WO2022062826A1 - 货架装置、机器人及仓储系统 - Google Patents

货架装置、机器人及仓储系统 Download PDF

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Publication number
WO2022062826A1
WO2022062826A1 PCT/CN2021/114787 CN2021114787W WO2022062826A1 WO 2022062826 A1 WO2022062826 A1 WO 2022062826A1 CN 2021114787 W CN2021114787 W CN 2021114787W WO 2022062826 A1 WO2022062826 A1 WO 2022062826A1
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WO
WIPO (PCT)
Prior art keywords
robot
sliding
track
roadway
rail
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/114787
Other languages
English (en)
French (fr)
Inventor
何云迪
王馨浩
唐丹
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Quicktron Intelligent Technology Co Ltd
Original Assignee
Shanghai Quicktron Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202022174511.9U external-priority patent/CN213650797U/zh
Priority claimed from CN202022174513.8U external-priority patent/CN213650798U/zh
Priority claimed from CN202011039047.0A external-priority patent/CN112193694B/zh
Application filed by Shanghai Quicktron Intelligent Technology Co Ltd filed Critical Shanghai Quicktron Intelligent Technology Co Ltd
Priority to KR1020237011846A priority Critical patent/KR102907438B1/ko
Priority to EP21871199.2A priority patent/EP4219343B1/en
Priority to AU2021346619A priority patent/AU2021346619B2/en
Priority to JP2023519287A priority patent/JP7557057B2/ja
Publication of WO2022062826A1 publication Critical patent/WO2022062826A1/zh
Priority to US18/190,886 priority patent/US12606376B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0471—Storage devices mechanical with access from beneath
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/025—Boxes

Definitions

  • the present application relates to storage technology, and in particular, to a racking device, a robot and a storage system.
  • the shelf device of the storage system in the prior art is prone to shaking of the vehicle body when the robot picks and places the high material box, which leads to the failure of picking and placing the material box, and even causes the robot and the shelf to overturn, posing a potential safety hazard.
  • the embodiments of the present application provide a racking device, a robot and a storage system to solve the problems existing in the related technologies, and the technical solutions are as follows:
  • an embodiment of the present application provides a shelf device, including:
  • the shelves are at least two spaced apart, and a roadway is defined between two adjacent shelves;
  • the track assembly is located above the aisle and is detachably connected to the tops of two adjacent shelves.
  • the track assembly is provided with a track extending along the passage direction of the aisle, and the track is suitable for limit cooperation with the robot moving along the aisle.
  • the track assembly has two track walls disposed opposite to each other, and the two track walls respectively extend along the passage direction of the roadway to define the track;
  • the top of the robot is adapted to be located between the two track walls and form a sliding fit with the two track walls.
  • the track assembly includes:
  • the cross bar extends along the passage direction of the roadway, and the two cross bars are oppositely arranged in the direction perpendicular to the passage direction of the roadway, wherein the opposite side surfaces of the two cross bars respectively form track walls;
  • a vertical rod the upper end of the vertical rod is connected with the horizontal rod, and the lower end of the vertical rod is detachably connected with the shelf.
  • the horizontal bar includes a first bent portion and a second bent portion, the first bent portion is supported on the upper end of the vertical bar, and a side surface of the second bent portion forms a track wall.
  • the shelf includes a support rod extending in a vertical direction, and the lower end of the vertical rod is inserted and matched with the upper end of the support rod.
  • the vertical rod is provided with a connecting hole
  • the wall of the support rod is provided with a plurality of positioning holes spaced apart from each other in the vertical direction
  • the connecting hole is arranged opposite to one of the positioning holes, so that the limiting member Connect with the connecting hole through the positioning hole.
  • the track assembly further includes:
  • the longitudinal bars are connected with both transverse bars, and a plurality of longitudinal bars are arranged at intervals in the passage direction of the roadway.
  • the end-adjacent portions of the two track walls are each configured as arcuate walls.
  • the shelf includes a first partition and a second partition spaced apart in a vertical direction, the first partition is located above the second partition, wherein the first partition defines a storage layer, The second spacer defines a temporary storage layer.
  • an embodiment of the present application provides a robot, including:
  • Mobile chassis which can move along the roadway of the racking device
  • the bracket is arranged on the mobile chassis, the top of the bracket is provided with a sliding component, and the sliding component is suitable for cooperating with the track limit of the shelf device.
  • the sliding assembly is provided with pulleys, and the two pulleys form a rolling fit with the two track walls of the track, respectively.
  • the axis of rotation of the pulley is arranged in the vertical direction.
  • the slide assembly includes:
  • the fixing part includes two fixing lugs, and the two fixing lugs are respectively connected with opposite sides of the top of the bracket;
  • the sliding part, the two sliding parts are respectively arranged on opposite sides of the fixed part, the sliding part includes a mounting seat and a pulley, and the pulley is rotatably arranged on the mounting seat.
  • an elastic reset portion is provided between the two sliding portions and the fixed portion, so that the sliding portion can be retracted relative to the fixed portion.
  • the elastic reset portion includes:
  • a shaft fixing part located on one side of the fixing part
  • the sliding shaft is fixed on the shaft fixing part, and the mounting seat is slidably arranged on the sliding shaft;
  • the elastic piece is sleeved on the sliding shaft, the first end of the elastic piece is in contact with the mounting seat, and the second end of the elastic piece is in contact with the shaft fixing piece.
  • the number of sliding components is one, and the sliding components are centrally arranged in the length direction of the top of the bracket.
  • the number of the sliding components is multiple, and they are arranged at intervals along the length direction of the top of the bracket.
  • the robot further includes:
  • the conveying part is arranged on the bracket and moves in the vertical direction relative to the bracket.
  • the embodiments of the present application further provide a storage system, including the racking device according to any of the above-mentioned embodiments of the present application and/or the robot according to any of the above-mentioned embodiments of the present application.
  • the stability of the overall structure of the racking device can be improved, and the efficiency of racking deformation can be reduced, so as to improve the stability and success rate of the robot picking and placing the bin; on the other hand,
  • the moment of the fixed area between the shelf and the ground can be reduced, thereby reducing the probability of the shelf toppling and ensuring the safety of the shelf device; on the other hand, the height of the shelf can be reduced to a certain extent. Therefore, there is no need to limit the height of the shelf, which is beneficial to improve the storage capacity of the shelf.
  • the stability of the shelf can be improved without fixing the top of the shelf to the ceiling of the warehouse, which can reduce the installation difficulty of the shelf device in the warehouse, and the shelf can be applied to warehouses of various heights, thereby improving the scope of application of the shelf device.
  • the shelf can be applied to warehouses of various heights, thereby improving the scope of application of the shelf device.
  • by setting a track on the track component to limit the robot it can reduce the probability of the robot shaking or sideways during the movement along the roadway, thereby improving the success rate of the robot picking and placing the bin, and can reduce the The probability that the racks are toppled together with the robot due to the dumping of the robot is beneficial to improve the stability of the robot moving along the roadway and picking and placing the bin.
  • FIG. 1 shows a schematic structural diagram of a shelf device according to an embodiment of the present application
  • FIG. 2 shows a schematic diagram of a partial structure of a shelf device according to an embodiment of the present application
  • FIG. 3 shows a schematic diagram of a partial structure of a shelf device according to an embodiment of the present application
  • FIG. 4 shows a partial structural schematic diagram of a rail assembly of a racking device according to an embodiment of the present application
  • FIG. 5 shows a schematic diagram of the cooperation between a racking device and a robot according to an embodiment of the present application
  • FIG. 6 shows a schematic structural diagram of a robot according to an embodiment of the present application.
  • FIG. 7 shows a schematic structural diagram of a sliding assembly of a robot according to an embodiment of the present application.
  • FIG. 8 shows a schematic diagram of the cooperation between the sliding assembly and the track assembly of the robot according to an embodiment of the present application
  • FIG. 9 shows a top view of a robot of a storage system according to an embodiment of the present application.
