Goods shelf docking mechanism, transfer robot and warehousing system

Abstract

The embodiment of the utility model provides a goods shelf docking mechanism, transfer robot and warehousing system.The goods shelf docking mechanism comprises a comb tooth carrier and a fixed carrier limiting frame separated from the comb tooth carrier, and the comb tooth carrier can be arranged on a lifting mechanism of the transfer robot and used for being in docking with comb teeth of a goods shelf; the lifting mechanism is used for controlling the comb tooth carrier to ascend and descend, so that the material boxes on the comb teeth of the goods shelf are taken and placed. The fixed object carrying limiting frame can be arranged on a vehicle body of the transfer robot and located on one side outside the comb tooth object carrying frame. A supporting platform and a second guide limiting structure are arranged at the top of the fixed loading limiting frame and located outside the second side of the guide limiting supporting frame. Compared with the prior art, in the process that the lifting mechanism drives the comb tooth carrier to ascend and comb teeth of the goods shelf are in butt joint to obtain the material box, the fixed carrying limiting frame can advance to the position below a cross beam of the comb teeth of the goods shelf, the carrying robot can advance to the deeper position of the comb teeth of the goods shelf, and the storage capacity of a warehouse can be improved conveniently.

Description

Technical Field

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

[0002] A comb-tooth type adapter frame is installed on the lifting mechanism of a handling robot such as an AGV (Automated Guided Vehicle), which can be docked with the comb-tooth type buffer shelf in the warehouse to complete the handling and docking work of the bins.

[0003] Among them, the periphery of the comb-tooth type adapter frame includes upwardly protruding enclosures, so as to restrict the movement of the bin in all directions, and improve the stability of the bin during handling. However, this enclosure structure is likely to cause the handling robot to be difficult to travel to a deeper position of the buffer shelf, resulting in some space of the buffer shelf being wasted and difficult to be fully utilized, thus affecting the warehousing capacity of the warehouse. Summary of the Utility Model

[0004] The purpose of the embodiments of the utility model is to provide a shelf docking mechanism, a handling robot and a warehousing system to facilitate improving the warehousing capacity of the warehouse. The specific technical solutions are as follows:

[0005] To achieve the above object, a shelf docking mechanism proposed in the first aspect embodiment of the present application of the utility model includes: a comb-tooth load-carrying rack and a fixed load-limiting rack;

[0006] The comb-tooth load-carrying rack includes: a main body and a guiding and limiting support frame; the main body includes: a comb-tooth rack bottom plate and a pair of outer guiding and limiting plates extending from opposite sides of the comb-tooth rack bottom plate in the height direction; the guiding and limiting support frame is arranged on the comb-tooth rack bottom plate, between the pair of outer guiding and limiting plates, and is used for carrying and limiting the bin; a first guiding and limiting structure is arranged at the top of the first side of the guiding and limiting support frame; the guiding and limiting support frame is spaced from each adjacent outer guiding and limiting plate and is used for docking with the comb teeth of the shelf;

[0007] The fixed load-limiting rack is separately arranged from the comb-tooth load-carrying rack and is fixedly installed on one side outside the comb-tooth load-carrying rack; the top of the fixed load-limiting rack has a support platform and a second guiding and limiting structure, located outside the second side of the guiding and limiting support frame, and is used for cooperating with the comb-tooth load-carrying rack to jointly carry and limit the bin.

[0008] According to an embodiment of the present application of the utility model, the guiding and limiting support frame includes: one or more limiting support plates, which are vertically installed on the comb-tooth rack bottom plate;

[0009] One of the first guiding and limiting structures is arranged at the top of the first side of each limiting support plate;

[0010] The number of the second guiding and limiting structures of the fixed load limiting frame is one or more; the number of the first guiding and limiting structures is the same as or different from the number of the second guiding and limiting structures.

[0011] According to an embodiment of the present utility model application, the first guiding and limiting structure includes a first guiding and limiting edge, and the first guiding and limiting edge inclines towards the outside of the shelf docking mechanism; and / or,

[0012] The second guiding and limiting structure includes a second guiding and limiting edge, and the second guiding and limiting edge inclines towards the outside of the shelf docking mechanism.

