CN212173398U

CN212173398U - Storage goods shelf and transfer robot

Info

Publication number: CN212173398U
Application number: CN201922229668.4U
Authority: CN
Inventors: 陈叶广; 何佳伟
Original assignee: Shenzhen Hairou Innovation Technology Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2019-12-11
Filing date: 2019-12-11
Publication date: 2020-12-18
Anticipated expiration: 2029-12-11

Abstract

The utility model relates to a storage goods shelf, including support frame, a plurality of storage goods platform and at least one determine module. The support frame extends along vertical direction, and a plurality of storage goods platforms set up in the support frame along vertical direction interval, and a plurality of storage goods platforms are used for the storage respectively and treat the goods of transport. At least one detection subassembly sets up in storage goods platform or support frame, and at least one detection subassembly is used for detecting whether have the goods of treating the transport on a plurality of storage goods platforms, and/or detects whether the goods of treating the transport put in place on a plurality of storage goods platforms. The utility model discloses still relate to a transfer robot including above-mentioned storage goods shelves. Above-mentioned storage goods shelves and transfer robot, whether the detection subassembly that sets up on storage goods platform or support frame can last has the goods of treating the transport on a plurality of storage goods platforms of detection, has improved whether the efficiency of treating the transport goods has on the corresponding storage goods platform of judgement among the cargo handling process, allows handling device can be quick make the cargo handling plan and implement the transport.

Description

Storage goods shelf and transfer robot

Technical Field

The utility model relates to an intelligent storage technical field especially relates to a storage goods shelves and transfer robot.

Background

The intelligent storage is a link in the logistics process, and the application of the intelligent storage ensures the speed and the accuracy of data input in each link of goods warehouse management, ensures that enterprises timely and accurately master real data of the inventory, and reasonably keeps and controls the inventory of the enterprises. Through scientific coding, the batch, the shelf life and the like of the inventory goods can be conveniently managed. By utilizing the storage position management function of the SNHGES system, the current positions of all the stored goods can be mastered in time, and the working efficiency of warehouse management is improved. The transfer robot plays an important role in intelligent warehousing, replaces manual goods transfer, but the robot used in the current warehousing logistics generally can only judge whether goods are stored on the storage goods shelf through the detection device on the transfer device, and can only make a judgment when the transfer device and the storage goods shelf are at the same height, so that the efficiency is low.

SUMMERY OF THE UTILITY MODEL

In view of this, it is necessary to provide a storage rack and a transfer robot that efficiently determine whether or not there is a load in order to solve the problem that the efficiency of determining whether or not there is a load on a basket is low in the conventional transfer robot.

A storage rack comprising:

a support frame extending in a vertical direction;

the storage cargo platforms are arranged on the supporting frame at intervals along the vertical direction and are respectively used for storing cargoes to be carried;

the detection assembly is used for detecting whether goods to be transported exist on the storage goods platforms or not and/or detecting whether the goods to be transported on the storage goods platforms are put in place or not.

In one embodiment, the storage shelf comprises a plurality of detection assemblies, the number of the detection assemblies is the same as that of the storage platforms, the detection assemblies are respectively arranged on one storage platform and/or the supporting frame, and each detection assembly can respectively detect whether goods to be carried exist on the corresponding storage platform and/or detect whether the goods to be carried on the corresponding storage platform are put in place.

In one embodiment, each of the detecting assemblies respectively includes a first detecting structure, each of the first detecting structures is respectively disposed on the corresponding storage platform, and each of the first detecting structures is respectively configured to detect whether there is a cargo to be transported on the corresponding storage platform.

In one embodiment, each of the detecting assemblies further includes a second detecting structure, each of the second detecting structures is disposed on the corresponding storage platform, and each of the second detecting structures is used for detecting whether the goods to be transported on the corresponding storage platform are put in place.

In one embodiment, each of the first detecting structures is disposed at a middle portion of the corresponding storage platform, and each of the second detecting structures is disposed at an edge of the corresponding storage platform.

In one embodiment, the storage platform has a cargo access end, and each of the second detection structures is disposed at the other end of the corresponding storage platform opposite to the cargo access end.

In one embodiment, each storage platform comprises a storage pallet and a connecting structure, and the storage pallet is fixedly arranged on the supporting frame through the connecting structure; the middle part of the storage pallet is provided with a first detection hole, the edge of the storage pallet is provided with a second detection hole, and the first detection structure and the second detection structure are respectively arranged in the first detection hole and the second detection hole.

