Warehousing transfer robot and warehousing system
The leveling of the pallet is maintained by the leveling mechanism and the lifting mechanism, the problems of fork skew and height limitation are solved, efficient multi-position cargo handling is achieved, and storage density is improved.
Patent Information
- Application Number
- CN202422279015.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-18
- Publication Date
- 2025-07-11
- Estimated Expiration
- 2034-09-18
AI Technical Summary
When existing warehousing and handling robots carry goods at high places, the forks are prone to skew and cannot maintain their level, which limits the shelf height and storage density, and can only carry goods of the same height longitudinal direction, reducing storage density.
The leveling mechanism and the lifting mechanism are adopted to contact the shelves through the positioning rods, maintain the pallet level, increase the shelf height, allow multiple storage spaces to be transported, and improve storage density.
The pallets are kept horizontal, avoiding the center of gravity moving forward, increasing the height of the shelf and the storage volume per unit area, increasing the storage density, and being able to carry goods from multiple storage locations.
Smart Images
Figure CN223086790U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of intelligent warehousing, in particular to a warehousing handling robot and a warehousing system. Background Technique
[0002] Intelligent warehousing is a link in the logistics process. The application of intelligent warehousing ensures the speed and accuracy of data input in each link of the goods warehouse management, ensures that the enterprise can timely and accurately master the real data of the inventory, and reasonably maintains and controls the enterprise inventory. Through scientific coding, it is also convenient to manage the batches, shelf lives, etc. of the goods in the inventory.
[0003] At present, warehousing handling robots are widely used in the field of warehousing logistics for the transportation and handling of goods. The existing intelligent warehousing is to set multiple shelves in the warehouse. The goods are placed on the shelves through brackets. The warehousing handling robot uses two forks to lift the bracket with the goods, and the warehousing handling robot drives the bracket to move to the destination, and drives the forks to lift and lower through the lifting mechanism to place the bracket with the goods on the storage positions at different heights on the shelf. However, the existing warehousing handling robots have the following defects:
[0004] (1) When the warehousing handling robot lifts the goods to a relatively high position through the forks, the forks will be slightly skewed and cannot be kept horizontal, which affects the handling of the goods at a relatively high position on the shelf by the warehousing handling robot. At the same time, it also limits the height of the shelf and reduces the warehousing density.
[0005] (2) The warehousing handling robot transports the goods through the forks and can only transport the goods in one storage position longitudinally at the same height on the shelf, that is, only one storage position can be set longitudinally at the same height on the shelf, reducing the warehousing density. Summary of the Invention
[0006] In order to solve the above technical problems, the utility model provides a warehousing handling robot and a warehousing system. When handling the goods at a relatively high position on the shelf, the leveling mechanism adjusts the pallet to be horizontal, so that the handling mechanism on the pallet remains horizontal, ensuring the smooth progress of goods handling. In addition, it can also handle the goods in multiple storage positions longitudinally at the same height on the shelf, which can improve the warehousing density of the warehouse.
[0007] In order to solve the above problems, the utility model adopts the following technical solutions to achieve:
[0008] A warehousing handling robot of the utility model includes a moving base, an elevating bracket is arranged on the moving base, and an elevating mechanism for driving the elevating bracket to lift and lower is arranged. A pallet is movably connected to the elevating bracket, and the pallet can move up and down relative to the elevating bracket. A handling mechanism and a leveling mechanism are arranged on the pallet. The handling mechanism is used for handling goods, and the leveling mechanism is used for adjusting the pallet to be horizontal.
[0009] In this solution, the warehousing handling robot moves to the corresponding shelf through the moving base, drives the pallet to lift and lower through the lifting mechanism, and the leveling mechanism is used to adjust the pallet to be horizontal, so that the handling mechanism on the pallet remains horizontal. The handling mechanism is used to carry goods from the shelf to the pallet, or carry the goods on the pallet to the shelf. This solution ensures that the pallet remains horizontal when picking up and placing goods at a higher position on the shelf through the leveling mechanism, enabling the handling mechanism to smoothly handle goods at a higher position. At the same time, the height of the shelf can be made higher, increasing the storage capacity per unit area of the shelf, thereby greatly improving the warehousing density.
