CN118145559A - Lifting device and three-dimensional storage robot - Google Patents

Abstract

The application relates to a lifting device and a three-dimensional storage robot. The lifting device comprises a column assembly, a carriage assembly, a displacement mechanism and a second carrying piece. The column assembly includes a column. The carriage assembly comprises a connecting assembly and a first carrying piece, and the connecting assembly is movably connected to the upright post along the height direction. The second carrying member moves in the horizontal direction. The displacement mechanism comprises a displacement member and a driving assembly, wherein two ends of the displacement member are respectively a first fixed end and a first displacement end, the first fixed end is connected to the upright post assembly, the first displacement end is connected to the carriage assembly, and the driving assembly is configured to enable the first displacement end to move along the height direction relative to the first fixed end so as to drive the carriage assembly to move along the height direction. The lifting device is compact in overall structure and small in size, the second carrying piece carries goods on the ground and transfers the goods to the first carrying piece, and the first carrying piece lifts the goods to a high-level storage area so as to realize the composite lifting carrying action of carrying the goods on the horizontal ground and in the height direction.

Description

Lifting device and three-dimensional storage robot

Technical Field

The application relates to the technical field of storage logistics robots, in particular to a lifting device and a three-dimensional storage robot.

Background

With the development of automated logistics technology, in order to facilitate the management and storage of large-volume goods, stereoscopic warehouses and some column related devices for realizing the storage and dispatch of goods in stereoscopic warehouses have multiple layers of goods storage areas in the height direction, and therefore, it is necessary to configure the related devices to perform the work of transporting goods within the multiple layers of goods storage areas. The work of carrying goods can be accomplished through manual driving or unmanned transfer robot, usually for fork-lift type transfer pallet's plane transfer robot or forward fork truck etc., however fork-lift type transfer pallet's plane transfer robot can only remove the goods tray on ground, is difficult to accomplish the goods transport work of high-rise goods storage area, and forward fork truck's whole volume and area are all great, are difficult to have enough to meet the need in the limited stereoscopic warehouse in space, and use cost is also higher.

Disclosure of Invention

Accordingly, it is necessary to provide a lifting device and a stereoscopic warehouse robot for solving the problem that high-rise goods are difficult to transport in a stereoscopic warehouse.

The application provides a lifting device, which is used for being installed on a three-dimensional storage robot to lift conveyed articles, and comprises:

the upright post assembly comprises an upright post, and the axial direction of the upright post is arranged along the height direction;

The carriage assembly comprises a connecting assembly and a first carrying piece, the connecting assembly is movably connected to the upright post along the height direction, the first carrying piece is connected to the connecting assembly, and the first carrying piece is used for carrying the carried article;

The displacement mechanism comprises a displacement member and a driving assembly, wherein two ends of the displacement member are respectively provided with a first fixed end and a first displacement end, the first fixed end is connected with the upright post assembly, the first displacement end is connected with the carriage assembly, and the driving assembly is configured to enable the first displacement end to move along the height direction relative to the first fixed end so as to drive the carriage assembly to move along the height direction;

the second carrying piece is arranged below the first carrying piece and is arranged to move along the horizontal direction, and the second carrying piece is used for carrying the carried article.

In one embodiment, the displacement member is a chain, two ends of the chain are respectively a first fixed end and a first displacement end, the driving assembly is a lifting mechanism, the displacement mechanism further comprises a chain wheel, the lifting direction of the lifting mechanism is set along the height direction, the lifting mechanism is arranged on the upright post assembly and connected with the chain wheel so as to drive the chain wheel to lift along the height direction, the chain bypasses the chain wheel, and the first fixed end and the first displacement end are respectively positioned at two sides of the chain wheel and the chain is configured to be in a tensioning state.

In one embodiment, the displacement mechanism further comprises a drag chain and a drag chain wheel, the drag chain is of a hollow structure, two ends of the drag chain are respectively a second fixed end and a second displacement end, the second fixed end is connected with the upright post assembly, the second displacement end is connected with the carriage assembly, the drag chain wheel is configured to be coaxially arranged with the chain wheel and synchronously lift and fall, the drag chain bypasses the drag chain wheel, and the second fixed end and the second displacement end are respectively positioned at two sides of the drag chain wheel and are configured to be in a tensioning state.

