CN113800181A

CN113800181A - Warehouse cargo transport robot and loading method thereof

Info

Publication number: CN113800181A
Application number: CN202111260003.5A
Authority: CN
Inventors: 李兆明; 高汉虎; 胡青; 苏国庆; 赵越
Original assignee: Shanghai Xiangong Intelligent Technology Co ltd
Current assignee: Shanghai Xiangong Intelligent Technology Co ltd
Priority date: 2021-10-28
Filing date: 2021-10-28
Publication date: 2021-12-17

Abstract

The invention provides a warehouse freight robot and a loading method thereof, wherein the warehouse freight robot comprises: automatic guide car and goods shelves climb the machine, be equipped with on-load device on the automatic guide car, the automatic guide car carries on goods shelves through on-load device and climbs the machine, wherein on-load device includes: the automatic guide vehicle comprises a bottom plate, a loading frame, a floating device and a reset device, wherein the bottom plate is connected to the top of the automatic guide vehicle, the floating device is connected to the bottom plate, the loading frame is connected with a moving end of the floating device, an anchoring end of the reset device is connected with the bottom plate and the loading frame respectively to limit a reset position of the floating device, an expansion track is arranged on the loading frame, and a positioning piece is arranged on one side of the expansion track. Thereby increasing the degree of freedom in the capacity allocation.

Description

Warehouse cargo transport robot and loading method thereof

Technical Field

The invention relates to a warehousing technology, in particular to a warehousing goods transportation robot and a loading method thereof.

Background

An Automated Guided Vehicle (AGV) is also commonly referred to as an AGV. The present invention relates to a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a predetermined navigation route, and having safety protection and various transfer functions. The industrial application does not need a driver's transport vehicle, and a rechargeable storage battery is used as a power source of the industrial application. The path and behavior of the device can be controlled by a computer.

In the traditional construction scheme of matching the three-dimensional library used by the AGVs, a material box robot scheme is mostly adopted for construction, and as the prior art has proposed, a material box carrying AGV, a carrying method and an SMT production line automatic docking system (patent publication No. CN 107813882A) comprise: the feeding and discharging device comprises a vehicle body, a feeding and discharging device arranged on a material box of the vehicle body and a control center, wherein the control center is used for controlling the feeding and discharging device to perform corresponding actions, the feeding and discharging device is arranged behind the vehicle body, the feeding and discharging device comprises a material box conveying mechanism used for receiving and conveying the material box, and the receiving and conveying direction of the material box conveying mechanism is parallel to the running direction of the vehicle body.

However, the bin robot is mainly characterized in that the car body moving part and the lifting part of the bin robot are integrated into a whole. Therefore, the adaptive height of the shelf is limited to the lifting range of the robot, so that the design height of the warehouse shelf is limited, and the robot is not economical even if the lifting range of the robot is intentionally increased, and more potential safety hazards are brought in transportation due to an excessively high lifting mechanism.

On the other hand, there is also an AGV with a function of climbing a rack, such as an automatic guided vehicle and a storage system (patent publication No. CN 110035961A) proposed in the prior art, wherein the automatic guided vehicle can climb along the rack, the rack includes a rack body and a first engaging member, a passage for the automatic guided vehicle to travel is provided between two adjacent racks, and the first engaging member is located on a side of the rack body close to the passage. The automatic guide transport vehicle comprises a frame, a climbing device and a telescopic driving device. The climbing device comprises a telescopic connecting piece, a second meshing piece and a climbing driving mechanism, the second meshing piece and the climbing driving mechanism are connected with the telescopic connecting piece, the telescopic connecting piece can move for a preset distance relative to the rack, so that the second meshing piece is meshed with the first meshing piece, the climbing driving mechanism can drive the second meshing piece to rotate, the automatic guided transport vehicle climbs along the first meshing piece, and the automatic guided transport vehicle comprises two climbing devices. The telescopic driving device can drive the telescopic connecting pieces of the two climbing devices to move for a preset distance in opposite directions respectively.

However, such a rack climbing robot is mainly characterized by having both horizontal movement characteristics and rack climbing capability of the AGV, and is designed to be an integral structure, and although the problem of rack height limitation is solved, the body self weight of the robot integrated with the characteristics of the conventional AGV is relatively heavy, so that a mechanism for providing water translation capability during load climbing becomes burdensome, consumes a part of load carrying capacity, and therefore, needs to provide higher climbing force during load carrying, and is not economical.

In addition, the prior art stereo garage and the robot solution thereof have a common disadvantage that the capacity can not be allocated freely because the capacity can not be supported off the task in the middle after the freight command is executed and the goods are received.

Disclosure of Invention

Accordingly, it is a primary object of the present invention to provide a warehouse cargo robot and a loading method thereof to at least partially solve the problems of the prior art.

In order to achieve the above object, according to a first aspect of the present invention, there is provided a warehouse cargo robot comprising: automatic guide car and goods shelves climb the machine, be equipped with on-load device on the automatic guide car, the automatic guide car carries on goods shelves through on-load device and climbs the machine, wherein on-load device includes: the loading frame is connected to the top of the automatic guided vehicle, the loading frame is further provided with an extension track, and the goods shelf climbing machine is connected with the extension track in a matched mode so as to be carried on the automatic guided vehicle.

