Goods handling device for high-level rack and high-level rack

Abstract

The present application relates to the technical field of warehouse logistics; and provides a goods handling device for a high-position rack, and a high-position rack. The goods handling device comprises a lifting assembly, traveling assemblies, and at least two floating assemblies, wherein the traveling assemblies are movably arranged on traveling rails, and the at least two floating assemblies are spaced apart from each other in the direction of height of the lifting assembly; and each of the floating assemblies comprises a rigid support and elastic assemblies, the lifting assembly is arranged on the rigid supports, and the elastic assemblies are arranged between the rigid support and the traveling assemblies. In the technical solution of the present application, when a plurality of traveling assemblies at different heights are not located in the same vertical line, the vertical distance between the rigid support and the traveling assemblies is adaptively changed by means of the elastic assemblies, thereby preventing the lifting assembly from tilting as much as possible, avoiding jamming between the traveling assemblies and the traveling rails, and thus increasing the load-carrying capacity of the goods handling device while ensuring smooth running of the traveling assemblies on the traveling rails.

Description

Goods taking and placing device of high shelf and high shelf TECHNICAL FIELD

[0001] The present application relates to the technical field of warehouse logistics, and particularly relates to a goods taking and placing device of a high shelf and a high shelf. BACKGROUND

[0002] In warehouse logistics, a shelf is an important facility for storing goods, which not only provides an orderly storage space, but also helps to improve the operation efficiency and space utilization of the warehouse. The existing shelf is generally provided with a multi-layer structure, and a goods taking and placing device capable of walking is arranged on the shelf, for example, a goods taking and placing device capable of moving horizontally on the shelf is arranged, and the goods taking and placing device comprises a lifting track arranged vertically and a taking and placing trolley arranged on the lifting track, so that the taking and placing trolley can place goods at a designated position or take goods from the designated position through horizontal and vertical movement.

[0003] At present, the shelf is relatively high, and accordingly, the length of the lifting track is relatively large, so that a plurality of transversely arranged walking tracks are required to be arranged on the shelf, so that during the walking of the lifting track along the walking track, the walking assemblies on the plurality of walking tracks are not on the same vertical line, which causes the lifting track to be inclined, and further causes the walking assemblies and the walking track to be blocked, thereby affecting the running of the lifting track in the horizontal direction. SUMMARY

[0004] The present application provides a goods taking and placing device of a high shelf and a high shelf to as far as possible avoid the problem that the lifting track of the goods taking and placing device is inclined and further causes the walking assemblies and the walking track to be blocked.

[0005] The first aspect of the present application provides a goods taking and placing device of a high shelf, which is applied to a high shelf, the high shelf comprises a plurality of stacked goods storage areas, and at least two horizontally arranged walking tracks are arranged on the high shelf, and the goods taking and placing device comprises a lifting assembly, a walking assembly and at least two floating assemblies, the walking assembly is arranged on the walking track in a walkable manner, the at least two floating assemblies are arranged in a spaced manner along the height direction of the lifting assembly, and each floating assembly is connected with at least one walking assembly.

[0006] The floating assembly comprises a rigid support and an elastic assembly, the lifting assembly is arranged on the rigid support, the elastic assembly is arranged between the rigid support and the walking assembly, and the elastic assembly is configured to adaptively change the distance between the rigid support and the walking assembly within a first threshold in the vertical direction.

[0007] In an implementation, the elastic assembly comprises an elastic member and a suspension rod, one end of the suspension rod is rotatably fixed on the rigid support, and the other end of the suspension rod is connected to the walking assembly, and the elastic member is arranged between the rigid support and the rod body of the suspension rod.

[0008] In an implementation, the elastic member and the walking assembly are on the same side in the vertical direction of the suspension rod.

[0009] In an implementation, the elastic assembly further comprises an adjusting block, the adjusting block is arranged between the rigid support and the walking assembly, and the adjusting block is used to adjust the size of the first threshold.

[0010] In an implementation, the rigid support is provided with a positioning sensor, a detection end of the positioning sensor faces the walking track, and a positioning mark is arranged on the side of the walking track facing the positioning sensor, and the positioning sensor is used to detect the positioning mark to determine the position coordinates of the rigid support corresponding to the positioning sensor.

[0011] In an implementation, the rigid support is provided with a limiting assembly; the limiting assembly is slidably abuts or clamps the walking track, and the limiting assembly is used to limit the distance between the positioning sensor and the positioning mark in the horizontal direction.

[0012] In an implementation, the limiting assembly comprises a first limiting body and a second limiting body.

[0013] The first limiting body and the second limiting body respectively abut opposite sides of the walking track, and one of the opposite sides is provided with the positioning mark.

