A hoist type shelf robot and a warehouse system

Abstract

The application provides a hoist type goods shelf robot and a warehouse system. The hoist type goods shelf robot comprises a stand column, a walking assembly, a goods carrying table and a hoist type lifting assembly. The stand column is arranged on the ground. The walking assembly is arranged on the stand column and is used to drive the stand column to move along a track, so that the goods carrying table moves horizontally. The goods carrying table is slidably arranged on the stand column and is used to carry goods. The hoist type lifting assembly is also arranged on the stand column and is connected with the goods carrying table through a flexible element. The hoist type lifting assembly drives the goods carrying table to ascend and descend along the stand column through the flexible element, so that the goods carrying table reaches a designated height to take and place goods. It can be understood that the goods carrying table can reach any position of the goods shelf to take and place goods through the cooperation of the walking assembly and the hoist type lifting assembly.

Description

Technical Field

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

[0002] With the rapid development of the modern logistics industry towards automation and intelligence, smart warehousing applications are becoming increasingly widespread.

[0003] Currently, warehousing systems are equipped with shelves, requiring the use of lifting equipment to move goods to designated locations on the shelves. For example, in some warehousing systems, walking cargo handling robots are installed on the sides of the shelves. These robots use drive motors and flexible circulating components (such as drive belts and chains) to drive the lifting and lowering of the loading platform; however, such walking cargo handling robots have a relatively complex structure. Utility Model Content

[0004] This application provides a hoisting rack robot and warehousing system for retrieving and placing goods from racks.

[0005] In a first aspect, embodiments of this application provide a hoisting-type shelf robot, comprising:

[0006] Columns;

[0007] A traveling assembly connected to the column, the traveling assembly being used to drive the column to move along the track;

[0008] A loading platform that moves up and down along the column, the loading platform being used to carry goods;

[0009] A winch-type lifting assembly is installed on the column. The winch-type lifting assembly includes a flexible element, which is connected to the loading platform. The flexible element is used to drive the loading platform to move up and down along the column.

[0010] In one feasible implementation, the winch-type lifting assembly includes a winch drive motor and a winch reel;

[0011] The winch drive motor is mounted on the column, the winch reel is connected to the winch drive motor, one end of the flexible element is wound around the winch reel, and the other end is connected to the loading platform;

[0012] The drive motor controls the lifting and lowering of the loading platform via the winch and the flexible element.

[0013] In one feasible implementation, the winch-type lifting assembly is located at the top of the column, and the flexible element is led out from the winch wheel, passes through the intermediate guide wheel, and hangs down to connect to the loading platform.

[0014] Alternatively, the winch-type lifting assembly is located at the bottom of the column, and the flexible element is led out from the winch wheel, passes upward through the middle guide wheel at the top, and then hangs down to connect to the loading platform.

[0015] In one feasible implementation, the column is configured with a single-column mechanism or a double-column mechanism;

[0016] When the column is configured as a double-column mechanism, the two columns are connected by a crossbeam, and the loading platform is connected to the two columns respectively.

[0017] In one feasible implementation, the hoisting lifting assembly is provided in a set, and the set of hoisting lifting assemblies is connected to one side of the loading platform by a flexible element, or connected to the top of the loading platform by a bracket.

[0018] Alternatively, the hoisting lifting assembly is provided in two sets, with the two sets of hoisting lifting assemblies respectively connected to both sides of the loading platform via flexible elements.

[0019] In one feasible implementation, the loading platform is equipped with telescopic forks;

[0020] And / or, the telescopic fork can extend or retract in one or both directions;

[0021] And / or, the loading platform is equipped with a forklift.

[0022] In one feasible implementation, at least two walking components are provided;

[0023] At least two of the walking components are spaced apart in the height direction of the column, and all the walking components are connected to the corresponding tracks. One or two walking components are provided on the tracks at the same height.

[0024] In one feasible implementation, four walking components are provided, and the four walking components are arranged in a rectangular distribution;

[0025] Alternatively, two walking components may be provided, and the two walking components may be arranged vertically, one above the other;

[0026] Alternatively, there may be two walking components arranged diagonally opposite each other.

[0027] In one feasible implementation, the walking assembly includes a drive wheel, a walking drive motor, a mounting base, and a support assembly;

[0028] The walking drive motor is mounted on the mounting base and is used to drive the drive wheel to rotate.

[0029] The mounting base is hinged to the column, one end of the support assembly is hinged to the mounting assembly, and the other end is hinged to the column. The support assembly is used to press the drive wheel against the track.

