Transport robot and rack-based warehousing system

Abstract

A transport robot and a rack-based warehousing system. The transport robot comprises a main vehicle (1); the main vehicle is provided with a plurality of hoisting mechanisms (2); the hoisting mechanisms are connected to lifting / lowering belts (3); a movable end of each lifting / lowering belt is connected to a goods bearing platform (4); the goods bearing platform is provided with an extendable / retractable goods pick-and-place mechanism (5); the main vehicle is provided with a plurality of traveling mechanisms configured to match travel rails; each traveling mechanism comprises a rotating part (6) fixed to the main vehicle; an output shaft of the rotating part is arranged to have a vertical axis, and is connected to a corresponding wheel carrier (7); the wheel carrier is connected to a corresponding traveling wheel; and the traveling wheel of at least one traveling mechanism is an electric wheel. The transport robot can move to other aisles, thereby improving the goods transport efficiency.

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. 202421670295.9, filed on July 15, 2024, and 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 application relates to the technical field of storage equipment, in particular to a conveying robot and a shelf storage system. BACKGROUND

[0004] The statements herein are provided only to enhance understanding of the present application and are not necessarily intended to constitute the prior art.

[0005] The conveying robot in the current storage system includes a mother vehicle and a loading platform, the mother vehicle is connected with the loading platform through a lifting belt, the mother vehicle is connected with a track fixed on a shelf, the mother vehicle walks along the track, and the lifting belt drives the loading platform to lift, so as to realize the movement of the loading platform to a target storage location for picking and placing goods. The current conveying robot mother vehicle can only walk along the track in the aisle of the adjacent shelf along the extension direction of the aisle, and cannot move to other aisles. It is necessary to set a conveying robot in each row of aisles, when the goods need to be transferred between different aisles, the conveying robot in the aisle corresponding to the current shelf of the goods needs to transfer the goods to an AGV vehicle or other goods transfer device, and then the goods are sent to the conveying robot in the aisle corresponding to the target storage location by the goods transfer device, and then the conveying robot sends the goods to the target storage location.

[0006] However, the current conveying robot increases the process of transferring through the goods transfer device, and the efficiency of transferring goods is low.

[0007] SUMMARY

[0008] The purpose of the present application is to overcome the shortcomings of the prior art, provide a conveying robot and a shelf storage system, which can walk to other aisles, and when the goods are transferred between different aisles, the transfer process of the goods transfer device is saved, and the efficiency of transferring goods is improved.

[0009] To achieve the above purpose, the embodiments of the present application adopt the following technical solutions:

[0010] In a first aspect, embodiments of the present application provide a carrying robot, comprising a mother vehicle, the mother vehicle being provided with a plurality of lifting mechanisms, the lifting mechanisms being connected with a lifting belt, a movable end of the lifting belt being connected with a loading platform, the loading platform being provided with a telescopic loading and unloading mechanism, the mother vehicle being provided with a plurality of walking mechanisms configured to cooperate with a walking track, the walking mechanism comprising a rotating part fixed with the mother vehicle, the rotating part being connected with a wheel frame, the wheel frame being connected with a walking wheel, the rotating part being capable of driving the walking wheel to change the walking direction, wherein at least one of the walking wheels of the walking mechanism is an electric wheel.

[0011] Optionally, the rotating part is fixed on the mother vehicle, an output shaft of the rotating part being connected with the wheel frame, an axis of the output shaft of the rotating part being vertically arranged, thereby being capable of driving the wheel frame to rotate around a vertical axis.

[0012] Optionally, the mother vehicle is provided with the rotating part at four corners thereof.

[0013] Optionally, the carrying robot further comprises a rotating part fixing seat, the rotating part being fixed with the rotating part fixing seat, the rotating part fixing seat being fixed with the mother vehicle.

[0014] Optionally, the rotating part fixing seat is an L-shaped plate, comprising a horizontal plate and a vertical plate arranged vertically, a top end of the vertical plate being fixed with the mother vehicle, the rotating part being fixed on the horizontal plate, an output shaft of the rotating part being connected with the wheel frame after penetrating through the horizontal plate.

[0015] Optionally, the rotating part fixing seat further comprises a stiffening plate, the stiffening plate being arranged between the same side ends of the vertical plate and the horizontal plate.

[0016] Optionally, the stiffening plate is triangular in shape.

[0017] Optionally, the stiffening plate is fixed with the horizontal plate, the vertical plate and an outer side of the mother vehicle.

