Shelf docking mechanism, carrying robot, and warehouse system

Abstract

A shelf docking mechanism, a carrying robot, and a warehouse system, the shelf docking mechanism (300) comprising a comb carrier frame (10) and a fixed carrier limiting frame (20) arranged separately from the comb carrier frame (10). The comb carrier frame (10) can be arranged on a lifting mechanism (200) of a carrying robot and is used for docking with a comb of a shelf (1000). The lifting mechanism (200) controls the lifting and lowering of the comb carrier frame (10) so as to pick up and place a material box (A) on the comb of the shelf (1000). The fixed carrier limiting frame (20) can be arranged on a vehicle body (100) of the carrying robot and is located on one side outside of the comb carrier frame (10). A support platform (21) and a second guide limiting structure (22) are provided on a top portion of the fixed carrier limiting frame (20), and are located outside of a second side (12b) of a guiding and limiting support frame. During a process in which the lifting mechanism (200) drives the comb carrier frame (10) to lift to dock with the comb of the shelf (1000) so as to acquire the material box (A), the fixed carrier limiting frame (20) can travel below a cross beam (1100) of the comb of the shelf (1000), which facilitates traveling of the carrying robot to a deeper position of the comb of the shelf (1000), so as to improve the storage capacity of a warehouse.

Description

A rack docking mechanism, a handling robot, and a warehousing system

[0001] This application claims priority to Chinese Patent Application No. 202422079681.7, filed on August 26, 2024, entitled "Shelf Docking Mechanism, Handling Robot and Warehousing System", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of warehousing and logistics technology, and in particular to a rack docking mechanism, a handling robot, and a warehousing system. Background Technology

[0003] By installing a comb-shaped adapter on the lifting mechanism of a material handling robot such as an AGV (Automated Guided Vehicle), it can dock with comb-shaped buffer shelves in the warehouse to complete the material handling docking work.

[0004] The comb-shaped transfer frame features upward-protruding barriers around its perimeter, which constrain the movement of the toy bins in all directions, improving their stability during handling. However, this barrier structure can make it difficult for the handling robot to reach deeper sections of the buffer rack, resulting in wasted space and reduced warehouse storage capacity. Summary of the Invention

[0005] The purpose of this application is to provide a rack docking mechanism, a handling robot, and a warehousing system to improve warehouse storage capacity. The specific technical solution is as follows:

[0006] To achieve the above objectives, the first aspect of this application provides a shelf docking mechanism, comprising: a comb-toothed rack and a fixed rack for limiting the load;

[0007] The comb-tooth rack includes a main body and a guide and limiting support frame. The main body includes a comb-tooth rack base plate and a pair of outer guide and limiting plates extending vertically from opposite sides of the comb-tooth rack base plate. The guide and limiting support frame is disposed on the comb-tooth rack base plate, located between the pair of outer guide and limiting plates, and is used to support and limit the material box. A first guide and limiting structure is provided on the top of the first side of the guide and limiting support frame. The guide and limiting support frame is spaced apart from each adjacent outer guide and limiting plate for docking with the comb teeth of the rack.

[0008] The fixed load limiting frame is separately installed from the comb-tooth load frame and is fixedly installed on one side outside the comb-tooth load frame; the top of the fixed load limiting frame has a support platform and a second guide limiting structure, located outside the second side of the guide limiting support frame, and is used to cooperate with the comb-tooth load frame to jointly support and limit the material box.

[0009] According to one embodiment of this application, the guide limiting support frame includes: one or more limiting support plates, which are vertically installed on the comb frame base plate;

[0010] Each limiting support plate has a first guide limiting structure at the top of its first side;

[0011] The number of second guide limiting structures of the fixed load limiting frame is one or more; the number of first guide limiting structures and the number of second guide limiting structures may be the same or different.

[0012] According to one embodiment of this application, the first guide limiting structure includes a first guide limiting edge, which is inclined outward toward the shelf docking mechanism; and / or,

[0013] The second guide limiting structure includes a second guide limiting edge, which is inclined toward the outside of the shelf docking mechanism.