In one embodiment, the upright comprises a first upright and a second upright, and the first upright and the second upright are sequentially arranged on two sides of the carriage assembly along a first horizontal direction; the first carrying piece comprises a plurality of carrying fork strips, the axial direction of the carrying fork strips is arranged along the second horizontal direction, a plurality of carrying fork strips are sequentially arranged along the first horizontal direction, and the first horizontal direction is perpendicular to the second horizontal direction.

In one embodiment, the first upright post and the second upright post are provided with roller guide grooves along the height direction at opposite sides; the connecting assembly comprises a connecting plate group and roller groups, wherein the two roller groups are sequentially arranged on two sides of the connecting plate group along a first horizontal direction, one side, opposite to the upright post assembly, of the connecting plate group is connected with the first carrying piece, and the two roller groups are respectively arranged on the two roller guide grooves.

In one embodiment, the upright post assembly further comprises an upright post bottom plate and an upright post reinforcing connecting plate, the upright post bottom plate is parallel to the first horizontal direction and the second horizontal direction, the bottom end of the first upright post and the bottom end of the second upright post are arranged on the upright post bottom plate, the upright post bottom plate is used for being installed on the three-dimensional storage robot, two ends of the upright post reinforcing connecting plate are respectively connected with the first upright post and the second upright post, and the upright post reinforcing connecting plates are sequentially arranged along the height direction.

In one embodiment, the lifting device further comprises a positioning mechanism, wherein the positioning mechanism is arranged on the carriage assembly, the positioning detection direction faces the first carrying member, and the positioning mechanism is used for acquiring positioning information of the first carrying member and the second carrying member.

In one embodiment, the lifting device further comprises a position detection mechanism, the position detection mechanism comprises a position sensor and a position detection sheet, the position sensors are sequentially arranged on the upright post assembly along the height direction, the position detection sheet is arranged on the carriage assembly, and when the carriage assembly is lifted along the height direction, the position detection sheet passes through the position sensor, so that the position sensor senses the position detection sheet and transmits a positioning signal.

In one embodiment, the lifting device further comprises a limiting mechanism, the limiting mechanism comprises a travel switch and a travel switch trigger plate, the travel switch is arranged on the upper portion of the upright post assembly, the travel switch trigger plate is arranged on the carriage assembly, and the travel switch trigger plate can be abutted to the travel switch when the carriage assembly continuously ascends to the highest point along the height direction so as to limit the carriage assembly to continuously ascend.

The application also provides a three-dimensional storage robot, which comprises:

A robot frame;

the walking driving assembly is arranged and installed on the robot frame body;

according to the lifting device, the upright post component is arranged and installed on the robot frame body, and the sliding frame component is arranged above the robot frame body.

According to the technical scheme, the lifting device is arranged on the three-dimensional storage robot, the axial direction of the upright post is arranged along the height direction, the connecting component can be movably connected to the upright post along the height direction, the upright post is connected to the first carrying component, the first fixed end of the displacement component is connected to the upright post component, the first displacement end of the displacement component is connected to the sliding frame component, the upright post is arranged along the height direction, the whole arrangement of the upright post, the first carrying component and the displacement component is compact in structure, the size is small, when the first carrying component is in a low position, the second carrying component moves on the ground along the horizontal direction to finish the ground cargo carrying work, the cargo on the second carrying component is transferred to the first carrying component, the first displacement end is controlled to move along the height direction relative to the first fixed end, the first carrying component is driven to move along the height direction, meanwhile, the first carrying component is movably connected to the upright post component along the height direction through the connecting component, and the first carrying component lifts to a high cargo storage area from the low position under the traction action of the displacement component and the auxiliary guiding action of the upright post component, and the composite cargo carrying and the high-position carrying can be realized under the coordination of the first carrying component and the second carrying component.

Drawings

Fig. 1 is a schematic view of a first view angle structure of a stereoscopic warehouse robot according to an embodiment of the present application.

Fig. 2 is a schematic view of a second view angle structure of a stereoscopic warehouse robot according to an embodiment of the present application.

Fig. 3 is a schematic view of a first view structure of a lifting device according to an embodiment of the application.

Fig. 4 is a schematic view of a second view structure of a lifting device according to an embodiment of the application.

Fig. 5 is a schematic view of a first view structure of a displacement mechanism of an embodiment of a lifting device and a stereoscopic warehouse robot according to the present application.

Fig. 6 is a schematic view of a second view structure of a displacement mechanism of an embodiment of the lifting device and the stereoscopic warehouse robot according to the present application.