[0014] In an implementation, the limiting assembly comprises a third limiting body, and the walking track is provided with a groove clamping the third limiting body, and the groove is used to limit the distance between the positioning sensor and the positioning mark in the horizontal direction.

[0015] In an implementation, the goods taking and placing device further comprises a first controller, the first controller is electrically connected to the positioning sensor and the walking assembly.

[0016] The first controller is configured to:

[0017] acquire the time when all the positioning sensors detect the positioning mark;

[0018] determine the time difference between the time when the positioning sensors of any two floating assemblies detect the positioning mark, and the order of the time when all the positioning sensors detect the positioning mark;

[0019] if there is any time difference greater than a second threshold, then according to the order of the time when all the positioning sensors detect the positioning mark, determine the walking assembly that needs to be adjusted and the corresponding walking speed adjustment amount.

[0020] In an implementation manner, the same floating assembly includes two elastic assemblies, and the same floating assembly is connected with two walking assemblies, and the two walking assemblies are arranged at two ends of the rigid support respectively.

[0021] In an implementation manner, the lifting assembly is provided with a laser radar, and the laser radar is used as a base point to detect point cloud data of the walking track.

[0022] The cargo taking and placing device further includes a second controller, and the second controller is electrically connected with the laser radar and the walking assembly.

[0023] The second controller is configured to:

[0024] acquire the point cloud data of the walking track detected by the laser radar;

[0025] generate a contour line of the walking track according to the point cloud data of the walking track;

[0026] determine an inclination angle of the contour line of the walking track according to the contour line of the walking track based on a horizontal plane where the laser radar is located;

[0027] determine the walking assembly that needs to be adjusted and a corresponding walking speed adjustment amount according to the inclination angle of the contour line of the walking track.

[0028] In an implementation manner, the walking assembly includes a walking wheel and a first driving mechanism, the walking wheel is arranged on the walking track and is connected with an output shaft of the first driving mechanism, and the elastic assembly is connected with the first driving mechanism.

[0029] In an implementation manner, if the number of the walking assemblies connected with the same floating assembly is more than one, at least one of the walking assemblies includes only a walking wheel, the walking wheel is arranged on the walking track, and a rotating shaft of the walking wheel is connected with the floating assembly.

[0030] In an implementation manner, if the number of the floating assemblies is greater than or equal to three, at least one of the walking assemblies on the floating assemblies includes only a walking wheel, the walking wheel is arranged on the walking track, and a rotating shaft of the walking wheel is connected with the floating assembly.

[0031] In an implementation manner, the lifting assembly includes a lifting track, a second driving mechanism and a cargo taking and placing platform.

[0032] The lifting track is connected with the rigid support, the cargo taking and placing platform is slidably arranged on the lifting track, the second driving mechanism is connected with the cargo taking and placing platform, and the second driving mechanism is used to drive the cargo taking and placing platform to move along the lifting track.

[0033] The second aspect of the embodiment of the present application provides a high shelf, comprising a plurality of stacked goods storage areas, and at least two horizontally arranged walking tracks are arranged on the high shelf, and the walking tracks are provided with the goods taking and placing device provided by the first aspect of the embodiment of the present application.

[0034] The goods taking and placing device and the high shelf provided by the embodiment of the present application, the goods taking and placing device comprises a lifting assembly, a walking assembly and at least two floating assemblies, the walking assembly is arranged on the walking track in a walkable manner, the at least two floating assemblies are arranged in a spaced manner along the height direction of the lifting assembly, and each floating assembly is connected with at least one walking assembly; the floating assembly comprises a rigid support and an elastic assembly, the lifting assembly is arranged on the rigid support, and the elastic assembly is arranged between the rigid support and the walking assembly. By arranging the elastic assembly, the rigid support and the walking assembly are connected in a floating manner in the vertical direction, when the multiple walking assemblies at different heights are not located on the same vertical line, the distance between the rigid support and the walking assembly in the vertical direction is adaptively changed through the elastic assembly, so that the lifting assembly is prevented from being in an inclined state as much as possible, the walking assembly and the walking track are prevented from being blocked, and then the load capacity of the goods taking and placing device is increased under the condition that the walking assembly runs smoothly on the walking track. BRIEF DESCRIPTION OF DRAWINGS

[0035] Fig. 1 is a structural schematic view of a high shelf provided with a goods taking and placing device according to the embodiment of the present application;

[0036] Fig. 2 is a structural schematic view of another high shelf provided with a goods taking and placing device according to the embodiment of the present application;

[0037] Fig. 3 is a structural schematic view of another view of the high shelf provided in Fig. 2;

[0038] Fig. 4 is a structural schematic view of a walking assembly and a floating assembly according to the embodiment of the present application from one perspective;

