of the goods, while ensuring the utilization rate of the storage space, improving the access efficiency and flexibility of the shelf-type storage system.

[0025] 2. The handling robot of the utility model has multiple lifting belts inclined toward the center position of the cargo platform from top to bottom and set at a set acute angle to the vertical direction, or the cargo platform is slidably connected to the guide column, and the guide column is fixedly connected to the mother vehicle, so that the cargo platform will not shake during the movement, avoiding collision between the cargo and external structures such as shelves, and ensuring the stability of cargo transportation.

[0026] 3. In the handling robot of the utility model, each lifting belt is provided with a corresponding lifting drive mechanism, and the cargo platform and / or the mother vehicle is provided with a posture detection element, which can detect the horizontality of the cargo platform in real time, and control multiple lifting drive mechanisms to work together to adjust the cargo platform to a horizontal level, thereby ensuring the stability of cargo transportation and avoiding cargo falling from the cargo platform.

[0027] 4. The handling robot of the utility model is provided with a layer-changing gear that can be extended and retracted, and correspondingly, the walking wheel can also be extended and retracted. When the layer-changing gear is meshed with the rack on the shelf, the mother car can be raised and lowered under the action of the rotating drive mechanism, so as to adjust the height of the mother car, thereby avoiding the excessive distance between the mother car and the cargo platform when transferring goods, resulting in the lifting belt being too long, thereby avoiding the unstable transportation caused by the excessive length of the lifting belt between the mother car and the cargo platform.

[0028] 5. In the handling robot of the utility model, the cargo platform is provided with a cargo platform stabilizing member, and the cargo platform stabilizing member includes a telescopic push rod or a rotating rocker arm, which can be pressed against the shelf surface on the side of the cargo platform under the action of a pushing drive member, thereby ensuring the stability of the cargo platform when taking and placing goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings in the specification, which constitute a part of the present application, are used to provide a further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute a limitation on the present application.

[0030] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present utility model;

[0031] Figure 2 This is a schematic diagram of the gyroscope arrangement in Embodiment 1 of the present utility model;

[0032] Figure 3 This is a schematic diagram of the laser rangefinder configuration of Embodiment 1 of the present utility model;

[0033] Figure 4 This is a schematic diagram of the angle adjustment mechanism of Embodiment 1 of the present utility model;

[0034] Figure 5 This is a schematic diagram of the installation of the first telescopic member, the layer-changing gear, the second telescopic member, and the running wheel on the vehicle body in Embodiment 1 of the utility model;

[0035] Figure 6 It is a top view of the first telescopic member, the layer-changing gear, the second telescopic member, and the running wheel installed on the vehicle body in Embodiment 1 of the utility model;

[0036] Figure 7 This is a schematic diagram of the arrangement of the reversing wheel in Embodiment 1 of the utility model;

[0037] Figure 8 This is a schematic diagram of the overall structure of Embodiment 2 of the present utility model;

[0038] Fig. 9 This is a schematic diagram of the overall structure of Example 3 of the utility model Figure 1 ;

[0039] Fig.10 This is a schematic diagram of the overall structure of Example 3 of the utility model Figure 2 ;

[0040] Fig.11 This is a schematic diagram of the cooperation between the handling robot and the rack in Example 3 of the utility model;

[0041] Among them, 1. mother car, 2. walking track, 3. lifting belt, 4. cargo platform, 5. telescopic fork mechanism, 6. lifting drive motor, 7. winch wheel, 8. angle adjustment mechanism, 9. push drive, 10. push rod, 11. walking wheel, 12. layer changing gear, 13. first steering gear, 14. first moving shaft, 15. first guide seat, 16. connecting plate, 17. telescopic shaft, 18. second steering gear, 19. second moving shaft, 20. second guide seat, 21. connecting seat, 22. axle, 23. third motor, 24. first transmission mechanism, 25. intermediate shaft, 26. second transmission mechanism, 27. transmission shaft, 28. third transmission mechanism, 29. guide block, 30. guide column, 31. battery, 32. gyroscope, 33. laser rangefinder, 34. reversing wheel, 35. protective shell, 36. shelf, 37. lane changing track, 38. rack. DETAILED DESCRIPTION

