Lifting device for stereoscopic warehouse, rail robot and intelligent warehousing system

Abstract

The utility model relates to a lifting device for a stereoscopic warehouse, a rail robot and an intelligent warehousing system. The hoisting device comprises a cantilever, a hanging scaffold, a clamping mechanism, a plurality of connecting belts and a plurality of connecting assemblies. And a clamping mechanism of the hoisting device is arranged on the hanging scaffold and is used for taking and placing a material box in a hoistway of the stereoscopic warehouse. The plurality of connecting assemblies are respectively arranged at a plurality of corners of the hanging scaffold, and one end of each connecting belt is connected with the cantilever; and the other end of each connecting belt is connected with one connecting assembly. Each connecting assembly comprises a connecting base, a fixing base and an elastic piece. The connecting seat is connected with the connecting belt, and a shaft body is arranged on the connecting seat; the fixing base is fixed to the hanging scaffold, a limiting groove is formed in the fixing base, and the shaft body penetrates through the limiting groove. The elastic piece is arranged between the connecting base and the fixing base, provides pulling force and enables the shaft body to abut against the groove wall of the side, away from the cantilever, of the limiting groove. The levelness of the hanging scaffold can be automatically adjusted, and the hanging scaffold is prevented from inclining.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing equipment, and particularly to a lifting device for a stereoscopic warehouse, a rail robot, and an intelligent warehousing system. Background Art

[0002] In modern logistics and warehousing systems, automated stereoscopic warehouses and vertical lifting systems are widely used for the access and management of items. These systems usually use rail robots with hanging trays to perform vertical lifting operations on the bins in the stereoscopic warehouse to improve storage density and operation efficiency.

[0003] However, the hanging tray system of traditional rail robots for stereoscopic warehouses usually adopts a rigid connection method, fixing the hanging tray to a steel belt or other lifting devices. The hanging tray of the rail robot with this traditional technical solution is prone to tilting during actual operation. For example, when the materials in the hanging bin are unevenly distributed, resulting in an eccentric load, the hanging tray is likely to tilt, causing the hanging tray to fail to maintain horizontal lifting in the shaft. This tilt will cause dry friction and collision between the hanging tray and the columns in the shaft, increasing the wear and failure risk of the system. Moreover, since the hanging tray is difficult to maintain horizontal, it may lead to the failure of the lifting operation, especially in occasions with high precision requirements, such as the access process of high-value items such as semiconductor chips and drugs. The tilted hanging tray will affect the operation accuracy and even damage the items.

[0004] The above information disclosed in the background art of the present application is only for understanding the background of the concept of the present application, and does not indicate or imply that it contains information on the prior art. Summary of the Utility Model

[0005] Based on this, it is necessary to provide a lifting device for a stereoscopic warehouse, a rail robot, and an intelligent warehousing system for the above problems.

[0006] The present application provides a lifting device for a stereoscopic warehouse, which includes:

[0007] A cantilever;

[0008] A plurality of connecting belts, one end of each connecting belt is connected to the cantilever;

[0009] A plurality of connecting components, the other end of each connecting belt is connected to one of the connecting components;

[0010] A hanging tray, a plurality of the connecting components are respectively arranged at a plurality of corners of the hanging tray; and

[0011] A clamping mechanism, which is arranged on the hanging tray and is used for picking and placing bins in the shaft of the stereoscopic warehouse;

[0012] Wherein, each of the connecting components includes:

[0013] A connecting seat, which is connected to the connecting belt, and a shaft body is provided on the connecting seat;

[0014] A fixing seat, which is fixed to the hanging tray, and a limiting groove is formed on the fixing seat, and the shaft body passes through the limiting groove;

[0015] An elastic member, which is arranged between the connecting seat and the fixing seat and provides a pulling force to make the shaft body abut against the side wall of the limiting groove away from the cantilever.

[0016] The above-mentioned hoisting device for the stereoscopic warehouse can at least achieve the following beneficial effects:

