Service platform and warehousing system

Abstract

The application provides a maintenance platform and a storage system. The maintenance platform is arranged at the edge of a stereoscopic warehouse. The maintenance platform comprises a work platform. The work platform has a work space for accommodating a worker to operate. The work platform has a first passage. The first passage is provided with a blocking mechanism. The blocking mechanism is configured to allow a robot to pass in a first state and to prohibit the robot to pass in a second state. The storage system comprises a running area, a robot and the aforementioned maintenance platform. By arranging the maintenance platform in the stereoscopic warehouse, which is independent of the normal operation area of the robot, the efficiency loss caused by the entry of personnel into the robot operation area can be effectively reduced, and the safety of the worker during the operation of the robot can be improved.

Description

Technical Field

[0001] This application relates to the field of warehousing equipment technology, and more particularly to a maintenance platform and warehousing system. Background Technology

[0002] In a four-way automated warehouse (AS / RS) solution, maintenance and repair of the robots within the warehouse are required. In some cases, personnel need to enter the robot's operating area inside the warehouse for maintenance. Currently, when robot operation is required, workers perform maintenance inside the AS / RS, or use forklifts to lift the robot from its base or hoists to use the racks as lifting points to move the robot out of the warehouse's operating area. Since the highest level of an AS / RS typically reaches ten to twenty meters, and the internal operating space is limited, working inside the AS / RS poses a high risk; furthermore, working at heights is inefficient and risky, and the downtime for robots is significant when personnel enter the warehouse. Utility Model Content

[0003] This application proposes a maintenance platform and warehousing system. By setting up a maintenance platform in an automated warehouse that is independent of the robot's normal operating area, the efficiency loss caused by personnel entering the robot's operating area can be effectively reduced, and the safety of workers during robot operation can be improved.

[0004] To achieve the above objectives, embodiments of this application provide a maintenance platform located at the edge of an automated warehouse. The maintenance platform includes a work platform; the work platform has a work space for performing maintenance operations; the work platform has a first passageway with a blocking mechanism configured to allow robots to pass in a first state and prohibit robots from passing in a second state.

[0005] In one alternative implementation, the maintenance platform is located at the edge of the cargo aisle in the automated warehouse; the work platform has bottom protection devices and side protection devices; the work platform connects to the first track of the cargo aisle at the first access point.

[0006] In one alternative implementation, the maintenance platform occupies two storage spaces in the cargo aisle, and the maintenance platform also includes a channel platform; the first track is located at the channel platform; the channel platform is configured to accept robots entering and waiting, that is, at this time, the channel platform docks with the work platform at the first passage.

[0007] In one alternative implementation, the blocking mechanism is deployed via a channel platform; the blocking mechanism is configured to switch between a first state and a second state in response to actions from the work platform.

[0008] In one alternative implementation, the blocking mechanism includes a main baffle; a locking mechanism is provided on the main baffle; the locking mechanism is configured to keep the main baffle in a second state when locked, and to give the main baffle a degree of freedom of movement to switch to a first state when unlocked.

[0009] In one alternative implementation, the locking mechanism is configured such that when locked, the main baffle has zero degrees of freedom of motion, and when unlocked, the main baffle has a rotational degree of freedom to move away from the first track and / or an upward degree of freedom of movement.

[0010] In one alternative implementation, the passage platform is equipped with an isolation cover, and a main baffle is mounted on the isolation cover; the isolation cover also includes a top plate surrounding the main baffle and two side baffles; the two side baffles are respectively arranged on both sides of the first track; the top plate is supported and suspended above the first track of the passage platform by the two side baffles, and the distance between the top plate and the first track is adapted to the height required for robot passage.

[0011] In one alternative implementation, a hinge mechanism is provided between the main baffle and the top plate; the hinge mechanism is configured such that when the locking mechanism is released, the main baffle can be guided to move away from the first track.

[0012] In one alternative implementation, the top plate of the shield is a transparent or semi-transparent structure.

[0013] In one alternative implementation, the top plate, main baffle, and side baffles of the isolation enclosure are all made of transparent or semi-transparent material.

[0014] In one alternative implementation, the isolation cover is made of a transparent acrylic sheet fixed with an aluminum profile frame.

[0015] In one alternative implementation, the work platform has a second access point formed between the side guards and the bottom guards; the second access point is configured to allow the robot to exit the automated warehouse.

[0016] In one alternative implementation, the first access point and / or the second access point are configured to allow two robots to pass through stacked.

[0017] In one alternative implementation, the maintenance platform is equipped with a remote controller configured to schedule the robot after it reaches the first position.

[0018] Embodiments of this application also provide a warehousing system including an operating area, a robot, and a maintenance platform as described above: the operating area is configured to provide an area for the robot to perform routine operations; the control system is configured to schedule the robot to operate in the operating area in response to a first instruction from the control system, and to operate to a first position in response to a second instruction from the control system; the maintenance platform is configured to receive and control the robot that has arrived at the first position.

[0019] In one alternative implementation, the maintenance platform is equipped with a remote controller: the remote controller is configured to schedule the robot that has moved to the first position to enter the work platform and control the actions of the robot that enters the work platform.

