Tool vehicle and warehousing system

Abstract

The utility model provides a frock car and warehousing system, frock car includes car body, set up fixed subassembly on the car body and is located the marching subassembly of car body bottom, fixed subassembly is used for the fixed connection with shelf robot, marching subassembly is used for supporting car body and allows car body to run along the ground. Compared with the prior art, the tool trolley can keep the goods shelf robot in a standing state and transport the goods shelf robot to the goods shelf through the ground, and compared with the prior art, the goods shelf robot can be erected or hoisted at a certain fixed position, and does not need to be hoisted and transported through top equipment such as a sky rail in the whole process; the material cost for arranging related equipment at the top of a warehouse and the storage space occupied by the equipment are saved, the manual installation operation difficulty is reduced, and therefore the installation cost of the goods shelf robot is reduced while the installation efficiency of the goods shelf robot is improved.

Description

Technical Field

[0001] The utility model relates to the field of robots, in particular to a tooling vehicle for installing a shelf robot and a storage system comprising the tooling vehicle. Background Art

[0002] With the iteration of intelligent warehousing systems and the increase in shelf heights, shelf robots are being used more and more widely in the field of warehousing equipment. Shelf robots are directly set on the side of the shelf, and carry the weight of the actuator and goods through horizontal and vertical guide structures. They can adapt to shelves of different heights. Compared with box-type warehouse robots, shelf robots have smaller requirements for activity space between shelves, and do not need to be equipped with complex slide rails and lifting modules to adapt to the height of shelves like box-type warehouse robots. They can significantly reduce the material cost of the warehousing system and the scheduling cost of box-type warehouse robots, and improve the utilization rate of warehouse space.

[0003] A shelf robot usually includes an actuator, a vertically arranged lifting assembly, and a lateral displacement assembly. The actuator is used to pick up and place goods or boxes, the lifting assembly can drive the actuator to move up and down, and the lateral displacement assembly is used to drive the actuator to move along the lateral guide rails on the shelf, thereby moving the actuator to various storage locations on each layer of the shelf and performing the actions of taking out and placing goods or boxes.

[0004] In the existing technology, the shelf robot is usually installed on the horizontal guide rail of the shelf through manual operation. However, due to the long overall length of the shelf robot's lifting assembly, the entire installation operation needs to be carried out in a hoisting state, which not only requires high storage space, but also requires the laying of overhead rails and other hoisting equipment above the shelf. Especially when arranging the shelf robot on large-sized and high-height shelves, it often consumes a lot of material and labor costs.

[0005] Therefore, how to provide a low-cost shelf robot installation solution has become a technical problem that needs to be solved urgently in this field. Utility Model Content

[0006] The present invention aims to, to a certain extent, address one of the technical problems in the related art. To this end, the present invention provides a tooling vehicle for installing a shelf robot, a method for installing the shelf robot, and a warehousing system including the tooling vehicle. The tooling vehicle can improve the installation efficiency of the shelf robot and reduce the installation cost of the shelf robot.

[0007] To achieve the above-mentioned purpose, as one aspect of the present invention, a tooling vehicle for installing a shelf robot is provided, wherein the tooling vehicle includes a vehicle body, a fixing component arranged on the vehicle body, and a traveling component located at the bottom of the vehicle body, wherein the fixing component is used to be fixedly connected to the shelf robot, and the traveling component is used to support the vehicle body and allow the vehicle body to travel along the ground.

[0008] Optionally, the tooling vehicle further includes a lifting assembly, which is disposed on the vehicle body and is capable of driving the shelf robot to move up and down.

[0009] Optionally, the lifting assembly includes a lifting drive unit and a guide structure, the lifting drive unit can drive the shelf robot to move up and down, and the guide structure is used to guide the shelf robot to move in a vertical direction.

[0010] Optionally, the guide structure includes at least one vertical guide rail, the vertical guide rail is fixedly arranged on the vehicle body, the fixing assembly is movably arranged on the vertical guide rail, and the lifting drive unit can drive the fixing assembly to move up and down along the vertical guide rail;

[0011] Alternatively, the guide structure includes a plurality of vertical sleeves, the plurality of vertical sleeves being sleeved and connected to each other, and the vertical sleeves located on the inner side are capable of sliding along the vertical sleeves sleeved on the outer side, wherein the vertical sleeves located on the outermost layer are fixedly connected to the vehicle body, and the vertical sleeves located on the innermost layer are fixedly connected to the fixing assembly;

[0012] Alternatively, the guide structure includes a plurality of cross rod groups, each of which includes cross rods that are cross-hinged in pairs, and the plurality of cross rod groups are connected in sequence along the vertical direction, and the bottom ends of the cross rods located above in adjacent cross rod groups are hingedly connected to the top ends of the cross rods located below.

[0013] Optionally, the lifting drive unit includes at least one of a hydraulic cylinder, a pneumatic cylinder, an electric cylinder, and a linear motor.

[0014] Optionally, the tooling vehicle further includes a height feedback component, and the height feedback component is used to feed back height position information of the shelf robot based on the lifting position of the lifting component.

[0015] Optionally, the height feedback component includes an indicator structure and a scale structure, one of the indicator structure and the scale structure is fixed relative to the vehicle body, and the other is fixed relative to the lifting component, and the height position information includes scale information in the scale structure corresponding to the current position of the indicator structure;

[0016] Alternatively, the height feedback component includes a ranging sensor and a target structure, one of the ranging sensor and the target structure is fixed relative to the vehicle body, and the other is fixed relative to the lifting component, and the height position information includes the ranging result of the ranging sensor measuring the target structure.

[0017] Optionally, the traveling assembly includes a plurality of traveling wheels disposed at the bottom of the vehicle body, wherein at least some of the traveling wheels are capable of moving relative to the vehicle body in a direction away from the remaining traveling wheels.

