CN111891621A - Transfer robot and warehousing and carrying system - Google Patents

Abstract

The invention provides a transfer robot and a warehousing and transportation system, wherein the transfer robot comprises: the robot comprises a robot body and at least two guide wheel assemblies, wherein the guide wheel assemblies are distributed on the side part of the robot body and comprise longitudinal guide wheels, first transverse guide wheels and second transverse guide wheels; in the first horizontal direction, the first transverse guide wheel and the second transverse guide wheel are arranged at intervals; the rotating shaft of the longitudinal guide wheel is arranged along a first horizontal direction, and the rotating shafts of the first transverse guide wheel and the second transverse guide wheel are arranged along a second horizontal direction. According to the transfer robot and the warehousing and transportation system provided by the embodiment of the invention, the two guide wheel assemblies on the two sides and the four transverse guide wheels can realize coplanar synergistic action, so that the four transverse guide wheels can stably position the transfer robot in the first horizontal direction; the longitudinal guide wheels based on the two guide wheel assemblies on the two sides can be positioned in the second horizontal direction, so that integral positioning is realized.

Description

Transfer robot and warehousing and carrying system

Technical Field

The invention relates to the technical field of automatic warehousing, in particular to a transfer robot and a warehousing and transfer system.

Background

With the development of the technology of the automatic stereoscopic warehouse, the technology is gradually widely applied due to the characteristics of high storage efficiency, high warehouse utilization rate and the like. In an automated warehouse, a transfer robot for picking the transfer container is generally provided, and the transfer robot can transfer the transfer container between the warehouse and the sorting table through movement such as translation and lifting. The conventional transfer robot is provided with a lifting mechanism that generally performs a lifting motion by a flexible member such as a wire rope to transfer a container in an up-down direction.

In the process of realizing the invention, the inventor finds that:

present transfer robot rocks easily at the lift in-process, and then leads to the location inaccuracy for transfer robot can not accurately snatch the turnover case from the letter sorting bench, perhaps transfer robot can not accurately place the turnover case on the letter sorting bench, leads to the turnover case to place the position inaccurate.

Disclosure of Invention

In order to solve the problem of inaccurate positioning of the existing transfer robot, the embodiment of the invention aims to provide a transfer robot and a warehousing and transportation system.

In a first aspect, an embodiment of the present invention provides a transfer robot, including: the robot comprises a robot body and at least two guide wheel assemblies, wherein the guide wheel assemblies are distributed on the side part of the robot body; the guide wheel assembly comprises a longitudinal guide wheel, a first transverse guide wheel and a second transverse guide wheel;

in a first horizontal direction, the first transverse guide wheel and the second transverse guide wheel are arranged at intervals; the longitudinal guide wheel is arranged between the first transverse guide wheel and the second transverse guide wheel;

the rotating shaft of the longitudinal guide wheel is arranged along a first horizontal direction, and the rotating shafts of the first transverse guide wheel and the second transverse guide wheel are arranged along a second horizontal direction; the first horizontal direction is a direction along a surface of a corresponding side portion of the robot body, and the first horizontal direction is different from the second horizontal direction.

On the basis of the above embodiment, the number of the longitudinal guide wheels is multiple.

On the basis of the above embodiment, the first horizontal direction is parallel to the corresponding side portion of the robot body, and the second horizontal direction is perpendicular to the first horizontal direction.

In a second aspect, an embodiment of the present invention further provides a storage and transportation system, including: a guide structure and a transfer robot as described above;

the guide structure includes: the first half frame, the second half frame, the first connecting piece, the second connecting piece and at least two guide covers;

the first half frame and the second half frame are arranged in parallel; the first connecting piece and the second connecting piece are arranged between the first half frame and the second half frame, the first connecting piece is used for connecting one ends of the first half frame and the second half frame, and the second connecting piece is used for connecting the other ends of the first half frame and the second half frame;

the two guide covers are respectively arranged on the inner side of the upper part of the first half frame and the inner side of the upper part of the second half frame, and the guide covers are arranged corresponding to the guide wheel assemblies of the transfer robot; in the direction from bottom to top, the size of guide housing becomes bigger gradually.

