CN120135991A

CN120135991A - Warehouse handling robot

Info

Publication number: CN120135991A
Application number: CN202510394881.8A
Authority: CN
Inventors: 王炜; 刘腾; 王列国
Original assignee: Zhongcang Robot Nanjing Co ltd
Current assignee: Zhongcang Robot Nanjing Co ltd
Priority date: 2025-03-31
Filing date: 2025-03-31
Publication date: 2025-06-13

Abstract

The application belongs to the technical field of automatic transport vehicles, and particularly relates to a storage transfer robot, which comprises a vehicle body system, a lifting system and a fork system, wherein the lifting system is arranged on the vehicle body system, the fork system is connected with the lifting system, the fork system comprises a sliding frame, a bracket support, a fork extending bracket, a lifting device and a lateral fork extending, the sliding frame is connected with the lifting system, the lifting system is configured to lift the sliding frame along the height direction of the vehicle body system, the bracket support is arranged on the sliding frame, the lifting device is connected with the sliding frame and the bracket support, the fork extending bracket is arranged on the bracket support, the lateral fork extending bracket is arranged on the fork extending bracket, and the lateral fork extending can extend towards two sides of the width direction of the vehicle body system so as to fork goods or trays stored on a goods shelf. After the lifting system rapidly lifts the sliding frame in place, the lifting device can be used for finely adjusting the position of the bracket support, the lifting system is prevented from repeatedly adjusting the position of the lateral extension fork up and down, and the goods storage and taking efficiency of the storage and conveying robot is improved.

Description

Storage transfer robot

Technical Field

The application belongs to the technical field of automatic transport vehicles, and particularly relates to a storage and transport robot.

Background

In the storage field, based on the reasons of environmental space limitation, storage density increase and the like, a channel for a transfer robot to run is narrower and more high-level shelves are used.

In order to increase the efficiency of goods storage and retrieval, a lifting system is required to quickly lift the fork system. However, when the lifting system lifts the fork system at a relatively high speed, the accuracy of the position of the fork system in the vertical direction is difficult to be ensured, and the position of the fork needs to be repeatedly adjusted up and down, so that the efficiency of the transfer robot for storing and taking goods is reduced.

Disclosure of Invention

The application aims to provide a storage transfer robot so as to improve the efficiency of the transfer robot for storing and taking goods.

In order to achieve the above object, the present application provides a warehouse transfer robot, comprising:

A vehicle body system;

A lifting system disposed on the vehicle body system, the vehicle body system configured to move the lifting system;

the fork system comprises a sliding frame, a bracket support, a fork bracket, a lifting device and a lateral fork, wherein the sliding frame is connected with the lifting system, the lifting system is configured to lift the sliding frame along the height direction of the vehicle body system, the bracket support is arranged on the sliding frame, the lifting device is connected with the sliding frame and the bracket support, the lifting device is configured to adjust the position of the bracket support on the sliding frame along the height direction of the vehicle body system, the fork bracket is arranged on the bracket support, the lateral fork is arranged on the fork bracket, and the lateral fork is at least telescopic to one side of the width direction of the vehicle body system.

Optionally, two sides of the width direction of the fork bracket are provided with goods identification devices, and the goods identification devices are configured to identify goods and pallets.

Optionally, stretch fork bracket includes stand and xarm, the stand with the xarm is connected perpendicularly, the xarm is followed the length direction of automobile body system extends, the side direction stretches the fork setting and is in on the xarm, the stand keep away from the one end of xarm with the bracket support articulates and is connected, fork system still includes a telescopic link, a telescopic link connects the stand is close to the one end of xarm and the bracket support.

Optionally, the fork system further comprises a first guide plate and a first vertical plate, the first vertical plate is arranged at the end, away from the upright, of the cross arm, the first guide plate is arranged at the two sides of the upright and the width direction of the first vertical plate, each side of the width direction of the fork bracket is provided with two first guide plates, the distance between the two first guide plates, which are close to one end of the fork bracket, of the fork bracket in the length direction of the vehicle body system is smaller than the distance between the two first guide plates, away from one end of the fork bracket, of the fork bracket in the length direction of the vehicle body system.