Fig. 7 is a schematic structural diagram of a drag chain of an embodiment of the lifting device and the stereoscopic warehouse robot of the present application.

Fig. 8 is a schematic structural view of a column assembly of an embodiment of the lifting device and the stereoscopic warehouse robot of the present application.

Fig. 9 is a schematic structural view of a carriage assembly of an embodiment of the lifting device and the stereoscopic warehouse robot of the present application.

Fig. 10 is a schematic structural diagram of a position detecting mechanism of an embodiment of a lifting device and a stereoscopic warehouse robot according to the present application.

Component reference numerals in the drawings illustrate:

1000. A lifting device; 100. a column assembly; 110. a column; 111. a first upright; 112. a second upright; 120. a roller guide groove; 130. a column bottom plate; 140. the upright post strengthens the connecting plate; 141. the middle upright post strengthens the connecting plate; 142. a top upright post reinforcing connection plate; 150. an electrical mounting plate; 151. an electrical component; 200. a carriage assembly; 210. a connection assembly; 211. a connection plate group; 2111. a first carrier connection plate; 2112. a roller mounting plate; 212. a roller set; 220. a first carrying member; 221. carrying fork strips; 300. a displacement mechanism; 310. a displacement member; 311. a chain; 3111. a first fixed end; 3112. a first displacement end; 312. a drag chain; 3121. a second fixed end; 3122. a second displacement end; 320. a lifting mechanism; 330. a chain wheel; 341. a first chain link; 342. a second chain connecting member; 350. a drag chain wheel; 360. a wheel support; 371. a first tow chain connection; 372. a second tow chain connection; 400. a positioning mechanism; 410. a camera; 420. a camera mount; 500. a position detecting mechanism; 510. a position sensor; 520. a position detecting sheet; 600. a limiting mechanism; 610. a travel switch; 620. a travel switch trigger plate; 630. a limiting block; 2000. a three-dimensional storage robot; 700. a robot frame; 800. a travel drive assembly; 900. and a second carrying member.

Detailed Description

In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.

In the description of the present application, it should be understood that, if any, these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., are used herein with respect to the orientation or positional relationship shown in the drawings, these terms refer to the orientation or positional relationship for convenience of description and simplicity of description only, and do not indicate or imply that the apparatus or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application.

Furthermore, the terms "first," "second," and the like, if any, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the terms "plurality" and "a plurality" if any, mean at least two, such as two, three, etc., unless specifically defined otherwise.

In the present application, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly. For example, the two parts can be fixedly connected, detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present application, unless expressly stated or limited otherwise, the meaning of a first feature being "on" or "off" a second feature, and the like, is that the first and second features are either in direct contact or in indirect contact through an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that if an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. If an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein, if any, are for descriptive purposes only and do not represent a unique embodiment.

Referring to fig. 1 to 4, fig. 1 to 4 respectively show a schematic structural view of a first view and a second view of the stereoscopic warehouse robot 2000, and a schematic structural view of a first view and a second view of the lifting device 1000. The application provides a lifting device 1000, which is used for being installed on a three-dimensional storage robot 2000 to lift a carried object, wherein the lifting device 1000 comprises a column assembly 100, a carriage assembly 200, a displacement mechanism 300 and a second carrying member 900. The column assembly 100 includes a column 110, and an axial direction of the column 110 is disposed in a height direction (refer to a direction a in fig. 4). The carriage assembly 200 includes a connection assembly 210 and a first carrying member 220, wherein the connection assembly 210 is movably connected to the upright 110 along a height direction, the first carrying member 220 is connected to the connection assembly 210, and the first carrying member 220 is used for carrying the carried article. The displacement mechanism 300 includes a displacement member 310 and a driving assembly, wherein two ends of the displacement member 310 are a first fixed end 3111 and a first displacement end 3112, the first fixed end 3111 is connected to the column assembly 100, the first displacement end 3112 is connected to the carriage assembly 200, and the driving assembly is configured to move the first displacement end 3112 along the height direction relative to the first fixed end 3111 so as to drive the carriage assembly 200 to move along the height direction. The second conveyance member 900 is disposed below the first conveyance member 220 and is configured to move in a horizontal direction (see directions B and C in fig. 4), and the second conveyance member 900 is configured to convey the conveyed article.

