Robot installation device

Abstract

A robot installation device, used for installing a robot onto a rail of a storage rack. The robot installation device comprises a mobile platform and an uprighting mechanism, the uprighting mechanism is arranged on the mobile platform, and the uprighting mechanism can rotate relative to the mobile platform, so that the uprighting mechanism drives the robot to switch between a connection position and an installation position; at the connection position, the uprighting mechanism is used for docking with the robot, and at the installation position, the uprighting mechanism supports the robot in an upright state, thereby enabling the robot to be installed onto the rail. The robot installation device occupies less operational space and has lower operational space requirements, allowing for more convenient and efficient uprighting and installation operations of the robot.

Description

Robot installation device

[0001] This application claims priority to Chinese Patent Application No. 202420887453.X, filed on April 25, 2024, entitled "Robot Installation Apparatus", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of warehousing and logistics technology, and in particular to a robot installation device. Background Technology

[0003] The warehousing system includes shelves and robots. The shelves form aisles, and the robots move in the aisles to store and retrieve goods, thereby achieving effective control and management of logistics resources.

[0004] The existing shelves are equipped with tracks extending along the aisles. Robots are installed by docking with these tracks to move within the aisles. Installing the robot onto the tracks requires hoisting equipment such as cranes within the warehousing system. These hoisting devices are used to lift the robot onto the tracks, allowing for docking and installation.

[0005] However, hoisting equipment occupies a large amount of space within the warehousing system, and the limited operating space makes it inconvenient to connect the robot with the track on the shelf. Summary of the Invention

[0006] This application provides a robot installation device to solve the problem of inconvenient construction when docking a robot with a track on a shelf.

[0007] The robot installation device provided in this application is used to install a robot onto the track of a shelf. The robot installation device includes a mobile cart and a support mechanism. The support mechanism is mounted on the mobile cart and can rotate relative to the mobile cart so that the support mechanism can drive the robot to switch between a connection position and an installation position. In the connection position, the support mechanism is used to dock with the robot. In the installation position, the support mechanism supports the robot in a vertical state so that the robot can be installed onto the track.

[0008] In one possible implementation, the robot installation device provided in this application further includes a lifting assembly, which is mounted on a mobile vehicle. The support mechanism is connected to the lifting assembly, and the lifting assembly is configured to drive the support mechanism to lift relative to the mobile vehicle to align with the track when the support mechanism is in the installation position.

[0009] In one possible implementation, the robot mounting device provided in this application includes a support mechanism comprising a connecting frame and at least one connector disposed on the connecting frame. The connecting frame is rotatably connected to a lifting assembly, and the connector is used to dock with a connecting part on the robot.

[0010] In one possible implementation, the robot mounting device provided in this application further includes a mounting component on the standing mechanism. The mounting component is mounted on a connecting frame. When the standing mechanism is in the mounting position, the connecting frame is connected to the moving vehicle or the lifting component through the mounting component. When the standing mechanism is in the connecting position, the mounting component is disconnected from the moving vehicle or the lifting component.

[0011] In one possible implementation, the robot mounting device provided in this application includes a mounting frame and at least one first roller rotatably mounted on the mounting frame. The mounting frame is hinged to a connecting frame. When the supporting mechanism is in the mounting position, the mounting frame is configured to be rotatably connected to a moving vehicle or lifting assembly via the first roller.

[0012] In one possible implementation, the robot mounting device provided in this application has at least two first rollers, each of which is used for rolling connection with a different side of a mobile vehicle or lifting assembly.

[0013] In one possible implementation, the robot mounting device provided in this application includes a mounting frame comprising a support member, an operating member, and a connecting rod. The two ends of the connecting rod are respectively hinged to the support member and the operating member, and both the support member and the operating member are hinged to the connecting frame.

[0014] The first roller is mounted on the support member, and the operating member is configured to drive the support member to rotate relative to the connecting frame via a linkage, so that the first roller is tactilely connected to the moving vehicle or lifting assembly.

[0015] In one possible implementation, the robot mounting device provided in this application further includes an elastic element, and the connecting frame and the operating element are connected by the elastic element.

[0016] In one possible implementation, the robot mounting device provided in this application further includes at least one second roller, which is rotatably mounted on the connecting frame. When the supporting mechanism is in the mounting position, the second roller is configured to be rotatably connected to the mobile vehicle or lifting assembly.

[0017] In one possible implementation, the robot mounting device provided in this application, when the supporting mechanism is in the mounting position, has the second roller and each of the first rollers located on different sides of the mobile vehicle or lifting assembly.

[0018] In one possible implementation, the robot mounting device provided in this application includes a lifting assembly comprising a movable frame and a drive component. The drive component is mounted on a movable vehicle and connected to the movable frame. The support mechanism is hinged to the movable frame. The drive component drives the movable frame to lift and lower, so that the movable frame drives the support mechanism to lift and lower relative to the movable vehicle.

[0019] In one possible implementation, the robot mounting device provided in this application includes a lifting assembly that further includes a support frame, the support frame being fixedly connected to a mobile vehicle, a drive unit being mounted on the support frame, and the mobile frame being slidably connected to the support frame.

[0020] In one possible implementation, the robot mounting device provided in this application includes a mobile frame comprising a connecting beam and at least one movable block disposed on the connecting beam, an erecting mechanism hinged to the connecting beam, and a movable block slidably connected to a support frame.

[0021] In one possible implementation, the robot mounting device provided in this application has at least one third roller on the moving block, the third roller abutting against the side of the support frame and being able to roll along the side of the support frame.

[0022] In one possible implementation, the robot mounting device provided in this application has at least two third rollers, with each of the at least two third rollers abutting against the opposite sides of the support frame.

[0023] In one possible implementation, the robot mounting device provided in this application further includes a transmission component in the lifting assembly, and the drive component is connected to the moving frame through the transmission component.

[0024] In one possible implementation, the robot mounting device provided in this application further includes a transmission wheel in the lifting assembly. The transmission wheel is rotatably mounted on the driving end of the driving member. One end of the transmission member is mounted on the mobile vehicle, and the other end of the transmission member is fixedly connected to the mobile frame. The transmission member is wound around the transmission wheel.

