CN112849903A

CN112849903A - Automatic storing and taking robot and corresponding control method

Info

Publication number: CN112849903A
Application number: CN202110253799.5A
Authority: CN
Inventors: 刘明; 崔荣鑫; 李明生
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-03-09
Filing date: 2021-03-09
Publication date: 2021-05-28

Abstract

The invention belongs to the field of automatic logistics storage, and relates to an automatic storing and taking robot and a corresponding control method, wherein the automatic storing and taking robot comprises the following steps: automobile body, running gear and switching-over jacking integrative mechanism, the automobile body includes: go up frame, well frame and underframe, the running gear includes: horizontal wheelset and vertical wheelset, the integrative mechanism of switching-over jacking includes: the thread ball screw and two lifting roller mounting seats arranged on the thread ball screw, wherein a lower roller and an upper roller are arranged on the lifting roller mounting seats, a transverse roller group is fixed on the lower frame, a longitudinal roller group is fixed on the middle frame, a reversing jacking integrated mechanism is arranged on the lower frame, a plurality of first reset devices are arranged between the middle frame and the lower frame, a middle frame lifting guide rail is arranged on the middle frame, an upper frame lifting guide rail is arranged on the upper frame, the middle frame lifting guide rail and the lower roller are arranged oppositely, and the upper frame lifting guide rail and the upper roller are arranged oppositely.

Description

Automatic storing and taking robot and corresponding control method

Technical Field

The invention belongs to the field of automatic logistics storage, and relates to an automatic storing and taking robot and a corresponding control method.

Background

The robot for automatically accessing the goods basket is also called an Automatic Storage and Retrieval Vehicle (ASRV) or a shuttle vehicle (shunt), and belongs to rail transportation equipment in Automatic logistics Storage of e-commerce, factories and the like.

In a modern medium-small sized warehouse in logistics, in order to improve the storage density, small bulk goods with different specifications are usually stored in a goods basket, and then the goods basket is stacked on a goods shelf. Because the basket size is less, access from the goods shelves can't be accomplished through fork truck. At present, the main mode for conveying small bulk goods in small and medium-sized warehouses at home and abroad is to adopt an automatic Guided vehicle AGV (automatic Guided vehicle) running on the ground to lift a single goods shelf to convey the goods in the warehouse.

The shuttle car suitable for automatically storing and taking the goods basket in the goods shelf of the elevated warehouse generally can only run in the front-back direction on a single track, the goods basket is stored and taken from the side surface, and the running track can be replaced by the aid of other equipment. The small-sized shuttle car used for conveying goods on the goods shelf rail and having the function of running in four directions, namely front, back, left and right, represents an automatic rail changing car of Swiss grid (swiss log) company. U.S. Pat. No. (ROBOT FOR TRANSPORTING STORAGE bin, publication No. US2015/0307276a1), its shuttle only orbits at the top of goods shelves, and the special basket that matches with the shuttle stacks and puts together, and middle each layer does not have the goods shelves to support, and the shuttle utilizes the hoisting device to lift out from the top or put down the basket and deposit the goods, and this scheme need not to build the goods shelves, and STORAGE density is high, but can't use standard basket, and the number of storeys of STORAGE goods is restricted to the number of storeys that special basket stacked, and can't realize the nimble STORAGE at random.

Other domestic and foreign patents show that most of four-way shuttles are mainly heavy-load large-scale equipment, the conveyed objects are standard trays, and the load capacity is more than 1000 Kg. In the prior art, the load is 100Kg, and the ASRV for conveying small-size baskets is rare, and the structural style is not compact enough.

Under the above background, if the small-size ASRV has the motion function of four directions, the small-size ASRV can freely run on the goods shelves, and can realize the full-automatic storage and taking of all goods space goods baskets of the goods shelves of the small and medium-sized warehouses after being matched with the elevator to change the layers. It is urgently required to provide an ASRV having a compact structure and a four-directional movement function.