  • FIG. 10 shows a top view of a robot of a storage system according to another embodiment of the present application.
  • FIG. 11 shows a schematic structural diagram of a storage system according to an embodiment of the present application.
  • track assembly 20 track 20a; cross bar 21; first bent portion 211; second bent portion 212; track wall 212a; vertical bar 22;
  • Sliding assembly 50 fixing part 51; fixing lug 511; sliding part 52; mounting seat 521; pulley 522; elastic reset part 53;
  • Container conveying robot 300
  • the shelf device 100 according to the embodiment of the present application is described below with reference to FIGS. 1-5 .
  • the racking device 100 according to the embodiment of the present application may be used for storing a material box, and the material box is used for accommodating goods.
  • racking device 100 includes racking 10 and rail assembly 20 .
  • At least two shelves 10 are arranged at intervals, and a lane 10 a is defined between two adjacent shelves 10 .
  • the track assembly 20 is located above the roadway 10a and is detachably connected to the tops of the two adjacent shelves 10.
  • the track assembly 20 is provided with a track 20a extending along the passage direction of the roadway 10a, and the track 20a is suitable for moving along the roadway 10a.
  • Robot 200 limit cooperation.
  • the two racks 10 there may be two racks 10 , and the two racks 10 are arranged side by side and spaced apart in a direction parallel to the width direction of the racks 10 (ie, the left-right direction in the figure), and the area between the two racks 10 A roadway 10a is formed.
  • the passage direction of the roadway 10a is the moving direction of the robot 200 along the roadway 10a
  • the passage direction of the roadway 10a can be its length direction
  • the length direction of the roadway 10a is parallel to the length direction of the shelf 10 (ie, in the illustration). front-back direction) setting.
  • the track assembly 20 is arranged above the roadway 10a and is connected to the tops of the two racks 10 respectively, so that the track assembly 20 and the two racks 10 form an integral structure.
  • the stability of the overall structure of the racking device 100 can be improved, and the probability of the rack 10 toppling can be reduced; .
  • the robot 200 is adapted to move in the front-to-rear direction within the aisle 10 a and to remove the bins stored on the rack 10 from the rack 10 , or to transfer the bins to the rack 10 .
  • the track 20a of the track assembly 20 extends along the length direction of the roadway 10a, and the top of the robot 200 can be located in the track 20a, so that the top of the robot 200 forms a limit fit with the track 20a.
  • the top of the robot 200 and the track 20a may form a sliding fit.
  • the top of the robot 200 is always kept in a limit fit with the track 20a.
  • the top of the robot 200 can be prevented from tipping over by the track 20a of the rail assembly 20, which can prevent the robot 200 from tipping over to either side of the width direction of the roadway 10a, ensuring that the robot 200 Stability of moving process.
  • the height of the rack 10 needs to be set higher, so that a plurality of storage layers 12a are arranged on the rack 10.
  • the height of the robot 200 is adapted to be approximately the same as the height of the rack 10 . Therefore, the higher the height of a single shelf 10 and a single robot 200 is, the higher the probability of dumping is correspondingly.
  • the stability of a single shelf is poor, and the shelf is easily deformed over time, thereby affecting the success rate of the robot picking and placing the material box.
  • the shelf is only fixedly connected to the ground. When the robot overturns and collides with the shelf, a large moment will be applied to the fixed area between the shelf and the ground, causing the shelf to fall easily.
  • the height of the robot and the shelf needs to be limited, thereby limiting the storage capacity of the shelf.
  • the rack device 100 of the embodiment of the present application by arranging the rail assembly 20 located above the roadway 10a on the top of the two racks 10, the rail assembly 20 and the two racks 10 form an integral structure. Therefore, on the one hand, it can be Improve the stability of the overall structure of the shelf device 100, reduce the efficiency of the deformation of the shelf 10, so as to improve the stability and success rate of the robot 200 picking and placing the material box; The moment of the fixed area on the ground, thereby reducing the probability of the rack 10 toppling, and ensuring the safety of the racking device 100; on the other hand, it can reduce the impact of the height of the rack 10 on the probability of dumping to a certain extent, so there is no need for the rack 10. The height of the shelf 10 is limited, which is beneficial to increase the storage capacity of the shelf 10 .
  • the stability of the shelf 10 can be improved without fixing the top of the shelf 10 to the ceiling of the warehouse, which can reduce the difficulty of installing the shelf device 100 in the warehouse, and the shelf 10 can be applied to warehouses of various heights, thereby improving the shelf life. Applicability of the device 100.
  • the track 20a on the track assembly 20 to limit the position of the robot 200, the probability of the robot 200 shaking or falling sideways in the process of moving along the roadway 10a can be reduced, thereby improving the ability of the robot 200 to pick up and unload the material box.
  • the success rate can be reduced, and the probability that the racks 10 are toppled together with the robot 200 can be reduced due to the overturning of the robot 200, which is beneficial to improve the stability of the robot 200 moving along the roadway 10a and picking and placing boxes.
  • the rack device 100 has the advantages of stable structure, low probability of the rack 10 and the robot 200 falling over, less difficulty in installation, and a wide range of applications.
  • the track assembly 20 has two track walls 212a disposed opposite to each other, and the two track walls 212a respectively extend along the passage direction of the roadway 10a to define the track 20a.
  • the top of the robot 200 is adapted to be located between the two track walls 212a and form a sliding fit with the two track walls 212a.
  • the two rail walls 212a are disposed opposite to each other in the left-right direction shown in FIG. 1 , and the rail walls 212a extend in the front-rear direction shown in FIG. 1 .
  • the distance between the two rail walls 212a may be equal to the width of the top of the robot 200, so that opposite sides in the left-right direction of the top of the robot 200 are in contact with the two rail walls 212a respectively, so that the The robot 200 is always kept in an upright state to prevent the robot 200 from falling over.
  • the distance between the two rail walls 212a may be slightly larger than the width of the top of the robot 200, that is, when the robot 200 is in an upright state, both sides in the width direction of the top of the robot 200 are not in contact with the two rail walls 212a.
  • the side of the top of the robot 200 facing the tilting direction is in contact with the track wall 212a on the corresponding side, so as to prevent the robot 200 from falling further.
  • the track assembly 20 includes a cross bar 21 and a vertical bar 22 .
  • the cross bars 21 extend along the passage direction of the roadway 10a, and the two cross bars 21 are oppositely arranged in a direction perpendicular to the passage direction of the roadway 10a, wherein the opposite side surfaces of the two cross bars 21 respectively form track walls 212a.
  • the upper end of the vertical rod 22 is connected with the horizontal rod 21 , and the lower end of the vertical rod 22 is detachably connected with the shelf 10 .
  • the two cross bars 21 extend in the front-rear direction shown in FIG. 1 , and the two cross bars 21 are oppositely arranged in the left-right direction shown in FIG. 1 .
  • the two cross bars 21 are located above the two racks 10, respectively, and the side surfaces of the two cross bars 21 facing each other form track walls 212a, respectively.
  • the vertical bars 22 may be two groups corresponding to the two horizontal bars 21 , and each group includes two vertical bars 22 .
  • the upper ends of the two vertical rods 22 in each group are respectively fixedly connected to both ends of the corresponding horizontal rods 21 in the length direction, and the lower ends of the two vertical rods 22 in each group can be detachably connected to the corresponding side of shelves 10.
  • the horizontal bar 21 includes a first bent portion 211 and a second bent portion 212 , the first bent portion 211 is supported on the upper end of the vertical bar 22 , and the side of the second bent portion 212 is supported.
  • the surface forms a track wall 212a.
  • first bent portion 211 and the second bent portion 212 extend along the passage direction of the roadway 10 a respectively, and the side edge of the first bent portion 211 is in contact with the upper edge of the second bent portion 212 .
