Transport robot and shelf-based warehousing system

Abstract

The present application relates to a transport robot and a shelf-based warehousing system. The transport robot comprises a main vehicle and a goods carrying platform; the goods carrying platform is connected to one end of each of multiple lifting / lowering belts, and the other ends of the lifting / lowering belts are connected to a lifting / lowering driving mechanism on the main vehicle; the main vehicle drives, by means of the lifting / lowering driving mechanism, the goods carrying platform to ascend and descend; the main vehicle is provided with a locomotion mechanism which is configured to be matched with travel rails arranged on shelfs in a first direction, and the first direction is parallel to the extension direction of an aisle; an extendable / retractable goods pick and place structure is arranged on the goods carrying platform and is configured to laterally pick goods stored on and place goods to be stored on a shelf. The transport robot and the shelf-based warehousing system in the present application have high pick and place efficiency and flexibility.

Description

A conveying robot and a shelf storage system

[0001] Cross-reference to Related Applications

[0002] The present application claims priority to the Chinese patent application No. 202421163576.5, filed on May 24, 2024, entitled "A conveying robot and a shelf storage system", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of logistics conveying equipment, in particular to a conveying robot and a shelf storage system. BACKGROUND

[0004] The statements herein are provided only to complement the background of the present disclosure and are not necessarily prior art.

[0005] In the storage technology, it is necessary to use an aerial transport vehicle to automatically send or take out goods to or from a target location of a shelf; through the aerial transport vehicle, the working efficiency of the storage system is greatly improved, and the labor intensity of the workers is reduced.

[0006] However, since the aerial transport vehicle can only realize the lifting of goods, it is required that the goods can only be vertically stacked and stored, and when the goods are delivered, they can only be delivered according to the stacking order, i.e., first-in last-out, and the flexibility of the goods storage and retrieval is poor; or the goods are stored in a flat single layer, and the utilization of the storage space is low. SUMMARY

[0007] The purpose of the present disclosure is to overcome the shortcomings of the prior art, and to provide a conveying robot and a shelf storage system, which has high flexibility in storing and retrieving goods and high space utilization.

[0008] To achieve the above-mentioned purpose, the present disclosure adopts the following technical solutions:

[0009] In a first aspect, the embodiments of the present disclosure provide a conveying robot, comprising a mother vehicle and a cargo carrying platform, the cargo carrying platform is connected to one end of a plurality of lifting belts, the other end of the lifting belts is connected to a lifting driving mechanism on the mother vehicle, and the mother vehicle can drive the cargo carrying platform to lift through the lifting driving mechanism;

[0010] The mother vehicle is provided with a walking mechanism configured to cooperate with a walking track arranged in a first direction on a shelf, the first direction being parallel to the extension direction of the aisle; and a telescopic goods storing and taking structure arranged on the cargo carrying platform and configured to store and take goods stored on the side of the shelf.

[0011] Optionally, in the direction from top to bottom, the plurality of lifting belts are inclined towards the center position of the cargo carrying platform and arranged at a set angle with the vertical direction.

[0012] Optionally, the mother vehicle is further provided with an angle adjusting mechanism, which cooperates with the lifting belts to adjust the angle between the lifting belts and the vertical direction.

[0013] Optionally, the angle adjusting mechanism comprises a horizontal movement driving mechanism installed on the mother vehicle, the horizontal movement driving mechanism is connected with an angle adjusting member, and the angle adjusting member is in contact with the lifting belts.

[0014] Optionally, the angle adjusting member is an angle adjusting wheel, which is connected with the horizontal movement driving mechanism and in contact with the lifting belts.

[0015] Optionally, the loading platform is slidingly connected with a guide column, and the guide column is fixedly connected with the mother vehicle.

[0016] Optionally, the lifting driving mechanism comprises a plurality of driving assemblies, each of which is connected with one lifting belt to drive the loading platform to move up and down through the lifting belt.

[0017] Optionally, the driving assembly comprises a lifting driving member installed on the mother vehicle, an output shaft of the lifting driving member is connected with a winding wheel, the lifting belt is wound around the winding wheel, and a movable end of the lifting belt is connected with the loading platform.

[0018] Optionally, the loading platform and / or the mother vehicle is provided with a posture detection element.

[0019] Optionally, the posture detection element is a gyroscope installed on the loading platform, or the posture detection element is a laser range finder installed on the top surface of the loading platform or the bottom surface of the mother vehicle.