[0025] In one possible implementation, the robot mounting device provided in this application has a hydraulic lifting component as the driving component and a chain, belt, or connecting rope as the transmission component.

[0026] In one possible implementation, the robot mounting device provided in this application is in a horizontal state when the supporting mechanism is in the connection position.

[0027] In one possible implementation, the robot mounting device provided in this application includes a mobile vehicle comprising a frame and a mobile base, with the frame mounted on the mobile base and a lifting assembly connected to the frame.

[0028] In one possible implementation, the robot mounting device provided in this application has multiple layers of pedals on its frame.

[0029] In one possible implementation, the robot mounting device provided in this application has a telescopic frame on the side of the mobile base away from the frame, the telescopic frame is slidably connected to the mobile base, and a first auxiliary wheel is provided on the telescopic frame.

[0030] In one possible implementation, the robot mounting device provided in this application has a telescopic frame that extends or retracts relative to the movable base toward the support mechanism.

[0031] In one possible implementation, the robot mounting device provided in this application has an extension frame on at least one side of the movable base, and a second auxiliary wheel is provided on the extension frame.

[0032] The robot installation device provided in this application, by setting up a supporting mechanism on a mobile cart, allows the supporting mechanism to rotate relative to the mobile cart. This allows it to dock with the robot to be installed in the connection position, and after rotating to the installation position, the robot is placed in an upright state. The mobile cart then moves the robot and installs it onto the shelf track. Compared to setting up dedicated hoisting equipment within the warehousing system to support the robot and then using that equipment to install it onto the track, the robot installation device provided in this application occupies less operating space, has lower space requirements, and is more flexible in use. The robot can be supported outside the shelf or in a more spacious area outside the warehousing system, and then transported to the shelf within the warehousing system by the mobile cart to complete the robot installation. The installation process between the robot and the track does not require the participation of hoisting equipment, making the robot support and installation operation more convenient and faster, and reducing implementation costs. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 is a schematic diagram of the robot installation device provided in an embodiment of this application;

[0035] Figure 2 is a structural schematic diagram of another posture of the robot installation device provided in the embodiment of this application;

[0036] Figure 3 is a schematic diagram of the structure of the mobile vehicle for installing the robot in Figure 2;

[0037] Figure 4 is a schematic diagram of the structure of the telescopic frame of the mobile vehicle in Figure 3 when it is in the retracted state;

[0038] Figure 5 is a schematic diagram of the connection between the lifting assembly and the supporting mechanism of the robot installation device in Figure 2;

[0039] Figure 6 is a schematic diagram of the connection between the lifting component and the supporting mechanism of the robot installation device in Figure 2 from another perspective.

[0040] Figure 7 is a magnified view of part A in Figure 5;

[0041] Figure 8 is a state diagram of the robot installation device supporting the robot provided in the embodiment of this application;

[0042] Figure 9 is a second state diagram of the robot installation device supporting the robot provided in the embodiment of this application;

[0043] Figure 10 is a state diagram of the robot installation device supporting the robot provided in the embodiment of this application;

[0044] Figure 11 is a magnified view of part B in Figure 10;

[0045] Figure 12 is a magnified view of part B in Figure 10 (Part 2).

[0046] Figure 13 is a state diagram of the robot installation device provided in the embodiment of this application for installing a robot;

[0047] Figure 14 is a second state diagram of the robot installation device provided in the embodiment of this application for installing a robot;

[0048] Figure 15 is a state diagram of the robot installation device provided in the embodiment of this application for installing a robot;

[0049] Figure 16 is a state diagram of the robot installation device provided in the embodiment of this application for installing a robot;

[0050] Figure 17 is a state diagram of the robot installation device provided in the embodiment of this application for installing a robot.

[0051] Explanation of reference numerals in the attached drawings: 100-Mobile vehicle; 110-Frame; 111-Pedal; 120-Mobile base; 121-Telescopic frame; 122-First auxiliary wheel; 123-Extension frame; 124-Second auxiliary wheel; 125-Mobile wheel; 200-Standing mechanism; 210-Connecting frame; 220-Connector; 230-Mounting assembly; 231-Mounting frame; 2311-Supporting component; 2312-Operating component; 2313-Linkage; 232-First roller; 233-Elastic component; 234-Second roller; 300-Lifting assembly; 310-Mobile frame; 311-Connecting beam; 312-Mobile block; 313-Third roller; 320-Driver; 330-Supporting frame; 340-Transmission component; 350-Transmission wheel; 400-Robot; 410-Walking wheel; 500 - Shelf; 510 - Rail. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0053] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly and used interchangeably. For example, "linking" can mean a direct connection or an indirect connection through an intermediate medium; it can mean a fixed connection or a sliding connection. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0054] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0055] The terms "first," "second," and "third" in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein.

[0056] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such as a process, method, system, product, or display that includes a series of steps or modules, not necessarily limited to those steps or modules that are explicitly listed, but may include other steps or modules that are not explicitly listed or that are inherent to such processes, methods, products, or displays.

[0057] The existing shelving is equipped with tracks extending along the aisles. Robots are installed by docking with these tracks to move within the aisles. Installing the robot onto the tracks typically requires a crane or similar lifting equipment at the top of the warehousing system. Specialized personnel are needed to connect the lifting hook to the upper part of the robot, then operate the lifting equipment to hoist the robot into a vertical position. Finally, the lifting equipment is used to lower the robot onto the tracks, docking it with the tracks to complete the installation.

[0058] However, hoisting equipment occupies a significant amount of space within the warehousing system. To ensure storage capacity, the system requires numerous shelves with narrow spacing, limiting the robot's hoisting operation space and making docking with the shelves difficult. Furthermore, the operation requires specialized personnel to operate the hoisting equipment, further complicating the robot's hoisting process.

[0059] Based on this, this application provides a robot installation device, which uses a support mechanism on a mobile vehicle to support and install the robot. This device occupies less operating space, requires less operating space, and is more flexible and convenient to use. It makes the robot's support and installation operations more convenient and faster, and the implementation cost is lower.