[0018] Optionally, the traveling component further includes at least one telescopic driving part, which is arranged at the bottom of the vehicle body, and the protruding end of the telescopic driving part can be extended to the outside of the vehicle body in a horizontal direction, and the protruding end of the telescopic driving part is fixedly provided with the traveling wheel.

[0019] Optionally, the traveling component further includes at least one swinging drive unit, which is arranged at the bottom of the vehicle body, and the extended end of the swinging drive unit can swing horizontally to the outside of the vehicle body, and the extended end of the swinging drive unit is fixedly provided with the traveling wheel.

[0020] Optionally, the traveling component further includes at least one folding driving portion, which is disposed at the bottom of the vehicle body and can be unfolded to the outside of the vehicle body, and the traveling wheel is fixedly disposed at the bottom of the folding driving portion.

[0021] Optionally, the tooling vehicle further includes a lifting and flipping device, which is used to pull the shelf robot upward so that the shelf robot is flipped from a lying state to a standing state in which it can be fixedly connected to the fixing assembly.

[0022] Optionally, the lifting and flipping device includes a traction mechanism, a flipping belt and a flipping connector. The traction mechanism is arranged on the vehicle body, one end of the flipping belt is fixedly connected to the flipping connector, and the other end of the flipping belt is connected to the traction mechanism. The traction mechanism can pull the flipping belt to drive the shelf robot connected to the flipping connector to flip from a lying state to a standing state.

[0023] Optionally, the tooling vehicle further includes at least one support assembly, which is disposed on the vehicle body and can extend horizontally to the outside of the vehicle body.

[0024] Optionally, the support assembly is stored in any of the following ways: folding; swinging; telescoping.

[0025] Optionally, the tooling vehicle further includes a position indicating component, which is used to generate relative position information based on the positional relationship between the transverse guide rails on the shelf and the shelf robot.

[0026] Optionally, the position indication component includes an image sensor, and the relative position information includes an image obtained by the image sensor taking photos of the transverse guide rail and the shelf robot.

[0027] Optionally, the position indication component includes an optical path detection device, and the relative position information includes a detection result of the optical path detection device on the transverse guide rail.

[0028] Optionally, the position indication component includes a reflector, and the relative position information includes an image of the transverse guide rail and the shelf robot reflected by the reflector to one side of the bottom of the tooling vehicle.

[0029] Optionally, the tooling vehicle further includes a guiding robotic arm, which is used to be fixedly connected to the shelf and drive the tooling vehicle to move relative to the shelf so that the lateral displacement component of the shelf robot is aligned with the lateral guide rail position on the shelf.

[0030] Optionally, the tooling vehicle further includes an installation execution unit, which is used to install an anti-slip blocking member on the end of the transverse guide rail after the transverse displacement component of the shelf robot is connected to the transverse guide rail on the shelf.

[0031] Optionally, a counterweight fixing frame is provided on the vehicle body, and the counterweight fixing frame is used to fix the counterweight.

[0032] As a second aspect of the present invention, a method for installing a shelf robot is provided. The method for installing the shelf robot is implemented by the tooling vehicle provided by the present invention. The method comprises:

[0033] Fixedly connecting the shelf robot to the fixed component of the tooling vehicle;

[0034] Driving the shelf robot to one side of the shelf, and aligning the lateral displacement component of the shelf robot with the lateral guide rail on the shelf;

[0035] The shelf robot is caused to travel along the length direction of the transverse guide rail so that the transverse displacement component of the shelf robot is connected to the transverse guide rail.

[0036] Optionally, the tooling vehicle further includes a lifting assembly, which is disposed on the vehicle body and is capable of driving the shelf robot to move up and down; and aligning the lateral displacement assembly of the shelf robot with the lateral guide rail on the shelf includes:

[0037] The shelf robot is driven to move up and down by the lifting assembly so that the lateral displacement assembly of the shelf robot is aligned with the lateral guide rail on the shelf.

[0038] Optionally, the installation method of the shelf robot further includes pulling the shelf robot by the lifting and flipping device to flip the shelf robot from a lying state to a standing state before fixedly connecting the shelf robot to the fixing assembly.

[0039] As a third aspect of the present invention, a storage system is provided, which includes a shelf and a tooling vehicle provided by the present invention, wherein a transverse guide rail is fixedly provided on the side of the shelf.

[0040] Optionally, the storage system further includes at least one guide structure, which is arranged on one side of the transverse guide rail along the height direction, and the distance between the guide structure and the transverse guide rail gradually increases toward the end side of the transverse guide rail.

[0041] Optionally, the warehousing system further includes at least one lifting device, which is fixedly mounted on the shelf, and is used to pull the shelf robot upward so that the shelf robot and the work vehicle fixedly connected to the shelf robot are flipped from a lying state to a standing state.

[0042] Optionally, the lifting device includes a second traction mechanism, a lifting belt and a lifting connector. The second traction mechanism is arranged on the shelf. One end of the lifting belt is fixedly connected to the lifting connector, and the other end of the lifting belt is connected to the second traction mechanism. The second traction mechanism can pull the lifting belt to drive the shelf robot connected to the lifting connector and the work vehicle fixedly connected to the shelf robot to flip from a lying state to a standing state.

[0043] In the installation method and warehousing system of the tooling vehicle and shelf robot provided by the present invention, the tooling vehicle includes a fixing component provided on the vehicle body, which can be fixedly connected to the shelf robot, thereby fixing the shelf robot in a standing state on the tooling vehicle. The traveling component provided at the bottom of the vehicle body can allow the tooling vehicle to carry the shelf robot freely on the warehouse floor to the shelf position where the shelf robot is to be installed, and push the shelf robot in from one end of the transverse guide rail so that its transverse displacement component cooperates with the transverse guide rail and completes the installation operation.

