Goods shelf and warehousing system

Abstract

The utility model provides a goods shelf and a warehousing system, and relates to the technical field of warehouse logistics. The goods shelf comprises a goods shelf body, guide rails and supporting bases. The goods shelf body comprises a plurality of stand columns and a plurality of cross beams. The multiple stand columns extend in the vertical direction and are arranged at intervals in the first horizontal direction. Any cross beam in the plurality of cross beams is connected with at least two stand columns, and the plurality of cross beams are arranged at intervals in the vertical direction; the supporting seat is connected with at least one cross beam in the plurality of cross beams and extends along a second horizontal direction; the guide rails extend in the vertical direction; the guide rails are connected with the shelf body through supporting seats. When the guide rail is assembled, the guide rail can be directly mounted on the supporting seat, so that the guide rail does not need to be butted and fixed with the stand column, the mounting convenience of the guide rail is improved, and the mounting cost is reduced.

Description

Technical Field

[0001] This application relates to the technical field of warehousing logistics, and particularly relates to a shelf and a warehousing system. Background Art

[0002] With the development of artificial intelligence and automation technologies, robots are widely used in the field of warehousing logistics for picking, placing, transporting, and sorting goods. In a logistics system, goods are usually stored on shelves, and robots with corresponding functions pick and place goods or complete the task of transporting goods by docking with shelves or conveyor lines, etc.

[0003] In the related art, a robot can have a climbing function, and the robot can climb on the shelf through a guide rail to perform operations of picking and placing goods.

[0004] However, currently, the installation structure of the guide rail on the shelf is complex, the installation cost is high, and the installation accuracy is low. Summary of the Utility Model

[0005] This application provides a shelf and a warehousing system to at least partially solve the technical problems that the installation structure of the guide rail on the current shelf is complex, the installation cost is high, and the installation accuracy is low.

[0006] In a first aspect, this application provides a shelf, which includes a shelf body, a guide rail, and a support seat; the shelf body includes a plurality of columns and a plurality of crossbeams; the plurality of columns all extend in the vertical direction, and the plurality of columns are arranged at intervals in a first horizontal direction; any one of the plurality of crossbeams is connected to at least two columns, and the plurality of crossbeams are arranged at intervals in the vertical direction.

[0007] The support seat is connected to at least one of the plurality of crossbeams and extends in a second horizontal direction, and the guide rail extends in the vertical direction; the guide rail is connected to the shelf body through the support seat. The shelf may further include a connecting member, and the connecting member is arranged on a side of the guide rail facing the shelf body; the connecting member is connected to the support seat; the connecting member at least partially extends above the support seat and abuts against the upper surface of the support seat.

[0008] The shelf provided by the embodiments of this application improves the installation convenience of the guide rail, reduces the installation cost, and improves the installation accuracy by arranging a support seat on the crossbeam. When assembling the guide rail, the guide rail can be directly installed with the support seat, so that the guide rail does not need to be docked and fixed with the column.

[0009] As an optional implementation manner, there are at least two guide rails, and the at least two guide rails can be located on the same side of the shelf body.

[0010] With such a setting, the space occupied by the guide rail can be reduced, and the warehousing density of the warehousing system can be improved.

[0011] As an alternative embodiment, a plurality of support seats are arranged on the same cross beam, and the heights of the plurality of support seats relative to the horizontal plane on the same cross beam are the same.

[0012] As an alternative embodiment, the first end of the support seat is connected to at least one cross beam, the second end of the support seat extends away from the main body of the shelf, and the guide rail is connected to the second end of the support seat.

[0013] With such a setting, it is convenient to install the guide rail and improve the installation convenience.

[0014] As an alternative embodiment, the second end of the support seat is provided with a first threaded hole, the guide rail is provided with a first mounting hole, and the first mounting hole and the first threaded hole are connected by a first fastener, so as to fix the support seat and the guide rail.

[0015] With such a setting, the reliability of the connection between the guide rail and the support seat can be improved.

[0016] As an alternative embodiment, the first mounting hole may include a first hole section and a second hole section, and the first hole section and the second hole section are communicated; the first hole section is opposite to the first threaded hole; the radius of the second hole section is larger than the radius of the first hole section.

[0017] With such a setting, it is convenient for the first fastener to pass through the first mounting hole, and the rapid installation of the guide rail can be realized.

[0018] As an alternative embodiment, the connecting piece may include a first connecting section and a second connecting section connected to each other; the first connecting section is connected to the guide rail; the second connecting section bends towards the support seat relative to the first connecting section and extends above the support seat, and the second connecting section is fixedly connected to the support seat.

[0019] As an alternative embodiment, the upper surface of the support seat is provided with a second threaded hole, the second connecting section is provided with a second mounting hole opposite to the second threaded hole, and the second mounting hole and the second threaded hole are connected by a second fastener, so as to fixedly connect the support seat and the guide rail.

[0020] With such a setting, multiple guide rails can be aligned, and the second fastener is prevented from bearing the weight of the guide rail, thereby improving the structural reliability.

[0021] As an alternative embodiment, one of the plurality of cross beams may include a cross beam main body and two connecting pieces, and the two connecting pieces may be respectively connected to both ends of the cross beam main body; the two connecting pieces are respectively connected to the columns at both ends of the cross beam.

[0022] With such a setting, the convenience of assembling the cross beam and the column can be improved, and the installation efficiency can be improved.

[0023] As an optional embodiment, there can be multiple guide rails and support seats, wherein two support seats are respectively connected to the connecting plates at both ends of the beam; at least one support seat is connected to the beam body; and multiple guide rails are connected one-to-one with multiple support seats arranged along the length direction of the beam.

[0024] With such an arrangement, the horizontal positions of the plurality of support seats are ensured to be consistent through the crossbeam, thereby ensuring that the installation positions of the plurality of guide rails are flush.

