AMR walking goods shelf of autonomous mobile robot

Abstract

The utility model provides an AMR walking goods shelf, which solves the problem that the existing intelligent warehousing system is mostly provided with a four-way vehicle track frame which is not applicable to AMR, and comprises a track line which comprises a first stand column and track plates, and the track plates are fixed on the first stand column in a multi-layer manner; the warehousing line comprises second stand columns, a tray frame, a first walking frame and a second walking frame, the second stand columns are fixed through connecting steel, the first walking frame and the second walking frame are used for bearing external AMR driving wheels and reversing wheels, and the first walking frame and the second walking frame are fixed to the connecting steel and connected with the track plate; the warehouse-out line and the warehouse-in line are consistent in structure and are located at the two ends of the same side of the track line; the layer changing line is located between the warehouse-in line and the warehouse-out line and comprises a plurality of layers of plane type layer plates to be in butt joint with an external elevator, and each layer plate is fixed to one adjacent set of first stand columns on the same side and is correspondingly spliced with the track plate on each layer to form a plane.

Description

Technical Field

[0001] This utility model relates to the field of AMR technology, and in particular to an autonomous mobile robot (AMR) walking shelf. Background Technology

[0002] AMR (Autonomous Mobile Robot) is a type of autonomous mobile robot used in automated warehousing for robotic handling and picking, including receiving, picking, packaging, and transportation. However, current intelligent warehousing systems typically use four-way tracked racks, which presents the following problems when applied to AMR movement:

[0003] 1. The existing track is difficult to match the reversing wheels and traveling wheels at the bottom of the AMR, making it difficult for the AMR to move;

[0004] 2. Four-way vehicle transportation relies on the orientation of the bottom rack tracks, while AMR does not;

[0005] 3. The original walking frame is mostly a track-type structure, but AMR walking and reversing requires corresponding level space, making reversing difficult. Utility Model Content

[0006] The technical problem to be solved by this utility model is to overcome the defects of the existing technology. This utility model proposes an autonomous mobile robot (AMR) walking shelf, which allows the AMR to change direction while walking, and realizes storage and retrieval of goods at any position without relying on the track, thus improving the efficiency of goods entering and leaving the warehouse.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: an AMR mobile shelving unit, comprising:

[0008] The track includes a first column and a track slab. The first column comprises multiple sets arranged in pairs on both sides of the track slab. The first columns of adjacent sets on each side are connected sequentially by long crossbars. Each set of first columns is connected and fixed at the top and bottom by short crossbars. The track slab is fixed on the first column in multiple layers, and each layer of the track slab comprises multiple sets of first columns arranged in a plane.

[0009] The inbound line includes a second column, a pallet frame, a first traveling frame, and a second traveling frame. The second column comprises multiple sets, arranged in pairs. Each set of second columns is fixed together by connecting steel. Adjacent sets of second columns are connected sequentially by connecting rods and integrated with the first column on one side. The first and second traveling frames each comprise two units, symmetrically arranged around the center of the connecting steel. The first and second traveling frames are used to support external AMR drive wheels and reversing wheels. The first and second traveling frames are fixed to the connecting steel and connected to the track plate. The pallet frame comprises two units, arranged opposite to the center of the inbound line, and is in the same direction as the first traveling frame and located on top of the first traveling frame.

[0010] The outbound line has the same structure as the inbound line and both are located at opposite ends on the same side of the track line;

[0011] The changing line, located between the inbound line and the outbound line, includes multiple planar shelves to connect with the external hoist. Each shelf is fixed on the first column of an adjacent group on the same side, and is spliced ​​with the track slab of each layer to form a plane.

[0012] Furthermore, the width of the first and second traveling frames ranges from 80 to 160 mm.

[0013] Furthermore, both the first and second columns are equipped with height-adjustable legs at their bases to secure them to the ground.

[0014] Furthermore, the bottom of the track slab is also provided with a scissor-type first tie rod for support, and the four corners of the first tie rod are connected and fixed to the first column. The entry line also includes a scissor-type second tie rod to support the first traveling frame and the second traveling frame, and the four corners of the second tie rod are connected and fixed to the second column.

[0015] Furthermore, the short horizontal bars on the first column of each group are spliced ​​together by continuous first diagonal bars, and the second columns of adjacent groups are spliced ​​together by continuous second diagonal bars between the connecting rods.

[0016] Furthermore, at both ends of the track line, a first stop bar is provided on the top of the track slab corresponding to each layer, and the two ends of the first stop bar are respectively connected and fixed to the first column on both sides of the track slab.

[0017] Furthermore, the warehouse entry line is provided with a second stop bar at the end away from the track line, and the two ends of the second stop bar are respectively connected and fixed to the second column.

[0018] An intelligent warehousing system comprising the aforementioned AMR (Automatic Mobile Rack) walking rack.

