CN214568133U

CN214568133U - Transfer robot, storage device and storage system

Info

Publication number: CN214568133U
Application number: CN202022443688.4U
Authority: CN
Inventors: 李再金; 孔哲; 房冰
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2020-10-28
Filing date: 2020-10-28
Publication date: 2021-11-02
Anticipated expiration: 2030-10-28
Also published as: WO2022088771A1

Abstract

The utility model provides a transfer robot, storage device and warehouse system. The transfer robot is used for carrying out getting of goods to the storage goods shelves and puts the operation, and the transfer robot includes robot and the support piece of setting on robot, and support piece's tip protrusion is in robot's outside to be used for with the spacing portion butt on the storage goods shelves, with the rocking of restriction robot orientation storage goods shelves, and support piece's tip and the cooperation of spacing portion are the rolling cooperation. The utility model discloses can effectively avoid the problem that transfer robot rocked in the use, the access efficiency of goods is higher, and transfer robot's handling efficiency is higher.

Description

Transfer robot, storage device and storage system

Technical Field

The utility model relates to an intelligent storage technical field especially relates to a transfer robot, storage device and warehouse system.

Background

In the smart storage, a transfer robot is used to transfer goods instead of human labor, so as to reduce labor cost.

Existing transfer robots typically include a mobile base, a robotic shelf positioned on the mobile base, and a transfer mechanism coupled to the robotic shelf. The robot shelf comprises at least two upright posts and a plurality of goods plates connected between the upright posts, the goods plates are stacked in the height direction of the transfer robot and are arranged at intervals, and each goods plate is used for storing goods, so that the goods can be stored in the height direction, and the transfer robot can store the goods in one stroke. The storage device comprises a plurality of storage shelves which are arranged in an array. The transfer robot generally moves to the side of the target storage shelf according to a preset path, and places the target object on the target storage shelf or takes out the target object from the target storage shelf through the transfer mechanism.

However, the carrying robot shakes a lot in the goods storing and taking process, so that the goods fall off or the goods are taken and placed easily, and the accuracy is poor, and the carrying efficiency of the carrying robot is poor.

SUMMERY OF THE UTILITY MODEL

In view of the above problem, the embodiment of the utility model provides a transfer robot, storage device and warehouse system for solve transfer robot and appear the problem of rocking at the operation in-process, can avoid the goods to drop, accurate access goods, thereby can improve transfer robot's handling efficiency.

In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:

the embodiment of the utility model provides a transfer robot for carry out getting of goods to storage goods shelves and put the operation, transfer robot includes the robot and sets up the support piece on the robot, support piece's tip protrusion in the outside of robot, and be used for with the spacing portion butt on the storage goods shelves to restriction robot is towards rocking of storage goods shelves, and support piece's tip and spacing cooperation are the rolling fit.

In an alternative embodiment, the stop portion has a stop surface support comprising a roller forming an end of the support, the roller being capable of rolling on the stop surface.

In an alternative embodiment, the support member further comprises a support arm, one end of the support arm is connected to the robot body, and the center of the roller is rotatably connected to the support arm.

In an alternative embodiment, the axis of rotation of the roller is parallel to the plane of the stop.

In an alternative embodiment, the number of the supports is plural, and at least some of the supports are arranged at intervals in the advancing direction of the transfer robot.

In an alternative embodiment, the robot body has a support on its sides.

The support piece comprises a first roller and a second roller, the first roller and the second roller are respectively abutted with different limiting surfaces, and included angles are formed between the different limiting surfaces.

The supporting piece comprises a third roller, and the third roller is abutted with the same limiting surface.

In an alternative embodiment, the robot body has a plurality of supports on its sides, wherein at least some of the supports are located on opposite sides of the robot body.

In an alternative embodiment, the supports on the same side of the robot body comprise:

a first support member located at an end of the transfer robot in a forward direction; and

a second support member positioned between the two first support members,

the protruding height of the end part of the first support piece along the side of the robot body is smaller than that of the second support piece.

In an alternative embodiment, the robot body comprises a column frame, a pallet capable of placing goods and a moving base capable of driving the transfer robot to move, the pallet is arranged on the column frame, the column frame is vertically arranged on the moving base, the number of the supporting pieces arranged on the side of the robot body is multiple, wherein,

at least part of the supporting piece is positioned on the side surface of the upright post frame; and/or

At least part of the support is located on the side of the mobile base.

In an alternative embodiment, the top of the robot body has a support.

In an alternative embodiment, the support member provided at the top of the robot body includes at least two rollers coaxially disposed, and the diameters of the at least two rollers are the same and are sequentially arranged in the axial direction of the rollers.

A second aspect of the embodiments of the present invention provides a storage apparatus, which at least includes a first storage rack group and a second storage rack group that are adjacent to each other and are arranged at intervals, wherein the first storage rack group and the second storage rack group both include at least one storage rack, and a transfer robot can enter a passageway between the first storage rack group and the second storage rack group to perform a goods picking and placing operation;

the warehousing device further comprises a limiting part arranged on the warehousing goods shelf, and the limiting part is used for abutting against the end part of the supporting part on the carrying robot so as to limit the carrying robot to shake towards the first warehousing goods shelf group and/or the second warehousing goods shelf group.

In an alternative embodiment, the stop portion has a stop surface, which extends in the length direction of the aisle and has a height in the height direction corresponding to the end of the corresponding support.

In an alternative embodiment, the check surface extends from one end of the first storage rack set in the length direction of the aisle to the other end; or

The limiting surface extends from one end of the second storage rack group to the other end in the length direction of the passageway.

In an alternative embodiment, the end of the stop portion in the length direction of the aisle has a guide surface, which is continuous with the stop surface and which is inclined in a direction away from the support.

In an alternative embodiment, the spacing portion includes a first spacing portion, the spacing surface includes a first spacing surface located on the first spacing portion, and the first spacing portion is connected to a side surface of the first storage rack group facing the second storage rack group; and/or

The spacing portion comprises a second spacing portion, the spacing face comprises a second spacing face located on the second spacing portion, and the second spacing portion is connected to the side face, facing the first warehousing shelf set, of the second warehousing shelf set.

In an optional embodiment, when the limiting part comprises a first limiting part and a second limiting part, the first limiting surface and the second limiting surface have the same number and are arranged in a one-to-one correspondence manner.

In an optional embodiment, the limiting surface further includes a third limiting surface located on the first limiting portion, and the first limiting surface and the third limiting surface corresponding to the same first limiting portion have an included angle; and/or

The limiting surface further comprises a fourth limiting surface positioned on the second limiting part, and the second limiting surface and the fourth limiting surface corresponding to the same second limiting part form an included angle.

In an alternative embodiment, the position-limiting part includes a third position-limiting part, and the position-limiting surface includes two spaced and oppositely disposed third position-limiting surfaces on the third position-limiting part.

In an alternative embodiment, the distance between the two third limiting surfaces is matched with the size of the end part of the supporting piece arranged on the top of the transfer robot.

In an alternative embodiment, the third limiting portion is a linear guide rail, the linear guide rail extends along the length direction of the aisle, a chute notch of the linear guide rail faces the top of the transfer robot, the chute has two opposite chute walls, and the two chute walls respectively form two third limiting surfaces.

In an alternative embodiment, the storage device comprises a cross beam, the cross beam is connected between the first storage rack group and the second storage rack group, and the third limiting portion is connected to the cross beam.