[0042] Example 1

[0043] This embodiment provides a transport robot such as Figure 1 As shown, it includes a mother car 1 and a cargo platform 4. The mother car 1 is used to cooperate with a fixed walking track 2. The walking track 2 is fixed on the shelf or fixed on the other external frame structure. The mother car 1 can walk along the walking track 2. The mother car 1 is provided with a lifting drive mechanism, which is connected to the lifting belt 3. The movable end of the lifting belt 3 is connected to the cargo platform 4 located below the mother car 1. The cargo platform 4 is provided with a telescopic picking and placing structure. The telescopic picking and placing structure adopts a telescopic fork mechanism 5. The telescopic fork mechanism 5 is used to pick up and place goods. The telescopic fork mechanism 5 can adopt an existing structure, such as the telescopic fork mechanism disclosed in patent application CN117585346A, including a telescopic mechanism and a fork. Its specific structure is not described in detail here. Of course, the telescopic picking and placing structure is for picking up goods from the side of the goods. In addition to the fork structure, it can also be other structures, such as a hook-type telescopic picking structure or a suction cup-type telescopic picking structure. This application does not limit this.

[0044] The mother vehicle 1 can travel along the travel track 2, thereby driving the cargo platform 4 to make horizontal movements through the lifting belt. At the same time, the lifting drive mechanism can drive the cargo platform 4 to rise and fall through the lifting belt 3, so that the cargo platform 4 reaches the target cargo position on the shelf.

[0045] The number of the lifting belts 3 is set to four or five or more, and the technical personnel in this field can set it according to actual needs. Preferably, the number of the lifting belts 3 is four, and the four corners of the cargo platform 4 are respectively fixedly connected to the movable ends of the four lifting belts 3, and the lifting belts 3 are connected to the lifting drive mechanism installed on the mother vehicle 1.

[0046] In this embodiment, in order to reduce the shaking of the cargo platform 4 during movement and ensure the smoothness of cargo transportation, the lifting belt 3 is inclined toward the center position of the cargo platform 4 along the top-to-bottom direction, and the lifting belt 3 is at a set acute angle to the vertical direction. Compared with the vertical setting of the lifting belt in a traditional handling robot, this setting method reduces the shaking of the cargo platform 4 and ensures the smoothness of the movement of the cargo platform 4.

[0047] The lifting drive mechanism includes multiple drive components. Preferably, a drive component is arranged corresponding to each lifting belt. Since four lifting belts 3 are arranged, four drive components are installed on the mother vehicle 1. In this embodiment, after the lifting belts are used for a long time, the length of the part between the mother vehicle 1 and the cargo platform 4 will change, resulting in the cargo platform 4 being unable to remain horizontal. Therefore, each lifting belt 3 corresponds to a drive component, and each lifting belt 3 can be independently folded and released. Therefore, the lifting belt 3 can be adjusted by the drive component to keep the cargo platform 4 horizontal.

[0048] In order to detect whether the cargo platform 4 is in a horizontal state, a posture detection element is installed on the cargo platform and / or the mother vehicle.

[0049] In one embodiment, Figure 2 As shown, the posture detection element adopts a gyroscope 32, and the gyroscope 32 is installed on the cargo platform 4.

[0050] In another embodiment, the posture detection element uses a plurality of laser rangefinders 33, which are installed on the bottom surface of the mother vehicle or the top surface of the cargo platform. The distance between the cargo platform and the mother vehicle at different positions detected by the laser rangefinder 33 is used to determine whether the cargo platform is level.

[0051] Preferably, Figure 3 As shown, two laser rangefinders are provided, and the two laser rangefinders are distributed along the traveling direction of the mother vehicle. The two laser rangefinders 33 are fixed on the bottom surface of the mother vehicle, and the lasers emitted by the two laser rangefinders can irradiate the cargo platform 4.

[0052] The driving assembly adopts a hoisting mechanism, including a lifting drive component, and the lifting drive component adopts a lifting drive motor 6 installed on the mother vehicle. The lifting drive motor 6 is connected to the reducer, and the output shaft of the reducer is connected to the hoisting wheel 7, which can drive the hoisting wheel 7 to rotate. The lifting belt 3 is wound on the hoisting wheel 7, and its movable end extends downward at an angle and is fixedly connected to the cargo platform 4.

