WO2022089496A1

WO2022089496A1 - Goods shelf and transfer robot

Info

Publication number: WO2022089496A1
Application number: PCT/CN2021/126784
Authority: WO
Inventors: 严智凯; 孔哲; 徐圣东
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2020-11-02
Filing date: 2021-10-27
Publication date: 2022-05-05
Also published as: CN213621665U

Abstract

A goods shelf (101) and a transfer robot (100). The goods shelf (101) comprises a fixing support (1) and goods plate assemblies (2) connected to the fixing support (1). Each goods plate assembly (2) comprises idler wheels (20), a rotating roller (22) and a goods plate (23), wherein the goods plate (23) is provided with a goods carrying face (231); the idler wheels (20) are arranged on the goods carrying face (231) of the goods plate (23) so as to support goods on the goods carrying face (231) in a rolling manner; the rotating roller (22) is arranged on an outer side of the goods plate (23) in goods input and output directions (L1, L2); and the rotating roller (22) rotates unidirectionally towards the goods input direction (L1) so as to prevent the goods on the goods carrying face (231) from being separated from the goods plate (23). The goods shelf (101) and the transfer robot (100) do not require manual work or mechanical arms to perform auxiliary operations on goods, such that the level of automation is relatively high and the efficiency of transfer operations is relatively high.

Description

Shelving and handling robots

This application claims the priority of the Chinese patent application with the application number 202022515179.8 and the application name "shelf and handling robot" filed with the China Patent Office on November 2, 2020, the entire contents of which are incorporated into this application by reference.

technical field

The present disclosure relates to the technical field of intelligent storage, and in particular, to a rack and a handling robot.

Background technique

With the rapid development of artificial intelligence technology, automation technology and information technology, the intelligence of terminal logistics has also been continuously improved, and the handling robot is one of the main equipment that can realize the automatic handling of intelligent logistics terminals. Reduce the heavy manual labor of human beings and improve the efficiency of handling operations.

The existing handling robot includes a mobile base and a shelf on the mobile base, wherein the mobile base can drive the shelf to move, and the shelf includes a pallet on which goods can be placed. When the handling robot is used in conjunction with the automatic line loaded with goods, there is a goods exit at the preset position of the automatic line, the handling robot moves to the goods exit in advance, and the entrance of the pallet is aligned with the goods exit, so that the goods on the automatic line are on the automatic line. Driven by the forward traction force, it enters the pallet from the entrance of the pallet through the entrance of the pallet. In addition, when the goods are gradually separated from the automatic line and move toward the pallet, as the contact between the goods and the automatic line gradually decreases, the traction provided by the automatic line to the goods gradually decreases, and it is easy to stop the movement of the goods before they fully enter the pallet. Therefore, manual or robotic arms are required to push the goods to continue the loading process of the goods.

During the transportation of the above-mentioned goods, manual or robotic arms are required to push the goods to completion, resulting in a low degree of automation and poor handling efficiency.

Application content

In view of the above problems, the embodiments of the present disclosure provide a racking and handling robot, which when used in cooperation with a material robot such as an automatic line, does not require manual assistance or mechanical arm assistance, has a high degree of automation, and has high handling efficiency.

In order to achieve the above purpose, the embodiments of the present disclosure provide the following technical solutions:

A first aspect of the embodiments of the present disclosure provides a rack, which is applied to a handling robot. The rack includes a fixed bracket and a pallet assembly connected to the fixed bracket. The pallet assembly includes a roller, a rotating roller, and a pallet, and the pallet has a pallet On the cargo surface, the rollers are arranged on the cargo surface, so as to roll and support the cargo on the cargo surface; the rotating roller is arranged on the outer side of the cargo plate along the in-out direction of the cargo, and the rotating roller rotates in one direction toward the incoming direction of the cargo to prevent the cargo from being loaded. The goods on the pallet are released from the pallet.

