A comb tooth carrier, a carrying robot and a warehousing system
Patent Information
- Application Number
- CN202522226204.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-21
- Publication Date
- 2026-10-09
- Estimated Expiration
- 2035-10-21
AI Technical Summary
这导致了该种梳齿型载物架难以进入到梳齿型缓存对接装置较深的位置，搬运机器人占用的纵深较长，从而影响仓库的仓储容量
[0027]在搬运机器人举升机构驱动梳齿载物架和对接装置的梳齿结构对接的过程中，由于梳齿载物架的前端不设置料箱限位部，搬运机器人能移动至对接装置的更深位置（梳齿载物架的前端接近对接装置梳齿结构横梁的正下方，相较于现有技术，在对接装置的纵深方向，搬运机器人可以多行进前方围挡结构的长度距离），减少搬运机器人占用的纵深长度，以便于提高仓库的仓储容量。
Smart Images
Figure CN224830600U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of warehousing and logistics technology, and in particular to a comb-tooth rack, a handling robot and a warehousing system. Background Technology
[0002] In the field of automated warehousing and logistics, handling robots (such as AGVs, i.e., automated guided vehicles) can efficiently dock with the comb-shaped buffer docking devices of warehousing facilities to handle goods.
[0003] In existing technologies, a comb-shaped carrier is typically mounted on the lifting mechanism of a handling robot for docking with a comb-shaped buffer docking device. To ensure the stability of the toy box during handling and prevent it from slipping due to the robot's movement, turning, or lifting actions, the comb-shaped carrier usually has upward-protruding enclosure structures around its perimeter. These enclosures effectively restrain the toy box's movement in all directions, reducing the risk of it falling during handling.
[0004] However, the aforementioned comb-type rack with surrounding barriers has some problems in practical applications. The comb teeth of the comb-type buffer docking device consist of a crossbeam and multiple toothed rods mounted on the crossbeam. The barrier structure in front of the comb-type rack cannot be directly below the crossbeam of the docking device's comb teeth; otherwise, during the process of the comb-type rack rising to dock with the comb teeth, the barrier directly below the crossbeam will collide with the crossbeam. This makes it difficult for this type of comb-type rack to enter the deeper parts of the comb-type buffer docking device, resulting in a longer longitudinal depth occupied by the handling robot, thus affecting the warehouse's storage capacity. Utility Model Content
[0005] The purpose of this utility model embodiment is to provide a comb-tooth rack, a handling robot, and a warehousing system to improve warehouse storage capacity. The specific technical solution is as follows:
[0006] To achieve the above objectives, the first aspect of this utility model application provides a comb-tooth storage rack, comprising:
[0007] Base plate;
[0008] A pair of outer limiting plates are provided on both sides of the base plate, extending from the base plate along the height direction of the comb-tooth rack;
[0009] Multiple partitions, each extending along the front-to-back direction of the comb-tooth rack, are spaced apart and vertically installed on the base plate. Each partition has a loading edge at the top, with the front end of the loading edge higher than the rear end, and the lower end of the loading edge lower than the top of a pair of outer limiting plates.
[0010] The rear limiting part is located at the rear end of the comb-tooth carrier and is higher than the rear end of the carrier side.
[0011] According to one embodiment of this utility model application, at least a portion of the loading edge is serrated.
[0012] According to one embodiment of this utility model application, the rear limiting portion is disposed at the lower end of the loading side of at least one partition.
[0013] According to one embodiment of this utility model application, the plurality of partitions include: at least one inclined guide partition and at least one inclined support partition; each inclined guide partition has a rear limiting portion at the lower end of its loading side.
[0014] According to one embodiment of this utility model application, there are at least two inclined guide partitions and at least two inclined support partitions, with at least two inclined support partitions disposed on both sides of at least two inclined guide partitions.
[0015] According to one embodiment of this utility model application, at least one of the inclined guide partition and the inclined support partition is provided with a plurality of weight reduction holes at intervals along the front-back direction.
