CN218908563U

CN218908563U - Warehouse system

Info

Publication number: CN218908563U
Application number: CN202320238896.1U
Authority: CN
Inventors: 贾然
Original assignee: Shanghai Fangcang Intelligent Technology Co ltd
Current assignee: Shanghai Fangcang Intelligent Technology Co ltd
Priority date: 2023-02-17
Filing date: 2023-02-17
Publication date: 2023-04-25
Anticipated expiration: 2033-02-17

Abstract

The utility model relates to the technical field of warehouse logistics, in particular to a warehouse system. Wherein, the warehouse system includes: the system comprises a stereoscopic warehouse, a transfer robot, a transfer conveying device and a control center; the stereoscopic warehouse is provided with a track assembly and a bin storage position; the handling robot is adapted to move on the track assembly; the transfer conveying device comprises a lifting channel, a conveying line and a driving mechanism, and the bin is used for carrying out warehouse-out and warehouse-in through the transfer conveying device; the control center is respectively in communication connection with the transfer robot and the transfer conveying device. Through the warehouse system of this application, set up transfer robot in the warehouse respectively, carry out the transportation connection of workbin through transporting conveyor, can realize the quick out of warehouse and warehouse entry of workbin to and more fully utilize the space in warehouse.

Description

Warehouse system

Technical Field

The utility model relates to the technical field of warehouse logistics, in particular to a warehouse system.

Background

With the rapid development of warehouse logistics, higher requirements are put on warehouses for storing goods. In the process of warehouse operation, goods are generally carried down from a shelf of a warehouse through an AGV trolley or the goods needing to be warehoused are placed at appointed positions on the shelf, and sometimes a goods transfer station is involved, and a roadway is usually arranged in a traditional warehouse system and used for accommodating a carrying robot. The intelligent operation system is adopted in the process of delivering or warehousing the goods, so that manual transportation on site is reduced.

With the increasing number of goods, how to more efficiently handle the goods and to more fully utilize the space in the warehouse has been one of the technical points of interest for warehouse systems.

Disclosure of Invention

In order to optimize the existing warehousing system, the utility model provides a warehousing system, which comprises,

the stereoscopic warehouse is provided with a track assembly and a bin storage position, wherein the track assembly comprises a first track and a second track; the first rail and the second rail are vertically arranged, and the bin storage position is used for storing bins;

a transfer robot adapted to move on the rail assembly;

the transfer conveying device comprises a lifting channel, a conveying line and a driving mechanism, and the bin is used for carrying out warehouse-out and warehouse-in through the transfer conveying device; the lifting channel extends along the height direction of the stereoscopic warehouse, the conveying line arranged along the horizontal direction is in butt joint with the lifting channel, and the driving mechanism drives the conveying line to run;

and the control center is respectively in communication connection with the transfer robot and the transfer conveying device.

Specifically, in the warehouse system, the main structure of the stereoscopic warehouse is built by profiles which are mutually perpendicular, and the track assemblies are arranged along the profiles which are horizontally arranged.

Further, in the warehouse system, the handling robot includes:

the first wheel set comprises at least one pair of first wheels, the at least one pair of first wheels are symmetrically arranged on a first opposite side of the frame, and the first wheels move along a first direction; the inner side of the first wheel is connected with a wheel seat;

a second wheel set comprising at least one pair of second wheels symmetrically disposed on a second pair of sides of the frame, the second wheels moving in a second direction, wherein the second direction is perpendicular to the first direction;

the connecting rod assembly comprises a first connecting rod, a second connecting rod and a connecting seat, wherein the first connecting rod and the second connecting rod extend in the vertical direction, the second connecting rod is positioned above the first connecting rod, one end of the first connecting rod is hinged with the wheel seat, the other end of the first connecting rod is hinged with a first hinge position of the connecting seat, one end of the second connecting rod is hinged with the top of the frame, and the other end of the second connecting rod is hinged with a second hinge position of the connecting seat;

the driving assembly is connected with the connecting seat and drives the first wheel to move along the track assembly;

and the clamping assembly is connected with the upper end of the frame and used for clamping the feed box to move along the lifting channel.

