Transport system based on rack warehousing

Abstract

A transport system, relating to the technical field of logistics warehousing, and comprising: a plurality of rows of racks, wherein at least one transport robot is arranged between every two adjacent rows of racks in the height direction, and at least one set of rack guide rails is correspondingly arranged for the transport robot to move; the transport robot comprises a primary vehicle and a loading platform, wherein the loading platform is provided with a lateral picking-and-placing device, and the loading platform is connected, by means of a plurality of lifting / lowering belts, to a lifting / lowering driving mechanism arranged on the primary vehicle, so as to realize lifting and lowering in the height direction of the rack; and the primary vehicle is provided with a moving wheel set and moves along the rack guide rails by means of the moving wheel set, so as to drive the loading platform to move horizontally. The transport robot of the transport system can move horizontally along the rack guide rails arranged on the racks so as to pick and place goods, and when a plurality of transport robots are arranged in the same aisle, the transport robots do not interfere with each other, and can operate simultaneously to pick and place goods, thereby improving the composite operation efficiency.

Description

A conveying system based on shelf storage

[0001] Cross-reference to Related Applications

[0002] The present disclosure claims priority to the Chinese patent application No. 2024106565273, filed on May 24, 2024, entitled “A conveying system based on shelf storage”, the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure belongs to the technical field of logistics storage, and particularly relates to a conveying system based on shelf storage. BACKGROUND

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

[0005] Storage is the storage and preservation of goods and articles through warehouses, and the processes of warehousing, warehousing and back-warehousing of articles are realized through logistics robots.

[0006] For example, for the application scenario of shelf storage, Chinese patent application CN117533682A discloses a storage system based on a shelf robot, which includes a shelf robot arranged on a shelf through a guide rail. The shelf robot includes a stand, a lifting mechanism, a walking mechanism, a guide rail and a loading table. The stand is provided with the walking mechanism, the walking mechanism moves along the guide rail to realize movement along the extension direction of the shelf, and the loading table can move along the height direction of the shelf through the lifting mechanism, so that the loading table can reach each storage location of the shelf. However, in this scheme, the structure of the shelf robot is relatively complex, which is not conducive to the assembly and maintenance of the equipment; the weight of the stand is applied to the shelf, which can easily affect the safety and stability of the shelf during operation; the height of the stand is basically the same as that of the shelf. If two shelf robots are arranged in the same aisle to match the efficiency requirements of goods warehousing and unwarehousing, the stands of the two shelf robots will interfere with each other, and each shelf robot cannot realize the warehousing and unwarehousing of goods in the whole aisle area, which limits the improvement of work efficiency.

[0007] DISCLOSURE

[0008] In view of the deficiencies of the prior art, the present disclosure provides a conveying system based on shelf storage. The conveying robot of the system can move horizontally along the guide rail arranged on the shelf to take and place goods. When multiple conveying robots are arranged in the same aisle, the conveying robots do not interfere with each other, and can simultaneously work to take and place goods, thereby improving the efficiency of multiple operations.

[0009] In order to achieve the above purpose, the present disclosure is realized by the following technical scheme:

[0010] In a first aspect, the embodiments of the present disclosure provide a carrying system based on shelf storage, comprising:

[0011] a plurality of rows of shelves, at least one carrying robot being arranged between two adjacent rows of shelves in a height direction, and at least one set of shelf guide rails being arranged for the carrying robot to walk;

[0012] The carrying robot comprises a mother vehicle and a cargo carrying platform, the cargo carrying platform is provided with a lateral goods taking and placing device, the cargo carrying platform is connected to a lifting drive mechanism arranged on the mother vehicle through a plurality of lifting belts to realize lifting in the height direction of the shelf; the mother vehicle is provided with a set of walking wheels and moves along the shelf guide rails through the set of walking wheels to drive the cargo carrying platform to move horizontally.

[0013] As an optional technical solution, it further comprises a lane changing track, the shelf guide rails on the shelves in different lanes are connected through the lane changing track, and the carrying robot moves in different lanes through the lane changing track.

[0014] As an optional technical solution, the lane changing track is a curved track arranged at the end of the shelf, when the mother vehicle drives to the position of the lane changing track, the mother vehicle moves along the lane changing track through the set of walking wheels to realize lane changing.

[0015] As an optional technical solution, the lane changing track is perpendicular to the extension direction of the lane, and the mother vehicle is further provided with a set of reversing wheels, when the mother vehicle drives to the position of the lane changing track, the mother vehicle moves along the lane changing track through the set of reversing wheels to realize lane changing.

[0016] As an optional technical solution, it further comprises a lifting device with a lifting platform, configured to drive the carrying robot to be lifted from the shelf layer to other height shelf layers when the carrying robot runs onto the lifting platform thereof, so that the carrying robot cooperates with the shelf guide rails of different heights.