[0020] In one alternative implementation, the warehousing system further includes an external repair station: the repair platform is provided with a second access point; a second channel is provided between the second access point and the external repair station; the second channel is configured to allow a robot to move to the external repair station after exiting the second access point.

[0021] The maintenance platform and warehousing system provided in this application offer a solution for robots to quickly enter and exit the automated warehouse area. By scheduling robots requiring maintenance or repair work to the maintenance platform on the control system, they are moved away from the normal operating area of ​​the automated warehouse, effectively reducing personnel risks and warehouse operational efficiency losses caused by staff entering the warehouse area to operate the robots. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0023] Figure 1 This is a top view of the aisles and cargo channels of an embodiment of the present application;

[0024] Figure 2 This is a schematic diagram of the layout of a maintenance platform according to an embodiment of this application;

[0025] Figure 3 This is a schematic diagram showing the location of the second access point of the maintenance platform according to an embodiment of this application;

[0026] Figure 4 This is a schematic diagram of an isolation cover according to an embodiment of this application;

[0027] Figure 5 yes Figure 4 An enlarged schematic diagram of part A in the middle;

[0028] Figure 6 yes Figure 4 Front view diagram;

[0029] Figure 7 yes Figure 4 A top view diagram;

[0030] Figure 8 yes Figure 4 A schematic diagram of the left view;

[0031] Figure 9 This is a schematic diagram of a warehousing system according to an embodiment of this application;

[0032] Explanation of reference numerals in the attached figures:

[0033] 11-Lane; 12-Cargo lane; 13-Ladder; 200-Maintenance platform; 201-First passageway; 202-Second passageway; 203-Side protection device; 210-Working platform; 211-First track; 220-Passage platform; 300-Isolation cover; 210-Main baffle; 311-Locking mechanism; 312-Hinge mechanism; 313-Handle; 320-Top plate; 330-Side baffle; 331-Connector; A-Operating area; R-Robot; P-First position; M-External maintenance station; C-Control system. Detailed Implementation

[0034] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0035] It should be noted that many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0036] In the description of this application, it should be understood that the terms "upper," "lower," "horizontal," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In this application, unless otherwise expressly specified and limited, the first feature being "upper" or "lower" than the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0037] In this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral unit; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. However, specifying a direct connection indicates that the two entities connected are not linked by an intermediate structure, but are simply connected to form a whole. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0038] In this application, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0039] Figure 1 This is a schematic diagram of the automated warehouse to which the maintenance platform of this application embodiment is applicable. The basic structure of the automated warehouse is a three-dimensional, high-rise racking system formed by steel or reinforced concrete, consisting of long strip or rod-shaped supports such as columns, beams, and cantilever arms, with heights ranging from several meters to tens of meters. In the automated warehouse, the aisles 12, lanes 11, and storage locations are precisely coordinated to support high-density storage and operations. A storage location is the smallest storage unit, with each location corresponding to a specific cargo storage coordinate. A single storage location can typically accommodate one standard pallet of goods. An aisle is a cargo storage channel formed by one or two adjacent rows of storage locations, with a width slightly greater than the depth of the storage location to ensure smooth entry and exit of goods. Tracks are provided on the aisles to facilitate robot movement. Lanes are operating channels between two rows of aisles, allowing robots such as shuttles, AGVs, and four-way vehicles to carry goods retrieved from storage locations to preset positions. Currently, in large-scale intelligent automated warehouses, several robots and shuttles move between each floor according to preset instructions.

[0040] Figure 2 This is a schematic diagram showing the specific layout of the maintenance platform provided in the embodiments of this application. The embodiments of this application provide a maintenance platform. To avoid the maintenance platform affecting the normal operation of the robot, in one specific embodiment, the maintenance platform 200 is located at the edge of the automated warehouse, that is, at the position furthest from the entrance and exit of goods in the warehouse, away from areas where the robot travels frequently during operation, so as to avoid interfering with the normal operation of the warehouse.

[0041] In some specific examples, the maintenance platform 200 is located at the edge of the automated warehouse's aisle. The edge of the aisle is equipped with ladders 13 to facilitate worker access to the warehouse lanes or aisles. To reduce the risk of workers climbing, the maintenance platform should be located on the level closest to the ground. When a robot operating in an upper aisle needs maintenance, the control system can guide the robot to descend to the level where the maintenance platform is located using the automated warehouse's lifting equipment.

[0042] In some specific examples, especially in large automated warehouses, two or more maintenance platforms can be set up as needed to meet the robot maintenance needs that require more frequent repairs and maintenance.

[0043] The maintenance platform 200 includes an adjacent work platform 210 and a passageway platform 220. The passageway platform 220 is located between the work platform 210 and the normal operating area of ​​the robot R. The robot can drive into the passageway platform under the control system and be received by the staff of the work platform 210. The work platform 210 has a work space to accommodate maintenance operations. In one specific implementation of the work platform 210, there is a bottom protection device and a side protection device 203. The side protection device 203 surrounds the bottom protection device to form a work space for the staff to operate. The height of the side protection device is not lower than the height of an adult standing and operating. The bottom protection device is used to provide support for the staff to stand and walk. The side protection device 203 is used to prevent the staff from falling and other accidents, so as to ensure the personal safety of the staff.