In order to achieve the above object, according to a second aspect of the present invention, there is provided a warehouse cargo robot comprising: automatic guide car and goods shelves climb the machine, be equipped with on-load device on the automatic guide car, the automatic guide car carries on goods shelves through on-load device and climbs the machine, wherein on-load device includes: the bottom plate carries the dress frame, floating installation, resetting means, wherein the bottom plate is connected at the automatic guided vehicle top, floating installation connects on the bottom plate, carry the dress frame and remove the end with floating installation and be connected, resetting means's anchor end is connected with bottom plate and year dress frame respectively to inject floating installation reset position, wherein carry and be equipped with the extension track on the dress frame, extension track one side is equipped with the setting element, goods shelves climb and connect with the extension track and join in marriage, in order to carry on the automatic guided vehicle.

In a possible preferred embodiment, the floating device comprises: the base, kickboard spare, the ball, kickboard spare both ends are equipped with the spout to supply the ball embedding to slide, the base both ends are equipped with the cover cave, in order to supply kickboard spare both ends to insert, withstand cover cave top surface and bottom surface through the ball, so that the kickboard spare is unsettled the slip in the cover cave within range.

In a possible preferred embodiment, the pallet lift comprises: the goods moving device comprises a climbing unit and a goods moving unit, wherein the climbing unit bears the goods moving unit, a climbing wheel is arranged at the driving end of the climbing unit, a first meshing piece is distributed on the climbing wheel, a second meshing piece matched with the first meshing piece is arranged on the expansion track, the goods shelf climbing machine is matched and connected with the expansion track through the climbing wheel so as to load the goods shelf climbing machine on a loading device, and the goods moving unit comprises: the linear module, the fork, the removal end and the fork of linear module are connected, wherein it is equipped with the cargo area to climb the unit top, linear module sets up in cargo area department to drive the fork access goods and go into and out of cargo area.

In a possible preferred embodiment, the automatic guided vehicle comprises: the device comprises a guide moving unit, a first lifting unit and a first power supply unit, wherein the guide moving unit and the first lifting unit are respectively connected with the first power supply unit to be electrified, the first lifting unit is fixed in a lifting groove of the guide moving unit, and the loading device is connected with a moving end of the first lifting unit; the rack climbing machine comprises: the device comprises a climbing unit, a goods moving unit, a second power supply unit and a controller, wherein the climbing unit, the goods moving unit and the second power supply unit are respectively connected with the controller, the second power supply unit is respectively connected with the climbing unit and the goods moving unit, and the climbing unit bears the goods moving unit; the goods shelf climbing machine is matched and connected with the loading device through the climbing unit so as to be carried above the automatic guiding vehicle.

In a possible preferred embodiment, the climbing unit comprises: the frame, the driving machine, first drive mechanism, climb the wheel, wherein driving machine and first drive mechanism are accomodate in the frame, the driving machine is connected with first drive mechanism's transmission end, climb the wheel and be connected with first drive mechanism's drive end, wherein first drive mechanism includes: the driving machine comprises a first transmission shaft, a first belt pulley, a second transmission shaft, a second belt pulley, a driving wheel and a driving belt, wherein the first belt pulley is sleeved on the first transmission shaft, the second belt pulley is sleeved on the second transmission shaft, the driving end of the driving machine is connected with the driving wheel, the driving wheel is in transmission connection with the first belt pulley and the second belt pulley through the driving belt respectively, and the climbing wheel is connected with two ends of each transmission shaft.

In a possible preferred embodiment, the automatic guided vehicle further comprises: the charging unit, it gets electric with first power supply unit connection, wherein the interface setting that charges of charging unit is on the bottom plate, the second power supply unit of goods shelves climbing machine includes: the electric power storage device is respectively connected with the climbing unit, the goods moving unit and the controller for supplying power, the charging electric brush is arranged at the bottom of the climbing unit, the electric power storage device is arranged in the climbing unit and is connected with the charging electric brush, and the charging electric brush is inserted into the charging interface when the goods shelf climbing machine is loaded into the loading device.

In a possible preferred embodiment, the first lifting unit comprises: the first lifting device is fixed in the second lifting groove of the guide moving unit, and the moving end of the first lifting device supports the first folding support to lift.

In order to achieve the above object, according to a third aspect of the present invention, there is provided a warehouse cargo robot comprising: automatic guide car and goods shelves climb the machine, be equipped with on-load device on the automatic guide car, the automatic guide car carries on goods shelves through on-load device and climbs the machine, wherein the automatic guide car includes: the guide mobile unit, first lift unit, first power supply unit, guide mobile unit and first lift unit are connected with first power supply unit respectively and are got the electricity, first lift unit is fixed in guide mobile unit's lift inslot, carry the loading attachment and include: bottom plate, loading frame, floating installation, resetting means, wherein the floating installation includes: the floating device comprises a base, a floating plate piece and balls, wherein sliding grooves are formed in two ends of the floating plate piece and used for enabling the balls to be embedded into and slide, sleeve cavities are formed in two ends of the base and used for enabling two ends of the floating plate piece to be inserted into and abut against the top surface and the bottom surface of the sleeve cavities through the balls so that the floating plate piece can suspend and slide in the range of the sleeve cavities, the base plate is connected to the moving end of the first lifting unit, the floating device is connected to the base plate, the loading frame is connected with the floating plate piece, the anchoring end of the resetting device is connected with the base plate and the loading frame respectively to limit the resetting position of the floating device, an expansion track is further arranged on the loading frame, and a positioning piece is arranged on one side of the expansion track; the rack climbing machine comprises: the goods moving device comprises a climbing unit, a goods moving unit, a second power supply unit and a controller, wherein the climbing unit, the goods moving unit and the second power supply unit are respectively connected with the controller, the second power supply unit is respectively connected with the climbing unit and the goods moving unit, the climbing unit bears the goods moving unit, a climbing wheel is arranged at the driving end of the climbing unit, a first meshing piece is arranged on the climbing wheel, a second meshing piece matched with the first meshing piece is arranged on the expansion track, the goods shelf climbing machine is matched and connected with the expansion track through the climbing wheel so as to load the goods lifting machine on a loading device, and the goods moving unit comprises: the linear module, the fork, the removal end and the fork of linear module are connected, wherein it is equipped with the cargo area to climb the unit top, linear module sets up in cargo area department to drive the fork access goods and go into and out of cargo area.