[0010] Preferably, the handling mechanism can be a fork that can be extended and retracted forward and lifted and lowered, or an AGV handling forklift that can move on the pallet and the shelf.
[0011] Preferably, the leveling mechanism includes a leveling component arranged on the top surface of the pallet. The leveling component includes two leveling modules symmetrically arranged left and right. The leveling module includes a positioning rod and a driving mechanism for driving the positioning rod to extend / retract from the pallet. The positioning rod is arranged in the front-back direction.
[0012] When picking up goods, the warehousing handling robot moves to the corresponding shelf. The lifting mechanism drives the pallet to rise to a position slightly higher than the storage location where the goods to be picked are located. The two positioning rods extend forward to above the shelf board at the same height as the storage location. The lifting mechanism drives the pallet to lower until both positioning rods contact the top surface of the shelf board. Since the pallet can move up and down relative to the lifting bracket, the pallet is adjusted to be horizontal through the two positioning rods. The handling mechanism carries the goods to be picked onto the pallet, and then the two positioning rods retract into the pallet.
[0013] When placing goods, the warehousing handling robot moves to the corresponding shelf. The lifting mechanism drives the pallet to rise to a position slightly higher than the storage location where the goods to be placed need to be placed. The two positioning rods extend forward to above the shelf board at the same height as the storage location. The lifting mechanism drives the pallet to lower until both positioning rods contact the top surface of the shelf board. Since the pallet can move up and down relative to the lifting bracket, the pallet is adjusted to be horizontal through the two positioning rods. The handling mechanism carries the goods to be placed to the corresponding storage location. After the handling mechanism finishes placing the goods and returns to the pallet, the two positioning rods retract into the pallet.
[0014] Traditional warehousing and handling robots pick and place goods from the shelves through the telescopic movement of the forklift forks. When the forklift forks with heavy goods extend forward, the center of gravity of the warehousing and handling robot will shift forward. To ensure safety, the lifting height of the warehousing and handling robot is limited. Generally, the maximum lifting height is only 6-8 meters. When the leveling mechanism of this solution is leveling, the positioning rod contacts the shelf, which not only ensures the horizontality of the pallet but also plays a supporting role, so that when the forklift forks extend forward, the warehousing and handling robot will not tip over due to the forward shift of the center of gravity. Therefore, the lifting height of the warehousing and handling robot can be made higher, and the height of the shelf can be made higher, further increasing the storage capacity per unit area of the shelf and further improving the warehousing density.
[0015] Preferably, there are two leveling components, which are symmetrically arranged front and back. The positioning rod of the front leveling component can extend forward / retract from the pallet, and the positioning rod of the rear leveling component can extend backward / retract from the pallet.
[0016] When picking and placing goods, the warehousing and handling robot moves to the aisle where the target shelf is located. The front side of the warehousing and handling robot faces the target shelf, and the rear side is the non-target shelf. The warehousing and handling robot drives the pallet to rise to a position slightly higher than the corresponding storage location through the lifting mechanism. The two positioning rods of the front leveling component extend forward to above the shelf board at the same height as the target storage location on the target shelf, and the two positioning rods of the rear leveling component extend backward to above the corresponding shelf board of the non-target shelf. The lifting mechanism drives the pallet to descend until all four positioning rods contact the corresponding shelf boards. Since the pallet can move up and down relative to the lifting bracket, the pallet is adjusted to be horizontal through the four positioning rods.
[0017] Preferably, a positioning block is provided at the bottom of the front end of the positioning rod, and the bottom surface of the positioning block is in the same plane as the top surface of the pallet.
[0018] When the bottom surfaces of the positioning blocks at the bottoms of the two positioning rods on the front side of the pallet contact the shelf board at the same height as the target storage location, the pallet is in the same horizontal plane as the target storage location, enabling the handling mechanism to smoothly handle the goods on the target storage location.