[0060] The present invention will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can have a clearer and more detailed understanding of the present invention.

[0061] First, it should be noted that the X, Y, and Z directions shown in Figures 1 to 17 are perpendicular to each other in three-dimensional space.

[0062] Referring to Figures 1, 2, 8 to 10, and 13 to 17, this application provides a robot mounting device for mounting a robot 400 onto the track 510 of a shelf 500.

[0063] The robot installation device includes a mobile carriage 100 and a support mechanism 200. The support mechanism 200 is mounted on the mobile carriage 100 and can rotate relative to the mobile carriage 100 to allow the support mechanism 200 to drive the robot 400 to switch between a connection position and an installation position. In the connection position, the support mechanism 200 is used to dock with the robot 400. In the installation position, the support mechanism 200 supports the robot 400 in a vertical position so that the robot 400 can be installed on the track 510.

[0064] It is understood that the robot mounting device of this application can be used to support and mount a robot 400 that is connected to and moves along the track 510 on the shelf 500. At least one side of the shelf 500 is provided with a track 510 for supporting the robot 400, and the robot 400's wheels 410 are vertically aligned with the track 510 so that the robot 400 as a whole can move along the extension direction of the track 510.

[0065] The support mechanism 200 of the robot mounting device is located on one side of the mobile vehicle 100 and can rotate relative to the mobile vehicle 100. For example, the first end of the support mechanism 200 along its extending direction is connected to the lower part of the mobile vehicle 100, either directly hinged to the mobile vehicle 100 or indirectly hinged to the mobile vehicle 100 through other mechanisms or components, while the second end of the support mechanism 200 can rotate about the first end connected to the mobile vehicle 100, thereby realizing the rotation of the support mechanism 200 relative to the mobile vehicle 100.

[0066] Therefore, the two different positions of the supporting mechanism 200 during rotation can be defined as the connection position and the installation position, respectively. The connection position is used to dock with the robot 400 to be installed, and the installation position is used to install the robot 400 to be installed onto the track 510 of the shelf 500. To avoid collisions with the robot 400, the robot 400 to be installed is usually placed flat on the installation site along the XY plane during installation. Thus, the connection position can be set when the supporting mechanism 200 is close to the installation site. At this time, the supporting mechanism 200 is close to the robot 400 to be installed, making docking easier. If, under some special working conditions, the robot 400 to be installed is placed at an angle relative to the XY plane, the connection position can be set when the supporting mechanism 200 is at the same angle. That is, the connection position of the supporting mechanism 200 often needs to be adjusted according to the placement angle of the robot 400 to be installed, and is not necessarily a fixed position. For example, in this instance, the supporting mechanism 200 is in the connection position when it is horizontal.

[0067] Since the shelf 500 is placed vertically in the storage system, the robot 400 to be installed needs to be connected to the track 510 of the shelf 500 in a vertical state along the Z direction. Therefore, the support mechanism 200 needs to be in the installation position to keep the robot 400 in a vertical state. Thus, the installation position can be set when the support mechanism 200 is vertical.

[0068] Therefore, when installing robot 400, the robot installation device can first be moved to the position of robot 400, and the erecting mechanism 200 of the robot installation device can be switched to the connection position to dock with robot 400, or robot 400 can be moved to the erecting mechanism 200 and docked with it; then the erecting mechanism 200 can be switched from the connection position to the installation position. Specifically, existing hoisting equipment in the warehousing system can be used to pull the end of the erecting mechanism 200 away from the moving vehicle 100 to make it stand upright, or other simple traction methods can be used. The erecting mechanism 200 is raised by pulling ropes, etc.; then, the mobile vehicle 100 is used to move the erecting mechanism 200 and the robot 400 on the erecting mechanism 200 to the track 510 of the shelf 500. Then, the robot 400 is connected to the track 510 for installation. Alternatively, the erecting mechanism 200 can be raised by pulling the robot 400 from outside the storage system by cranes, towing ropes, etc., and then moved into the storage system by the mobile vehicle 100 for installation. When installing the robot 400 onto the track 510, no hoisting equipment is required.

[0069] Compared to existing technologies that require dedicated hoisting equipment within the warehousing system to support and install the robot 400, the robot installation device provided in this application occupies less operating space, has lower space requirements, is more flexible in use, and is less restricted by the installation site and existing equipment. The robot 400 can be supported outside the shelf 500 or in a more spacious area outside the warehousing system. Then, the mobile vehicle 100 can be used to transport the robot 400 to the shelf 500 to complete the installation. This makes the support and installation of the robot 400 more convenient and faster, and the implementation cost is lower.

[0070] Furthermore, since the mobile vehicle 100 occupies a small area and the supporting mechanism 200 is in a vertical position when it is installed, it can be moved flexibly to adjust the installation position of the robot 400 when it is installed, making it more flexible.

[0071] It should be further noted that when the support mechanism 200 is in the installation position and the robot 400 is connected to it, if the robot 400 is at the same height as the track 510, the mobile cart 100 can be moved to the end of the track 510 of the shelf 500, and the robot 400 can be installed from the opening at the end of the track 510 without adjusting the installation height of the robot 400.

[0072] In some embodiments, if there is a height difference between the robot 400 and the track 510 during installation, and the robot 400 is lower than the track 510, a lifting component 300 needs to be installed on the robot installation device. The lifting component 300 is installed on the mobile vehicle 100, and the standing mechanism 200 is connected to the lifting component 300. The lifting component 300 is configured to drive the standing mechanism 200 to rise and fall relative to the mobile vehicle 100 in the Z direction when the standing mechanism 200 is in the installation position, so as to align with the track 510.

[0073] In this way, the height of the lifting mechanism 200 and the robot 400 can be pre-adjusted via the lifting assembly 300 before the robot 400 docks with the track 510 from its mounting position. The lifting mechanism 200 raises the robot 400 above the track 510 along the Z-direction, then moves it to the track 510 before lowering it to dock with it. This makes the robot mounting device more versatile and suitable for installing robots 400 at various track 510 heights.