[0017] As an optional technical solution, the carrying robot moves up and down the shelf through a layer changing mechanism arranged thereon to cooperate with the shelf guide rails of different heights.

[0018] As an optional technical solution, the layer changing mechanism is a belt transmission mechanism or a chain transmission mechanism or a worm gear transmission mechanism.

[0019] As an optional technical solution, the layer changing mechanism comprises a layer changing climbing transmission member arranged vertically on the shelf, the carrying robot is provided with a layer changing climbing drive member, and the layer changing climbing transmission member is connected to the layer changing climbing drive member.

[0020] As an optional technical solution, in the direction from top to bottom, the plurality of lifting belts of the carrying robot are arranged to be inclined to the center position of the loading platform and to form a set angle with the vertical direction.

[0021] As an optional technical solution, the angle adjusting mechanism is further installed on the mother vehicle, and the angle adjusting mechanism cooperates with the lifting belts to adjust the size of the set angle between the lifting belts and the vertical direction.

[0022] As an optional technical solution, 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 piece, and the angle adjusting piece is in contact with the lifting belts.

[0023] As an optional technical solution, the lifting driving mechanism comprises a plurality of driving assemblies, each of the driving assemblies is connected with one of the lifting belts to drive the loading platform to perform lifting movement through the lifting belts.

[0024] As an optional technical solution, at least one loading platform stabilizer is arranged on each side of the loading platform, and the loading platform stabilizer is configured to be extended to abut against the surface of the shelf beside the loading platform after the loading platform is moved to the position, so as to stabilize the loading platform.

[0025] As an optional technical solution, the loading platform stabilizer comprises a telescopic push rod.

[0026] As an optional technical solution, the loading platform stabilizer comprises a rotating swing rod.

[0027] As an optional technical solution, the loading platform and / or the mother vehicle are provided with a posture detection element, and the posture detection element is configured to detect whether the loading platform is in a horizontal state.

[0028] The beneficial effects of the above embodiments of the present disclosure are as follows:

[0029] The carrying system of the embodiments of the present disclosure sets the shelf guide rails on the shelves, sets at least one carrying robot in the height direction between the adjacent two rows of shelves, the carrying robot is composed of a mother vehicle and a loading platform, the loading platform is used for storing goods, the mother vehicle drives the loading platform to move horizontally along the shelf guide rails to take and place the goods, the structure of the carrying robot is simpler, the installation and maintenance thereof are more convenient, and the column structure is no longer needed, the safety and stability of the shelves are improved; in addition, when a plurality of carrying robots are arranged in the same aisle, the carrying robots do not interfere with each other and can independently move horizontally along the shelves, and the plurality of carrying robots can independently take and place goods and do not interfere with each other when taking and placing goods, so that the plurality of carrying robots can simultaneously work to take and place goods, and the efficiency of the combined work is improved. BRIEF DESCRIPTION OF DRAWINGS

[0030] The accompanying drawings, which are incorporated in and form a part of the specification, serve to further understand the present disclosure, and to show illustrative embodiments thereof, and, together with the description, serve to explain the present disclosure. They are, however, not intended to limit the present disclosure unduly.

[0031] FIG. 1 is a schematic view of a transport system according to one or more embodiments of the present disclosure;

[0032] FIG. 2 is a side view of a transport system according to one or more embodiments of the present disclosure;

[0033] FIG. 3 is a schematic view of a rack according to one or more embodiments of the present disclosure;

[0034] FIG. 4 is a schematic view of a layer changing mechanism in a transport system according to one or more embodiments of the present disclosure;

[0035] FIG. 5 is an enlarged view of A in FIG. 2;

[0036] FIG. 6 is a schematic view of a transport robot according to one or more embodiments of the present disclosure;

[0037] FIG. 7 is a schematic view of an angle adjusting mechanism according to one or more embodiments of the present disclosure;

[0038] FIG. 8 is a schematic view of a mother vehicle according to one or more embodiments of the present disclosure;

[0039] FIG. 9 is a top view of a mother vehicle according to one or more embodiments of the present disclosure;

[0040] FIG. 10 is a schematic view of a layer changing of a lifting device according to one or more embodiments of the present disclosure;

[0041] FIG. 11 is a side view of a layer changing of a lifting device according to one or more embodiments of the present disclosure;

[0042] FIG. 12 is a schematic view of a cross-shaped layer changing track according to one or more embodiments of the present disclosure;

[0043] FIG. 13 is a schematic view of a transport robot applied to a cross-shaped layer changing track according to one or more embodiments of the present disclosure.