[0019] Compared with existing technologies, the beneficial effects of this utility model include: The first and second traveling frames meet the positional requirements of the AMR's bottom traveling wheels and reversing wheels. During travel, the traveling wheels roll in contact with the two first traveling frames, and the reversing wheels roll in contact with the second traveling frame, ensuring stable and reliable travel. Simultaneously, the pallet frame supports the bottom pallet of the goods, and after the AMR moves to the corresponding position, the pallet is lifted to carry the goods. Furthermore, after warehousing, for each shelf within the track line, a flat track plate is used to meet the space requirements for the AMR's self-rotation and reversing. When changing shelves, the AMR can connect to an external lifting machine through the shelf plate of the changing line, making it more convenient. During AMR ground-level operations, goods can be delivered to any location via connecting racks. Attached Figure Description

[0020] The disclosure of this utility model is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this utility model. In the drawings, the same reference numerals are used to refer to the same parts. Wherein:

[0021] Figure 1 The schematic diagram shows an isometric view of a walking shelf structure according to one embodiment of the present invention;

[0022] Figure 2 The schematic diagram shows a side view of a walking shelf according to one embodiment of the present invention;

[0023] Figure 3 The schematic diagram shows a top view of a walking shelf according to one embodiment of the present invention.

[0024] Numbered in the diagram: 1. Track line; 101. First upright; 102. Track slab; 103. Short crossbar; 104. Long crossbar; 105. First tie rod; 106. First diagonal brace; 107. First stop bar; 2. Inbound line; 201. Second upright; 202. Pallet rack; 203. First traveling frame; 204. Second traveling frame; 205. Connecting steel; 206. Connecting rod; 207. Second tie rod; 208. Second diagonal brace; 209. Second stop bar; 3. Outbound line; 4. Shelf changing line; 401. Shelf; 5. Foot support. Detailed Implementation

[0025] It is readily understood that, based on the technical solution of this utility model, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of this utility model. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative descriptions of the technical solution of this utility model and should not be considered as the entirety of this utility model or as limitations or restrictions on the technical solution of this utility model.

[0026] According to one embodiment of the present invention, in conjunction with Figures 1-3 As shown.

[0027] like Figure 1 As shown, in this embodiment, an AMR (Automatic Mobile Ride) walking rack includes, in terms of overall structure:

[0028] Track line 1 includes a first column 101 and a track slab 102. The first column 101 includes multiple groups arranged in pairs on both sides of the track slab 102. The first columns 101 of adjacent groups on each side are connected in sequence by long crossbars 104. Each group of first columns 101 is connected and fixed at the upper and lower ends by short crossbars 103. The track slab 102 is fixed on the first column 101 in multiple layers, and each layer of track slab 102 includes multiple groups of first columns 101 arranged in the same direction to form a plane.

[0029] The inbound line 2 includes a second column 201, a pallet frame 202, a first traveling frame 203, and a second traveling frame 204. The second column 201 includes multiple groups, arranged in pairs. Each group of second columns 201 is fixed together by connecting steel 205. Adjacent groups of second columns 201 are connected sequentially by connecting rods 206 and integrated with the first column 101 on one side. The first traveling frame 203 and the second traveling frame 204 each include two and are symmetrically arranged around the center of the connecting steel 205. The first traveling frame 203 and the second traveling frame 204 are used to support the external AMR drive wheel and the reversing wheel. The first traveling frame 203 and the second traveling frame 204 are fixed on the connecting steel 205 and connected to the track plate 102. The pallet frame 202 includes two and is arranged opposite to the center of the inbound line 2. It is in the same direction as the first traveling frame 203 and is located on top of the first traveling frame 203.

[0030] Outbound line 3 has the same structure as inbound line 2 and the two are located at opposite ends on the same side of the track line;

[0031] The layer-changing line 4 is located between the inbound line 2 and the outbound line 3. It includes multiple planar shelves 401 to connect with the external hoist. Each shelf 401 is fixed on the first column 101 of an adjacent group on the same side, and it is spliced ​​with the track slab 102 of each layer to form a plane.

[0032] In the specific implementation process, the width range of the first walking frame 203 and the second walking frame 204 is designed to be 80-160mm.

[0033] To meet the AMR's movement requirements on the shelving levels, this solution first uses the first traveling frame 203 and the second traveling frame 204 to meet the position requirements of the AMR's bottom traveling wheels and reversing wheels. During movement, the traveling wheels (i.e., drive wheels) roll in contact with the two first traveling frames 203, while the four smaller reversing wheels roll in contact with the second traveling frames 204 in pairs. The movement process is stable and reliable. Simultaneously, the pallet frame 202 supports the bottom pallets of the goods. After the AMR moves to the corresponding position, the pallet is lifted to carry the goods. Furthermore, after warehousing, for each shelf level within track line 1, a track plate 102 spliced ​​together to meet the AMR's space requirements for self-rotation and reversing is used. When the AMR changes shelves, it can connect with the external lifting machine through the shelf plate 401 of the shelf-changing line 4, which is more convenient. When the AMR is operating on the ground level, it can deliver goods to any location via connecting racks.