Optionally, the vehicle body system includes a frame, a vehicle head, a steering wheel and a driving device, the vehicle head is arranged on the frame, the vehicle head includes a first vehicle head and a second vehicle head, the first vehicle head and the second vehicle head are respectively positioned at two ends of the length direction of the frame, the steering wheel is arranged on the frame, the steering wheel is arranged in one-to-one correspondence with the vehicle head, the steering wheel is positioned at one side of the frame far away from the vehicle head, the driving device is arranged in the vehicle head and is connected with the steering wheel, the driving device is configured to drive the steering wheel to walk and steer, the driving device includes a driving motor, the driving motor is configured to drive the steering wheel to walk, at least one driving motor includes a direct current servo motor, and at least one other driving motor includes an alternating current servo motor;

The lifting system and the fork system are positioned between the two vehicle heads, and the lifting system is connected with one vehicle head and the vehicle frame.

Optionally, the vehicle body system further comprises universal wheels, wherein the universal wheels are arranged on the vehicle frame, and the universal wheels are arranged on two sides of each steering wheel in the width direction.

Optionally, the vehicle body system further comprises a safety contact edge and a vehicle body guide wheel, the safety contact edge is arranged around the vehicle frame, the vehicle body guide wheel is arranged at two sides of the width direction of the vehicle frame, and the height of the vehicle body guide wheel protruding out of the vehicle frame is larger than that of the safety contact edge protruding out of the vehicle frame.

Optionally, the warehouse transfer robot further includes an environment sensing system, the environment sensing system includes a first obstacle avoidance module, a second obstacle avoidance module and a navigation module, the first obstacle avoidance module is arranged at two ends of the length direction of the frame, the second obstacle avoidance module is arranged at each of the vehicle heads, the vehicle heads are far away from one side of the frame, and the navigation module is arranged at the first vehicle head, the vehicle heads are far away from one side of the frame.

Optionally, the vehicle body system includes second deflector and second riser, the second deflector passes through the second riser sets up on the frame, works as under the fork system will with the frame contact, the second deflector with the second riser inserts in the fork system, two the second deflector is close to frame one end is in frame length direction's interval is less than two the second deflector is kept away from frame one end is in frame length direction's interval.

Optionally, the lifting system includes first portal, second portal, third portal and first tow chain, first portal with frame and one the locomotive is connected, the second portal slidable sets up on the first portal, the second portal with first portal passes through the second telescopic link and is connected, the third portal slidable sets up on the second portal, be provided with first mounting panel on the first portal, second portal top is provided with first pulley, be provided with the second mounting panel on the third portal, first tow chain walks around first pulley and connects first mounting panel with the second mounting panel, the balladeur train slidable sets up on the third portal.

The display panel and the display device disclosed by the application have the following beneficial effects:

In the application, the storage transfer robot comprises a vehicle body system, a lifting system and a fork system, wherein the lifting system is arranged on the vehicle body system, the fork system is connected with the lifting system, the fork system comprises a sliding frame, a bracket support, a fork extending bracket, a lifting device and a lateral fork extending, the sliding frame is connected with the lifting system, the lifting system is configured to lift the sliding frame along the height direction of the vehicle body system, the bracket support is arranged on the sliding frame, the lifting device is connected with the sliding frame and the bracket support, the fork extending bracket is arranged on the bracket support, the lateral fork extending is arranged on the fork extending bracket, and the lateral fork extending can extend towards two sides of the width direction of the vehicle body system so as to fork and take goods or trays stored on a goods shelf. After the lifting system rapidly lifts the sliding frame in place, the position of the bracket support can be precisely finely adjusted through the lifting device, the position of the lateral extension fork is prevented from being adjusted up and down repeatedly through the lifting system, and the goods storage and taking efficiency of the storage and conveying robot is improved.

