Transport robot, rack, warehouse system and docking method

Abstract

This application provides a transport robot, a rack, a warehouse system, and a docking method. The transport robot includes a main body, a jack-up unit, and a first climbing unit. The jack-up unit is mounted on the main body. The first climbing unit is mounted on the jack-up unit and is located on one horizontal side of the main body. The first climbing unit is driven by the jack-up unit to rise or fall, docking vertically with a second climbing unit on the rack and climbing vertically on the rack. By achieving mid-air docking between the transport robot and the rack, this application frees up space at the bottom of the rack and provides an aisle at the bottom of the rack so the transport robot can travel along the aisle, thereby shortening the travel distance between the transport robot and both sides of the rack and improving transport efficiency.

Description

[Technical Field]

[0001] This application claims priority from a Chinese patent application filed with the China Patent Office on May 30, 2023, application number 202310630207.6, entitled "Transport robot, rack, warehouse system and docking method," the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the technical field of logistics transportation, and more particularly to a transport robot, a rack, a warehouse system, and a docking method. [Background technology]

[0003] Transport robots are an important part of automated and smart warehouse systems. They can climb on racks to load and unload items. Summary of the Invention [Problem to be solved by the invention]

[0004] However, conventional transport robots must contact and dock with the rack at the bottom near the floor of the rack before climbing up, which means there is no space at the bottom of the rack for the transport robot to move around, making it inconvenient for the robot to pass under the rack and reducing movement efficiency.

[0005] The present application aims to provide a transport robot, a rack, a warehouse system, and a docking method, which enable the transport robot to dock with the rack in mid-air, thereby freeing up space at the bottom of the rack for the transport robot to pass through. [Means for solving the problem]

[0006] The transport robot provided as a first aspect of the present application includes a main body, a jack-up unit installed on the main body, and a first climbing unit installed on the jack-up unit and located on one side of the main body in the horizontal direction, and the first climbing unit can dock vertically with a second climbing unit on a rack by rising or lowering due to the drive of the jack-up unit, and climb up the rack along the vertical direction.

[0007] In one alternative embodiment, the first climb unit includes a first actuator, a transmission mechanism, and a first meshing mechanism, both ends of the transmission mechanism are respectively connected to the first actuator and the first meshing mechanism, the first actuator controls and rotates the first meshing mechanism via the transmission mechanism, and the first meshing mechanism sprocket is used to mesh with the second climb unit.

[0008] In one alternative embodiment, the first engagement mechanism includes a sprocket, and the sprocket is used to engage with the second climb unit.

[0009] In one alternative embodiment, the first engagement mechanism includes a synchronous belt, the synchronous belt is provided with a plurality of protrusions, and the synchronous belt engages with the second climb unit by the plurality of protrusions.

[0010] In one alternative embodiment, the transmission mechanism includes a first pulley, a second pulley, and a transmission belt, the first pulley is coaxially connected to a drive shaft of the first actuator, the second pulley is coaxially connected to the sprocket, and the first pulley and the second pulley are transmission-connected via the transmission belt.

[0011] In one alternative embodiment, the first climb unit further includes a support arm, and the sprocket is rotatably mounted on one end of the support arm remote from the main body.

[0012] In one alternative embodiment, a first roller is provided on the support arm, the second climb unit has a first surface facing the side that interfaces with the first climb unit, and the first roller is in rolling contact with the first surface, and / or a second roller is provided on the support arm, the second climb unit has a second surface on the side opposite the side that interfaces with the first climb unit, and the second roller is in rolling contact with the second surface.

[0013] In one alternative embodiment, the main body includes a rotating base, a chassis unit, a second actuator, and a third actuator, the rotating base being rotatably connected to the chassis unit, the jack-up unit being installed on the rotating base, the second actuator being connected to the rotating base and used to control the rotating base to rotate relative to the chassis unit, running casters being installed on the chassis unit, and the third actuator being connected to the running casters and used to control the running casters to move straight or change direction and to rotate the chassis unit in conjunction with them.

[0014] In one alternative embodiment, the shape of the chassis unit projected in the horizontal direction is circular.

[0015] In one alternative embodiment, the transport robot further includes a fork unit, the fork unit being used to put in and take out items, the fork unit including a base, the base being used to temporarily store items, and the base being installed on the jack-up unit.

[0016] In one alternative embodiment, the jack-up unit includes a scissor linkage structure and a fourth actuator, the fourth actuator being connected to the scissor linkage structure and being used to drive the scissor linkage structure to raise and lower it.

[0017] In one alternative embodiment, the scissor link structure includes a drive link, a first link, and a second link, a central portion of the first link and a central portion of the second link are rotatably connected, one end of the first link is rotatably connected to the base and the other end is slidably connected to the body, one end of the second link is slidably connected to the base and the other end is rotatably connected to the body, one end of the drive link is slidably connected to the body, and the other end of the drive link is rotatably connected to the central portions of the first link and the second link, and the fourth actuator is connected to the drive link and is used to control the one end of the drive link connected to the body to slide along a direction perpendicular to the lifting and lowering of the jack-up unit.

[0018] The rack provided as a second aspect of the present application is further provided with a second climbing unit installed thereon, which is used in conjunction with the first climbing unit in the transport robot provided as a first aspect of the present application to cause the transport robot to climb vertically on the rack.

[0019] In one alternative embodiment, the second climbing unit includes a second interlocking mechanism that interlocks with a first interlocking mechanism on the transport robot to allow the transport robot to climb vertically on the rack.

[0020] In one alternative embodiment, the rack includes a longitudinal beam, the second climbing unit further includes a mounting base, the mounting base is connected to the longitudinal beam, the second interlocking mechanism is connected to the mounting base, a groove is provided in the mounting base, the second interlocking mechanism is installed in the groove, in the horizontal direction, the end surface of the side wall of the groove is used to contact the first roller of the first climbing unit, and / or a guide rib is provided on the outer wall of the mounting base, the guide rib extends along the vertical direction, and the surface of the guide rib opposite the transport robot is used to contact the second roller of the first climbing unit.

