Handling robot and warehousing device

Abstract

Provided in the embodiments of the present application are a handling robot and a warehousing device. The warehousing device comprises warehouse racks, wherein an aisle is formed between adjacent warehouse racks. The handling robot is hung on a first warehouse rack located on one side of the aisle. The handling robot comprises a supporting bracket, a material bin pick-and-place assembly and a floor traveling mechanism, wherein the supporting bracket can move on the side surface of the first warehouse rack in a horizontal direction; and the material bin pick-and-place assembly can ascend and descend relative to the supporting bracket and pick and place material bins; and the floor traveling mechanism is arranged at the bottom of the supporting bracket, is located on the side of the aisle close to the first warehouse rack, and is configured to cooperate with the floor, so as to provide a supporting force and traveling power for the handling robot. Part of the weight of the handling robot acts on the floor by means of the floor traveling mechanism, thereby reducing the load borne by the warehouse rack, namely, reducing the requirement for the bearing capacity of the warehouse rack.

Description

A transport robot and storage device

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 13, 2024, with application number 202422263143.3 and utility model name “A handling robot and storage device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of logistics and warehousing technology, and in particular to a handling robot and a warehousing device. Background Art

[0003] In the related art, a storage device generally includes a shelf, on which a handling robot is installed to carry boxes on the shelf. Since the handling robot is installed on the shelf, the shelf bears a high load, and therefore a high load-bearing capacity is required for the shelf. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a transport robot and a storage device to reduce the load on the shelves. The specific technical solution is as follows:

[0005] An embodiment of the present application provides a handling robot for a storage device, wherein the storage device includes shelves, and an aisle is formed between adjacent shelves; the handling robot is hung on a first shelf located on one side of the aisle; the handling robot includes: a support frame, a material box picking and placing assembly and a ground walking mechanism; the support frame can move horizontally on the side of the first shelf; the material box picking and placing assembly can be raised and lowered relative to the support frame, and pick up and place material boxes; the ground walking mechanism is arranged at the bottom of the support frame, on the side of the aisle close to the first shelf, and is used to cooperate with the ground to provide support force and walking power for the handling robot.

[0006] An embodiment of the present application also provides a storage device, comprising the shelves described in any of the above embodiments and at least one transport robot; an aisle is formed between adjacent shelves; the transport robot is hung on a first shelf located on one side of the aisle; and the ground walking mechanism at the bottom of the transport robot is located on one side of the aisle close to the first shelf.

[0007] In the handling robot and storage device provided in the embodiments of the present application, the handling robot is mounted on a first shelf located on one side of an alleyway via a support frame and is capable of sliding horizontally along the shelf. A ground running mechanism is located on the side of the alleyway near the first shelf and is configured to engage the ground on which the shelf rests, providing support and driving force for the handling robot. A portion of the handling robot's weight is applied to the ground via the ground running mechanism, reducing the load on the shelf and, therefore, lowering the required carrying capacity of the shelf.

[0008] Of course, any product implementing the present application does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0010] FIG1a is a three-dimensional structural diagram of a storage device according to an embodiment of the present application;

[0011] FIG1b is a front view of the storage device shown in FIG1a;

[0012] FIG2a is a three-dimensional structural diagram of the transport robot shown in FIG1a;

[0013] FIG2 b is a three-dimensional structural diagram of the transport robot (the pick-and-place platform is not shown) and the horizontal track shown in FIG1 a ;

[0014] FIG2c is a perspective structural diagram of the transport robot (the pick-and-place platform is not shown) and the horizontal track shown in FIG1a from another angle;

[0015] FIG3a is an enlarged schematic diagram of portion A in FIG2b;

[0016] FIG3 b is an enlarged schematic diagram of part A in FIG2 b from another angle;

[0017] FIG4 is an exploded schematic diagram of the ground traveling mechanism shown in FIG2b;

[0018] FIG5 is an enlarged schematic diagram of portion B in FIG2b;

[0019] FIG6 a is a three-dimensional structural diagram of the side shift drive mechanism shown in FIG5 ;

[0020] FIG6b is a three-dimensional structural diagram of the side shift drive mechanism shown in FIG6a from another angle;

[0021] FIG7 is an enlarged schematic diagram of portion C in FIG2b;

[0022] FIG8a is a three-dimensional structural diagram of the auxiliary wheel assembly shown in FIG7;

[0023] FIG8 b is a three-dimensional structural diagram of the auxiliary wheel assembly shown in FIG8 a from another angle.

[0024] Reference numerals: Shelf 100; First shelf 100A; Transport robot 200; Support frame 210; Column 210a; Drag chain 211; Bin pick-and-place assembly 220; Sliding connector 221; Pick-and-place platform 222; Ground travel mechanism 230; Drive assembly 231; Drive motor 2311; Reducer 2312; Travel wheel 2313; First output shaft 2314; Second output shaft 2315; Mounting assembly 232; Mounting frame 2321; Bearing seat 2322; Bearing 2323; First suspension structure 240; First elastic member 241; First sliding member 242; First slider 242a; First slide rail 242b; Auxiliary wheel assembly 250; Auxiliary wheel 251; First auxiliary wheel 2511; Second auxiliary wheel 2512; Auxiliary wheel mounting seat 2513; Second suspension structure 252; second elastic member 2521; second sliding member 2522; second slider 2522a; second slide rail 2522b; third fixing member 2523; fourth fixing member 2524; lateral drive mechanism 260; lateral motor 261; drive wheel assembly 262; first drive wheel 263; second drive wheel 264; third drive wheel 265; third suspension structure 266; third elastic member 2661; first fixing member 2662; second fixing member 2663; second drive wheel mounting base 2664; lifting mechanism 270; lifting motor 271; conveyor belt 272; transmission wheel 273; control device 280; horizontal track 300; groove 310. DETAILED DESCRIPTION

[0025] To make the objectives, technical solutions, and advantages of this application more clearly understood, the present application is further described below with reference to the accompanying drawings and examples. It is apparent that the described examples are only a portion of the embodiments of this application, and not all of them. All other embodiments derived by persons of ordinary skill in the art based on the examples in this application are intended to fall within the scope of protection of this application.