[0018] Optionally, a distance between a bottom of the walking wheel and a bottom surface of the mother vehicle is greater than a distance between a bottom surface of the loading platform and the bottom surface of the mother vehicle when the loading platform is in a position closest to the mother vehicle.

[0019] Optionally, the rotating part is a steering drive motor or a steering drive steering engine with a vertically arranged output shaft axis.

[0020] Optionally, the electric wheel comprises a wheel body, the wheel body being configured to be connected with an output shaft of a walking drive motor, the walking drive motor being fixed on the wheel frame.

[0021] Optionally, the lifting mechanism adopts a winch lifting mechanism, comprising a lifting motor fixed on the mother vehicle and a winch disc, an output shaft of the lifting motor being connected with the winch disc, the lifting belt being wound on the winch disc, and the lifting belt passing through the mother vehicle and being connected to the loading platform at a movable end thereof.

[0022] Optionally, the middle part of the mother vehicle is further provided with a power supply configured to supply power to the power-consuming devices of the carrying robot.

[0023] In a second aspect, the embodiments of the present application provide a shelf storage system, characterized in that the shelf storage system comprises a plurality of rows of shelves, a passageway being formed between adjacent shelves, a walking track being arranged on the shelves, and the carrying robot of the first aspect, the walking wheels of the carrying robot being matched with the walking track, wherein the walking track comprises a first track and a second track, the first track being fixed on the shelves on both sides of the passageway, and the second track being arranged transversely to the first track and connecting the first tracks corresponding to the plurality of passageways.

[0024] Optionally, the first track and the second track are arranged transversely, the first track being arranged along the extension direction of the passageway, and the second track being perpendicular to the first track, two ends of the second track being connected to the first tracks corresponding to two adjacent passageways, so as to connect the two passageways.

[0025] Optionally, the walking track is arranged on the top of the shelves or any specified height layer.

[0026] Optionally, the shelf storage system further comprises a goods transfer device configured to transfer goods to be stored to the carrying robot or receive goods to be taken out carried by the carrying robot.

[0027] Optionally, the goods transfer device adopts an AGV vehicle, or the goods transfer device comprises a buffer rack and an AGV vehicle, or the goods transfer device adopts a conveying line, or the goods transfer device adopts an elevator.

[0028] Compared with the prior art, the carrying robot and the shelf storage system provided by the embodiments of the present application have the following beneficial effects: the mother vehicle is provided with a rotating part connected with a wheel carrier, the wheel carrier is installed with walking wheels, the rotating part can drive the walking wheels to rotate, so as to change the orientation of the walking wheels, cooperate with the second track, and enable the mother vehicle to move from the current passageway to other passageways, thereby realizing the direct transfer of goods from the shelves of the current passageway to the shelves of other passageways, saving the transfer process by using the goods transfer device, and improving the transfer efficiency of the goods.

[0029] The carrying robot and the goods shelf storage system provided by the embodiment of the application change the orientation of the walking component through the rotating component, realize the reversing of the mother vehicle, do not need to set a set of walking wheels and the corresponding walking driving mechanism for each movement direction, simplify the structure of the mother vehicle, and reduce the volume of the mother vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0030] The drawings accompanying the specification of this application serve to provide further understanding of the application, and the illustrative embodiments of the application and the description thereof serve to explain the application, but do not constitute limitations on the application.

[0031] Fig. 1 is a schematic diagram of the overall structure according to an embodiment of the application;

[0032] Fig. 2 is a schematic diagram of the overall structure according to an embodiment of the application;

[0033] Fig. 3 is a schematic diagram of the structure of the mother vehicle according to an embodiment of the application;

[0034] Fig. 4 is a schematic diagram of the overall structure according to an embodiment of the application.

[0035] Fig. 1 is a schematic diagram of the overall structure according to an embodiment of the application; DETAILED DESCRIPTION

[0036] The embodiment provides a carrying robot, as shown in Figs. 1-3, which comprises a mother vehicle 1, a plurality of lifting mechanisms 2 are installed on the mother vehicle 1, the lifting mechanisms 2 are connected with a lifting belt 3, the lifting belt 3 passes through the mother vehicle 1, and the movable end of the lifting belt 3 is connected with a loading platform 4 located below the mother vehicle 1, the mother vehicle 1 can drive the loading platform 4 to move in the horizontal direction and the vertical direction through the lifting belt 2, so that the loading platform 4 moves to a target storage position of a goods shelf, and a telescopic goods taking and placing mechanism 5 is arranged on the loading platform 4, the telescopic goods taking and placing mechanism 5 is configured to send goods into the target storage position of the goods shelf or take goods on the goods shelf to the loading platform.