[0030] In one feasible implementation, the flexible element includes cables for powering and communicating with components on the loading platform.

[0031] In one feasible implementation, the flexible element is one of steel wire rope, flat belt, or metal belt.

[0032] In a second aspect, embodiments of this application provide a warehousing system, including a rack and a hoisting rack robot as described in any of the first aspects;

[0033] The shelf is provided with multiple storage locations in sequence, and the hoisting shelf robot is used to retrieve and place goods from the storage locations.

[0034] Firstly, this application provides a hoist-type racking robot, including a column, a walking assembly, a loading platform, and a hoisting lifting assembly. The column is positioned on the ground, and the walking assembly is mounted on the column, driving the column to move along a track, thereby moving the loading platform horizontally. The loading platform is slidably mounted on the column for carrying goods. The hoisting lifting assembly is also mounted on the column, and its flexible element is connected to the loading platform. The hoisting lifting assembly uses its flexible element to move the loading platform up and down along the column, allowing the loading platform to reach a designated height for picking up and placing goods. It is understood that through the combined action of the walking assembly and the hoisting lifting assembly, the loading platform can reach any location on the racking system to pick up and place goods. Compared to existing technologies, this hoisting lifting assembly does not have a flexible circulating component, reducing the space occupied on both sides of the column and simplifying the overall structure.

[0035] Secondly, embodiments of this application also provide a warehousing system, including a rack as described in any of the first aspects and a hoisting rack robot; the rack is sequentially provided with multiple storage locations, and the hoisting rack robot is used to retrieve and place goods from the storage locations. Since this warehousing system includes the hoisting rack robot of any of the above technical solutions, it has all the beneficial effects of the hoisting rack robot of any of the above technical solutions, which will not be elaborated here. Attached Figure Description

[0036] The accompanying drawings, which are provided to further illustrate the present invention and constitute a part of the present invention, illustrate exemplary embodiments of the present invention and are used to explain the present application, but do not constitute an undue limitation of the present invention.

[0037] In the attached diagram:

[0038] Figure 1This is a schematic diagram of the overall structure of a hoisting shelf robot provided in one embodiment of this application;

[0039] Figure 2 yes Figure 1 A front view of a hoisting shelving robot;

[0040] Figure 3 This is a schematic diagram of the structure of a hoisting shelf robot provided in another embodiment of this application;

[0041] Figure 4 This is a schematic diagram of an application scenario of a hoisting shelf robot provided in one embodiment of this application;

[0042] Figure 5 yes Figure 4 Side view of an application scenario for a hoisting shelving robot.

[0043] Explanation of reference numerals in the attached figures:

[0044] 100-Upright column; 200-Traveling assembly; 300-Loading platform; 400-Wind-type lifting assembly; 500-Telescopic pallet forklift; 600-Pulling forklift; 700-Shelving; 800-Tires;

[0045] 210-Drive wheel; 220-Travel drive motor; 230-Mounting base; 240-Support assembly; 410-Winch drive motor; 420-Winch reel; 430-Flexible element; 440-Limit assembly. Detailed Implementation

[0046] 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.

[0047] In the description of the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0048] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection; 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, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0049] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0050] With the rapid development of the modern logistics industry towards automation and intelligence, smart warehousing applications are becoming increasingly widespread.

[0051] Currently, warehousing systems include racks, requiring lifting equipment to move goods to designated locations on the racks. For example, some warehousing systems have mobile cargo handling robots mounted on the sides of the racks. These robots use drive motors and flexible circulating components (such as drive belts and chains) to lift and lower the loading platform. However, these robots have a relatively complex structure. Furthermore, the cables connecting the loading platform to the robot need to be mounted on the frame using cable chains, further complicating the overall design of the mobile cargo handling robot.

[0052] To address the aforementioned problems, this application provides a hoisting-type shelf robot. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0053] Figure 1 This is a schematic diagram of the overall structure of a hoisting shelf robot provided in one embodiment of this application; Figure 2 yes Figure 1 A front view of a hoisting shelving robot.

[0054] Firstly, referring to Figure 1 and Figure 2As shown, this application embodiment provides a hoisting-type shelf robot, including a column 100, a walking component 200, a loading platform 300, and a hoisting lifting component 400. The column 100 is disposed on the ground, and the walking component 200 is disposed on the column 100, driving the column 100 to move along a track, thereby causing the loading platform 300 to move horizontally. The loading platform 300 is slidably disposed on the column 100 for carrying goods. The hoisting lifting component 400 is also disposed on the column 100, and its flexible element 430 is connected to the loading platform 300. The hoisting lifting component 400 uses its flexible element 430 to drive the loading platform 300 to rise and fall along the column 100, allowing the loading platform 300 to reach a designated height for picking up and placing goods. It can be understood that through the combined action of the walking component 200 and the hoisting lifting component 400, the loading platform 300 can reach any location on the shelf to pick up and place goods. The hoist-type lifting assembly 400 can precisely control the lifting speed and lifting height of the loading platform 300.