In one embodiment, two side edges of the storage pallet along the goods entering and exiting direction and the other end of the storage pallet opposite to the goods entering and exiting end are respectively provided with a flanging, and the flanging is folded towards one side of the storage pallet for supporting goods.

In one embodiment, the detection assembly includes at least one third detection structure, the third detection structure is disposed on one side of the plurality of storage platforms along the direction of entering and exiting the goods, and the third detection structure is configured to detect whether the goods to be transported exist on the plurality of storage platforms and/or detect whether the goods to be transported on the plurality of storage platforms are put in place along the horizontal direction perpendicular to the direction of entering and exiting the goods.

In one embodiment, the detecting assembly further includes at least one fourth detecting structure, the third detecting structure and the fourth detecting structure are disposed at two sides of the plurality of storage platforms in the cargo entering and exiting direction at intervals, and the third detecting structure and the fourth detecting structure are configured to detect whether the plurality of storage platforms have cargos to be transported and/or detect whether the cargos to be transported on the plurality of storage platforms are placed in place in the horizontal direction perpendicular to the cargo entering and exiting direction.

In one embodiment, the storage shelf comprises a plurality of detection components, the number of the detection components is the same as that of the storage platforms, and each detection component corresponds to one storage platform; each group of the third detection structures and the fourth detection structures are arranged at the two sides of the storage goods table in and out goods direction at intervals, and each group of the third detection structures and the fourth detection structures are used for detecting whether corresponding goods to be carried exist on the storage goods table and/or detecting whether corresponding goods to be carried on the storage goods table are put in place in the horizontal direction perpendicular to the goods in and out directions.

In one embodiment, the third detecting structure and the fourth detecting structure are disposed on the storage platforms adjacent to the corresponding storage platforms, or each set of the third detecting structure and the fourth detecting structure is disposed on the supporting frame; and each group of the third detection structure and the fourth detection structure respectively detect whether goods to be carried exist on the corresponding storage goods platform and/or detect whether the corresponding goods to be carried on the storage goods platform protrudes out of the storage goods platform in the horizontal direction perpendicular to the goods entering and exiting direction.

In one embodiment, the detecting assembly further comprises at least one fifth detecting structure, the storage platforms have cargo access ends, the fifth detecting structure is close to the cargo access ends of the storage platforms, and the fifth detecting structure is used for detecting whether cargo protrudes out of the cargo access ends of the storage platforms on the plurality of storage platforms.

In one embodiment, the detecting assembly further includes at least one sixth detecting structure, the sixth detecting structure is close to the other end of the storage platforms opposite to the goods access end, and the sixth detecting structure is used for detecting whether goods exist on the plurality of storage platforms and protrudes out of the other end of the storage platforms opposite to the goods access end.

In one embodiment, the fifth detection structure and the sixth detection structure are arranged at the top end of the support frame at intervals along the direction of the goods entering and exiting from the storage platform; or the fifth detection structure and the sixth detection structure are arranged on the storage goods table at intervals along the direction of goods entering and exiting from the storage goods table.

In one embodiment, the type of the detection assembly comprises one or a combination of a plurality of photoelectric sensors, magnetic sensors, visual sensors, ultrasonic sensors and travel switches.

A transfer robot comprises a chassis, a transfer device and the storage shelf, wherein the support frame is arranged on the chassis, the transfer device can lift relative to the storage shelf, the transfer device conveys goods to be transferred to the storage shelf, or the transfer device takes the goods to be transferred out of the storage shelf.

In one embodiment, the carrying robot further comprises a vertical frame, the carrying device is arranged on the vertical frame in a lifting manner, the storage shelves are arranged on the vertical frame through the supporting frame, and the carrying device and the storage shelves are respectively arranged on two sides of the vertical frame; the vertical frame is arranged on the chassis, and the chassis can move on the ground.

Above-mentioned storage goods shelves and transfer robot, whether there is the goods of treating the transport on the detection of setting detection subassembly on storage goods platform or support frame can last a plurality of storage goods platforms, and/or whether the goods of treating the transport put in place on a plurality of storage goods platforms, whether the efficiency whether put in place on judging corresponding storage goods platform has the goods of treating the transport and/or treating the transport on a plurality of storage goods platforms among the cargo handling process has been improved greatly, allow handling device can be quick make the goods transport plan and implement the transport, the transport efficiency of goods has wholly been improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.