The embodiment of the utility model provides a third aspect provides a storage system, include: at least one above-mentioned transfer robot to and foretell storage device, support piece among the transfer robot is located the position that corresponds with spacing portion in the storage device, and the tip of corresponding support piece and spacing portion butt to restrict the shake of transfer robot towards the storage device.

In an optional embodiment, the top of the robot body is provided with a support member, and the limiting part comprises a linear guide rail, and when two opposite groove walls of the sliding groove of the linear guide rail are abutted with the end part of the support member, the top end of the support member and the groove bottom of the sliding groove have a preset distance.

In an optional embodiment, the number of the supporting members arranged on the side of the robot body is multiple, wherein at least part of the supporting members are arranged on the opposite sides of the robot body, when the limiting parts comprise a first limiting part and a second limiting part, the first limiting part, the second limiting part and the end parts of the supporting members have the same height, at least part of the supporting members abut against the first limiting part, and at least part of the supporting members abut against the second limiting part.

The embodiment of the utility model provides a have following advantage:

in this embodiment, through set up support piece on transfer robot, and set up spacing portion correspondingly on the storage goods shelves, thus, the robot marchs in the passageway between the storage goods shelves, or when carrying out getting of goods to the storage goods shelves and putting the operation, if the robot has the trend of rocking towards the storage goods shelves, support piece's tip and spacing portion butt on the storage goods shelves, the storage goods shelves block the robot body through support piece, thereby restrict rocking of robot body towards the storage goods shelves, the relatively poor condition of accuracy when can avoiding appearing goods and dropping or getting of goods, make transfer robot's handling efficiency higher.

In addition to the technical problems, technical features constituting technical aspects, and advantageous effects brought by the technical features of the technical aspects described above, other technical problems that the shelf and the transfer robot provided by the embodiments of the present invention can solve, other technical features included in the technical aspects, and advantageous effects brought by the technical features will be further described in detail in the following detailed description.

Drawings

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

Fig. 1 is a schematic perspective view of a transfer robot according to an embodiment of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

fig. 3 is a right side view of the transfer robot shown in fig. 1;

fig. 4 is a partial enlarged view of fig. 3 at B;

fig. 5 is a plan view of the transfer robot shown in fig. 1;

FIG. 6 is a partial enlarged view at C of FIG. 5;

fig. 7 is a schematic perspective view of another structure of a transfer robot according to an embodiment of the present invention;

fig. 8 is a partial enlarged view of fig. 7 at D;

fig. 9 is a left side view of the transfer robot shown in fig. 7;

fig. 10 is a partial enlarged view at E of fig. 9;

fig. 11 is a plan view of the transfer robot shown in fig. 7;

fig. 12 is a partial enlarged view at F of fig. 11;

fig. 13 is a front view of the transfer robot shown in fig. 7;

fig. 14 is a partial enlarged view at G of fig. 13;

fig. 15 is a schematic structural view illustrating a structure in which a middle support member and a limit portion of a transfer robot according to an embodiment of the present invention are engaged with each other;

fig. 16 is a schematic perspective view of another structure of a transfer robot according to an embodiment of the present invention;

fig. 17 is a partial enlarged view at H of fig. 16;

fig. 18 is a left side view of the transfer robot shown in fig. 16;

fig. 19 is a partial enlarged view at I of fig. 18;

fig. 20 is a plan view of the transfer robot shown in fig. 16;

fig. 21 is a front view of the transfer robot shown in fig. 16;

fig. 22 is a schematic perspective view of a storage device according to an embodiment of the present invention;

fig. 23 is a schematic perspective view of another structure of a storage device according to an embodiment of the present invention;

FIG. 24 is a schematic view of a stopper in the stocker of FIG. 23;

fig. 25 is a schematic perspective view of a storage device according to another embodiment of the present invention;

FIG. 26 is a schematic view of a stopper in the stocker of FIG. 25;

fig. 27 is a schematic partial structural view of a third limiting member in the warehousing device according to the embodiment of the present invention;

fig. 28 is a schematic perspective view of a storage device according to another embodiment of the present invention;

fig. 29 is a schematic perspective view of a warehousing system according to an embodiment of the present invention.

Reference numerals:

100-a handling robot; 101-a robot body; 102-mobile base, 1021-base body; 1. 13, 14, 15-support; 11-a roller; 12-a support arm; 121-an extension; 122-an extension; 123-base; 124-roller shaft; 131-a first support; 132-a second support; 141-a first roller; 142-a second roller; 103-upright frame; 104-a column; 105-a cross beam; 106-pallet; 107-a pick-up device;

200-a storage device; 201. 203, 204-storage shelves; 205-a frame body; 206-warehouse pallets; 207-beam; 208-a mounting frame; 2081-mounting frame; 2082-mounting legs; 209. 210, 211-warehouse rack groups; 21-a first storage rack group; 22-a second set of storage racks; 202-an aisle; 2-a limiting part; 20-a limiting surface; 23. 23' -a first stopper portion; 2311-a rising part; 2312 a support part; 24. 24' -a second stopper portion; 25-a third limiting part; 231. 231' -a first limiting surface; 241. 241' -a second limiting surface; 232-a third limiting surface; 242-a fourth limiting surface; 251-a third limiting surface; 252-a chute; 253-groove bottom; 34. 34 ', 35' -guide surface.

300-warehouse system.

Detailed Description

Transfer robot generally includes removes the base and is located the robot goods shelves on removing the base, and transfer robot moves between the storage goods shelves, easily appears rocking the leading reason of the condition and lies in: in the robot goods shelves, a plurality of pallets for placing the goods are along vertical direction, interval and fixed mounting are between two stands, like this, transfer robot is longer in the ascending size of vertical side, but only drive whole transfer robot operation by the removal base that is located the bottom, especially all deposit the condition of goods on a plurality of pallets, transfer robot's focus is higher, the change of speed appears in transfer robot operation, for example deposit or take goods etc. the rocking of top is comparatively obvious. Therefore, the transfer robot provided in the related art has the technical problems that the transfer robot is easy to shake during operation and the transfer efficiency is poor.

In order to solve the above problem, an embodiment of the utility model provides an among transfer robot, storage device and the warehouse system, through set up support piece on transfer robot, and support piece's tip protrusion in the outside of robot to be used for with the spacing portion butt on the storage goods shelves, with the rocking of restriction robot orientation storage goods shelves. The utility model discloses can effectively avoid the problem that transfer robot rocked in the use, the access efficiency of goods is higher, and transfer robot's handling efficiency is higher.

In order to make the above objects, features and advantages of the embodiments of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is obvious that the described embodiments are only some of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

Example one

The embodiment provides a transfer robot for carrying out goods taking and placing operations on a storage shelf.

Fig. 1 is a schematic structural view of a transfer robot according to an embodiment of the present invention; fig. 2 is a partially enlarged view of a portion a of fig. 1.

As shown in fig. 1 and 2, a transfer robot 100 according to an embodiment of the present invention includes a robot body 101 and a support member 1 provided on the robot body 101.

In the embodiment of the present application, the robot body 101 may include a moving base 102, a pillar frame 103, a goods taking device 107, and a pallet 106 on which goods can be placed.

The structure of each part in the robot body 101 will be described in detail below.

