Transport robot and warehousing system

Abstract

The application provides a carrying robot and a warehouse system. The carrying robot comprises a column, a roller assembly and an inclination detection device. The column is configured to carry a cargo loading and unloading device, and the axis of the column coincides with the vertical direction when no inclination occurs. The roller assembly is configured to cooperate with a shelf guide rail extending in the horizontal direction. The roller assembly is movably connected with the column. At least one degree of freedom is provided between the roller assembly and the column to allow the axis of the column to deviate from the vertical direction. The inclination detection device comprises a first detection component arranged on the column and a second detection component arranged on the roller assembly. When the axis of the column deviates from the vertical state, the relative displacement occurs between the first detection component and the second detection component. The inclination detection device is configured to generate a detection signal in response to the relative displacement, and the detection signal is used to indicate the inclination state of the column. The inclination detection device can generate the detection signal according to the relative displacement, so as to timely judge the inclination of the column.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and in particular to a handling robot and warehousing system. Background Technology

[0002] To build efficient and highly fluid automated logistics systems, handling robots are now widely used to automate the transfer of goods. These robots move along shelves via roller assemblies that work in conjunction with shelf rails.

[0003] For taller handling robots, multiple power inputs are typically installed, providing power from different locations within the robot. However, these different inputs can lead to asynchronous movements, causing the robot to be pulled or stretched. To address this issue, some handling robots incorporate structures that allow them to tilt, preventing this stretching.

[0004] The uprights of the handling robot are set vertically under normal use. When the handling robot tilts, the uprights that deviate from the vertical position cannot complete the loading and unloading of goods, which affects the working efficiency and user experience of the handling robot. Utility Model Content

[0005] This application provides a handling robot and a warehousing system to solve related technical problems.

[0006] This application provides a handling robot, including: a column, a roller assembly, and a tilt detection device;

[0007] The column is configured to support a cargo loading and unloading device, and the axis of the column coincides with the vertical direction when it is not tilted.

[0008] The roller assembly is configured to mate with a horizontally extending shelf rail;

[0009] The roller assembly is movably connected to the column; at least one degree of freedom is provided between the roller assembly and the column, allowing the axis of the column to deviate relative to the vertical direction;

[0010] The tilt detection device includes: a first detection component disposed on the column, and a second detection component disposed on the roller assembly;

[0011] When the axis of the column deviates from the vertical state, a relative displacement occurs between the first detection component and the second detection component;

[0012] The tilt detection device is configured to generate a detection signal in response to the relative displacement, the detection signal being used to indicate the tilt state of the column.

[0013] Furthermore, it also includes an alarm device, which is electrically connected to the tilt detection device.

[0014] Furthermore, one of the first detection component and the second detection component includes a distance sensor, and the other includes a metal component; the resistance between the distance sensor and the metal component is related to the relative displacement.

[0015] Furthermore, the column is provided with a slide rail arranged along the axial direction of the column, and the roller assembly includes a slider, which is slidably connected to the slide rail.

[0016] Furthermore, the roller assembly includes a rotating part and at least two swing members; the swing members include a first end and a second end, the first end is rotatably mounted to the rotating part in a horizontal direction, and the second end is provided with a support roller that cooperates with the shelf guide rail.

[0017] Furthermore, the roller assembly also includes an elastic element, with each end of the elastic element connected to one of the two swinging elements.

[0018] Furthermore, it also includes a limiting component, which includes a shelf abutment, a connecting rod, and a limiting component;

[0019] The shelf abutment is slidably connected to the upright; both ends of the connecting rod are rotatably connected to the shelf abutment and the upright respectively; the limiting member is fixed to the upright and located at the extreme position on the movement path of the connecting rod; when the handling robot is in the state where the connecting rod abuts against the limiting member, the first detection component and the second detection component are spaced apart.

[0020] Furthermore, in the second direction, the column includes an upper end and a lower end disposed opposite to each other, the limiting component is installed near the upper end; and the roller assembly is installed near the lower end.

[0021] Furthermore, the transport robot includes two columns, which are spaced apart in the horizontal direction and extend towards each other in the vertical direction; the transport robot includes at least two roller assemblies, and the columns are respectively provided with the roller assemblies.

[0022] Furthermore, the transport robot includes at least two tilt detection devices, and each column is equipped with a tilt detection device;

[0023] In the vertical direction, the roller assembly includes an upper side and a lower side arranged opposite to each other, and the tilt detection device is located on the upper side or the lower side.

[0024] Furthermore, in the vertical direction, the roller assembly includes an upper side and a lower side arranged opposite to each other; the handling robot includes at least two tilt detection devices, with at least one tilt detection device respectively provided on the upper side and the lower side.