[0013] According to an embodiment of the present utility model application, the guiding and limiting support frame is arranged at the middle position of the bottom plate of the comb tooth rack;

[0014] The comb tooth load rack further includes at least a pair of support plates;

[0015] The support plates are arranged in the interval area between the outer guiding and limiting plates and the guiding and limiting support frame; the pair of outer guiding and limiting plates, the guiding and limiting support frame and the at least a pair of support plates are parallel, and the support plates are arranged at intervals with the outer guiding and limiting plates and between the support plates and the guiding and limiting support frame for accommodating the comb teeth of the shelf.

[0016] According to an embodiment of the present utility model application, the outer guiding and limiting plate includes a limiting plate and a guiding plate, the limiting plate extends from the side edge of the bottom plate of the comb tooth rack towards the height direction, the guiding plate is connected with the limiting plate and inclines towards the outside of the shelf docking mechanism;

[0017] The guiding plate, the first guiding and limiting structure and the second guiding and limiting structure are at the same height position.

[0018] According to an embodiment of the present utility model application, the outer guiding and limiting plate, the guiding and limiting support frame and the support plates all extend along a first direction;

[0019] At least one of the bottom plate of the comb tooth rack, the outer guiding and limiting plate, the guiding and limiting support frame and the support plates is provided with weight reducing holes arranged at intervals along the first direction.

[0020] According to an embodiment of the present utility model application, the fixed load limiting frame includes a first vertical plate, a second vertical plate and a third vertical plate;

[0021] The first vertical plate and the second vertical plate are arranged at intervals and extend along the height direction, and the third vertical plate connects the first vertical plate and the second vertical plate;

[0022] The support platform is connected to the tops of the first vertical plate, the second vertical plate, and the third vertical plate.

[0023] The first guiding and limiting structure extends along the height direction from one side of the support platform respectively from the tops of the first vertical plate and the second vertical plate.

[0024] According to an embodiment of the present utility model application, the bottom plate of the comb tooth frame is provided with a first mounting structure for mounting the goods shelf docking mechanism on the lifting mechanism of the handling robot.

[0025] The bottom of the fixed load limiting frame is provided with a second mounting structure for mounting the fixed load limiting frame on the vehicle body of the handling robot, so that the second guiding and limiting structure can correspond to the height position of the first guiding and limiting structure when the lifting mechanism is in the lowered position.

[0026] According to an embodiment of the present utility model application, the pair of outer guiding and limiting plates and the bottom plate of the comb tooth frame are of an integral structure.

[0027] To achieve the above object, a handling robot proposed in the second aspect embodiment of the present utility model application includes:

[0028] A vehicle body;

[0029] A lifting mechanism provided on the vehicle body;

[0030] The above-mentioned goods shelf docking mechanism, and the bottom plate of the comb tooth frame is provided on the lifting mechanism;

[0031] The fixed load limiting frame is provided on the vehicle body. When the lifting mechanism is in the lowered position, the second guiding and limiting structure is opposite to the first guiding and limiting structure in position to guide and limit the material box when the comb tooth load-bearing frame bears the material box.

[0032] To achieve the above object, a warehousing system proposed in the third aspect embodiment of the present utility model application includes:

[0033] A goods shelf having a comb tooth structure;

[0034] The above-mentioned handling robot.

[0035] The shelf docking mechanism, handling robot and warehousing system provided by the embodiments of the present utility model. The shelf docking mechanism includes a comb-tooth load carrier and a fixed load limiting frame separated from the comb-tooth load carrier. The comb-tooth load carrier can be arranged on the lifting mechanism of the handling robot and is used to dock with the comb teeth of the shelf. By controlling the lifting of the comb-tooth load carrier through the lifting mechanism, the bins on the comb teeth of the shelf can be picked up and placed. The fixed load limiting frame can be arranged on the vehicle body of the handling robot and is located on one side outside the comb-tooth load carrier. The top of the fixed load limiting frame has a support platform and a second guiding and limiting structure, which is located outside the second side of the guiding and limiting support frame. Compared with the prior art, when the lifting mechanism drives the comb-tooth load carrier to rise and dock with the comb teeth of the shelf to obtain the bin, since the fixed load limiting frame does not rise with the comb-tooth load carrier, the fixed load limiting frame can travel under the cross beam of the comb teeth of the shelf, which is beneficial for the handling robot to travel to a deeper position of the comb teeth of the shelf. Under the condition of meeting the requirement of caching bins of the same size on the comb teeth of the shelf, the occupied area of the comb teeth of the shelf can be reduced, so as to improve the warehousing capacity of the warehouse.

