Master roller assembly, warehouse robot and warehouse system

Abstract

The application provides a main roller component, a warehouse robot and a warehouse system. The main roller component is installed on a column of the warehouse robot and comprises a roller assembly, a sliding block mechanism, a rotating shaft and an inclination detection device. The sliding block mechanism is used for relative sliding connection with the column of the warehouse robot. The roller assembly is configured to cooperate with a sliding rail extending in a horizontal direction, and the sliding rail is arranged perpendicularly to the column when the column is not inclined. The rotating shaft is rotationally connected to the roller assembly and the sliding block mechanism. When the column is inclined, the sliding block mechanism and the column produce relative sliding, and the rotating shaft rotates with the sliding block mechanism. The inclination detection device is configured to generate a detection signal in response to rotation of the rotating shaft, and the detection signal is used to indicate an inclination state of the column. The inclination detection device of the application can generate a detection signal in response to rotation of the rotating shaft, which is used to indicate that the column has been inclined, and an operator can adjust in time, thereby improving the operation fluency of the warehouse robot.

Description

Technical Field

[0001] This application relates to the field of logistics management technology, and in particular to a main roller component, a warehouse robot, and a warehouse system. Background Technology

[0002] To build efficient and highly efficient automated logistics systems, handling robots have been widely used to automate the transfer of goods. Traditional warehouse robots typically move along the ground to perform handling tasks, but because they need to be in direct contact with the ground, they are easily affected by ground environmental factors such as the handling carts, resulting in decreased operational stability and limited overall handling efficiency.

[0003] To address these issues, a type of warehouse robot suspended from shelves has emerged. This type of robot is suspended from the shelves by multiple roller components and moves using these rollers. However, different roller components may exhibit asynchronous movement, causing the warehouse robot to tilt on the shelves and disrupting its picking and placing operations. Utility Model Content

[0004] This application provides a main roller component, a warehouse robot, and a warehouse system to solve related technical problems.

[0005] This application provides a main roller component, which is installed on the column of a warehouse robot, including: a roller assembly, a slider mechanism, a rotating shaft, and a tilt detection device; The slider mechanism is used for sliding connection with the column of the associated warehouse robot; The roller assembly is configured to cooperate with a slide rail extending in a horizontal direction, and the column is set perpendicular to the slide rail when it is not tilted; The rotating shaft rotatably connects the roller assembly and the slider mechanism; When the column tilts, relative sliding occurs between the slider mechanism and the column, and the rotating shaft rotates with the slider mechanism; The tilt detection device is configured to generate a detection signal in response to the rotation of the shaft, the detection signal being used to indicate the tilt state of the column.

[0006] Furthermore, the detection signal is used to indicate the tilt direction and / or tilt angle of the column.

[0007] Furthermore, the tilt detection device includes an encoder and a first gear, the first gear being fixedly connected to the output shaft of the encoder, and the output shaft being hinged to the slider mechanism; The main roller component also includes a second gear fixedly connected to the rotating shaft, and the first gear and the second gear mesh.

[0008] Furthermore, the transmission ratio between the second gear and the first gear is greater than 1.

[0009] Furthermore, the second gear is fan-shaped, the slider mechanism includes a slider slidably connected to the column, the rotating shaft is located between the first gear and the slider, and the second gear extends from the rotating shaft in a direction away from the slider.

[0010] Furthermore, the slider mechanism also includes a mounting block fixedly connected to the slider, and the output shaft and the rotating shaft are mounted to the mounting block via bearings.

[0011] Furthermore, the mounting block includes a bracket and a block body; the bracket includes a first plate and a second plate; the first plate is fixed to the slider, the second plate is fixed to the side of the first plate, the first plate and the second plate form an installation space, and the block body is fixed to the second plate and located within the installation space.

[0012] Furthermore, it also includes a linear guide rail, which is used for fixed connection with the column, and the slider mechanism is slidably connected with the linear guide rail.

[0013] A second aspect of this application provides a warehouse robot, comprising: Columns; The aforementioned main roller component has a slider mechanism that is slidably connected to the column.