[0021] In one alternative embodiment, a passage for the transport robot to travel is provided at the bottom of the rack, and the second climb unit is located above the passage.

[0022] In one optional embodiment, the rack further includes a plurality of support columns at its bottom, each of which forms an aisle, and the distance between two adjacent support columns is greater than the maximum horizontal length dimension of the transport robot.

[0023] In one optional embodiment, the height of the passage is greater than the height of the transport robot before the jack-up unit jacks up, and the height of the passage is less than the maximum height of the transport robot after the jack-up unit jacks up.

[0024] A warehouse system further provided as a third aspect of the present application includes a transport robot provided in the first aspect of the present application and a rack provided in the second aspect of the present application, wherein the transport robot climbs vertically on the rack by cooperation between a first climbing unit and a second climbing unit on the rack.

[0025] A docking method further provided as a fourth aspect of the present application is applied to the warehouse system provided in the third aspect of the present application, and includes the steps of controlling a transport robot to move it to a docking position, controlling a jack-up unit in the transport robot to raise it to a target altitude and docking a first climb unit in the transport robot with a second climb unit on a rack, and controlling the first climb unit to climb vertically on the second climb unit to reach the target position and perform loading and unloading of a container. [Effects of the Invention]

[0026] The technical solution of the present application has the following beneficial effects: the transport robot, rack, warehouse system, and docking method provided in the present application realize mid-air docking between the transport robot and the rack, thereby freeing up space at the bottom of the rack, and providing an aisle at the bottom of the rack so that the transport robot can travel along the aisle, thereby shortening the travel distance of the transport robot between both sides of the rack and improving transport efficiency.

[0027] It should be noted that the above summary description and the following detailed description are merely examples and are not intended to limit the present application. [Brief explanation of the drawings]

[0028] [Figure 1] FIG. 1 is a structural schematic diagram of a warehouse system provided in an embodiment of the present application. [Figure 2] FIG. 2 is a structural schematic diagram of the transfer robot (excluding the housing) provided in the present embodiment. [Figure 3] FIG. 3 is a schematic diagram of the transport robot when it has traveled to the bottom of the target location. [Figure 4] FIG. 4 is a schematic diagram of the first climb unit and the second climb unit positioned facing each other. [Figure 5] Figure 5 is a schematic diagram of the first climb unit and second climb unit connected after the jack-up unit has been jacked up. [Figure 6] FIG. 6 is a schematic diagram of the transport robot when it has risen to the target location. [Figure 7] Figure 7 is a schematic diagram of the transport robot after placing the container. [Figure 8] FIG. 8 is a schematic diagram of the transport robot when it descends to the floor. [Figure 9] FIG. 9 is a schematic diagram showing the transfer robot traveling on the floor after the jack-up unit has returned to its original position. [Figure 10] FIG. 10 is a state diagram when the first climb unit and the second climb unit are linked. [Figure 11]FIG. 11 is an enlarged view of a portion A in FIG. [Figure 12] FIG. 12 is a structural schematic diagram of the transfer robot provided in the present embodiment (part of the chassis housing is shown). [Figure 13] FIG. 13 is a side view of the transfer robot (excluding the housing and exterior parts) provided in the embodiment of the present invention. [Figure 14] FIG. 14 is a side view of a warehouse system provided in an embodiment of the present invention. [Figure 15] FIG. 15 is a schematic diagram showing the transport robot traveling along the passage at the bottom of the rack. [Figure 16] FIG. 16 is a flowchart of the docking method provided in the present embodiment. [Explanation of symbols]

[0029] Transport robot...1, main body...11, rotating table...111, chassis unit...112, traveling caster...112a, chassis housing...112b, jack-up unit...12, first link...121, second link...122, driving link...123, fourth actuator...124, first climb unit...13, first actuator...131, sprocket...132, first pulley...133, second pulley...134, transmission Belt...135, support arm...136, first roller...137, second roller...138, fork unit...14, base...141, second actuator...15, third actuator...16, rack...2, second climb unit...21, mounting base...211, groove...2111, first surface...2111a, guide rib...2112, chain...212, aisle...22, longitudinal beam...23, cross beam...24, support column...25, container...3.

[0030] The drawings, which are incorporated in and constitute a part of this specification, illustrate preferred embodiments of the present invention and, together with the description, serve to explain the principles of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0031] In order to clarify the purpose, technical solution and advantages of the present application, the present application will be described in more detail below in combination with drawings and examples, in which the specific examples described herein are only for the purpose of illustrating the present application and are not intended to limit the present application.

[0032] Unless otherwise clearly defined and limited in the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to express or imply any relative importance. Unless otherwise defined or explained, "plurality" refers to two or more than two. Terms such as "connect" and "fix" should be understood broadly. For example, "connect" may mean a fixed connection, a detachable connection, an integral connection, or an electrical connection. It may be directly connected or indirectly connected via an intermediate medium. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0033] In the description of this specification, directional terms such as "above" and "below" in the embodiments of the present application are used to describe the angles shown in the drawings and should not be understood to limit the embodiments of the present application. Furthermore, when the context indicates that an element is connected "above" or "below" another element, it may not only be directly connected "above" or "below" the other element, but may also be indirectly connected "above" or "below" the other element via an intermediate element.

[0034] An embodiment of the present invention provides a transport robot. FIG. 1 is a structural diagram of a warehouse system provided in the embodiment of the present invention. As shown in FIG. 1, the transport robot 1 can be applied to a warehouse system. Specifically, the transport robot 1 can be used to temporarily store a container 3, move on the floor to transfer the container 3, or climb a rack 2 to take in and out the container 3.