On the basis of the above embodiment, the guide cover includes: a guide plate and two side plates; the guide plate and the side plates are both vertically arranged, and the two side plates are respectively arranged at two ends of the guide plate in the horizontal direction;

in the direction from bottom to top, the guide plate is obliquely arranged outwards, and the width of the guide plate is gradually increased;

from the bottom up's direction, the curb plate is to keeping away from another the direction slope of curb plate sets up, just the width crescent of curb plate.

On the basis of the above embodiment, the lower ends of the guide hoods are uniform in size in the vertical direction.

On the basis of the above embodiment, the opening size of the first half frame is larger than the cross-sectional size of the turnover box in the vertical direction, and/or the opening size of the second half frame is larger than the cross-sectional size of the turnover box in the vertical direction.

On the basis of the embodiment, the warehousing and handling system also comprises a sorting table body;

the guiding structure is arranged above the sorting table body, and the first half frame and the second half frame of the guiding structure are arranged in parallel along the in-out direction of the turnover box.

On the basis of the above embodiment, the sorting table body includes: the device comprises a chassis and an in-out structure, wherein the in-out structure comprises a support plate and a linear guide rail;

the linear guide rail is arranged on the bottom frame and is arranged along the in-out direction of the turnover box;

the supporting plate is connected with the linear guide rail in a sliding mode and used for supporting the turnover box.

On the basis of the above embodiment, the warehousing and handling system comprises a plurality of the guide structures, and the sorting table body comprises the in-out structures corresponding to the number of the guide structures;

the multiple in-out structures are arranged in parallel along the direction perpendicular to the in-out direction of the turnover box, and the guide structures are arranged above the corresponding in-out structures.

In the solution provided by the first aspect of the embodiment of the present invention, the guide wheel assembly is disposed at the side of the robot body, so that the work of the robot body is not affected; the guide wheel assembly comprises at least three guide wheels, two transverse guide wheels are arranged along a first horizontal direction, the two guide wheel assemblies positioned on two sides comprise four transverse guide wheels, and the four transverse guide wheels can realize coplanar synergistic action, so that the four transverse guide wheels can stably position the transfer robot in the first horizontal direction; simultaneously, based on the longitudinal guide wheel of two leading wheel subassemblies in both sides, can fix a position transfer robot in the second horizontal direction to realize whole location. And the guide wheel assembly has simple structure and lower cost.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a view showing a construction of a transfer robot according to an embodiment of the present invention;

fig. 2 shows a partially enlarged view of a transfer robot provided in an embodiment of the present invention;

FIG. 3 illustrates a block diagram of a warehouse handling system provided by an embodiment of the present invention;

FIG. 4 illustrates a block diagram of a guide structure provided by an embodiment of the present invention;

FIG. 5 illustrates an isometric view of a guide housing provided by an embodiment of the present invention;

FIG. 6 illustrates a front view of a guide housing provided by an embodiment of the present invention;

FIG. 7 is a partial block diagram of a warehouse handling system provided by an embodiment of the present invention;

fig. 8 is another block diagram of a warehouse handling system according to an embodiment of the invention.

Icon:

101-a robot body, 102-a longitudinal guide wheel, 103-a first transverse guide wheel, 104-a second transverse guide wheel, 105-a flexible part, 106-a first fixing part, 107-a second fixing part, 10-a guide structure, 11-a first half frame, 12-a second half frame, 13-a first connecting piece, 14-a second connecting piece, 15-a guide cover, 151-a guide plate, 152-a side plate, 153-a positioning groove, 154-a mounting lug, 21-an underframe, 22-a support plate, 221-a limiting bulge, 23-a linear guide rail, 1-a turnover box and 2-a guide rail.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Referring to fig. 1, a transfer robot according to an embodiment of the present invention includes: the robot comprises a robot body 101 and at least two guide wheel assemblies, wherein the guide wheel assemblies are distributed on the side part of the robot body 101; the guide wheel assembly comprises a longitudinal guide wheel 102, a first transverse guide wheel 103 and a second transverse guide wheel 104.

Wherein, the first transverse guide wheel 103 and the second transverse guide wheel 104 are arranged at intervals; the longitudinal guide wheel 102 is arranged between a first transverse guide wheel 103 and a second transverse guide wheel 104. The rotating shaft of the longitudinal guide wheel 102 is arranged along a first horizontal direction, and the rotating shafts of the first transverse guide wheel 103 and the second transverse guide wheel 104 are arranged along a second horizontal direction; the first horizontal direction is a direction along the corresponding side surface of the robot body 101, and the first horizontal direction is different from the second horizontal direction.