In an optional embodiment, the pallet assembly includes a one-way bearing corresponding to the rotating roller, the rotating roller is rotatably arranged on the fixed bracket through the one-way bearing, and the rotation direction of the one-way bearing is toward the entering direction of the goods , so that the rotating roller rotates in one direction toward the incoming direction of the goods.

In an optional embodiment, the one-way bearing is a one-way damping bearing.

In an optional embodiment, the position of the one-way bearing in the height direction of the pallet can be adjusted.

In an optional embodiment, the pallet has an entrance and exit for goods to and from the pallet, and the rotating roller is located at the entrance and exit.

In an optional embodiment, the pallet assembly includes two opposite guide walls arranged at the edge of the access opening, the spacing between the guide walls gradually decreasing along the cargo entry direction.

In an optional embodiment, the number of rollers is multiple, and the rolling axes of the multiple rollers are parallel and located on the same plane.

In an optional embodiment, the pallet assembly further comprises at least two support rods extending along the in-and-out direction of the goods, and at least part of the rolling shafts of the rollers are spanned between the two support rods to form a roller belt.

In an optional embodiment, the pallet has an entrance and exit for the goods to enter and exit the pallet, and the cargo loading surface of the pallet is an inclined surface, and the inclined surface is inclined toward one side of the entrance and exit.

In an optional embodiment, the roller surface of the rotating roller is covered with anti-slip glue.

A second aspect of an embodiment of the present disclosure provides a handling robot, including: a mobile base, a picking device, and the above-mentioned shelf, where the shelf is installed on the mobile base, and the picking device is used for placing goods on or taking out goods from the shelf goods.

The racks and handling robots provided by the embodiments of the present disclosure have the following advantages:

In the rack provided by the embodiment of the present disclosure, rollers are arranged on the pallet and rotating rollers are arranged on the entry and exit paths of the goods, so that when the goods from the automatic line enter the pallet, the goods enter the pallet along with the goods and are placed on the pallet. On the rollers and the turning rollers, a part of the goods is driven into the pallet by the traction force of the automatic line, and is in rolling contact with the rollers and the turning rollers, which is compared with the sliding contact with the pallet when a part of the goods enters the pallet in the prior art , the friction force is greatly reduced, and the goods can continue to move in the direction of entering the pallet under the action of the traction force of the automatic belt until the goods are completely separated from the automatic line, so that the goods completely enter the pallet. Therefore, the cargo transportation process does not require manual operations or robotic arms to operate the cargo, so the degree of automation is high, and the handling efficiency is high.

In addition to the technical problems solved by the embodiments of the present disclosure described above, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, the racks and handling robots provided by the embodiments of the present disclosure can solve the problems. Other technical problems, other technical features included in the technical solution, and the beneficial effects brought about by these technical features will be described in further detail in the specific embodiments.

Description of drawings

In order to illustrate the embodiments of the present disclosure or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present disclosure, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

FIG. 1 is a schematic three-dimensional structure diagram of a handling robot according to an embodiment of the present disclosure;

2 is a side view of a handling robot provided by an embodiment of the present disclosure;

3 is a schematic three-dimensional structural diagram of a fixed bracket in a shelf provided by an embodiment of the present disclosure;

FIG. 4 is a schematic three-dimensional structural diagram of a pallet assembly in a rack provided by an embodiment of the present disclosure;

5 is a side view of a pallet assembly in a rack provided by an embodiment of the present disclosure;

6 is a schematic three-dimensional structural diagram of another angle of a pallet assembly in a rack provided by an embodiment of the present disclosure;

7 is a schematic three-dimensional structural diagram of another structure of a pallet assembly in a rack provided by an embodiment of the present disclosure;

FIG. 8 is a partial enlarged view of part A of FIG. 7 .

The above-mentioned drawings have shown clear embodiments of the present disclosure, and will be described in more detail hereinafter. These drawings and written descriptions are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the disclosed concepts to those skilled in the art by referring to specific embodiments.