[0035] As shown in Fig. 1, the warehouse system includes a rack 2. The rack 2 includes horizontal beams 24 and vertical beams 23, which are cross-connected to form a plurality of locations for storing containers on the rack 2. A plurality of such locations may be provided in directions parallel to and perpendicular to the floor. The rack 2 has a certain height, and the transport robot 1 can climb up and down on the rack 2 to reach a target position and place a container 3 in or out.

[0036] In conventional racks, the climbing structure of the rack for connecting with the transport robot typically extends close to the floor and parallel to the floor, allowing the transport robot to dock with the climbing structure by traveling along the floor until it is aligned with the climbing structure. However, because the climbing structure extends to the bottom of the rack, it prevents the transport robot from passing through the bottom of the rack. In other words, when the transport robot needs to travel to the other side of the rack, it must detour a certain distance along the outer perimeter of the rack, and cannot pass directly through the bottom of the rack. This significantly increases the transport robot's travel time and reduces container transport efficiency.

[0037] Furthermore, because the climbing structure extends to the bottom of the rack, it comes closer to the floor, and when workers walk or transport robots move with containers on them, they inevitably collide with the climbing structure at the bottom of the rack, making the climbing structure more susceptible to damage and ultimately increasing the maintenance and replacement costs of the climbing structure.

[0038] Therefore, the transport robot provided in this embodiment can dock with the rack in mid-air, eliminating the need for the second climbing unit on the rack to extend to the bottom of the rack, freeing up space at the bottom of the rack for the transport robot to pass through, shortening the travel distance between both sides of the rack and improving transport efficiency.

[0039] Specifically, FIG. 2 shows a schematic diagram of the structure of a transport robot (excluding the housing) provided in an embodiment of the present application. As shown in FIG. 2, the transport robot 1 includes a main body 11, a jack-up unit 12, and a first climbing unit 13. Many devices and structures are integrated into the main body 11. For example, casters are installed on the bottom of the main body 11 to facilitate movement of the transport robot 1 across a floor surface. Furthermore, for example, both the jack-up unit 12 and the first climbing unit 13 are installed on the main body 11, and the jack-up unit 12 and the first climbing unit 13 are moved synchronously along with the main body 11, allowing the functions of the jack-up unit 12 and the first climbing unit 13 to be fulfilled at the target position.

[0040] Specifically, some parts of the jack-up unit 12 may be connected above the main body 11 or to the side of the main body 11 or other parts, but the part of the jack-up unit 12 that carries the first climb unit 13 and the container 3 is positioned above the main body 11, thereby realizing lifting and lowering movement above the main body 11.

[0041] Specifically, the first climbing unit 13 is located on one side of the main body 11 in the horizontal direction, and the first climbing unit 13 is connected to the jack-up unit 12. This allows the jack-up unit 12 to control the ascent or descent of the first climbing unit 13, and the first climbing unit 13 can dock vertically with the second climbing unit 21 on the rack 2 and climb the rack 2 in the vertical direction. The horizontal direction mentioned above is the direction parallel to the floor surface, and the vertical direction is the direction perpendicular to the floor surface and coincides with the height direction of the rack 2. When the transport robot 1 needs to take in or out a container 3 at a location at a certain height position on the rack 2, this can be achieved according to the following process.

[0042] 3 is a schematic diagram of the transfer robot 1 when it has traveled to below the target location. As shown in FIG. 3, the transfer robot 1 can travel on the floor surface and reach below the target location.

[0043] Figure 4 is a schematic diagram of the first climb unit 13 and the second climb unit 21 positioned directly opposite each other. As shown in Figure 4, the transport robot 1 is controlled to adjust its position, thereby vertically aligning the second climb unit 21 on the rack 2 with the first climb unit 13 of the transport robot 1.

[0044] Figure 5 is a schematic diagram of the first climb unit 13 and second climb unit 21 connected together after the jack-up unit 12 has been jacked up. As shown in Figure 5, the jack-up unit 12 is controlled to raise the first climb unit 13 in conjunction with the first climb unit 13, and the first climb unit 13 and second climb unit 21 are docked together.

[0045] FIG. 6 is a schematic diagram of the transport robot 1 when it has risen to the target location. FIG. 7 is a schematic diagram of the transport robot 1 after it has placed the container 3. As shown in FIGS. 6 and 7, after the first climb unit 13 and the second climb unit 21 have been docked, the first climb unit 13 can be controlled and moved to rise along with the second climb unit 21, move to the target location, and take out or put in the container 3. FIG. 6 exemplarily shows the process of placing the container 3 at the target location. FIG. 7 exemplarily shows the state after the container 3 has been placed.

[0046] Figure 8 is a schematic diagram of the transport robot 1 returning to the floor. As shown in Figure 8, after the container 3 has been loaded or unloaded, the first climb unit 13 is controlled to descend along the second climb unit 21 until the transport robot 1 is firmly on the floor.

[0047] Then, the jack-up units 12 are controlled to lower the first climb unit 13 in conjunction with the first climb unit 13, separating the first climb unit 13 from the second climb unit 21. Figure 9 is a schematic diagram of the transport robot 1 traveling on the floor after the jack-up units 12 have returned to their original positions. As shown in Figure 9, at this time the transport robot 1 travels on the floor, performing preparation work for loading and unloading the next container 3.

[0048] In this way, the transport robot 1 provided in this embodiment can achieve aerial docking with the rack 2 by adjusting the elevation of the first climbing unit 13, and the space at the bottom of the rack 2 is opened up for the transport robot 1 to pass through, thereby shortening the travel distance between both sides of the rack 2 of the transport robot 1 and improving transport efficiency.