In the embodiment of the invention, the transfer robot is used for transferring the turnover box 1, and the guide wheel assembly plays a role in auxiliary guide so as to facilitate the transfer robot to place the turnover box 1 at an accurate position. The guide wheel assembly is arranged on the side of the robot body 101, and the whole positioning of the transfer robot is realized by positioning the side of the robot body 101. In fig. 1, guide wheel assemblies are provided on both side edges of the robot body 101 perpendicular to the x-axis, and only one of the guide wheel assemblies is shown in fig. 1.

In this embodiment, the guide wheel assembly comprises at least three guide wheels, namely a longitudinal guide wheel 102, a first transverse guide wheel 103 and a second transverse guide wheel 104. Wherein, the two transverse guide wheels (i.e. the first transverse guide wheel 103 and the second transverse guide wheel 104) are guide wheels with parallel rotating shafts, and the two guide wheels are arranged at intervals in the first horizontal direction; since the guide wheel assembly is disposed at the side of the robot body 101, the first and second lateral guide wheels 103 and 104 are disposed along the surface of the side of the robot body 101, i.e., the first horizontal direction is a direction along the surface of the side of the robot body 101. As shown in fig. 1, the two lateral guide wheels are spaced apart along the y-axis direction, i.e., the first horizontal direction is the y-axis direction. Meanwhile, the rotating shafts of the first transverse guide wheel 103 and the second transverse guide wheel 104 are arranged along a second horizontal direction different from the first horizontal direction, which is taken as an x-axis direction in fig. 1 as an example, so that the outermost ends of the guide wheel assembly in the first horizontal direction are wheel surfaces of the two transverse guide wheels.

Specifically, the guide wheel assembly contacts other guide structures in a contact mode to guide the transfer robot; in this embodiment, the outermost ends of the guide wheel assembly in the first horizontal direction are the wheel surface of the first lateral guide wheel 103 and the wheel surface of the second lateral guide wheel 104, so that the wheel surface of the first lateral guide wheel 103 or the wheel surface of the second lateral guide wheel 104 can contact with other guide structures to realize guiding. Specifically, as shown in fig. 1 and 2, fig. 2 is a partially enlarged schematic view of the vicinity of the guide wheel assembly in fig. 1, and in the first horizontal direction (i.e., the y-axis direction), the guide wheel assembly has two outermost ends, as shown in the figure, a wheel surface at the right end of the first transverse guide wheel 103 and a wheel surface at the left end of the second transverse guide wheel 104 are respectively, and the two outermost ends are capable of contacting other guide structures, so that positioning can be achieved in the first horizontal direction, that is, positioning of the transfer robot can be achieved.

Further, the rotation axis of the longitudinal guide wheel 102 is arranged along the first horizontal direction, and as shown in fig. 1, the rotation axis of the longitudinal guide wheel 102 is arranged along the y-axis direction, so that the outermost end of the longitudinal guide wheel 102 in the second horizontal direction (e.g., x-axis) can contact the guide structure, thereby positioning the transfer robot in the second horizontal direction. As shown in fig. 1 and 2, the outermost end of the longitudinal guide wheel 102 in the positive x-direction may contact the guide structure. In this embodiment, through setting up at least three leading wheel, can realize stable location based on the position point of three leading wheel outermost end, and then realize the overall positioning to transfer robot through the leading wheel subassembly that is located both sides. In addition, the two transverse guide wheels are arranged along the first horizontal direction, and the two guide wheel assemblies positioned on the two sides comprise four transverse guide wheels which can be coplanar, so that the four transverse guide wheels can stably position the transfer robot in the first horizontal direction; meanwhile, the transfer robot can be positioned in the second horizontal direction based on the longitudinal guide wheels 102 of the two guide wheel assemblies on both sides, so that the overall positioning is realized. Optionally, the number of the longitudinal guide wheels 102 is multiple, which can make the positioning process more stable.

