A robot transfer tool car

Abstract

The utility model embodiment provides a kind of robot transfer tool car, it is related to material transport technical field.The tool car includes: mobile car, traction mechanism and robot support shaft;The traction mechanism is set on the mobile car, can be detachably connected with robot;The robot support shaft is set on the mobile car, for with the bottom of the robot detachable clamping connection;Wherein, the traction mechanism is through traction, so that the robot can be based on the robot support shaft between horizontal posture and vertical posture conversion;When the robot is in horizontal posture, it can be connected or separated with the robot support shaft;When the robot is in vertical posture, it can be driven under the mobile car, install or remove the goods shelf track.Utilize tool car to carry hoist portal, can effectively improve the safety of carrying process and improve the efficiency of carrying process.

Description

Technical Field

[0001] This utility model relates to the field of material transportation technology, and in particular to a robotic transfer tooling vehicle. Background Technology

[0002] In modern automated warehousing systems, rack-mounted bin robots are widely used for storing and retrieving goods. These robots typically operate on rack tracks. A rack-mounted bin robot generally includes a lifting mast and a picking / placing mechanism. The robot is mounted on one side of the rack via the lifting mast, which can move horizontally along the rack's extension. The picking / placing mechanism can move vertically up and down the lifting mast to retrieve bins at different heights on the rack.

[0003] When a rack-mounted bin robot malfunctions or requires maintenance, it often needs to be moved out of narrow aisles for repairs and then moved back into the aisle after repairs are completed. Currently, lifting equipment (such as cranes) is mainly used to move the rack-mounted bin robot in and out of the aisle. However, this method is not only cumbersome and inefficient, but also poses safety hazards, such as the risk of the rack-mounted bin robot slipping or tipping over. Utility Model Content

[0004] The purpose of this utility model embodiment is to provide a robotic transfer cart to improve the safety and efficiency of the handling process. The specific technical solution is as follows:

[0005] This utility model provides a robot transfer tooling cart, which includes: a mobile cart, a traction mechanism, and a robot support shaft;

[0006] The traction mechanism is mounted on the mobile vehicle and can be detachably connected to the shelf bin robot;

[0007] The robot support shaft is mounted on the mobile vehicle and is used for a detachable connection to the bottom of the shelf bin robot.

[0008] The traction mechanism enables the shelf bin robot to switch between horizontal and vertical postures based on the robot's support axis through traction force.

[0009] When the shelf bin robot is in a horizontal position, it can dock with or detach from the robot support axis; when the shelf bin robot is in a vertical position, it can be installed on or removed from the shelf track by the drive of the mobile vehicle.

[0010] In some embodiments of this utility model, the mobile vehicle includes: a vehicle frame and a mobile component;

[0011] The bottom of the vehicle frame is fixedly connected to the movable component; the vehicle frame is erected relative to the ground along the height direction based on the movable component;

[0012] The width of the vehicle frame is smaller than the width of the aisles between the shelves, so that the tooling vehicle can enter and exit the aisles under the drive of the moving components.

[0013] The first side located at one end of the vehicle frame in the width direction is used to support the lifting mast of the shelf bin robot;

[0014] The traction mechanism is mounted on the vehicle frame and is detachably connected to the lifting gantry, and is used to traction the lifting gantry to switch between horizontal and vertical positions.

[0015] The robot support shaft is installed on the bottom of the first side of the vehicle frame and is used to engage with the bottom of the lifting gantry of the shelf bin robot so that the lifting gantry can rotate around the robot support shaft.

[0016] In some embodiments of this utility model, the robot support shaft is mounted on the vehicle frame via a support shaft connecting rod; the support shaft connecting rod is mounted on the bottom of a first side of the vehicle frame and extends in a direction away from the vehicle frame; the first end of the support shaft connecting rod is connected to the first side of the vehicle frame; and the second end of the support shaft connecting rod is fixedly connected to the robot support shaft.

[0017] The robot support shaft extends along a direction perpendicular to the extension of the support shaft connecting rod, and is used for a detachable engaging connection with the V-shaped block at the bottom of the lifting mast of the shelf bin robot.

[0018] In some embodiments of this utility model, a first mounting seat is provided on the vehicle frame at a position corresponding to the support shaft connecting rod; the first end of the support shaft connecting rod is hinged to the first mounting seat, which is used to drive the robot support shaft to rotate around the first mounting seat.

[0019] In some embodiments of this utility model, the number of robot support axes is 2; the number of V-blocks at the bottom of the lifting mast of the shelf bin robot is 2;

[0020] The two robot support shafts are spaced apart and are detachably engaged with two V-shaped blocks at the bottom of the lifting gantry.

[0021] In some embodiments of this utility model, the traction mechanism includes: a pulley assembly, a traction cable, and a traction connector;

[0022] The traction cable is slidably connected to the vehicle frame and the traction connector via a pulley assembly; the traction connector is detachably connected to the lifting gantry and is used to pull the lifting gantry vertically or horizontally.

[0023] In some embodiments of this utility model, the pulley assembly includes: a fixed pulley fixedly installed above the top crossbeam of the vehicle frame, a fixed hook fixedly installed below the top crossbeam of the vehicle frame, and a movable pulley disposed on the side of the traction connector facing the vehicle frame.

[0024] The first end of the traction cable is located on the first side, wrapped around the movable pulley, and fixedly connected to the fixed hook; the second end of the traction cable passes around the fixed pulley and is installed on the second side of the vehicle frame opposite to the first side.

[0025] In some embodiments of this utility model, the traction mechanism further includes: a winch; the winch is located below the pulley assembly and is fixedly installed on the vehicle frame; the second end of the traction cable is wound around the winch; the winch is used to adjust the length of the extended traction cable.

[0026] In some embodiments of this utility model, the vehicle frame has a winch mounting beam; the winch mounting beam is parallel to the length direction of the vehicle frame; the winch mounting beam is provided with a winch mounting platform extending in a direction away from the first side; the winch is fixedly mounted on the winch mounting platform.

[0027] In some embodiments of this utility model, the traction connector is a traction beam, which is used to detachably connect to the side of the lifting gantry away from the vehicle body frame.

[0028] The number of traction mechanisms is two; the fixed pulleys of the two pulley assemblies are spaced apart on the top crossbeam; the fixed hooks of the two pulley assemblies are spaced apart on the top crossbeam; the movable pulleys of the two pulley assemblies are spaced apart on the side of the traction crossbeam facing the vehicle frame.

[0029] In some embodiments of this utility model, the tooling carriage further includes: a clamping device;

[0030] The clamping device includes: at least one pair of clamping members and driving members disposed opposite to each other;

[0031] The clamping member is movably mounted on the vehicle frame; the driving member is mounted on the vehicle frame and connected to the at least one pair of clamping members, for driving the clamping members to move towards or away from each other, so as to clamp or release the shelf bin robot in an upright posture.