  • Both the first bending portion 211 and the second bending portion 212 may be configured as flat plates, and the first bending portion 211 is arranged in a vertical direction, and the second bending portion 212 is arranged in a horizontal direction, so that the first bending portion 211 is arranged in a horizontal direction.
  • the planes where the portion 211 and the second bending portion 212 are located are perpendicular to each other.
  • the lower surfaces of the first bent portions 211 of the two horizontal bars 21 can be respectively supported on the upper ends of the vertical bars 22 of a corresponding group, and the side surfaces of the second bent portions 212 of the two horizontal bars 21 facing each other form tracks. wall 212a.
  • the shelf 10 includes a support rod 11 extending in a vertical direction, and the lower end of the vertical rod 22 is in a plug-fit engagement with the upper end of the support rod 11 .
  • the shelf 10 includes a plurality of supporting rods 11 arranged at intervals, the supporting rods 11 extend in the vertical direction, the lower ends of the supporting rods 11 are supported on the ground, and the upper ends of the supporting rods 11 form free ends.
  • the lower end of the vertical rod 22 is adapted to be inserted into the upper end of the support rod 11 on the side of the shelf 10 adjacent to the roadway 10a.
  • the support rod 11 can be configured as a hollow tube, so that the vertical rod 22 can be inserted into the interior of the support rod 11 through the opening at the upper end of the support rod 11 .
  • the vertical rod 22 is provided with a connecting hole
  • the wall of the support rod 11 is provided with a plurality of positioning holes spaced apart from each other in the vertical direction, and the connecting hole and one of the positioning holes are arranged opposite to each other, so that the limiting member 14 is connected with the connecting hole through the positioning hole.
  • the connecting hole is arranged through the wall of the vertical rod 22
  • the multiple positioning holes are arranged through the wall of the support rod 11
  • the limiting member 14 can pass through the positioning hole from the outside and be fixedly connected with the connecting hole, so as to connect the vertical rod 22 It is fixed in the support rod 11 .
  • the limiting member 14 may be a screw. It can be understood that, by aligning the connecting holes on the vertical rod 22 with the positioning holes of different heights on the support rod 11 and connecting them through the limiter 14, the depth of the vertical rod 22 inserted into the positioning holes can be adjusted, so as to adjust the relative position of the rail assembly 20. Height of shelf 10.
  • the height of the track assembly 20 relative to the ground can be adjusted according to the height of the robot 200 , so that the track 20 a of the track assembly 20 forms a limit fit with the robot 200 .
  • the racking device 100 can be applied to robots 200 of different heights, and the height restriction on the robot 200 can be reduced, thereby further improving the applicable range of the racking device 100 .
  • the rail assembly 20 further includes a longitudinal rod 23 .
  • the longitudinal bars 23 are connected to both the horizontal bars 21, and a plurality of the longitudinal bars 23 are arranged at intervals in the passage direction of the roadway 10a.
  • the longitudinal rods 23 may extend in the left-right direction shown in FIG. 1 , so that the longitudinal direction of the longitudinal rods 23 is perpendicular to the longitudinal direction of the transverse rods 21 .
  • the longitudinal rods 23 may be configured as flat plate structures, and the longitudinal rods 23 may be supported on the upper surfaces of the first bent portions 211 of the two transverse rods 21 and fixed by screws.
  • the plurality of vertical bars 23 are arranged at equal intervals in the longitudinal direction of the horizontal bar 21 . Therefore, the two transverse rods 21 can be connected to form an integral structure through the plurality of longitudinal rods 23 , thereby improving the overall structural stability of the track assembly 20 .
  • portions of the two track walls 212a adjacent to the ends are configured as arcuate walls, respectively.
  • the portions of the two track walls 212a adjacent to the ends extend outwardly in an arc shape, respectively, in the direction toward the ends, so that the distance between the portions of the two track walls 212a adjacent to the ends is in the direction toward the ends. gradually increase in the direction of the portion. Therefore, when the robot 200 enters the roadway 10a, the parts adjacent to the ends of the two track walls 212a can guide the top of the robot 200, so as to improve the adaptability of the top of the robot 200 to the track 20a.
  • the parts of the track wall 212a adjacent to both ends are configured as arc-shaped walls, so that when the robot 200 enters the roadway 10a from either end of the roadway 10a, it can guide the top of the robot 200.
  • the shelf 10 includes a first partition board 12 and a second partition board 13 arranged at intervals in the vertical direction, and the first partition board 12 is located above the second partition board 13 ,
  • the first separator 12 defines a storage layer 12a, and the second separator 13 defines a temporary storage layer 13a.
  • the first partitions 12 may be a plurality of spaced apart along the vertical direction, and the space above the first partitions 12 forms the storage layer 12a; the second partitions 13 are located below the plurality of first partitions 12 , and a temporary storage layer 13a is formed in the upper space of the second separator 13 .
  • the robot 200 can be a container handling robot, which is used to transport the containers placed on the storage layer 12a (ie, placed on the first partition 12 ) to the temporary storage layer 13a (ie, on the second partition 13 ), or The bins in the temporary storage layer 13a are transported to the storage layer 12a.
  • the storage system 1 may also be provided with a container conveying robot 300 for transporting incoming containers to the temporary storage layer 13a, or removing outgoing containers from the temporary storage layer 13a.
  • the robot 200 according to the embodiment of the present application is described below with reference to FIGS. 5-10 .
  • the robot 200 according to the embodiment of the present application may move along the lane 10a of the racking device 100 .
  • the robot 200 includes a mobile chassis 30 and a stand 40 .
  • the moving chassis 30 can move along the lane 10a of the racking device 100 .
  • the bracket 40 is disposed on the mobile chassis 30
  • a sliding component 50 is disposed on the top of the bracket 40 , and the sliding component 50 is in position-limiting cooperation with the rail 20 a .
  • the robot 200 may be a container handling robot, which is used to transport the containers of the storage layer 12a of the rack 10 to the temporary storage layer 13a, or to transport the goods of the temporary storage layer 13a to the storage layer. 12a.
  • the sliding component 50 is disposed on the top of the bracket 40 , and the sliding component 50 forms a limit fit with the track component 20 of the racking device 100 , and the sliding component 50 forms a sliding fit with the track 20 a of the track component 20 during the movement of the robot 200 .
  • the sliding assembly 50 is always kept in a limit fit with the track 20a.
  • the robot 200 further includes a conveying part 60 disposed on the bracket 40 , and the conveying part 60 can move in a vertical direction relative to the bracket 40 , so that the conveying part 60 can move to the corresponding storage layer 12 a high.
  • the conveying part 60 may be a telescopic arm device, which is used for taking out and unloading the material box.
  • the height of the brackets 40 is adapted to be approximately the same as the height of the racks 10, so that the carrying portion 60 can be moved upward to the uppermost storage level 12a of the racks 10.
  • the robot 200 by arranging the sliding component 50 on the top of the bracket 40, and the sliding component 50 is adapted to form a limit fit with the track 20a of the track component 20 of the racking device 100, the robot 200 can be reduced along the roadway 10a.
  • the probability of shaking or side dumping occurs during the movement process, thereby improving the success rate of the robot 200 taking and placing the material box, and reducing the probability of the rack 10 being dumped together with the robot 200 due to the dumping of the robot 200. Therefore, it is beneficial to improve the robot 200. Stability of movement along roadway 10a and success rate of picking and placing bins.
  • the sliding assembly 50 is provided with pulleys 522 , and the two pulleys 522 form a rolling fit with the two track walls 212 a of the track 20 a respectively.
  • the two pulleys 522 are disposed opposite to each other in the width direction of the roadway 10a, that is, the two pulleys 522 are respectively disposed corresponding to the two track walls 212a.
  • the rotation axis of the pulley 522 is arranged in the vertical direction, so that the pulley 522 rolls relative to the track wall 212a during the movement of the robot 200 . Therefore, the friction between the sliding assembly 50 and the track wall 212a can be reduced, the cooperation effect of the sliding assembly 50 and the two track walls 212a can be improved, and the robot 200 can move more smoothly along the roadway 10a.