[0055] In addition, compared with existing technologies, this type of hoisting lifting component 400 does not have a flexible circulation component, which reduces the space occupied on both sides of the column 100 and simplifies the overall structure.

[0056] like Figure 1 As shown, exemplarily, the winch-type lifting assembly 400 includes a winch-type drive motor 410 and a winch reel 420. The winch-type drive motor 410 is fixedly mounted on the column 100 via a mounting base and fixing screws. The winch reel 420 is fixedly mounted on the column 100 via a mounting base and is fixedly connected to the output shaft of the winch-type drive motor 410. One end of the flexible element 430 is wound around the winch reel 420, and the other end passes over a guide wheel located at the top of the column 100 and connects to the loading platform 300.

[0057] When the winch drive motor 410 drives the winch wheel 420 to rotate, the flexible element 430 wraps around the winch wheel 420 or unwraps itself from the winch wheel 420, thereby raising or lowering the height of the loading platform 300.

[0058] The winch-type lifting assembly 400 can be installed on the top of the column 100, and the flexible element 430 is led out from the winch wheel 420, passes through the intermediate guide wheel, and hangs down to connect to the loading platform 300.

[0059] The winch-type lifting assembly 400 can also be set at the bottom of the column 100. The flexible element 430 is led out from the winch wheel 420, passes through the middle guide wheel at the top, and then hangs down to connect to the loading platform 300.

[0060] In some examples, the hoisting rack robot is equipped with a hoisting lifting assembly 400, the flexible element 430 of which is connected to the middle position of the loading platform 300 to ensure smooth lifting.

[0061] like Figure 1 As shown, in some other examples, the hoisting rack robot is equipped with two hoisting lifting components 400, which are respectively positioned on both sides of the loading platform 300, and the flexible element 430 of each hoisting lifting component 400 is connected to the corresponding side of the loading platform 300. The hoisting drive motors 410 of the two hoisting lifting components 400 operate simultaneously, driving the loading platform 300 to rise and fall. In addition, this hoisting lifting component 400 does not require a pre-tensioning device, and the height of the loading platform 300 can be freely adjusted. Compared with other chain sprocket or synchronous belt lifting components, it is simple to operate and convenient to adjust the horizontal state of the loading platform 300.

[0062] The column 100 can be configured as a single-column structure or a double-column structure. When the column 100 is configured as a double-column structure, the two columns 100 are connected by a crossbeam. The two ends of the loading platform 300 are connected to the corresponding columns 100 via guide rails. When the column 100 is configured as a single-column structure, the loading platform 300 is mounted on the single column 100 via guide rails, and a winch-type lifting assembly 400 is mounted on top of the column 100. The winch-type lifting assembly 400 drives the loading platform 300 to move up and down along the column 100.

[0063] In some examples, a set of hoist lifting assemblies 400 is provided, which are connected to one side of the loading platform 300 via flexible elements 430 or to the top of the loading platform 300 via brackets.

[0064] In other examples, there are two sets of hoist lifting components 400. The two sets of hoist lifting components 400 are connected to both sides of the loading platform 300 through flexible elements 430, and together control the smooth lifting and lowering of the loading platform 300.

[0065] For example, the flexible element 430 can be one of a wire rope, a flat belt, or a metal belt, and the winch 420 can be a matching pulley or a wire rope pulley.

[0066] In some examples, the track is fixedly mounted on the upright 100 along the arrangement direction of the shelf, and the traveling assembly 200 is fixedly mounted on the upright 100 and connected to the track. The traveling assembly 200 can be a single-motor driven traveling mechanism or a multi-motor traveling driving mechanism.

[0067] In some examples, four walking components 200 are provided, which are arranged in a rectangular shape on the double-column mechanism and are all connected to the track. In other examples, two walking components 200 are provided, which are arranged vertically on one side of the double columns and are connected to the track. The other side of the double columns is movably connected to the track through a limiting component.

[0068] In some examples, there are two walking components 200 arranged diagonally on the double column structure. Each walking component 200 is connected to the track, and a limiting component that is movably connected to the track is arranged on the other diagonal.