[0044] In the drawings: 100. transport robot, 200. rack, 300. aisle, 400. layer changing track, 500. rack;

[0045] 1. mother car, 2. shelf guide rail, 3. lifting belt, 4. loading platform, 5. telescopic fork mechanism, 6. lifting drive motor, 7. winding wheel, 8. angle adjusting mechanism, 8-1. mounting plate, 8-2. angle adjusting wheel, 8-3. screw transmission mechanism, 9. pushing drive, 10. push rod, 11. walking wheel, 12. layer changing gear, 13. first steering engine, 14. first moving shaft, 15. first guide seat, 16. connecting plate, 17. telescopic shaft, 18. second steering engine, 19. second moving shaft, 20. second guide seat, 21. connecting seat, 22. wheel shaft, 23. third motor, 24. first transmission mechanism, 25. intermediate shaft, 26. second transmission mechanism, 27. transmission shaft, 28. third transmission mechanism, 29. lifting device, 30. walking wheel set, 31. reversing wheel set.

[0046] The mutual distance or size between the parts is exaggerated for showing the position of each part, and the schematic view is only for showing the use. DETAILED DESCRIPTION

[0047] It should be noted that the following detailed description is illustrative only, and is intended to provide further description of the present disclosure. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

[0048] It should be noted that the terms used herein are only for describing specific embodiments, and are not intended to limit exemplary embodiments according to the present disclosure. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and it should also be understood that when the terms "comprise" and / or "include" are used in the specification, there is a reference to the presence of a feature, step, operation, device, component, and / or combinations thereof.

[0049] In a typical embodiment of the present disclosure, as shown in FIG. 1, a carrying system based on shelf storage is proposed, which includes a plurality of rows of shelves 200, a carrying robot 100 is arranged between adjacent two rows of shelves 200, and the carrying robot 100 can move horizontally and vertically on the shelves 200.

[0050] The shelves 200 are provided with shelf guide rails 2, which are arranged horizontally, and the carrying robot 100 can walk on the shelf guide rails 2, that is, the carrying robot 100 cooperates with the shelf guide rails 2 and can move horizontally along the shelf guide rails 2. The shelf guide rails of adjacent two rows of shelves 200 are arranged at the same height, and the carrying robot between the adjacent two rows of shelves cooperates with the shelf guide rails on the two shelves on both sides at the same time, which can improve the stability of the carrying robot operation.

[0051] The aisles 300 are formed between the adjacent two rows of shelves 200, and the carrying robot 100 is arranged in the aisle 300. At least one carrying robot 100 is arranged at different heights of the shelves 200 in each aisle 300 to take and place the goods on the shelves 200. That is, at least one carrying robot 100 is arranged at different heights between the adjacent two rows of shelves 200.

[0052] It can be understood that when one carrying robot 100 is arranged, the carrying robot 100 can move up and down and left and right along the shelves to take and place the goods at different goods taking positions of the shelves. When two or more carrying robots 100 are arranged between the adjacent rows of shelves, the carrying robots 100 do not interfere with each other and can independently move up and down and left and right along the shelves. When multiple carrying robots 100 simultaneously perform the taking and placing work, the respective independent taking and placing work of the multiple carrying robots 100 will not interfere with each other. When multiple carrying robots 100 are arranged to simultaneously work, the efficiency of the combined work can be improved.

[0053] In addition, when arranged in detail, two or more carrying robots 100 can not be arranged between the two shelves of each aisle. One carrying robot can be arranged in the aisle where the goods with a low frequency of warehouse entry and exit are located, and multiple carrying robots can be arranged between the two shelves of the aisle where the goods with a high frequency of warehouse entry and exit are located.

[0054] As shown in FIG. 5, the carrying robot includes a mother vehicle 1 and a goods carrying table 4. The mother vehicle 1 cooperates with the shelf guide rail 2, and the mother vehicle 1 can horizontally walk along the shelf guide rail 2. A lifting driving mechanism is arranged on the mother vehicle 1 and connected with a lifting belt 3. The movable end of the lifting belt 3 is connected with the goods carrying table 4 located below the mother vehicle 1. A lateral taking and placing device is arranged on the goods carrying table 4 to take and place the goods on the shelves. In this embodiment, the lateral taking and placing device adopts a telescopic fork mechanism 5, which can adopt an existing structure and will not be described here. It should be noted that the lateral taking and placing device can also adopt other taking methods, such as a clamping fork taking method, a suction cup taking method, and a hook claw taking method, which are not limited in the present disclosure.

[0055] The mother vehicle 1 is provided with a walking wheel set, which can walk along the shelf guide rail 2, so as to drive the goods carrying table 4 to move horizontally through the lifting belt. Meanwhile, the lifting driving mechanism can drive the goods carrying table 4 to lift along the height direction of the shelves through the lifting belt 3, so that the goods carrying table 4 reaches the position of the target goods position on the shelves.