[0053] The bottom surface of the mother vehicle 1 is also provided with four angle adjustment mechanisms 8, each lifting belt 3 corresponds to an angle adjustment mechanism 8, and the angle adjustment mechanism 8 cooperates with the lifting belt 3 to adjust the angle of the set acute angle between the lifting belt 3 and the vertical direction.

[0054] like Figure 4 As shown, the angle adjustment mechanism 8 is installed on the bottom surface of the mother vehicle 1, including a mounting plate 8-1. The mounting plate 8-1 is an inverted U-shaped plate. The mounting plate 8-1 is fixedly connected to the mother vehicle 1 by multiple bolts. An angle adjustment member is arranged in the internal space of the mounting plate 8-1. After the lifting belt 3 extends from the winch wheel 7 and passes around the angle adjustment member, its movable end extends downwardly and is fixedly connected to the cargo platform 4.

[0055] In order to reduce the friction damage to the lifting belt, the angle adjustment member adopts an angle adjustment wheel 8-2, the angle adjustment wheel 8-2 is in contact with the lifting belt 3, the angle adjustment wheel 8-2 is rotatably connected to the wheel frame, and the wheel frame is connected to the horizontal moving drive mechanism. The horizontal moving drive mechanism can drive the wheel frame and the angle adjustment wheel to move in a straight line, and the movement direction is the same as the travel direction of the mother vehicle.

[0056] The horizontal movement driving mechanism adopts a screw transmission mechanism or a gear rack transmission mechanism, preferably a screw transmission mechanism 8-3. The outer sides of the two vertical parts of the mounting plate are provided with a screw transmission mechanism 8-3, and the moving parts of the two screw transmission mechanisms 8-3 are connected to the wheel frame.

[0057] The screw transmission mechanism 8-3 includes a driving servo, which is fixed to the outer side of the vertical part of the mounting plate 8-1. The output shaft of the driving servo is connected to one end of the screw, and the other end of the screw is rotatably connected to the bearing seat, which is fixed to the outer side of the vertical part of the mounting plate 8-1.

[0058] Both lead screws are threadedly connected to the wheel frame, and the wheel frame is slidingly connected to the mounting plate through a long groove. The two driving servos rotate synchronously, and can drive the wheel frame and the angle adjustment wheel 8-2 to do linear motion through the lead screw, thereby adjusting the angle of the set acute angle between the lifting belt 3 and the vertical direction to meet the use requirements of various working conditions.

[0059] Furthermore, in order to ensure the stability of the cargo platform 4 during the process of picking up and placing goods, at least one cargo platform stabilizer is provided on both sides of the cargo platform 4 parallel to the traveling direction. The cargo platform stabilizer adopts a telescopic push rod or a rotating rocker arm. In the present embodiment, the cargo platform stabilizer adopts a telescopic push rod, including a push driving member 9, which is connected to the push driving member 9 and can drive the push rod 10 to move, and the movement direction is perpendicular to the traveling direction of the mother vehicle.

[0060] In this embodiment, push driving members 9 are provided at the four corner positions of the cargo platform 4 .

[0061] The pushing drive component 9 adopts an electric telescopic rod or the pushing drive component includes a pushing steering gear, which is fixed on a steering gear seat, and the steering gear seat is fixedly connected to the cargo platform 4. The output shaft of the pushing steering gear is connected to a gear, and the gear is meshed with a rack structure arranged on the surface of the push rod 10. The push rod 10 is slidably connected to the steering gear seat, and the pushing steering gear drives the gear to rotate. Under the meshing action of the gear and the rack structure, the push rod 10 can be driven to move in a straight line. When the push rod 10 moves outward, it can rest against the shelf surface on the side of the cargo platform 4, thereby maintaining the stability of the cargo platform when picking up and placing goods.