Alternatively, as shown in fig. 1 and 2, the first horizontal direction is parallel to the corresponding side of the robot body 101, and the second horizontal direction is perpendicular to the first horizontal direction.

Optionally, as shown in fig. 2, the guide wheel assembly further comprises a first fixing member 106 and a second fixing member 107. One of the longitudinal guide wheels 102 and the first transverse guide wheel 103 are rotatably arranged on the first fixing part 106; the other longitudinal guide wheel 102 and the second transverse guide wheel 104 are rotatably arranged on a second fixing part 107; the first fixing member 106 and the second fixing member 107 are fixedly provided at the side portion of the robot body 101. In this embodiment, a pair of one longitudinal guide wheel 102 and one lateral guide wheel is formed by the fixing members (the first fixing member 106 and the second fixing member 107), and the fixing members are attached to the side portions of the robot body 101, so that the guide wheels can be fixed and the installation is facilitated.

It should be noted that, the object a described in this embodiment is disposed along a certain direction B, which means that the object a is substantially disposed along the direction B, and the direction in which the object a is disposed may completely coincide with the direction B, or a certain angle is formed between the two, as long as the required function can be achieved. For example, the above-mentioned "the rotation axis of the longitudinal guide wheel 102 is disposed along the first horizontal direction", which can be expressed as the rotation axis of the longitudinal guide wheel 102 is parallel to the y-axis, as shown in fig. 1; alternatively, it may also mean that the rotation axis of the longitudinal guide wheel 102 has a certain included angle with the y-axis, such as 10 ° and 30 °, which is not limited in this embodiment.

According to the carrying robot provided by the embodiment of the invention, the guide wheel assemblies are arranged on the side parts of the robot body 101, so that the work of the robot body 101 is not influenced; the guide wheel assembly comprises at least three guide wheels, two transverse guide wheels are arranged along a first horizontal direction, the two guide wheel assemblies positioned on two sides comprise four transverse guide wheels, and the four transverse guide wheels can realize coplanar synergistic action, so that the four transverse guide wheels can stably position the transfer robot in the first horizontal direction; meanwhile, the transfer robot can be positioned in the second horizontal direction based on the longitudinal guide wheels 102 of the two guide wheel assemblies on both sides, so that the overall positioning is realized. And the guide wheel assembly has simple structure and lower cost.

Based on the same inventive concept, an embodiment of the present invention further provides a storage and transportation system, as shown in fig. 3, the system includes: a guide structure 10 and a transfer robot of any of the above types. As shown in fig. 3 and 4, the guide structure 10 includes: a first half-frame 11, a second half-frame 12, a first connector 13, a second connector 14, and at least two guide housings 15.

Wherein the first half frame 11 and the second half frame 12 are arranged in parallel; the first connecting piece 13 and the second connecting piece 14 are both arranged between the first half frame 11 and the second half frame 12, the first connecting piece 13 is used for connecting one ends of the first half frame 11 and the second half frame 12, and the second connecting piece 14 is used for connecting the other ends of the first half frame 11 and the second half frame 12. The two guide covers 15 are respectively arranged on the inner side of the upper part of the first half frame 11 and the inner side of the upper part of the second half frame 12, and the guide covers 15 are arranged corresponding to the guide wheel assemblies of the transfer robot; the guide cover 15 becomes gradually larger in size from the bottom up direction.

In the embodiment of the present invention, the first half frame 11 and the second half frame 12 are both partial structures of a frame structure, and fig. 4 illustrates a frame structure in which half frames (including the first half frame 11 and the second half frame 12) include three sides. In this embodiment, the half frame may be a door frame structure as shown in fig. 4, or may be an arch structure, and the like, which is not limited in this embodiment. Meanwhile, the half frame has two end parts, one end of the two half frames is fixedly connected through the first connecting piece 13, and the other end of the two half frames is fixedly connected through the second connecting piece 14, so that the first half frame 11, the second half frame 12, the first connecting piece 13 and the second connecting piece 14 form an integral frame of the guide structure, and the first half frame 11, the second half frame 12, the first connecting piece 13 and the second connecting piece 14 can be of an integral structure. In this embodiment, the integral frame covers a certain space, so that the turnover box 1 can be placed in the space; meanwhile, there is no cover above the entire frame, so that the turnover box 1 can be placed in or taken out of the space in an ascending and descending manner, that is, the transfer robot can transfer the turnover box 1 in an ascending and descending manner.

