Collaborative working shelf robot and method

Abstract

A collaborative working shelf robot and method. The collaborative working shelf robot comprises a first loading and unloading assembly and a second loading and unloading assembly which are used in cooperation; each of the first loading and unloading assembly and the second loading and unloading assembly comprises a vertical column, a lifting / lowering mechanism, and a loading and unloading mechanism; the vertical column is connected to the loading and unloading mechanism by means of the lifting / lowering mechanism; the vertical column is provided with a shelf locomotion mechanism; the shelf locomotion mechanism cooperates with guide rails fixed on the shelf so that the first loading and unloading assembly and the second loading and unloading assembly can independently move along the guide rails; the loading and unloading mechanism comprises a goods carrying part connected to the lifting / lowering mechanism; and the goods carrying part is connected to a pallet fork by means of a telescopic mechanism. The shelf robot can meet the use requirements of containers with various widths, having higher applicability.

Description

Coordinated working shelf robot and method

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number 2023116859777, filed with the Chinese Patent Office on December 7, 2023, entitled “A Collaborative Shelf Robot and Method”; the entire contents of which are incorporated by reference into this disclosure. Technical Field

[0003] The present disclosure relates to the technical field of warehousing equipment, and in particular to a collaborative shelf robot and method. Background Art

[0004] The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.

[0005] At present, there has appeared cargo loading and unloading equipment fixed on the shelf, which has the advantages of small footprint, large load capacity, and fast loading and unloading speed. For example, patent CN113830485B discloses a cargo loading and unloading equipment fixed on the shelf, which includes two uprights, a loading and unloading device is provided between the two uprights, the loading and unloading device is connected to a lifting mechanism installed on the uprights, and the two uprights cooperate with horizontal guide rails fixed on the shelf to enable the loading and unloading device to move to the target cargo position, and a grabbing device configured to cooperate with the cargo box is provided on the loading and unloading device, and the cargo box is transferred by moving the grabbing device. However, in the above patent, both uprights are connected to the same loading and unloading device, and the two uprights can only move synchronously. The transfer of the cargo box needs to pass through the space between the two uprights. Therefore, the size of the cargo box to be transferred is limited by the distance between the two uprights, resulting in poor applicability of the cargo loading and unloading equipment.

[0006] Public content

[0007] In response to the shortcomings of the existing technology, the purpose of the present invention is to provide a collaborative shelf robot and method. By setting two independently moving uprights and a loading and unloading mechanism installed on the uprights, the transfer of cargo boxes of different widths is achieved. The width of the cargo boxes to be transferred is not restricted, and the applicability of the entire device is strong.

[0008] In order to achieve the above objectives, the present disclosure is implemented through the following technical solutions:

[0009] In a first aspect, an embodiment of the present disclosure provides a collaborative shelf robot, comprising a first loading and unloading assembly and a second loading and unloading assembly used in conjunction with each other, wherein the first loading and unloading assembly and the second loading and unloading assembly each comprise a column, a lifting mechanism, and a loading and unloading mechanism, wherein the column is connected to the loading and unloading mechanism via the lifting mechanism;

[0010] The uprights are provided with a shelf traveling mechanism, which cooperates with a guide rail fixed horizontally on the shelf so that the first loading and unloading assembly and the second loading and unloading assembly can move independently along the guide rail;

[0011] The loading and unloading mechanism includes a cargo carrying component connected to the lifting mechanism, wherein the cargo carrying component is connected to a fork configured to cooperate with the cargo box through a telescopic mechanism to drive the cargo box to move;

[0012] The first loading and unloading assembly and the second loading and unloading assembly are configured to adjust their own positions according to the specifications and position of the cargo box to obtain the cargo box, and after obtaining the cargo box, they move to the target position synchronously to complete the storage and retrieval of the cargo box.

[0013] Optionally, the cargo-carrying component includes a cargo-carrying part and a fixed part, the cargo-carrying part is configured to support a cargo box, the fixed part is connected to the lifting mechanism, and a telescopic mechanism is provided on the side of the cargo-carrying part to drive the fork to perform bidirectional telescopic movement.

[0014] Optionally, a guide component is provided on the upper surface of the cargo carrying portion to guide the movement of the cargo box.

[0015] Optionally, the guide component includes a first guide portion and a second guide portion fixed at both ends of the first guide portion, the first guide portion is arranged along the movement direction of the cargo box, and the second guide portion is arranged inclined toward the outside.

[0016] Optionally, the telescopic mechanism includes a transmission mechanism fixed to the cargo carrying component, a transmission component of the transmission mechanism is engaged with a rack fixed to the fork, and the fork is slidably connected to a linear guide rail fixed to the cargo carrying component.

[0017] Optionally, the fork is provided with a cargo box movement drive mechanism, and the cargo box movement drive mechanism includes swing drive components arranged at both ends of the fork, and the swing drive components are connected to the fork to drive the fork to rotate in a plane perpendicular to the fork.

[0018] Optionally, the top surface of the fork serves as a cargo box support surface and can cooperate with the cargo box edge boss to lift the cargo box to achieve the transfer of the cargo box between the cargo loading part and the shelf.

[0019] Optionally, the top surface of the fork is provided with a hook claw, which is arranged perpendicular to the cargo carrying part, and the hook claw is configured to cooperate with the grooves provided on both sides of the cargo box to hook the cargo box through the grooves.