[0049] Furthermore, in this embodiment, the first climbing unit 13 is installed on one side of the main body 11 in the horizontal direction, so that the transport robot 1 can climb the rack 2 simply by docking one side of the transport robot 1 with the rack 2, and there is no need to support the transport robot 1 between two racks 2. This expands the application scenario of the transport robot 1, and even when there is only one rack 2 or when the distance between the two racks 2 is greater than the width of the robot 1, the transport robot 1 can climb to load and unload containers 3. Since there is no need to install at least two racks 2, warehouse space can be saved and the layout flexibility of the racks 2 is improved.

[0050] 2, the first climbing unit 13 includes a first actuator 131, a transmission mechanism, and a first meshing mechanism. Both ends of the transmission mechanism are power-transmitted to the first actuator 131 and the first meshing mechanism, respectively. The first actuator 131 controls and moves the first meshing mechanism via the transmission mechanism, and the first meshing mechanism is used to mesh with the second climbing unit 21, thereby allowing the transport robot 1 to climb vertically on the rack 2.

[0051] The transmission mechanism has a certain height in the vertical direction, which improves the stability of the transport robot 1 when climbing on the rack 2. For example, in some embodiments, the first meshing mechanism includes a sprocket 132, which can be linked with a second climbing unit 21 on the rack 2, allowing the entire transport robot 1 to climb on the rack 2 in unison. The sprocket 132 has multiple teeth, and the second climbing unit 21 can be, for example, a rack gear or chain 212 to allow the second climbing unit to link with the sprocket 132. This allows the second climbing unit 21 to mesh with the teeth of the sprocket 132, so that when the sprocket 132 is driven to rotate, the sprocket 132 can rise or fall along the rack gear or chain 212. For ease of driving, the first actuator 131 can be a motor.

[0052] For example, in some embodiments, the first engagement mechanism includes a synchronous belt having a plurality of protrusions. The synchronous belt engages with the second climbing unit 21 via the protrusions, allowing the transport robot 1 to climb vertically on the rack 2. The second climbing unit 21 includes a rail that is attached to the longitudinal beam of the rack 2 and extends vertically. The rail has a plurality of vertical grooves that can fit into the protrusions on the synchronous belt of the transport robot 1, allowing the transport robot 1 to climb vertically on the rack 2.

[0053] 2, the transmission mechanism includes a first pulley 133, a second pulley 134, and a transmission belt 135. The first pulley 133 is coaxially connected to the drive shaft of the first actuator 131, and the second pulley 134 is coaxially connected to the sprocket 132. The first pulley 133 and the second pulley 134 are connected to each other via the transmission belt 135.

[0054] The first pulley 133 and the second pulley 134 are located at both ends of the transmission mechanism in the vertical direction, and both ends of the transmission belt 135 are stretched over the first pulley 133 and the second pulley 134. When the inner teeth of the transmission belt 135 mesh with the first pulley 133 and the second pulley 134 and the first actuator 131 controls and rotates the first pulley 133, the rotational motion of the first pulley 133 is transmitted to the second pulley 134 via the transmission belt 135, causing the second pulley 134 to rotate synchronously. Furthermore, because the second pulley 134 is coaxially connected to the sprocket 132, the second pulley 134 can rotate the sprocket 132 in synchronous motion. Therefore, the coordination between the sprocket 132 and the second climbing unit 21 enables the transport robot 1 to climb the rack 2.

[0055] In a specific embodiment, as shown in FIG. 2, the first climbing unit 13 further includes a support arm 136, and the sprocket 132 is rotatably mounted on one end of the support arm 136, facing away from the main body 11. A first roller 137 and / or a second roller 138 are mounted on the support arm 136. FIG. 10 is a diagram showing the state when the first climbing unit 13 and the second climbing unit 21 are linked. FIG. 11 is an enlarged view of portion A in FIG. 10. As shown in FIGS. 10 and 11, a first surface 2111a is provided on the side of the second climbing unit 21 that links with the first climbing unit 13, and the first roller 137 is in rolling contact with the first surface 2111a. A second surface (not shown) is provided on the side of the second climbing unit 21 opposite the side that links with the first climbing unit 13, and the second roller 138 is in rolling contact with the second surface.

[0056] When the entire transport robot 1 climbs along the rack 2 through the cooperation of the sprocket 132 and the second climbing unit 21, the first roller 137 and / or the second roller 138 on the support arm 136 can come into contact with the second climbing unit 21 and roll due to the action of friction with the second climbing unit 21. This ensures that the first roller 137 and / or the second roller 138 ensure the stability of the transport robot 1 as it climbs up and down, and also reduces the friction between each roller and the second climbing unit 21 due to the rolling of each roller, thereby reducing the climbing resistance of the transport robot 1.

[0057] Either the first roller 137 or the second roller 138 may be installed, or both may be installed simultaneously. In order to improve the stability of the transport robot 1 when climbing on the rack 2, it is preferable to install the first roller 137 and the second roller 138 simultaneously on the support arm 136. Here, since the direction of the force of the first roller 137 acting on the first surface 2111a is opposite to the direction of the force of the second roller 138 acting on the second surface, by sandwiching a part of the second climbing unit between the first roller 137 and the second roller 138, it is possible to prevent the transport robot 1 from shaking while climbing.

[0058] As a specific embodiment, FIG. 12 is a structural schematic diagram (showing a portion of the chassis housing 112b) of the transfer robot 1 provided in an example of the present application. As shown in FIGS. 2 and 12, the main body 11 includes a rotating table 111, a chassis unit 112, a second actuator 15, and a third actuator 16. The rotating table 111 is rotatably connected to the chassis unit 112, and the jack-up unit 12 is installed on the rotating table 111. The second actuator 15 is connected to the rotating table 111 and is used to control the rotating table 111 to rotate relative to the chassis unit 112. The chassis unit 112 is equipped with traveling casters 112a, and the third actuator 16 is connected to the traveling casters 112a and is used to control the traveling casters 112a to move straight or change direction and to rotate the chassis unit 112 in conjunction with the traveling casters.