  • the sliding assembly 50 includes a fixed part 51 and a sliding part 52 .
  • the fixing portion 51 includes two fixing lugs 511 , and the two fixing lugs 511 are respectively connected to opposite sides of the top of the bracket 40 .
  • the two sliding portions 52 are respectively disposed on opposite sides of the fixed portion 51 .
  • the sliding portion 52 includes a mounting seat 521 and a pulley 522 , and the pulley 522 is rotatably disposed on the mounting seat 521 .
  • the two fixing lugs 511 of the fixing part 51 are configured as flat plates extending in the vertical direction, and the two fixing lugs 511 are respectively arranged in close contact with the two opposite side surfaces of the top of the bracket 40, and are fixed
  • the support lugs 511 and the top of the bracket 40 can be fastened with screws.
  • the two mounting bases 521 are respectively disposed on opposite sides of the fixed portion 51, the mounting bases 521 are provided with a fixed shaft arranged in a vertical direction, and the pulley 522 is rotatably installed on the fixed shaft, so that the rotation axis of the pulley 522 is vertical Orientation settings.
  • the friction between the sliding assembly 50 and the track wall 212a can be reduced, the cooperation effect of the sliding assembly 50 and the two track walls 212a can be improved, and the robot 200 can move more smoothly along the roadway 10a.
  • elastic restoring parts 53 are provided between the two sliding parts 52 and the fixing part 51 , so that the sliding parts 52 are retractable relative to the fixing part 51 .
  • the sliding part 52 is retractable relative to the fixed part 51, which means that the sliding part 52 can move relative to the fixed part 51 in the width direction of the roadway 10a, and the elastic reset part 53 can buffer and reset the fixed part 51. effect. Therefore, when the robot 200 is tilted, the elastic reset portion 53 can play a buffering role between the sliding portion 52 and the limiting wall, so as to buffer the force exerted by the sliding portion 52 on the limiting wall, thereby reducing the rail assembly. 20 and the probability that the shelf 10 will fall over.
  • the elastic reset portion 53 includes a shaft fixing member 531 , a sliding shaft 532 and an elastic member 533 .
  • the shaft fixing member 531 is located on one side of the fixing portion 51 .
  • the sliding shaft 532 is fixed to the shaft fixing member 531 , and the mounting seat 521 is slidably disposed on the sliding shaft 532 .
  • the elastic piece 533 is sleeved on the sliding shaft 532 , the first end of the elastic piece 533 abuts against the mounting seat 521 , and the second end of the elastic piece 533 abuts against the shaft fixing piece 531 .
  • the sliding shaft 532 passes through the shaft fixing member 531, and one end of the sliding shaft 532 protrudes from one side of the shaft fixing member 531 and is fastened to the fixing lugs 511 of the fixing part 51; The other end protrudes from the other side of the shaft fixing member 531 , and the mounting seat 521 is sleeved on the part of the sliding shaft 532 which is protruding from the other side of the fixing member, and is slidable relative to the sliding shaft 532 .
  • the elastic member 533 can be a spring, the spring is sleeved on the part of the sliding shaft 532 extending from the other side of the fixing member, and the two ends of the sliding shaft 532 are respectively abutted on the mounting seat 521 and the shaft fixing member 531 .
  • there may be one sliding assembly 50 which is centrally arranged in the longitudinal direction of the top of the bracket 40 , so as to improve the stability of the sliding assembly 50 being installed on the bracket 40 .
  • a plurality of sliding assemblies 50 may be provided at intervals along the length direction of the bracket 40 to improve the matching effect of the sliding assemblies 50 with the rails 20 a of the rail assembly 20 .
  • there may be two sliding components 50 and they are respectively disposed adjacent to both ends of the top of the bracket 40 in the length direction.
  • the storage system 1 according to the embodiment of the present application will be described below with reference to FIG. 11 .
  • the storage system 1 includes the racking device 100 according to the above-mentioned embodiment of the present application and/or the robot 200 according to the above-mentioned embodiment of the present application.
  • FIG. 11 there may be multiple racking devices 100 arranged side by side, and the lanes 10a of the multiple racking devices 100 are connected in sequence, so that the multiple lanes 10a are spliced to form a complete lane.
  • the rails 20a of the rail assemblies 20 of the plurality of rack devices 100 are sequentially connected. Therefore, the robot 200 can move along a complete roadway formed by splicing multiple roadways 10a, and during the movement of the robot 200, the top of the robot 200 can form a limit fit with the plurality of rails 20a.
  • the storage system 1 may further include a container conveying robot 300, which is used to remove the container temporarily stored in the temporary storage layer 13a during the outbound operation, or to transport the container to the temporary storage layer during the warehouse operation. storage layer 13a.
  • a container conveying robot 300 which is used to remove the container temporarily stored in the temporary storage layer 13a during the outbound operation, or to transport the container to the temporary storage layer during the warehouse operation. storage layer 13a.
  • the racking device 100 can be improved.
  • the stability of the overall structure reduces the efficiency of the deformation of the shelf 10, so as to improve the stability and success rate of the robot 200 picking and placing the material box; on the other hand, the fixed area between the shelf 10 and the ground can be reduced when the shelf 10 is subjected to external force The torque of the rack 10 is reduced, thereby reducing the probability of the rack 10 toppling and ensuring the safety of the rack device 100; on the other hand, the influence of the height of the rack 10 on the overturn probability can be reduced to a certain extent, so there is no need to carry out the height of the rack 10.
  • the limitation is beneficial to increase the storage capacity of the shelf 10 .
  • the stability of the rack 10 can be improved without fixing the top of the rack 10 to the ceiling of the warehouse, which can reduce the installation difficulty of the rack device 100 in the warehouse, and the rack 10 can be applied to warehouses of various heights, thereby improving the rack device 100 is applicable.
  • the sliding component 50 is adapted to form a limit fit with the track 20a of the track component 20 of the racking device 100, the shaking of the robot 200 during the movement along the roadway 10a can be reduced. Or the probability of side dumping, so as to improve the success rate of the robot 200 taking and unloading the material box, and reduce the probability of the rack 10 being dumped together with the robot 200 due to the dumping of the robot 200. Therefore, it is beneficial to improve the stability of the robot 200 moving along the roadway 10a. performance and the success rate of picking and placing bins.
  • the rack device 100 of the storage system has the advantages of stable structure, low probability of the rack 10 and the robot 200 toppling, less difficulty in installation, and a wide range of applications.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as “first” or “second” may expressly or implicitly include one or more of that feature.
  • plurality means two or more, unless otherwise expressly and specifically defined.
  • the terms “installation”, “connection”, “connection”, “fixation” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction between the two elements. .
  • the specific meanings of the above terms in this application can be understood according to specific situations.
  • a first feature "on” or “under” a second feature may include the first and second features in direct contact, or may include the first and second features Not directly but through additional features between them.
  • the first feature being “above”, “over” and “above” the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature is “below”, “below” and “below” the second feature includes the first feature is directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.