[0020] Optionally, the forks are provided with a cargo box movement driving mechanism, and the cargo box movement driving mechanism adopts a suction cup fixed to the forks, and the suction cups are fixed on the facing sides of the two forks.

[0021] Optionally, a flexible pad is provided on the inner side of the fork.

[0022] Optionally, the column is provided with a plurality of the shelf running mechanisms, wherein at least one of the shelf running mechanisms cooperates with the guide rail fixed on the shelf on one side of the loading and unloading mechanism, and at least one of the shelf running mechanisms cooperates with the guide rail fixed on the shelf on the other side of the loading and unloading mechanism.

[0023] Optionally, a hanging rail running mechanism is provided at the top of the column, and the hanging rail running mechanism cooperates with the hanging rail, and the hanging rail is fixedly arranged and parallel to the guide rail on the shelf.

[0024] Optionally, the bottom end of the column is provided with a lower auxiliary wheel, and the lower auxiliary wheel is configured to cooperate with the ground.

[0025] In a second aspect, an embodiment of the present disclosure provides a working method of the collaborative shelf robot described in the first aspect:

[0026] Obtaining cargo box information of a target cargo box; the target cargo box is a cargo box to be inbound or to be outbound; the cargo box information includes at least specification information, current location information, and target location information of the target cargo box;

[0027] Controlling the first loading and unloading assembly and the second loading and unloading assembly to move to the target container according to the specification information and the current position information;

[0028] Controlling the first loading and unloading assembly and the second loading and unloading assembly to work together to obtain the target cargo box;

[0029] The first loading and unloading component and the second loading and unloading component are controlled to place the target container at a target position according to the target position information.

[0030] Optionally, the method for controlling the first loading and unloading assembly and the second loading and unloading assembly to move to the current position of the target container according to the specification information of the target container and the current position information is:

[0031] According to the specification information of the target container and the current position information, the first loading and unloading assembly and the second loading and unloading assembly are controlled to move and the distance between them is adjusted to match the specification of the target container.

[0032] Optionally, the method for controlling the first loading and unloading assembly and the second loading and unloading assembly to move to the target container according to the specification information of the target container and the current position information is:

[0033] Determining target moving positions of the first loading and unloading assembly and the second loading and unloading assembly respectively according to the specification information of the target cargo box and the current position information;

[0034] The first loading and unloading assembly and the second loading and unloading assembly are controlled to move to their corresponding target moving positions so that the distance between them matches the specifications of the target cargo box.

[0035] The beneficial effects of the present disclosure are as follows:

[0036] 1. The shelf robot disclosed in the present invention is provided with a first loading and unloading component and a second loading and unloading component. The first loading and unloading component and the second loading and unloading component can cooperate with the guide rail through the shelf walking mechanism to realize independent movement along the guide rail. The cargo-carrying component is connected to the fork through a telescopic mechanism, and the fork is configured to drive the cargo box to move. When in use, the two cargo-carrying components are adjusted to a distance matching the cargo box through relative movement to jointly support the cargo box. The forks of the two cargo-carrying components work together to drive the cargo box to move. Since the distance between the two columns can be adjusted according to the width of the cargo box, the width of the cargo box to be loaded and unloaded is not restricted, and the applicability of the entire shelf robot is greatly improved.

[0037] 2. The shelf robot disclosed in the present invention drives the movement of the cargo box through the telescopic movement of the fork, in conjunction with a grasping mechanism such as a shift fork or a suction cup or a flexible pad. There are no requirements for the structural form of the cargo box and it can realize the loading and unloading of any cargo box. The shelf robot has strong applicability.

[0038] 3. In the shelf robot disclosed herein, the columns cooperate with the guide rails of the shelves on both sides of the loading and unloading mechanism through the shelf walking mechanism, so that the columns achieve double-sided support, and have better stability and safety during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which constitute a part of the present disclosure, are used to provide further understanding of the present disclosure. The exemplary embodiments of the present disclosure and the description thereof are configured to explain the present disclosure and do not constitute improper limitations on the present disclosure.

[0040] FIG1 is a schematic diagram of the overall structure of Example 1 of the present disclosure;

[0041] FIG2 is a schematic structural diagram of a first assembly and disassembly assembly according to Embodiment 1 of the present disclosure;

[0042] FIG3 is a structural diagram of the loading and unloading mechanism according to the first embodiment of the present disclosure;

[0043] FIG4 is a second schematic diagram of the loading and unloading structure of embodiment 1 of the present disclosure;

[0044] FIG5 is a schematic structural diagram of the first assembly and disassembly assembly when double-sided guide rails are used in Example 1 of the present disclosure;

[0045] FIG6 is a front view of the first assembly and disassembly assembly when double-sided guide rails are used in Example 1 of the present disclosure;

[0046] FIG7 is a schematic diagram of the guide rail arrangement when double-sided guide rails are used in Example 1 of the present disclosure;

[0047] FIG8 is a schematic diagram of the arrangement of guide rails and hanging rails when double-sided guide rails and hanging rails are used in Example 1 of the present disclosure;

[0048] FIG9 is a schematic diagram of the arrangement of the guide rails and the lower auxiliary wheels when double-sided guide rails and lower auxiliary wheels are used in Example 1 of the present disclosure;

[0049] FIG10 is a schematic diagram of the overall structure of Example 3 of the present disclosure;

[0050] FIG11 is a schematic structural diagram of a loading and unloading mechanism according to Embodiment 3 of the present disclosure;