[0020] Optionally, at least one loading platform stabilizing member is arranged on each side of the loading platform, the loading platform stabilizing member comprises a telescopic push rod or a rotary swing rod, and the telescopic push rod or the rotary swing rod can abut against the surface of the shelf on the side of the loading platform after the loading platform is moved to the position.

[0021] Optionally, the telescopic push rod comprises a pushing driving member and a push rod connected with the pushing driving member, the pushing driving member drives the push rod to move, and the movement direction of the push rod is perpendicular to the moving direction of the mother vehicle.

[0022] Optionally, the mother vehicle comprises a vehicle body, at least two first telescopic members and at least two second telescopic members are arranged on both sides of the vehicle body, the first telescopic members are connected with telescopic shafts, the end portions of the telescopic shafts are connected with layer changing gears, the second telescopic members are connected with wheel shafts, the end portions of the wheel shafts are connected with traveling wheels, and the telescopic shafts and the wheel shafts are connected with a rotating driving mechanism installed on the vehicle body.

[0023] In a second aspect, the embodiments of the present disclosure provide a warehousing system, characterized in that the warehousing system comprises a plurality of rows of shelves, and traveling tracks are arranged on the shelves on both sides of the aisle.

[0024] The walking track is provided with the handling robot of the first aspect, and the handling robot is configured to move horizontally along the walking track in the aisle to take and place goods from the target goods location of the shelf on both sides of the aisle.

[0025] Optionally, the shelf height position is provided with a lane-changing track configured to connect the walking tracks at the same height in different aisles; the lane-changing track is arranged perpendicularly to the walking track, and / or the lane-changing track is a curved track.

[0026] Optionally, the goods transfer device is further included, which is configured to transfer the goods to be stored to the handling robot or receive the goods to be taken out carried by the handling robot.

[0027] The beneficial effects of the present disclosure are as follows:

[0028] 1. The handling robot of the present disclosure is provided with a walking mechanism on the mother car to move horizontally on the walking track arranged on the shelf, a lifting belt is used to drive the loading table to lift, and a telescopic goods taking and placing structure is arranged on the loading table to drive the goods to move horizontally, thereby realizing lateral taking and placing of goods, improving the storage and retrieval efficiency and flexibility of the shelf type warehouse system while ensuring the utilization rate of the storage space.

[0029] 2. The handling robot of the present disclosure is arranged in the direction from top to bottom, and a plurality of lifting belts are arranged at a set acute angle with the vertical direction and inclined toward the center position of the loading table, or the loading table is slidingly connected with the guide column, and the guide column is fixedly connected with the mother car, so that the loading table will not shake during movement, avoiding collision between the goods and external structures such as the shelf, and ensuring the stability of the goods transportation.

[0030] 3. The handling robot of the present disclosure is provided with one lifting drive mechanism corresponding to each lifting belt, and the loading table and / or the mother car is provided with a posture detection element to detect the levelness of the loading table in real time, and control the plurality of lifting drive mechanisms to work cooperatively to adjust the loading table to be horizontal, thereby ensuring the stability of the goods transportation and avoiding the goods from falling off the loading table.

[0031] 4. The handling robot of the present disclosure is provided with a layer-changing gear capable of extending and retracting, and correspondingly, the walking wheel is also capable of extending and retracting, and when the layer-changing gear is engaged with the rack on the shelf, the mother car can be lifted and lowered under the action of the rotating drive mechanism, thereby adjusting the height of the mother car, avoiding the length of the lifting belt being too long due to the distance between the mother car and the loading table being too large when transferring goods, and thereby avoiding the unstable transportation phenomenon caused by the length of the lifting belt between the mother car and the loading table being too long.

[0032] 5. The carrying robot of the present disclosure, the loading platform is provided with a loading platform stabilizer, the loading platform stabilizer comprises a telescopic push rod or a rotary swing rod, which can be abutted against the surface of the shelf on the side of the loading platform under the action of the top pushing drive, thereby ensuring the stability of the loading platform when taking and placing goods. BRIEF DESCRIPTION OF DRAWINGS

[0033] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this application. The embodiments of the present application illustrated in the drawings and their descriptions are used to explain the present application and are not intended to limit the present application.