[0036] Of course, it is not necessary for any product implementing the present utility model to achieve all the above advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or 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 following drawings are only some embodiments of the present utility model, and those of ordinary skill in the art can also obtain other drawings based on these drawings.

[0038] Figure 1 It is a schematic structural diagram of the shelf docking mechanism according to an embodiment of the present application;

[0039] Figure 2 For Figure 1 It is a schematic structural diagram of the shelf docking mechanism shown in the embodiment being arranged on the handling robot;

[0040] Figure 3 For Figure 2 It is a schematic diagram of the handling robot shown in the embodiment carrying a bin Figure 1 ;

[0041] Figure 4 For Figure 2 It is a schematic diagram of the handling robot shown in the embodiment carrying a bin Figure 2 ;

[0042] Figure 5 For Figure 2 It is a schematic diagram of the lifting mechanism of the handling robot shown in the embodiment being in the lowered position and traveling under the comb tooth structure of the shelf;

[0043] Figure 6 For Figure 5 The front view structural schematic diagram of the handling robot and the shelf of the illustrated embodiment;

[0044] Figure 7 For Figure 2 The schematic diagram of the lifting mechanism of the handling robot of the illustrated embodiment in the raised position and the comb-tooth carrier and the comb teeth of the shelf being docked;

[0045] Figure 8 For Figure 7 The front view structural schematic diagram of the handling robot and the shelf of the illustrated embodiment;

[0046] Figure 9 For Figure 2 The comparison diagram of the handling robot of the illustrated embodiment and the handling robot in the related art with the lifting mechanism in the lowered position and moving to below the comb-tooth structure of the shelf.

[0047] The reference signs are as follows:

[0048] Comb-tooth carrier 10, main body 11, comb-tooth frame bottom plate 111, first mounting structure 1111, outer side guiding and limiting plate 112, limiting plate 1121, guiding plate 1122, guiding and limiting support frame 12, first side of the guiding and limiting support frame 12a, second side of the guiding and limiting support frame 12b, first guiding and limiting structure 121, first guiding and limiting edge 1211, limiting support plate 122, support plate 13, weight reduction hole 14, fixed load limiting frame 20, support platform 21, second guiding and limiting structure 22, second guiding and limiting edge 221, first vertical plate 23, second vertical plate 24, third vertical plate 25, second mounting structure 26, bottom plate 27;

[0049] Vehicle body 100, lifting mechanism 200, shelf docking mechanism 300;

[0050] Shelf 1000, cross beam 1100, rack bar 1200;

[0051] Height direction Z, first direction X, second direction Y;

[0052] Bin A. Detailed implementation manners

[0053] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art based on this application belong to the scope of protection of the present invention.

[0054] In the related art, the comb teeth of a shelf are composed of a cross beam and a plurality of tooth bars arranged on the cross beam. As described in the background art, the periphery of the comb-tooth type adapter frame includes an upwardly protruding enclosure. The inventor found that: the edge of the enclosure cannot be directly below the cross beam of the comb teeth of the shelf. Otherwise, during the process of the comb-tooth type adapter frame rising and docking with the comb teeth of the shelf, the enclosure directly below the cross beam will conflict with the cross beam. Therefore, this type of enclosure structure is likely to cause difficulties for the handling robot to travel to a deeper position of the buffer shelf, which will result in the position of the tooth bar above the enclosure on the side close to the cross beam being unable to place the storage bin (the storage bin needs to be placed within the four-sided enclosure and cannot be placed outside the four-sided enclosure range), causing waste of space and thus affecting the storage capacity of the warehouse.

[0055] The main purpose of the embodiment of this solution is to provide a shelf docking mechanism, a handling robot and a warehousing system that separately set a comb-tooth load-carrying rack and a fixed load-limiting rack, so as to improve the storage capacity of the warehouse.

[0056] Therefore, this application proposes a shelf docking mechanism, a handling robot and a warehousing system.

[0057] The shelf docking mechanism provided by the embodiment of this application has a separately set comb-tooth load-carrying rack and a fixed load-limiting rack. The comb-tooth load-carrying rack can be arranged on the lifting mechanism of the handling robot, and the fixed load-limiting rack can be arranged on the vehicle body of the handling robot. The lifting mechanism can drive the comb-tooth load-carrying rack to rise and dock with the comb teeth of the shelf, and the fixed load-limiting rack can be realized not to rise together with the comb-tooth load-carrying rack. After the lifting mechanism drives the comb-tooth load-carrying rack carrying the storage bin to descend, the fixed load-limiting rack and the comb-tooth load-carrying rack cooperate to jointly carry and limit the storage bin.