[0016] According to one embodiment of this utility model application, the rear limiting part is a protrusion extending along the height direction from the lower end of the loading side of the inclined guide partition, and the protrusion and the inclined guide partition are an integral structure.
[0017] According to one embodiment of this utility model application, a pair of outer limiting plates include a limiting plate and a guide plate. The limiting plate extends from the side of the base plate in the height direction, and the guide plate and the limiting plate are connected and inclined towards the outside of the comb-tooth carrier.
[0018] To achieve the above objectives, a handling robot is proposed in the second aspect of this utility model application, comprising:
[0019] Vehicle body;
[0020] The lifting mechanism is located on the vehicle body;
[0021] The base plate of the aforementioned comb-tooth rack is located on the lifting mechanism.
[0022] To achieve the above objectives, a warehousing system is proposed in the third aspect of this utility model application, comprising:
[0023] The docking device has a comb-tooth structure, which includes a crossbeam and multiple toothed rods mounted on the crossbeam.
[0024] The aforementioned handling robot uses a comb-shaped carrier to dock with the comb structure, so as to retrieve the material box from the multiple teeth of the comb structure to the loading side of the partition of the comb-shaped carrier, or to place the material box carried by the loading side on the multiple teeth of the comb structure.
[0025] The comb-tooth rack, handling robot, and warehousing system provided in this embodiment of the utility model include a base plate, a pair of outer limiting plates, multiple partitions, and a rear limiting part. The pair of outer limiting plates are disposed on both sides of the base plate and extend from the base plate along the height direction of the comb-tooth rack. Each partition extends along the front-rear direction of the comb-tooth rack. The multiple partitions are installed on the base plate at intervals and vertically. The top of each partition has a loading edge, the front end of which is higher than the rear end, and the lower end of which is lower than the top of the pair of outer limiting plates. The rear limiting part is located at the rear end of the comb-tooth rack and is higher than the rear end of the loading edge.
[0026] When the hopper is placed on the loading edge of the multiple partitions of the comb-tooth loading rack, because the front end of the loading edge is higher than the rear end, the hopper will tend to move towards the rear end of the loading edge under the influence of gravity. At this time, the rear limiting part located at the rear end of the comb-tooth loading rack can abut against the hopper, thereby preventing the hopper from sliding down. At the same time, in conjunction with a pair of outer limiting plates on both sides of the base plate, the hopper can be set more stably on the loading edge of the multiple partitions, thus realizing the loading of the hopper without the need for a hopper limiting part at the front end of the comb-tooth loading rack.
[0027] During the docking process between the comb-shaped structure of the docking device and the comb-shaped carrying rack driven by the lifting mechanism of the handling robot, the handling robot can move to a deeper position of the docking device because there is no material box limiting part at the front end of the comb-shaped carrying rack (the front end of the comb-shaped carrying rack is close to the bottom of the crossbeam of the comb-shaped structure of the docking device. Compared with the existing technology, the handling robot can travel a longer distance in the longitudinal direction of the docking device than the length of the front enclosure structure), reducing the longitudinal length occupied by the handling robot, so as to improve the storage capacity of the warehouse.
[0028] Of course, any product implementing this utility model does not necessarily need to achieve all of the above advantages at the same time. Attached Figure Description
[0029] 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.
[0030] Figure 1 This is a schematic diagram of the structure of a comb-tooth storage rack according to one embodiment of this application;
[0031] Figure 2A for Figure 1 A schematic diagram of the comb-tooth carrier installed in a handling robot according to the embodiment shown;
[0032] Figure 2B for Figure 2AThe diagram shows the front view of the comb-shaped carrier mounted on the handling robot.
[0033] Figure 2C for Figure 2A The diagram shows a top view of the comb-shaped carrier mounted on the handling robot.
