Carrying robot and goods shelf warehousing system

Abstract

The utility model relates to a transfer robot and a goods shelf warehousing system, belongs to the technical field of warehousing, solves the problem that an existing transfer robot cannot move to other roadways, and comprises a mother vehicle, the mother vehicle is provided with a plurality of lifting mechanisms, the lifting mechanisms are connected with a lifting belt, and the movable end of the lifting belt is connected with a goods carrying table. The cargo carrying table is provided with a telescopic cargo taking and placing mechanism, the mother vehicle is provided with a plurality of walking mechanisms used for being matched with walking rails, each walking mechanism comprises a rotating component fixed to the mother vehicle, the axis of an output shaft of each rotating component is vertically arranged and connected with a wheel frame, the wheel frames are connected with walking wheels, and the walking wheels are connected with the rotating components. And the walking wheels of at least one walking mechanism are electric wheels, the transfer robot can move to other roadways, and the cargo transfer efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of storage 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] At present, the handling robots in the warehousing system include a mother car and a cargo platform. The mother car is connected to the cargo platform through a lifting belt, and the mother car is connected to the track fixed on the shelf. The mother car moves along the track, and the lifting belt drives the cargo platform to rise and fall, so that the cargo platform moves to the target cargo location for picking up and placing goods. The current handling robot mother car can only move along the aisles of adjacent shelves along the extension direction of the aisles through the track, and cannot move to other aisles. It is necessary to set up a handling robot in each row of aisles. When goods corresponding to shelves in different aisles need to be transferred, the handling robot in the aisle corresponding to the shelf where the goods are currently located needs to transfer the goods to the goods handover device such as the AGV vehicle, and then the goods handover device delivers the goods to the handling robot corresponding to the aisle where the target cargo location is located, and then the handling robot delivers the goods to the target cargo location, which increases the process of transfer through the cargo transfer device and has low cargo transfer efficiency. Utility Model Content

[0004] The purpose of the utility model is to overcome the deficiencies of the above-mentioned prior art and to provide a handling robot and a shelf storage system that can walk to other aisles and transfer goods to shelves corresponding to different aisles, thereby eliminating the transfer process of the goods transfer device and improving the efficiency of goods transfer.

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

[0006] In the first aspect, an embodiment of the utility model provides a handling robot, including a mother cart, the mother cart is provided with a plurality of lifting mechanisms, the lifting mechanisms are connected to a lifting belt, the movable end of the lifting belt is connected to a cargo platform, the cargo platform is provided with a telescopic picking and placing mechanism, the mother cart is provided with a plurality of walking mechanisms for cooperating with a walking track, the walking mechanism includes a rotating component fixed to the mother cart, the rotating component is connected to a wheel frame, the wheel frame is connected with a walking wheel, the rotating component can drive the walking wheel to change the walking direction, wherein at least one walking wheel of the walking mechanism adopts an electric wheel.

[0007] Optionally, the rotating parts are provided at the four corners of the mother vehicle.

[0008] Optionally, the rotating component is fixed to a rotating component fixing seat, and the rotating component fixing seat is fixed to the mother vehicle.

[0009] Optionally, the distance between the bottom of the traveling wheel and the bottom surface of the mother vehicle is greater than the distance between the bottom surface of the cargo platform and the bottom surface of the mother vehicle when the cargo platform is raised to the position closest to the mother vehicle.

[0010] Optionally, the rotating component adopts a steering drive motor or a steering drive servo with the output shaft axis arranged vertically.

[0011] Optionally, the electric wheel includes a wheel body, the wheel body is connected to the output shaft of the travel drive motor, and the travel drive motor is fixed on the wheel frame.

[0012] Optionally, the lifting mechanism adopts a winch lifting mechanism, including a lifting motor fixed to the mother vehicle, the output shaft of the lifting motor is connected to the winch disk, the lifting belt is wound on the winch disk, and the lifting belt passes through the mother vehicle and its movable end is connected to the cargo platform.

[0013] In the second aspect, an embodiment of the utility model provides a shelf storage system, characterized in that it includes multiple rows of shelves, aisles are formed between adjacent shelves, and walking tracks are arranged on the shelves. It also includes the transport robot described in the first aspect, and the walking wheels of the transport robot cooperate with the walking tracks, wherein the walking tracks include a first track and a second track, the first track is fixed on the shelves on both sides of the aisle, and the second track is arranged crosswise with the first track and connects the first tracks corresponding to multiple aisles.