[0025] This application also provides a storage system, including: a shelf and the aforementioned handling robot, wherein the shelf includes a shelf guide rail arranged in a horizontal direction, and the roller assembly is installed in cooperation with the shelf guide rail.

[0026] Because the roller assembly is movably connected to the upright, when the upright tilts relative to the shelf, a relative displacement occurs between the first and second detection components. The tilt detection device can generate a detection signal based on the relative displacement, thereby promptly determining that the upright has tilted.

[0027] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this specification. Attached Figure Description

[0028] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this specification and, together with the description, serve to explain the principles of this specification.

[0029] Figure 1 This is a schematic diagram of the structure of a handling robot according to an exemplary embodiment of this application;

[0030] Figure 2 yes Figure 1 A magnified view of a section at point A in the middle;

[0031] Figure 3 This is a partial structural schematic diagram of another conveying machine in an exemplary embodiment of this application;

[0032] Figure 4 yes Figure 1 A magnified view of a section at point B in the middle;

[0033] Figure 5 This is a schematic diagram of the structure of a warehousing system in an exemplary embodiment of this application.

[0034] Reference numerals: 1. Handling robot; 10. Frame; 101. 102. 11. Column; 1101. 1102. 111. 112. 112. 12. 13. 13. 20. 201. 202. 21. 22. 221. 23. 23. 231. 232. 24. 25. 25. 30. 300. 31. 32. 31. 32. 40. 50. 51. 511. 512. 513. 52. 53. 54. 54. 60. 61. 60. 70. 71. 72. 73. 74. 75. 76. 77. 78. 79. 70. 70. 71. 72. 73. 74. 75. 76. 77. 78. 79. 70. 70. 71. 72. 73. 70. 71. 72. 73. Detailed Implementation

[0035] The technical solutions in the embodiments (or "implementations") of this application will be clearly and completely described herein with reference to the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.

[0036] If the embodiments of this application contain terms relating to directional indications or positional relationships (such as up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationships and movements between components in a specific posture (as shown in the attached figures); if the specific posture changes, the directional indications or positional relationships will also change accordingly. Furthermore, the terms "first" and "second" used in the embodiments of this application are only for descriptive convenience and should not be construed as indicating or implying relative importance.

[0037] Currently, to address the pulling problem caused by asynchronous operation of multiple input devices, handling robots are equipped with structures to tilt on shelves. However, when a handling robot tilts, it needs to be adjusted to a normal position before goods can be stored. Currently, the lack of timely means to alert users to tilting affects the working efficiency of handling robots. This application provides a handling robot and warehousing system to solve these technical problems.

[0038] like Figure 1 As shown, this application provides a handling robot 1, including a frame 10, a roller assembly 20, a tilt detection device 30, an alarm device 40, a limiting assembly 50, and a base 60. The roller assembly 20 is configured to cooperate with a shelf guide rail extending in the horizontal direction X to drive the handling robot to move relative to the shelf.

[0039] The frame 10 includes a column 11. The column 11 is configured to carry a cargo handling device. The axis of the column 11 coincides with the vertical direction Y when it is not tilted. The tilt detection device 30 includes a first detection component 31 and a second detection component 32. The first detection component 31 is disposed on the column 11, and the second detection component 32 is disposed on the roller assembly 20.

[0040] The roller assembly 20 is movably connected to the column 11. At least one degree of freedom is provided between the roller assembly 20 and the column 11, allowing the axis of the column 11 to deviate relative to the vertical direction. When the axis of the column 11 deviates from the vertical, a relative displacement occurs between the first detection component 31 and the second detection component 32. The tilt detection device 30 is configured to generate a detection signal in response to the relative displacement, the detection signal indicating the tilt state of the column 11.

[0041] Since the roller assembly 20 is movably connected to the upright 11, when the upright 11 tilts relative to the shelf, the tilt detection device 30 can detect the change in a timely manner, thereby determining that the upright 11 has tilted.

[0042] The alarm device 40 is electrically connected to the tilt detection device 30. By setting the alarm device 40, the handling robot 1 can issue an alarm when tilt is detected, and the user can promptly correct the tilt according to the alarm prompt, effectively improving the working efficiency of the handling robot 1.

[0043] In some embodiments, the handling robot can be equipped with a corresponding automatic adjustment mechanism. In this embodiment, the handling robot may not be equipped with an alarm device 40. After receiving a detection signal, the handling robot can adjust itself without the need for manual operation by the user, thereby improving work efficiency.