[0058] Figure 1 For the structural schematic diagram of the shelf docking mechanism of an embodiment of this application, as Figure 1 shown, the shelf docking mechanism includes: a comb-tooth load-carrying rack 10 and a fixed load-limiting rack 20.

[0059] The comb-tooth load-carrying rack 10 includes: a main body 11 and a guiding and limiting support frame 12; the main body 11 includes: a comb-tooth frame bottom plate 111 and a pair of outer guiding and limiting plates 112 extending from opposite sides of the comb-tooth frame bottom plate 111 in the height direction Z; the guiding and limiting support frame 12 is arranged on the comb-tooth frame bottom plate 111, between the pair of outer guiding and limiting plates 112, and is used for carrying and limiting the storage bin; a first guiding and limiting structure 121 is arranged at the top of the first side 12a of the guiding and limiting support frame 12; the guiding and limiting support frame 12 is spaced from each adjacent outer guiding and limiting plate 112 and is used for docking with the comb teeth of the shelf;

[0060] The fixed load limiting frame 20 is separately arranged from the comb-tooth load-carrying frame 10 and is fixedly installed on one side outside the comb-tooth load-carrying frame 10; the top of the fixed load limiting frame 20 has a support platform 21 and a second guiding and limiting structure 22, which is located outside the second side 12b of the guiding and limiting support frame 12, and is used to cooperate with the comb-tooth load-carrying frame 10 to jointly carry and limit the storage bin.

[0061] Since the comb-tooth load-carrying frame 10 and the fixed load limiting frame 20 are separately arranged, only the comb-tooth load-carrying frame 10 needs to be docked with the comb teeth of the shelf. Therefore, when setting up the shelf, only the length of the comb-tooth load-carrying frame 10 needs to be considered, and the length of the fixed load limiting frame 20 does not need to be considered. Under the condition of meeting the requirement that the comb teeth of the shelf can cache storage bins of the same size, the occupied area of the comb teeth of the shelf can be reduced, so as to improve the storage capacity of the warehouse.

[0062] Specifically, in the specific application of the shelf docking mechanism, Figure 2 For Figure 1 the schematic structural diagram of the shelf docking mechanism of the embodiment shown is, as Figure 2 shown, the comb-tooth frame bottom plate 111 is arranged on the lifting mechanism of the handling robot, and the comb-tooth load-carrying frame 10 is driven by the lifting mechanism to move up and down. The fixed load limiting frame 20 is arranged on the vehicle body of the handling robot, and the fixed load limiting frame 20 does not move up and down with the comb-tooth load-carrying frame 10.

[0063] Figure 3 For Figure 2 the schematic diagram of the handling robot carrying the storage bin of the embodiment shown Figure 1 , Figure 4 For Figure 2 the schematic diagram of the handling robot carrying the storage bin of the embodiment shown Figure 2 , as Figure 3 and Figure 4 shown, when the lifting mechanism is in the lowered position, the storage bin A is arranged on the comb-tooth load-carrying frame 10. The top of the guiding and limiting support frame 12 has a support edge, and this support edge and the support platform 21 of the fixed load limiting frame 20 can support the storage bin A. The height of a pair of outer guiding and limiting plates 112 is higher than the height of the bottom of the storage bin A, and a pair of outer guiding and limiting plates 112 are located on both sides of the vehicle body of the handling robot to limit the storage bin A in the direction of both sides of the vehicle body of the handling robot. The height of the first guiding and limiting structure 121 and the second guiding and limiting structure 22 is higher than the height of the bottom of the storage bin A, and the first guiding and limiting structure 121 and the second guiding and limiting structure 22 are located in the front-back direction of the vehicle body of the handling robot to limit the storage bin A in the front-back direction of the vehicle body of the handling robot. During the process of the handling robot carrying the storage bin A and moving forward, a pair of outer guiding and limiting plates 112, the first guiding and limiting structure 121 and the second guiding and limiting structure 22 cooperate to realize the limitation of the four sides of the storage bin A, thereby forming a constraint on the movement of the storage bin A in all directions and improving the stability of the storage bin A during the handling process.

