Transport robots and warehouse storage equipment

Abstract

An embodiment of the present application provides a transport robot and a warehouse storage device, the warehouse storage device having shelves with an aisle formed between adjacent shelves. The transport robot is hung on a first shelf located on one side of the aisle, and the transport robot includes a support stand, a bin access assembly, and a ground travel mechanism. The support stand is movable horizontally along the side of the first shelf, and the bin access assembly is movable up and down relative to the support stand to access and retrieve bins. The ground travel mechanism is provided at the bottom of the support stand, located on the side of the aisle closer to the first shelf, and provides support and travel power to the transport robot in alignment with the ground. Since part of the weight of the transport robot acts on the ground via the ground travel mechanism, the load on the shelf is reduced, i.e., the requirements for the shelf's load-bearing capacity are reduced.

Description

[Technical Field]

[0001] This application claims priority to a Chinese patent application bearing application number 202422263143.3 and entitled "Transport Robot and Warehouse Storage Device," filed with the State Intellectual Property Office of the People's Republic of China on September 13, 2024, the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the field of logistics warehousing technology, and in particular to transport robots and warehousing equipment. [Background technology]

[0003] In the related art, a warehouse storage device generally includes shelves, and a transport robot is provided on the shelves to transport bins on the shelves. Since the transport robot is provided on the shelves, the shelves bear a large load, which increases the requirements for the load-bearing capacity of the shelves. Summary of the Invention

[0004] The present invention aims to provide a transport robot and a warehouse storage device for reducing the load on shelves. Specific technical solutions are as follows:

[0005] An embodiment of the present application provides a transport robot for a warehouse storage device, the warehouse storage device having shelves with an aisle formed between adjacent shelves, the transport robot hung on a first shelf located on one side of the aisle, the transport robot comprising a support stand, a bin loading / unloading assembly, and a ground running mechanism, the support stand being movable horizontally on the side of the first shelf, the bin loading / unloading assembly being movable up and down relative to the support stand to load and unload bins, the ground running mechanism being provided at the bottom of the support stand and located on the side of the aisle closer to the first shelf, for providing support force and running power for the transport robot in accordance with the ground.

[0006] An embodiment of the present application further provides a warehouse storage device comprising a shelf as described in any one of the above items and at least one transport robot, wherein an aisle is formed between adjacent shelves, the transport robot is hung on a first shelf located on one side of the aisle, and a ground running mechanism at the bottom of the transport robot is located on the side of the aisle closer to the first shelf.

[0007] In the transport robot and warehouse storage device provided by the embodiments of the present application, the transport robot is hung on a first shelf located on one side of an aisle via a support stand, allowing it to slide horizontally along the shelf. A ground travel mechanism is located on the side of the aisle closer to the first shelf and is designed to roll into contact with the ground where the shelf is located, providing support and travel power for the transport robot. Part of the weight of the transport robot acts on the ground via the ground travel mechanism, reducing the load on the shelf and, therefore, reducing the requirements for the shelf's load-bearing capacity.

[0008] Of course, any product embodying the present invention need not necessarily realize all of the above advantages simultaneously. [Brief explanation of the drawings]

[0009] The drawings described herein are provided for further understanding of the present application and constitute a part of the present application. The exemplary embodiments and the description thereof are for the purpose of illustrating the present application and are not to be construed as undue limitations on the present application.

[0010] [Figure 1a] FIG. 1a is a perspective structural view of a warehousing storage device according to an embodiment of the present application. [Figure 1b] FIG. 1b is a front view of the warehousing system shown in FIG. 1a. [Figure 2a] FIG. 2a is a perspective structural view of the transfer robot shown in FIG. 1a. [Figure 2b] FIG. 2b is a perspective structural view of the transfer robot (loading / unloading stage not shown) and horizontal rail shown in FIG. 1a. [Figure 2c]FIG. 2c is a perspective structural view of the transfer robot (the loading / unloading stage is not shown) and horizontal rail shown in FIG. 1a, viewed from a different angle. [Figure 3a] FIG. 3a is an enlarged schematic view of part A in FIG. 2b. [Figure 3b] FIG. 3b is an enlarged schematic view of part A in FIG. 2b seen from a different angle. [Figure 4] FIG. 4 is an exploded schematic view of the ground running mechanism shown in FIG. 2b. [Figure 5] FIG. 5 is an enlarged schematic view of part B in FIG. 2b. [Figure 6a] FIG. 6a is a perspective structural view of the lateral movement drive mechanism shown in FIG. [Figure 6b] FIG. 6b is a perspective structural view of the lateral movement drive mechanism shown in FIG. 6a, seen from another angle. [Figure 7] FIG. 7 is an enlarged schematic view of part C in FIG. 2b. [Figure 8a] FIG. 8a is a perspective view of the training wheels shown in FIG. [Figure 8b] FIG. 8b is a perspective structural view of the training wheels shown in FIG. 8a, seen from a different angle. [Explanation of symbols]

[0011] 100: shelf, 100A: first shelf, 200: Transport robot, 210: Support stand, 210a: Column, 211: Drag chain, 220: Bin loading / unloading assembly, 221: Sliding connection member, 222: Loading / unloading stage, 230: Ground travel mechanism, 231: Drive assembly, 2311: Drive motor, 2312: Reducer, 2313: Traveling wheel, 2314: First output shaft, 2315: Second output shaft, 232: Mounting assembly, 2321: Mounting frame, 2322: Bearing seat, 2323: Bearing, 240: First suspension structure, 241: First elastic member, 242: First sliding member, 242a: First slider, 242b: First slide rail, 250: training wheel group, 251: training wheel, 2511: first training wheel, 2512: second training wheel, 2513: training wheel mounting seat, 252: second suspension structure, 2521: second elastic member, 2522: second sliding member, 2522a: second slider, 2522b: second slide rail, 2523: third fixed member, 2524: fourth fixed member, 260: Lateral movement drive mechanism, 261: Lateral movement motor, 262: Drive wheel group, 263: First drive wheel, 264: Second drive wheel, 265: Third drive wheel, 266: Third suspension structure, 2661: Third elastic member, 2662: First fixed member, 2663: Second fixed member, 2664: Second drive wheel mounting seat, 270: lifting mechanism, 271: lifting motor, 272: conveyor belt, 273: transmission wheel, 280: control device, 300: horizontal rail, 310: groove. DETAILED DESCRIPTION OF THE INVENTION

[0012] In order to clarify the purpose, technical solution and advantages of the present application, the present application will be described in more detail below by way of examples with reference to the drawings. Obviously, the described examples are only some of the examples of the present application, and not all of the examples. All other examples obtained by those skilled in the art based on the examples of the present application are also within the scope of protection of the present application.