[0051] FIG12 is a schematic structural diagram of a loading and unloading mechanism according to a fourth embodiment of the present disclosure;

[0052] FIG13 is a front view of the loading and unloading mechanism of Example 4 of the present disclosure;

[0053] FIG14 is a schematic structural diagram of a loading and unloading mechanism according to Embodiment 5 of the present disclosure;

[0054] FIG15 is a front view of the loading and unloading mechanism of Example 5 of the present disclosure;

[0055] Among them, 1. Shelf, 2. Guide rail, 3. Column, 4. Shelf walking mechanism, 5. Lifting mechanism, 6. Loading and unloading mechanism, 7. Cargo box, 8. Hanging rail, 9. Lower auxiliary wheel;

[0056] 3-1. Vertical beam, 3-2. Horizontal beam;

[0057] 6-1. Cargo platform, 6-2. Fixed plate, 6-3. Fork, 6-4. Connecting plate, 6-5. Tensioner, 6-6. Synchronous belt, 6-7. Drive motor, 6-8. Active pulley, 6-9. Rack, 6-10. Linear guide, 6-11. Fork, 6-12. Connecting plate, 6-13. Guide component, 6-14. Rubber pad. DETAILED DESCRIPTION

[0058] For the convenience of description, if the words "upper" and "lower" appear in this disclosure, they only indicate that they are consistent with the upper and lower directions of the drawings themselves, and do not limit the structure. They are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, it cannot be understood as a limitation on this disclosure.

[0059] Example 1

[0060] This embodiment provides a collaborative shelf robot, as shown in Figure 1, including a first loading and unloading component and a second loading and unloading component. The first loading and unloading component and the second loading and unloading component are both coordinated with a guide rail 2 fixed to the shelf 1. The guide rail 2 is fixed horizontally on the shelf 1. The first loading and unloading component and the second loading and unloading component can independently move horizontally along the guide rail 2. The first loading and unloading component and the second loading and unloading component cooperate to jointly transfer the cargo box 7.

[0061] The first assembly and removal assembly and the second assembly and removal assembly have the same structure, and the first assembly and removal assembly is used as an example for description:

[0062] As shown in Figure 2, the first loading and unloading assembly includes a column 3, which is vertically arranged. The column 3 is provided with a shelf walking mechanism 4. The shelf walking mechanism 4 cooperates with the guide rail 2 fixed on the shelf 1 and can walk along the guide rail 2. The guide rail 2 is horizontally arranged, thereby realizing the horizontal movement of the first loading and unloading assembly.

[0063] The column 3 is equipped with a lifting mechanism 5 , which is connected to a loading and unloading mechanism 6 and can drive the loading and unloading mechanism 6 to move vertically.

[0064] The lifting mechanism 5 may adopt existing technology. For example, the lifting mechanism 5 may adopt a belt transmission mechanism or a screw lifting mechanism, etc. Those skilled in the art may configure it according to actual needs.

[0065] As shown in Figures 3 and 4, the loading and unloading mechanism 6 includes a cargo-carrying component, which is connected to the lifting mechanism and slidably connected to the column 3. It can perform lifting and lowering movements under the action of the lifting mechanism 5. The cargo-carrying component is configured to support the cargo box 7, thereby realizing the transfer of the cargo box.

[0066] In this embodiment, the cargo-carrying part includes a fixed part and a cargo-carrying part. The cargo-carrying part and the fixed part are arranged vertically. The cargo-carrying part adopts a cargo platform 6-1, which is configured to support the cargo box 7. The fixed part adopts a fixed plate 6-2. The fixed plate 6-2 is connected to the lifting mechanism 5 and is slidably connected to the column 3 through a slide rail. The lifting mechanism 5 drives the lifting and lowering movement of the entire cargo-carrying part through the fixed plate 6-2.

[0067] In order to better enable the cargo box to enter the cargo platform 6-1, both ends of the cargo platform 6-1 have a downward inclined portion, which can guide the cargo box 7 into the cargo platform 6-1.

[0068] The cargo-carrying part or the fixed part is connected to the fork 6-3 through a telescopic mechanism, which can drive the fork 6-3 to perform bidirectional telescopic movement. The direction of the telescopic movement of the fork 6-3 is set along the length direction of the cargo-carrying part.

[0069] In this embodiment, the fixing portion is connected to the fork 6-3 via a telescopic mechanism. Specifically, the fixing plate 6-2 is connected to the fork 6-3 via a telescopic mechanism, and the fork 6-3 is slidably connected to the fixing plate 6-2 to guide the movement of the fork 6-3.

[0070] Specifically:

[0071] The telescopic mechanism includes a transmission mechanism fixed to the side surface of the fixed plate 6-2, and the transmission component of the transmission mechanism is engaged with the rack fixed to the fork 6-3.

[0072] In one embodiment, the transmission mechanism adopts a synchronous belt transmission mechanism, and the synchronous belt of the synchronous belt transmission mechanism serves as a transmission component. The synchronous belt transmission mechanism is fixed to the inner plate surface of the fixed plate 6-2 close to the cargo platform 6-1. Therefore, the synchronous belt transmission mechanism is arranged between the fixed plate 6-2 and the cargo platform 6-1. In order to meet the installation requirements of the synchronous belt transmission mechanism, the bottom surface of the cargo platform 6-1 close to the fixed plate 6-2 is provided with two connecting plates 6-4 and connecting plates 6-12 perpendicular to it, and the connecting plates 6-4 and 6-12 are arranged parallel to the fixed plate 6-2.