[0056] Optionally, when the number or frequency of the taking and placing tasks of the shelves in a certain aisle is high, the carrying robots of other aisles can be mobilized to change the aisles to the certain aisle, so that multiple carrying robots simultaneously perform the taking and placing work to improve the work efficiency.

[0057] In order to realize the change of the carrying robot in the aisle, the change aisle track 400 is arranged between the racks 200 in different aisles 300, and the change aisle track 400 is connected with the rack guide rails 2 on the racks. Specifically, one end of the change aisle track 400 is connected with the rack guide rail on the rack in one aisle, and the other end is connected with the rack guide rail on the rack in another aisle, so that the rack guide rails on the racks in different aisles are connected through the change aisle track, and the carrying robot moves in different aisles through the change aisle track. Therefore, the carrying robot can move along the rack guide rail of the rack in one aisle to the change aisle track, and then move to the rack guide rail of the rack in another aisle, so as to realize the change of the carrying robot in the aisle to pick and place goods.

[0058] Through the arrangement of the change aisle track, not only can the carrying robots in other aisles be mobilized to assist in picking and placing goods in the aisle when the picking and placing task in the aisle is relatively large, but also the carrying robot can be changed to move the goods when the goods are stored incorrectly or need to be moved to the storage position of the rack in another aisle, without the need for other auxiliary measures.

[0059] In an optional embodiment, the change aisle track 400 is arranged at the end of the rack 200, and the change aisle track 400 is arranged as a curved track, such as an arc, a semicircle, an S shape, etc. The change aisle track 400 connects the rack guide rails 2 of the racks in different aisles. When the mother car drives to the position of the curved track, the mother car moves along the change aisle track through the walking wheel set to realize the change of the aisle.

[0060] The change aisle track 400 can be arranged at the top end of the rack 200 when it is arranged in detail. When the carrying robot needs to change the aisle, it first moves to the top of the rack and then moves to the change aisle track. Of course, in other embodiments, the change aisle track 400 can also be arranged at the bottom end or the middle end of the rack 200 or at any other height position. It is preferred that the change aisle track 400 is arranged at the top end of the rack 200.

[0061] In order to realize the change of the carrying robot in the aisle, the change aisle track 400 can also be arranged above the rack, and the change aisle track is perpendicular to the extension direction of the aisle and is connected with the rack guide rails of the racks in different aisles. The carrying robot can move to the connection position of the change aisle track and the rack guide rail from the rack guide rail, and then move to the other aisle along the change aisle track and move horizontally along the rack guide rail of the other aisle, so as to realize the change of the aisle. In this embodiment, the mother car is also provided with a reversing wheel set which cooperates with the change aisle track. When the mother car drives to the position of the change aisle track, the mother car moves along the change aisle track through the reversing wheel set to realize the change of the aisle.

[0062] In possible embodiments, the cross aisle track 400 can be arranged in a cross shape, as shown in FIG. 12, at which time the mother vehicle of the carrying robot is provided with the walking wheel set 30 and the reversing wheel set 31, and the reversing wheel set 31 and the walking wheel set 30 are arranged in perpendicular directions so as to facilitate cross aisle switching in the cross-shaped cross aisle track.

[0063] It should be noted that since the cross aisle track 400 needs to cooperate with the shelf guide rail to realize cross aisle switching, the arrangement height layer of the cross aisle track 400 depends on the shelf height layer where the shelf guide rail is located, and the arrangement height and number of the cross aisle track 400 can be set according to actual needs, which is not limited in the present disclosure.

[0064] The shelf 200 is provided with at least one group of shelf guide rails 2, and in the present embodiment, a plurality of groups of shelf guide rails 2 are arranged in parallel along the height direction on the shelf 200, which can be used for the simultaneous taking and placing of goods by a plurality of carrying robots in the same aisle; the carrying robot can move up and down the shelf to change layers and cooperate with different shelf guide rails.

[0065] In possible embodiments, the carrying system is provided with lifting equipment, which can adopt a hoist or the like, and has a lifting platform, when the carrying robot runs onto the lifting platform thereof, the lifting equipment drives the carrying robot to be lifted from the shelf layer to other height shelf layers, so as to enable the carrying robot to cooperate with shelf guide rails of different heights.