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  • Robotics (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

一种货架装置（100）、机器人（200）及仓储系统（1），其中，货架装置（100）包括：货架（10），为间隔设置的至少两个，且相邻两个货架（10）之间限定有巷道（10a）；轨道组件（20），位于巷道（10a）的上方，且可拆卸地连接于相邻两个货架（10）的顶部，轨道组件（20）设有沿巷道（10a）的通行方向延伸的轨道（20a），轨道（20a）适于与沿巷道（10a）移动的机器人（200）限位配合。提高了货架装置（100）整体结构的稳定性，降低货架（10）发生变形的效率，以提高机器（200）人取放料箱的稳定性和成功率。

Description

货架装置、机器人及仓储系统
本申请要求于2020年9月28日提交中国专利局、申请号为2020110390470、发明名称为“货架装置及仓储系统”的中国专利申请的优先权。本申请要求于2020年9月28日提交中国专利局、申请号为2020221745119、实用新型名称为“货架装置及仓储系统”的中国专利申请的优先权。本申请要求于2020年9月28日提交中国专利局、申请号为2020221745138、实用新型名称为“机器人及仓储系统”的中国专利申请的优先权。其全部内容通过引用结合在本申请中。
技术领域
本申请涉及仓储技术，尤其涉及一种货架装置、机器人及仓储系统。
背景技术
现有技术中的仓储系统的货架装置，在机器人取放高处的料箱时容易发生车体晃动，导致取放料箱失败，甚至导致机器人以及货架发生倾倒，存在安全隐患。
发明内容
本申请实施例提供一种货架装置、机器人及仓储系统，以解决相关技术存在的问题，技术方案如下：
第一方面，本申请实施例提供了一种货架装置，包括：
货架，为间隔设置的至少两个，且相邻两个货架之间限定有巷道；
轨道组件，位于巷道的上方，且可拆卸地连接于相邻两个货架的顶部，轨道组件设有沿巷道的通行方向延伸的轨道，轨道适于与沿巷道移动的机器人限位配合。
在一种实施方式中，轨道组件具有相对设置的两个轨道壁，且两个轨道壁分别沿巷道的通行方向延伸以限定出轨道；
机器人的顶部适于位于两个轨道壁之间，且与两个轨道壁形成滑动配合。
在一种实施方式中，轨道组件包括：
横杆，沿巷道的通行方向延伸，两个横杆在与巷道的通行方向相垂直的方向上相对设置，其中，两个横杆的相向的侧表面分别形成轨道壁；
竖杆，竖杆的上端与横杆相连，竖杆的下端与货架可拆卸连接。
在一种实施方式中，横杆包括第一折弯部和第二折弯部，第一折弯部支撑于竖杆的上端，第二折弯部的侧表面形成轨道壁。
在一种实施方式中，货架包括沿竖直方向延伸的支撑杆，竖杆的下端与支撑杆的上端插接配合。
在一种实施方式中，竖杆设有连接孔，支撑杆的壁体上设有沿竖直方向相互间隔的多个定位孔，连接孔与其中一个定位孔正对设置，以使限位件穿过定位孔与连接孔连接。
在一种实施方式中，轨道组件还包括：
纵杆，与两个横杆均连接，多个纵杆在巷道的通行方向上间隔设置。
在一种实施方式中，两个轨道壁的邻近端部的部分别被构造为弧形壁。
在一种实施方式中，货架包括在竖直方向上间隔设置的第一隔板和第二隔板，第一隔板位于第二隔板的上方，其中，第一隔板限定出存储层，第二隔板限定出暂存层。
第二方面，本申请实施例提供了一种机器人，包括：
移动底盘，可沿货架装置的巷道移动；
支架，设于移动底盘，支架的顶部设有滑动组件，滑动组件适于与货架装置的轨道限位配合。
在一种实施方式中，滑动组件设有滑轮，两个滑轮与轨道的两个轨道壁分别形成滚动配合。
在一种实施方式中，滑轮的转动轴线沿竖直方向设置。
在一种实施方式中，滑动组件包括：
固定部，包括两个固定支耳，两个固定支耳分别与支架的顶部的相对两侧连接；
滑动部，两个滑动部分别设于固定部的相对两侧，滑动部包括安装座和滑轮，滑轮可转动地设于安装座。
在一种实施方式中，两个滑动部与固定部之间均设有弹性复位部，以使滑动部相对固定部可伸缩。
在一种实施方式中，弹性复位部包括：
轴固定件，位于固定部的一侧；
滑轴，固定于轴固定件，安装座可滑动地设于滑轴；
弹性件，套设于滑轴，弹性件的第一端抵接于安装座，弹性件的第二端抵接于轴固定件。
在一种实施方式中，滑动组件的数量为一个，且在支架的顶部的长度方向上居中设置。
在一种实施方式中，滑动组件的数量为多个，且在支架的顶部的长度方向上间隔设置。
在一种实施方式中，该机器人还包括：
搬运部，设于支架，且相对支架沿竖直方向移动。
第三方面，本申请实施例还提供一种仓储系统，包括根据本申请上述任一种实施方式的货架装置和/或根据本申请上述任一种实施方式的机器人。
本申请实施例的技术方案中的优点或有益效果包括：可以提高货架装置整体结构的稳定性，降低货架发生变形的效率，以提高机器人取放料箱的稳定性和成功率；另一方面，可以在货架受到外力作用时减小货架与地面的固定区域的力矩，从而降低货架发生倾倒的概率，保证了货架装置的安全性；再一方面，可以在一定程度上减小货架的高度对倾倒概率的影响，因而无需对货架的高度进行限制，有利于提高货架的存储量。再者，无需将货架的顶部与仓库的天花板进行固定即可提高货架的稳定性，可以降低货架装置在仓库的安装难度，并且货架可以适用于各种高度的仓库，从而提高货架装置的适用范围。此外，通过在轨道组件上设置对机器人形成限位作用的轨道，可以降低机器人在沿巷道移动的过程中发生晃动或者侧向倾倒的概率，从而提高机器人取放料箱的成功率，并且可以降低因机器人发生倾倒导致货架随机器人共同倾倒的概率，有利于提高机器人沿巷道移动以及取放料箱的稳定性。
上述概述仅仅是为了说明书的目的，并不意图以任何方式进行限制。除上述描述的示意性的方面、实施方式和特征之外，通过参考附图和以下的详细描述，本申请进一步的方面、实施方式和特征将会是容易明白的。
附图说明
在附图中，除非另外规定，否则贯穿多个附图相同的附图标记表示相同或相似的部件或元素。这些附图不一定是按照比例绘制的。应该理解，这些附图仅描绘了根据本申请公开的一些实施方式，而不应将其视为是对本申请范围的限制。
图1示出根据本申请实施例的货架装置的结构示意图；
图2示出根据本申请实施例的货架装置的局部结构示意图；
图3示出根据本申请实施例的货架装置的局部结构示意图；
图4示出根据本申请实施例的货架装置的轨道组件的局部结构示意图；
图5示出根据本申请实施例的货架装置与机器人配合的示意图；
图6示出根据本申请实施例的机器人的结构示意图；
图7示出根据本申请实施例的机器人的滑动组件的结构示意图；
图8示出根据本申请实施例的机器人的滑动组件与轨道组件的配合示意图；
图9示出根据本申请一个实施例的仓储系统的机器人的俯视图；
图10示出根据本申请另一个实施例的仓储系统的机器人的俯视图；
图11示出根据本申请实施例的仓储系统的结构示意图。
附图标记说明：
仓储系统1；
货架装置100；
货架10；巷道10a；支撑杆11；第一隔板12；存储层12a；第二隔板13；暂存层13a；限位件14；
轨道组件20；轨道20a；横杆21；第一折弯部211；第二折弯部212；轨道壁212a；竖杆22；纵杆23；
机器人200；
移动底盘30；
支架40；
滑动组件50；固定部51；固定支耳511；滑动部52；安装座521；滑轮522；弹性复位部53；轴固定件531；滑轴532；弹性件533；
搬运部60；
料箱输送机器人300。
具体实施方式
在下文中，仅简单地描述了某些示例性实施例。正如本领域技术人员可认识到的那样，在不脱离本申请的精神或范围的情况下，可通过各种不同方式修改所描述的实施例。因此，附图和描述被认为本质上是示例性的而非限 制性的。