[0074] For example, the first end of the support mechanism 200 near the mobile vehicle 100 or the lifting component 300 can be rotatably connected to the lifting component 300. The lifting component 300 is set on the mobile vehicle 100, so that the support mechanism 200 and the mobile vehicle 100 can be rotatably connected relative to each other, and the support mechanism 200 can be raised and lowered relative to the mobile vehicle 100 under the drive of the lifting component 300.

[0075] To ensure that the support mechanism 200 can remain stably in the installation position during vertical lifting and lowering without tipping over and damaging the robot 400, when the support mechanism 200 is in the installation position and is being lifted, the part of the support mechanism 200 near the second end can be connected to the mobile vehicle 100 or the lifting component 300. When the support mechanism 200 is switched from the installation position to the connection position, the part of the support mechanism 200 near the second end can be disconnected from the mobile vehicle 100 or the lifting component 300 so that the support mechanism 200 can rotate.

[0076] In a specific implementation, referring to Figures 1, 2, 5 and 6, the supporting mechanism 200 includes a connecting frame 210 and at least one connecting member 220 disposed on the connecting frame 210. The connecting frame 210 is rotatably connected to the lifting assembly 300, and the connecting member 220 is used to dock with the connecting part on the robot 400.

[0077] The main body of the connecting frame 210 is a rectangular frame rotatably connected to the lifting assembly 300. At least one transverse connecting rod arranged along the X-direction is provided on the rectangular frame to ensure structural stability. For example, in this embodiment, a transverse connecting rod is provided in the middle of the rectangular frame, and the lower member of the rectangular frame extends out of the rectangular frame along the X-direction. When the robot 400 connects with the supporting mechanism 200 located at the connection position, one end of the robot 400 facing the lower member abuts against the lower member, stabilizing the connection between the supporting mechanism 200 and the robot 400.

[0078] At least one pair of connectors 220 are provided on the side of the rectangular frame away from the mobile vehicle 100. Each connector 220 has a connecting slot opening towards the Z-direction arrows in Figures 5 and 6, and is bolted to the rectangular frame. When the erecting mechanism 200 docks with the robot 400, the connector 220 can be inserted into or hooked onto corresponding connecting parts on the robot 400, such as connecting rings, connecting ports, connecting holes, or connecting beams. When the erecting mechanism 200 switches from the connecting position to the mounting position, the robot 400 remains stably connected to the connecting slots of the connector 220 under gravity, preventing it from disengaging. This ensures a stable and reliable erecting process for the robot 400 and facilitates the vertical descent of the erecting mechanism 200 relative to the robot 400 to disengage from the robot 400.

[0079] For example, as shown in Figures 13 to 17, the robot 400 in this embodiment is provided with a connecting beam extending along the X direction. The connecting beam is located between the columns on both sides of the robot 400 to connect with the connector 220. For this purpose, the spacing between the same pair of connectors 220 needs to be no greater than the length of the connecting beam, so that both connectors 220 can be connected with their corresponding connecting beams. Since the connectors 220 are mounted on a rectangular frame, the width of the rectangular frame along the X direction is adapted to the same-direction dimension of the robot 400.

[0080] In this embodiment, two pairs of connectors 220, totaling four connectors, are arranged at intervals along the Z direction of the connecting frame 210 in Figures 5 and 6, which makes the connection between the connectors 220 and the robot 400 more stable.

[0081] Furthermore, to ensure that the standing mechanism 200 can reliably connect with the mobile vehicle 100 or the lifting assembly 300 when it is in the installation position and will not tip over, in some embodiments, as shown in Figures 1, 2, 5, 6, 11, and 12, the standing mechanism 200 also includes an installation assembly 230. The installation assembly 230 is disposed on the connecting frame 210. When the standing mechanism 200 is in the installation position, the connecting frame 210 is connected to the mobile vehicle 100 or the lifting assembly 300 through the installation assembly 230. When the standing mechanism 200 is in the connection position, the installation assembly 230 is disconnected from the mobile vehicle 100 or the lifting assembly 300.

[0082] The mounting component 230 is located at the upper end of the connecting frame 210 along the Z direction in Figures 5 and 6, and is located on the side of the connecting frame 210 along the Y direction close to the mobile vehicle 100 or the lifting component 300, which facilitates the connection between the mounting component 230 and the mobile vehicle 100 or the lifting component 300.

[0083] By installing component 230, a stable connection can be achieved between the support mechanism 200 and the mobile vehicle 100 or the lifting component 300 when the support mechanism 200 is in the installation position, ensuring that the connecting frame 210 of the support mechanism 200 remains vertical in the Z direction, so that the lifting component 300 can drive the support mechanism 200 to lift the robot 400.

[0084] Furthermore, since the entire supporting mechanism 200 is rotatably connected to the lifting assembly 300 in this embodiment, and is also connected to the lifting assembly 300 or the moving vehicle 100 through the mounting assembly 230, and it is necessary for the supporting mechanism 200 to move up and down relative to the moving vehicle 100 under the drive of the lifting assembly 300, in some embodiments, the mounting assembly 230 may be configured to be relatively movably connected to the lifting assembly 300 or the moving vehicle 100. Referring to Figures 5, 6, 11, and 12, the mounting assembly 230 includes a mounting frame 231 and at least one first roller 232 rotatably disposed on the mounting frame 231. The mounting frame 231 is hinged to the connecting frame 210. When the supporting mechanism 200 is in the mounting position, the mounting frame 231 is configured to be rotatably connected to the moving vehicle 100 or the lifting assembly 300 through the first roller 232.

[0085] When the support mechanism 200 is in the installation position, the mounting frame 231 can be connected to the moving vehicle 100 or the lifting assembly 300 via the first roller 232, so as to ensure the connection between the connecting frame 210 and the moving vehicle 100 or the lifting assembly 300; and the first roller 232 can roll relative to the moving vehicle 100 or the lifting assembly 300, which can also prevent the mounting assembly 230 from interfering with the lifting assembly 300 driving the support mechanism 200 to rise and fall due to the fixed connection between the mounting assembly 230 and the moving vehicle 100 or the lifting assembly 300.

