CN210133212U - Goods shelf system for robot butt joint - Google Patents

Abstract

The utility model relates to the technical field of a robot butt joint goods shelf, and provides a robot butt joint goods shelf system, which comprises a goods shelf and a robot, wherein the goods shelf comprises a goods shelf body, and a butt joint channel for the robot to enter is arranged below the goods shelf body; the robot comprises a robot body, wherein a first jacking mechanism and a second jacking mechanism are respectively arranged on two opposite sides of the robot body; before the robot submerges into the docking channel, the first and second jacking mechanisms are in a contracted state; when the robot and the goods shelf are in a butt joint state, the first and second jacking mechanisms are in an extending state, and the first and second jacking mechanisms are respectively jacked on corresponding side walls of the butt joint channel, so that the goods shelf is fixedly connected with the robot. Through the structure, the requirement on navigation precision is lower when the goods shelf is butted with the robot, the noise of the goods shelf in the transportation process is reduced, and the structure is simple, the cost is low, and the realization is easy.

Description

Goods shelf system for robot butt joint

Technical Field

The utility model belongs to the technical field of robot butt joint goods shelves technique and specifically relates to a robot butt joint goods shelves system is provided.

Background

When the latent robot pulls carriers such as goods shelves, the lifting rods are needed to fix and drag the carriers such as movable goods shelves, one or more groups of lifting rods are needed on a chassis of the robot, and in a common automatic goods loading and unloading scheme, the gap between the goods shelves and the robot is small, so that the requirement on navigation precision is high. Simultaneously, hard joint about between traditional scheme robot and the goods shelves, robot and goods shelves butt joint back, and the robot is at the in-process of pulling goods shelves motion, because the clearance problem between goods shelves and the robot, can lead to having great noise in the transportation. Although the above problems can be solved with a plurality of electric devices, the cost is high. Therefore, how to provide a docking system without gaps and with low cost is a challenge to those skilled in the art.

Disclosure of Invention

In order to solve the technical problem, the utility model aims to provide a butt joint goods shelves system of robot, navigation accuracy requirement is lower when making goods shelves and robot butt joint through this structure to and reduced the noise that goods shelves appear in the transportation, and simple structure, with low costs, easily realize.

In order to achieve the above purpose, the utility model adopts the following technical scheme: provides a robot docking shelf system, which comprises a shelf and a robot,

the goods shelf comprises a goods shelf body, and a butt joint channel for the robot to submerge is arranged below the goods shelf body;

the robot comprises a robot body, wherein a first jacking mechanism and a second jacking mechanism are respectively arranged on two opposite sides of the robot body;

before the robot submerges into the butt joint channel, the first and second jacking mechanisms are in a contraction state, and the distance between one side of the first jacking mechanism, which is far away from the second jacking mechanism, and one side of the second jacking mechanism, which is far away from the first jacking mechanism, is smaller than the distance between two side walls of the butt joint channel;

when the robot and the goods shelf are in a butt joint state, the first and second jacking mechanisms are in an extending state, and the first and second jacking mechanisms are respectively jacked on corresponding side walls of the butt joint channel, so that the goods shelf is fixedly connected with the robot.

In the technical scheme, the robot and the goods shelf are connected up and down in the traditional scheme, and after the robot is in butt joint with the goods shelf, in order to reduce the gap between the goods shelf and the robot, the channel of the goods shelf can be arranged to be relatively narrow, so that the requirement on navigation precision is high during butt joint; meanwhile, when the robot pulls the goods shelf to move, due to the problem of the gap between the goods shelf and the robot, large noise can be generated in the transportation process. The robot and the goods shelf are connected in a left-right mode, and the telescopic jacking mechanisms are arranged on the two sides of the robot, so that the channel of the goods shelf is relatively wide, and the requirement on navigation accuracy during butt joint is low; meanwhile, the robot is fixedly connected with the left and right sides of the goods shelf through the jacking mechanism in the process of dragging the goods shelf to move, so that the goods shelf is connected with the robot in a seamless mode, the noise of the goods shelf in the transportation process is reduced, and the robot is simple in structure, low in cost and easy to achieve.

