Rack‑side robot and warehousing system

Abstract

The present application provides a rack‑side robot and a warehousing system. The rack‑side robot comprises a displacement assembly and a lifting assembly; the lifting assembly comprises at least one upright column and a lifting mechanism arranged on the at least one upright column; the lifting mechanism comprises a drive structure, a driving wheel and a lifting seat; the lifting seat is movably arranged on the upright column and can move along the upright column; the displacement assembly is connected to the upright column and can drive the upright column to transversely move along a guide rail crossing the upright column; the drive structure can drive the driving wheel to rotate; the driving wheel is arranged at the bottom end of the upright column, and the drive structure is arranged on one side of the driving wheel in the transverse direction. In the present application, the drive structure is arranged at the bottom end of the upright column, and the distribution direction is parallel to the side surface of a rack, thereby facilitating maintenance of the lifting mechanism, improving the installation and maintenance efficiency of the rack‑side robot, and improving the utilization rate of the warehousing space.

Description

Shelf robots and warehousing systems

[0001] This application claims priority to Chinese Patent Application No. 202422688357.5, filed on November 4, 2024, entitled "Shelf 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 equipment, and more specifically, to a shelf robot and a warehousing system including the shelf robot. Background Technology

[0003] With the iteration of intelligent warehousing systems and the increase in shelf height, the application of rack robots in the field of warehousing equipment is becoming more and more widespread. Rack robots are directly installed on the side of the rack, and the weight of the execution device and goods is supported by the horizontal and vertical guide rail structure. They can adapt to racks of different heights. Compared with box-type warehousing robots, rack robots have less requirement for the activity space between racks, and they do not need to be equipped with complex slide rails and lifting modules to adapt to the height of the racks, as box-type warehousing robots do. This can significantly reduce the material cost and trolley scheduling cost of the warehousing system, and improve the utilization rate of warehouse space.

[0004] A typical shelving robot includes an execution component, a vertically arranged lifting component, and a horizontally arranged guide rail structure. The execution component is used to pick up and put away goods or boxes. The lifting component can drive the execution component to move up and down and can slide along the guide rail to transport the execution component to various storage locations on each shelf. The execution component can take out the goods or boxes from the storage location and deliver the goods or boxes when it is in the delivery position (e.g., when it is handed over to a transport trolley or temporary shelf on the ground).

[0005] In existing shelving robot structures, the power structure (such as the motor) of the lifting component is usually located at the top of the shelving robot, which makes maintenance and installation more difficult and results in low efficiency of installation and maintenance operations. Summary of the Invention

[0006] This application aims to address one of the technical problems in related technologies to a certain extent. To this end, this application provides a shelf robot and a warehousing system including the shelf robot. In this shelf robot, the distribution direction of the drive structure and the drive wheels is parallel to the side of the shelf, so that the drive structure can be set at the bottom of the column, facilitating maintenance of the lifting mechanism and improving the installation and maintenance efficiency of the shelf robot.

[0007] To achieve the above objectives, as one aspect of this application, a shelf robot is provided, including a displacement component and a lifting component. The lifting component includes at least one column and a lifting mechanism disposed on at least one column. The lifting mechanism includes a drive structure, a drive wheel, and a lifting seat. The lifting seat is movably disposed on the column and can move along the column. The displacement component is connected to the column and can drive the column to move laterally along a guide rail intersecting the column. The drive structure can drive the drive wheel to rotate. The drive wheel is disposed at the bottom end of the column, and the drive structure is disposed on one side of the drive wheel along the lateral direction.

[0008] Optionally, the lifting mechanism further includes a flexible transmission bar and a driven wheel. The driven wheel is disposed on the column, and the flexible transmission bar is sleeved on the driving wheel and the driven wheel. The lifting seat is fixedly connected to the flexible transmission bar.

[0009] Optionally, the flexible transmission bar is a belt, chain, or metal rope (e.g., steel wire rope).

[0010] Optionally, the rotation axes of both the driving wheel and the driven wheel extend along the lateral direction, the drive structure includes a rotary motor, and the drive shaft of the rotary motor extends along the lateral direction.

[0011] Optionally, the drive shaft of the rotary motor is coaxially arranged with and connected to the drive wheel.

[0012] Optionally, the drive structure further includes a reducer, and the rotary motor, the reducer, and the drive wheel are connected sequentially along the transverse direction.

[0013] Optionally, the drive structure further includes a first pulley, a second pulley, and a reduction belt. The axis of the first pulley and the axis of the second pulley both extend laterally. The reduction belt is sleeved on the first pulley and the second pulley. The drive shaft of the rotary motor is coaxial with and connected to the first pulley. The second pulley is coaxial with and connected to the drive wheel.

[0014] Optionally, the columns are arranged in pairs, and each column is provided with the lifting mechanism, and the driving structure is located on the outer side of the column along the lateral direction.

[0015] Optionally, the lifting seat includes a sliding member and at least one lateral roller, at least one first forward roller, and at least one second forward roller disposed on the sliding member. The sliding member is fixedly connected to the flexible transmission bar. The column has a forward mating groove and a lateral mating surface extending along the length direction of the column. The forward mating groove is located on one side surface of the column along the transverse direction. The axial directions of the first forward roller and the second forward roller both extend along the transverse direction and are both accommodated in the forward mating groove. The first forward roller and the second forward roller respectively contact the two side walls of the forward mating groove. The axial direction of the lateral roller intersects the axial direction of the first forward roller, and the lateral roller contacts the lateral mating surface.