[0073] The synchronous belt transmission mechanism includes a driving pulley 6-8, a driven pulley and a synchronous belt 6-6 wound between the driving pulley 6-8 and the driven pulley. The driving pulley is arranged between the connecting plate 6-12 and the fixed plate 6-2. The driving pulley is connected to a driving component fixed to the outer plate surface of the fixed plate 6-2, and the driving component can drive the driving pulley to rotate.

[0074] Preferably, the driving component adopts a driving motor 6-7 fixed to the outer surface of the fixed plate, the housing of the driving motor 6-7 is fixed to the fixed plate 6-2, and its output shaft is connected to the driving pulley 6-8.

[0075] It is understandable that the driving component may also be a device capable of outputting rotational motion, such as a hydraulic motor.

[0076] The driven pulley is arranged between the connecting plate 6-4 and the fixed plate 6-2, and the driven pulley is rotatably connected to the axle. The axle is fixed between the connecting plate 6-4 and the fixed plate 6-2, and the axle connects the connecting plate 6-4, the connecting plate 6-12 and the fixed plate 6-2.

[0077] The telescopic mechanism also includes a rack 6-9 fixed to the bottom surface of the fork 6-3. In order to reduce manufacturing costs, two sections of rack 6-9 are set on the bottom surface of the fork 6-3 instead of setting the rack 6-9 along the entire length of the bottom surface of the fork 6-3. The two sections of rack 6-9 are respectively set close to the two ends of the bottom surface of the fork 6-3, and the rack 6-9 is engaged with the serrated structure on the upper surface of the synchronous belt 6-6.

[0078] The fork 6-3 is also provided with a slider, which is slidably connected to a linear guide rail 6-10 fixed to the fixed plate 6-2, and the linear guide rail 6-10 is configured to guide the telescopic movement of the fork 6-3.

[0079] Preferably, the linear guide rail 6-10 is arranged on the upper part of the inner plate surface of the fixed plate 6-2.

[0080] The driving motor 6-7 drives the active pulley 6-8 to rotate, and the active pulley 6-8 can drive the synchronous belt 6-6 to move. Under the meshing action of the synchronous belt 6-6 and the rack 6-9, the fork 6-3 can move along the linear guide rail 6-10, thereby realizing the bidirectional telescopic movement of the fork 6-3.

[0081] The outer side surface of the fixed plate 6-2 is further provided with a tensioning wheel 6-5, which is a pulley. The tensioning wheel 6-5 contacts the synchronous belt 6-6 to tighten the synchronous belt 6-6.

[0082] In another embodiment, the transmission mechanism adopts a chain transmission mechanism, and the setting position and method of the chain transmission mechanism are the same as the setting position and method of the synchronous belt transmission mechanism. The chain of the chain transmission mechanism serves as a transmission component, and the chain is provided with a rack. The rack of the chain is engaged with the rack provided on the bottom surface of the fork 6-3. In this embodiment, the tensioner 6-5 adopts a sprocket, and the tensioner 6-5 contacts the chain to tighten the chain.

[0083] It should be noted that the transmission mechanism includes but is not limited to the above-mentioned synchronous belt transmission mechanism or chain transmission mechanism, and can also be a gear rack transmission mechanism or other forms of transmission mechanism, and this application does not impose any restrictions on this.

[0084] The fork 6 - 3 is provided with a cargo box motion drive mechanism, and the telescopic movement of the fork 6 - 3 can be converted into the movement of the cargo box 7 through the fork motion drive mechanism.

[0085] In this embodiment, the cargo box movement drive mechanism includes a swing drive component fixed to the two ends of the fork, and the swing drive component is connected to the fork 6-11 to drive the fork 6-11 to rotate in a plane perpendicular to the fork 6-3.

[0086] Furthermore, the swing drive component adopts a swing drive motor fixed at the end of the fork 6-3, the axis of the swing drive motor is arranged along the length direction of the fork 6-3, the housing of the swing drive motor is fixed to the fork 6-3, and its output shaft is fixed to one end of the fork 6-11 to drive the fork 6-11 to rotate.

[0087] In another embodiment, the swing drive component adopts a swing drive servo, which is fixed to the end of the fork 6-3, and its output shaft is fixed to one end of the fork 6-11.

[0088] After the shift fork 6-11 rotates toward the cargo platform 6-1 to a horizontal state, the shift fork 6-11 can contact the cargo box 7, and then drive the movement of the cargo box 7 through the contraction or extension of the cargo fork 6-3.

[0089] The movement of the cargo box is driven by the telescopic movement of the fork in conjunction with the shift forks 6-11. There is no requirement for the structural form of the cargo box 7. Any cargo box can be loaded and unloaded, and the shelf robot has strong applicability.

[0090] In order to guide the movement of the cargo box 7 on the cargo platform 6-1, a guide component 6-13 is provided on the upper surface of the cargo platform 6-1, and the guide component 6-13 includes a first guide portion and a second guide portion fixed at both ends of the first guide portion. The first guide portion is arranged parallel to the movement direction of the cargo box 7, and one end of the second guide portion is connected to the first guide portion. The second guide portion is inclined toward the outside, that is, inclined toward the direction of the fixed plate 6-2, so that the guide component 6-13 forms a structure with flared ends, which facilitates the cargo box 7 to enter the space between the guide components 6-13 of the first loading and unloading assembly and the second loading and unloading assembly.