[0017] The cantilever of the hoisting device can be suspended above the shaft of the stereoscopic warehouse, and the hanging tray moves up and down relative to the shaft to pick up and place the material box through the clamping mechanism. The hoisting device realizes multi-point support through a plurality of connecting belts and connecting components, improving the stability and load-bearing capacity of the hanging tray, enabling the system to handle larger and heavier material boxes more stably. Moreover, by arranging elastic members between the connecting seat and the fixing seat of each connecting component, the pulling force provided by the elastic members makes the shaft body always abut against the side wall of the limiting groove away from the cantilever, increasing the stability of the system and preventing the hanging tray from shaking or displacing during the lifting process. It can be understood that even if there is an eccentric situation in the materials in the material box, that is, the materials are concentrated on one side of the material box and generate a greater gravity on some connecting components on the hanging tray, as long as the sum of the gravity of the material box and the hanging tray on this side is not greater than the preset pulling force of the elastic members of these connecting components, the elastic members will not be stretched and elongated, and the hanging tray can still maintain a horizontal state. In other words, when the hanging tray is subjected to an eccentric load from the material box, the preset elastic force of the elastic members can offset this load, keeping the hanging tray always horizontal. Since the hanging tray can automatically adjust the levelness, it avoids the dry friction and collision between the hanging tray and the upright column in the shaft caused by inclination, reduces the wear and failure risk of the system, and improves the service life and reliability of the equipment. The hanging tray maintains a horizontal state, ensuring the accuracy of the hoisting operation. Especially for occasions that require high-precision operations, such as the storage and retrieval of high-value items such as semiconductor chips and drugs, it can effectively avoid operation errors and damage to the items in the material box caused by inclination.

[0018] In one embodiment, a limiting column is further provided on the fixing seat, and the limiting column is located on the side of the limiting slot facing away from the cantilever, one end of the elastic member is fixed to the limiting column, and the other end of the elastic member is fixed to the shaft body, and the elastic member can provide a pulling force to make the shaft body abut against the groove wall on the side of the limiting slot away from the cantilever, and make the fixing seat and the connecting seat tend to approach each other. The introduction of the limiting column makes the installation and force path of the elastic member more reasonable and optimizes the overall structural design. This not only improves the performance of the device, but also simplifies the manufacturing and installation process of the device and reduces the production cost. By adding a limiting column to the fixing seat, and fixing one end of the elastic member on the limiting column and the other end on the shaft body, the elastic member can provide a more stable and continuous pulling force, so that the shaft body always abuts against the groove wall on the side of the limiting slot away from the cantilever. This effectively enhances the pulling effect of the device and ensures that the hanging plate can remain level under various load conditions.

[0019] In one embodiment, the fixed seat includes a seat body fixed to the hanging plate and two hanging ears arranged on the top of the seat body, the two hanging ears are spaced relatively, each of the hanging ears is provided with a limiting groove, the seat body is provided with the limiting column, the connecting seat is located between the two hanging ears, and the two opposite sides of the connecting seat are each provided with a shaft body, one shaft body is inserted in one limiting groove, and the other shaft body is inserted in the other limiting groove, wherein the free end of at least one shaft body is fixed to one end of the elastic member. The fixed seat includes a seat body and two hanging ears, the hanging ears are provided with a limiting groove, and the connecting seat is located between the two hanging ears. Such a design enables the connecting seat to be firmly fixed between the two hanging ears, increases the stability of the overall structure, and prevents the connecting seat from shaking or displacement during the lifting process. Each side of the connecting seat is provided with a shaft body, which is respectively inserted in the limiting groove on the hanging ear, which makes the force more uniform and reasonable. Through the design of the double shaft body, it is ensured that the hanging plate can evenly share the force when subjected to eccentric load, and further ensures the horizontal state of the hanging plate.

[0020] In one embodiment, the limit groove is extended in the height direction, and the shaft body can slide in the limit groove under the action of external force. Under the action of external force, the shaft body can slide in the limit groove, which can reduce the friction and wear caused by the fixed position being unable to move, play a buffering and protective role, reduce the maintenance frequency and cost of the system, and extend the service life of the equipment. In this way, the impact of external force on the system can be effectively reduced, structural damage or failure caused by excessive external force can be avoided, and the durability and reliability of the system can be improved.

[0021] In one embodiment, the hoisting device further includes a plurality of turntables, positioning blocks, and upward guiding pins. The number of the upward guiding pins is set to be a plurality, and the plurality of upward guiding pins are distributed on the top edge of the hanging plate. The fixing block is arranged on the cantilever, and a positioning hole is formed in the positioning block. The positioning holes correspond to the upward guiding pins one by one. The turntable is arranged on the cantilever. One end of each connecting belt away from the hanging plate is connected to one turntable. The turntable is used for the connecting belt to wind around and can rotate to drive the hanging plate to lift and lower. The hanging plate can rise driven by the connecting belt and make the upward guiding pins insert into the positioning holes. The multiple upward guiding pins are distributed on the top edge of the hanging plate and can insert into the positioning holes of the positioning blocks when the hanging plate rises. This design ensures the stability of the hanging plate when it returns near the cantilever after rising, prevents the hanging plate from tilting or shaking, and reduces the risk of failures caused by position deviation.

