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CN-121990488-A - Tool car and warehouse system

CN121990488ACN 121990488 ACN121990488 ACN 121990488ACN-121990488-A

Abstract

The invention provides a tooling vehicle and a storage system, wherein the tooling vehicle comprises a vehicle body, a fixing component, a lifting component and a travelling component, the lifting component comprises a lifting driving part and at least one vertical guide rail, the vertical guide rail is fixedly arranged on the vehicle body, the fixing component is movably arranged on the vertical guide rail, the lifting driving part can drive the fixing component to move up and down along the vertical guide rail, and the travelling component is positioned at the bottom of the vehicle body and is used for supporting the vehicle body and allowing the vehicle body to travel along the ground. Compared with the prior art, the technical scheme only needs to erect or hoist the shelf robot at a certain fixed position, does not need to hoist and transport the shelf robot in the whole course through top equipment such as a top rail and the like, reduces the installation operation difficulty, further improves the installation efficiency of the shelf robot and reduces the installation cost of the shelf robot.

Inventors

  • TANG QIBIN
  • ZHAO LUHAO
  • WANG ZHENG
  • WU CHAO

Assignees

  • 杭州海康机器人股份有限公司

Dates

Publication Date
20260508
Application Date
20241104

Claims (18)

  1. 1. A tooling vehicle for mounting a shelf robot, characterized in that the tooling vehicle comprises a vehicle body (100), a fixing assembly (200), a lifting assembly (300) and a traveling assembly (400), wherein, The fixing component (200) is used for being fixedly connected with the shelf robot (40); the lifting assembly (300) comprises a lifting driving part (310) and at least one vertical guide rail (320), the vertical guide rail (320) is fixedly arranged on the vehicle body (100), the fixing assembly (200) is movably arranged on the vertical guide rail (320), and the lifting driving part (310) can drive the fixing assembly (200) to move along the vertical guide rail (320) in a lifting mode; The travel assembly (400) is located at the bottom of the vehicle body (100) for supporting the vehicle body (100) and allowing the vehicle body (100) to travel along the ground.
  2. 2. The tooling vehicle according to claim 1, characterized in that the lifting drive (310) comprises a first traction mechanism (311) and a lifting belt (312), the lifting belt (312) being connected between the fixed assembly (200) and the lifting drive (310), the first traction mechanism (311) driving the fixed assembly (200) to move up and down along the vertical guide rail (320) by traction of the lifting belt (312); The first traction mechanism (311) is arranged on the car body (100), the lifting assembly (300) further comprises a top beam (330) and a first rope winding part (341), the top beam (330) is fixedly arranged on the vertical guide rail (320) and is positioned above the lifting driving part (310) and the fixing assembly (200), the first rope winding part (341) is arranged on the top beam (330), the first end of the lifting belt (312) is connected with the lifting driving part (310), and the second end of the lifting belt (312) bypasses the first rope winding part (341) and is connected with the fixing assembly (200).
  3. 3. The tool vehicle of claim 2, wherein the lifting assembly (300) further comprises a second roping portion (342), the second roping portion (342) is disposed on the fixed assembly (200), and the second end of the pull-up strap (312) sequentially bypasses the first roping portion (341) and the second roping portion (342) and is fixedly connected to the top beam (330).
  4. 4. The tooling vehicle of claim 1, further comprising a height feedback assembly for feeding back height position information of the shelf robot (40) based on a lifting position of the fixed assembly (200).
  5. 5. The tooling vehicle according to claim 4, characterized in that the height feedback assembly comprises an indication structure and a scale structure, one of the indication structure and the scale structure is fixed relative to the position of the vehicle body (100), the other is fixed relative to the position of the fixing assembly (200), and the height position information comprises scale information corresponding to the current position of the indication structure in the scale structure; Or the height feedback assembly comprises a ranging sensor and a target structure, one of the ranging sensor and the target structure is relatively fixed with the position of the vehicle body (100), the other is relatively fixed with the position of the fixing assembly (200), and the height position information comprises a ranging result of the ranging sensor for ranging the target structure.
  6. 6. The tooling vehicle according to claim 1, wherein the fixing assembly (200) comprises a first lifting seat (201) and at least one second lifting seat (202), the first lifting seat (201) and the second lifting seat (202) are movably arranged on the vertical guide rail (320), the first lifting seat (201) and the second lifting seat (202) are fixedly connected with the shelf robot (40), and the lifting driving part (310) can drive the first lifting seat (201) to move up and down along the vertical guide rail (320).