[0086] With the mounting bracket 231 hinged to the connecting bracket 210, the mounting bracket 231 can be rotated to connect the connecting bracket 210 to the moving vehicle 100 or the lifting component 300 when the connecting bracket 210 needs to be connected. Conversely, the mounting bracket 231 can be rotated in the opposite direction to disconnect the connecting bracket 210 from the moving vehicle 100 or the lifting component 300 when the connecting bracket 210 needs to be disconnected. This makes the operation convenient and quick.

[0087] Referring to Figures 11 and 12, there are at least two first rollers 232, each used for rolling connection with a different side of the moving vehicle 100 or the lifting assembly 300. The two first rollers 232 are rollingly connected to the moving vehicle 100 or the lifting assembly 300 from the Y and X directions in Figure 12, respectively, thereby making the rolling of the first rollers 232 in the Z direction smoother.

[0088] For example, the lifting assembly 300 includes a support frame 330, which is fixedly connected to the mobile vehicle 100. The first roller 232 is rotatably connected to the support frame 330, thereby enabling the installation assembly 230 to be rotatably connected to the lifting assembly 300. Furthermore, since the support frame 330 is fixedly connected to the mobile vehicle 100, the installation assembly 230 can also be indirectly rotatably connected to the mobile vehicle 100.

[0089] Alternatively, a support structure can be provided that is fixedly connected to at least one of the lifting assembly 300 and the mobile vehicle 100, so that the mounting assembly 230 is rotatably connected to the support structure. This also enables the standing mechanism 200 to be rotatably connected to one of the mobile vehicle 100 and the lifting assembly 300 through the mounting assembly 230.

[0090] The connection method between the mounting component 230 and either the mobile vehicle 100 or the lifting component 300 can be varied, such as a rolling connection, a sliding connection, or other connection forms that can achieve relative movement. This application does not limit these connections, as long as the supporting mechanism 200 can stably move up and down in the Z direction relative to the mobile vehicle 100 when it is in the mounting position.

[0091] In a specific implementation, referring to Figures 11 and 12, the mounting frame 231 includes a support member 2311, an operating member 2312, and a connecting rod 2313. The two ends of the connecting rod 2313 are respectively hinged to the support member 2311 and the operating member 2312. The support member 2311 and the operating member 2312 are both hinged to the connecting frame 210. The first roller 232 is disposed on the support member 2311. The operating member 2312 is configured to drive the support member 2311 to rotate relative to the connecting frame 210 through the connecting rod 2313, so that the first roller 232 is tumblingly connected to the moving vehicle 100 or the lifting assembly 300.

[0092] The mounting brackets 231 are symmetrically arranged in two sets along the X direction on the connecting brackets 210. The two operating members 2312 in the two sets of mounting brackets 231 are arranged opposite each other, and one end of each operating member 2312 is hinged to the connecting bracket 210. The two support members 2311 are located on the side away from each other along the X direction. Similarly, one end of each support member 2311 is hinged to the connecting bracket 210. A connecting rod 2313 is also hinged to the middle of each set of operating members 2312 and support members 2311.

[0093] Thus, a simple four-bar linkage can be formed by the support member 2311, the operating member 2312, the connecting rod 2313, and the connecting frame 210 between the support member 2311 and the operating member 2312. When an external force is applied to the operating member 2312, causing the operating member 2312 to rotate around its hinge axis with the connecting frame 210, it will drive the connecting rod 2313 to move. The connecting rod 2313 will then rotate around its hinge axis with the operating member 2312, thereby driving the support member 2311 to rotate around its hinge axis with the connecting frame 210, thus enabling the operating member 2312 to drive the support member 2311 to rotate.

[0094] For example, when it is necessary to connect the mounting component 230 to the support frame 330, an external force pointing in the X-direction can be applied to the operating member 2312 in Figure 11, causing the operating member 2312 to drive the support member 2311 to move, forming the posture position shown in Figure 12. At this time, the two first rollers 232 are in rolling connection with the sides of the support frame 330 in the X and Y directions. When it is necessary to disengage the mounting component 230 from the support frame 330, a reverse external force in the X-direction can be applied to the operating member 2312.

[0095] In addition, as shown in Figures 11 and 12, the mounting assembly 230 also includes an elastic element 233, through which the connecting bracket 210 and the operating element 2312 are connected.

[0096] By connecting the operating component 2312 and the connecting frame 210 with the elastic element 233, the relative positions of the operating component 2312, the connecting rod 2313 and the support frame 330 can be ensured when the mounting component 230 is connected to the support frame 330, thereby ensuring a stable and reliable connection between the mounting component 230 and the support frame 330.

[0097] As can be seen from Figure 12, when the mounting component 230 is connected to the support frame 330, the elastic element 233 is in a stretched state and has a tendency to contract. The elastic element 233 is located on the side where the hinge axis of the operating component 2312 and the connecting frame 210 faces the support component 2311. Therefore, the elastic element 233 can apply a force to the operating component 2312 to rotate toward the connecting frame 210.

[0098] Specifically, when the axis of the hinge shaft between the operating member 2312 and the connecting frame 210 just passes through the elastic member 233, the tension of the elastic member 233 can keep the operating member 2312 in that position. Once the operating member 2312 has a tendency to tilt towards the support member 2311, the elastic member 233 can apply a pulling force to the operating member 2312 towards the support member 2311 for rotation. The operating member 2312 further transmits this force to the support member 2311 through the connecting rod 2313, so that the two first rollers 232 abut against the support frame 330, thereby ensuring a stable and reliable connection between the mounting assembly 230 and the support frame 330.

[0099] In this embodiment, the elastic element 233 can specifically be a helical spring or an elastic band, etc.

[0100] In specific implementation, each operating element 2312 is provided with two elastic elements 233, which are located on both sides of the operating element 2312. In other embodiments, the elastic element 233 may be provided only on one side of the operating element 2312, and this application does not limit this.