Disclosure of Invention

Problem (A)

The invention aims to overcome the defects in the prior art and provide a robot which can freely run in all directions in a middle-size and small-size warehouse shelf and can automatically store and take goods baskets. The full-automatic storage and taking device can enter any goods position of the same layer of goods shelf to carry and store goods baskets, can drive into any goods position of a middle-size and small-size warehouse goods shelf to complete full-automatic goods basket storing and taking of the whole warehouse after being matched with an elevator to change layers, greatly improves the storage efficiency and the storage density of the existing middle-size and small-size warehouse, and comprehensively improves the automation and the intellectualization of a goods shelf warehouse.

(II) technical scheme

According to an aspect of the present invention, there is provided an automatic storing and taking robot including: automobile body, running gear and switching-over jacking integrative mechanism, the automobile body includes: go up frame, well frame and underframe, the running gear includes: horizontal wheelset and vertical wheelset, the integrative mechanism of switching-over jacking includes: the thread ball screw and two lifting roller mounting seats arranged on the thread ball screw are arranged, wherein a lower roller and an upper roller are arranged on the lifting roller mounting seats, a transverse roller set is fixed on the lower frame, a longitudinal roller set is fixed on the middle frame, a reversing jacking integrated mechanism is arranged on the lower frame, a plurality of first reset devices are arranged between the middle frame and the lower frame, a middle frame lifting guide rail is arranged on the middle frame, an upper frame lifting guide rail is arranged on the upper frame, the middle frame lifting guide rail and the lower roller are arranged oppositely, and the upper frame lifting guide rail and the upper roller are arranged oppositely.

According to an exemplary embodiment of the present invention, the middle frame lift rail includes: the guide rail comprises a bottom plane, a top plane and guide rail inclined planes, wherein the top plane is arranged on two sides of the bottom plane, and the guide rail inclined planes are arranged between the bottom plane and the top plane.

According to an exemplary embodiment of the present invention, the upper frame lifting rail is disposed in parallel with the middle frame lifting rail, and the upper frame lifting rail is a slope surface inclined from the middle to the side.

According to an exemplary embodiment of the invention, a plurality of second restoring means are provided between the upper frame and the middle frame.

According to an exemplary embodiment of the invention, the difference in radius of the longitudinal wheels and the transverse wheels is smaller than the difference in height of the top plane and the bottom plane.

According to an exemplary embodiment of the invention, the first return means is a compression spring and the second return means is a tension spring.

According to an exemplary embodiment of the present invention, the reversing jacking integrated mechanism further comprises: the reversing jacking integrated mechanism is arranged on the lower frame through the sliding table, and an output shaft of the lifting motor is fixedly connected with the threaded ball screw.

According to an exemplary embodiment of the present invention, a plurality of positioning and collision avoidance devices, for example, positioning and collision avoidance sensors, are disposed at four corners of the lower frame, and are used as precise positioning and collision avoidance devices for the robot during the track running.

According to another aspect of the present invention, there is provided a control method of an automatic access robot, including: the two lifting roller wheel mounting seats are located in the middle of the rotary threaded ball screw through the rotary threaded ball screw, the middle frame rises under the action of the first resetting devices, the longitudinal wheel set leaves the ground, the transverse wheel set lands, and transverse walking operation is executed.

According to the exemplary embodiment of the invention, the two lifting roller mounting seats move towards two sides by rotating the threaded ball screw, the lower rollers roll on the lifting guide rail of the middle frame, the middle frame is pressed downwards, the longitudinal roller set lands, and the transverse roller set lifts off to execute longitudinal walking operation; the two lifting roller mounting seats continue to move towards two sides, and the upper rollers roll on the upper frame lifting guide rails to lift the upper frame.

According to the embodiment of the invention, the positioning and anti-collision protection devices arranged at the four corners of the lower frame detect the holes reserved on the plane of the running track through photoelectric or magnetic induction sensors, the holes are arranged on the track according to fixed distances, sensor signals change when the holes are detected during the running process of the robot, and the robot can accurately calculate the running distance of the robot on the track according to the signal change moment, so that the function of accurately positioning the track is realized. The anti-collision protection device realizes the functions of alarming and parking anti-collision by detecting the obstacle in front of the robot.