The moving base 102 is used to realize the movement of the transfer robot 100 on the floor of the storage area. The movable base 102 includes a base body 1021 and a wheel set assembly (not shown) installed below the base body 1021, wherein the wheel set assembly may include a driving wheel set and a driven wheel set, the pillar frame 103 is installed on the base body 1021, and the driving wheel set and the driven wheel set drive the base body 1021 to move, so as to drive the pillar frame 103 and the pallet 106 to move on the ground of the storage area.

The column frame 103 includes at least two columns 104 standing on the moving base 102, and a plurality of cross members 105 spanning between the two columns 104, and the plurality of cross members 105 are provided at intervals in the height direction of the transfer robot 100. Further, a pallet 106 on which goods can be placed is attached to the column frame 103 via a cross member 105. It will be appreciated that the pallets 106 are spaced apart along the extent of the columns 104, corresponding to the manner in which the cross beams 105 are arranged.

The pickup device 107 is used to place goods on the pallet 106 or to pick up goods on the pallet 106. The pick-up device 107 is movably mounted on the columns 104 so that the pick-up device can be used to place or remove items from the pallet 106 at different heights. The pickup device 107 may include a suction cup type fork or a clip type fork, and the present embodiment is not limited thereto.

The robot body 101 of the present invention includes, but is not limited to, the above-described structure, for example, the column frame 103 may also be another structure, the pallet 106 may move in the vertical direction with respect to the column 104, or the transfer robot 100 may not be provided with the pickup device 107, and the present embodiment is not limited thereto.

Referring to fig. 2, in order to minimize the influence on the size, the occupied space, and the like of the robot body 101, the end of the stay 1 protrudes outside the robot body 101. The end of the supporting member 1 protrudes outside the robot body 101, which means that the height of the end of the supporting member 1 protruding from the robot body 101 is outside the outer edge contour of the robot body 101.

In the embodiment of the present application, referring to fig. 1, the warehousing device 200 at least includes a first warehousing shelf group 21 and a second warehousing shelf group 22 that are adjacent and arranged at an interval, each of the first warehousing shelf group 21 and the second warehousing shelf group 22 includes at least one warehousing shelf, the transfer robot 100 can enter into a passageway 202 between the first warehousing shelf group 21 and the second warehousing shelf group 22 to perform a goods picking and placing operation, each warehousing shelf and the ground are relatively fixed, and a limiting portion 2 is provided on the warehousing shelf, optionally, the limiting portion 2 has a limiting surface 20, the limiting surface 20 extends along a length direction L of the passageway, and the limiting surface 20 has a height corresponding to an end of the support member 1 in a height direction.

The transfer robot advances in passageway 202 between the storage goods shelves, or when carrying out getting of goods to the storage goods shelves and putting the operation, if the transfer robot has the trend of rocking towards the storage goods shelves when, support piece 1's tip and the spacing portion 2 butt on the storage goods shelves, the storage goods shelves block robot body 101 through support piece 1, thereby restrict robot body 101 towards the rocking of storage goods shelves, the relatively poor condition of accuracy when can avoiding appearing goods and dropping or getting of goods, make transfer robot 100's handling efficiency higher.

In the embodiment of the present application, in order to reduce the resistance applied by the stopper portion 2 to the operation of the transfer robot 100, it is conceivable to make the engagement between the support member 1 and the stopper portion 2 a rolling engagement, and referring to fig. 1, the engagement between the end portion of the support member 1 and the stopper surface 20 is a rolling engagement. It will be appreciated that the engagement between the end of the support member and the stop surface includes, but is not limited to, a rolling engagement, a sliding engagement, etc.

Referring to fig. 2, the support 1 illustratively includes a roller 11, the roller 11 forming an end of the support 1, the roller 11 being capable of rolling on the stop surface 20. Further, in order to enable the roller 11 to roll on the limiting surface 20, the rotation axis O of the roller 11 needs to be parallel to the limiting surface 20, so that the wheel surface of the roller 11 is perpendicular to the limiting surface 20, and the roller 11 can roll on the limiting surface 20 well.

Further, the support member further includes a support arm 12, one end of the support arm 12 is connected to the robot body, and the center of the roller 11 is rotatably connected to the support arm 12. One end of the support arm 12 may be fixed to the robot body 101 by a fastener such as welding or a screw, and the center of the roller 11 may be rotatably connected to the support arm 12 by a bearing or the like.

In the embodiment of the present application, the supporting member 1 may be located on the side of the robot body 101 or above the robot body 101, and the supporting member to which various conditions are applied will be described in the following.

Referring to fig. 1 and 2, the support member is shown in a state of being located on the side of the robot body 101 and located on the lower side of the robot body 101. It should be noted that, corresponding to the different positions of the supporting member disposed on the robot body 101, the positions and structures of the limiting portions engaged therewith are also different, and for convenience of clearly explaining various situations, in the present application, in the case where the supporting member 1 is located at the lower side of the robot body 101, the supporting member 1 is denoted by reference numeral 13, the limiting portion 2 disposed on the first stocker group 21 is also referred to as a first limiting portion 23, and the limiting surface 20 on the first limiting portion 23 is also referred to as a first limiting surface 231; the stopper portion 2 provided on the second stocker group 22 is also referred to as a second stopper portion 24, and the stopper surface 20 on the second stopper portion 24 is also referred to as a second stopper surface 241.

Referring to fig. 1 and 2, at least a portion of the support 13 is disposed on a side of the moving base 102. One end of the supporting arm 12 is fixedly connected to the side surface of the moving base 102, and the roller 11 can be supported on the first limiting surface 231. Like this at transfer robot 100 along the in-process of passageway 202 operation, when having the trend of rocking towards the storage goods shelves, the first spacing portion 23 and the gyro wheel 11 butt of storage goods shelves, exert a power that deviates from the storage goods shelves for moving base 102 through support arm 12, make transfer robot 100 remain stable and can not take place to rock. It should be noted that the roller 11 in fig. 1 and 2 is also referred to as a third roller, and the third roller is a roller capable of abutting against the same limiting surface.

Fig. 3 is a right side view of the transfer robot shown in fig. 1, and fig. 4 is a partial enlarged view of fig. 3 at B; fig. 5 is a plan view of the transfer robot shown in fig. 1, and fig. 6 is a partial enlarged view of a portion C of fig. 5.

Further, in order to prevent the transfer robot 100 from shaking more effectively, the number of the supports provided on the side of the robot body 101 may be plural, and refer to fig. 3, in which at least some of the supports are located on the opposite side of the robot body 101. This can prevent the robot body 101 from shaking in the first direction M perpendicular to the aisle 202. Corresponding to the supporting members 13 on both sides of the robot body 101, the storage racks on both sides of the transfer robot 100 are also provided with a first limiting portion 23 and a second limiting portion 24, respectively.

Referring to fig. 3 and 4, the first limiting portion 23 and the second limiting portion 24 are respectively disposed corresponding to the corresponding supporting members 13, and the limiting surface 231 on the first limiting portion 23 has a height corresponding to the end of the supporting member 13 in the height direction, specifically, the height of the limiting surface 231 substantially covers the wheel surface of the roller 11 on the supporting member 13, so that the wheel surface of the roller 11 can roll on the limiting surface 231. For example, the height of the center of the stopper surface 231 with respect to the ground may be substantially the same as the height of the center of the support 13 with respect to the ground.