[0014] A third aspect of this application provides a warehousing system, comprising: The shelf is provided with a slide rail on its side that runs along its length; the uprights are slidably connected to the slide rail. The aforementioned warehouse robot is used to move materials to and / or remove materials from the shelves.

[0015] This application incorporates a slider mechanism. When the column tilts, the slider mechanism slides relative to the column, preventing the mechanism from jamming. Based on the rotation of the shaft as the slider mechanism slides, the tilt detection device generates a detection signal to indicate that the column has tilted, allowing operators to make timely adjustments and improving the smoothness of the warehouse robot's operation.

[0016] 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

[0017] 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.

[0018] Figure 1 This is a structural diagram of a main roller component in an exemplary embodiment of this application; Figure 2 yes Figure 1 Exploded perspective view of the main roller assembly; Figure 3 This is a schematic diagram of the structure of a warehouse robot in an exemplary embodiment of this application; Figure 4 This is a schematic diagram of the structure of a warehousing system in an exemplary embodiment of this application.

[0019] Reference numerals: 10. Roller assembly; 20. Slider mechanism; 21. Slider; 22. Linear guide rail; 30. Rotating shaft; 31. Second gear; 40. Tilt detection device; 41. Encoder; 411. Output shaft; 42. First gear; 50. Mounting block; 51. Bracket; 510. Mounting space; 511. First plate; 512. Second plate; 52. Block; 521. First mounting part; 522. Second mounting part; 53. Pressure plate; 60. Column; 61. First column; 62. Second column; 63. Crossbeam; 64. Camera module; 65. Auxiliary roller assembly; 70. Shelf; 71. Slide rail. Detailed Implementation

[0020] 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.

[0021] 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 movement of the 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.

[0022] Currently, some warehouse robots are suspended from shelves using multiple main roller components and move using these components. However, different main roller components may exhibit asynchronous movement, causing the robot to tilt on the shelves and hindering its picking and placing operations. This application provides a main roller component, a warehouse robot, and a warehousing system to address these technical problems.

[0023] like Figure 1 and Figure 4 As shown, this application provides a main roller component, which is installed on the column of a warehouse robot. The main roller component includes a roller assembly 10, a slider mechanism 20, a rotating shaft 30, and a tilt detection device 40. The roller assembly 10 is configured to cooperate with a horizontally extending slide rail 71. Subsequent sliding of the roller assembly 10 relative to the slide rail 71 enables movement of the warehouse robot on the slide rail 71, thereby adjusting the position of the warehouse robot and facilitating the retrieval and placement of materials in different compartments. Under normal conditions, the column 60 is not tilted, and at this time, the column 60 and the slide rail 71 are basically perpendicular. Of course, due to manufacturing reasons, a certain angular error is allowed, such as 90°±1°, which can be considered as a basically perpendicular state.

[0024] The slider mechanism 20 is used for relative sliding connection with the column 60 of the warehouse robot, and the rotating shaft 30 rotatably connects the roller assembly 10 and the slider mechanism 20. When the column 60 tilts relative to the slide rail 71, that is, when the column 60 and the slide rail 71 switch to a non-perpendicular state, relative sliding will occur between the slider mechanism 20 and the column 60 to adapt to the tilt of the column 60, in order to compensate for the stroke requirements and thus avoid the mechanism from jamming. At the same time, based on the connection relationship between the rotating shaft 30 and the slider mechanism 20, the rotating shaft 30 rotates with the slider mechanism 20. The tilt detection device 40 is configured to generate a detection signal in response to the rotation of the rotating shaft 30, and the detection signal is used to indicate the tilt state of the column 60.

[0025] For example, the detection signal can be used to indicate at least one of the tilt direction and tilt angle of the column 60. By indicating the tilt direction or tilt angle of the column 60, the operator can obtain a preliminary expectation of the adjustment operation to be performed based on the detection signal, thereby improving adjustment efficiency and eliminating the need to make judgments and operations on-site, further improving the operating efficiency of the warehouse robot. For example, if the detection signal is a tilt direction, the operator can know in advance which direction to adjust. If the detection signal is a tilt angle, the operator can know in advance how much angle to adjust. With the relevant information known in advance, the operator can prepare relevant operating tools in advance, without having to observe the tilt state of the warehouse robot before making relevant preparations.