Further, a guide cover 15 is provided on the upper portions of both the first half frame 11 and the second half frame 12, and the guide cover 15 is provided inside the half frames. The "inner side" in this embodiment refers to a side near the center position of the guide structure. For the first half frame 11, the inner side thereof is the side facing the second half frame 12; accordingly, the inner side of the second half frame 12 is the side facing the first half frame 11. By arranging the guide cover 15 on the inner side of the half frame, the half frame can be prevented from being affected when the turnover box is placed or taken out. In this embodiment, transfer robot is at the lift in-process, and this guide housing 15 can play the guide effect to can carry out accurate location to transfer robot, and then place this guide structure inside with the turnover case accurately, perhaps transfer robot can follow the inside turnover case that snatchs of guide structure accurately.

In particular, a working scenario of the warehouse handling system can be seen in fig. 3. As shown in fig. 3, a robot body 101 of the transfer robot mainly includes an upper portion and a lower portion, the upper portion can move in a translational manner along a guide rail 2, and the lower portion has a gripping mechanism capable of gripping a turnover box 1; the upper part and the lower part are connected through a flexible part 105 (such as a steel wire rope, a belt and the like), and the lifting of the lower part of the robot body 101 can be realized by controlling the length of the flexible part 105. In this embodiment, after the robot body 101 grabs the turnover box 1, the robot body 101 may move along the guide rail 2 to the upper side of the guide structure 10, and then the robot body 101 performs the lifting operation to place the turnover box 1 into the guide structure 10. In the lifting process, three guide wheels of the guide wheel assembly can be in contact with the guide cover 15, and the guide cover 15 with the gradually reduced opening from top to bottom can play a role in guiding; specifically, when the robot body 101 descends to the guide cover 15, since the guide cover 15 corresponds to the position of the guide wheel assembly and the opening at the upper end of the guide cover 15 is large, the guide wheel assembly can be easily moved into the guide cover 15, the guide cover 15 can limit the position of the guide wheel assembly, and the guide cover 15 can more easily limit the position of the robot body 101; in the descending process, the guide cover 15 can gradually and accurately position the robot body 101, and finally, accurate positioning is realized, so that the robot body 101 can accurately place the turnover box 1 into the guide structure 10.

Optionally, the opening size of the first half-frame 11 is larger than the cross-sectional size of the turnaround case 1 in the vertical direction, and/or the opening size of the second half-frame 12 is larger than the cross-sectional size of the turnaround case 1 in the vertical direction, so that the turnaround case 1 can move horizontally and pass through the first half-frame 11 and/or the second half-frame 12. In this embodiment, the opening size of the half frame refers to the size area enclosed by the half frame, and if the opening size of the half frame is larger than the sectional size of the turnover box 1 in the vertical direction, and the turnover box 1 can pass through the half frame during horizontal movement, after the turnover box 1 is placed inside the guide structure, the turnover box 1 can pass through one half frame, so that the turnover box 1 can be pulled out, and the operation such as picking operation by a worker is facilitated. Taking fig. 4 as an example, the direction of pulling out the turnover box is the positive x-axis direction, the vertical direction is the z-axis direction, and if the opening size of the second half frame 12 is larger than the cross-sectional size of the turnover box 1 in the vertical direction, the turnover box 1 can be pulled out in the positive x-axis direction after being placed inside the guide structure, and the second half frame 12 does not block the pulling-out operation.

According to the warehouse carrying system provided by the embodiment of the invention, the guide wheel assembly is arranged on the side part of the robot body 101, two transverse guide wheels of the guide wheel assembly are arranged along the first horizontal direction, the two guide wheel assemblies positioned on the two sides are four transverse guide wheels, and the four transverse guide wheels can realize coplanar synergistic action, so that the four transverse guide wheels can stably position the carrying robot in the first horizontal direction; meanwhile, the transfer robot can be positioned in the second horizontal direction based on the longitudinal guide wheels 102 of the two guide wheel assemblies on both sides, so that the overall positioning is realized. Guide structure 10 is equipped with simple frame construction and guide housing 15, and the transfer robot is at the lift in-process, and the leading wheel subassembly contacts with this guide housing 15, can realize the accurate positioning to the transfer robot under the spacing effect of guide housing 15 to can place turnover case 1 accurate position, perhaps the transfer robot can accurately snatch turnover case 1. The guide structure 10 of the warehousing and transportation system is basically of a frame structure as a whole, and no covering is arranged above the guide structure, so that the turnover box 1 is convenient to lift, and workers are allowed to directly select; alternatively, the worker can pull out the turnover box 1 horizontally through the half-frame and then pick the turnover box, without affecting the normal picking operation.