[0034] Fig. 1 is a schematic diagram of the overall structure of the embodiment of the present disclosure;

[0035] Fig. 2 is a schematic diagram of the gyroscope arrangement of the embodiment of the present disclosure;

[0036] Fig. 3 is a schematic diagram of the laser range finder arrangement of the embodiment of the present disclosure;

[0037] Fig. 4 is a schematic diagram of the angle adjusting mechanism of the embodiment of the present disclosure;

[0038] Fig. 5 is a schematic diagram of the installation of the first telescopic member, the layer changing gear, the second telescopic member and the walking wheel on the vehicle body of the embodiment of the present disclosure;

[0039] Fig. 6 is a top view of the installation of the first telescopic member, the layer changing gear, the second telescopic member and the walking wheel on the vehicle body of the embodiment of the present disclosure;

[0040] Fig. 7 is a schematic diagram of the arrangement of the reversing wheel of the embodiment of the present disclosure;

[0041] Fig. 8 is a schematic diagram of the overall structure of another embodiment of the present disclosure;

[0042] Fig. 9 is a schematic diagram of the overall structure of the embodiment of the present disclosure;

[0043] Fig. 10 is a schematic diagram of the carrying robot cooperating with the rack of the embodiment of the present disclosure;

[0044] Wherein, 1. The mother car, 2. The walking track, 3. The lifting belt, 4. The loading platform, 5. The telescopic fork mechanism, 6. The lifting drive motor, 7. The winding wheel, 8. The angle adjusting mechanism, 9. The pushing drive, 10. The jacking rod, 11. The walking wheel, 12. The layer changing gear, 13. The first steering wheel, 14. The first moving shaft, 15. The first guide seat, 16. The connecting plate, 17. The telescopic shaft, 18. The second steering wheel, 19. The second moving shaft, 20. The second guide seat, 21. The connecting seat, 22. The wheel shaft, 23. The third motor, 24. The first transmission mechanism, 25. The intermediate shaft, 26. The second transmission mechanism, 27. The transmission shaft, 28. The third transmission mechanism, 29. The guide block, 30. The guide column, 31. The battery, 32. The gyroscope, 33. The laser range finder, 34. The reversing wheel, 35. The protective shell, 36. The shelf, 37. The lane changing track, 38. The rack. DETAILED DESCRIPTION

[0045] The embodiment provides a carrying robot, as shown in Figure 1, which comprises a mother car 1 and a loading platform 4. The mother car 1 is configured to cooperate with a fixed walking track 2. The walking track 2 is fixed on a shelf or a remaining external frame structure. The mother car 1 can walk along the walking track 2. A lifting drive mechanism is arranged on the mother car 1 and connected with a lifting belt 3. The movable end of the lifting belt 3 is connected with the loading platform 4 located below the mother car 1. The loading platform 4 is provided with a telescopic loading and unloading structure. The telescopic loading and unloading structure adopts a telescopic fork mechanism 5 which is configured to load and unload goods. The telescopic fork mechanism 5 can adopt an existing structure, for example, the telescopic fork mechanism disclosed in patent application CN117585346A, which comprises a telescopic mechanism and a fork. The specific structure is not described in detail here. Of course, the telescopic loading and unloading structure is for laterally loading goods. In addition to the fork structure, it can also be other structures, such as a hooking type telescopic loading and unloading structure or a suction cup type telescopic loading and unloading structure. The present application does not limit this.

[0046] The mother car 1 can walk along the walking track 2, so as to drive the loading platform 4 to move horizontally through the lifting belt. Meanwhile, the lifting drive mechanism can drive the loading platform 4 to lift and lower through the lifting belt 3, so as to make the loading platform 4 reach the position of the target storage location on the shelf.

[0047] The number of the lifting belts 3 is set to four or five or more. Those skilled in the art can set it according to actual needs. Optionally, the number of the lifting belts 3 is four. The four corners of the loading platform 4 are respectively fixedly connected with the movable ends of the four lifting belts 3. The lifting belts 3 are connected with the lifting drive mechanism installed on the mother car 1.

[0048] In this embodiment, in order to reduce the shaking of the loading platform 4 during movement and ensure the stability of the goods transportation, the lifting belts 3 are inclined towards the center of the loading platform 4 in the direction from top to bottom, and the lifting belts 3 form a set acute angle with the vertical direction. Compared with the conventional lifting robot in which the lifting belts are vertically arranged, the setting mode reduces the shaking of the loading platform 4 and ensures the stability of the movement of the loading platform 4.