[0016] Optionally, the sliding member includes a front mounting plate and a side mounting plate, with an included angle between the front mounting plate and the side mounting plate. The front mounting plate is disposed opposite to the forward mating groove, and the side mounting plate is disposed opposite to the lateral mating surface. The first forward roller and the second forward roller are both disposed on the front mounting plate, and the side roller is disposed on the side mounting plate.

[0017] Optionally, the lifting seat further includes a pair of tensioning structures, which are spaced apart along the length of the column and respectively fixedly connected to both ends of the flexible transmission bar;

[0018] The tensioning structure includes a tensioning block, a clamping member, an elastic block, a tensioning screw, and a clamping screw. The sliding member has a tensioning protrusion. The elastic block is disposed between the tensioning block and the tensioning protrusion. The tensioning screw passes through the tensioning block and the elastic block and is screwed into the tensioning protrusion. The clamping member has a clamping portion. There is a clamping gap between the clamping portion and the tensioning block. The clamping screw passes through the tensioning block and is screwed into the clamping member. The flexible transmission bar is clamped in the clamping gap.

[0019] Optionally, the lifting seat includes a plurality of lateral rollers, which are distributed along the line connecting the tensioning structures.

[0020] Optionally, the projection positions of the first forward roller and the second forward roller along the length direction of the column are offset.

[0021] Optionally, the tensioning structure is disposed on the side mounting plate, and the lateral roller and the tensioning protrusion are both located between the tensioning structures.

[0022] Optionally, the lifting seat further includes a limiting roller, which is disposed on the sliding member. The axial direction of the limiting roller intersects with the axial direction of the first positive roller, and the limiting roller contacts the bottom of the positive mating groove.

[0023] Optionally, limit blocks are fixedly provided on opposite sides of the tensioning block, and the limit blocks are used to limit the side of the flexible transmission strip in the clamping gap.

[0024] Optionally, the column includes a supporting column and a pair of mating columns, the mating columns being spaced apart from each other and connected to one side of the supporting column, and the mating columns forming the positive mating groove, and the surface of the mating column facing the other side of the supporting column forming the lateral mating surface.

[0025] Optionally, each of the columns is provided with the lifting mechanism, and the lateral mating surfaces of the columns on both sides face opposite directions.

[0026] Optionally, the support column has at least one first mounting groove extending along the length direction of the column, and the support column has at least one first connecting groove extending along the length direction of the column on the surface of the side opposite to the mating column. The first connecting groove communicates with the first mounting groove and the width of the first connecting groove is smaller than the width of the first mounting groove.

[0027] Optionally, the support column has a weight-reducing through hole extending along the length of the column.

[0028] Optionally, the sidewall of the weight-reducing through hole has at least one pair of mounting protrusions, and a fastener mounting groove is formed between the mounting protrusions.

[0029] Optionally, at least one second mounting groove extending along the length direction of the column is formed in the mating column, and at least one second connecting groove extending along the length direction of the column is formed on the surface of the mating column opposite to the positive mating groove, the second connecting groove communicating with the second mounting groove and the width of the second connecting groove being smaller than the width of the second mounting groove.

[0030] Optionally, the lifting assembly further includes a lifting ring, which includes a lifting ring portion and an assembly portion connected to each other, and the assembly portion is fixedly connected to one end of the column opposite to the drive structure.

[0031] Optionally, the lifting assembly further includes a compensation connecting seat, which includes a first connecting frame, a second connecting frame, and a hinge structure. The first connecting frame and the second connecting frame are respectively fixedly connected to the lifting seats on the two side columns. The two ends of the hinge structure are respectively hinged to the first connecting frame and the second connecting frame, and the length of the hinge structure is adjustable.

[0032] Optionally, the lifting assembly further includes a ground contact seat, which includes a mounting frame and a ground contact wheel. The end of the column and the driving structure are both fixedly connected to the mounting frame, and the ground contact wheel is located on the side of the mounting frame away from the column.

[0033] Optionally, the lifting assembly further includes a control harness and a cable chain, one end of which is fixedly mounted on the column, and the other end of which is fixedly connected to the lifting seat. The control harness is disposed in the cable chain.

[0034] Optionally, the shelf robot further includes a guide rail that extends along the direction intersecting the upright.

[0035] As a second aspect of this application, a warehousing system is provided, the warehousing system including a shelf and the shelf robot provided in this application, the shelf robot being disposed on one side of the shelf, and the drive structure of the shelf robot being located at the bottom of the shelf.

[0036] In the rack robot and warehousing system provided in this application, the drive structure and drive wheels of the lifting component are both located at the bottom of the column, which improves the convenience of maintenance and repair of the drive structure, thereby improving the installation and maintenance efficiency of the rack robot. Furthermore, the drive structure and drive wheels are distributed along the spacing direction of the column, so that the distribution direction of the drive structure and drive wheels is parallel to the side of the rack, and does not need to extend in a direction perpendicular to the side of the rack. This allows more space to be left between the racks for the free movement of equipment such as Automated Guided Vehicles (AGVs) on the ground, thereby improving the utilization rate of warehousing space. Attached Figure Description

[0037] 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.

