Goods shelf robot and warehousing device

Abstract

A goods shelf robot and a warehousing device, relating to the technical field of warehousing devices. The goods shelf robot comprises a column, the column is provided with a walking mechanism, and the walking mechanism can transversely move along a guide rail transversely arranged on a goods shelf. A lifting mechanism is mounted on the column, and the lifting mechanism is connected to a goods-picking mechanism so as to drive the goods-picking mechanism to move up and down along the column. The goods-picking mechanism comprises a goods bearing platform, and the goods bearing platform is provided with a first goods-picking assembly and / or a second goods-picking assembly, which are configured to pick and place goods containers having different forms, different specifications, or different weights.

Description

Shelf robot and storage equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number 2023233446696, filed with the China Patent Office on December 7, 2023, entitled “A Shelf Robot,” 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 shelf robot and warehousing equipment. Background Art

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

[0005] Cargo storage generally involves storing goods on shelves, with robots performing loading and unloading. Currently, there are cargo loading and unloading devices that are integrated with the shelves. Guide rails are installed on the shelves, and the columns move along the guide rails via a traveling mechanism. The loading and unloading device is driven by a vertical lifting mechanism to move it up and down along the columns. The loading and unloading device is driven by the vertical lifting mechanism and the traveling mechanism to access the goods at the corresponding position on the shelves. Since the equipment directly installs the guide rails on the shelves, it saves equipment costs, increases the capacity of the shelves, and facilitates transportation and packaging. However, the cargo loading and unloading equipment uses a grabbing hook to hook up the side edge of the material box. This method has special requirements for the material box and requires the material box to be redesigned. It is not suitable for configuring various material boxes. At the same time, it is easy for the hook to come off during the hooking process.

[0006] Utility Model Content

[0007] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a shelf robot and storage equipment. The picking mechanism of the device has no requirements for the cargo box, can be adapted to various forms of cargo boxes, and can avoid the situation where the cargo box breaks free.

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

[0009] In a first aspect, the present disclosure provides a shelf robot, comprising a column, on which a walking mechanism is provided, and the walking mechanism can move laterally along a guide rail laterally provided on the shelf; the column is equipped with a lifting mechanism, and the lifting mechanism is connected to a picking mechanism to drive the picking mechanism to move up and down along the column; the picking mechanism includes a loading platform, on which a first picking component and / or a second picking component are provided, which are configured to pick up and place cargo boxes of different forms, specifications and weights.

[0010] As an optional technical solution, the first picking component and the second picking component both include a telescopic element and a first driving mechanism configured to drive the telescopic element to reciprocate along the depth direction of the shelf.

[0011] As an optional technical solution, a rotary fork is provided at the end of the telescopic element of the first cargo picking assembly, and the rotary fork is provided on both sides of the cargo platform. The rotary fork is switched between a vertical state and a horizontal state through a second driving mechanism. After the rotary fork is extended, it becomes a horizontal state and is configured to pull the cargo box from the rear side of the cargo box.

[0012] As an optional technical solution, the telescopic element is a shift fork fixing plate, and the first driving mechanism includes a driving motor, a synchronous belt, a driving wheel and a driven wheel. The driving wheel, the synchronous belt and the driven wheel form a transmission circuit. The driving wheel is connected to the driving motor, and teeth are provided on the outer side of the synchronous belt. A transmission rack is connected to the bottom of the shift fork fixing plate, and the transmission rack is engaged with the teeth of the synchronous belt.

[0013] As an optional technical solution, a clamping plate is further provided at the bottom of the synchronous belt, that is, the synchronous belt is clamped between the transmission rack and the clamping plate to prevent the synchronous belt from being separated from the transmission rack.

[0014] As an optional technical solution, the telescopic elements of the first cargo picking assembly are arranged on both sides of the cargo platform, and the telescopic elements on both sides are moved toward or away from each other through a third driving mechanism, and are respectively configured to clamp and release the cargo box.

[0015] As an optional technical solution, the telescopic element is a clamping plate, guide rail fixing plates are set on both sides of the cargo platform, linear guide rails are set on the top of the guide rail fixing plates, and the clamping plate is set on the linear guide rails and can move back and forth along the linear guide rails.

[0016] As an optional technical solution, the third drive mechanism is a clamping drive mechanism, which includes a clamping synchronous belt. The clamping synchronous belt is driven by a clamping motor, and the two guide rail fixing plates are respectively fixedly connected to the upper and lower rotating surfaces of the clamping synchronous belt, and the clamping synchronous belt is connected to the two guide rail fixing plates.

[0017] As an optional technical solution, one of the guide rail fixing plates is connected to the upper branch of the clamping synchronous belt, and the other guide rail fixing plate is connected to the lower branch of the clamping synchronous belt.

[0018] As an optional technical solution, the telescopic elements of the first cargo picking assembly are arranged on both sides of the cargo platform, and the telescopic elements can be raised and lowered to lift or lower the cargo box.

[0019] As an optional technical solution, the telescopic element is provided with an upward first hook, which is arranged on both sides of the cargo platform. When hooking the cargo box, the first hook is set upward to hook the grooves on both sides of the cargo box.

[0020] As an optional technical solution, an actuator is provided on the telescopic element of the second picking component, and the actuator is a suction cup component or a second hook. When the actuator is a suction cup component, it is connected to a negative pressure source; when the actuator is a second hook, it is set downward when hooking the cargo box to hook the upper edge of the cargo box.

[0021] As an optional technical solution, a group of the actuators are provided, and the actuators are connected to the first driving mechanism via a rotating platform, and the rotating platform is configured to change the orientation of the actuators.