[0014] According to one embodiment of this application, the guide limiting support frame is disposed at the middle position of the comb frame base plate;

[0015] The comb-tooth shelf also includes at least one pair of support plates;

[0016] The support plate is disposed in the interval area between the outer guide limiting plate and the guide limiting support frame; the pair of outer guide limiting plates, the guide limiting support frame and the at least one pair of support plates are parallel, and the support plate and the outer guide limiting plate are spaced apart, and the support plate and the guide limiting support frame are spaced apart, for accommodating the comb teeth of the shelf.

[0017] According to one embodiment of this application, the outer guide limiting plate includes a limiting plate and a guide plate. The limiting plate extends from the side of the comb frame bottom plate toward the height direction. The guide plate and the limiting plate are connected and inclined toward the outside of the shelf docking mechanism.

[0018] The guide plate, the first guide limiting structure, and the second guide limiting structure are at the same height.

[0019] According to one embodiment of this application, the outer guide limiting plate, the guide limiting support frame, and the support plate all extend along a first direction;

[0020] At least one of the comb frame base plate, the outer guide limiting plate, the guide limiting support frame, and the support plate is provided with weight reduction holes spaced apart along the first direction.

[0021] According to one embodiment of this application, the fixed load limiting frame includes a first vertical plate, a second vertical plate, and a third vertical plate;

[0022] The first vertical plate and the second vertical plate are spaced apart and extend along the height direction, and the third vertical plate connects the first vertical plate and the second vertical plate;

[0023] The support platform connects the tops of the first vertical plate, the second vertical plate, and the third vertical plate;

[0024] The first guide limiting structure extends from one side of the support platform along the height direction from the top of the first vertical plate and the top of the second vertical plate.

[0025] According to one embodiment of this application, the comb frame base plate is provided with a first mounting structure for mounting the shelf docking mechanism on the lifting mechanism of the handling robot;

[0026] The bottom of the fixed load limiting frame is provided with a second mounting structure for mounting the fixed load limiting frame on the vehicle body of the transport robot, so that the second guide limiting structure can correspond to the height position of the first guide limiting structure when the lifting mechanism is in the lowering position.

[0027] According to one embodiment of this application, the pair of outer guide limiting plates and the comb frame base plate are an integral structure.

[0028] To achieve the above objectives, a handling robot is proposed in the second aspect of this application, comprising:

[0029] Vehicle body;

[0030] A lifting mechanism is installed on the vehicle body;

[0031] In the aforementioned rack docking mechanism, the comb tooth frame base plate is disposed on the lifting mechanism;

[0032] The fixed load limiting frame is disposed on the vehicle body. When the lifting mechanism is in the lowering position, the second guide limiting structure is positioned opposite to the first guide limiting structure to guide and limit the material box when the comb-tooth load frame carries the material box.

[0033] To achieve the above objectives, a warehousing system is proposed in a third aspect of this application, comprising:

[0034] The shelving unit features a comb-like structure.

[0035] The aforementioned transport robot.

[0036] The rack docking mechanism, handling robot, and warehousing system provided in this application embodiment include a comb-tooth carrying rack and a fixed carrying limit frame separately disposed from the comb-tooth carrying rack. The comb-tooth carrying rack can be mounted on the lifting mechanism of the handling robot for docking with the comb teeth of the rack. The lifting mechanism controls the raising and lowering of the comb-tooth carrying rack to pick up and place the material boxes on the comb teeth of the rack. The fixed carrying limit frame can be mounted on the vehicle body of the handling robot, located on one side outside the comb-tooth carrying rack; the top of the fixed carrying limit frame has a support platform and a second guide limiting structure, located outside the second side of the guide limiting support frame. Compared to existing technologies, when the lifting mechanism drives the comb-tooth rack to rise and engage with the comb teeth of the shelf to retrieve the material box, the fixed loading limit frame does not rise with the comb-tooth rack. The fixed loading limit frame can travel to the underside of the crossbeam of the comb teeth of the shelf, which is beneficial for the handling robot to travel to a deeper position in the comb teeth of the shelf. Under the condition that the comb teeth of the shelf can buffer material boxes of the same size, the occupied area of ​​the comb teeth of the shelf can be reduced, so as to improve the storage capacity of the warehouse.