[0032] In some embodiments of this utility model, the clamping member is a clamping arm fixing wheel; the driving member is an adjusting handle;

[0033] At least one pair of opposing fixed clamping arms extending out of the vehicle body frame are connected to the vehicle body frame.

[0034] The clamping arm fixing wheel and the adjusting handle are respectively disposed on both sides of the fixing clamping arm;

[0035] The clamping arm fixing wheel is used to cooperate with the guide groove on the inner side of the lifting gantry;

[0036] The adjusting handle passes through the fixed clamping arm and is connected to the clamping arm fixing wheel. It is used to adjust the distance between the clamping arm fixing wheel and the fixed clamping arm to clamp the lifting gantry.

[0037] In some embodiments of this utility model, a second mounting seat is provided on the vehicle frame at a position corresponding to the fixed clamping arm; one end of the fixed clamping arm near the vehicle frame is hinged to the second mounting seat for rotation around the second mounting seat.

[0038] In some embodiments of this utility model, the vehicle frame includes: a bottom frame and a top frame; the top frame is disposed on top of the bottom frame; the top of the top frame is formed as a top crossbeam;

[0039] The number of fixed clamping arms is at least two; at least one of the fixed clamping arms is disposed at the middle of the bottom frame along the height direction; at least one of the fixed clamping arms is disposed on the top crossbeam.

[0040] In some embodiments of this utility model, the tooling vehicle further includes: a support and stabilization mechanism, which includes multiple support legs;

[0041] The plurality of support legs are detachably connected and arranged around the bottom of the mobile vehicle, and are used to be installed on the tooling vehicle when the traction mechanism lifts the shelf box robot to support it on the ground, and are removed when the tooling vehicle moves.

[0042] In some embodiments of this utility model, the plurality of support legs include: at least two first upright support legs and at least two second upright support legs; the at least two first upright support legs are detachably mounted on the bottom of a first side of the vehicle frame and extend toward a side away from the vehicle frame; the second upright support legs are detachably mounted on the bottom of a second side of the vehicle frame away from the first side and extend toward a side away from the vehicle frame.

[0043] On the first vertical support leg and the second vertical support leg, at the ends away from the vehicle frame, there are respectively a first fixed support and a second fixed support extending toward the ground, which are used to abut against the ground when the traction mechanism lifts the shelf box robot.

[0044] In some embodiments of this utility model, the movable component includes: four movable casters; wherein two of the movable casters are located at the bottom of one end of the vehicle frame along the length direction; the other two movable casters are located at the bottom of the other end of the vehicle frame along the length direction; and the two movable casters located on the same side are spaced apart.

[0045] Beneficial effects:

[0046] This utility model provides a robotic transfer cart, including a mobile cart, a traction mechanism, and a robot support shaft, both of which are mounted on the mobile cart. The traction mechanism, through traction force, enables the shelf-mounted robot to switch between horizontal and vertical orientations based on the robot support shaft. When the shelf-mounted robot is in a vertical orientation, it can be installed on or removed from the shelf track under the drive of the mobile cart.

[0047] Compared to the crane-based handling methods used in related technologies, using a tooling vehicle instead of a crane to move the rack and bins by a robot allows for easy access to and from aisles, effectively improving both the safety and efficiency of the handling process.

[0048] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0050] Figure 1a A first-view structural schematic diagram of the tooling vehicle provided by this utility model;

[0051] Figure 1b A structural schematic diagram of the tooling vehicle provided by this utility model from a second perspective;

[0052] Figure 1c for Figure 1a Exploded view of the tooling vehicle shown;

[0053] Figure 1d for Figure 1aA magnified view of the portion shown in M1;

[0054] Figure 1e for Figure 1a A magnified view of the portion shown in M2;

[0055] Figure 1f for Figure 1e A partially enlarged view showing the rotatable connection between the second mounting base and the clamping device shown in M7;

[0056] Figure 1g for Figure 1a A magnified view of the portion shown in M3;

[0057] Figure 1h for Figure 1g A partially enlarged view showing the rotatable connection between the first mounting base and the support shaft connecting rod shown in M8;

[0058] Figure 2a for Figure 1a The tooling vehicle shown is a top view of itself equipped with a lifting gantry.

[0059] Figure 2b for Figure 1a The top view shown is of a tooling vehicle transporting a lifting gantry in a tunnel.

[0060] Figure 2c for Figure 1a The side view shown is of a tooling vehicle transporting a lifting gantry in a tunnel.

[0061] Figure 2d for Figure 1a The diagram shows a structural schematic of the tooling vehicle transporting and lifting the gantry frame in the tunnel from another perspective.

[0062] Figure 2e for Figure 1a The diagram shows the process of the tooling vehicle pulling the lifting gantry of the shelf box robot outside the aisle.

[0063] Figure 3a for Figure 2e The diagram shows the structure of the lifting gantry when it is erected on the tooling vehicle.

[0064] Figure 3b for Figure 2e The diagram shows the structure of the lifting gantry when it is tilted relative to the tooling vehicle.

[0065] Figure 3c for Figure 2e The diagram shows the structure of the lifting gantry when it is horizontal to the tooling vehicle.

[0066] Figure 4a for Figure 2a The diagram shows the structure of the lifting gantry.

[0067] Figure 4b for Figure 2d The enlarged view shown in M4;

[0068] Figure 5a for Figure 1a The diagram shown is a structural schematic from a first side view when the tooling vehicle supports the lifting gantry.

[0069] Figure 5b for Figure 1a The diagram shown is a structural schematic from a second side view when the tooling vehicle supports the lifting gantry.

[0070] Figure 5c for Figure 5b The enlarged view shown in M5;

[0071] Figure 6a for Figure 3c A structural diagram from another perspective;

[0072] Figure 6b for Figure 6a A magnified view of the portion shown in M6.

[0073] Figure label:

[0074] Vehicle frame 1, mobile vehicle 10, first side 11, top crossbeam 12, second side 13, winch mounting crossbeam 14, winch mounting platform 141, bottom frame 15, bottom support rod 151, top frame 16, top support rod 161, gantry limit rod 162, first mounting seat 17, first positioning hole 171, first pin 172, second mounting seat 18, second positioning hole 181, second pin 182;

[0075] Movable component 2, movable casters 21;

[0076] The traction mechanism 3, pulley assembly 31, fixed pulley 311, fixed hook 312, movable pulley 313, traction cable 32, traction connector 33, traction beam 331, and winch 34 are included.

[0077] Support shaft connecting rod 41, robot support shaft 42;

[0078] Clamping device 5, fixed clamping arm 51, clamping arm fixing wheel 511, adjusting handle 512;

[0079] Support and stabilization mechanism 6, support leg 60, first vertical carriage support leg 61, first fixed support 611, second vertical carriage support leg 62, second fixed support 621, third fixed support 631;

[0080] Shelf 100, shelf track 110, lifting gantry 200, V-block 210, guide groove 220, gantry drive wheel 230, gantry base 240. Detailed Implementation

[0081] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art based on this application are within the protection scope of the present utility model.