[0014] Optionally, the walking track is arranged on the top of the shelf or at an arbitrarily set height layer.

[0015] 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.

[0016] The beneficial effects of the above utility model are as follows:

[0017] 1. The handling robot and shelf storage system of the utility model, the mother vehicle is provided with a rotating component, the rotating component is connected to the wheel frame, the wheel frame is equipped with running wheels, the rotating component can drive the running wheels to rotate, thereby changing the direction of the running wheels, and cooperating with the second track, so that the mother vehicle can move from the current lane to other lanes, realizing the direct transfer of goods from the shelves of the current lane to the shelves of other lanes, eliminating the transfer process using the goods handover device, and improving the transfer efficiency of goods.

[0018] 2. The handling robot and shelf storage system of the utility model realizes the reversal of the mother vehicle's travel by changing the direction of the walking parts by rotating parts. There is no need to set a set of walking wheels and corresponding walking drive mechanisms for each movement direction, which simplifies the structure of the mother vehicle and reduces the size of the mother vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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.

[0020] Figure 1 This is a schematic diagram of the overall structure of the first embodiment of the utility model Figure 1 ;

[0021] Figure 2 This is a schematic diagram of the overall structure of the first embodiment of the utility model Figure 2 ;

[0022] Figure 3 This is a schematic diagram of the structure of the mother vehicle in Embodiment 1 of the utility model;

[0023] Figure 4 This is a schematic diagram of the overall structure of Embodiment 2 of the present utility model;

[0024] Among them, 1. mother car, 2. lifting mechanism, 3. lifting belt, 4. cargo platform, 5. telescopic cargo pick-up and release mechanism, 6. rotating parts, 7. wheel frame, 8. rotating parts fixing seat, 9. walking track, 10. wheel body, 11. walking drive motor, 12. power supply, 13. shelf;

[0025] 9-1. First track, 9-2. Second track. DETAILED DESCRIPTION

[0026] Example 1

[0027] This embodiment provides a transport robot such as Figure 1-Figure 3 As shown, it includes a mother car 1, on which are installed a plurality of lifting mechanisms 2, which are connected to a lifting belt 3. After the lifting belt 3 passes through the mother car 1, its movable end is connected to a cargo platform 4 located below the mother car 1. The mother car 1 can drive the cargo platform 4 to move in the horizontal direction and the vertical direction through the lifting belt 2, so that the cargo platform 4 moves to the target cargo position of the shelf. A telescopic picking and placing mechanism 5 is provided on the cargo platform 4, and the telescopic picking and placing mechanism 5 is used to deliver the goods to the target cargo position of the shelf or to take the goods on the shelf to the cargo platform.

[0028] The mother vehicle 1 is provided with a plurality of traveling mechanisms, which are used to cooperate with the traveling tracks 9 fixed on the shelves. The mother vehicle 1 drives the cargo platform 4 to move in the horizontal direction through the traveling mechanisms, and the lifting mechanism 2 drives the cargo platform 4 to move in the vertical direction through the lifting belt 3.

[0029] In this embodiment, four lifting mechanisms 2 are provided, and the four lifting mechanisms 2 are respectively arranged at the four corners of the internal space of the mother vehicle 1. The lifting mechanism 2 can adopt the lifting mechanism 2 for the existing handling robot mother vehicle, that is, a winch-type lifting mechanism is adopted, including a lifting drive motor fixed to the mother vehicle, and the output shaft of the lifting drive motor is connected to the winch disk, which can drive the winch disk to rotate. A lifting belt 3 is wound on the winch disk, and after the lifting belt 3 passes through the mother vehicle 1, its movable end is connected to the corner of the cargo platform 4.

[0030] The cargo platform 4 is provided with a telescopic cargo pickup and placement mechanism 5, which can be made of existing technology, such as the telescopic cargo fork mechanism disclosed in the patent application CN117585346A, including a telescopic mechanism and a cargo fork, and its specific structure is not described in detail here. Of course, the telescopic cargo pickup and placement structure is for picking up cargo from the side of the cargo, and in addition to the cargo fork structure, it can also be other structures, such as a hook-type telescopic cargo pickup structure or a suction cup-type telescopic cargo pickup structure, and this application does not limit this.

[0031] In this embodiment, four walking mechanisms are provided, and the four walking mechanisms are respectively located on the outer sides of the four corners of the mother vehicle, and the walking mechanisms include a rotating component 6, a wheel frame 7 and walking wheels.