[0037] Of course, any product implementing this application does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0038] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0039] Figure 1 is a structural schematic diagram of a shelf docking mechanism according to an embodiment of this application;

[0040] Figure 2 is a schematic diagram of the shelf docking mechanism of the embodiment shown in Figure 1 installed on the handling robot;

[0041] Figure 3 is a schematic diagram of the material box carried by the handling robot in the embodiment shown in Figure 2;

[0042] Figure 4 is a schematic diagram of the material box carried by the handling robot in the embodiment shown in Figure 2;

[0043] Figure 5 is a schematic diagram of the lifting mechanism of the handling robot in the embodiment shown in Figure 2 in the lowered position, traveling to the bottom of the comb structure of the shelf;

[0044] Figure 6 is a front view schematic diagram of the handling robot and shelf in the embodiment shown in Figure 5;

[0045] Figure 7 is a schematic diagram showing the lifting mechanism of the handling robot in the embodiment shown in Figure 2 in the raised position, with the comb teeth of the comb-toothed rack and the shelf engaged.

[0046] Figure 8 is a front view schematic diagram of the handling robot and shelf in the embodiment shown in Figure 7;

[0047] Figure 9 is a comparison diagram of the lifting mechanism of the handling robot in the embodiment shown in Figure 2 and related technologies, showing the robot in a lowered position and moving under the comb structure of the shelf.

[0048] The attached figures are labeled as follows: Comb-toothed rack 10, main body 11, comb-toothed rack base plate 111, first mounting structure 1111, outer guide limiting plate 112, limiting plate 1121, guide plate 1122, guide limiting support frame 12, first side of guide limiting support frame 12a, second side of guide limiting support frame 12b, first guide limiting structure 121, first guide limiting edge 1211, limiting support plate 122, support plate 13, weight reduction hole 14, fixed load limiting frame 20, support platform 21, second guide limiting structure 22, second guide limiting edge 221, first vertical plate 23, second vertical plate 24, third vertical plate 25, second mounting structure 26, base plate 27; vehicle body 100, lifting mechanism 200, rack docking mechanism 300; rack 1000, crossbeam 1100, rack 1200; height direction Z, first direction X, second direction Y; Material bin A. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments in this application are within the scope of protection of this application.

[0050] In related technologies, the comb teeth of a rack consist of a crossbeam and multiple toothed rods mounted on the crossbeam. As described in the background art, the comb-type transfer rack is surrounded by an upwardly protruding enclosure. The inventors discovered that the edge of this enclosure cannot be directly below the crossbeam of the rack's comb teeth; otherwise, during the process of the comb-type transfer rack rising and engaging with the rack's comb teeth, the enclosure directly below the crossbeam will collide with the crossbeam. Therefore, this enclosure structure makes it difficult for handling robots to reach deeper parts of the buffer rack. This results in the inability to place material boxes (material boxes need to be placed within the surrounding enclosure, not outside it) at the toothed rod position above the enclosure on the side near the crossbeam, causing wasted space and affecting the warehouse's storage capacity.

[0051] The main purpose of this embodiment is to provide a rack docking mechanism, a handling robot, and a warehousing system that separately sets up a comb-tooth rack and a fixed rack, so as to improve the storage capacity of the warehouse.

[0052] Therefore, this application proposes a rack docking mechanism, a handling robot, and a warehousing system.

[0053] The shelf docking mechanism provided in this application embodiment has a comb-tooth carrying rack and a fixed carrying limit rack separately set. The comb-tooth carrying rack can be set on the lifting mechanism of the handling robot, and the fixed carrying limit rack can be set on the vehicle body of the handling robot. The lifting mechanism can drive the comb-tooth carrying rack to rise and dock with the comb teeth of the shelf, while the fixed carrying limit rack can be made not to rise with the comb-tooth carrying rack. After the lifting mechanism drives the comb-tooth carrying rack carrying the material box to descend, the fixed carrying limit rack and the comb-tooth carrying rack cooperate to jointly carry and limit the material box.