Detailed ways

When the handling robot is used in conjunction with the automatic line, there may be a problem that the goods on the automatic line cannot be directly transported to the handling robot, requiring manual or mechanical arm assistance. This is because the goods enter the pallet of the handling robot. The contact area with the automatic line is getting smaller and smaller, and the traction provided by the automatic line to the goods is getting smaller and smaller. At the same time, the contact area between the goods and the shelves is getting larger and larger, and the frictional resistance of the goods by the shelves is also increasing, which eventually leads to the goods being transported. When it stops at a certain level, it needs artificial or robotic arms to provide thrust.

On the other hand, if the handling robot suddenly brakes due to an emergency during the traveling process, the goods will slide out of the pallet of the handling robot due to the inertial force, resulting in the delivery failure.

The present application is proposed to solve the above-mentioned problems. The rack and transport robot provided by the embodiments of the present disclosure, by providing rollers and rotating rollers for the transport robot, change the contact between the goods and the pallet from sliding contact to rolling contact, which greatly reduces the Because of the friction resistance, the automatic feeding of the automatic line can be realized without manual or mechanical arm assistance.

In addition, by rotating the rotating rollers in one direction toward the entry direction of the goods, even if the transfer robot is braked suddenly, since the rotating rollers cannot rotate toward the exiting direction of the goods, the goods can be prevented from moving to the entrance and exit of the pallet, and the goods can be prevented from coming off the pallet. .

In order to make the above objects, features and advantages of the embodiments of the present disclosure more obvious and easy to understand, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only some, but not all, embodiments of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present disclosure.

FIG. 1 is a schematic three-dimensional structural diagram of a handling robot according to an embodiment of the present disclosure, and FIG. 2 is a side view of the handling robot according to an embodiment of the present disclosure. Referring to FIGS. 1 and 2 , the handling robot 100 provided by the embodiment of the present disclosure includes a rack 101 , a mobile base 102 , and a pickup device 103 , and the rack 101 is installed on the mobile base 102 .

Wherein, the moving base 102 can be used to realize the movement of the rack 101 on the ground of the storage area. The mobile base 102 may include a base body 1021 and a wheel set assembly 1022 installed under the base body 1021 , wherein the wheel set assembly 1022 may include a driving wheel set and a driven wheel set. The rack 101 is installed on the base body 1021, and the driving wheel set and the driven wheel set drive the base body 1021 and the rack 101 installed on the base body 1021 to move on the floor of the storage area.

The driving wheel set may include at least two driving wheels, and the driven wheel set may include at least two driven wheels. The driving wheels and the driven wheels are respectively arranged under the base body 1021 at intervals, so that the driving wheels and the driven wheels drive the base body 1021 to move. , wherein the driving wheel and the driven wheel include but are not limited to a universal wheel, and can also be other moving wheels, as long as they have a steering function.

It should be noted that the shelf 101 may also be independently arranged on a shuttle car in the smart storage, or on other mobile devices, which is not limited in this embodiment.

Referring to FIG. 1 , the handling robot 100 further includes a picking device 103 , and the picking device 103 is used for placing goods on the rack 101 or taking out the goods on the rack 101 . The pickup device 103 can be installed on the fixed bracket 1 to be described later, so that the goods with different heights on the shelf 101 can be placed or taken out.

Wherein, the pickup device 103 may include a suction-cup type fork, or a structure such as a grip-type fork, which is not limited in this embodiment.

In another optional implementation manner, the handling robot 100 may not be provided with the picking device 103 , and the handling robot 100 may complete the picking and placing of goods through other equipment, which is not limited in this embodiment.

The handling robot 100 further includes a controller (not shown), the controller is used to control the pickup device 103 to pick up the goods, etc. The controller can further realize the automation of the handling robot 100 and improve the handling efficiency.

The detailed structure of the shelf 101 will be described in detail below.