The lifting device 1000 is installed on the three-dimensional storage robot 2000, the axial direction of the upright 110 is arranged along the height direction, the connecting component 210 is movably connected to the upright 110 along the height direction, the upright 110 is connected to the first carrying component 220, the first fixed end 3111 of the displacement component 310 is connected to the upright component 100, the first displacement end 3112 of the displacement component 310 is connected to the carriage component 200, the upright 110 is arranged along the height direction, the whole arrangement structure of the upright 110, the first carrying component 220 and the displacement component 310 is compact, the size is small, when the first carrying component 220 is at a low position, the second carrying component 900 moves along the horizontal direction on the ground to finish the ground cargo carrying work, the cargo on the second carrying component 900 is transferred to the first carrying component 220, the first displacement component 3112 is controlled to move along the height direction relative to the first fixed end 3111, the first carrying component 220 is driven to move along the height direction, meanwhile, the first carrying component 220 is movably connected to the upright component 100 along the height direction through the connecting component 210, under the traction action of the displacement component 310 and the auxiliary guiding action of the upright component 100, and the first carrying component 220 can be carried from the low position to the first carrying component and the second carrying component 900 at the high position on the ground, the combined carrying and the first carrying and the second carrying component 900 can be carried at the high position and the combined carrying position.

Referring to fig. 5-6, fig. 5-6 show schematic structural views of a first view and a second view, respectively, of the displacement mechanism 300. The displacement piece 310 is a chain 311, two ends of the chain 311 are respectively a first fixed end 3111 and a first displacement end 3112, the driving assembly is a lifting mechanism 320, the displacement mechanism 300 further comprises a chain wheel 330, the lifting direction of the lifting mechanism 320 is set along the height direction, the lifting mechanism 320 is arranged on the upright assembly 100 and connected to the chain wheel 330 to drive the chain wheel 330 to lift along the height direction, the chain 311 bypasses the chain wheel 330, the first fixed end 3111 and the first displacement end 3112 are respectively located at two sides of the chain wheel 330, and the chain 311 is configured to be in a tensioning state. Specifically, the lifting mechanism 320 is a telescopic mechanism, and the telescopic direction of the telescopic mechanism is set in the height direction. The telescopic driving mode of the telescopic mechanism can be pneumatic, electric, hydraulic and the like, and is not particularly limited herein. Illustratively, the telescoping mechanism is an electro-hydraulic actuator. Thus, when the lifting mechanism 320 drives the chain wheel 330 to lift, the first fixed end 3111 of the chain 311 is driven to lift synchronously, so as to drive the first carrying member 220 to lift.

Specifically, the displacement mechanism 300 further includes a first chain link 341 and a second chain link 342, the first chain link 341 is disposed on the column reinforcing connection plate 140, the first fixed end 3111 is connected to the column reinforcing connection plate 140 through the first chain link 341, the second chain link 342 is disposed on the connection plate group 211, and the first displacement end 3112 is connected to the connection plate group 211 through the second chain link 342.

Illustratively, the first chain connector 341 is disposed on the central pillar reinforcing connection plate 141 with a reinforcing web disposed between the first chain 311 and the central pillar reinforcing connection plate 141 to strengthen the structural strength.

Illustratively, the second chain link 342 is disposed on a side of the first carrier connection plate 2111 opposite the column assembly 100.

Referring to fig. 7, fig. 7 shows a schematic structural diagram of a drag chain 312. The displacement mechanism 300 further includes a drag chain 312 and a drag chain wheel 350, the drag chain 312 has a hollow structure, two ends of the drag chain 312 are respectively a second fixed end 3121 and a second displacement end 3122, the second fixed end 3121 is connected to the upright assembly 100, the second displacement end 3122 is connected to the carriage assembly 200, the drag chain wheel 350 is configured to be coaxially arranged with the chain wheel 330 and synchronously lift and fall, the drag chain 312 bypasses the drag chain wheel 350, the second fixed end 3121 and the second displacement end 3122 are respectively located at two sides of the drag chain wheel 350, and the drag chain 312 is configured to be in a tensioning state. The drag chain 312 is arranged to be lifted synchronously with the chain 311, the carriage assembly 200 is provided with components such as a sensor, cables of the components such as the sensor can be arranged in a hollow structure of the drag chain 312, the cable is prevented from being pulled and driven in the lifting process of the carriage assembly 200, and the cable arrangement of the carriage assembly 200 is facilitated to be optimized.