[0066] In possible embodiments, the carrying robot moves up and down the shelf through the layer changing mechanism arranged thereon to cooperate with shelf guide rails of different heights. The layer changing mechanism includes a layer changing climbing transmission member arranged vertically on the shelf, and the carrying robot is provided with a layer changing climbing driving member, and the layer changing climbing transmission member is connected with the layer changing climbing driving member. Specifically, in the present embodiment, the layer changing climbing driving member adopts a layer changing gear 12, and the layer changing climbing transmission member adopts a rack 500; the rack 500 is arranged vertically at a set position of the shelf 200, the carrying robot 100 is provided with the layer changing gear 12, the rack 500 is engaged with the layer changing gear 12, and the rack passes through the shelf guide rail through the gap provided by the shelf guide rail, and the gap of the shelf guide rail should meet the requirement of the carrying robot walking wheel to pass through. The rack and the layer changing gear form a layer changing mechanism, and through the cooperation of the rack and the layer changing gear of the layer changing mechanism, the carrying robot 100 can move up and down the shelf to change layers, and after moving up and down the rack, it can be moved to another shelf guide rail to move horizontally, thereby realizing vertical lifting and layer changing in the aisle. In this way, for the situation that the frequencies of the goods in different regions of the same aisle vary, if the frequency of the goods in a certain region of the shelf of the aisle is high, the carrying robots responsible for the goods in other regions of the aisle can climb upward or move downward through the layer changing mechanism to adapt to the change of the frequencies of the goods in different regions of the same aisle, thereby improving the operation efficiency.

[0067] In other possible embodiments, the layer changing mechanism can also adopt other mechanisms such as a belt transmission mechanism, a chain transmission mechanism, a worm gear transmission mechanism, etc., which can drive the carrying robot to move up and down.

[0068] The carrying robot 100 moves along the shelves through the lifting device or the layer changing mechanism, can cooperate with different guide rails on the shelves, realizes layer changing, and takes and places goods at different heights. In addition, the height of the carrying robot 100 can be adjusted through layer changing, which avoids the situation that the distance between the mother vehicle 1 and the loading platform 4 is too large, the length of the lifting belt is too long, and the transportation is unstable due to the length of the lifting belt 3.

[0069] Optionally, the lifting belt 3 is provided in plurality, and in the embodiment, the number of the lifting belt 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, and the lifting belts 3 are connected with the lifting drive mechanism installed on the mother vehicle 1.

[0070] In order to reduce the shaking of the loading platform during movement and ensure the stability of the goods transportation, the lifting belts 3 are inclined towards the center position of the loading platform 4 in the direction from top to bottom, and the lifting belts 3 form a set angle with the vertical direction. The carrying robot 100 is provided with multiple lifting belts 3 inclined towards the center position of the loading platform 4 in the direction from top to bottom and forming a set angle with the vertical direction, which can prevent the shaking of the loading platform 4 during movement, avoid the collision between the goods and external structures such as shelves, and ensure the stability of the goods transportation.

[0071] The lifting drive mechanism includes multiple drive assemblies, and each lifting belt is provided with a corresponding drive assembly. Since four lifting belts 3 are provided, four drive assemblies are installed on the mother vehicle 1. In the embodiment, since the length of the part of the lifting belt between the mother vehicle 1 and the loading platform 4 changes after long-time use, the loading platform 4 cannot be kept horizontal. Therefore, each lifting belt 3 is provided with a corresponding drive assembly, and each lifting belt 3 can be independently folded and released. Therefore, the lifting belts 3 can be adjusted by the drive assemblies to keep the loading platform 4 in a horizontal state. Each lifting belt 3 is provided with a corresponding lifting drive mechanism, and multiple lifting drive mechanisms work together to adjust the loading platform 4 to be horizontal, which ensures the stability of the goods transportation and avoids the situation that the goods fall off the loading platform 4.

[0072] In order to detect whether the loading platform 4 is in a horizontal state, a posture detection element can be installed on the loading platform and / or the mother vehicle.

[0073] The driving assembly adopts a winch mechanism, comprising a lifting driving element, the lifting driving element adopts a lifting driving motor 6 installed 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, the winch wheel 7 can be driven to rotate, and the lifting belt 3 is wound on the winch wheel 7, and the movable end of the lifting belt 3 extends obliquely downward and is fixedly connected with the loading platform 4.

[0074] The bottom surface of the mother vehicle 1 is further provided with four angle adjusting mechanisms 8, each lifting belt 3 corresponds to an angle adjusting mechanism 8, the angle adjusting mechanism 8 cooperates with the lifting belt 3, and is used for adjusting the angle size of the set included angle between the lifting belt 3 and the vertical direction.

[0075] As shown in FIG. 6, the angle adjusting mechanism 8 is installed on the bottom surface of the mother vehicle 1, comprises a mounting plate 8-1, the mounting plate 8-1 adopts an inverted U-shaped plate, the mounting plate 8-1 is fixedly connected with the mother vehicle 1 through a plurality of bolts, the inner space of the mounting plate 8-1 is provided with an angle adjusting element, the lifting belt 3 extends from the winch wheel 7, passes through the angle adjusting element, and then the movable end thereof extends obliquely downward and is fixedly connected with the loading platform 4.