[0044] The tooling vehicle provided by the present invention can keep the shelf robot in a standing state and transport it to the shelf through the ground. Compared with the existing technology, the solution of the present invention only needs to erect or lift the shelf robot at a fixed position, and there is no need to lift and transport the shelf robot throughout the entire process through top equipment such as overhead rails, which saves the material cost of arranging related equipment on the top of the warehouse and the storage space occupied by the equipment, and reduces the difficulty of manual installation operations, thereby improving the installation efficiency of the shelf robot while reducing the installation cost of the shelf robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The present invention will be further described below with reference to the accompanying drawings:

[0046] Figure 1 This is a structural diagram of a tooling vehicle provided by an embodiment of the present utility model;

[0047] Figure 2 This is a structural diagram of a tooling vehicle provided by another embodiment of the present utility model;

[0048] Figure 3 This is a structural diagram of a tooling vehicle provided by another embodiment of the present utility model;

[0049] Figure 4 This is a structural diagram of a tooling vehicle provided by another embodiment of the present utility model;

[0050] Figure 5 This is a structural diagram of a tooling vehicle provided by another embodiment of the present utility model;

[0051] Figure 6 yes Figure 5 Schematic diagram of the middle tooling vehicle with its travel wheels extended;

[0052] Figure 7 This is a structural diagram of a tooling vehicle provided by another embodiment of the present utility model;

[0053] Figure 8 yes Figure 7 Schematic diagram of the middle tooling vehicle with its travel wheels extended;

[0054] Figure 9 This is a structural diagram of a tooling vehicle provided by another embodiment of the present utility model;

[0055] Figures 10 and 11 This is a schematic diagram of the principle of a tooling vehicle pulling a shelf robot provided by an embodiment of the utility model;

[0056] Figure 12 This is a schematic diagram of the effect of the tooling vehicle fixing shelf robot provided by an embodiment of the utility model;

[0057] Figures 13 and 14This is a schematic diagram of the principle of installing a shelf robot onto a shelf using a tooling vehicle provided in an embodiment of the present utility model;

[0058] Figures 15 to 18 This is a schematic diagram of the principle of the lifting device on the shelf pulling the shelf robot provided by the embodiment of the utility model;

[0059] Figure 19 It is a flow chart of the installation method of the shelf robot provided by an embodiment of the present utility model.

[0060] Description of reference numerals:

[0061] 100. Vehicle body; 200. Fixed assembly; 300. Lifting assembly; 310. Vertical guide rail; 400. Travel assembly; 410. Travel wheel; 420. Telescopic drive unit; 430. Swing drive unit; 500. Lifting and flipping device; 510. Traction mechanism; 520. Flipping belt; 610. Counterweight fixing frame; 10. Shelf; 20. Horizontal guide rail; 21. Guide structure; 30. Lifting device; 31. Second traction mechanism; 32. Lifting belt; 40. Shelf robot; 41. Column; 42. Horizontal displacement assembly. DETAILED DESCRIPTION

[0062] The following describes in detail embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described in the embodiments are intended to explain the present invention and are not to be construed as limiting the present invention.

[0063] References in this specification to "one embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment itself can be included in at least one embodiment disclosed herein. The appearance of the phrase "in one embodiment" in various places in the specification does not necessarily refer to the same embodiment.

[0064] In order to solve the above technical problems, as one aspect of the present invention, a tooling vehicle for installing a shelf robot is provided, such as Figures 1 to 14 As shown, the tooling vehicle includes a vehicle body 100, a fixing component 200 arranged on the vehicle body 100, and a traveling component 400 located at the bottom of the vehicle body 100. The fixing component 200 is used to be fixedly connected to the shelf robot 40, and the traveling component 400 is used to support the vehicle body 100 and allow the vehicle body 100 to travel along the ground.

[0065] The vehicle body 100 of the tooling vehicle provided by the present invention is provided with a fixing assembly 200, which can be fixedly connected to the shelf robot 40, thereby fixing the shelf robot 40 in a standing state on the tooling vehicle (such as Figure 12As shown), the traveling assembly 400 provided at the bottom of the vehicle body 100 can allow the tooling vehicle to freely travel on the warehouse floor with the shelf robot 40 to the shelf position where the shelf robot 40 is to be installed (as shown). Figure 13 As shown), and the shelf robot 40 is pushed in by one end of the transverse guide rail 20 (as shown Figures 13 and 14 As shown), the lateral displacement assembly 42 is matched with the lateral guide rail 20 and the installation operation is completed.

[0066] The tooling vehicle provided by the present invention can keep the shelf robot 40 in a standing state and transport it to the shelf through the ground. Compared with the existing technology, the solution of the present invention only needs to erect or lift the shelf robot 40 at a fixed position, and there is no need to lift and transport the shelf robot 40 through top equipment such as overhead rails. This saves the material cost of arranging related equipment on the top of the warehouse and the storage space occupied by the equipment, and reduces the difficulty of manual installation operations, thereby improving the installation efficiency of the shelf robot while reducing the installation cost of the shelf robot.

[0067] As a preferred embodiment of the present invention, Figure 2 、 Figure 3 As shown, the tooling vehicle further includes a lifting assembly 300 , which is disposed on the vehicle body 100 and is capable of driving the shelf robot 40 to move up and down.

[0068] In an embodiment of the present invention, the tooling vehicle also includes a lifting component 300, which can drive the shelf robot 40 to move up and down. Therefore, even if the heights of the transverse guide rails of different shelves are inconsistent or there is a certain height error when fixing the shelf robot 40 on the driving fixing component 200, the shelf robot 40 can be driven to move up and down by the lifting component 300 to change the height, so as to adjust the height of the transverse displacement component 42 of the shelf robot 40 to be aligned with the transverse guide rail 20 on the shelf 10, thereby ensuring the adaptability of the tooling vehicle to different transverse guide rail heights and the convenience of adjusting the height of the shelf robot 40, and further ensuring the installation efficiency of the shelf robot.