In this embodiment, preferably, the first supporting member includes a first air cushion and a first air inlet pipe, the first air cushion is communicated with the first air inlet pipe, and the first air inlet pipe is connected to an external air supply mechanism;

and/or the second jacking component comprises a second air cushion and a second air inlet pipe, the second air cushion is communicated with the second air inlet pipe, and the second air inlet pipe is connected with an external air supply mechanism.

In the technical scheme, before the robot is butted with the goods shelf, the air cushion is in a contraction state, so that the robot is conveniently butted with the goods shelf; after the robot is in butt joint with the goods shelf, the air cushion is inflated, so that the air cushion can be filled between the robot and the goods shelf, and the air cushion is continuously inflated, so that the robot is fixedly connected with the goods shelf. The air cushion can effectively reduce the noise generated in the transportation process.

In this embodiment, preferably, the first supporting member includes a plurality of first air cushions, and the first air cushions are respectively communicated with the first air inlet pipe;

and/or the second jacking member comprises a plurality of second air cushions which are respectively communicated with the second air inlet pipe.

Among this technical scheme, through setting up a plurality of air cushions, can make a plurality of air cushions aerify simultaneously, increased the contact surface of air cushion with the goods shelves, make entire system's stability stronger. Or under the condition of ensuring the same contact surface, a plurality of air cushions are arranged and inflated simultaneously, so that the air cushions can be filled with air more quickly, and the working efficiency of the whole system is improved.

In this embodiment, preferably, the robot is provided with an inflator pump, and the first and second intake pipes are respectively communicated with the inflator pump.

In this embodiment, it is preferable that the inflator is detachably mounted between the first and second cushions.

In this embodiment, preferably, a first supporting hole is formed in one side of the shelf body, the first supporting mechanism is provided with a first supporting rod movably inserted into the first supporting hole, and when the robot and the shelf are in a butt joint state, the first supporting rod extends into the first supporting hole;

and/or a second jacking hole is formed in the opposite side of the goods shelf body, a second jacking rod movably inserted into the second jacking hole is arranged on the second jacking mechanism, and when the robot and the goods shelf are in a butt joint state, the second jacking rod extends into the second jacking hole.

In this embodiment, preferably, the first supporting mechanism includes a first adjusting assembly and a first linear driving mechanism for driving the first supporting rod to extend and retract, the first adjusting assembly is disposed between the first supporting rod and a first push rod of the first linear driving mechanism, so that a center line of the first supporting rod and a center line of the first push rod are located on the same straight line or are disposed at an angle, and the center line of the first supporting rod and a center line of the first supporting hole are located on the same straight line or are parallel;

and/or, the second top is held the mechanism and is included the second adjusting part and be used for the drive the flexible second linear driving mechanism of second top pole, the second adjusting part is located the second top is held the pole with between the second linear driving mechanism's the second push rod, make the second top the central line of pole with the central line of second push rod is located same straight line or is the angle setting, just the second top the central line of pole with the central line of second top hole is located same straight line or is parallel.

In the technical scheme, the position of the central line of the jacking rod is adjusted through the adjusting assembly, so that the central line of the jacking rod, the central line of the push rod and the central line of the jacking hole can be always positioned on the same straight line or arranged in parallel (because the radial size of the jacking hole is generally slightly larger than that of the jacking rod and can be arranged in parallel) regardless of being not positioned on the same straight line or being positioned on the same straight line, the situation that the jacking rod and the jacking hole cannot be installed or have radial impact force is avoided, the high efficiency of the smooth installation and use of the jacking mechanism of the robot on a goods shelf is ensured, and the production cost and the later maintenance cost of the robot are greatly reduced. And the robot jacking mechanism is simple and compact, strong in practicability and wide in application range.

In this embodiment, an end of the first supporting hole close to the first supporting rod is preferably a first trumpet-shaped structure, and a large-diameter end of the first trumpet-shaped structure is arranged close to the first supporting rod;

and/or one end part of the second jacking hole close to the second jacking rod is of a second horn-shaped structure, and the large-diameter end of the second horn-shaped structure is close to the second jacking rod.