[0038] Figure 1 is a structural schematic diagram of the shelf robot provided in an embodiment of this application;

[0039] Figure 2 is a first-view structural schematic diagram of the lifting component in the shelf robot provided in an embodiment of this application;

[0040] Figure 3 is a structural schematic diagram of the lifting component in the shelf robot provided in the embodiment of this application from a second perspective.

[0041] Figure 4 is a magnified view of a portion of the structure in region A of Figure 2;

[0042] Figure 5 is a magnified view of the structure in region B of Figure 2;

[0043] Figure 6a is a schematic diagram of the lifting seat in the shelf robot provided in an embodiment of this application;

[0044] Figure 6b is a structural schematic diagram of the lifting seat in the shelf robot provided in an embodiment of this application from another perspective;

[0045] Figure 6c is an exploded view of the lifting seat shown in Figure 6a;

[0046] Figure 7 is a schematic diagram of the structure of the upright column in the shelf robot provided in the embodiment of this application;

[0047] Figure 8 is a schematic diagram of the cooperation relationship between the upright column and the lifting seat in the shelf robot provided in the embodiment of this application;

[0048] Figure 9a is a partial structural schematic diagram of the compensation connecting seat in the shelf robot provided in an embodiment of this application;

[0049] Figure 9b is an exploded view of the compensation connector shown in Figure 9a;

[0050] Figure 10 is a schematic diagram of the cooperation relationship between the upright column and the lifting seat in the shelf robot provided in the embodiment of this application.

[0051] Explanation of reference numerals in the attached drawings: 10, column; 11, supporting column; 12, mating column; 101, forward mating groove; 111, first mounting groove; 112, first connecting groove; 121, second mounting groove; 122, second connecting groove; 130, weight-reducing through hole; 131, mounting protrusion; α, lateral mating surface; 20, drive structure; 21, rotary motor; 22, reducer; 100, driving wheel; 200, driven wheel; 300, flexible transmission bar; 400. Lifting seat; 410. Sliding component; 411. Front mounting plate; 412. Side mounting plate; 413. Tensioning protrusion; 420. Lateral roller; 430. Limiting roller; 431. First forward roller; 432. Second forward roller; 440. Tensioning structure; 441. Tensioning block; 442. Clamping component; 443. Elastic block; 444. Tensioning screw; 445. Clamping screw; 446. Limiting block; 30. Lifting ring; 31. Lifting ring part; 32. Assembly part; 40. Ground contact seat; 41. Mounting bracket; 42. Ground contact wheel; 50. Actuating component; 60. Displacement component; 61. Guide rail; 70. Cable chain; 81. First connecting frame; 82. Second connecting frame; 83. Hinge structure; 831. First sliding part; 832. Slider; 833. Second sliding part; a. Spacing direction; b. Clamping gap. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this invention are within the scope of protection of this invention.

[0053] In existing shelving robot structures, the lifting assembly typically includes a motor located at the top and a transmission belt extending vertically. The motor drives a pulley structure, which in turn moves the transmission belt, driving the lifting and lowering motion of the actuator. Furthermore, the axis of the pulley structure is positioned along the direction approaching and away from the shelving. This means that the motor can only be placed on the side of the transmission belt away from the shelving. Consequently, when the motor is placed at the bottom for ease of installation and maintenance, the motor and other structures protrude outwards, occupying a significant amount of ground space and encroaching on the movement space of automated guided vehicles and other devices that travel on the ground. Therefore, it is difficult to improve the installation and maintenance efficiency of the shelving robot while ensuring space utilization.

[0054] To address the aforementioned technical problems, as one aspect of this application, a shelf robot is provided, as shown in Figures 1 to 3. Figure 1 is a structural schematic diagram of the shelf robot provided in an embodiment of this application; Figure 2 is a structural schematic diagram of the lifting component in the shelf robot provided in an embodiment of this application from a first perspective; Figure 3 is a structural schematic diagram of the lifting component in the shelf robot provided in an embodiment of this application from a second perspective. The shelf robot includes a displacement component 60 and a lifting component. The lifting component includes at least one column 10 and a lifting mechanism disposed on at least one column 10. The lifting mechanism includes a drive structure 20, a drive wheel 100, and a lifting seat 400. The lifting seat 400 is movably disposed on the column 10 and can move along the column 10. The displacement component 60 is connected to the column 10 and can drive the column 10 to move the lifting component laterally along a guide rail 61 that intersects the column 10. The drive structure 20 can drive the drive wheel 100 to rotate. The drive wheel 100 is disposed at the bottom end of the column 10, and the drive structure 20 is disposed on one side of the drive wheel 100 along the lateral direction (i.e., the interval direction a shown in the figure).

[0055] Understandably, in practical use, the drive wheel 100 can be used in conjunction with a flexible transmission strip 300 (which can be a belt, chain, metal rope, or other strip-like structure) wound around it. The drive wheel 100 drives the flexible transmission strip 300 to move, thereby causing the lifting seat 400, which is fixedly connected to the flexible transmission strip 300, to move up and down along the column 10. The actuator 50 can pass through the columns 10 and extend into the storage position of the shelf. The displacement component 60 drives the entire lifting assembly to move horizontally, and the lifting mechanism drives the lifting seat 400 to move the actuator 50 up and down, thereby transferring the actuator 50 to different storage positions at different heights for picking up and placing goods and boxes.