Further, the displacement mechanism 300 further includes a wheel support 360, and the chain wheel 330 and the sprocket 350 are coaxially mounted on the wheel support 360, and the lifting mechanism 320 is connected to the wheel support 360 to drive the wheel support 360 to lift in the height direction.

Specifically, the displacement mechanism 300 further includes a first drag chain connector 371 and a second drag chain connector 372, the first drag chain connector 371 is disposed on the column reinforcement connection board 140, the second fixed end 3121 is connected to the column assembly 100 through the first drag chain connector 371, the second drag chain connector 372 is disposed on the connection board set 211, and the second displacement end 3122 is connected to the connection board set 211 through the second drag chain connector 372.

Illustratively, the second tow chain connection 372 is disposed on a side of the first carrier connection plate 2111 opposite the mast assembly 100.

Referring to fig. 1-4 and 8, fig. 8 shows a schematic structural view of a column assembly 100. The upright 110 includes a first upright 111 and a second upright 112, and the first upright 111 and the second upright 112 are sequentially disposed on both sides of the carriage assembly 200 in a first horizontal direction. The first carrying member 220 includes a plurality of carrying fork bars 221, the axial direction of the carrying fork bars 221 is along a second horizontal direction, the plurality of carrying fork bars 221 are sequentially along a first horizontal direction, and the first horizontal direction (see B direction in fig. 4) is perpendicular to the second horizontal direction (see C direction in fig. 4).

Referring to fig. 9, fig. 9 shows a schematic structural view of the carriage assembly 200. The first and second columns 111 and 112 are each provided with a roller guide groove 120 in the height direction at opposite sides. The connecting assembly 210 includes a connecting plate set 211 and roller sets 212, the two roller sets 212 are sequentially disposed on two sides of the connecting plate set 211 along the first horizontal direction, the connecting plate set 211 is connected to the first carrying member 220 on a side opposite to the column assembly 100, and the two roller sets 212 are respectively disposed in the two roller guide grooves 120.

Specifically, the connection board set 211 includes a first carrier connection board 2111 and a roller mounting board 2112, the first carrier connection board 2111 is parallel to a first horizontal direction and a height direction, the plurality of carrier fork strips 221 are sequentially disposed on a side of the first carrier connection board 2111 opposite to the column assembly 100 along the first horizontal direction, the two roller mounting boards 2112 are sequentially disposed on a side of the first carrier connection board 2111 opposite to the column assembly 100 along the first horizontal direction, and the two roller sets 212 are respectively disposed on the two roller mounting boards 2112.

Illustratively, the upright 110 is a C-shaped profile, and the C-shaped grooves of the first upright 111 and the second upright 112 are disposed opposite each other, and the roller set 212 is disposed in the C-shaped groove.

The column assembly 100 further comprises a column bottom plate 130 and a column reinforcing connection plate 140, the column bottom plate 130 is parallel to the first horizontal direction and the second horizontal direction, the bottom ends of the first column 111 and the second column 112 are arranged on the column bottom plate 130, reinforcing rib plates are arranged between the bottom ends of the first column 111 and the second column 112 and the column bottom plate 130 so as to strengthen structural strength, the column bottom plate 130 is used for being installed on the three-dimensional storage robot 2000, two ends of the column reinforcing connection plate 140 are connected to the first column 111 and the second column 112 respectively, and the column reinforcing connection plates 140 are sequentially arranged along the height direction.

Illustratively, the column assembly 100 includes a central column reinforcement web 141 and a top column reinforcement web 142, the central column reinforcement web 141 being disposed at a central location of the column 110 and the top column reinforcement web 142 being disposed at a top location of the column 110.

Illustratively, the second fixed end 3121 is coupled to the column floor 130 via a first tow link 371, and the lift mechanism 320 is disposed on the column floor 130.

Further, the upright assembly 100 further comprises an electrical installation board, two ends of the electrical installation board are respectively connected to the first upright 111 and the second upright 112 and are arranged on one side of the upright assembly 100, which is opposite to the carriage assembly 200, the electrical installation board is provided with electrical elements 151 such as a controller and a communication module, and the electrical elements 151 are arranged on one side of the electrical installation board, which is opposite to the upright assembly 100.