[0026] As mentioned in the background art, in related art, storage devices generally include shelves, on which handling robots are installed to carry boxes on the shelves. Since the handling robots are installed on the shelves, the shelves bear a high load, so the load-bearing capacity of the shelves is required to be high.

[0027] In order to reduce the load borne by the shelves, an embodiment of the present application provides a handling robot and a storage device, see Figure 1a and Figure 1b, Figure 1a is a three-dimensional structural diagram of the storage device of an embodiment of the present application; Figure 1b is a front view of the storage device shown in Figure 1a.

[0028] As shown in Figures 1a and 1b, the storage device provided in the embodiment of the present application includes shelves 100 and a transport robot 200, with lanes formed between adjacent shelves 100. The transport robot 200 provided in the embodiment of the present application will be described in detail below.

[0029] Referring to Figures 2a to 2c, Figure 2a is a perspective structural diagram of the transport robot shown in Figure 1a; Figure 2b is a perspective structural diagram of the transport robot shown in Figure 1a (the material box pick-up and placement component is not shown) and the horizontal track; Figure 2c is a perspective structural diagram of the transport robot shown in Figure 1a (the material box pick-up and placement component is not shown) and the horizontal track from another angle. As shown in Figures 1a to 2c,

[0030] The transport robot 200 is hung on the first shelf 100A located on one side of the aisle; the transport robot 200 includes: a support frame 210, a material box picking and placing component 220 and a ground walking mechanism 230; the support frame 210 can move horizontally on the side of the first shelf 100A; the material box picking and placing component 220 can be raised and lowered relative to the support frame 210, and pick up and place the material boxes; the ground walking mechanism 230 is arranged at the bottom of the support frame 210, located on the side of the aisle close to the first shelf 100A, and is used to cooperate with the ground to provide support force and walking power for the transport robot 200.

[0031] Specifically, the adjacent shelves 100 include a first shelf 100A and a second shelf (not shown in the figure), and an aisle is formed between the first shelf 100A and the second shelf for the transport robot 200 to move horizontally in the aisle near the side of the first shelf 100A to pick up and place the boxes on the first shelf 100A and / or the second shelf.

[0032] The unillustrated portion of the transport robot 200 shown in FIG2a is the support frame 210. The height of the support frame 210 is determined by the height of the shelf 100. The support frame 210 can have various structures, including a single column or a column gantry consisting of two columns, which is not limited in this application.

[0033] The material box picking and placing assembly 220 can also be horizontally extended and retracted relative to the support frame 210 to pick up and place material boxes on adjacent shelves 100 on both sides of the aisle.

[0034] In the specific embodiment provided in this application, the support frame 210 is a column gantry, including two oppositely disposed columns 210a. The material box pick-up and placement assembly 220 may include two sliding connectors 221, a pick-up and placement platform 222, and a telescopic mechanism (not shown in the figure). The pick-up and placement platform 222 is used to carry the material box and is disposed between the two columns 210a of the support frame 210. Both sides are slidably connected to the columns 210a via a sliding connector 221, and can be raised and lowered along the support frame 210 to pick up and place material boxes of different heights on the shelf 100. The pick-up and placement platform 222 can also be driven by the telescopic mechanism to extend toward the first shelf 100A or the second shelf on both sides of the lane to pick up and place material boxes on these two shelves 100.

[0035] In the handling robot and storage device provided in the embodiments of the present application, the handling robot 200 is mounted on a first shelf 100A located on one side of an aisle via a support frame 210 and is capable of sliding horizontally along the shelf 100. A ground running mechanism 230 is located on the side of the aisle near the first shelf 100A and is configured to engage in rolling contact with the ground on which the shelf 100 is located, providing support and driving force for the handling robot 200. A portion of the weight of the handling robot 200 is applied to the ground via the ground running mechanism 230, reducing the load borne by the shelf 100 and, therefore, lowering the load-bearing capacity requirements for the shelf 100.

[0036] In some embodiments of the present application, as shown in Figures 1a and 1b , a plurality of horizontal rails 300 are fixedly disposed on the exterior of the shelf 100. The plurality of horizontal rails 300 are spaced apart vertically along the shelf 100. The transport robot 200 is mounted on the first shelf 100 via the plurality of horizontal rails 300.

[0037] Specifically, the support frame 210 is vertically mounted on multiple horizontal rails 300 and is movably connected to the first shelf 100A in the horizontal direction. The transport robot 200 is hung on the first shelf 100A located on one side of the lane via the multiple horizontal rails 300 and moves horizontally along the shelf 100 based on the multiple horizontal rails 300.

[0038] In a specific embodiment of the present application, as shown in FIG2b , two upper and lower horizontal rails 300 are fixed to the outside of the first shelf 100A. The horizontal rails 300 are provided with grooves 310 extending in the horizontal direction. The support frame 210 is suspended and installed on the horizontal rails 300 through the grooves 310 .

[0039] By applying the embodiment of the present application, the transport robot 200 can be hung on the first shelf 100A located on one side of the aisle based on the horizontal track 300, and move horizontally in the length direction of the shelf 100 to pick up and place various material boxes in the length direction of the shelf 100.

[0040] In some embodiments of the present application, as shown in Figures 2a to 2c, the ground walking mechanism 230 includes: a driving assembly 231 arranged at the bottom of the support frame 210, and the driving assembly 231 is used to roll in contact with the ground to support and drive the support frame 210 to move horizontally along the shelf 100 on the ground.

[0041] The ground walking mechanism 230 further includes a mounting assembly 232 ; the mounting assembly 232 is fixedly connected to the bottom of the support frame 210 or movably connected in the vertical direction, and the driving assembly 231 is disposed on the mounting assembly 232 .