[0049] The lifting driving mechanism comprises a plurality of driving assemblies. Optionally, one driving assembly is arranged corresponding to each lifting belt. Since four lifting belts 3 are arranged, four driving assemblies are arranged on the mother vehicle 1. In this embodiment, since the length of the part between the mother vehicle 1 and the loading platform 4 of the lifting belt changes after long-time use, the loading platform 4 cannot be kept horizontal. Therefore, one driving assembly is arranged corresponding to each lifting belt 3, and each lifting belt 3 can be independently folded and released. Therefore, the lifting belt 3 can be adjusted by the driving assembly, so that the loading platform 4 can be kept in a horizontal state.

[0050] In order to detect whether the loading platform 4 is in a horizontal state, a posture detection element is arranged on the loading platform and / or the mother vehicle.

[0051] In one embodiment, as shown in FIG. 2, the posture detection element is a gyroscope 32, which is arranged on the loading platform 4.

[0052] In another embodiment, the posture detection element is a plurality of laser range finders 33, which are arranged on the bottom surface of the mother vehicle or the top surface of the loading platform. Whether the loading platform is horizontal is determined by detecting the distances between different positions between the loading platform and the mother vehicle by the laser range finders 33.

[0053] Optionally, as shown in FIG. 3, two laser range finders are arranged, and the two laser range finders are distributed along the running direction of the mother vehicle. The two laser range finders 33 are fixed on the bottom surface of the mother vehicle, and the laser emitted by the two laser range finders can irradiate the loading platform 4.

[0054] The driving assembly adopts a winch mechanism, which comprises a lifting driving member. The lifting driving member adopts a lifting driving motor 6 arranged on the mother vehicle. The lifting driving motor 6 is connected with a speed reducer. The output shaft of the speed reducer is connected with a winch wheel 7, which can drive the winch wheel 7 to rotate. The lifting belt 3 is wound around the winch wheel 7, and the movable end of the lifting belt 3 extends downward and is fixedly connected with the loading platform 4.

[0055] The bottom surface of the mother vehicle 1 is further provided with four angle adjusting mechanisms 8. One angle adjusting mechanism 8 is arranged corresponding to each lifting belt 3. The angle adjusting mechanism 8 cooperates with the lifting belt 3, and is used for adjusting the angle between the lifting belt 3 and the vertical direction.

[0056] As shown in FIG. 4, the angle adjusting mechanism 8 is installed on the bottom surface of the mother vehicle 1, comprising a mounting plate 8-1 in the shape of an inverted U-shaped plate, which is fixedly connected to the mother vehicle 1 through a plurality of bolts, and an internal space of the mounting plate 8-1 is provided with an angle adjusting member, and the lifting belt 3 extends downwardly and is fixedly connected to the loading platform 4 after winding around the angle adjusting member from the winding wheel 7.

[0057] In order to reduce the frictional damage to the lifting belt, the angle adjusting member is an angle adjusting wheel 8-2, which is in contact with the lifting belt 3, and the angle adjusting wheel 8-2 is rotatably connected to a wheel carrier, and the wheel carrier is connected to a horizontal movement driving mechanism, which can drive the wheel carrier and the angle adjusting wheel to move linearly in the same direction as the running direction of the mother vehicle.

[0058] The horizontal movement driving mechanism adopts a lead screw transmission mechanism or a gear and rack transmission mechanism, and optionally, a lead screw transmission mechanism 8-3 is adopted, and the outer side surfaces of the two vertical parts of the mounting plate are each provided with a lead screw transmission mechanism 8-3, and the moving parts of the two lead screw transmission mechanisms 8-3 are connected to the wheel carrier.

[0059] The lead screw transmission mechanism 8-3 comprises a driving rudder, which is fixed to the outer side surface of the vertical part of the mounting plate 8-1, and an output shaft of the driving rudder is connected to one end of a lead screw, and the other end of the lead screw is rotatably connected to a bearing seat, which is fixed to the outer side surface of the vertical part of the mounting plate 8-1.

[0060] Both lead screws are threadedly connected to the wheel carrier, and the wheel carrier is slidably connected to the mounting plate through a long slot, and the two driving rudders are synchronously rotated, and can drive the wheel carrier and the angle adjusting wheel 8-2 to move linearly through the lead screws, so as to adjust the angle between the lifting belt 3 and the vertical direction to a predetermined acute angle, and meet the use requirements of various working conditions.

[0061] Optionally, in order to ensure the stability of the loading platform 4 during the loading and unloading of goods, at least one loading platform stabilizing member is arranged on both sides of the loading platform 4 parallel to the running direction, and the loading platform stabilizing member adopts an extension push rod or a rotary swing rod, and in this embodiment, the loading platform stabilizing member adopts an extension push rod, comprising a pushing driving member 9 connected to a top rod 10, which can drive the top rod 10 to move in a direction perpendicular to the running direction of the mother vehicle.