[0064] Figure 5 For Figure 2 the schematic diagram of the lifting mechanism of the handling robot in the shown embodiment being in the lowered position and traveling to below the comb structure of the goods shelf Figure 6 For Figure 5 the front view structural schematic diagram of the handling robot and the goods shelf in the shown embodiment, as Figure 5 and Figure 6 shown, the goods shelf 1000 has a comb structure, and a bin A is cached on the comb structure. The comb structure is composed of a cross beam 1100 and a plurality of spaced tooth bars 1200, and the plurality of spaced tooth bars 1200 are connected to the cross beam 1100.

[0065] In the first step of the handling robot obtaining the bin A from the comb structure of the goods shelf 1000: the lifting mechanism of the handling robot is in the lowered position, and one side of the vehicle body of the handling robot provided with the fixed load limiting frame 20 advances towards the goods shelf 1000, and the fixed load limiting frame 20 can travel to directly below the cross beam 1100.

[0066] Figure 7 For Figure 2 the schematic diagram of the comb load carrier 10 of the handling robot in the shown embodiment being in the raised position and butting against the comb of the goods shelf 1000 Figure 8 For Figure 7 the front view structural schematic diagram of the handling robot and the goods shelf 1000 in the shown embodiment, as Figure 7 and Figure 8 shown, in the second step of the handling robot obtaining the bin A from the comb structure of the goods shelf 1000: the lifting mechanism of the handling robot changes from the lowered position to the raised position, and the comb load carrier 10 butts against the comb of the goods shelf 1000 to obtain the bin A. The fixed load limiting frame 20 does not rise with the comb load carrier 10 and still remains directly below the cross beam 1100.

[0067] In the third step of the handling robot obtaining the bin A from the comb structure of the goods shelf 1000: the handling robot drives away from the goods shelf 1000, and then the lifting mechanism changes from the raised position to the lowered position, and the comb load carrier 10 and the fixed load limiting frame 20 cooperate to jointly carry and limit the bin A, ending the goods picking.

[0068] Thus, compared with the prior art, in the embodiment of the present application, due to the separately provided comb load carrier 10 and fixed load limiting frame 20, the fixed load limiting frame 20 can travel to below the cross beam 1100. Therefore, the handling robot can travel to a deeper position of the goods shelf 1000 to obtain the bin A. Under the condition of satisfying that the combs of the goods shelf 1000 cache bins A of the same size, the occupied area of the combs of the goods shelf 1000 can be reduced, so as to facilitate improving the storage capacity of the warehouse.

[0069] For ease of understanding, Figure 9 For Figure 2 Please refer to the comparative diagram in which the lifting mechanism of the handling robot in the illustrated embodiment and the handling robot in the related art is in the lowered position and travels to the lower part of the comb structure of the shelf 1000. Figure 9 As shown, for the handling robot in the related art, the enclosures around it are not under the cross beam 1100 of the shelf 1000, the bin A cannot be placed above the cross beam 1100, and the first distance between the bin A and the outer edge of the cross beam 1100 is L1. In the embodiment of the present application, the fixed load limiting frame 20 of the handling robot can travel under the cross beam 1100, the bin A can be placed above the cross beam 1100, and the second distance between the bin A and the outer edge of the cross beam 1100 is L2. Obviously, L2 < L1, and the position of the bin A can be placed closer to one side of the cross beam 1100.

[0070] Since the position of the bin A is placed closer to one side of the cross beam 1100, the length of the rack bar 1200 connected to one side of the cross beam 1100 can be reduced, from the first length L3 in the related art to the second length L4 in the embodiment of this solution.

[0071] For example, in some embodiments, since a part of the comb-shaped load-carrying rack 10 of the docking mechanism of the shelf 1000 is fixed on the tabletop of the lifting mechanism and a part of the comb-shaped load-carrying rack 10 is fixed on the vehicle body (such as the frame chassis), the fixed load limiting frame 20 can travel completely to the bottom of the cross beam 1100. Compared with the related art, the difference between L3 and L4 can reach 50 mm to 100 mm. Looking at the overall situation, if there are originally 10 columns of shelves 1000 planned in the whole warehouse, then for the handling robot solution of the shelf 1000 docking mechanism in the embodiment of this solution, a bin width of 500 mm to 1000 mm can be vacated, and then 11 columns of shelves 1000 can be arranged in the whole warehouse, greatly improving the storage capacity.