[0013] As described in the background art, in the related art, a warehouse storage device generally includes shelves, and a transport robot is provided on the shelves to transport bins on the shelves. Since the transport robot is provided on the shelves, the shelves are subjected to a large load, which increases the requirements for the load-bearing capacity of the shelves.

[0014]

[0013] An embodiment of the present application provides a transport robot and a warehousing storage apparatus to reduce the load on shelves. Referring to Figures 1a and 1b, Figure 1a is a perspective structural view of a warehousing storage apparatus according to an embodiment of the present application, and Figure 1b is a front view of the warehousing storage apparatus shown in Figure 1a.

[0015] 1a and 1b, a warehouse storage system according to an embodiment of the present application includes shelves 100 and a transport robot 200, and an aisle is formed between adjacent shelves 100. The transport robot 200 according to an embodiment of the present application will be described in detail below.

[0016] Referring to Figures 2a to 2c, Figure 2a is an oblique structural view of the transport robot shown in Figure 1a, Figure 2b is an oblique structural view of the transport robot (loading and unloading stage not shown) and horizontal rail shown in Figure 1a, and Figure 2c is an oblique structural view of the transport robot (loading and unloading stage not shown) and horizontal rail shown in Figure 1a viewed from a different angle. As shown in FIGS. 1a to 2c, the transport robot 200 is hung on the first shelf 100A located on one side of the aisle. The transport robot 200 includes a support stand 210, a bin take-out assembly 220, and a ground travel mechanism 230. The support stand 210 is movable horizontally on the side of the first shelf 100A. The bin take-out assembly 220 is movable up and down relative to the support stand 210 to take in and out bins. The ground travel mechanism 230 is provided at the bottom of the support stand 210 and is located on the side of the aisle closer to the first shelf 100A, and is used to provide support and travel power for the transport robot 200 when in contact with the ground.

[0017] Specifically, the adjacent shelves 100 include a first shelf 100A and a second shelf (not shown). An aisle is formed between the first shelf 100A and the second shelf so that the transport robot 200 can move horizontally on one side of the aisle closer to the first shelf 100A to load and unload bottles on the first shelf 100A and / or the second shelf.

[0018] 2a is a support stand 210, the height of which is selected according to the height of the shelf 100. The structure of the support stand 210 may be a single column or a column mast consisting of two columns, but is not limited to this in the present application.

[0019] The bin access assembly 220 is also horizontally extendable relative to the support stand 210 to access bins on adjacent shelves 100 on either side of the aisle.

[0020] In a specific embodiment of the present application, the support stand 210 is a column mast including two columns 210a arranged opposite each other. The bin loading / unloading assembly 220 may include two sliding connecting members 221, a loading / unloading stage 222, and a telescopic mechanism (not shown). The loading / unloading stage 222 is used to place bins and is disposed between the two columns 210a of the support stand 210. Both sides of the loading / unloading stage 222 are slidably connected to the columns 210a via respective sliding connecting members 221, so that the loading / unloading stage 222 can rise and fall along the support stand 210 to load and unload bins at different heights of the shelves 100. The loading / unloading stage 222 can also be extended toward the first shelf 100A or the second shelf 100A on both sides of the aisle by driving the telescopic mechanism, thereby loading and unloading bins from these two shelves 100.

[0021] In the transport robot and warehouse storage system according to the embodiment of the present application, the transport robot 200 is hung on a first shelf 100A located on one side of an aisle via a support stand 210, and is able to slide horizontally along the shelf 100. The ground travel mechanism 230 is located on the side of the aisle closer to the first shelf 100A, and is adapted to provide the transport robot 200 with support force and travel power by rolling contact with the ground on which the shelf 100 is located. Since part of the weight of the transport robot 200 acts on the ground via the ground travel mechanism 230, the load on the shelf 100 is reduced, which in turn reduces the requirements for the load-bearing capacity of the shelf 100.

[0022] 1a and 1b, in some embodiments of the present application, a plurality of horizontal rails 300 are fixedly installed on the exterior of the shelf 100. The plurality of horizontal rails 300 are provided at intervals along the vertical direction of the shelf 100. The transfer robot 200 is hung on the first shelf 100A via the plurality of horizontal rails 300.

[0023] Specifically, the support stand 210 is attached vertically to a plurality of horizontal rails 300 and is connected to the first shelf 100A so as to be movable along the horizontal direction. The transport robot 200 is hung on the first shelf 100A located on one side of the aisle via the plurality of horizontal rails 300 and moves along the horizontal direction of the shelf 100 based on the plurality of horizontal rails 300.

[0024] In a specific embodiment of the present application, as shown in FIG. 2b, two horizontal rails 300, one above the other, are fixed to the outside of the first shelf 100A, and horizontally extending grooves 310 are provided in the horizontal rails 300, and the support stand 210 is hung and attached to the horizontal rails 300 via the grooves 310.

[0025] In the present embodiment, the transport robot 200 is hung on the first shelf 100A located on one side of the aisle by a horizontal rail 300, and can move horizontally in the longitudinal direction of the shelf 100 to take in and out each bin along the longitudinal direction of the shelf 100.

[0026] 2a to 2c, in some embodiments of the present application, the ground traveling mechanism 230 includes a drive assembly 231 provided at the bottom of the support stand 210. The drive assembly 231 is in rolling contact with the ground to support and drive the support stand 210 to move along the horizontal direction of the shelf 100 on the ground.