[0025] As an optional embodiment, the guide rail may include a bottom wall and two side walls, the two side walls are respectively connected to the two sides of the bottom wall and are arranged to form a guide groove; the shelf may also include a plurality of hanging parts, the plurality of hanging parts are all arranged in the guide groove and are arranged at intervals along the extension direction of the guide groove.

[0026] With such arrangement, when the robot climbs onto the shelf along the guide rail, the hanging member can support the robot in the guide groove.

[0027] As an optional embodiment, one of the multiple hanging parts may include a protruding portion and two connecting portions; the two connecting portions are respectively connected to the two ends of the protruding portion, and the connecting portions are both connected to the bottom wall; the protruding portion protrudes relative to the bottom wall; a hanging tooth portion is provided on the connecting portion, and the guide rail is provided with a hanging groove, and the hanging tooth portion is clamped in the hanging groove.

[0028] With such arrangement, the hanging part is hung on the guide rail for installation, thereby improving the installation convenience.

[0029] As an optional implementation, each connecting portion is provided with at least two hanging tooth portions; and the at least two hanging tooth portions are respectively connected to two sides of the connecting portion.

[0030] With such an arrangement, both sides of the hanging member are supported at the same time, which can improve the reliability of the connection between the hanging member and the guide rail.

[0031] As an optional implementation, the two connecting parts are provided with a third mounting hole, the bottom wall is provided with a fourth mounting hole, and the third mounting hole and the fourth mounting hole connect the hanging part and the guide rail through a third fastener.

[0032] Such an arrangement prevents the hanging member from shaking in the guide groove and prevents the hanging member from falling out of the hanging groove.

[0033] As an optional implementation, the two side walls respectively have a folded portion, which is connected to a side of the side wall facing away from the bottom wall; and the folded portion is folded toward the outside of the guide groove.

[0034] With such arrangement, when the robot is docked with the guide rail, the folding portion can abut against the robot for limiting position, thereby ensuring the accuracy of the docking between the robot and the guide rail.

[0035] As an alternative embodiment, the guide rail may include at least two guiding sections, and the at least two guiding sections are sequentially butted in the vertical direction; the adjacent two guiding sections are detachably connected.

[0036] With such a setting, when the guide rail is damaged, it is convenient to better repair part of the guide rail, improve the maintenance convenience, and reduce the maintenance cost.

[0037] As an alternative embodiment, one of the adjacent two guiding sections may be provided with a clamping protrusion, and the other of the adjacent two guiding sections may be provided with a clamping groove; the clamping protrusion and the clamping groove are clamped.

[0038] With such a setting, the accuracy of the docking of the two guiding sections can be ensured.

[0039] As an alternative embodiment, the adjacent ends of the adjacent two guiding sections jointly form a connection hole, and the shelf may further include a connecting plate and a fourth fastener. The connecting plate is located at the docking position of the adjacent two guiding sections and abuts against the two guiding sections; the fourth fastener is configured to connect the connecting plate and the support base through the connection hole.

[0040] With such a setting, the two adjacent guiding sections can be pressed tightly by the connecting plate to prevent the two guiding sections from being misaligned.

[0041] In a second aspect, the present application provides a warehousing system, which includes a robot and the shelf in the above technical solution; the robot is configured to move on the ground, or dock with the shelf and move along the guide rail of the shelf.

[0042] As an alternative embodiment, there are multiple shelves, and the multiple shelves are arranged at intervals, and there is an aisle between adjacent shelves; the guide rail is only arranged on one side inside the aisle.

[0043] With such a setting, the robot can climb along the shelf on one side of the aisle, which is beneficial to reducing the aisle width and improving the warehousing density of the warehousing system.

[0044] As an alternative embodiment, a detection hole is provided at one end of the guide rail close to the bottom of the shelf, and the robot is provided with a detection unit; the detection unit judges the relative position between the robot and the guide rail by detecting the detection hole.

[0045] With such a setting, the rapid alignment of the robot and the guide rail can be realized, and the docking efficiency of the robot and the shelf can be improved.

[0046] The present application provides a shelf and a warehousing system. The shelf includes a shelf body, guide rails, and support seats; the shelf body includes a plurality of columns and a plurality of crossbeams; the plurality of columns all extend in the vertical direction, and the plurality of columns are arranged at intervals in the first horizontal direction; any one of the plurality of crossbeams is connected to at least two columns, and the plurality of crossbeams are arranged at intervals in the vertical direction; the support seat is connected to at least one of the plurality of crossbeams and extends in the second horizontal direction, and the guide rails extend in the vertical direction; the guide rails are connected to the shelf body through the support seats. When assembling the guide rails, the guide rails can be directly installed on the support seats, so that the guide rails do not need to be docked and fixed with the columns, improving the installation convenience of the guide rails and reducing the installation cost.

[0047] In addition to the technical problems solved by the embodiments of the present application described above, the technical features constituting the technical solutions, and the beneficial effects brought by the technical features of these technical solutions, the other technical problems that can be solved by the shelf and the warehousing system provided by the present application, the other technical features included in the technical solutions, and the beneficial effects brought by these technical features will be further described in detail in the specific implementation manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0049] Figure 1 It is a schematic structural diagram of the shelf provided by the embodiment of the present application;

[0050] Figure 2 For Figure 1 The partial view at position A in

[0051] Figure 3 It is a schematic connection diagram of the crossbeam, the support seat, and the guide rail in the shelf provided by the embodiment of the present application;

[0052] Figure 4 For Figure 3 The front view of

[0053] Figure 5 For Figure 4 The partial view at position B in

[0054] Figure 6 For Figure 4 The side view of

[0055] Figure 7 It is a schematic connection diagram of the guide rail and the connecting member in the shelf provided by the embodiment of the present application;

[0056] Figure 8 Schematic diagram of the installation of the hanging part in the shelf provided by the embodiment of the present application;

[0057] Figure 9 Schematic diagram of the structure of the hanging part in the shelf provided by the embodiment of the present application;

[0058] Figure 10 Schematic diagram of the structure of the cross beam in the shelf provided by the embodiment of the present application;

[0059] Figure 11 Schematic diagram of the multi-section connection of the guide rail in the shelf provided by the embodiment of the present application;

[0060] Figure 12 Exploded view of the multi-section connection position of the guide rail in the shelf provided by the embodiment of the present application;

[0061] Figure 13 Schematic diagram of the structure of the storage system provided by the embodiment of the present application.