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

Fig. 1 is a schematic view of a storage shelf according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a storage platform and a detection assembly according to an embodiment of the present invention;

fig. 3 is a structural diagram of a detection assembly according to an embodiment of the present invention;

fig. 4 is a schematic view of a storage shelf according to another embodiment of the present invention;

fig. 5 is a schematic structural view of a transfer robot according to an embodiment of the present invention.

The system comprises a 10-carrying robot, a 100-carrying device, a 200-chassis, a 300-storage shelf, a 310-supporting frame, a 320-storage goods table, a 321-storage goods plate, a 322-flanging, a 323-first detection hole, a 324-second detection hole, a 325-goods inlet and outlet end, a 330-detection component, a 331-first detection structure, a 332-second detection structure, a 333-third detection structure, a 334-fourth detection structure and a 335-detection mounting structure.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. The following description of the embodiments is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. In contrast, when an element is referred to as being "directly connected" to another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

In the description of the present invention, it is to be understood that the terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, are not to be construed as limiting the present invention.

The utility model provides a storage shelf 300, including support frame 310, a plurality of storage goods platform 320 and at least one determine module 330. The support frame 310 extends in a vertical direction for supporting a plurality of storage platforms 320. The plurality of storage platforms 320 are disposed on the support frame 310 at intervals in the vertical direction, and the plurality of storage platforms 320 are used for storing goods to be transported, respectively. At least one detection assembly 330 is disposed on the storage platforms 320 or the supporting frames 310, and the at least one detection assembly 330 is used for detecting whether goods to be transported exist on the plurality of storage platforms 320 and/or detecting whether the goods to be transported on the plurality of storage platforms 320 are put in place. Above-mentioned storage shelf 300, whether the detection subassembly 330 that sets up on storage goods platform 320 or support frame 310 can last detects whether there is the goods that wait to carry on a plurality of storage goods platforms 320, and/or whether the goods that wait to carry on a plurality of storage goods platforms 320 put in place, whether the efficiency whether the goods that wait to carry on a plurality of storage goods platforms 320 and/or wait to carry on a plurality of storage goods platforms put in place is judged to have among the goods handling process greatly, allow handling device 100 can be quick make the goods transport plan and implement the transport, the handling efficiency of goods has wholly been improved. It is to be understood that, in the utility model, the goods stored in the storage shelf 300 and the goods carried by the transfer robot 10 may also be empty bins or bins carrying goods.

Optionally, in the present invention, one detecting component 330 may detect all of the storage platforms 320, or a plurality of detecting components 330 may detect a plurality of storage platforms 320. As shown in fig. 1-3, an embodiment of the present invention provides a storage rack 300, which includes a support frame 310, a plurality of storage platforms 320, and a plurality of detection assemblies 330. The number of the plurality of detection assemblies 330 is the same as that of the storage platforms 320, the plurality of detection assemblies 330 are respectively arranged on one storage platform 320 and/or the supporting frame 310, and each detection assembly 330 can respectively detect whether goods to be transported exist on the corresponding storage platform 320 and/or detect whether the goods to be transported on the corresponding storage platform 320 are put in place. The plurality of detection assemblies 330 respectively detect the corresponding storage platforms 320, and the detection efficiency is further improved.

The detecting component 330 is used to detect whether the corresponding storage platform 320 contains the goods to be handled, and it can be understood that the detecting signal generated by the detecting component 330 is different when the goods to be handled are on the corresponding storage platform 320 and when the goods to be handled are not on the corresponding storage platform 320. The transfer robot 10 controls the transfer device 100 to transfer the goods to the storage platform 320 without the goods or to take out the goods on the storage platform 320 with the goods according to the different detection signals output by the detection module 330. Optionally, the type of the detecting component 330 includes one or a combination of several of a photoelectric sensor, a magnetic sensor, a visual sensor, an ultrasonic sensor, and a travel switch. Each of the above types of detecting assemblies 330 can respectively or in combination determine whether there is a cargo to be transported on the corresponding storage platform 320.