[0034] Figure 3A for Figure 2A The illustrated embodiment shows the lifting mechanism of the handling robot in a lowered position, moving parallel to the comb structure below the docking device;
[0035] Figure 3B for Figure 3A A schematic front view of the transport robot and docking device in the embodiment shown;
[0036] Figure 3C for Figure 3A A schematic diagram of the left side of the transport robot and docking device in the embodiment shown;
[0037] Figure 4A for Figure 3A The lifting mechanism of the handling robot in the illustrated embodiment is in the raised position, and the comb teeth of the comb-toothed carrier and the docking device are engaged.
[0038] Figure 4B for Figure 4A A schematic front view of the transport robot and docking device in the embodiment shown;
[0039] Figure 4C for Figure 4A A schematic diagram of the left side of the transport robot and docking device in the embodiment shown;
[0040] Figure 5A for Figure 4A The schematic diagram shown in the embodiment illustrates the structure where the lifting mechanism is in a descending position after the handling robot acquires the material box and leaves the docking device.
[0041] Figure 5B for Figure 5A A schematic front view of the transport robot and docking device in the embodiment shown;
[0042] Figure 5C for Figure 5A A schematic diagram of the left side of the transport robot and docking device in the embodiment shown;
[0043] Figure 6 for Figure 2A The illustrated embodiment shows a comparison of the lifting mechanism of the transport robot in the lowered position, traveling to the comb structure of the docking device, in the transport robot and related technologies.
[0044] The attached figures are labeled as follows:
[0045] Base plate 1, outer limiting plate 2, limiting plate 21, guide plate 22, partition 3, inclined guide partition 31, inclined support partition 32, loading edge 301, front end 301a, rear end 301b, weight reduction hole 302, rear limiting part 4, comb-tooth loading rack 100, handling robot 200, vehicle body 210, lifting mechanism 220, storage system 300, docking device 310, crossbeam 311, toothed rod 312, material box 400;
[0046] Forward / backward direction (X), vertical direction (Z). Detailed Implementation
[0047] 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.
[0048] In related technologies, the front end of the comb-type rack is equipped with a material box limiting part. However, this limiting part cannot move directly below the crossbeam of the comb-type docking device. Otherwise, during the process of the comb-type rack rising and docking with the comb teeth of the docking device, the barrier directly below the crossbeam will collide with the crossbeam. This prevents the handling robot equipped with the comb-type rack from entering the deeper part of the comb-type buffer docking device, resulting in a longer occupancy and affecting the warehouse's storage capacity.
[0049] The main purpose of this embodiment is to provide a comb-tooth rack, a handling robot, and a warehousing system to improve the storage capacity of the warehouse.
[0050] Therefore, this application proposes a comb-tooth rack, a handling robot, and a warehousing system.
[0051] Figure 1 This is a schematic diagram of the structure of a comb-tooth shelf 100 according to an embodiment of this application, as shown below. Figure 1 As shown, the comb-tooth shelf 100 includes: a base plate 1, a pair of outer limiting plates 2, multiple partitions 3, and a rear limiting part 4.
[0052] A pair of outer limiting plates 2 are disposed on both sides of the base plate 1, extending from the base plate 1 along the height direction Z of the comb-tooth shelf 100. Each partition 3 extends along the front-rear direction X of the comb-tooth shelf 100, in other words, parallel to the outer limiting plates 2. Multiple partitions 3 are spaced apart and vertically installed on the base plate 1. Each partition 3 has a carrying edge 301 at its top. The front end 301a of the carrying edge 301 is higher than the rear end 301b of the carrying edge 301, and the lower end of the carrying edge 301 (i.e., the rear end 301b of the carrying edge 301) is lower than the top of the pair of outer limiting plates 2. The rear limiting part 4 is located at the rear end of the comb-tooth shelf 100 and is higher than the rear end 301b of the carrying edge 301.
