CN114955337A - Flexible box type vertical warehouse and picking and carrying robot thereof - Google Patents

Abstract

The invention relates to the technical field of logistics storage, in particular to a flexible box type vertical warehouse and a picking and carrying robot thereof, wherein the flexible box type vertical warehouse comprises a plurality of parallel vertical warehouse units, each vertical warehouse unit comprises a plurality of layers of box type four-way shuttle storage shelves and a plurality of layers of box type omnidirectional vehicle storage shelves positioned below the box type four-way shuttle storage shelves, each layer of box type four-way shuttle storage shelves is provided with a box type four-way shuttle rail, each box type four-way shuttle rail is provided with a box type four-way shuttle in a matching way, each box type omnidirectional vehicle rail is provided with a box type omnidirectional vehicle in a matching way, and the box type four-way shuttle storage shelves and the box type omnidirectional vehicle storage shelves are combined to form the flexible box type vertical warehouse; the invention can meet the requirements of different commodity attributes, different efficiencies, different single-time carrying quantities and the like, and has stronger applicability and higher space utilization rate.

Description

A flexible box-type vertical warehouse and its picking and handling robot

technical field

The invention relates to the technical field of logistics warehousing, in particular to a flexible box-type vertical warehouse and a picking and handling robot thereof.

Background technique

With the continuous development of my country's economy, my country's logistics and warehousing industry has also entered a period of rapid development, and related technologies such as miniload stacker warehouses, four-way shuttle truck warehouses, and multi-layer shuttle truck warehouses have emerged successively. The application of this technology It reduces the floor space, improves the space utilization rate, reduces the cost of land lease or purchase, realizes automatic operation, and further reduces labor intensity and production cost.

However, no matter it is a miniload stacker warehouse, a four-way shuttle truck warehouse or a multi-level shuttle truck warehouse, there can only be one kind of picking and handling equipment, which leads to some orders or commodities in the same warehouse. When many boxes need to be transported, or some commodities need to be more efficient, due to the low degree of flexibility of the vertical warehouse, it cannot meet a variety of transportation needs. At the same time, due to the high height of the box-type omni-directional vehicle, the remaining space of the half-shelf often appears in the actual vertical warehouse space layout (that is, due to the limitation of the height of the house and the box-type omni-directional vehicle, less than one floor of the omni-directional box-type vehicle is installed. The picking robot will have some space left at the top of the house, and the extra space is not enough to set up an additional layer of omnidirectional box picking robots), which causes a waste of space and reduces space utilization.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the problems existing in the above-mentioned background technology, and provide a flexible box-type vertical warehouse and its picking and handling robot, which cleverly integrates the box-type four-way shuttle car storage rack and the box-type omnidirectional car storage rack It can be integrated into one to form a flexible box-type vertical warehouse, and cooperate with the use of box-type omnidirectional vehicles and box-type four-way shuttle vehicles, which can meet the needs of different commodity attributes, different efficiencies, different single handling quantities, etc., and the applicable performance Stronger and more space efficient.

A flexible box-type vertical warehouse, which includes a plurality of side-by-side vertical warehouse units and a picking and handling robot, the picking and handling robot shuttles through the vertical warehouse unit, and the vertical warehouse unit includes a multi-layer box-type four-way shuttle car storage The rack and the multi-layer box-type omnidirectional vehicle storage rack located below the box-type four-way shuttle vehicle storage rack, each layer of the box-type four-way shuttle vehicle storage rack is provided with a box-type four-way shuttle vehicle track, so The box-type four-way shuttle car track is matched with a box-type four-way shuttle car, the box-type omnidirectional car track is arranged below the box-type omnidirectional car storage shelf, and the box-type omnidirectional car track is matched with the set There are box-type omnidirectional vehicles. The combination of the box-type four-way shuttle storage racks and the box-type omnidirectional vehicle storage racks forms a flexible box-type vertical warehouse, which can meet different commodity attributes, different efficiencies, and different single handling. Quantity and other requirements, the applicable performance is stronger, and the space utilization rate is higher.