In an embodiment of the present invention, as shown in fig. 2-3, each detecting component 330 includes a first detecting structure 331, each first detecting structure 331 is disposed on the corresponding storage platform 320, and each first detecting structure 331 is used for detecting whether there is a cargo to be transported on the corresponding storage platform 320. The first detecting structure 331 is directly mounted on the storage platform 320, so that the existence of the cargo on the storage platform 320 can be more directly judged. As a practical way, the first detection structure 331 comprises a photoelectric sensor, the first detection structure 331 of the photoelectric sensor type being able to emit different detection signals when there is or is not a load to be handled on the corresponding storage platform 320. In other embodiments of the present invention, the first detecting structure 331 can also be installed on the supporting frame 310 near the corresponding storage platform 320. In this embodiment, the carrying device 100 can transport the goods to the corresponding storage platform 320 or take the goods out of the corresponding storage platform 320 according to different detection signals output by the first detection structure 331, and meanwhile, it is avoided that the carrying device 100 cannot take the goods when taking the goods to the empty storage platform 320, and the collision accident caused by the carrying device 100 transporting the goods to the storage platform 320 with the goods already existing is also avoided.

The goods can have the condition of opening and stopping, acceleration and deceleration and turn at the in-process of transport, if the goods is unstable at the locating position of handling, can cause dropping of goods. In an embodiment of the present invention, as shown in fig. 2-3, each detecting component 330 further includes a second detecting structure 332, each second detecting structure 332 is disposed on the corresponding storage platform 320, and each second detecting structure 332 is used for detecting whether the goods to be transported on the corresponding storage platform 320 is placed in place. It will be appreciated that the handling process can only be initiated when all of the second sensing structures 332 have signaled a good in place detection. As one implementation, the type of second detection structure 332 includes a travel switch. When the goods are put in place, the goods can trigger the travel switch to send out an in-place signal, and then the process of transporting the goods is allowed to start.

In an embodiment of the present invention, as shown in fig. 2-3, each first detecting structure 331 is disposed at the middle of the corresponding storage platform 320, and each second detecting structure 332 is disposed at the edge of the corresponding storage platform 320. The supporting portion of the storage platform 320 corresponds to the general size of the goods to be handled, and the goods to be handled can stay on the storage platform 320 when the storage platform 320 supports at least half of the volume of the goods to be handled. Install first detection structure 331 in the middle part that corresponds storage goods platform 320, can accurately judge whether to place the goods that remain to be carried on the storage goods platform 320 under most operating mode circumstances. When the goods are put in place, the outer edges of the general goods are located at the edge of the storage goods table 320, and the second detection structure 332 is arranged at the edge of the storage goods table 320, so that whether the goods to be carried are put in place on the corresponding storage goods table 320 can be effectively judged. As an implementation manner, each second detection structure 332 is disposed at the other end of the corresponding storage platform 320 opposite to the cargo access end 325, so as to effectively detect whether the cargo to be handled is put in place. It is understood that the transfer robot 10 can transfer the goods from the start point to the end point only when the first detecting structure 331 sends the goods-in-place signal and the second detecting structure sends the in-place signal.

The storage platform 320 is used for supporting the goods to be handled, and optionally, the part of the storage platform 320 for carrying the goods to be handled is a plane, a bracket or other structures. In an embodiment of the present invention, as shown in fig. 2-3, each storage platform 320 includes a storage pallet 321 and a connection structure, and the storage pallet 321 is fixedly disposed on the support frame 310 through the connection structure. The middle part of the storage pallet 321 is provided with a first detection hole 323, the edge of the storage pallet 321 is provided with a second detection hole 324, a first detection structure 331 and a second detection structure 332 are respectively arranged in the first detection hole 323 and the second detection hole 324, the top of the first detection structure 331 of the photoelectric sensor type is lower than the plane of the storage pallet 321 for bearing the goods, and the top of the second detection structure 332 of the travel switch type protrudes out of the plane of the storage pallet 321 for bearing the goods. The first detection structure 331 and the second detection structure 332 are installed on the storage pallet 321 in an open hole manner, so that the first detection structure 331 or the second detection structure 332 can be prevented from being impacted in the cargo conveying process. In one embodiment, the first detection structure 331 and the second detection structure 332 can be provided by providing the detection mounting structure 335 on the side of the storage board 321 away from the cargo