On the basis of the above embodiment, as shown in fig. 5 and 6, the guide cover 15 includes: a guide plate 151 and two side plates 152; the guide plate 151 and the side plates 152 are both vertically disposed, and the two side plates 152 are respectively disposed at both ends of the guide plate 151 in the horizontal direction. Further, the two side plates 152 are disposed on the same side of the guide plate 151, and both are disposed inside the guide plate 151.

In addition, in the direction from bottom to top, the guide plate 151 is disposed to be inclined outward, and the width of the guide plate 151 is gradually increased; in the direction from bottom to top, the side plates 152 are inclined in a direction away from the other side plate 152, and the width of the side plates 152 gradually increases.

In the embodiment of the present invention, the guide plate 151 disposed to be inclined outward may gradually position the transfer robot in one horizontal direction, and the side plate 152 disposed to be inclined may gradually position the transfer robot in the other horizontal direction, thereby achieving the overall positioning of the transfer robot. Specifically, as shown in fig. 1 to 4, during the lifting of the robot body 101, the outermost ends of the longitudinal guide wheels 102 can contact the guide plates 151 of the guide housing 15, so that the guide plates 151 can position the robot body 105 in the x-axis direction (i.e., the second horizontal direction); further, the first lateral guide wheel 103 and the second lateral guide wheel 104 can be in contact with the two side plates 152, respectively, so that the two side plates can position the robot body 105 in the y-axis direction (i.e., the first horizontal direction); further, as the robot body 105 descends along the z-axis, it can be gradually positioned to a precise position.

Alternatively, the lower ends of the guide hoods 15 are uniform in size in the vertical direction. In this embodiment, as shown in fig. 5 and 6, the lower end of the guide cover 15 is a positioning groove 153 with a uniform vertical dimension, and the size of the positioning groove 153 corresponds to the size of the guide wheel on the side of the robot body 105, that is, the width of the positioning groove 153 is the distance between the outermost ends of the two lateral guide wheels; based on the positioning groove 153, the position of the guide wheel assembly can be precisely defined, thereby achieving precise positioning.

In addition, the outer side of the guide cover 15 can be provided with a mounting ear 154; the mounting ears 154 are used to fixedly connect the first half frame 11 or the second half frame 12 to fix the guide cover 15 to the first half frame 11 or the second half frame 12.

On the basis of the above embodiment, referring to fig. 7, the warehousing and transportation system further includes a sorting table body; wherein, guide structure 10 sets up above the letter sorting platform body, and guide structure 10's first half frame 11 and second half frame 12 set up side by side along the turnover case business turn over direction.

In the embodiment of the present invention, the guide structure 10 is disposed above the sorting table body, and the turnover box 1 can be placed on the surface of the sorting table body under the guiding action of the guide structure 10, and at this time, the turnover box 1 is located inside the frame of the guide structure 10. In this embodiment, after the turnover box 1 is placed on the sorting table body, the worker can take out or put in the turnover box 1 along a horizontal direction, which is the entering and exiting direction of the turnover box; in this embodiment, the first half frame 11 and the second half frame 12 are arranged in parallel in the direction of moving the container in and out, so that the container 1 can be taken out or put in through the corresponding half frames. As shown in fig. 7, the direction of the transfer container moving in and out is the positive x-axis direction, the two half frames are arranged side by side in the x-axis direction, and each half frame is arranged in the y-axis direction.

As shown in fig. 8, the robot body 101 moves above the sorting table body along the guide rail 2, and then performs a lowering operation, so that the robot body 101 can place the picked turnover box 1 above the sorting table body along the guide structure 10; then, the robot body 101 releases the turnover box 1 and performs the lifting operation, so that the turnover box 1 can be placed on the sorting table body, and then the worker can pick the turnover box 1 by pulling out the turnover box 1 along the turnover box entering and exiting direction.