[0062] In this embodiment, the pushing driving member 9 is arranged at each of the four corner positions of the loading platform 4.

[0063] The pushing driving member 9 is an electric telescopic rod or a pushing steering engine, the pushing steering engine is fixed on a steering engine base, the steering engine base is fixedly connected with the loading platform 4, the output shaft of the pushing steering engine is connected with a gear, the gear is engaged with a rack structure arranged on the surface of the pushing rod 10, the pushing rod 10 is slidingly connected with the steering engine base, the pushing steering engine drives the gear to rotate, under the engagement of the gear and the rack structure, the pushing rod 10 can be driven to move linearly, when the pushing rod 10 moves outward, the pushing rod 10 can abut against the surface of the shelf beside the loading platform 4, so that the stability of the loading platform during taking and placing goods is maintained.

[0064] In another embodiment, the loading platform stabilizing member is a rotating swing rod, the rotating swing rod comprises a rotating driving member, the rotating driving member is fixed with the loading platform, the rotating driving member is connected with the swing rod, the rotating driving member is an equipment capable of outputting rotating motion, for example, a motor, or a linear telescopic element is connected with a rack, the rack is engaged with a gear, the gear is connected with the swing rod, and those skilled in the art can set it according to actual needs.

[0065] The rotating driving member can drive the swing rod to rotate, so that the swing rod rotates to the end and abuts against the side surface of the shelf.

[0066] As shown in FIGS. 5-6, the mother vehicle comprises a vehicle body, two walking wheels 11 are arranged on the front and rear sides of the vehicle body, wherein the two walking wheels 11 on the front side are coaxially arranged, and the two walking wheels 11 on the rear side are coaxially arranged.

[0067] At least one first telescopic member is arranged on each side of the vehicle body parallel to the advancing direction, in the embodiment, two first telescopic members are arranged on each side.

[0068] The first telescopic member is connected with the layer changing gear 12 and can drive the layer changing gear 12 to move linearly in a direction perpendicular to the advancing direction.

[0069] The first telescopic member comprises a first rotating driving member, the first rotating driving member is a first steering engine or a first motor, and an exemplary first rotating driving member is a first steering engine 13, the first steering engine 13 is fixed on the vehicle body, the output shaft of the first steering engine 13 is connected with a first gear, the first gear is engaged with a rack structure arranged on the shaft surface of a first moving shaft 14, the first moving shaft 14 is arranged in the telescopic direction of the first telescopic member, the first moving shaft 14 is slidingly connected with a first guide base 15 fixed on the vehicle body, the end of the first moving shaft 14 is fixedly connected with a connecting plate 16, the connecting plate 16 is rotatably connected with one end of a telescopic shaft 17, the telescopic shaft 17 can rotate around its own axis, and the other end of the telescopic shaft 17 extends to the outside of the side frame of the vehicle body and is connected with the layer changing gear 12.

[0070] The first steering engine 13 works, and can drive the first moving shaft 14 to do the extension and retraction movement through the meshing action of the first gear and the first moving shaft rack structure, so as to drive the extension and retraction shaft 17 and the layer changing gear 12 to do the extension and retraction movement through the first moving shaft 14 and the connecting plate 16.

[0071] In another embodiment, the first extension and retraction part is an electric extension and retraction rod mounted on the vehicle body, and the end of the extension and retraction shaft is rotationally connected with the extension and retraction part of the electric extension and retraction rod.

[0072] Meanwhile, the extension and retraction shaft 17 is connected with a rotation driving mechanism, and the rotation driving mechanism can drive the extension and retraction shaft 17 to rotate around its own axis, so as to drive the layer changing gear to rotate.

[0073] In the embodiment, the rack matched with the layer changing gear 12 is arranged on the shelf on the side of the carrying robot, and the rack is arranged along the height direction of the shelf. When the first extension and retraction part drives the layer changing gear 12 to extend and mesh with the rack on the shelf, the rotation driving mechanism drives the layer changing gear 12 to rotate, so as to make the whole mother vehicle 1 do the lifting movement and realize the layer changing.

[0074] In order to avoid the influence of the walking track on the lifting of the mother vehicle 1, the walking wheel 11 is connected with the second extension and retraction part, and the second extension and retraction part can drive the walking wheel to extend and retract. When the walking wheel is retracted, the lifting of the mother vehicle 1 is not affected by the walking track 2.