[0069] Alternatively, as Figure 2 、 Figure 3 As shown, the lifting component 300 can drive the fixing component 200 to move up and down, so as to drive the shelf robot 40 connected to the fixing component 200 to change its height.

[0070] Alternatively, the fixed component 200 may be fixedly connected to the actuator of the shelf robot 40 (i.e., a mechanical structure that rises and falls along the column 41 and is used to pick up and place boxes or materials), and the lifting component 300 may drive the column 41 of the shelf robot 40 to rise and fall, thereby independently changing the height of the column 41 and the lateral displacement component 42.

[0071] As an optional embodiment of the present invention, Figure 2 As shown, the lifting assembly 300 includes a lifting drive unit (not shown in the figure) and a guide structure (for example, it may include a vertical guide rail 310, a vertical sleeve 320, and a cross rod group 330). The lifting drive unit can drive the shelf robot 40 to move up and down, and the guide structure is used to guide the shelf robot 40 to move in the vertical direction to ensure the accuracy of the lifting direction.

[0072] As another optional embodiment of the present invention, Figure 2 As shown, the guide structure includes at least one vertical guide rail 310, which is fixed on the vehicle body 100. The fixing component 200 is movably set on the vertical guide rail 310. The lifting drive unit can drive the fixing component 200 to move up and down along the vertical guide rail 310, thereby ensuring the accuracy of the movement direction of the shelf robot when adjusting the height of the shelf robot through the vertical guide rail 310, thereby ensuring the docking accuracy between the shelf robot and the horizontal guide rail.

[0073] As another optional embodiment of the present invention, Figure 3 As shown, the guide structure may include a plurality of vertical sleeves 320, which are sleeved and connected to each other, and the vertical sleeves 320 located on the inner side can slide along the vertical sleeves 320 sleeved on the outer side, wherein the vertical sleeves 320 located on the outermost layer are fixedly connected to the vehicle body 100, and the vertical sleeves 320 located on the innermost layer are fixedly connected to the fixing assembly 200.

[0074] As another optional embodiment of the present invention, the guide structure can also be a scissor lift mechanism, specifically, as Figure 4 As shown, the guide structure may include a plurality of cross rod groups 330, the cross rod groups 330 including cross rods that are cross-hinged in pairs, the plurality of cross rod groups 330 are connected in sequence along the vertical direction, and the bottom ends of the cross rods located above in adjacent cross rod groups 330 are hingedly connected to the top ends of the cross rods located below.

[0075] It is understandable that the figure only shows that the lifting assembly 300 includes two vertical sleeves 320. In actual application, three, four or more vertical sleeves 320 can be connected in sequence to form a telescopic structure similar to the support pole of a folding umbrella.

[0076] As an optional embodiment of the present invention, the lifting drive unit may include at least one of a traction mechanism, a linear motor, a hydraulic cylinder, a pneumatic cylinder, an electric cylinder, and a screw-nut mechanism.

[0077] As a preferred embodiment of the present invention, the work vehicle may further include a height feedback component, which is used to feedback the height position information of the shelf robot 40 based on the lifting position of the lifting component 300, so that the operator or the automatic control system of the work vehicle can determine whether to lift the shelf robot 40 to the required height according to the height position information, thereby further improving the installation efficiency.

[0078] As an optional embodiment of the present invention, the height feedback component may include an indication structure and a scale structure, one of the indication structure and the scale structure is relatively fixed to the vehicle body 100, and the other is relatively fixed to the lifting component 300, and the height position information includes scale information in the scale structure corresponding to the current position of the indication structure.

[0079] Alternatively, as another optional embodiment of the present invention, the height feedback component may include a ranging sensor and a target structure, one of the ranging sensor and the target structure is relatively fixed to the vehicle body 100, and the other is relatively fixed to the lifting component 300, and the height position information includes the ranging result of the ranging sensor measuring the target structure.

[0080] Optionally, the target structure may be a reflective member arranged opposite to the exit surface of the ranging sensor, such as a reflective mirror or a metal sheet.

[0081] As an optional embodiment of the present invention, the fixing assembly 200 may have at least one mounting hole, and the fixing assembly 200 is fixedly connected to the shelf robot 40 via a fastener passing through the mounting hole. For example, the fastener may include a pin, a screw, a bolt, etc.

[0082] Alternatively, the fixing component 200 may also include a corresponding execution structure that can automatically perform clamping and hooking actions, and the shelf fixing robot 40 is automatically grasped and fixed through the execution structure.

[0083] As a preferred embodiment of the present invention, Figures 1 to 14 As shown, the travel assembly 400 includes a plurality of travel wheels 410 disposed at the bottom of the vehicle body 100 .

[0084] In some embodiments of the present invention, the traveling wheel 410 may be partially a driving wheel and partially a universal wheel, so that the straight-moving and turning movements of the work vehicle can be completed through the synchronous rotation and differential rotation of the driving wheel.

[0085] Alternatively, all the traveling wheels 410 can be universal wheels, and the work vehicle can be pushed forward by the staff.

[0086] In order to improve the stability of the working vehicle's driving posture, as a preferred embodiment of the present invention, Figures 5 to 8As shown, at least some of the traveling wheels 410 are capable of moving relative to the vehicle body 100 in a direction away from the remaining traveling wheels 410 .

[0087] To save warehouse space, the width of the aisles between shelves is usually designed to allow only shelf robots and AGV carts to move in them. If the width of the tooling vehicle is designed to be the same as the aisle width, the tooling vehicle may easily have an unstable center of gravity when carrying some shelf robots with heavier weight and longer columns.