Further, as shown in fig. 2-3, two sides of the storage pallet 321 along the goods entering and exiting direction and the other end of the storage pallet 321 opposite to the goods entering and exiting end 325 are respectively provided with a flange 322, and the flange 322 is folded towards the side of the storage pallet 321 supporting the goods. The flanges 322 on the storage pallet 321 can serve as guides and locations for the storage of goods into the storage pallet 321 or for the retrieval of goods from the storage pallet 321. It can be understood that the cargo storing process and the cargo removing process from the storage pallet 321 need to pass through the cargo access end 325 of the storage pallet 321, and the cargo access end 325 of the storage pallet 321 is not provided with the flange 322 to facilitate the cargo storing and removing process. And the goods is taking out or is storing the in-process of storage pallet 321 and is moving along business turn over goods direction, and storage pallet 321 can guide the goods to move along business turn over goods direction all the time along the in-process of goods motion along turn-ups 322 that business turn over goods direction both sides limit set up, has guaranteed that the goods is stored in storage pallet 321 or is taken out going on smoothly of process from storage pallet 321. The storage pallet 321 is provided with a turned-over edge 322 at the other end opposite to the goods access end 325, so that goods can be prevented from falling off from the storage pallet 321.

In one embodiment of the present invention, one detection assembly 330 is used to detect all storage platforms 320. Further, as shown in fig. 4, the detecting assembly 330 includes at least one third detecting structure 333, the third detecting structure 333 is disposed on one side of the plurality of storage platforms 320 in the cargo loading and unloading direction, and the third detecting structure 333 is configured to detect whether there is cargo to be handled on the plurality of storage platforms 320 and/or detect whether the cargo to be handled on the plurality of storage platforms 320 is put in place along a horizontal direction perpendicular to the cargo loading and unloading direction. Furthermore, the detecting assembly 330 further includes at least one fourth detecting structure 334, the third detecting structure 333 and the fourth detecting structure 334 are disposed at two sides of the corresponding storing platform 320 in the cargo loading and unloading direction at intervals, and the third detecting structure 333 and the fourth detecting structure 334 are used for detecting whether the cargo to be transported on the storing platforms 320 is put in place. As an implementation manner, the third detecting structure 333 and the fourth detecting structure 334 are photoelectric sensors or visual sensors, and when it is detected that the goods protrude from the storage platform 320 on either side of the storage platform 320 along the goods entering and exiting direction, the third detecting structure 333 or the fourth detecting structure 334 sends out a danger signal, so as to further ensure the stability of the goods during the movement of the transfer robot 10.

In an embodiment of the present invention, as shown in fig. 4, the storage shelf 300 includes a plurality of detecting components 330, the detecting components 330 and the storage platforms 320 are the same in number, and each detecting component 330 corresponds to one storage platform 320. Each set of the third detecting structures 333 and the fourth detecting structures 334 are disposed at two sides of the corresponding storage platform 320 in the cargo loading and unloading direction at intervals, and each set of the third detecting structures 333 and the fourth detecting structures 334 is used for detecting whether the corresponding storage platform 320 has cargo to be transported, and/or detecting whether the cargo to be transported on the corresponding storage platform 320 is placed in place in the horizontal direction perpendicular to the cargo loading and unloading direction. Optionally, each set of the third detecting structures 333 and the fourth detecting structures 334 is disposed on the storage platform 320 adjacent to the corresponding storage platform 320, or each set of the third detecting structures 333 and the fourth detecting structures 334 is disposed on the supporting frame 310; each set of the third detecting structures 333 and the fourth detecting structures 334 respectively detects whether there is a cargo protruding out of the storage platform 320 on both sides of the corresponding storage platform 320 along the direction of loading and unloading.

