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CN-121990489-A - Mounting method of tool car and shelf robot and warehousing system

CN121990489ACN 121990489 ACN121990489 ACN 121990489ACN-121990489-A

Abstract

The invention provides a mounting method and a storage system of a tooling vehicle and a shelf robot, wherein the tooling vehicle comprises a vehicle body, a fixed component arranged on the vehicle body and a travelling component arranged at the bottom of the vehicle body, the fixed component is used for being fixedly connected with the shelf robot, and the traveling component 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 of the invention only needs to erect or hoist the shelf robot at a certain fixed position, and does not need to hoist and transport the shelf robot in the whole course through top equipment such as a top rail, thereby saving the material cost of arranging related equipment at the top of a warehouse and the storage space occupied by the equipment, reducing the manual installation operation difficulty, further improving the installation efficiency of the shelf robot and reducing 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 (20)

  1. 1. The utility model provides a frock car for installing goods shelves robot, its characterized in that, frock car includes automobile body (100), set up in fixed subassembly (200) on automobile body (100) and be located advance subassembly (400) of automobile body (100) bottom, fixed subassembly (200) be used for with goods shelves robot (40) fixed connection, advance subassembly (400) be used for supporting automobile body (100) and allow automobile body (100) are followed ground and are gone.
  2. 2. The tooling vehicle according to claim 1, further comprising a lifting assembly (300), the lifting assembly (300) being disposed on the vehicle body (100) and capable of driving the shelf robot (40) to move up and down.
  3. 3. The tool vehicle according to claim 2, characterized in that the lifting assembly (300) comprises a lifting drive capable of driving the shelf robot (40) in a lifting movement and a guiding structure for guiding the shelf robot (40) in a vertical direction.
  4. 4. A tool car according to claim 3, wherein the guiding structure comprises at least one vertical guide rail (310), the vertical guide rail (310) is fixedly arranged on the car body (100), the fixing assembly (200) is movably arranged on the vertical guide rail (310), and the lifting driving part can drive the fixing assembly (200) to move up and down along the vertical guide rail (310); Or the guiding structure comprises a plurality of vertical sleeves (320), the vertical sleeves (320) are mutually sleeved and connected, the vertical sleeve (320) positioned at the inner side can slide along the vertical sleeve (320) sleeved at the outer side, wherein the vertical sleeve (320) positioned at the outermost layer is fixedly connected with the vehicle body (100), and the vertical sleeve (320) positioned at the innermost side is fixedly connected with the fixing assembly (200); Or the guide structure comprises a plurality of cross rod groups (330), wherein each cross rod group (330) comprises cross rods which are arranged in a cross hinging manner in pairs, the cross rod groups (330) are sequentially connected in the vertical direction, and the bottom ends of the cross rods positioned above in adjacent cross rod groups (330) are hinged with the top ends of the cross rods positioned below.
  5. 5. The tooling vehicle according to claim 3, wherein the lift drive comprises at least one of a traction mechanism, a hydraulic cylinder, a pneumatic cylinder, an electric cylinder, a linear motor, and a screw nut mechanism.
  6. 6. The tooling vehicle of claim 2, further comprising a height feedback assembly for feeding back height position information of the racking robot (40) based on a lifting position of the lifting assembly (300).
  7. 7. The tooling vehicle according to claim 6, wherein 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 vehicle body (100), the other is fixed relative to the lifting assembly (300), 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 point structure, one of the ranging sensor and the target point structure is relatively fixed with the position of the vehicle body (100), the other is relatively fixed with the position of the lifting assembly (300), and the height position information comprises a ranging result of the ranging sensor for ranging the target point structure.
  8. 8. The tool vehicle according to any one of claims 1-7, characterized in that the travelling assembly (400) comprises a plurality of travelling wheels (410) arranged at the bottom of the vehicle body (100), wherein at least part of the travelling wheels (410) are movable relative to the vehicle body (100) in a direction away from the remaining travelling wheels (410).
  9. 9. The tooling vehicle according to claim 8, characterized in that the travelling assembly (400) further comprises at least one telescopic driving part (420), the telescopic driving part (420) is arranged at the bottom of the vehicle body (100), the extending end of the telescopic driving part (420) can extend to the outer side of the vehicle body along the horizontal direction, and the travelling wheel (410) is fixedly arranged at the extending end of the telescopic driving part (420); And/or, the travelling assembly (400) further comprises at least one swing driving part (430), the swing driving part (430) is arranged at the bottom of the vehicle body (100), the extension end of the swing driving part (430) can swing to the outer side of the vehicle body along the horizontal direction, and the travelling wheel (410) is fixedly arranged at the extension end of the swing driving part (430); And/or, the travelling assembly (400) further comprises at least one folding driving part, the folding driving part is arranged at the bottom of the vehicle body (100), the folding driving part can be unfolded to the outer side of the vehicle body, and the travelling wheel (410) is fixedly arranged at the bottom of the folding driving part.
  10. 10. The tooling vehicle according to any one of claims 1 to 7, further comprising a lift and flip device (500), the lift and flip device (500) being configured to pull the shelf robot (40) upwards to flip the shelf robot (40) from a lying state to a standing state in which it is fixedly connectable to the stationary assembly (200).
  11. 11. The tooling vehicle according to any one of claims 1-7, characterized in that the tooling vehicle further comprises at least one support assembly (620), the support assembly (620) being arranged on the vehicle body (100) and being extendable outside the vehicle body (100) in a horizontal direction.
  12. 12. The tooling vehicle of claim 11, wherein the support assembly is stowed by any of folding, swinging, and telescoping.
  13. 13. The tooling vehicle according to any one of claims 1 to 7, 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).
  14. 14. The tool vehicle of claim 13, 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.
  15. 15. The tooling vehicle according to any one of claims 1 to 7, 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).
  16. 16. The tooling vehicle according to any one of claims 1 to 7, further comprising a mounting actuator for mounting an anti-drop barrier 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).
  17. 17. A method of installing a shelf robot, the method being implemented by the tooling vehicle of any one of claims 1 to 16, the method comprising: Fixedly connecting a shelf robot (40) with a fixed assembly (200) of the tooling vehicle; -driving the pallet robot (40) to a pallet (10) side and aligning a lateral displacement assembly (42) of the pallet robot (40) with a lateral rail (20) on the pallet (10); The shelf robot (40) is driven along the length direction of the transverse guide rail (20) so that a transverse displacement assembly (42) of the shelf robot (40) is connected with the transverse guide rail (20).
  18. 18. The method of claim 17, wherein the tooling vehicle further comprises a lift assembly (300), the lift assembly (300) being disposed on the vehicle body (100) and configured to drive the shelf robot (40) in a lifting motion, the aligning the lateral displacement assembly (42) of the shelf robot (40) with the lateral rail (20) on the shelf (10) comprising: The shelf robot (40) is driven in a lifting motion by the lifting assembly (300) to align a lateral displacement assembly (42) of the shelf robot (40) with a lateral rail (20) on the shelf (10).
  19. 19. The method of claim 17, wherein the pallet robot is the pallet robot of claim 10, and wherein the method further comprises pulling the pallet robot (40) by the lift and flip device (500) to flip from a lying state to a standing state before fixedly connecting the pallet robot (40) to the fixing assembly (200).
  20. 20. A warehousing system, characterized in that it comprises a pallet (10), at least one pallet robot (40) and a tooling vehicle according to any one of claims 1 to 16, the lateral surface of the pallet (10) being fixedly provided with a transverse guide rail (20).