[0053] Specifically, when the comb-tooth carrier 100 is applied to the handling robot 200, Figure 2A for Figure 1 The schematic diagram shown is a structural representation of the comb-tooth carrier 100 installed in the handling robot 200 according to the embodiment. Figure 2B for Figure 2A The diagram shown is a front view of the comb-tooth carrier 100 installed in the handling robot 200. Figure 2C for Figure 2A The diagram shows a top view of the comb-shaped carrier 100 installed in the handling robot 200. Figure 2A , Figure 2B and Figure 2C As shown, the base plate 1 of the comb-shaped carrier 100 is mounted on the lifting mechanism of the handling robot 200, and the front end 301a of the carrying side 301 of the partition 3 is higher than the rear end 301b of the carrying side 301. The rear limiting part 4 is higher than the rear end 301b of the carrying side 301.
[0054] Figure 3A for Figure 2A The schematic diagram shows the lifting mechanism 220 of the handling robot 200 in the lowered position, moving parallel to the comb structure of the docking device 310. Figure 3B for Figure 3A The schematic diagram of the front view of the handling robot 200 and docking device 310 in the embodiment shown is as follows. Figure 3C for Figure 3A The schematic diagram of the left side of the conveying robot 200 and docking device 310 in the embodiment shown is as follows. Figure 3A , Figure 3B and Figure 3C As shown, in the storage system 300, the docking device 310 has a comb structure, which includes a crossbeam 311 and multiple toothed rods 312 disposed on the crossbeam 311. The multiple toothed rods 312 are used to place the material box 400.
[0055] The hopper 400 can be a rectangular hopper. For example, the hopper 400 can be a commonly used size, with a length of 600mm and a width of 400mm. Alternatively, the hopper 400 can be 650mm long and 450mm wide, but is not limited to these dimensions. The hopper 400 has an opening at the top for placing items.
[0056] The comb-shaped carrier 100 of the handling robot 200 can dock with the comb structure to retrieve the hoppers 400 from the multiple toothed rods 312 onto the loading edge 301 of the partition 3 of the comb-shaped carrier 100. In some embodiments, the process of the handling robot 200 retrieving the hoppers 400 from the comb structure can be divided into three steps:
[0057] like Figure 3A , Figure 3B and Figure 3C As shown, in the first step of the handling robot 200 acquiring the material box 400 from the comb structure, the lifting mechanism of the handling robot 200 is in the lowered position. The handling robot 200 moves to below the comb structure of the docking device 310 (not limited to forward or backward movement). The forward / backward direction X of the comb carrier 100 is in the same direction as the extension direction of the tooth bar 312. The front end of the comb carrier 100 is close to the crossbeam 311 of the docking device 310 (the comb carrier 100 is not directly below the crossbeam 311 of the docking device 310), and the rear end of the comb carrier 100 is away from the crossbeam 311 of the docking device 310.
[0058] In the second step of the handling robot 200 acquiring the hopper 400 from the comb structure, Figure 4A for Figure 3A The lifting mechanism 220 of the handling robot 200 in the illustrated embodiment is in the raised position, and the comb teeth of the comb-tooth carrier 100 and the docking device 310 are engaged. Figure 4B for Figure 4A The schematic diagram of the front view of the handling robot 200 and docking device 310 in the embodiment shown is as follows. Figure 4C for Figure 4A The schematic diagram of the left side of the conveying robot 200 and docking device 310 in the embodiment shown is as follows. Figure 4A , Figure 4B and Figure 4CAs shown, the lifting mechanism of the handling robot 200 rises to the raised position, and the comb teeth of the comb-tooth carrier 100 and the docking device 310 engage (the partition 3 is inserted into the gap between the two toothed rods 312). The material box 400 separates from the multiple toothed rods 312 and is placed on the loading edge 301 of the multiple partitions 3. Since the front end 301a of the loading edge 301 is higher than the rear end 301b, the material box 400 can be tilted on the loading edge 301 of the multiple partitions 3. Under the action of gravity, the material box 400 tends to move towards the rear end 301b of the loading edge 301 and slides to the rear limit part 4. At this time, the rear limit part 4 located at the rear end of the comb-tooth carrier 100 can abut against the material box 400, thereby restricting the downward movement of the material box 400. At the same time, with the pair of outer limiting plates 2 on both sides of the base plate 1, the material box 400 can be set more stably on the loading edge 301 of multiple partitions 3, so that the material box 400 can be loaded without setting the limiting part of the material box 400 at the front end of the comb-tooth loading rack 100.