1 and 2 , the shelf 101 of this embodiment includes a fixed bracket 1 and a pallet assembly 2 connected to the fixed bracket 1 . The pallet assembly 2 includes a roller 20 , a rotating roller 22 , and a pallet 23 . The pallet 23 It has a loading surface 231, the rollers 20 are arranged on the loading surface 231 of the pallet 23 to roll and support the goods on the loading surface 231, and the rotating rollers 22 are arranged on the outer side of the pallet 23 along the goods in and out directions L1 and L2, And the rotating roller 22 rotates in one direction toward the incoming direction L1 of the goods, so as to prevent the goods on the loading surface 231 from being separated from the pallet 23 .

Further, the pallet 23 has an entrance 232 for the goods to enter and exit, and the goods can enter the pallet 23 from the side of the entrance 232 . In addition, the edge of the pallet 23 is also provided with a baffle 233 to shield the goods located on the pallet 23 . It can be understood that a baffle is not provided at the position of the entrance and exit 232 . Exemplarily, the pallet 23 may be disposed on the cross beam 12 , for example, the cross beam 12 may be connected to the side of the entrance and exit 232 of the pallet 23 .

It can be understood that, in the embodiment of the present application, the rollers 20 are arranged on the pallet 23 and the rotating rollers 22 are arranged on the in and out paths of the goods, so that when the goods from the automatic line enter the pallet 23, the goods enter the pallet 23 along with the goods. The board 23 is placed on the roller 20 and the rotating roller 22. A part of the goods is in rolling contact with the roller 20 and the rotating roller 22 driven by the traction force of the automatic line, and enters the pallet 23, although the contact part between the goods and the automatic line gradually decreases , but the automatic line can still provide traction to the goods. When more and more parts of the goods are rolled with the rollers 20 and the rotating rollers 22, the goods continue to move in the direction of entering the pallet 23 until the goods are completely separated from the automatic line. Full access to pallet 23. Therefore, the transportation process of the goods does not require manual operations or mechanical arms to operate the goods, so the degree of automation is high, and the handling efficiency is high.

In addition, the rotating rollers 22 are arranged on the outer side of the pallet 23 along the goods in and out directions L1 and L2, and the rotating rollers 22 can only rotate in one direction in the direction of the goods entering and exiting L1, so that the handling robot 100 needs emergency braking in the event of an accident or the like. When the goods have a tendency to leave the pallet 23, since the rotating roller 22 can only rotate in the direction L1 in which the goods enter the pallet 23, and cannot rotate in the direction of leaving the pallet 23, the frictional resistance on the roller surface of the rotating roller 22 Under the obstruction of , the cargo is confined in the pallet 23 . Therefore, the rack 101 of the present embodiment can restrict the goods carried on the loading surface 231 from being separated from the pallet 23 .

FIG. 3 is a schematic three-dimensional structural diagram of a fixing bracket in a shelf according to an embodiment of the present disclosure. 2 and 3 , in the embodiment of the present application, the fixed bracket 1 is installed on the mobile base 102 , and the fixed bracket 1 may include upright columns 11 arranged at intervals and beams 12 connected between the upright columns 11 .

Wherein, the uprights 11 may be arranged in pairs, for example, there may be two or other numbers. The uprights 11 may be symmetrically arranged on both sides of the moving base 102 , and the pallet 23 may be located between the pair of uprights 11 . In the present application, the fixing bracket 1 with two uprights 11 is used as an example for description, and the case with other numbers of uprights 11 is similar, and details are not described herein again.

Referring to FIG. 3 , when the number of the uprights 11 is two, a plurality of beams 12 are arranged between the two uprights 11 , the plurality of beams 12 are arranged at intervals in the extending direction of the uprights 11 , and each beam 12 can be used for one cargo. Plate 23 is installed.

By arranging the cross beam 12 between the two uprights 11 and installing the pallet 23 on the cross beam 12, the carrying capacity of the pallet 23 can be improved, wherein the pallet 23 can be fixed on the cross beam by screw connection or welding or the like. 12, this application does not limit it.