[0062] In another embodiment, the cargo platform stabilizer adopts a rotating rocker arm, which includes a rotating drive member, which is fixed to the cargo platform and connected to the rocker arm. The rotating drive member adopts a device that can output rotational motion, such as a motor, or a linear telescopic element connected to a rack, the rack is meshed with a gear, and the gear is connected to the rocker arm. Technical personnel in this field can set it according to actual needs.

[0063] The rotary drive member can drive the swing rod to rotate, so that the swing rod rotates until the end portion abuts against the side surface of the shelf.

[0064] like Figure 5-Figure 6 As shown, the mother vehicle comprises a vehicle body, and two running wheels 11 are respectively arranged on the front and rear sides of the vehicle body, wherein the two running wheels 11 on the front side are coaxially arranged, and the two running wheels 11 on the rear side are coaxially arranged.

[0065] At least one first telescopic member is disposed on both sides of the vehicle body parallel to the traveling direction. In this embodiment, two first telescopic members are disposed on both sides.

[0066] The first telescopic member is connected to the layer-changing gear 12 and can drive the layer-changing gear 12 to perform telescopic movement along a direction perpendicular to the traveling direction.

[0067] The first telescopic member includes a first rotating driving member, which adopts a first steering gear or a first motor, preferably a first steering gear 13, which is fixed to the vehicle body, and an output shaft of the first steering gear 13 is connected to a first gear, which is meshed with a rack structure arranged on an axial surface of a first movable shaft 14, and the first movable shaft 14 is arranged along the telescopic direction of the first telescopic member, and the first movable shaft 14 is slidingly connected to a first guide seat 15 fixed to the vehicle body, and an end of the first movable shaft 14 is fixedly connected to a connecting plate 16, and the connecting plate 16 is rotatably connected to one end of a telescopic shaft 17, and the telescopic shaft 17 can rotate around its own axis, and the other end of the telescopic shaft 17 extends to the outside of the side frame of the vehicle body and is connected to a layer-changing gear 12.

[0068] The first steering gear 13 works and can drive the first movable shaft 14 to perform telescopic motion through the meshing action of the first gear and the first movable shaft rack structure, thereby driving the telescopic shaft 17 and the layer-changing gear 12 to perform telescopic motion through the first movable shaft 14 and the connecting plate 16 .

[0069] In another embodiment, the first telescopic member is an electric telescopic rod installed on the vehicle body, and the end of the telescopic shaft is rotatably connected to the telescopic part of the electric telescopic rod.

[0070] At the same time, the telescopic shaft 17 is connected to the rotation driving mechanism, and the rotation driving mechanism can drive the telescopic shaft 17 to rotate around its own axis, thereby driving the layer-changing gear to rotate.

[0071] In this embodiment, a rack matching the layer-changing gear 12 is provided on the shelf on the side of the transport robot, and the rack is arranged along the height direction of the shelf. When the first telescopic member drives the layer-changing gear 12 to extend and engage with the rack on the shelf, the rotating drive mechanism drives the layer-changing gear 12 to rotate, so that the entire mother vehicle 1 can perform lifting and lowering movements to achieve layer changing.

[0072] In order to prevent the travel track from affecting the lifting of the mother vehicle 1, the travel wheel 11 is connected to the second telescopic member, and the second telescopic member can drive the travel wheel to extend and retract. When the travel wheel is retracted, the lifting of the mother vehicle 1 is not affected by the travel track 2.

[0073] Specific:

[0074] The second telescopic member adopts a second rotating drive member installed on the vehicle body, and the second rotating drive member adopts a second servo or a second motor, preferably a second servo 18. The output shaft of the second servo 18 is connected to the second gear, and the second gear is meshed with the rack structure on the second movable shaft 19. The second movable shaft 19 is arranged along the telescopic direction of the second telescopic member. The second movable shaft 19 is slidably connected to the second guide seat 20, and the second guide seat 20 is fixed on the vehicle body. The end of the second movable shaft 19 is fixedly connected to the connecting seat 21, and the connecting seat 21 is slidably connected to the vehicle body through a slide rail. The connecting seat 21 is rotatably connected to the wheel axle 22, and the wheel axle 22 is connected to the walking wheel 11.