[0054] Figure 1 is a schematic diagram of the structure of a shelf docking mechanism according to an embodiment of the present application. As shown in Figure 1, the shelf docking mechanism includes: a comb-tooth carrying rack 10 and a fixed carrying limit rack 20.

[0055] The comb-tooth rack 10 includes a main body 11 and a guide and limiting support frame 12. The main body 11 includes a comb-tooth rack base plate 111 and a pair of outer guide and limiting plates 112 extending in the height direction Z from opposite sides of the comb-tooth rack base plate 111. The guide and limiting support frame 12 is disposed on the comb-tooth rack base plate 111 and located between the pair of outer guide and limiting plates 112, and is used to support and limit the material box. A first guide and limiting structure 121 is provided on the top of the first side 12a of the guide and limiting support frame. The guide and limiting support frame 12 is spaced apart from each adjacent outer guide and limiting plate 112 for docking with the comb teeth of the rack.

[0056] The fixed load limiting frame 20 is separately set from the comb-tooth load frame 10 and is fixedly installed on one side outside the comb-tooth load frame 10. The top of the fixed load limiting frame 20 has a support platform 21 and a second guide limiting structure 22, which is located outside the second side 12b of the guide limiting support frame 12 and is used to cooperate with the comb-tooth load frame 10 to jointly support and limit the material box.

[0057] Since the comb-shaped storage rack 10 and the fixed storage limit rack 20 are set up separately, it is only necessary to connect the comb-shaped storage rack 10 with the comb teeth of the shelf. Therefore, when setting up the shelf, only the length of the comb-shaped storage rack 10 needs to be considered, and the length of the fixed storage limit rack 20 does not need to be considered. Under the condition that the shelf comb teeth can buffer the same size boxes, the area occupied by the shelf comb teeth can be reduced, so as to improve the storage capacity of the warehouse.

[0058] Specifically, in the application of the rack docking mechanism, Figure 2 is a structural schematic diagram of the rack docking mechanism of the embodiment shown in Figure 1 installed on a handling robot. As shown in Figure 2, the comb rack base plate 111 is installed on the lifting mechanism of the handling robot, such as the lifting mechanism 200 in Figure 2. The comb rack 10 is driven to rise and fall by the lifting mechanism (such as the lifting mechanism 200 in Figure 2). The fixed load limiting frame 20 is installed on the vehicle body of the handling robot and does not rise or fall with the comb rack 10.

[0059] Figure 3 is a schematic diagram of the material box carried by the handling robot in the embodiment shown in Figure 2, and Figure 4 is a schematic diagram of the material box carried by the handling robot in the embodiment shown in Figure 2. As shown in Figures 3 and 4, the lifting mechanism, i.e., the lifting mechanism 200, is in the lowered position. The material box A is set on the comb-tooth carrier 10. The top of the guide limiting support frame 12 has a supporting edge, which, together with the fixed carrier limiting frame 20 support platform 21, can support the material box A. The height of a pair of outer guide limiting plates 112 is higher than the height of the bottom of the material box A. The pair of outer guide limiting plates 112 are located on both sides of the handling robot body, limiting the material box A in the direction of the sides of the handling robot body. The height of the first guide limiting structure 121 and the second guide limiting structure 22 is higher than the height of the bottom of the material box A. The first guide limiting structure 121 and the second guide limiting structure 22 are located in the front and rear direction of the handling robot body, limiting the material box A in the front and rear direction of the handling robot body. During the movement of the transport robot carrying the material box A, a pair of outer guide limit plates 112, a first guide limit structure 121 and a second guide limit structure 22 work together to limit the movement of the material box A around its perimeter, thereby constraining the movement of the material box A in all directions and improving the stability of the material box A during the transport process.

[0060] Figure 5 is a schematic diagram of the lifting mechanism of the handling robot in the embodiment shown in Figure 2 in the lowered position, moving to the bottom of the comb structure of the shelf. Figure 6 is a front view schematic diagram of the handling robot and the shelf in the embodiment shown in Figure 5. As shown in Figures 5 and 6, the shelf 1000 has a comb structure, on which a material box A is buffered. The comb structure is composed of a crossbeam 1100 and a plurality of spaced toothed rods 1200, which are connected to the crossbeam 1100.