Further, in the warehouse system, the lifting channel is vertically arranged in the stereoscopic warehouse, and an opening is formed in the upper portion of the lifting channel and used for accommodating the material box.

Further, in the warehouse system, the lifting channel is composed of four profiles arranged along the vertical direction, and the lower part of the lifting channel is in butt joint with the conveying line.

Further, in the warehouse system, the warehouse system further comprises a carrying robot, the carrying robot is arranged on the bottom ground of the stereoscopic warehouse, and the carrying robot is in communication connection with the control center.

Further, in the warehouse system, the conveying line is perpendicular to the lifting channel, a driving mechanism is arranged at one end of the conveying line, the conveying line is a conveying belt, and the conveying belt is in butt joint with the carrying robot.

Further, in the warehouse system, a bin guiding structure and a bin in-place sensor are further arranged on the transferring and conveying device, and the bin guiding structure is arranged on two sides of the conveying belt.

Further, in the warehouse system, the carrying robot comprises an AGV trolley, wherein a jacking mechanism is arranged on the upper portion of the AGV trolley, and the jacking mechanism is driven by a hydraulic system.

Further, in the warehouse system, a plurality of transfer conveying devices are arranged on the outer side of the stereoscopic warehouse.

Further, in the warehouse system, a platform is arranged on one side of the stereoscopic warehouse, and the platform is used for controlling and maintaining the transfer robot.

The one or more technical schemes provided by the utility model at least have the following beneficial effects:

1) The utility model provides a warehousing system, which comprises a stereoscopic warehouse, a transfer robot, a transfer conveying device and a control center, wherein a track assembly and a bin storage position are arranged in the stereoscopic warehouse, and the bin storage position is used for storing bins; the transfer robot is arranged in the stereoscopic warehouse and can move along a track assembly in the stereoscopic warehouse; the transfer conveying device comprises a lifting channel, a conveying line and a driving mechanism, and the bin is used for carrying out warehouse-out and warehouse-in through the transfer conveying device; and the control center respectively controls the actions of the transfer robot and the transfer conveying device according to the operation requirement. Through the warehouse system, the transfer robot is arranged in the warehouse, and the transfer connection of the material box is carried out through the transfer conveying device, so that the material box can be rapidly delivered out of the warehouse and put in the warehouse, and the space of the warehouse is more fully utilized.

2) The warehouse system provided by the utility model comprises a transfer conveying device, wherein the transfer conveying device is provided with a lifting channel, a conveying line, a driving mechanism, a bin guiding structure and a sensor, the sensor is arranged to perform in-place induction in the conveying process of the bin, a control center operates a preset program to perform full-automatic control on the bin delivery and the bin storage, and the whole process does not need the conveying operation of staff among operating equipment, so that the safety of the staff is ensured, and the production efficiency and the conveying and docking accuracy are improved.

3) The warehouse system provided by the utility model, the transfer robot comprises: the transfer robot can realize movement switching in two mutually perpendicular directions, so that the flexibility is improved, and the application range is enlarged; the application provides a transfer robot still includes the link assembly of first connecting rod and second connecting rod, and this link assembly is direct to be connected with first wheel group to drive first wheel group and gone up and down, simplified transfer robot's overall structure greatly, because the effort direct action of going up and down is on the wheel moreover, make the lift action rapidly and stability is high.