[0075] The second servo 18 drives the second gear to rotate, and under the meshing action of the second gear and the rack structure on the second movable shaft 19, the second movable shaft 19 is driven to make a linear motion. The second movable shaft 19 drives the wheel axle 22 to make a linear motion through the connecting seat 21, thereby realizing the contraction and extension of the walking wheel 11.

[0076] The wheel axle 22 is connected to a rotation drive mechanism, and the rotation drive mechanism can drive the wheel axle to rotate, thereby achieving walking on the guide rail.

[0077] In this embodiment, by setting the layer-changing gear 12, the lifting and lowering movement of the mother vehicle 1 can be realized, thereby adjusting the height of the mother vehicle 1, avoiding the excessive length of the lifting belt 3 caused by the excessive distance between the mother vehicle 1 and the cargo platform 4 when transferring goods, and further avoiding the unstable transportation caused by the excessive length of the lifting belt 3 between the mother vehicle 1 and the cargo platform 4.

[0078] The two rotating drive mechanisms are provided, respectively located at the front and rear sides of the vehicle body. The front rotating drive mechanism is used to drive the rotation of the two running wheels and the two telescopic shafts on the front side of the vehicle body, and the rear rotating drive mechanism is used to drive the rotation of the two running wheels and the two telescopic shafts on the rear side of the vehicle body. The connection and working principles of the two rotating drive mechanisms are the same, and the front rotating drive mechanism is taken as an example for explanation.

[0079] The rotation drive mechanism includes a third rotation drive member, which adopts a third motor or a third hydraulic motor or other equipment that can output rotational motion. Preferably, the third rotation drive member adopts a third motor 23, and the output shaft of the third motor 23 is connected to the intermediate shaft 25 through a first transmission mechanism 24. The first transmission mechanism 24 adopts a belt transmission mechanism or a chain transmission mechanism, preferably a belt transmission mechanism. Both ends of the intermediate shaft 25 are rotatably connected to the bearing seat, and the bearing seat is fixed on the vehicle body.

[0080] The middle position of the intermediate shaft 25 is connected to the transmission shaft 27 through the second transmission mechanism 26, and the transmission shaft 27 is rotatably connected to the vehicle body through a bearing seat. The second transmission mechanism 26 adopts a belt transmission mechanism or a chain transmission mechanism, preferably a belt transmission mechanism. The two ends of the transmission shaft 27 are respectively connected to the wheel axle 22 connected to the two front walking wheels 11 by a key connection. The wheel axle 22 can make a linear motion relative to the transmission shaft and can also rotate synchronously with the transmission shaft.

[0081] The two ends of the intermediate shaft 25 are respectively connected to the two telescopic shafts through the third transmission mechanism 28, and the telescopic shafts are connected to the driven members of the third transmission mechanism through key connection.

[0082] The third transmission mechanism 28 adopts a belt transmission mechanism or a chain transmission mechanism, preferably a belt transmission mechanism. The telescopic shaft 17 is connected to the driven pulley by a key connection. The telescopic shaft 17 can perform linear motion and can rotate synchronously with the driven pulley.

[0083] The two telescopic shafts 17 and the two traveling wheels 11 on the same side share a rotation driving mechanism, which reduces the number of rotation driving mechanisms and makes the structure of the mother vehicle more compact.

[0084] The mother vehicle is also provided with a power source, and the power source can be a battery 31, which is used to supply power to various electrical components on the mother vehicle and the cargo platform.

[0085] Furthermore, a conductive wire is provided in the lifting belt, and the conductive wire is connected to the battery for charging the battery. The conductive wire can be provided by the existing technology and will not be described in detail here.

[0086] The vehicle body is also provided with a protective shell 35 to protect various components installed on the vehicle body.

[0087] In this embodiment, when the lane-changing track between adjacent lanes of the rack is a curved track, only the running wheel 11 is provided. When the lane-changing track is a right-angle track or the lane-changing track is vertically connected to the running track 2, such as Figure 7 As shown, it is necessary to set a reversing wheel 34 on the handling robot mother vehicle. In this embodiment, two opposite sides of the mother vehicle are provided with walking wheels 11, and the other two opposite sides are provided with reversing wheels 34. The axis of the reversing wheel 34 is perpendicular to the axis of the walking wheel 11. The reversing wheel 34 adopts an existing electric wheel or is connected to a driving mechanism installed on the mother vehicle. The driving mechanism adopts an existing mechanism that can output rotational motion, which is not described in detail here.