[0075] Optionally,

[0076] The second extension and retraction part is a second rotation driving part mounted on the vehicle body, and the second rotation driving part is a second steering engine or a second motor. The exemplary second rotation driving part is a second steering engine 18. The output shaft of the second steering engine 18 is connected with a second gear, the second gear is meshed with the rack structure on the second moving shaft 19, the second moving shaft 19 is arranged along the extension and retraction direction of the second extension and retraction part, the second moving shaft 19 is slidingly connected with a second guide seat 20, the second guide seat 20 is fixed on the vehicle body, the end of the second moving shaft 19 is fixedly connected with a connecting seat 21, the connecting seat 21 is slidingly connected with the vehicle body through a slide rail, the connecting seat 21 is rotationally connected with an axle 22, and the axle 22 is connected with the walking wheel 11.

[0077] The second steering engine 18 drives the second gear to rotate, and drives the second moving shaft 19 to do the linear movement under the meshing action of the second gear and the rack structure on the second moving shaft 19. The second moving shaft 19 drives the axle 22 to do the linear movement through the connecting seat 21, so as to realize the extension and retraction of the walking wheel 11.

[0078] The axle 22 is connected with a rotation driving mechanism, and the rotation driving mechanism can drive the axle to rotate, so as to realize the walking on the guide rail.

[0079] In this embodiment, the layer changing gear 12 is arranged to realize the lifting movement of the mother vehicle 1, so as to adjust the height of the mother vehicle 1, avoid the too long length of the lifting belt 3 caused by the too large distance between the mother vehicle 1 and the loading platform 4 during the transfer of goods, and further avoid the unstable transportation phenomenon caused by the too long length of the lifting belt 3 between the mother vehicle 1 and the loading platform 4.

[0080] The rotating driving mechanism is arranged at the front side and the rear side of the vehicle body, the rotating driving mechanism at the front side is configured to drive the rotation of the two walking wheels and the two telescopic shafts at the front side of the vehicle body, the rotating driving mechanism at the rear side is configured to drive the rotation of the two walking wheels and the two telescopic shafts at the rear side of the vehicle body, the two rotating driving mechanisms have the same connection and working principle, and the rotating driving mechanism at the front side is taken as an example for illustration.

[0081] The rotating driving mechanism comprises a third rotating driving member, which is a device capable of outputting rotating motion, such as a third motor or a third hydraulic motor. Optionally, the third rotating driving member is a third motor 23, the output shaft of the third motor 23 is connected with an intermediate shaft 25 through a first transmission mechanism 24, the first transmission mechanism 24 is a belt transmission mechanism or a chain transmission mechanism, and the first transmission mechanism is exemplarily a belt transmission mechanism, and the two ends of the intermediate shaft 25 are rotationally connected with bearing seats, and the bearing seats are fixed on the vehicle body.

[0082] The middle position of the intermediate shaft 25 is connected with a transmission shaft 27 through a second transmission mechanism 26, the transmission shaft 27 is rotationally connected with the vehicle body through a bearing seat, the second transmission mechanism 26 is a belt transmission mechanism or a chain transmission mechanism, and the second transmission mechanism is exemplarily a belt transmission mechanism, and the two ends of the transmission shaft 27 are connected with the wheel shafts 22 connected with the two walking wheels 11 at the front side through a key connection, and the wheel shafts 22 can make linear motion relative to the transmission shaft and can also synchronously rotate with the transmission shaft.

[0083] The two ends of the intermediate shaft 25 are respectively connected with the two telescopic shafts through a third transmission mechanism 28, and the telescopic shafts are connected with the driven members of the third transmission mechanism through a key connection.

[0084] The third transmission mechanism 28 is a belt transmission mechanism or a chain transmission mechanism, and the third transmission mechanism is exemplarily a belt transmission mechanism, the telescopic shaft 17 is connected with the driven belt pulley through a key connection, and the telescopic shaft 17 can make linear motion and can also synchronously rotate with the driven belt pulley.

[0085] The two telescopic shafts 17 and the two walking wheels 11 at the same side share one rotating driving mechanism, the number of the rotating driving mechanisms is reduced, and the structure of the mother vehicle is more compact.

[0086] A power supply is further arranged on the mother vehicle, which is a battery 31, and the battery is used for supplying power to various electric components on the mother vehicle and the loading platform.