Further, the heights of the supporting members 13 located on the opposite sides of the robot body 101 are the same, and the heights of the first limiting portion 23 and the second limiting portion 24 located on the two sides of the transfer robot 100 are also the same, so that the pair of first limiting portion 23 and the second limiting portion 24 located on the storage rack actually form a pair of guide rails, and the first limiting surface 231 and the second limiting surface 241 having the same height form guide surfaces, so that the two supporting members 13 are guided by the two opposite first limiting surfaces 231 and the second limiting surfaces 241, and when the transfer robot 100 moves forward in the aisle 202, the transfer robot will not sway toward the storage racks.

In the embodiment of the present application, referring to fig. 5 and 6, as an alternative embodiment, at least some of the supporting members 13 are arranged at intervals in the advancing direction of the transfer robot 100. The contact positions of the stopper portions 23 and the stay 13 are arranged at intervals in the forward direction of the transfer robot 100, and the transfer robot 100 is supported more effectively.

Further, referring to fig. 6, the supporting member 13 located on the same side of the robot body 101, for example, a side near the first stocker group 21 includes: a first support 131, the first support 131 being located at an end of the transfer robot 100 in the advancing direction; and a second support 132, the second support 132 being located between the two first supports 131, a protruding height h1 of an end portion of the first support 131 along the side of the robot body 101 being smaller than a protruding height h2 of an end portion of the second support 132 along the side of the robot body 101.

It is understood that, in the case where the transfer robot 100 is just located between the first storage rack group 21 and the second storage rack group 22 and is about to enter the aisle 202, if the position of the transfer robot 100 is slightly deviated, for example, slightly inclined toward the first storage rack group 21 side, since the protruding height of the first support 131 located at the end portion is small, the transfer robot can still enter the aisle 202 along the first stopper surface 231, and thus, the protruding height of the first support 131 located at the end portion is set to be small, which can achieve the effect of correcting the deviation of the transfer robot 100.

In the embodiment of the present application, in the solution in which the support member is located on the side of the robot body 101, the case in which the support member is located between the top and the bottom of the robot body 101 is also included. In this embodiment, the arrangement, layout, etc. of the supporting members are similar to those on the movable base 102. It should be noted that it is preferable that,

fig. 7 is a schematic perspective view illustrating another structure of a transfer robot according to an embodiment of the present invention, and fig. 8 is a partial enlarged view of fig. 7 at D; fig. 9 is a left side view of the transfer robot shown in fig. 7, and fig. 10 is a partial enlarged view at E of fig. 9; fig. 11 is a plan view of the transfer robot shown in fig. 7, and fig. 12 is a partial enlarged view of fig. 11 at F; fig. 13 is a front view of the transfer robot shown in fig. 7, and fig. 14 is a partial enlarged view at G of fig. 13; fig. 15 is a schematic structural view of the transfer robot according to an embodiment of the present invention, in which the middle support member and the limiting portion are engaged with each other.

In this embodiment, in the case where the supporting member is located between the top and the bottom of the robot body 101, the supporting member is denoted by reference numeral 14, and the position-limiting portion provided on the first stocker group 21 is also referred to as a first position-limiting portion 23 ', and the position-limiting surface on the first position-limiting portion 23 ' is also referred to as a first position-limiting surface 231 '; the stopper portion provided on the second stocker group 22 is also referred to as a second stopper portion 24 ', and the stopper surface on the second stopper portion 24 ' is also referred to as a second stopper surface 241 '.

Wherein at least a portion of the support member 14 may be located on a side of the column frame 103, for example, the support member 14 may be disposed on a side of the column 104. In this embodiment, the structure of the supporting member 14 is different from that of the above-described embodiment, and accordingly, the structures of the first stopper portion 23 'and the second stopper portion 24' are also different from that of the above-described embodiment.

Specifically, referring to fig. 15, the supporting member 14 near the second storage rack group 22 is taken as an example for description, it is understood that the supporting member near the first storage rack group 21 is similar to the supporting member 14 near the second storage rack group 22 in structure, and the description thereof is omitted here.

The support member adjacent to the second storage rack group 22 may include a support arm 12 and a roller 11, one end of the support arm 12 is fixedly connected to the side surface of the upright 104, and the roller 11 is supported on the second limiting surface 24'. For example, the support arm 12 may include a base 123, a protrusion 121, an extension 122, and a roller shaft 124, the base 123 is used for fixing with the upright 104, the protrusion 121 protrudes from the base 123 in a direction away from the robot body, the extension 122 is connected to an end of the protrusion 121, and the roller 11 is rotatably fixed on the extension 122 through a bearing and the roller shaft 124.

Referring to fig. 9, 10, and 15, the roller 11 may include a first roller 141 and a second roller 142 fixed to the extension portion 122, and rolling axes of the first roller 141 and the second roller 142 are perpendicular to each other. The limiting surface further comprises a third limiting surface 241 positioned on the first limiting part 23 ', and the first limiting surface 231 ' and the third limiting surface 241 corresponding to the same first limiting part 23 ' have an included angle; and/or the limiting surface further comprises a fourth limiting surface 242 positioned on the second limiting part 24 ', and the second limiting surface 241 ' and the fourth limiting surface 242 corresponding to the same second limiting part 24 ' have an included angle.

The first roller 141 and the second roller 142 may be respectively abutted with different limiting surfaces, for example, the second limiting surface 241 ' on the first roller 141 and the second limiting portion 24 ' is abutted, and the fourth limiting surface 242 on the second roller 142 and the second limiting portion 24 ' is abutted. The installation postures of the first roller 141 and the second roller 142 respectively correspond to the second limiting surface 241' and the fourth limiting surface 242.

For example, the wheel surface of the first roller 141 is horizontal, the axis of the first roller 141 is vertically disposed, and the second limiting surface 241' matched with the first roller 141 is vertically disposed; the wheel surface of the second roller 142 is vertical, the axis of the second roller 142 is horizontally arranged, and the fourth limiting surface 242 matched with the second roller 142 is horizontally arranged. In the present application, it is necessary to keep the rolling axis of the roller 11 parallel to the limiting surface engaged therewith.

In the example of fig. 15, the second limiting surface 241' and the fourth limiting surface 242 may be vertically disposed and have an intersecting line. The second position-limiting portion 24' may be, for example, a square steel or square pipe having a length direction extending in the direction of the aisle 202. It is understood that in the embodiment of the present application, the case that the second limiting surface 241' is vertical and the fourth limiting surface 242 is horizontally disposed is illustrated, and in practice, the angle of the limiting surface may also be selected according to needs, for example, the angle may be inclined downward.

Further, in order to prevent the transfer robot 100 from shaking more effectively, the number of the supports provided on the side of the robot body 101 may be plural, and refer to fig. 9 and 10, in which at least some of the supports are located on the opposite side of the robot body 101. This can prevent the robot body 101 from shaking in the first direction M perpendicular to the aisle 202. Corresponding to the supporting members 14 on both sides of the robot body 101, the storage racks on both sides of the transfer robot 100 are respectively provided with a first limiting portion 23 'and a second limiting portion 24'.

Referring to fig. 9 and 10, the first limiting portion 23 ' is disposed corresponding to the supporting member 14 close to the first storage rack set 21, and the first limiting surface 231 ' on the first limiting portion 23 ' has a height corresponding to the end of the supporting member 14 in the height direction, specifically, the height of the first limiting surface 231 ' substantially covers the wheel surface of the first roller 141 on the supporting member 14, so that the wheel surface of the first roller 141 can roll on the first limiting surface 231 '; the height of the third limiting surface 241 is the same as the highest point of the second roller 142. The corresponding relationship between the second position-limiting portion 24' and the supporting member near the second storage rack set 22 is similar, and will not be described herein again.