Among this technical scheme, horn structure has realized that the top is held the pole and has stretched into the top and hold the hole from the guide, improves the top and holds the biggest allowed error range when the pole stretches into the top and hold the hole, reduces the top and holds the degree of difficulty that the pole stretched into the top and hold the hole.

In this embodiment, preferably, a first identification tag is disposed on one side of the docking channel, a first visual sensor is disposed at a position of the robot corresponding to the first identification tag, and the first visual sensor identifies the first identification tag to realize docking between the first holding rod and the first holding hole;

and/or a second identification label is arranged on one side opposite to the butt joint channel, a second visual sensor is arranged at the position, corresponding to the second identification label, of the robot, and the second visual sensor identifies the second identification label to realize butt joint of the second jacking rod and the second jacking hole.

In the technical scheme, the robot and the goods shelf are accurately positioned and butted through the identification tag and the visual sensor, and the butting precision is greatly improved.

In this embodiment, preferably, the shelf body is provided with a jacking hole;

the robot body is provided with a jacking mechanism, and the jacking mechanism is provided with a jacking rod movably inserted into the jacking hole;

when the robot is in a butt joint state with the goods shelf, the jacking rod extends into the jacking hole.

The utility model provides a butt joint goods shelves system of robot can bring following at least one beneficial effect:

1. in the utility model, the robot and the goods shelf are connected in a left-right way, and the telescopic jacking mechanisms are arranged on the two sides of the robot, so that the channel of the goods shelf is relatively wider, and the navigation precision requirement is lower during butt joint; meanwhile, the robot is fixedly connected with the left and right sides of the goods shelf through the jacking mechanism in the process of dragging the goods shelf to move, so that the goods shelf is connected with the robot in a seamless mode, the noise of the goods shelf in the transportation process is reduced, and the robot is simple in structure, low in cost and easy to achieve.

2. In the utility model, the jacking mechanism is arranged as the air cushion, and the air cushion is in a contraction state before the robot is butted with the goods shelf, so that the robot is convenient to butt the goods shelf; after the robot is in butt joint with the goods shelf, the air cushion is inflated, namely the air cushion is filled between the robot and the goods shelf, and the air cushion is continuously inflated, so that the robot is fixedly connected with the goods shelf. The air cushion can effectively reduce the noise generated in the transportation process.

Drawings

FIG. 1 is a schematic structural diagram of a shelf docked by a robot according to the embodiment;

FIG. 2 is a schematic structural diagram of the robot of the present embodiment;

FIG. 3 is a schematic structural diagram of the robot according to the present embodiment after the air cushion is inflated;

FIG. 4 is a schematic structural diagram of the robot of the present embodiment before the air cushion is inflated;

FIG. 5 is a schematic structural diagram of the robot and shelf aligned air cushion of the present embodiment after being inflated;

FIG. 6 is a schematic structural view of the robot at another viewing angle after the air cushion is inflated;

FIG. 7 is a schematic view of a partial structure of the alignment between the robot and the shelf according to the present embodiment;

FIG. 8 is a partial schematic structural view of the robot according to the embodiment;

fig. 9 is a partial structural schematic view of the combination of the first supporting hole and the first supporting mechanism in this embodiment.

The reference numbers illustrate:

1. the robot comprises a goods shelf, 11, a butt joint channel, 12, a first side plate, 121, a first jacking hole, 13, a second side plate, 131, a second jacking hole, 14, a fixed block, 15, an omnidirectional wheel, 16, a directional wheel, 2, a robot, 21, a robot body, 211, a jacking mechanism, 212, a vision sensor, 213, a driving wheel, 214, a driven wheel, 215, a positioning mechanism, 22, a first air cushion, 23, a second air cushion, 24, a first air inlet pipe, 25, a second air inlet pipe, 26, an inflator pump, 27, a first jacking rod, 271, a first adjusting component, 272, a first linear driving mechanism, 28, a second jacking rod and 29, and the first vision sensor.