(III) advantageous technical effects

The automatic storing and taking robot has four-direction (front-back and left-right) movement functions, can freely run on a goods shelf, can realize full-automatic goods basket storing and taking out of the whole warehouse after being matched with a lifting machine to change layers, can reach any layer, any roadway and any goods position of a stereoscopic warehouse to carry out storage and taking operation of the goods basket under the scheduling of an upper information system, does not need manual intervention, and really realizes a high-efficiency, high-density and full-automatic unattended stereoscopic warehouse. The automatic storing and taking robot has the advantages of compact structure, novel structure, low cost and wide market popularization prospect.

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, and 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 these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an automatic access robot according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of a vehicle body according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a vehicle chassis according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a reversing jacking integrated mechanism according to an embodiment of the invention;

fig. 5 is an installation cross-sectional view of the reversing jacking integrated mechanism according to the embodiment of the invention.

Wherein: 1-vehicle body, 2-running mechanism, 3-reversing jacking integrated mechanism, 4-electric control system, 5-communication module, 6-battery and charging system and 7-control software; 8-upper frame, 9-middle frame, 10-lower frame, 11-bearing beam, 12-wheel seat, 36-middle frame lifting guide rail and 41-upper frame lifting guide rail; 21-transverse driving wheel, 22-transverse driven wheel, 23-transverse driving wheel shaft, 24-longitudinal driving wheel, 25-longitudinal driven wheel, 26-longitudinal driving wheel shaft, 27-positioning and anti-collision protection device, 32-sliding table, 34-pressure spring, 35-transverse driving motor and 37-longitudinal driving motor; 31-a lifting roller mounting seat, 33-a lower roller, 38-a threaded ball screw, 39-a lifting motor and 40-an upper roller; 45-guide column, 46-extension spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.

As shown in fig. 1, the automatic access robot according to the embodiment of the present invention includes not only a vehicle body 1, a traveling mechanism 2, and a reversing jacking integrated mechanism 3. The automatic access robot may further include: an electronic control system 4, a communication module 5, a battery and charging system 6, and control software 7. The control software 7 is stored in the robot control computer memory, the form of which is not limited here. The control software inside the servo motor driver does not fall within the category of control software described herein. The communication module 5 and the battery and charging system 6 can be arranged on two sides of the bottom of the vehicle body 1, and guardrails can be arranged on two sides for protection.

The electronic control system 4 may comprise a robot control computer, control circuits, servo motors and their drivers, sensors, I/O circuits, etc. The electric control system 4 and the control software 7 realize the functions of whole vehicle motion control, basket storage and taking, anti-collision alarm, multi-machine cooperative work and the like. The communication module 5 is responsible for networking communication between the robot and a warehouse upper computer (dispatching center) and between the robots. The battery and charging system 6 is responsible for managing the discharging monitoring and charging management of the robot lithium ion power battery pack.

The body 1 is the basic frame and housing of the robot for automatic access, carrying other system components. The running mechanism 2 consists of two groups of eight wheels, and two servo motors are adopted to drive two active wheels in each group to control the robot to run in four directions, namely front and back, left and right, on the track. The reversing jacking integrated mechanism 3 adopts a bidirectional positive and negative thread ball screw linear guide rail to drive the two lifting roller mounting seats 31 to move relatively, and the integrated mechanism can realize two functions of reversing and lifting the goods basket. The first stroke finishes the reversing function of the two groups of running wheels on the mutually vertical tracks, the second stroke finishes the lifting and descending functions of the goods basket, and the mechanism simultaneously realizes the switching of the two groups of four-wheel mechanisms of the robot and the placement and picking of the goods basket at the appointed goods position.

As shown in fig. 2, the vehicle body 1 is a basic frame of the robot and carries other system components, including three relatively movable frames, an upper frame 8, a middle frame 9 and a lower frame 10. The three frames are formed by welding square steel, wherein the bearing beam 11 and the wheel seat 12 are used as the reference for the installation and connection of the robot, and the requirements of positioning and installation precision are guaranteed at the seam allowance by means of machining technology. The three frames are stacked in the upper-middle-lower order, and guide posts 46 with springs (as shown in fig. 5) are installed at four corners or middle positions of each frame, so that the middle frame 9 and the upper frame 8 can move up and down relative to each other based on the lower frame 10.