Further, the heights of the supporting members 14 located at the opposite sides of the robot body 101 are the same, and the heights of the first and second limiting portions 23 'and 24' located at the opposite sides of the transfer robot 100 are also the same, so that the pair of first and second limiting portions 23 'and 24' located on the storage rack actually forms a pair of guide rails, and the two first and second limiting surfaces 231 'and 241' having the same height form guide surfaces, so that the transfer robot 100 does not sway toward the first and second

storage rack groups

21 and 22 when moving forward in the aisle 202 due to the guide of the two supporting members 14, i.e., the two first and second limiting surfaces 231 'and 241', and the two third and fourth limiting

surfaces

241 and 242, which are opposite to each other.

In the embodiment of the present application, referring to fig. 11, 12, 13, and 14, as an alternative embodiment, at least some of the rollers 11, for example, the first rollers 141 are arranged at intervals in the advancing direction of the transfer robot 100, or the second rollers 142 are arranged at intervals in the advancing direction of the transfer robot 100. The contact positions of the stopper and the support member are arranged at intervals in the forward direction of the transfer robot 100, and the support of the transfer robot 100 is improved.

It can be understood that, taking the supporting member 14 shown in fig. 7, 8, and 15 as an example, when the transfer robot 100 has a tendency to swing toward the first storage rack group 21, the second roller 142 of the supporting member located at one side of the second storage rack group 22 abuts against the limit surface 242 corresponding to the second storage rack group 22, and the first roller 141 of the supporting member located at one side of the first storage rack group 21 abuts against the limit surface 241 corresponding to the first storage rack group 21, so that the transfer robot 100 can be prevented from swinging toward the first storage rack group 21. The mechanism for preventing the transfer robot 100 from shaking toward the second storage rack group 22 is similar to that described above, and will not be described here.

In the embodiment of the present application, the supporting member may be located above the robot body 101.

Fig. 16 is a schematic perspective view illustrating a still further structure of a transfer robot according to an embodiment of the present invention, and fig. 17 is a partially enlarged view of fig. 16 at H; fig. 18 is a left side view of the transfer robot shown in fig. 16, and fig. 19 is a partially enlarged view at I of fig. 18; fig. 20 is a plan view of the transfer robot shown in fig. 16; fig. 21 is a front view of the transfer robot shown in fig. 16.

In this embodiment, in the case where the supporting member is located at the top of the robot body, the supporting member is denoted by reference numeral 15, the limiting portion is also referred to as a third limiting portion 25, and the limiting surface on the third limiting portion 25 is also referred to as a third limiting surface 251.

Referring to fig. 16, 17, 18, and 19, the support 15 is provided on the top of the pillar frame 103. The support member 15 includes a roller 11 and a support arm 12, one end of the support arm 12 is connected to the column frame 103, and the center of the roller 11 is rotatably connected to the support arm 12 typically through a bearing or the like.

Further, in order to make the rolling fit between the roller 11 and the third limiting portion 25 better, it is considered to provide a plurality of rollers 11, for example, the supporting member 15 provided at the top of the robot body 101 includes at least two coaxially disposed rollers 11, and the wheel diameters of at least two rollers 11 are the same and are sequentially arranged in the axial direction of the rollers 11. In fig. 18 and 19, a case is shown that one support member includes three rollers 11, and all three rollers 11 are connected to the same support arm 12, but the present application is not limited thereto, and in practice, the rollers 11 may be provided in other numbers as needed.

The third stopper 25 corresponding to the support member 15 is also located above the robot body 101. For example, referring to fig. 16, 17, 18, 19, 20, and 21, the third stopper 25 is a linear guide, and the slide groove of the linear guide has two opposite groove walls, and the two groove walls form two third stopper surfaces 251, respectively. And the distance between the two third stoppers 251 matches the size of the end of the support member provided on the top of the transfer robot 100.

Thus, when the transfer robot 100 tends to shake toward the first stocker group 21, the third stopper surface 251 located on one side of the first stocker group 21 applies a force toward the second stocker group 22 to the roller 11, thereby preventing the transfer robot 100 from shaking toward the first stocker group 21; when the transfer robot 100 tends to shake toward the second storage rack group 22, the third limiting surface 251 located on the second storage rack group 22 applies a force toward the first storage rack group 21 to the roller 11, so as to prevent the transfer robot 100 from shaking toward one side of the second storage rack group 22.

In this embodiment, the transfer robot 100 includes the robot body 101 and the supporting member disposed on the robot body 101, and an end of the supporting member protrudes outside the robot body 101 and is used for abutting against the limiting portion on the storage rack to limit the shaking of the robot body 101 toward the storage rack. Through setting up support piece, like this, the robot is marchd in the passageway 202 between the storage goods shelves, or when carrying out getting of goods to the storage goods shelves and putting the operation, if the robot has the trend of rocking towards the storage goods shelves when, support piece's tip and the spacing portion butt on the storage goods shelves, the storage goods shelves block robot body 101 through support piece, thereby restriction robot body 101 is towards the rocking of storage goods shelves, the relatively poor condition of accuracy when can avoiding appearing goods and dropping or getting of goods, make transfer robot 100's handling efficiency higher.

Example two

The present embodiment provides a storage device 200, which is used in cooperation with the transfer robot 100 described in the first embodiment, wherein the structure, the operation principle, and the like of the transfer robot 100 have been described in detail in the first embodiment, and are not described herein again.

Fig. 22 is a schematic perspective view of a warehousing device according to an embodiment of the present invention.

Referring to fig. 22, the warehousing device 200 of the embodiment at least includes a first warehousing rack group 21 and a second warehousing rack group 22 which are adjacently arranged and spaced, each of the first warehousing rack group 21 and the second warehousing rack group 22 includes at least one warehousing rack, and the transfer robot 100 can enter the passage 202 between the first warehousing rack group 21 and the second warehousing rack group 22 to perform the goods picking and placing operation.

The first storage rack group 21 and the second storage rack group 22 may each include at least one storage rack, and the storage rack may include a frame 205 and a storage board 206 disposed on the frame 205.

In fig. 22, the first storage rack group 21 and the second storage rack group 22 are illustrated as including two storage racks, but the present application is not limited thereto, and the number of the storage racks included in the first storage rack group 21 and the second storage rack group 22 may be other numbers.

The stocker 200 further includes a limiting portion provided on the storage shelf, and the limiting portion is used for abutting against an end of the support portion on the transfer robot 100 to limit the shaking of the transfer robot 100 toward the first storage shelf group 21 and/or the second storage shelf group 22. Like this advance in the robot in the passageway 202 between the storage goods shelves, or when carrying out getting of goods to the storage goods shelves and putting the operation, if transfer robot 100 has the trend of rocking towards the storage goods shelves when, support piece's tip and the spacing portion butt on the storage goods shelves, the storage goods shelves block robot body 101 through support piece, thereby restriction robot body 101 is towards rocking of storage goods shelves, the relatively poor condition of accuracy when can avoiding appearing goods and dropping or getting of goods, make transfer robot 100's handling efficiency higher.