下面参照图1-图5描述根据本申请实施例的货架装置100。根据本申请实施例的货架装置100可以用于存放料箱，料箱用于容置货品。
如图1所示，货架装置100包括货架10和轨道组件20。
具体地，货架10为间隔设置的至少两个，且相邻两个货架10之间限定有巷道10a。轨道组件20位于巷道10a的上方，且可拆卸地连接于相邻两个货架10的顶部，轨道组件20设有沿巷道10a的通行方向延伸的轨道20a，轨道20a适于与沿巷道10a移动的机器人200限位配合。
在一个示例中，货架10可以为两个，且两个货架10在与货架10的宽度方向平行的方向上(即图示中的左右方向)并排且间隔设置，两个货架10之间的区域形成巷道10a。可以理解的是，巷道10a的通行方向即为机器人200沿巷道10a的移动方向，巷道10a的通行方向可以为其长度方向，且巷道10a的长度方向平行于货架10的长度方向(即图示中的前后方向)设置。轨道组件20设于巷道10a的上方且与两个货架10的顶部分别连接，以使轨道组件20与两个货架10形成一个整体结构。
由此，一方面可以提高货架装置100的整体结构的稳定性，降低货架10倾倒的概率，另一方面，可以使轨道组件20对机器人200形成避让，以保证机器人200沿巷道10a畅通无阻地移动。
在一个示例中，机器人200适于在巷道10a内沿前后方向移动，并用于将货架10上存放的料箱从货架10搬离，或者用于将料箱搬运至货架10上。轨道组件20的轨道20a沿巷道10a的长度方向延伸，机器人200的顶部可以位于轨道20a内，以使机器人200的顶部与轨道20a形成限位配合。此外，在机器人200沿巷道10a移动的过程中，机器人200的顶部与轨道20a可以形成滑动配合。
优选地，在机器人200沿巷道10a移动的过程中，机器人200的顶部始终与轨道20a保持限位配合。
由此，在机器人200沿巷道10a移动的过程中，通过轨道组件20的轨道20a对机器人200顶部的限位作用，可以避免机器人200朝向巷道10a的宽度方向的任一侧发生倾倒，保证了机器人200移动过程的稳定性。
需要说明的是，为了确保仓储系统1的坪效，即尽可能地提高货架装置100的存储量，货架10的高度需要设置的较高，以在货架10上设置多个存储 层12a。相应地，为了确保机器人200可以在货架10的位于最上层的存储层12a的取放料箱，机器人200的高度适于与货架10的高度大致相同。因此，单个货架10以及单个机器人200的高度越高，发生倾倒的概率也相应较高。
现有技术中的货架装置，单个货架的稳定性较差，并且随着时间的推移货架容易变形，从而影响机器人取放料箱的成功率。其次，货架仅与地面固定连接，当机器人发生倾倒并与货架发生碰撞时，会对货架与地面的固定区域施加较大的力矩，导致货架容易倾倒。此外，为了降低机器人和货架倾倒的概率，需要对机器人和货架的高度进行限制，从而对货架的存储量形成限制。
根据本申请实施例的货架装置100，通过在两个货架10的顶部设置位于巷道10a上方的轨道组件20，以使轨道组件20与两个货架10形成一个整体结构，由此，一方面，可以提高货架装置100整体结构的稳定性，降低货架10发生变形的效率，以提高机器人200取放料箱的稳定性和成功率；另一方面，可以在货架10受到外力作用时减小货架10与地面的固定区域的力矩，从而降低货架10发生倾倒的概率，保证了货架装置100的安全性；再一方面，可以在一定程度上减小货架10的高度对倾倒概率的影响，因而无需对货架10的高度进行限制，有利于提高货架10的存储量。
再者，无需将货架10的顶部与仓库的天花板进行固定即可提高货架10的稳定性，可以降低货架装置100在仓库的安装难度，并且货架10可以适用于各种高度的仓库，从而提高货架装置100的适用范围。
此外，通过在轨道组件20上设置对机器人200形成限位作用的轨道20a，可以降低机器人200在沿巷道10a移动的过程中发生晃动或者侧向倾倒的概率，从而提高机器人200取放料箱的成功率，并且可以降低因机器人200发生倾倒导致货架10随机器人200共同倾倒的概率，有利于提高机器人200沿巷道10a移动以及取放料箱的稳定性。
因此，根据本申请实施例的货架装置100具有结构稳定、货架10以及机器人200发生倾倒的概率低、安装难度小以及适用范围广等优点。
在一种实施方式中，如图2所示，轨道组件20具有相对设置的两个轨道壁212a，且两个轨道壁212a分别沿巷道10a的通行方向延伸以限定出轨道20a。机器人200的顶部适于位于两个轨道壁212a之间，且与两个轨道壁212a形成滑动配合。
示例性地，两个轨道壁212a在图1中示出的左右方向上相对设置，且轨道壁212a沿图1中示出的前后方向延伸。需要说明的是，两个轨道壁212a之间的距离可以等于机器人200的顶部的宽度，以使机器人200的顶部的左右方向上的相对两侧分别与两个轨道壁212a抵接配合，从而使机器人200始终保持直立状态，避免机器人200倾倒。或者，两个轨道壁212a之间的距离可以略大于机器人200的顶部的宽度，即机器人200处于直立状态时，机器人200顶部的宽度方向上的两侧与两个轨道壁212a均不接触，在机器人200发生小角度倾斜时，机器人200顶部的朝向倾斜方向的一侧与相应一侧的轨道壁212a相接触，以避免机器人200继续倾倒。
在一种实施方式中，如图2所示，轨道组件20包括横杆21和竖杆22。具体地，横杆21沿巷道10a的通行方向延伸，两个横杆21在与巷道10a的通行方向相垂直的方向上相对设置，其中，两个横杆21的相向的侧表面分别形成轨道壁212a。竖杆22的上端与横杆21相连，竖杆22的下端与货架10可拆卸连接。
示例性地，两个横杆21沿图1中所示的前后方向延伸，且两个横杆21在图1中所示的左右方向上相对设置。两个横杆21分别位于两个货架10的上方，且两个横杆21的朝向彼此的侧表面分别形成轨道壁212a。竖杆22可以为与两个横杆21对应设置的两组，每组中包括两个竖杆22。其中，每组中的两个竖杆22的上端分别固定连接于对应的横杆21的长度方向的两端，且每组中的两个竖杆22的下端均可拆卸地连接于对应一侧的货架10。
可选地，如图4所示，横杆21包括第一折弯部211和第二折弯部212，第一折弯部211支撑于竖杆22的上端，第二折弯部212的侧表面形成轨道壁212a。
示例性地，第一折弯部211和第二折弯部212分别沿巷道10a的通行方向延伸，且第一折弯部211的侧边沿与第二折弯部212的上边沿相接。第一折弯部211和第二折弯部212均可以被构造为平板状，且第一折弯部211沿竖向设置，第二折弯部212沿水平方向设置，以使第一折弯部211和第二折弯部212所在的平面相互垂直。其中，两个横杆21的第一折弯部211的下表面可以分别支撑于对应一组的竖杆22的上端，两个横杆21的第二折弯部212朝向彼此的侧表面形成轨道壁212a。
可选地，如图1-图4所示，货架10包括沿竖直方向延伸的支撑杆11，竖 杆22的下端与支撑杆11的上端插接配合。
示例性地，货架10包括多个间隔设置的支撑杆11，支撑杆11沿竖直方向延伸，且支撑杆11的下端支撑于地面，支撑杆11的上端形成自由端。竖杆22的下端适于插接于货架10的邻近巷道10a一侧的支撑杆11的上端。其中，支撑杆11可以被构造为空心管，以使竖杆22可以由支撑杆11的上端的开口插设于支撑杆11的内部。
在一个示例中，竖杆22设有连接孔，支撑杆11的壁体上设有沿竖直方向相互间隔的多个定位孔，连接孔与其中一个定位孔正对设置，以使限位件14穿过定位孔与连接孔连接。