[0056] In the shelving robot provided in this application, both the drive structure 20 and the drive wheel 100 are located at the bottom of the column 10, which improves the convenience of maintenance and repair of the drive structure 20, thereby improving the installation and maintenance efficiency of the shelving robot. Furthermore, the drive structure 20 and the drive wheel 100 are distributed in the transverse direction (i.e., the interval direction a), so that the distribution direction of the drive structure 20 and the drive wheel 100 is parallel to the side of the shelf, and they do not need to extend in a direction perpendicular to the side of the shelf. This allows for more space between the shelves for the free movement of equipment such as automated guided vehicles on the ground, thereby improving the utilization rate of warehouse space.

[0057] It is understandable that the lifting seat 400 is used to fix the execution component 50, as shown in Figures 2 and 3, and the execution component 50 is used to perform material box picking and placing operations on storage locations of different columns and heights on the shelf.

[0058] Optionally, the execution component 50 can be a clamping execution structure as shown in Figures 2 and 3, or other forms of execution structures such as cantilever, comb, or hook can be used in other embodiments of this application.

[0059] As an optional embodiment of this application, as shown in Figures 2, 3, 4, and 5, Figure 4 is a partially enlarged schematic diagram of the structure in region A of Figure 2; Figure 5 is a partially enlarged schematic diagram of the structure in region B of Figure 2. The lifting mechanism also includes a flexible transmission bar 300 and a driven wheel 200. The driven wheel 200 is disposed on the column 10, and the flexible transmission bar 300 is sleeved on the driving wheel 100 and the driven wheel 200. The lifting seat 400 is fixedly connected to the flexible transmission bar 300. The driven wheel 200 and the driving wheel 100 are respectively disposed at both ends of the column 10. For example, referring to Figures 4 and 5, when the driving wheel 100 is disposed at the bottom end of the column 10, the driven wheel 200 is disposed at the top end of the column 10.

[0060] In other embodiments of this application, the driving wheel 100 and the driven wheel 200 may also drive the lifting seat 400 to move up and down through other flexible structures, such as wire ropes, chains, etc.

[0061] Alternatively, in other embodiments of this application, the rotational motion of the rotary motor 21 can be converted into linear lifting motion through other forms of transmission pairs. For example, the drive wheel 100 can be a gear structure, and a rack structure is movably provided on the column 10. The drive wheel 100 meshes with the rack to drive the rack to move vertically, thereby driving the lifting seat 400 connected to the rack to move vertically. Alternatively, the drive wheel 100 can be a worm gear, and a worm structure is movably provided on the column 10. The drive wheel 100 cooperates with the worm to drive the worm to move vertically, thereby driving the lifting seat 400 connected to the worm to move vertically.

[0062] As an optional embodiment of this application, as shown in Figures 2, 3, and 5, the rotation axes of both the driving wheel 100 and the driven wheel 200 extend laterally (i.e., in the interval direction a), and the drive structure 20 includes a rotary motor 21, and the drive shaft of the rotary motor 21 extends laterally (i.e., in the interval direction a).

[0063] In this embodiment, a through hole extending along its rotation axis can be provided on the drive wheel 100. The drive shaft of the rotary motor 21 extends into the through hole and is fixedly connected to the drive wheel 100, so that the drive wheel 100 can rotate under the drive of the rotary motor 21. When the drive wheel 100 rotates, it can drive the flexible transmission bar 300 surrounding the drive wheel 100 and the driven wheel 200 to rotate, thereby driving the lifting seat 400 fixed to the flexible transmission bar 300 to rise and fall in the height direction, thereby realizing the lifting and lowering of the actuator 50.

[0064] As an optional embodiment of this application, as shown in Figures 2, 3, and 5, the flexible transmission bar 300 can be a belt, with the width direction of the belt being consistent with the transverse direction (i.e., the interval direction a), so that the width direction of the belt is in the same direction as the extension direction of the drive shaft of the rotary motor 21.

[0065] Alternatively, in other embodiments of this application, the flexible transmission bar 300 may also be a chain or a metal rope (e.g., a steel wire rope).

[0066] As an optional embodiment of this application, the drive shaft of the rotary motor 21 is coaxially arranged and connected to the drive wheel 100, that is, the rotary motor 21 is directly connected to the drive wheel 100, and the rotational speed of the drive wheel 100 is synchronized with the rotational speed of the drive shaft of the rotary motor 21.

[0067] As an optional embodiment of this application, as shown in Figures 2, 3, and 5, the drive structure 20 further includes a reducer 22, a rotary motor 21, a reducer 22, and a drive wheel 100 connected sequentially in the transverse direction (i.e., the interval direction a).

[0068] As another optional embodiment of this application, the rotary motor 21 can be connected to the drive wheel 100 through a pulley reduction structure. Specifically, the drive structure 20 also includes a first pulley, a second pulley and a reduction belt. The axis of the first pulley and the axis of the second pulley both extend laterally (i.e., in the interval direction a). The reduction belt is sleeved on the first pulley and the second pulley. The drive shaft of the rotary motor 21 is coaxial with the first pulley and connected to it. The second pulley is coaxial with the drive wheel 100 and connected to it.

[0069] As an optional implementation of this application, as shown in Figures 2 and 3, the columns 10 are arranged in pairs, and each column 10 is provided with a lifting mechanism. The drive structure 20 is located on the outer side of the column 10 in the lateral direction, thereby avoiding the path of the lifting and lowering movement of the actuator 50.