[0027] The ground running mechanism 230 further includes a mounting assembly 232. The mounting assembly 232 is fixedly connected to the bottom of the support stand 210 or is connected to be movable along the vertical direction. The drive assembly 231 is provided on the mounting assembly 232.

[0028] When the embodiment of the present application is applied, the transport robot 200 is attached to the horizontal rail 300, so that part of its weight acts on the first shelf 100A, and another part of its weight acts on the ground via the drive assembly 231 that is in rolling contact with the ground, thereby reducing the load on the first shelf 100A. Furthermore, by providing the drive assembly 231, the ground traveling mechanism 230 has a driving function. Part of the driving force that drives the transport robot 200 to move horizontally comes from the movement of the drive assembly 231 relative to the ground, making the movement of the transport robot 200 more stable, and another part of the driving force comes from the lateral movement drive mechanism 260 of the transport robot 200, which will be described in detail later.

[0029] In some embodiments of the present application, referring to Figures 3a to 4, Figure 3a is an enlarged schematic view of part A in Figure 2b, Figure 3b is an enlarged schematic view of part A in Figure 2b viewed from a different angle, and Figure 4 is an exploded schematic view of the ground running mechanism shown in Figure 2b.

[0030] 3a to 4, the drive assembly 231 includes a motor assembly and a running wheel 2313. The motor assembly includes a first output shaft 2314 that is perpendicular to the longitudinal direction of the passage. The running wheel 2313 is mounted on the first output shaft 2314 and moves on the ground when driven by the first output shaft 2314. The running wheel 2313 is connected to the mounting assembly 232 via the first output shaft 2314.

[0031] The motor assembly includes a drive motor 2311 and a reducer 2312. The drive motor 2311 is drivingly connected to the reducer 2312. A first output shaft 2314 extends from the reducer 2312 and drives the running wheels 2313 to move on the ground.

[0032] Specifically, the number of running wheels 2313 and first output shafts 2314 may be one or more. At least one running wheel 2313 may be fitted onto each first output shaft 2314.

[0033] 4, in a specific embodiment of the present application, two first output shafts 2314 extend from the reducer 2312, and these two first output shafts 2314 are respectively mounted on a pair of opposing surfaces of the reducer 2312 in a direction perpendicular to the passage. One running wheel 2313 is fitted onto each of the first output shafts 2314.

[0034] The drive motor 2311 drives the running wheels 2313 to roll on the ground, and drives the support stand 210 via the mounting assembly 232 to slide along the horizontal direction of the shelf 100 based on the plurality of horizontal rails 300.

[0035] When the embodiment of the present application is applied, the transport robot 200 slides along the horizontal direction of the shelf 100 by driving the running wheels 2313 so that they roll on the ground by the drive motor 2311 of the motor assembly.

[0036] In some embodiments of the present application, as shown in FIGS. 3 a - 4 , the mounting assembly 232 includes a mounting frame 2321 and a bearing seat 2322 .

[0037] The support stand 210 is a column mast. The mounting frame 2321 is provided between the two columns 210a of the support stand 210 and is fixedly connected to the bottom of the support stand 210 or is connected to it so as to be movable along the vertical direction. The bearing seat 2322 is fixedly installed in the mounting frame 2321 and is connected to the motor assembly.

[0038] The motor assembly further includes a second output shaft 2315 that is parallel to the longitudinal direction of the passage and is rotatably fitted in a bearing seat 2322.

[0039] Specifically, the second output shaft 2315 and the drive motor 2311 are installed opposite to another pair of opposing surfaces of the reducer 2312. The bearing seat 2322 is provided with one or more coaxially arranged bearings 2323, and the inner ring of the bearing 2323 is interference-fitted with the second output shaft 2315.

[0040] In a specific embodiment of the present application, as shown in Figures 3a to 4, the mounting frame 2321 may be a rectangular hollow frame. The bearing seat 2322 is provided inside the mounting frame 2321, and both ends thereof are fixedly connected to the two front and rear side walls of the mounting frame 2321. The two front and rear side walls of the mounting frame 2321 refer to both side walls parallel to the shelf 100. The drive assembly 231 is provided inside the mounting frame 2321, and the second output shaft 2315 is rotatable on the bearing seat 2322.

[0041] In this embodiment, the mounting frame 2321 is disposed between the two columns 210a of the support stand 210 and is fixedly connected to the bottom of the support stand 210 or is movably connected to it in the vertical direction, thereby increasing the stability of the support stand 210. When driven by the drive motor 2311, the running wheels 2313 roll along the horizontal direction of the shelf 100, and the support stand 210 can slide along the horizontal rail 300 via the bearing seats 2322 and the mounting frame 2321.

[0042] 3a-4, the ground travel mechanism 230 further includes a first suspension structure 240. The first suspension structure 240 is connected to the support stand 210 and the mounting assembly 232, and allows the ground travel mechanism 230 to float in accordance with the unevenness of the ground.

[0043] Specifically, a pair of first suspension structures 240 are provided on both ends of the ground running mechanism 230. The mounting assembly 232 is movably connected to the bottom of the support stand 210 via the first suspension structures 240 in the vertical direction, allowing the ground running mechanism 230 to float in accordance with the undulations of the ground, thereby keeping the ground running mechanism 230 in constant contact with the ground.

[0044] In the embodiment of the present application, when the transfer robot 200 moves, the first suspension structure 240 applies a force to the ground running mechanism 230 that presses the ground, allowing the ground running mechanism 230 to float relative to the support stand 210 in accordance with the unevenness of the ground. This prevents the running wheels 2313 of the ground running mechanism 230 from coming off the ground due to the unevenness of the ground, and the running wheels 2313 always contact the ground, ensuring sufficient friction between the ground and the running wheels 2313, allowing the transfer robot 200 to move more stably.

[0045] 3a to 4, in some embodiments of the present application, the first suspension structure 240 includes a first elastic member 241, one end of which is fixedly connected to the support stand 210 and the other end of which is fixedly connected to the mounting assembly 232. The first elastic member 241 can apply an elastic force to the ground traveling mechanism 230, pressing it toward the ground.