[0039] Fig. 5 is a structural schematic view of a walking assembly and a floating assembly according to the embodiment of the present application from another perspective;

[0040] Fig. 6 is a partial structural schematic view of Fig. 3;

[0041] Fig. 7 is a structural schematic view of a limiting assembly according to the embodiment of the present application;

[0042] Fig. 8 is a structural schematic view of a walking track according to the embodiment of the present application;

[0043] Fig. 9 is a structural schematic view of another walking track according to the embodiment of the present application;

[0044] Fig. 10 is a structural schematic diagram of a walking track of a high-level shelf according to an embodiment of the present application;

[0045] Fig. 11 is a structural schematic diagram of a goods taking and placing platform according to an embodiment of the present application. DETAILED DESCRIPTION

[0046] In the case of a fixed shelf area, in order to improve the storage capacity of the shelf, the height of the shelf can be increased. However, after increasing the height of the shelf, the length of the lifting track needs to be increased. Correspondingly, when the length of the lifting track is large, multiple walking tracks need to be provided on the shelf. In this way, during the walking of the lifting track along the walking track, the walking assemblies on multiple walking tracks are not on the same vertical line, which causes the lifting track to be inclined. Since the connection between the walking assembly and the lifting track is rigid, the walking assembly occupies a certain length on the walking track. In addition, multiple walking assemblies are generally provided on the same walking track. After the lifting track is inclined, the multiple walking assemblies on the same walking track are in an inclined state, which will cause the walking assembly and the walking track to be blocked, so that the walking assembly cannot run smoothly on the walking track. In addition, when the lifting track is inclined, the heavier the weight of the goods carried on the lifting track, the more likely it is to cause the walking assembly on the walking track to be blocked, thereby limiting the weight of the goods carried by the goods taking and placing device.

[0047] In order to solve the above technical problems, a first aspect of an embodiment of the present application provides a goods taking and placing device of a high-level shelf. As shown in Figs. 1, 2 and 3, the goods taking and placing device is applied to a high-level shelf. The high-level shelf includes multiple layer-stacked goods storage areas. Each layer of goods storage area can be provided with multiple compartments. The goods taking and placing device can place goods into the compartments or take goods out of the compartments. The high-level shelf is provided with at least two horizontally arranged walking tracks 100. For example, as shown in Figs. 2 and 3, the high-level shelf is provided with two horizontally arranged walking tracks 100. As shown in Fig. 1, the high-level shelf is provided with three horizontally arranged walking tracks 100.

[0048] As shown in Figs. 1 and 2, the goods taking and placing device includes a lifting assembly 1, a walking assembly 2 and at least two floating assemblies 3. The walking assembly 2 is arranged on the walking track 100 in a walkable manner. The at least two floating assemblies 3 are arranged in a spaced manner along the height direction of the lifting assembly 1, and each floating assembly 3 is connected with at least one walking assembly 2. The number of floating assemblies 3 is less than or equal to the number of walking tracks 100.

[0049] The floating assembly 3 comprises a rigid support 31 and an elastic assembly 32, the lifting assembly 1 is arranged on the rigid support 31, for example, the lifting assembly 1 comprises two column structures arranged at two ends of the rigid support 31 respectively. The elastic assembly 32 is arranged between the rigid support 31 and the walking assembly 2, and the elastic assembly 32 is configured to adaptively change the distance between the rigid support 31 and the walking assembly 2 within a first threshold in the vertical direction.

[0050] Specifically, the rigid support 31 is provided with a cavity structure, and the elastic assembly 32 is arranged in the cavity. In order to adaptively change the distance between the rigid support 31 and the walking assembly 2 within the first threshold, in actual application, the elastic assembly 32 is configured such that the direction of the elastic force of the elastic assembly 32 is the vertical direction, or the elastic force has a component in the vertical direction. In this way, the walking assembly 2 and the lifting assembly 1 are connected in a floating manner, that is, in the vertical direction, the walking assembly 2 abuts against the walking track 100. When the walking assemblies 2 at different heights are not on the same vertical line, the elastic assembly 32 is used to adaptively change the distance between the rigid support 31 and the walking assembly 2 in the vertical direction, so as to avoid the lifting assembly 1 from being inclined as much as possible, thereby avoiding the phenomenon that the walking assembly 2 is blocked by the walking track 100. At the same time, under the condition of ensuring smooth running of the walking assembly 2 on the walking track 100, the cargo carrying capacity of the cargo taking and placing device is increased.