In another embodiment of the present invention, the detecting assembly 330 further comprises at least one fifth detecting structure, the storage platform 320 has a cargo access end 325, the fifth detecting structure is close to the cargo access end 325 of the storage platform 320, and the fifth detecting structure is used for detecting whether there is a cargo protruding the cargo access end 325 of the storage platform 320 on the plurality of storage platforms 320. Further, the detecting assembly 330 further comprises at least one sixth detecting structure, the sixth detecting structure is close to the other end of the storage platform 320 opposite to the goods in/out end 325, and the sixth detecting structure is used for detecting whether goods exist on the storage platforms 320 and protrudes out of the other end of the storage platforms 320 opposite to the goods in/out end. As an implementation manner, the fifth detection structure and the sixth detection structure are disposed at intervals at the top end of the supporting frame 310 along the direction of the goods entering and exiting from the storage platform 320; or the fifth detection structure and the sixth detection structure are arranged on the storage platform 320 at intervals along the direction of the storage platform 320 for entering and exiting the goods. As an implementation manner, the fifth detection structure and the sixth detection structure are photoelectric sensors or visual sensors, and when it is detected that there is a cargo protruding from the cargo access end 325 of the storage platform 320 on any one of the storage platforms 320, or when it is detected that there is a cargo protruding from the storage platform 320 on any one of the storage platforms 320 and the other end of the storage platform opposite to the cargo access end 325, the fifth detection structure or the sixth detection structure sends out a danger signal, so as to further ensure the stability of the cargo during the movement of the transfer robot 10. When the fifth sensor or the sixth sensor is disposed on the storage platform 320, the fifth sensor and/or the sixth sensor has a bidirectional detection function.

As shown in fig. 5, the present invention further provides a transfer robot 10, which includes a chassis 200, a transfer device 100, and the storage shelf 300 according to any one of the above embodiments, wherein a support frame 310 is disposed on the chassis 200, the transfer device 100 is liftable relative to the storage shelf 300, the transfer device 100 conveys goods to be transferred to the storage shelf 300, or the transfer device 100 takes out the goods to be transferred from the storage shelf 300. Above-mentioned transfer robot 10, whether the detection that sets up detection subassembly 330 on storage goods platform 320 or support frame 310 respectively can last corresponds and stores whether have the goods of treating the transport on the goods platform 320, has improved greatly that whether the judgement corresponds and has the efficiency of treating the transport goods on the storage goods platform 320 among the cargo handling process, allows handling device 100 can be quick make the goods transport plan and implement the transport, has wholly improved the handling efficiency of goods.

In the above embodiment, the support frame 310 in the storage shelf 300 can be directly provided on the chassis 200. In another embodiment of the present invention, the transfer robot 10 further includes a vertical frame, the transfer device 100 is disposed in the vertical frame in a liftable manner, the storage shelf 300 is disposed in the vertical frame by a support frame 310, and the transfer device 100 and the storage shelf 300 are disposed in two sides of the vertical frame respectively. The vertical frame is provided to the base plate 200, and the base plate 200 can move on the ground. It is to be understood that, in the transfer robot 10 in each of the above embodiments, if the detection component 330 detects that the goods to be transferred are stored on the corresponding storage platform 320, and the detection component 330 must detect that the goods to be transferred are respectively placed in place, the transfer robot 10 can operate normally, and if the goods to be transferred are not placed in place, the detection component 330 gives a warning and prohibits the transfer robot 10 from moving and lifting, so as to avoid further damage. The detection unit 330 detects whether or not the movement of the goods with respect to the storage platform 320 occurs while the transfer robot 10 is traveling. If the movement of the goods with respect to the storage platform 320 occurs, the detection assembly 330 issues a warning and prohibits the movement and lifting operations of the transfer robot 10 so as not to damage the slipped goods.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A storage rack, comprising:

a support frame extending in a vertical direction;

2. The storage rack according to claim 1, wherein the storage rack comprises a plurality of detection assemblies, the number of the detection assemblies is the same as that of the storage platforms, the detection assemblies are respectively arranged on one storage platform and/or the supporting frame, and each detection assembly is capable of respectively detecting whether goods to be transported exist on the corresponding storage platform and/or detecting whether the goods to be transported on the corresponding storage platform are put in place.

3. The storage rack according to claim 2, wherein each of the detecting assemblies comprises a first detecting structure, each of the first detecting structures is disposed on the corresponding storage platform, and each of the first detecting structures is used for detecting whether the goods to be transported exist on the corresponding storage platform.

4. The storage rack according to claim 3, wherein each of the detecting assemblies further comprises a second detecting structure, each of the second detecting structures is disposed on the corresponding storage platform, and each of the second detecting structures is used for detecting whether the goods to be transported on the corresponding storage platform are put in place.

5. The storage rack of claim 4, wherein each of the first sensing structures is disposed at a middle portion of the corresponding storage platform and each of the second sensing structures is disposed at an edge of the corresponding storage platform.

6. The storage rack of claim 5, wherein the storage platforms have cargo access ends, and each of the second sensing structures is disposed at an opposite end of the corresponding storage platform from the cargo access end.