[0088] Example 2

[0089] This embodiment provides a transport robot. Compared with the first embodiment, the difference is that the lifting belt is arranged along the height direction of the shelf, and the angle adjustment mechanism is omitted. Figure 8 As shown, guide blocks 29 are provided on the two sides of the cargo platform, and guide columns 30 pass through the guide blocks 29. The guide blocks 29 are slidably connected with the guide columns 30 to realize the sliding connection between the cargo platform 4 and the guide columns 30. The top end of the guide columns 30 is fixed on the bottom surface of the body of the mother vehicle 1.

[0090] The rest of the structure of this embodiment is the same as that of Embodiment 1 and will not be described again here.

[0091] Example 3

[0092] This embodiment provides a shelf storage system, such as Fig. 9 As shown, multiple rows of shelves 36 are included, and an aisle is formed between two adjacent rows of shelves 36. The transport robot described in Example 1 or Example 2 is arranged between two adjacent rows of shelves 36. Walking tracks 2 are arranged on the shelves 36, and the walking wheels 11 of the transport robot cooperate with the walking tracks 2.

[0093] A lane-changing track 37 is arranged between the running tracks 2 of adjacent rows of shelves 36. The lane-changing track 37 is arranged perpendicular to the running track 2, and / or the lane-changing track 37 is arranged at one end of the shelf 36 and connects the running tracks 2 at the same height in different lanes.

[0094] In this embodiment, the lane change track 37 is arranged at the end of the shelf, adopts a curved track, and is located at the top of the shelf 36. The curved track is fixedly connected to the ends of the walking tracks 2 on the shelves on both sides of the adjacent lanes. At this time, the mother vehicle only needs to be provided with walking wheels 11.

[0095] When a single transport robot is used, the lane-changing track 37 is set on the top of the shelf. When multiple transport robots are used, multiple lane-changing tracks 37 can be set, and their heights can be set according to actual needs.

[0096] In some other embodiments, such as Fig.10 As shown, the lane-changing track 37 may also be a right-angle track or the lane-changing track 37 is not arranged at the end of the running track 2, but is directly connected vertically with the running tracks 2 on both sides of the adjacent lane shelves, that is, the lane-changing track 37 is arranged along the second direction, and the second direction is a direction perpendicular to the running track 2, that is, the second direction is perpendicular to the first direction. At this time, the mother vehicle needs to be provided with a reversing wheel 34 perpendicular to the running wheel axis.

[0097] The shelf-type storage system also includes a cargo handover device, which is used to hand over the cargo to be stored to the transport robot, or to receive the cargo to be shipped out of the warehouse transported by the transport robot.

[0098] In this embodiment, the cargo transfer device uses an AGV vehicle, a cache rack + AGV vehicle, a conveyor line, an elevator, etc. Existing equipment can be used and will not be described in detail here.

[0099] In some other embodiments, such as Fig.10 As shown, a vertically arranged rack 38 is also provided at the set position of the shelf 36, and the rack is used to cooperate with the layer-changing gear 12. The rack 38 passes through the walking track 2 through the gap set by the walking track 2, and the gap of the walking track 2 should meet the crossing requirements of the walking wheels.

[0100] The remaining structures of the shelf storage system can adopt existing technologies and will not be described in detail here.

[0101] The mother vehicle moves along the running track 2 of the shelf, and drives the cargo platform to rise and fall through the lifting drive mechanism and the lifting belt, so as to move the cargo platform to the target cargo position, and the cargo platform picks up and places the cargo at the target cargo position of the shelf through the telescopic fork mechanism 5.

[0102] Although the above describes the specific implementation methods of the utility model in combination with the accompanying drawings, it is not intended to limit the scope of protection of the utility model. Technical personnel in the relevant field should understand that on the basis of the technical solution of the utility model, various modifications or deformations that can be made by technical personnel in this field without creative work are still within the scope of protection of the utility model.