FIG. 4 is a schematic three-dimensional structural diagram of the pallet assembly 2 in the shelf 101 according to the embodiment of the present disclosure. In FIG. 4, the rotation of the rotating roller 22 in the incoming direction L1 of the goods is in the counterclockwise direction CCW as shown in the drawing. 4, the pallet assembly 2 can store goods, it should be understood that the goods from the automatic line can be taken to the pallet assembly 2, or the goods on the pallet assembly 2 can be placed on the automatic line.

In order to set the contact between the goods and the pallet 23 as rolling contact, the pallet assembly 2 may include rollers 20 to support the goods in a rolling manner. parallel and on the same plane.

Exemplarily, the pallet assembly 2 may further include at least two support rods 211 extending along the in and out directions L1 and L2 of the goods, and at least part of the rolling shafts of the rollers 20 may be spanned between the two support rods 211 to form the roller belt 21 . .

Specifically, referring to FIG. 4 , a plurality of rollers 20 are erected in parallel between two support rods 211, wherein the radius of the plurality of rollers 20 is the same, so that the rims of the rollers 20 can cooperate together to form a space for supporting the goods support surface.

In the embodiment of the present application, in order to enable goods to enter and exit the pallet 23 more stably, the extending direction of the roller belt 21 needs to extend along the direction L1 or L2 of the pallet 23 for goods entering and leaving. The extension direction of the roller belt 21 refers to the extension direction of the support rod 211 .

Further, the number of the roller belts 21 can be one or more, and FIG. 4 shows the case where two roller belts 21 are provided, wherein the two roller belts 21 are in the direction L1 or the direction L1 of the goods in and out of the pallet 23 or The two roller belts 21 are arranged at intervals in the direction M perpendicular to the L2, and the extending directions of the two roller belts 21 are both along the direction L1 or L2. In this way, it can be ensured that the pallet 23 can better support the goods even when the width dimension of the goods is relatively wide.

The roller belt 21 can be installed on the beam 12 or on the pallet 23 . For example, it can be fixed on the beam 12 or the pallet 23 by fasteners such as screws. In the embodiment of the present application, the roller belt 21 may be a fluent strip. It can be understood that the roller belts 21 of the present application include but are not limited to fluent strips, and can also be other structures; the number of the roller belts 21 includes but is not limited to two, and may also be other numbers.

Further, the present application uses the roller belt 21 as an example to illustrate the arrangement and connection method of the rollers 20, but the present application is not limited to this. The length direction is parallel to the in and out direction of the goods. In the present application, a plurality of rollers 20 are used to form a roller belt 21 as an example for description, and other methods are similar to this, and will not be repeated here.

In the embodiment of the present application, the pallet 23 may have a loading surface 231 , for example, the upper surface of the pallet 23 may form the loading surface 231 . The rollers 20 , eg roller belts 21 , can be arranged on the loading surface 231 of the pallet 23 , and the respective axes of rotation of the rollers 20 are parallel to the loading surface 231 .

In addition, the pallet 23 has an entrance 232 through which the goods can be taken in and out of the pallet 23 . In the embodiment of the present application, as an optional implementation manner, the pallet assembly 2 includes two opposite guide walls 24 disposed at the edges of the entrance and exit 232, and the distance between the guide walls 24 gradually decreases along the cargo entering direction L1 . In this way, when the positions of the goods and the entrance and exit 232 are slightly deviated, the goods can be guided by the guide wall 24, so that the goods can enter the entrance and exit 232 accurately.

FIG. 5 is a side view of a pallet assembly in a rack provided by an embodiment of the present disclosure, in which the goods 25 are placed on the pallet 23 . Referring to FIG. 5 , the loading surface 231 of the pallet 23 (shown by the dotted line in FIG. 5 ) may be an inclined surface, and the inclined surface is inclined toward the side of the entrance and exit 232 . In other words, the height of one side of the loading surface 231 facing the entrance and exit 232 may be higher than other positions. The included angle α between the cargo surface 231 and the horizontal plane N (shown by a dashed-dotted line in FIG. 5 ) may be 4°.