  7. 7. The tooling vehicle according to any one of claims 1-6, characterized in that the traveling assembly (400) comprises a plurality of chassis structures and a plurality of traveling wheels (420), a plurality of the chassis structures being provided on the vehicle body (100), the traveling wheels (420) being provided on the chassis structures and being located at the bottom of the tooling vehicle, at least a portion of the chassis structures being positionally adjustable.
  8. 8. The tooling vehicle according to claim 7, characterized in that the chassis structure comprises a plurality of first chassis structures (411) and a plurality of second chassis structures (412), the first chassis structures (411) being fixedly connected to the vehicle body (100), guide accommodating holes being formed in the interior of the first chassis structures (411), the second chassis structures (412) being partially disposed in the guide accommodating holes and being movable along the guide accommodating holes; or the second chassis structure (412) is hinged with the first chassis structure (411) and can rotate along a horizontal plane relative to the second chassis structure (412).
  9. 9. The tooling vehicle according to any one of claims 1 to 6, further comprising a second traction mechanism (510), a turnover belt (520) and a turnover connector, wherein the second traction mechanism (510) is disposed on the vehicle body (100), one end of the turnover belt (520) is fixedly connected with the turnover connector, the other end of the turnover belt (520) is connected with the second traction mechanism (510), and the second traction mechanism (510) can pull the turnover belt (520) to drive the shelf robot (40) to which the turnover connector is connected to turn from a lying state to a standing state.
  10. 10. The tooling vehicle according to claim 9, further comprising at least one support assembly disposed on the vehicle body (100) and capable of extending out of the vehicle body (100) in a horizontal direction.
  11. 11. The tool vehicle of claim 10, wherein the support assembly is stowed by any of folding, swinging, and telescoping.
  12. 12. The tooling vehicle according to any one of claims 1 to 6, further comprising a position indication assembly for generating relative position information based on a positional relationship between a lateral rail (20) on a pallet (10) and the pallet robot (40).
  13. 13. The tool vehicle of claim 12, wherein the position indication assembly includes an image sensor and the relative position information includes an image of the transverse rail (20) and the shelf robot (40) taken by the image sensor; And/or the position indication assembly comprises an optical path detection device, and the relative position information comprises a detection result of the optical path detection device on the transverse guide rail (20); And/or the position indication assembly comprises a reflector, and the relative position information comprises an image of the reflector reflecting images of the transverse guide rail (20) and the shelf robot (40) to one side of the bottom of the tool car.
  14. 14. The tooling vehicle according to any one of claims 1 to 6, further comprising a guiding robot arm for fixedly connecting with the pallet and driving the tooling vehicle to move relative to the pallet (10) to align a lateral displacement assembly (42) of the pallet robot (40) with a lateral rail (20) on the pallet (10).
  15. 15. The tooling vehicle according to any one of claims 1 to 6, further comprising a mounting actuator for mounting an anti-slip stop to an end of a lateral rail (20) on a pallet (10) after a lateral displacement assembly (42) of the pallet robot (40) is connected to the lateral rail (20).
  16. 16. A warehousing system, characterized in that it comprises a pallet (10) and a tooling vehicle according to any one of claims 1 to 15, the lateral surface of the pallet (10) being fixedly provided with transverse guide rails (20).
  17. 17. The warehousing system according to claim 16, characterized in that the warehousing system further comprises at least one guiding structure (21), which guiding structure (21) is arranged on one side of the transverse rail (20) in the height direction, the distance between the guiding structure (21) and the transverse rail (20) increasing gradually towards the side of the end of the transverse rail (20).
  18. 18. The warehousing system according to claim 16, further comprising a third traction mechanism (31), a lifting belt (32) and a lifting connecting piece, wherein the third traction mechanism (31) is arranged on the goods shelf (10), one end of the lifting belt (32) is fixedly connected with the lifting connecting piece, the other end of the lifting belt (32) is connected with the third traction mechanism (31), and the third traction mechanism (31) can pull the lifting belt (32) so as to drive the goods shelf robot (40) connected with the lifting connecting piece and the tooling vehicle fixedly connected with the goods shelf robot (40) to turn from a lying state to a standing state.