Drawings

Further details, features and advantages of the utility model are disclosed in the following description of exemplary embodiments with reference to the following drawings, in which:

fig. 1 is a schematic perspective view of a warehousing system according to an embodiment of the utility model;

FIG. 2 is a schematic diagram of a handling robot according to an embodiment of the present utility model;

FIG. 3 is a schematic diagram of a handling robot according to a second embodiment of the present utility model;

FIG. 4 is a third schematic diagram of a handling robot according to an embodiment of the present utility model;

FIG. 5 is a diagram illustrating a handling robot according to an embodiment of the present utility model;

FIG. 6 is a schematic diagram of a transfer conveyor according to an embodiment of the present utility model;

FIG. 7 is a schematic diagram of a transfer conveyor according to an embodiment of the present utility model;

reference numerals illustrate:

1-a stereoscopic warehouse;

2-a handling robot; 21-a frame; 22-a first wheel; 23-a second wheel; 24-driving a motor; 25-reverser; 26-a screw rod; 27-a first link; 28-a second link; 29-connecting seats; 210-wheel seat; 211-a clamping assembly;

3-a transfer conveyor; 31-lifting channel; 32-conveying lines; 33-a drive mechanism; 34-conveyor belt; 35-a bin guide structure;

4-track assembly; 41-a first track; 42-a second track;

5-a bin storage location; 6-carrying the robot.

Detailed Description

Embodiments of the present utility model will be described in more detail below with reference to the accompanying drawings. While the utility model is susceptible of embodiment in the drawings, it is to be understood that the utility model may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided to provide a more thorough and complete understanding of the utility model. It should be understood that the drawings and embodiments of the utility model are for illustration purposes only and are not intended to limit the scope of the present utility model.

It should be understood that the various steps recited in the method embodiments of the present utility model may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the utility model is not limited in this respect.

The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below. It should be noted that the terms "first," "second," and the like herein are merely used for distinguishing between different devices, modules, or units and not for limiting the order or interdependence of the functions performed by such devices, modules, or units.

It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those skilled in the art will appreciate that "one or more" is intended to be construed as "one or more" unless the context clearly indicates otherwise.

The names of messages or information interacted between the devices in the embodiments of the present utility model are for illustrative purposes only and are not intended to limit the scope of such messages or information.

The following describes aspects of the utility model with reference to the drawings.

Fig. 1 is a schematic perspective view of a warehouse system according to an embodiment of the present utility model, fig. 2-5 are schematic diagrams of a transfer robot according to an embodiment of the present utility model, and fig. 6-7 are schematic diagrams of a transfer and conveying device according to an embodiment of the present utility model.

According to one embodiment of the present utility model, as shown in fig. 1, a warehousing system includes: a stereoscopic warehouse 1, a transfer robot 2, a transfer conveying device 3 and a control center.

In the warehouse system provided by the embodiment, a track assembly 4 and a bin storage position 5 are arranged in the stereoscopic warehouse 1, the track assembly 4 comprises a first track 41 and a second track 42, the stereoscopic warehouse 1 can be divided into multiple layers according to the storage requirement of an actual bin, the track assemblies 4 are uniformly distributed on each layer, and the track assemblies 4 consist of a plurality of first tracks 41 and a plurality of second tracks 42; the first rail 41 and the second rail 42 are vertically arranged, that is, the rail assembly 4 is arranged in a grid manner; the material box is stored on the material box storage position 5, and materials to be stored are placed in the material box. In the present embodiment, after the transfer robot 2 has transferred the uppermost bin, the transfer robot 2 is moved to the floor where the bin is to be transferred. As an alternative embodiment, the transfer robot 2 may be provided in each layer.

In the warehouse system provided by the embodiment, the section bars in the horizontal direction forming the stereoscopic warehouse can be directly used as the track components 4, and the track components can also be further arranged on the section bars in the horizontal direction in the stereoscopic warehouse. In this embodiment, the transfer robot 2 is adapted to move in two directions perpendicular to each other on the grid-shaped rail assembly 4, and to transfer the bin in and out of the warehouse in an optimal route.