[0042] By applying the embodiment of the present application, the transport robot 200 is installed and hung on the horizontal track 300, so that part of its weight is applied to the first shelf 100A, and the other part of its weight is applied to the ground through the drive component 231 that is in rolling contact with the ground, thereby reducing the load borne by the first shelf 100A. In addition, by providing the drive component 231, the ground walking mechanism 230 has a driving function. Part of the driving force that drives the transport robot 200 to move horizontally comes from the movement of the drive component 231 relative to the ground, making the movement of the transport robot 200 more stable; the other part of the driving force comes from the side shift drive mechanism 260 of the transport robot 200, which will be described in detail later.

[0043] In some embodiments of the present application, referring to Figures 3a to 4, Figure 3a is an enlarged schematic diagram of part A in Figure 2b; Figure 3b is an enlarged schematic diagram of part A in Figure 2b from another angle; and Figure 4 is an exploded schematic diagram of the ground walking mechanism shown in Figure 2b.

[0044] As shown in Figures 3a to 4, the drive assembly 231 includes a motor assembly and running wheels 2313. The motor assembly has a first output shaft 2314 perpendicular to the length of the roadway. The running wheels 2313 are mounted on the first output shaft 2314 and move along the ground driven by the first output shaft 2314. The running wheels 2313 are connected to the mounting assembly 232 via the first output shaft 2314.

[0045] The motor assembly includes a driving motor 2311 and a reducer 2312. The driving motor 2311 is drivingly connected to the reducer 2312; a first output shaft 2314 extends from the reducer 2312 to drive the walking wheel 2313 to move on the ground.

[0046] Specifically, the number of the running wheels 2313 and the first output shaft 2314 can be one or more, and each first output shaft 2314 is sleeved with at least one running wheel 2313 .

[0047] As shown in FIG4 , in a specific embodiment of the present application, two first output shafts 2314 extend from the reducer 2312 and are respectively arranged on a pair of opposite surfaces of the reducer 2312 in a direction perpendicular to the roadway. A travel wheel 2313 is sleeved on each first output shaft 2314 .

[0048] The driving motor 2311 drives the running wheels 2313 to roll on the ground, and drives the support frame 210 to slide along the horizontal direction of the shelf 100 based on the multiple horizontal tracks 300 through the mounting assembly 232.

[0049] By applying the embodiment of the present application, the transport robot 200 drives the walking wheels 2313 to roll on the ground through the driving motor 2311 of the motor assembly, so as to achieve horizontal sliding along the shelf 100.

[0050] In some embodiments of the present application, as shown in FIG. 3 a to FIG. 4 , the mounting assembly 232 includes: a mounting frame 2321 and a bearing seat 2322 .

[0051] The support frame 210 is a column gantry; the mounting frame 2321 is arranged between the two columns 210a of the support frame 210, and is fixedly connected to the bottom of the support frame 210 or movably connected along the vertical direction; the bearing seat 2322 is fixedly arranged in the mounting frame 2321 and connected to the motor assembly.

[0052] The motor assembly further includes a second output shaft 2315 parallel to the length direction of the lane; the second output shaft 2315 is rotatably engaged with the bearing seat 2322 .

[0053] Specifically, the second output shaft 2315 and the drive motor 2311 are arranged on another set of opposite surfaces of the reducer 2312; one or more coaxially arranged bearings 2323 are provided on the bearing seat 2322, and the inner ring of the bearing 2323 is interference fit with the second output shaft 2315.

[0054] In a specific embodiment of the present application, as shown in Figures 3a to 4, the mounting frame 2321 can be a rectangular hollow frame, and the bearing seat 2322 is disposed within the mounting frame 2321, with both ends fixedly connected to the front and rear side walls of the mounting frame 2321. It should be noted that the front and rear side walls of the mounting frame 2321 are the side walls parallel to the shelf 100. The drive assembly 231 is disposed within the mounting frame 2321, and the second output shaft 2315 is capable of rotating on the bearing seat 2322.

[0055] In the embodiment of the present application, the mounting frame 2321 is disposed between the two upright posts 210a of the support frame 210 and is fixedly connected to the bottom of the support frame 210 or movably connected in the vertical direction, thereby improving the stability of the support frame 210. Driven by the drive motor 2311, the running wheels 2313 roll horizontally along the shelf 100, and the support frame 210 is driven to slide along the horizontal track 300 via the bearing seat 2322 and the mounting frame 2321.

[0056] In some embodiments of the present application, as shown in Figures 3a to 4, the ground traveling mechanism 230 is further provided with a first suspension structure 240. The first suspension structure 240 is connected to the support frame 210 and the mounting assembly 232, and is used to drive the ground traveling mechanism 230 to float with the ground.

[0057] Specifically, a group of first suspension structures 240 are respectively provided at both ends of the ground walking mechanism 230; the installation component 232 is movably connected to the bottom of the support frame 210 along the vertical direction through the first suspension structure 240, and drives the ground walking mechanism 230 to float with the ups and downs of the ground, so that the ground walking mechanism 230 is always in contact with the ground.

[0058] By applying the embodiment of the present application, when the transport robot 200 moves, the first suspension structure 240 provides a pressing force toward the ground to the ground walking mechanism 230. The ground walking mechanism 230 can float relative to the support frame 210 as the ground rises and falls, thereby preventing the walking wheels 2313 of the ground walking mechanism 230 from leaving the ground due to uneven ground. The fact that the walking wheels 2313 are always in contact with the ground also ensures sufficient friction between the ground and the walking wheels 2313, making the movement of the transport robot 200 smoother.

[0059] In some embodiments of the present application, as shown in Figures 3a to 4, the first suspension structure 240 includes: a first elastic member 241; one end of the first elastic member 241 is fixedly connected to the support frame 210, and the other end is fixedly connected to the mounting assembly 232; the first elastic member 241 can apply an elastic force to the ground walking mechanism 230 to press toward the ground.

[0060] The first suspension structure 240 further includes a first sliding member 242. The first elastic member 241 and the first sliding member 242 are respectively disposed on both sides of the support frame 210, and are used to cooperate with each other to drive the ground walking mechanism 230 to float along with the ups and downs of the ground.

[0061] Specifically, the first elastic member 241 and the first sliding member 242 are both arranged in the vertical direction, wherein the top end of the first elastic member 241 is fixedly connected to the support frame 210 , and the bottom end is fixedly connected to the mounting assembly 232 .