[0088] Therefore, in order to solve this technical problem, in the embodiment of the utility model, the position of at least part of the traveling wheels 410 is set to be able to move relative to the vehicle body 100 in a direction away from the remaining traveling wheels 410, so as to achieve the free expansion of the distribution surface of the traveling wheels 410. Then, when the work vehicle enters the narrow alley between the shelves, the position of the traveling wheels 410 can be adjusted to narrow the overall width of the work vehicle to adapt to the width of the alley. When the work vehicle is driving freely on the open ground outside the alley, the position of the traveling wheels 410 can be adjusted to widen the bottom of the work vehicle to ensure the driving stability of the work vehicle.

[0089] As an optional embodiment of the present invention, the traveling wheel 410 can be extended horizontally through a telescopic structure to widen the bottom of the tooling vehicle. Specifically, Figures 5 and 6 As shown, the traveling assembly 400 further includes at least one telescopic driving portion 420, which is disposed at the bottom of the vehicle body 100, and the extended end of the telescopic driving portion 420 can be extended horizontally to the outside of the vehicle body (i.e., by Figure 5 Status extended to Figure 6 State), the protruding end of the telescopic driving part 420 is fixedly provided with a traveling wheel 410.

[0090] Alternatively, as another optional embodiment of the present invention, the bottom of the tooling vehicle can be widened by swinging the traveling wheel 410 outwards through the swing arm structure. Specifically, Figures 7 and 8 As shown, the traveling assembly 400 further includes at least one swing driving portion 430, which is disposed at the bottom of the vehicle body 100, and the extended end of the swing driving portion 430 can swing horizontally to the outside of the vehicle body (i.e., by Figure 7 Status is displayed to Figure 8 State), the extended end of the swing driving part 430 is fixedly provided with a traveling wheel 410.

[0091] As a preferred embodiment of the present invention, the traveling assembly 400 also includes at least one folding drive unit, which is arranged at the bottom of the vehicle body 100 and can be unfolded to the outside of the vehicle body. A traveling wheel 410 is fixedly arranged at the bottom of the folding drive unit.

[0092] As a preferred embodiment of the present invention, Figures 10 and 11 As shown, the tooling vehicle further includes a lifting and flipping device 500 , which is used to pull the shelf robot 40 upward so that the shelf robot 40 can be flipped from a lying state to a standing state where it can be fixedly connected to the fixing assembly 200 .

[0093] In an embodiment of the present utility model, the work truck can flip the shelf robot 40 from a lying state to a standing state through its own lifting and flipping device 500, so as to fix the shelf robot 40 to the fixed component 200. As a result, there is no need to set up a lifting mechanism in the warehouse. The lying shelf robot 40 can be lifted to a standing state where it can be fixedly connected to the fixed component 200 only by the work truck itself, thereby further reducing the installation cost of the shelf robot.

[0094] As an optional embodiment of the present invention, Figures 10 and 11 As shown, the tooling vehicle further includes at least one support assembly 620, which is arranged on the vehicle body 100 and can extend horizontally to the outside of the vehicle body 100, thereby serving as a fulcrum when the lifting and flipping device 500 pulls the shelf robot 40, thereby ensuring the stability of the tooling vehicle's standing posture.

[0095] As an optional embodiment of the present invention, the support assembly 620 can be stored in any of the following ways:

[0096] Folding, that is, the support component 620 is a multi-section hinged structure, which can be folded and stored in the vehicle body 100, or unfolded to the outside of the vehicle body 100; swinging, that is, one end of the support component 620 is hinged to the vehicle body 100, and the other end can be swung outward to extend or swing back into the vehicle body 100; telescopic, that is, the support component 620 can be retracted into the corresponding accommodation space on the vehicle body, or extended from the accommodation space to the outside of the vehicle body 100.

[0097] As an optional embodiment of the present invention, Figures 10 and 11 As shown, the lifting and flipping device 500 includes a traction mechanism 510, a flipping belt 520 and a flipping connector (not shown in the figure). The traction mechanism 510 is arranged on the vehicle body 100, one end of the flipping belt 520 is fixedly connected to the flipping connector, and the other end of the flipping belt 520 is connected to the traction mechanism 510. The traction mechanism 510 can pull the flipping belt 520 to drive the shelf robot 40 connected to the flipping connector to flip from a lying state to a standing state.

[0098] As an optional embodiment of the present invention, the traction mechanism 510 may be a winch or a device that can automatically retract and extend the turnover belt 520 .

[0099] As a preferred embodiment of the present invention, Figure 9As shown, a counterweight fixing frame 610 is provided on the vehicle body, and the counterweight fixing frame 610 is used to fix the counterweight, so that when transporting a shelf robot 40 that is longer or heavier, the center of gravity of the tooling vehicle can be lowered by adding the counterweight to ensure the stability of the tooling vehicle.

[0100] In order to ensure the docking accuracy between the lateral displacement component 42 of the shelf robot 40 and the lateral guide rail 20 on the shelf 10, as a preferred embodiment of the present invention, the tooling vehicle also includes a position indication component, which is used to generate relative position information based on the position relationship between the lateral guide rail 20 on the shelf 10 and the shelf robot 40, so that the automatic control system or the operator can adjust the position of the tooling vehicle in real time according to the relative position information, thereby further ensuring the docking accuracy between the lateral displacement component 42 of the shelf robot 40 and the lateral guide rail 20 on the shelf 10.

[0101] As an optional embodiment of the present invention, the position indication component includes an image sensor, and the relative position information includes images obtained by the image sensor taking photos of the transverse guide rail 20 and the shelf robot 40.

[0102] As an optional implementation of the present invention, the position indication assembly includes an optical path detection device, and the relative position information includes a detection result of the optical path detection device on the transverse guide rail 20.

[0103] As an optional embodiment of the present invention, the position indication component includes a reflector, and the relative position information includes the image of the transverse guide rail 20 and the shelf robot 40 reflected by the reflector to the bottom side of the work vehicle, that is, the operator does not need to climb to a high place, and can directly visually inspect the positional relationship between the transverse guide rail 20 and the shelf robot 40 by simply observing the reflector on the top of the work vehicle.