[0062] Explanation of reference numerals:

[0063] 10 - Shelf;

[0064] 100 - Shelf main body; 110 - Column; 120 - Cross beam; 121 - Cross beam main body; 122 - Connecting piece; 130 - Cross beam;

[0065] 200 - Guide rail; 201 - First mounting hole; 201a - First hole section; 201b - Second hole section; 202 - First fastener; 203 - Guide groove; 204 - Hanging groove; 205 - Fourth mounting hole; 206 - Detection hole; 210 - Bottom wall; 220 - Side wall; 230 - Folding part; 240 - Guide section; 241 - Clamping protrusion; 242 - Clamping groove;

[0066] 300 - Support seat; 301 - First threaded hole; 302 - Second threaded hole;

[0067] 400 - Connecting piece; 410 - First connecting section; 420 - Second connecting section; 421 - Second mounting hole; 430 - Second fastener;

[0068] 500 - Hanging part; 510 - Protruding part; 520 - Connecting part; 521 - Third mounting hole; 530 - Hanging tooth part; 540 - Third fastener;

[0069] 600 - Connecting plate; 610 - Fourth fastener;

[0070] 20 - Robot. Detailed implementation manners

[0071] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some, but not all, of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of this application without creative efforts shall fall within the scope of protection of this application.

[0072] First of all, those skilled in the art should understand that these embodiments are only used to explain the technical principles of this application and are not intended to limit the protection scope of this application. Those skilled in the art can make adjustments according to needs to adapt to specific application scenarios.

[0073] Secondly, it should be noted that in the description of this application, terms indicating directions or positional relationships such as "upper", "lower", "left", "right", "front", "rear", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0074] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this disclosure. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0075] In this application, the terms "connection" and "installation" can be used interchangeably. "Connection" can be a direct connection or an indirect connection through middleware; it can be a fixed connection or a movable connection. When it is a "fixed connection", it can be a fixed connection by integral molding or a detachable fixed connection through a fixing member (such as a screw).

[0076] Various robots are widely used in various fields such as industry and life, and robots play an important role in industries such as transportation and logistics. In a warehousing and logistics system, goods are usually stored on shelves, and robots pick up and place goods by docking with the shelves or conveyor lines and can transport the goods. Currently, some robots can have a climbing function, and the robots can climb onto the shelves through guide rails to pick up and place goods. However, currently, the installation structure of the guide rails on the shelves is complex, the installation cost is high, and the installation accuracy is relatively low.

[0077] In view of the above problems, an embodiment of the present application provides a shelf and a warehousing system. By designing the connection structure between the guide rail and the shelf, the support seat on the shelf crossbeam is used to support and fix the guide rail, improving the convenience of guide rail installation, simplifying the installation structure of the guide rail, and reducing the cost of guide rail installation on the shelf.

[0078] For ease of understanding, first, the application scenarios of the shelf and the warehousing system provided by the embodiments of the present application will be described.

[0079] The shelf provided in this embodiment is applied to a warehousing system for storing goods. Among them, the warehousing system can be applied to logistics warehousing in industrial production lines, storage of inventory products in manufacturing, storage of products in retail, or express storage in e-commerce logistics and other different fields. And the products or goods involved in transportation can be industrial parts, electronic accessories or products, drugs, clothing and ornaments, food, books, etc. Moreover, it can directly transfer goods or transfer material boxes (containers) containing goods. The embodiments of the present application do not make specific limitations in this regard. Hereinafter, "material box" will be used to refer to the objects stored on the shelf without specific examples.

[0080] Figure 1 It is a schematic structural diagram of the shelf provided by the embodiment of the present application. Figure 2 is Figure 1 a partial view of position A in

[0081] As Figure 1 and Figure 2 shown, this embodiment provides a shelf 10, which includes a shelf main body 100, a guide rail 200, and a support seat 300. The shelf main body 100 is used to store material boxes. The guide rail 200 is connected to the shelf main body 100 through the support seat 300. In the warehousing system, a robot can climb up the shelf 10 along the guide rail 200 and pick up and place material boxes from the shelf main body 100.

[0082] Among them, the shelf main body 100 includes a plurality of columns 110 and a plurality of crossbeams 120. The plurality of columns 110 extend in the vertical direction, and the plurality of columns 110 are arranged at intervals in the first horizontal direction. Any one of the plurality of crossbeams 120 is connected to at least two columns 110, and the plurality of crossbeams 120 are arranged at intervals in the vertical direction. The columns 110 and the crossbeams 120 form a frame structure of the shelf main body 100. A warehousing layer is formed between two adjacent crossbeams 120, and the shelf 10 can have a plurality of warehousing layers. Each warehousing layer can have at least one storage location, and material boxes can be stored in the storage locations.

[0083] Exemplarily, a plurality of vertical columns 110 are arranged in an array. Cross beams 120 are connected to both the front vertical columns 110 and the rear vertical columns 110 of the shelf main body 100, and a bearing member is connected between the front and rear cross beams 120. The bearing member is used to bear the material box placed in the storage location. The structural form adopted by the bearing member may include but is not limited to a laminate, a plurality of rollers, a plurality of cross beams, etc., and the embodiments of the present application do not make specific limitations in this regard. For example, when using a cross beam 130, as Figure 2 shown, one storage location may include 2 cross beams 130 spaced at a certain distance, and the weight of the material box is jointly supported by the 2 cross beams 130.