[0087] Optionally, a conductive wire is arranged in the lifting belt, and the conductive wire is connected with the battery, so as to charge the battery. The conductive wire can be arranged by using the prior art, and thus will not be described in detail herein.

[0088] The vehicle body is further provided with a protective shell 35 for protecting various components mounted on the vehicle body.

[0089] In the embodiment, when the track between the adjacent aisles of the shelf is a curved track, only the walking wheel 11 is arranged; when the track is a right-angle track or the track is connected with the walking track 2 perpendicularly, as shown in FIG. 7, a reversing wheel 34 is further arranged on the mother vehicle, in the embodiment, the opposite two sides of the mother vehicle are provided with the walking wheels 11, and the other two opposite sides are provided with the reversing wheels 34, the axis of the reversing wheel 34 is perpendicular to the axis of the walking wheel 11, the reversing wheel 34 is connected with a driving mechanism mounted on the mother vehicle, and the driving mechanism can output rotational motion, which is the prior art and thus will not be described in detail herein.

[0090] In another embodiment of the present disclosure, the lifting belt is arranged along the height direction of the shelf, and an angle adjusting mechanism is omitted, as shown in FIG. 8, the two sides of the loading platform are provided with guide blocks 29, the guide blocks 29 are penetrated by guide columns 30, the guide blocks 29 are slidingly connected with the guide columns 30 to realize the sliding connection between the loading platform 4 and the guide columns 30, and the top ends of the guide columns 30 are fixed to the bottom surface of the vehicle body of the mother vehicle 1.

[0091] The present disclosure further provides a shelf storage system, as shown in FIG. 9, which comprises a plurality of rows of shelves 36, aisles are formed between the adjacent two rows of shelves 36, a transfer robot is arranged between the adjacent two rows of shelves 36, the walking track 2 is arranged on the shelf 36, and the walking wheel 11 of the transfer robot is matched with the walking track 2.

[0092] The track 37 is arranged between the walking tracks 2 of the adjacent rows of shelves 36, the track 37 is arranged perpendicularly to the walking track 2, and / or the track 37 is arranged at one side end of the shelf 36 and connected with the walking tracks 2 of the same height in different aisles.

[0093] In the embodiment, the track 37 is arranged at the end of the shelf, adopts a curved track, and is located at the top of the shelf 36. The curved track is fixedly connected with the end of the walking track 2 on the two sides of the adjacent aisle. At this time, the mother vehicle only needs to be provided with the walking wheel 11.

[0094] When a single transfer robot is used, the track 37 is arranged at the top of the shelf; when multiple transfer robots are used, multiple tracks 37 can be arranged according to actual needs.

[0095] In some other embodiments, the lane-changing track 37 can also adopt a right-angle type track, or the lane-changing track 37 is not arranged at the end of the walking track 2, but directly connected with the walking tracks 2 on both sides of the adjacent lane shelf perpendicularly, that is, the lane-changing track 37 is arranged along a second direction, and the second direction is perpendicular to the first direction, that is, the second direction is perpendicular to the first direction. At this time, the mother vehicle needs to be provided with a reversing wheel 34 which is perpendicular to the axis of the walking wheel.

[0096] The shelf type warehouse system further comprises a goods transfer device configured to transfer the goods to be stored to the carrying robot, or receive the goods to be taken out carried by the carrying robot.

[0097] In the embodiment, the goods transfer device adopts an AGV vehicle, a buffer shelf + AGV vehicle, a conveying line, an elevator, etc., and can be implemented by using existing equipment, which will not be described in detail here.

[0098] In some other embodiments, as shown in FIG. 10, the rack 36 is further provided with a vertically arranged rack gear 38 at the set position, which is configured to cooperate with the layer-changing gear 12. The rack gear 38 passes through the walking track 2 through the gap of the walking track 2, and the gap of the walking track 2 should meet the requirement of the walking wheel.

[0099] The remaining structure of the shelf warehouse system can be implemented by using the existing technology, which will not be described in detail here.

[0100] The mother vehicle walks along the walking track 2 of the shelf, and the lifting drive mechanism and the lifting belt drive the loading platform to lift, which can move the loading platform to the target storage location. The loading platform takes and places the goods at the target storage location of the shelf through the telescopic fork mechanism 5.