Other features and advantages of the application will be apparent from the following detailed description, or may be learned by the practice of the application.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is evident that the drawings in the following description are only some embodiments of the present application and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.

Fig. 1 is a three-dimensional schematic view of a warehouse transfer robot in an embodiment of the present application.

Fig. 2 is a three-dimensional schematic of a fork system in accordance with an embodiment of the present application.

Fig. 3 is a schematic bottom view of the warehouse transfer robot according to the embodiment of the present application.

Fig. 4 is a schematic side view of a vehicle body system in an embodiment of the application.

Fig. 5 is a three-dimensional schematic view of a first portal in an embodiment of the application.

Fig. 6 is a three-dimensional schematic view of a second portal in an embodiment of the application.

Fig. 7 is a three-dimensional schematic view of a third portal in an embodiment of the present application.

Fig. 8 is a three-dimensional schematic view of a door frame structure according to an embodiment of the present application.

Fig. 9 is a schematic view of a drag chain lifting inner mast in an embodiment of the present application.

Fig. 10 is a schematic view of a drag chain lifting carriage in an embodiment of the application.

FIG. 11 is a schematic diagram of a lifting fork system of the lifting system according to an embodiment of the present application.

Reference numerals illustrate:

100. The automobile comprises an automobile body system, 110, an automobile frame, 120, an automobile head, 130, steering wheels, 140, universal wheels, 150, safety contact edges, 160, automobile body guide wheels, 171, a second guide plate, 172, a second vertical plate, 180, anchor ears, 190 and a driving device;

200. Lifting system, 210, first portal frame, 211, second telescopic rod, 212, first mounting plate, 213, first I-steel, 214, first connecting plate, 215, connecting shaft, 216, diagonal brace, 220, second portal frame, 221, first pulley, 222, second I-steel, 223, second connecting plate, 230, third portal frame, 231, second mounting plate, 232, third I-steel, 233, third connecting plate, 234, third telescopic rod, 235, second pulley, 236, third mounting plate, 240, first drag chain, 250, second drag chain, 260, fixed pulley;

300. Fork system, 310, carriage, 320, bracket support, 330, fork bracket, 331, upright post, 332, cross arm, 340, lifting device, 350, side fork, 360, cargo identification device, 370, first telescopic rod, 381, first guide plate, 382, first riser;

410. The navigation device comprises a first obstacle avoidance module, 420, a second obstacle avoidance module and 430, a navigation module.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be embodied in many different forms and should not be construed as limited to the examples set forth herein, but rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the application may be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.

The application will be described in further detail with reference to the drawings and the specific examples. It should be noted that the technical features of the embodiments of the present application described below may be combined with each other as long as they do not collide with each other. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.

Referring to fig. 1 and 2, the warehouse transfer robot in this embodiment includes a vehicle body system 100, a lifting system 200, and a fork system 300. The lift system 200 is disposed on the vehicle body system 100, the fork system 300 is connected to the lift system 200, the vehicle body system 100 is configured to move the lift system 200 and the fork system 300, the lift system 200 is configured to vertically lift the fork system 300, and the fork system 300 is configured to access cargo.

Among other things, the pallet fork system 300 includes a carriage 310, a bracket support 320, a fork carriage 330, a lifting device 340, and a lateral fork 350. The carriage 310 is connected to the lifting system 200, and the lifting system 200 is configured to lift the carriage 310 in the height direction (i.e., vertical direction) of the vehicle body system 100. The bracket support 320 is provided on the carriage 310, and the elevating device 340 connects the carriage 310 and the bracket support 320, and the elevating device 340 is configured to adjust the position of the bracket support 320 on the carriage 310 in the height direction of the vehicle body system 100. The lifting device 340 lifts the bracket supporter 320 to a precision greater than that of the lifting system 200, the lifting system 200 being configured to rapidly lift the bracket supporter 320 approximately in place, the lifting device 340 being configured to precisely fine-tune the height position of the bracket supporter 320 to thereby lift the bracket supporter 320 in place.