[0082] This utility model provides a robotic transfer cart for installing or unloading robot bins from shelves, such as... Figures 1a to 1c As shown, Figure 1a This is a first-view structural schematic diagram of the tooling vehicle provided by this utility model. Figure 1b This is a structural schematic diagram of the tooling vehicle provided by this utility model from a second perspective. Figure 1c for Figure 1a The exploded view of the tooling vehicle shown. The tooling vehicle includes: a moving vehicle 10, a traction mechanism 3, and a robot support shaft 42; the traction mechanism 3, mounted on the moving vehicle 10, is detachably connected to the shelf bin robot; the robot support shaft 42, mounted on the moving vehicle 10, is detachably connected to the bottom of the shelf bin robot; wherein, the traction mechanism 3, through traction force, enables the shelf bin robot to switch between horizontal and vertical postures based on the robot support shaft 42; when the shelf bin robot is in a horizontal posture, it can dock or detach from the robot support shaft 42; when the shelf bin robot is in a vertical posture, it can be installed on or removed from the shelf track 110 under the drive of the moving vehicle 10.

[0083] In this embodiment, the robot transfer cart includes a mobile cart 10, a traction mechanism 3, and a robot support shaft 42, both of which are mounted on the mobile cart 10. The traction mechanism 3, through traction force, enables the shelf-mounted robot to switch between horizontal and vertical orientations based on the robot support shaft 42. When the shelf-mounted robot is in a vertical orientation, it can be installed on or removed from the shelf track 110 under the drive of the mobile cart 10.

[0084] Compared to the crane-based handling methods used in related technologies, using robotic transport carts to move racks and bins instead of cranes allows for easy access to and from aisles, effectively improving both the safety and efficiency of the handling process.

[0085] Additionally, after the shelf-mounted robot is removed from the shelf track 110, when it needs to be adjusted to a horizontal position, the robot can be rotated around the robot support axis 42 under the traction force of the traction mechanism 3, thereby adjusting the robot from a vertical to a horizontal position. This allows the operator to perform maintenance on the horizontally positioned robot. Alternatively, after rotating the robot to a horizontal position, it can be detached from the robot support axis 42 and removed from the tooling cart. The robot can then be placed in another location for maintenance.

[0086] Furthermore, the mobile vehicle 10 may include: a vehicle frame 1 and a moving component 2; the bottom of the vehicle frame 1 is fixedly connected to the moving component 2; the vehicle frame 1 is erected vertically relative to the ground along the height direction based on the moving component 2; the width of the vehicle frame 1 is less than the width of the aisles between the shelves 100, so that the tooling vehicle can enter and exit the aisles or move within the aisles under the drive of the moving component 2; a first side 11 located at one end of the width direction of the vehicle frame 1 is used to support the lifting gantry 200 of the shelf bin robot; a traction mechanism 3 is installed on the vehicle frame 1 and detachably connected to the lifting gantry 200, used to pull the lifting gantry 200 to switch between horizontal and vertical postures; a robot support shaft 42 is installed on the bottom of the first side 11 on the vehicle frame 1 and is used to engage with the bottom of the lifting gantry 200 of the shelf bin robot, so that the lifting gantry 200 can rotate around the robot support shaft 42.

[0087] In this embodiment, as Figure 1d , Figure 1e and Figure 1g As shown, Figure 1d for Figure 1a The enlarged view shown in M1 is a partial view. Figure 1e for Figure 1a The enlarged view shown in M2 is a partial view. Figure 1g for Figure 1a The enlarged view shown in M3 shows the tooling vehicle, which includes a vehicle frame 1, a moving component 2, a traction mechanism 3, and a robot support shaft 42. The first side 11 of the vehicle frame 1 supports the lifting gantry 200 of the shelf-mounted robot, and the width of the vehicle frame 1 is less than the width of the aisles between the shelves 100, allowing it to move in and out of the aisles under the influence of the moving component 2. The traction mechanism 3 pulls the lifting gantry 200, causing one end of the lifting gantry 200 to abut against the robot support shaft 42, while the other end, away from the robot support shaft 42, rotates around it, remaining upright or horizontal under the support of the robot support shaft 42.

[0088] like Figures 2a to 2eAs shown, Figure 2a for Figure 1a The diagram shows a top view of the tooling vehicle equipped with a lifting gantry. Figure 2b for Figure 1a The image shown is a top view of a tooling vehicle transporting a lifting gantry within a tunnel. Figure 2c for Figure 1a The image shows a side view of a tooling vehicle transporting a lifting gantry within a tunnel. Figure 2d for Figure 1a The diagram shows another perspective of the tooling vehicle transporting the lifting gantry within the tunnel. Figure 2e for Figure 1a The diagram shows the process of the tooling vehicle rotating the lifting gantry of the racking box robot outside the aisle. When the racking box robot needs maintenance, the tooling vehicle can be moved to the aisle entrance using the moving component 2, where the disassembled lifting gantry 200 is supported by the first side 11 of the vehicle frame 1. Then, the tooling vehicle moves the lifting gantry 200 out of the aisle, and the lifting gantry 200 is leveled using the traction mechanism 3. After maintenance is completed, the lifting gantry 200 is uprighted again using the traction mechanism 3, and then moved back into the aisle using the moving component 2.

[0089] like Figures 3a to 3c As shown, Figure 3a for Figure 2e The diagram shown illustrates the structure of the lifting gantry when it is erected on the tooling vehicle. Figure 3b for Figure 2e The diagram shown illustrates the structure of the lifting gantry when it is tilted relative to the tooling vehicle. Figure 3c for Figure 2e The diagram shows the structure of the lifting gantry when it is horizontally positioned on the tooling vehicle. Compared to the crane-based transport method used in related technologies, using a tooling vehicle instead of a crane to transport the lifting gantry 200 facilitates its entry and exit from the aisle. The bottom of the lifting gantry 200 rotates in conjunction with the robot support shaft 42, allowing the lifting gantry to rotate around the robot support shaft 42 under the traction of the traction mechanism to make the lifting gantry vertical or horizontal. This not only effectively improves the safety of the transport process but also increases transport efficiency.

[0090] In some embodiments of this utility model, such as Figures 4a to 5c As shown, Figure 4a for Figure 2a The diagram shown is a structural schematic of the lifting gantry. Figure 4b for Figure 2d The enlarged view shown in M4 is a partial view. Figure 5a for Figure 1a The diagram shown is a structural schematic from a first side view when the tooling vehicle supports the lifting gantry. Figure 5b for Figure 1a The diagram shown is a structural schematic from a second side view when the tooling vehicle supports the lifting gantry. Figure 5c for Figure 5bThe enlarged view shown in M5 shows the robot support shaft 42, which is mounted on the vehicle frame 1 via a support shaft connecting rod 41. The support shaft connecting rod 41 is mounted on the bottom of the first side 11 of the vehicle frame 1 and extends in a direction away from the vehicle frame 1. The first end of the support shaft connecting rod 41 is connected to the first side 11 of the vehicle frame 1. The second end of the support shaft connecting rod 41 is fixedly connected to the robot support shaft 42. The robot support shaft 42 extends in a direction perpendicular to the extension of the support shaft connecting rod 41 and is used for a detachable engaging connection with the V-block 210 at the bottom of the lifting mast 200 of the shelf bin robot.

