Tray transfer robot and warehousing system

Abstract

The utility model discloses a pallet carrying robot and a warehousing system, and relates to the technical field of warehousing, the pallet carrying robot comprises a pallet fork, a cargo carrying table and a mother vehicle, the pallet fork is used for forking pallet cargoes; the cargo carrying table is provided with a lifting driving mechanism, and the lifting driving mechanism is connected with the pallet fork and used for driving the pallet fork to ascend and descend. The two sides of the cargo carrying table are each provided with at least one clamping part, and the clamping parts are used for abutting against the goods shelf at the target goods allocation so as to fix the cargo carrying table. At least one hanging belt is connected between the mother vehicle and the cargo carrying table, and walking mechanisms are arranged on the two sides of the mother vehicle and used for carrying the cargo carrying table to walk along walking rails arranged on a goods shelf. According to the utility model, the pallet cargo forking stability of the robot can be improved, and the running safety of equipment is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of warehousing, and particularly relates to a pallet handling robot and a warehousing system. Background Art

[0002] The statements herein only provide background art related to the present utility model and do not necessarily constitute prior art.

[0003] In a warehousing system, handling robots are usually used to handle goods. For relatively high shelves, the handling robots also serve as overhead conveyors. For example: The prior art discloses an overhead conveyor suspension lifting system, in which a ceiling mounting component is fixedly installed on the lower surface of the ceiling, a lifting component and a docking track are installed in the ceiling mounting component, and the lifting component controls the lifting of a lifting platform component through the winding and unwinding of a flexible belt; the prior art also discloses an overhead conveyor, including a vehicle body, a traveling mechanism, a winding mechanism, and a fixture. The traveling mechanism is arranged on the vehicle body and is configured to drive the vehicle body to travel along a transport track; the winding mechanism is arranged on the vehicle body and is configured to wind or release a lifting webbing; the fixture is arranged at the free end of the lifting webbing and is configured to clamp or release goods.

[0004] The above-mentioned solutions all adopt a flexible structure as the lifting component, but for relatively heavy pallet goods, it is easy to cause the equipment to overturn during the fork-taking process. Summary of the Utility Model

[0005] The purpose of the present utility model is to overcome the above-mentioned deficiencies of the prior art, and provide a pallet handling robot and a warehousing system, which can improve the stability of the robot when fork-taking pallet goods and improve the safety of equipment operation.

[0006] To achieve the above purpose, the present utility model adopts the following technical solutions:

[0007] In a first aspect, an embodiment of the present utility model provides a pallet handling robot, including:

[0008] Forks, used for fork-taking pallet goods;

[0009] A loading platform, which is provided with a lifting drive mechanism. The lifting drive mechanism is connected to the forks and is used to drive the forks to lift; at least one clamping part is installed on both sides of the loading platform, and the clamping part is used to abut against the shelf at a target goods location to fix the loading platform;

[0010] A mother vehicle, at least one suspension belt is connected between the mother vehicle and the loading platform, and traveling mechanisms are arranged on both sides of the mother vehicle and are used to carry the loading platform to travel along a traveling track arranged on the shelf.

[0011] As a further implementation manner, at least one clamping part is installed on both sides of the loading platform, and the clamping part is used to abut against the shelf at the target cargo space to fix the loading platform.

[0012] As a further implementation manner, one clamping part is installed on each side of the loading platform, and the clamping parts located on both sides of the loading platform are arranged diagonally.

[0013] As a further implementation manner, two clamping parts are installed on each side of the loading platform, and the clamping ends of the two clamping parts are located on the opposite sides of each other.

[0014] As a further implementation manner, the clamping part is telescopic.

[0015] As a further implementation manner, the clamping part is a magnetic suction claw or a rigid claw.

[0016] As a further implementation manner, a plurality of buffer components are provided on one side of the mother vehicle.

[0017] As a further implementation manner, one set or more sets of lifting drive mechanisms are arranged on both sides of the loading platform.

[0018] As a further implementation manner, the lifting drive mechanism includes one of a cam jacking lifting mechanism and a rack and pinion lifting mechanism.