The lifting device 340 may include a motor, a decelerator, and a nut screw mechanism connected in sequence, the nut screw mechanism including a nut and a screw, the nut being connected with the bracket support 320, the screw being connected with the decelerator. The lifting device 340 may include a nut-screw mechanism, but the lifting device 340 may also use a rack-and-pinion mechanism, a worm-and-gear mechanism, or the like to lift the bracket support 320 on the carriage 310, as the case may be.

The fork carriage 330 is disposed on the carriage holder 320, and the lateral fork 350 is disposed on the fork carriage 330, and the lateral fork 350 is capable of telescoping at least to one side in the width direction of the vehicle body system 100 to fork the goods or trays stored on the pallet.

In some technical solutions, in order to improve the efficiency of goods storage and retrieval, when the lifting system 200 lifts the fork system 300 at a relatively high speed, the accuracy of the position of the fork system 300 in the vertical direction is difficult to be ensured, and the position of the lateral extension fork 350 needs to be adjusted up and down repeatedly, so that the efficiency of goods storage and retrieval of the handling robot is reduced.

In this embodiment, the warehouse transfer robot includes a vehicle body system 100, a lifting system 200 and a fork system 300, the lifting system 200 is disposed on the vehicle body system 100, the fork system 300 is connected with the lifting system 200, the fork system 300 includes a carriage 310, a bracket support 320, a fork bracket 330, a lifting device 340 and a lateral fork 350, the carriage 310 is connected with the lifting system 200, the lifting system 200 is configured to lift the carriage 310 along the height direction of the vehicle body system 100, the bracket support 320 is disposed on the carriage 310, the lifting device 340 is connected with the carriage 310 and the bracket support 320, the fork bracket 330 is disposed on the bracket support 320, the lateral fork 350 is disposed on the fork bracket 330, and the lateral fork 350 can be extended and retracted to both sides of the width direction of the vehicle body system 100 to fork the goods or pallets stored on the shelves. After the lifting system 200 rapidly lifts the carriage 310 in place, the position of the bracket support 320 can be precisely finely adjusted by the lifting device 340, so that the position of the lateral extension fork 350 is prevented from being repeatedly adjusted up and down by the lifting system 200, and the goods storage and taking efficiency of the warehouse transfer robot is improved.

In some embodiments, the fork carriage 330 is provided with a cargo recognition device 360 on both sides in the width direction, and the cargo recognition device 360 is configured to recognize a rack, a cargo, or a pallet. The cargo recognition device 360 may be a recognition device such as a laser scanning probe, a camera, etc. that can recognize the shape and position of the cargo. When goods need to be accessed, the goods shelf, goods or trays can be identified by the goods identification device 360, the car body system 100 is controlled to move to the goods access position according to the identification result, and the lifting system 200 and the lifting device 340 are controlled to lift the lateral extension fork 350 to the goods access height.

The goods can be automatically stored and taken by the storage and conveying robot through the goods identification device 360, and the lateral extending fork 350 can be accurately moved to the level and the high-low position for storing and taking the goods, so that the efficiency of storing and conveying the goods by the storage and conveying robot is improved.

In some embodiments, fork carriage 330 includes a post 331 and a cross arm 332, post 331 and cross arm 332 being vertically connected. The upright 331 may include a plurality of prisms disposed at intervals along a width direction, and the cross arm 332 may include a plurality of prisms disposed at intervals along the width direction, where the prisms in the transverse direction and the prisms in the vertical direction are connected to form a vertically connected column. The cross arm 332 extends along the length of the body system 100 and lateral prongs 350 and a cargo identification device 360 may be provided on the cross arm 332.

The end of the upright 331 remote from the cross arm 332 (i.e., the upper end) is hingedly connected to the cradle mount 320, and the fork system 300 further includes a first telescoping rod 370, the first telescoping rod 370 connecting the end of the upright 331 proximate to the cross arm 332 (i.e., the lower end) and the cradle mount 320. The first telescoping rod 370 comprises a hydraulic telescoping rod or an electric telescoping rod.