As shown in fig. 3, the running gear 2 is composed of two sets of eight wheels, which can be divided into a transverse wheel set and a longitudinal wheel set. Each set of four wheels comprises two driving wheels and two driven wheels, one set of four wheels (a longitudinal wheel set comprising a longitudinal driving wheel 24 and a longitudinal driven wheel 25) is mounted on the middle frame 9 and is responsible for the running of the robot on a transverse rail or plane, and the other set of four wheels (a transverse wheel set comprising a transverse driving wheel 21 and a transverse driven wheel 22) is mounted on the lower frame 10 and is responsible for the running of the robot on a longitudinal rail or plane. Also, a plurality of compression springs 34 may be provided between the middle frame 9 and the lower frame 10.

Two servo motors are adopted to drive two driving wheels in each group to control the robot to run in four directions, namely front and back directions and left and right directions on a track or a plane, and the servo motors and drivers thereof and driving wheels driven by the servo motors are arranged on the same frame.

The two driving wheels (two transverse driving wheels 21 or two longitudinal driving wheels 24) of each group are connected through a shaft (a transverse driving wheel shaft 23 or a longitudinal driving wheel shaft 26) to realize synchronous rotation, and the driven wheels (also called driven wheels, such as a transverse driven wheel 22 or a longitudinal driven wheel 25) are respectively connected with the vehicle body through short shafts. The transverse driving motor 35 drives the transverse driving wheel shaft 23 to rotate, and the longitudinal driving motor 37 drives the longitudinal driving wheel shaft 26 to rotate. Two groups of wheels are switched through the first stroke of the reversing jacking integrated mechanism arranged on the lower frame, so that the robot can be freely switched in the transverse direction and the longitudinal direction at the mutually vertical rail crossing.

It should be noted that the driving wheel and the driven wheel are used for driving, which is only an example. The transverse wheel set and the longitudinal wheel set can also be driven in other modes, and the details are not repeated. In addition, the horizontal and vertical directions are merely for the purpose of more clearly describing the present invention, and the horizontal and vertical directions may be interchanged when the robot is changed in position or the viewing angle is changed. The invention can ensure that the running directions of the two wheel sets are vertical to each other.

As shown in fig. 4, the reversing jacking integrated mechanism 3 may include: two lifting roller mounting seats 31, a sliding table 32, a lower roller 33, a threaded ball screw 38, a lifting motor 39 and an upper roller 40. Wherein, the screw ball screw 38 is located above the slide table 32, and the lifting motor 39 is provided on one side of the screw ball screw 38. The output shaft of the lifting motor 39 and the threaded ball screw 38 can be fixed through a coupler. The two lifting roller mounting seats 31 are symmetrically arranged on the threaded ball screw 38. The threaded ball screw 38 may be a bidirectional positive and negative threaded ball screw. The linear guide rail of the threaded ball screw 38 drives the two lifting roller mounting seats 31 to move relatively, including two strokes, the first stroke drives the middle frame 9 and the lower frame 10 to move relatively, and then drives the two groups of eight wheels to move up and down, thereby completing the reversing function of the two groups of running wheels on the mutually perpendicular rails. The second stroke drives the upper frame 8 and the lower frame 10 (or the middle frame 9) to move relatively, so that the lifting function of the cargo basket is realized. Two mechanisms share the sliding table 32, and two important functions of switching of two groups of four-wheel mechanisms of the robot and placing and picking of the goods basket in a specified goods position are realized by different strokes. The sliding table 32 structure can ensure that the cargo frame is not depressed to a lower height when the robot bears the cargo to move.

The three frames of the vehicle body 1, the running mechanism 2 and the reversing jacking integrated mechanism 3 are shown in the installation and connection relationship through a reversing jacking integrated mechanism installation drawing (shown in figure 5). The reversing jack-up integrated mechanism 3 is mounted to the lower frame 10 via a slide table 32.