[0022] In one embodiment, the hoisting device further includes a plurality of downward guiding pins. The plurality of downward guiding pins are distributed at the four corners of the hanging plate. The downward guiding pins are used to abut against the four sides of the shaft when the hanging plate descends to guide the hanging plate into the shaft. The downward guiding pins are distributed at the four corners of the hanging plate and abut against the four sides of the shaft when the hanging plate descends, which can effectively prevent the hanging plate from shaking and tilting during the descending process and ensure the stability of the hanging plate. The downward guiding pins provide precise guidance during the descending process of the hanging plate to ensure that the hanging plate can accurately enter the shaft. This precise guiding mechanism improves the positioning accuracy of the hanging plate when entering the shaft, especially suitable for occasions that require precise positioning. The precise guiding and stable descending mechanism also reduce the friction and collision between the hanging plate and the shaft, reduce the wear and maintenance frequency of the system, and extend the service life of the equipment.

[0023] In one embodiment, the hanging plate is rectangular.

[0024] In one embodiment, each connecting belt extends along the vertical direction.

[0025] In one embodiment, the number of the connecting belts and the number of the connecting components are both set to be four. The four connecting components are distributed at the four corners of the hanging plate. The connecting belts and the connecting components correspond to each other one by one.

[0026] This application also provides an orbital robot for a stereoscopic warehouse, which includes:

[0027] A fuselage;

[0028] A traveling device, arranged on the fuselage and capable of traveling on the track of the stereoscopic warehouse; and

[0029] The hoisting device as described in any one of the above embodiments, and the cantilever is connected to the fuselage.

[0030] In one embodiment, the lifting device further includes a first sensing switch disposed on the hanging plate. The first sensing switch can be triggered when it abuts against the top surface of the bin to control the clamping mechanism to clamp the bin. The clamping mechanism includes a driving motor, a connecting rod, and two sets of clamping jaws. The driving motor is disposed on the hanging plate, and the driving motor is connected to the connecting rod and used to drive the connecting rod. The two sets of clamping jaws are respectively disposed at both ends of the connecting rod. Each set of clamping jaws includes a first clamping jaw rotatably connected to the end of the connecting rod and a second clamping jaw meshing with the first clamping jaw. The first clamping jaw and the second clamping jaw can be opened and closed under the drive of the connecting rod to clamp or release the bin. The first sensing switch is disposed on the hanging plate. When the hanging plate descends to abut against the top surface of the bin, the sensing switch is triggered, thereby controlling the operation of the clamping mechanism. This design realizes the automatic detection and clamping operation of the bin, improving the automation level and operation efficiency of the system.

[0031] In one embodiment, the lifting device further includes a second sensing switch disposed on the hanging plate. The second sensing switch can be triggered when it abuts against the cantilever when the hanging plate ascends to convey the working information that the bin has been lifted to the rail robot. The second sensing switch is automatically triggered when the hanging plate ascends to the proper position to convey the working information that the bin has been lifted to the rail robot. Then the rail robot can perform the next operation, such as driving the traveling device to travel above the well at other positions.

[0032] The present application also provides an intelligent warehousing system, which includes a stereoscopic warehouse and the rail robot as described in any one of the above embodiments.

[0033] The above intelligent warehousing system, since it includes the rail robot and the lifting device described in any of the above embodiments, thus the intelligent warehousing system also has at least the following beneficial effects: Its rail robot can move to above a certain shaft under the drive of the traveling device. At this time, the cantilever of the lifting device can be suspended above the shaft of the stereoscopic warehouse, and the hanging tray moves up and down relative to the shaft to pick up and place the material box through the clamping mechanism. The lifting device realizes multi-point support through a plurality of connecting belts and connecting components, improving the stability and load-bearing capacity of the hanging tray, enabling the system to handle larger and heavier material boxes more stably. And, by arranging elastic members between the connecting seat and the fixed seat of each connecting component, the pulling force provided by the elastic members makes the shaft body always abut against the groove wall of the limiting groove far from the cantilever, increasing the stability of the system and preventing the hanging tray from shaking or displacing during the lifting process. It can be understood that even if there is an eccentric situation of the materials in the material box, that is, the materials are concentrated on one side of the material box and generate greater gravity on some connecting components on the hanging tray, as long as the sum of the gravity of the material box and the hanging tray on this side is not greater than the preset pulling force of the elastic members of these connecting components, the elastic members will not be stretched and elongated, and the hanging tray can still maintain a horizontal state. In other words, when the hanging tray is subjected to an eccentric load from the material box, the preset elastic force of the elastic members can offset this load, keeping the hanging tray always horizontal. Since the hanging tray can automatically adjust the levelness, it avoids the dry friction and collision between the hanging tray and the upright column in the shaft caused by inclination, reduces the wear and failure risk of the system, and improves the service life and reliability of the equipment. The hanging tray maintains a horizontal state, ensuring the accuracy of the lifting operation. Especially for occasions that require high-precision operations, such as the storage and retrieval of high-value items such as semiconductor chips and pharmaceuticals, it can effectively avoid operation errors and damage to the items in the material box caused by inclination. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0035] Figure 1 A three-dimensional structure diagram of the intelligent warehousing system provided by an embodiment of the present application.