[0022] As an optional technical solution, two groups of the actuators are provided, and the two groups of the actuators are respectively oriented towards two directions of reciprocating motion of the first driving mechanism.

[0023] As an optional technical solution, the width of the cargo platform is adjustable.

[0024] In a second aspect, the present disclosure provides a warehousing device comprising the above-mentioned shelf robot.

[0025] The beneficial effects of the above disclosure are as follows:

[0026] The shelf robot and storage equipment disclosed herein utilize a first picking component or a second picking component, or a combination thereof, to access boxes. The first picking component is preferably configured to space boxes apart, extending into both sides of a box to grip or pull boxes from the rear, making operation more reliable. The second picking component is more preferably configured to tightly arrange boxes, sucking or hooking them from the ends. The combination of the first and second picking components allows for a wider range of uses for the picking mechanism, adapting to various combinations of boxes, such as cartons and material bins.

[0027] The shelf robot and storage equipment disclosed in the present invention have a picking mechanism adopting various structural forms, among which the fork form is used to pull at the back of the cargo box, the clamping plate form is used to clamp the cargo box, the suction cup form is used to vacuum adsorb the cargo box, the hook form is used to hook the upper edge or side groove of the cargo box, and the lifting plate form is used to lift the cargo box. The requirements for the cargo box are extremely low, and the occurrence of the cargo box breaking free in these forms is extremely low, especially the hook in the present invention hooks the upper edge of the cargo box, and the bottom of the cargo box is restricted by a support platform, which can avoid unhooking when hooking the cargo box.

[0028] The shelf robot and storage equipment disclosed in the present invention have columns that can be moved laterally along the guide rails through a walking mechanism, and a picking mechanism that can be driven by a lifting mechanism to move up and down along the columns. Therefore, through the cooperation of the walking mechanism and the lifting mechanism, the picking mechanism can reach the position corresponding to any cargo position on the shelf, and can also store and retrieve cargo boxes at any cargo position on the shelf. The process of storing and retrieving goods is fast and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings, which constitute a part of the present disclosure, are used to provide optional 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.

[0030] FIG1 is a schematic diagram of a shelf robot according to one or more embodiments of the present disclosure;

[0031] FIG2 is a schematic diagram of a pickup mechanism according to the first embodiment of the present disclosure;

[0032] FIG3 is a schematic diagram of the pickup mechanism according to the first embodiment of the present disclosure from another angle;

[0033] FIG4 is a schematic diagram of a pickup mechanism according to a second embodiment of the present disclosure;

[0034] FIG5 is a schematic diagram of the pickup mechanism according to the second embodiment of the present disclosure from another angle;

[0035] FIG6 is a schematic diagram of a pickup mechanism according to a third embodiment of the present disclosure;

[0036] FIG7 is a schematic diagram of a pickup mechanism according to a fourth embodiment of the present disclosure;

[0037] FIG8 is a schematic diagram of the pickup mechanism according to the fourth embodiment of the present disclosure from another angle;

[0038] FIG9 is a schematic diagram of a pickup mechanism according to a fifth embodiment of the present disclosure;

[0039] FIG10 is a schematic diagram of the pickup mechanism according to the fifth embodiment of the present disclosure from another angle;

[0040] FIG11 is a schematic diagram of a pickup mechanism according to a sixth embodiment of the present disclosure;

[0041] FIG12 is a schematic diagram of the pickup mechanism according to the sixth embodiment of the present disclosure from another angle;

[0042] FIG13 is a schematic diagram of a pickup mechanism according to a seventh embodiment of the present disclosure;

[0043] FIG14 is a schematic diagram of a pickup mechanism according to a ninth embodiment of the present disclosure;

[0044] FIG15 is a schematic diagram of the pickup mechanism according to the ninth embodiment of the present disclosure from another angle;

[0045] FIG16 is a schematic diagram of a pickup mechanism according to a tenth embodiment of the present disclosure;

[0046] FIG17 is a schematic diagram of the pickup mechanism according to the tenth embodiment of the present disclosure from another angle;

[0047] FIG18 is a schematic diagram of a pickup mechanism according to an eleventh embodiment of the present disclosure;

[0048] FIG19 is a schematic diagram of the pickup mechanism according to the eleventh embodiment of the present disclosure from another angle;

[0049] In the figure: the distances or sizes between parts are exaggerated to show the positions of various parts, and the schematic diagram is for reference only.

[0050] Among them, 100 is the picking mechanism, 200 is the lifting mechanism, 300 is the walking mechanism, 401 is the column, 501 is the guide rail, 601 is the cargo box, and 701 is the shelf;

[0051] 101 Rotating fork, 102 Fork fixing plate, 103 Linear guide, 104 Drive motor, 105 Guide plate, 106 Cargo platform, 107 Guide rail fixing plate, 108 Connecting plate, 109 Drive shaft, 110 Synchronous belt, 111 Tensioner, 112 Drive wheel, 113 Drive rack, 114 Fork drive motor, 115 Vacuum suction cup, 116 First mounting plate, 117 First rotating table, 118 Suction cup rotation drive motor, 119 Hook, 120 Hook rotation drive motor, 121 Second mounting plate Mounting plate, 122 second rotating table, 123 hook rotation drive motor, 124 rotating table, 125 rotation drive wheel, 126 rotating motor, 127 bracket, 128 swing connecting rod, 129 fixed table, 130 suction cup swing motor, 131 mounting frame, 132 movable plate, 133 optical axis, 134 width adjustment timing belt, 135 width adjustment motor, 136 clamping plate, 137 clamping timing belt, 138 clamping motor, 139 optical axis, 140 flexible pad, 141 lifting plate, 142 hook. DETAILED DESCRIPTION

[0052] Example 1:

[0053] In this embodiment, as shown in FIG1 , a shelf robot is provided, which includes a picking mechanism 100 , a lifting mechanism 200 , a walking mechanism 300 , a column 401 and a guide rail 501 .