Two middle frame lifting rails 36 and four upper frame lifting rails 41 are installed opposite to each other at the respective frames as sliding rails for the lower rollers 33 and the upper rollers 40, respectively.

It should be noted that fig. 5 only shows an example of the relative positions of the lower roller 33 and the upper roller 40. In other embodiments, the positions of the lower roller 33 and the upper roller 40 may be interchanged.

As shown in fig. 5, the middle frame lift rail 36 includes: the guide rail comprises a bottom plane, a top plane and guide rail inclined planes, wherein the top plane is arranged on two sides of the bottom plane, and the guide rail inclined planes are arranged between the bottom plane and the top plane. The guide rail inclined plane can be an inclined plane or can be arranged into a paraboloid.

The upper frame lifting rail 41 is disposed in parallel with the middle frame lifting rail 36, and the upper frame lifting rail 41 at least partially overlaps the top plane of the middle frame lifting rail 36 in the longitudinal direction. The upper frame lifting rail 41 may be provided as a slope surface inclined from the middle to the side.

The first stroke of the reversing and jacking integrated mechanism 3 finishes the reversing function of the robot on the mutually vertical tracks. The switching of the two groups of running wheels on the mutually vertical tracks is completed by driving the middle frame 9 and the lower frame 10 to move relatively. The specific process is as follows:

when the trolley transversely runs, the two lifting roller installation seats 31 on the sliding table 32 move to the middle of the sliding table 32 (located at the middle position of the bottom plane of the lifting guide rail 36 of the middle frame), and the middle frame 9 is pushed upwards under the action of the 4 compression springs 34. The 4 wheels (longitudinal wheel set) of the middle frame 9 leave the ground, the four wheels (transverse wheel set) of the lower frame 10 land, and the robot performs transverse walking operation under the driving of the transverse driving motor 35.

When the trolley longitudinally travels, the two lifting roller mounting seats 31 positioned in the middle of the sliding table 32 move towards two sides, and at the moment, the lower rollers 33 roll on the lifting guide rails 36 of the middle frame 9. After entering the inclined plane of the guide rail in the process of moving to both sides, the lifting guide rail 36 is pressed downwards to drive the middle frame 9 to move downwards, finally, four wheels (longitudinal wheel sets) of the middle frame 9 land, four wheels (transverse wheel sets) of the lower frame 10 leave the ground, and under the action of the longitudinal driving motor 37, the robot executes longitudinal walking operation.

The second stroke of the reversing jacking integrated mechanism 3 drives the upper frame 8 and the lower frame 10 to move relatively, so that the function of jacking the cargo basket is realized. The specific process is as follows:

after the lifting roller mounting base 31 located in the middle of the sliding table 32 enters the upper plane (i.e., the top plane) of the lifting guide rail 36, if the movement is continued to both sides, the upper roller 40 rolls on the upper frame lifting guide rail 41. The lower side of the upper frame lifting guide rail 41 is a slope surface which inclines from the middle to the side, the upper roller 40 rolls on the slope surface of the lifting guide rail 41 to drive the upper frame 8 to move upwards, so that the upper frame 8 is lifted, otherwise, the upper frame 8 is lowered, and therefore the goods basket lifting, picking and lowering actions carried by the upper frame are completed.

It should be noted that 3 servo motors (the transverse driving motor 35, the longitudinal driving motor 37 and the lifting motor 39) are 4 actuating mechanisms of the electric control system, four-way walking, reversing and basket lifting and placing functions are completed, and the 3 servo motors CAN be networked and communicated with the control computer in real time through field buses (EtherCAT, CAN, 485 and the like).

The communication module 5 adopts a 2G/4G/5G module to connect the robot to a network, so as to realize low-cost networking communication between the robot and a warehouse upper computer (dispatching center) and between the robots, a physical layer, a data link layer, a network layer and the like are completely shared with the network, and an application layer adopts a secondary developed network protocol to realize real-time high-speed networking communication of multiple robots and ensure that the multiple robots cooperatively complete high-speed warehouse storage and retrieval of goods baskets.