[0019] Preferably, the lifting bracket includes two L-shaped frame bodies symmetrically arranged left and right. The L-shaped frame body includes a horizontal plate and a vertical plate. A positioning pin is vertically provided on the top surface of the horizontal plate. A guide hole is provided at the corresponding position on the pallet. The positioning pin passes through the corresponding guide hole. A stop block is provided on the vertical plate, and the stop block is located above the pallet. The stop block is used to prevent the pallet from disengaging from the positioning pin.
[0020] When the leveling mechanism adjusts the pallet to be horizontal, the pallet can move up and down along the positioning pin. The space between the stop block and the horizontal plate is the space where the pallet can move up and down.
[0021] Preferably, two guiding bars are arranged on the top surface of the pallet along the front-back direction, and the two guiding bars are symmetrically arranged left and right. The pallet and the two guiding bars enclose a first passage track for the handling mechanism to pass through.
[0022] Preferably, the handling mechanism includes two chassis symmetrically arranged left and right. A moving module is provided at the bottom of the chassis, a fork plate and a lifter for driving the fork plate to lift are provided at the top of the chassis, and the rear ends of the top surfaces of the two chassis are connected by a connecting block.
[0023] The lifter is a scissor lifter. When the fork plate rises to the highest position, the top surface of the connecting block is higher than the top surface of the fork plate. When the pallet is adjusted to be on the same horizontal plane as the target storage position by the leveling mechanism, the handling mechanism moves between the pallet and the target storage position through the moving module, and transports goods through the fork plate.
[0024] Preferably, a plurality of guiding wheels are provided on the outer side wall of the chassis.
[0025] Preferably, the moving module includes driving wheels, auxiliary wheels and a driving motor for driving the driving wheels to rotate.
[0026] Preferably, a plurality of partition bars are arranged side by side along the front-back direction in the middle of the top surface of the pallet. The partition bars divide the first passage track into two channels for the chassis to pass through, and the top surface of the partition bars is lower than the bottom surface of the connecting block.
[0027] Preferably, the lifting mechanism includes a first gantry, a second gantry, and a jacking cylinder. The first gantry includes columns symmetrically arranged on the top of the moving base left and right. First guide rails are arranged longitudinally on the columns, and sliders that can slide along the first guide rails are arranged in the first guide rails. The second gantry includes support columns symmetrically arranged left and right and a cross beam connecting the two support columns. The support columns are respectively connected to the corresponding sliders on one side. Second guide rails are arranged longitudinally on the support columns, and rolling wheel sets that can roll along the second guide rails are arranged in the second guide rails. The rolling wheel sets are rotatably connected to the lifting bracket. An elevator for driving the lifting bracket to lift along the second guide rail is provided on the second gantry. The jacking cylinder 25 is used to drive the second gantry 24 to lift along the first guide rail 27.
[0028] The second gantry can lift along the first gantry, thereby increasing the handling height of the warehousing handling robot and enabling the warehousing handling robot to handle goods at higher positions.
[0029] A storage system of the present utility model includes the above-mentioned storage handling robot and shelves located in the storage area. The shelves include a frame body, and a plurality of storage areas are arranged side by side from top to bottom on the frame body. Each storage area includes a plurality of goods storage racks arranged side by side along the front-back direction. Each goods storage rack includes support plates symmetrically arranged front and back. The support plates are arranged along the left-right direction. A plurality of storage positions are arranged side by side along the left-right direction on the goods storage rack. A second passage track is provided on each storage position for the handling mechanism to pass through. The second passage track is arranged along the front-back direction.
[0030] In this solution, the handling mechanism can move on the pallet and the goods storage rack. Multiple goods storage racks arranged side by side along the front-back direction are provided at the same height on a single shelf, that is, multiple adjacent storage positions are arranged along the front-back direction, thus greatly improving the storage density.