The upper end bracket support 320 of the upright post 331 is hinged, the lower end of the upright post 331 is connected with the bracket support 320 through a first telescopic rod 370, and the horizontal inclination angle of the cross arm 332, namely the horizontal inclination angle of the lateral extension fork 350, can be adjusted by adjusting the telescopic amount of the first telescopic rod 370. The first telescopic rod 370 levels the lateral extension fork 350, so that the inclination of the lateral extension fork 350 in the goods storage and pickup posture can be avoided, and the goods storage and pickup efficiency of the storage and conveying robot is influenced.

It should be appreciated that the bracket supporter 320, the fork bracket 330 or the lateral fork 350 may be provided with an inclination detecting means, and the amount of extension and retraction of the first extension and retraction lever 370 may be adjusted according to the detection result of the inclination detecting means.

In some embodiments, the fork system 300 further includes a first guide plate 381 and a first riser 382, the first riser 382 being disposed at an end of the bridge 332 remote from the post 331, i.e., the first riser 382 and the post 331 are located on opposite sides of the bridge 332 in the length direction. In the height direction, the upright 331 and the first riser 382 are located on the same side of the crossbar 332. The first guide plate 381 is provided on both sides in the width direction of the upright 331 and the first upright 382. On each side in the width direction of the fork carriage 330, the distance between the two first guide plates 381 near the end of the fork carriage 330 in the length direction of the vehicle body system 100 is smaller than the distance between the two first guide plates 381 far from the end of the fork carriage 330 in the length direction of the vehicle body system 100.

During the retrieval of the pallet fork system 300, the side extension forks 350 retract above the extension fork carriage 330 with the cargo, the two first guide plates 381 forming the opening may serve as guides.

Referring to fig. 3 and 4, the vehicle body system 100 includes a frame 110, a head 120, steering wheels 130, and a driving device 190, the head 120 being disposed on the frame 110, the head including a first head and a second head, the first head and the second head being disposed at both ends of the frame 110 in a length direction, respectively. Steering wheel 130 is arranged on frame 110, steering wheel 130 and locomotive 120 are arranged in a one-to-one correspondence. The steering wheel 130 is located at one side of the frame 110 away from the headstock 120, i.e. the steering wheel 130 is located at the lower side of the frame 110, and the headstock 120 is located at the upper side of the frame 110.

The driving device 190 is disposed in the headstock 120 and connected to the steering wheel 130, and the driving device 190 is configured to drive the steering wheel 130 to walk and steer. The drive 190 includes drive motors configured to drive the steering wheel 130 for travel, at least one of the drive motors including a DC servo motor and at least one other drive motor including an AC servo motor. The DC servo motor can provide larger torque when the vehicle is started at a low speed, and the AC servo motor can provide larger torque when the vehicle is running at a high speed. It should be appreciated that the drive device 190 also includes a steering motor that drives the steering wheel 130 to steer. The lift system 200 and the fork system 300 are located between two heads 120, and the lift system 200 is connected to one head 120 and the frame 110.

The two steering wheels 130 are respectively arranged at two opposite sides of the length direction of the frame 110, the driving device 190 drives the steering wheels 130 to walk and steer, the vehicle body system 100 can realize forward movement, backward movement, lateral movement, front wheel steering, rear wheel steering and in-situ steering, the vehicle body system 100 walks and steers more flexibly, and the narrow passage trafficability of the warehouse transfer robot is improved.

In some embodiments, the vehicle body system 100 further includes universal wheels 140, the universal wheels 140 being disposed on the vehicle frame 110, and each steering wheel 130 being provided with a universal wheel 140 on both sides in the width direction. That is, the vehicle body system 100 is provided with four universal wheels 140, the four universal wheels 140 are arranged in a rectangular arrangement on the vehicle frame 110, the steering wheel 130 on the front side is located in the middle of the two universal wheels 140 on the front side, and the steering wheel 130 on the rear side is located in the middle of the two universal wheels 140 on the rear side.