Detailed Description

While the present invention may be susceptible to embodiment in different forms, there is shown in the drawings and will herein be described in detail, specific embodiments thereof with the understanding that the present description is to be considered as an exemplification of the principles of the invention and is not intended to limit the invention to that as illustrated herein.

Thus, a feature indicated in this specification will serve to explain one of the features of an embodiment of the invention, and not to imply that every embodiment of the invention must have the described feature. Further, it should be noted that this specification describes many features. Although some features may be combined to show a possible system design, these features may also be used in other combinations not explicitly described. Thus, the combinations illustrated are not intended to be limiting unless otherwise specified.

In the embodiments shown in the drawings, the directions (such as up, down, left, right, front, and rear) are used to explain the structure and movement of the various components of the present invention not absolutely, but relatively. These illustrations are appropriate when these components are in the positions shown in the figures. If the description of the positions of these components changes, the indication of these directions changes accordingly.

The preferred embodiments of the present invention will be further described in detail with reference to the accompanying drawings.

In a first embodiment, as shown in fig. 1, the present embodiment provides a robot docking rack system, which includes a rack 1 and a robot 2, where the rack 1 includes a rack body, a first side plate 12 and a second side plate 13 are respectively disposed on two sides of a lower end of the rack body, and a docking channel 11 for the robot 2 to dive into is formed below the rack body and the first side plate 12 and the second side plate 13. The robot 2 includes a robot body 21, and first and second supporting mechanisms are respectively provided on opposite sides of the robot body 21. Before the robot 2 submerges into the docking channel 11, the first and second jacking mechanisms are in a contracted state, and the distance between one side of the first jacking mechanism far away from the second jacking mechanism and one side of the second jacking mechanism far away from the first jacking mechanism is smaller than the distance between two side plates of the docking channel 11. When the robot 2 and the goods shelf 1 are in a butt joint state, the first and second jacking mechanisms are in an extending state, the first jacking mechanism is jacked on the first side plate 12 of the butt joint channel 11, and the second jacking mechanism is jacked on the second side plate 13 of the butt joint channel 11, so that the goods shelf 1 and the robot 2 are fixedly connected.

In practical application, the robot 2 and the goods shelf 1 are connected up and down in the traditional scheme, after the robot 2 is in butt joint with the goods shelf 1, in order to reduce the gap between the goods shelf 1 and the robot 2, the butt joint channel 11 of the goods shelf 1 is relatively narrow, so that the requirement on navigation accuracy during butt joint is high; meanwhile, in the process of towing the goods shelf 1 to move by the robot 2, due to the problem of the gap between the goods shelf 1 and the robot 2, large noise can be generated in the transportation process. The robot 2 is connected with the goods shelf 1 in a left-right mode, and the telescopic jacking mechanisms are arranged on the two sides of the robot 2, so that the butt joint channel 11 of the goods shelf 1 is relatively wide, and the requirement on navigation accuracy during butt joint is low; meanwhile, in the process of dragging the goods shelf 1 to move by the robot 2, the robot 2 is fixedly connected with the goods shelf 1 left and right through the jacking mechanism, so that the goods shelf 1 is connected with the robot 2 without gaps, the noise of the goods shelf 1 in the transportation process is reduced, and the device is simple in structure, low in cost and easy to realize.

In the second embodiment, as shown in fig. 2 to 4, on the basis of the first embodiment, the first supporting member includes a first air cushion 22 and a first air inlet pipe 24, the first air cushion 22 is communicated with the first air inlet pipe 24, and the first air inlet pipe 24 is connected to the external air supply mechanism, and the external air supply mechanism provides a required air source. The second jacking member comprises a second air cushion 23 and a second air inlet pipe 25, the second air cushion 23 is communicated with the second air inlet pipe 25, and the second air inlet pipe 25 is connected with an external air supply mechanism and provides a required air source by the external air supply mechanism. The first and second air cushions 22, 23 are strip-shaped air cushions, and the first and second air cushions 22, 23 are respectively fixed on two opposite sides of the robot body 21.