[0031] The beneficial effects of the present utility model are as follows: (1) Through the leveling mechanism, when picking and placing goods at a higher position on the shelf, the pallet is kept horizontal, enabling the handling mechanism to smoothly handle goods at a higher position. At the same time, the height of the shelf can be made higher, increasing the storage capacity per unit area of the shelf, thus greatly improving the storage density. (2) When the leveling mechanism adjusts the pallet to be horizontal, the positioning rod contacts the shelf, which not only ensures the horizontality of the pallet but also plays a supporting role. When the handling mechanism picks and places goods, the storage handling robot will not tip over due to the forward shift of the center of gravity, so that the handling height of the storage handling robot can be made higher and the height of the shelf can be made higher, further increasing the storage capacity per unit area of the shelf and further improving the storage density. (3) Multiple goods storage racks arranged side by side along the front-back direction are provided at the same height on a single shelf, that is, multiple adjacent storage positions are arranged along the front-back direction, further improving the storage density. Description of the Drawings
[0032] Figure 1 is a schematic structural view of the storage handling robot in Embodiment 1;
[0033] Figure 2 is a schematic structural view of the handling mechanism leaving the storage handling robot in Embodiment 1;
[0034] Figure 3 is a schematic view of the pallet lifting of the storage handling robot in Embodiment 1;
[0035] Figure 4 is a schematic structural view of the handling mechanism in Embodiment 1;
[0036] Figure 5 is a schematic view of the fork plate lifting of the handling mechanism in Embodiment 1;
[0037] Figure 6 is Figure 5Side view;
[0038] Figure 7 It is a cross-sectional view of the mating part of the positioning pin and the guide hole in Embodiment 1;
[0039] Figure 8 It is a schematic diagram of the working state of the warehousing and handling robot in Embodiment 1 when handling goods;
[0040] Figure 9 It is a schematic diagram of the working state of the warehousing and handling robot in Embodiment 1 when handling goods;
[0041] Figure 10 It is a schematic structural diagram of the leveling mechanism of the warehousing and handling robot in Embodiment 2.
[0042] In the figure: 1, moving base; 2, lifting bracket; 3, lifting mechanism; 4, pallet; 5, handling mechanism; 6, leveling mechanism; 7, leveling module; 8, positioning rod; 9, driving mechanism; 10, positioning block; 11, L-shaped frame; 12, cross plate; 13, vertical plate; 14, positioning pin; 15, guide hole; 16, stop block; 17, guide strip; 18, chassis; 19, fork plate; 20, lifter; 21, connecting block; 22, guide wheel; 23, first gantry; 24, second gantry; 25, jacking cylinder; 26, column; 27, first guide rail; 28, support column; 29, cross beam; 30, second guide rail; 31, rolling wheel set; 32, elevator; 33, driving wheel; 34, auxiliary wheel; 35, partition strip; 36, shelf; 37, support plate; 38, passage slot; 39, goods; 40, bracket; 41, groove. Detailed implementation manners
[0043] The technical solutions of the present utility model will be further specifically described below through embodiments in conjunction with the accompanying drawings.
[0044] Embodiment 1: A warehousing and handling robot in this embodiment, as Figures 1 to 9 shown, includes a moving base 1. An lifting bracket 2 and an lifting mechanism 3 for driving the lifting bracket 2 to lift are provided on the moving base 1. A pallet 4 is movably connected to the lifting bracket 3, and the pallet 4 can move up and down relative to the lifting bracket 3. A handling mechanism 5 and a leveling mechanism 6 are provided on the pallet 4. The handling mechanism 5 is used for handling goods, and the leveling mechanism 6 is used for adjusting the pallet 4 to be horizontal.
[0045] The leveling mechanism 6 includes a leveling component provided on the top surface of the pallet 4. The leveling component includes two leveling modules 7 symmetrically arranged left and right. The leveling module 7 includes a positioning rod 8 and a driving mechanism 9 for driving the positioning rod 8 to extend / retract from the pallet 4. The positioning rod 8 is arranged in the front-rear direction, and a positioning block 10 is provided at the bottom of the front end of the positioning rod 8. The bottom surface of the positioning block 10 is in the same plane as the top surface of the pallet 4.