Description

Tool car and warehouse system Technical Field The invention relates to the field of robots, in particular to a tooling vehicle for installing a shelf robot and a warehousing system comprising the tooling vehicle. Background Along with the iteration of intelligent storage system and the promotion of goods shelves height, goods shelves robot also increasingly extensively in the storage equipment field, goods shelves robot directly sets up in goods shelves side, bear the weight of executive device and goods through horizontal and vertical guide rail structure, can adapt to not co-altitude goods shelves, compare with box storage robot, goods shelves robot is less to the requirement of goods shelves space, and need not set up slide guide rail and the lifting module that the structure is complicated for adapting to goods shelves height like box storage robot, can show reduction storage system's material cost, and box storage robot's dispatch cost, and improve the utilization ratio to warehouse space. The goods shelf robot generally comprises an execution assembly, a vertically arranged lifting assembly and a transverse displacement assembly, wherein the execution assembly is used for taking and placing goods or a material box, the lifting assembly can drive the execution assembly to move up and down, and the transverse displacement assembly is used for driving the execution assembly to move along a transverse guide rail on a goods shelf, so that the execution assembly is moved to each goods storage position of each layer of the goods shelf, and the actions of taking out and placing goods or the material box are performed. In the prior art, the shelf robots are usually installed on the transverse guide rails of the shelf in a manual operation mode, however, because the whole length of the shelf robot lifting assembly is long, the whole installation operation of the shelf robot lifting assembly is required to be carried out in a lifting state, the requirements on storage space are high, lifting equipment such as a top rail is required to be paved above the shelf, and a large amount of materials and labor cost are required to be consumed when the shelf robots are arranged on the shelf with large size and high floor height. Therefore, how to provide a lower-cost shelf robot installation scheme is a technical problem to be solved in the field. Disclosure of Invention The present invention aims to solve one of the technical problems in the related art to a certain extent. Therefore, the invention provides a tooling vehicle for installing a shelf robot, an installation method of the shelf robot and a storage system comprising the tooling vehicle, wherein the tooling vehicle can improve the installation efficiency of the shelf robot and reduce the installation cost of the shelf robot. In order to achieve the above object, as one aspect of the present invention, there is provided a tooling vehicle for mounting a shelf robot, characterized in that the tooling vehicle comprises a vehicle body, a fixing assembly, a lifting assembly, and a traveling assembly, wherein, The lifting assembly comprises a lifting driving part and at least one vertical guide rail, the vertical guide rail is fixedly arranged on the vehicle body, the fixing assembly is movably arranged on the vertical guide rail, and the lifting driving part can drive the fixing assembly to move along the vertical guide rail in a lifting manner; the travel assembly is positioned at the bottom of the vehicle body for supporting the vehicle body and allowing the vehicle body to travel along the ground. Optionally, the lifting driving part comprises a first traction mechanism and a lifting belt, the lifting belt is connected between the fixing assembly and the lifting driving part, and the first traction mechanism drives the fixing assembly to move up and down along the vertical guide rail by traction of the lifting belt; Optionally, the first traction mechanism is arranged on the car body, the lifting assembly further comprises a top beam and a first rope winding part, the top beam is fixedly arranged on the vertical guide rail and located above the lifting driving part and the fixing assembly, the first rope winding part is arranged on the top beam, the first end of the lifting belt is connected with the lifting driving part, and the second end of the lifting belt bypasses the first rope winding part and is connected with the fixing assembly. Optionally, the first rope winding portion includes a first wheel axle seat and a first roller, the first wheel axle seat is disposed on the top beam, the first roller is disposed in the first wheel axle seat and can rotate around an axis thereof in the first wheel axle seat, and the lifting belt bypasses the axis of the first roller and contacts with a wheel surface of the first roller. Optionally, the first traction mechanism is a winch. Optionally, the vertical guide rails are arranged in pairs, and the top beam is connected b