Referring to fig. 1, the lifting device 1000 further includes a positioning mechanism 400, the positioning mechanism 400 is disposed on the carriage assembly, and the positioning detection direction faces the first carrying member 220, and the positioning mechanism 400 is configured to obtain positioning information of the first carrying member 220 and the second carrying member 900. The positioning mechanism 400 is disposed on the carriage assembly 200, such that the positioning mechanism 400 can be lifted and lowered synchronously along with the carriage assembly 200 along the height direction, and the positioning detection direction of the positioning mechanism 400 faces the first carrying member 220, so that the positioning detection range of the positioning mechanism 400 can include the first carrying member 220 and the second carrying member 900 located below the first carrying member 220, and the positioning mechanism 400 can be positioned at the position of the goods tray relative to the stereoscopic storage robot 2000, so that the stereoscopic storage robot 2000 can autonomously adjust the position to carry the goods tray, no matter when the first carrying member 220 carries the goods tray in the high-rise storage area or when the second carrying member 900 carries the goods tray on the ground.

The positioning mode of the positioning mechanism 400 may be visual positioning, laser radar positioning, millimeter wave radar positioning, ultrasonic radar positioning, and the like, which are not particularly limited herein. Illustratively, the positioning mechanism 400 includes a camera 410 and a camera mount 420, the camera mount 420 being disposed on the carriage assembly 200, the camera 410 being disposed on the camera mount 420 to acquire the transport images of the first and second transport members 220, 900. The camera support 420 is arranged along the height direction, the camera support 420 is arranged on the connecting plate set 211, and the camera 410 is arranged and installed at one end, far away from the connecting plate set 211, of the camera support 420 so as to acquire the carrying images of the first carrying piece 220 and the second carrying piece 900, and control the first carrying piece 220 and the second carrying piece 900 to accurately carry the cargo pallet on the goods shelf.

Referring to fig. 10, fig. 10 shows a schematic structural diagram of a position detection mechanism 500. The lifting device 1000 further includes a position detecting mechanism 500, where the position detecting mechanism 500 includes a position sensor 510 and a position detecting sheet 520, where the plurality of position sensors 510 are sequentially disposed on the column assembly 100 along a height direction, the position detecting sheet 520 is disposed on the carriage assembly 200, and the position detecting sheet 520 passes through the position sensor 510 when the carriage assembly 200 is lifted along the height direction, so that the position sensor 510 senses the position detecting sheet 520 and transmits a positioning signal. So configured, the plurality of position sensors 510 are respectively mounted at different heights, and the first carrying member 220 is lifted to a certain height and triggers the position sensors 510 to transmit a positioning signal, which indicates that the first carrying member 220 has reached the working area where the corresponding position sensor 510 is located.

Referring to fig. 3, the lifting device 1000 further includes a limit mechanism 600, where the limit mechanism 600 includes a travel switch 610 and a travel switch trigger plate 620, the travel switch 610 is disposed on the upper portion of the pillar assembly 100, the travel switch trigger plate 620 is disposed on the carriage assembly 200, and when the carriage assembly 200 continuously rises to the highest point along the height direction, the travel switch trigger plate 620 abuts against the travel switch 610 to limit the carriage assembly 200 to continuously rise.

Illustratively, a plurality of position sensors 510 are disposed on the first upright 111 in sequence in the height direction, and a travel switch 610 is disposed on the upper portion of the second upright 112.

Referring to fig. 1 and 2, specifically, a stopper 630 is disposed at the top end of the roller guiding slot 120, and the roller set 212 abuts against the stopper 630 when continuously rising to the top end along the roller guiding slot 120, so as to limit the roller set 212 from continuously rising.

The application also provides a three-dimensional storage robot 2000, which comprises a robot frame 700, a walking driving assembly 800 and the lifting device 1000, wherein the walking driving assembly 800 is arranged on the robot frame 700, the upright post assembly 100 is arranged on the robot frame 700, and the carriage assembly 200 is arranged above the robot frame 700.

Further, the second carrying member 900 is mounted on the robot frame 700 and disposed below the carriage assembly 200, so that the second carrying member 900 and the carriage assembly 200 can realize a composite lifting and carrying action, and the carrying circulation of the goods between the ground of the stereoscopic warehouse and the multi-layer goods storage area can be completed.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims (10)

1. A lifting device for mounting on a stereoscopic warehouse robot to lift a carried item, the lifting device comprising:

the upright post assembly comprises an upright post, and the axial direction of the upright post is arranged along the height direction;

The carriage assembly comprises a connecting assembly and a first carrying piece, the connecting assembly is movably connected to the upright post along the height direction, the first carrying piece is connected to the connecting assembly, and the first carrying piece is used for carrying the carried article;

The displacement mechanism comprises a displacement member and a driving assembly, wherein two ends of the displacement member are respectively provided with a first fixed end and a first displacement end, the first fixed end is connected with the upright post assembly, the first displacement end is connected with the carriage assembly, and the driving assembly is configured to enable the first displacement end to move along the height direction relative to the first fixed end so as to drive the carriage assembly to move along the height direction;

the second carrying piece is arranged below the first carrying piece and is arranged to move along the horizontal direction, and the second carrying piece is used for carrying the carried article.