[0051] The high-level shelf cargo taking and placing device provided by the embodiment of the application comprises a lifting assembly 1, a walking assembly 2 and at least two floating assemblies 3. The walking assembly 2 is arranged on the walking track 100 in a walkable manner. The at least two floating assemblies 3 are arranged in the height direction of the lifting assembly 1 in a spaced manner, and each floating assembly 3 is connected with at least one walking assembly 2. The floating assembly 3 comprises a rigid support 31 and an elastic assembly 32. The lifting assembly 1 is arranged on the rigid support 31. The elastic assembly 32 is arranged between the rigid support 31 and the walking assembly 2. The technical scheme provided by the embodiment of the application forms a floating connection between the rigid support 31 and the walking assembly 2 in the vertical direction through the arranged elastic assembly 32, thereby avoiding the phenomenon that the walking assembly 2 is blocked by the walking track 100 due to the inclination of the lifting assembly 1 when the walking assembly 2 is rigidly connected with the lifting assembly 1.

[0052] In some embodiments of the present application, as shown in Figure 4, the elastic assembly 32 comprises an elastic member 321 and a suspension rod 322, one end of the suspension rod 322 is rotatably fixed on the rigid support 31, and the other end is connected to the walking assembly 2, and the elastic member 321 is arranged between the rigid support 31 and the rod body of the suspension rod 322. Specifically, as shown in Figure 4, the suspension rod 322 is provided with a notch for clamping the elastic member 321, and the elastic member 321 and the walking assembly 2 are on the same side of the suspension rod 322 in the vertical direction, so that the elastic member 321 is in a normal pressure state. The elastic member 321 in the normal pressure state can effectively absorb the vibration and impact energy generated during the walking of the walking assembly 2. Of course, in actual application, the elastic member 321 and the walking assembly 2 can also be arranged on different sides of the suspension rod 322 in the vertical direction, so that the elastic member 321 is in a stretched state. In the embodiments of the present application, the elastic member 321 is preferably arranged in a normal pressure state. Specifically, the elastic member 321 can be arranged as a spring.

[0053] In some embodiments of the present application, the suspension rod 322 and the elastic member 321 are used, and by arranging the elastic member 321 in the middle region of the rod body of the suspension rod 322, the suspension rod 322 and the elastic member 321 form a lever structure, which can effectively increase the size of the first threshold. Of course, in actual application, the elastic assembly 32 can also only be provided with the elastic member 321, and the elastic member 321 can be directly arranged between the rigid support 31 and the walking assembly 2.

[0054] As shown in Figure 4, the suspension rod 322 is also provided with a sliding groove 3221, wherein a limiting rod is fixedly arranged on the rigid support 31, and the limiting rod is in the sliding groove 3221, so as to ensure the movement stability of the suspension rod 322 when the suspension rod 322 moves in the vertical direction through the cooperation of the sliding groove 3221 and the limiting rod.

[0055] As shown in Figure 4, the elastic assembly 32 further comprises an adjusting block 323, which is arranged between the rigid support 31 and the walking assembly 2. In this way, by installing adjusting blocks 323 of different sizes in the vertical direction, the size of the first threshold can be adjusted. Of course, in necessary cases, the first threshold can also be adjusted to 0 through the adjusting block 323, so that the connection relationship between the rigid support 31 and the walking assembly 2 is converted between rigid connection and floating connection, thereby forming a compatible design. In actual application, the suspension rod 322 can also not be arranged, but the elastic member 321 can be directly arranged between the rigid support 31 and the walking assembly 2.

[0056] As shown in FIG. 5, in some embodiments of the present application, the rigid support 31 is provided with a positioning sensor 33, and the detection end of the positioning sensor 33 faces the walking track 100. As shown in FIGS. 5 and 10, the side of the walking track 100 facing the positioning sensor 33 is provided with a positioning mark 200, and the positioning sensor 33 is used to detect the positioning mark 200. In this way, when the walking assembly 2 walks along the walking track 100, the positioning mark 200 is detected by the positioning sensor 33, so as to determine the position coordinates of the positioning sensor 33, that is, the position coordinates of the rigid support 31 provided with the positioning sensor 33.

[0057] On this basis, the cargo taking and placing device further comprises a first controller electrically connected to the positioning sensor 33 and the walking assembly 2, and the first controller is configured to execute steps S101-S103.

[0058] In step S101, the time when all the positioning sensors 33 detect the positioning mark 200 is obtained.

[0059] In the embodiments of the present application, one positioning sensor 33 is arranged on one rigid support 31, and a plurality of positioning marks 200 are arranged on the walking track 100, and the plurality of positioning marks 200 are equidistantly arranged, for example, the distance between two adjacent positioning marks 200 is 500 mm, and the positioning marks 200 on the plurality of walking tracks 100 are coaxially arranged in the vertical direction, so as to ensure that all the positioning sensors 33 detect the positioning marks 200 at the same vertical line within a preset time. The positioning mark 200 can be arranged in a hole type structure, and the corresponding positioning sensor 33 is a photoelectric sensor. In this way, when the detection end of the positioning sensor 33 is opposite to the hole type structure, the photoelectric sensor detects a signal change, so as to determine that the positioning sensor 33 is at the position of the positioning mark 200. It should be noted that the cross-sectional area of the hole type structure is greater than the detection area of the positioning sensor 33 on the walking track 100, so that when the rigid support 31 is inclined, the hole type structure is still within the detection range of the positioning sensor 33.