[0044] In some specific examples, maintenance operations are performed by intelligent devices such as robotic arms or maintenance robots. In this case, the height of the workspace needs to meet the operating space requirements of the corresponding intelligent devices.

[0045] In some specific examples, the bottom protection device can be a ground sealing plate structure, such as a grid plate structure with a small aperture, or a ground sealing plate made of rigid polymer material supported by a steel structure, solid board such as wood, etc.

[0046] In some specific examples, the bottom protection device can also be a lifting platform structure supported by a lifting mechanism located below the platform.

[0047] In some specific examples, the side protection device 203 can be a protective net, a protective barrier, or a protective wall, etc.; the work platform 210 is provided with a first passage 201, at which the work platform 210 connects to the channel platform 220. The channel platform is provided with a first track 221 to support the operation of the robot R. The first passage 201 is provided with a blocking mechanism that can be used to block the robot from passing through. The blocking mechanism is configured to allow the robot R to pass through in a first state and to prohibit the robot R from passing through in a second state. That is, in the first state, the blocking mechanism does not block, allowing the robot R that needs maintenance to enter the work platform 210 from the first track 221, or the robot that has completed maintenance to return from the work platform 210 to the channel platform 220; in the second state, the blocking mechanism acts as a blocker, and the robot R cannot pass through the first passage 201, and cannot return from the work platform 210 to the track platform 220, nor can it enter the work platform 210 from the track platform 220.

[0048] In some specific examples, in order to minimize the impact of robot maintenance on normal operations, the maintenance platform 200 occupies two consecutive storage locations at the edge of the cargo aisle 12, which are respectively arranged as a channel platform 220 and a work platform 210. The channel platform 220 is configured to accept the entry and waiting of the robot R. The channel platform 220 contains the cargo aisle track provided by the automated warehouse itself, namely the first track 221. That is, the channel platform 220 is set in the storage location with the first track 221. At this time, the work platform 210 connects to the first track 221 of the cargo aisle at the first passage 201. When the robot R runs to the first track 221, if the blocking mechanism is in the first state (i.e., no blocking), it can pass through the first passage 201 to enter the work platform. If the blocking mechanism is in the second state (i.e., blocking), the robot R cannot pass through the first passage to enter the work platform.

[0049] In some specific examples, the passage platform 220 can be modified as needed, such as by setting up a bottom protection device and side protection net like a work platform. In this case, the first track 221 can be a track that is later installed on the bottom protection device of the passage platform as needed.

[0050] In some specific examples, robot R can be moved to the first track 221 and stopped in front of the first access gate 201 by the control system C of the automated warehouse itself. The staff on the work platform 210 can receive robot R from the first access gate 201 manually or with the help of a remote control and let it enter the work platform 210.

[0051] In other specific examples, the maintenance platform 200 may not have a passageway platform 220, and may directly connect to the adjacent first track 221 via the first access port 201. Alternatively, in other embodiments, the first access port 201 may directly connect to the aisle, meaning that the workers on the work platform can directly receive the robot from the aisle. In this case, the maintenance platform 200 may only occupy one cargo storage space.

[0052] In some specific examples, in order to receive the robot R more smoothly on the work platform 210, a simple maintenance track 211 is provided on the bottom protective device of the work platform 210 to facilitate the operation of the robot. The simple maintenance track 211 is connected to the first track 221, so that the robot R can enter the work platform 210 from the passage platform 220 more conveniently for maintenance.

[0053] In some specific examples, the side protection device 203 can be a protective net surrounding the work platform 210 on three sides, or it can be a protective net surrounding the entire maintenance platform 200 on three sides. Alternatively, after the protective net surrounds the entire maintenance platform 200 on three sides, a separate isolation net can be set between the work platform 210 and the passage platform 220. That is, protective nets are provided on all sides of the work platform except for the side facing the roadway, thereby fully ensuring the safety of workers. Each protective net can use the same material and mesh structure, or it can use different materials and mesh structures.

[0054] In some specific examples, the side protection device 203 can also be replaced by other structures with similar functions, such as protective walls, protective partitions, protective curtains, protective wire curtains, etc.

[0055] In some specific examples, the blocking mechanism includes a main baffle 310 disposed at the first passage 201. A locking mechanism 311 is disposed on the main baffle 310. The locking mechanism 311 is used to lock the main baffle 310. The locking mechanism 311 is configured such that when locked, the main baffle 310 blocks the first passage 201, forming an obstacle and preventing the robot R from passing through. That is, at this time, the blocking mechanism is in the second state, forming an obstacle to the passage of the first passage 201. When the locking mechanism 311 is unlocked, the main baffle 310 can be moved away or at least partially moved away from the first passage 201, thereby allowing the robot R to pass freely. That is, at this time, the blocking mechanism is in the first state that allows the robot to pass through. That is, the locking mechanism 311 is used to lock and unlock the main baffle 310. When the locking mechanism 311 is unlocked, the main baffle has the motion freedom to switch to the first state.