[0070] In this embodiment, the columns 10 are arranged in pairs, and each column 10 is equipped with a lifting mechanism. In this way, when the execution component 50 is raised or lowered, both sides of it can be lifted by the lifting mechanism, so that the force on both sides of the execution component 50 is balanced, thereby improving the stability during the raising and lowering process.

[0071] As an optional embodiment of this application, as shown in Figures 6a, 8, and 10, Figure 6a is a structural schematic diagram of the lifting seat in the shelf robot provided in an embodiment of this application; Figure 8 is a schematic diagram of the cooperation relationship between the upright and the lifting seat in the shelf robot provided in an embodiment of this application; Figure 10 is a schematic diagram of the cooperation relationship between the upright and the lifting seat in the shelf robot provided in an embodiment of this application. The lifting seat 400 includes a sliding member 410 and at least one lateral roller 420, at least one first forward roller 431, and at least one second forward roller 432 disposed on the sliding member 410. The sliding member 410 is fixedly connected to the flexible transmission strip 300, as shown in Figure 7, which is a structural schematic diagram of the upright in the shelf robot provided in an embodiment of this application. The column 10 has a forward mating groove 101 extending along the length of the column 10 and a lateral mating surface α. The forward mating groove 101 is located on one side surface of the column 10 along the transverse direction (i.e., the interval direction a). Referring to Figure 8, the axial directions of the first forward roller 431 and the second forward roller 432 both extend along the transverse direction (i.e., the interval direction a) and both are accommodated in the forward mating groove 101. The first forward roller 431 and the second forward roller 432 are in contact with the two side walls of the forward mating groove 101, respectively. The axial direction of the lateral roller 420 intersects with the axial direction of the first forward roller 431, and the lateral roller 420 is in contact with the lateral mating surface α.

[0072] In this embodiment, the lifting seat 400 contacts the two side walls of the positive mating groove 101 through the first positive roller 431 and the second positive roller 432 to balance the torque exerted on the lifting seat 400 by the weight of the execution component 50 and other structures, ensuring the levelness of the execution component 50. The lateral roller 420 contacts the lateral mating surface α on the column 10 along the transverse direction (i.e., the interval direction a), thereby accurately positioning the lifting seat 400 along the transverse direction (i.e., the interval direction a). The lifting seat 400 is held on the column 10 by the lateral roller 420, the first positive roller 431 and the second positive roller 432, thereby ensuring stable contact between the lifting seat 400 and the column 10, while using the roller structure to reduce the resistance of the lifting seat 400's lifting and lowering movement along the column 10, thus ensuring the smoothness of the lifting and lowering movement of the execution component 50 and improving the mechanical efficiency of the lifting mechanism.

[0073] As an optional embodiment of this application, as shown in Figures 6a, 8, and 10, the sliding member 410 includes a front mounting plate 411 and a side mounting plate 412. The front mounting plate 411 and the side mounting plate 412 have an included angle. The front mounting plate 411 is disposed opposite to the front mating groove 101, and the side mounting plate 412 is disposed opposite to the side mating surface α. The first front roller 431 and the second front roller 432 are both disposed on the front mounting plate 411, and the side roller 420 is disposed on the side mounting plate 412.

[0074] Optionally, the front mounting plate 411 and the side mounting plate 412 are perpendicular to each other.

[0075] As an optional embodiment of this application, as shown in FIG10, the lifting seat 400 further includes a limiting roller 430, which is disposed on the sliding member 410. The axial direction of the limiting roller 430 intersects with the axial direction of the first positive roller 431, and the limiting roller 430 contacts the bottom of the positive mating groove 101.

[0076] In this embodiment, the sliding member 410 is also provided with a limiting roller 430, and the limiting roller 430 contacts the bottom of the positive mating groove 101. Thus, during the lifting seat 400's vertical movement along the column 10, the limiting roller 430 rolls and contacts the bottom of the positive mating groove 101, ensuring the positional stability of the lifting seat 400 and the column 10 in the lateral direction (i.e., the interval direction a), thereby ensuring the stability of the lifting component's action of picking up and placing goods.

[0077] As an optional embodiment of this application, as shown in FIG10, when the sliding member 410 includes a front mounting plate 411 and a side mounting plate 412, the limiting roller 430 is disposed on the front mounting plate 411.

[0078] As an optional embodiment of this application, the lifting seat 400 includes a pair of limiting rollers 430 arranged in the vertical direction.

[0079] Optionally, the limiting roller 430 is disposed between the first forward roller 431 and the second forward roller 432.

[0080] As an optional embodiment of this application, as shown in FIG6a, the lifting seat 400 further includes a pair of tensioning structures 440, which are spaced apart along the length direction of the column 10 and respectively fixedly connected to both ends of the flexible transmission bar 300.

[0081] As shown in Figures 6a to 6c, Figure 6b is a structural schematic diagram of the lifting seat in the shelf robot provided in this application from another perspective; Figure 6c is an exploded view of the lifting seat shown in Figure 6a. The tensioning structure 440 includes a tensioning block 441, a clamping member 442, an elastic block 443, a tensioning screw 444, and a clamping screw 445. The sliding member 410 has a tensioning protrusion 413. The elastic block 443 is disposed between the tensioning block 441 and the tensioning protrusion 413. The tensioning screw 444 passes through the tensioning block 441 and the elastic block 443 and is screwed into the tensioning protrusion 413. The clamping member 442 has a clamping part. There is a clamping gap b between the clamping part and the tensioning block 441. The clamping screw 445 passes through the tensioning block 441 and is screwed into the clamping member 442. The flexible transmission strip 300 is clamped in the clamping gap b.