[0054] Specifically, the column 401 is arranged vertically, the guide rail 501 is arranged horizontally, and the walking mechanism 300 is arranged on the side of the column 401. The walking mechanism 300 cooperates with the guide rail 501 and can move horizontally along the guide rail 501.

[0055] The guide rails 501 may be secured to the sides of the shelves 701 , which may store boxes 601 configured as inventory.

[0056] The column 401 is equipped with a lifting mechanism 200, which is connected to the picking mechanism 100. The lifting mechanism 200 can drive the picking mechanism 100 to move up and down along the column 401. The picking mechanism 100 can take out the cargo box 601 on the shelf 701, or send the cargo box 601 to the corresponding cargo position of the shelf 701.

[0057] It is understandable that in order to avoid interference with other mechanisms, the lifting mechanism 200 can be installed at the top of the column 401, but it is not excluded that it can also be installed at other positions of the column 401.

[0058] Since the column 401 can be moved laterally along the guide rail 501 through the walking mechanism 300, and the picking mechanism 100 can be moved up and down along the column 401 by the lifting mechanism 200, therefore, through the cooperation of the walking mechanism 300 and the lifting mechanism 200, the picking mechanism 100 can reach the position corresponding to any cargo position on the shelf 701, and can also store and retrieve the cargo box 601 at any cargo position on the shelf 701.

[0059] In this embodiment, three guide rails 501 and one column 401 are set as an example for explanation. Three walking mechanisms 300 are set on the side of one column 401 to cooperate with the three guide rails 501 respectively. Through the setting of the three guide rails 501, the stability of the operation of the column 401 can be greatly improved.

[0060] It can be understood that the number of columns 401 can be set to two or more, and the number of guide rails 501 can be set to one, three or more. Those skilled in the art can set them according to actual needs, and the walking mechanism 300 that cooperates with the guide rails 501 can be configured with a corresponding number; when more than two columns 401 are set, the picking mechanism 100 moves up and down along multiple columns 401 at the same time.

[0061] In practical applications, the guide rails 501 may be arranged in the following forms: ① at least one guide rail is arranged on a single shelf on the shelf robot; ② at least one guide rail is arranged on each shelf on both sides of the shelf robot, with the picking mechanism 100 connected to the guide rails on both sides; ③ a hanging rail is provided on the top of the shelf robot, and guide rails are provided on at least one shelf on the shelf robot; ④ ground wheels are provided on the bottom of the shelf robot, and guide rails are provided on at least one shelf on the shelf robot. Of course, the guide rails 501 are not limited to these forms and can be arranged according to actual needs to achieve the movement of the shelf robot.

[0062] It is understandable that the cargo box includes one or a combination of plastic boxes, cardboard boxes, wooden boxes and steel boxes.

[0063] As shown in Figures 2 and 3, the cargo picking mechanism 100 includes a cargo platform 106, the bottom of the cargo platform 106 is fixed to a connecting plate 108, both ends of the connecting plate 108 are fixedly connected to the guide rail fixing plate 107, and the connecting plate 108 and the guide rail fixing plate 107 support the cargo platform 106.

[0064] Guide plates 105 are provided on both sides of the cargo platform 106 to guide the movement of the cargo box 601 when it is stored or retrieved.

[0065] A first pickup assembly is provided on the cargo platform 106 , and the first pickup assembly includes a telescopic element and a first driving mechanism configured to drive the telescopic element to reciprocate along the depth direction of the shelf. In this embodiment, the telescopic element is a fork fixing plate 102 .

[0066] Specifically, two guide rail fixing plates 107 are arranged opposite each other, and a linear guide rail 103 is fixedly arranged on the top of each guide rail fixing plate 107. The fork fixing plate 102 is correspondingly arranged on the linear guide rail 103, and the fork fixing plate 102 can reciprocate along the linear guide rail 103. Specifically, a slider can be provided at the bottom of the fork fixing plate 102 to slide along the linear guide rail 103. The linear guide rail 103 is arranged along the depth direction of the shelf, and the fork fixing plate 102 can reciprocate along the depth direction of the shelf on the linear guide rail 103.

[0067] Two fork fixing plates 102 are disposed opposite each other, with a rotating fork 101 disposed at each end of each fork fixing plate 102. The rotating fork 101 is connected to a fork drive mechanism (i.e., a second drive mechanism), which drives the rotating fork 101 to rotate. In this embodiment, the fork drive mechanism utilizes a fork drive motor 114. Before picking up cargo, the rotating fork 101 rotates to a vertical position so as not to interfere with the cargo box 601. When the fork fixing plates 102 are moved into position for picking up cargo, the rotating fork 101 rotates to a horizontal position. The rotating forks 101 at the ends of the two fork fixing plates 102 embrace the cargo box 601, and the fork fixing plates 102 move in the opposite direction to pick up the cargo box and place it on the loading platform 106.

[0068] Since both ends of the fork fixing plate 102 are provided with a rotating fork 101, the fork fixing plate 102 moves in two directions along the linear guide rail 103, and can also pick up the cargo boxes 601 on the shelves on both sides of the shelf robot.