[0101] Furthermore, in some embodiments, referring to Figures 11 and 12, the mounting assembly 230 further includes at least one second roller 234, which is rotatably mounted on the connecting frame 210. When the supporting mechanism 200 is in the mounting position, the second roller 234 is configured to rotatably connect with the moving vehicle 100 or the lifting assembly 300. By providing the second roller 234 on the connecting frame 210, and rotatably connecting the second roller 234 with the moving vehicle 100 or the lifting assembly 300, the smoothness of the rotatable connection between the mounting assembly 230 and the moving vehicle 100 or the lifting assembly 300 can be further improved by the second roller 234 cooperating with the first roller 232.

[0102] For example, when the support mechanism 200 is in the installation position, the second roller 234 and each of the first rollers 232 are located on different sides of the moving vehicle 100 or the lifting assembly 300, so that the second roller 234 and the first roller 232 can be rolledly connected to the moving vehicle 100 or the lifting assembly 300 from both sides of the Y direction and one side of the X direction in FIG12, respectively, making the movement of the connecting frame 210 more stable.

[0103] In some embodiments, as shown in Figures 5 to 7, the lifting assembly 300 includes a movable frame 310 and a drive member 320. The drive member 320 is disposed on the moving vehicle 100 and connected to the movable frame 310. The standing mechanism 200 is hinged to the movable frame 310. The drive member 320 drives the movable frame 310 to rise and fall, so that the movable frame 310 drives the standing mechanism 200 to rise and fall relative to the moving vehicle 100.

[0104] By setting a drive unit 320 on the mobile vehicle 100, the relative position of the drive unit 320 and the mobile vehicle 100 can be stabilized. By connecting the mobile frame 310 to the drive unit 320, the mobile frame 310 can be driven to move up and down through the drive unit 320. The mobile frame 310 is hinged to the support mechanism 200, which allows the support mechanism 200 to rotate relative to the mobile vehicle 100 or the lifting assembly 300. Under the action of the drive unit 320, the support mechanism 200 can move up and down with the mobile frame 310, so as to facilitate the lifting and installation of the robot 400.

[0105] The lifting assembly 300 also includes the aforementioned support frame 330 mounted on the moving vehicle 100, a drive component 320 mounted on the support frame 330, and a moving frame 310 slidably connected to the support frame 330. By further mounting the drive component 320 on the support frame 330, the stability of the drive component 320 is ensured, and the lifting assembly 300 has a compact structure. The slidable connection between the moving frame 310 and the support frame 330 allows for smoother and more stable lifting of the moving frame 310 driven by the drive component 320, thus ensuring the stability of the lifting mechanism 200.

[0106] Further, referring to Figures 5 to 7, the movable frame 310 includes a connecting beam 311 and at least one movable block 312 disposed on the connecting beam 311. The uprighting mechanism 200 is hinged to the connecting beam 311, and the movable block 312 is slidably connected to the support frame 330.

[0107] The connecting beam 311 is set along the X direction in Figure 7, and a movable block 312 is set at each end of it and is slidably connected to the support frame 330. The connecting frame 210 of the supporting mechanism 200 is specifically hinged to the movable frame 310, making the overall structure of the movable frame 310 simple and compact.

[0108] Referring to FIG7, at least one third roller 313 is provided on the moving block 312. The third roller 313 abuts against the side of the support frame 330 and can roll along the side of the support frame 330.

[0109] In this embodiment, each movable block 312 is provided with five third rollers 313. Two third rollers 313 are provided on each side of the support frame 330 in the Y direction, and a total of four third rollers 313 can be clamped on the support frame 330 to ensure that the movable block 312 and the support frame 330 are slidably and reliably connected. Another third roller 313 is rolled to the support frame 330 from one side of the support frame 330 in the X direction, which can further limit the movable block 312 and prevent the movable block 312 from deviating from the extension direction of the support frame 330 and thus detaching from the support frame 330.

[0110] In other embodiments, a wheel groove may be provided on the support frame 330, and a third roller 313 may be provided on the moving block 312 to be rolledly connected to the wheel groove. Alternatively, the two third rollers 313 on the upper part or the two third rollers 313 on the lower part of the moving block 312 in FIG7 may be removed to simplify the structure of the moving frame 310. This application does not limit the specific number of third rollers 313.

[0111] For example, the number of third rollers 313 is at least two, and at least two third rollers 313 abut against the opposite sides of the support frame 330, specifically the above-mentioned implementation of three or five third rollers 313.

[0112] Alternatively, two third rollers 313 can be provided on the moving block 312, so that they can be rolled to the support frame 330 from both sides in the Y direction.

[0113] Referring to Figure 7, the lifting assembly 300 also includes a transmission member 340, through which the drive member 320 and the movable frame 310 are connected. Connecting the drive member 320 and the movable frame 310 via the transmission member 340 allows for more flexible relative positioning of the two components. For example, as shown in Figure 7, the movable frame 310 can be positioned on one side of the drive frame along the Y direction, rather than being fixedly mounted on the drive end of the drive member 320, thus making the lifting assembly 300 more compact and reducing its space requirements.

[0114] Specifically, one end of the transmission component 340 can be connected to the driving end of the driving component 320, and the other end can be connected to the movable frame 310, so that the driving end of the driving component 320 drives the movable frame 310 to move along the support frame 330 through the transmission component 340.

[0115] Furthermore, in order to make the transmission effect of the transmission component 340 more stable, and to allow the configuration of the transmission component 340 to be adjusted according to the working conditions, as shown in FIG7, the lifting assembly 300 also includes a transmission wheel 350. The transmission wheel 350 is rotatably mounted on the driving end of the driving component 320. One end of the transmission component 340 is mounted on the moving vehicle 100, and the other end of the transmission component 340 is fixedly connected to the moving frame 310. The transmission component 340 is wound around the transmission wheel 350.

[0116] This allows the drive end of the drive component 320 to be connected to the drive component 340 via the drive wheel 350. One end of the drive component 340 is connected to the moving vehicle 100, and the other end is connected to the moving frame 310 after passing around the drive wheel 350, so that the drive component 340 can stably drive the moving frame 310 to move along the support frame 330.