Further, the limiting portion has a limiting surface, the limiting surface extends along the length direction of the passageway 202, and the limiting surface has a height corresponding to the end portion of the supporting member corresponding to the limiting surface in the height direction, so that the limiting portion and the supporting member are matched with each other.

In addition, in order to avoid the transfer robot 100 from shaking in the longitudinal direction of the entire aisle 202, the stopper surface may extend from one end of the first stocker group 21 to the other end in the longitudinal direction of the aisle 202; and/or the check surface extends from one end of the second storage rack group 22 to the other end in the length direction of the aisle 202. In this way, when the lengths of the first storage rack group 21 and the second storage rack group 22 in the extending direction of the aisle 202 are different, the robot can be prevented from shaking as much as possible.

The following description will be made based on the difference in the positions where the stopper portions are provided on the first storage rack group 21 and the second storage rack group 22.

The stopper is provided at the bottom ends of the first stocker group 21 and the second stocker group 22, corresponding to the case where the support member is provided at the bottom of the transfer robot 100. Referring to fig. 22, the limiting portion includes a first limiting portion 23, the limiting surface includes a first limiting surface 231 located on the first limiting portion 23, and the first limiting portion 23 is connected to the side surface of the first storage rack set 21 facing the second storage rack set 22, so that the first limiting surface 231 on the first limiting portion 23 is matched with the supporting member 13, and the carrying robot 100 can be prevented from shaking towards the first limiting portion 23.

Further, the limiting portion may further include a second limiting portion 24, the limiting surface includes a second limiting surface 241 located on the second limiting portion 24, and the second limiting portion 24 is connected to a side surface of the second storage rack set 22 facing the first storage rack set 21. In this way, the second limiting surface 241 of the second limiting portion 24 is engaged with the corresponding supporting member 13, so that the transfer robot 100 can be prevented from shaking toward the second limiting portion 24.

It should be noted that, when the position-limiting portion includes the first position-limiting portion 23 and the second position-limiting portion 24, the number of the first position-limiting surfaces 231 is the same as that of the second position-limiting surfaces 241, and the first position-limiting surfaces 231 and the second position-limiting surfaces 241 are arranged in a one-to-one correspondence manner. For example, the first and second stopper surfaces 231 and 241 have the same height from the ground and are oppositely disposed such that the first stopper portion 23 and the second stopper portion 24 form a track, and the first and second stopper surfaces 231 and 241 can guide the ends of the two supports 13 of the transfer robot 100 to support the transfer robot 100 on both sides.

Referring to fig. 22, illustratively, the first stopper portion includes a rising portion 2311 for forming the first stopper surface 231 and a support portion 2312 for supporting the rising portion 2311 on the ground, ends of the rising portion 2311 and the support portion 2312 are connected to each other, the rising portion 2311 is a plate-shaped member, and the rising portion 2311 extends in a longitudinal direction of the aisle 202. The second position-limiting portion 24 and the first position-limiting portion 23 have similar structures, and are not described in detail herein.

In the present embodiment, the stopper is provided between the top and bottom ends of the first and

second stocker groups

21 and 22, corresponding to the case where the support member is provided between the top and bottom of the transfer robot 100.

Fig. 23 is a schematic perspective view illustrating another structure of a warehousing device according to an embodiment of the present invention, and fig. 24 is a schematic structural view illustrating a limiting member in the warehousing device of fig. 23.

Referring to fig. 23 and 24, the stopper portion includes a first stopper portion 23 ', the stopper surface includes a first stopper surface 231 ' located on the first stopper portion 23 ', and the first stopper portion 23 ' is connected to a side surface of the first storage rack group 21 facing the second storage rack group 22, so that the first stopper surface 231 ' on the first stopper portion 23 ' is engaged with the supporting member 14, and the transfer robot 100 can be prevented from shaking toward the first stopper portion 23 '.

Further, the stopping portion may further include a second stopping portion 24 ', the stopping surface includes a second stopping surface 241' located on the second stopping portion 24 ', and the second stopping portion 24' is connected to a side surface of the second storage rack set 22 facing the first storage rack set 21. Thus, the second position-limiting surface 241 ' of the second position-limiting portion 24 ' is engaged with the corresponding support member 14, so that the transfer robot 100 is prevented from shaking toward the second position-limiting portion 24 '.

In order to better support the transfer robot 100, the limiting surface further includes a third limiting surface 232 located on the first limiting portion 23 ', and the first limiting surface 231 ' and the third limiting surface 232 corresponding to the same first limiting portion 23 ' have an included angle.

Further, the limiting surface further includes a fourth limiting surface 242 located on the second limiting portion 24 ', and the second limiting surface 241 ' and the fourth limiting surface 242 corresponding to the same second limiting portion 24 ' have an included angle.

Fig. 24 shows a case where the first stopper surface 231 'and the third stopper surface 232 are disposed vertically, and the second stopper surface 241' and the fourth stopper surface 242 are disposed vertically. In this case, as described in the first embodiment, when the transfer robot 100 tends to swing toward the first stocker group 21, the second roller 142 of the right-side support member 14 abuts against the fourth stopper surface 242 corresponding to the second stocker group 22, and the first roller 141 of the left-side support member 14 abuts against the first stopper surface 231' corresponding to the first stocker group 21, so that the transfer robot 100 can be prevented from swinging toward the first stocker group 21. The mechanism for preventing the transfer robot 100 from shaking toward the second storage rack group 22 is similar to that described above, and will not be described here.

It should be noted that, when the position-limiting portion includes the first position-limiting portion 23 'and the second position-limiting portion 24', the first position-limiting surfaces 231 'and the second position-limiting surfaces 241' are the same in number and are arranged in a one-to-one correspondence. The third position-limiting surfaces 232 and the fourth position-limiting surfaces 242 are the same in number and are arranged in a one-to-one correspondence.

Fig. 25 is a schematic perspective view illustrating another structure of a warehousing device according to an embodiment of the present invention, fig. 26 is a schematic structural view illustrating a limiting part in the warehousing device of fig. 25, and fig. 27 is a schematic partial structural view illustrating a third limiting part in the warehousing device according to an embodiment of the present invention.

Referring to fig. 25, 26, and 27, the stopper portion is positioned on the top of the storage shelf. Specifically, the limiting part includes a third limiting part 25, and the limiting surface includes two spaced and oppositely disposed third limiting surfaces 251 located on the third limiting part 25. Because the top of the transfer robot 100 shakes seriously during operation or movement, the top of the transfer robot 100 has a better anti-shaking effect when limiting the top.

Further, the distance between the two third limiting surfaces 251 is matched with the size of the end of the supporting member 15 provided on the top of the transfer robot 100. That is, the distance between the two third limiting surfaces 251 is matched with the wheel diameter of the roller.

Illustratively, the third position-limiting portion 25 is a linear guide rail extending along the length direction of the aisle 202, and the slot 151 of the sliding slot of the linear guide rail faces the top of the transfer robot 100, and the sliding slot has two opposite slot walls, and the two slot walls respectively form two third position-limiting surfaces 251.

In this way, the roller 11 of the supporting member 15 can extend into the sliding slot of the third limiting portion 25, and the wheel surface of the roller 11 can be in rolling fit with the two third limiting surfaces 251. When the transfer robot 100 tends to shake toward the first stocker group 21, the third stopper surface 251 close to the first stocker group 21 is engaged with the roller 11, thereby preventing the transfer robot 100 from shaking. When the transfer robot 100 has a tendency to shake toward the second stocker group 22, the third stopper surface 251 close to the second stocker group 22 prevents the transfer robot 100 from shaking toward the second stocker group 22 by cooperating with the rollers 11.