[0069] The limiting component ensures that the double column structure can move along the track and prevents it from derailing. This is existing technology and will not be described in detail here.

[0070] For example, the walking assembly 200 includes a drive wheel 210, a walking drive motor 220, a mounting base 230, and a support assembly 240. The drive wheel 210 is connected to the output end of the walking drive motor 220, which drives the drive wheel 210 to rotate. The walking drive motor 220 is fixedly mounted on the mounting base 230. The mounting base 230 is hinged to the column 100. One end of the support assembly 240 is hinged to the mounting base 230, and the other end is hinged to the column 100. The support assembly 240 is used to press the drive wheel 210 against the track, ensuring that the drive wheel 210 does not slip on the track and can drive stably. Figure 1 and Figure 2 As shown, the support component 240 can be an elastic component with an elastic element. Under the elastic force of the elastic element, the drive wheel 210 presses against the track.

[0071] like Figure 1 and Figure 2 As shown, in some examples, when the column 100 is configured as a double-column structure, two winch-type lifting assemblies 400 are provided. The two winch-type lifting assemblies 400 are respectively mounted on the two columns 100 and both are connected to the loading platform 300. The two winch-type lifting assemblies 400 operate simultaneously, jointly driving the loading platform 300 to rise and fall along the column 100.

[0072] In some other examples, when the column 100 is configured as a double column structure, a winch-type lifting assembly 400 is provided, which is located on the crossbeam between the two columns 100 and its lower end is connected to the middle position of the loading platform 300.

[0073] Figure 3This is a schematic diagram of the structure of a hoisting rack robot according to another embodiment of this application. Exemplarily, a telescopic fork 500 can be installed on the loading platform 300 for picking up goods, such as goods placed on a rack. The telescopic fork 500 is prior art and will not be described in detail here. Figure 3 As shown, a forklift fork 600 can also be installed on the loading platform 300 to move goods onto the loading platform 300.

[0074] Figure 4 This is a schematic diagram of an application scenario of a hoisting shelf robot provided in one embodiment of this application; Figure 5 yes Figure 4 Side view of an application scenario for a hoisting shelving robot.

[0075] like Figure 4 and Figure 5 As shown, this warehousing system is used to store tires 800. The system includes multiple racks 700 spaced apart in a designated area, with each rack 700 containing a tire 800 in each storage location. A track connects adjacent racks 700, and a hoisting rack robot is positioned between the racks 700 and connected to the track. The hoisting rack robot moves along the track to reach designated locations and retrieve tires from designated storage locations on the racks 700. In these examples, the tires 800 are placed on a support plate, with forklift space below them. The hoisting rack robot's loading platform 300 is equipped with telescopic forks 500 that extend into the forklift space below the tires 800.

[0076] In other examples, each storage location on the shelf contains a bin, and in this case, the loading platform 300 of the hoisting shelf robot can be configured as a fork to pull the bins from the storage locations onto the loading platform 300.

[0077] Additionally, for example, the telescopic pallet fork 500 can extend in one direction or in both directions. When the telescopic pallet fork 500 extends in both directions, it can pick up goods from the shelves on both sides, meaning that one hoisting rack robot can be responsible for picking up and placing goods on two shelves.

[0078] Reference Figure 1 and Figure 2 As shown, in some examples, at least two walking components 200 are provided; at least two walking components 200 are respectively provided at the upper and lower ends of the column 100, and all walking components 200 are connected to corresponding tracks. With multiple walking components 200 connected to tracks, the hoisting rack robot can move stably along the tracks.

[0079] Furthermore, as an example, in this hoisting rack robot, all electrical components, such as the travel drive motor 220 in the travel assembly 200, the electrical components in the loading platform 300, and the control system, are powered by the sliding contact line assembly. Power supply via the sliding contact line assembly is prior art and will not be described in detail here.

[0080] In addition, the flexible element 430 contains cables for powering and communicating with the components on the loading platform 300. These cables are embedded within the flexible element 430, reducing the robot's space footprint and eliminating the need for cable chains for restraint, thus simplifying the overall robot structure. For example, the flexible element 430 can be a steel wire rope, a flat belt, or a metal belt. The cables within the flexible element 430 connect the electrical components of the loading platform 300 to their corresponding power sources or control components, ensuring power supply and communication. Because the cables are pre-installed within the flexible element 430, they are not exposed externally, eliminating the need for cable chains for restraint and ensuring a clean and tidy device.