[0104] In order to ensure the docking accuracy between the lateral displacement component 42 of the shelf robot 40 and the lateral guide rail 20 on the shelf 10, as a preferred embodiment of the present invention, the tooling vehicle also includes a guiding robotic arm, which is used to be fixedly connected to the shelf and drive the tooling vehicle to move relative to the shelf 10 so that the lateral displacement component 42 of the shelf robot 40 is aligned with the lateral guide rail 20 on the shelf 10.

[0105] As a preferred embodiment of the present invention, the tooling vehicle further includes an installation execution unit, which is used to install an anti-slip blocking member on the end of the transverse guide rail 20 after the transverse displacement component 42 of the shelf robot 40 is connected to the transverse guide rail 20 on the shelf 10.

[0106] In an embodiment of the present utility model, the tooling vehicle also includes an installation execution unit, which can install an anti-slip blocking member at the end of the transverse guide rail 20 after the transverse displacement component 42 of the shelf robot 40 slides into the transverse guide rail 20 on the shelf 10, thereby preventing the shelf robot 40 from sliding out of the shelf through the anti-slip blocking member, thereby ensuring the safety of the installation operation of the shelf robot 40 on the shelf 10.

[0107] As a second aspect of the present invention, a method for installing a shelf robot is provided. The method for installing the shelf robot is implemented by the tooling vehicle provided by the present invention. Figure 19 As shown, the installation method of the shelf robot includes:

[0108] Step S1: fixedly connecting the shelf robot 40 to the fixing assembly 200 of the tooling vehicle;

[0109] Step S2: The shelf robot 40 moves to one side of the shelf 10, and aligns the lateral displacement component 42 of the shelf robot 40 with the lateral guide rail 20 on the shelf 10 (e.g., Figure 13 shown);

[0110] Step S3: Make the shelf robot 40 move along the length direction of the transverse guide rail 20 so that the transverse displacement component 42 of the shelf robot 40 is connected to the transverse guide rail 20 (e.g. Figures 13 and 14 As shown, specifically, the roller of the lateral displacement assembly 42 slides into the groove on the side of the lateral guide rail 20).

[0111] The installation method of the shelf robot provided by the present invention is to install the shelf robot 40 on the shelf 10 by using a tool truck. The body 100 of the tool truck provided by the present invention is provided with a fixing component 200, which can be fixedly connected to the shelf robot 40, so that the shelf robot 40 in a standing state is fixed on the tool truck. The traveling component 400 provided at the bottom of the body 100 can allow the tool truck to carry the shelf robot 40 and freely travel on the warehouse floor to the shelf position where the shelf robot 40 is to be installed (such as Figure 13 As shown), and the shelf robot 40 is pushed in by one end of the transverse guide rail 20 (as shown Figures 13 and 14 As shown), the lateral displacement assembly 42 is matched with the lateral guide rail 20 and the installation operation is completed.

[0112] The work vehicle in the present invention can keep the shelf robot 40 in a standing state and transport it to the shelf through the ground. Compared with the existing technology, the solution of the present invention only needs to erect or lift the shelf robot 40 at a fixed position, and there is no need to lift and transport the shelf robot 40 through top equipment such as overhead rails. This saves the material cost of arranging related equipment on the top of the warehouse and the storage space occupied by the equipment, and reduces the difficulty of manual installation operations, thereby improving the installation efficiency of the shelf robot while reducing the installation cost of the shelf robot.

[0113] As a preferred embodiment of the present invention, Figures 2 to 14 As shown, the tooling vehicle further includes a lifting assembly 300, which is disposed on the vehicle body 100 and is capable of driving the shelf robot 40 to move up and down. Step S2 aligns the lateral displacement assembly 42 of the shelf robot 40 with the lateral guide rail 20 on the shelf 10, including:

[0114] The shelf robot 40 is driven to move up and down by the lifting assembly 300 so that the lateral displacement assembly 42 of the shelf robot 40 is aligned with the lateral guide rail 20 on the shelf 10 .

[0115] In an embodiment of the present invention, the tooling vehicle also includes a lifting component 300, which can drive the fixing component 200 to move up and down. Therefore, even if the heights of the transverse guide rails of different shelves are inconsistent or there is a certain height error when fixing the shelf robot 40 on the driving fixing component 200, the lifting component 300 can be used to drive the fixing component 200 to move up and down, so as to adjust the height of the shelf robot 40 to be aligned with the transverse guide rails on the shelf, thereby ensuring the tooling vehicle's adaptability to different transverse guide rail heights and the convenience of adjusting the height of the shelf robot 40, and further ensuring the installation efficiency of the shelf robot.

[0116] As a preferred embodiment of the present invention, the installation method of the shelf robot also includes adjusting the position of the traveling wheel 410 before the shelf robot 40 is driven along the length direction of the transverse guide rail 20, so that the width of the work vehicle in the horizontal direction perpendicular to the transverse guide rail 20 is reduced, so that when the work vehicle enters the narrow alley between the shelves, the position of the traveling wheel 410 can be adjusted to narrow the overall width of the work vehicle. When the work vehicle is driving freely on the open ground outside the alley, the position of the traveling wheel 410 can be adjusted to widen the bottom of the work vehicle to ensure the driving stability of the work vehicle.

[0117] As a preferred embodiment of the present invention, the installation method of the shelf robot also includes pulling the shelf robot 40 by the lifting and flipping device 500 before fixing the shelf robot 40 to the fixing component 200, so that the shelf robot 40 is flipped from a lying state to a standing state.

[0118] In an embodiment of the present utility model, the work truck can flip the shelf robot 40 from a lying state to a standing state through its own lifting and flipping device 500, so as to fix the shelf robot 40 to the fixed component 200. As a result, there is no need to set up a lifting mechanism in the warehouse. The lying shelf robot 40 can be lifted to a standing state where it can be fixedly connected to the fixed component 200 only by the work truck itself, thereby further reducing the installation cost of the shelf robot.