[0032] It is understandable that the walking mechanism can be set to three or five or more, and multiple walking mechanisms need to be arranged in multiple rows. Those skilled in the art can set the number of walking mechanisms according to actual needs to meet actual needs.

[0033] It is understandable that the traveling mechanism can be fixed at the four corners of the mother vehicle 1, or can be fixed at the bottom surface or other positions of the mother vehicle 1, as long as the use requirements are met, and will not be described in detail here.

[0034] The rotating component 6 is fixed on the mother vehicle 1, and its output shaft is connected to the wheel frame 7. The axis of the output shaft of the rotating component 6 is vertically arranged, thereby being able to drive the wheel frame 7 to rotate around the vertical axis.

[0035] The rotating component 6 is a device capable of outputting rotational motion, such as a steering drive motor or a steering drive servo. Preferably, the rotating component is a steering drive servo.

[0036] Furthermore, the rotating component 6 is fixed on a rotating component fixing seat 8 , and the rotating component fixing seat 8 is fixed on a corner of the mother vehicle 1 .

[0037] Furthermore, the rotating component fixing seat 8 adopts an L-shaped plate, including a vertical plate and a vertical plate arranged vertically. The top of the vertical plate is fixed to the mother vehicle 1, and the rotating component 6 is fixed on the horizontal plate. The output shaft of the rotating component 6 passes through the horizontal plate and is connected to the wheel frame 7. A triangular stiffening plate is provided between the ends on the same side of the vertical plate and the horizontal plate to improve the structural strength of the entire rotating component fixing seat 8. The stiffening plate is fixed to the horizontal plate, the vertical plate and the outer side of the mother vehicle 1.

[0038] The wheel frame 7 is connected with a running wheel, and the running wheel is used to cooperate with a running track 9 fixed on the shelf. The running wheel moves along the running track 9, thereby driving the mother vehicle 1 to move.

[0039] Among the multiple walking wheels, at least one walking wheel is an electric wheel that can perform active walking. In this embodiment, in order to ensure the stability of the movement of the mother vehicle, the four walking wheels are all electric wheels, including a wheel body 10, which is used to cooperate with the walking track 9. The wheel body 10 is connected to the output shaft of the walking drive motor 11, and the walking drive motor 11 is installed on the wheel frame 7.

[0040] The travel drive motor 11 can drive the wheel body 10 to rotate, thereby driving the travel wheel to move along the travel track 9 .

[0041] Furthermore, the distance between the bottom of the traveling wheel and the bottom of the mother vehicle 1 is greater than the distance between the bottom of the cargo platform 4 and the bottom of the mother vehicle 1 when the cargo platform 4 is raised to the position closest to the mother vehicle 1, so that when the transport robot moves to other aisles, the cargo platform will not interfere with the shelf after being raised to the highest position.

[0042] Furthermore, a power supply 12 is provided in the middle of the mother vehicle, and the power supply 12 is used to power the electrical equipment of the transport robot. In this embodiment, the power supply 12 can be a battery, and the connection method between the battery and the electrical equipment can adopt the existing technology, which will not be described in detail here. The two sides of the power supply 12 are control systems, and the control system is electrically connected to all the motors of the transport robot to control the operation of the motors.

[0043] The remaining structures of the transport robot can adopt existing technologies and will not be described in detail here.

[0044] The transport robot of this embodiment has a rotating component that can drive the traveling wheels to rotate, thereby changing the direction of the traveling wheels, so that the mother vehicle can move from the current aisle to other aisles, and directly transfers the goods from the shelves of the current aisle to the shelves of other aisles, eliminating the transfer process using the goods handover device and improving the transfer efficiency of the goods.

[0045] At the same time, at least one traveling wheel adopts an electric wheel, and there is no need to set up a traveling drive mechanism for the traveling wheel in the mother vehicle. Moreover, the traveling wheel can turn, and there is no need to set up a set of traveling wheels and corresponding traveling drive mechanisms for each movement direction, which simplifies the structure of the mother vehicle and reduces the size of the mother vehicle.

[0046] Example 2

[0047] This embodiment provides a shelf storage system, such as Figure 4 As shown, it includes multiple rows of shelves 13, and lanes are formed between adjacent rows of shelves 13. Walking tracks 9 are fixed on the shelves 13. It also includes the handling robot described in Example 1, and the walking wheels of the handling robot cooperate with the walking tracks 9.