The battery and charging system 6 is responsible for managing the discharging monitoring and charging management of the robot lithium ion battery pack, and has the main functions of monitoring parameters such as voltage, current and temperature of each battery in real time in the process of storing and taking goods by the robot, and performing battery charging equalization management and parameter monitoring after entering a charging goods space.

After the robot is powered on, wireless communication connection is firstly established with an upper computer (not shown in the figure), the robot is on line and enters a wireless network established by the upper computer, meanwhile, the initial position information of the robot is obtained, and then, an ex-warehouse or in-warehouse instruction of the upper computer is waited.

If an warehousing instruction is received, the robot automatically runs from the current position to an appointed inlet goods position picking basket of the stereoscopic warehouse through a transverse or longitudinal rail along a path planned by the upper computer, if the layer is required to be changed, the robot automatically runs to the position of the elevator, enters the elevator under the scheduling of the upper computer, leaves the elevator after reaching the appointed layer, and runs to the inlet goods position picking basket. And after the baskets are obtained, the baskets are respectively placed at the appointed stock position by a transverse or longitudinal rail and a lifter according to the path planned by the upper computer.

If receiving the delivery instruction, the robot automatically runs from the current position to the specified storage position of the stereoscopic warehouse through the transverse or longitudinal rail respectively along the path planned by the upper computer to pick up the goods basket, if needing to change the layer, the robot automatically runs to the position of the elevator, enters the elevator under the dispatching of the upper computer, leaves the elevator after reaching the specified layer, and runs to the storage position to pick up the goods basket. And after the baskets are obtained, the baskets are continuously placed in the specified outlet goods space of the stereoscopic warehouse through the transverse or longitudinal rail and the elevator according to the path planned by the upper computer.

If the goods baskets need to be moved in the stereoscopic warehouse, the lifting machine runs to a specified position to place the goods baskets through the transverse or longitudinal rails after picking up the goods baskets at a certain goods position along a planned path according to the instruction of the upper computer.

The robot reports information such as self position, voltage, current and the like in real time in the running process, if the electric quantity of the battery is lower than a specified value, the robot automatically enters a specified charging position to be charged, and the robot continues to be put into operation after the charging is finished.

When the robot runs, the robot finds that the self mechanism breaks down, immediately sends out sound and light alarm, and sends out fault information to an upper computer. The automatic storing and taking robot can also be provided with various sensors (such as speed, acceleration, angle sensors, optical sensors and the like), and when the robot stops abnormally due to abnormal conditions (such as accidents that the basket collapses and blocks the tunnel and the like which affect the safety) in the process of storing and taking the basket in the tunnel, the robot gives out sound and light alarm and sends alarm information to the upper computer.

The warehouse can realize the full-automatic basket warehouse-in and warehouse-out after adopting ASRV, will increase substantially the storage density, and this patent has represented the automatic basket equipment development direction of depositing and withdrawing of middle-size and small-size high density stereoscopic warehouse of new generation, compact structure, and the technology is advanced, and is with low costs, has market popularization prospect.

Through the arrangement, the automatic access robot provided by the invention has the following functions:

1) the automatic storing and taking robot can drive along the mutually vertical rails of the goods shelf in an all-directional manner, automatically change lanes and accurately position, so that the automatic storing and taking robot can accurately reach any goods location in the same layer of the stereoscopic warehouse;

2) the automatic storage and picking device has the functions of accurate positioning in a goods shelf of a stereoscopic warehouse and full-automatic storage and picking of goods baskets at any goods location. According to the work order instructions of warehousing and ex-warehouse issued by the upper computer scheduling system, the robot is matched with the elevator to change the layer and then can drive into any goods position of the goods shelf of the warehouse to automatically access the goods basket positioned at the goods position;

3) and the multiple robots work cooperatively. The robot can be controlled by an upper computer dispatching system, a plurality of robots work cooperatively, and are seamlessly integrated with a Warehouse Management System (WMS) to complete high-level tasks such as warehouse batch management, first-in first-out and the like;