[0091] In this embodiment, as Figure 4a As shown, a gantry base 240 is provided at the bottom of the lifting gantry, and a V-block 210 is provided below the gantry base 240. Figure 4b As shown, gantry drive wheels 230 are respectively installed on the columns on both sides of the lifting gantry 200. Figure 2c , Figure 2d and Figure 4b As shown, the lifting gantry 200 can move along the shelf track 110 by means of the gantry drive wheel 230 cooperating with the shelf track 110 on the shelf 100.

[0092] like Figures 5b to 6b As shown, Figure 6a for Figure 3c Another structural diagram from another perspective. Figure 6b for Figure 6a The enlarged view shown in M6 shows the robot support shaft 42 extending in the same direction as the groove of the V-block 210. When the lifting gantry 200 is mounted on the first side 11 of the tooling vehicle, the robot support shaft 42 can be inserted into the groove of the V-block 210 and rotatably connected to it. Therefore, under the traction of the traction mechanism 3, the end of the lifting gantry 200 away from the V-block 210 can rotate around the robot support shaft 42, allowing the lifting gantry 200 to rotate between an upright and a horizontal state. When the lifting gantry 200 is mounted on the tooling vehicle, it is always located on the first side 11 of the vehicle frame 1 and can move under the drive of the tooling vehicle.

[0093] In some embodiments of this utility model, such as Figure 1h As shown, Figure 1h for Figure 1g The enlarged view of part M8 shows the first mounting base and the robot support shaft being rotatably connected. On the vehicle frame 1, a first mounting base 17 is provided at a position corresponding to the support shaft connecting rod 41; the first end of the support shaft connecting rod 41 is hinged to the first mounting base 17, which is used to drive the robot support shaft 42 to rotate around the first mounting base 17.

[0094] like Figure 1hAs shown, at least one first positioning hole 171 is provided on the first mounting base 17; the first pin 172 passes through the first positioning hole 171 and is inserted into the support shaft connecting rod 41 to restrict the rotational movement of the support shaft connecting rod 41.

[0095] In this embodiment, the first end of the support shaft connecting rod 41 is hinged to the first mounting base 17, allowing the support shaft connecting rod 41 to drive the robot support shaft 42 to rotate around the first mounting base 17. When the lifting gantry is not loaded on the tooling vehicle, the support shaft connecting rod 41 can be rotated to a position parallel to the vehicle frame 1 to prevent damage caused by collision between the support shaft connecting rod 41 and the robot support shaft 42 during movement. During the loading of the lifting gantry 200, the support shaft connecting rod 41 is rotated to a position extending away from the vehicle frame 1, so that the robot support shaft 42 engages with the V-block 210 at the bottom of the lifting gantry 200, thereby supporting the lifting gantry 200.

[0096] In this embodiment, as Figure 1h As shown, two first positioning holes 171 are provided on the first mounting base 17. When the support shaft connecting rod 41 is rotated to a preset angle, the first pin 172 can be passed through the first positioning hole 171 and inserted into the support shaft connecting rod 41. This fixes the support shaft connecting rod 41 at the preset angle, effectively preventing the support shaft connecting rod 41 from swinging during movement. In actual production, the number of first positioning holes 171 can be adjusted according to actual needs, and no further limitation is made here.

[0097] Specifically, such as Figures 1a to 1c As shown. There are two robot support shafts 42; there are two V-blocks 210 at the bottom of the lifting gantry 200; the two robot support shafts 42 are spaced apart and are detachably engaged with the two V-blocks 210 at the bottom of the lifting gantry 200.

[0098] In this embodiment, there are two robot support shafts 42 and two V-blocks 210. The two robot support shafts 42 are spaced apart, which makes the lifting gantry 200 more stable as it moves with the tooling vehicle, further improving the safety during transportation.

[0099] In actual production, the number of robot support shafts 42 and V-blocks 210 can be set according to actual needs. For example, three sets of robot support shafts 42 and three V-blocks 210 can be set. As long as the stability of the lifting gantry 200 when loaded onto the tooling vehicle is guaranteed and the lifting gantry 200 can rotate around the robot support shafts 42, no further restrictions are imposed here.

[0100] In some embodiments of this utility model, such as Figures 1a to 1cAs shown. The traction mechanism 3 includes: a pulley assembly 31, a traction cable 32, and a traction connector 33; the traction cable 32 is slidably connected to the vehicle frame 1 and the traction connector 33 through the pulley assembly 31; the traction connector 33 is detachably connected to the lifting gantry 200 and is used to traction the lifting gantry 200 to be vertical or horizontal.

[0101] In this embodiment, the traction cable 32 is slidably connected to the traction connector 33 via the pulley assembly 31. The traction connector 33 is detachably mounted on the lifting gantry 200, such as... Figure 4a As shown, the traction connector 33 can pass through the gap between the two uprights of the lifting gantry 200 and be installed on the side of the lifting gantry 200 away from the vehicle frame 1. At this time, the traction cable 32 can be pulled manually. The lifting force is transmitted to the lifting gantry 200 through the traction connector 33, enabling the traction connector 33 to pull the lifting gantry 200. This allows the lifting gantry 200 to rotate around the robot support axis 42. Pulling the gantry assembly 4 through the traction cable 32 effectively reduces safety hazards during the rotation of the lifting gantry 200 and improves the efficiency of the handling process. The traction cable 32 can be a steel wire rope.

[0102] In some embodiments of this utility model, such as Figure 1c and Figure 1e As shown, the traction mechanism 3 also includes: a winch 34; the winch 34 is located below the pulley assembly 31 and is fixedly installed on the vehicle frame 1; the second end of the traction cable 32 is wound around the winch 34; the winch 34 is used to adjust the length of the traction cable 32 extending out.

[0103] In this embodiment, the traction cable 32 is wound around the winch 34. The winch 34 can be used to control the extension length of the traction cable 32, thereby tightening or loosening the traction cable 32 to achieve the rotation and lifting of the lifting gantry 200 of the shelf bin robot. The winch 34 can be a hand-cranked winch or an electric winch, or other devices capable of controlling the extension length of the traction cable 32. No further limitations are imposed here.

[0104] In some embodiments of this utility model, such as Figure 1c As shown. The vehicle frame 1 has a winch mounting beam 14; the winch mounting beam 14 is parallel to the length direction of the vehicle frame 1; the winch mounting beam 14 is provided with a winch mounting platform 141 extending in a direction away from the first side 11; the winch 34 is fixedly mounted on the winch mounting platform 141.