[0026] Based on this, this application sets up a slider mechanism 20. When the column 60 tilts, the slider mechanism 20 will slide relative to the column 60 to avoid jamming. Based on the rotation of the shaft 30 as the slider mechanism 20 slides, the tilt detection device 40 can generate a detection signal to indicate that the column 60 has tilted, which makes it easier for the operator to make timely adjustments and improves the smoothness of the warehouse robot's operation.

[0027] Please refer to the following: Figure 2 As shown, the slider mechanism 20 includes a slider 21. The main roller component also includes a linear guide rail 22. The linear guide rail 22 is fixed to the column 60. The slider 21 is slidably mounted to and engaged with the linear guide rail 22 to achieve relative sliding between the slider 21 and the column 60. Utilizing the linear guide rail 22 to achieve the sliding mounting of the slider mechanism 20 provides high precision and smooth sliding.

[0028] The tilt detection device 40 includes an encoder 41 and a first gear 42. The first gear 42 is fixedly connected to the output shaft 411 of the encoder 41, and the output shaft 411 is hinged to the slider mechanism 20. The main roller component also includes a second gear 31 fixedly connected to the rotating shaft 30, and the first gear 42 and the second gear 31 mesh. Through gear meshing, the rotation of the rotating shaft 30 is converted into the rotation of the output shaft 411 of the encoder 41. Since gear meshing has high transmission accuracy, the transmission ratio between the first gear 42 and the second gear 31 remains constant, thus improving the accuracy of the tilt angle of the column 60.

[0029] The transmission ratio between the second gear 31 and the first gear 42 is greater than 1. When the second gear 31 rotates through a certain angle, the angle rotated by the first gear 42 is greater than the angle rotated by the second gear 31. This configuration amplifies the tilt angle of the column 60, further improving the detection accuracy.

[0030] The second gear 31 is fan-shaped, and the rotating shaft 30 is located between the first gear 42 and the slider 21. The second gear 31 extends from the rotating shaft 30 in a direction away from the slider 21. By setting the second gear 31 to a fan shape, only the part that meshes with the first gear 42 is retained, the rotational volume of the second gear 31 is reduced, and the structural compactness of the main roller component is improved.

[0031] The slider mechanism 20 also includes a mounting block 50. The slider 21 is fixedly connected to the mounting block 50. The output shaft 411 and the rotating shaft 30 are mounted to the mounting block 50 via bearings. Subsequently, when the slider 21 translates relative to the column 60, it will cause the mounting block 50 to rotate around the rotating shaft 30. The first gear 42 meshes with the second gear 31 as the mounting block 50 rotates, thus transmitting motion to the rotating shaft 30 through the second gear 31. In this way, by setting the mounting block 50 and using bearings to mount the output shaft 411 and the rotating shaft 30 to the mounting block 50, the fixing strength of the output shaft 411 and the rotating shaft 30 is improved, thereby enhancing the overall structural strength of the main roller component.

[0032] Taking a column tilted 60 degrees to the left as an example, in such a case... Figure 2From the perspective of the column 60, when the column 60 tilts to the left, the slider mechanism 20 slides upward relative to the column 60, and the mounting block 50 rotates counterclockwise. The first gear 42 moves with the mounting block 50 and then meshes with the second gear 31, causing the second gear 31 to rotate clockwise, and the rotating shaft 30 to rotate clockwise.

[0033] The mounting block 50 includes a bracket 51, a block 52, and a pressure plate 53. The bracket 51 includes a first plate 511 and a second plate 512. The first plate 511 is fixed to the slider 21, and the second plate 512 is fixed to the side of the first plate 511. The first plate 511 and the second plate 512 form an mounting space 510. The block 52 is fixed to the second plate 512 and located within the mounting space 510. The bracket 51 is L-shaped and forms the mounting space 510. Fixing the block 52 within the mounting space 510 further improves the structural compactness of the main roller assembly, increases the structural strength of the main roller assembly, and enhances the operational stability of the warehouse robot.

