Pallet handling robot and warehousing system

Abstract

A pallet handling robot and a warehousing system, relating to the technical field of warehousing. The pallet handling robot comprises a fork (2), a cargo carrying platform (1) and a main vehicle (7), wherein the fork (2) is configured to fork pallet goods (3); the cargo carrying platform (1) is provided with a lifting driving mechanism, which is connected to the fork (2) and is configured to drive the fork (2) to lift and lower; at least one clamping portion (4) is mounted on each of two sides of the cargo carrying platform (1), and the clamping portion (4) is configured to abut against a goods shelf (13) at a target goods position to fix the cargo carrying platform (1); and at least one suspension belt (6) is connected between the main vehicle (7) and the cargo carrying platform (1), and traveling mechanisms are provided on two sides of the main vehicle (7) and are configured to drive the cargo carrying platform (1) to travel along a traveling track provided on the goods shelf (13). The embodiments of the present application can improve the stability of a robot when forking the pallet goods (3) and improve the safety of apparatus operation.

Description

A pallet handling robot and warehousing system

[0001] Cross-references to related applications

[0002] This disclosure claims priority to Chinese Patent Application No. 202422517404X, filed on October 17, 2024, entitled “A Pallet Handling Robot and Warehousing System”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of warehousing technology, specifically to a pallet handling robot and warehousing system. Background Technology

[0004] In warehousing systems, handling robots are commonly used to move goods. For higher shelves, handling robots also serve as aerial transport vehicles.

[0005] However, handling robots are prone to tipping over during the process of picking up goods, resulting in poor stability and low safety when picking up goods.

[0006] Public content

[0007] The embodiments of this disclosure provide a pallet handling robot and a warehousing system that can improve the stability of the robot picking up palletized goods and enhance the safety of equipment operation.

[0008] To achieve the above objectives, the present disclosure adopts the following technical solution:

[0009] In a first aspect, embodiments of this disclosure provide a pallet handling robot, comprising:

[0010] Forks, configured to pick up palletized goods;

[0011] A loading platform is provided with a lifting drive mechanism, which is connected to the forks and configured to drive the forks to lift; at least one clamping part is installed on both sides of the loading platform, which is configured to abut against the shelf at the target storage location to fix the loading platform.

[0012] The mother car is connected to the cargo platform by at least one suspension belt. The mother car is equipped with a traveling mechanism on both sides, configured to carry the cargo platform along a traveling track on the shelf.

[0013] Optionally, at least one of the clamping parts is installed on both sides of the loading platform, and the clamping parts are configured to abut against the shelf at the target storage location to fix the loading platform.

[0014] Optionally, a holding part is installed on each side of the loading platform, and the holding parts on both sides of the loading platform are arranged diagonally.

[0015] Optionally, two holding parts are installed on each side of the loading platform, and the holding ends of the two holding parts are located on opposite sides of each other.

[0016] Optionally, the retaining part is retractable.

[0017] Optionally, the holding part is a magnetic claw or a rigid claw.

[0018] Optionally, the mother car is provided with several buffer components on one side.

[0019] Optionally, the buffer assembly is located on the outside of the mother car frame, and the number of the buffer assemblies is at least one.

[0020] Optionally, one or more sets of lifting drive mechanisms are provided on each side of the loading platform.

[0021] Optionally, the lifting drive mechanism includes one of a cam lifting mechanism and a rack and pinion lifting mechanism.

[0022] Optionally, the pallet handling robot also includes a cargo detection device located above the loading platform.

[0023] Optionally, the cargo detection device is a photoelectric switch.

[0024] Optionally, when at least two suspension belts are used, a compression disc spring is used between the suspension belts to achieve tension balance.

[0025] Optionally, the loading platform and / or the mother vehicle are equipped with attitude detection elements.

[0026] Optionally, the attitude detection element is a gyroscope installed on the cargo platform, or the attitude detection element is a laser rangefinder installed on the top surface of the cargo platform or the bottom surface of the mother vehicle.

[0027] Optionally, the mother car is equipped with a lifting mechanism configured to adjust the length of the suspension belt to raise or lower the cargo platform.