[0056] In some specific examples, when the locking mechanism 311 performs its locking function, the main baffle 310 blocks the passage of the first passage 201 with one of its vertical or end faces, preventing the robot R from passing through the first passage 201; when the locking mechanism releases the lock, the main baffle 310 can be moved away from the first passage 201, such as by lifting, translating, or rotating, so that the main baffle 310 no longer constitutes an obstacle to the passage of the first passage, thereby making the first passage 201 a passage connecting the work platform 210 and the channel platform 220 (or the first track 221), and the robot R can pass through the first passage 201. By setting a locking mechanism 311 on the main baffle 310, when it is necessary to prevent the robot R from passing through the first passage 201, such as when there is no one on the work platform or during non-maintenance work, by setting the locking mechanism 311 to the locked state, the baffle 310 can be effectively kept in the second state at the same time, preventing the robot R or other objects from passing through the first passage 201, thereby reducing the occurrence of accidents; when the robot R needs to pass through the first passage 201, the main baffle 310 can be switched to the first state according to the actual on-site work requirements.

[0057] In some specific examples, the main baffle 310 can be a plate arranged via warehouse columns, and the locking mechanism can be a structural component or connector used to lock the main baffle to the warehouse beams or columns. In such designs, when the locking mechanism is engaged, the main baffle 310 covers the entire first passageway with its facade. After the locking mechanism is unlocked, the main baffle 310 can be flipped along its upper surface or raised vertically to a certain height to allow the first passageway 201 to open.

[0058] In some specific examples, when the main baffle 310 covers the first passageway 201 with its facade, the height of the baffle is set to limit the passage of the target robot. At the same time, to facilitate the observation of the surrounding situation by the staff, the vertical distance between the upper vertical surface of the main baffle 310 and the first track 221 in the second state is no more than 800mm in a specific embodiment, preferably no more than 700mm, so that the staff can visually observe the passageway platform 220 and / or the first track 221 by looking over the main baffle 310 when working at the work platform 210; more preferably, no more than 500mm, so as to reduce the risk of the staff illegally crawling into the robot operating area through the first passageway 201.

[0059] In some specific examples, the main baffle 310 can be arranged using structural components such as columns and beams near the first passageway 201. The locking mechanism 311 can be a simple mechanical component, such as a bolt and screw assembly, a connecting buckle, or a snap-fit. When it is necessary to stop the robot from passing through the first passageway, these connecting components are used to fix the main baffle 310 to the warehouse's columns, beams, or other structural components, so that the main baffle remains in its second state, forming an obstacle to the passageway at the first passageway.

[0060] In some specific examples, the main baffle 310 may not be a solid material structure, but may be designed with barrier structures such as nets, bars, and sliders that have similar functions. These barrier structures may be in the form of a whole horizontal blockage at the first passage opening, or in the form of a discontinuous interval blockage, or in the form of being inserted obliquely at the passage opening. As long as the first passage opening 201 can be unobstructed in the first state and the robot R cannot pass through the first passage opening 201 in the second state, the purpose of this application can be achieved.

[0061] In some specific examples, the locking mechanism 311 may also be an electromagnetically driven, pneumatically driven, or hydraulically driven locking device.

[0062] In some specific examples, the locking mechanism 311 may also be electrically controlled by a controller with an automatic control unit.

[0063] In some specific examples, the locking and unlocking of the locking mechanism 311 is manually operated by the staff, such as locking and unlocking the main baffle 310 through simple mechanical structures such as locking pins, padlocks, latches, hinges or various plug-in mechanisms.

[0064] In some specific examples, the unlocking of the locking mechanism 311 and the first state of the blocking mechanism are linked. That is, the main baffle 310 of the blocking mechanism is connected to a component of the locking mechanism through a cylinder, spring, pulse device or magnetic attraction device. When the locking mechanism is unlocked, it can trigger the action of the cylinder, spring, pulse device or magnetic attraction device, thereby driving the main baffle to move to the first state that does not obstruct the first channel opening, so that the robot R can pass smoothly.

[0065] In some specific examples, the locking mechanism 311 is configured such that when locked, the main baffle 310 has zero degrees of freedom of motion, and when unlocked, the main baffle 310 has rotational degrees of freedom away from the first track and / or upward movement degrees of freedom. That is, when the locking mechanism 311 is locked, the main baffle 310 cannot produce any displacement or flipping, and when the locking mechanism 311 is unlocked, the main baffle 310 can clear the first passageway 201 by flipping upward or moving upward, leaving sufficient space for the robot R to pass through.

[0066] In some specific examples, when the locking mechanism is released, it provides the main baffle 310 with a rotational degree of freedom away from the first track 221. This rotational degree of freedom is achieved by flipping its lower end edge with its upper end edge as the flipping axis. For this design, horizontal rotating shafts can be connected to the columns on both sides of the first passage 201, and the main baffle 310 can be connected to the rotating shafts through its upper end. When the robot needs to pass through the first passage 201, the main baffle is rotated around the horizontal rotating shaft and lifted up, opening the first passage 201 so that the robot can pass through.

[0067] In other specific examples, rotational freedom can also be achieved by fixing a vertical axis to a column or beam on one side of the first passage 201, with one end of the main baffle 310 fixed to the vertical axis. When the robot needs to pass, the main baffle is lifted from the side, allowing it to rotate around the vertical axis to the side and open the first passage for the robot to pass. Alternatively, a main baffle can be set on each side of the first passage, forming a double-door structure, which can also achieve the purpose of this invention. However, the overall design of flipping along the vertical axis requires a larger footprint for the work platform. In comparison, the scheme of flipping the main baffle 310 along the horizontal axis has a higher overall space utilization rate.