[0046] The first suspension structure 240 further includes a first sliding member 242. The first elastic member 241 and the first sliding member 242 are respectively provided on both sides of the support stand 210 and cooperate with each other to allow the ground running mechanism 230 to float in accordance with the unevenness of the ground.

[0047] Specifically, the first elastic member 241 and the first sliding member 242 are both arranged along the vertical direction. Here, the first elastic member 241 has its tip fixedly connected to the support stand 210 and its bottom fixedly connected to the mounting assembly 232.

[0048] In the embodiment of the present application, the first elastic member 241 and the first sliding member 242 cooperate with each other, so that the ground running mechanism 230 can not only support the transfer robot 200 but also float relative to the support stand 210 in accordance with the unevenness of the ground when the transfer robot 200 moves. Therefore, the running wheels 2313 of the ground running mechanism 230 are prevented from coming off the ground due to the unevenness of the ground, and the running wheels 2313 are always in contact with the ground, which ensures sufficient friction between the ground and the running wheels 2313, allowing the transfer robot 200 to move more stably.

[0049] 3a to 4, the first sliding member 242 includes a first slider 242a and a first slide rail 242b. The first slider 242a is fixedly connected to the support stand 210, and the first slide rail 242b has one side fixedly connected to the mounting assembly 232 and the other side slidingly connected to the first slider 242a.

[0050] In a specific embodiment of the present application, as shown in Figures 3a to 4, the first elastic members 241 and the first sliding members 242 of the two sets of first suspension structures 240 are respectively provided at the corners of the mounting frame 2321, and the column 210a of the support stand 210 is sandwiched between one set of the first elastic members 241 and the first sliding members 242.

[0051] The first elastic member 241 may be a spring, and its top and bottom ends are fixedly connected to the column 210a and the mounting frame 2321, respectively, so that when the transfer robot 200 moves, the first slide rail 242b on the mounting frame 2321 can slide up and down relative to the first slider 242a on the column 210a.

[0052] When the embodiment of the present application is applied, the first slider 242a and the first slide rail 242b cooperate with each other to guide the up and down floating of the ground running mechanism 230, allowing it to float along the vertical direction, thereby ensuring that the horizontal movement of the ground running mechanism 230 and the support stand 210 in the aisle direction is synchronized.

[0053] 2a to 2c, in some embodiments of the present application, the transport robot 200 further includes at least one lateral movement drive mechanism 260. The at least one lateral movement drive mechanism 260 is provided on the support stand 210, and is respectively connected to the horizontal rails 300 in a rolling manner, and cooperates with the ground traveling mechanism 230 to move the transport robot 200 along the horizontal direction of the first shelf 100A.

[0054] The transport robot further includes a plurality of training wheels 250 , which are provided on a support stand 210 .

[0055] The plurality of training wheel groups 250 and at least one lateral movement drive mechanism 260 are each connected by rolling to a horizontal rail 300 located at the same height, whereby the transport robot 200 is hung on the first shelf 100A via the plurality of training wheel groups 250 and at least one lateral movement drive mechanism 260.

[0056] Specifically, the present application does not limit the arrangement order of the plurality of training wheel groups 250 and the at least one lateral movement drive mechanism 260 on the support stand 210. In a specific embodiment of the present application, two upper and lower horizontal rails 300 are fixed to the outside of the shelf 100, and the support stand 210 is provided with the lateral movement drive mechanisms 260 and training wheel groups 250 arranged vertically at a distance from each other and connected to the upper and lower horizontal rails 300 by rolling, respectively. The plurality of training wheel groups 250 are installed opposite each other on two columns 210a of the support stand 210, and two training wheel groups 250 located at the same height are connected to the same horizontal rail 300 by rolling, thereby improving the sliding stability of the transport robot 200 on the horizontal rails 300.

[0057] In the embodiment of the present application, the transport robot 200 is hung on the outside of the shelf 100 via the auxiliary wheel group 250 and the lateral movement drive mechanism 260, so that part of the driving force that drives the transport robot 200 to move horizontally comes from the movement of the drive assembly 231 relative to the ground, and another part of the driving force comes from the sliding of the support stand 210 along the horizontal rail 300 driven by the lateral movement drive mechanism 260. The auxiliary wheel group 250 can improve the efficiency and stability of the movement of the support stand 210 on the horizontal rail 300.

[0058] In some embodiments of the present application, with reference to Figures 5 to 6b, Figure 5 is an enlarged schematic view of part B in Figure 2b, Figure 6a is a perspective structural view of the lateral movement drive mechanism shown in Figure 5, and Figure 6b is a perspective structural view of the lateral movement drive mechanism shown in Figure 6a viewed from a different angle.

[0059] As shown in FIGS. 5 to 6b, each lateral movement drive mechanism 260 includes a lateral movement motor 261 and two drive wheel groups 262.

[0060] Two drive wheel groups 262 are fixed on the support stand 210 opposite to each other and are rollingly connected to the same horizontal rail 300. A lateral movement motor 261 is drivingly connected to the drive wheel groups 262 and moves the support stand 210 on the horizontal rail 300 via the drive wheel groups 262.

[0061] Specifically, the two drive wheel groups 262 are fixed to two columns 210a of the support stand 210 opposite to each other and are rollingly connected to the same horizontal rail 300. The lateral movement motor 261 is drivingly connected to the drive wheel groups 262 and moves the support stand 210 along the horizontal rail 300 in the horizontal direction via the drive wheel groups 262.

[0062] When the embodiment of the present application is applied, by providing two opposing drive wheel groups 262 that are rollingly connected to the horizontal rail 300, it is possible to improve the stability of the transport robot 200 sliding along the horizontal direction on the horizontal rail 300. The lateral movement motor 261 drives the drive wheel groups 262 to slide the support stand 210 along the horizontal direction on the horizontal rail 300, thereby enabling the bin insertion / removal assembly 220 to insert and remove bins at different longitudinal positions on the shelf 100.

[0063] In some embodiments of the present application, as shown in FIGS. 5 to 6b, the drive wheel group 262 includes a first drive wheel 263, a second drive wheel 264, and a third drive wheel 265.