[0019] As a further implementation manner, a cargo detection device is further included, and the cargo detection device is located above the loading platform.

[0020] As a further implementation manner, when at least two suspension belts are adopted, a compression disc spring is used to achieve tension balance between the suspension belts.

[0021] As a further implementation manner, attitude detection elements are installed on the loading platform and / or the mother vehicle.

[0022] As a further implementation manner, the attitude detection element adopts a gyroscope installed on the loading platform, or the attitude detection element adopts a laser rangefinder, and the laser rangefinder is installed on the top surface of the loading platform or the bottom surface of the mother vehicle. In the second aspect, an embodiment of the present invention provides a warehousing system, including a shelf, and the shelf is provided with a walking track for the tray handling robot to walk.

[0023] As a further implementation manner, the tray handling robot can walk between adjacent shelves.

[0024] The beneficial effects of the above-mentioned present invention are as follows:

[0025] 1. The loading platform of the present utility model is equipped with clamping parts on both sides. By setting the clamping parts, the loading platform is supported between the shelves, ensuring the stability of the entire device when picking up palletized goods and solving the problem that the robot is prone to tipping over due to the heavy weight of the palletized goods.

[0026] 2. The mother vehicle of the present utility model is provided with a buffer assembly, which can prevent the robot from colliding with other equipment or objects during operation and improve the safety of equipment operation.

[0027] 3. The fork of the present utility model is lifted through a lifting drive mechanism, and the loading platform is lifted by the traction of the mother vehicle. The fork itself, in cooperation with the overall lifting of the loading platform, can achieve precise picking and placing of palletized goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The schematic drawings forming a part of this application are used to provide a further understanding of this application. The illustrative embodiments and descriptions thereof of this application are used to explain this application and do not constitute a limitation to this application.

[0029] Figure 1 is a perspective view of Embodiment 1 of the present utility model;

[0030] Figure 2 is a front view of Embodiment 1 of the present utility model;

[0031] Figure 3 is a side view of Embodiment 1 of the present utility model;

[0032] Figure 4 is a front view of Embodiment 2 of the present utility model;

[0033] Figure 5 is a top view of Embodiment 2 of the present utility model.

[0034] Wherein, 1. Loading platform, 2. Fork, 3. Palletized goods, 4. Clamping part, 5. Support, 6. Suspension belt, 7. Mother vehicle, 8. Buffer assembly, 9. Goods detection device, 10. Motor, 11. Winding wheel, 12. Guide wheel, 13. Shelf. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] Embodiment 1:

[0036] In a typical embodiment of the present utility model, as Figures 1 - 3 shown, a pallet handling robot is provided.

[0037] Since the palletized goods are relatively heavy, the handling robot is prone to tipping over when picking up the palletized goods. Based on this, this embodiment provides a pallet handling robot. By setting the clamping parts, the loading platform is supported between the shelves 13, ensuring the stability of the entire device when picking up the palletized goods and solving the above-mentioned tipping problem.

[0038] Next, the above-mentioned pallet handling robot will be described in detail with reference to the accompanying drawings.

[0039] As Figures 1 - 3 shown, the pallet handling robot of this embodiment mainly includes a forklift 2, a load-carrying platform 1, and a mother vehicle. The forklift 2 is used to fork pallet goods 3. The forklift 2 is located above the load-carrying platform 1 and has a lifting function.

[0040] In this embodiment, the lifting function of the forklift 2 is realized by a lifting drive mechanism. In order to adapt to the structure of the forklift 2, lifting drive mechanisms are installed on both sides of the load-carrying platform 1. The lifting drive mechanism is connected to the forklift 2 and drives the forklift 2 to lift under the action of the lifting drive mechanism.

[0041] It should be noted that the lifting drive mechanism includes but is not limited to a gear-rack lifting mechanism, a cam jacking lifting mechanism, etc.

[0042] In order to further ensure the stability of the lifting of the forklift 2, multiple groups of lifting drive mechanisms can be set on the same side of the load-carrying platform 1.