[0059] Then, the material box 400 moves backward with the handling robot 200 away from the comb structure of the docking device 310, and the comb carrier 100 separates from the comb structure.
[0060] In the third step of the handling robot 200 acquiring the hopper 400 from the comb structure, Figure 5A for Figure 4A The schematic diagram shown in the embodiment illustrates the structure of the lifting mechanism 220 in a descending position after the handling robot 200 acquires the material bin 400 and leaves the docking device 310. Figure 5B for Figure 5A The schematic diagram of the front view of the handling robot 200 and docking device 310 in the embodiment shown is as follows. Figure 5C for Figure 5A The schematic diagram of the left side of the conveying robot 200 and docking device 310 in the embodiment shown is as follows. Figure 5A , Figure 5B and Figure 5C As shown, the lifting mechanism of the handling robot 200 descends to the lowering position and begins to transport the material box 400 to the predetermined position.
[0061] Figure 6 for Figure 2A The illustrated embodiment shows a comparison of the lifting mechanism 220 of the handling robot 200 in the lowered position, moving to the area below the comb structure of the docking device 310, with the robot in the lowered position. (See diagram below.) Figure 6As shown in this embodiment, since the front end of the comb-tooth carrier 100 does not have a limiting part for the material box 400, the handling robot 200 can move to a deeper position in the docking device 310 (the front end of the comb-tooth carrier 100 is close to the direct underside of the comb-tooth structure crossbeam 311 of the docking device 310). Compared with the prior art, in the longitudinal direction of the docking device 310, the handling robot 200 can travel a longer distance than the length of the front enclosure structure, i.e., as shown in the figure. Figure 6 (as shown by distance L), reducing the depth occupied by the handling robot 200, so as to increase the storage capacity of the warehouse.
[0062] The mobile robot can move to deeper positions within the buffer racks, freeing up at least 50mm to 100mm of buffer space. From a global perspective, if the entire storage system 300 was originally planned to have 10 rows of docking devices 310, then the handling robot 200 using the comb-shaped rack 100 provided in this embodiment can free up 500mm to 1000mm of storage space width. Therefore, the entire storage system 300 can achieve an arrangement of 11 rows of docking devices 310, significantly increasing storage capacity.
[0063] The comb-shaped carrier 100 of the handling robot 200 can dock with the comb structure to transfer the material box 400 located on the carrying side 301 of the partition 3 of the comb-shaped carrier 100 to the comb structure of the docking device 310. In some embodiments, the process of the handling robot 200 transferring the material box 400 to the comb structure of the docking device 310 can be divided into three steps (not shown):
[0064] In the first step of the transport robot 200 transferring the hopper 400 to the comb structure, the lifting mechanism of the transport robot 200 is in the raised position, and the hopper 400 is placed on the loading edge 301 of the multiple partitions 3 of the comb carrier 100. Since the front end 301a of the loading edge 301 is higher than the rear end 301b, under the action of gravity, the hopper 400 tends to move towards the rear end 301b of the loading edge 301. At this time, the rear limiting part 4 located at the rear end of the comb carrier 100 can abut against the hopper 400, thereby limiting the downward movement of the hopper 400. At the same time, with the cooperation of a pair of outer limiting plates 2 on both sides of the base plate 1, the hopper 400 can be relatively stably set on the loading edge 301 of the multiple partitions 3. The height of the hopper 400 is higher than the height of the comb structure of the docking device 310, and at least a portion of the multiple partitions 3 is at the same height as the tooth bar 312 of the comb structure.
[0065] In the second step where the handling robot 200 places the hopper 400 into the comb structure, the handling robot 200 moves toward the docking device 310, the partition 3 of the comb carrier 100 is inserted into the gap between the multiple tooth bars 312 of the comb structure of the docking device 310, and the hopper 400 is located above the multiple tooth bars 312.