[0064] The first drive wheel 263 is located above the horizontal rail 300 and is rollingly connected to the top surface of the horizontal rail 300. The second drive wheel 264 and the third drive wheel 265 are located below the horizontal rail 300 and cooperate with each other to move the support stand 210 based on the horizontal rail 300.

[0065] When the embodiment of the present application is applied, by providing the first drive wheel 263, the second drive wheel 264, and the third drive wheel 265 so as to be in rolling contact with the horizontal rail 300, the sliding friction between the support stand 210 and the horizontal rail 300 is converted into rolling friction, and the support stand 210 can be moved at high speed on the horizontal rail 300. The first drive wheel 263 is located above the horizontal rail 300, and the second drive wheel 264 and the third drive wheel 265 are located below the horizontal rail 300. The transport robot 200 is hung on the first shelf 100A located on one side of the aisle by sandwiching the horizontal rail 300 from above and below with the drive wheel group 262, thereby improving the stability of the attachment and horizontal movement of the transport robot 200.

[0066] In some embodiments of the present application, as shown in FIGS. 5 to 6b, the drive wheel group 262 further comprises a third suspension structure 266.

[0067] The third suspension structure 266 is fixedly connected to the support stand 210, and the second drive wheel 264 and the third drive wheel 265 are fixed to the third suspension structure 266. The second drive wheel 264 is rollingly connected to the bottom of the horizontal rail 300 and drivingly connected to the lateral movement motor 261. The third drive wheel 265 is rollingly connected to the inner wall of the horizontal rail 300.

[0068] The third suspension structure 266 is floatable along the horizontal direction relative to the support stand 210 so as to apply a positive horizontal pressure to the support stand 210 .

[0069] Specifically, a horizontal rail 300 connected to the two drive wheel groups 262 in a rolling manner has a recessed groove 310 at the bottom thereof that opens downward.

[0070] The first drive wheel 263 and the second drive wheel 264 are arranged vertically, and the third drive wheel 265 is arranged horizontally, so that the second drive wheel 264 is rollingly connected to the top of the groove 310 at the bottom of the horizontal rail 300 and is drivingly connected to the lateral movement motor 261. The third drive wheel 265 is rollingly connected to the side wall of the groove 310 at the bottom of the horizontal rail 300.

[0071] When the third suspension structure 266 applies a horizontal positive pressure to the support stand 210, when the transport robot 200 moves, if the part of the support stand 210 where the lateral movement drive mechanism 260 is located moves faster than other parts, the direction of the positive pressure is opposite to the movement direction, and if the part moves slower than other parts, the direction of the positive pressure is the same as the movement direction, thereby causing the upper and lower parts of the support stand 210 to move synchronously and limiting the swing angle.

[0072] In this embodiment, the first and second drive wheels 263 and 264 are arranged vertically, and the third drive wheel 265 is arranged horizontally, thereby increasing the contact area between the drive wheel group 262 and the groove 310 at the bottom of the horizontal rail 300 and improving the efficiency and stability of the movement of the support stand 210 on the horizontal rail 300. The third suspension structure 266 is provided to apply pressure to the support stand 210, thereby limiting the swing angle of the support stand 210 when it moves along the horizontal rail 300 and ensuring that the movement of the support stand 210 on each horizontal rail 300 is synchronized.

[0073] 5 to 6b, in some embodiments of the present application, the third suspension structure 266 includes a third elastic member 2661. The third elastic member 2661 is arranged along the horizontal direction, with one end fixedly connected to the support stand 210 and the third driving wheel 265, and the other end fixedly connected to the second driving wheel 264. The third elastic member 2661 can apply a positive pressure to the support stand 210 in the horizontal direction.

[0074] Specifically, the third elastic member 2661 may be a spring, which makes the structure of the third suspension structure 266 simpler and lighter, reduces the weight of the transport robot 200, reduces the load on the shelf 100, and improves the service life of the horizontal rail 300 and the shelf 100.

[0075] One end of the third elastic member 2661 is fixedly connected to the column 210a of the support stand 210 via a first fixing member 2662. The first fixing member 2662 extends toward the bottom groove 310 of the horizontal rail 300, and the third drive wheel 265 is fixed to its end, so that the third drive wheel 265 is positioned within the bottom groove 310 and makes rolling connection with the side wall of the bottom groove 310. The other end of the third elastic member 2661 is fixedly connected to a second drive wheel mounting seat 2664 via a second fixing member 2663.

[0076] In the embodiment of the present application, the third suspension structure 266 applies a horizontal positive pressure to the support stand 210 through the third elastic member 2661, thereby limiting the swing angle of the support stand 210 when it moves along the horizontal rails 300 and ensuring that the movement of the support stand 210 on each horizontal rail 300 is synchronized.

[0077] In some embodiments of the present application, referring to Figures 7 to 8b, Figure 7 is an enlarged schematic view of part C in Figure 2b, Figure 8a is a perspective structural view of the training wheel group shown in Figure 7, and Figure 8b is a perspective structural view of the training wheel group shown in Figure 8a viewed from a different angle.

[0078] As shown in FIGS. 7 to 8b, each training wheel group 250 includes a training wheel 251 rollingly connected to a horizontal rail 300.

[0079] Each training wheel group 250 further includes a second suspension structure 252. The second suspension structure 252 is located above the horizontal rail 300 and is fixedly connected to the support stand 210, and the training wheel 251 is mounted on the second suspension structure 252 and is located above the horizontal rail 300.

[0080] The second suspension structure 252 is capable of floating in the vertical direction relative to the horizontal rail 300 so as to constantly press the auxiliary wheels 251 against the horizontal rail 300 .

[0081] Specifically, an upwardly opening groove 310 is provided at the top of horizontal rail 300, which is rollingly connected to training wheel group 250. Training wheels 251 are provided on second suspension structures 252 and are positioned in grooves 310 at the top of horizontal rail 300, and can roll within top grooves 310. With training wheels 251 positioned above horizontal rail 300 and also within grooves 310 at the top of horizontal rail 300, support stand 210 is hung on first shelf 100A located on one side of the aisle.

[0082] The second suspension structure 252 is capable of floating in the vertical direction relative to the horizontal rail 300 so that the auxiliary wheels 251 are always positioned within the grooves 310 at the top of the horizontal rail 300 .