In order to achieve the above object, according to a fourth aspect of the present invention, there is also provided a warehouse cargo robot loading method, comprising the steps of: the automatic guide vehicle receives a carrying instruction and goes to a specified goods shelf docking station; the goods shelf climbing machine receives a carrying instruction and descends from the goods shelf; the automatic guide vehicle enables the first lifting unit to lift the loading device so as to guide the expanded track to be connected with the track unit of the goods shelf; the goods shelf climbing machine loads the loading device along the track unit of the goods shelf; the automatic guide vehicle enables the first lifting unit to descend, so that the goods shelf climbing machine is carried to withdraw from the goods shelf docking station after the expansion track is separated from the track unit of the goods shelf.

According to the warehousing freight robot and the loading method thereof provided by the invention, the freight robot is redefined in a master-slave machine form, and the automatic guide vehicle and the goods shelf climbing machine can be separated from the automatic guide vehicle temporarily in a dispatching form to act autonomously when sending/taking goods through the loading structure of the automatic guide vehicle and the goods shelf climbing machine, so that the limitation of the traditional integrated material box robot on the design height of the goods shelf is broken through, and meanwhile, compared with the traditional AGV with a goods shelf climbing function, the self weight of the goods shelf climbing robot is reduced, and the self loading capacity is effectively improved.

In addition, through the loading structure design of the automatic guide vehicle and the goods shelf climbing machine, the automatic guide vehicle can utilize the time to break away from the current task and support the transportation capacity of the goods shelf climbing machine in the goods storage/taking process, so that the freedom degree of transportation capacity allocation is greatly expanded, and the use efficiency of the goods transport robot is further improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic view of a matching structure of a warehousing and freight robot and a three-dimensional goods shelf of the invention;

FIG. 2 is a schematic structural view of the warehousing freight robot of the present invention in a loaded state;

FIG. 3 is a schematic view of the adapting structure of the automatic guided vehicle and the loading device of the present invention;

FIG. 4 is a perspective view of a portion of the carrier of the present invention;

FIG. 5 is a perspective view of the floating device of the present invention;

FIG. 6 is a perspective view of the floating device of the present invention;

FIG. 7 is a schematic structural view of the pallet crawler of the present invention;

FIG. 8 is a schematic perspective view of the pallet crawler of the present invention;

FIG. 9 is a schematic view of the internal structure of the rack crawler of the present invention;

FIG. 10 is a schematic structural diagram of a joining rail of the warehousing and transportation robot of the present invention;

FIG. 11 is a schematic structural view of the warehouse cargo robot in a lifted state according to the present invention;

FIG. 12 is a schematic structural view of the automated guided vehicle and loader of the present invention in a raised state;

FIG. 13 is a schematic view of the automatic guided vehicle of the present invention;

FIG. 14 is a schematic structural view of a first lifting unit according to the present invention;

FIG. 15 is a schematic view of the bottom of the goods shelf climbing machine provided with a charging brush according to the present invention;

fig. 16 is a schematic view of a charging brush of the rack climbing machine and a charging interface of the automatic guided vehicle according to the present invention;

FIG. 17 is a schematic view of the cargo robot of the present invention driving into a shelf docking station waiting for the extension track to engage the track unit;

fig. 18 is a schematic view of the cargo robot lifting and loading device of the present invention, such that the positioning element is coupled to the positioning cone, and the extension rail is adjusted to engage with the rail unit.

Description of the reference numerals

The storage and transportation robot 1, the stereoscopic shelf 2, the automatic guided vehicle 10, the shelf ascender 11, the loading device 12, the charging brush 17, the charging interface 18, the shelf unit 21, the rail unit 22, the docking station 23, the stock area 24, the positioning cone 25, the first support frame 211, the loading shelf 212, the climbing rail 221, the second support frame 222, the loading shelf 121, the expansion rail 122, the floating device 123, the resetting device 124, the bottom plate 125, the positioning member 126, the base 1231, the floating plate 1232, the balls 1233, the nesting holes 1234, the anchoring seat 1241, the springs 1242, the climbing unit 111, the cargo moving unit 112, the controller 113, the second power supply unit 114, the frame 1111, the driving machine 1112, the first transmission mechanism 1113, the climbing wheel 1114, the first transmission shaft 191, the first pulley 192, the second transmission shaft 193, the second pulley 194, the driving wheel 195, the driving belt 196, the linear module 1121, the fork 1122, the loading area 1123, a guide moving unit 101, a first lifting unit 102, a first lifter 1021, and a first folding bracket 1022.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. And the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, 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 meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in combination with the prior art as the case may be. Furthermore, the embodiments and features of the embodiments of the present invention may be combined with each other without conflict. One or more of the illustrated components may be required or unnecessary, and the relative positions of the illustrated components may be adjusted according to actual needs.