[0044] In some embodiments, the handling robot may be equipped with both an automatic adjustment mechanism and an alarm device 40. On one hand, the handling robot uses the alarm device 40 to sound an alarm and remind the user. On the other hand, the handling robot automatically adjusts itself using the automatic adjustment mechanism, improving operational efficiency.

[0045] In the vertical direction Y, the column 11 includes an upper end 101 and a lower end 102 arranged opposite each other. The number of columns 11 is set to two. The frame 10 also includes a pair of crossbars 12 and reinforcing bars 13. The two columns 11 are spaced apart in the horizontal direction X and extend along the vertical direction Y. The pair of crossbars 12 connects to both ends of the pair of columns 11, forming a frame-like structure with high strength. The two ends of the reinforcing bars 13 connect to the middle of the pair of columns 11 to further improve the strength of the columns 11.

[0046] In some embodiments, the column 11 is provided with a slide rail 111 arranged along the axial direction of the column 11, and the roller assembly 20 includes a slider 21, which is slidably connected to the slide rail 111 so that a relative displacement is formed between the first detection component 31 located on the column 11 and the second detection component 32 located on the roller assembly 20 along the axial direction of the column 11.

[0047] For example, the column 11 is provided with a slide rail 111 and a fixing part 112. The slide rail 111 is located near the lower end 102 of the column 11 and works in conjunction with the roller assembly 20. The fixing part 112 is located near the upper end 101 of the column 11 and is installed in conjunction with the limiting assembly 50.

[0048] Please refer to the following: Figure 2 As shown, the roller assembly 20 can be installed near the lower end 102. The roller assembly 20 includes a slider 21, a mounting member 22, a swing member 23, a support roller 24, and an elastic member 25. The slider 21 is slidably connected to the slide rail 111. The first detection component 31 and the second detection component 32 are arranged opposite each other in the vertical direction, forming a detection gap 300 between them. Because the slider 21 is slidably connected to the slide rail 111, when the column 11 tilts, the aligned first detection component 31 and the second detection component 32 can produce linear linear motion, and the detection gap 300 changes significantly, improving the detection accuracy of the tilt detection device 30.

[0049] The slider 21 is fixed to the mounting member 22. The roller assembly 20 includes a rotating part 221. The rotating part 221 is disposed on the mounting member 22. The number of swing members 23 is set to at least two. The swing member 23 includes a first end 231 and a second end 232. The first end 231 is rotatably mounted to the rotating part 221 about the horizontal direction. The rotation axis of the first end 231 is perpendicular to the left-right direction X and the vertical direction Y of the frame 10. A support roller 24 is disposed on the second end 232 for cooperating with the shelf guide rail.

[0050] By setting the swing element 23, when the column 11 tilts, the roller assembly 20 will be squeezed. Since the support roller 24 abuts against the shelf guide rail, the included angle of the two swing elements 23 will change adaptively, thereby avoiding the roller assembly 20 from bearing excessive rigidity and improving the overall structural stability of the handling robot 1.

[0051] Two swinging members 23 are connected to the two ends of the elastic member 25. The elastic member 25 can pull the swinging members 23 at both ends, so that the support roller 24 keeps in contact with the shelf guide rail, preventing the support roller 24 from disengaging from the shelf guide rail, thus improving the operational stability of the handling robot 1.

[0052] The handling robot 1 may include at least two roller assemblies 20. Roller assemblies 20 are respectively provided on the uprights 11. By providing multiple roller assemblies 20, the supporting effect of the roller assemblies 20 on the uprights 11 can be improved, thereby enhancing the working stability of the handling robot 1.

[0053] In such Figure 1 and Figure 2 In the illustrated embodiment, the handling robot 1 may include at least two tilt detection devices 30, with each column 11 having a tilt detection device 30. In the vertical direction Y, the roller assembly 20 includes an upper side 201 and a lower side 202 disposed opposite to each other, with the tilt detection device 30 located on either the upper side 201 or the lower side 202. By providing tilt detection devices 30 on both columns 11, the handling robot 1 can detect the tilt of the columns 11 towards both sides, improving detection accuracy and thus improving work efficiency.

[0054] In embodiments of this application, one of the first detection component 31 and the second detection component 32 may include a distance sensor, and the other may include a metal component. The resistance between the distance sensor and the metal component is related to the relative displacement, and a detection signal can be generated by monitoring the change in resistance between the distance sensor and the metal component. For example, the first detection component 31 may be a probe head including a distance sensor, and the second detection component 32 may be a metal sheet. When the first detection component 31 and the second detection component 32 are close together, the resistance of the first detection component 31 decreases, and the change in resistance is used to determine whether the column 11 has tilted.