[0061] In the first step of the transport robot obtaining the material box A from the comb structure of the shelf 1000: the lifting mechanism of the transport robot (e.g., the lifting mechanism 200 in Figure 2) is in the lowered position, and the side of the transport robot body equipped with the fixed load limit frame 20 moves towards the shelf 1000. The fixed load limit frame 20 can travel to directly below the crossbeam 1100.

[0062] Figure 7 shows the lifting mechanism of the handling robot in the embodiment shown in Figure 2 in the raised position, with the comb teeth of the comb-toothed rack 10 and the shelf 1000 engaged. Figure 8 is a front view of the handling robot and the shelf 1000 in the embodiment shown in Figure 7. As shown in Figures 7 and 8, in the second step of the handling robot obtaining the material box A from the comb teeth of the shelf 1000: the lifting mechanism of the handling robot (e.g., the lifting mechanism 200 in Figure 2) changes from the lowered position to the raised position, and the comb teeth of the comb-toothed rack 10 and the shelf 1000 engage to obtain the material box A. The fixed loading limit frame 20 does not rise with the comb-toothed rack 10 and remains directly below the crossbeam 1100.

[0063] In the third step of the handling robot retrieving bin A from the comb structure of shelf 1000: the handling robot drives away from shelf 1000, and then the lifting mechanism changes from the rising position to the falling position. The comb-shaped carrying rack 10 and the fixed carrying limit rack 20 work together to carry and limit bin A, thus ending the retrieval process.

[0064] Thus, compared to the prior art, in the embodiments of this application, because a separately configured comb-tooth carrying rack 10 and a fixed carrying limit rack 20 are used, the fixed carrying limit rack 20 can move with the vehicle body 100 to below the crossbeam 1100. Therefore, the handling robot can move to a deeper position in the shelf 1000 to retrieve the material box A. While ensuring that the comb teeth of the shelf 1000 can buffer material boxes A of the same size, the occupied area of ​​the comb teeth of the shelf 1000 can be reduced, thereby increasing the storage capacity of the warehouse.

[0065] For ease of understanding, Figure 9 is a comparison diagram of the lifting mechanism of the handling robot in the embodiment shown in Figure 2 and the related art, showing the robot in a lowered position and traveling to the area below the comb structure of the shelf 1000. Referring to Figure 9, in the comparative handling robot of the related art, the surrounding barriers are not below the crossbeam 1100 of the shelf 1000, and the material box A cannot be placed above the crossbeam 1100. The first distance between the material box A and the outer edge of the crossbeam 1100 is L1. In the embodiment of this application, the fixed loading limit frame 20 of the handling robot can travel with the vehicle body 100 to the area below the crossbeam 1100, and the material box A can be placed above the crossbeam 1100. The second distance between the material box A and the outer edge of the crossbeam 1100 is L2. Obviously, L2 < L1, and the position of the material box A can be placed closer to the side of the crossbeam 1100.

[0066] Since the material box A is positioned closer to the side of the crossbeam 1100, the length of the toothed rod 1200 connected to the side of the crossbeam 1100 can be shortened, from the first length L3 in the related art to the second length L4 in this embodiment.

[0067] For example, in some embodiments, since a portion of the comb-toothed rack 10 of the rack 1000 docking mechanism is fixed to the lifting mechanism platform, and a portion of the comb-toothed rack 10 is fixed to the vehicle body (such as the chassis), the fixed loading limit frame 20 can travel completely to the bottom of the crossbeam 1100. Compared with related technologies, the difference between L3 and L4 can reach 50mm to 100mm. From a global perspective, if the entire warehouse was originally planned to have 10 rows of racks 1000, then the handling robot solution of the rack 1000 docking mechanism in this embodiment can free up 500mm to 1000mm of warehouse width, so the entire warehouse can achieve an arrangement of 11 rows of racks 1000, greatly increasing the storage capacity.