[0060] In step S102, the time difference between the detection of the positioning mark 200 by the positioning sensors 33 of any two floating assemblies 3 and the sequence of the time when all the positioning sensors 33 detect the positioning mark 200 are determined.

[0061] In the actual application process, since the lifting assembly 1 is a rigid structure, when the plurality of walking assemblies 2 at different heights are not on the same vertical line, only the time difference between the two positioning sensors 33 detecting the positioning marks 200 can be determined, and the two sensors 33 are respectively the two positioning sensors 33 at the highest and lowest positions in the vertical direction. Among them, the advancing direction of the walking assembly 2 is forward, and the positioning sensor 33 that detects the positioning mark 200 first is located more forward.

[0062] In step S103, if any time difference is greater than the second threshold value, the walking assembly 2 that needs to be adjusted and the corresponding walking speed adjustment amount are determined according to the order of time when all the positioning sensors 33 detect the positioning marks 200.

[0063] Among them, when determining the walking assembly 2 that needs to be adjusted, the walking assembly 2 located in the front position can be adjusted, for example, the walking speed of the walking assembly 2 located in the front position is reduced and lasts for a preset time. The walking assembly 2 located in the rear position can also be adjusted, for example, the walking speed of the walking assembly 2 located in the rear position is increased and lasts for a preset time. In the actual application process, due to the constraint of the overall structure of the goods taking and placing device, the positions of the plurality of walking assemblies 2 in the horizontal direction are not greatly different, so when the speed of the walking assembly 2 is adjusted, a small amount of adjustment is selected, and the positioning sensor 33 is used again to detect the positioning mark 200 after adjustment, so that the relative positions of the plurality of walking assemblies 2 are corrected multiple times during the horizontal movement of the lifting assembly 1, thereby avoiding the tilting state of the lifting assembly 1 as much as possible.

[0064] In order to control the distance between the positioning sensor 33 and the positioning mark 200 in the horizontal direction and ensure the detection accuracy of the positioning sensor 33, in the embodiment of the present application, a limiting assembly 34 is arranged on the rigid support 31; the limiting assembly 34 is slidably abutted or clamped with the walking track 100, so that when the limiting assembly 34 moves with the rigid support 31, the distance between the positioning sensor 33 and the positioning mark 200 in the horizontal direction is controlled by limiting the positioning sensor 33 from approaching or moving away from the walking track 100 in the horizontal direction.

[0065] For example, the limiting assembly 34 includes a first limiting body 341 and a second limiting body 342; as shown in FIG. 5, the rigid support 31 is provided with the first limiting body 341 abutting the walking track 100, as shown in FIG. 6, the rigid support 31 is provided with the second limiting body 342 abutting the walking track 100, that is, the first limiting body 341 and the second limiting body 342 abut opposite sides of the walking track 100 respectively, and one of the opposite sides is provided with the positioning mark 200, so that the limiting assembly 34 formed by the first limiting body 341 and the second limiting body 342 is clamped on the walking track 100, thereby limiting the positioning sensor 33 to approach or move away from the walking track in the horizontal direction, wherein the first limiting body 341 and the second limiting body 342 can be a sliding block or a roller.

[0066] For another example, as shown in FIG. 7, the limiting assembly 34 includes a third limiting body 343, and the walking track 100 is provided with a groove 300 clamping the third limiting body 343, the groove 300 is used to limit the distance between the positioning sensor 33 and the positioning mark 200 in the horizontal direction, so that the limiting assembly 34 is clamped in the groove 300, thereby limiting the positioning sensor 33 to approach or move away from the walking track 100 in the horizontal direction.

[0067] As shown in FIG. 4, in some embodiments of the present application, the same floating assembly 3 includes two elastic assemblies 32, and the same floating assembly 3 is connected with two walking assemblies 2, and the two walking assemblies 2 are respectively arranged at both ends of the rigid support 211, it should be noted that when the multiple walking assemblies 2 at different heights are not on the same vertical line, the distance between the same floating assembly 3 and the two walking assemblies 2 in the vertical direction is not equal, that is, through the action of the elastic assembly 32, the rolling cooperation between the two walking assemblies 2 and the walking track 100 is effectively ensured, at this time, the rigid support 31 is in an inclined state, thereby avoiding the inclination of the lifting assembly 1 as much as possible.