[0036] Figure 2 A three-dimensional structure diagram of the rail and the rail robot provided by an embodiment of the present application.

[0037] Figure 3 Another three-dimensional structure diagram of the rail and the rail robot provided by an embodiment of the present application.

[0038] Figure 4Another three-dimensional structure diagram of the track and the track robot provided by an embodiment of the present application.

[0039] Figure 5 A partial structure schematic diagram of the lifting device provided by an embodiment of the present application.

[0040] Figure 6 A structure schematic diagram of the connection component provided by an embodiment of the present application.

[0041] Figure 7 A partial structure schematic diagram of the hanging tray provided by an embodiment of the present application.

[0042] Figure 8 A partial structure schematic diagram of the hanging tray and the cantilever provided by an embodiment of the present application.

[0043] Figure 9 A partial schematic diagram of the track robot provided by an embodiment of the present application.

[0044] Reference signs:

[0045] 10, track robot; 11, lifting device; 20, stereoscopic warehouse; 21, track; 30, storage bin; 100, cantilever; 200, connecting belt; 300, connection component; 310, connection seat; 311, shaft body; 320, fixed seat; 321, seat body; 322, hanging ear; 323, limit post; 324, limit groove; 330, elastic member; 400, hanging tray; 410, first sensing switch; 420, second sensing switch; 500, clamping mechanism; 510, driving motor; 520, connecting rod; 531, first jaw; 532, second jaw; 610, turntable; 620, positioning block; 621, positioning hole; 630, upper guiding pin; 640, lower guiding pin; 700, fuselage; 710, first transmission shaft; 720, second transmission shaft; 730, synchronous pulley system; 740, synchronous belt; 800, traveling device. Detailed implementation manners

[0046] To make the above objects, features, and advantages of the present application more obvious and understandable, the following will describe the detailed implementation manners of the present application with reference to the accompanying drawings. Many specific details are set forth in the following description to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0047] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6, in some embodiments, the present application provides a lifting device 11 for a stereoscopic warehouse 20, which includes a cantilever 100, a hanging tray 400, a clamping mechanism 500, a plurality of connecting belts 200 and a plurality of connecting components 300. Among them, the clamping mechanism 500 is arranged on the hanging tray 400 and is used to pick up and place the material box 30 in the shaft of the stereoscopic warehouse 20. As Figure 5 shown, a plurality of the connecting components 300 are respectively arranged at a plurality of corners of the hanging tray 400, and one end of each connecting belt 200 is connected to the cantilever 100; the other end of each connecting belt 200 is connected to one of the connecting components 300. As Figure 6 shown, each connecting component 300 includes a connecting seat 310, a fixing seat 320 and an elastic member 330; the connecting seat 310 is connected to the connecting belt 200, and a shaft body 311 is arranged on the connecting seat 310; the fixing seat 320 is fixed to the hanging tray 400, and a limiting groove 324 is formed on the fixing seat 320, and the shaft body 311 passes through the limiting groove 324; the elastic member 330 is arranged between the connecting seat 310 and the fixing seat 320 and provides a pulling force to make the shaft body 311 abut against the side wall of the limiting groove 324 away from the cantilever 100.

[0048] The above-mentioned lifting device 11 for the stereoscopic warehouse 20 can at least achieve the following beneficial effects:

[0049] The cantilever 100 of the lifting device 11 can be suspended above the hoistway of the automated storage and retrieval system 20, and the lifting platform 400 moves up and down relative to the hoistway to pick up and place the storage bin 30 through the clamping mechanism 500. The lifting device 11 achieves multi-point support through a plurality of connecting belts 200 and connecting components 300, improving the stability and load-bearing capacity of the lifting platform 400, enabling the system to more stably handle larger and heavier storage bins 30. Moreover, by arranging elastic members 330 between the connecting seats 310 and the fixed seats 320 of each connecting component 300, the tensile force provided by the elastic members 330 causes the shaft body 311 to always abut against the groove wall on the side of the limit groove 324 away from the cantilever 100, increasing the stability of the system and preventing the lifting platform 400 from shaking or displacing during the lifting process. It can be understood that even if the materials in the storage bin 30 are eccentric, that is, the materials are concentrated on one side of the storage bin 30 and generate a greater gravity on some connecting components 300 on the lifting platform 400, as long as the sum of the gravity of the storage bin 30 and the lifting platform 400 on this side is not greater than the preset tensile force of the elastic members 330 of these connecting components 300, the elastic members 330 will not be stretched and elongated, and the lifting platform 400 can still maintain a horizontal state. In other words, when the lifting platform 400 is subjected to an eccentric load from the storage bin 30, the preset elastic force of the elastic members 330 can offset this load, keeping the lifting platform 400 always horizontal. Since the lifting platform 400 can automatically adjust the levelness, it avoids the dry friction and collision between the lifting platform 400 and the columns in the hoistway caused by inclination, reduces the wear and failure risks of the system, and improves the service life and reliability of the equipment. The lifting platform 400 maintains a horizontal state, ensuring the accuracy of the lifting operation. Especially for occasions that require high-precision operations, such as the storage and retrieval of high-value items such as semiconductor chips and pharmaceuticals, it can effectively avoid operation errors caused by inclination and damage to the items in the storage bin 30.

[0050] Specifically, as Figure 6As shown, in some of these embodiments, a limiting post 323 is further provided on the fixing base 320. The limiting post 323 is located on the side of the limiting groove 324 facing away from the cantilever 100. One end of the elastic member 330 is fixed to the limiting post 323, and the other end of the elastic member 330 is fixed to the shaft body 311. The elastic member 330 can provide a pulling force to make the shaft body 311 abut against the side wall of the limiting groove 324 away from the cantilever 100, and make the fixing base 320 and the connecting base 310 tend to approach each other. Among them, the limiting post 323 can be a plug, and the elastic member 330 can be a tension spring. The introduction of the limiting post 323 makes the installation and force application path of the elastic member 330 more reasonable, optimizing the overall structural design. This not only improves the performance of the device, but also simplifies the manufacturing and installation process of the device, reducing the production cost. By adding the limiting post 323 on the fixing base 320 and fixing one end of the elastic member 330 to the limiting post 323 and the other end to the shaft body 311, the elastic member 330 can provide a more stable and continuous pulling force, making the shaft body 311 always abut against the side wall of the limiting groove 324 away from the cantilever 100. This effectively enhances the pulling force effect of the device, ensuring that the hanging plate 400 can remain horizontal under various load conditions.

[0051] More specifically, as Figure 6 As shown, in some of these embodiments, the fixing base 320 includes a base body 321 fixed to the hanging plate 400 and two hanging ears 322 provided on the top of the base body 321. The two hanging ears 322 are spaced relatively apart, and each hanging ear 322 is provided with a limiting groove 324. The limiting post 323 is provided on the base body 321. The connecting base 310 is located between the two hanging ears 322. One shaft body 311 is provided on each of the opposite sides of the connecting base 310. One shaft body 311 passes through one limiting groove 324, and the other shaft body 311 passes through the other limiting groove 324. At least one free end of the shaft body 311 is fixed to one end of the elastic member 330. The fixing base 320 includes a base body 321 and two hanging ears 322, and the limiting grooves 324 are provided on the hanging ears 322. The connecting base 310 is located between the two hanging ears 322. Such a design firmly fixes the connecting base 310 between the two hanging ears 322, increasing the stability of the overall structure and preventing the connecting base 310 from shaking or displacing during the lifting and lowering process. One shaft body 311 is provided on each side of the connecting base 310 and passes through the limiting grooves 324 on the hanging ears 322 respectively, making the force application more uniform and reasonable. Through the design of the double shaft bodies 311, it is ensured that when the hanging plate 400 is subjected to an eccentric load, the force can be evenly distributed, further ensuring the horizontal state of the hanging plate 400.

[0052] More specifically, as Figure 6As shown, in some of these embodiments, the limiting groove 324 extends in the height direction, and under the action of an external force, the shaft body 311 can slide in the limiting groove 324. Under the action of an external force, the shaft body 311 can slide in the limiting groove 324, which can reduce the friction and wear caused by the inability to move in a fixed position, play a buffering and protective role, reduce the maintenance frequency and cost of the system, and extend the service life of the equipment. In case the external impact is large, the shaft body 311 can be appropriately displaced within the limiting groove 324 to avoid structural damage or failure caused by excessive external force, and improve the durability and reliability of the system.

[0053] Further, in some of these embodiments, the hanging plate 400 can be rectangular.

[0054] Further, in some of these embodiments, each of the connecting belts 200 can extend in the vertical direction.