[0117] In practical implementation, two sets of transmission wheels 350 and transmission components 340 can be set at the driving end of the driving component 320 to further improve the transmission effect, make the transmission smoother, and reduce the load on a single transmission component 340.

[0118] In specific implementations, the drive component 320 can be configured as a hydraulic lifting component, such as an electric hydraulic lifting component or a manual hydraulic lifting component. The transmission component 340 is adapted to the transmission wheel 350. When the transmission component 340 is a chain, the transmission wheel 350 can be a sprocket; when the transmission component 340 is a belt, the transmission wheel 350 can be a pulley; and when the transmission component 340 is a connecting rope, the transmission wheel 350 can be configured as a fixed pulley. This application does not impose any restrictions on this.

[0119] In another embodiment, referring to Figures 1 to 4, the mobile vehicle 100 includes a frame 110 and a mobile base 120. The frame 110 is mounted on the mobile base 120, and the lifting assembly 300 is connected to the frame 110. The frame 110 is entirely mounted on the mobile base 120, providing a mounting position for the lifting assembly 300 and the support mechanism 200. The mobile base 120 is provided with multiple casters 125 to allow the mobile vehicle 100 to be easily moved, making the robot installation device easier to use.

[0120] Furthermore, the frame 110 is provided with multiple steps 111. The multiple steps 111 are distributed in a stepped manner, and the steps 111 are offset from bottom to top toward the support mechanism 200, so that the operator can climb up and approach the support mechanism 200 in the installation position through the steps 111 to perform the installation operation of the robot 400.

[0121] The uppermost pedal 111 is larger than the other pedals 111 in the Y direction as shown in Figure 3 or Figure 4, thus forming a stepping platform that makes it easier for operators to move.

[0122] In some embodiments, as shown in Figures 1 to 4, a telescopic frame 121 is provided on the side of the movable base 120 away from the frame 110. The telescopic frame 121 is slidably connected to the movable base 120, and a first auxiliary wheel 122 is provided on the telescopic frame 121.

[0123] The stability of the mobile vehicle 100 can be further improved by setting a telescopic frame 121 with a first auxiliary wheel 122 on the mobile base 120, so as to prevent the mobile vehicle 100 from tipping over in the direction of the telescopic frame 121 extending out.

[0124] A pin or buckle is provided between the telescopic frame 121 and the movable base 120, so that the telescopic frame 121 can be limited to a suitable extension length, and the first auxiliary wheel 122 can be used to form a movable support.

[0125] The telescopic frame 121 extends or retracts relative to the movable base 120 toward the supporting mechanism 200. The telescopic frame 121 extends or retracts relative to the movable base 120 along the Y direction in Figure 3 or Figure 4, providing support on the side of the mobile cart 100 facing the supporting mechanism 200. This prevents the mobile cart 100 from tipping over toward the robot 400 when the supporting mechanism 200 is in the connected position, effectively protecting the robot 400 from damage.

[0126] Similarly, at least one side of the mobile base 120 is provided with an extension frame 123, and a second auxiliary wheel 124 is provided on the extension frame 123. Providing extension frames 123 with second auxiliary wheels 124 on both sides of the mobile base 120 can further improve the stability of the mobile vehicle 100.

[0127] The extension frame 123 extends toward the side away from the mobile vehicle 100, and the extension length is less than the maximum extension length of the telescopic frame 121, so that the structure of the mobile vehicle 100 is relatively compact.

[0128] For example, the steps for installing robot 400 using the robot mounting device provided in this application are as follows:

[0129] S1. As shown in Figure 1, extend the telescopic frame 121 relative to the mobile vehicle 100 and set the standing mechanism 200 as the connection position to be connected to the robot 400.

[0130] S2. As shown in Figure 8, connect the connector 220 on the support mechanism 200 to the robot 400.

[0131] S3. As shown in Figures 9 and 10, using simple traction ropes, existing hoisting equipment within the storage system, or cranes outside the storage system, the end of the erecting mechanism 200 away from the mobile vehicle 100 is lifted so that the erecting mechanism 200, along with the robot 400, can switch from the connection position to the installation position.

[0132] S4. As shown in Figures 11 and 12, an external force is applied to the operating member 2312 of the mounting assembly 230, causing the operating member 2312 to drive the support member 2311 to rotate, thereby driving the first roller 232 and the second roller 234 to roll and connect with the support frame 330, thus restricting the standing mechanism 200 to the mounting position.

[0133] S5. As shown in Figure 13, the mobile vehicle 100 is moved to the shelf 500, and the driving component 320 of the lifting assembly 300 drives the mobile frame 310, so that the mobile frame 310 rises along the support frame 330 through the third roller 313, and the mobile frame 310 drives the robot 400 to move and rise to the track 510 slightly higher than the shelf 500 through the connecting frame 210 of the standing mechanism 200.

[0134] S6. As shown in Figure 14, the mobile vehicle 100 moves to the track 510 and aligns the robot 400 with the track 510 in the vertical direction.

[0135] S7. As shown in Figure 15, drive the moving frame 310 to descend using the drive component 320 so that the robot 400 can dock with the track 510 to complete the installation.

[0136] S8. As shown in Figures 16 and 17, the moving frame 310 is further lowered to disengage the connector 220 from the robot 400, and then the robot mounting device is removed.

[0137] In Figures 13 to 17, the dashed arrows indicate the direction of movement of the corresponding parts of the robot mounting device.

[0138] In summary, the robot installation device provided in this application, by setting an erection mechanism on the mobile cart 100, allows the erection mechanism 200 to rotate relative to the mobile cart 100 so that it can dock with the robot 400 to be installed when in the connection position, and after rotating to the installation position, the robot 400 is in a vertical state, thereby using the mobile cart 100 to move the robot 400 and install it on the track 510 of the shelf 500. Compared to the previous method of setting up dedicated hoisting equipment within the warehousing system to support the robot 400 and then using the hoisting equipment to install the robot 400 on the track 510, the robot installation device provided in this application occupies less operating space, has lower operating space requirements, and is more flexible in use. It can be supported independently outside the shelf 500 or supported by existing hoisting equipment within the warehousing system. If no hoisting equipment is available, the robot 400 can be manually supported using tools such as traction ropes. It can also be supported in a more spacious area outside the warehousing system using a crane or traction rope outside the warehousing system. Then, the robot 400 can be transported to the shelf 500 within the warehousing system by a mobile vehicle 100 to complete the installation of the robot 400. Furthermore, the installation operation does not require hoisting equipment, making the support and installation of the robot 400 more convenient and faster, and reducing implementation costs.