The universal wheels 140 are arranged on both sides of the steering wheel 130 in the width direction, and the universal wheels 140 are configured to support the frame 110, so that the running and steering stability of the vehicle body system 100 is improved.

In some embodiments, the vehicle body system 100 further includes a safety margin 150 and a body guide 160, the safety margin 150 being disposed around the vehicle frame 110. The vehicle body guide wheels 160 are disposed at two sides of the width direction of the frame 110, and the height of the vehicle body guide wheels 160 protruding from the frame 110 is greater than the height of the safety contact edge 150 protruding from the frame 110. When the vehicle body system 100 encounters an obstacle during travel, the vehicle body guide 160 contacts the obstacle prior to the safety margin 150.

The safety contact edge 150 may provide a cushioning protection function when the vehicle body system 100 encounters an obstacle. The body guide 160 may guide the body system 100 to roll over an obstacle surface, thereby reducing drag of the body guide 160 across the obstacle. In other embodiments, rails may be disposed on two sides of the pallet track, and the vehicle guide wheels 160 may move within the rails on two sides of the pallet track to ensure the traveling accuracy of the vehicle system 100, thereby improving the operation efficiency and safety.

In some embodiments, the vehicle body system 100 includes a second guide plate 171 and a second riser 172, the second guide plate 171 being disposed on the frame 110 by the second riser 172, the second guide plate 171 and the second riser 172 being inserted into the fork system 300 when the fork system 300 is lowered into contact with the frame 110. For example, the cross arm 332 may include a plurality of prisms spaced apart in the width direction, and the second guide plate 171 and the second riser 172 are interposed between adjacent prisms.

The distance between the ends (i.e., the lower ends) of the two second guide plates 171, which are close to the frame 110, in the longitudinal direction of the frame 110 is smaller than the distance between the ends (i.e., the upper ends) of the two second guide plates 171, which are far from the frame 110, in the longitudinal direction of the frame 110.

During the picking of the pallet fork system 300, the lateral forks 350 retract to the fork carriage 330 and place the pallet on the frame 110, the two second guide plates 171 forming the opening may serve as guides.

In some embodiments, the warehouse transfer robot further includes an environment sensing system, where the environment sensing system includes a first obstacle avoidance module 410, a second obstacle avoidance module 420, and a navigation module 430, where the first obstacle avoidance module 410 is disposed at two ends of the frame 110 in the length direction, and may be specifically disposed inside the safety contact edge 150. The second obstacle avoidance module 420 is disposed on a side of each of the vehicle heads 120 away from the vehicle frame 110, and the navigation module 430 is disposed on a side of the first vehicle head away from the vehicle frame 110. The front projection of the first obstacle avoidance module 410, the second obstacle avoidance module 420, and the navigation module 430 on the frame 110 is located within the front projection of the vehicle head 120 on the frame 110.

The first obstacle avoidance module 410 and the second obstacle avoidance module 420 are sensors that can identify an environment or an obstacle. For example, the first obstacle avoidance module 410 may identify an environment and create an environment map, and the navigation module 430 may identify a location of the vehicle body system 100 in the environment map, thereby guiding the vehicle body system 100 to walk along the storage route.

The storage and transportation robot can automatically walk to store and pick up goods and avoid obstacles in the goods storage process by arranging the obstacle avoidance module and the navigation module 430.

In addition, the upper end of the headstock 120 may be further provided with a clearance lamp and an alarm prompting device, wherein the clearance lamp may mark the safe running range of the car body system 100, and the alarm prompting device may alarm when the storage and transportation robot fails. The alert prompt may include a voice broadcast.