[0084] In some embodiments, the support base 300 is connected to at least one of the plurality of cross beams 120 and extends along the second horizontal direction. The guide rail 200 extends in the vertical direction. The guide rail 200 is connected to the shelf main body 100 through the support base 300.

[0085] The shelf 10 may further include a connecting member 400. The connecting member 400 is disposed on the side of the guide rail 200 facing the shelf main body 100. The connecting member 400 is connected to the support base 300. The connecting member 400 at least partially extends above the support base 300 and abuts against the upper surface of the support base 300 (i.e., is placed above the support base 300). It should be noted that here, the connecting member 400 may directly abut against the upper surface of the support base 300, or the connecting member 400 may abut against the upper surface of the support base 300 through a gasket, a washer, etc. The support base 300 can bear the weight of the guide rail 200 through the connecting member 400, improving the reliability of the installation of the guide rail 200.

[0086] In some embodiments, there are at least two guide rails 200, and they are located on the same side of the shelf main body 100.

[0087] It can be understood that the support base 300 is fixedly connected to the cross beam 120, and the support base 300 plays a role in supporting and fixing the guide rail 200. The cross beam 120 extends in the horizontal direction, so that the respective support bases 300 connected to the same cross beam 120 are arranged at intervals in the horizontal direction. Among them, the ground clearance heights of the respective support bases 300 on the same cross beam 120 are the same, so that the guide rails 200 connected to different support bases 300 on the same cross beam 120 can maintain the consistency of the ground clearance height.

[0088] It should be noted that in the shelf 10 provided by the embodiments of the present application, by providing the support base 300 on the cross beam 120, when assembling the guide rail 200, the guide rail 200 can be directly installed with the support base 300. Therefore, the guide rail 200 does not need to be docked and fixed with the vertical column 110, improving the installation convenience of the guide rail 200 and reducing the installation cost.

[0089] In addition, the columns 110 and crossbeams 120 of the shelf body 100 can both be profiles made of metals or alloys such as iron and aluminum. The embodiments of the present application do not make specific limitations on the size, material, etc. of the shelf body 100.

[0090] In some embodiments, at least two guide rails 200 can all be located on the same side of the shelf body 100, so as to reduce the space occupied by the guide rails 200 and improve the storage density of the storage system.

[0091] It can be understood that the guide rails 200 can be arranged on the side facing the storage location entrance of the shelf 10. One guide rail 200 is respectively arranged on both sides of the storage location entrance of the shelf 10. When the robot of the storage system docks with the shelf 10, it can dock with the guide rails 200 on both sides of the storage column where the corresponding storage location is located.

[0092] Define the length direction of the column 110 as the X direction, the X direction is the vertical direction, the length direction of the crossbeam 120 as the Y direction, and the Y direction is the first horizontal direction. The direction perpendicular to the XY plane is the Z direction, and the Z direction is the second horizontal direction.

[0093] In some embodiments, multiple support seats 300 are arranged on the same crossbeam 120, and the heights of the multiple support seats 300 relative to the horizontal plane on the same crossbeam 120 are the same. Multiple guide rails 200 are respectively installed on the multiple support seats 300 along the length direction of the crossbeam 120, improving the position accuracy of installing the multiple guide rails 200.

[0094] The specific connection structure between the support seat 300 and the guide rail 200 will be described in detail below.

[0095] Figure 3 It is a schematic diagram of the connection of the crossbeam, support seat, and guide rail in the shelf provided by the embodiments of the present application. Figure 4 is Figure 3 the front view of Figure 5 is Figure 4 the partial view at position B in Figure 6 is Figure 4 the side view of

[0096] Please refer to Figures 2 to 6 In some embodiments, the first end of the support seat 300 is connected to at least one crossbeam 120, the second end of the support seat 300 extends in a direction away from the shelf body 100, and the guide rail 200 is connected to the second end of the support seat 300. In this way, the guide rail 200 is fixedly supported by the support seat 300. When assembling the guide rail 200, it is only necessary to connect the guide rail 200 to the support seat 300. The support seat 300 makes a certain gap between the guide rail 200 and the shelf body 100, thus facilitating the installation operation of the guide rail 200 and improving the installation convenience.

[0097] It can be understood that the support base 300 extends along the Z direction.

[0098] Exemplarily, the first end of the support base 300 and the cross beam 120 can be connected by fasteners such as bolts, or the first end of the support base 300 can be welded or integrally formed with the cross beam 120. The embodiments of the present application do not make specific limitations on this.

[0099] Exemplarily, the support base 300 is made of metal or alloy such as iron and aluminum. The support base 300 can be a profile member, which is convenient for processing and forming and reduces the manufacturing cost.

[0100] It should be noted that the guide rail 200 and the support base 300 can adopt a variety of different connection methods, which will be described below through different specific examples.

[0101] Please refer to Figures 3 to 5 , in a possible implementation manner, a first threaded hole 301 is provided at the second end of the support base 300, a first mounting hole 201 is provided on the guide rail 200, and the first mounting hole 201 is opposite to the first threaded hole 301. The shelf 10 further includes a first fastener 202, and the first fastener 202 passes through the first mounting hole 201 and is screwed with the first threaded hole 301, thereby improving the connection reliability between the guide rail 200 and the support base 300.