[0139] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A robot mounting device for mounting a robot onto a shelf track, characterized in that, The system includes a mobile vehicle and a support mechanism. The support mechanism is mounted on the mobile vehicle and can rotate relative to the mobile vehicle to allow the robot to switch between a connection position and an installation position. In the connection position, the support mechanism is used to dock with the robot. In the installation position, the support mechanism supports the robot in a vertical position so that the robot can be installed onto the track.

2. The robot installation device according to claim 1, characterized in that, It also includes a lifting assembly disposed on the mobile vehicle, the standing mechanism being connected to the lifting assembly, and the lifting assembly being configured to drive the standing mechanism to rise and fall relative to the mobile vehicle when the standing mechanism is in the mounting position, so as to align with the track.

3. The robot installation device according to claim 2, characterized in that, The supporting mechanism includes a connecting frame and at least one connecting member disposed on the connecting frame. The connecting frame is rotatably connected to the lifting assembly, and the connecting member is used to dock with the connecting part on the robot.

4. The robot installation device according to claim 3, characterized in that, The standing mechanism also includes an installation component, which is disposed on the connecting frame. When the standing mechanism is in the installation position, the connecting frame is connected to the mobile vehicle or the lifting component through the installation component. When the standing mechanism is in the connection position, the installation component is disconnected from the mobile vehicle or the lifting component.

5. The robot installation device according to claim 4, characterized in that, The mounting assembly includes a mounting frame and at least one first roller rotatably mounted on the mounting frame. The mounting frame is hinged to the connecting frame. When the stabilizing mechanism is in the mounting position, the mounting frame is configured to be rotatably connected to the moving vehicle or the lifting assembly via the first roller.

6. The robot installation device according to claim 5, characterized in that, The number of the first rollers is at least two, and each first roller is used to roll and connect with a different side of the mobile vehicle or the lifting assembly.

7. The robot installation device according to claim 5, characterized in that, The mounting frame includes a support member, an operating member, and a connecting rod. The two ends of the connecting rod are respectively hinged to the support member and the operating member. The support member and the operating member are both hinged to the connecting frame. The first roller is disposed on the support member, and the operating member is configured to drive the support member to rotate relative to the connecting frame via the linkage, so that the first roller is tactilely connected to the mobile vehicle or the lifting assembly.

8. The robot installation device according to claim 7, characterized in that, The mounting assembly also includes an elastic element, through which the connecting frame and the operating element are connected.

9. The robot installation device according to claim 5, characterized in that, The mounting assembly further includes at least one second roller, which is rotatably disposed on the connecting frame. When the stabilizing mechanism is in the mounting position, the second roller is configured to be rotatably connected to the mobile vehicle or the lifting assembly.

10. The robot installation device according to claim 9, characterized in that, When the supporting mechanism is in the installation position, the second roller and each of the first rollers are located on different sides of the mobile vehicle or the lifting assembly.

11. The robot installation device according to claim 2, characterized in that, The lifting assembly includes a movable frame and a driving component. The driving component is mounted on the movable vehicle and connected to the movable frame. The uprighting mechanism is hinged to the movable frame. The driving component drives the movable frame to lift and lower, so that the movable frame drives the uprighting mechanism to lift and lower relative to the movable vehicle.

12. The robot installation device according to claim 11, characterized in that, The lifting assembly also includes a support frame, which is fixedly connected to the moving vehicle. The driving component is disposed on the support frame, and the moving frame is slidably connected to the support frame.

13. The robot installation device according to claim 12, characterized in that, The mobile frame includes a connecting beam and at least one movable block disposed on the connecting beam. The supporting mechanism is hinged to the connecting beam, and the movable block is slidably connected to the support frame.

14. The robot installation device according to claim 13, characterized in that, At least one third roller is provided on the movable block. The third roller abuts against the side of the support frame and can roll along the side of the support frame.

15. The robot mounting device according to claim 14, characterized in that, The number of the third rollers is at least two, and the at least two third rollers abut against the opposite sides of the support frame.

16. The robot installation device according to claim 11, characterized in that, The lifting assembly also includes a transmission component, and the driving component is connected to the movable frame through the transmission component.

17. The robot installation device according to claim 16, characterized in that, The lifting assembly also includes a transmission wheel, which is rotatably mounted on the drive end of the drive member. One end of the transmission member is mounted on the moving vehicle, and the other end of the transmission member is fixedly connected to the moving frame. The transmission member is wound around the transmission wheel.

18. The robot installation device according to claim 16, characterized in that, The driving component is a hydraulic lifting component, and the transmission component is a chain, belt, or connecting rope.

19. The robot mounting apparatus according to any one of claims 1-18, characterized in that, When the supporting mechanism is in the connection position, it is in a horizontal state.

20. The robot mounting apparatus according to any one of claims 2-18, characterized in that, The mobile vehicle includes a frame and a mobile base, the frame is mounted on the mobile base, and the lifting assembly is connected to the frame.

21. The robot installation device according to claim 20, characterized in that, The frame is equipped with multiple pedals.

22. The robot installation device according to claim 20, characterized in that, The movable base has a telescopic frame on the side facing away from the vehicle frame. The telescopic frame is slidably connected to the movable base, and a first auxiliary wheel is provided on the telescopic frame.

23. The robot installation device according to claim 22, characterized in that, The telescopic frame extends or retracts relative to the movable base toward the supporting mechanism.

24. The robot installation device according to claim 20, characterized in that, The movable base is provided with an extension frame on at least one side, and the extension frame is provided with a second auxiliary wheel.

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