(A)

Referring to fig. 1 to 18, the warehousing and transportation robot provided by the present invention constructs a transportation structure capable of dispatching a sub-machine by using a master-slave machine form, so that the master/slave machines of the warehousing and transportation robot 1 of the present invention can independently operate at different ends to perform their respective tasks, and can cooperatively complete tasks that cannot be completed by an individual, thereby expanding the degree of freedom in transportation allocation.

For this reason, the warehouse shipping robot 1 in the present embodiment preferably includes: automatic guide car 10 and goods shelves climb machine 11, wherein under this embodiment, this automatic guide car 10 can be prior art's AGV, simultaneously still be equipped with on the automatic guide car 10 and carry on loading device 12, and automatic guide car 10 carries on goods shelves climb machine 11 through carrying on loading device 12 to form the fit form of primary and secondary machine.

In order to better explain how the warehousing and transportation robot 1 establishes warehousing and transportation relations with shelves, the present embodiment provides an exemplary form of a three-dimensional shelf 2, where the three-dimensional shelf 2 includes: the automatic guided vehicle 10 carries the goods-shelf climbing machine 11 to enter the docking station 23, the goods-shelf climbing machine 11 is separated from the loading device 12 to enter a dispatching form, and is completely separated from the automatic guided vehicle 10, so that after the automatic guided vehicle 10 moves to the storage area 24 of the goods-shelf unit 21 through the rail unit 22 to store/take goods, the automatic guided vehicle returns to the loading device 12 to take the automatic guided vehicle 10 to withdraw from the docking station 23 to go to other places of a goods-transporting task, thereby completing a series of goods-transporting and goods-transporting tasks.

Specifically, as shown in fig. 1, in order to support the cargo transportation mode of the master-slave storage cargo robot 1, so as to automatically guide the car 10 to a stop and facilitate the goods transportation/pickup of the rack climbing machine 11, the rack unit 21 illustrated in this embodiment preferably includes: a first support frame 211, a loading rack 212, the track unit 22 comprising: the climbing roadway comprises climbing rails 221 and second support frames 222, wherein the number of the second support frames 222 is four, the climbing rails 221 are connected to a first position of each second support frame 222 to form a climbing roadway, the climbing rails 221 and the second support frames 222 are staggered, so that a docking station 23 is defined by the fall between the ground and the climbing rails 221 and the rectangular array area where the second support frames 222 are arranged, wherein the first support frames 211 and the climbing rails 221 are arranged in pairs, the loading shelves 212 are respectively connected with the first support frames 211 and the climbing rails 221, and the loading shelves 212 are arranged at intervals up and down to define a storage area 24 by layers.

It should be understood by those skilled in the art that the above-mentioned three-dimensional shelf 2 is only an exemplary shelf that may be adapted to the transportation mode of the warehousing and transportation robot 1 in the present embodiment, and therefore the present invention is not limited to the specific form of the three-dimensional shelf 2, and it can be seen that any shelf that can be adapted to the shelf climbing robot in the present embodiment in the prior art can be adapted to the warehousing and transportation robot 1 in the present embodiment by simple improvement without departing from the concept of the present invention, and thus the shelf solutions in the prior art that are simply improved such as this type all belong to the disclosure scope of the present embodiment.

Further, as shown in fig. 1, in a preferred embodiment, the loading device 12 includes: the loading rack 121, wherein the loading rack 121 is connected to the top of the automatic guided vehicle 10, the loading rack 121 is further provided with an extension rail 122, the extension rail 122 is an extension section similar to the shape of the climbing rail 221, the rack climbing machine 11 is connected to the extension rail 122 in a matching manner to be loaded on the automatic guided vehicle 10 to form a matching shape, wherein when the automatic guided vehicle 10 drives into the docking station 23, and adjusts the parking space until the extension rail 122 is engaged with the rail unit 22, the rack climbing machine 11 can be disengaged from the loading device 12, enters a dispatching shape, and is completely separated from the automatic guided vehicle 10, so as to move to the storage area 24 of the rack unit 21 through the rail unit 22 to store/take goods.

On the other hand, considering that the warehouse floor height and the accuracy of the track unit 22 of the shelf are limited, when the cargo robot 1 enters the docking station, there is a possibility that a drop may exist between the extension track 122 and the climbing track 221, and the engagement between the extension track 122 of the loading device 12 and the track unit 22 is affected.

Therefore, in order to improve the reliability of the connection between the extension rail 122 and the rail unit 22, it is avoided that a large gap or a large fall exists in the connection between the extension rail 122 and the rail unit 22, which causes the falling of the rack climbing machine 11.

For this purpose, as shown in fig. 10 to 14, in the present embodiment, the automatic guided vehicle 10 includes: the guided mobile unit 101, the first lifting unit 102, and the first power supply unit, wherein the guided mobile unit 101 and the first lifting unit 102 are respectively connected to the first power supply unit to be powered, in this example, the guided mobile unit 101 is preferably an existing AGV scheme, a lifting slot is provided in the guided mobile unit 101, the first lifting unit 102 is fixed in the lifting slot of the guided mobile unit 101, and the loading device 12 is connected to a mobile end of the first lifting unit 102; the rack climbing machine 11 includes: the device comprises a climbing unit 111, a goods moving unit 112, a second power supply unit 114 and a controller 113, wherein the climbing unit 111, the goods moving unit 112 and the second power supply unit 114 are respectively connected with the controller 113, the second power supply unit 114 is respectively connected with the climbing unit 111 and the goods moving unit 112, and the climbing unit 111 bears the goods moving unit 112; wherein the rack climbing machine 11 is coupled to the loading device 12 via the climbing unit 111 so as to ride over the automatic guided vehicle 10.