[0062] By applying the embodiment of the present application, the first elastic member 241 and the first sliding member 242 cooperate with each other so that the ground walking mechanism 230 can not only support the transport robot 200 but also float relative to the support frame 210 as the transport robot 200 moves with the ups and downs of the ground, thereby preventing the walking wheels 2313 of the ground walking mechanism 230 from leaving the ground due to uneven ground. The fact that the walking wheels 2313 are always in contact with the ground also ensures sufficient friction between the ground and the walking wheels 2313, making the movement of the transport robot 200 more stable.

[0063] In some embodiments of the present application, as shown in Figures 3a to 4, the first sliding member 242 includes: a first slider 242a and a first sliding rail 242b; the first slider 242a is fixedly connected to the support frame 210; one side of the first sliding rail 242b is fixedly connected to the mounting assembly 232, and the other side is slidably connected to the first slider 242a.

[0064] In a specific embodiment of the present application, as shown in Figures 3a to 4, the first elastic members 241 and the first sliding members 242 of the two groups of first suspension structures 240 are each arranged at a corner of the mounting frame 2321, and the column 210a of the support frame 210 is sandwiched between a group of first elastic members 241 and the first sliding member 242.

[0065] The first elastic member 241 can be a spring, and the top and bottom ends are fixedly connected to the column 210a and the mounting frame 2321 respectively; so that when the transport robot 200 moves, the first slide rail 242b on the mounting frame 2321 can slide up and down relative to the first slider 242a on the column 210a.

[0066] By applying the embodiment of the present application, the first slider 242a and the first slide rail 242b cooperate with each other to guide the up and down floating of the ground walking mechanism 230 so that it floats in the vertical direction, ensuring that the horizontal movement of the ground walking mechanism 230 and the support frame 210 in the tunnel direction is synchronized.

[0067] In some embodiments of the present application, as shown in Figures 2a to 2c, the transport robot 200 further includes at least one lateral shift drive mechanism 260. The at least one lateral shift drive mechanism 260 is disposed on the support frame 210 and is respectively in rolling connection with the horizontal rail 300; it is configured to cooperate with the ground travel mechanism 230 to move the transport robot 200 in a horizontal direction along the first shelf 100A.

[0068] The transport robot further includes a plurality of auxiliary wheel sets 250 , which are disposed on the support frame 210 .

[0069] Multiple auxiliary wheel groups 250 and at least one lateral drive mechanism 260 are each rollingly connected to the horizontal track 300 located at the same height; so that the transport robot 200 is hung on the first shelf 100A through multiple auxiliary wheel groups 250 and at least one lateral drive mechanism 260.

[0070] Specifically, this application does not limit the arrangement order of the multiple auxiliary wheel groups 250 and at least one lateral shift drive mechanism 260 on the support frame 210. In a specific embodiment of the present application, two upper and lower horizontal rails 300 are fixed to the outside of the shelf 100, and the support frame 210 is provided with a lateral shift drive mechanism 260 and an auxiliary wheel group 250 arranged at intervals up and down, which are respectively connected in a rolling manner to the upper horizontal rail 300 and the lower horizontal rail 300. The multiple auxiliary wheel groups 250 are relatively arranged on the two columns 210a of the support frame 210, and the two auxiliary wheel groups 250 at the same height are connected in a rolling manner to the same horizontal rail 300, which can improve the stability of the transport robot 200 sliding on the horizontal rail 300.

[0071] In the embodiment of the present application, the transport robot 200 is mounted on the exterior of the shelf 100 using auxiliary wheel assembly 250 and a lateral drive mechanism 260. Part of the driving force for the horizontal movement of the transport robot 200 comes from the movement of the drive assembly 231 relative to the ground; the remaining driving force comes from the lateral drive mechanism 260 driving the support frame 210 to slide along the horizontal track 300. The auxiliary wheel assembly 250 improves the efficiency and stability of the support frame 210's movement on the horizontal track 300.

[0072] In some embodiments of the present application, referring to Figures 5 to 6b, Figure 5 is an enlarged schematic diagram of part B in Figure 2b; Figure 6a is a three-dimensional structural diagram of the side-shift drive mechanism shown in Figure 5; and Figure 6b is a three-dimensional structural diagram of the side-shift drive mechanism shown in Figure 6a from another angle.

[0073] As shown in FIG. 5 to FIG. 6 b , each lateral shift driving mechanism 260 includes a lateral shift motor 261 and two driving wheel sets 262 .

[0074] The two driving wheel groups 262 are relatively fixed on the support frame 210 and are rollingly connected to the same horizontal track 300; the side shift motor 261 is drivingly connected to the driving wheel group 262, and drives the support frame 210 to move on the horizontal track 300 through the driving wheel group 262.

[0075] Specifically, the two driving wheel groups 262 are relatively fixed on the two columns 210a of the support frame 210 and are rollingly connected to the same horizontal track 300; the side shift motor 261 is drivingly connected to the driving wheel group 262, and drives the support frame 210 to move horizontally on the horizontal track 300 through the driving wheel group 262.

[0076] In the embodiment of the present application, two opposing drive wheel assemblies 262 are provided in rolling connection with the horizontal track 300, thereby improving the stability of the transport robot 200 as it slides horizontally on the horizontal track 300. The side shift motor 261 drives the drive wheel assemblies 262, driving the support frame 210 to slide horizontally on the horizontal track 300, enabling the bin pick-and-place assembly 220 to pick up and place different bins along the length of the shelf 100.

[0077] In some embodiments of the present application, as shown in FIG. 5 to FIG. 6 b , the driving wheel set 262 includes: a first driving wheel 263 , a second driving wheel 264 and a third driving wheel 265 .

[0078] The first driving wheel 263 is located above the horizontal track 300 and is rollingly connected to the top surface of the horizontal track 300; the second driving wheel 264 and the third driving wheel 265 are located below the horizontal track 300; they are used to cooperate with each other so that the support frame 210 can move based on the horizontal track 300.