[0082] In this embodiment, the lifting seat 400 is provided with a pair of tensioning structures 440 along the height direction. The two ends of the flexible transmission bar 300 are wrapped around the driving wheel 100 and the driven wheel 200 once and then fixed in the clamping gap b of the two tensioning structures 440 respectively. The clamping screw 445 can lock the tensioning block 441 and the clamping member 442 to reduce the clamping gap b and clamp the flexible transmission bar 300. The tensioning screw 444 can adjust the position of the end of the flexible transmission bar 300 by locking the tensioning block 441 and the tensioning protrusion 413, thereby tensioning the flexible transmission bar 300 and ensuring the friction between the flexible transmission bar 300 and the driving wheel 100.

[0083] As an optional embodiment of this application, as shown in FIG6a, the lifting seat 400 includes a plurality of lateral rollers 420, which are distributed along the line connecting the tensioning structures 440.

[0084] As an optional embodiment of this application, as shown in FIG8, the projection positions of the first positive roller 431 and the second positive roller 432 along the length direction of the column 10 (i.e., the horizontal projection position in normal use) are offset, and the first positive roller 431 and the second positive roller 432 respectively contact the two side walls of the positive mating groove 101.

[0085] As an optional embodiment of this application, as shown in FIG6a, the tensioning structure 440 is disposed on the side mounting plate 412, and the side roller 420 and the tensioning protrusion 413 are both located between the tensioning structures 440.

[0086] As an optional embodiment of this application, as shown in FIG6a, limiting blocks 446 are fixedly provided on opposite sides of the tensioning block 441. The limiting blocks 446 are used to limit the side of the flexible transmission strip 300 in the clamping gap b.

[0087] As an optional embodiment of this application, as shown in FIG7, the column 10 includes a supporting column 11 and a pair of mating columns 12. The mating columns 12 are spaced apart from each other and connected to one side of the supporting column 11, and a positive mating groove 101 is formed between the mating columns 12. The surface of the mating column 12 facing the other side of the supporting column 11 is formed as a lateral mating surface α. In this embodiment, the supporting body 11 and the mating body 12 can effectively improve the structural strength of the column 10, thereby avoiding the column 10 from breaking.

[0088] As an optional embodiment of this application, as shown in Figures 2 and 3, each column 10 is provided with a lifting mechanism, and the lateral mating surfaces α of the two columns 10 face opposite directions.

[0089] Optionally, as shown in Figures 2 and 3, the columns 10 on both sides are connected to each other by a plurality of crossbeams that are spaced apart along the length of the columns 10.

[0090] As an optional embodiment of this application, as shown in FIG7, at least one first mounting groove 111 extending along the length direction of the column 10 is formed in the support column 11, and at least one first connecting groove 112 extending along the length direction of the column 10 is formed on the surface of the support column 11 opposite to the mating column 12. The first connecting groove 112 communicates with the first mounting groove 111, and the width of the first connecting groove 112 is smaller than the width of the first mounting groove 111. The groove structure formed by the first mounting groove 111 and the first connecting groove 112 can be used to install profile nuts on the support column 11, so as to fix other structures at various positions of the column 10.

[0091] To reduce the overall weight and material cost of the column 10, as an optional embodiment of this application, as shown in FIG7, a weight-reducing through hole 130 extending along the length direction of the column 10 is formed in the support column 11.

[0092] Optionally, as shown in Figure 7, the cross-sectional shape of the weight-reducing through-hole 130 is rectangular.

[0093] As an optional embodiment of this application, as shown in FIG7, the sidewall of the weight-reducing through hole 130 has at least a pair of mounting protrusions 131, and a fastener mounting groove is formed between the mounting protrusions 131. The fastener mounting groove is threaded so that fasteners can be screwed into the portion of the fastener mounting groove corresponding to both ends of the column 10, thereby enabling the assembly of other structures at the ends of the column 10. For example, a traveling wheel or a fixed bracket can be installed at the ends of the column 10.

[0094] As an optional embodiment of this application, as shown in FIG7, at least one second mounting groove 121 extending along the length direction of the column 10 is formed in the mating column 12. At least one second connecting groove 122 extending along the length direction of the column 10 is formed on the surface of the mating column 12 opposite to the mating groove 101. The second connecting groove 122 communicates with the second mounting groove 121, and the width of the second connecting groove 122 is smaller than the width of the second mounting groove 121. The groove structure formed by the second mounting groove 121 and the second connecting groove 122 can be used to install profile nuts on the mating column 12, thereby fixing other structures at various positions of the column 10.

[0095] As an optional embodiment of this application, as shown in Figures 2, 3, and 4, the lifting assembly further includes a lifting ring 30. The lifting ring 30 includes a lifting ring portion 31 and an assembly portion 32 connected to each other. The assembly portion 32 is fixedly connected to the end of the column 10 facing away from the drive structure 20. The lifting ring 30 can be used to lift the entire lifting assembly during installation or maintenance, improving the assembly and maintenance efficiency of the storage system.