[0028] Optionally, the lifting mechanism includes a motor, a winding wheel, and guide wheels. The winding wheel is mounted on the shaft of the motor. The top end of the suspension belt is wound around the winding wheel by at least two of the guide wheels. The motor is configured to drive the winding wheel to rotate, thereby realizing the retraction and extension of the suspension belt.

[0029] Secondly, embodiments of this disclosure provide a warehousing system including a rack with a travel track configured for the pallet handling robot to travel on.

[0030] Optionally, the pallet-carrying robot is capable of moving between adjacent shelves.

[0031] The beneficial effects of this disclosure include:

[0032] 1. The loading platform of this disclosure is equipped with a clamping part on both sides. By setting the clamping part, the loading platform is supported between the shelves, ensuring the stability of the entire device when picking up palletized goods, and solving the problem that the robot is prone to tipping over due to the weight of the palletized goods.

[0033] 2. The forks of this disclosure are raised and lowered by a lifting drive mechanism, and the loading platform is raised and lowered by a mother car. The lifting and lowering of the forks themselves in conjunction with the overall lifting and lowering of the loading platform can achieve precise picking and placing of palletized goods. Attached Figure Description

[0034] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation thereof.

[0035] Figure 1 is a perspective view of the pallet handling robot provided in an embodiment of this disclosure;

[0036] Figure 2 is a front view of the pallet handling robot provided in an embodiment of this disclosure;

[0037] Figure 3 is a side view of the pallet handling robot provided in an embodiment of this disclosure;

[0038] Figure 4 is a front view of the warehousing system provided in an embodiment of this disclosure;

[0039] Figure 5 is a top view of the warehousing system provided in an embodiment of this disclosure.

[0040] Among them, 1. loading platform, 2. forks, 3. palletized goods, 4. holding part, 5. support, 6. suspension belt, 7. mother car, 8. buffer assembly, 9. cargo detection device, 10. motor, 11. winding wheel, 12. guide wheel, 13. shelf. Detailed Implementation

[0041] The inventors discovered that in the related technology, the suspended lifting system for aerial transport vehicles has a roof mounting assembly fixedly installed on the lower surface of the roof, and a lifting assembly and docking rail installed in the roof mounting assembly. The lifting assembly controls the lifting and lowering of the lifting platform assembly through the retraction and extension of a flexible belt. Another related technology involves an aerial transport vehicle comprising a vehicle body, a traveling mechanism, a winding mechanism, and a clamp. The traveling mechanism is mounted on the vehicle body and configured to drive the vehicle body along a transport rail. The winding mechanism is mounted on the vehicle body and configured to wind or release a lifting webbing. The clamp is located at the free end of the lifting webbing and is configured to clamp or release cargo.

[0042] However, all of the above technical solutions use flexible structures as lifting components. Since palletized goods are relatively heavy, the handling robot is prone to tipping over when picking up palletized goods.

[0043] Based on this, please refer to Figures 1-5. This embodiment provides a pallet handling robot and warehousing system. By setting a clamping part 4, the loading platform 1 is supported between the shelves 13, ensuring the stability of the entire device when picking up palletized goods, and solving the above-mentioned tipping problem.

[0044] The pallet handling robot and warehousing system described above will now be explained in detail with reference to the accompanying drawings.

[0045] As shown in Figures 1-3, the pallet handling robot provided in this embodiment includes a fork 2, a loading platform 1, and a mother vehicle 7. The fork 2 is configured to pick up palletized goods 3. The fork 2 is located on the upper side of the loading platform 1 and has a lifting function.

[0046] In this embodiment, the lifting function of the fork 2 is realized by the lifting drive mechanism. In order to adapt to the structure of the fork 2, lifting drive mechanisms are installed on both sides of the loading platform 1. The lifting drive mechanism is connected to the fork 2 and drives the fork 2 to lift under the action of the lifting drive mechanism.

[0047] It should be noted that the lifting drive mechanism includes, but is not limited to, gear and rack lifting mechanisms, cam lifting mechanisms, etc.

[0048] To further ensure the stability of the lifting of the forks 2, multiple lifting drive mechanisms can be set on the same side of the loading platform 1.

[0049] Since the pallet handling robot in this embodiment is configured to travel between the shelves 13, a clamping part 4 is installed on both sides of the loading platform 1. When the pallet handling robot runs to the target location, the clamping parts 4 on both sides can stably support the loading platform 1 between the two shelves 13, thereby preventing the equipment from tipping over.