Referring to fig. 5-11, the lift system 200 includes a first mast 210, a second mast 220, a third mast 230, a first tow chain 240, and a second tow chain 250. The first mast 210 is connected to the frame 110 and to one of the heads 120, and the second mast 220 is slidably disposed on the first mast 210, the second mast 220 being connected to the first mast 210 by a second telescopic link 211, the second telescopic link 211 comprising a hydraulic telescopic link or an electric telescopic link. A third mast 230 is slidably disposed on the second mast 220. It should be appreciated that the lifting system 200 may include three sequentially connected gantries, but is not limited thereto, and the lifting system 200 may include two or more gantries, as the case may be.

The first portal 210 is provided with a first mounting plate 212, the second portal 220 is provided with a first pulley 221 at the top, the third portal 230 is provided with a second mounting plate 231, and the first tow chain 240 bypasses the first pulley 221 and connects the first mounting plate 212 and the second mounting plate 231. The carriage 310 is slidably disposed on the third portal 230.

The first portal 210 may include two first connection plates 214 spaced apart from the first i-beam 213 and connecting the two first i-beams 213. The outer side of the bottom of the first I-steel 213 is provided with a connecting shaft 215, the frame 110 is provided with a hoop 180, and the first portal 210 is vertically arranged on the frame 110 through the connecting shaft 215 and the hoop 180. At least a portion of the first connection plate 214 is connected to the head 120 via fasteners. In addition, the upper end of the first I-steel 213 is also connected with the upper end of the headstock 120 through an inclined strut 216. The lower end of the first portal 210 is connected with the frame 110, the middle part of the first portal 210 is connected with the headstock 120 through a fastener, the upper end of the first portal 210 is connected with the headstock 120 through an inclined strut 216, and the deformation of the first portal 210 can be reduced through three-section connection.

The second door frame 220 may include two second connection plates 223 spaced apart from the second i-beam 222 and connecting the two second i-beams 222. The second telescopic rod 211 is disposed at an outer side of the first i-beam 213, and the second telescopic rod 211 is fixed with respect to the first i-beam 213 and lifts the second connection plate 223 at the top end of the second door frame 220. The first pulley 221 may be disposed on a second connection plate 223 at the top of the second door frame 220.

The third portal 230 may include two third webs 233 spaced apart from the third joists 232 and connecting the two third joists 232. The inside of the third portal 230 is provided with a third telescopic link 234, the lower end of the third telescopic link 234 is fixed at the lower end of the third portal 230, the upper end of the third telescopic link 234 is provided with a second pulley 235, the third telescopic link 234 can lift the second pulley 235, and the second pulley 235 is a movable pulley. The third mast 230 is provided with a third mounting plate 236 and a second drag chain 250 is coupled to the third mounting plate 236 and the carriage 310 by passing around the second pulley 235.

In addition, a fixed pulley 260 is provided between the second door frame 220 and the first door frame 210, configured as a sliding guide between the second door frame 220 and the first door frame 210, a fixed pulley 260 is provided between the third door frame 230 and the second door frame 220, configured as a sliding guide between the third door frame 230 and the second door frame 220, a fixed pulley 260 is provided between the carriage 310 and the third door frame 230, configured as a sliding guide between the carriage 310 and the third door frame 230.

By lifting the second door frame 220 by the second telescopic rod 211, the third door frame 230 will rise at a multiplied speed due to the movable pulley 221, and correspondingly, the third telescopic rod 234 will lift the second pulley 235, and the carriage 310 will also rise at a multiplied speed due to the movable pulley 235, and finally, the rapid lifting of the carriage 310 can be realized.

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

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, directly connected, indirectly connected via an intermediate medium, or in communication between two elements or in an interaction relationship between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present specification, reference to the terms "some embodiments," "exemplary," and 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 application. In this specification, schematic representations of the above terms are not necessarily directed 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. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While embodiments of the present application have been shown and described, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made in the above embodiments by those skilled in the art within the scope of the application, which is therefore intended to be covered by the appended claims and their equivalents.