[0096] As a preferred embodiment of this application, as shown in Figures 9a and 9b, Figure 9a is a partial structural schematic diagram of the compensation connecting seat in the shelf robot provided in this application embodiment; Figure 9b is an exploded view of the compensation connecting seat shown in Figure 9a. The lifting assembly also includes a compensation connecting seat, which includes a first connecting frame 81, a second connecting frame 82, and a hinge structure 83. The first connecting frame 81 and the second connecting frame 82 are respectively fixedly connected to the lifting seats 400 on the two side columns 10. The two ends of the hinge structure 83 are respectively hinged to the first connecting frame 81 and the second connecting frame 82, and the length of the hinge structure 83 is adjustable.

[0097] In this embodiment, a compensating connecting seat is connected between the two lifting seats 400. The compensating connecting seat includes a first connecting frame 81, a second connecting frame 82, and a hinge structure 83 connected in sequence. One of the first connecting frame 81 and the second connecting frame 82 is used to be fixedly connected to the execution component 50. The length of the hinge structure 83 is adjustable and its two ends are respectively hinged to the first connecting frame 81 and the second connecting frame 82. Thus, when there is a height deviation between the two lifting seats 400, the height of the first connecting frame 81 and the second connecting frame 82 will also deviate accordingly. At this time, the length of the hinge structure 83 can be lengthened, and the angle of the hinge structure 83 can also be changed to adapt to the height of the two lifting seats 400. In this way, while ensuring that the torque brought by the weight of the execution component 50 is transmitted to the two lifting seats 400, the adaptability of the lifting component to the uneven height of the lifting seats 400 is improved, ensuring the stability of the shelf robot operation.

[0098] As an optional embodiment of this application, as shown in FIG9a, the first connecting frame 81 is used to be fixedly connected to the execution component 50. Accordingly, the length dimension of the first connecting frame 81 in the transverse direction (i.e., the spacing direction a) is greater than the dimension of the second connecting frame 82 in the transverse direction (i.e., the spacing direction a).

[0099] As an optional embodiment of this application, as shown in FIG9a, the hinge structure 83 includes a first sliding part 831, a slider 832, a guide rail (not shown in the figure, which is obscured by the slider 832), and a second sliding part 833. The first sliding part 831 is hinged to the first connecting frame 81, and the second sliding part 833 is hinged to the second connecting frame 82. The first sliding part 831 and the second sliding part 833 are respectively fixedly connected to the slider 832 and the guide rail. The slider 832 can slide along the guide rail so that the first sliding part 831 and the second sliding part 833 move closer to or further away from each other, thereby making the length of the hinge structure 83 expandable and contractible.

[0100] Specifically, please refer to Figure 9a. The first connecting frame 81 can be a straight rod, and the second connecting frame 82 can be a hinged seat. One end of the first connecting frame 81 is fixedly connected to the lifting seat 400 on the first side, and the other end is hinged to the first sliding part 831 of the hinge structure 83; the second connecting frame 82 is fixed to the lifting seat 400 on the second side and is hinged to the second sliding part 833 of the hinge structure 83.

[0101] When the lifting seat 400 on the first side is higher than the lifting seat 400 on the second side, the first connecting frame 81 is higher than the second connecting frame 82. That is, a height difference exists between the first connecting frame 81 and the second connecting frame 82. At this time, the hinge structure 83 tilts, causing the hinge point between the first sliding part 831 and the first connecting frame 81 to be higher than the hinge point between the second sliding part 833 and the second connecting frame 82. Furthermore, the first sliding part 831 and the second sliding part 833 slide away from each other, increasing the length of the hinge structure 83 to compensate for the vertical distance between the first connecting frame 81 and the second connecting frame 82.

[0102] When the first lifting seat 400 is lower than the second lifting seat 400, the first connecting frame 81 is lower than the second connecting frame 82. That is, a height difference exists between the first connecting frame 81 and the second connecting frame 82. At this time, the hinge structure 83 tilts, causing the hinge point between the first sliding part 831 and the first connecting frame 81 to be lower than the hinge point between the second sliding part 833 and the second connecting frame 82. Furthermore, the first sliding part 831 and the second sliding part 833 slide away from each other, increasing the length of the hinge structure 83 to compensate for the vertical distance between the first connecting frame 81 and the second connecting frame 82.

[0103] As an optional embodiment of this application, as shown in FIG1, the lifting assembly further includes a ground contact seat 40, which includes a mounting frame 41 and ground contact wheels 42. The end of the column 10 and the drive structure 20 are fixedly connected to the mounting frame 41, and the ground contact wheels 42 are disposed on the side of the mounting frame 41 away from the column 10. It can be understood that the ground contact wheels 42 are used to roll into contact with the ground when the lifting assembly and the ground contact seat 40 move laterally, thereby allowing the ground contact seat 40 to bear the weight of the column 10 and the actuator 50 and other structures, reducing the load on the shelf and guide rail structures.

[0104] As an optional embodiment of this application, as shown in Figures 2 and 3, the lifting assembly further includes a control harness (not shown in the figures) and a cable chain 70. One end of the cable chain 70 is fixedly mounted on the column 10, and the other end of the cable chain 70 is fixedly connected to the lifting seat 400. The control harness is disposed in the cable chain 70. The control harness can connect the execution component 50 to the control device to send control signals to the execution component 50 to control it to complete the picking action.

[0105] Optionally, as shown in Figure 1, the shelf robot also includes a guide rail 61 that extends in a direction intersecting with the upright 10.

[0106] As a second aspect of this application, a warehousing system is provided, which includes shelves and a shelf robot provided in the embodiments of this application, wherein the shelf robot is disposed on one side of the shelves.