[0055] In other embodiments, the specific types of the first detection component 31 and the second detection component 32 are not limited. In some embodiments, the tilt detection device 30 may be an ultrasonic sensor, an infrared sensor, a laser sensor, a millimeter-wave radar, or a vision sensor.

[0056] exist Figure 1 In the illustrated embodiment, when column 11 tilts to the left, left column 1101 moves downwards, reducing the distance between the first detection component 31 and the second detection component 32 on left column 1101, thus decreasing the resistance of the first detection component 31 on left column 1101. Simultaneously, the distance between the first detection component 31 and the second detection component 32 on right column 1102 remains constant or increases, correspondingly reducing the resistance of the first detection component 31 on right column 1102. The handling robot 1 can determine that column 11 has tilted to the left based on this resistance change.

[0057] When column 11 tilts to the right, right column 1102 moves downwards, reducing the distance between the first detection component 31 and the second detection component 32 on right column 1102, thus decreasing the resistance of the first detection component 31 at that point. Simultaneously, the distance between the first detection component 31 and the second detection component 32 on left column 1101 remains constant or increases, and the resistance of the first detection component 31 on left column 1101 remains constant or increases accordingly. The handling robot 1 can determine that column 11 has tilted to the right based on this resistance change.

[0058] In such Figure 3 In the illustrated embodiment, at least one tilt detection device 30 is provided on the upper side 201 and the lower side 202 respectively. In this embodiment, by installing the tilt detection device 30 on the upper side 201 and the lower side 202 of the single roller assembly 20, the handling robot 1 is also able to detect the tilt of the column 11 toward both sides.

[0059] Specifically, when the column 11 tilts to the left, it will move downwards, causing the distance between the first detection component 31 and the second detection component 32 located on the upper side 201 to decrease, and the distance between the first detection component 31 and the second detection component 32 located on the lower side 202 to increase. Under this change, the resistance of the first detection component 31 on the upper side 201 decreases, while the resistance of the first detection component 31 on the lower side 202 increases or remains unchanged. The handling robot 1 can determine that the column 11 has tilted to the left based on this change in resistance.

[0060] When the column 11 tilts to the right, it will move upwards, increasing the distance between the first detection component 31 and the second detection component 32 located on the upper side 201, and decreasing the distance between them. Under this change, the resistance of the first detection component 31 on the upper side 201 remains unchanged or increases, while the resistance of the first detection component 31 on the lower side 202 decreases. The handling robot 1 can determine that the column 11 has tilted to the right based on this resistance change.

[0061] Please refer to the following: Figure 4 As shown, the limiting component 50 may include a shelf abutment 51, a connecting rod 52, a limiting component 53, and a drive motor 54. The shelf abutment 51 is slidably connected to the upright 11. The two ends of the connecting rod 52 are rotatably connected to the shelf abutment 51 and the upright 11, respectively. The limiting component 53 is fixed to the upright 11 and located at the extreme position on the movement path of the connecting rod 52. When the handling robot 1 is in the state where the connecting rod 52 and the limiting component 53 are abutting, the first detection component 31 and the second detection component 32 are spaced apart, that is, the detection gap 300 is greater than zero.

[0062] By setting the limiting component 53, the tilt of the column 11 can be limited, preventing the tilt angle of the column 11 from being too large. When the connecting rod 52 abuts against the limiting component 53, the detection gap 300 is greater than zero. A safe distance is maintained between the first detection component 31 and the second detection component 32 to avoid hard contact and scraping, thereby improving the operational stability of the handling robot 1.

[0063] The shelf abutment 51 may include a mounting part 511, a drive roller 512, and a clamping roller 513. The two ends of the connecting rod 52 are rotatably connected to the fixing part 112 and the mounting part 511, respectively. The drive motor 54 is fixed to the mounting part 511, and the drive roller 512 is mounted to the output shaft of the drive motor 54. The drive roller 512 can drive the upright 11 to move.

[0064] The clamping roller 513 is located below the drive roller 512. The clamping roller 513 and the drive roller 512 clamp and fix the guide rail of the shelf to improve the operating stability of the handling robot 1.

[0065] The limiting component 50 can be installed close to the upper end 101. The connection between the roller assembly 20 and the column 11 is the relative rotation center where the column 11 rotates and tilts. Since the roller assembly 20 is installed close to the lower end 102, this relative rotation center is also close to the lower end 102. Because the distance between the upper end 101 and the lower end 102 is relatively long, by installing the limiting component 50 close to the upper end 101, the limiting component 50 only needs to provide a small abutment force to generate a large torque, thereby improving the overall rigidity of the handling robot 1.