[0101] The above describes the specific embodiments of the present disclosure in combination with the drawings, but is not a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications or changes made on the basis of the technical solutions of the present disclosure without creative labor are still within the protection scope of the present disclosure. Industrial applicability

[0102] The carrying robot of the present disclosure can drive the goods to move horizontally, and then realize lateral taking and placing of goods, which can improve the storage space utilization rate, the storage and retrieval efficiency and flexibility of the shelf type warehouse system, and also ensure the stability of the goods transportation.

Claims

1. A transport robot, characterized in that, The mother vehicle and the loading platform are connected with one end of the plurality of lifting belts, and the other end of the lifting belts is connected to the lifting drive mechanism on the mother vehicle, and the mother vehicle can drive the loading platform to lift through the lifting drive mechanism; The mother vehicle is provided with a walking mechanism configured to cooperate with the walking track arranged in a first direction on the shelf, and the first direction is parallel to the extension direction of the aisle; The loading platform is provided with a telescopic loading and unloading structure configured to store the goods stored on the lateral loading and unloading shelf.

2. The transport robot of claim 1, wherein, In the direction from top to bottom, a plurality of the lifting belts are inclined towards the center position of the loading platform and arranged at a set angle with the vertical direction.

3. The transport robot of claim 1, wherein, The mother vehicle is also provided with an angle adjusting mechanism cooperating with the lifting belts to adjust the size of the set angle between the lifting belts and the vertical direction.

4. The transport robot of claim 3, wherein, The angle adjusting mechanism includes a horizontal movement drive mechanism installed on the mother vehicle, which is connected with an angle adjusting member, and the angle adjusting member is in contact with the lifting belts.

5. The transport robot of claim 4, wherein, The angle adjusting member adopts an angle adjusting wheel connected with the horizontal movement drive mechanism and in contact with the lifting belts.

6. A transport robot according to any one of claims 1-5, characterized in that The loading platform is slidingly connected with a guide column fixedly connected with the mother vehicle.

7. A transport robot according to any one of claims 1-5, characterized in that The lifting drive mechanism includes a plurality of drive assemblies, each of which is connected with a lifting belt to drive the loading platform to lift through the lifting belt.

8. The transport robot of claim 7, wherein, The drive assembly includes a lifting drive member installed on the mother vehicle, and the output shaft of the lifting drive member is connected with a winding wheel, and the lifting belt is wound around the winding wheel, and the movable end of the lifting belt is connected with the loading platform.

9. The transport robot of claim 7, wherein, The loading platform and / or the mother vehicle is provided with a posture detection element.

10. A transport robot as claimed in claim 9, characterized in that The posture detection element adopts a gyroscope installed on the loading platform, or the posture detection element adopts a laser range finder installed on the top surface of the loading platform or the bottom surface of the mother vehicle.

11. The transport robot of any one of claims 1-5, wherein, At least one loading platform stabilizing member is arranged on both sides of the loading platform, and the loading platform stabilizing member includes a telescopic push rod or a rotary swing rod which can abut against the shelf surface on the side of the loading platform after the loading platform is operated to the position.

12. The transport robot of claim 11, wherein, The telescopic push rod includes a pushing drive member and a top rod connected with the pushing drive member, the pushing drive member drives the top rod to move, and the movement direction of the top rod is perpendicular to the running direction of the mother vehicle.

13. A transport robot according to any one of claims 1-11, characterized in that The mother vehicle includes a vehicle body, at least two first telescopic members and at least two second telescopic members are arranged on both sides of the vehicle body, the first telescopic members are connected with telescopic shafts, the end portions of the telescopic shafts are connected with layer changing gears, the second telescopic members are connected with wheel shafts, the end portions of the wheel shafts are connected with walking wheels, and the telescopic shafts and the wheel shafts are connected with a rotating drive mechanism installed on the vehicle body.

14. A shelving storage system characterized by, The aisle includes a plurality of shelves, and the shelves on both sides of the aisle are provided with walking tracks; The walking track is provided with the carrying robot of any one of claims 1-13, and the carrying robot is configured to move horizontally along the walking track in the aisle to load and unload goods from the target storage position of the shelves on both sides of the aisle.

15. The palletized warehouse system of claim 14, wherein, The height setting position of the shelf is provided with a lane changing track configured to connect the walking tracks at the same height in different lanes; the lane changing track is arranged perpendicularly to the walking track, and / or the lane changing track is a curved track.

16. The goods shelving system according to claim 14 or 15, characterized in that, Further comprising a goods handover device configured to hand over goods to be stored to the carrying robot, or receive goods to be taken out carried by the carrying robot.

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