In this embodiment, the transferring and conveying device 3 includes a lifting channel 31, a conveying line 32, and a driving mechanism 33, where the lifting channel 31 extends along the height direction of the stereoscopic warehouse 1, that is, the lifting channel 31 is arranged along the vertical direction; the upper end of the lifting channel 31 is in butt joint with the carrying robot 2, the lower end of the transferring and conveying device 3 is in butt joint with the conveying line 32 arranged along the horizontal direction, and the driving mechanism 33 drives the conveying line 32 to operate; the bin is transported by the transport conveyor 3 to realize the delivery and storage of the bin.

In this embodiment, the control center is respectively connected with the transfer robot 2 and the transfer conveyor 3 in a communication manner; in response to a system's request for the delivery of a bin, invoking a transfer robot 2 in the vicinity of the bin to grasp the bin by moving the bin to the track assembly 4; the grasped magazine is moved into the transfer conveyor 3.

In this embodiment, the main structure of the stereoscopic warehouse 1 is built up from profiles set up perpendicularly to each other, the track assemblies 4 being arranged in profiles set up in a horizontal direction. The main structure of the stereoscopic warehouse 1 is built by adopting the metal profiles, the stereoscopic warehouse space is fully utilized, the building time of the warehouse is saved, the whole structure is lighter, and meanwhile, the strength of a storage material box is met.

The present embodiment provides a transfer robot, which is suitable for running on a gridded track in a logistics warehouse, as shown in fig. 2, where the transfer robot 2 includes a frame 21, two sets of wheel sets are distributed below the frame 21, the two sets of wheel sets can drive the frame 21 to walk along a certain direction, specifically, the transfer robot includes a first wheel set capable of moving along a first direction (for example, may be an X direction) and a second wheel set capable of moving along a second direction (for example, may be a Y direction), the first direction is perpendicular to the second direction, and is suitable for the gridded track that is perpendicular to each other, the first wheel set is matched with the track along the first direction, and the second wheel set is matched with the track along the second direction; the first wheel set comprises at least one pair of first wheels 22, and the at least one pair of first wheels 22 are symmetrically arranged on a first opposite side of the frame 21; the second wheel set comprises at least one pair of second wheels 23, and the at least one pair of second wheels 23 are symmetrically arranged on a second opposite side of the frame 21; in the present embodiment, the first wheel 22 and the second wheel 23 are each selected to be two to four, and in other alternative embodiments, the number of the first wheel 22 and the second wheel 23 may be two, six or more, as long as the basic traveling requirement can be satisfied.

The transfer robot provided in this embodiment has a fixed position of the second wheel 23, which is rotatably mounted on the frame 21; the first wheel 22 can be lifted relative to the frame 21, and by providing the first wheel 22 capable of lifting and the second wheel 23 fixed on the frame 21, the bottommost end of the first wheel 22 has three height positions relative to the bottommost end of the second wheel 23: a first elevation, a second elevation, and a third elevation; wherein, the first height is higher than the bottommost end of the second wheel 23, and the second wheel group supports the whole frame at this time, and the second wheel group drives the whole frame to move in the second direction; the second height is equal to the bottom end of the second wheel 23, at this time, the first wheel set and the second wheel set are both in contact with the track, the frame is already moved to a stationary state, and the carrying robot 2 performs loading and unloading operations; the third height is lower than the bottommost end of the second wheel 23, at this time, the first wheel group supports the whole frame, and the first wheel group drives the whole frame to move in the first direction; therefore, the transfer robot can realize movement switching in two mutually perpendicular directions, flexibility is improved, and application range is enlarged.

In order to drive the first wheel 22 to lift, the transfer robot provided in this embodiment includes a link assembly, as shown in fig. 2-5, where the link assembly includes a first link 27, a second link 28, and a connection seat 29, the first link 27 and the second link 28 extend along a vertical direction, and the second link 28 is located above the first link 27; the inner side of the first wheel 22 is connected with a wheel seat, a pin shaft is arranged on the wheel seat, one end of the first connecting rod 27 is hinged with the pin shaft on the wheel seat, the other end of the first connecting rod is hinged with a first hinge position of the connecting seat 29, one end of the second connecting rod 28 is hinged with the top of the frame 21, and the other end of the second connecting rod is hinged with a second hinge position of the connecting seat 29; to facilitate the lifting adjustment, the lengths of the first link 27 and the second link 28 may be designed to be equal.