[0037] The mother vehicle 1 is provided with a plurality of walking mechanisms, the walking mechanisms are configured to cooperate with a walking track 9 fixed on the goods shelf, the mother vehicle 1 drives the loading platform 4 to move in the horizontal direction through the walking mechanisms, and the lifting mechanism 2 drives the loading platform 4 to move in the vertical direction through the lifting belt 3.

[0038] In this embodiment, the lifting mechanism 2 is provided with four, four lifting mechanisms 2 are respectively arranged at the four corners of the inner space of the mother vehicle 1, the lifting mechanism 2 adopts the existing lifting mechanism for the mother vehicle of the carrying robot, that is, the winding type lifting mechanism, including a lifting drive motor fixed on the mother vehicle, the output shaft of the lifting drive motor is connected with the winding disc, which can drive the winding disc to rotate, the winding disc is wound with the lifting belt 3, and the movable end of the lifting belt 3 is connected to the corner of the loading platform 4 after passing through the mother vehicle 1.

[0039] The loading platform 4 is provided with a telescopic loading and unloading mechanism 5, which can adopt the existing technology, for example, the telescopic fork mechanism disclosed in the patent application CN117585346A, including a telescopic mechanism and a fork, and the specific structure will not be described in detail here. Of course, the telescopic loading and unloading mechanism is for lateral loading of goods, in addition to the fork structure, it can also be other structures, such as a hook type telescopic loading and unloading mechanism or a suction cup type telescopic loading and unloading mechanism, which is not limited in this application.

[0040] In this embodiment, the walking mechanism is provided with four, four walking mechanisms are respectively located at the outer side of the four corners of the mother vehicle, and the walking mechanism includes a rotating part 6, a wheel frame 7 and a walking wheel.

[0041] Optionally, the walking mechanism can be provided with three or five or more, and multiple walking mechanisms need to be arranged in multiple rows. Those skilled in the art can set the number of walking mechanisms according to actual needs to meet actual needs.

[0042] Optionally, the walking mechanism can be fixed at the four corners of the mother vehicle 1, or can be fixed at the bottom surface or other positions of the mother vehicle 1, which can meet the use demand and will not be described in detail here.

[0043] The rotating part 6 is fixed on the mother vehicle 1, and the output shaft thereof is connected with the wheel frame 7. The output shaft axis of the rotating part 6 is vertically arranged, so as to drive the wheel frame 7 to rotate around the vertical axis.

[0044] The rotating part 6 adopts a steering drive motor or a steering drive steering engine or other devices capable of outputting rotating motion. Optionally, the rotating part adopts a steering drive steering engine.

[0045] Optionally, the rotating part 6 is fixed on the rotating part fixing seat 8, and the rotating part fixing seat 8 is fixed on the corner of the mother vehicle 1.

[0046] Optionally, the rotating component fixing base 8 is an L-shaped plate, including a horizontal plate and a vertical plate arranged vertically, the top end of the vertical plate is fixed to the mother vehicle 1, the rotating component 6 is fixed to the horizontal plate, the output shaft of the rotating component 6 is connected to the wheel carrier 7 after penetrating through the horizontal plate, a triangular stiffener is arranged between the same side end of the vertical plate and the horizontal plate to improve the structural strength of the entire rotating component fixing base 8, and the stiffener is fixed to the outer side of the horizontal plate, the vertical plate and the mother vehicle 1. Of course, the rotating component fixing base 8 can also be designed into other shapes such as a long plate type, etc., which is determined according to the actual installation condition and is not limited here. The stiffener can also be designed into other shapes such as an L-shaped plate, an I-shaped plate, etc., which is not limited here.

[0047] The wheel carrier 7 is connected with a walking wheel configured to cooperate with a walking track 9 fixed to the goods shelf, the walking wheel moves along the walking track 9, thereby driving the mother vehicle 1 to move.

[0048] Among the plurality of walking wheels, at least one walking wheel is an electric wheel capable of active walking. In the embodiment, in order to ensure the stability of the movement of the mother vehicle, the four walking wheels are electric wheels, including a wheel body 10 configured to cooperate with the walking track 9, the wheel body 10 is connected with an output shaft of a walking driving motor 11, and the walking driving motor 11 is installed on the wheel carrier 7.

[0049] The walking driving motor 11 can drive the wheel body 10 to rotate, thereby driving the walking wheel to move along the walking track 9.