[0069] The first drive mechanism configured to drive the shift fork fixing plate to extend and retract in this embodiment includes a drive motor 104, a synchronous belt 110, a drive wheel 112, and a driven wheel. The drive wheel 112, synchronous belt 110, and driven wheel form a transmission circuit. The drive wheel 112 is connected to the drive motor 104, and the middle portion of the synchronous belt 110 is tightened by a tensioner 111. The outer side of the synchronous belt 110 is provided with teeth, and the bottom of the shift fork fixing plate 102 is connected to a transmission rack 113. The transmission rack 113 meshes with the teeth of the synchronous belt 110. A clamping plate is also provided on the bottom of the synchronous belt 110, that is, the synchronous belt 110 is clamped between the transmission rack 113 and the clamping plate to prevent the synchronous belt 110 from being separated from the transmission rack 113.

[0070] The driving mechanism is installed below the guide rail fixing plate 107 , and the driving wheels 112 below the two guide rail fixing plates 107 are connected through a transmission shaft 109 to ensure operation synchronization.

[0071] In other optional embodiments, the driving mechanism may also adopt a chain transmission mechanism.

[0072] In this embodiment, the picking process of the picking mechanism 100 is as follows:

[0073] The driving motor 104 drives the driving wheel 112 to rotate, thereby rotating the synchronous belt 110, and then drives the transmission rack 113 engaged with the synchronous belt 110 to move. The transmission rack 113 drives the fork fixing plate 102 to move along the linear guide rail 103, so that the rotating fork 101 extends. After the rotating fork 101 extends, the fork driving motor 114 drives the rotating fork 101 to rotate 90° from a vertical state to a horizontal state, and the rotating fork 101 hugs the cargo box from the rear side. The driving motor 104 is reversed to make the fork fixing plate 102 drive the rotating fork to retract, and the cargo box 601 is hugged to the loading platform 106; after completing the hugging operation, the fork driving motor 114 drives the rotating fork 101 to rotate 90° from a horizontal state to a vertical state.

[0074] If the driving motor 104 rotates in the opposite direction, the shelf robot can pick up the cargo box 601 on the shelf 701 on the other side.

[0075] Example 2:

[0076] As shown in FIG. 4 and FIG. 5 , in this embodiment, a shelf robot is proposed, which differs from the first embodiment in that: a picking mechanism 100 .

[0077] The cargo picking mechanism 100 of this embodiment includes a cargo loading platform 106 , on which a first cargo picking assembly is disposed. The first cargo picking assembly includes a telescopic element and a first drive mechanism configured to drive the telescopic element to reciprocate along the depth direction of the shelf. In this embodiment, the telescopic element is a clamping plate 136 .

[0078] Specifically, guide rail fixing plates 107 are provided on both sides of the cargo platform 106. Linear guide rails 103 are provided on top of the guide rail fixing plates 107. Clamping plates 136 are provided on the linear guide rails 103 and can reciprocate along the linear guide rails 103. The linear guide rails 103 are provided along the depth of the shelf, and the clamping plates 136 can reciprocate along the linear guide rails 103. The movement of the clamping plates 136 along the linear guide rails 103 is similar to the movement of the fork fixing plates 102 in the first embodiment.

[0079] The clamping plates 136 are relatively provided with two, and the two clamping plates 136 can move toward or away from each other. When the two clamping plates 136 move toward each other, the container is clamped, and when the two clamping plates 136 move away from each other, the container is released.

[0080] The two guide rail fixing plates 107 are connected to a clamping drive mechanism (i.e., a third drive mechanism). The clamping drive mechanism drives the two guide rail fixing plates 107 to move toward or away from each other, thereby driving the two clamping plates 136 to move toward or away from each other. Specifically, the clamping drive mechanism includes a clamping timing belt 137, which is driven by a clamping motor 138. The two guide rail fixing plates 107 are respectively fixedly connected to the upper and lower rotating surfaces of the clamping timing belt 137. The clamping timing belt 137 is connected to the two guide rail fixing plates 107. An optical axis 139 is also connected between the two guide rail fixing plates 107 to guide their movement.

[0081] It should be noted that in order to make the movement of the clamping synchronous belt drive the two guide rail fixing plates 107 connected to it to move toward or away from each other, one of the guide rail fixing plates 107 can be connected to the upper branch of the clamping synchronous belt 137, and the other guide rail fixing plate 107 can be connected to the lower branch of the clamping synchronous belt 137.

[0082] In other optional embodiments, the clamping drive mechanism may also adopt a chain transmission mechanism.

[0083] Preferably, a flexible pad 140 is provided on the inner side of the clamping plate 136. The flexible pad 140 can be a rubber pad. By adopting the flexible pad, the two clamping plates are in flexible contact with the cargo box when clamping the cargo box, avoiding rigid collision damage to the cargo box.

[0084] In this embodiment, the picking process of the picking mechanism 100 is as follows:

[0085] The driving motor 104 drives the driving wheel to rotate, thereby running the synchronous belt 110, and then drives the clamping plate 136 to move along the linear guide rail 103, so that the clamping plate 136 extends. After the clamping plate 136 extends, the clamping motor 138 drives the clamping synchronous belt 137 to operate, and the two clamping plates 136 move toward each other to clamp the cargo box 601. Then the driving motor 104 reverses to retract the clamping plate 136 and clamp the cargo box 601 onto the cargo platform 106; after completing the clamping operation, the clamping motor 138 drives the two clamping plates 136 to move away from each other via the clamping synchronous belt 137 to release the cargo box 601.

[0086] The driving motor 104 rotates in the opposite direction to clamp the cargo box 601 on the shelf 701 on the other side of the shelf robot.