[0068] As shown in Figure 1, in order to achieve the stability of the fixed load limiting frame 20 in supporting the material box, the fixed load limiting frame 20 includes a first vertical plate 23, a second vertical plate 24 and a third vertical plate 25; the first vertical plate 23 and the second vertical plate 24 are spaced apart and extend along the height direction Z, and the third vertical plate 25 connects the first vertical plate 23 and the second vertical plate 24; the support platform 21 connects the top of the first vertical plate 23, the second vertical plate 24 and the third vertical plate 25; the second guide limiting structure 22 extends from one side of the support platform 21 along the height direction Z from the top of the first vertical plate 23 and the top of the second vertical plate 24 respectively. Since the third vertical plate 25 connects the first vertical plate 23 and the second vertical plate 24, the third vertical plate 25 can easily support the first vertical plate 23 and the second vertical plate 24, making the first vertical plate 23 and the second vertical plate 24 less prone to bending. Therefore, the support platform 21, supported by the first vertical plate 23, the second vertical plate 24 and the third vertical plate 25, can provide greater support for the material box and improve the stability of the rack docking mechanism for supporting the material box.

[0069] As shown in Figure 1, to ensure stable support and positioning of the material box by the comb-tooth rack 10, the number of guide and limiting support frames 12 is not limited to one. The guide and limiting support frame 12 is positioned in the middle of the comb-tooth rack base plate 111. The comb-tooth rack 10 also includes at least one pair of support plates 13. The support plates 13 are positioned in the gap between the outer guide and limiting plates 112 and the guide and limiting support frames 12. The pair of outer guide and limiting plates 112, the guide and limiting support frames 12, and the at least one pair of support plates 13 are parallel, and the support plates 13 and the outer guide and limiting plates 112 are spaced apart, to accommodate the comb teeth of the rack. Compared to embodiments that only have multiple guide and limiting support frames 12, using support plates 13 without the first guide and limiting structure 121 to improve the support effect helps reduce the weight of the rack docking mechanism.

[0070] Furthermore, in some embodiments, the outer guide limiting plate 112, the guide limiting support frame 12, and the support plate 13 all extend along the first direction X, which may be perpendicular to the height direction Z; at least one of the comb frame bottom plate 111, the outer guide limiting plate 112, the guide limiting support frame 12, and the support plate 13 is provided with weight reduction holes 14 spaced apart along the first direction X, which can further reduce the weight of the rack docking mechanism.

[0071] In some embodiments, the pair of outer guide limiting plates 112 and the comb holder base plate 111 are an integral structure, which can be formed by bending a metal sheet, or cast from a metal material such as aluminum alloy, or injection molded from plastic using an injection molding process. The weight-reducing holes 14 on the outer guide limiting plates 112 and the comb holder base plate 111 can be interconnected through holes, which facilitates production and reduces the number of weight-reducing holes 14 to be opened on the metal sheet. That is, after opening a weight-reducing hole 14, when the metal sheet is bent, the weight-reducing hole 14 is bent accordingly, becoming the weight-reducing hole 14 on the outer guide limiting plates 112 and the comb holder base plate 111.

[0072] In specific implementation, the outer guide limiting plate 112 includes a limiting plate 1121 and a guide plate 1122. The limiting plate 1121 extends from the side of the comb frame base plate 111 in the height direction Z. The guide plate 1122 is connected to the limiting plate 1121 and is inclined towards the outside of the rack docking mechanism. When the guide plate 1122, the first guide limiting structure 121 and the second guide limiting structure 22 are at the same height position, they can limit the surrounding area of ​​the material box.

[0073] To achieve the stability of the rack docking mechanism in limiting the material box, as shown in Figure 1, the guide and limiting support frame 12 includes: one or more limiting support plates 122, which are vertically installed on the comb frame base plate 111; each limiting support plate 122 has a first guide limiting structure 121 on the top of its first side. The first guide limiting structure 121 includes a first guide limiting edge 1211, which is inclined towards the outside of the rack docking mechanism.