[0050] Optionally, the distance between the bottom of the walking wheel and the bottom surface of the mother vehicle 1 is greater than the distance between the bottom surface of the loading platform 4 and the bottom surface of the mother vehicle 1 when the loading platform 4 is lifted to the position closest to the mother vehicle 1, so that when the carrying robot moves to other lanes, the loading platform is lifted to the highest position and does not interfere with the goods shelf.

[0051] Optionally, the middle part of the mother vehicle is also provided with a power supply 12 configured to supply power to the power-consuming equipment of the carrying robot. In the embodiment, the power supply 12 can be a battery, and the connection mode of the battery and the power-consuming equipment can adopt the prior art, which will not be described in detail here. The power supply 12 is provided with a control system on both sides, and the control system is electrically connected with all motors of the carrying robot to control the operation of the motors.

[0052] The remaining structure of the carrying robot can adopt the prior art, which will not be described in detail here.

[0053] The carrying robot of the embodiment can drive the walking wheel to rotate, thereby changing the orientation of the walking wheel, so that the mother vehicle can move from the current lane to other lanes, realizing the direct transfer of goods from the goods shelf of the current lane to the goods shelf of other lanes, saving the transfer process by using the goods transfer device, and improving the transfer efficiency of the goods.

[0054] Meanwhile, at least one walking wheel is an electric wheel, and the mother vehicle does not need to be provided with a walking driving mechanism of the walking wheel, and the walking wheel can be steered, and a set of walking wheels and corresponding walking driving mechanisms need not be provided for each movement direction, thereby simplifying the structure of the mother vehicle and reducing the volume of the mother vehicle.

[0055] The embodiment provides a shelf storage system, as shown in FIG. 4, which comprises a plurality of rows of shelves 13, and aisles are formed between adjacent rows of shelves 13. The shelves 13 are fixed with walking tracks 9. The shelf storage system also comprises the carrying robot as described in the embodiment 1, and the walking wheels of the carrying robot are matched with the walking tracks 9.

[0056] In the embodiment, the walking tracks 9 comprise first tracks 9-1 and second tracks 9-2 which are cross-connected. Optionally, the first tracks 9-1 and the second tracks 9-2 are perpendicularly cross-connected. The first tracks 9-1 are fixed on the shelves 13 on both sides of the aisles, and the first tracks 9-1 are arranged along the extension direction of the aisles. The second tracks 9-2 are perpendicular to the first tracks 9-1, and the two ends of the second tracks 9-2 are respectively connected to the first tracks 9-1 between the adjacent two aisles, so as to connect the two aisles.

[0057] Optionally, the first tracks 9-1 are arranged on the top of the shelves 13, and correspondingly, the second tracks 9-2 are also arranged on the top of the shelves 13.

[0058] Optionally, the walking tracks 9 can also be arranged at any specified height layer of the shelves 13, and in this case, the shelves need to reserve space for the carrying robot to pass through.

[0059] The shelf storage system also comprises a goods transfer device which is configured to transfer goods to be stored to the carrying robot or receive goods to be taken out which are carried by the carrying robot.

[0060] The goods transfer device adopts an AGV vehicle or a buffer rack + AGV vehicle or a conveying line or an elevator, and the like, and existing devices can be used, and thus detailed description is not given herein.

[0061] When the goods need to be transferred from the shelves corresponding to the current aisle to the aisles corresponding to the remaining shelves, the carrying table obtains the goods through the telescopic goods taking and placing mechanism, the mother vehicle moves along the first tracks to the nearest second tracks, the walking wheels are driven to rotate 90° by the steering component, then the mother vehicle walks along the second tracks to the target aisle, and then the mother vehicle moves along the first tracks of the target aisle, and cooperates with the lifting movement of the lifting belt to move the carrying table to the position corresponding to the target storage location, and then the telescopic goods taking and placing mechanism sends the goods to the target storage location, thereby avoiding the transfer process of the goods transfer device, and improving the transfer efficiency of the goods.

[0062] The rest of the structure of the shelf storage system can use the prior art, and will not be described in detail here.

[0063] Although the specific embodiments of the present application are described above with reference to the drawings, the description is not a limitation on the scope of protection of the present application, and those skilled in the art should understand that various modifications or changes made on the basis of the technical solutions of the present application without creative labor are still within the scope of protection of the present application. Industrial applicability

[0064] In summary, the embodiment of the present application provides a carrying robot and a shelf storage system, which can save the transfer process of the goods transfer device when walking to other lanes and transferring goods in different lanes corresponding to the shelves, thereby improving the goods transfer efficiency.