[0105] In this embodiment, a winch mounting beam 14 is provided on the vehicle frame 1, and a winch mounting platform 141 extending in a direction away from the first side 11 is provided on the winch mounting platform 141 on the second side 13 of the vehicle frame 1. In this way, the winch 34 can be mounted on the winch mounting platform 141 on the second side 13 of the vehicle frame 1.

[0106] In some embodiments of this utility model, such as Figures 1a to 1d As shown. The pulley assembly 31 includes: a fixed pulley 311 fixedly installed above the top crossbeam 12 of the vehicle body frame 1, a fixed hook 312 fixedly installed below the top crossbeam 12 of the vehicle body frame 1, and a movable pulley 313 disposed on the side of the traction connector 33 facing the vehicle body frame 1; a traction cable 32, the first end of which is located on the first side 11, wrapped around the movable pulley 313, and fixedly connected to the fixed hook 312; and a second end of the traction cable 32, which passes around the fixed pulley 311 and is installed on the second side 13 of the vehicle body frame 1 opposite to the first side 11.

[0107] In this embodiment, the traction cable 32 passes around the top crossbeam 12 of the vehicle frame 1, wraps around the movable pulley 313 on the first side 11 of the vehicle frame 1, and is fixedly connected to the fixed hook 312 installed below the top crossbeam 12. This forms a complete movable pulley structure with the traction cable 32, the movable pulley 313, and the fixed hook 312. Using this movable pulley structure to pull the lifting gantry 200 effectively reduces the pulling force required during the traction process. The movable pulley 313 is fixed to the traction connector 33 on the side facing the vehicle frame 1, allowing the lifting force of the traction cable 32 to be transmitted to the traction connector 33 via the movable pulley 313. The lifting gantry 200 is then pulled via the traction connector 33. Furthermore, a fixed pulley 311 is provided at the top of the top crossbeam 12, and the portion of the traction cable 32 above the top crossbeam 12 can be slidably connected to the fixed pulley 311, thereby reducing wear on the traction cable 32 during the traction process.

[0108] In some embodiments of this utility model, such as Figures 1a to 1d As shown. The traction connector 33 is a traction beam 331, which is used to detachably connect to the side of the lifting gantry 200 away from the vehicle frame 1; there are two traction mechanisms 3; the fixed pulleys 311 of the two pulley assemblies 31 are spaced apart on the top beam 12; the fixed hooks 312 of the two pulley assemblies 31 are spaced apart on the top beam 12; the movable pulleys 313 of the two pulley assemblies 31 are spaced apart on the side of the traction beam 331 facing the vehicle frame 1.

[0109] In this embodiment, the traction connector 33 can be a traction beam 331, and the number of traction mechanisms 3 can be two, which can effectively improve the lifting force and thus improve the handling efficiency. Two movable pulleys 313 are spaced apart on the side of the traction beam 331 facing the vehicle frame 1. Each movable pulley 313 is at a certain distance from both ends of the traction beam 331 so that both ends of the traction beam 331 can abut against the lifting gantry 200, thereby driving the lifting gantry 200 to rotate.

[0110] In actual production, the number of pulley assemblies 31 can be freely set according to actual needs. For example, three sets of traction mechanisms 3 can be set, as long as they can traction the lifting gantry 200. No further restrictions are imposed here.

[0111] In some embodiments of this utility model, such as Figure 1c and Figure 1e As shown, the tooling vehicle also includes: a clamping device 5; the clamping device 5 includes: at least one pair of clamping members and a driving member arranged opposite each other; the clamping members are movably disposed on the vehicle frame 1; the driving member is disposed on the vehicle frame 1 and connected to at least one pair of clamping members, for driving the clamping members to move towards or away from each other, so as to clamp or release the robot in an upright posture.

[0112] Specifically, such as Figures 3a to 4a As shown. The clamping component is a clamping arm fixing wheel 511; the driving component is an adjusting handle 512; at least one pair of opposing fixed clamping arms 51 extending out of the vehicle body frame 1 are connected to the frame 1; the clamping arm fixing wheel 511 and the adjusting handle 512 are respectively disposed on both sides of the fixed clamping arm 51; the clamping arm fixing wheel 511 is used to cooperate with the guide groove 220 on the inner side of the lifting gantry 200; the adjusting handle 512 passes through the fixed clamping arm 51 and is connected to the clamping arm fixing wheel 511, and is used to adjust the distance between the clamping arm fixing wheel 511 and the fixed clamping arm 51 to clamp the lifting gantry 200.

[0113] In this embodiment, the lifting gantry 200 mounted on the tooling vehicle is secured by the fixed clamping arm 51. Figure 3a As shown, after the lifting gantry 200 is loaded, the fixed clamp arm 51 is located inside the lifting gantry 200 and is fixedly connected to the lifting gantry, thereby ensuring the stability of the lifting gantry 200 on the tooling vehicle during the transportation process.

[0114] In this embodiment, the clamping arm fixing wheel 511 on the fixed clamping arm 51 can be embedded in the guide groove 220 inside the lifting gantry 200, thereby fixing the lifting gantry 200 and improving the stability of the lifting gantry 200 when loaded onto the tooling vehicle. By adjusting the adjusting handle 512 on the fixed clamping arm 51, the extension length of the clamping arm fixing wheel 511 can be adjusted so that the clamping arm fixing wheel 511 can be adapted to lifting gantry 200s with different widths.

[0115] In actual production, the installation position of the fixed clamping arm 51 can be adjusted according to the structure of the lifting gantry 200. For example, when the guide groove 220 of the lifting gantry 200 is located on the outside of the lifting gantry 200, the installation position of the fixed clamping arm 51 can be changed so that after the lifting gantry 200 is loaded, the fixed clamping arm 51 is located on the outside of the lifting gantry 200, so that the clamping arm fixing wheel 511 is embedded in the guide groove 220 of the lifting gantry 200.

[0116] In some embodiments of this utility model, such as Figure 1f As shown, Figure 1f for Figure 1e The enlarged partial view of M7 shows the second mounting base and clamping device rotatably connected. A fixed clamping arm 51 is mounted on the first side 11 of the vehicle frame 1 and extends beyond the first side 11 of the vehicle frame 1. It is used to mount the clamping arm fixing wheel 511 and the adjusting handle 512, so that the clamping arm fixing wheel 511 extends into the inside of the lifting gantry 200 and clamps the lifting gantry 200. A second mounting base 18 is provided on the vehicle frame 1 at a position corresponding to the fixed clamping arm 51; the end of the fixed clamping arm 51 near the vehicle frame 1 is hinged to the second mounting base 18 for rotation around the second mounting base 18.

[0117] like Figure 1f As shown, at least one second positioning hole 181 is provided on the second mounting base 18; the second pin 182 passes through the second positioning hole 181 and is inserted into the clamping device 5 to restrict the rotational movement of the clamping device 5.