[0059] The rotating platform 111 is located above the chassis unit 112, and supports the jack-up units 12 while also allowing the jack-up units 12 to rotate synchronously in conjunction with each other. Many devices can be integrated inside the chassis unit 112, and it can also support many structures above the chassis unit 112, such as the rotating platform 111, jack-up units 12, and first climb unit 13. Traveling casters 112a are installed on the bottom of the chassis unit 112, and these travelling casters 112a allow the entire transport robot 1 to move straight or change direction on the floor surface.

[0060] When the second actuator 15 is activated, the second actuator 15 controls the rotating base 111 to rotate it independently of the chassis unit 112. When the third actuator 16 is activated, the third actuator 16 controls the traveling casters 112a to move straight or change direction, thereby moving the chassis unit 112 in a straight line or rotating relative to the floor surface in conjunction with the chassis unit 112. Furthermore, when the chassis unit 112 moves, the chassis unit 112 can move devices and structures above it in conjunction with the chassis unit 112 and move synchronously. Of course, when both the second actuator 15 and the third actuator 16 are activated, the rotating base 111 and the chassis unit 112 can move independently of each other. That is, the chassis unit 112 can move relative to the floor surface, and the rotating base 111 can move together with the chassis unit 112 or rotate relative to the chassis unit 112.

[0061] If the dimensions of the container 3 above the turntable 111 are large, for example, if the container 3 is a rectangular parallelepiped having a length and a width and the dimension of the long side is larger than the maximum outer dimension of the chassis unit 112, the edge of the container 3 will protrude beyond the edge of the chassis unit 112. When the transport robot 1 needs to change direction, the third actuator 16 controls the traveling casters 112a to change direction, and the chassis unit 112 is rotated relative to the floor in conjunction with the turntable 111, thereby adjusting the direction of travel. At this time, if the turntable 111 does not rotate relative to the chassis unit 112, the chassis unit 112 rotates the turntable 111 in conjunction with the turntable 111, and thus rotates the container 3 in conjunction with the turntable 112. Since the container 3 is usually rectangular, it occupies a large rotation space when rotating together with the chassis unit 112, which makes it prone to interference and collision with objects in the surrounding environment.

[0062] Therefore, in this embodiment, while the third actuator 16 controls the chassis unit 112 to rotate it, the second actuator 15 simultaneously controls the turntable 111 to rotate it in the opposite direction by the same angle relative to the chassis unit 112. That is, the rotation direction of the turntable 111 and the rotation direction of the chassis unit 112 are opposite to each other. This not only enables the adjustment of the traveling direction of the chassis unit 112 relative to the floor, but also allows the turntable 111 and the floor to remain stationary relative to each other. Therefore, when the traveling direction of the transport robot 1 is adjusted, the container 3 is not rotated together, and therefore interference problems that occur when the container 3 occupies a large space when rotating can be avoided.

[0063] For ease of assembly and control, the second actuator 15 and the third actuator 16 may both be motors.

[0064] Specifically, as shown in FIGS. 2 and 12, the shape of the chassis unit 112 projected in the horizontal direction may be circular or nearly circular. That is, the outer shape of the chassis unit 112 is circular or nearly circular. This prevents the chassis unit 112 from occupying additional space during rotation, thereby avoiding interference during rotation. In this embodiment, the chassis unit 112 includes a chassis housing 112b. The chassis housing 112b is the outermost structural member of the chassis unit 112, and each device in the chassis unit 112 is laid out within the chassis housing 112b. The outer shape of the chassis housing 112b is circular, which not only prevents the chassis unit 112 from occupying additional external space during rotation, but also improves the aesthetic appearance.

[0065] In a specific embodiment, as shown in FIG. 13 , the transport robot 1 further includes a fork unit 14. The fork unit 14 is used to load and unload items. The fork unit 14 includes a base 141, which is used to temporarily store items. The base 141 is installed on the jack-up unit 12. During the operation, the jack-up unit 12 can raise and lower the fork unit 14 in conjunction with the jack-up unit 12, which makes it easy to adjust the height for loading and unloading items.

[0066] As a specific embodiment, Fig. 13 is a side view (excluding the housing and exterior parts) of the transfer robot 1 provided in this example. As shown in Fig. 13, the jack-up unit 12 includes a scissor link structure and a fourth actuator 124. The fourth actuator 124 is connected to the scissor link structure and is used to drive the scissor link structure to raise and lower it.

[0067] Illustratively, the scissor link structure includes a drive link 123, a first link 121, and a second link 122, with a central portion of the first link 121 and a central portion of the second link 122 rotatably connected. One end of the first link 121 is rotatably connected to a base 141 of the fork unit 14, and the other end is slidably connected to the body 11. One end of the second link 122 is slidably connected to the base 141, and the other end is rotatably connected to the body 11. One end of the drive link 123 is slidably connected to the body 11, and the other end of the drive link 123 is rotatably connected to the central portions of the first link 121 and the second link 122. The fourth actuator 124 is connected to the drive link 123 and is used to drive the end of the drive link 123 connected to the body 11 to slide along a direction perpendicular to the direction in which the jack-up unit 12 moves up and down. In this embodiment, the direction perpendicular to the direction in which the jack up unit 12 moves up and down is the horizontal direction.

[0068] The center of the first link 121, the center of the second link 122, and the drive link 123 are rotatably connected by a hinge pin. When the fourth actuator 124 controls one end of the drive link 123 connected to the main body 11 to move it horizontally, the other end of the drive link 123 connected to the first link 121 and the second link 122 moves the centers of the first link 121 and the second link 122 up or down in unison. As a result, one end of the first link 121 slides relative to the main body 11 and the other end rotates relative to the base 141, and one end of the second link 122 slides relative to the base 141 and the other end rotates relative to the main body 11. This achieves the lifting function of the jack-up unit 12, thereby lifting and lowering the fork unit 14 and the first climb unit 13. For ease of assembly and control, the fourth actuator 124 may be a motor.