It can be understood that, if the loading surface 231 is set as an inclined surface, the roller belt 21 provided on the loading surface 231 is also inclined in the same manner as the loading surface 231 . It will also be tilted accordingly, and the gravity G will generate a component force F that is inclined downward, which will accelerate the movement of the cargo 25 to the cargo board.

As another optional embodiment, the loading surface 231 may also be made horizontal, and the entire pallet 23 may be inclined toward the side of the entrance and exit 232 . In other words, the height of one side of the entrance and exit 232 of the pallet 23 is higher than that of the other positions. The inclination angle may be 4°.

6 is a schematic three-dimensional structural diagram of another angle of the pallet assembly in the rack provided by the embodiment of the present disclosure. Referring to FIG. 6 , in the case where one end of the pallet 23 is connected to the beam 12, in order to increase the pallet 23 and the beam 12 It can be considered that the reinforcement rib 26 is provided on the back of the pallet 23. One end of the reinforcing rib 26 may be connected to the beam 12 and extend along the back of the pallet 23 as a whole to support the pallet 23 .

Exemplarily, the end of the reinforcing rib 26 has a connecting portion 261 , the connecting portion 261 may extend along the length direction of the beam 12 , and the connecting portion 261 is connected to the beam 12 by fasteners such as screws.

In the embodiment of the present application, referring to FIG. 4 , the rotating roller 22 may be an unpowered roller, and may be rotated under external driving. Further, in order to strengthen the contact friction between the rotating roller 22 and the goods, it can be considered that the roller surface of the rotating roller 22 is covered with anti-slip glue (not shown).

During the process of the goods entering the pallet 23, the rotating roller 22 will be used in conjunction with the roller belt 21. The roller surface of the rollers 22 may be higher than the rim of the rollers 20 in the roller belt 21, so that when the goods tend to be separated from the pallet 23, the rotating rollers 22 can block the goods.

In the embodiment of the present application, the rotating roller 22 rotates in one direction toward the incoming direction L1 of the goods, so as to prevent the goods on the loading surface 231 from being separated from the pallet 23 .

To this end, the rotating rollers 22 of the rotating rollers 22 and the roller belts 21 are sequentially arranged in the direction L1 in which the goods enter the pallet 23 . Specifically, the rotating roller 22 can be arranged on the outer side of the pallet 23 along the direction of goods in and out, so that the goods from the automatic line contact the rotating roller 22 first, and then contact the roller belt 21. In this way, during the process of entering the pallet 23 , the goods 25 are always in contact with the rotating rollers 22 , and the rotating rollers 22 cannot be reversed, thus preventing the goods 25 from being separated from the pallet 23 .

Further, the rotating roller 22 is located at the entrance 232 . Exemplarily, when the rotating rollers 22 are connected to the beam 12 , the entrance 232 and the rotating rollers 22 may be located on opposite sides of the beam 12 , respectively.

Optionally, the roller belt 21 can extend along the entire range of the loading surface 231 of the pallet 23, so that the roller belt 21 can support the goods in a rolling manner during the whole process of entering and exiting the goods, thereby ensuring that the goods can enter the pallet smoothly. twenty three.

In the embodiment of the present application, in order to make the rotating roller 22 rotate in one direction, it can be considered that the rotating roller 22 is provided with a one-way bearing 27 . The one-way bearing 27 is a kind of bearing that is free to rotate in one direction and locked in the other direction. The housing of the one-way bearing 27 contains many rollers, needles or balls, and the shape of its rolling seat (hole) enables it to roll only in one direction, and will produce great resistance in the other direction.