As shown in fig. 3 to 6, before the robot 2 docks the shelf 1, the first and second air cushions 22 and 23 are in a contracted state, so that the robot 2 can dock the shelf 1 conveniently. After the robot 2 is in butt joint with the goods shelf 1, the first air cushion 22 and the second air cushion 23 are inflated, so that the first air cushion 22 and the second air cushion 23 are filled between the robot 2 and the goods shelf 1, and the first air cushion 22 and the second air cushion 23 are continuously inflated, so that the robot 2 is fixedly connected with the goods shelf 1. The air cushion can effectively reduce the noise generated in the transportation process.

Preferably, the first supporting member includes a plurality of first air cushions 22, and the plurality of first air cushions 22 are respectively provided in communication with the first air inlet pipe 24; and/or the second jacking member comprises a plurality of second air cushions 23, and the plurality of second air cushions 23 are respectively communicated with the second air inlet pipe 25. Further, the robot 2 is further provided with an inflator 26, and the first and second intake pipes 24 and 25 are respectively communicated with the inflator 26. An inflator 26 is removably mounted between first and second cushions 22, 23.

In practical application, through setting up a plurality of air cushions, can make a plurality of air cushions aerify simultaneously, increased the contact surface of air cushion with the goods shelves, make entire system's stability stronger. Or under the condition of ensuring the same contact surface, a plurality of air cushions are arranged and inflated simultaneously, so that the air cushions can be filled with air more quickly, and the working efficiency of the whole system is improved.

In the third embodiment, as shown in fig. 7 to 9, on the basis of the first and second embodiments, a first supporting hole 121 is formed in one side of the shelf body, a first supporting rod 27 movably inserted into the first supporting hole 121 is formed in the first supporting mechanism, and when the robot 2 and the shelf 1 are in a butt joint state, the first supporting rod 27 extends into the first supporting hole 121. And/or, a second supporting hole 131 is formed in the opposite side of the shelf body, a second supporting rod 27 movably inserted into the second supporting hole 131 is arranged on the second supporting mechanism, and when the robot 2 and the shelf 1 are in a butt joint state, the second supporting rod 27 extends into the second supporting hole 131. The first supporting mechanism further comprises a first adjusting component 271 and a first linear driving mechanism 272 for driving the first supporting rod 27 to extend and retract, the first adjusting component 271 is arranged between the first supporting rod 27 and a first push rod of the first linear driving mechanism 272, so that the center line of the first supporting rod 27 and the center line of the first push rod are positioned on the same straight line or arranged at an angle, and the center line of the first supporting rod 27 and the center line of the first supporting hole 121 are positioned on the same straight line or are parallel; and/or the second supporting mechanism is arranged opposite to the first supporting mechanism, specifically, the second supporting mechanism comprises a second adjusting assembly and a second linear driving mechanism for driving the second supporting rod 28 to stretch, the second adjusting assembly is arranged between the second supporting rod 28 and a second push rod of the second linear driving mechanism, so that the central line of the second supporting rod 28 and the central line of the second push rod are positioned on the same straight line or arranged at an angle, and the central line of the second supporting rod 28 and the central line of the second supporting hole are positioned on the same straight line or are parallel.

In practical application, the position of the central line of the jacking rod is adjusted through the adjusting assembly, so that the central line of the jacking rod, the central line of the push rod and the central line of the jacking hole can be always positioned on the same straight line or arranged in parallel (because the radial size of the jacking hole is generally slightly larger than that of the jacking rod and can be arranged in parallel) regardless of being not positioned on the same straight line or being positioned on the same straight line, the situation that the jacking rod and the jacking hole cannot be installed or have radial impact force is avoided, the high efficiency of smooth installation and use of the jacking mechanism of the robot on a goods shelf is ensured, and the production cost and the later maintenance cost of the robot are greatly reduced. And the robot jacking mechanism is simple and compact, strong in practicability and wide in application range.