[0087] Example 3:

[0088] As shown in FIG6 , in this embodiment, a shelf robot is proposed, which differs from the first embodiment in that: a picking mechanism 100 .

[0089] The pickup mechanism 100 of this embodiment includes a loading platform 106, on which is mounted a second pickup assembly. The second pickup assembly comprises a telescopic element and a first drive mechanism configured to drive the telescopic element to reciprocate along the depth of the shelf. In this embodiment, the telescopic element is a first mounting plate 116. An actuator is mounted on the telescopic element, which is a suction cup assembly. In this embodiment, the suction cup assembly is a vacuum suction cup 115.

[0090] Specifically, guide plates 105 are provided on both sides of the loading platform 106 to guide the movement of the cargo box 601; a linear guide rail 103 is provided at the bottom of the loading platform 106, and the linear guide rail 103 is connected to the first rotating platform 117. The first rotating platform 117 can reciprocate along the linear guide rail 103. Specifically, a slider can be provided on the first rotating platform 117 to slide along the linear guide rail 103. The linear guide rail 103 is arranged along the depth direction of the shelf.

[0091] A first mounting plate 116 is fixedly mounted on top of the first rotating platform 117. The first mounting plate 116 can reciprocate along the depth direction of the shelf driven by the first rotating platform 117. A vacuum suction cup 115 is fixedly mounted on top of the first mounting plate 116. The vacuum suction cup 115 is connected to an air source.

[0092] Optionally, the first rotating platform 117 is also connected to the suction cup rotation drive motor 118, and the suction cup rotation drive motor 118 can drive the first rotating platform 117 to rotate 180° to change the direction of the vacuum suction cup 115, thereby sucking the cargo box 601 on the other side of the shelf robot.

[0093] The first rotating platform 117 is connected to the first driving mechanism and is driven by the first driving mechanism to move along the linear guide rail 103; the transmission mechanism includes a synchronous belt 110, which is connected to the driving wheel 112 and the driven wheel. The driving wheel 112 is connected to the driving motor 104. The middle part of the synchronous belt 110 is tightened by the tensioner 111. The synchronous belt 110 is connected to the first rotating platform 117. When the synchronous belt 110 is running, it drives the first rotating platform 117 to move.

[0094] It is understandable that a gap may be provided in the middle of the cargo platform 106 to provide space for the movement of the vacuum suction cup.

[0095] In this embodiment, the picking process of the picking mechanism 100 is as follows:

[0096] The driving motor 104 drives the driving wheel 112 to rotate, thereby causing the synchronous belt 110 to operate, and then drives the first rotating platform 117 to move along the linear guide rail 103, so that the vacuum suction cup 115 extends. After the vacuum suction cup 115 extends, it is ventilated and sucks the cargo box 601. The driving motor 104 is reversed to retract the vacuum suction cup 115, and the cargo box 601 is sucked onto the loading platform 106.

[0097] The suction cup rotation drive motor 118 drives the vacuum suction cup 115 to rotate 180 degrees, and repeats the above action to suck the cargo box 601 on the other side of the shelf robot.

[0098] Example 4:

[0099] As shown in FIG. 7 and FIG. 8 , in this embodiment, a shelf robot is proposed, which differs from the third embodiment in that: a picking mechanism 100 .

[0100] The pickup mechanism 100 of this embodiment includes a loading platform 106, on which is mounted a second pickup assembly. The second pickup assembly comprises a telescopic element and a first drive mechanism configured to drive the telescopic element to reciprocate along the depth of the shelf. In this embodiment, the telescopic element is a first mounting plate 116. An actuator is mounted on the telescopic element, which is a suction cup assembly. In this embodiment, the suction cup assembly is a vacuum suction cup 115.

[0101] Specifically, a linear guide rail 103 is set at the bottom of the cargo platform 106, the linear guide rail 103 is connected to the first mounting plate 116, and the first mounting plate 116 can move back and forth along the linear guide rail 103. Specifically, a slider can be set on the first mounting plate 116 to slide along the linear guide rail 103.

[0102] A vacuum suction cup 115 is fixedly mounted on the top of the first mounting plate 116 , and the vacuum suction cup 115 is connected to an air source.

[0103] Optionally, the first mounting plate 116 is connected to the first driving mechanism, and is driven by the first driving mechanism to move along the linear guide rail 103; the first driving mechanism in this embodiment is the same as the first driving mechanism in Example 3, and the first mounting plate 116 is connected to the synchronous belt 110, and when the synchronous belt 110 is running, it drives the first mounting plate 116 to move.

[0104] The cargo platform 106 is connected to the rotating mechanism, which includes a turntable 124 fixedly connected to the cargo platform 106. The turntable 124 is connected to the rotary drive wheel 125, and the rotary drive wheel 125 is connected to the rotary motor 126. The turntable 124 is driven by the rotary motor 126 to rotate, thereby driving the cargo platform 106 to rotate 180° to pick up the cargo box 601 on the other side of the shelf robot.

[0105] In this embodiment, the rotary motor 126 is fixed to a bracket 127 . The bracket 127 is connected to the lifting mechanism 200 , and the bracket 127 can move up and down along the column 401 .

[0106] In this embodiment, the picking process of the picking mechanism 100 is as follows:

[0107] The driving motor 104 drives the driving wheel 112 to rotate, thereby causing the synchronous belt 110 to operate, and then drives the first mounting plate 116 to move along the linear guide rail 103, so that the vacuum suction cup 115 extends. After the vacuum suction cup 115 extends, it is ventilated and sucks the cargo box 601. The driving motor 104 is reversed to retract the vacuum suction cup 115, and the cargo box 601 is sucked onto the cargo platform 106.