[0068] Since the positioning marks 200 are arranged at intervals, there is a certain time interval when detecting the positions of multiple walking assemblies 2 at different heights. In addition, when multiple walking assemblies 2 are not on the same vertical line and the horizontal position difference is small, the lifting assembly 1 can still be in a vertical state due to the action of the floating assembly 3. On this basis, in order to realize real-time detection of the inclination state of the lifting assembly 1, especially in the case of a straight walking track 100, the real-time detection of the inclination state of the lifting assembly 1 is shown in FIG. 3. A laser radar 4 is arranged on the lifting assembly 1, and the laser radar 4 is used to detect the point cloud data of the walking track 100 with the laser radar 4 as the base point. The laser radar 4 is arranged on the column of the lifting assembly 1, and is preferably arranged in the middle region of the column, that is, when the lifting assembly 1 is in a vertical state, the distance between the laser radar 4 and the walking track 100 on both sides is equal. The number of laser radars 4 is related to the number of walking tracks 100, and it is necessary to ensure that laser radars 4 are arranged between any two walking tracks 100.

[0069] The cargo taking and placing device further includes a second controller electrically connected to the laser radar 4 and the walking assembly 2. In actual application, the first controller and the second controller can be different units of the same device or different devices. The second controller is configured to execute steps S201 to S204.

[0070] Step S201: Obtain the point cloud data of the walking track 100 detected by the laser radar 4.

[0071] After the point cloud data of the walking track 100 is collected, necessary point cloud data processing is further included, for example, point cloud data preprocessing: denoising and filtering processing of the original laser radar point cloud data to improve data quality; for example, point cloud data downsampling: to reduce the amount of calculation, the point cloud data is downsampled, and key points are retained or voxelization processing is performed.

[0072] Step S202: Generate the contour line of the walking track 100 according to the point cloud data of the walking track 100.

[0073] The generation of the contour line of the walking track 100 further includes necessary generation means, for example, contour extraction: extracting potential contour lines according to the density, curvature or other geometric features of the point cloud data through clustering algorithms; for example, contour line fitting: the extracted contour point cloud data can be fitted through a mathematical model to form a smooth contour line; for example, contour line optimization: re-sampling, smoothing or using more complex mathematical models are used to re-fit the extracted contour line to eliminate noise or inappropriate bends.

[0074] In step S203, based on the horizontal plane where the laser radar 4 is located, the inclination angle of the contour line of the walking track 100 is determined according to the contour line of the walking track 100.

[0075] It should be noted that, since the lifting track 11 is the track of the high shelf, the height of the lifting track 11 is high, for example, the height of the lifting track 11 is usually greater than 10 m, and the load-carrying loading and unloading platform 13 will ascend and descend on the lifting track 11, thereby causing a certain deformation of the lifting track 11, resulting in that the two contour lines of the walking tracks detected by the laser radar 4 are not parallel. In actual application process, only the inclination direction of the walking track 100 and the inclination angle of the preset precision can be fitted according to the contour line of the two walking tracks 100.

[0076] In step S204, the walking assembly 2 to be adjusted and the corresponding walking speed adjustment amount are determined according to the inclination angle of the contour line of the walking track 100.

[0077] The technical scheme provided by the embodiments of the present application realizes real-time detection of the inclination angle of the walking track 100 relative to the horizontal plane through the laser radar 4 and the second controller, so as to correct the posture of the lifting assembly 1 in real time by controlling the walking speeds of the plurality of walking assemblies 2. As shown in FIGS. 4 and 5, in some embodiments of the present application, the walking assembly 2 includes a walking wheel 21 and a first driving mechanism 22, the walking wheel 21 is arranged on the walking track 100 and connected to the output shaft of the first driving mechanism 22, and the elastic assembly 32 is connected to the first driving mechanism 22.

[0078] The first driving mechanism 22 includes a motor and a speed reducer. In actual application process, when a plurality of walking assemblies 2 are arranged on the same rigid support 31, the plurality of walking assemblies 2 can be driven by a single motor, that is, one motor is used to drive the plurality of walking assemblies 2, or the plurality of walking assemblies 2 can be driven by multiple motors, that is, each walking assembly 2 is provided with an independent motor to realize driving.

[0079] In some embodiments of the present application, if the number of the walking assemblies 2 connected to the same floating assembly 3 is multiple, part of the walking assemblies 2 can be arranged as a non-powered structure. The non-powered structure means that the walking assembly 2 itself does not provide walking power, that is, as shown in FIG. 8, at least one walking assembly 2 only includes a walking wheel 21, the walking wheel 21 is arranged on the walking track 100, and the rotating shaft of the walking wheel 21 is connected to the floating assembly 3, that is, the walking assembly 2 belongs to a driven structure, and in the horizontal walking process of the goods loading and unloading device, the walking assembly 2 moves along the walking track 100 in a rolling manner to follow the floating assembly 3.