[0102] Exemplarily, the first fastener 202 can be a bolt. The first mounting hole 201 can include a first hole section 201a and a second hole section 201b, and the first hole section 201a and the second hole section 201b are communicated. The first hole section 201a is opposite to the first threaded hole 301, and the radius of the second hole section 201b is greater than the radius of the first hole section 201a. In this way, the first mounting hole 201 forms a calabash hole structure, which is convenient for the first fastener 202 to pass through the first mounting hole 201, and can realize the rapid installation of the guide rail 200, avoiding the situation that the first fastener 202 cannot pass through the first mounting hole 201 due to processing errors.

[0103] Figure 7 It is a connection schematic diagram of the guide rail and the connecting member in the shelf provided by the embodiment of the present application.

[0104] Please refer to Figure 6 and Figure 7 , and in combination with Figures 1 to 3 , in another possible implementation manner, the connecting member 400 can be welded to the guide rail 200. When assembling the guide rail 200, the connecting member 400 can be first placed above the support base 300, and the support base 300 supports the guide rail 200, so as to quickly and accurately position the guide rail 200. Subsequently, the guide rail 200 and the support base 300 are fixed, improving the assembly convenience.

[0105] In some embodiments, the connecting member 400 may include a first connecting section 410 and a second connecting section 420, and the first connecting section 410 and the second connecting section 420 are connected. The first connecting section 410 is connected to the guide rail 200, and the second connecting section 420 is bent relative to the first connecting section 410 toward the support base 300 and extends above the support base 300, and the second connecting section 420 is fixedly connected to the support base 300.

[0106] In some embodiments, the shelf 10 may further include a second fastener 430. A second threaded hole 302 is provided on the upper surface of the support base 300, and a second mounting hole 421 opposite to the second threaded hole 302 is provided on the second connecting section 420. The second fastener 430 passes through the second mounting hole 421 and is screwed into the second threaded hole 302. In this way, the second fastener 430 can be avoided from bearing the shear force caused by the weight of the guide rail 200, and the second fastener 430 only plays a fixing role, improving the service life of the second fastener 430.

[0107] Exemplarily, the second fastener 430 is a bolt. A plurality of second threaded holes 302 are provided on the upper surface of the support base 300, and a plurality of second mounting holes 421 are provided on the second connecting section 420. The plurality of second mounting holes 421 are arranged in one-to-one correspondence with the plurality of second threaded holes 302, improving the connection reliability between the connecting member 400 and the support base 300. The number of the second mounting holes 421 and the second threaded holes 302 can both be two, three or more, and the embodiments of the present application do not make specific limitations thereto.

[0108] It should be noted that when installing a plurality of guide rails 200, the respective connecting members 400 of the plurality of guide rails 200 can be respectively arranged on different support bases 300 in the length direction of the cross beam 120, so as to align the plurality of guide rails 200 and ensure the consistency of the ground clearance of the plurality of guide rails 200.

[0109] Please refer to Figure 1 and Figure 2 , in the embodiments of the present application, the guide rail 200 extends in the vertical direction, that is, the guide rail 200 extends along the X direction and passes through a plurality of cross beams 120 arranged in the vertical direction. Different positions in the length direction of each guide rail 200 can be respectively connected to the support bases 300 on the cross beams 120 at the corresponding height positions, so that there are a plurality of different installation and fixing points in the length direction of the guide rail 200, improving the installation reliability of the guide rail 200. Any one of the above connection methods with the support base 300 can be adopted for different positions in the length direction of the guide rail 200, or different connection methods with the support base 300 can be respectively adopted.

[0110] Exemplarily, taking a guide rail 200 as an example, there are multiple connection and fixation positions from the bottom end to the top end of the guide rail 200. Each connection and fixation position is respectively connected to a support seat 300 on the cross beam 120 at the corresponding height position. Among them, the connection and fixation position near the ground end is opposite to the cross beam 120 at the bottom end of the shelf body 100. The guide rail 200 and the support seat 300 on the cross beam 120 at this connection and fixation position can be connected by a connecting piece 400, and the other connection and fixation positions above this can be connected to the support seat 300 on the corresponding cross beam 120 by a first fastener 202. In this way, while having a good support and positioning effect on the guide rail 200, the installation convenience of the guide rail 200 is improved.

[0111] Figure 10 It is a schematic structural view of a cross beam in the shelf provided by the embodiment of the present application.

[0112] Please refer to Figure 10 and in combination with Figures 1 to 3 , in some embodiments, one cross beam 120 among the multiple cross beams 120 may include a cross beam main body 121 and two connecting pieces 122. The two connecting pieces 122 may be respectively connected to both ends of the cross beam main body 121, and the two connecting pieces 122 are respectively connected to the columns 110 at both ends of the cross beam 120, so as to improve the convenience of assembling the cross beam 120 and the column 110 and improve the installation efficiency.

[0113] It can be understood that the connecting piece 122 and the end of the cross beam main body 121 may be connected by welding or integrally formed, or the connecting piece 122 and the end of the cross beam main body 121 may be connected and fixed by fasteners such as bolts.

[0114] Exemplarily, the shape of the connecting piece 122 may be an "L" - shaped structure. Thus, when the connecting piece 122 is docked with the column 110, the connecting piece 122 can be in contact with the adjacent two side surfaces of the column 110 at the same time, positioning the front - rear installation position of the cross beam 120 relative to the column 110 and improving the accuracy of the installation position of the cross beam 120. The connecting piece 122 and the column 110 can be connected by fasteners such as bolts.

[0115] In some embodiments, both the guide rail 200 and the support seat 300 may be multiple. Among them, two support seats 300 are respectively connected to the connecting pieces 122 at both ends of the cross beam 120. At least one support seat 300 is connected to the cross beam main body 121. The multiple guide rails 200 are connected to the multiple support seats 300 arranged along the length direction of the cross beam 120 in one - to - one correspondence.