[0050] One or two clamping parts 4 can be provided on the same side of the loading platform 1. In this embodiment, two clamping parts 4 are provided on the same side of the loading platform 1, with the end of the clamping part 4 that abuts against the shelf 13 as the clamping end. The clamping ends of the two clamping parts 4 on the same side are located on opposite sides of each other, or in other words, the clamping ends are set towards the side where the shelf 13 is located. In this way, clamping parts 4 are provided at all four corners of the equipment so as to support the shelves 13 on both sides of the equipment.

[0051] Understandably, in other embodiments, a holding part 4 can also be installed on each side of the loading platform 1. In this case, the holding parts 4 located on both sides of the loading platform 1 are arranged diagonally. This arrangement can ensure that both sides of the loading platform 1 are supported, and the center of gravity will not shift due to the installation position of the holding part 4 being off from the center of the equipment, thereby ensuring the stability of the overall structure.

[0052] The holding part 4 is a magnetic claw or a rigid claw. In this embodiment, a rigid claw is used as an example. As shown in Figures 1 and 3, the rigid claw is installed in the horizontal direction and is detachably connected to the loading platform 1 through the support 5. The holding end of the rigid claw has multiple claws to increase the contact area with the shelf 13.

[0053] Considering that the distance between the shelves 13 may vary, the holding part 4 may have telescopic properties, which can be achieved by means of telescopic rods, gear rack structures, etc.

[0054] At least one suspension belt 6 connects the mother car 7 to the loading platform 1. When at least two suspension belts 6 are used, compression disc springs are used between the suspension belts 6 to achieve tension balance. As shown in Figures 1 and 3, each side of the loading platform 1 is connected to the mother car 7 via two suspension belts 6. A lifting mechanism is installed on the mother car 7, which is configured to adjust the length of the suspension belts 6 to raise and lower the loading platform 1. In this embodiment, the forks 2 are raised and lowered via a lifting drive mechanism, and the loading platform 1 is raised and lowered by the traction of the mother car 7. The forks 2, together with the overall raising and lowering of the loading platform 1, enable precise loading and unloading of palletized goods 3.

[0055] Each suspension belt 6 corresponds to a set of lifting mechanisms, that is, in this embodiment, a total of two sets of lifting mechanisms are provided.

[0056] In this embodiment, the lifting mechanism includes a motor 10, a winding wheel 11, and a guide wheel 12. The winding wheel 11 is mounted on the shaft of the motor 10. The top end of the suspension belt 6 is wound around the winding wheel 11 by the traction of at least two guide wheels 12. The motor 10 is configured to drive the winding wheel 11 to rotate, so as to realize the raising and lowering of the suspension belt 6, that is, to realize the lifting and lowering of the loading platform 1.

[0057] To further ensure the operational safety of the equipment, the mother car 7 in this embodiment is equipped with a buffer assembly 8. The buffer assembly 8 is located on the outside of the frame of the mother car 7, and the number of buffer assemblies 8 is at least one, that is, there can be one, two or more. The buffer assembly 8 can be implemented through structures such as protrusions.

[0058] The pallet handling robot in this embodiment is also equipped with a cargo detection device 9. The cargo detection device 9 is installed on both sides of the loading platform 1 by a bracket and is at a certain height from the loading platform 1. The cargo detection device 9 can detect whether the pallet cargo 3 is in place.

[0059] It should be noted that the cargo detection device 9 can be a photoelectric switch or other sensors that can detect cargo.

[0060] Attitude detection elements are installed on the loading platform 1 and / or the mother car 7. The attitude detection elements are gyroscopes installed on the loading platform 1, or laser rangefinders installed on the top surface of the loading platform 1 or the bottom surface of the mother car 7.

[0061] The working principle of the pallet handling robot provided in this embodiment is as follows:

[0062] The pallet handling robot moves between two shelves 13. After reaching the target location, the holding part 4 abuts against the shelf 13. The holding parts 4 at the four corners stabilize the device between the shelves 13. The forks 2 extend to pick up the pallet goods 3 in the shelf 13. After the forks 2 retract, the goods detection device 9 identifies that the pallet goods 3 is in place. Then the pallet handling robot moves along the track to the next location.