[0066] In the third step of the transport robot 200 placing the material box 400 onto the comb structure, the lifting mechanism of the transport robot 200 is in the lowering position, the partition 3 of the comb carrier 100 leaves the gap between the multiple toothed rods 312 of the comb structure of the docking device 310, the material box 400 stays on the multiple toothed rods 312 of the comb structure of the docking device 310, and the transport robot 200 drives away.
[0067] In practice, the upper ends of the loading edges 301 of the multiple partitions 3 are at the same height, and the lower ends of the loading edges 301 of the multiple partitions 3 are at the same height, so as to facilitate the joint support of the material box 400 and support the material box 400 at an angle on the multiple partitions 3.
[0068] In some embodiments, the loading edge 301 is a straight inclined edge to facilitate processing.
[0069] In other embodiments, the loading edge 301 is not limited to a straight inclined edge; the loading edge 301 can also be an inclined edge with an anti-slip structure. For example... Figure 1 As shown in this embodiment, at least a portion of the carrying edge 301 is serrated, and the serrated carrying edge 301 contacts the material box 400 to increase the anti-slip properties of the carrying edge 301. Thus, when the material box 400 is placed on the carrying edge 301, the friction between the material box 400 and the carrying edge 301 is increased, reducing the pressure exerted by the material box 400 on the rear limiting part 4. This helps protect the rear limiting part 4, improves the service life of the comb-tooth carrying rack 100, and enhances the stability of the comb-tooth carrying rack 100 in carrying the material box 400.
[0070] The proportion of the serrated edge length of the loading edge 301 to the total edge length of the loading edge 301 can be set as needed. For example, the proportion can be greater than 80%, thereby providing good anti-slip properties for the loading edge 301.
[0071] In some embodiments, the loading edges 301 of the multiple partitions 3 have the same shape and inclination angle, and each support point on the loading edges 301 of the multiple partitions 3 is in the same plane, which can provide good support for the bottom of the rectangular material box 400.
[0072] The embodiments of this application do not limit the position of the rear limiting part 4. In some embodiments, the rear limiting part 4 can be disposed on the base plate 1 to limit the material box 400. The rear limiting part 4 and the partition 3 can be disposed separately. In other embodiments, the rear limiting part 4 can be disposed on the partition 3. The rear limiting part 4 is disposed at the lower end of the loading edge 301 of at least one partition 3. The rear limiting part 4 and the partition 3 can be an integral structure or an assembled structure.
[0073] The number of rear limiting parts 4 is not limited to one; it can be one, two, or more. Multiple rear limiting parts 4 are arranged one-to-one at the lower end of the loading edge 301 of multiple partitions 3. In specific applications, the number of rear limiting parts 4 can be adapted to the actual weight of the material box 400.
[0074] The rear limiting part 4 can be provided on all or some of the multiple partitions 3. For example, the multiple partitions 3 include at least one inclined guide partition 31 and at least one inclined support partition 32. The lower end of the loading edge 301 of each inclined guide partition 31 is provided with the rear limiting part 4. Each inclined support partition 32 does not have a rear limiting part 4, but it serves to support the material box 400, thereby enhancing the load-bearing capacity of the comb-tooth rack 100 for the material box 400.
[0075] At least one of the inclined guide partition 31 and the inclined support partition 32 may be made of metal material, or at least one of the inclined guide partition 31 and the inclined support partition 32 may be made of plastic material.
[0076] In some embodiments, at least one of the inclined guide partition 31 and the inclined support partition 32 is welded or bolted to the base plate 1.
[0077] Specifically, the rear limiting part 4 is a protrusion extending along the height direction Z from the lower end of the loading edge 301 of the inclined guide partition 31. The protrusion and the inclined guide partition 31 are an integral structure, such as an aluminum alloy plate, steel plate, or plastic plate.