[0068] In some specific examples, when the locking mechanism is released, it provides the main baffle 310 with the freedom to move upward away from the first track 221. This freedom of upward movement allows the main baffle 310 to move vertically upward away from the first track 221. In this design, a lifting mechanism with a lifting or raising function can be set near the first passage, and the main baffle 310 can be connected to the lifting end of the lifting mechanism.

[0069] In some specific examples, the main baffle 310 can also be switched to the first state in other ways to make the first passage 201 unobstructed. For example, in some examples, it can be horizontally flipped with its two sides as the axis, or moved horizontally outside the maintenance platform, or flipped with a certain corner as the center, etc.

[0070] In some specific examples, the locking mechanism 311 is located at the near end of the main baffle 310 near the work platform 320, making it convenient for the workers of the work platform 210 to lock and unlock it.

[0071] In some specific examples, the main baffle 310 can also be designed as a telescopic frame. For instance, by fixing the telescopic frame at a certain height, when obstruction is needed, the telescopic frame can be extended downwards to form an obstruction; when obstruction is not needed, the telescopic frame can be retracted upwards to release the obstruction of the first passage 201, allowing the robot R to pass normally. In this type of design, if the telescopic frame is set with more rigid constraints, such as designing vertical guide rails at both ends of the telescopic frame, with both ends of the telescopic frame constrained in the guide rails and only having the freedom of lifting, then as long as the telescopic frame extends to obstruct the first passage 201, the robot R cannot push the telescopic frame to make horizontal movement. In this case, it is not necessary to set an independent locking mechanism 311 on the telescopic frame to achieve the locking requirement required by this application.

[0072] In some specific examples, the blocking mechanism can also adopt a magnetically controlled or electrically controlled telescopic rod mechanism. For example, a telescopic push rod that can be axially extended can be arranged on the warehouse column at the first passage 201. The length of the telescopic rod extends in the radial direction of the first passage. When it is necessary to block the robot from passing, the telescopic rod is controlled to extend axially to form a second state, blocking the robot from passing through the first passage. When it is necessary for the robot to pass, the telescopic rod is controlled to retract, clearing the first passage 201, so that the robot can pass through the first passage 201.

[0073] In some specific examples, the barrier mechanism is arranged via the access platform 210. Specifically, the barrier mechanism can be integrated with some components into a single structure and then uniformly arranged within the space where the access platform is located. The barrier mechanism is configured to switch between a first state and a second state in response to actions from the work platform 210. For example, in one specific example, the worker can change the state of the barrier mechanism by manually moving or flipping it on the work platform 210. In other specific examples, this state switching can also be achieved through an electronic or remote control device.

[0074] In some specific examples, some functional structural components are arranged on the channel platform 210. By connecting the main baffle 310 and these structural components into a whole, the entire device becomes more compact and efficient.

[0075] In some specific examples, structural components that can be integrally installed on the channel platform 210 are provided. The illustrated embodiment of this application provides an isolation cover 300 suitable for placement on the channel platform 220. Figure 4 Provide a 3D view of the isolation shield 300. Figure 6 Provide a front view of the isolation enclosure 300. Figure 7 Provide a top view of the isolation enclosure 300. Figure 8A left-side view of the isolation enclosure 300 is provided, as shown in the figure. A main baffle 310, serving as a blocking mechanism, is mounted on the isolation enclosure 300. The isolation enclosure 300 also includes a top plate 320 surrounding the main baffle 310 and two side baffles 330. The specific arrangement of the isolation enclosure 300 is as follows: the two side baffles 330 are respectively fixed to both sides of the first track 221; the top plate 320 is supported and suspended above the first track 221 of the passage platform by the two side baffles 330, and the height distance between the top plate 320 and the first track 221 meets the height requirements for robot passage. After the isolation cover 300 is installed, it forms a cover over the first track 221. When the maintenance robot R runs to the first track 221 and waits, it is located in the space between the isolation cover 300 and the first track 221. By setting the isolation cover 300, tools, parts or other objects can be prevented from falling and damaging the robot R when the workers are working on the work platform 210. At the same time, by setting the 310, which serves as a barrier mechanism, on the isolation cover 300 for a compact setting, the installation of the overall structure of the maintenance platform 200 is more efficient and faster.

[0076] In some specific examples, the height gap between the top plate 320 and the first track 221 is sufficient to allow two robots to stack and pass through, so that when a robot in the warehouse malfunctions, a rescue robot can carry the malfunctioning robot through the first passage 201 to the maintenance platform.

[0077] In some specific examples, the side panel 330 is fixed to the structural components of the cargo channel by means of connectors 331 such as angle steel, bolts or clips.

[0078] In some specific examples, the locking mechanism 311 is configured such that, in the locked state, the main baffle 310 and the side baffle 330 cannot move relative to each other.

[0079] In some specific examples, in order to facilitate the control of the movement of the main baffle 310, a hinge mechanism 312 is provided between the main baffle 310 and the top plate 320; the hinge mechanism 312 is configured to guide the main baffle 310 to move away from the first track when the locking mechanism 311 is in the open state.