Here, as shown in fig. 13 to 14, a structure of the first lifting unit 102 is illustrated, which includes: a first lifter 1021, a first folding bracket 1022, wherein the top of the first folding bracket 1022 is fixed below the bottom plate 125, and the bottom of the first folding bracket 1022 is fixed in the second lifting groove of the guiding moving unit 101, the first lifter 1021 preferably adopts a driving motor and a transmission device to drive the screw mechanism to form a lifting mechanism, wherein the first lifter 1021 is fixed in the second lifting groove of the guiding moving unit 101, and the moving end of the first lifter supports the first folding bracket 1022 to lift, thereby the first lifting unit 102 can be hidden in the second lifting groove of the guiding moving unit 101 when the first lifting unit 102 is lowered to the limit position, and is convenient to store.

Further, referring to fig. 4 to 6 and fig. 12, in order to achieve the effect of correcting the deviation when the track is connected, in the present embodiment, the loading device 12 includes: a bottom plate 125, a carrier frame 121, a floating device 123, and a reset device 124, wherein the floating device 123 includes: the base 1231, the floating plate 1232, the balls 1233, the two ends of the floating plate 1232 are provided with sliding grooves for the balls 1233 to slide in, the two ends of the base 1231 are provided with the nesting holes 1234 for the two ends of the floating plate 1232 to insert, the balls 1233 prop against the top and bottom of the nesting holes 1234, so that the floating plate 1232 slides in the range of the nesting holes 1234, the bottom plate 125 is connected to the first folding bracket 1022, the floating device 123 is connected to the bottom plate 125, the loading frame 121 is connected to the floating plate 1232, the anchoring end of the resetting device 124 is connected to the bottom plate 125 and the loading frame 121, respectively, to limit the resetting position of the floating device 123.

As shown in fig. 3-4 and fig. 12, in the present embodiment, the reset device 124 includes: anchor seats 1241 and springs 1242, wherein the anchor seats 1241 are disposed in pairs on the corresponding sides of the base plate 125 and the carrier frame 121, and the springs 1242 are connected between the pair of anchor seats 1241, wherein the anchor seats 1241 of each pair are disposed diagonally, and preferably 4 pairs are disposed as shown in fig. 4, so that the movement limit range of the floating device 123 is limited by the returning device 124, and the returning position of the floating device 123 is provided, thereby providing support for returning the extension rail 122 after engaging with the rail unit 22.

The loading rack 121 is further provided with an extension rail 122, the extension rail 122 is an extension section similar to the climbing rail 221, and the rack climbing machine 11 is connected with the extension rail 122 to be loaded on the automatic guided vehicle 10 to form a combined shape. Wherein extension track 122 one side is equipped with setting element 126, be equipped with the locating hole on the setting element 126, wherein three-dimensional goods shelves 2 still includes: a positioning cone 25 is arranged close to the rail unit 22.

As shown in fig. 17-18, when the automatic guided vehicle 10 enters the docking station 23, the loading device 12 is lifted by the first lifting unit 102, so that the positioning cone 25 is inserted into the positioning hole of the positioning member 126, thereby guiding the positioning member 126 to pull the loading frame 121 and adjust the position of the loading frame 121 by the floating device 123, until the extension track 122 is engaged with the track unit 22, the rack climbing machine 11 can be separated from the loading device 12, enter a dispatching configuration, and be completely separated from the automatic guided vehicle 10, so as to move to the storage area 24 of the rack unit 21 through the climbing roadway to store/take goods. Thereafter, when the rack lift 11 returns to the loading unit 12, the first lifting unit 102 is lowered to disengage the positioning member 126 from the positioning tapered column 25, and the loading rack 121 is reset by the resetting device 124, and then the rack lift 11 can be taken by the automated guided vehicle 10 to exit the dock 23 to go to another place for the freight task.

As shown in fig. 7 to 9, the climbing unit 111 includes: the climbing device comprises a frame 1111, a driving machine 1112, a first transmission mechanism 1113 and a climbing wheel 1114, wherein the driving machine 1112, a controller 113 and the first transmission mechanism 1113 are contained in the frame 1111, the controller 113 is in control connection with the driving machine 1112, the driving machine 1112 is connected with the transmission end of the first transmission mechanism 1113, the climbing wheel 1114 is connected with the driving end of the first transmission mechanism 1113,

specifically, as an example, as shown in fig. 9, a configuration of the first transmission mechanism 1113 is shown, which includes: the climbing device comprises a first transmission shaft 191, a first belt pulley 192, a second transmission shaft 193, a second belt pulley 194, a driving wheel 195 and a driving belt 196, wherein the first transmission shaft 191 is sleeved with the first belt pulley 192, the second transmission shaft 193 is sleeved with the second belt pulley 194, the driving end of a driving machine 1112 is connected with the driving wheel 195, the driving wheel 195 is in transmission connection with the first belt pulley 192 and the second belt pulley 194 through the driving belt 196 respectively, and a climbing wheel 1114 is connected with two ends of each transmission shaft.

Further, a first engaging member is disposed on the climbing wheel 1114, and a second engaging member adapted to the first engaging member is disposed on the climbing track 221 and the expansion track 122, wherein the first engaging member is in a gear form in this embodiment, and the second engaging member is in a rack form, so that the climbing effect can be achieved by engaging the first engaging member and the expansion track, and it is worth mentioning that since the gear tooth form can calculate the tooth pitch, the number of rotation turns of the climbing wheel 1114 is controlled by the controller 113, that is, the number of meshing times can be obtained by converting the gear teeth, so that the position of the goods shelf climbing machine 11 on the climbing track 221 can be calculated by the prior art, and thus, the description is omitted here.