[0043] Since the pallet handling robot of this embodiment is used to travel between the shelves 13, clamping parts 4 are installed on both sides of the load-carrying platform 1. When the pallet handling robot runs to the target cargo position, the load-carrying platform 1 can be stably supported between the two shelves 13 through the clamping parts 4 on both sides, thereby preventing the equipment from tipping over.

[0044] One or two clamping parts 4 can be set on the same side of the load-carrying platform 1. In this embodiment, two clamping parts 4 are set on the same side of the load-carrying platform 1. Taking the end where the clamping part 4 abuts against the shelf 13 as the clamping end, the clamping ends of the two clamping parts 4 on the same side are located on the opposite sides of each other, or rather, the clamping ends are arranged towards the side where the shelf 13 is located. In this way, the clamping parts 4 are arranged at the four corners of the equipment, so as to support both sides of the shelf 13 of the equipment.

[0045] It can be understood that in other embodiments, one clamping part 4 can also be installed on each side of the load-carrying platform. At this time, the clamping parts 4 located on both sides of the load-carrying platform are arranged diagonally. Such an arrangement can ensure that both sides of the load-carrying platform 1 are supported, and the center of gravity will not shift due to the installation position of the clamping part 4 deviating from the center of the equipment, thereby ensuring the stability of the overall structure.

[0046] The clamping part 4 is a magnetic suction claw or a rigid claw. In this embodiment, the rigid claw is taken as an example. As Figure 1 and Figure 3 shown, the rigid claw is installed in the horizontal direction and is detachably connected to the load-carrying platform 1 through a support 5. The clamping end of the rigid claw has multiple claw parts to increase the contact area with the shelf 13.

[0047] Considering that the distance between the shelves 13 may vary, the clamping part 4 can have telescopic performance, and its telescopic method can be realized by means of a telescopic rod, a rack and pinion structure, etc.

[0048] There is at least one suspension belt 6 connected between the mother vehicle 7 and the loading platform 1. When at least two suspension belts 6 are used, a compression disc spring is used between the suspension belts 6 to achieve tension balance. As Figure 1 and Figure 3 shown, both sides of the loading platform 1 are connected to the mother vehicle 7 through two suspension belts 6 each. A lifting mechanism is installed on the mother vehicle 7, and the lifting mechanism can adjust the length of the suspension belt 6, so as to lift and lower the loading platform 1. The forklift 2 of this embodiment is lifted and lowered through a lifting drive mechanism, and the loading platform 1 is lifted and lowered by being towed by the mother vehicle 7. The forklift 2 itself can cooperate with the overall lifting and lowering of the loading platform 1 to accurately pick and place the pallet goods 3.

[0049] Each suspension belt 6 corresponds to a set of lifting mechanisms, that is, two sets of lifting mechanisms are provided in this embodiment.

[0050] In this embodiment, the lifting mechanism includes a motor 10, a winding wheel 11, and a guide wheel 12. The winding wheel 11 is installed on the shaft of the motor 10. The top end of the suspension belt 6 is wound around the winding wheel 11 through the traction of two or more guide wheels 12. The motor 10 drives the winding wheel 11 to rotate to realize the winding and unwinding of the suspension belt 6, that is, to realize the lifting and lowering of the loading platform 1.

[0051] In order to further ensure the operation safety of the equipment, a buffer assembly 8 is installed on the mother vehicle 7 of this embodiment. The buffer assembly 8 is arranged on the outside of the frame of the mother vehicle 7, and the buffer assembly 8 can be one, two or more. The buffer assembly 8 can be realized by structures such as protrusions.

[0052] The pallet handling robot of this embodiment is also equipped with a cargo detection device 9. The cargo detection device 9 is installed on both sides of the loading platform 1 through a bracket and is at a certain height from the loading platform 1. Through the cargo detection device 9, it can be detected whether the pallet goods 3 are in place.

[0053] It should be noted that the cargo detection device 9 can be a photoelectric switch or other sensors that can detect goods.