[0108] The rotary motor 126 drives the entire cargo platform 106 to rotate 180 degrees, and repeats the above-mentioned action to pick up the cargo box 601 on the other side of the shelf robot.

[0109] Embodiment 5:

[0110] As shown in FIG9 and FIG10 , in this embodiment, a shelf robot is proposed, which differs from the third embodiment in that: a picking mechanism 100 .

[0111] The pickup mechanism 100 of this embodiment includes a loading platform 106, on which is mounted a second pickup assembly. The second pickup assembly comprises a telescopic element and a first drive mechanism configured to drive the telescopic element to reciprocate along the depth of the shelf. In this embodiment, the telescopic element is a first mounting plate 116. An actuator is mounted on the telescopic element, which is a suction cup assembly. In this embodiment, the suction cup assembly is a vacuum suction cup 115.

[0112] Specifically, a linear guide rail 103 is set at the bottom of the cargo platform 106, the linear guide rail 103 is connected to the fixed platform 129, and the fixed platform 129 can move back and forth along the linear guide rail 103. Specifically, a slider can be set on the fixed platform 129 to slide along the linear guide rail 103.

[0113] The fixed platform 129 is connected to the swing link 128, the top of the swing link 128 is connected to the first mounting plate 116, and the first mounting plate 116 is fixed with two groups of oppositely mounted vacuum suction cups 115, which are connected to the air source. The two groups of vacuum suction cups 115 face the two directions of reciprocating motion of the first driving mechanism respectively; through the two groups of oppositely mounted vacuum suction cups 115, the cargo box 601 on the other side of the shelf robot can be sucked without the vacuum suction cups 115 turning.

[0114] The swing link 128 is connected to the suction cup swing motor 130, and the suction cup swing motor 130 drives the swing link 128 to swing along the connection with the fixed platform 129, so that the vacuum suction cup 115 is swung forward and can absorb cargo boxes farther away.

[0115] The fixed platform 129 is also connected to the transmission mechanism, which drives it to move along the linear guide rail 103; the transmission mechanism in this embodiment is the same as the transmission mechanism in Example 2. The fixed platform 129 is connected to the synchronous belt 110, and when the synchronous belt 110 runs, it drives the fixed platform 129 to move.

[0116] In this embodiment, the picking process of the picking mechanism 100 is as follows:

[0117] The drive motor 104 rotates the drive wheel 112, which in turn rotates the timing belt 110, thereby driving the fixed platform 129 to move along the linear guide 103, causing the vacuum suction cup 115 to extend. After the vacuum suction cup 115 extends, it can be ventilated and absorb the cargo box 601. The drive motor 104 is reversed to retract the vacuum suction cup 115, sucking the cargo box 601 onto the loading platform 106. The suction cup swing motor 130 can drive the vacuum suction cup 115 to swing forward via the swing link 128, allowing it to pick up cargo boxes farther away.

[0118] The driving motor 104 rotates in the reverse direction and repeats the above-mentioned action to pick up the cargo box 601 on the other side of the shelf robot.

[0119] Example 6:

[0120] As shown in FIG. 11 and FIG. 12 , in this embodiment, a shelf robot is proposed, which differs from the first embodiment in that: a picking mechanism 100 .

[0121] The picking-up mechanism 100 of this embodiment includes a first picking-up component and a second picking-up component. The first picking-up component is in the form of a rotating fork, and the second picking-up component is in the form of a suction cup component. The setting of the first picking-up component is the same as that in the first embodiment, and the setting of the second picking-up component is the same as that in the third embodiment.

[0122] The driving mechanism for driving the vacuum suction cup 115 to move can be fixed to the mounting frame 131 , both ends of the mounting frame are fixed to the cargo platform 106 , and the driving motor 104 of the driving mechanism is fixed to the mounting frame 131 .

[0123] In this embodiment, by setting the rotating fork 101 and the vacuum suction cup 115, they can be operated separately during use to grab different types of cargo boxes 601.

[0124] Embodiment seven:

[0125] As shown in FIG13 , in this embodiment, a shelf robot is proposed, which differs from the third embodiment in that: a picking mechanism 100 .

[0126] The pickup mechanism 100 of this embodiment includes a loading platform 106, on which is mounted a second pickup assembly. This second pickup assembly comprises a telescopic element and a first drive mechanism configured to drive the telescopic element to reciprocate along the depth of the shelf. In this embodiment, the telescopic element is a second mounting plate 121. An actuator, such as a hook 119, is mounted on the telescopic element.

[0127] Specifically, a linear guide rail 103 is set at the bottom of the cargo platform 106, the linear guide rail 103 is connected to the second rotating platform 122, and the second rotating platform 122 can move back and forth along the linear guide rail 103. Specifically, a slider can be set on the second rotating platform 122 to slide along the linear guide rail 103.

[0128] A second mounting plate 121 is fixedly mounted on top of the second rotating platform 122. A hook 119 is fixedly mounted on top of the second mounting plate 121. This hook 119 is connected to a hook drive mechanism that drives the hook 119 to rotate. When picking up a cargo box, the hook is positioned downward, gripping the top edge of the box. In this embodiment, the hook drive mechanism utilizes a hook rotation drive motor 120. Before picking up a cargo box, the hook 119 rotates to a vertical position so that it does not interfere with the cargo box 601. When the second rotating platform 122 is positioned for picking up a cargo box, the hook 119 rotates to a horizontal position, gripping the top edge of the cargo box 601. The second rotating platform 122 then moves in the opposite direction to pick up the cargo box and place it on the loading platform 106.