[0083] During the movement of the transfer robot 200, the support stand 210 floats vertically in accordance with the undulations of the ground. When the auxiliary wheels 251 of the support stand 210 attempt to float upward relative to the horizontal rail 300, the second suspension structure 252 applies pressure to the auxiliary wheels 251 to keep them positioned within the grooves 310 at the top of the horizontal rail 300.

[0084] Furthermore, there may be an error in the mounting position of the horizontal rails 300 on the first shelf 100A, which may cause the pitch between the upper and lower horizontal rails 300 to deviate from the specified pitch. In this case, when the transport robot 200 is mounted on the horizontal rails 300, the second suspension structure 252 can adjust the vertical position of the auxiliary wheels 251 relative to the support stand 210 by itself, so as to ensure that the auxiliary wheels 251 are always positioned within the grooves 310 at the top of the horizontal rails 300.

[0085] When the embodiment of the present application is applied, the second suspension structure 252 constantly presses the auxiliary wheels 251 against the horizontal rail 300 to prevent the transport robot 200 from coming off the horizontal rail 300, thereby improving the stability of the sliding of the transport robot 200 on the horizontal rail 300.

[0086] 7 to 8b, in some embodiments of the present application, the second suspension structure 252 includes a second elastic member 2521. One end of the second elastic member 2521 is fixedly connected to the support stand 210, and the other end is fixedly connected to the training wheel 251. The second elastic member 2521 can apply an elastic force to the training wheel 251 to press it toward the horizontal rail 300.

[0087] The second suspension structure 252 further includes a second sliding member 2522. The second sliding member 2522 includes a second slider 2522a and a second slide rail 2522b. The second slider 2522a is fixedly connected to the training wheel 251. The second slide rail 2522b has one side fixedly connected to the support stand 210 and the other side slidingly connected to the second slider 2522a.

[0088] Specifically, the second elastic member 2521 and the second sliding member 2522 are both provided along the vertical direction. Here, the tip of the second elastic member 2521 is fixedly connected to the support stand 210, and the bottom end is fixedly connected to the training wheel 251.

[0089] The auxiliary wheel 251 is always positioned within the recessed groove 310 at the top of the horizontal rail 300 by the second elastic member 2521 and the second sliding member 2522 .

[0090] The second elastic member 2521 may be a spring, which makes the structure of the second suspension structure 252 simpler and lighter, reduces the weight of the transport robot 200, reduces the load on the first shelf 100A, and improves the service life of the horizontal rail 300 and the first shelf 100A.

[0091] The second elastic member 2521 has a tip fixedly connected to the column 210a of the support stand 210 via a third fixed member 2523, and a bottom end fixedly connected to the auxiliary wheel 251 via a fourth fixed member 2524.As a result, when the transport robot 200 moves, an elastic force pressing against the horizontal rail 300 is applied to the auxiliary wheel 251, allowing the second slide rail 2522b to slide up and down relative to the second slider 2522a on the column 210a of the support stand 210.

[0092] When this embodiment of the present application is applied, the second elastic member 2521 and the second sliding member 2522 keep the auxiliary wheel 251 always positioned within the groove 310 at the top of the horizontal rail 300, preventing it from coming off the horizontal rail 300, thereby improving the stability of the sliding of the transport robot 200 on the horizontal rail 300.

[0093] In some embodiments of the present application, as shown in FIGS. 7 to 8b, the training wheel 251 includes a first training wheel 2511, a second training wheel 2512, and a training wheel mounting seat 2513.

[0094] The training wheel mounting seat 2513 is fixedly connected to the second suspension structure 252. The first training wheel 2511 and the second training wheel 2512 are fixed to the training wheel mounting seat 2513 in parallel.

[0095] The first auxiliary wheel 2511 is rollingly connected to the inner wall of the horizontal rail 300 , and the second auxiliary wheel 2512 is rollingly connected to the top of the horizontal rail 300 .

[0096] Specifically, the first auxiliary wheel 2511 is disposed horizontally and is rollingly connected to the side wall of the groove 310 at the top of the horizontal rail 300. The second auxiliary wheel 2512 is disposed vertically and is rollingly connected to the bottom of the groove 310 at the top of the horizontal rail 300.

[0097] Specifically, the training wheel mounting seat 2513 is fixedly connected to the fourth fixed member 2524 of the second suspension structure 252. When the embodiment of the present application is applied, the first training wheel 2511 is arranged horizontally and the second training wheel 2512 is arranged vertically, thereby increasing the contact area between the training wheel 251 and the groove 310 at the top of the horizontal rail 300 and improving the efficiency and stability of movement of the support stand 210 on the horizontal rail 300.

[0098] 1a to 2b, in some embodiments of the present application, the transport robot further includes a lifting mechanism 270. The lifting mechanism 270 is provided on the support stand 210 and is capable of raising and lowering the bin access assembly 220 along the support stand 210 to access bins at different heights on the shelf 100.

[0099] Specifically, in a specific embodiment of the present application, the transport robot 200 further includes two sets of lifting mechanisms 270. The bin take-in / take-out assembly 220 is provided between two columns 210a of the support stand 210 and is slidably connected to the support stand 210 along the vertical direction, and the two sets of lifting mechanisms 270 are respectively provided on the two columns 210a of the support stand 210, and can raise and lower the bin take-in / take-out assembly 220 along the support stand 210 so as to take in and out bins at different heights of the shelf 100.

[0100] Each set of lifting mechanisms 270 may include a lifting motor 271, a conveyor belt 272, and two transmission wheels 273. The two transmission wheels 273 are fixed to the top and bottom of the column 210a of the support stand 210, respectively. The lifting motor 271 is drivingly connected to the bottom transmission wheel 273 and is fixed to the column 210a of the support stand 210. The conveyor belt 272 wraps around the bottom transmission wheel 273 and the top transmission wheel 273, and both ends are fixedly connected to the bin take-out assembly 220. The lifting motor 271 drives and transmits the transmission wheels and the conveyor belt 272, allowing the bin take-out assembly 220 to slide vertically along the support stand 210 to take in and out bins at different heights of the shelf 100.