[0079] In the embodiment of the present application, a first drive wheel 263, a second drive wheel 264, and a third drive wheel 265 are provided, which are in rolling connection with the horizontal track 300. This converts the sliding friction between the support frame 210 and the horizontal track 300 into rolling friction, allowing the support frame 210 to move rapidly on the horizontal track 300. The first drive wheel 263 is located above the horizontal track 300, while the second drive wheel 264 and the third drive wheel 265 are located below the horizontal track 300. The transport robot 200 clamps the horizontal track 300 from both the upper and lower directions via the drive wheel assembly 262, allowing it to be mounted on the first shelf 100A located on one side of the laneway. This improves the stability of the transport robot 200 during installation and horizontal movement.

[0080] In some embodiments of the present application, as shown in FIG. 5 to FIG. 6 b , the driving wheel assembly 262 further includes a third suspension structure 266 .

[0081] The third suspension structure 266 is fixedly connected to the support frame 210, and the second drive wheel 264 and the third drive wheel 265 are fixed on the third suspension structure 266, wherein the second drive wheel 264 is rollingly connected to the bottom of the horizontal track 300 and is drive-connected to the side shift motor 261; the third drive wheel 265 is rollingly connected to the inner wall of the horizontal track 300.

[0082] The third suspension structure 266 can float in a horizontal direction relative to the support frame 210 to apply a horizontal positive pressure to the support frame 210 .

[0083] Specifically, a groove 310 with an opening facing downward is provided at the bottom of the horizontal track 300 that is rollingly connected to the two driving wheel sets 262 .

[0084] The first drive wheel 263 and the second drive wheel 264 are arranged vertically, and the third drive wheel 265 is arranged horizontally, so that the second drive wheel 264 is rollingly connected to the top surface of the bottom groove 310 of the horizontal track 300 and is drive-connected to the side shift motor 261; the third drive wheel 265 is rollingly connected to the side wall of the bottom groove 310 of the horizontal track 300.

[0085] The third suspension structure 266 applies horizontal positive pressure to the support frame 210. During the movement of the transport robot 200, when the part of the support frame 210 where the lateral drive mechanism 260 is located moves faster than the other part, the direction of the positive pressure is opposite to the movement direction; when it is slower than the other part, the direction of the positive pressure is the same as the movement direction, so that the upper and lower parts of the support frame 210 move synchronously and constrain the swing angle.

[0086] In the embodiment of the present application, the first and second drive wheels 263, 264 are arranged vertically, and the third drive wheel 265 is arranged horizontally. This increases the contact area between the drive wheel assembly 262 and the bottom groove 310 of the horizontal track 300, thereby improving the efficiency and stability of the movement of the support frame 210 on the horizontal track 300. The third suspension structure 266 is provided to apply pressure to the support frame 210 to constrain the swing angle of the support frame 210 when moving along the horizontal track 300, ensuring that the support frame 210 moves synchronously on each horizontal track 300.

[0087] In some embodiments of the present application, as shown in Figures 5 to 6b, the third suspension structure 266 includes a third elastic member 2661. The third elastic member 2661 is arranged in the horizontal direction, with one end fixedly connected to the support frame 210 and the third drive wheel 265, and the other end fixedly connected to the second drive wheel 264; the third elastic member 2661 can apply a horizontal positive pressure to the support frame 210.

[0088] Specifically, the third elastic member 2661 can be a spring, which makes the structure of the third suspension structure 266 simpler and lighter, so as to reduce the weight of the transport robot 200, reduce the load borne by the shelf 100, and increase the service life of the horizontal rail 300 and the shelf 100.

[0089] One end of the third elastic member 2661 is fixedly connected to the column 210a of the support frame 210 through the first fixing member 2662. The first fixing member 2662 extends toward the groove 310 at the bottom of the horizontal track 300, and the third driving wheel 265 is fixed to the end so that the third driving wheel 265 is located in the groove 310 at the bottom and is rollingly connected to the side wall of the groove 310 at the bottom; the other end is fixedly connected to the second driving wheel mounting seat 2664 through the second fixing member 2663.

[0090] By applying the embodiment of the present application, the third suspension structure 266 applies horizontal positive pressure to the support frame 210 through the third elastic member 2661, which can constrain the swing angle of the support frame 210 when it moves along the horizontal track 300, thereby ensuring that the support frame 210 moves synchronously on each horizontal track 300.

[0091] In some embodiments of the present application, referring to Figures 7 to 8b, Figure 7 is an enlarged schematic diagram of portion C in Figure 2b; Figure 8a is a three-dimensional structural diagram of the auxiliary wheel assembly shown in Figure 7; and Figure 8b is a three-dimensional structural diagram of the auxiliary wheel assembly shown in Figure 8a from another angle.

[0092] As shown in FIG. 7 to FIG. 8 b , each auxiliary wheel set 250 includes an auxiliary wheel 251 ; the auxiliary wheel 251 is rollingly connected to the horizontal track 300 .

[0093] Each auxiliary wheel set 250 further includes a second suspension structure 252 . The second suspension structure 252 is located above the horizontal track 300 and is fixedly connected to the support frame 210 . The auxiliary wheels 251 are disposed on the second suspension structure 252 and are located above the horizontal track 300 .

[0094] The second suspension structure 252 can float in the vertical direction relative to the horizontal track 300 so that the auxiliary wheels 251 are always pressed against the horizontal track 300 .

[0095] Specifically, the top of the horizontal track 300, which is rollably connected to the auxiliary wheel assembly 250, is provided with an upwardly opening groove 310. The auxiliary wheels 251 are mounted on the second suspension structure 252, located within the groove 310 at the top of the horizontal track 300, and are capable of rolling within the groove 310. The support frame 210 is positioned above the horizontal track 300 via the auxiliary wheels 251 and is mounted within the groove 310 at the top of the horizontal track 300. It is then suspended from the first shelf 100A located on one side of the aisle.

[0096] The second suspension structure 252 can float in the vertical direction relative to the horizontal track 300 so that the auxiliary wheel 251 is always located in the groove 310 at the top of the horizontal track 300 .