[0069] The present embodiment further provides a rack 2. As shown in Fig. 1, a second climbing unit 21 is installed on the rack 2. The second climbing unit 21 is used to link with the first climbing unit 13 of the transport robot 1 to allow the transport robot 1 to climb on the rack 2 in the vertical direction.

[0070] As already explained, when the transport robot 1 needs to take in or out a container 3 at a location at a certain height on the rack 2, the transport robot 1 travels along the floor to below the target location, where the second climbing unit 21 on the rack 2 is positioned above the transport robot 1 and can be aligned vertically with the first climbing unit 13. Then, the jack-up unit 12 is controlled to raise the first climbing unit 13 in conjunction with the first climbing unit 13, thereby docking the first climbing unit 13 with the second climbing unit 21. After the first climbing unit 13 and the second climbing unit 21 have docked, the first climbing unit 13 is controlled and operated, causing the first climbing unit 13 to rise alongside the second climbing unit 21 and move to the target location, allowing the container 3 to be taken in or out.

[0071] In this way, the rack 2 provided in this embodiment allows the transport robot 1 and rack 2 to dock in the air, opening up the space at the bottom of the rack 2 and allowing the transport robot 1 to travel along the bottom of the rack 2. This reduces the travel distance between both sides of the rack 2 for the transport robot 1, improving transport efficiency.

[0072] In a specific embodiment, the second climbing unit 21 includes a second interlocking mechanism that interlocks with the first interlocking mechanism of the transport robot 1 to allow the transport robot to climb vertically on the rack 2.

[0073] The second engagement mechanism may have various structural forms. For example, as shown in Fig. 11, the rack 2 includes a vertical beam 23, and the second engagement mechanism is a chain 212 that is directly or indirectly connected to the vertical beam. The chain 212 is used to link with a sprocket 132 in the first climbing unit 13 to allow the transport robot 1 to climb on the chain 212.

[0074] The connection between the chain 212 and the sprocket 132 ensures stability when the transport robot 1 climbs on the rack 2, and is also advantageous in terms of cost reduction since the assembly and maintenance of the chain 212 and the sprocket 132 are convenient.

[0075] Of course, in some other embodiments, the second meshing mechanism may not use the chain 212. For example, the climbing of the transport robot 1 may be achieved by using a combination of a rack gear and a sprocket 132.

[0076] 11 , the second climbing unit 21 further includes a mounting base 211. The mounting base 211 is connected to the vertical beam 23, and the second interlocking mechanism is connected to the mounting base 211. The mounting base 211 and the second interlocking mechanism have a certain length and extend along the vertical beam 23 to cover each location in the height direction of the rack 2, allowing the transport robot 1 to climb to each location in the height direction of the rack 2 to load and unload cargo.

[0077] 11, a groove 2111 may be provided in the mounting base 211. The second interlocking mechanism is installed in the groove 2111, so that the groove 2111 can protect the second interlocking mechanism.

[0078] 11 , the second engagement mechanism is illustratively a chain 212, and the opening side of the groove 2111 faces outward from the rack 2 in the horizontal direction, allowing the chain 212 to link with the sprocket 132 of the transport robot 1. The groove 2111 has a side wall, and the end surface of the side wall of the groove 2111 is used to contact the first roller 137 of the first climbing unit 13. The end surface of the side wall of the groove 2111 is the first surface 2111a described above. When the sprocket 132 of the first climbing unit 13 completes engagement with the chain 212, the first roller 137 abuts against the end surface of the side wall of the groove 2111. During the climbing process of the transport robot 1, the first roller 137 can roll on the end surface of the groove 2111, ensuring the stability of the climbing of the transport robot 1.

[0079] 11 , a guide rib 2112 extending vertically may be provided on the outer wall of the mounting base 211. The guide rib 2112 protrudes from the outer surface of the outer wall. The surface of the guide rib 2112 opposite the transport robot 1 is formed as the second surface described above, and this second surface is used to contact the second roller 138 of the first climbing unit 13. During the climbing process of the transport robot 1, the second roller 138 can roll on the second surface of the guide rib 2112, ensuring the stability of the climbing of the transport robot 1.

[0080] The first roller 137 and the second roller 138 may be installed either alone or simultaneously. In a preferred embodiment, the first roller 137 and the second roller 138 are installed simultaneously. Here, the direction of the force acting on the first surface 2111a of the first roller 137 is opposite to the direction of the force acting on the second surface of the second roller 138. Therefore, by sandwiching a portion of the second climbing unit between the first roller 137 and the second roller 138, shaking of the transport robot 1 during climbing can be prevented, improving the reliability and stability of climbing.

[0081] 1, in one specific embodiment, an aisle 22 for the transport robot 1 to travel is provided at the bottom of the rack 2, and the second climbing unit 21 is located above the aisle 22. By installing the second climbing unit 21 above the aisle 22, the transport robot 1 and the rack 2 can be docked in mid-air, which frees up space at the bottom of the rack 2. Furthermore, by providing the aisle 22 at the bottom of the rack 2 so that the transport robot 1 can travel along the aisle 22, the travel distance of the transport robot 1 between both sides of the rack 2 is shortened, thereby improving transport efficiency.

[0082] 1, a plurality of support columns 25 are further installed at the bottom of the rack 2. A passage 22 is formed between each of the support columns 25, and the distance between two adjacent support columns 25 is greater than the maximum length dimension of the transport robot 1 in the horizontal direction.