[0078] In order to reduce the weight of the comb-shaped carrier 100, reduce the load of the handling robot 200, and increase the travel range of the handling robot 200, at least one of the inclined guide partition 31 and the inclined support partition 32 is provided with a plurality of weight reduction holes 302 at intervals along the front-rear direction X.
[0079] For example, in some embodiments, there are multiple inclined guide partitions 31, and some of the inclined guide partitions 31 are provided with multiple weight-reducing holes 302 along the front-rear direction X, which can reduce weight while still providing a certain degree of support strength. Alternatively, in order to further reduce weight, all the inclined guide partitions 31 are provided with multiple weight-reducing holes 302 along the front-rear direction X.
[0080] There are multiple inclined support partitions 32. Along the front-to-back direction X, some of the inclined support partitions 32 are provided with multiple weight-reducing holes 302, which can reduce weight while still providing a certain degree of support strength. Alternatively, to further reduce weight, all the inclined support partitions 32 are provided with multiple weight-reducing holes 302.
[0081] In specific implementation, there are at least two inclined guide partitions 31 and at least two inclined support partitions 32, with at least two inclined support partitions 32 disposed on both sides of at least two inclined guide partitions 31.
[0082] In the step where the handling robot 200 retrieves the bin 400 from the comb structure, to facilitate the retrieval of the bin 400 by the comb carrier 100, a pair of outer limiting plates 2 include a limiting plate 21 and a guide plate 22. The limiting plate 21 extends from the side of the base plate 1 in the height direction Z. The guide plate 22 is connected to the limiting plate 21 and is inclined towards the outside of the comb carrier 100. In the second step where the handling robot 200 retrieves the bin 400 from the comb structure, the lifting mechanism 220 lifts the comb carrier 100 upward. When there is some positional deviation between the bin 400 and the comb carrier 100, the guide plates 22 on both sides can limit and guide the bin 400 to the left and right, achieving a centered alignment between the bin 400 and the comb carrier 100.
[0083] In some embodiments, the base plate 1 and the limiting plates 21 and guide plates 22 of the pair of outer limiting plates 2 are an integral structure, which can be formed by bending a metal sheet, or cast from metal materials such as aluminum alloy, or injection molded from plastic using an injection molding process, thereby enhancing the overall structural stability of the comb-tooth carrier 100.
[0084] In some embodiments, the limiting plate 21 and the guide plate 22 are an integral structure, and the base plate 1 and the limiting plate 21 are welded or bolted together, or snap-fitted together.
[0085] In practice, multiple mounting holes are provided on the base plate 1, and these mounting holes can be connected to the lifting mechanism 220 of the handling robot 200 via bolts.
[0086] like Figure 2A As shown, a handling robot 200 includes: a vehicle body 210, a lifting mechanism 220, and a comb-tooth carrier 100 as described in the above embodiment. The lifting mechanism 220 is disposed on the vehicle body 210. The base plate 1 of the comb-tooth carrier 100 is disposed on the lifting mechanism 220.
[0087] A warehousing system 300 includes a docking device 310 and a handling robot 200 as described in the above embodiment.
[0088] The docking device 310 has a comb-like structure, which includes a crossbeam 311 and multiple toothed rods 312 disposed on the crossbeam 311. The comb-like carrying rack 100 of the handling robot 200 is used to dock with the comb-like structure to retrieve the material box 400 from the multiple toothed rods 312 of the comb-like structure to the carrying edge 301 of the partition 3 of the comb-like carrying rack 100, or to place the material box 400 carried by the carrying edge 301 onto the multiple toothed rods 312 of the comb-like structure.
[0089] During the transport of the material bin 400, the handling robot 200 achieves stable transport of the material bin 400 without the need for a limiting part at the front end of the comb-tooth carrier 100 (the material bin 400 is less prone to swaying, tilting, or tipping during transport), thus better protecting the safety of the items or materials inside the material bin 400. Furthermore, the handling robot 200 can move to a deeper position within the docking device 310 (the front end of the comb-tooth carrier 100 is close to directly below the comb-tooth structure crossbeam 311 of the docking device 310; compared to existing technologies, the handling robot 200 can travel a greater distance in the longitudinal direction of the docking device 310 than the existing technology), reducing the longitudinal length occupied by the handling robot 200. This allows the warehousing system 300 to increase its storage capacity, creating greater value for the enterprise.