Exemplarily, referring to FIGS. 4 and 6 , the pallet assembly 2 may include a one-way bearing 27 corresponding to the rotating roller 22 , and the rotating roller 22 is rotatably arranged on the fixed bracket 1 through the one-way bearing 27 , and the one-way bearing The direction of rotation of 27 is toward the incoming direction L1 of the goods, so that the turning roller 22 can only be rotated in the incoming direction L1 of the goods.

Specifically, bearing brackets 271 are arranged on the beam 12 at intervals in the longitudinal direction of the beam 12 , two one-way bearings 27 are connected to the bearing brackets 271 , and both ends of the rotating roller 22 are erected on the two one-way bearings 27 superior. It should be noted that the installation directions of the two one-way bearings 27 are the same, so that the rotating roller 22 can only rotate toward the direction of the inlet and outlet 232. In FIG. 4, it can rotate in the CCW direction as far as possible.

In this way, when the handling robot 100 encounters an accident and needs emergency braking, if the goods tend to be separated from the pallet 23 , the rotating roller 22 can only rotate in the direction in which the goods enter the pallet 23 , and cannot move away from the pallet 23 . Rotation, therefore, the goods are confined in the pallet 23, hindered by the frictional resistance of the roller surfaces of the rotating rollers 22.

Further, the one-way bearing 27 may be a one-way damping bearing. A buffer force is applied to the rotation of the rotating roller 22 to prevent the goods from moving too fast to impact the pallet 23 due to the rotating roller 22 rotating too fast.

In the embodiment of the present application, in order to meet the needs of different automatic lines, the position of the one-way bearing 27 in the height direction of the pallet 23 can be adjusted. In the case where the heights of the conveyor belts of the automatic line are different, the height of the rotating roller 22 can be adjusted to more accurately engage with the different conveyor belts.

FIG. 7 is a schematic three-dimensional structural diagram of another structure of a pallet assembly in a rack according to an embodiment of the present disclosure, and FIG. 8 is a partial enlarged view of part A of FIG. 7 . Specifically, the position of the one-way bearing 27 relative to the pallet 23 can be adjusted by adjusting the bearing bracket 272 .

7 and 8 , different from the aforementioned bearing brackets 271 , the pallet assembly may further include bearing brackets 272 corresponding to the one-way bearings 27 . In this solution, two pallets 23 may be provided with two corresponding ones. Bearing bracket 272 , it can be understood that two bearing brackets 272 can be arranged on the beam 12 at a distance from each other in the length direction of the beam 12 , and the two one-way bearings 27 are connected to the bearing bracket 272 .

The support height of the bearing bracket 272 for the one-way bearing 27 is set to be adjustable. For example, the bearing bracket 272 includes a bearing support 2721 and a bearing part 2722, the bearing support 2721 is fixed on the beam 12, and the bearing part 2722 is used to carry the one-way bearing. Bearing 27. The bearing portion 2722 is connected to the bearing support 2721, and the position of the bearing portion 2722 relative to the bearing support 2721 in the height direction of the pallet 23 is adjustable.

Specifically, a gasket 274 is sandwiched between the bearing portion 2722 and the bearing support 2721, and the bearing portion 2722 and the bearing support 2721 are fixedly connected by fasteners 273, such as screws, as long as the sandwiched gaskets are increased or decreased The number of pieces 274 can adjust the relative position of the bearing portion 2722 and the bearing support 2721 , that is, the height of the bearing portion 2722 relative to the pallet 23 can be adjusted.

In the example of FIG. 8 , the spacer 274 may be a U-shaped spacer, and the fasteners 273 may be located in the space between the two bifurcations of the U-shaped spacer to make the structure of the bearing support 2721 more compact.