[0055] Further, in some of these embodiments, the number of the connecting belts 200 and the number of the connecting components 300 can both be set to four. The four connecting components 300 are distributed at the four corners of the hanging plate 400, and the connecting belts 200 and the connecting components 300 correspond to each other one by one.

[0056] Please refer to Figure 7 and Figure 8 , in some of these embodiments, the hoisting device 11 further includes a turntable 610, a positioning block 620, and a guiding upward pin 630. The number of the guiding upward pins 630 is set to be multiple and the multiple guiding upward pins 630 are distributed on the top edge of the hanging plate 400. The fixing block is provided on the cantilever 100 and a positioning hole 621 is formed on the positioning block 620. The positioning hole 621 corresponds to the guiding upward pin 630 one by one. The turntable 610 is provided on the cantilever 100. One end of the connecting belt 200 away from the hanging plate 400 is connected to the turntable 610. The turntable 610 is used for the connecting belt 200 to wind around and can rotate to drive the hanging plate 400 to lift and lower. The hanging plate 400 can rise under the drive of the connecting belt 200 and the guiding upward pin 630 can be inserted into the positioning hole 621. The multiple guiding upward pins 630 are distributed on the top edge of the hanging plate 400 and can be inserted into the positioning holes 621 of the positioning block 620 when the hanging plate 400 rises. This design ensures the stability of the hanging plate 400 when it returns near the cantilever 100 after rising, prevents the hanging plate 400 from tilting or shaking, and reduces the risk of failure caused by position deviation.

[0057] Please refer to Figure 7 and Figure 8, in some embodiments, the hoisting device 11 further includes a plurality of guiding lower pins 640. The plurality of guiding lower pins 640 are distributed at the four corners of the hanging tray 400. The guiding lower pins 640 are used to abut against the four sides of the hoistway when the hanging tray 400 descends to guide the hanging tray 400 into the hoistway. The guiding lower pins 640 are distributed at the four corners of the hanging tray 400 and abut against the four sides of the hoistway when the hanging tray 400 descends, which can effectively prevent the hanging tray 400 from shaking and tilting during the descending process and ensure the stability of the hanging tray 400. The guiding lower pins 640 provide precise guidance during the descending process of the hanging tray 400 to ensure that the hanging tray 400 can accurately enter the hoistway. This precise guiding mechanism improves the positioning accuracy when the hanging tray 400 enters the hoistway and is particularly suitable for occasions that require precise positioning. The precise guiding and stable descending mechanism also reduce the friction and collision between the hanging tray 400 and the hoistway, reduce the wear and maintenance frequency of the system, and extend the service life of the equipment.

[0058] In addition, as Figure 1 and Figure 2 shown, the present application also provides an orbital robot 10 for a three-dimensional warehouse 20, which includes a fuselage 700, a traveling device 800, and the hoisting device 11 as described in any of the above embodiments. Wherein, the traveling device 800 is arranged on the fuselage 700 and can travel on the track 21 of the three-dimensional warehouse 20, and the cantilever 100 is connected to the fuselage 700.

[0059] Furthermore, as Figure 5 and Figure 7 shown, in some embodiments, the hoisting device 11 further includes a first sensing switch 410 arranged on the hanging tray 400. The first sensing switch 410 can be triggered when it abuts against the top surface of the storage bin 30 to control the clamping mechanism 500 to clamp the storage bin 30. The clamping mechanism 500 includes a driving motor 510, a connecting rod 520, and two groups of clamping jaws. The driving motor 510 is arranged on the hanging tray 400. The driving motor 510 is connected to the connecting rod 520 and is used to drive the connecting rod 520. The two groups of clamping jaws are respectively arranged at both ends of the connecting rod 520. Each group of clamping jaws includes a first clamping jaw 531 rotatably connected to the end of the connecting rod 520 and a second clamping jaw 532 meshing with the first clamping jaw 531. The first clamping jaw 531 and the second clamping jaw 532 can be opened and closed under the drive of the connecting rod 520 to clamp or release the storage bin 30. The first sensing switch 410 is arranged on the hanging tray 400. When the hanging tray 400 descends to abut against the top surface of the storage bin 30, the sensing switch is triggered, thereby controlling the action of the clamping mechanism 500. This design realizes the automatic detection and clamping operation of the storage bin 30, improving the automation degree and operation efficiency of the system.

[0060] Furthermore, asFigure 5 and Figure 7 As shown in Figure 7 , in some of the embodiments, the lifting device 11 further includes a second sensing switch 420 disposed on the lifting platform 400. The second sensing switch 420 can be triggered by abutting against the cantilever 100 when the lifting platform 400 ascends, so as to convey to the rail robot 10 the working information that the hoisting of the material box 30 has been completed. The second sensing switch 420 is automatically triggered when the lifting platform 400 ascends to the in-place position, and conveys to the rail robot 10 the working information that the hoisting of the material box 30 has been completed. Then, the rail robot 10 can perform the next operation, such as driving the traveling device 800 to travel above the well shafts at other positions, etc.