[0054] An attitude detection element is installed on the loading platform 1 and / or the mother vehicle 7. The attitude detection element uses a gyroscope installed on the loading platform 1, or the attitude detection element uses a laser rangefinder, and the laser rangefinder is installed on the top surface of the loading platform 1 or the bottom surface of the mother vehicle 7.

[0055] The working principle of this embodiment is:

[0056] The pallet handling robot travels between two shelves 13. After reaching the target storage location, the clamping part 4 abuts against the shelf 13, and the device is stably supported between the shelves 13 through the clamping parts 4 at the four corner positions; the fork 2 extends to pick up the pallet goods 3 in the shelf 13, and then the fork 2 retracts. After the goods detection device 9 identifies that the pallet goods 3 are in place, the pallet handling robot walks along the track to the next storage location.

[0057] Embodiment 2:

[0058] This embodiment provides a warehousing system, as Figure 4 and Figure 5 shown, which includes a shelf 13 and the pallet handling robot described in Embodiment 1. The pallet handling robot can travel between two adjacent shelves 13. Therefore, a walking track is installed inside the shelf 13, and the mother vehicle 7 can travel along the walking track.

[0059] Although the specific implementation manners of the present invention are described above in conjunction with the accompanying drawings, it is not a limitation to the protection scope of the present invention. Those skilled in the art should understand that based on the technical solutions of the present invention, various modifications or deformations that can be made by those skilled in the art without creative efforts are still within the protection scope of the present invention.

Claims

1. A pallet handling robot, characterized in that, Comprising: Forks for lifting pallet goods; Load-carrying platform, which is provided with a lifting drive mechanism. The lifting drive mechanism is connected to the forks and is used to drive the forks to lift and lower. At least one clamping part is installed on both sides of the load-carrying platform, and the clamping part is used to abut against the shelf at the target storage location to fix the load-carrying platform; Mother vehicle. At least one suspension belt is connected between the mother vehicle and the load-carrying platform. Travel mechanisms are provided on both sides of the mother vehicle and are used to carry the load-carrying platform to travel along the travel track provided on the shelf.

2. The pallet handling robot according to claim 1, characterized in that, One clamping part is installed on each side of the load-carrying platform, and the clamping parts located on both sides of the load-carrying platform are arranged diagonally.

3. A pallet handling robot according to claim 1, characterized in that, Two clamping parts are installed on each side of the load-carrying platform, and the clamping ends of the two clamping parts are located on the opposite sides of each other.

4. A pallet handling robot according to claim 1, characterized in that, The clamping part is telescopic.

5. A pallet handling robot according to any one of claims 1-4, characterized in that, The clamping part is a magnetic suction claw or a rigid claw.

6. The pallet handling robot according to claim 1, characterized in that, A number of buffer components are provided on one side of the mother vehicle.

7. A pallet handling robot according to claim 1, characterized in that, One set or more sets of lifting drive mechanisms are provided on both sides of the load-carrying platform.

8. A tray handling robot according to claim 1, characterized in that, The lifting drive mechanism includes one of a cam lifting and lowering mechanism and a rack and pinion lifting and lowering mechanism.

9. A pallet handling robot according to claim 1, characterized in that, It further includes a goods detection device, and the goods detection device is located above the load-carrying platform.

10. A pallet handling robot according to claim 1, characterized in that, When at least two suspension belts are used, a compression disc spring is used between the suspension belts to achieve tension balance.

11. A pallet handling robot according to claim 1, characterized in that, An attitude detection element is installed on the load-carrying platform and / or the mother vehicle.

12. A pallet handling robot according to claim 11, characterized in that, The attitude detection element uses a gyroscope installed on the load-carrying platform, or the attitude detection element uses a laser rangefinder, and the laser rangefinder is installed on the top surface of the load-carrying platform or the bottom surface of the mother vehicle.

13. A warehousing system, characterized in that, Including a shelf, the shelf is provided with a travel track for the tray handling robot as described in any one of claims 1-12 to travel, and the tray handling robot can travel between adjacent shelves.

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