The transfer robot provided in this embodiment further includes a driving component for driving the movement of the link component, as shown in fig. 2-5, where the driving component is located in the frame 21, and the driving component includes a power component and a transmission component, where the transmission component is connected with the connection seat 29, and the power component is connected with the transmission component; the number of transmission assemblies corresponds to the number of first wheels 22, in this embodiment 4 sets of transmission assemblies, each set of transmission assemblies corresponding to one first wheel 22. In this embodiment, the hinge structure that comprises first connecting rod and second connecting rod has formed the connecting rod reinforcement structure, compares in current transmission structure and can save power, and lifting moment is big, and under the drive of lead screw, first connecting rod and second connecting rod carry out two-way movement in vertical direction, and the lead screw only need remove a small amount of displacement just can realize the altitude mixture control to the wheel, and the lifting action is fast, and control accuracy is high.

The transfer robot 2 provided in this embodiment further includes a clamping assembly 211, in which clamping jaws and a lifting system are disposed, the bin is clamped by the clamping jaws, and the lifting system is used to clamp the bin and then move along the lifting channel 31. The lifting system can lift the clamping jaw clamping material taking box, so that the material box can be lifted and lowered.

In the transfer conveying apparatus provided in this embodiment, as shown in fig. 6-7, the lifting channel 31 is vertically set up in the stereoscopic warehouse 1, and an opening is provided at an upper portion of the lifting channel 31, where the opening is used to accommodate the bin carried by the carrying robot 2. That is, the first center point of the bin transferred from the bin storage position transfer robot is located at the upper end of the elevation path 31 of the transfer conveyor 3.

In this embodiment, as shown in fig. 6 to 7, the lifting channel 31 is formed by four sections arranged along the vertical direction, and the four sections arranged vertically may be part of a stereoscopic warehouse; the lower part of the lifting channel 31 is in butt joint with the conveying line 32. I.e. the lifting channel 31 runs through the entire stereoscopic warehouse 1, occupying one bin storage 5 from top to bottom in the stereoscopic warehouse. As an alternative embodiment, the lifting channel 31 may also be provided separately at the edge of the stereoscopic warehouse 1.

In the warehousing system of some embodiments, the warehousing system further includes a carrying robot 6, which is disposed on the bottom ground of the stereoscopic warehouse 1, the carrying robot 6 is in communication connection with the control center, and the control center server automatically invokes the carrying robot to transport the bin to match with the bin for the bin to be delivered and put in warehouse.

In some embodiments of the transfer conveyor, as shown in fig. 6-7, the conveying line 32 is disposed perpendicular to the lifting channel 31, a driving mechanism 33 is disposed at one end of the conveying line 32, the driving mechanism 33 drives the bin to move on the conveying line 32, a conveyor 34 is disposed at the other end of the conveying line 32, and the conveyor 34 is in butt joint with the carrying robot 6. In this embodiment, the transfer conveyor 3 is further provided with a bin guiding structure 35 and a bin in-position sensor, and the bin guiding structure 35 is disposed on two sides of the conveyor 34. The bin in-place sensor can be arranged at the inlet of the upper end and the outlet of the lower end of the lifting channel, and can also be arranged at the two ends of the conveying line, and when the bin reaches the position of the key node, the corresponding device is started so as to ensure the continuity of bin transmission.

In the warehouse system of some embodiments, the carrying robot 6 includes an AGV trolley, and a lifting mechanism is disposed at an upper portion of the AGV trolley, and the lifting mechanism is driven by a hydraulic system, and is used for butting a bin conveyed by the conveyor 34 or lifting a bin on the ground onto the conveyor 34 when the warehouse is taken out and put in. As an alternative embodiment, the jacking mechanism may also be driven by a motor and gear arrangement.