[0072] Such as Figure 1As shown, in order to achieve the support stability of the fixed load limiting frame 20 for the material box, the fixed load limiting frame 20 includes a first vertical plate 23, a second vertical plate 24, and a third vertical plate 25; the first vertical plate 23 and the second vertical plate 24 are arranged at intervals and extend along the height direction Z, and the third vertical plate 25 connects the first vertical plate 23 and the second vertical plate 24; the support platform 21 is connected to the tops of the first vertical plate 23, the second vertical plate 24, and the third vertical plate 25; the second guiding and limiting structure 22 extends along the height direction Z from the tops of the first vertical plate 23 and the second vertical plate 24 on one side of the support platform 21. Among them, since the third vertical plate 25 connects the first vertical plate 23 and the second vertical plate 24, the third vertical plate 25 is easy to support the first vertical plate 23 and the second vertical plate 24, making the first vertical plate 23 and the second vertical plate 24 not easy to bend. Therefore, the support platform 21 is supported by the first vertical plate 23, the second vertical plate 24, and the third vertical plate 25, and can provide a large support force for the material box, improving the support stability of the shelf docking mechanism for the material box.

[0073] As Figure 1 shown, in order to achieve the stable support and limitation of the material box by the comb-tooth load-carrying rack 10, the number of guiding and limiting support frames 12 is not limited to one. The guiding and limiting support frame 12 is arranged at the middle position of the comb-tooth rack bottom plate 111; the comb-tooth load-carrying rack 10 further includes at least a pair of support plates 13; the support plates 13 are arranged in the interval area between the outer guiding and limiting plates 112 and the guiding and limiting support frame 12; a pair of outer guiding and limiting plates 112, the guiding and limiting support frame 12, and at least a pair of support plates 13 are parallel, and the support plates 13 are spaced from the outer guiding and limiting plates 112 and the support plates 13 are spaced from the guiding and limiting support frame 12, for accommodating the comb teeth of the shelf. Compared with the embodiment of only arranging a plurality of guiding and limiting support frames 12, arranging the support plates 13 without the first guiding and limiting structure 121 to improve the support effect is beneficial to reducing the weight of the shelf docking mechanism.

[0074] Further, in some embodiments, the outer guiding and limiting plates 112, the guiding and limiting support frame 12, and the support plates 13 all extend along the first direction X, and the first direction X can be perpendicular to the height direction Z; at least one of the comb-tooth rack bottom plate 111, the outer guiding and limiting plates 112, the guiding and limiting support frame 12, and the support plates 13 is provided with weight-reducing holes 14 arranged at intervals along the first direction X, which can further reduce the weight of the shelf docking mechanism.

[0075] In some embodiments, a pair of outer guiding and limiting plates 112 and the bottom plate 111 of the comb tooth rack are of an integral structure, which can be formed by bending a metal sheet, or cast from a metal material such as aluminum alloy, or injection-molded from plastic by an injection molding process. The weight-reducing holes 14 on the outer guiding and limiting plates 112 and the bottom plate 111 of the comb tooth rack can be through holes that communicate with each other, which is convenient for reducing the number of weight-reducing holes opened on the metal sheet during production. That is, after one weight-reducing hole 14 is opened and the metal sheet is bent, the weight-reducing hole 14 is bent accordingly and becomes the weight-reducing hole 14 on the outer guiding and limiting plates 112 and the bottom plate 111 of the comb tooth rack.

[0076] In specific implementation, the outer guiding and limiting plate 112 includes a limiting plate 1121 and a guiding plate 1122. The limiting plate 1121 extends in the height direction Z from the side of the bottom plate 111 of the comb tooth rack, and the guiding plate 1122 is connected to the limiting plate 1121 and is inclined towards the outside of the shelf docking mechanism; when the guiding plate 1122, the first guiding and limiting structure 121 and the second guiding and limiting structure 22 are at the same height position, they can limit the four sides of the storage box.

[0077] In order to achieve the limiting stability of the shelf docking mechanism for the storage box, the guiding and limiting support frame 12 includes: one or more limiting support plates 122, which are vertically installed on the bottom plate 111 of the comb tooth rack; a first guiding and limiting structure 121 is arranged at the top of the first side of each limiting support plate 122. The first guiding and limiting structure 121 includes a first guiding and limiting edge 1211, and the first guiding and limiting edge 1211 is inclined towards the outside of the shelf docking mechanism.