[0048] In this embodiment, the walking track 9 includes a first track 9-1 and a second track 9-2 which are cross-connected, wherein preferably, the first track 9-1 and the second track 9-2 are vertically cross-arranged, the first track 9-1 is fixed on the shelves 13 on both sides of the lane, the first track 9-1 is arranged along the extension direction of the lane, the second track 9-2 is perpendicular to the first track 9-1, and both ends of the second track 9-2 are respectively connected to the first tracks 9-1 corresponding to the two adjacent lanes, thereby connecting the two lanes.

[0049] Further, the first track 9 - 1 is arranged on the top of the shelf 13 , and correspondingly, the second track 9 - 2 is also arranged on the top of the shelf 13 .

[0050] It is understandable that the travel track 9 can also be set at any set height level of the shelf 13. In this case, the shelf needs to reserve space for the transport robot to pass through.

[0051] The shelf 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.

[0052] The cargo transfer device adopts an AGV vehicle or a buffer rack + AGV vehicle or a conveyor line or an elevator, etc., and existing equipment can be used, which will not be described in detail here.

[0053] In the shelf storage system of this embodiment, when the goods need to be transferred from the shelf corresponding to the current aisle to the aisles corresponding to the remaining shelves, after the cargo platform obtains the goods through the telescopic pick-up and release mechanism, the mother vehicle moves along the first track to the second track that is closest, and the steering component drives the running wheels to rotate 90°, and then the mother vehicle walks along the second track to the target aisle, and then the mother vehicle moves along the first track of the target aisle, and cooperates with the lifting and lowering movement of the lifting belt to move the cargo platform to the position corresponding to the target cargo position, and then the telescopic pick-up and release mechanism delivers the goods to the target cargo position, eliminating the transfer process using the cargo handover device and improving the transfer efficiency of the goods.

[0054] The remaining structures of the shelf storage system can adopt existing technologies and will not be described in detail here.

[0055] 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 handling robot, comprising a mother vehicle, the mother vehicle is provided with a plurality of lifting mechanisms, the lifting mechanisms are connected to a lifting belt, the movable end of the lifting belt is connected to a cargo platform, the cargo platform is provided with a telescopic cargo picking and placing mechanism, the mother vehicle is provided with a plurality of walking mechanisms for cooperating with a walking track, characterized in that: The walking mechanism includes a rotating component fixed to the mother vehicle, the rotating component is connected to a wheel frame, the wheel frame is connected to a walking wheel, and the rotating component can drive the walking wheel to change the walking direction, wherein at least one walking wheel of the walking mechanism is an electric wheel.

2. A handling robot as claimed in claim 1, characterized in that: The rotating parts are arranged at the four corners of the mother vehicle.

3. A handling robot as claimed in claim 1, characterized in that: The rotating component is fixed to the rotating component fixing seat, and the rotating component fixing seat is fixed to the mother vehicle.

4. A handling robot as claimed in claim 1, characterized in that: When the cargo platform is raised to the position closest to the mother vehicle, the height of the horizontal plane where the lower surface of the cargo platform is located is higher than the height of the horizontal plane where the upper surface of the walking track is located.

5. A handling robot as claimed in claim 1, characterized in that: The rotating component adopts a steering drive motor or a steering drive steering gear with the output shaft axis vertically arranged.

6. A handling robot as claimed in claim 1, characterized in that: The electric wheel comprises a wheel body, the wheel body is connected to the output shaft of a travel drive motor, and the travel drive motor is fixed on a wheel frame.

7. A handling robot as claimed in claim 1, characterized in that: The lifting mechanism adopts a winch lifting mechanism, including a lifting motor fixed to a mother vehicle, wherein the output shaft of the lifting motor is connected to a winch disk, the lifting belt is wound around the winch disk, and the lifting belt passes through the mother vehicle and its movable end is connected to a cargo platform.

8. A shelf storage system, characterized in that: It includes a plurality of rows of shelves, with lanes formed between adjacent shelves, and walking tracks arranged on the shelves. It also includes the transport robot described in any one of claims 1 to 7, and the walking wheels of the transport robot cooperate with the walking tracks, wherein the walking tracks include a first track and a second track, the first track is fixed to the shelves on both sides of the lane, and the second track is arranged to cross the first track and connect the first tracks corresponding to multiple lanes.

9. A shelf storage system as claimed in claim 8, characterized in that: The travel track is arranged on the top of the shelf or at an arbitrarily set height layer.

10. A shelf storage system as claimed in claim 8, 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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