[0101] In the embodiment of the present application, the bin access assembly 220 can be raised and lowered along the support stand 210 by the lifting mechanism 270, allowing access to bins at different heights on the shelf 100, and can also move horizontally along the shelf 100 following the support stand 210 to access bins at different longitudinal positions on the shelf 100.

[0102] 1a to 2a, in some embodiments of the present application, the transfer robot 200 further includes a control device 280 for controlling the movement of the transfer robot 200 and the insertion and removal of bins. The control device 280 is installed parallel to the outside of the shelf 100 together with the support stand 210, and is fixedly connected to the mounting frame 2321 of the ground traveling mechanism 230. The bottom of the control device 280 is provided with rollers for contacting the ground, and the control device 280 can move along the horizontal direction of the shelf 100 following the support stand 210.

[0103] As shown in FIG. 2 a, the support stand 210 is also provided with a drag chain 211 for restraining the cable of the transport robot 200 .

[0104] A warehouse storage device according to an embodiment of the present invention will be described below.

[0105] 1a and 1b, a warehouse storage apparatus according to an embodiment of the present application includes a shelf 100 according to any one of the above embodiments and at least one transport robot 200. Aisles are formed between adjacent shelves 100.

[0106] The transfer robot 200 is hung on a first shelf 100A located on one side of the aisle, and the ground running mechanism 230 at the bottom of the transfer robot 200 is located on the side of the aisle closer to the first shelf 100A.

[0107] Specifically, when there are two transport robots 200, they may be hung on both sides of the first shelf 100A in the longitudinal direction so that bins can be simultaneously taken in and out from both sides of the shelf 100. If the shelf 100 is long enough, two or more transport robots 200 may be provided on the same side of the first shelf 100A. The present application does not limit the installation or arrangement of the transport robots 200 on the first shelf 100A.

[0108] In the warehouse storage system according to the present application, the transport robot 200 is hung on a first shelf 100A located on one side of the aisle via a support stand 210, and is therefore able to slide horizontally along the shelf 100. The ground travel mechanism 230 is located on the side of the aisle closer to the first shelf 100A, and is in rolling contact with the ground on which the shelf 100 is located, thereby providing the transport robot 200 with support force and travel power. Part of the weight of the transport robot 200 acts on the ground via the ground travel mechanism 230, thereby reducing the load on the shelf 100, i.e., reducing the load requirements on the shelf 100.

[0109] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply the existence of any actual relationship or order between those entities or operations. Furthermore, the terms "comprise," "include," and other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or device that includes a set of elements includes not only those elements but also other elements not expressly listed, or includes the inherent elements in such a process, method, article, or device. Unless otherwise specified, an element defined by "comprising ..." does not exclude a process, method, article, or device that includes the element from having other identical elements.

[0110] The above description is merely a preferred embodiment of the present application, and does not limit the present application. Any amendments, equivalent replacements, modifications, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A transport robot for a warehouse storage device, The warehousing storage device includes shelves (100) with aisles formed between adjacent shelves (100); The transport robot (200) is hung on a first shelf (100A) located on one side of the aisle, The transfer robot (200) comprises a support stand (210), a bin loading / unloading assembly (220), and a ground travel mechanism (230); The support stand (210) is movable horizontally along the side surface of the first shelf (100A), The bin loading and unloading assembly (220) is movable up and down relative to the support stand (210) to load and unload bins; The ground running mechanism (230) is provided at the bottom of the support stand (210) and is located on the side of the aisle closer to the first shelf (100A), and is adapted to fit the ground to provide support and running power to the transport robot (200). A transport robot characterized by:

2. The ground travel mechanism (230) comprises a drive assembly (231) provided at the bottom of the support stand (210); the drive assembly (231) is in rolling contact with the ground and is for supporting and driving the support stand (210) to move along the horizontal direction of the shelf (100) on the ground; 2. The transport robot according to claim 1.

3. The ground travel mechanism (230) further comprises a mounting assembly (232) fixedly or vertically movably connected to the bottom of the support stand (210); The drive assembly (231) is mounted to the mounting assembly (232).

3. The transport robot according to claim 2.

4. The drive assembly (231) comprises a motor assembly and a running wheel (2313); The motor assembly has a first output shaft (2314) perpendicular to the longitudinal direction of the passage, the running wheels (2313) are mounted on the first output shaft (2314) and move on the ground by being driven by the first output shaft (2314), and the running wheels (2313) are connected to the mounting assembly (232) via the first output shaft (2314).

4. The transport robot according to claim 3.

5. The motor assembly includes a drive motor (2311) and a reducer (2312), The drive motor (2311) is drivingly connected to the reducer (2312), The first output shaft (2314) extends from the reducer (2312) and moves the running wheels (2313) on the ground.

5. The transport robot according to claim 4.

6. The mounting assembly (232) comprises a mounting frame (2321) and a bearing seat (2322); The support stand (210) is a column mast; The mounting frame (2321) is provided between the two columns (210a) of the support stand (210), and is fixedly connected to the bottom of the support stand (210) or movably connected along the vertical direction; The bearing seat (2322) is fixedly mounted within the mounting frame (2321) and connected to the motor assembly.

4. The transport robot according to claim 3.

7. The motor assembly further comprises a second output shaft (2315) parallel to the longitudinal direction of the passage, the second output shaft (2315) being rotatably fitted to the bearing seat (2322).

7. The transport robot according to claim 6.

8. The ground travel mechanism (230) is further provided with a first suspension structure (240), The first suspension structure (240) is connected to the support stand (210) and the mounting assembly (232) and is adapted to float the ground travel mechanism (230) in accordance with ground undulations.

4. The transport robot according to claim 3.

9. The first suspension structure (240) comprises a first elastic member (241); the first elastic member (241) has one end fixedly connected to the support stand (210) and the other end fixedly connected to the mounting assembly (232); The first elastic member (241) applies an elastic force to the ground running mechanism (230) to press it toward the ground.