[0063] This embodiment also provides a warehousing system, as shown in Figures 4 and 5, including a pallet-handling robot on shelves 13. The pallet-handling robot can move between two adjacent shelves 13, therefore, a travel track is installed on the inner side of the shelves 13, and the mother cart 7 can move along the travel track. The warehousing system has all the beneficial effects of this pallet-handling robot.

[0064] While the specific embodiments of this disclosure have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of this disclosure. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of this disclosure are still within the scope of protection of this disclosure. Industrial applicability

[0065] In summary, the embodiments of this disclosure provide a pallet handling robot and warehousing system that can improve the stability of the robot picking up palletized goods and enhance the safety of equipment operation.

Claims

1. A pallet handling robot, characterized in that, include: Forks, configured to pick up palletized goods; A loading platform is provided with a lifting drive mechanism, which is connected to the forks and configured to drive the forks to lift; at least one clamping part is installed on both sides of the loading platform, which is configured to abut against the shelf at the target storage location to fix the loading platform. The mother car is connected to the cargo platform by at least one suspension belt. The mother car is equipped with a traveling mechanism on both sides, configured to carry the cargo platform along a traveling track on the shelf.

2. A pallet handling robot as claimed in claim 1, characterized in that At least one holding part is installed on each side of the loading platform, and the holding part is configured to abut against the shelf at the target storage location to fix the loading platform.

3. A pallet handling robot according to claim 1 or 2, characterized in that Each side of the loading platform is equipped with a clamping part, and the clamping parts on both sides of the loading platform are arranged diagonally.

4. A pallet handling robot according to any one of claims 1-3, characterized in that Two clamping parts are installed on each side of the loading platform, and the clamping ends of the two clamping parts are located on opposite sides of each other.

5. A pallet handling robot according to any one of claims 1-4, characterized in that, The retaining part is retractable.

6. A pallet handling robot according to any one of claims 1-5, characterized in that, The holding part is a magnetic claw or a rigid claw.

7. A pallet handling robot according to any one of claims 1-6, characterized in that Several buffer components are provided on one side of the mother car.

8. A pallet handling robot as claimed in claim 7, characterized in that The buffer assembly is located on the outside of the mother car frame, and the number of the buffer assemblies is at least one.

9. A pallet handling robot according to any one of claims 1-8, characterized in that One or more sets of lifting drive mechanisms are provided on each side of the loading platform.

10. A pallet handling robot according to any one of claims 1-9, characterized in that The lifting drive mechanism includes one of a cam lifting mechanism and a gear and rack lifting mechanism.

11. A pallet handling robot according to any one of claims 1-10, characterized in that The pallet handling robot also includes a cargo detection device located above the loading platform.

12. A pallet handling robot as claimed in claim 11, characterized in that The cargo detection device is a photoelectric switch.

13. A pallet handling robot according to any one of claims 1-12, characterized in that When at least two suspension belts are used, a compression disc spring is used between the suspension belts to achieve tension balance.

14. A pallet handling robot according to any one of claims 1-13, characterized in that The loading platform and / or the mother vehicle are equipped with attitude detection elements.

15. A pallet handling robot as claimed in claim 14, characterized in that The attitude detection element is a gyroscope installed on the cargo platform, or the attitude detection element is a laser rangefinder installed on the top surface of the cargo platform or the bottom surface of the mother vehicle.

16. A pallet handling robot according to any one of claims 1-15, characterized in that The mother car is equipped with a lifting mechanism configured to adjust the length of the suspension belt to raise and lower the cargo platform.

17. A pallet handling robot as claimed in claim 16, characterized in that The lifting mechanism includes a motor, a winding wheel, and guide wheels. The winding wheel is mounted on the shaft of the motor. The top end of the suspension belt is wound around the winding wheel by at least two of the guide wheels. The motor is configured to drive the winding wheel to rotate, thereby realizing the raising and lowering of the suspension belt.

18. A warehousing system characterized by, The device includes shelves equipped with a travel track configured for a pallet-carrying robot as described in any one of claims 1-17, the pallet-carrying robot being able to travel between adjacent shelves.

Images