In some embodiments of the warehouse system, a plurality of transfer conveyors 3 are disposed outside the stereoscopic warehouse 1. A plurality of transfer robots 2 are provided between each two adjacent transfer conveyors. In this embodiment, a platform is provided on one side of the stereoscopic warehouse 1, and the platform is used for observing the operation site and maintaining the transfer robot 2. And a charging position for charging the robot is also arranged at a proper position such as the edge of the stereoscopic warehouse, and when the electric quantity of the robot is insufficient, the robot automatically returns to the charging position for charging.

The specific working process of the warehousing system provided by the application is as follows:

1) When the transfer robot goes out of the warehouse, the transfer robot receives the task sent by the server to transfer the target bin to the upper part of the transfer conveying device, the grabbing component on the transfer robot is used for lowering the target bin, the bin guide structure is used for adjusting the posture of the bin, at the moment, the driving device of the transfer conveying device starts to convey the target bin to the tail end of the transfer conveying device, the carrying robot arrives below the target bin, the jacking mechanism is started, and the target bin is lifted up to be separated from the transfer conveying device. Then the hidden robot carries the bin to move to a target area;

2) When the object box is put in warehouse, the carrying robot carries the object box to move to the tail end of the transferring and conveying device, under the action of the jacking mechanism, the object box is placed on a conveying belt for transferring and conveying decoration, the object box is correctly placed on a conveying mechanism of the device under the action of the box guiding structure, a driving device starts to convey the object box to the lower end of a lifting channel of the transferring and conveying device, a grabbing component on the carrying robot descends to the position of the object box through a lifting system of the grabbing component, grabs and lifts the object box to the object height of the object box, and the carrying robot carries the object box to the object position in a stereoscopic warehouse.

The above description is only illustrative of some embodiments of the utility model and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in the present utility model is not limited to the specific combinations of technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the spirit of the disclosure. Such as the above-mentioned features and the technical features disclosed in the present utility model (but not limited to) having similar functions are replaced with each other.

While certain specific embodiments of the utility model have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the utility model. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the utility model. The scope of the utility model is defined by the appended claims.

Claims

1. A warehousing system is characterized by comprising,

a transfer robot adapted to move on the rail assembly;

2. The warehousing system according to claim 1, characterized in that the main structure of the stereoscopic warehouse is built up from profiles set up perpendicularly to each other, the track assemblies being arranged along profiles set up horizontally.

3. The warehousing system of claim 1 wherein the transfer robot comprises:

4. The warehousing system according to claim 1, characterized in that the lifting channel is set up vertically in the stereoscopic warehouse, the upper part of the lifting channel being provided with an opening for receiving the bin.

5. The warehouse system of claim 4, wherein the lifting channel is formed by four profiles arranged in a vertical direction, and the lower part of the lifting channel is in butt joint with the conveying line.

6. The warehousing system of any one of claims 1-5 further comprising a piggyback robot disposed on the bottom floor of the stereoscopic warehouse, the piggyback robot in communication with the control center.

7. The warehousing system of claim 6 wherein the conveyor line is disposed perpendicular to the lifting channel, a drive mechanism is disposed at one end of the conveyor line, the conveyor line is a conveyor belt, and the conveyor belt interfaces with the piggyback robot.

8. The warehousing system of claim 7 wherein the transfer conveyor is further provided with bin guide structures and bin in-place sensors, the bin guide structures being disposed on either side of the conveyor belt.

9. The warehousing system of claim 8 wherein the piggy-back robot comprises an AGV cart having a lift mechanism disposed on an upper portion thereof, the lift mechanism being driven by a hydraulic system.

10. The warehousing system of any one of claims 1-5 wherein a plurality of the transfer conveyor are disposed outside of the stereoscopic warehouse.