[0116] It can be understood that the cross beam 120 extends along the Y direction, and the cross beam 120 spans multiple storage locations of a storage layer along the Y direction. A plurality of support seats 300 arranged along the Y direction are connected to the same cross beam 120, with one support seat 300 provided at each end of the cross beam 120, and at least one support seat 300 is also provided at the middle position of the cross beam 120. The distance between two adjacent support seats 300 can match the width of the storage location. Correspondingly, the distance between two adjacent guide rails 200 matches the width of the storage location.

[0117] It should be noted that by horizontally arranging the cross beam 120, the positions of a plurality of support seats 300 in the horizontal direction can be guaranteed to be consistent, and further, the installation positions of a plurality of guide rails 200 can be guaranteed to be flush, so that the installation heights of a plurality of guide rails 200 are consistent.

[0118] The specific structure of the guide rail 200 will be described in detail below.

[0119] Figure 8 It is a schematic diagram of the installation of the hanging parts in the shelf provided by the embodiment of the present application. Figure 9 It is a schematic diagram of the structure of the hanging parts in the shelf provided by the embodiment of the present application.

[0120] Please refer to Figure 8 and Figure 9 and in combination with Figures 1 to 3 , in a possible implementation manner, the guide rail 200 may include a bottom wall 210 and two side walls 220. The two side walls 220 are respectively connected to both sides of the bottom wall 210 and enclose to form a guiding groove 203. The shelf 10 may further include a plurality of hanging parts 500, and the plurality of hanging parts 500 are all arranged in the guiding groove 203 and are arranged at intervals along the extending direction of the guiding groove 203.

[0121] It can be understood that the guiding groove 203 extends along the X direction, and a plurality of hanging parts 500 in the guiding groove 203 are arranged at equal intervals along the X direction. The plurality of hanging parts 500 form an engaging structure with the robot in the guiding groove 203. When the robot climbs up the shelf 10 along the guide rail 200, the hanging parts 500 can support the robot in the guiding groove 203.

[0122] In some embodiments, one of the plurality of hanging parts 500 may include a protruding part 510 and two connecting parts 520. The two connecting parts 520 are respectively connected to both ends of the protruding part 510. The connecting parts 520 are both connected to the bottom wall 210, and the protruding part 510 protrudes relative to the bottom wall 210. The protruding part 510 plays an engaging role in docking with the robot.

[0123] The connecting portion 520 is provided with a toothed portion 530, and the guide rail 200 is provided with a hanging groove 204. The toothed portion 530 is engaged with the hanging groove 204, so that the hanging member 500 can be hung on the guide rail 200 for installation, thereby improving the convenience of installation. The toothed portion 530 can be bent relative to the connecting portion 520 in a direction away from the protruding portion 510. The hanging groove 204 can be set at the position where the bottom wall 210 and the side wall 220 intersect.

[0124] Exemplarily, each connection portion 520 is provided with at least two hanging tooth portions 530, and at least two hanging tooth portions 530 are respectively connected to both sides of the connection portion 520, so that both sides of the hanging member 500 are supported at the same time, which can improve the reliability of the connection between the hanging member 500 and the guide rail 200.

[0125] In some embodiments, a third mounting hole 521 may be provided on both connecting parts 520, and a fourth mounting hole 205 may be provided on the bottom wall 210. The shelf 10 may also include a third fastener 540, which passes through the third mounting hole 521 and the fourth mounting hole 205 in sequence to connect the hanging component 500 and the guide rail 200, thereby preventing the hanging component 500 from shaking in the guide groove 203 and preventing the hanging component 500 from falling out of the hanging groove 204.

[0126] It is understandable that the hanging member 500 is supported in the guide groove 203 by the hanging tooth portion 530 cooperating with the hanging groove 204, and the third fastener 540 plays a role in fixing the hanging member 500, and the third fastener 540 does not bear radial shear force, thereby increasing the service life of the third fastener 540. When the robot climbs along the guide rail 200, the climbing structure of the robot engages and docks with the hanging member 500. At this time, part of the weight of the robot is borne by the hanging tooth portion 530 through the hanging member 500, thus ensuring that the hanging member 500 has good structural strength.

[0127] Exemplarily, the third fastener 540 is a rivet, and the hanging member 500 is fixed to the bottom wall 210 of the guide rail 200 by riveting.

[0128] In some embodiments, the two side walls 220 respectively have a folding portion 230, and the folding portion 230 is connected to the side of the side wall 220 away from the bottom wall 210. The folding portion 230 is folded toward the outside of the guide groove 203. When the robot is docked with the guide rail 200, the folding portion 230 can be used to abut against the robot to ensure the accuracy of the docking between the robot and the guide rail 200. For example, the climbing mechanism of the robot can be provided with at least two wheels, at least one of which can roll on the side of the folding portion 230 facing the shelf, and at least one wheel can roll on the side of the folding portion 230 away from the shelf.

[0129] Exemplarily, the side wall 220 can be vertically arranged relative to the bottom wall 210, and the folding part 230 can be vertically arranged relative to the side wall 220.

[0130] It should be noted that the protruding part 510, the connecting part 520, and the hanging tooth part 530 can be integrally formed or welded together. The material of the hanging part 500 can be a metal or alloy such as iron or aluminum, or the material of the hanging part 500 can be an engineering plastic with relatively high structural strength. The specific material and forming method of the hanging part 500 are not limited in the embodiments of the present application.

[0131] Figure 11 It is a schematic diagram of multi-section connection of the guide rail in the shelf provided by the embodiment of the present application. Figure 12 It is an exploded view of the multi-section connection position of the guide rail in the shelf provided by the embodiment of the present application.