[0119] As a third aspect of the present invention, a storage system is provided, such as Figures 13 and 14 As shown, the storage system includes a shelf 10 and a work vehicle provided by the present invention, and a transverse guide rail 20 is fixedly provided on the side of the shelf 10.

[0120] In the warehousing system provided by the present invention, a fixing assembly 200 is provided on the body 100 of the tooling vehicle, and the fixing assembly 200 can be fixedly connected to the shelf robot 40, so as to fix the shelf robot 40 in a standing state on the tooling vehicle. The traveling assembly 400 provided at the bottom of the body 100 can allow the tooling vehicle to freely travel on the warehouse floor with the shelf robot 40 to the shelf position where the shelf robot 40 is to be installed (such as Figure 13 As shown), and the shelf robot 40 is pushed in by one end of the transverse guide rail 20 (as shown Figures 13 and 14 As shown), the lateral displacement assembly 42 is matched with the lateral guide rail 20 and the installation operation is completed.

[0121] In the present invention, the work vehicle can keep the shelf robot 40 in a standing state and transport it to the shelf through the ground. Compared with the existing technology, the present invention only needs to erect or lift the shelf robot 40 at a fixed position, and there is no need to lift and transport the shelf robot 40 through top equipment such as overhead rails. This saves the material cost of arranging related equipment on the top of the warehouse and the storage space occupied by the equipment, and reduces the difficulty of manual installation operations, thereby improving the installation efficiency of the shelf robot while reducing the installation cost of the shelf robot.

[0122] As a preferred embodiment of the present invention, Figures 13 and 14 As shown, the storage system further includes at least one guide structure 21 , which is arranged on one side of the transverse guide rail 20 along the height direction, and the distance between the guide structure 21 and the transverse guide rail 20 gradually increases toward the end of the transverse guide rail 20 .

[0123] like Figure 13As shown, the guide structure 21 and the transverse guide rail 20 are spaced apart, and the distance between the guide structure 21 and the transverse guide rail 20 gradually increases toward the end of the transverse guide rail 20, thereby forming a guide flare between the guide structure 21 and the transverse guide rail 20 for guiding the rollers in the transverse displacement assembly 42. Therefore, even if there is a slight deviation between the height of the shelf robot 40 and the height of the transverse guide rail 20, the rollers guiding the transverse displacement assembly 42 can be guided to contact the transverse guide rail 20 through the guide structure 21, thereby ensuring the smoothness of the installation of the shelf robot 40.

[0124] In order to further reduce the installation cost of the shelf robot, as a preferred embodiment of the present invention, Figures 15 to 18 As shown, the warehousing system also includes at least one lifting device 30, which is fixedly arranged on the shelf 10. The lifting device 30 is used to pull the shelf robot 40 upward so that the shelf robot 40 and the work truck fixedly connected to the shelf robot 40 are flipped from a lying state to a standing state.

[0125] In the embodiment of the present invention, the storage system further includes a lifting device 30 provided on the shelf 10. The lifting device 30 can flip the shelf robot 40 and the work vehicle from a lying position to a standing position, thereby eliminating the need for additional lifting equipment in the warehouse, saving the material cost of the lifting-related equipment and the storage space occupied by the equipment, and further reducing the installation cost of the shelf robot. Figures 15 and 16 As shown, the tooling vehicle can be fixedly connected to the shelf robot 40 when the shelf robot 40 is in a lying state, thereby further reducing the difficulty of the connection operation between the shelf robot 40 and the tooling vehicle.

[0126] As an optional embodiment of the present invention, Figures 15 to 18 As shown, the lifting device 30 includes a second traction mechanism 31, a lifting belt 32 and a lifting connector. The second traction mechanism 31 is arranged on the shelf 10. One end of the lifting belt 32 is fixedly connected to the lifting connector, and the other end of the lifting belt 32 is connected to the second traction mechanism 31. The second traction mechanism 31 can pull the lifting belt 32 to drive the shelf robot 40 connected to the lifting connector and the work vehicle fixedly connected to the shelf robot 40 to flip from a lying state to a standing state.

[0127] The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the present invention are included within the scope of the claims.

Claims

1. A tooling vehicle for installing a shelf robot, characterized in that: The tooling vehicle comprises a vehicle body (100), a fixing assembly (200) arranged on the vehicle body (100), and a traveling assembly (400) located at the bottom of the vehicle body (100), wherein the fixing assembly (200) is used for fixedly connecting with the shelf robot (40), and the traveling assembly (400) is used for supporting the vehicle body (100) and allowing the vehicle body (100) to travel along the ground.

2. The work vehicle according to claim 1, characterized in that: The tooling vehicle further comprises a lifting assembly (300), wherein the lifting assembly (300) is arranged on the vehicle body (100) and is capable of driving the shelf robot (40) to move upward and downward.

3. The work vehicle according to claim 2, characterized in that: The lifting assembly (300) comprises a lifting drive unit and a guide structure, wherein the lifting drive unit is capable of driving the shelf robot (40) to move upward and downward, and the guide structure is used to guide the shelf robot (40) to move in a vertical direction.

4. The work vehicle according to claim 3, characterized in that: The guide structure comprises at least one vertical guide rail (310), the vertical guide rail (310) being fixedly arranged on the vehicle body (100), the fixed assembly (200) being movably arranged on the vertical guide rail (310), and the lifting drive unit being capable of driving the fixed assembly (200) to move up and down along the vertical guide rail (310); Alternatively, the guide structure includes a plurality of vertical sleeves (320), the plurality of vertical sleeves (320) are sleeved and connected to each other, and the vertical sleeves (320) located on the inner side can slide along the vertical sleeves (320) sleeved on the outer side, wherein the vertical sleeves (320) located on the outermost layer are fixedly connected to the vehicle body (100), and the vertical sleeves (320) located on the innermost layer are fixedly connected to the fixing assembly (200); Alternatively, the guide structure includes a plurality of cross rod groups (330), wherein the cross rod groups (330) include cross rods that are cross-hinged in pairs, and the plurality of cross rod groups (330) are connected in sequence along the vertical direction, and the bottom ends of the cross rods located above in adjacent cross rod groups (330) are hingedly connected to the top ends of the cross rods located below.