Preferably, one end of the first supporting hole 121 close to the first supporting rod 27 is a first trumpet-shaped structure, and the large-diameter end of the first trumpet-shaped structure is arranged close to the first supporting rod 27; and/or one end part of the second jacking hole close to the second jacking rod 28 is of a second trumpet-shaped structure, and the large-diameter end of the second trumpet-shaped structure is arranged close to the second jacking rod 28. The horn-shaped structure realizes that the top holding rod stretches into the top holding hole in a self-guiding manner, the maximum allowable error range of the top holding rod when stretching into the top holding hole is improved, and the difficulty of stretching into the top holding hole by the top holding rod is reduced.

Further, a first identification tag is arranged on one side of the docking channel 11, a first visual sensor 29 is arranged at a position of the robot 2 corresponding to the first identification tag, and the first visual sensor 29 identifies the first identification tag to realize docking of the first jacking rod 27 and the first jacking hole 121; and/or a second identification tag is arranged on the opposite side of the docking channel 11, a second visual sensor is arranged at the position of the robot 2 corresponding to the second identification tag, and the second visual sensor identifies the second identification tag so as to realize the docking of the second jacking rod 28 and the second jacking hole 131. Accurate positioning and butt joint of the robot and the goods shelf are achieved through the identification tag and the vision sensor, and butt joint precision is greatly improved.

In the fourth embodiment, as shown in fig. 1, 2 and 5, in addition to the first, second and third embodiments, a fixing block 14 is provided at the lower end of the top plate of the shelf body, and the fixing block 14 is provided with a jacking hole downward. The robot body 21 is provided with a jacking mechanism 211, and the jacking mechanism 211 is provided with a jacking rod movably inserted into a jacking hole. When the robot 2 and the goods shelf 1 are in a butt joint state, the jacking rod extends into the jacking hole. Preferably, the top of the upper side wall of the docking channel 11 is provided with an identification tag; the robot 2 is provided with a vision sensor 212 at a position corresponding to the identification tag, and the vision sensor 212 acquires the identification tag to realize the butt joint of the jacking rod and the jacking hole. Visual sensor 212 utilizes and realizes robot 2 to the accurate location of goods shelves 1 through rigid body conversion and perspective projection through acquireing the identification label, and then realizes that the jacking pole stops under goods shelves 1's jacking hole, and the jacking pole of being convenient for in the back stretches into in the jacking hole.

Preferably, a wheel system is arranged below the shelf body and comprises omnidirectional wheels 15 and directional wheels 16, wherein the omnidirectional wheels 15 are arranged at four corners of the shelf body, and the directional wheels 16 are arranged between the front omnidirectional wheels 15 and the rear omnidirectional wheels 15. The robot body 21 is provided with a driving mechanism including a driving mechanism, driving wheels 213 and driven wheels 214, wherein the four driven wheels 214 are provided at four corners of the robot body 21, and the driving wheels 213 are provided between the front and rear driven wheels 214.

Further, the robot 2 is further provided with an obstacle avoidance mechanism, such as a laser obstacle avoidance mechanism, a visual obstacle avoidance mechanism, an infrared obstacle avoidance mechanism and other components with an obstacle avoidance function. Alternatively, the robot 2 is further provided with a guide mechanism, such as a visual guide mechanism, a laser guide mechanism, an electromagnetic guide mechanism, or the like. Or, the robot 2 is further provided with a positioning mechanism 215 for positioning the robot 2 to the corresponding shelf 1, and the positioning mechanism 215 may be a radar positioning mechanism, a laser positioning mechanism, or the like.

It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. The utility model provides a butt joint goods shelves system of robot, includes goods shelves and robot, its characterized in that:

the goods shelf comprises a goods shelf body, and a butt joint channel for the robot to submerge is arranged below the goods shelf body;

the robot comprises a robot body, wherein a first jacking mechanism and a second jacking mechanism are respectively arranged on two opposite sides of the robot body;

before the robot submerges into the butt joint channel, the first and second jacking mechanisms are in a contraction state, and the distance between one side of the first jacking mechanism, which is far away from the second jacking mechanism, and one side of the second jacking mechanism, which is far away from the first jacking mechanism, is smaller than the distance between two side walls of the butt joint channel;

when the robot and the goods shelf are in a butt joint state, the first and second jacking mechanisms are in an extending state, and the first and second jacking mechanisms are respectively jacked on corresponding side walls of the butt joint channel, so that the goods shelf is fixedly connected with the robot.