[0118] In this embodiment, the fixed clamping arm 51 of the clamping device 5 is hinged to the second mounting base 18 at one end near the vehicle frame 1, allowing the fixed clamping arm 51 to rotate around the second mounting base 18. During the loading process of the lifting gantry 200, the fixed clamping arm 51 is rotated to a position parallel to the first side 11 of the vehicle frame 1 to avoid the lifting gantry 200, allowing the lifting gantry 200 to be loaded onto the tooling vehicle. After the lifting gantry 200 is loaded onto the tooling vehicle, the fixed clamping arm 51 is rotated so that the clamping arm fixing wheel 511 can extend into the inside of the lifting gantry 200 and clamp the lifting gantry 200.

[0119] In this embodiment, as Figure 1fAs shown, the second mounting base 18 has three second positioning holes 181. When the fixed clamping arm 51 is rotated to a preset angle, the second pin 182 can be passed through the second positioning holes 181 and inserted into the fixed clamping arm 51. This fixes the fixed clamping arm 51 at the preset angle, effectively preventing the fixed clamping arm 51 from swinging during movement. In actual production, the number of second positioning holes 181 can be adjusted according to actual needs, and no further limitation is made here.

[0120] In some embodiments of this utility model, such as Figures 1a to 1c As shown. The vehicle frame 1 includes: a bottom frame 15 and a top frame 16; the top frame 16 is disposed on top of the bottom frame 15; the top of the top frame 16 is formed as a top crossbeam 12; the number of fixing arms 51 is at least two; at least one fixing arm 51 is disposed on the bottom frame 15 at the middle along the height direction; at least one fixing arm 51 is disposed on the top crossbeam 12.

[0121] In this embodiment, at least one fixed clamping arm 51 can be installed on the bottom frame 15 and the top frame 16 of the vehicle body frame, respectively. In this embodiment, two fixed clamping arms 51 are provided on the top frame 16 and two fixed clamping arms 51 are provided on the bottom frame 15, which further improves the stability of the lifting gantry 200 when it is loaded on the tooling vehicle.

[0122] In other embodiments, such as Figure 1c , Figure 2c and Figure 1d As shown, two gantry limiting rods 162 can also be installed on the vehicle frame 1. During the rotation of the lifting gantry 200 around the robot support axis 42 toward the vehicle frame 1, when the lifting gantry 200 comes into contact with the gantry limiting rods 162, it cannot continue to rotate toward the vehicle frame 1. At this time, the lifting gantry 200 is in an upright position. Thus, by restricting the rotation of the lifting gantry 200 toward the vehicle frame 1 through the gantry limiting rods 162, it can be ensured that the lifting gantry 200 can eventually rotate to a vertical position during the rotation process.

[0123] like Figure 1a , Figure 1b and Figure 1g As shown, a vehicle body floor plate can also be set at the bottom of the bottom frame 15, and counterweights or other components can be installed on the vehicle body floor plate.

[0124] In some embodiments of this utility model, such as Figures 1a to 1c As shown. The tooling vehicle also includes a support and stabilization mechanism 6, which includes multiple support legs 60. The multiple support legs 60 are detachably connected and arranged around the bottom of the mobile vehicle 10, and are used to be installed on the tooling vehicle when the traction mechanism 3 lifts the shelf box robot to support it on the ground, and are removed when the tooling vehicle moves.

[0125] Specifically, the multiple support legs 60 include: at least two first vertical support legs 61 and at least two second vertical support legs 62; the at least two first vertical support legs 61 are detachably mounted on the bottom of the first side 11 of the vehicle frame 1 and extend toward the side away from the vehicle frame 1; the second vertical support legs 62 are detachably mounted on the bottom of the second side 13 of the vehicle frame 1 away from the first side 11 and extend toward the side away from the vehicle frame 1; the ends of the first vertical support legs 61 and the second vertical support legs 62 away from the vehicle frame 1 are respectively provided with a first fixed support 611 and a second fixed support 621 extending toward the ground, for contacting the ground when the traction mechanism 3 lifts the shelf box robot.

[0126] In this embodiment, when the tooling vehicle is located outside the tunnel, a first vertical support leg 61 can be installed on the first side 11 of the tooling vehicle, and a second vertical support leg 62 can be installed on the second side 13 of the tooling vehicle. The first vertical support leg 61 and the second vertical support leg 62 can provide support for the vehicle frame 1, preventing the tooling vehicle from tipping over during the rotation of the lifting gantry 200. The first vertical support leg 61 abuts against the ground through a first fixed support 611, and the second vertical support leg 62 abuts against the ground through a second fixed support 621, which increases the friction between the tooling vehicle and the ground, further improving the stability of the tooling vehicle. Furthermore, the heights of the first fixed support 611 and the second fixed support 621 can be adjusted to change the friction between them and the ground.

[0127] When the tooling car needs to be moved into the tunnel, such as Figure 1d and Figure 2a As shown, the first vertical car support leg 61 and the second vertical car support leg 62 are removed from the car body frame 1 so that the width of the tooling car is less than the width of the tunnel, allowing it to enter the tunnel.

[0128] In some embodiments, such as Figures 1a to 1c As shown, a bottom support rod 151 can also be provided on the first vertical support leg 61 and the second vertical support leg 62. Taking the first vertical support leg 61 as an example, one end of the bottom support rod 151 is fixed to the first vertical support leg 61, and the other end is fixed to the vehicle frame 1. The bottom support rod 151 is inclined, and a triangular structure is formed between the bottom support rod 151, the first vertical support leg 61, and the vehicle frame 1, which further improves the stability of the vehicle frame 1. The connection relationship between the second vertical support leg 62, the bottom support rod 151, and the vehicle frame 1 is the same as described above, and will not be elaborated further here.

[0129] Furthermore, when the vehicle frame 1 includes a bottom frame 15 and a top frame 16, the width of the bottom frame 15 is greater than that of the top frame 16. A top support rod 161 can be provided on the bottom frame 15. One end of the top support rod 161 is fixed to the bottom frame 15, and the other end is fixed to the top frame 16, so that the top support rod 161, the bottom frame 15, and the top frame 16 form a triangular structure, thereby improving the stability between the bottom frame 15 and the top frame 16.

[0130] In some embodiments of this utility model, such as Figure 1c As shown, the movable component 2 includes: four movable casters 21; wherein, two movable casters 21 are located at the bottom of one end of the vehicle frame 1 along the length direction; the other two movable casters 21 are located at the bottom of the other end of the vehicle frame 1 along the length direction; the two movable casters 21 located on the same side are spaced apart.

[0131] In this embodiment, the movable component 2 can be a movable caster 21. Two movable casters 21 are spaced apart at both ends of the bottom of the vehicle frame 1 along its length for moving the tooling cart, allowing it to flexibly enter and exit the tunnel. The movable casters 21 at both ends of the bottom of the vehicle frame 1 ensure the stability of the tooling cart while moving it as a whole.