[0034] like Figure 2 and Figure 3 As shown, in this embodiment, both the first column 101 and the second column 201 are equipped with height-adjustable foot brackets 5 at their bottoms to fix them to the ground. The bottom of the track plate 102 is also equipped with a scissor-type first tie rod 105 for support. The four corners of the first tie rod 105 are connected and fixed to the first column 101. The storage line 2 also includes a scissor-type second tie rod 207 to support the first traveling frame 203 and the second traveling frame 204. The four corners of the second tie rod 207 are connected and fixed to the second column 201.

[0035] The foot bracket 5 can support and position the two columns, while the first tie rod 105 and the second tie rod 207, in addition to strengthening the structural rigidity between each set of first columns 101 and each set of second columns 201, can also support and position the track plate 102 and the two traveling frames, ensuring the corresponding flatness, making the AMR movement smoother, and avoiding deviations in the cargo transportation process.

[0036] Similarly, to further improve the overall structural rigidity of the shelving, the short crossbars 103 on each group of the first uprights 101 in this solution are spliced ​​together by continuous first diagonal braces 106, and the second uprights 201 of adjacent groups are spliced ​​together by continuous second diagonal braces 208 between the connecting rods 206. Furthermore, at both ends of the track line 1, a first stop bar 107 is provided on the top of the track plate 102 corresponding to each layer, and the two ends of the first stop bar 107 are respectively connected and fixed to the first uprights 101 on both sides of the track plate 102. The inbound line 2 has a second stop bar 209 at the end away from the track line 1, and the two ends of the second stop bar are respectively connected and fixed to the second upright 201. The first stop bar 107 can block the AMR (Automatic Mobile Transporter), and the second stop bar 209 can block the AMR and goods, preventing them from falling.

[0037] Similarly, an intelligent warehousing system that includes the aforementioned AMR walking rack is also within the scope of protection of this utility model.

[0038] The technical scope of this utility model is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this utility model, and all such modifications and variations should fall within the protection scope of this utility model.

Claims

1. An autonomous mobile robot (AMR) walking shelf, characterized in that, include: The track includes a first column and a track slab. The first column comprises multiple sets arranged in pairs on both sides of the track slab. The first columns of adjacent sets on each side are connected sequentially by long crossbars. Each set of first columns is connected and fixed at the top and bottom by short crossbars. The track slab is fixed on the first column in multiple layers, and each layer of the track slab comprises multiple sets of first columns arranged in a plane. The inbound line includes a second column, a pallet frame, a first traveling frame, and a second traveling frame. The second column comprises multiple sets, arranged in pairs. Each set of second columns is fixed together by connecting steel. Adjacent sets of second columns are connected sequentially by connecting rods and integrated with the first column on one side. The first and second traveling frames each comprise two units, symmetrically arranged around the center of the connecting steel. The first and second traveling frames are used to support external AMR drive wheels and reversing wheels. The first and second traveling frames are fixed to the connecting steel and connected to the track plate. The pallet frame comprises two units, arranged opposite to the center of the inbound line, and is in the same direction as the first traveling frame and located on top of the first traveling frame. The outbound line has the same structure as the inbound line and both are located at opposite ends on the same side of the track line; The changing line, located between the inbound line and the outbound line, includes multiple planar shelves to connect with the external hoist. Each shelf is fixed on the first column of an adjacent group on the same side, and is spliced ​​with the track slab of each layer to form a plane.

2. The autonomous mobile robot (AMR) walking shelf according to claim 1, characterized in that: The width of the first and second traveling frames ranges from 80 to 160 mm.

3. The autonomous mobile robot (AMR) walking shelf according to claim 1, characterized in that: Both the first column and the second column are equipped with height-adjustable legs at their bottoms to secure them to the ground.

4. The autonomous mobile robot (AMR) walking shelf according to claim 1, characterized in that: The bottom of the track slab is also provided with a scissor-type first tie rod for support. The four corners of the first tie rod are connected and fixed to the first column. The inbound line also includes a scissor-type second tie rod to support the first traveling frame and the second traveling frame. The four corners of the second tie rod are connected and fixed to the second column.

5. The autonomous mobile robot (AMR) walking shelf according to claim 1, characterized in that: The short horizontal bars on the first column of each group are spliced ​​together by continuous first diagonal bars, and the second columns of adjacent groups are spliced ​​together by continuous second diagonal bars between the connecting rods.

6. The autonomous mobile robot (AMR) walking shelf according to claim 1, characterized in that: At both ends of the track line, a first stop bar is provided on the top of the track slab corresponding to each layer, and the two ends of the first stop bar are respectively connected and fixed to the first column on both sides of the track slab.

7. The autonomous mobile robot (AMR) walking shelf according to claim 1, characterized in that: The warehouse entry line has a second stop bar at the end away from the track line, and the two ends of the second stop bar are respectively connected and fixed to the second column.

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