Referring to fig. 26, in order to mount the third position-limiting portion 25 on the top end of the storage shelf, the storage apparatus 200 may include a cross beam 105, the cross beam 105 is connected between the first storage shelf group 21 and the second storage shelf group 22, and the third position-limiting portion 25 may be connected to the cross beam 105, specifically, to the lower end surface of the cross beam 105.

As an alternative embodiment, the storage apparatus 200 includes a mounting rack 208, the mounting rack 208 includes a horizontally disposed mounting frame 2081, and a mounting leg 2082 connected to the mounting frame 2081 and protruding from the mounting frame 2081 in a direction away from the mounting frame 2081, the mounting leg 2082 can be fixed on each storage rack to mount the mounting rack 208 between the first storage rack group 21 and the second storage rack group 22.

In the embodiment of the present application, in order to make the transfer robot 100 enter the aisle 202 more easily, a guide surface is provided at an end of the limiting portion in the length direction of the aisle 202, one end of the guide surface is continuous with the limiting surface, and the other end of the guide surface is inclined toward a direction away from the support.

For example, referring to fig. 23 and 24, the end portions of the first and second position-limiting portions 23 'and 24' are respectively provided with a guide surface 34 'and a guide surface 35', wherein the distance between the guide surface 34 'and the guide surface 35' gradually increases from the inside of the aisle 202 to the outside of the aisle 202, so that a gradually expanding channel is formed between the first position-limiting surface 231 'and the second position-limiting surface 241', and the entrance end of the transfer robot 100 can smoothly enter the aisle 202 when slightly deviating from the aisle 202.

Referring to fig. 26 and 27, the guide surfaces 34 and 35 are respectively disposed at the end portions of the two third limiting surfaces 251, wherein the distance between the guide surfaces 34 and 35 gradually increases from the inside of the aisle 202 to the outside of the aisle 202, so that a gradually expanding channel is formed between the two third limiting surfaces 251, which facilitates the smooth entry of the entry end of the transfer robot 100 into the aisle 202 when the entry end is slightly deviated from the aisle 202.

In the embodiment of the present application, the first storage rack group 21 and the second storage rack group 22 are provided with a limiting portion, and correspondingly, the transfer robot 100 is provided with a supporting member corresponding to the limiting portion of the first storage rack group 21 and the second storage rack group 22, so as to prevent the transfer robot 100 from shaking when the first storage rack group 21 and the second storage rack group 22 are operated by the cooperation of the supporting member and the corresponding limiting portion.

It should be understood that the first and second

storage rack groups

21 and 22 mentioned in this application may be any two adjacent storage rack groups included in the stocker 200. Fig. 28 is a schematic perspective view of another structure of a warehousing device according to an embodiment of the present invention. In fig. 28, the storage shelf group 209 located at the leftmost side of the paper surface and the storage shelf group 210 located at the middle of the paper surface are the first storage shelf group 21 and the second storage shelf group 22, and have the stopper portion and the support member in the above-described embodiment.

The storage shelf group 210 located in the middle of the paper surface and the storage shelf group 211 located on the right side of the paper surface may be a first storage shelf group 21 and a second storage shelf group 22, which are each other, and also have the limiting part and the supporting part in the above scheme. Thus, the first storage rack group 21 and the second storage rack group 22 mentioned in the present application are relative concepts, and may refer to any adjacent storage rack group.

EXAMPLE III

Fig. 29 is a schematic perspective view of a warehousing system according to an embodiment of the present invention. Referring to fig. 29, the present embodiment provides a warehousing system 300 comprising: at least one transfer robot 100 according to the first embodiment and a stocker 200 according to the second embodiment. The specific structure and function of the transfer robot 100 have been described in detail in the first embodiment, and the specific structure and function of the stocker 200 have also been described in detail in the second embodiment, which are not described herein again.

The supporting member 1 of the transfer robot 100 is located at a position corresponding to the position-limiting portion 2 of the stocker 200, and the end of the corresponding supporting member 1 abuts against the position-limiting portion 2, so as to limit the shaking of the transfer robot 100 toward the stocker 200.

In the embodiment of the present application, the number of the supporting members provided on the side of the robot body 101 is plural, wherein at least some of the supporting members are located on the opposite sides of the robot body 101, and when the limiting portions include the first limiting portion and the second limiting portion, the first limiting portion, the second limiting portion, and the end portions of the supporting members have the same height, and at least some of the supporting members abut against the first limiting portion, and at least some of the supporting members abut against the second limiting portion. In this way, the robot body can be supported simultaneously on both side surfaces of the robot body.

Specifically, in the case that the support is located at the bottom of the robot body 101, reference is made to fig. 1, 2, 3, 4, 5, and 6 to illustrate a structure of the stocker system including the transfer robot 100 and the stocker 200.

The robot body 101 has a plurality of supports on its side, for example, five supports are provided near the first storage rack group 21 and the second storage rack group 22.

Wherein at least part of the supporting members are located at opposite sides of the robot body 101, for example, five supporting members 13 are located at one side of the robot body 101 close to the first magazine rack group 21, and five supporting members 13 are located at one side of the robot body 101 close to the second magazine rack group 22.

When the limiting part comprises the first limiting part 23 and the second limiting part 24, the first limiting part 23, the second limiting part 24 and the end part of the supporting part 13 have the same height, at least part of the supporting part 13 abuts against the first limiting part 23, and at least part of the supporting part 13 abuts against the second limiting part 24. In this way, the robot body 101 can be supported simultaneously on both side surfaces of the robot body 101.

In other examples, with the supports between the top and bottom of the robot body 101, reference is made to the schematic structural views of the stocker system including the transfer robot 100 and the stocker 200 shown in fig. 7-15.

The robot body 101 may have one or more support members 14 at the side thereof, for example, each of the support members 14 adjacent to the first storage rack group 21 and the second storage rack group 22 may have one. Each support 14 comprises 6 rollers.

Wherein, two supporting members 14 are respectively located at opposite sides of the robot body 101, for example, one supporting member 14 is located at a side of the robot body 101 close to the first storage rack group 21, and the other supporting member 14 is located at a side of the robot body 101 close to the second storage rack group 22.

When the position-limiting part comprises a first position-limiting part 23 'and a second position-limiting part 24', the first position-limiting part 23 'and the second position-limiting part 24' and the end parts of the supporting parts 14 have the same height, and one supporting part 14 abuts against the first position-limiting part 23 'and the other supporting part 14 abuts against the second position-limiting part 24'. In this way, the robot body 101 can be supported simultaneously on both side surfaces of the robot body 101.

In other examples, the support is located on top of the robot body 101, referring to the schematic structural views of the stocker system including the transfer robot 100 and the stocker 200 shown in fig. 16-21.

The robot body 101 may have one or more support members 15 at the side thereof, for example, one support member 15 may be provided at each of the first and

second stocker groups

21 and 22. One support 15 comprises 3 rollers. The support 15 is located on top of the robot body 101.

On the other hand, the limiting part comprises a third limiting part 25, the third limiting part 25 comprises a linear guide rail, and two opposite groove walls of the sliding groove 252 of the linear guide rail are abutted with the end parts of the supporting pieces so as to limit the shaking of the robot body towards the first storage rack group 21 and the second storage rack group 22.