[0090] In practical applications, the docking device 310 can be used in shelves as a buffer position. The handling robot 200 can move the material box 400 to the buffer position of the shelf, or retrieve the material box 400 from the buffer position of the shelf.
[0091] Specifically, the docking device 310 is not limited to being applied to shelves. In other embodiments, the docking device 310 can also be applied to any other type of material box transfer mechanism with a comb structure, such as a material box conveyor line, as long as the purpose of this solution can be achieved.
[0092] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.
Claims
1. A comb-tooth storage rack (100), characterized in that, include: Base plate (1); A pair of outer limiting plates (2) are provided on both sides of the base plate (1) and extend from the base plate (1) along the height direction (Z) of the comb-tooth carrier (100); Multiple partitions (3) are provided, each partition (3) extending along the front-rear direction (X) of the comb-shaped rack (100). The multiple partitions (3) are spaced apart and vertically mounted on the base plate (1). Each partition (3) has a loading edge (301) at its top. The front end (301a) of the loading edge (301) is higher than the rear end (301b) of the loading edge (301), and the lower end of the loading edge (301) is lower than the top of the pair of outer limiting plates (2). The rear limiting part (4) is located at the rear end of the comb-tooth carrier (100) and is higher than the rear end (301b) of the carrier edge (301).
2. The comb-tooth shelf (100) according to claim 1, characterized in that, At least a portion of the loading edge (301) is serrated.
3. The comb-tooth shelf (100) according to claim 1, characterized in that, The rear limiting part (4) is disposed at the lower end of the loading side (301) of at least one partition (3).
4. The comb-tooth shelf (100) according to claim 3, characterized in that, The plurality of partitions (3) include: at least one inclined guide partition (31) and at least one inclined support partition (32); the lower end of the loading side (301) of each inclined guide partition (31) is provided with the rear limiting part (4).
5. The comb-tooth shelf (100) according to claim 4, characterized in that, There are at least two inclined guide partitions (31) and at least two inclined support partitions (32), with at least two inclined support partitions (32) disposed on both sides of at least two inclined guide partitions (31).
6. The comb-tooth shelf (100) according to claim 4, characterized in that, Along the front-rear direction (X), at least one of the inclined guide partition (31) and the inclined support partition (32) is provided with a plurality of weight-reducing holes (302) at intervals.
7. The comb-tooth shelf (100) according to claim 4, characterized in that, The rear limiting part (4) is a protrusion extending from the lower end of the loading side (301) of the inclined guide partition (31) along the height direction (Z), and the protrusion and the inclined guide partition (31) are an integral structure.
8. The comb-tooth shelf (100) according to any one of claims 1 to 7, characterized in that, The pair of outer limiting plates (2) includes a limiting plate (21) and a guide plate (22). The limiting plate (21) extends from the side of the base plate (1) toward the height direction (Z). The guide plate (22) is connected to the limiting plate (21) and is inclined toward the outside of the comb-tooth carrier (100).
9. A handling robot (200), characterized in that, include: Vehicle body (210); A lifting mechanism (220) is provided on the vehicle body (210); The comb-tooth rack (100) according to any one of claims 1 to 8, wherein the base plate (1) is disposed on the lifting mechanism (220).
10. A warehousing system (300), characterized in that, include: The docking device (310) has a comb structure, which includes a crossbeam (311) and multiple toothed rods (312) disposed on the crossbeam (311); The handling robot (200) of claim 9 above, wherein the comb-tooth carrier (100) is used to dock with the comb structure to obtain the material box (400) from the multiple teeth (312) of the comb structure to the carrying side (301) of the partition (3) of the comb-tooth carrier (100), or to place the material box (400) carried by the carrying side (301) on the multiple teeth (312) of the comb structure.