Thus, the rack climbing machine 11 is coupled to the extension rail 122 via the climbing wheel 1114 to be stably loaded on the loading device 12 by gear tooth engagement, wherein the removal unit 112 includes: the linear module 1121 and the fork 1122, the controller 113 is in control connection with the linear module 1121, the moving end of the linear module 1121 is connected with the fork 1122, wherein a loading area 1123 is arranged on the top of the rack 1111 to carry transported goods, and the linear module 1121 is arranged in the loading area 1123 to drive the fork 1122 into and out of the loading area 1123 through the command of the controller 113, so that the linear module 1121 drives the fork 1122 to transversely extend into the stock area 24 of the shelf 2 to place goods into the stock area or take goods out the loading area 1123 arranged on the top of the rack 1111, thereby completing the process of storing/taking goods.

Further, in order to improve the cruising ability of the rack climbing machine 11, the spare time of the rack climbing machine 11 is fully utilized to supplement energy, and in this embodiment, the automatic guided vehicle 10 further includes: a charging unit connected to the first power supply unit, wherein the charging interface 18 of the charging unit is disposed on the bottom plate 125, and the second power supply unit 114 of the pallet climbing machine 11 includes: the electric power storage device is respectively connected with the climbing unit 111, the goods moving unit 112 and the controller 113 for supplying power, the electric power storage device can be a storage battery or a super capacitor, the charging brush 17 is arranged at the bottom of the climbing unit 111 of the goods shelf climbing machine 11, the electric power storage device is arranged in the climbing unit 111 and is connected with the charging brush 17, and when the goods shelf climbing machine 11 and the automatic guided vehicle 10 are in a combined state, the charging brush 17 can be inserted into the charging interface 18 to charge the electric power storage device through the charging unit.

Therefore, the automatic guiding vehicle 10 can provide energy charging effect for the loaded goods shelf climbing machine 11, so that energy is supplemented by using the time of the two parts in the integrated form, and the cruising ability of the goods shelf climbing machine 11 is improved conveniently.

Although the above embodiments have illustrated the exemplary structures of one or more automatic guided vehicles and/or rack climbers, the inventor does not make a complete limitation on the specific structures of the automatic guided vehicles and/or rack climbers, and the above examples can be understood as showing the possibility of carrying and using several automatic guided vehicles and various rack climbers, and those skilled in the art should understand that any carrying device 12 that can be adapted to the present invention, to carry equipment with rack climbing and goods storage capability, and to adapt to the scheme of the three-dimensional rack 2, for the purpose of carrying out rack climbing and/or goods fetching, and to form a master-slave machine by the automatic guided vehicle and the rack climber, so as to implement the concept of goods storage and fetching of the present invention, all belong to the scope of the inventive concept and alternative implementation disclosure of the present invention.

(II)

In a first embodiment, the implementation of the freight storage of the storage freight robot includes:

s1, automatically guiding the vehicle 10 to carry the goods shelf climbing machine 11 through the loading device 12, and entering the docking station 23 of the three-dimensional goods shelf 2 for docking;

s2 the shelf ascending machine 11 is separated from the loading device 12, moves to the stock area 24 of the shelf unit 21 along the track unit 22 of the three-dimensional shelf 2 to store/take the goods, and returns to the loading device 12;

s3 automatically guides the vehicle 10 to exit the dock 23 with the rack elevator 11.

In another aspect, the step of performing the freight storage of the storage freight robot corresponds to the first embodiment, and includes:

s2 the shelf ascending machine 11 is detached from the loading device 12, moved to the stock area 24 of the shelf unit 21 along the rail unit 22 of the space shelf 2 to store/take goods;

s3, when the automatic guided vehicle 10 obtains a new loading instruction, the vehicle leaves the current docking station 23, and the docking station 23 heading for the designated stereoscopic shelf 2 is removed from the docking station 23 after the loading device 12 loads the shelf lifter 11 corresponding to the instruction;

s4 stops the current docking station 23 when the automatic guided vehicle 10 does not obtain a new loading instruction, and waits for the rack climbing machine 11 to return to the loading device 12 and then withdraw the docking station 23.

s2 the automatic guided vehicle 10 lifts the loading device 12 via the first lifting unit 102, so as to make the positioning element 126 of the loading device 12 match with the positioning unit of the space frame 2, so as to guide the extension track 122 of the loading device 12 to engage with the track unit 22 of the space frame 2;

s3 the rack climbing machine 11 is engaged with the expansion rail 122 and the rail unit 22 via the climbing unit 111 to be disengaged from the loading device 12, and is moved to the stock area 24 of the magazine unit 21 along the rail unit 22 to store/take goods, and then returned to the loading device 12;

s4 the automatic guided vehicle 10 lowers the first lifting/lowering unit 102 to separate the positioning member 126 from the positioning unit, and then the loaded rack lifting machine 11 withdraws from the dock 23.

s3 the rack climbing machine 11 engages with the extension rail 122 and the rail unit 22 via the climbing unit 111 to disengage the loading device 12 and moves along the rail unit 22 to the stock area 24 of the magazine unit 21 to store/take goods;

s4 when the automatic guided vehicle 10 obtains a new loading instruction, the automatic guided vehicle 10 lowers the first lifting unit 102 to disengage the positioning element 126 from the positioning unit, and the automatic guided vehicle 10 withdraws from the docking station 23, and goes to the docking station 23 of the designated stereoscopic shelf 2 to load the shelf ascending machine 11 corresponding to the loading instruction through the loading device 12;

s5, when the automated guided vehicle 10 does not obtain a new loading instruction, the automated guided vehicle 10 stops at the current docking station 23, and waits for the rack climbing machine 11 to return to the loading device 12, and then the automated guided vehicle 10 lowers the first lifting unit 102 to separate the positioning member 126 from the positioning unit, and then the automated guided vehicle 10 carries the rack climbing machine 11 and withdraws from the docking station 23.