[0078] The number of the second guiding and limiting structures 22 of the fixed load-carrying and limiting frame 20 is one or more. The second guiding and limiting structure 22 includes a second guiding and limiting edge 221, and the second guiding and limiting edge 221 is inclined towards the outside of the shelf docking mechanism.

[0079] The number of the first guiding and limiting structures 121 is not limited to one, and the number of the second guiding and limiting structures 22 is not limited to one. The number of the first guiding and limiting structures 121 and the number of the second guiding and limiting structures 22 can be the same or different. By increasing the number of the first guiding and limiting structures 121 and the number of the second guiding and limiting structures 22, the limiting stability for the storage box can be improved.

[0080] Specifically, the support plate 13, the outer guiding and limiting plate 112, and the guiding and limiting support frame 12 are arranged at intervals along the second direction Y, and the second direction Y is perpendicular to the first direction X and the height direction Z respectively.

[0081] In some embodiments, the bottom plate 111 of the comb tooth frame is provided with a first mounting structure 1111 for mounting the shelf docking mechanism on the lifting mechanism of the handling robot; the bottom of the fixed load limiting frame 20 is provided with a second mounting structure 26 for mounting the fixed load limiting frame 20 on the vehicle body of the handling robot, so that the second guiding and limiting structure 22 can correspond to the height position of the first guiding and limiting structure 121 when the lifting mechanism is in the lowered position.

[0082] The first mounting structure 1111 can be a first through hole provided in the bottom plate 111 of the comb tooth frame, and the bottom plate 111 of the comb tooth frame is connected to the lifting mechanism of the handling robot by a first bolt.

[0083] The bottom of the fixed load limiting frame 20 may include a bottom plate 27, and the second mounting structure 26 may be a second through hole provided in the bottom plate 27. The bottom of the fixed load limiting frame 20 is connected to the vehicle body of the handling robot by a second bolt. The bottom plate 27 is connected to the bottoms of the first vertical plate 23, the second vertical plate 24 and the third vertical plate 25, which can further improve the structural strength of the fixed load limiting frame 20 and is beneficial to improving the load-carrying capacity of the lifting mechanism.

[0084] As Figure 2 shown, a handling robot includes: a vehicle body 100, a lifting mechanism 200 and the above-mentioned shelf docking mechanism 300. The lifting mechanism 200 is arranged on the vehicle body 100; a mounting plate is arranged on the lifting mechanism 200. The lifting mechanism 200 has a raised position and a lowered position, so as to drive the shelf docking mechanism 300 to rise and fall, so as to facilitate the comb docking between the shelf docking mechanism 300 and the shelf.

[0085] A storage system includes: a shelf and the above-mentioned handling robot. The shelf has combs.

[0086] The comb may include a cross bar and a plurality of tooth bars. The cross bar extends along a first direction, and the plurality of tooth bars extend along a second direction and are spaced apart and arranged on the cross bar.

[0087] Above the plurality of tooth bars is for placing bins. When the shelf docking mechanism is docked with the combs of the shelf, the support frame and the guiding and limiting side frames are inserted into the plurality of tooth bars.

[0088] The above are only the preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.

Claims

1. A shelf docking mechanism, characterized in that: include: A comb-tooth object carrier (10) and a fixed object carrier limiting frame (20); The comb tooth material carrier (10) comprises: a main body (11) and a guide and limit support frame (12); the main body (11) comprises: a comb tooth frame bottom plate (111) and a pair of outer guide and limit plates (112) formed by extending from opposite sides of the comb tooth frame bottom plate (111) in a height direction (Z); the guide and limit support frame (12) is arranged on the comb tooth frame bottom plate (111), located between the pair of outer guide and limit plates (112), and is used for carrying and limiting material boxes; a first guide and limit structure (121) is arranged at the top of the first side (12a) of the guide and limit support frame; the guide and limit support frame (12) is spaced apart from each adjacent outer guide and limit plate (112), and is used for docking with the comb teeth of the shelf; The fixed object carrier limiting frame (20) is arranged separately from the comb tooth carrier (10) and is fixedly mounted on a side outside the comb tooth carrier (10); the top of the fixed object carrier limiting frame (20) is provided with a support platform (21) and a second guide limiting structure (22), which is located outside the second side (12b) of the guide limiting support frame and is used to cooperate with the comb tooth carrier (10) to jointly support and limit the material box.