[0080] In addition, if the number of floating assemblies 3 is greater than or equal to 3, the walking assembly 2 in the middle position at the vertical height can be set as a non-powered structure. That is, as shown in FIG. 9, the walking assembly 2 on at least one floating assembly 3 only includes a walking wheel 21, the walking wheel 21 is arranged on the walking track 100, and the rotating shaft of the walking wheel 21 is connected to the floating assembly 3.

[0081] It should be noted that the walking assembly 2 only includes the walking wheel 21, which means that the walking assembly 2 does not include a driving motor, thereby forming a non-powered walking assembly. In this way, on the basis of improving the power utilization rate of the goods taking and placing device, the resistance of the horizontal walking of the goods taking and placing device can be reduced.

[0082] As shown in FIGS. 1, 2 and 3, in some embodiments of the present application, the lifting assembly 1 includes a lifting track 11, a second driving mechanism 12 and a goods taking and placing platform 13; the lifting track 11 is connected to a rigid support 31, the goods taking and placing platform 13 is slidably arranged on the lifting track 11, and the second driving mechanism 12 is connected to the goods taking and placing platform 13. The second driving mechanism 12 is used to drive the goods taking and placing platform 13 to move along the lifting track 11.

[0083] The second driving mechanism 12 includes a power device and a transmission device. For example, the power device is a motor and a speed reducer matched with each other, the transmission device is a synchronous belt and a belt pulley matched with each other, or the transmission device is a transmission chain and a sprocket.

[0084] As shown in FIG. 11, the goods taking and placing platform 13 includes a conveyor belt 131, a conveyor belt driving motor 132, a bidirectional hook claw 133, a hook lifting mechanism 134 and a hook walking mechanism. The conveyor belt 131 is arranged on a transmission wheel connected by the conveyor belt driving motor 132, and is used to transport goods to the goods taking and placing platform 13 or unload goods from the goods taking and placing platform 13. The bidirectional hook claw 133 is connected to the hook lifting mechanism 134 and the hook walking mechanism, so as to control the lifting of the bidirectional hook claw 133 through the hook lifting mechanism 134 and control the translation of the bidirectional hook claw 133 through the hook walking mechanism. The bidirectional hook claw 133 is used to hook and / or fix goods.

[0085] The second aspect of the embodiments of the present application provides a high-position shelf. As shown in FIGS. 1 and 2, the high-position shelf includes a plurality of stacked goods storage areas, and at least two horizontally arranged walking tracks 100 are arranged on the high-position shelf. The goods taking and placing device provided in the first aspect of the embodiments of the present application is arranged on the walking track 100.

[0086] The embodiment of the application provides a kind of goods taking and placing device of high shelf, comprising: lifting assembly 1, walking assembly 2 and at least two floating assemblies 3, walking assembly 2 can be walked and be arranged on walking track 100, at least two floating assemblies 3 are spaced apart along the height direction of lifting assembly 1, and each floating assembly 3 is connected with at least one walking assembly 2;Floating assembly 3 includes rigid support 31 and elastic component 32, lifting assembly 1 is arranged on rigid support 31, and elastic component 32 is arranged between rigid support 31 and walking assembly 2.The technical scheme of the application is applied, by the elastic component 32 arranged, in vertical direction, make rigid support 31 and walking assembly 2 form floating connection between, when multiple walking assemblies 2 of different heights are not in the same vertical line, the adaptive change of the distance between rigid support 31 and walking assembly 2 in vertical direction is realized by elastic component 32, so as to avoid the inclination state of lifting assembly 1 as far as possible, avoid the jamming phenomenon of walking assembly 2 and walking track 100, to ensure the smooth running of walking assembly 2 on walking track 100, and increase the load capacity of goods taking and placing device.

Claims

1. A goods retrieval and placement device for a high-bay rack, applied to a high-bay rack, the high-bay rack comprising multiple stacked goods storage areas, and the high-bay rack being provided with at least two horizontally arranged travel tracks, characterized in that, The cargo taking and placing device comprises a lifting assembly, a walking assembly and at least two floating assemblies, the walking assembly is arranged on the walking track in a walkable manner, and the at least two floating assemblies are arranged in a spaced manner along the height direction of the lifting assembly, and each floating assembly is connected with at least one walking assembly; The floating assembly comprises a rigid support and an elastic assembly, the lifting assembly is arranged on the rigid support, the elastic assembly is arranged between the rigid support and the walking assembly, and the elastic assembly is configured to adaptively change the distance between the rigid support and the walking assembly in the vertical direction within a first threshold.