Claims

1. A transport robot, characterized in that: It includes a mother vehicle and a cargo platform, wherein the cargo platform is connected to one end of a plurality of lifting belts, and the other end of the lifting belts is connected to a lifting drive mechanism on the mother vehicle, and the mother vehicle can drive the cargo platform to rise and fall through the lifting drive mechanism; The mother vehicle is provided with a walking mechanism for cooperating with a walking track arranged on the shelf along a first direction, wherein the first direction is parallel to the extension direction of the lane; the cargo platform is provided with a telescopic picking and placing structure for picking and placing goods stored on the shelf sideways.

2. The handling robot according to claim 1, characterized in that: Along the direction from top to bottom, the plurality of lifting belts are inclined toward the center position of the cargo platform and are arranged at a set angle with the vertical direction.

3. The handling robot according to claim 1, characterized in that: The mother vehicle is also equipped with an angle adjustment mechanism, which cooperates with the lifting belt to adjust the size of a set angle between the lifting belt and the vertical direction.

4. The handling robot according to claim 3, characterized in that: The angle adjustment mechanism comprises a horizontal movement driving mechanism installed on the mother vehicle, the horizontal movement driving mechanism is connected to an angle adjustment member, and the angle adjustment member is in contact with the lifting belt.

5. The handling robot according to claim 4, characterized in that: The angle adjustment member is an angle adjustment wheel, which is connected to the horizontal movement driving mechanism and contacts and cooperates with the lifting belt.

6. The handling robot according to claim 1, characterized in that: The cargo platform is slidably connected to the guide column, and the guide column is fixedly connected to the mother vehicle.

7. The handling robot according to claim 1, characterized in that: The lifting drive mechanism includes a plurality of drive components, and each of the drive components is connected to a corresponding lifting belt to drive the cargo platform to perform lifting motion through the lifting belt.

8. The handling robot according to claim 7, characterized in that: The driving assembly comprises a lifting driving member installed on the mother vehicle, the output shaft of the lifting driving member is connected to the winch wheel, the lifting belt is wound around the winch wheel, and the movable end of the lifting belt is connected to the cargo platform.

9. The handling robot according to claim 7, characterized in that: The cargo platform and / or the mother vehicle are equipped with a posture detection element.

10. A handling robot as claimed in claim 9, characterized in that: The posture detection element adopts a gyroscope installed on the cargo platform, or the posture detection element adopts a laser rangefinder, and the laser rangefinder is installed on the top surface of the cargo platform or the bottom surface of the mother vehicle.

11. The handling robot according to claim 1, characterized in that: At least one cargo platform stabilizing member is arranged on both sides of the cargo platform, and the cargo platform stabilizing member includes a telescopic push rod or a rotating rocker arm, and the telescopic push rod or the rotating rocker arm can be against the shelf surface on the side of the cargo platform after the cargo platform moves into place.

12. The handling robot according to claim 1, characterized in that: The mother vehicle includes a vehicle body, at least two first telescopic parts and at least two second telescopic parts are provided on both sides of the vehicle body, the first telescopic parts are connected to the telescopic shaft, the end of the telescopic shaft is connected to the layer-changing gear, the second telescopic parts are connected to the wheel axle, the end of the wheel axle is connected to the walking wheel, and the telescopic shaft and the wheel axle are both connected to a rotating drive mechanism installed on the vehicle body.

13. A shelf storage system, characterized in that: It includes multiple rows of shelves, and the shelves on both sides of the aisle are equipped with walking tracks; The walking track is provided with the transport robot described in any one of claims 1-12, and the transport robot is used to move horizontally in the lane along the walking track to pick up and place goods from the target cargo positions of the shelves on both sides of the lane.

14. The shelf storage system according to claim 13, characterized in that: The shelf is provided with a lane-changing track at a set height position, which is used to connect the travel tracks of the same height in different lanes; the lane-changing track is arranged perpendicular to the travel track, and / or the lane-changing track is a curved track.

15. The shelf storage system according to claim 13, characterized in that: It also includes a cargo handover device for handing over cargo to be stored in the warehouse to the transport robot, or receiving cargo to be shipped out of the warehouse transported by the transport robot.

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