[0074] The number of second guide limiting structures 22 of the fixed load limiting frame 20 is one or more. The second guide limiting structure 22 includes a second guide limiting edge 221, which is inclined towards the outside of the shelf docking mechanism.

[0075] The number of first guide limiting structures 121 is not limited to one, and the number of second guide limiting structures 22 is not limited to one. The number of first guide limiting structures 121 and the number of second guide limiting structures 22 may be the same or different. By increasing the number of first guide limiting structures 121 and the number of second guide limiting structures 22, the limiting stability of the material box can be improved.

[0076] Specifically, the support plate 13, the outer guide limiting plate 112, and the guide limiting support frame 12 are spaced apart along the second direction Y, and the second direction Y is perpendicular to the first direction X and the height direction Z, respectively.

[0077] In some embodiments, the comb frame base plate 111 is provided with a first mounting structure 1111 for mounting the shelf docking mechanism on the lifting mechanism of the handling robot; the bottom of the fixed load limiting frame 20 is provided with a second mounting structure 26 for mounting the fixed load limiting frame 20 on the vehicle body of the handling robot, so that the second guide limiting structure 22 can correspond to the height position of the first guide limiting structure 121 when the lifting mechanism is in the lowering position.

[0078] The first mounting structure 1111 can be a first through hole provided in the comb frame base plate 111, and the comb frame base plate 111 is connected to the lifting mechanism of the handling robot by a first bolt.

[0079] As shown in Figure 1, the bottom of the fixed load limiting frame 20 may include a base plate 27, and the second mounting structure 26 may be a second through hole provided in the base plate 27. The bottom of the fixed load limiting frame 20 is connected to the vehicle body of the transport robot by a second bolt. The base plate 27 is connected to the bottom of the first vertical plate 23, the second vertical plate 24 and the third vertical plate 25, which can further improve the structural strength of the fixed load limiting frame 20 and help improve the loading capacity of the lifting mechanism.

[0080] As shown in Figure 2, a handling robot includes: a vehicle body 100, a lifting mechanism 200, and the aforementioned shelf docking mechanism 300. The lifting mechanism 200 is disposed on the vehicle body 100; the comb frame base plate 111 is disposed on the lifting mechanism 200. The lifting mechanism 200 has an upward position and a downward position, thereby driving the shelf docking mechanism 300 to rise and fall, so as to realize the comb engagement between the shelf docking mechanism 300 and the shelf.

[0081] A warehousing system includes: shelves and the aforementioned handling robot. The shelves have comb teeth.

[0082] The comb may include a crossbar and a plurality of teeth, the crossbar extending in a first direction and the plurality of teeth extending in a second direction and spaced apart from the crossbar.

[0083] Multiple toothed bars are used to place material boxes. When the rack docking mechanism and the rack comb teeth are docked, the support frame, guide limit frame and multiple toothed bars are interlocked.

[0084] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A shelf docking mechanism, characterized in that, include: Comb-shaped storage rack (10) and fixed storage limit rack (20); The comb-tooth rack (10) includes: a main body (11) and a guide and limiting support frame (12); the main body (11) includes: a comb-tooth rack base plate (111) and a pair of outer guide and limiting plates (112) extending in the height direction (Z) from opposite sides of the comb-tooth rack base plate (111); the guide and limiting support frame (12) is disposed on the comb-tooth rack base plate (111) and located between the pair of outer guide and limiting plates (112), and is used to support and limit the material box; a first guide and limiting structure (121) is provided on the top of the first side (12a) of the guide and limiting support frame; the guide and limiting support frame (12) is spaced apart from each adjacent outer guide and limiting plate (112) for docking with the comb teeth of the rack; The fixed load limiting frame (20) is separated from the comb-tooth load frame (10) and is fixedly installed on one side outside the comb-tooth load frame (10); the fixed load limiting frame (20) has a support platform (21) and a second guide limiting structure (22) on the top, located outside the second side (12b) of the guide limiting support frame, and is used to cooperate with the comb-tooth load frame (10) to jointly support and limit the material box.