[0091] Furthermore, the guide component 6-13 adopts a guide plate, which is vertically fixed to the cargo platform 6-1, and the two ends of the guide plate are inclined toward the outside to form a second guide part, and the guide plate part between the two second guide parts serves as the first guide part.

[0092] In this embodiment, the column 3 is provided with multiple shelf walking mechanisms 4, and the shelf walking mechanisms 4 include a shelf walking mechanism wheel frame, and the shelf walking mechanism wheel frame is provided with at least two shelf walking wheels distributed along the walking direction, and the shelf walking wheels cooperate with the guide rails 2 fixed on the shelf.

[0093] At least one of the rack traveling mechanisms 4 is connected to a power component, which adopts a traveling drive motor. The traveling drive motor is fixed on the wheel frame of the rack traveling mechanism, and the output shaft of the traveling drive motor is connected to one of the rack traveling wheels to drive the rotation of the rack traveling wheel.

[0094] Furthermore, in order to ensure the synchronization of the movements of the multiple rack traveling mechanisms and prevent the movement from being stuck due to the tilting of the columns 3, all the rack traveling mechanisms 4 are connected to the power components.

[0095] In one embodiment, a guide rail 2 is provided on one side of the loading and unloading mechanism 6, that is, a guide rail 2 is provided on the shelf on one side of the loading and unloading mechanism 6, and the column 3 cooperates with the guide rail through the shelf walking mechanism 4. Two guide rails 2 are provided and are respectively fixed on the upper and lower parts of the shelf.

[0096] It can be understood that three or more guide rails 2 can also be provided. When this setting is adopted, the shelf walking mechanism 4 that cooperates with the upper and lower guide rails 2 of the shelf 1 is connected to the power component, and the remaining guide rails 2 are cooperated with the auxiliary walking wheels, and the auxiliary walking wheels are rotatably connected to the auxiliary walking wheel frame provided on the column 3. The auxiliary walking wheels are configured to improve the stability of the column 3 moving along the guide rail 2.

[0097] In this embodiment, the column 3 is supported by a single-sided guide rail 2, and the stability and safety of operation are poor. Therefore, in another embodiment, as shown in Figures 5 to 7, a double-sided guide rail is adopted. Among the multiple shelf running mechanisms 4 on the column 3, at least one shelf running mechanism 4 cooperates with the guide rail 2 of the shelf 1 on one side of the loading and unloading mechanism 6, and at least one shelf running mechanism 4 cooperates with the guide rail 2 on the shelf 1 on the other side of the loading and unloading mechanism.

[0098] In one embodiment, the column 3 includes a vertical beam 3-1 and a transverse beam 3-2, and the upper and lower parts of the vertical beam 3-1 are provided with a shelf running mechanism 4, and the two shelf running mechanisms 4 respectively cooperate with the upper guide rail 2 and the lower guide rail 2 of the shelf 1 on one side of the loading and unloading mechanism 6, and the top and bottom ends of the vertical beam 3-1 are provided with a transverse beam 3-2, one end of the transverse beam 3-2 is connected to the vertical beam 3-1, and the other end is provided with a shelf running mechanism 4, and the shelf running mechanisms 4 of the two transverse beams 3-2 respectively cooperate with the upper guide rail 2 and the lower guide rail 2 of the shelf 1 on the other side of the loading and unloading mechanism 6.

[0099] It is understandable that one side of the shelf 1 may be provided with an upper guide rail 2 and a lower guide rail 2 , and the other side of the shelf may be provided with only an upper guide rail 2 or a lower guide rail 2 , and the shelf walking mechanism 4 may be provided on the column 3 accordingly.

[0100] In another embodiment, as shown in Figure 8, a double-sided guide rail 2 plus a hanging rail 8 is adopted, and the column 3 includes a vertical beam 3-1 and a transverse beam 3-2. The bottom end of the vertical beam 3-1 is vertically fixed to the middle of the transverse beam 3-2, and both ends of the transverse beam 3-2 are provided with a shelf walking mechanism 4. The shelf walking mechanisms 4 at both ends of the transverse beam 3-2 respectively cooperate with the guide rails 2 at the lower part of the shelves 1 on both sides of the loading and unloading mechanism 6, and the top of the vertical beam 3-1 is provided with a hanging rail walking mechanism, which cooperates with the fixed hanging rail 8. In this embodiment, the hanging rail 8 is fixedly set just above the middle position of the area between the shelves 1 on both sides of the loading and unloading mechanism 5. The hanging rail 8 can be fixed between the tops of the shelves 1 on both sides through a connecting beam, or the hanging rail 8 is fixed on the external frame or the hanging rail 8 is directly fixed on the ceiling.

[0101] In another embodiment, as shown in Figure 9, the column 3 includes a vertical beam 3-1 and a transverse beam 3-2. The top of the vertical beam 3-1 is vertically fixed to the middle of the transverse beam 3-2. Both ends of the transverse beam 3-2 are provided with a shelf walking mechanism 4. The shelf walking mechanisms 4 at both ends of the transverse beam 3-2 are respectively coordinated with the upper guide rails 2 of the shelves 1 on both sides of the loading and unloading mechanism 6. The bottom end of the vertical beam 3-1 is connected to two groups of lower auxiliary wheels 9 distributed along the travel direction through a lower auxiliary wheel frame. The lower auxiliary wheels 9 are configured to cooperate with the ground.

[0102] The provision of the hanging rail 8 or the lower auxiliary wheel 9 further improves the stability and safety of the movement of the column 3.