[0132] Please refer to Figure 11 and Figure 12 and in combination with Figures 1 to 3 In a possible implementation manner, the guide rail 200 can include at least two guiding sections 240, and the at least two guiding sections 240 are sequentially butted in the vertical direction. The adjacent two guiding sections 240 are detachably connected. When the guide rail 200 is damaged, it is convenient to partially replace the guide rail 200, improving the maintenance convenience and reducing the maintenance cost.

[0133] Exemplarily, one of the adjacent two guiding sections 240 can be provided with a clamping protrusion 241, and the other of the adjacent two guiding sections 240 can be provided with a clamping groove 242. When the adjacent two guiding sections 240 are butted, the clamping protrusion 241 and the clamping groove 242 are clamped, so as to ensure the accuracy of the butt joint of the two guiding sections 240.

[0134] Exemplarily, the clamping protrusion 241 and the clamping groove 242 can be respectively arranged on the folding parts 230 of two adjacent guiding sections 240. The folding parts 230 on both sides of the guiding section 240 located above are respectively provided with clamping protrusions 241, and the folding parts 230 on both sides of the guiding section 240 located below are respectively provided with clamping grooves 242. In some other embodiments, clamping grooves can also be respectively arranged on the folding parts 230 on both sides of the guiding section 240 located above, and clamping protrusions can be respectively arranged on the folding parts 230 on both sides of the guiding section 240 located below.

[0135] It can be understood that the guiding section 240 at the end close to the ground is the starting position for the robot to dock with the guide rail 200. Therefore, the frequent docking or detachment of the guiding section 240 with the robot is likely to cause wear. When repairing the guiding section 240, only the guiding section 240 at the end close to the ground of the guide rail 200 can be disassembled and replaced, improving the convenience of equipment maintenance and reducing the maintenance cost.

[0136] In some embodiments, the adjacent ends of two adjacent guiding segments 240 jointly form a connection hole. The docking position of two adjacent guiding segments 240 faces the support base 300. The shelf 10 may further include a connecting plate 600 and a fourth fastener 610. The connecting plate 600 is located at the docking position of two adjacent guiding segments 240 and abuts against the two guiding segments 240. The fourth fastener 610 is configured to connect the connecting plate 600 and the support base 300 through the connection hole, so that the two adjacent guiding segments 240 can be pressed tightly by the connecting plate 600, preventing the dislocation of the two guiding segments 240.

[0137] Exemplarily, the fourth fastener 610 is a bolt. At a position on the guide rail 200 corresponding to the fourth fastener 610, at least one of the two adjacent wire segments is provided with an avoidance notch or an avoidance hole. The fourth fastener 610 passes through the avoidance hole or the avoidance notch and is connected to the corresponding support base 300, so that the connecting plate 600 can press tightly the two adjacent guiding segments 240.

[0138] Figure 13 It is a schematic structural diagram of the storage system provided by the embodiment of the present application.

[0139] Please refer to Figure 13 , the present application provides a storage system, which includes a robot 20 and the shelf 10 in the above technical solution. The robot 20 is configured to move on the ground, or dock with the shelf 10 and move up or down along the guide rail 200 of the shelf 10.

[0140] It can be understood that when the robot 20 docks with the shelf 10, it can first move to the storage column where the target storage location is located, dock with the guide rail 200 of the storage column, and move along the guide rail 200 to the corresponding storage layer, so as to reach the location where the target storage location is located.

[0141] In some embodiments, there may be multiple shelves 10, and the multiple shelves 10 are arranged at intervals, and there is an aisle between adjacent shelves 10. The guide rail 200 is located on the same side in the aisle, that is, in one aisle, only one side of the shelf 10 has a guide rail 200 on the side facing the aisle. The robot 20 can climb along the shelf 10 on one side of the aisle, which is beneficial to reducing the aisle width and increasing the storage density of the storage system.

[0142] It can be understood that when the robot 20 picks up and places goods in the aisle, the robot 20 can dock and climb with the guide rail 200 on one side of the aisle, and there is a certain gap between the robot 20 and the shelf 10 on the other side of the aisle. The robot 20 that climbs on one side can perform two-way pick-up and placement operations, that is, it can pick up and place the material boxes on the shelf 10 on the side where the guide rail 200 is provided, and can also pick up and place the material boxes on the shelf 10 on the side where the guide rail 200 is not provided.

[0143] Please refer toFigure 8 and Figure 13 In some embodiments, a detection hole 206 is provided at one end of the guide rail 200 close to the bottom of the shelf 10, and the robot 20 is provided with a detection unit. When the robot 20 is docked with the guide rail 200, the detection unit is opposite to the detection hole 206. The detection unit determines the relative position between the robot 20 and the guide rail 200 by detecting the detection hole 206, so as to quickly align the robot 20 and the guide rail 200 and improve the docking efficiency of the robot 20 and the shelf 10.

[0144] Exemplarily, the detection unit may be a laser sensor, an infrared sensor, etc., and the embodiments of the present application do not make specific limitations thereto.

[0145] It should be noted that the warehousing system provided by the embodiments of the present application may include all the technical solutions and technical effects of the foregoing shelf 10, which will not be elaborated herein.

[0146] The embodiments of the present application provide a shelf 10 and a warehousing system. The shelf 10 includes a shelf main body 100, a guide rail 200 and a support seat 300; the shelf main body 100 includes a plurality of columns 110 and a plurality of cross beams 120; the plurality of columns 110 all extend in the vertical direction and are arranged at intervals; the plurality of cross beams 120 are connected between adjacent columns 110, and the plurality of cross beams 120 are arranged at intervals in the vertical direction; the support seats 300 are all connected to the cross beams 120, and the guide rails 200 all extend in the vertical direction; the guide rails 200 are connected to the shelf main body 100 through the support seats 300. When assembling the guide rail 200, the guide rail 200 can be directly installed on the support seat 300, so that the guide rail 200 does not need to be docked and fixed with the column 110, improving the installation convenience of the guide rail 200 and reducing the installation cost.