[0046] The lifting support 2 includes two L-shaped frames 11 arranged symmetrically left and right. The L-shaped frame 11 includes a horizontal plate 12 and a vertical plate 13. A plurality of positioning pins 14 are vertically provided on the top surface of the horizontal plate 12. Guide holes 15 are provided at positions corresponding to the positioning pins 14 on the support plate 4. The positioning pins 14 pass through the corresponding guide holes 15. Blocks 16 are symmetrically provided at the front and rear ends inside the vertical plate 13. The blocks 16 are located above the support plate 4, and the blocks 16 are used to prevent the support plate 4 from detaching from the positioning pins 14.
[0047] The handling mechanism 5 includes two chassis 18 arranged symmetrically left and right. A moving module is provided at the bottom of the chassis 18. A fork plate 19 and a lifter 20 for driving the fork plate 19 to lift are provided on the top of the chassis 18. The rear ends of the top surfaces of the two chassis 18 are connected by a connecting block 21. A number of guide wheels 22 are provided on the outer side walls of the chassis 18. The moving module includes a driving wheel 33, an auxiliary wheel 34, and a driving motor for driving the driving wheel 33 to rotate. The lifter 20 is a scissor-type lifter. When the fork plate 19 rises to the highest position, the top surface of the connecting block 21 is higher than the top surface of the fork plate 19.
[0048] Two guide bars 17 arranged along the front-rear direction are provided on the top surface of the support plate 4. The two guide bars 17 are arranged symmetrically left and right. The support plate 4 and the two guide bars 17 enclose a first passage track for the handling mechanism 5 to pass through. A plurality of partition bars 35 are arranged side by side along the front-rear direction in the middle of the top surface of the support plate 4. The partition bars 25 divide the first passage track into two channels for the chassis 18 to pass through. The top surface of the partition bar 35 is lower than the bottom surface of the connecting block 21.
[0049] In this solution, as Figure 9 shown, when loading goods, the warehousing handling robot moves to the corresponding shelf through the moving base. The lifting mechanism drives the support plate to rise to a position slightly higher than the storage location where the goods to be loaded need to be placed. The two positioning rods extend forward to above the shelf board at the same height as the storage location. The lifting mechanism drives the support plate to descend until the positioning blocks at the bottoms of the two positioning rods both contact the top surface of the shelf board. Since the support plate can move up and down along the positioning pins, the support plate is adjusted to be horizontal by the two positioning rods. As Figure 8 shown, the handling mechanism transports the goods to be loaded to the corresponding storage location. After the handling mechanism finishes loading the goods and returns to the support plate, the two positioning rods retract into the support plate.
[0050] When picking up goods, the warehousing handling robot moves to the corresponding shelf through the moving base. The lifting mechanism drives the support plate to rise to a position slightly higher than the storage location where the goods to be picked are located. The two positioning rods extend forward to above the shelf board at the same height as the storage location. The lifting mechanism drives the support plate to descend until the positioning blocks at the bottoms of the two positioning rods both contact the top surface of the shelf board. Since the support plate can move up and down along the positioning pins, the support plate is adjusted to be horizontal by the two positioning rods. The handling mechanism transports the goods to be picked to the support plate, and then the two positioning rods retract into the support plate.
[0051] When the bottom surfaces of the positioning blocks at the bottoms of the two positioning rods on the front side of the pallet contact the shelf board at the same height as the target storage location on the shelf, the pallet and the target storage location are on the same horizontal plane, enabling the handling mechanism to smoothly handle the goods on the target storage location. The handling mechanism moves between the pallet and the target storage location through the moving module and handles the goods through the fork board. When the leveling mechanism adjusts the level of the pallet, the pallet can move up and down along the positioning pins, and the space between the stop block and the cross board is the space where the pallet can move up and down.
[0052] This solution ensures that when handling goods at a higher position on the storage shelf through the leveling mechanism, the pallet remains horizontal, enabling the handling mechanism to smoothly handle the goods at a higher position. At the same time, the height of the storage shelf can be made higher, increasing the storage capacity per unit area of the storage shelf, thus greatly improving the storage density.