2. The robotic docking racking system according to claim 1, wherein:

the first jacking component comprises a first air cushion and a first air inlet pipe, the first air cushion is communicated with the first air inlet pipe, and the first air inlet pipe is connected with an external air supply mechanism;

and/or the second jacking component comprises a second air cushion and a second air inlet pipe, the second air cushion is communicated with the second air inlet pipe, and the second air inlet pipe is connected with an external air supply mechanism.

3. The robotic docking racking system according to claim 2, wherein:

the first jacking member comprises a plurality of first air cushions which are respectively communicated with the first air inlet pipe;

and/or the second jacking member comprises a plurality of second air cushions which are respectively communicated with the second air inlet pipe.

4. The robotic docking racking system according to claim 2 or 3, wherein:

the robot is provided with an inflator pump, and the first air inlet pipe and the second air inlet pipe are communicated with the inflator pump respectively.

5. The robotic docking racking system according to claim 4, wherein:

the inflator pump is detachably arranged between the first air cushion and the second air cushion.

6. The robotic docking racking system according to claim 1, wherein:

a first supporting hole is formed in one side of the goods shelf body, a first supporting rod movably inserted into the first supporting hole is arranged on the first supporting mechanism, and when the robot is in a butt joint state with the goods shelf, the first supporting rod extends into the first supporting hole;

and/or a second jacking hole is formed in the opposite side of the goods shelf body, a second jacking rod movably inserted into the second jacking hole is arranged on the second jacking mechanism, and when the robot and the goods shelf are in a butt joint state, the second jacking rod extends into the second jacking hole.

7. The robotic docking racking system according to claim 6, wherein:

the first jacking mechanism comprises a first adjusting assembly and a first linear driving mechanism for driving the first jacking rod to stretch, the first adjusting assembly is arranged between the first jacking rod and a first push rod of the first linear driving mechanism, so that the central line of the first jacking rod and the central line of the first push rod are positioned on the same straight line or arranged at an angle, and the central line of the first jacking rod and the central line of the first jacking hole are positioned on the same straight line or are parallel;

and/or, the second top is held the mechanism and is included the second adjusting part and be used for the drive the flexible second linear driving mechanism of second top pole, the second adjusting part is located the second top is held the pole with between the second linear driving mechanism's the second push rod, make the second top the central line of pole with the central line of second push rod is located same straight line or is the angle setting, just the second top the central line of pole with the central line of second top hole is located same straight line or is parallel.

8. The robotic docking racking system according to claim 7, wherein:

one end part of the first jacking hole, which is close to the first jacking rod, is of a first trumpet-shaped structure, and the large-diameter end of the first trumpet-shaped structure is close to the first jacking rod;

and/or one end part of the second jacking hole close to the second jacking rod is of a second horn-shaped structure, and the large-diameter end of the second horn-shaped structure is close to the second jacking rod.

9. The robotic docking racking system according to claim 6, wherein:

a first identification label is arranged on one side of the butt joint channel, a first vision sensor is arranged at a position, corresponding to the first identification label, of the robot, and the first vision sensor identifies the first identification label so as to realize butt joint of the first jacking rod and the first jacking hole;

and/or a second identification label is arranged on one side opposite to the butt joint channel, a second visual sensor is arranged at the position, corresponding to the second identification label, of the robot, and the second visual sensor identifies the second identification label to realize butt joint of the second jacking rod and the second jacking hole.

10. The robotic docking racking system according to claim 1, wherein:

the goods shelf body is provided with a jacking hole;

the robot body is provided with a jacking mechanism, and the jacking mechanism is provided with a jacking rod movably inserted into the jacking hole;

when the robot is in a butt joint state with the goods shelf, the jacking rod extends into the jacking hole.

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