According to the warehouse carrying system provided by the embodiment of the invention, the guide structure 10 is directly arranged on the sorting table body, and the connecting pieces (namely the first connecting piece 13 and the second connecting piece 14) of the guide structure 10 play a role of connecting the half frames and also play a role of supporting and fixing, so that the guide structure 10 can be fixedly arranged on the sorting table body, and at the moment, a higher support does not need to be additionally arranged for the guide structure 10, the structure can be simplified, and the material can be saved. Based on this guide structure 10, can pinpoint the transfer robot to can place turnover case 1 to accurate position, perhaps transfer robot can accurately snatch turnover case 1. The whole basic frame construction that is of this guide structure not only makes things convenient for lift turnover case 1, and the staff can pass half frame, pull out turnover case 1 along turnover case business turn over direction level, later can select the operation to do not influence normal operation of selecting.

On the basis of the above-mentioned embodiment, referring to fig. 7, the sorting table body includes: a chassis 21 and an access structure including a support plate 22 and a linear guide 23. The linear guide rails 23 are arranged on the bottom frame 21, and the linear guide rails 23 are arranged along the in-out direction of the turnover box; the support plate 22 is slidably connected to the linear guide 23 for supporting the turnover box.

In the embodiment of the present invention, when the turnover box 1 is placed on the sorting table body, it is actually placed on the supporting plate 22; the support plate 22 can slide along the linear guide rail 23, so that the turnover box 1 can be drawn out along the linear guide rail 23, and the picking operation of workers at a position far away from the transfer robot is facilitated.

In this embodiment, the sorting table body is of a drawable structure, and after the transfer robot places the transfer container 1 on the support plate 22, the worker can pull out the transfer container 1 to the outer side of the sorting table body, so as to perform sorting operation on the outer side of the sorting table body, so that a working area selected by the worker is not overlapped with a running area of the transfer robot, that is, the transfer robot cannot run right above the worker, and the safety of the worker can be ensured; and the sorting table body has simple structure and lower cost.

Optionally, the surface of the support plate 22 is provided with a plurality of limiting protrusions 221, and the distribution positions of the limiting protrusions 221 correspond to the edges of the turnover box, so that the limiting protrusions can limit the turnover box placed on the surface of the support plate 22; for example, four limiting protrusions are respectively arranged on the periphery of the surface of the supporting plate 22 to respectively limit the positions of four bottom edges of the turnover box. The turnover box can also be accurately placed on the support plate 22 when the user artificially puts the box on.

Alternatively, referring to fig. 7, the warehouse handling system includes a plurality of guide structures 10, and the sorting table body includes an access structure corresponding to the number of guide structures 10, and fig. 7 illustrates an example including two guide structures 10 and two access structures. The multiple in-out structures are arranged in parallel along a direction perpendicular to the in-out direction of the turnover box, and the guide structures 10 are arranged above the corresponding in-out structures.

In this embodiment, the support plate 22 of the in-out structure can move along the in-out direction of the turnover box, i.e. along the x-axis direction of fig. 7; when a plurality of in-out structures exist, the plurality of in-out structures are arranged in parallel along the direction perpendicular to the in-out direction of the turnover box, namely along the y-axis direction of fig. 7, so that the plurality of in-out structures are not affected by each other. At the same time, a plurality of guide structures 10 can each perform a guiding function, so that the turnover box 1 can be placed on the support plate 22 of the corresponding access structure.

Further alternatively, when there are a plurality of guide structures 10, adjacent guide structures 10 may share the same connecting member. As shown in fig. 7, a plurality of guide structures 10 may be provided individually; alternatively, adjacent guide structures 10 may share a single connector, which may further simplify the results and save material.