[0061] Furthermore, as Figure 9 shown in Figure 9 , in some of the embodiments, the rail robot 10 further includes a driving assembly disposed on the fuselage 700. The driving assembly is used to drive the turntable 610 to rotate so as to drive the lifting platform 400 to ascend and descend through the connecting belt 200.

[0062] Even further, as Figure 9 shown in Figure 9 , in some of the embodiments, the driving assembly includes a timing belt 740, a timing pulley system 730, a first transmission shaft 710, and a second transmission shaft 720 disposed on the fuselage 700. The timing belt 740 is wound between the first transmission shaft 710, the timing pulley system 730, and the second transmission shaft 720. The number of the turntables 610 is set to four. Two of the turntables 610 are disposed at both ends of the first transmission shaft 710, and the remaining two turntables 610 are disposed at both ends of the second transmission shaft 720. The first transmission shaft 710 and the second transmission shaft 720 can rotate synchronously to drive four connecting belts 200 at the same time, so as to drive the lifting platform 400 to ascend and descend horizontally. Among them, the connecting belt 200 may include, but is not limited to, a steel belt.

[0063] In addition, as Figure 1 and Figure 2 shown in Figure 2 , the present application further provides an intelligent warehousing system, which includes a stereoscopic warehouse 20 and the rail robot 10 as described in any of the above embodiments.

[0064] The above intelligent warehousing system, since it includes the rail robot 10 and the lifting device 11 described in any of the above embodiments, thus the intelligent warehousing system also has at least the following beneficial effects: Its rail robot 10 can be driven by the traveling device 800 to move above a certain shaft, at this time, the cantilever 100 of the lifting device 11 can be suspended above the shaft of the stereoscopic warehouse 20, and the hanging tray 400 moves up and down relative to the shaft to pick up and place the material box 30 through the clamping mechanism 500. The lifting device 11 realizes multi-point support through a plurality of connecting belts 200 and connecting components 300, improving the stability and load-bearing capacity of the hanging tray 400, enabling the system to handle larger and heavier material boxes 30 more stably. And, by arranging elastic members 330 between the connecting seat 310 and the fixed seat 320 of each connecting component 300, the tensile force provided by the elastic members 330 makes the shaft body 311 always abut against the groove wall of the limiting groove 324 away from the cantilever 100, increasing the stability of the system and preventing the hanging tray 400 from shaking or displacing during the lifting process. It can be understood that even if there is an eccentric situation in the materials in the material box 30, that is, the materials are concentrated on one side of the material box 30 and generate greater gravity on some connecting components 300 on the hanging tray 400, but as long as the sum of the gravity of the material box 30 and the hanging tray 400 on this side is not greater than the preset tensile force of the elastic members 330 of these connecting components 300, the elastic members 330 will not be stretched and elongated, then the hanging tray 400 can still maintain a horizontal state. In other words, when the hanging tray 400 is subjected to an eccentric load from the material box 30, the preset elastic force of the elastic members 330 can offset this load, keeping the hanging tray 400 always horizontal. Since the hanging tray 400 can automatically adjust the levelness, it avoids the dry friction and collision between the hanging tray 400 and the columns in the shaft caused by inclination, reduces the wear and failure risk of the system, and improves the service life and reliability of the equipment. The hanging tray 400 maintains a horizontal state, ensuring the accuracy of the lifting operation. Especially for occasions that require high-precision operations, such as the storage and retrieval of high-value items such as semiconductor chips and pharmaceuticals, it can effectively avoid operation errors caused by inclination and damage to the items in the material box 30.

[0065] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0066] The above embodiments only express several implementation manners of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

[0067] In the description of the present application, it should be understood that the orientation or positional relationships indicated by the terms "axial", "radial", "circumferential", "length", "width", "thickness", "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0068] In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0069] In the present application, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0070] In the present application, unless otherwise clearly specified and limited, the terms such as "mounted", "connected", "connected to", "fixed" and the like should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0071] It should be noted that when an element is referred to as being "provided on", "fixed to", or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

[0072] In the description of this specification, the description with reference to terms such as "an embodiment", "other embodiments", etc. means that the specific features, structures, materials or features described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic description of the above terms does not necessarily refer to the same embodiment or example. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art belonging to the technical field of the present application. The terms used in the specification of the present application herein are only for the purpose of describing specific embodiments and are not intended to limit the present application.