2. The lifting device of claim 1, wherein the displacement member is a chain, two ends of the chain are respectively a first fixed end and a first displacement end, the driving assembly is a lifting mechanism, the displacement mechanism further comprises a chain wheel, the lifting direction of the lifting mechanism is arranged along the height direction, the lifting mechanism is arranged on the upright assembly and is connected with the chain wheel so as to drive the chain wheel to lift along the height direction, the chain bypasses the chain wheel, the first fixed end and the first displacement end are respectively positioned at two sides of the chain wheel, and the chain is configured to be in a tensioning state.

3. The lifting device of claim 2, wherein the displacement mechanism further comprises a drag chain and a drag chain wheel, the drag chain has a hollow structure, two ends of the drag chain are respectively a second fixed end and a second displacement end, the second fixed end is connected to the upright post assembly, the second displacement end is connected to the carriage assembly, the drag chain wheel is configured to be coaxially arranged with the chain wheel and synchronously lift and fall, the drag chain bypasses the drag chain wheel, the second fixed end and the second displacement end are respectively positioned at two sides of the drag chain wheel, and the drag chain is configured to be in a tensioning state.

4. The lift device of claim 1, wherein the upright comprises a first upright and a second upright, the first upright and the second upright being disposed sequentially on both sides of the carriage assembly along a first horizontal direction; the first carrying piece comprises a plurality of carrying fork strips, the axial direction of the carrying fork strips is arranged along the second horizontal direction, a plurality of carrying fork strips are sequentially arranged along the first horizontal direction, and the first horizontal direction is perpendicular to the second horizontal direction.

5. The lifting device of claim 4, wherein the first upright and the second upright are each provided with a roller guide groove in a height direction on opposite sides; the connecting assembly comprises a connecting plate group and roller groups, wherein the two roller groups are sequentially arranged on two sides of the connecting plate group along a first horizontal direction, one side, opposite to the upright post assembly, of the connecting plate group is connected with the first carrying piece, and the two roller groups are respectively arranged on the two roller guide grooves.

6. The lifting device of claim 4, wherein the column assembly further comprises a column base plate and a column reinforcing connection plate, the column base plate is parallel to a first horizontal direction and a second horizontal direction, the bottom ends of the first column and the second column are both arranged on the column base plate, the column base plate is used for being mounted on the three-dimensional storage robot, two ends of the column reinforcing connection plate are respectively connected with the first column and the second column, and a plurality of column reinforcing connection plates are sequentially arranged along the height direction.

7. The lifting device of claim 1, further comprising a positioning mechanism disposed on the carriage assembly and oriented to position the first conveyance member in a detection direction, the positioning mechanism configured to obtain positioning information of the first conveyance member and the second conveyance member.

8. The lifting device of claim 1, further comprising a position detection mechanism comprising a position sensor and a position detection plate, wherein a plurality of the position sensors are sequentially disposed on the column assembly in a height direction, the position detection plate is disposed on the carriage assembly, and the position detection plate passes the position sensor when the carriage assembly is lifted in the height direction, such that the position sensor senses the position detection plate and transmits a positioning signal.

9. The lift device of claim 1, further comprising a limit mechanism comprising a travel switch and a travel switch trigger plate, the travel switch being disposed on an upper portion of the column assembly, the travel switch trigger plate being disposed on the carriage assembly, the travel switch trigger plate abutting the travel switch when the carriage assembly is continuously raised to a highest point in a height direction to limit continued raising of the carriage assembly.

10. A stereoscopic warehouse robot, comprising:

A robot frame;

the walking driving assembly is arranged and installed on the robot frame body;

The lifting device of any one of claims 1-9, wherein the column assembly is configured to be mounted to the robotic frame and the carriage assembly is configured to be positioned above the robotic frame.