Claims

1. A carrying robot comprising a mother vehicle provided with a plurality of lifting mechanisms connected with a lifting belt, a movable end of the lifting belt being connected with a loading platform provided with telescopic loading and unloading mechanisms, the mother vehicle being provided with a plurality of walking mechanisms configured to cooperate with a walking track, characterized in that, The walking mechanism comprises a rotating part fixed to the mother vehicle, a wheel frame and a walking wheel, the rotating part is connected to the wheel frame, the wheel frame is connected to the walking wheel, the rotating part can drive the walking wheel to change the walking direction, wherein at least one walking wheel of the walking mechanism is an electric wheel.

2. A transport robot as claimed in claim 1, characterized in that The rotating part is fixed to the mother vehicle, an output shaft of the rotating part is connected to the wheel frame, an axis of the output shaft of the rotating part is vertically arranged, thereby driving the wheel frame to rotate around a vertical axis.

3. A transport robot according to claim 1 or 2, characterized in that The rotating part is arranged at four corners of the mother vehicle.

4. A transport robot according to any one of claims 1-3, characterized in that The carrying robot further comprises a rotating part fixing seat, the rotating part is fixed to the rotating part fixing seat, and the rotating part fixing seat is fixed to the mother vehicle.

5. A transport robot as claimed in claim 4, characterized in that The rotating part fixing seat is an L-shaped plate, comprising a horizontal plate and a vertical plate arranged vertically, a top end of the vertical plate is fixed to the mother vehicle, the rotating part is fixed to the horizontal plate, and an output shaft of the rotating part is connected to the wheel frame after penetrating through the horizontal plate.

6. A transport robot as claimed in claim 5, characterized in that The rotating part fixing seat further comprises a stiffening plate, and the stiffening plate is arranged between the same side end portions of the vertical plate and the horizontal plate.

7. A transport robot as claimed in claim 6, characterized in that The stiffening plate is triangular.

8. A transport robot according to claim 6 or 7, characterized in that The stiffening plate is fixed to the horizontal plate, the vertical plate and the outer side of the mother vehicle.

9. A transport robot according to any one of claims 1-8, characterized in that When the loading platform is lifted to the position closest to the mother vehicle, the height of the horizontal plane where the lower surface of the loading platform is located is higher than the height of the horizontal plane where the upper surface of the walking track is located.

10. A transport robot according to any one of claims 1-9, characterized in that The rotating part is a steering drive motor or a steering drive steering engine with a vertically arranged output shaft axis.

11. A transport robot according to any one of claims 1-10, characterized in that The electric wheel comprises a wheel body, the wheel body is configured to be connected to an output shaft of a walking drive motor, and the walking drive motor is fixed to the wheel frame.

12. A transport robot according to any one of claims 1-11, characterized in that The lifting mechanism is a winch lifting mechanism, comprising a lifting motor fixed to the mother vehicle and a winch disc, an output shaft of the lifting motor is connected to the winch disc, a lifting belt is wound on the winch disc, and the lifting belt is connected to the loading platform at a movable end after penetrating through the mother vehicle.

13. A transport robot according to any one of claims 1-12, characterized in that The middle part of the mother vehicle is further provided with a power supply, and the power supply is configured to supply power to the electrical equipment of the carrying robot.

14. A shelving storage system characterized by, The warehouse comprises a plurality of rows of shelves, a passageway is formed between adjacent shelves, the shelves are provided with walking tracks, and the carrying robot of any one of claims 1-13 is further provided, the walking wheels of the carrying robot are matched with the walking tracks, wherein the walking tracks comprise first tracks and second tracks, the first tracks are fixed to the shelves on both sides of the passageway, the second tracks are arranged transversely to the first tracks, and the second tracks are connected to the first tracks corresponding to a plurality of passageways.

15. A goods shelving system as claimed in claim 14, wherein, The first tracks and the second tracks are arranged transversely; the first tracks are arranged along the extension direction of the passageway, the second tracks are perpendicular to the first tracks, and the two ends of the second tracks are respectively connected to the first tracks corresponding to adjacent two passageways, thereby connecting the two passageways.

16. A goods shelving system as claimed in claim 14 or 15, wherein, The walking tracks are arranged on the top of the shelves or any specified height layer.

17. A goods shelving system as claimed in any one of claims 14 to 16, wherein, The goods shelving system further comprises a goods transfer device configured to transfer goods to be stored into the shelving system to the transfer robot, or receive goods to be taken out of the shelving system transferred by the transfer robot.

18. A goods shelving system as claimed in claim 17, wherein, The goods transfer device adopts an AGV, or the goods transfer device comprises a buffer rack and an AGV, or the goods transfer device adopts a conveying line, or the goods transfer device adopts a hoist.

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