[0132] In actual production, the number and position of the movable casters 21 can be set according to actual needs. For example, three movable casters 21 can be set and arranged in a triangle at the bottom of the vehicle frame 1. As long as the tooling vehicle can be moved and its stability is guaranteed, no further restrictions are imposed here.

[0133] In some embodiments, such as Figures 1a to 1c As shown, a third fixed support 631 can be installed between the two movable casters 21 at each end of the bottom of the vehicle frame 1, and the third fixed support 631 abuts against the ground. When the tooling vehicle enters the tunnel to disassemble and assemble the lifting gantry 200, the friction between the third fixed support 631 and the ground can be adjusted by adjusting the height of the third fixed support 631, thereby improving the stability of the tooling vehicle during the disassembly and assembly of the lifting gantry 200.

[0134] In summary, the specific working process of the lifting gantry 200 of the tooling cart transporting rack and bin robot provided by this utility model is as follows:

[0135] When it is necessary to unload the lifting gantry 200 from the rack 100 and load it onto the tooling cart, push the tooling cart into the aisle and pull out the second pin 182 on the second mounting seat 18 of the vehicle frame 1 from the second positioning hole 181. Rotate the fixing arm 51 to adjust it to a position that avoids the lifting gantry 200, and fix the fixing arm 51 in this position using the second pin 182. Also, pull out the first pin 172 on the first mounting seat 17 of the vehicle frame 1 from the first positioning hole 171. Rotate the support shaft connecting rod 41 so that the robot support shaft 42, driven by the support shaft connecting rod 41, is adjusted to a position that engages with the V-block 210 of the lifting gantry 200, and fix the support shaft connecting rod 41 in this position using the first pin 172. Simultaneously, pass the traction connector 33 through the lifting gantry 200.

[0136] After the lifting gantry 200 is loaded onto the tooling vehicle, the fixing arm 51 is rotated to extend into the lifting gantry 200, so that the fixing wheel 511 on the fixing arm 51 is engaged in the guide groove 220 of the lifting gantry 200. This fixes the lifting gantry 200 to the tooling vehicle.

[0137] The lifting gantry 200 is unloaded from the rack 100 using a tooling trolley. Specifically, during the unloading of the lifting gantry 200, as follows: Figures 2a to 2c As shown, driven by the tooling vehicle, the mast drive wheel 230 on the lifting mast 200 moves along the shelf track 110 on the shelf 100. When it moves to the end of the shelf track 110, the mast drive wheel 230 disengages from the shelf track 110, and the lifting mast 200 is unloaded from the shelf 100.

[0138] When the lifting gantry 200 needs to be rotated from an upright position to a horizontal position, a first vertical support leg 61 and a second vertical support leg 62 are respectively installed on the first side 11 and the second side 13 of the vehicle frame 1 to prevent the vehicle from tipping over. The fixed clamping arm 51 is rotated so that the clamping arm fixing wheel 511 can disengage from the guide groove 220 of the lifting gantry 200, releasing the constraint on the lifting gantry 200. The traction cable 32 is slowly released using the winch 34. Driven by the traction mechanism 3, the V-block 210 of the lifting gantry 200 rotates around the robot support axis 42 of the tooling vehicle, rotating from an upright position to a horizontal position.

[0139] When the lifting gantry 200 needs to be rotated from a horizontal to an vertical position, the winch 34 is used to tighten the traction cable 32. Under the action of the lifting force, the lifting gantry 200 rotates gradually around the robot support shaft 42 as the fulcrum, at the end away from the V-block 210, until it is erected on the tooling vehicle. After the lifting gantry 200 is in the vertical position, the fixed clamping arm 51 is rotated so that the clamping arm fixing wheel 511 of the fixed clamping arm 51 is engaged in the guide groove 220 of the lifting gantry 200 to ensure the stability of the lifting gantry 200 during movement.

[0140] See Figures 2a to 2c When it is necessary to install the lifting gantry 200 from the tooling trolley onto the rack 100, remove the first vertical support leg 61 and the second vertical support leg 62 on both sides of the vehicle frame 1. Move the tooling trolley carrying the lifting gantry 200 to the aisle entrance. Align the gantry drive wheel 230 of the lifting gantry 200 with the rack rail 110 on the lifting rack 100, and push the tooling trolley into the aisle. At this time, the gantry drive wheel 230 engages with the rack rail 110 and moves along the rack rail 110. When the lifting gantry 200 reaches the preset position, rotate the fixing arm 51 so that the fixing wheel 511 can disengage from the guide groove 220 of the lifting gantry 200. Rotate the traction connector 33 to remove the traction connector 33 from the lifting gantry 200. Move the tooling trolley out of the aisle so that the lifting gantry 200 can be unloaded from the tooling trolley and run along the rack rail 110.

[0141] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the scope of protection of the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model are included within the scope of protection of the present utility model.

Claims

1. A robotic transfer trolley for mounting or dismounting a goods rack bin robot to or from a goods rack track, characterized in that, include: Mobile vehicle (10), traction mechanism (3) and robot support shaft (42); The traction mechanism (3) is mounted on the mobile vehicle (10) and can be detachably connected to the shelf bin robot; The robot support shaft (42) is mounted on the mobile vehicle (10) and is used for detachable connection with the bottom of the shelf bin robot; The traction mechanism (3) enables the shelf box robot to switch between horizontal and vertical postures based on the robot support axis (42) through the traction force. When the shelf bin robot is in a horizontal position, it can dock with or separate from the robot support shaft (42); when the shelf bin robot is in a vertical position, it can be installed on or removed from the shelf track (110) under the drive of the moving vehicle (10).

2. The robotic transfer cart according to claim 1, characterized in that, The mobile vehicle (10) includes: a vehicle frame (1) and a mobile component (2); The bottom of the vehicle frame (1) is fixedly connected to the moving component (2); the vehicle frame (1) is erected relative to the ground along the height direction based on the moving component (2); The width of the vehicle frame (1) is less than the width of the aisle between the shelves (100) so that the tooling vehicle can enter and exit the aisle under the drive of the moving component (2); The first side (11) located at one end of the width direction of the vehicle frame (1) is used to support the lifting gantry (200) of the shelf bin robot; The traction mechanism (3) is installed on the vehicle frame (1) and is detachably connected to the lifting gantry (200) for traction of the lifting gantry (200) between horizontal and vertical positions; The robot support shaft (42) is installed on the bottom of the first side (11) of the vehicle frame (1) and is used to engage with the bottom of the lifting gantry (200) of the shelf box robot so that the lifting gantry (200) can rotate around the robot support shaft (42).