具体地，连接孔贯通竖杆22的壁体设置，多个定位孔贯通支撑杆11的壁体设置，限位件14可以由外部穿过定位孔并与连接孔固定连接，以将竖杆22固定于支撑杆11内。其中，限位件14可以为螺钉。可以理解的是，通过将竖杆22上的连接孔与支撑杆11上不同高度的定位孔对齐并通过限位件14连接，可以调节竖杆22插入定位孔的深度，从而调节轨道组件20相对货架10的高度。这样，可以根据机器人200的高度调节轨道组件20相对地面的高度，以使轨道组件20的轨道20a与机器人200形成限位配合。由此，可以使货架装置100适用于不同高度的机器人200，降低对机器人200的高度限制，从而进一步提高货架装置100的适用范围。
可选地，如图2和图3所示，轨道组件20还包括纵杆23。纵杆23与两个横杆21均连接，多个纵杆23在巷道10a的通行方向上间隔设置。
示例性地，纵杆23可以沿图1中所示的左右方向延伸，以使纵杆23的长度方向与横杆21的长度方向相垂直。纵杆23可以被构造为平板结构，且纵杆23可以支撑于两个横杆21的第一折弯部211的上表面，并通过螺钉固定。多个纵杆23在横杆21的长度方向上等距离间隔设置。由此，可以使两个横杆21通过多个纵杆23连接形成一个整体结构，从而提高轨道组件20整体的结构稳定性。
在一种实施方式中，如图4所示，两个轨道壁212a的邻近端部的部分别被构造为弧形壁。
示例性地，两个轨道壁212a的邻近端部的部分分别在朝向端部的方向上向外沿弧形延伸，以使两个轨道壁212a的邻近端部的部分之间的距离在朝向端部的方向上逐渐增大。由此，在机器人200进入巷道10a时，两个轨道壁 212a的邻近端部的部分可以对机器人200的顶部起到导向的作用，以提高机器人200的顶部与轨道20a的适配性。优选地，轨道壁212a的邻近两端的部分均被构造为弧形壁，由此，机器人200由巷道10a的任一端进入巷道10a时，均可以对机器人200的顶部起到导向作用。
在一种实施方式中，如图1所示，货架10包括在竖直方向上间隔设置的第一隔板12和第二隔板13，第一隔板12位于第二隔板13的上方，其中，第一隔板12限定出存储层12a，第二隔板13限定出暂存层13a。
示例性地，第一隔板12可以为沿竖直方向间隔设置的多个，且第一隔板12的上方空间形成存储层12a；第二隔板13位于多个第一隔板12的下方，且第二隔板13的上方空间形成暂存层13a。机器人200可以为料箱搬运机器人，用于将放置于存储层12a(即放置于第一隔板12上)的料箱搬运至暂存层13a(即第二隔板13上)，或者将放置于暂存层13a的料箱搬运至存储层12a。此外，仓储系统1还可以设有料箱输送机器人300，用于将入库的料箱搬运至暂存层13a，或者将出库的料箱由暂存层13a搬离。
下面参照图5-图10描述根据本申请实施例的机器人200。根据本申请实施例的机器人200可以沿货架装置100的巷道10a移动。
如图5和图6所示，机器人200包括移动底盘30和支架40。具体地，移动底盘30可沿货架装置100的巷道10a移动。支架40设于移动底盘30，支架40的顶部设有滑动组件50，滑动组件50与轨道20a限位配合。
示例性地，如图6所示，机器人200可以为料箱搬运机器人，用于将货架10的存储层12a的料箱搬运至暂存层13a，或者将暂存层13a的货物搬运至存储层12a。
滑动组件50设于支架40的顶部，且滑动组件50与货架装置100的轨道组件20形成限位配合，且滑动组件50在机器人200的移动过程中与轨道组件20的轨道20a形成滑动配合。
优选地，在机器人200沿巷道10a移动的过程中，滑动组件50始终与轨道20a保持限位配合。
在一种实施方式中，机器人200还包括设于支架40的搬运部60，且搬运部60可以相对支架40沿竖直方向移动，以使搬运部60可以移动至与不同存储层12a相对应的高度。其中，搬运部60可以为伸缩臂装置，用于取放料箱。支架40的高度适于与货架10的高度大致相同，以使搬运部60可以向上移动 至货架10的位于最上层的存储层12a。
根据本申请实施例的机器人200，通过在支架40的顶部设置滑动组件50，且滑动组件50适于与货架装置100的轨道组件20的轨道20a形成限位配合，可以降低机器人200在沿巷道10a移动的过程中发生晃动或者侧向倾倒的概率，从而提高机器人200取放料箱的成功率，并且降低因机器人200发生倾倒导致货架10随机器人200共同倾倒的概率，因此，有利于提高机器人200沿巷道10a移动的稳定性以及取放料箱的成功率。
在一种实施方式中，如图6-图8所示，滑动组件50设有滑轮522，两个滑轮522与轨道20a的两个轨道壁212a分别形成滚动配合。
示例性地，两个滑轮522在巷道10a的宽度方向上相对设置，即两个滑轮522分别与两个轨道壁212a对应设置。其中，滑轮522的转动轴线沿竖直方向设置，以使滑轮522随机器人200移动过程中相对轨道壁212a滚动。由此，可以减小滑动组件50与轨道壁212a之间的摩擦，提高滑动组件50与两个轨道壁212a的配合效果，以使机器人200沿巷道10a移动更加顺畅。
可选地，如图7和图8所示，滑动组件50包括固定部51和滑动部52。具体地，固定部51包括两个固定支耳511，两个固定支耳511分别与支架40的顶部的相对两侧连接。两个滑动部52分别设于固定部51的相对两侧，滑动部52包括安装座521和滑轮522，滑轮522可转动地设于安装座521。
示例性地，固定部51的两个固定支耳511被构造为沿竖直方向延伸的平板状，且两个固定支耳511分别与支架40顶部的两个相对的侧表面贴合设置，固定支耳511与支架40的顶部可以通过螺钉紧固连接。两个安装座521分别设于固定部51的相对两侧，安装座521设有沿竖直方向设置的固定轴，滑轮522可转动地安装于固定轴，以使滑轮522的转动轴线沿竖直方向设置。
由此，可以减小滑动组件50与轨道壁212a之间的摩擦，提高滑动组件50与两个轨道壁212a的配合效果，以使机器人200沿巷道10a移动更加顺畅。
可选地，如图7和图8所示，两个滑动部52与固定部51之间均设有弹性复位部53，以使滑动部52相对固定部51可伸缩。
可以理解的是，滑动部52相对固定部51可伸缩，指的是滑动部52在巷道10a的宽度方向上相对固定部51可移动，且弹性复位部53可以对固定部51起到缓冲和复位的作用。由此，在机器人200发生倾斜时，弹性复位部53可以对滑动部52与限位壁之间起到缓冲作用，以缓冲限位壁受到的滑动部52 所施加的作用力，从而降低轨道组件20以及货架10发生倾倒的概率。
在一个示例中，继续参照图7和图8所示，弹性复位部53包括轴固定件531、滑轴532和弹性件533。具体地，轴固定件531位于固定部51的一侧。滑轴532固定于轴固定件531，安装座521可滑动地设于滑轴532。弹性件533套设于滑轴532，弹性件533的第一端抵接于安装座521，弹性件533的第二端抵接于轴固定件531。
更为具体地，滑轴532穿设于轴固定件531，滑轴532的一端由轴固定件531的一侧伸出，并与固定部51的固定支耳511紧固连接；滑轴532的另一端由轴固定件531的另一侧伸出，安装座521套设于滑轴532的由固定件的另一侧伸出的部分，且相对滑轴532可滑动。弹性件533可以为弹簧，弹簧套设于滑轴532的由固定件的另一侧伸出的部分，且滑轴532的两端分别抵接于安装座521和轴固定件531。
在一种实施方式中，如图9所示，滑动组件50可以为一个，且在支架40顶部的长度方向上居中设置，以提高滑动组件50在支架40上安装的稳定性。
在另一种实施方式中，滑动组件50可以为在支架40的长度方向上间隔设置的多个，以提高滑动组件50与轨道组件20的轨道20a的配合效果。例如，在图10所示的示例中，滑动组件50可以为两个，且分别邻近支架40的顶部的长度方向的两端设置。
下面参照图11描述根据本申请实施例的仓储系统1。
如图11所示，仓储系统1包括根据本申请上述实施例货架装置100和/或本申请上述实施例的机器人200。