[0053] Traditional warehousing handling robots pick and place goods from the storage shelf through the telescopic movement of the forklift. When the forklift with heavier goods extends forward, the center of gravity of the warehousing handling robot moves forward. To ensure safety, the handling height of the warehousing handling robot is limited, and generally the maximum handling height is only 6 - 8 meters. When the leveling mechanism of this solution is leveled, the positioning rod contacts the storage shelf, which not only ensures the level of the pallet but also plays a supporting role, so that when the forklift extends forward, the warehousing handling robot will not tip over due to the forward movement of the center of gravity. Therefore, the handling height of the warehousing handling robot can be made higher, and the height of the storage shelf can be made higher, further increasing the storage capacity per unit area of the storage shelf and further improving the storage density.
[0054] The lifting mechanism 3 includes a first gantry 23, a second gantry 24, and a lifting cylinder 25. The first gantry 23 includes columns 26 symmetrically arranged on the top of the moving base 1 on the left and right. Inside the columns 26, there are first guide rails 27 arranged longitudinally. Inside the first guide rails 27, there are sliders that can slide along the first guide rails 27. The second gantry 24 is located between the two columns 26. The second gantry 24 includes symmetrically arranged support columns 28 on the left and right and a cross beam 29 connecting the two support columns 28. The support columns 28 are respectively connected to the corresponding sliders on one side. Inside the support columns 28, there are second guide rails 30 arranged longitudinally. Inside the second guide rails 30, there are rolling wheel sets 31 that can roll along the second guide rails 30. The lifting bracket 2 is located between the two support columns 28. The rolling wheel sets 31 are rotatably connected to the L-shaped frame body 11 on the corresponding side. On the second gantry 24, there is a lifter 32 for driving the lifting bracket 2 to lift and lower along the second guide rails 30. The lifter 32 is a chain-type lifter. The lifting cylinder 25 is used to drive the second gantry 24 to lift and lower along the first guide rails 27.
[0055] The second gantry can lift along the first gantry, thereby increasing the handling height of the warehousing handling robot and enabling the warehousing handling robot to handle goods at a higher position.
[0056] A storage system according to this embodiment is shown in Figure 8 and Figure 9 . It includes the above-mentioned storage handling robot and a shelf 36 located in the storage area. The shelf 36 includes a frame body, and a plurality of storage areas are arranged side by side from top to bottom on the frame body. Each storage area includes a plurality of goods storage racks arranged side by side along the front-rear direction. The goods storage rack includes support plates 37 symmetrically arranged front and back. The support plates 37 are arranged along the left-right direction. A plurality of storage positions are arranged side by side along the left-right direction on the goods storage rack. A second passage track is provided on the storage position for the handling mechanism to pass through. The second passage track is arranged along the front-rear direction. The second passage track includes two passage grooves 38 arranged side by side. The passage grooves 38 are arranged along the front-rear direction and are used for the chassis of the handling mechanism to pass through. When the chassis passes through the passage groove 38, the connecting block is located above the passage groove 38 and does not contact the passage groove 38. The second passage tracks of adjacent storage positions in the front-rear direction in the storage area are aligned to facilitate the movement of the handling mechanism.
[0057] In this solution, the goods 39 are placed at the storage position on the shelf 36 through the bracket 40. The support plates symmetrically arranged front and back hold the bracket. The second passage track is for the handling mechanism to pass through. The bracket is provided with grooves 41 penetrating the bracket symmetrically on the left and right at the bottom. When the fork plate descends to the lowest position, the distance between the upper surface of the fork plate and the ground is less than the height of the groove. When the goods are placed at the storage position on the shelf through the bracket, the two passage grooves of the second passage track on the storage position are respectively located inside the two grooves of the bracket, and the groove does not contact the passage groove inside it. The handling mechanism can move on the pallet and the goods storage rack. A plurality of goods storage racks arranged side by side along the front-rear direction are arranged at the same height on a single shelf, that is, a plurality of adjacent storage positions are arranged along the front-rear direction, thus greatly improving the storage density.