3. The robotic transfer cart according to claim 2, characterized in that, The robot support shaft (42) is mounted on the vehicle frame (1) via a support shaft connecting rod (41); the support shaft connecting rod (41) is mounted on the bottom of the first side (11) of the vehicle frame (1) and extends in a direction away from the vehicle frame (1); the first end of the support shaft connecting rod (41) is connected to the first side (11) of the vehicle frame (1); the second end of the support shaft connecting rod (41) is fixedly connected to the robot support shaft (42); The robot support shaft (42) extends in a direction perpendicular to the extension of the support shaft connecting rod (41) and is used for a detachable snap-fit ​​connection with the V-block (210) at the bottom of the lifting gantry (200) of the shelf bin robot.

4. The robotic transfer cart according to claim 3, characterized in that, On the vehicle frame (1), a first mounting seat (17) is provided at a position corresponding to the support shaft connecting rod (41); the first end of the support shaft connecting rod (41) is hinged to the first mounting seat (17) to drive the robot support shaft (42) to rotate around the first mounting seat (17).

5. The robotic transfer cart according to claim 1, characterized in that, The robot has two support shafts (42); the shelf bin robot has two V-shaped blocks (210) at the bottom of its lifting mast (200); The two robot support shafts (42) are spaced apart and are detachably engaged with two V-shaped blocks (210) at the bottom of the lifting gantry (200).

6. The robotic transfer cart according to claim 2, characterized in that, The traction mechanism (3) includes: a pulley assembly (31), a traction cable (32), and a traction connector (33); The traction cable (32) is slidably connected to the vehicle frame (1) and the traction connector (33) via the pulley assembly (31); the traction connector (33) is detachably connected to the lifting gantry (200) and is used to pull the lifting gantry (200) vertically or horizontally.

7. The robotic transfer cart according to claim 6, characterized in that, The pulley assembly (31) includes: a fixed pulley (311) fixedly installed above the top crossbeam (12) of the vehicle frame (1), a fixed hook (312) fixedly installed below the top crossbeam (12) of the vehicle frame (1), and a movable pulley (313) disposed on the side of the traction connector (33) facing the vehicle frame (1); The first end of the traction cable (32) is located on the first side (11), wrapped around the movable pulley (313), and fixedly connected to the fixed hook (312); the second end of the traction cable (32) passes around the fixed pulley (311) and is installed on the second side (13) of the vehicle frame (1) opposite to the first side (11).

8. The robotic transfer cart according to claim 6, characterized in that, The traction mechanism (3) further includes: a winch (34); the winch (34) is located below the pulley assembly (31) and is fixedly installed on the vehicle frame (1); the second end of the traction cable (32) is wound around the winch (34); the winch (34) is used to adjust the length of the traction cable (32) extending out.

9. The robotic transfer cart according to claim 8, characterized in that, The vehicle frame (1) has a winch mounting beam (14); the winch mounting beam (14) is parallel to the length direction of the vehicle frame (1); the winch mounting beam (14) is provided with a winch mounting platform (141) extending in a direction away from the first side (11); the winch (34) is fixedly mounted on the winch mounting platform (141).

10. The robotic transfer cart according to claim 7, characterized in that, The traction connector (33) is a traction beam (331) for detachably connecting to the side of the lifting gantry (200) away from the vehicle frame (1); The number of the traction mechanism (3) is two; the fixed pulleys (311) of the two pulley assemblies (31) are spaced apart on the top crossbeam (12); the fixed hooks (312) of the two pulley assemblies (31) are spaced apart on the top crossbeam (12); the movable pulleys (313) of the two pulley assemblies (31) are spaced apart on the side of the traction crossbeam (331) facing the vehicle frame (1).

11. The robotic transfer tool car of claim 2, wherein, Also includes: Clamping device (5); The clamping device (5) includes: at least one pair of clamping members and driving members disposed opposite to each other; The clamping member is movably disposed on the vehicle frame (1); the driving member is disposed on the vehicle frame (1) and connected to the at least one pair of clamping members, for driving the clamping members to move towards or away from each other, so as to clamp or release the shelf bin robot in an upright posture.

12. The robotic transfer cart according to claim 11, characterized in that, The clamping component is a clamping arm fixing wheel (511); the driving component is an adjusting handle (512); At least one pair of fixed clamping arms (51) extending out of the vehicle body frame (1) are connected to the vehicle body frame (1); the at least one pair of fixed clamping arms (51) are arranged opposite to each other; The clamping arm fixing wheel (511) and the adjusting handle (512) are respectively disposed on both sides of the fixing clamping arm (51); The clamping arm fixing wheel (511) is used to cooperate with the guide groove (220) on the inner side of the lifting gantry (200); The adjusting handle (512) passes through the fixed clamping arm (51) and is connected to the clamping arm fixing wheel (511) to adjust the distance between the clamping arm fixing wheel (511) and the fixed clamping arm (51) to clamp the lifting gantry (200).

13. The robotic transfer cart according to claim 12, characterized in that, On the vehicle frame (1), a second mounting seat (18) is provided at a position corresponding to the fixed clamping arm (51); one end of the fixed clamping arm (51) near the vehicle frame (1) is hinged to the second mounting seat (18) for rotating around the second mounting seat (18).

14. The robotic transfer cart according to claim 12, characterized in that, The vehicle frame (1) includes: a bottom frame (15) and a top frame (16); the top frame (16) is disposed on top of the bottom frame (15); the top of the top frame (16) is formed as a top crossbeam (12); The number of fixed clamping arms (51) is at least two; at least one of the fixed clamping arms (51) is disposed at the middle of the bottom frame (15) along the height direction; at least one of the fixed clamping arms (51) is disposed on the top crossbeam (12).

15. The robotic transfer tool car of claim 2, wherein, Also includes: A support and stabilization mechanism (6) is provided, which includes a plurality of support legs (60). The plurality of support legs (60) are detachably connected to the bottom of the mobile vehicle (10) and are installed on the tooling vehicle when the traction mechanism (3) lifts the shelf box robot to support it on the ground, and are removed when the tooling vehicle moves.

16. The robotic transfer cart according to claim 15, characterized in that, The plurality of support legs (60) includes: at least two first upright support legs (61) and at least two second upright support legs (62); the at least two first upright support legs (61) are detachably mounted on the bottom of the first side (11) of the vehicle frame (1) and extend toward the side away from the vehicle frame (1); the at least two second upright support legs (62) are detachably mounted on the bottom of the second side (13) of the vehicle frame (1) away from the first side (11) and extend toward the side away from the vehicle frame (1); On the first vertical support leg (61) and the second vertical support leg (62), at the ends away from the vehicle frame (1), a first fixed support (611) and a second fixed support (621) extending toward the ground are respectively provided, for contacting the ground when the traction mechanism (3) lifts the shelf box robot.

17. The robotic transfer cart according to claim 2, characterized in that, The movable component (2) includes: four movable casters (21); wherein two of the movable casters (21) are located at the bottom of one end of the vehicle frame (1) along the length direction; the other two movable casters (21) are located at the bottom of the other end of the vehicle frame (1) along the length direction; and the two movable casters (21) located on the same side are spaced apart.

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