[0083] The support columns 25 support the entire rack 2. The support columns 25 may be independently welded to the cross beams 24 or the vertical beams 23, or may be part of the vertical beams 23. Because the transport robot 1 and rack 2 use an aerial docking method to achieve climbing, the distance between the support columns 25 at the bottom of the rack 2 may be designed to be wider. That is, the distance between two adjacent support columns 25 may be greater than the length of the transport robot 1. In a specific design, the support columns 25 are spaced apart in a direction perpendicular to the extension direction of the vertical beams 23, forming a passage 22 in the space at the bottom of the rack 2, which can be used for the transport robot 1 to pass through. This shortens the distance the robot travels on both sides of the rack 2, improving the distribution efficiency of goods.

[0084] FIG. 14 is a side view of a warehouse system provided in an embodiment of the present invention. FIG. 15 is a schematic diagram of a transport robot 1 traveling along an aisle 22 beneath a rack 2. As shown in FIG. 14, the height H1 of the aisle 22 is greater than the height H2 of the transport robot 1 before the jack-up unit 12 jacks it up. This ensures that the top of the transport robot 1 does not interfere with the rack 2 at the top of the aisle 22 when the transport robot 1 travels along the aisle 22, as shown in FIG. 15. Also, as shown in FIG. 14, the height H1 of the aisle 22 is less than the maximum height H3 of the transport robot 1 after the jack-up unit 12 jacks it up. This allows the jack-up unit 12 to jack up the first climbing unit 13 to its maximum height when the transport robot 1 needs to climb. The distance from the floor to the top of the first climbing unit 13 at this time is the maximum height H3 of the transport robot 1. When the maximum height H3 is greater than the height H1 of the passage 22, the first climbing unit 13 and the second climbing unit 21 can be effectively docked in the air, allowing the transport robot 1 to climb along the rack 2. Furthermore, when the jack-up unit 12 is jacked up to the position of the maximum height H3, a worker can pick items directly from the robot at that position, improving picking efficiency.

[0085] The present embodiment further provides a warehouse system. As shown in Figure 1, the warehouse system includes a transport robot 1 and a rack 2 provided in any embodiment of the present application. The transport robot 1 climbs vertically on the rack 2 by cooperation between a first climbing unit 13 and a second climbing unit 21 on the rack 2. The docking and climbing method between the transport robot 1 and the rack 2 is the same as described above, and will not be repeated here.

[0086] 16 is a flowchart of a docking method provided in an embodiment of the present application. As shown in FIG. 16, the present embodiment further provides a docking method between a transport robot 1 and a rack 2. The docking method can be applied to the warehouse system provided in any embodiment of the present application. The docking method includes the following steps:

[0087] Step S1: The transfer robot 1 is controlled to move to the docking position.

[0088] In a warehouse system, a transport robot 1 may pick up containers 3, deposit cargo, pack cargo, etc. at different floor locations. The movement of the transport robot 1 between different locations can all be controlled by commands sent from a terminal control system. At the same time, accurate positioning can be achieved in cooperation with support from sensors, barcodes, two-dimensional codes, etc. at each location. For example, when the transport robot 1 needs to place a container 3 at a target location on a rack 2, the transport robot 1 first travels toward the docking position. Further support from sensors, barcodes, two-dimensional codes, etc. is used to guide the transport robot 1 below the target location, and then fine-tune the first climbing unit 13 of the transport robot 1 to vertically align with the corresponding second climbing unit 21 on the rack 2.

[0089] Step S2: The jack-up unit 12 of the transport robot 1 is controlled to rise to the target height, and the first climbing unit 13 of the transport robot 1 and the second climbing unit 21 on the rack 2 are docked.

[0090] Once the alignment of the first climbing unit 13 and the second climbing unit 21 is complete, the jack-up unit 12 raises the first climbing unit 13 to the target altitude so that the first climbing unit 13 can dock with the corresponding second climbing unit 21 above.

[0091] Step S3: The first climbing unit 13 is controlled to climb on the second climbing unit 21, thereby allowing the container 3 to be taken in or out.

[0092] After the docking of the first climbing unit 13 and the second climbing unit 21 is completed, the first climbing unit 13 is controlled to climb vertically on the second climbing unit 21 to reach the target position, and the transport robot 1 is raised to the target location to carry out loading and unloading of the luggage.

[0093] In this way, the docking method provided in the present embodiment enables mid-air docking between the transport robot 1 and the rack 2, thereby freeing up space at the bottom of the rack 2 and forming an aisle 22 at the bottom of the rack 2, allowing the transport robot 1 to travel along the aisle 22, thereby shortening the travel distance between both sides of the rack 2 of the transport robot 1 and improving transport efficiency.

[0094] The docking method can be realized by controlling a computer device. The computer device includes a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps of the docking method of the present application are realized. The memory includes various media capable of storing program code, such as a U disk, a mobile hard disk, a ROM (Read-Only Memory), a RAM (Random Access Memory), a magnetic disk, or an optical disk.

[0095] The above are only preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will be able to make various modifications and variations to the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and scope of the present application are all included in the protection scope of the present application.

Claims

1. A main body (11); a jack-up unit (12) installed on the main body (11); a first climb unit (13) that is installed on the jack-up unit (12) and is located on one side of the main body (11) in the horizontal direction; The first climbing unit (13) can be raised or lowered by driving the jack-up unit (12) to vertically dock with the second climbing unit (21) on the rack (2) and climb on the rack (2) along the vertical direction. Transport robot.

2. The first climb unit (13) includes a first actuator (131), a transmission mechanism, and a first engagement mechanism, both ends of the transmission mechanism are respectively connected to the first actuator (131) and the first engagement mechanism, the first actuator (131) controls and moves the first engagement mechanism via the transmission mechanism, and the first engagement mechanism is used to engage with the second climb unit (21). The transport robot according to claim 1 .

3. The first engagement mechanism includes a sprocket (132), and the sprocket (132) is used to engage with the second climb unit (21). The transport robot according to claim 2 .