[0103] The structure of the second loading and unloading assembly is identical to that of the first loading and unloading assembly and will not be repeated here. The cargo platform 6-1 of the first and second loading and unloading assemblies contacts the bottom surface of the cargo box 7 to provide support for the cargo box 7. The forks 6-3 and shift forks 6-11 of the first and second loading and unloading assemblies jointly drive the movement of the cargo box 7.

[0104] The working method of using the shelf robot of this embodiment to deliver the cargo box 7 on the shelf 1 to the loading platform 6-1 is as follows:

[0105] The columns 3 of the first loading and unloading assembly and the second loading and unloading assembly move to the corresponding positions of the target goods under the drive of the shelf walking mechanism 4, and the columns 3 of the first loading and unloading assembly and the second loading and unloading assembly move independently, so that the distance between the two columns 3 matches the width of the cargo box 7 to meet the needs of entering and exiting the cargo box 7.

[0106] The lifting mechanisms 5 of the first loading and unloading assembly and the second loading and unloading assembly move, driving the loading and unloading mechanism 6 to move to the height position of the target cargo.

[0107] The driving motor 6-7 of the telescopic mechanism works, and drives the fork 6-3 to extend through the synchronous belt transmission mechanism and the rack 6-9, and the forks 6-3 of the first loading and unloading assembly and the second loading and unloading assembly are respectively extended to both sides of the cargo box 7.

[0108] After the fork 6-3 is extended into place, the swing drive component located at the rear side of the cargo box 7 works, driving the fork 6-11 to rotate to a horizontal state. At this time, the fork 6-11 corresponds to the rear box surface of the cargo box 7.

[0109] The telescopic mechanism of the first loading and unloading assembly and the second loading and unloading assembly drives the fork 6-3 to retract, and the cargo box 7 is pushed to the loading platform 6-1 of the first loading and unloading assembly and the second loading and unloading assembly through the push of the fork 6-11.

[0110] The method for delivering the cargo box 7 on the loading platform 6-1 of the first loading and unloading assembly and the second loading and unloading assembly of the shelf robot of this embodiment to the shelf 1 is as follows:

[0111] The first loading and unloading assembly and the second loading and unloading assembly move synchronously, driving the cargo box 7 on the loading platform 6-1 to move to the target cargo position of the shelf 1, and the forks 6-11 in the forks 6-3 of the first loading and unloading assembly and the second loading and unloading assembly, which are away from the end of the target cargo position, rotate to a horizontal state, and the two forks 6-11 are extended synchronously under the drive of the telescopic mechanism, and the cargo box 7 is pushed to the target cargo position through the forks 6-11.

[0112] By using the shelf robot of this embodiment, the first loading and unloading assembly and the second loading and unloading assembly can move independently along the guide rail 2, thereby realizing the distance adjustment between the two columns 3 and the two loading and unloading mechanisms 6, and then realizing the transfer requirements of cargo boxes 7 of different widths. Cargo boxes 7 of all widths can be transferred using the shelf robot of this embodiment, and the shelf robot has strong applicability.

[0113] Example 2

[0114] This embodiment provides a collaborative shelf robot. Compared to Example 1, the only difference lies in the cargo box motion drive mechanism. This embodiment utilizes suction cups fixed to the inner side surfaces of the forks 6-3, i.e., the opposing sides of the two forks 6-3. These suction cups are vacuum suction cups that can be attached to the sides of the cargo box 7, thereby enabling the movement of the cargo box 7 through the extension and retraction of the forks 6-3. The mounting position of the suction cups on the inner side surfaces of the forks 6-3 is not restricted. Those skilled in the art can adjust the mounting position of the suction cups on the forks 6-3 according to actual needs. The remaining structure of this embodiment is the same as that of Example 1 and is not repeated here.

[0115] Example 3

[0116] This embodiment provides a collaborative shelf robot, as shown in Figures 10 and 11. Compared with Example 1 and Example 2, the only difference is that a flexible pad is provided on the inner side of the fork 6-3, that is, a flexible pad is provided on the opposite sides of the forks 6-3 of the first loading and unloading assembly and the second loading and unloading assembly. Preferably, the flexible pad is a rubber pad 6-14. The rubber pads 6-14 of the first loading and unloading assembly and the second loading and unloading assembly can clamp the cargo box 7, and the transportation of the cargo box 7 is driven by the telescopic movement of the fork 6-3.

[0117] When the shelf robot of this embodiment is in use, the first loading and unloading assembly and the second loading and unloading assembly move toward each other, the two forks 6-3 move toward each other, and then clamp the cargo box 7 through the two rubber pads 6-14. The telescopic movement of the forks 6-3 drives the transportation of the cargo box 7, the first loading and unloading assembly and the second loading and unloading assembly move away from each other, and the two rubber pads 6-14 separate the cargo box 7.

[0118] A flexible pad is used to ensure that the two forks are in flexible contact with the cargo box 7 when clamping the cargo box 7, thereby avoiding rigid collision damage to the cargo box 7. When this embodiment is adopted, the setting position of the guide component 13 matches the setting position of the rubber pad 14 so that the guide component 13 does not affect the movement of the cargo box 7.

[0119] It is understandable that the inner side surface of the fork 6-3 may not be provided with a flexible pad or may use a rigid pad, and the fork 6-3 may be directly used to clamp the cargo box 7 to drive the cargo box to move.