[0034] The block 52 is provided with a first mounting portion 521 and a second mounting portion 522. The first mounting portion 521 extends from the second mounting portion 522 in a direction away from the slider 21. The rotating shaft 30 is mounted to the first mounting portion 521 via a bearing. The output shaft 411 is mounted to the second mounting portion 522 via a bearing. The pressure plate 53 is mounted to the first mounting portion 521 to limit the rotation of the rotating shaft 30.

[0035] Please refer to the following: Figure 3 As shown, a second aspect of this application provides a warehouse robot, including a column 60 and at least one of the aforementioned main roller components. The slider mechanism 20 of the main roller component is slidably connected to the column 60.

[0036] For example, the column 60 includes a first column 61, a second column 62, and a crossbeam 63 connecting the first column 61 and the second column 62. Both the first column 61 and the second column 62 may have the aforementioned main roller components at their bottoms. The tilting of the storage robot towards both sides can be detected by the tilt detection device 40 in the main roller components, and the tilt detection devices 40 in both main roller components can perform corresponding detection.

[0037] The upright column 60 may be equipped with a camera module 64. A corresponding identification code may be set on the shelf 70 to cooperate with the tilt detection device 40 in comprehensively judging the tilt state of the warehouse robot, thereby improving the accuracy of tilt detection. The first upright column 61 and the second upright column 62 may also be equipped with auxiliary roller components 65 at the top to assist the warehouse robot in its suspension and sliding on the shelf, further improving the stability of the warehouse robot's operation.

[0038] A third aspect of this application provides a storage system including a rack 70 and the aforementioned storage robot. The rack 70 has a slide rail 71 arranged along its length direction X on its side. An upright 60 is slidably connected to the slide rail 71. The storage robot is used to move materials to and / or remove materials from the rack 70.

[0039] 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 main roller component, characterized in that, include: Roller assembly, slider mechanism, rotating shaft and tilt detection device; The slider mechanism is used for sliding connection with the column of the associated warehouse robot; The roller assembly is configured to cooperate with a slide rail extending in a horizontal direction, and the column is set perpendicular to the slide rail when it is not tilted; The rotating shaft rotatably connects the roller assembly and the slider mechanism; When the column tilts, relative sliding occurs between the slider mechanism and the column, and the rotating shaft rotates with the slider mechanism; The tilt detection device is configured to generate a detection signal in response to the rotation of the shaft, the detection signal being used to indicate the tilt state of the column.

2. The main roller component according to claim 1, characterized in that, The detection signal is used to indicate the tilt direction and / or tilt angle of the column.

3. The main roller component according to claim 1, characterized in that, The tilt detection device includes an encoder and a first gear, the first gear being fixedly connected to the output shaft of the encoder, and the output shaft being hinged to the slider mechanism; The main roller component also includes a second gear fixedly connected to the rotating shaft, and the first gear and the second gear mesh.

4. The main roller component according to claim 3, characterized in that, The transmission ratio between the second gear and the first gear is greater than 1.

5. The main roller component according to claim 3, characterized in that, The second gear is fan-shaped, the slider mechanism includes a slider that is slidably connected to the column, the rotating shaft is located between the first gear and the slider, and the second gear extends from the rotating shaft in a direction away from the slider.

6. The main roller component according to claim 5, characterized in that, The slider mechanism also includes a mounting block fixedly connected to the slider, and the output shaft and the rotating shaft are mounted to the mounting block via bearings.

7. The main roller component according to claim 6, characterized in that, The mounting block includes a bracket and a block body; the bracket includes a first plate and a second plate; the first plate is fixed to the slider, the second plate is fixed to the side of the first plate, the first plate and the second plate form an installation space, and the block body is fixed to the second plate and located within the installation space.

8. The main roller component according to claim 1, characterized in that, It also includes a linear guide rail, which is used for fixed connection with the column, and the slider mechanism is slidably connected to the linear guide rail.

9. A warehouse robot, characterized in that, include: Columns; At least one main roller component as described in any one of claims 1-8, wherein the slider mechanism of the main roller component is slidably connected to the column.

10. A warehousing system, characterized in that, include: The shelf is provided with slide rails on its side that run along its length. The column is slidably connected to the slide rail; The warehouse robot as described in claim 9 is used to transport materials to and / or remove materials from the shelves.

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