[0081] In a second aspect, embodiments of this application provide a warehousing system, including a rack and a hoisting rack robot as described in any of the first aspects;

[0082] The shelf is provided with multiple storage locations in sequence, and the hoisting shelf robot is used to retrieve and place goods from the storage locations.

[0083] It is readily understood that, based on the several embodiments provided in this application, those skilled in the art can combine, split, or reorganize the embodiments of this application to obtain other embodiments, none of which exceed the protection scope of this application.

[0084] 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 hoisting-type shelf robot, characterized in that, include: Column (100); A walking assembly (200) connected to the column (100) is used to drive the column (100) to move along the track; A loading platform (300) that moves up and down along the column (100) is used to carry goods; A hoisting lifting assembly (400) is installed on the column (100). The hoisting lifting assembly (400) includes a flexible element (430). The flexible element (430) is connected to the loading platform (300). The flexible element (430) is used to drive the loading platform (300) to move up and down along the column (100).

2. The hoisting-type shelf robot according to claim 1, characterized in that, The winch-type lifting assembly (400) includes a winch drive motor (410) and a winch reel (420); The hoist drive motor (410) is mounted on the column (100), the hoist wheel (420) is connected to the hoist drive motor (410), one end of the flexible element (430) is wound around the hoist wheel (420), and the other end is connected to the loading platform (300). The drive motor controls the lifting and lowering of the loading platform (300) via the winch (420) and the flexible element (430).

3. The hoisting-type shelf robot according to claim 2, characterized in that, The winch-type lifting assembly (400) is located on the top of the column (100), and the flexible element (430) is led out from the winch wheel (420), passes through the intermediate guide wheel, and hangs down to connect to the loading platform (300). Alternatively, the winch-type lifting assembly (400) is located at the bottom of the column (100), and the flexible element (430) is led out from the winch wheel (420), passes upward through the middle guide wheel at the top, and then hangs down to connect to the loading platform (300).

4. The hoisting-type shelf robot according to claim 1, characterized in that, The column (100) is configured with a single column mechanism or a double column mechanism; When the column (100) is configured as a double column mechanism, the two columns (100) are connected by a crossbeam, and the loading platform (300) is connected to the two columns (100) respectively.

5. The hoisting-type shelf robot according to claim 1, characterized in that, The hoisting lifting assembly (400) is provided in a set. The set of hoisting lifting assemblies (400) is connected to one side of the loading platform (300) through a flexible element (430) or to the top of the loading platform (300) through a bracket. Alternatively, the hoisting lifting assembly (400) is provided in two sets, and the two sets of hoisting lifting assemblies (400) are respectively connected to both sides of the loading platform (300) through flexible elements (430).

6. The hoisting-type shelf robot according to claim 1, characterized in that, The loading platform (300) is equipped with telescopic forks (500); And / or, the telescopic fork (500) can telescopic in one direction or in both directions; And / or, the loading platform (300) is provided with a forklift fork (600).

7. The hoisting-type shelf robot according to claim 1, characterized in that, The walking assembly (200) is provided in at least two parts; At least two of the walking components (200) are arranged at intervals in the height direction of the column (100), and all of the walking components (200) are connected to the corresponding track. One or two walking components (200) are arranged on the track at the same height.

8. The hoisting-type shelf robot according to claim 7, characterized in that, The walking components (200) are provided in four parts, and the four walking components (200) are arranged in a rectangular shape; Alternatively, two walking components (200) may be provided, and the two walking components (200) may be arranged vertically in a vertical position; Alternatively, there may be two walking components (200), which are arranged diagonally opposite each other.

9. The hoisting rack robot according to claim 7 or 8, characterized in that, The walking assembly (200) includes a drive wheel (210), a walking drive motor (220), a mounting base (230), and a support assembly (240); The walking drive motor (220) is mounted on the mounting base (230), and the walking drive motor (220) is used to drive the drive wheel (210) to rotate; The mounting base (230) is hinged to the column (100), one end of the support assembly (240) is hinged to the mounting assembly, and the other end is hinged to the column (100). The support assembly (240) is used to press the drive wheel (210) against the track.

10. The hoisting-type shelf robot according to claim 1, characterized in that, The flexible element (430) contains cables for powering and communicating with the components on the loading platform (300).

11. The hoisting-type shelf robot according to claim 1, characterized in that, The flexible element (430) is one of the following: steel wire rope, flat belt, or metal belt.

12. A warehousing system, characterized in that, Includes shelves and hoisting shelf robots as described in any one of claims 1-11; The shelf is provided with multiple storage locations in sequence, and the hoisting shelf robot is used to retrieve and place goods from the storage locations.

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