Claims

1. A warehouse transfer robot, comprising:

A vehicle body system;

2. The warehouse transfer robot as claimed in claim 1, wherein the two sides of the width direction of the fork carriage are provided with a goods recognition device configured to recognize goods and pallets.

3. The warehouse transfer robot as claimed in claim 1, wherein the fork carriage includes a vertical column and a horizontal arm, the vertical column and the horizontal arm are vertically connected, the horizontal arm extends along a length direction of the vehicle body system, the lateral fork is disposed on the horizontal arm, one end of the vertical column away from the horizontal arm is hinged with the carriage support, and the fork system further includes a first telescopic rod, and the first telescopic rod is connected with one end of the vertical column close to the horizontal arm and the carriage support.

4. The warehouse transfer robot as claimed in claim 3, wherein the fork system further comprises a first guide plate and a first vertical plate, the first vertical plate is disposed at one end of the cross arm away from the upright, the first guide plates are disposed at both sides of the upright and the first vertical plate in the width direction, and a distance between two first guide plates, which are adjacent to one end of the fork bracket in the length direction of the vehicle body system, is smaller than a distance between two first guide plates, which are away from one end of the fork bracket in the length direction of the vehicle body system, at each side of the width direction of the fork bracket.

5. The warehouse transfer robot as claimed in claim 1 or 4, wherein the vehicle body system comprises a vehicle frame, a vehicle head, steering wheels and a driving device, the vehicle head is arranged on the vehicle frame, the vehicle head comprises a first vehicle head and a second vehicle head, the first vehicle head and the second vehicle head are respectively positioned at two ends of the vehicle frame in the length direction, the steering wheels are arranged on the vehicle frame, the steering wheels are arranged in a one-to-one correspondence manner with the vehicle head, the steering wheels are positioned at one side of the vehicle frame far away from the vehicle head, the driving device is arranged in the vehicle head and connected with the steering wheels, the driving device is configured to drive the steering wheels to walk and steer, the driving device comprises a driving motor, the driving motor is configured to drive the steering wheels to walk, at least one driving motor comprises a direct current servo motor, and at least one other driving motor comprises an alternating current servo motor;

6. The warehouse transfer robot as claimed in claim 5, wherein the vehicle body system further comprises universal wheels provided on the vehicle frame, the universal wheels being provided on both sides of each of the steering wheel in the width direction.

7. The warehouse transfer robot as claimed in claim 5, wherein the vehicle body system further comprises a safety contact edge and a vehicle body guide wheel, the safety contact edge is disposed around the vehicle frame, the vehicle body guide wheel is disposed at both sides of the vehicle frame in the width direction, and the height of the vehicle body guide wheel protruding from the vehicle frame is greater than the height of the safety contact edge protruding from the vehicle frame.

8. The warehouse transfer robot of claim 5, further comprising an environmental sensing system comprising a first obstacle avoidance module disposed at each of the ends of the frame in a length direction, a second obstacle avoidance module disposed on a side of each of the heads away from the frame, and a navigation module disposed on a side of the first head away from the frame.

9. The warehouse transfer robot as claimed in claim 5, wherein the vehicle body system includes a second guide plate and a second riser, the second guide plate is disposed on the frame through the second riser, when the pallet fork system is to be in contact with the frame, the second guide plate and the second riser are inserted into the pallet fork system, and a distance between two second guide plates near one end of the frame in the frame length direction is smaller than a distance between two second guide plates far from one end of the frame in the frame length direction.

10. The warehouse transfer robot as claimed in claim 5, wherein the lift system includes a first mast, a second mast, a third mast, and a first tow chain, the first mast being coupled to the frame and to one of the heads, the second mast being slidably disposed on the first mast, the second mast being coupled to the first mast by a second telescoping rod, the third mast being slidably disposed on the second mast, a first mounting plate being disposed on the first mast, a first pulley being disposed on top of the second mast, a second mounting plate being disposed on the third mast, the first tow chain bypassing the first pulley and coupling the first mounting plate and the second mounting plate, the carriage being slidably disposed on the third mast.