[0120] The other structures of this embodiment are the same as those of Embodiment 1 and Embodiment 2 and will not be repeated here.

[0121] Example 4:

[0122] This embodiment provides a collaborative shelf robot, as shown in Figures 12-13. Compared with Example 1, Example 2 and Example 3, the difference is that the top surface of the fork 6-3 serves as a support surface and is provided with a lifting plate 6-15. The lifting plate 6-15 is configured to contact the boss provided on the top edge of the cargo box 7. When it is necessary to pick up goods, the forks 6-3 of the first loading and unloading assembly and the second loading and unloading assembly are extended to the top of the target cargo position of the shelf, and the lifting mechanism 5 drives the fork 6-3 to rise. The lifting plate 6-15 of the fork 6-3 can lift the target cargo box through the boss, so that the target cargo box leaves the cargo box placement surface of the target cargo position. The fork 6-3 is retracted and can transfer the target cargo box to the top of the loading platform 6-1.

[0123] When the goods need to be released, the forks of the first loading and unloading assembly and the second loading and unloading assembly lift the cargo box so that the cargo box is separated from the loading platform 6-1, and then the fork 6-3 is extended to transfer the cargo box 7 to the top of the target cargo position, and the lifting mechanism 5 drives the fork 6-3 to fall, so that the cargo box 7 falls on the shelf.

[0124] The other structures of this embodiment are the same as those of Embodiment 1, Embodiment 2 and Embodiment 3, and will not be repeated here.

[0125] Example 5

[0126] This embodiment provides a collaborative shelf robot, as shown in Figures 14 and 15. Compared with Example 4, the upper surface of the lifting plate 6-15 of the fork 6-3 is provided with multiple hooks 6-16. The hooks 6-16 are arranged perpendicular to the loading platform 6-1 and engage with the grooves on the side of the cargo box 7. When it is necessary to pick up goods, the fork 6-3 is extended so that the hooks 6-16 correspond to the grooves on the side of the cargo box 7. The lifting mechanism 5 drives the fork 6-3 to rise, so that the hooks 6-16 hook the grooves. The fork 6-3 retracts and the cargo box 7 is hooked to the loading platform 6-1 through the engagement of the hooks 6-16 and the grooves. When it is necessary to release goods, the fork 6-3 is extended toward the target cargo location. The engagement of the hooks 6-16 and the grooves drives the cargo box 7 to move to the target cargo location. Then the lifting mechanism 5 drives the fork 6-3 down, and the cargo box 7 falls to the target cargo location on the shelf. At the same time, the hooks 6-16 disengage from the grooves and the fork 6-3 retracts.

[0127] The other structures of this embodiment are the same as those of embodiment 4 and will not be repeated here.

[0128] Example 6

[0129] This embodiment provides a working method of the collaborative shelf robot described in Example 1, Example 2, Example 3, Example 4, or Example 5, which should be configured as a host computer or other control device, including the following steps:

[0130] Obtaining cargo box information of a target cargo box, where the target cargo box is a cargo box to be inbound or a cargo box to be outbound; the cargo box information includes at least specification information, current location information, and target location information of the target cargo box;

[0131] The cargo box information of the target cargo box is pre-stored in the control system of the entire collaborative shelf robot. The staff inputs the target cargo box to be obtained, and the control system can automatically extract the corresponding cargo box information.

[0132] Pick up goods from the target cargo box: according to the specification information of the target cargo box and the current position information, the control system controls the shelf walking mechanism 4 and the lifting mechanism 5 of the first loading and unloading component and the second loading and unloading component to work together, and the first loading and unloading component and the second loading and unloading component move to the target cargo box; the control system controls the telescopic mechanism of the first loading and unloading component and the second loading and unloading component to drive the fork 6-3 to move, and work together to obtain the target cargo box, and the fork 6-3 moves to transfer the target cargo box to the loading platform 6-1.

[0133] Place the cargo in the target container: According to the target position information, the control system controls the shelf walking mechanism 4 and the lifting mechanism 5 of the first loading and unloading assembly and the second loading and unloading assembly to work together, the first loading and unloading assembly and the second loading and unloading assembly move to the target position, and the telescopic mechanism drives the fork 6-3 to move to place the target container at the target position.

[0134] When picking up goods from a target container, the control system controls the movement of the first loading and unloading assembly and the second loading and unloading assembly according to the specification information of the target container and the current position information, and simultaneously adjusts the distance between the two to match the specifications of the target container.

[0135] or,

[0136] The control system determines the target moving positions of the first loading and unloading assembly and the second loading and unloading assembly respectively according to the specification information of the target cargo box and the current position information;

[0137] According to the information of the target moving position, the control system controls the first loading and unloading assembly and the second loading and unloading assembly to move to their corresponding target moving positions so that the distance between them matches the specifications of the target material box.

[0138] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application. Industrial Applicability

[0139] In summary, the present disclosure provides a collaborative shelf robot and method, which realizes the transfer of cargo boxes of different widths by setting two independently moving uprights and a loading and unloading mechanism installed on the uprights. The width of the cargo boxes to be transferred is not restricted, and the applicability of the entire device is strong.