[0097] During the movement of the transport robot 200, the support frame 210 will float in the vertical direction as the ground rises and falls. When the auxiliary wheel 251 on the support frame 210 wants to float upward relative to the horizontal track 300, the second suspension structure 252 applies pressure to the auxiliary wheel 251 so that the auxiliary wheel 251 is always located in the groove 310 at the top of the horizontal track 300.

[0098] In addition, since there may be errors in the installation position of the horizontal rail 300 on the first shelf 100A, the spacing value between the upper and lower horizontal rails 300 deviates from the predetermined spacing. At this time, when the transport robot 200 is installed on the horizontal rail 300, the second suspension structure 252 can adjust the position of the auxiliary wheel 251 in the vertical direction relative to the support frame 210 based on itself to ensure that the auxiliary wheel 251 is always located in the groove 310 at the top of the horizontal rail 300.

[0099] By applying the embodiment of the present application, the auxiliary wheel 251 is always pressed against the horizontal track 300 through the second suspension structure 252 to prevent it from falling off the horizontal track 300, thereby improving the stability of the transport robot 200 sliding on the horizontal track 300.

[0100] In some embodiments of the present application, as shown in Figures 7 to 8b, the second suspension structure 252 includes a second elastic member 2521. One end of the second elastic member 2521 is fixedly connected to the support frame 210, and the other end is fixedly connected to the auxiliary wheel 251. The second elastic member 2521 can apply an elastic force to the auxiliary wheel 251 to press it toward the horizontal track 300.

[0101] The second suspension structure 252 also includes a second sliding member 2522. The second sliding member 2522 includes a second slider 2522a and a second slide rail 2522b. The second slider 2522a is fixedly connected to the auxiliary wheel 251; the second slide rail 2522b is fixedly connected to the support frame 210 on one side and slidably connected to the second slider 2522a on the other side.

[0102] Specifically, the second elastic member 2521 and the second sliding member 2522 are both arranged in the vertical direction, wherein the top end of the second elastic member 2521 is fixedly connected to the support frame 210 , and the bottom end is fixedly connected to the auxiliary wheel 251 .

[0103] The auxiliary wheel 251 is based on the second elastic member 2521 and the second sliding member 2522 and is always located in the groove 310 at the top of the horizontal track 300 .

[0104] The second elastic member 2521 can be a spring, which makes the structure of the second suspension structure 252 simpler and lighter, thereby reducing the weight of the transport robot 200, reducing the load borne by the first shelf 100A, and increasing the service life of the horizontal rail 300 and the first shelf 100A.

[0105] The top end of the second elastic member 2521 is fixedly connected to the column 210a of the support frame 210 through the third fixing member 2523, and the bottom end is fixedly connected to the auxiliary wheel 251 through the fourth fixing member 2524. When the transport robot 200 moves, it can apply an elastic force to the auxiliary wheel 251 to press toward the horizontal track 300, so that the second slide rail 2522b can slide up and down relative to the second slider 2522a on the column 210a of the support frame 210.

[0106] By applying the embodiment of the present application, the second elastic member 2521 and the second sliding member 2522 ensure that the auxiliary wheel 251 is always located in the top groove 310 of the horizontal track 300, preventing it from falling off the horizontal track 300, thereby improving the stability of the transport robot 200 sliding on the horizontal track 300.

[0107] In some embodiments of the present application, as shown in FIG. 7 to FIG. 8 b , the auxiliary wheel 251 includes a first auxiliary wheel 2511 , a second auxiliary wheel 2512 , and an auxiliary wheel mounting seat 2513 .

[0108] The auxiliary wheel mounting seat 2513 is fixedly connected to the second suspension structure 252 ; the first auxiliary wheel 2511 and the second auxiliary wheel 2512 are fixed side by side on the auxiliary wheel mounting seat 2513 .

[0109] The first auxiliary wheel 2511 is rollingly connected to the inner wall of the horizontal track 300 ; the second auxiliary wheel 2512 is rollingly connected to the top of the horizontal track 300 .

[0110] Specifically, the first auxiliary wheel 2511 is arranged horizontally and rollingly connected to the side wall of the groove 310 at the top of the horizontal track 300 ; the second auxiliary wheel 2512 is arranged vertically and rollingly connected to the bottom of the groove 310 at the top of the horizontal track 300 .

[0111] Specifically, the auxiliary wheel mounting base 2513 is fixedly connected to the fourth fixing member 2524 of the second suspension structure 252. In the embodiment of the present application, the first auxiliary wheel 2511 is arranged horizontally, and the second auxiliary wheel 2512 is arranged vertically. This increases the contact area between the auxiliary wheels 251 and the top groove 310 of the horizontal track 300, thereby improving the efficiency and stability of the support frame 210 moving on the horizontal track 300.

[0112] In some embodiments of the present application, as shown in Figures 1a to 2b, the transport robot further includes a lifting mechanism 270. The lifting mechanism 270 is disposed on the support frame 210 and can drive the bin pick-and-place assembly 220 to rise and fall along the support frame 210 to pick up and place bins at different heights on the shelf 100.

[0113] Specifically, in the specific embodiment of the present application, the handling robot 200 also includes two sets of lifting mechanisms 270, and the material box picking and placing assembly 220 is arranged between the two columns 210a of the support frame 210, and is slidably connected to the support frame 210 along the vertical direction; the two sets of lifting mechanisms 270 are respectively arranged on the two columns 210a of the support frame 210, and can drive the material box picking and placing assembly 220 to rise and fall along the support frame 210 to pick up and place material boxes at different heights on the shelf 100.

[0114] Each lifting mechanism 270 may include a lifting motor 271, a conveyor belt 272, and two transmission wheels 273. The two transmission wheels 273 are respectively fixed to the top and bottom of the column 210a of the support frame 210. The lifting motor 271 is drivingly connected to the bottom transmission wheel 273 and is fixed to the column 210a of the support frame 210. The conveyor belt 272 passes around the bottom transmission wheel 273 and the top transmission wheel 273 and is fixedly connected to the bin pick-and-place assembly 220 at both ends. The lifting motor 271 drives the transmission wheels and the conveyor belt 272, which can drive the bin pick-and-place assembly 220 to slide vertically along the support frame 210 to pick and place bins at different heights on the shelf 100.