2. The goods taking and placing device of the high-bay storage according to claim 1, characterized in that, The elastic assembly comprises an elastic piece and a suspension rod, one end of the suspension rod is rotatably fixed on the rigid support, and the other end is connected with the walking assembly, and the elastic piece is arranged between the rigid support and the rod body of the suspension rod.

3. The goods taking and placing device of the high-bay storage according to claim 2, characterized in that, The elastic assembly further comprises an adjusting block arranged between the rigid support and the walking assembly, and the adjusting block is used for adjusting the size of the first threshold.

4. The goods taking and placing device of the high-bay storage according to claim 1, characterized in that, A positioning sensor is arranged on the rigid support, a detection end of the positioning sensor faces the walking track, and one side of the walking track facing the positioning sensor is provided with a positioning mark, and the positioning sensor is used for detecting the positioning mark to determine the position coordinates of the rigid support corresponding to the positioning sensor.

5. The goods taking and placing device of the high-bay storage according to claim 4, characterized in that A limiting assembly is arranged on the rigid support; the limiting assembly is slidably abutted or clamped with the walking track, and the limiting assembly is used for limiting the distance between the positioning sensor and the positioning mark in the horizontal direction; The limiting assembly comprises a first limiting body and a second limiting body; the first limiting body and the second limiting body abut opposite sides of the walking track respectively, and one side of the opposite sides is provided with the positioning mark; Or, The limiting assembly comprises a third limiting body, and the walking track is provided with a groove clamping the third limiting body, and the groove is used for limiting the distance between the positioning sensor and the positioning mark in the horizontal direction.

6. The goods taking and placing apparatus of a high-rack warehouse according to claim 4 or 5, wherein The cargo taking and placing device further comprises a first controller, and the first controller is electrically connected with the positioning sensor and the walking assembly; The first controller is configured to: acquire the time when all the positioning sensors detect the positioning mark; determine the time difference between the time when the positioning sensors of any two floating assemblies detect the positioning mark and the order of the time when all the positioning sensors detect the positioning mark according to the time when all the positioning sensors detect the positioning mark; if any of the time differences is greater than a second threshold, determine the walking assembly that needs to be adjusted and the corresponding walking speed adjustment amount according to the order of the time when all the positioning sensors detect the positioning mark.

7. The goods taking and placing device of the high-bay storage according to claim 1, characterized in that, A laser radar is arranged on the lifting assembly, and is used for detecting point cloud data of the walking track with the laser radar as a base point; The cargo taking and placing device further comprises a second controller, and the second controller is electrically connected with the laser radar and the walking assembly; The second controller is configured to: acquire point cloud data of the walking track detected by the laser radar; generate a contour line of the walking track according to the point cloud data of the walking track; determine an inclination angle of the contour line of the walking track according to the contour line of the walking track based on a horizontal plane where the laser radar is located; determine the walking assembly that needs to be adjusted and the corresponding walking speed adjustment amount according to the inclination angle of the contour line of the walking track.

8. The goods taking and placing device of the high-bay storage according to claim 1, characterized in that, The walking assembly comprises a walking wheel and a first driving mechanism, the walking wheel is arranged on the walking track and connected to an output shaft of the first driving mechanism, and the elastic assembly is connected to the first driving mechanism.

9. The goods taking and placing device of the high-bay storage according to claim 1, characterized in that, If the number of the walking assemblies connected to the same floating assembly is more than one, at least one walking assembly only comprises a walking wheel, the walking wheel is arranged on the walking track, and a rotating shaft of the walking wheel is connected to the floating assembly.

10. The goods taking and placing device of the high-bay storage according to claim 1, characterized in that, If the number of the floating assemblies is greater than or equal to 3, at least one walking assembly on the floating assembly only comprises a walking wheel, the walking wheel is arranged on the walking track, and a rotating shaft of the walking wheel is connected to the floating assembly.

11. The goods taking and placing device of the high-bay storage according to claim 1, characterized in that, The lifting assembly comprises a lifting track, a second driving mechanism and a goods taking and placing platform. The lifting track is connected to the rigid support, the goods taking and placing platform is slidably arranged on the lifting track, the second driving mechanism is connected to the goods taking and placing platform, and the second driving mechanism is used to drive the goods taking and placing platform to move along the lifting track.

12. A high-bay storage system, characterized by The high-position goods shelf comprises a plurality of goods storage areas arranged in layers, and at least two walking tracks arranged horizontally are arranged on the high-position goods shelf, and the walking track is provided with a goods taking and placing device of the high-position goods shelf according to any one of claims 1-11.

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