7. The storage rack of claim 6, wherein each storage platform comprises a storage pallet and a connecting structure, and the storage pallet is fixedly arranged on the supporting frame through the connecting structure; the middle part of the storage pallet is provided with a first detection hole, the edge of the storage pallet is provided with a second detection hole, and the first detection structure and the second detection structure are respectively arranged in the first detection hole and the second detection hole.

8. The storage rack according to claim 7, wherein two sides of the storage board along the goods entering and exiting direction and the other end of the storage board opposite to the goods entering and exiting end are respectively provided with a flanging, and the flanging is folded towards one side of the storage board supporting the goods.

9. The storage rack according to claim 1, wherein the detecting assembly comprises at least one third detecting structure, the third detecting structure is disposed at one side of the plurality of storage platforms along the loading/unloading direction, and the third detecting structure is configured to detect whether the goods to be handled exist on the plurality of storage platforms and/or whether the goods to be handled on the plurality of storage platforms are put in place along a horizontal direction perpendicular to the loading/unloading direction.

10. The storage rack according to claim 9, wherein the detecting assembly further comprises at least one fourth detecting structure, the third detecting structure and the fourth detecting structure are disposed at two sides of the loading and unloading direction of the plurality of storage platforms at intervals, and the third detecting structure and the fourth detecting structure are configured to detect whether the goods to be transported exist on the plurality of storage platforms and/or detect whether the goods to be transported on the plurality of storage platforms are placed in place along a horizontal direction perpendicular to the loading and unloading direction.

11. The storage rack according to claim 10, wherein the storage rack comprises a plurality of detection assemblies, the number of the detection assemblies is the same as that of the storage platforms, and each detection assembly corresponds to one storage platform; each group of the third detection structures and the fourth detection structures are arranged at the two sides of the storage goods table in and out goods direction at intervals, and each group of the third detection structures and the fourth detection structures are used for detecting whether corresponding goods to be carried exist on the storage goods table and/or detecting whether corresponding goods to be carried on the storage goods table are put in place in the horizontal direction perpendicular to the goods in and out directions.

12. The storage rack of claim 11, wherein the third and fourth detection structures are disposed on the adjacent storage platforms corresponding to the storage platforms, or each set of the third and fourth detection structures is disposed on the support frame; and each group of the third detection structure and the fourth detection structure respectively detect whether goods to be carried exist on the corresponding storage goods platform and/or detect whether the corresponding goods to be carried on the storage goods platform protrudes out of the storage goods platform in the horizontal direction perpendicular to the goods entering and exiting direction.

13. The storage rack of claim 9, wherein the detection assembly further comprises at least one fifth detection structure, the storage platforms having a cargo access end, the fifth detection structure being proximate the cargo access end of the storage platforms, the fifth detection structure being configured to detect whether a plurality of the storage platforms have cargo protruding beyond the cargo access end of the storage platforms.

14. The storage rack of claim 13, wherein the sensing assembly further comprises at least one sixth sensing structure proximate the end of the plurality of storage platforms opposite the cargo access end, the sixth sensing structure configured to sense the presence of cargo on the plurality of storage platforms protruding beyond the end of the plurality of storage platforms opposite the cargo access end.

15. The storage rack of claim 14, wherein the fifth and sixth sensing structures are spaced apart from each other at a top end of the support frame in a direction of movement of the storage rack into and out of the product; or the fifth detection structure and the sixth detection structure are arranged on the storage goods table at intervals along the direction of goods entering and exiting from the storage goods table.

16. The storage rack of claim 15, wherein the type of detection assembly comprises one or a combination of photoelectric sensors, magnetic sensors, visual sensors, ultrasonic sensors, travel switches.

17. A transfer robot comprising a chassis, a transfer device, and the storage rack according to any one of claims 1 to 16, wherein the support frame is provided on the chassis, the transfer device is liftable with respect to the storage rack, and the transfer device transfers a load to be transferred to the storage rack or takes out the load to be transferred from the storage rack.

18. The transfer robot of claim 17, further comprising a vertical frame, wherein the transfer device is arranged on the vertical frame in a liftable manner, the storage racks are arranged on the vertical frame via the support frames, and the transfer device and the storage racks are respectively arranged on two sides of the vertical frame; the vertical frame is arranged on the chassis, and the chassis can move on the ground.