The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and the present invention shall be covered by the claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (11)

1. A transfer robot, characterized by comprising: the robot comprises a robot body (101) and at least two guide wheel assemblies, wherein the guide wheel assemblies are distributed on the side part of the robot body (101); the guide wheel assembly comprises a longitudinal guide wheel (102), a first transverse guide wheel (103) and a second transverse guide wheel (104);

in a first horizontal direction, the first transverse guide wheel (103) and the second transverse guide wheel (104) are arranged at intervals; the longitudinal guide wheel (102) is arranged between the first transverse guide wheel (103) and the second transverse guide wheel (104);

the rotating shaft of the longitudinal guide wheel (102) is arranged along a first horizontal direction, and the rotating shafts of the first transverse guide wheel (103) and the second transverse guide wheel (104) are arranged along a second horizontal direction; the first horizontal direction is a direction along a corresponding side surface of the robot body (101), and the first horizontal direction is different from the second horizontal direction.

2. A handling robot as claimed in claim 1, characterised in that said longitudinal guide wheels (102) are plural in number.

3. A handling robot as claimed in claim 2, wherein said guide wheel assembly further comprises a first fixed part (106) and a second fixed part (107);

one of the longitudinal guide wheel (102) and the first transverse guide wheel (103) is rotatably arranged on the first fixing part (106); the other longitudinal guide wheel (102) and the second transverse guide wheel (104) are rotatably arranged on the second fixing part (107);

the first fixing part (106) and the second fixing part (107) are fixedly arranged on the side part of the robot body (101).

4. A transfer robot according to any of claims 1-3, wherein the first horizontal direction is parallel to the respective side of the robot body (101) and the second horizontal direction is perpendicular to the first horizontal direction.

5. A storage handling system, comprising: -a guide structure (10) and a handling robot according to any of claims 1-4;

the guide structure (10) comprises: a first half-frame (11), a second half-frame (12), a first connecting piece (13), a second connecting piece (14), and at least two guide covers (15);

the first half frame (11) and the second half frame (12) are arranged in parallel; the first connecting piece (13) and the second connecting piece (14) are arranged between the first half frame (11) and the second half frame (12), the first connecting piece (13) is used for connecting one ends of the first half frame (11) and the second half frame (12), and the second connecting piece (14) is used for connecting the other ends of the first half frame (11) and the second half frame (12);

the two guide covers (15) are respectively arranged on the inner side of the upper part of the first half frame (11) and the inner side of the upper part of the second half frame (12), and the guide covers (15) are arranged corresponding to guide wheel assemblies of the carrying robot; the size of the guide cover (15) is gradually increased in the direction from bottom to top.

6. Warehouse handling system according to claim 5, characterized in that said guide housings (15) comprise: a guide plate (151) and two side plates (152); the guide plate (151) and the side plates (152) are both vertically arranged, and the two side plates (152) are respectively arranged at two ends of the guide plate (151) in the horizontal direction;

in the direction from bottom to top, the guide plate (151) is arranged obliquely outwards, and the width of the guide plate (151) is gradually increased;

from the bottom up, curb plate (152) are to keeping away from another the direction slope setting of curb plate (152), just the width of curb plate (152) increases gradually.

7. Warehouse handling system according to claim 5, characterised in that the lower ends of the guide hoods (15) are of uniform size in the vertical direction.

8. Warehouse handling system according to any one of claims 5 to 7, characterised in that the first half-frame (11) has an opening size greater than the cross-sectional size of the turnaround box in the vertical direction and/or the second half-frame (12) has an opening size greater than the cross-sectional size of the turnaround box in the vertical direction.

9. The warehouse handling system of claim 5, further comprising a sorting table body;

the sorting table is characterized in that the guide structure (10) is arranged above the sorting table body, and the first half frame (11) and the second half frame (12) of the guide structure (10) are arranged in parallel along the in-out direction of the turnover box.

10. The warehouse handling system of claim 9, wherein the sorting table body includes: a chassis (21) and an in-out structure comprising a support plate (22) and a linear guide rail (23);

the linear guide rail (23) is arranged on the bottom frame (21), and the linear guide rail (23) is arranged along the in-out direction of the turnover box;

the support plate (22) is connected with the linear guide rail (23) in a sliding mode and used for supporting the turnover box.

11. The warehouse handling system according to claim 10, characterized in that it comprises a plurality of said guide structures (10) and in that the sorting table body comprises access structures corresponding to the number of said guide structures (10);

the multiple in-out structures are arranged in parallel along the direction perpendicular to the in-out direction of the turnover box, and the guide structures (10) are arranged above the corresponding in-out structures.

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