[0076] In order to reduce the friction damage to the lifting belt, the angle adjusting element adopts an angle adjusting wheel 8-2, the angle adjusting wheel 8-2 is in contact with the lifting belt 3, the angle adjusting wheel 8-2 is rotationally connected with a wheel carrier, the wheel carrier is connected with a horizontal movement driving mechanism, the horizontal movement driving mechanism can drive the wheel carrier and the angle adjusting wheel to move linearly, and the movement direction is the same as the advancing direction of the mother vehicle.

[0077] The horizontal movement driving mechanism can adopt a lead screw transmission mechanism 8-3 or a gear and rack transmission mechanism, 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 with the wheel carrier. The lead screw transmission mechanism 8-3 can drive the wheel carrier and the angle adjusting wheel 8-2 to move linearly, so as to adjust the angle size of the set included angle between the lifting belt 3 and the vertical direction, and meet the use requirements of various working conditions.

[0078] In order to ensure the stability of the loading platform 4 during the taking and placing of goods, at least one loading platform stabilizing element is arranged on each side of the loading platform 4 which is parallel to the advancing direction, the loading platform stabilizing element is used for extending and abutting against the surface of the goods shelf on the side of the loading platform after the loading platform is operated to the position, so as to stabilize the loading platform; the loading platform stabilizing element comprises a telescopic push rod or a rotary swing rod.

[0079] The telescopic push rod is horizontally telescopic to extend against the shelf surface beside the loading platform, in the embodiment, the telescopic push rod is in the form of a push driving element 9+push rod 10, but is not limited thereto; at least one push driving element 9 is arranged on each side of the loading platform 4 parallel to the running direction, the push driving element 9 is connected with the push rod 10 and can drive the push rod 10 to move in a direction perpendicular to the running direction of the mother vehicle. In an optional embodiment, the push driving element 9 is arranged at each corner position of the loading platform 4.

[0080] The push driving element 9 can be an electric telescopic rod or other reciprocating moving mechanism, the push driving element 9 can drive the push rod 10 to move linearly, when the push rod 10 moves outward, it can be against the shelf surface beside the loading platform 4, thereby maintaining the stability of the loading platform during picking and placing goods.

[0081] The rotating swing rod is rotatably extended to be against the shelf surface beside the loading platform, and the driving form of the rotating swing rod includes but is not limited to the form of a motor+gear rack transmission.

[0082] As shown in FIGS. 7-8, the mother vehicle 1 comprises a vehicle body, two walking wheels 11 are arranged on the front and rear sides of the vehicle body, forming a walking wheel set, 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. The walking wheels 11 cooperate with the shelf guide rail 2 and can move horizontally along the shelf guide rail 2.

[0083] At least one first telescopic element is arranged on each side of the vehicle body parallel to the running direction, the first telescopic element is connected with the layer changing gear 12 and can drive the layer changing gear 12 to move telescopically in a direction perpendicular to the running direction.

[0084] The first telescopic element comprises a first rotating driving element, the first rotating driving element is a first steering engine or a first motor, preferably 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 gear rack structure arranged on the shaft surface of a first moving shaft 14, the first moving shaft 14 is arranged along the telescopic direction of the first telescopic element, the first moving shaft 14 is slidingly connected with a first guide seat 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, 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.

[0085] The first steering engine 13 works, can drive the first moving shaft 14 to move telescopically through the engagement of the first gear and the first moving shaft gear rack structure, thereby driving the telescopic shaft 17 and the layer changing gear 12 to move telescopically through the first moving shaft 14 and the connecting plate 16.

[0086] The telescopic shaft 17 is connected with a rotating driving mechanism, which can drive the telescopic shaft 17 to rotate around its own axis, thereby driving the layer-changing gear to rotate.

[0087] In another embodiment, the first telescopic member can be an electric telescopic rod mounted on the vehicle body.

[0088] The layer-changing gear 12 is engaged with the vertical toothed rack 500 on the shelf 200. When the first telescopic member drives the layer-changing gear 12 to extend and engage with the toothed rack on the shelf, the rotating driving mechanism drives the layer-changing gear 12 to rotate, which can make the whole mother vehicle 1 move up and down to realize layer changing. At the same time, the height of the mother vehicle 1 can be adjusted to avoid the length of the lifting belt 3 being too long due to the distance between the mother vehicle 1 and the loading platform 4 being too large during the transfer of goods, thereby avoiding the unstable transportation caused by the length of the lifting belt 3 between the mother vehicle 1 and the loading platform 4 being too long.