[0129] Optionally, the second rotating platform 122 is connected to the hook rotation drive motor 123, and the hook rotation drive motor 123 can drive the second rotating platform 122 to rotate 180 degrees and then hook the cargo box 601 on the other side of the shelf robot.

[0130] The second rotating platform 122 is connected to the first driving mechanism and is driven by the first driving mechanism to move along the linear guide rail 103; the first driving mechanism in this embodiment is the same as the first driving mechanism in Example 3, and the second rotating platform 122 is connected to the synchronous belt 110. When the synchronous belt 110 is running, it drives the second rotating platform 122 to move.

[0131] In this embodiment, the picking process of the picking mechanism 100 is as follows:

[0132] The driving motor 104 drives the driving wheel 112 to rotate, thereby running the synchronous belt 110, and then drives the second rotating platform 122 to move along the linear guide rail 103, so that the hook 109 extends. After the hook 109 extends, the hook rotates and the driving motor 120 drives the hook to rotate 90° from a vertical state to a horizontal state, hooking the upper edge of the cargo box. The driving motor 104 reverses to retract the hook 109 and hook the cargo box 601 onto the loading platform 106.

[0133] The hook rotation drive motor 123 drives the hook 119 to rotate 180 degrees, and repeats the above action to pick up the cargo box 601 on the other side of the shelf robot.

[0134] Embodiment 8:

[0135] In this embodiment, a shelf robot is proposed, which differs from the seventh embodiment in that a rotating platform is no longer provided at the bottom of the second mounting plate 121 of the picking mechanism 100, and the loading platform 106 is connected to the rotating mechanism to drive the loading platform 106 to rotate as a whole to hook the cargo boxes 601 on both sides of the shelf robot. The setting of the rotating mechanism is the same as that of the rotating mechanism in the fourth embodiment.

[0136] Embodiment 9:

[0137] As shown in FIG. 14 and FIG. 15 , in this embodiment, a shelf robot is proposed, which differs from the first embodiment in that the width of the cargo platform 106 is adjustable.

[0138] The cargo platform 106 comprises two opposing decks, one of which is connected to the guide rail fixed plate 107 and the other to the movable plate 132. Guide plates 105 are positioned on the sides of each deck. One of the two linear guide rails 103 is positioned on the guide rail fixed plate 107, while the other is positioned on the movable plate 132. The linear guide rail 103 on the movable plate 132 drives the shift fork fixed plate 102 and the rotating shift fork 101 to move with the movable plate 132.

[0139] The guide rail fixed plate 107 and the movable plate 132 are both connected to the optical axis 133. The movable plate 132 is also connected to the width adjustment synchronous belt 134. The width adjustment synchronous belt 134 is connected to the width adjustment motor 135. The width adjustment synchronous belt 134 is driven by the width adjustment motor 135 to operate and then drive the movable plate 132 to move horizontally on the optical axis 133, thereby changing the width of the cargo platform 106.

[0140] In this embodiment, the width of the cargo platform 106 is adjustable, thereby being able to accommodate the storage and retrieval of cargo boxes 601 of different sizes.

[0141] Embodiment 10:

[0142] This embodiment provides a shelf robot, as shown in Figures 16 and 17. The difference between this robot and the first embodiment is that it has a picking mechanism 100.

[0143] In this embodiment, the telescopic element is set as a lifting plate 141, and the lifting plate 141 is set on both sides of the cargo platform 106. The top surface of the lifting plate 141 serves as the support surface of the cargo box. The lifting plate 141 can contact the side edge of the cargo box 601, and the lifting plate 141 can be raised and lowered to lift or lower the cargo box.

[0144] When it is necessary to pick up goods, the lifting plate 141 is extended to the target cargo box, and then the lifting plate 141 is lifted upward to lift the target cargo box so that the target cargo box leaves the cargo box placement surface of the corresponding cargo position. The lifting plate 141 is retracted and the target cargo box can be transferred to the top of the cargo platform 106.

[0145] When the goods need to be released, the lifting plate 141 contacts the side edge of the cargo box 601, and then the lifting plate 141 rises to lift the cargo box off the loading platform 106, and the lifting plate 141 extends to move the cargo box 601 to the target cargo position of the shelf, and then the lifting plate 141 descends so that the cargo box 601 falls on the target cargo position of the shelf.

[0146] It should be noted that the lifting plate 141 can be raised and lowered by the lifting mechanism 200, or by providing a separate lifting device on the lifting plate 141. The lifting device can be a cylinder, an oil cylinder, a rack and pinion lifting mechanism, a screw lifting mechanism, etc., without limitation.

[0147] The other structures of this embodiment are the same as those of the first embodiment and will not be described again here.

[0148] Example 11:

[0149] This embodiment provides a shelf robot, as shown in Figures 18-19. Compared with the tenth embodiment, a plurality of upward hooks 142 are set on the top of the lifting plate 141. The hooks 142 are arranged vertically to the cargo platform 106, and the hooks 142 can cooperate with the grooves on the side of the cargo box 601.

[0150] When it is necessary to pick up the goods, the lifting plate 141 is extended so that the hook 142 corresponds to the groove on the side of the cargo box 601. The lifting plate 141 rises, and the hook 142 hooks the groove of the cargo box upwards. The lifting plate 141 retracts and hooks the cargo box to the loading platform 106.

[0151] When the goods need to be released, the lifting plate 141 rises so that the hook 142 hooks the groove of the cargo box, and the lifting plate 141 extends to drive the cargo box 601 to move to the target cargo position. The lifting plate 141 descends so that the cargo box 601 falls to the target cargo position of the shelf, and at the same time the hook 142 disengages from the groove of the cargo box, and the lifting plate 141 retracts.