Claims

1. A lifting device for a three-dimensional warehouse, characterized in that: include: cantilever; A plurality of connecting straps, one end of each connecting strap being connected to the cantilever; A plurality of connection components, the other end of each of the connection belts being connected to one of the connection components; A hanging plate, wherein a plurality of the connecting components are respectively arranged at a plurality of corners of the hanging plate; as well as A clamping mechanism, which is arranged on the hanging tray and is used to take and place the material boxes in the shaft of the stereoscopic warehouse; Wherein, each of the connection components comprises: A connecting seat, the connecting seat is connected to the connecting belt, and a shaft is provided on the connecting seat; A fixing seat, the fixing seat is fixed to the hanging plate, and a limiting groove is provided on the fixing seat, and the shaft body is passed through the limiting groove; An elastic member is arranged between the connecting seat and the fixing seat and provides a pulling force to make the shaft body abut against a groove wall on one side of the limiting groove away from the cantilever.

2. The lifting device according to claim 1, characterized in that: A limiting column is also provided on the fixing seat, and the limiting column is located on the side of the limiting groove facing away from the cantilever. One end of the elastic member is fixed to the limiting column, and the other end of the elastic member is fixed to the shaft body. The elastic member can provide a pulling force to make the shaft body abut against the groove wall on the side of the limiting groove away from the cantilever, and make the fixing seat and the connecting seat tend to approach each other.

3. The lifting device according to claim 2, characterized in that: The fixed seat includes a seat body fixed to the hanging plate and two hanging ears arranged on the top of the seat body, the two hanging ears are relatively spaced, each of the hanging ears is provided with a limiting groove, the seat body is provided with the limiting column, the connecting seat is located between the two hanging ears, and the connecting seat is respectively provided with a shaft body on opposite sides, one shaft body is passed through one limiting groove, and the other shaft body is passed through the other limiting groove, wherein the free end of at least one of the shaft bodies is fixed to one end of the elastic member.

4. The lifting device according to claim 3, characterized in that: The limiting groove is extended along the height direction, and the shaft body can slide in the limiting groove under the action of external force.

5. The lifting device according to any one of claims 1 to 4, characterized in that: The lifting device also includes multiple turntables, positioning blocks and guide upper pins. The number of the guide upper pins is set to be multiple and the multiple guide upper pins are distributed on the top edge of the hanging plate. The fixing block is arranged on the cantilever and the positioning block is provided with positioning holes, and the positioning holes correspond to the guide upper pins one by one. The turntable is arranged on the cantilever, and each of the connecting belts is connected to a turntable at one end away from the hanging plate. The turntable is used for the connecting belt to be wound around and can rotate to drive the hanging plate to rise and fall. The hanging plate can rise under the drive of the connecting belt and insert the guide upper pin into the positioning hole.

6. The lifting device according to claim 5, characterized in that: The lifting device further comprises a plurality of guide lower pins, which are distributed at the four corners of the hanging plate, and the guide lower pins are used to abut against the four sides of the hoistway when the hanging plate descends to guide the hanging plate into the hoistway; And / or, the hanging tray is rectangular; And / or, each of the connecting belts is extended in the vertical direction; And / or, the number of the connecting belts and the number of the connecting components are both set to four, the four connecting components are distributed at the four corners of the hanging plate, and the connecting belts and the connecting components correspond one to one.

7. A track robot, characterized in that: include: body; A traveling device, which is arranged on the fuselage and can travel on the track of the stereoscopic warehouse; as well as The lifting device according to any one of claims 1 to 6, wherein the cantilever is connected to the fuselage.

8. The rail robot according to claim 7, characterized in that: The lifting device also includes a first sensor switch arranged on the hanging platform, and the first sensor switch can be triggered when it abuts against the top surface of the material box to control the clamping mechanism to clamp the material box. The clamping mechanism includes a driving motor, a connecting rod and two groups of jaws. The driving motor is arranged on the hanging platform, and the driving motor is connected to the connecting rod and is used to drive the connecting rod. The two groups of jaws are respectively arranged at both ends of the connecting rod, and each group of jaws includes a first jaw rotatably connected to the end of the connecting rod and a second jaw meshing with the first jaw. The first jaw and the second jaw can be opened and closed under the drive of the connecting rod to clamp or release the material box.

9. The rail robot according to claim 8, characterized in that: The lifting device also includes a second sensor switch arranged on the lifting platform, and the second sensor switch can be triggered when it abuts against the cantilever when the lifting platform rises to convey work information that the lifting of the material box has been completed to the rail robot.

10. An intelligent warehousing system, characterized in that: It comprises a three-dimensional warehouse and a track robot as described in any one of claims 7 to 9.

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