2. The shelf docking mechanism according to claim 1, characterized in that, The guide limiting support frame (12) includes: one or more limiting support plates (122), which are vertically installed on the comb frame base plate (111); Each limiting support plate (122) has a first guide limiting structure (121) on the top of its first side; The number of second guide limiting structures (22) of the fixed load limiting frame (20) is one or more; the number of first guide limiting structures (121) and the number of second guide limiting structures (22) may be the same or different.

3. The shelf docking mechanism according to claim 1 or claim 2, characterized in that, The first guide limiting structure (121) includes a first guide limiting edge (1211), which is inclined outward toward the shelf docking mechanism; and / or, The second guide limiting structure (22) includes a second guide limiting edge (221), which is inclined toward the outside of the shelf docking mechanism.

4. The shelf docking mechanism according to claim 1, characterized in that, The guide and limiting support frame (12) is located in the middle of the comb frame base plate (111); The comb-tooth shelf (10) also includes at least one pair of support plates (13); The support plate (13) is disposed in the interval area between the outer guide limiting plate (112) and the guide limiting support frame (12); the pair of outer guide limiting plates (112), the guide limiting support frame (12) and the at least one pair of support plates (13) are parallel, and the support plate (13) and the outer guide limiting plate (112) are spaced apart, and the support plate (13) and the guide limiting support frame (12) are spaced apart to accommodate the comb teeth of the shelf.

5. The shelf docking mechanism according to claim 4, characterized in that, The outer guide limiting plate (112) includes a limiting plate (1121) and a guide plate (1122). The limiting plate (1121) extends from the side of the comb frame bottom plate (111) toward the height direction (Z). The guide plate (1122) is connected to the limiting plate (1121) and is inclined toward the outside of the shelf docking mechanism. The guide plate (1122), the first guide limiting structure (121), and the second guide limiting structure (22) are at the same height.

6. The rack docking mechanism according to claim 4, characterized in that, The outer guide limiting plate (112), the guide limiting support frame (12) and the support plate (13) all extend along the first direction (X); At least one of the comb frame base plate (111), the outer guide limiting plate (112), the guide limiting support frame (12), and the support plate (13) is provided with weight reduction holes (14) spaced apart along the first direction (X).

7. The shelf docking mechanism according to claim 1, characterized in that, The fixed load limiting frame (20) includes a first vertical plate (23), a second vertical plate (24) and a third vertical plate (25); The first vertical plate (23) and the second vertical plate (24) are spaced apart and extend along the height direction (Z), and the third vertical plate (25) connects the first vertical plate (23) and the second vertical plate (24); The support platform (21) connects the top of the first vertical plate (23), the second vertical plate (24), and the third vertical plate (25); The second guide limiting structure (22) extends from the top of the first vertical plate (23) and the top of the second vertical plate (24) along the height direction (Z) from one side of the support platform (21).

8. The shelf docking mechanism according to claim 1, characterized in that, The comb frame base plate (111) is provided with a first mounting structure (1111) for mounting the shelf docking mechanism on the lifting mechanism (200) of the handling robot; The fixed load limiting frame (20) is provided with a second mounting structure (26) at the bottom, which is used to set the fixed load limiting frame (20) on the vehicle body of the transport robot, so that the second guide limiting structure (22) can correspond to the height position of the first guide limiting structure (121) when the lifting mechanism (200) is in the lowering position.

9. The shelf docking mechanism according to claim 1, characterized in that, The pair of outer guide limiting plates (112) and the comb frame base plate (111) are an integral structure.

10. A transport robot, characterized in that, include: Vehicle body (100); A lifting mechanism (200) is provided on the vehicle body (100); The rack docking mechanism (300) according to any one of claims 1 to 9, wherein the comb frame base plate (111) is disposed on the lifting mechanism (200); The fixed load limiting frame (20) is disposed on the vehicle body (100). When the lifting mechanism (200) is in the lowering position, the second guide limiting structure (22) is positioned opposite to the first guide limiting structure (121) to guide and limit the material box when the comb-tooth load frame (10) carries the material box.

11. A warehousing system, characterized in that, include: The shelving unit (1000) has a comb-like structure. The handling robot according to claim 10.

Images