[0152] The other structures of this embodiment are the same as those of the tenth embodiment and will not be described again here.

[0153] It should be noted that in this embodiment, the hook is hooked into the cargo box groove by the lifting plate. In other optional implementations, the hook can also be provided with an independent driving mechanism to drive the hook from a horizontal state to a vertical state. Alternatively, the lifting plate may not be provided, and the hook can be directly used as a telescopic element, so that it is lifted by the lifting mechanism so that the hook can be inserted into the groove.

[0154] In addition, the storage equipment disclosed in the present invention can be composed of various structures of the above-mentioned embodiments, and can also achieve the above-mentioned effects.

[0155] The foregoing description is merely a preferred embodiment of the present disclosure and is not intended to limit the present disclosure. Those skilled in the art will readily appreciate that the present disclosure is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure. Industrial Applicability

[0156] In summary, the purpose of the present disclosure is to provide a shelf robot and storage equipment, the picking mechanism of which has no requirements for cargo boxes, can be adapted to various forms of cargo boxes, and can avoid the situation where the cargo boxes break free.

Claims

1. A shelf robot, comprising a column, on which a walking mechanism is arranged, and the walking mechanism can move laterally along a guide rail arranged laterally on the shelf; the column is equipped with a lifting mechanism, and the lifting mechanism is connected to a picking mechanism to drive the picking mechanism to move up and down along the column; the picking mechanism includes a loading platform, and is characterized in that: The cargo platform is provided with a first cargo pickup component and / or a second cargo pickup component, which are configured to pick up and place cargo boxes of different forms, specifications and weights.

2. The shelf robot according to claim 1, characterized in that: The first picking assembly and the second picking assembly both include a telescopic element and a first driving mechanism configured to drive the telescopic element to reciprocate along the depth direction of the shelf.

3. The shelf robot according to claim 2, characterized in that: A rotating fork is provided at the end of the telescopic element of the first picking assembly, and the rotating fork is provided on both sides of the cargo platform. The rotating fork is switched between a vertical state and a horizontal state through a second driving mechanism. After the rotating fork is extended, it becomes a horizontal state and is configured to pull the cargo box from the rear side of the cargo box.

4. The shelf robot according to claim 3, characterized in that: The telescopic element is a shift fork fixing plate, and the first driving mechanism includes a driving motor, a synchronous belt, a driving wheel and a driven wheel. The driving wheel, the synchronous belt and the driven wheel form a transmission circuit. The driving wheel is connected to the driving motor, and teeth are arranged on the outer side of the synchronous belt. A transmission rack is connected to the bottom of the shift fork fixing plate, and the transmission rack meshes with the teeth of the synchronous belt.

5. The shelf robot according to claim 4, characterized in that: A clamping plate is also provided at the lower side of the synchronous belt, that is, the synchronous belt is clamped between the transmission rack and the clamping plate to prevent the synchronous belt from being separated from the transmission rack.

6. The shelf robot according to any one of claims 2 to 5, characterized in that: The telescopic elements of the first cargo pickup assembly are arranged on both sides of the cargo platform, and the telescopic elements on both sides are moved toward or away from each other through a third driving mechanism, and are respectively configured to clamp and release the cargo box.

7. The shelf robot according to claim 6, characterized in that: The telescopic element is a clamping plate, guide rail fixing plates are arranged on both sides of the cargo platform, a linear guide rail is arranged on the top of the guide rail fixing plate, the clamping plate is arranged on the linear guide rail, and can reciprocate along the linear guide rail.

8. The shelf robot according to claim 7, characterized in that: The third driving mechanism is a clamping driving mechanism, which includes a clamping synchronous belt. The clamping synchronous belt is driven by a clamping motor. The two guide rail fixing plates are respectively fixedly connected to the upper and lower rotating surfaces of the clamping synchronous belt, and the clamping synchronous belt is connected to the two guide rail fixing plates.

9. The shelf robot according to claim 8, characterized in that: One of the guide rail fixing plates is connected to the upper branch of the clamping synchronous belt, and the other guide rail fixing plate is connected to the lower branch of the clamping synchronous belt.

10. The shelf robot according to any one of claims 2 to 9, characterized in that: The telescopic elements of the first cargo pickup assembly are arranged on both sides of the cargo platform, and the telescopic elements can be raised and lowered to lift or lower the cargo box.

11. The shelf robot according to any one of claims 2 to 10, characterized in that: The telescopic element is provided with first hooks facing upwards, and the first hooks are arranged on both sides of the cargo platform. When hooking the cargo box, the first hooks are arranged upwards to hook the grooves on both sides of the cargo box.

12. The shelf robot according to any one of claims 2 to 11, characterized in that: An actuator is arranged on the telescopic element of the second picking component, and the actuator is a suction cup assembly or a second hook. When the actuator is a suction cup assembly, it is connected to a negative pressure source; when the actuator is a second hook, it is set downward when hooking the cargo box to hook the upper edge of the cargo box.

13. The shelf robot according to claim 12, characterized in that: The actuator is provided in a group, and the actuator is connected to the first driving mechanism via a rotating platform, and the rotating platform is configured to change the orientation of the actuator.

14. The shelf robot according to claim 12 or 13, characterized in that: The actuators are provided in two groups, and the two groups of actuators are respectively oriented toward two directions of reciprocating motion of the first driving mechanism.

15. The shelf robot according to any one of claims 1 to 14, characterized in that: The width of the cargo platform is adjustable.

16. A storage equipment, characterized in that: A shelf robot comprising any one of claims 1 to 15.

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