On the other hand, the invention also provides a loading method of the warehouse cargo transport robot corresponding to the first embodiment, which comprises the following steps:

s1, the automatic guided vehicle receives the carrying instruction and goes to the appointed goods shelf docking station;

s2 the goods shelf climbing machine receives the carrying instruction and descends from the goods shelf;

s3, automatically guiding the first lifting unit to lift the loading device by the vehicle to guide the expanded track to be connected with the track unit of the goods shelf;

s4 loading the goods shelf climbing machine into the loading device along the track unit of the goods shelf;

s5 the first lifting unit is lowered by the automatic guiding vehicle to separate the expansion rail from the rail unit of the rack, and the rack climbing machine is carried to withdraw from the rack dock.

Accordingly, in the above embodiments, the automatic guided vehicle 10 or the rack climbing machine 11 may receive and execute the related freight instruction according to the freight scheduling system in the prior art, and those skilled in the art may implement the solution according to the prior art, so that details are not described in this embodiment. It is worth mentioning, however, that the embodiments described above enable an automated guided vehicle 10 to theoretically adapt to all the rack climbers 11 in the warehouse according to the mission instructions, thereby resulting in more interactivity.

In summary, according to the storage cargo robot and the loading method thereof provided by the invention, the storage cargo robot 1 is redefined in a master-slave mode, and the automatic guide vehicle 10 and the loading structure of the rack climbing machine 11 can make the rack climbing machine 11 temporarily separate from the automatic guide vehicle 10 in a dispatching mode to act autonomously when sending/taking goods, so that the limitation of the traditional integrated-structure bin robot on the design height of the rack is broken through, and simultaneously, compared with the traditional AGV with a rack climbing function, the self weight of the rack climbing robot is reduced, and the self loading capacity is effectively improved.

In addition, the automatic guiding vehicle 10 can be separated from the current task by using the time and support the transportation capacity of the goods shelf climbing machine 11 in the process of storing/taking goods by the automatic guiding vehicle 10 and the goods shelf climbing machine 11 through the loading structure design of the automatic guiding vehicle 10 and the goods shelf climbing machine 11 and the three-dimensional goods shelf 2, so that the freedom degree of transportation capacity allocation is greatly expanded, and the use efficiency of the storage and transportation robot 1 is further improved.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof, and any modification, equivalent replacement, or improvement made within the spirit and principle of the invention should be included in the protection scope of the invention.

It will be appreciated by those skilled in the art that, in addition to implementing the system, apparatus and various modules thereof provided by the present invention in the form of pure computer readable program code, the system, apparatus and various modules thereof provided by the present invention can be implemented with the same program in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers 113, embedded microcontrollers 113, etc., all by logically programming the method steps. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.

In addition, all or part of the steps of the method according to the above embodiments may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.

Claims

1. A warehouse cargo robot, characterized by comprising: automatic guide car and goods shelves climb the machine, be equipped with on-load device on the automatic guide car, the automatic guide car carries on goods shelves through on-load device and climbs the machine, wherein on-load device includes: the loading frame is connected to the top of the automatic guided vehicle, the loading frame is further provided with an extension track, and the goods shelf climbing machine is connected with the extension track in a matched mode so as to be carried on the automatic guided vehicle.

2. A warehouse cargo robot, characterized by comprising: automatic guide car and goods shelves climb the machine, be equipped with on-load device on the automatic guide car, the automatic guide car carries on goods shelves through on-load device and climbs the machine, wherein on-load device includes: the bottom plate carries the dress frame, floating installation, resetting means, wherein the bottom plate is connected at the automatic guided vehicle top, floating installation connects on the bottom plate, carry the dress frame and remove the end with floating installation and be connected, resetting means's anchor end is connected with bottom plate and year dress frame respectively to inject floating installation reset position, wherein carry and be equipped with the extension track on the dress frame, extension track one side is equipped with the setting element, goods shelves climb and connect with the extension track and join in marriage, in order to carry on the automatic guided vehicle.

3. The warehouse shipping robot of claim 2, wherein the floatation device comprises: the base, kickboard spare, the ball, kickboard spare both ends are equipped with the spout to supply the ball embedding to slide, the base both ends are equipped with the cover cave, in order to supply kickboard spare both ends to insert, withstand cover cave top surface and bottom surface through the ball, so that the kickboard spare is unsettled the slip in the cover cave within range.

4. The warehouse cargo robot of claim 2, wherein the rack climbing machine comprises: the goods moving device comprises a climbing unit and a goods moving unit, wherein the climbing unit bears the goods moving unit, a climbing wheel is arranged at the driving end of the climbing unit, a first meshing piece is distributed on the climbing wheel, a second meshing piece matched with the first meshing piece is arranged on the expansion track, the goods shelf climbing machine is matched and connected with the expansion track through the climbing wheel so as to load the goods shelf climbing machine on a loading device, and the goods moving unit comprises: the linear module, the fork, the removal end and the fork of linear module are connected, wherein it is equipped with the cargo area to climb the unit top, linear module sets up in cargo area department to drive the fork access goods and go into and out of cargo area.