[0115] When applying the embodiment of the present application, the material box picking and placing component 220 is driven by the lifting mechanism 270, and can be raised and lowered along the support frame 210 to pick up and place material boxes at different heights on the shelf 100; it can also follow the support frame 210 to move in the horizontal direction of the shelf 100 to pick up and place different material boxes in the length direction of the shelf 100.

[0116] In some embodiments of the present application, as shown in Figures 1a and 2a, the transport robot 200 further includes a control device 280 for controlling the movement of the transport robot 200 and the placement and retrieval of bins. The control device 280 is disposed alongside the support frame 210 outside the shelf 100 and is fixedly connected to the mounting frame 2321 of the ground travel mechanism 230. The bottom of the control device 280 is provided with rollers for contacting the ground, enabling it to move horizontally along the shelf 100 with the support frame 210.

[0117] As shown in FIG. 2 a , a drag chain 211 is further provided on the support frame 210 for restraining the cables of the transport robot 200 .

[0118] Next, the storage device provided in the embodiment of the present application is described.

[0119] The storage device provided in the embodiment of the present application, as shown in Figure 1a and Figure 1b, includes the shelves 100 described in any of the above embodiments and at least one handling robot 200, and aisles are formed between adjacent shelves 100.

[0120] The transport robot 200 is mounted on a first shelf 100A located at one side of the lane, and the ground walking mechanism 230 at the bottom of the transport robot 200 is located at one side of the lane close to the first shelf 100A.

[0121] Specifically, when there are two transport robots 200, they can be mounted on either side of the first shelf 100A in the longitudinal direction to simultaneously pick up and place bins from both sides of the shelf 100. If the shelf 100 is long enough, two or more transport robots 200 can also be positioned on the same side of the first shelf 100A. This application does not limit the installation arrangement of the transport robots 200 on the first shelf 100A.

[0122] In the storage device provided herein, a handling robot 200 is mounted on a first shelf 100A located on one side of an aisle via a support frame 210 and is capable of sliding horizontally along shelf 100. A ground running mechanism 230 is located on one side of the aisle near first shelf 100A and is configured to engage the ground surface on which shelf 100 rests, providing support and driving force for the handling robot 200. A portion of the weight of the handling robot 200 is applied to the ground via the ground running mechanism 230, reducing the load on shelf 100 and, therefore, lowering the load-bearing capacity requirements for shelf 100.

[0123] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0124] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A handling robot for a storage device, characterized in that, The storage device includes a shelf (100), and aisles are formed between adjacent shelves (100). The handling robot (200) is hung on a first shelf (100A) on one side of the aisle; the handling robot (200) includes: a support frame (210), a bin picking and placing assembly (220), and a ground walking mechanism (230); the support frame (210) can move horizontally along the side of the first shelf (100A); the bin picking and placing assembly (220) can lift relative to the support frame (210) and pick and place bins; the ground walking mechanism (230) is arranged at the bottom of the support frame (210), on the side of the aisle close to the first shelf (100A), and is used to cooperate with the ground to provide a supporting force and a walking power for the handling robot (200).

2. The handling robot according to claim 1, characterized in that The ground walking mechanism (230) includes: A driving assembly (231) arranged at the bottom of the support frame (210), and the driving assembly (231) is used to rollingly contact the ground to support and drive the support frame (210) to move horizontally on the ground along the shelf (100).

3. The handling robot according to claim 2, characterized in that, The ground walking mechanism (230) further includes: a mounting assembly (232); the mounting assembly (232) is fixedly connected or movably connected in the vertical direction to the bottom of the support frame (210), and the driving assembly (231) is arranged on the mounting assembly (232).

4. The handling robot according to claim 3, characterized in that, The driving assembly (231) includes: a motor assembly and a walking wheel (2313); The motor assembly has a first output shaft (2314) perpendicular to the length direction of the aisle; the walking wheel (2313) is arranged on the first output shaft (2314), moves on the ground driven by the first output shaft (2314), and the walking wheel (2313) is connected to the mounting assembly (232) through the first output shaft (2314).

5. The handling robot according to claim 4, characterized in that, The motor assembly includes: a driving motor (2311) and a reducer (2312); The driving motor (2311) is drivingly connected to the reducer (2312); the first output shaft (2314) extends from the reducer (2312) to drive the walking wheel (2313) to move on the ground.

6. The handling robot according to claim 3, characterized in that The mounting assembly (232) includes: a mounting frame (2321) and a bearing seat (2322); The support frame (210) is a column gantry; The mounting frame (2321) is arranged between two columns (210a) of the support frame (210), and is fixedly connected or movably connected in the vertical direction to the bottom of the support frame (210); the bearing seat (2322) is fixedly arranged in the mounting frame (2321) and is connected to the motor assembly.

7. The handling robot according to claim 6, wherein The motor assembly further has a second output shaft (2315) parallel to the length direction of the aisle; the second output shaft (2315) is rotationally matched with the bearing seat (2322).

8. The handling robot according to claim 3, characterized in that The ground walking mechanism (230) is further provided with a first suspension structure (240). The first suspension structure (240) is connected to the support frame (210) and the mounting assembly (232), and is configured to drive the ground walking mechanism (230) to float along with the undulation of the ground.

9. The handling robot according to claim 8, wherein The first suspension structure (240) includes: a first elastic member (241); one end of the first elastic member (241) is fixedly connected to the support frame (210), and the other end is fixedly connected to the mounting assembly (232); the first elastic member (241) is capable of applying an elastic force pressing towards the ground to the ground walking mechanism (230).

10. The handling robot according to claim 9, wherein The first suspension structure (240) further includes: a first sliding member (242); the first elastic member (241) and the first sliding member (242) are respectively disposed on two sides of the support frame (210), and are configured to cooperate with each other to drive the ground walking mechanism (230) to float along with the undulation of the ground.