[0058] Embodiment 2: A storage handling robot according to this embodiment. The structure of this embodiment is only different from that of Embodiment 1 in the leveling mechanism, and the rest of the structures are the same. As shown in Figure 10 , the leveling mechanism 6 includes two leveling components arranged on the top surface of the pallet 4. The two leveling components are symmetrically arranged front and back. The leveling component includes two leveling modules 7 symmetrically arranged left and right. The leveling module 7 includes a positioning rod 8 and a driving mechanism 9 for driving the positioning rod 8 to extend / retract from the pallet. The positioning rod 8 is arranged along the front-rear direction. A positioning block 10 is provided at the bottom of the front end of the positioning rod 8. The bottom surface of the positioning block 10 is in the same plane as the top surface of the pallet 4. The positioning rod 8 of the front leveling component can extend / retract forward from the pallet 4, and the positioning rod 8 of the rear leveling component can extend / retract backward from the pallet 4.
[0059] In this solution, when picking up and placing goods, the warehousing handling robot moves to the aisle where the target shelf is located. The front side of the warehousing handling robot faces the target shelf, and the rear side is the non-target shelf. The warehousing handling robot drives the pallet to rise to a position slightly higher than the corresponding storage location through the lifting mechanism. The two positioning rods of the front leveling component extend forward above the shelf board at the same height as the target storage location on the target shelf, and the two positioning rods of the rear leveling component extend backward above the corresponding shelf board of the non-target shelf. The lifting mechanism drives the pallet to descend until the four positioning rods all contact the corresponding shelf boards. Since the pallet can move up and down relative to the lifting bracket, the pallet is adjusted to be horizontal by the four positioning rods, further improving the leveling effect.
[0060] When the leveling mechanism adjusts the pallet to be horizontal, the four positioning rods contact the shelf. While ensuring the horizontal of the pallet, the supporting effect is further improved, so that when the handling mechanism picks up and places goods, the warehousing handling robot will not tip over due to the forward shift of the center of gravity. Therefore, the handling height of the warehousing handling robot can be made higher, and the height of the shelf can be made higher, further increasing the storage capacity per unit area of the shelf and further improving the warehousing density.
[0061] A warehousing system according to this embodiment, as Figure 9 shown, includes the above-mentioned warehousing handling robot and the shelf 36 located in the warehousing area. The shelf 36 includes a rack body. A plurality of storage areas are arranged side by side from top to bottom on the rack body. The storage area includes a plurality of goods storage racks arranged side by side along the front-rear direction. The goods storage rack includes support plates 37 symmetrically arranged front and rear. The support plates 37 are arranged along the left-right direction. A plurality of second passage tracks are arranged side by side on the goods storage rack. The second passage tracks are used for the passage of the handling mechanism. The second passage tracks are arranged along the front-rear direction. The second passage track includes two passage grooves 38 arranged side by side. The passage grooves 38 are arranged along the front-rear direction. The passage grooves 38 are used for the passage of the chassis of the handling mechanism. When the chassis passes in the passage grooves 38, the connecting block is located above the passage grooves 38 and does not contact the passage grooves 38. The second passage tracks of the front-rear adjacent storage locations in the storage area are aligned, facilitating the movement of the handling mechanism. The structure of the warehousing system in this embodiment is the same as that of the warehousing system in Embodiment 1 except for the leveling mechanism.
Claims
1. A warehousing handling robot, characterized in that, It includes a moving base (1), on which there is a lifting bracket (2) and a lifting mechanism (3) for driving the lifting bracket (2) to lift. The lifting bracket (2) is movably connected with a pallet (4), and the pallet (4) can move up and down relative to the lifting bracket (2). There is a handling mechanism (5) and a leveling mechanism (6) on the pallet (4). The handling mechanism (5) is used for handling goods, and the leveling mechanism (6) is used to adjust the pallet (4) to a horizontal state.