[0089] In order to avoid the influence of the shelf guide rail on the lifting of the mother vehicle 1, the walking wheel 11 is connected with the second telescopic member, which can drive the walking wheel to extend and retract. When the walking wheel retracts, the lifting of the mother vehicle 1 is not affected by the shelf guide rail.

[0090] Specifically, the second telescopic member is a second rotating driving member mounted on the vehicle body, which is a second steering gear or a second motor, preferably a second steering gear 18. The output shaft of the second steering gear 18 is connected with a second gear, which is engaged with a toothed rack structure on a second moving shaft 19. The second moving shaft 19 is arranged along the extension direction of the second telescopic member. The second moving shaft 19 is slidingly connected with a second guide seat 20, which is fixed on the vehicle body. The end of the second moving shaft 19 is fixedly connected with a connecting seat 21, which 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.

[0091] The second steering gear 18 drives the second gear to rotate, which drives the second moving shaft 19 to move linearly under the engagement of the second gear and the toothed rack structure on the second moving shaft 19. The second moving shaft 19 drives the axle 22 to move linearly through the connecting seat 21, thereby realizing the extension and retraction of the walking wheel 11.

[0092] The axle 22 is connected with a rotating driving mechanism, which can drive the axle to rotate, thereby realizing walking on the shelf guide rail.

[0093] Two rotating driving mechanisms are arranged on the front side and the rear side of the vehicle body. The rotating driving mechanism on the front side is used to drive the rotation of the two walking wheels and the two telescopic shafts on the front side of the vehicle body. The rotating driving mechanism on the rear side is used to drive the rotation of the two walking wheels and the two telescopic shafts on the rear side of the vehicle body. The two rotating driving mechanisms have the same connection and working principle. The rotating driving mechanism on the front side is taken as an example for description.

[0094] 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 hydraulic motor. Preferably, the third rotating driving member is a third motor 23, the output shaft of which is connected to 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, preferably a belt transmission mechanism. The two ends of the intermediate shaft 25 are rotatably connected to bearing seats, which are fixed on the vehicle body.

[0095] The middle part of the intermediate shaft 25 is connected to a transmission shaft 27 through a second transmission mechanism 26. The transmission shaft 27 is rotatably connected to the vehicle body through a bearing seat. The second transmission mechanism 26 is a belt transmission mechanism or a chain transmission mechanism, preferably a belt transmission mechanism. The two ends of the transmission shaft 27 are connected to the wheel shafts 22 of the two front wheels 11 through key connection. The wheel shafts 22 can move linearly relative to the transmission shaft 27 and can also rotate synchronously with the transmission shaft.

[0096] The two ends of the intermediate shaft 25 are connected to the two telescopic shafts through a third transmission mechanism 28, and the telescopic shafts are connected to the driven members of the third transmission mechanism through key connection.

[0097] The third transmission mechanism 28 is a belt transmission mechanism or a chain transmission mechanism, preferably a belt transmission mechanism. The telescopic shaft 17 is connected to the driven pulley through key connection. The telescopic shaft 17 can move linearly and can also rotate synchronously with the driven pulley.

[0098] The two telescopic shafts 17 and the two wheels 11 on the same side share one rotating driving mechanism, which reduces the number of rotating driving mechanisms and makes the structure of the mother vehicle more compact.

[0099] The working principle of the conveying system is as follows:

[0100] The wheels 11 on the mother vehicle of the conveying robot 100 are matched with the rack guide rails 2 arranged on the racks 200, and the wheels can move horizontally along the rack guide rails;

[0101] The lifting driving mechanism of the conveying robot 100 can drive the loading platform 4 to lift through the lifting belt 3, so as to reach the target rack position.

[0102] When receiving the delivery task, the carrying robot 100 first walks along the shelf rail 2 above the target storage location, and then the loading platform 4 is lowered to the target storage location by the lifting belt 3. The lowering of the loading platform can be simultaneously performed with the movement of the walking wheels. The push rod 10 is extended to tightly abut against the side of the shelf, the telescopic fork mechanism 5 of the loading platform 4 takes the goods, the push rod 10 is retracted, the carrying robot 100 drives the loading platform to the delivery location, the telescopic fork mechanism of the loading platform delivers the goods, and the delivery is completed. Conversely, it is the storage process.

[0103] When the number or frequency of the storage and taking tasks of the shelves in a certain aisle is high, the carrying robots in other aisles can be mobilized to change the aisle to the aisle, and the carrying robots change the aisle through the aisle changing track. After completing the aisle changing, multiple carrying robots simultaneously perform the storage and taking tasks in the aisle with high storage and taking tasks.