11. The handling robot according to claim 10, wherein The first sliding member (242) includes: a first slider (242a) and a first slide rail (242b); the first slider (242a) is fixedly connected to the support frame (210); one side of the first slide rail (242b) is fixedly connected to the mounting assembly (232), and the other side is slidably connected to the first slider (242a).

12. The handling robot according to claim 1, characterized in that, A plurality of horizontal tracks (300) are fixedly provided outside the shelf (100); the plurality of horizontal tracks (300) are spaced apart along the vertical direction of the shelf (100); The handling robot (200) is hung on the first shelf (100A) through the plurality of horizontal tracks (300).

13. The handling robot according to claim 12, wherein, Further included is: At least one side shift driving mechanism (260); The at least one side shift driving mechanism (260) is disposed on the support frame (210) and is respectively in rolling connection with the horizontal track (300); and is configured to cooperate with the ground walking mechanism (230) to move the handling robot (200) in the horizontal direction along the first shelf (100A).

14. The handling robot according to claim 13, wherein Further included is: A plurality of auxiliary wheel sets (250); the plurality of auxiliary wheel sets (250) are disposed on the support frame (210); The plurality of auxiliary wheel sets (250) and the at least one side shift driving mechanism (260) are respectively in rolling connection with the horizontal track (300) at the same height; such that the handling robot (200) is hung on the first shelf (100A) through the plurality of auxiliary wheel sets (250) and the at least one side shift driving mechanism (260).

15. The handling robot according to claim 14, wherein, Each of the auxiliary wheel sets (250) includes: an auxiliary wheel (251); The auxiliary wheel (251) is in rolling connection with the horizontal track (300).

16. The handling robot according to claim 14, characterized in that, Each of the auxiliary wheel sets (250) further includes: a second suspension structure (252); The second suspension structure (252) is located above the horizontal track (300) and is fixedly connected to the support frame (210), and the auxiliary wheel (251) is disposed on the second suspension structure (252) and is located above the horizontal track (300). The second suspension structure (252) can float in the vertical direction relative to the horizontal track (300) so that the auxiliary wheel (251) is always pressed against the horizontal track (300).

17. The handling robot according to claim 16, wherein, The second suspension structure (252) includes: a second elastic member (2521); One end of the second elastic member (2521) is fixedly connected to the support frame (210), and the other end is fixedly connected to the auxiliary wheel (251); the second elastic member (2521) can apply an elastic force pressing the auxiliary wheel (251) towards the horizontal track (300).

18. The handling robot according to claim 17, characterized in that, The second suspension structure (252) further includes: the second sliding member (2522); The second sliding member (2522) includes: a second slider (2522a) and a second slide rail (2522b); the second slider (2522a) is fixedly connected to the auxiliary wheel (251); one side of the second slide rail (2522b) is fixedly connected to the support frame (210), and the other side is slidably connected to the second slider (2522a).

19. The handling robot according to claim 15, characterized in that, The auxiliary wheel (251) includes a first auxiliary wheel (2511), a second auxiliary wheel (2512) and an auxiliary wheel mounting seat (2513); The auxiliary wheel mounting seat (2513) is fixedly connected to the second suspension structure (252); the first auxiliary wheel (2511) and the second auxiliary wheel (2512) are fixedly arranged side by side on the auxiliary wheel mounting seat (2513); The first auxiliary wheel (2511) is in rolling connection with the inner side wall of the horizontal track (300); the second auxiliary wheel (2512) is in rolling connection with the top of the horizontal track (300).

20. The handling robot according to claim 13, characterized in that, Each side shift driving mechanism (260) includes: a side shift motor (261) and two drive wheel sets (262); The two drive wheel sets (262) are relatively fixed on the support frame (210) and are in rolling connection with the same horizontal track (300); the side shift motor (261) is drivingly connected to the drive wheel sets (262), and drives the support frame (210) to move on the horizontal track (300) through the drive wheel sets (262).

21. The handling robot according to claim 20, characterized in that, The drive wheel set (262) includes: a first drive wheel (263), a second drive wheel (264) and a third drive wheel (265); The first drive wheel (263) is located above the horizontal track (300) and is in rolling connection with the top surface of the horizontal track (300); the second drive wheel (264) and the third drive wheel (265) are located below the horizontal track (300); and they are used in cooperation so that the support frame (210) can move based on the horizontal track (300).

22. The handling robot according to claim 21, characterized in that, The drive wheel set (262) further includes: a third suspension structure (266); The third suspension structure (266) is fixedly connected to the support frame (210). The second driving wheel (264) and the third driving wheel (265) are fixed on the third suspension structure (266). Among them, the second driving wheel (264) is in rolling connection with the bottom of the horizontal track (300) and is drivingly connected to the side shift motor (261); the third driving wheel (265) is in rolling connection with the inner side wall of the horizontal track (300). The third suspension structure (266) can float horizontally relative to the support frame (210) to apply a positive pressure in the horizontal direction to the support frame (210).

23. The handling robot according to claim 22, characterized in that, The third suspension structure (266) includes: a third elastic member (2661); the third elastic member (2661) is arranged in the horizontal direction, one end is fixedly connected to the support frame (210) and the third driving wheel (265), and the other end is fixedly connected to the second driving wheel (264); the third elastic member (2661) can apply a positive pressure in the horizontal direction to the support frame (210).

24. The handling robot according to claim 1, wherein, It further includes a lifting mechanism (270). The lifting mechanism (270) is arranged on the support frame (210) and can drive the bin picking and placing assembly (220) to lift along the support frame (210) to pick and place bins at different heights on the shelf (100). The bin picking and placing assembly (220) can also horizontally expand and contract relative to the support frame (210) to pick and place bins on the shelves (100) on both sides of the aisle.

25. A storage device, characterized in that, It includes the shelf (100) according to any one of claims 1 to 24 and at least one handling robot (200); an aisle is formed between adjacent shelves (100); the handling robot (200) is hung on the first shelf (100A) on one side of the aisle; the ground walking mechanism (230) at the bottom of the handling robot (200) is located on the side of the aisle close to the first shelf (100A).

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