Claims

1. A collaborative shelf robot, characterized in that: It comprises a first loading and unloading assembly and a second loading and unloading assembly used in conjunction with each other, wherein the first loading and unloading assembly and the second loading and unloading assembly both comprise a column, a lifting mechanism and a loading and unloading mechanism, wherein the column is connected to the loading and unloading mechanism via the lifting mechanism; The upright column is provided with a shelf traveling mechanism, and the shelf traveling mechanism cooperates with a guide rail fixedly arranged horizontally on the shelf so that the first loading and unloading assembly and the second loading and unloading assembly can move independently along the guide rail; The loading and unloading mechanism comprises a cargo-carrying component connected to the lifting mechanism, wherein the cargo-carrying component is connected to a cargo fork configured to cooperate with the cargo box through a telescopic mechanism to drive the cargo box to move; The first loading and unloading assembly and the second loading and unloading assembly are configured to adjust their own positions according to the specifications and positions of the cargo box to obtain the cargo box, and to synchronously move to the target position after obtaining the cargo box to complete the storage and retrieval of the cargo box.

2. A collaborative shelf robot as claimed in claim 1, characterized in that: The cargo-carrying component comprises a cargo-carrying part and a fixing part, wherein the cargo-carrying part is configured to support a cargo box, the fixing part is connected to the lifting mechanism, and a telescopic mechanism is provided on the side of the cargo-carrying part to drive the cargo fork to perform bidirectional telescopic movement.

3. A collaborative shelf robot as claimed in claim 2, characterized in that: The upper surface of the cargo carrying portion is provided with a guide component to guide the movement of the cargo box.

4. A cooperative shelf robot as claimed in claim 3, characterized in that: The guide component includes a first guide portion and second guide portions fixed at both ends of the first guide portion, the first guide portion is arranged along the moving direction of the cargo box, and the second guide portion is arranged inclined toward the outside.

5. A cooperative shelf robot according to any one of claims 1 to 4, characterized in that: The telescopic mechanism comprises a transmission mechanism fixed on the cargo carrying component, a transmission component of the transmission mechanism is meshed with a rack fixed on the fork, and the fork is slidably connected with a linear guide rail fixed on the cargo carrying component.

6. A cooperative shelf robot according to any one of claims 1 to 5, characterized in that: The fork is provided with a cargo box movement driving mechanism, and the cargo box movement driving mechanism includes swing driving components arranged at two ends of the fork, and the swing driving component is connected to the fork to drive the fork to rotate in a plane perpendicular to the fork.

7. A cooperative shelf robot according to any one of claims 1 to 6, characterized in that: The top surface of the cargo fork serves as a cargo box supporting surface and can cooperate with the cargo box edge boss to lift the cargo box to achieve the transfer of the cargo box between the cargo loading part and the shelf.

8. A cooperative shelf robot according to any one of claims 1 to 7, characterized in that: The top surface of the cargo fork is provided with a hook claw, which is arranged perpendicular to the cargo carrying part, and the hook claw is configured to cooperate with the grooves arranged on both sides of the cargo box to hook the cargo box through the grooves.

9. A cooperative shelf robot according to any one of claims 1 to 8, characterized in that: The forks are provided with a cargo box movement driving mechanism, and the cargo box movement driving mechanism adopts a suction cup fixed on the forks, and the suction cups are fixed on the facing sides of the two forks.

10. A cooperative shelf robot according to any one of claims 1 to 9, characterized in that: A flexible pad is provided on the inner side of the fork.

11. A cooperative shelf robot according to any one of claims 1 to 10, characterized in that: The column is provided with a plurality of the shelf running mechanisms, at least one of which cooperates with the guide rail fixed on the shelf on one side of the loading and unloading mechanism, and at least one of which cooperates with the guide rail fixed on the shelf on the other side of the loading and unloading mechanism.

12. A cooperative shelf robot as claimed in claim 11, characterized in that: A hanging rail traveling mechanism is provided at the top of the column, and the hanging rail traveling mechanism cooperates with the hanging rail, and the hanging rail is fixedly arranged and parallel to the guide rail on the shelf.

13. A cooperative shelf robot according to claim 11 or 12, characterized in that: The bottom end of the column is provided with a lower auxiliary wheel, and the lower auxiliary wheel is configured to cooperate with the ground.

14. A working method of the cooperative shelf robot according to any one of claims 1 to 13, characterized in that: Obtaining cargo box information of a target cargo box; the target cargo box is a cargo box to be stored or a cargo box to be shipped; the cargo box information at least includes specification information, current location information and target location information of the target cargo box; According to the specification information and the current position information, control the first loading and unloading assembly and the second loading and unloading assembly to move to the target cargo box; Controlling the first loading and unloading assembly and the second loading and unloading assembly to work together to obtain the target cargo box; The first loading and unloading component and the second loading and unloading component are controlled to place the target cargo box at a target position according to the target position information.

15. A working method of a cooperative shelf robot as claimed in claim 14, characterized in that: The method for controlling the first loading and unloading assembly and the second loading and unloading assembly to move to the current position of the target container according to the specification information of the target container and the current position information is: According to the specification information of the target container and the current position information, the first loading and unloading assembly and the second loading and unloading assembly are controlled to move and the distance between them is adjusted to match the specification of the target container.

16. A collaborative working method according to claim 14 or 15, characterized in that: The method for controlling the first loading and unloading assembly and the second loading and unloading assembly to move to the target container according to the specification information of the target container and the current position information is: Determining target moving positions of the first loading and unloading assembly and the second loading and unloading assembly respectively according to the specification information of the target cargo box and the current position information; The first loading and unloading assembly and the second loading and unloading assembly are controlled to move to their corresponding target moving positions so that the distance between them matches the specifications of the target cargo box.

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