It will be appreciated that, with reference to fig. 18 and 19, the top end of the support 15 and the groove bottom 253 of the runner 252 have a predetermined spacing h 3. Thus, when the robot body travels or works in the aisle, the third stopper portion 25 does not restrict the movement of the robot body in the vertical direction.

In the embodiments of the present application, the case where the support member is disposed on the top of the robot body, the support member is disposed on the bottom of the robot body, and the support member is disposed between the top and the bottom of the robot body is respectively described as an example. It can be understood that the present application is not limited thereto, the supporting member may be disposed at least one position among the top of the robot body, the bottom of the robot body, and the top and the bottom of the robot body, and the disposition of the limiting portion corresponds to the disposition of the supporting member, which is not described herein again.

The embodiments or implementation modes in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.

In the description of the present specification, reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "example", "specific example", or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims

1. A transfer robot is used for taking and placing goods on a storage shelf and is characterized by comprising a robot body and a supporting piece arranged on the robot body,

the end part of the supporting piece protrudes out of the outer side of the robot body and is used for being abutted to the limiting part on the storage goods shelf so as to limit the robot body to swing towards the storage goods shelf, and the end part of the supporting piece is matched with the limiting part in a rolling mode.

2. The transfer robot of claim 1,

the limiting part is provided with a limiting surface, the supporting piece comprises a roller, the roller forms the end part of the supporting piece, and the roller can roll on the limiting surface.

3. The transfer robot of claim 2,

the support member further includes a support arm, one end of which is connected to the robot body, and the center of the roller is rotatably connected to the support arm.

4. The transfer robot of claim 2,

the rotation axis of the roller is parallel to the limiting surface.

5. The transfer robot of claim 1,

the number of the supporting members is plural, and at least some of the supporting members are arranged at intervals in the advancing direction of the transfer robot.

6. The transfer robot of any one of claims 2 to 4,

the support member is provided on a side of the robot body.

7. The transfer robot of claim 6,

the support piece comprises a first roller and a second roller, the first roller and the second roller are respectively abutted to different limiting surfaces, and included angles are formed between different limiting surfaces.

8. The transfer robot of claim 6,

the supporting piece comprises a third roller, and the third roller is abutted to the same limiting surface.

9. The transfer robot of claim 6,

the number of the supporting pieces arranged on the side of the robot body is multiple, wherein at least part of the supporting pieces are positioned on the opposite side of the robot body.

10. The transfer robot of claim 6,

the support members located on the same side of the robot body include:

a first support member located at an advancing direction end portion of the transfer robot; and

a second support located between the two first supports,

11. The transfer robot of claim 6,

the robot body comprises a column frame, a pallet capable of placing goods and a movable base capable of driving the transfer robot to move, the pallet is arranged on the column frame, the column frame is vertically arranged on the movable base,

the number of the supporting pieces arranged on the side of the robot body is a plurality, wherein,

At least part of the support is located on a side of the mobile base.

12. The transfer robot of any one of claims 2 to 5,

the top of the robot body is provided with the support.

13. The transfer robot of claim 12,

the support piece that the top of robot body has includes at least two coaxial gyro wheels that set up, at least two the wheel footpath of gyro wheel is the same, and is in arrange in proper order in the axial of gyro wheel.

14. A storage device, comprising at least a first storage rack group and a second storage rack group which are adjacently and separately arranged, wherein each of the first storage rack group and the second storage rack group comprises at least one storage rack, and an aisle is formed between the first storage rack group and the second storage rack group, and the transfer robot as claimed in any one of claims 1 to 13 can enter the aisle for carrying out goods picking and placing operations;

the warehousing device is characterized by further comprising a limiting portion arranged on the warehousing goods shelf, wherein the limiting portion is used for being abutted to the end portion of the supporting portion on the carrying robot so as to limit the orientation of the carrying robot to the first warehousing goods shelf group and/or the shaking of the second warehousing goods shelf group.

15. The bin of claim 14,

the limiting part is provided with a limiting surface, the limiting surface extends along the length direction of the passageway, and the height of the limiting surface in the height direction corresponds to the end part of the corresponding supporting piece.

16. The bin of claim 15, wherein,

the limiting surface extends from one end of the first storage rack group to the other end in the length direction of the passageway; and/or the presence of a gas in the gas,

17. The bin of claim 15, wherein,

the end part of the limiting part in the length direction of the passageway is provided with a guide surface, one end of the guide surface is connected with the limiting surface, and the other end of the guide surface inclines towards the direction departing from the supporting piece.

18. The bin store according to any one of claims 15-17,

the limiting part comprises a first limiting part, the limiting surface comprises a first limiting surface positioned on the first limiting part, and the first limiting part is connected to the side surface of the first storage rack group facing the second storage rack group; and/or

The spacing portion comprises a second spacing portion, the spacing face comprises a second spacing face located on the second spacing portion, and the second spacing portion is connected to the orientation of the second storage shelf set on the side face of the first storage shelf set.

19. The bin of claim 18,

when the limiting part comprises the first limiting part and the second limiting part, the first limiting surfaces and the second limiting surfaces are the same in number and are arranged in a one-to-one correspondence mode.

20. The bin of claim 18,

the limiting surface also comprises a third limiting surface positioned on the first limiting part, and the first limiting surface and the third limiting surface corresponding to the same first limiting part form an included angle; and/or

21. The bin store according to any one of claims 15-17,

the limiting part comprises a third limiting part, and the limiting surface comprises two third limiting surfaces which are arranged on the third limiting part at intervals and oppositely.

22. The bin of claim 21, wherein,

the distance between the two third limiting surfaces is matched with the size of the end part of the supporting piece arranged on the top of the transfer robot.

23. The bin of claim 21, wherein,

the third limiting part is a linear guide rail, the linear guide rail extends along the length direction of the passageway, a chute notch of the linear guide rail faces the top of the transfer robot, the chute is provided with two opposite chute walls, and the two chute walls respectively form two third limiting surfaces.

24. The bin of claim 21, wherein,

the storage device comprises a cross beam, the cross beam is connected between the first storage shelf group and the second storage shelf group, and the third limiting part is connected to the cross beam.

25. A warehousing system, comprising: at least one transfer robot according to any one of claims 1-13, and a stocker according to any one of claims 14-24,

the supporting piece in the carrying robot is located at a position corresponding to the limiting part in the storage device, and the end part of the corresponding supporting piece is abutted against the limiting part so as to limit the shaking of the carrying robot towards the storage device.

26. The warehousing system of claim 25,

the supporting piece is arranged at the top of the robot body, the limiting part comprises a linear guide rail, when two opposite groove walls of the sliding groove of the linear guide rail are abutted with the end part of the supporting piece,

the top end of the supporting piece and the groove bottom of the sliding groove are provided with preset intervals.

27. The warehousing system of claim 25,

the robot comprises a robot body, wherein the number of supporting pieces arranged on the side of the robot body is multiple, at least part of the supporting pieces are positioned on the opposite sides of the robot body, when the limiting parts comprise a first limiting part and a second limiting part, the first limiting part, the second limiting part and the end parts of the supporting pieces have the same height, at least part of the supporting pieces are abutted against the first limiting part, and at least part of the supporting pieces are abutted against the second limiting part.