[0107] In the shelving robot provided in this application, the drive structure 20 and the drive wheel 100 of the lifting component are both located at the bottom of the column 10, which improves the convenience of maintenance and repair of the drive structure 20, thereby improving the installation and maintenance efficiency of the shelving robot. Furthermore, the drive structure 20 and the drive wheel 100 are distributed along the transverse direction (i.e., the interval direction a) of the column 10, so that the distribution direction of the drive structure 20 and the drive wheel 100 is parallel to the side of the shelf, and they do not need to extend in a direction perpendicular to the side of the shelf. This allows for more space between the shelves for the free movement of equipment such as automated guided vehicles on the ground, thereby improving the utilization rate of warehouse space.

[0108] Optionally, the shelf robot includes a guide rail 61, which is fixedly mounted on the side of the shelf.

[0109] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A shelf robot, comprising a displacement component (60) and a lifting component, the lifting component comprising at least one column (10) and a lifting mechanism disposed on at least one column (10), the lifting mechanism comprising a drive structure (20), a drive wheel (100) and a lifting seat (400), the lifting seat (400) being movably disposed on the column (10) and capable of moving along the column (10), the displacement component (60) being connected to the column (10) and capable of driving the column (10) to move laterally along a guide rail (61) intersecting the column (10), the drive structure (20) being capable of driving the drive wheel (100) to rotate, characterized in that, The drive wheel (100) is located at the bottom end of the column (10), and the drive structure (20) is located on one side of the drive wheel (100) along the lateral direction.

2. The shelf robot according to claim 1, characterized in that, The rotation axis of the drive wheel (100) extends along the lateral direction, and the drive structure (20) includes a rotary motor (21), the drive axis of which extends along the lateral direction.

3. The shelf robot according to claim 2, characterized in that, The drive structure (20) also includes a reducer (22), and the rotary motor (21), the reducer (22) and the drive wheel (100) are connected in sequence along the transverse direction.

4. The shelf robot according to any one of claims 1 to 3, characterized in that, The columns (10) are arranged in pairs, and each column (10) is provided with the lifting mechanism. The driving structure (20) is located on the outer side of the column (10) along the lateral direction.

5. The shelf robot according to any one of claims 1 to 3, characterized in that, The lifting seat (400) includes a sliding member (410) and at least one lateral roller (420), at least one first forward roller (431), and at least one second forward roller (432) disposed on the sliding member (410). The column (10) has a forward mating groove (101) and a lateral mating surface (α) extending along the length direction of the column (10). The forward mating groove (101) is located on one side surface of the column (10) along the transverse direction. The first positive roller (431) and the second positive roller (432) extend laterally along their axial directions and are both accommodated in the positive mating groove (101). The first positive roller (431) and the second positive roller (432) are in contact with the two side walls of the positive mating groove (101), respectively. The axial direction of the lateral roller (420) intersects with the axial direction of the first positive roller (431) and the lateral roller (420) is in contact with the lateral mating surface (α).

6. The shelf robot according to claim 5, characterized in that, The lifting seat (400) also includes a limiting roller (430), which is disposed on the sliding member (410). The axial direction of the limiting roller (430) intersects with the axial direction of the first positive roller (431), and the limiting roller (430) contacts the bottom of the positive mating groove (101).

7. The shelf robot according to claim 5, characterized in that, The lifting mechanism further includes a flexible transmission bar (300) and a driven wheel (200). The driven wheel (200) is disposed on the column (10). The flexible transmission bar (300) is sleeved on the driving wheel (100) and the driven wheel (200). The lifting seat (400) further includes a pair of tensioning structures (440). The tensioning structures (440) are spaced apart along the length direction of the column (10) and are respectively fixedly connected to both ends of the flexible transmission bar (300). The tensioning structure (440) includes a tensioning block (441), a clamping member (442), an elastic block (443), a tensioning screw (444), and a clamping screw (445). The sliding member (410) has a tensioning protrusion (413). The elastic block (443) is disposed between the tensioning block (441) and the tensioning protrusion (413). The tensioning screw (444) passes through the tensioning block (441) and the elastic block (443) and is screwed into the tensioning protrusion (413). The clamping member (442) has a clamping portion. There is a clamping gap (b) between the clamping portion and the tensioning block (441). The clamping screw (445) passes through the tensioning block (441) and is screwed into the clamping member (442). The flexible transmission bar (300) is clamped in the clamping gap (b).

8. The shelf robot according to claim 5, characterized in that, The column includes a supporting column and a pair of mating columns. The mating columns are spaced apart from each other and connected to one side of the supporting column. A positive mating groove is formed between the mating columns, and the surface of the mating column facing the other side of the supporting column is formed as a lateral mating surface.

9. The shelf robot according to any one of claims 1 to 3, characterized in that, Each of the columns (10) is provided with the lifting mechanism. The lifting assembly also includes a compensation connecting seat. The compensation connecting seat includes a first connecting frame (81), a second connecting frame (82), and a hinge structure (83). The first connecting frame (81) and the second connecting frame (82) are respectively fixedly connected to the lifting seats (400) on the columns (10) on both sides. The two ends of the hinge structure (83) are respectively hinged to the first connecting frame (81) and the second connecting frame (82), and the length of the hinge structure (83) is adjustable.

10. A warehousing system, characterized in that, The warehousing system includes shelves and a shelf robot as described in any one of claims 1 to 9, wherein the shelf robot is disposed on one side of the shelves.

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