5. The warehouse shipping robot of claim 2, wherein the automated guided vehicle comprises: the device comprises a guide moving unit, a first lifting unit and a first power supply unit, wherein the guide moving unit and the first lifting unit are respectively connected with the first power supply unit to be electrified, the first lifting unit is fixed in a lifting groove of the guide moving unit, and the loading device is connected with a moving end of the first lifting unit; the rack climbing machine comprises: the device comprises a climbing unit, a goods moving unit, a second power supply unit and a controller, wherein the climbing unit, the goods moving unit and the second power supply unit are respectively connected with the controller, the second power supply unit is respectively connected with the climbing unit and the goods moving unit, and the climbing unit bears the goods moving unit; the goods shelf climbing machine is matched and connected with the loading device through the climbing unit so as to be carried above the automatic guiding vehicle.

6. The warehouse cargo robot of claim 5, wherein the climbing unit comprises: the frame, the driving machine, first drive mechanism, climb the wheel, wherein driving machine and first drive mechanism are accomodate in the frame, the driving machine is connected with first drive mechanism's transmission end, climb the wheel and be connected with first drive mechanism's drive end, wherein first drive mechanism includes: the driving machine comprises a first transmission shaft, a first belt pulley, a second transmission shaft, a second belt pulley, a driving wheel and a driving belt, wherein the first belt pulley is sleeved on the first transmission shaft, the second belt pulley is sleeved on the second transmission shaft, the driving end of the driving machine is connected with the driving wheel, the driving wheel is in transmission connection with the first belt pulley and the second belt pulley through the driving belt respectively, and the climbing wheel is connected with two ends of each transmission shaft.

7. The warehouse shipping robot of claim 5, wherein the automated guided vehicle further comprises: the charging unit, it gets electric with first power supply unit connection, wherein the interface setting that charges of charging unit is on the bottom plate, the second power supply unit of goods shelves climbing machine includes: the electric power storage device is respectively connected with the climbing unit, the goods moving unit and the controller for supplying power, the charging electric brush is arranged at the bottom of the climbing unit, the electric power storage device is arranged in the climbing unit and is connected with the charging electric brush, and the charging electric brush is inserted into the charging interface when the goods shelf climbing machine is loaded into the loading device.

8. The warehouse shipping robot of claim 5, wherein the first lifting unit comprises: the first lifting device is fixed in the second lifting groove of the guide moving unit, and the moving end of the first lifting device supports the first folding support to lift.

9. A warehouse cargo robot, characterized by comprising: automatic guide car and goods shelves climb the machine, be equipped with on-load device on the automatic guide car, the automatic guide car carries on goods shelves through on-load device and climbs the machine, wherein the automatic guide car includes: the guide mobile unit, first lift unit, first power supply unit, guide mobile unit and first lift unit are connected with first power supply unit respectively and are got the electricity, first lift unit is fixed in guide mobile unit's lift inslot, carry the loading attachment and include: bottom plate, loading frame, floating installation, resetting means, wherein the floating installation includes: the floating device comprises a base, a floating plate piece and balls, wherein sliding grooves are formed in two ends of the floating plate piece and used for enabling the balls to be embedded into and slide, sleeve cavities are formed in two ends of the base and used for enabling two ends of the floating plate piece to be inserted into and abut against the top surface and the bottom surface of the sleeve cavities through the balls so that the floating plate piece can suspend and slide in the range of the sleeve cavities, the base plate is connected to the moving end of the first lifting unit, the floating device is connected to the base plate, the loading frame is connected with the floating plate piece, the anchoring end of the resetting device is connected with the base plate and the loading frame respectively to limit the resetting position of the floating device, an expansion track is further arranged on the loading frame, and a positioning piece is arranged on one side of the expansion track; the rack climbing machine comprises: the goods moving device comprises a climbing unit, a goods moving unit, a second power supply unit and a controller, wherein the climbing unit, the goods moving unit and the second power supply unit are respectively connected with the controller, the second power supply unit is respectively connected with the climbing unit and the goods moving unit, the climbing unit bears the goods moving unit, a climbing wheel is arranged at the driving end of the climbing unit, a first meshing piece is arranged on the climbing wheel, a second meshing piece matched with the first meshing piece is arranged on the expansion track, the goods shelf climbing machine is matched and connected with the expansion track through the climbing wheel so as to load the goods lifting machine on a loading device, and the goods moving unit comprises: the linear module, the fork, the removal end and the fork of linear module are connected, wherein it is equipped with the cargo area to climb the unit top, linear module sets up in cargo area department to drive the fork access goods and go into and out of cargo area.

10. A loading method of a warehouse cargo transport robot is characterized by comprising the following steps:

the automatic guide vehicle receives a carrying instruction and goes to a specified goods shelf docking station;

the goods shelf climbing machine receives a carrying instruction and descends from the goods shelf;

the automatic guide vehicle enables the first lifting unit to lift the loading device so as to guide the expanded track to be connected with the track unit of the goods shelf;

the goods shelf climbing machine loads the loading device along the track unit of the goods shelf;

the automatic guide vehicle enables the first lifting unit to descend, so that the goods shelf climbing machine is carried to withdraw from the goods shelf docking station after the expansion track is separated from the track unit of the goods shelf.