In this embodiment, the rack includes: a fixed bracket and a pallet assembly connected to the fixed bracket, the pallet assembly includes a roller, a rotating roller and a pallet, the pallet has a loading surface, and the roller is arranged on the loading surface to roll Support the goods on the loading surface; the rotating rollers are arranged on the outer side of the pallet along the in-out direction of the goods, and the rotating rollers rotate unidirectionally toward the incoming direction of the goods to prevent the goods on the loading surface from leaving the pallet. By setting the rollers on the pallet and setting the rotating rollers on the in-out path of the goods, when the goods from the automatic line enter the pallet, as the goods enter the pallet and are placed on the rollers and the rotating rollers, part of the goods Driven by the traction force of the automatic line, it enters the pallet and is in rolling contact with the rollers and rotating rollers. Compared with the sliding contact with the pallet when a part of the goods enters the pallet in the prior art, the friction force is greatly reduced, and the goods can continue to Under the action of the traction force of the automatic belt, it moves to the direction of entering the pallet until the goods are completely separated from the automatic line, so that the goods completely enter the pallet. Therefore, the cargo transportation process does not require manual operations or robotic arms to operate the cargo, so the degree of automation is high, and the handling efficiency is high.

The embodiments or implementations in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments may be referred to each other.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples", etc., is meant to incorporate the embodiments A particular feature, structure, material, or characteristic described or exemplified is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, but not to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present disclosure. scope.

Claims

A rack, used in a handling robot, is characterized in that it includes: a fixed bracket and a pallet assembly connected to the fixed bracket, the pallet assembly includes a roller, a rotating roller and a pallet, and the pallet has a loading surface, the rollers are arranged on the loading surface to roll and support the goods on the loading surface; the rotating rollers are arranged on the outer side of the pallet along the in-out direction of the goods, and all The rotating rollers are unidirectionally rotated toward the incoming direction of the goods, so as to prevent the goods on the loading surface from being separated from the pallet.
The shelf of claim 1, wherein:

The pallet assembly includes a one-way bearing corresponding to the rotating roller, the rotating roller is rotatably arranged on the fixed bracket through the one-way bearing, and the rotation direction of the one-way bearing faces the The incoming direction of the goods, so that the rotating rollers rotate unidirectionally toward the incoming direction of the goods.
The shelf of claim 2, wherein:

The one-way bearing is a one-way damping bearing.
The shelf of claim 2, wherein:

The position of the one-way bearing in the height direction of the pallet can be adjusted.
The shelf of claim 4, wherein:

The pallet assembly further includes a bearing bracket corresponding to the one-way bearing,

The bearing support includes a bearing support fixed on the fixed support, and a bearing part for carrying the one-way bearing, the bearing part is connected on the bearing support, and the bearing part is opposite to the bearing support. The position of the bearing support along the height direction of the pallet is adjustable.
The shelf according to any one of claims 1-5, wherein,

The pallet has an entrance and exit for the goods to enter and exit the pallet, and the rotating roller is located at the entrance and exit.
The shelf of claim 6, wherein:

The pallet assembly includes two opposing guide walls disposed at the edge of the access opening, the spacing between the guide walls gradually decreasing along the entry direction of the cargo.
The shelf according to any one of claims 1-5, wherein,

The number of the rollers is multiple, and the rolling axes of the multiple rollers are parallel and located on the same plane.
The shelf according to any one of claims 1-5, wherein,

The pallet assembly further includes at least two support rods extending along the direction in which the goods enter and exit, and at least part of the rolling shafts of the rollers are spanned between the two support rods to form a roller belt.
The shelf according to any one of claims 1-4, characterized in that,

The pallet has an entrance and exit for the goods to enter and exit the pallet, and the loading surface of the pallet is an inclined surface, and the inclined surface is inclined toward the entrance and exit.
The shelf according to any one of claims 1-4, characterized in that,

The roller surface of the rotating roller is covered with anti-slip glue.
A handling robot, characterized in that it comprises: a mobile base, a pickup device, and a rack according to any one of claims 1 to 11, wherein the rack is installed on the mobile base, and the pickup device uses for placing goods on the shelves or removing goods from the shelves.