[0080] In some specific examples, the hinge mechanism 312 can adopt a structure with a hinge pin, such as... Figure 7 As shown, after the locking mechanism 311 is unlocked, the main baffle 310 can be flipped upwards towards the top plate 320 of the isolation cover with the hinge axis as the center line. In some specific examples, the main baffle 310 can be flipped about 235 degrees around the hinge axis, preferably about 270 degrees, that is, after the locking mechanism 311 is unlocked, the main baffle 310 can be flipped around the hinge axis to the top plate 320 and placed in the top plate position.

[0081] In some specific examples, a telescopic linkage mechanism is provided between the main baffle 310 and the top plate 320 or the side baffle 330. When the main baffle 310 is lifted to a specific angle, the telescopic linkage mechanism can support the main baffle 310 to maintain that specific angle.

[0082] In some specific examples, a spring mechanism is provided between the main baffle 310 and the top plate 320. When the locking mechanism 311 is unlocked, the main baffle 310 can automatically flip upwards towards the top plate under the action of the spring mechanism.

[0083] In some specific examples, a reset mechanism is provided between the main baffle 310 and the top plate 320 or the side baffle 330. When it is necessary to stop the robot from passing, the reset mechanism will automatically reset the main baffle when the worker lowers the main baffle 310 to a certain angle.

[0084] In some specific examples, the hinge mechanism 312 can also adopt a straight-bent hinge, a flat hinge, or other structural forms. As long as the free end of the main baffle 310 can move to open the first passage 201 to an angle sufficient for the robot to pass through, the purpose of this application can be achieved.

[0085] In some specific examples, to facilitate lifting the main baffle 310, a handle 313 is provided on the panel of the main baffle 310 facing the work platform 210, such as... Figure 6 As shown, the handle 313 is located near the free end of the main baffle 310.

[0086] In some specific examples, the main baffle 310 may not be connected to the top plate 320, but may be connected to the side baffle 330. Alternatively, the main baffle 310 may be composed of multiple panels arranged in a foldable and retractable manner. However, such a design places relatively large demands on the space of the work platform 210.

[0087] In some specific examples, the top plate 320 of the isolation enclosure is a transparent or semi-transparent structure. For example, in some specific examples, the top plate 320 of the isolation enclosure can be made of acrylic sheet or explosion-proof glass sheet, so that the staff can easily observe the situation of the first track 221 on the work platform 210.

[0088] In some specific examples, the top plate, main baffle, and side baffles of the isolation enclosure are all made of transparent or semi-transparent structures; preferably, the isolation enclosure is made of transparent acrylic panels fixed with aluminum profile frames, so that operators can observe the inside of the isolation enclosure from various angles.

[0089] In some specific examples, the main baffle 310, top plate 320 and side baffle 330 of the isolation enclosure 300 are all designed to be transparent or semi-transparent, so that various situations at the channel platform 220 and the first track 221 can be better observed.

[0090] In some specific examples, the main baffle 310, top plate 320 and side baffle 330 of the isolation cover 300 are formed by using alloy profiles with internal sandwich structures to clamp plates to form corresponding components, and then the various parts are assembled and fixed together to form the isolation cover 300 as a whole.

[0091] In some specific examples, in the design scheme using the isolation enclosure 300, the locking mechanism 311 can be designed using the main baffle 310 and the side baffle 330, such as... Figure 4 and Figure 7 As shown, a latch is provided at the side end of the main baffle 310 near the side baffle and at the side end of the side baffle 330 near the main baffle, respectively. Figure 5 As shown, a first locking lug 311a is provided on the side panel 330, and a second locking lug 311b is provided on the main panel 310. The nostrils of the first locking lug 311a and the second locking lug 311b are correspondingly arranged. When locking is required, locking is achieved by a latch, lock head, locking pin, or other plug-in component passing through the two locking lugs. When the robot R needs to pass through the first passage 201, the operator opens the latch, lifts the main panel 310, and remotely controls the robot R to leave the passage platform 220 and enter the work platform 210. The operator can perform simple inspection and maintenance on the robot R on the work platform to improve work efficiency.

[0092] In some specific examples, the locking mechanism 311 can also be a press-type elastic self-locking mechanism, such as setting a rebounder on the end face of the side panel 330 facing the main panel 310, and setting a corresponding spring-pressing mechanism on the main panel. When the main panel is closed, the main panel 310 is locked by pressing the corresponding position. When the robot needs to pass, the main panel can be opened by pressing the corresponding position again.

[0093] In some specific examples, the locking mechanism 311 can also achieve locking by setting corresponding snap-fit ​​connection mechanisms, blind hole and locking pin connection mechanisms on the main baffle and side baffle.

[0094] In some specific examples, the locking mechanism 311 can also achieve the technical purpose of switching between locking and unlocking states by setting a magnetic attraction device, electromagnetic switch, pneumatic switch, etc. between the main baffle and the side baffle.

[0095] In some specific examples, the locking mechanism 311 may also be located between the main baffle 310 and the top plate 320.