[0066] The base 60 is equipped with bottom rollers 61 to ensure that the handling robot 1 can accurately move to the target shelf position and transport the goods to the designated storage location on the shelf.

[0067] like Figure 5 As shown, this application also provides a warehousing system, including a shelf 70 and the aforementioned handling robot 1. The roller assembly 20 abuts against the shelf 70. Due to the high working efficiency of the handling robot 1, the working efficiency of the warehousing system of this application is also improved.

[0068] The rack 70 includes crossbeams 71, longitudinal beams 72, and rack rails 73. The rack rails 73 are arranged in the horizontal direction X. There is a pair of longitudinal beams 72. There are multiple crossbeams 71. The crossbeams 71 connect to the pair of longitudinal beams 72 via the rack rails 73. The rack rails 73 cooperate with the roller assembly 20 and the limiting assembly 50 to allow the handling robot 1 to move on the rack 70.

[0069] It should be noted that the technical solutions or features described in the above embodiments can be combined or supplemented with each other without conflict. The scope of protection of this application is not limited to the precise structures described in the above embodiments and shown in the accompanying drawings; all modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A transport robot, characterized in that, include: Columns, roller assemblies, and tilt detection devices; The column is configured to support a cargo loading and unloading device, and the axis of the column coincides with the vertical direction when it is not tilted. The roller assembly is configured to mate with a horizontally extending shelf rail; The roller assembly is movably connected to the column; at least one degree of freedom is provided between the roller assembly and the column, allowing the axis of the column to deviate relative to the vertical direction; The tilt detection device includes: a first detection component disposed on the column, and a second detection component disposed on the roller assembly; When the axis of the column deviates from the vertical state, a relative displacement occurs between the first detection component and the second detection component; The tilt detection device is configured to generate a detection signal in response to the relative displacement, the detection signal being used to indicate the tilt state of the column.

2. The handling robot according to claim 1, characterized in that, It also includes an alarm device, which is electrically connected to the tilt detection device.

3. The handling robot according to claim 1, characterized in that, One of the first detection component and the second detection component includes a distance sensor, and the other includes a metal component; the resistance between the distance sensor and the metal component is related to the relative displacement.

4. The handling robot according to claim 1, characterized in that, The column is provided with a slide rail arranged along the axis of the column, and the roller assembly includes a slider, which is slidably connected to the slide rail.

5. The handling robot according to claim 1, characterized in that, The roller assembly includes a rotating part and at least two swinging members; the swinging members include a first end and a second end, the first end is rotatably mounted to the rotating part in a horizontal direction, and the second end is provided with a support roller that cooperates with the shelf guide rail.

6. The handling robot according to claim 5, characterized in that, The roller assembly also includes an elastic element, with two of the two oscillating elements connected to each end of the elastic element.

7. The handling robot according to claim 1, characterized in that, It also includes a limiting component, which includes a shelf abutment, a connecting rod, and a limiting component; The shelf abutment is slidably connected to the upright; both ends of the connecting rod are rotatably connected to the shelf abutment and the upright respectively; the limiting member is fixed to the upright and located at the extreme position on the movement path of the connecting rod; when the handling robot is in the state where the connecting rod abuts against the limiting member, the first detection component and the second detection component are spaced apart.

8. The handling robot according to claim 7, characterized in that, In the second direction, the column includes an upper end and a lower end that are disposed opposite to each other, the limiting component is installed near the upper end, and the roller assembly is installed near the lower end.

9. The handling robot according to claim 1, characterized in that, The transport robot includes two columns, which are spaced apart in the horizontal direction and extend towards each other in the vertical direction; the transport robot includes at least two roller assemblies, and the columns are respectively provided with roller assemblies.

10. The handling robot according to claim 9, characterized in that, The transport robot includes at least two tilt detection devices, and the uprights are each equipped with a tilt detection device. In the vertical direction, the roller assembly includes an upper side and a lower side arranged opposite to each other, and the tilt detection device is located on the upper side or the lower side.

11. The handling robot according to claim 1, characterized in that, In the vertical direction, the roller assembly includes an upper side and a lower side arranged opposite to each other; the handling robot includes at least two tilt detection devices, with at least one tilt detection device respectively provided on the upper side and the lower side.

12. A warehousing system, characterized in that, include: The shelf and the handling robot as described in any one of claims 1-11, wherein the shelf includes a shelf rail arranged in a horizontal direction, and the roller assembly is installed in cooperation with the shelf rail.

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