Description

Mounting method of tool car and shelf robot and warehousing system Technical Field The invention relates to the field of robots, in particular to a tooling vehicle for installing a shelf robot, an installation method of the 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, the tooling vehicle including a vehicle body, a fixing assembly provided on the vehicle body for fixedly connecting with the shelf robot, and a traveling assembly at a bottom of the vehicle body for supporting the vehicle body and allowing the vehicle body to travel along a ground surface. Optionally, the tooling vehicle further comprises a lifting assembly, wherein the lifting assembly is arranged on the vehicle body and can drive the shelf robot to move up and down. Optionally, the lifting assembly includes a lifting driving part capable of driving the shelf robot to move up and down, and a guide structure for guiding the shelf robot to move in a vertical direction. Optionally, the guiding structure comprises 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; Or the guiding structure comprises a plurality of vertical sleeves, the vertical sleeves are mutually sleeved and connected, the vertical sleeve positioned at the inner side can slide along the vertical sleeve sleeved at the outer side, wherein the vertical sleeve positioned at the outermost layer is fixedly connected with the vehicle body, and the vertical sleeve positioned at the innermost side is fixedly connected with the fixing assembly; Or the guide structure comprises a plurality of cross rod groups, each cross rod group comprises cross rods which are arranged in a cross hinging manner in pairs, the cross rod groups are sequentially connected in the vertical direction, and the bottom ends of the cross rods positioned above in adjacent cross rod groups are hinged with the top ends of the cross rods positioned below. Optionally, the lifting driving part comprises at least one of a hydraulic cylinder, a pneumatic cylinder, an electr