[0096] In some specific examples, the work platform 210 has a second passageway 202 formed between the side guard 203 and the bottom guard, such as... Figure 3 As shown, a certain gap can be reserved between the side guard device 203 and the bottom guard device to form the second passage 202; the second passage 202 is configured to allow the robot to drive out of the automated warehouse. Normally, a protective net is set around the storage space at the edge of the automated warehouse aisle to prevent the robot from driving out of the warehouse and to prevent foreign objects from entering the storage space. However, considering that during maintenance, it is inevitable to encounter faults that require a long time to repair or are inconvenient to handle on the maintenance platform, it is necessary to send the faulty robot out of the warehouse. If it is sent out manually, the consumption of manpower and material resources is relatively large. Based on this, the embodiment of this application sets a second passage 202 at the working platform 210 of the maintenance platform to send out the faulty robot.

[0097] In some specific examples, the second passage 202 is set as a one-way exit, such as by setting a baffle structure that can only be flipped outwards at the corresponding position, so that the robot of the maintenance platform can run to the outside of the warehouse through the second passage 202, while various devices outside the warehouse cannot enter the warehouse through the second passage 202.

[0098] In some specific examples, the second passage 202 is a two-way entrance / exit. Robot R can enter the warehouse through the second passage 202, and can also travel from the warehouse to the outside.

[0099] In some specific examples, the second access point 202 has a second passage leading directly to the external maintenance station M. This second passage can be designed as a simple passage or a passage with a dedicated track, depending on the actual working conditions.

[0100] In some specific examples, considering the risk of robot R malfunctioning and becoming unable to move, it is necessary to use another robot to carry the malfunctioning robot in and out of the maintenance platform 200. Therefore, the first passageway 201 and / or the second passageway 202 are configured to allow two robots to pass through stacked. Referring to the height design of robot R commonly used in the industry, the height of the first passageway 201 and the second passageway 202 should be no less than 450mm to ensure that the two robots can pass through stacked.

[0101] In some specific examples, the maintenance platform 200 is equipped with a remote controller, which is configured to schedule the robot after the robot reaches the first position P, such as scheduling the robot R to run from the first position P to the work platform 210, or scheduling the robot R to move on the work platform 210, so as to facilitate the staff to inspect and maintain the robot.

[0102] In some specific examples, in order to facilitate the design of the second passage and enable the robot R to run to the designated external maintenance station M as soon as possible after exiting the second passage 202, the maintenance platform 200 is set in the bottom cargo channel of the automated warehouse that directly connects to the ground in a specific embodiment. In this way, the robot R can directly enter the ground after exiting the second passage, and the second passage does not need to consider the lifting and lowering of the robot R. At the same time, it is also more convenient for staff to enter and exit the automated warehouse.

[0103] In some specific examples, especially for large automated warehouses with a large number of robots R, multiple maintenance platforms 200 can be set up in an automated warehouse according to actual needs. Each maintenance platform 200 is responsible for performing maintenance and upkeep on the robots R in the designated operating area A, so as to improve the overall operating efficiency of the warehouse.

[0104] Embodiments of this application also provide a warehousing system, which includes an operating area A, a control system C, a robot R, and a maintenance platform 200, such as... Figure 9 As shown, the operating area A is used to provide the area for the robot's regular work; the control system C is used to schedule the robot's operation; the robot R is used to run in the operating area in response to the first instruction of the control system C, and to run to the first position P in response to the second instruction of the control system; the maintenance platform 200 is used to receive and control the robot that has arrived at the first position P.

[0105] In some specific examples, the maintenance platform 200 is equipped with a remote controller: the remote controller is used to schedule the robot that has run to the first position P to enter the work platform 210 and control the actions of the robot R that has entered the work platform, so as to help the staff complete the inspection and maintenance of the robot R.

[0106] In some specific examples, robot R is equipped with a command source switching module. Before robot R reaches the first position P from the operating area A, the command source switching module ensures that robot R can receive commands from the control system C. After robot R reaches the first position P from the operating area A, the command source switching module can cut off the channel for robot R to receive commands from the control system C and connect the channel for robot R to communicate with the remote controller, so that robot R switches to the state of receiving commands from the remote controller.

[0107] In some specific examples, the function of the instruction source switching module can be implemented by receiving the position signal of the robot R and performing actions based on the calculation results, or by setting a specific signal transmitting device at the first position P to trigger the relevant function.

[0108] In some specific examples, after the robot R, which has completed maintenance, is moved from the work platform 210 to the first position P by the remote control command, the signal source switching module reconnects the channel for the robot R to receive commands from the control system C, so that the robot R switches to the state of receiving commands from the control system C.

[0109] In some specific examples, the second instruction of the control system C can be a periodic maintenance instruction or a field instruction to move to the first position P. That is, the robot R can automatically move to the first position P for inspection at preset intervals, or it can receive a maintenance instruction in real time and move to the first position P.

[0110] In some specific examples, the warehousing system also includes an external maintenance station M: the maintenance platform 200 has a second access point 202 on the work platform 210; a second passage is provided between the second access point 202 and the external maintenance station M; the second passage is used to support the robot R to move to the external maintenance station M after exiting from the second access point 202. By setting up a second passage connecting the external maintenance station M and the work platform 210, when the staff encounters a problem that cannot be solved in a short time or cannot be solved on the maintenance platform when repairing the robot R on the work platform 210, the faulty robot can be sent out through the second access point 202, allowing it to move on its own or be carried by another normal robot to the external maintenance station, reducing the workload of the staff in sending the robot for repair, and also effectively avoiding interference with the normal operation of the automated warehouse.