9. The transport robot according to claim 8.

10. The first suspension structure (240) further comprises a first sliding member (242); The first elastic member (241) and the first sliding member (242) are provided on both sides of the support stand (210), respectively, and cooperate with each other to float the ground running mechanism (230) in accordance with the undulations of the ground.

10. The transport robot according to claim 9.

11. The first sliding member (242) includes a first slider (242a) and a first slide rail (242b), The first slider (242a) is fixedly connected to the support stand (210), and the first slide rail (242b) is fixedly connected to the mounting assembly (232) on one side and slidably connected to the first slider (242a) on the other side. The transport robot according to claim 10 .

12. A plurality of horizontal rails (300) are fixedly installed on the exterior of the shelf (100), The horizontal rails (300) are spaced apart along the vertical direction of the shelf (100), The transport robot (200) is hung on the first shelf (100A) via the plurality of horizontal rails (300).

2. The transport robot according to claim 1.

13. The transport robot includes at least one lateral movement drive mechanism (260); The at least one lateral movement drive mechanism (260) is provided on the support stand (210), is connected to a horizontal rail (300) by rolling movement, and cooperates with the ground running mechanism (230) to move the transport robot (200) along the horizontal direction of the first shelf (100A). The transport robot according to claim 12 .

14. The transport robot further includes a plurality of training wheels (250) provided on the support stand (210); The plurality of training wheels (250) and the at least one lateral movement drive mechanism (260) are each connected by rolling to a horizontal rail (300) located at the same height, whereby the transport robot (200) is hung on the first shelf (100A) via the plurality of training wheels (250) and the at least one lateral movement drive mechanism (260). The transport robot according to claim 13 .

15. Each of the training wheel groups (250) includes a training wheel (251), The auxiliary wheels (251) are rollingly connected to a horizontal rail (300); 15. The transport robot according to claim 14.

16. Each of the training wheel groups (250) further comprises a second suspension structure (252); the second suspension structure (252) is located above the horizontal rail (300) and is fixedly connected to the support stand (210); The auxiliary wheels (251) are mounted on the second suspension structure (252) and are positioned above the horizontal rail (300); The second suspension structure (252) is capable of floating in a vertical direction relative to the horizontal rail (300) so as to always press the auxiliary wheel (251) against the horizontal rail (300).

15. The transport robot according to claim 14.

17. The second suspension structure (252) comprises a second elastic member (2521), The second elastic member (2521) has one end fixedly connected to the support stand (210) and the other end fixedly connected to the training wheel (251), The second elastic member (2521) applies an elastic force to the auxiliary wheel (251) to press it toward the horizontal rail (300).

17. The transport robot according to claim 16.

18. the second suspension structure (252) further comprises the second sliding member (2522); The second sliding member (2522) comprises a second slider (2522a) and a second slide rail (2522b), The second slider (2522a) is fixedly connected to the auxiliary wheel (251), The second slide rail (2522b) is fixedly connected to the support stand (210) on one side and slidably connected to the second slider (2522a) on the other side.

18. The transport robot according to claim 17.

19. The training wheel (251) includes a first training wheel (2511), a second training wheel (2512), and a training wheel mounting seat (2513), the auxiliary wheel mounting seat (2513) is fixedly connected to the second suspension structure (252); The first auxiliary wheel (2511) and the second auxiliary wheel (2512) are fixed in parallel to the auxiliary wheel mounting seat (2513), The first auxiliary wheel (2511) is rollingly connected to the inner wall of the horizontal rail (300); The second auxiliary wheel (2512) is rollingly connected to the top of the horizontal rail (300).

16. The transport robot according to claim 15.

20. Each of the lateral movement drive mechanisms (260) includes a lateral movement motor (261) and two drive wheel groups (262); The two drive wheel groups (262) are fixed to the support stand (210) opposite each other and are rollingly connected to the same horizontal rail (300); The lateral movement motor (261) is drivingly connected to the drive wheels (262), and drives the support stand (210) to move on the horizontal rail (300) via the drive wheels (262). The transport robot according to claim 13 .

21. The drive wheel group (262) comprises a first drive wheel (263), a second drive wheel (264), and a third drive wheel (265); The first driving wheel (263) is located above the horizontal rail (300) and is rollingly connected to the top surface of the horizontal rail (300); The second driving wheel (264) and the third driving wheel (265) are located below the horizontal rail (300) and cooperate with each other to move the support stand (210) based on the horizontal rail (300).

21. The transport robot according to claim 20.

22. The drive wheel group (262) further comprises a third suspension structure (266); the third suspension structure (266) is fixedly connected to the support stand (210); the second drive wheel (264) and the third drive wheel (265) are fixed to the third suspension structure (266); the second drive wheel (264) is rollingly connected to the bottom of the horizontal rail (300) and is drivingly connected to the lateral movement motor (261); The third drive wheel (265) is rollingly connected to the inner wall of the horizontal rail (300); the third suspension structure (266) is floatable along a horizontal direction relative to the support stand (210) so as to apply a horizontal positive pressure to the support stand (210); 22. The transport robot according to claim 21.

23. the third suspension structure (266) comprises a third elastic member (2661); The third elastic member (2661) is arranged along the horizontal direction, one end of which is fixedly connected to the support stand (210) and the third driving wheel (265), and the other end of which is fixedly connected to the second driving wheel (264); The third elastic member (2661) applies a horizontal positive pressure to the support stand (210).

23. The transport robot according to claim 22.

24. The transport robot further includes a lifting mechanism (270); the lifting mechanism (270) is mounted on the support stand (210) and is capable of moving the bin access assembly (220) up and down along the support stand (210) to access bins at different heights on the shelf (100); The bin access assembly (220) is horizontally extendable relative to the support stand (210) to access bins in the shelves (100) on either side of the aisle.

2. The transport robot according to claim 1.

25. 1. A warehousing storage device, comprising: A system comprising a shelf (100) according to any one of claims 1 to 24 and at least one transport robot (200), A passageway is formed between adjacent shelves (100); The transport robot (200) is hung on a first shelf (100A) located on one side of the aisle, and a ground running mechanism (230) at the bottom of the transport robot (200) is located on the side of the aisle closer to the first shelf (100A). A warehouse storage device characterized by:

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