5. The work vehicle according to claim 3, characterized in that: The lifting drive unit includes at least one of a traction mechanism, a hydraulic cylinder, an air cylinder, an electric cylinder, a linear motor, and a screw-nut mechanism.

6. The work vehicle according to claim 2, characterized in that: The tooling vehicle further comprises a height feedback component, and the height feedback component is used to feed back height position information of the shelf robot (40) based on the lifting position of the lifting component (300).

7. The work vehicle according to claim 6, characterized in that: The height feedback component includes an indicator structure and a scale structure, one of the indicator structure and the scale structure is relatively fixed to the vehicle body (100), and the other is relatively fixed to the lifting component (300), and the height position information includes scale information in the scale structure corresponding to the current position of the indicator structure; Alternatively, the height feedback component includes a distance sensor and a target structure, one of the distance sensor and the target structure is relatively fixed to the vehicle body (100), and the other is relatively fixed to the lifting component (300), and the height position information includes a distance measurement result of the distance sensor measuring the target structure.

8. The work vehicle according to any one of claims 1 to 7, characterized in that: The traveling assembly (400) includes a plurality of traveling wheels (410) arranged at the bottom of the vehicle body (100), wherein at least some of the traveling wheels (410) are capable of moving relative to the vehicle body (100) in a direction away from the remaining traveling wheels (410).

9. The work vehicle according to claim 8, characterized in that: The traveling assembly (400) further comprises at least one telescopic driving portion (420), wherein the telescopic driving portion (420) is arranged at the bottom of the vehicle body (100), and the protruding end of the telescopic driving portion (420) can be extended to the outside of the vehicle body in a horizontal direction, and the traveling wheel (410) is fixedly provided at the protruding end of the telescopic driving portion (420); And / or, the travel assembly (400) further comprises at least one swing drive unit (430), the swing drive unit (430) being arranged at the bottom of the vehicle body (100), and the extended end of the swing drive unit (430) being capable of swinging horizontally to the outside of the vehicle body, and the travel wheel (410) being fixedly arranged at the extended end of the swing drive unit (430); And / or, the traveling component (400) further includes at least one folding driving unit, the folding driving unit being arranged at the bottom of the vehicle body (100), and the folding driving unit being capable of being unfolded to the outside of the vehicle body, and the traveling wheel (410) being fixedly arranged at the bottom of the folding driving unit.

10. The work vehicle according to any one of claims 1 to 7, characterized in that: The tooling vehicle further comprises a lifting and flipping device (500), wherein the lifting and flipping device (500) is used to pull the shelf robot (40) upwards so as to flip the shelf robot (40) from a lying state to a standing state capable of being fixedly connected to the fixing assembly (200).

11. The work vehicle according to any one of claims 1 to 7, characterized in that: The tooling vehicle further comprises at least one support assembly (620), wherein the support assembly (620) is arranged on the vehicle body (100) and is capable of extending horizontally to the outside of the vehicle body (100).

12. The work vehicle according to claim 11, characterized in that: The support assembly is stored in any of the following ways: folding; swinging; telescoping.

13. The work vehicle according to any one of claims 1 to 7, characterized in that: The tooling vehicle further comprises a position indicating component, which is used to generate relative position information based on the positional relationship between the transverse guide rail (20) on the shelf (10) and the shelf robot (40).

14. The work vehicle according to claim 13, characterized in that: The position indication component includes an image sensor, and the relative position information includes an image obtained by the image sensor taking a picture of the transverse guide rail (20) and the shelf robot (40); And / or, the position indication component includes an optical path detection device, and the relative position information includes a detection result of the optical path detection device on the transverse guide rail (20); And / or, the position indicating component includes a reflector, and the relative position information includes an image of the transverse guide rail (20) and the shelf robot (40) reflected by the reflector to one side of the bottom of the tooling vehicle.

15. The work vehicle according to any one of claims 1 to 7, characterized in that: The tooling vehicle further comprises a guiding mechanical arm, which is used to be fixedly connected to the shelf and drive the tooling vehicle to move relative to the shelf (10) so that the lateral displacement component (42) of the shelf robot (40) is aligned with the lateral guide rail (20) on the shelf (10).

16. The work vehicle according to any one of claims 1 to 7, characterized in that: The tooling vehicle further includes an installation execution unit, which is used to install an anti-slip blocking member on the end of the transverse guide rail (20) after the transverse displacement component (42) of the shelf robot (40) is connected to the transverse guide rail (20) on the shelf (10).

17. A warehousing system, characterized in that: The storage system comprises a shelf (10), at least one shelf robot (40) and a tooling vehicle according to any one of claims 1 to 16, wherein a transverse guide rail (20) is fixedly provided on the side of the shelf (10).

18. The storage system according to claim 17, characterized in that: The storage system further comprises at least one guide structure (21), wherein the guide structure (21) is arranged on one side of the transverse guide rail (20) along the height direction, and the distance between the guide structure (21) and the transverse guide rail (20) gradually increases toward the end of the transverse guide rail (20).

19. The storage system according to claim 17, characterized in that: The warehousing system further comprises at least one lifting device (30), which is fixedly mounted on the shelf (10). The lifting device (30) is used to pull the shelf robot (40) upwards so as to flip the shelf robot (40) and the tooling vehicle fixedly connected to the shelf robot (40) from a lying state to a standing state.

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