[0104] The above only describes the preferred embodiments of the present disclosure and is not used to limit the present disclosure. For those skilled in the art, the present disclosure can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure. Industrial applicability

[0105] In summary, the embodiment of the present disclosure provides a carrying system based on shelf storage, which sets a shelf rail on the shelf, sets at least one carrying robot in the height direction between two adjacent rows of shelves, and sets a loading platform on the carrying robot. The loading platform is used to store goods, and the mother car drives the loading platform to move horizontally along the shelf rail to take and store goods. The carrying robot has a simpler structure, is more convenient to install and maintain, and no longer needs to set a column structure, so that the safety and stability of the shelf are improved.

Claims

1. A palletless warehouse based handling system, characterized in that, The application relates to a multi-row shelf system. The application comprises: a plurality of rows of shelves, at least one transfer robot is arranged between two adjacent rows of shelves in the height direction, and at least one set of shelf guide rails for the transfer robot to move on is arranged correspondingly; 2. The handling system of claim 1, further characterized by the transfer robot comprises a mother vehicle and a loading platform, a lateral goods taking and placing device is arranged on the loading platform, a plurality of lifting belts are connected with a lifting drive mechanism arranged on the mother vehicle to realize lifting in the height direction of the shelf; the mother vehicle is provided with a set of walking wheels and moves along the shelf guide rails through the set of walking wheels to drive the loading platform to move horizontally.

3. The handling system of claim 2, wherein, The application comprises:

4. A handling system as claimed in claim 2 or 3, characterised in that, a lane changing track, the shelf guide rails on the shelves in different lanes are connected through the lane changing track, and the transfer robot moves in different lanes through the lane changing track.

5. A handling system according to any one of claims 1-4, c h a r a c t e r i s e d i n that The lane changing track is a curved track arranged at the end of the shelf, when the mother vehicle moves to the position of the lane changing track, the mother vehicle moves along the lane changing track through the set of walking wheels to realize lane changing. The lane changing track is perpendicular to the extension direction of the lane, and the mother vehicle is further provided with a set of reversing wheels, when the mother vehicle moves to the position of the lane changing track, the mother vehicle moves along the lane changing track through the set of reversing wheels to realize lane changing.

6. A handling system as claimed in any one of claims 1 to 5, characterised in that, The application further comprises:

7. The handling system of claim 6, wherein, a lifting device with a lifting platform, which is configured to drive the transfer robot to be lifted from the shelf layer to other height shelf layers when the transfer robot runs onto the lifting platform, so that the transfer robot cooperates with the shelf guide rails of different heights.

8. The handling system of claim 6, wherein, The transfer robot moves up and down the shelf through a layer changing mechanism arranged thereon to cooperate with the shelf guide rails of different heights.

9. A handling system as claimed in any one of claims 1 to 8, characterised in that, The layer changing mechanism is a belt transmission mechanism, a chain transmission mechanism or a worm transmission mechanism.

10. The handling system of claim 9, wherein, The layer changing mechanism comprises a layer changing climbing transmission member arranged vertically on the shelf, and the transfer robot is provided with a layer changing climbing drive member, and the layer changing climbing transmission member is connected with the layer changing climbing drive member.

11. The handling system of claim 10, wherein, In the direction from top to bottom, the plurality of lifting belts of the transfer robot are arranged to be inclined to the center position of the loading platform and to be at a set angle with the vertical direction.

12. A handling system as claimed in any of claims 1 to 11, characterised in that, The mother vehicle is further provided with an angle adjusting mechanism, which cooperates with the lifting belts to adjust the size of the set angle between the lifting belts and the vertical direction.

13. A handling system as claimed in any of claims 1 to 12, characterised in that, The angle adjusting mechanism comprises a horizontal movement drive mechanism mounted on the mother vehicle, the horizontal movement drive mechanism is connected with an angle adjusting member, and the angle adjusting member is in contact with the lifting belts.

14. The handling system of claim 13, wherein, The lifting drive mechanism comprises a plurality of drive assemblies, each drive assembly is connected with one lifting belt to drive the loading platform to make lifting movement through the lifting belt.

15. The handling system of claim 13, wherein, At least one loading platform stabilizing member is arranged on both sides of the loading platform, and the loading platform stabilizing member is configured to be extended to abut against the surface of the shelf on the side of the loading platform after the loading platform is in position, so as to stabilize the loading platform.

16. The handling system of claims 1-15, wherein, The loading platform stabilizing member comprises a telescopic push rod. The loading platform stabilizing member comprises a rotary swing rod. The loading platform and / or the mother vehicle are provided with a posture detection element, and the posture detection element is configured to detect whether the loading platform is in a horizontal state.

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