2. The shelf docking mechanism according to claim 1, characterized in that: The guide and limit support frame (12) comprises: one or more limit support plates (122) vertically mounted on the comb frame bottom plate (111); A first guide limiting structure (121) is provided at the top of the first side of each limiting support plate (122); The number of the second guide and limit structures (22) of the fixed object limiting frame (20) is one or more; the number of the first guide and limit structures (121) and the number of the second guide and limit structures (22) are the same or different.

3. The shelf docking mechanism according to claim 1 or claim 2, characterized in that: The first guide and limit structure (121) comprises a first guide and limit edge (1211), and the first guide and limit edge (1211) is inclined toward the outer side of the shelf docking mechanism; and / or, The second guide and limit structure (22) comprises a second guide and limit edge (221), and the second guide and limit edge (221) is inclined toward the outside of the shelf docking mechanism.

4. The shelf docking mechanism according to claim 1, characterized in that: The guide and limit support frame (12) is arranged at a middle position of the comb frame bottom plate (111); The comb tooth carrier (10) further comprises at least one pair of support plates (13); The support plate (13) is arranged in the spacing area between the outer guide limit plate (112) and the guide limit support frame (12); the pair of outer guide limit plates (112), the guide limit support frame (12) and the at least one pair of support plates (13) are parallel, and the support plate (13) and the outer guide limit plate (112) and the support plate (13) and the guide limit support frame (12) are spaced apart to accommodate the comb teeth of the shelf.

5. The shelf docking mechanism according to claim 4, characterized in that: The outer guide limit plate (112) comprises a limit plate (1121) and a guide plate (1122); the limit plate (1121) extends from the side of the comb rack bottom plate (111) toward the height direction (Z); the guide plate (1122) is connected to the limit plate (1121) and is inclined toward the outer side of the shelf docking mechanism; The guide plate (1122), the first guide limiting structure (121) and the second guide limiting structure (22) are at the same height.

6. The shelf docking mechanism according to claim 4, characterized in that: The outer guide limit plate (112), the guide limit support frame (12) and the support plate (13) all extend along a first direction (X); At least one of the comb frame bottom plate (111), the outer guide limit plate (112), the guide limit support frame (12) and the support plate (13) is provided with weight-reducing holes (14) arranged at intervals along the first direction (X).

7. The shelf docking mechanism according to claim 1, characterized in that: The fixed object limiting frame (20) comprises a first vertical plate (23), a second vertical plate (24) and a third vertical plate (25); The first vertical plate (23) and the second vertical plate (24) are arranged at intervals and extend along the height direction (Z); the third vertical plate (25) connects the first vertical plate (23) and the second vertical plate (24); The supporting platform (21) is connected to the tops of the first vertical plate (23), the second vertical plate (24), and the third vertical plate (25); The second guide and limiting structure (22) is respectively formed from the top of the first vertical plate (23) and the top of the second vertical plate (24), and extends from one side of the support platform (21) along the height direction (Z).

8. The shelf docking mechanism according to claim 1, characterized in that: The comb rack bottom plate (111) is provided with a first mounting structure (1111) for arranging the shelf docking mechanism on a lifting mechanism of a transport robot; A second mounting structure (26) is provided at the bottom of the fixed load-carrying limit frame (20) for arranging the fixed load-carrying limit frame (20) on the body of the transport robot so that the second guide limit structure (22) can correspond to the height position of the first guide limit structure (121) when the lifting mechanism is in a descending position.

9. The shelf docking mechanism according to claim 1, characterized in that: The pair of outer guide limit plates (112) and the comb frame bottom plate (111) are an integrated structure.

10. A transport robot, characterized in that: include: Vehicle body (100); A lifting mechanism (200) is arranged on the vehicle body (100); The shelf docking mechanism (300) according to any one of claims 1 to 9, wherein the comb rack bottom plate (111) is arranged on the lifting mechanism (200); The fixed load-carrying limiting frame (20) is arranged on the vehicle body (100), and when the lifting mechanism (200) is in a lowered position, the second guide limiting structure (22) is positioned relative to the first guide limiting structure (121), so as to guide and limit the material box when the comb-tooth load-carrying frame carries the material box.

11. A storage system, characterized in that: include: A shelf (1000) having a comb-teeth structure; The handling robot as described in claim 10 above.

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