4. The first meshing mechanism includes a synchronous belt, and the synchronous belt is provided with a plurality of protrusions, and the synchronous belt meshes with the second climb unit (21) by the plurality of protrusions. The transport robot according to claim 2 .

5. The transmission mechanism includes a first pulley (133), a second pulley (134), and a transmission belt (135), the first pulley (133) is coaxially connected to a drive shaft of the first actuator (131), the second pulley (134) is coaxially connected to the sprocket (132), and the first pulley (133) and the second pulley (134) are transmission-connected via the transmission belt (135). The transport robot according to claim 3 .

6. The first climb unit (13) further includes a support arm (136), and the sprocket (132) is rotatably mounted on one end of the support arm (136) that is remote from the main body (11). The transport robot according to claim 3 .

7. A first roller (137) is installed on the support arm (136), and the second climb unit (21) has a first surface facing the side that interfaces with the first climb unit (13), and the first roller (137) is in rolling contact with the first surface; and / or A second roller (138) is installed on the support arm (136), and a second surface is provided on the side of the second climb unit (21) opposite to the side that interfaces with the first climb unit (13), and the second roller (138) is in rolling contact with the second surface. The transport robot according to claim 6.

8. The main body (11) includes a rotating table (111), a chassis unit (112), a second actuator (15), and a third actuator (16); The rotating table (111) is rotatably connected to the chassis unit (112), and the jack-up unit (12) is installed on the rotating table (111); the second actuator (15) is connected to the rotating table (111) and is used to control the rotating table (111) to rotate relative to the chassis unit (112); The chassis unit (112) is provided with a traveling caster (112a), and the third actuator (16) is connected to the traveling caster (112a) and is used to control the traveling caster (112a) to move straight or change direction and to rotate the chassis unit (112) in conjunction with the traveling caster (112a). The transport robot according to any one of claims 1 to 7.

9. The shape of the chassis unit (112) projected in the horizontal direction is circular. The transport robot according to claim 8 .

10. The transport robot further includes a fork unit (14), which is used to put in and take out an article, and the fork unit (14) includes a base (141), which is used to temporarily store an article, and the base (141) is installed on the jack-up unit (12). The transport robot according to any one of claims 1 to 9.

11. The jack-up unit (12) includes a scissor link structure and a fourth actuator (124), the fourth actuator (124) being connected to the scissor link structure and being used to drive the scissor link structure to raise and lower it. The transport robot according to claim 10.

12. The scissor link structure includes a drive link (123), a first link (121), and a second link (122), and a central portion of the first link (121) and a central portion of the second link (122) are rotatably connected; One end of the first link (121) is rotatably connected to the base (141), and the other end is slidably connected to the main body (11); One end of the second link (122) is slidably connected to the base (141), and the other end is rotatably connected to the main body (11); One end of the drive link (123) is slidably connected to the main body (11), and the other end of the drive link (123) is rotatably connected to the central portions of the first link (121) and the second link (122); The fourth actuator (124) is connected to the driving link (123) and is used to control one end of the driving link (123) connected to the main body (11) to slide the jack-up unit (12) along a direction perpendicular to the direction in which the jack-up unit (12) moves up and down. The transport robot according to claim 10.

13. A rack (2) on which a second climbing unit (21) is installed, the second climbing unit (21) being used to link with a first climbing unit (13) in a transport robot (1) according to any one of claims 1 to 11 to cause the transport robot (1) to climb vertically on the rack (2). rack.

14. The second climbing unit (21) includes a second meshing mechanism, and the second meshing mechanism is used to mesh with the first meshing mechanism of the transport robot (1) to cause the transport robot to climb vertically on the rack (2). The rack of claim 13.

15. The rack (2) includes a longitudinal beam (23), the second climb unit (21) further includes a mounting base (211), the mounting base (211) is connected to the longitudinal beam (23), and the second engagement mechanism is connected to the mounting base (211); The mounting base (211) is provided with a groove (2111), the second meshing mechanism is installed in the groove (2111), and the end surface of the side wall of the groove (2111) is used to contact the first roller (137) of the first climb unit (13) in the horizontal direction; and / or A guide rib (2112) is provided on the outer wall of the mounting base (211), and the guide rib (2112) extends along a vertical direction, and the surface of the guide rib (2112) opposite to the transport robot (1) is used to contact a second roller (138) of the first climbing unit (13). The rack of claim 14.

16. A passage (22) along which the transport robot (1) travels is provided at the bottom of the rack (2), and the second climb unit (21) is located above the passage (22). The rack of claim 13.

17. A plurality of support columns (25) are further provided at the bottom of the rack (2), and passages (22) are formed between the support columns (25), and the distance between two adjacent support columns (25) is greater than the maximum length dimension of the transport robot (1) in the horizontal direction. The rack of claim 13.

18. The height of the passage (22) is greater than the height of the transport robot (1) before the jack-up unit (12) is jacked up, and the height of the passage (22) is less than the maximum height of the transport robot (1) after the jack-up unit (12) is jacked up.

18. A rack according to claim 16 or 17.

19. The transport robot (1) includes the transport robot (1) according to any one of claims 1 to 12 and the rack (2) according to any one of claims 13 to 18, and the transport robot (1) climbs vertically on the rack (2) by cooperation between a first climbing unit (13) and a second climbing unit (21) on the rack (2). Warehouse system.

20. A docking method applied to a warehouse system according to claim 19, comprising: Controlling the transport robot (1) to move it to a docking position; a step of controlling a jack-up unit (12) of the transport robot (1) to raise it to a target altitude and docking a first climbing unit (13) of the transport robot (1) with a second climbing unit (21) on a rack (2); and controlling the first climb unit (13) to climb vertically on the second climb unit (21) to reach a target position and to load or unload a container. Docking method.

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