示例性地，如图11所示，货架装置100可以为并排设置的多个，且多个货架装置100的巷道10a依次相接，以使多个巷道10a拼接形成一条完整的巷道。相应地，多个货架装置100的轨道组件20的轨道20a依次相接。由此，机器人200可以沿多个巷道10a拼接形成的完整的巷道移动，并且在机器人200的移动过程中，机器人200的顶部与可以与多个轨道20a形成限位配合。
进一步地，仓储系统1还可以包括料箱输送机器人300，用于在出库作业中将暂存于暂存层13a的料箱搬离，或者用于在入库作业中将料箱搬运至暂存层13a。
根据本申请实施例的仓储系统1，通过在两个货架10的顶部设置位于巷道10a上方的轨道组件20，以使轨道组件20与两个货架10形成一个整体结 构，一方面可以提高货架装置100整体结构的稳定性，降低货架10发生变形的效率，以提高机器人200取放料箱的稳定性和成功率；另一方面，可以在货架10受到外力作用时减小货架10与地面的固定区域的力矩，从而降低货架10发生倾倒的概率，保证了货架装置100的安全性；再一方面，可以在一定程度上减小货架10的高度对倾倒概率的影响，因而无需对货架10的高度进行限制，有利于提高货架10的存储量。
其次，无需将货架10的顶部与仓库的天花板进行固定即可提高货架10的稳定性，可以降低货架装置100在仓库的安装难度，并且货架10可以适用于各种高度的仓库，从而提高货架装置100的适用范围。
再者，通过在支架40的顶部设置滑动组件50，且滑动组件50适于与货架装置100的轨道组件20的轨道20a形成限位配合，可以降低机器人200在沿巷道10a移动的过程中发生晃动或者侧向倾倒的概率，从而提高机器人200取放料箱的成功率，并且降低因机器人200发生倾倒导致货架10随机器人200共同倾倒的概率，因此，有利于提高机器人200沿巷道10a移动的稳定性以及取放料箱的成功率。
因此，根据本申请实施例的仓储系统的货架装置100具有结构稳定、货架10以及机器人200发生倾倒的概率低、安装难度小以及适用范围广等优点。
上述实施例的仓储系统1的其他构成可以采用于本领域普通技术人员现在和未来知悉的各种技术方案，这里不再详细描述。
在本说明书的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者多个该特征。在本申请的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连 接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接，还可以是通信；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
上文的公开提供了许多不同的实施方式或例子用来实现本申请的不同结构。为了简化本申请的公开，上文中对特定例子的部件和设置进行描述。当然，它们仅仅为示例，并且目的不在于限制本申请。此外，本申请可以在不同例子中重复参考数字和/或参考字母，这种重复是为了简化和清楚的目的，其本身不指示所讨论各种实施方式和/或设置之间的关系。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到其各种变化或替换，这些都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。

Claims (19)

  1. 一种货架装置，其特征在于，包括：
    货架，为间隔设置的至少两个，且相邻两个所述货架之间限定有巷道；
    轨道组件，位于所述巷道的上方，且可拆卸地连接于相邻两个所述货架的顶部，所述轨道组件设有沿所述巷道的通行方向延伸的轨道，所述轨道适于与沿所述巷道移动的机器人限位配合。
  2. 根据权利要求1所述的货架装置，其特征在于，所述轨道组件具有相对设置的两个轨道壁，且两个所述轨道壁分别沿所述巷道的通行方向延伸以限定出所述轨道；
    所述机器人的顶部适于位于两个所述轨道壁之间，且与两个所述轨道壁形成滑动配合。
  3. 根据权利要求2所述的货架装置，其特征在于，所述轨道组件包括：
    横杆，沿所述巷道的通行方向延伸，两个所述横杆在与所述巷道的通行方向相垂直的方向上相对设置，其中，两个所述横杆的相向的侧表面分别形成所述轨道壁；
    竖杆，所述竖杆的上端与所述横杆相连，所述竖杆的下端与所述货架可拆卸连接。
  4. 根据权利要求3所述的货架装置，其特征在于，所述横杆包括第一折弯部和第二折弯部，所述第一折弯部支撑于所述竖杆的上端，所述第二折弯部的侧表面形成所述轨道壁。
  5. 根据权利要求3所述的货架装置，其特征在于，所述货架包括沿竖直方向延伸的支撑杆，所述竖杆的下端与所述支撑杆的上端插接配合。
  6. 根据权利要求5所述的货架装置，其特征在于，所述竖杆设有连接孔，所述支撑杆的壁体上设有沿竖直方向相互间隔的多个定位孔，所述连接孔与其中一个所述定位孔正对设置，以使限位件穿过所述定位孔与所述连接孔连接。
  7. 根据权利要求3所述的货架装置，其特征在于，所述轨道组件还包括：
    纵杆，与两个所述横杆均连接，多个所述纵杆在所述巷道的通行方向上间隔设置。
  8. 根据权利要求2所述的货架装置，其特征在于，两个所述轨道壁的邻近端部的部分别被构造为弧形壁。
  9. 根据权利要求1至8任一项所述的货架装置，其特征在于，所述货架包括在竖直方向上间隔设置的第一隔板和第二隔板，所述第一隔板位于所述第二隔板的上方，其中，所述第一隔板限定出存储层，所述第二隔板限定出暂存层。
  10. 一种机器人，其特征在于，包括：
    移动底盘，可沿货架装置的巷道移动；
    支架，设于所述移动底盘，所述支架的顶部设有滑动组件，所述滑动组件适于与所述货架装置的轨道限位配合。
  11. 根据权利要求10所述的机器人，其特征在于，所述滑动组件设有滑轮，两个所述滑轮与所述轨道的两个轨道壁分别形成滚动配合。
  12. 根据权利要求11所述的机器人，其特征在于，所述滑轮的转动轴线沿竖直方向设置。
  13. 根据权利要求11所述的机器人，其特征在于，所述滑动组件包括：
    固定部，包括两个固定支耳，两个所述固定支耳分别与所述支架的顶部的相对两侧连接；
    滑动部，两个所述滑动部分别设于所述固定部的相对两侧，所述滑动部包括安装座和所述滑轮，所述滑轮可转动地设于所述安装座。
  14. 根据权利要求13所述的机器人，其特征在于，两个所述滑动部与所述固定部之间均设有弹性复位部，以使所述滑动部相对所述固定部可伸缩。
  15. 根据权利要求14所述的机器人，其特征在于，所述弹性复位部包括：
    轴固定件，位于所述固定部的一侧；
    滑轴，固定于所述轴固定件，所述安装座可滑动地设于所述滑轴；
    弹性件，套设于所述滑轴，所述弹性件的第一端抵接于所述安装座，所述弹性件的第二端抵接于所述轴固定件。
  16. 根据权利要求10所述的机器人，其特征在于，所述滑动组件的数量为一个，且在所述支架的顶部的长度方向上居中设置。
  17. 根据权利要求10所述的机器人，其特征在于，所述滑动组件的数量为多个，且在所述支架的顶部的长度方向上间隔设置。
  18. 根据权利要求10至17任一项所述的机器人，其特征在于，还包括：
    搬运部，设于所述支架，且相对所述支架沿竖直方向移动。
  19. 一种仓储系统，其特征在于，包括根据权利要求1至9任一项所述的 货架装置和/或根据权利要求10至18任一项所述的机器人。
PCT/CN2021/114787 2020-09-28 2021-08-26 货架装置、机器人及仓储系统 Ceased WO2022062826A1 (zh)

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