[0111] In some specific examples, the movement of robot R from the second access point 202 to the external maintenance station M can be a process in which the control system C detects that robot R is outputting from the second access point 202 and then controls and guides robot R to move in real time.

[0112] In some specific examples, the movement of robot R from the second access point 202 to the external maintenance station M can also be a process of moving along a preset route as set in the preset program.

[0113] In some specific examples, the movement of robot R from the second access point 202 to the external maintenance station M can also be a process in which a predetermined signal transmitting device is set up at the second access point, and the pre-stored destination signal is activated when robot R passes through the second access point 202, and the robot automatically runs according to the preset program to calculate and plan the path.

[0114] In some specific examples, the switching point for robot R to receive commands from the remote controller or the control system C may not be set as the first position P, but rather as the second position P' just before the robot enters the passageway platform, such as... Figure 9 As shown, at this time, the area around the second position P' is also excluded from the operating area and included in the application scope of the maintenance platform.

[0115] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A maintenance platform, characterized in that, The maintenance platform (200) is located at the edge of the automated warehouse, and the maintenance platform (200) includes a work platform (210). The work platform (210) has a work space to accommodate maintenance operations; The work platform (210) has a first passageway (201), and the first passageway (201) is provided with a blocking mechanism. The blocking mechanism is configured to allow the robot to pass in a first state and to prohibit the robot from passing in a second state.

2. A maintenance platform according to claim 1, characterized in that, The maintenance platform (200) is located at the edge of the cargo aisle (12) of the automated warehouse; The work platform (210) has a bottom protection device and a side protection device (203). The operating platform (210) connects to the first track (221) of the freight channel at the first passage (201).

3. A maintenance platform according to claim 2, characterized in that, The maintenance platform (200) occupies two storage positions in the cargo channel (12), and the maintenance platform also includes a channel platform (220). The first track (221) is located on the channel platform (220); The channel platform (220) is configured to accept robots (R) driving in and waiting.

4. A maintenance platform according to claim 3, characterized in that, The blocking mechanism includes a main baffle (310). The main baffle (310) is provided with a locking mechanism (311). The locking mechanism (311) is configured to keep the main baffle in the second state when locked, and to give the main baffle a degree of freedom of movement to switch to the first state when unlocked.

5. A maintenance platform according to claim 4, characterized in that, The locking mechanism (311) is configured such that when locked, the main baffle (310) has zero degrees of freedom of motion, and when unlocked, the main baffle (310) has a rotational degree of freedom to move away from the first track (221) and / or an upward degree of freedom of movement.

6. A maintenance platform according to claim 5, characterized in that, The blocking mechanism is arranged via a channel platform (220); The blocking mechanism is configured to switch between a first state and a second state in response to actions from the work platform.

7. A maintenance platform according to claim 6, characterized in that, The channel platform (220) is equipped with an isolation cover (300), and the main baffle (310) is installed on the isolation cover (300); The isolation enclosure (300) also includes a top plate (320) surrounding the main baffle and two side baffles (330). The two side panels (330) are positioned on both sides of the first track (221); The top plate (320) is supported and suspended above the first track (221) of the passage platform by two side baffles (330), and the distance between the top plate (320) and the first track (221) is adapted to the height required for the robot to pass.

8. A maintenance platform according to claim 7, characterized in that, A hinge mechanism (312) is provided between the main baffle (310) and the top plate (320). The hinge mechanism (312) is configured to guide the main baffle (310) to move away from the first track when the locking mechanism (311) is released.

9. A maintenance platform according to claim 3, characterized in that, The work platform (210) has a second access point (202). The second passage (202) is formed between the side protection device (203) and the bottom protection device; The second access point (202) is configured to allow robots to exit the automated warehouse.

10. A maintenance platform according to claim 9, characterized in that, The first passageway (201) and / or the second passageway (202) are configured to allow two robots (R) to pass through stacked.

11. A maintenance platform according to any one of claims 1 to 10, characterized in that, The maintenance platform (200) is equipped with a remote control. The remote controller is configured to schedule the robot after it reaches the first position (P).

12. A warehousing system characterized by, Includes an operating area, a robot, and a maintenance platform as described in any one of claims 1 to 11: The operating area (A) is configured to provide an area for robots to perform routine tasks; The control system (C) is configured to schedule the operation of the robot; The robot (R) is configured to operate in the operating area in response to a first command from the control system and to move to a first position (P) in response to a second command from the control system. The maintenance platform (200) is configured to receive and control the robot arriving at the first position (P).

13. The warehousing system according to claim 12, characterized in that, The maintenance platform is equipped with a remote control. The remote controller is configured to schedule the robot running to the first position (P) to enter the work platform (210) and control the actions of the robot (R) entering the work platform.

14. The warehousing system according to claim 13, characterized in that, Also includes external service stations (M): The maintenance platform is equipped with a second access point (202). A second passage is provided between the second access point (202) and the external maintenance station (M); The second passage is configured to allow a robot (R) to move to an external maintenance station (M) after exiting from the second passage (202).

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