4) and data acquisition and reporting functions. When the robot works, the robot can upload information such as position, speed, electric quantity, goods existence, fault conditions and the like to the upper computer;

5) the robot has the functions of fault parking and anti-collision alarming. When the robot carries out storing and taking operation in a roadway, if abnormal parking is caused due to abnormal conditions (safety accidents such as roadway blockage caused by collapse of goods on a tray) and the like, the robot can carry out emergency parking and send out light alarm, and meanwhile, alarm information is sent to an upper computer;

6) the robot has an automatic battery management function. The robot monitors the condition of the lithium ion battery pack in real time, automatically sends a charging request to an upper computer when the capacity of the battery is insufficient, automatically moves to a shelf charging area for charging after approval, and reports battery information in real time.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. An automatic storing and taking robot, characterized by comprising: automobile body (1), running gear (2) and switching-over jacking integrative mechanism (3), automobile body (1) includes: an upper frame (8), a middle frame (9) and a lower frame (10), the travel mechanism (2) comprising: horizontal wheelset and vertical wheelset, the integrative mechanism of switching-over jacking (3) include: the device comprises a threaded ball screw (38) and two lifting roller installation seats (31) arranged on the threaded ball screw (38), wherein a lower roller (33) and an upper roller (40) are arranged on the lifting roller installation seats (31), a transverse roller set is fixed on a lower frame (10), a longitudinal roller set is fixed on a middle frame (9), a reversing jacking integrated mechanism (3) is arranged on the lower frame (10), a plurality of first resetting devices are arranged between the middle frame (9) and the lower frame (10), a middle frame lifting guide rail (36) is arranged on the middle frame (9), an upper frame lifting guide rail (41) is arranged on the upper frame (8), the middle frame lifting guide rail (36) is arranged opposite to the lower roller (33), and the upper frame lifting guide rail (41) is arranged opposite to the upper roller (40).

2. The robot as recited in claim 1, wherein the mid-frame lift rail (36) comprises: the guide rail comprises a bottom plane, a top plane and guide rail inclined planes, wherein the top plane is arranged on two sides of the bottom plane, and the guide rail inclined planes are arranged between the bottom plane and the top plane.

3. The robot according to claim 2, wherein the upper frame lifting rail (41) is disposed in parallel with the middle frame lifting rail (36), and the upper frame lifting rail (41) is a slope surface inclined from the middle to the side.

4. The robot according to claim 3, wherein a plurality of second restoring means are provided between the upper frame (8) and the middle frame (9).

5. The robot of claim 3, wherein the difference in radius between the longitudinal wheels and the transverse wheels is less than the difference in height between the top plane and the bottom plane.

6. The robot as recited in claim 4, wherein the first returning means is a compression spring (34) and the second returning means is a tension spring (46).

7. The robot of claim 1, wherein the reversing lift-up unit (3) further comprises: the reversing jacking integrated mechanism (3) is arranged on the lower frame (10) through the sliding table (32), and an output shaft of the lifting motor (39) is fixedly connected with the threaded ball screw (38).

8. The robot as claimed in claim 1, wherein the lower frame (10) is provided with a plurality of positioning and crash protection devices (27) at four corners thereof.

9. A control method of an automatic storing and taking robot according to any one of claims 1 to 8, characterized in that two lifting roller mounting seats (31) are located at the middle position of the rotary screw ball screw (38) by rotating the screw ball screw (38), the middle frame (9) is lifted up by a plurality of first returning means, the longitudinal wheel set is separated from the ground, the transverse wheel set is grounded, and the transverse walking work is performed.

10. The control method according to claim 9, wherein the two lifting roller mounting seats (31) are moved to both sides by rotating the threaded ball screw (38), the lower rollers (33) roll on the middle frame lifting guide rails (36), the middle frame (9) is pressed down, the longitudinal wheel set lands, and the transverse wheel set lifts off to perform longitudinal walking work; the two lifting roller mounting seats (31) continue to move towards two sides, and the upper rollers (40) roll on the upper frame lifting guide rails (41) to lift the upper frame (8).