2. The warehousing handling robot according to claim 1, wherein, The leveling mechanism (6) includes a leveling component arranged on the top surface of the pallet (4). The leveling component includes two leveling modules (7) symmetrically arranged left and right. The leveling module (7) includes a positioning rod (8) and a driving mechanism (9) for driving the positioning rod (8) to extend / retract from the pallet (4). The positioning rod (8) is arranged in the front-back direction.
3. A warehousing handling robot according to claim 2, characterized in that, There are two leveling components, which are symmetrically arranged front and back. The positioning rod (8) of the front-side leveling component can extend / retract forward from the pallet (4), and the positioning rod (8) of the back-side leveling component can extend / retract backward from the pallet (4).
4. A warehousing handling robot according to claim 2 or 3, characterized in that, There is a positioning block (10) at the bottom of the front end of the positioning rod (8), and the bottom surface of the positioning block (10) is in the same plane as the top surface of the pallet (4).
5. A warehousing handling robot according to claim 1, characterized in that, The lifting bracket (2) includes two L-shaped frames (11) symmetrically arranged left and right. The L-shaped frame (11) includes a horizontal plate (12) and a vertical plate (13). There is a positioning pin (14) vertically arranged on the top surface of the horizontal plate (12). At the corresponding position on the pallet (4) to the positioning pin (14), there is a guide hole (15). The positioning pin (14) passes through the corresponding guide hole (15). There is a stop block (16) on the vertical plate (13), and the stop block (16) is located above the pallet (4). The stop block (16) is used to prevent the pallet (4) from detaching from the positioning pin (14).
6. The warehousing handling robot according to claim 1, characterized in that, There are two guide strips (17) arranged in the front-back direction on the top surface of the pallet (4). The two guide strips (17) are symmetrically arranged left and right. The pallet (4) and the two guide strips (17) enclose a first passage track for the handling mechanism (5) to pass through.
7. A warehousing handling robot according to claim 1, characterized in that, The handling mechanism (5) includes two chassis (18) symmetrically arranged left and right. There is a moving module at the bottom of the chassis (18). There is a fork plate (19) and a lifter (20) for driving the fork plate (19) to lift on the top of the chassis (18). The rear ends of the top surfaces of the two chassis (18) are connected by a connecting block (21).
8. A warehousing handling robot according to claim 7, wherein, There are several guide wheels (22) on the outer side wall of the chassis (18).
9. A warehousing handling robot according to claim 1, characterized in that, The lifting mechanism (3) includes a first gantry (23), a second gantry (24), and a jacking cylinder (25). The first gantry (23) includes columns (26) symmetrically arranged on the top of the moving base (1) on the left and right. A first guide rail (27) arranged longitudinally is provided on the column (26). A slider capable of sliding along the first guide rail (27) is arranged in the first guide rail (27). The second gantry (24) includes support columns (28) symmetrically arranged on the left and right and a cross beam (29) connecting the two support columns (28). The support columns (28) are respectively connected to the corresponding sliders on one side. A second guide rail (30) arranged longitudinally is provided on the support column (28). A rolling wheel set (31) capable of rolling along the second guide rail (30) is arranged in the second guide rail (30). The rolling wheel set (31) is rotatably connected to the lifting bracket (2). An elevator (32) for driving the lifting bracket (2) to lift along the second guide rail (30) is provided on the second gantry (24). The jacking cylinder (25) is used to drive the second gantry (24) to lift along the first guide rail (27).
10. A warehousing system, characterized in that, It includes the warehousing handling robot according to any one of claims 1-9 and a shelf (36) located in the warehousing area. The shelf (36) includes a frame body. A plurality of storage areas are arranged side by side from top to bottom on the frame body. Each storage area includes a plurality of goods storage racks arranged side by side in the front-rear direction. The goods storage rack includes support plates (37) symmetrically arranged in the front and rear. The support plates (37) are arranged in the left-right direction. A plurality of storage positions are arranged side by side in the left-right direction on the goods storage rack. A second passage track is provided on the storage position. The second passage track is used for the passage of the handling mechanism (5). The second passage track is arranged in the front-rear direction.