[0147] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A shelf, characterized in that: The rack comprises a shelf body, a guide rail and a support seat; the shelf body comprises a plurality of columns and a plurality of beams; the plurality of columns extend in a vertical direction, and the plurality of columns are arranged at intervals in a first horizontal direction; any one of the plurality of beams is connected to at least two columns, and the plurality of beams are arranged at intervals in the vertical direction; The support seat is connected to at least one of the plurality of beams and extends along the second horizontal direction, and the guide rail extends along the vertical direction; the guide rail is connected to the shelf body through the support seat; The shelf further comprises a connecting member, which is arranged on a side of the guide rail facing the shelf body; the connecting member at least partially extends above the support seat and is used to abut against an upper surface of the support seat.

2. The shelf according to claim 1, characterized in that: There are at least two guide rails, and at least two guide rails are located on the same side of the shelf body.

3. The shelf according to claim 1, characterized in that: A plurality of support seats are arranged on the same cross beam, and the heights of the plurality of support seats relative to the horizontal plane on the same cross beam are the same.

4. The shelf according to claim 1, characterized in that: The first end of the support seat is connected to the at least one crossbeam, the second end of the support seat extends in a direction away from the shelf body, and the guide rail is connected to the second end of the support seat.

5. The shelf according to claim 4, characterized in that: A first threaded hole is provided at the second end of the support seat, and a first mounting hole is provided at the guide rail. The first mounting hole and the first threaded hole are connected via a first fastener, so that the support seat is fixedly connected to the guide rail.

6. The shelf according to claim 5, characterized in that: The first mounting hole includes a first hole segment and a second hole segment, the first hole segment and the second hole segment are connected; the first hole segment is opposite to the first threaded hole; the radius of the second hole segment is greater than the radius of the first hole segment.

7. The shelf according to claim 4, characterized in that: The connecting member includes a first connecting section and a second connecting section connected to each other; the first connecting section is connected to the guide rail; the second connecting section is bent toward the support seat relative to the first connecting section and extends to the top of the support seat; the second connecting section is fixedly connected to the support seat.

8. The shelf according to claim 7, characterized in that: A second threaded hole is provided on the upper surface of the support seat, and a second mounting hole opposite to the second threaded hole is provided on the second connecting section. The second mounting hole and the second threaded hole are connected by a second fastener, so that the support seat is fixedly connected to the guide rail.

9. The shelf according to any one of claims 1 to 8, characterized in that: One of the plurality of crossbeams comprises a crossbeam body and two connecting plates, wherein the two connecting plates are respectively connected to two ends of the crossbeam body; and the two connecting plates are respectively connected to columns at two ends of the crossbeam.

10. The shelf according to claim 9, characterized in that: There are multiple guide rails and multiple support seats, two of which are respectively connected to the connecting pieces at both ends of the beam; at least one support seat is connected to the beam body; and multiple guide rails are connected one-to-one with multiple support seats arranged along the length direction of the beam.

11. The shelf according to any one of claims 1 to 8, characterized in that: The guide rail includes a bottom wall and two side walls, the two side walls are respectively connected to the two sides of the bottom wall and are arranged to form a guide groove; the shelf also includes a plurality of hanging parts, the plurality of hanging parts are all arranged in the guide groove and are arranged at intervals along the extension direction of the guide groove.

12. The shelf according to claim 11, characterized in that: One of the multiple hanging parts includes a protruding portion and two connecting portions; the two connecting portions are respectively connected to the two ends of the protruding portion, and the two connecting portions are both connected to the bottom wall; the protruding portion protrudes relative to the bottom wall; the two connecting portions are both provided with hanging teeth, the guide rail is provided with a hanging groove, and the hanging teeth are clamped with the hanging groove.

13. The shelf according to claim 12, characterized in that: Each of the connecting parts is provided with at least two hanging tooth parts; and at least two hanging tooth parts are respectively connected to two sides of the connecting part.

14. The shelf according to claim 12, characterized in that: The two connecting parts are provided with a third mounting hole, the bottom wall is provided with a fourth mounting hole, and the third mounting hole and the fourth mounting hole connect the hanging part and the guide rail through a third fastener.

15. The shelf according to claim 12, characterized in that: The two side walls respectively have a folding portion, and the folding portion is connected to a side of the side wall away from the bottom wall; the folding portion is folded toward the outside of the guide groove.

16. The shelf according to any one of claims 1 to 8, characterized in that: The guide rail comprises at least two guide sections, and the at least two guide sections are connected in sequence along the vertical direction; and two adjacent guide sections are detachably connected.

17. The shelf according to claim 16, characterized in that: One of the two adjacent guide segments is provided with a clamping protrusion, and the other of the two adjacent guide segments is provided with a clamping groove; the clamping protrusion is clamped with the clamping groove.

18. The shelf according to claim 16, characterized in that: The adjacent ends of the two adjacent guide segments jointly form a connecting hole, and the shelf also includes a connecting plate and a fourth fastener. The connecting plate is located at the docking position of the two adjacent guide segments and abuts against the two guide segments; the fourth fastener is configured to connect the connecting plate and the support seat through the connecting hole.

19. A storage system, characterized in that: It comprises a robot and a shelf as described in any one of claims 1 to 18; the robot is configured to move on the ground, or to dock with the shelf and move along the guide rail of the shelf.

20. The storage system according to claim 19, characterized in that: There are a plurality of shelves, which are arranged at intervals, and there are lanes between adjacent shelves; and the guide rail is only arranged on one side of the lane.

21. The storage system according to claim 19, characterized in that: A detection hole is provided at one end of the guide rail close to the bottom of the shelf, and the robot is provided with a detection unit; the detection unit determines the relative position of the robot and the guide rail by detecting the detection hole.

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