Preferably, the box-type four-way shuttle track includes an inverted "bow"-shaped connecting bracket rail and a support frame, the connecting bracket rail is fixed on the box-type four-way shuttle car storage rack, and the connection is One end of the bracket rail forms a roller mounting part, the other end of the connecting bracket rail forms a shuttle car track part, and the support frame is fixedly supported under the shuttle car track part, which increases the strength of the shuttle car track part , to improve the carrying capacity.

Further, the box-type omnidirectional vehicle track includes a rail bracket, an omnidirectional vehicle track portion and a U-shaped omnidirectional vehicle track support portion, the track bracket is fixed under the box-type omnidirectional vehicle storage rack, and the The omnidirectional vehicle track support portion is welded on both ends of the rail bracket, and the omnidirectional vehicle track portion is located inside the omnidirectional vehicle track support portion.

Further, the longitudinal direction of the box-type four-way shuttle car track is consistent with the longitudinal direction of the box-type omnidirectional car track, which can meet the use requirements of the box-type four-way shuttle car and the box-type omnidirectional car.

Further, the box-type four-way shuttle car storage rack and the box-type omnidirectional car storage rack both include uprights, beams, support bars and reinforcing ribs, and the beams are horizontally fixed on the uprights by bolts, and the The support rails are horizontally and vertically mortised on the beams to form a cargo support platform, and the reinforcing ribs are fixed on the upright columns in an X-shape by means of bolts. Both the box-type four-way shuttle storage rack and the box-type omni-directional vehicle storage rack adopt a detachable connection method, which avoids environmental pollution caused by welding, reduces the difficulty of installation, and realizes flexible installation, flexible and adaptable. Strong sex.

The patent of the present invention also provides a picking and handling robot, which includes a box-type four-way shuttle and a box-type omnidirectional vehicle.

Further, the bottom of the box-type four-way shuttle is provided with a limit guide wheel, and the limit guide wheel is arranged on the inner side of the track part of the shuttle car, which limits the movement of the box-type four-way shuttle. Movement track to avoid shaking.

Further, the box-type omnidirectional vehicle is provided with a multi-layer storage rack, which can realize multiple pick-up and one-time unloading, and improve the efficiency of handling.

The beneficial effects of the invention are as follows: (1) The box-type four-way shuttle car storage rack and the box-type omnidirectional car storage rack are skillfully integrated into one to form a flexible box-type vertical warehouse, and cooperate with the box-type omnidirectional car and the box-type storage rack. The use of the four-way shuttle can meet the needs of different commodity attributes, different efficiencies, different single handling quantities, etc., with stronger applicability and higher space utilization; (2) Through the inverted "bow" word The arrangement of the type connecting bracket rail, which realizes multiple purposes of one part, and cooperates with the arrangement of the bracket to increase the strength of the rail part of the shuttle car and improve the bearing capacity; (3) The box-type four-way shuttle Both the vehicle storage rack and the box-type omnidirectional vehicle storage rack adopt a detachable connection method, which avoids environmental pollution caused by welding, reduces the difficulty of installation, and realizes flexible installation, which is flexible and adaptable.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

Fig. 1 is the plane structure schematic diagram of the present invention;

Fig. 2 is the left side view of Fig. 1;

Fig. 3 is the partial enlarged structure schematic diagram of A place in Fig. 2;

Fig. 4 is a partial enlarged structural schematic diagram at B in Fig. 2;

5 is a schematic block diagram of the first state of the neutral library unit of the present invention;

FIG. 6 is a schematic block diagram of the second state of the neutral library unit of the present invention.

In the picture: 001. Warehouse unit, 002. Picking and handling robot, 003. Box-type four-way shuttle car storage rack, 004. Box-type omnidirectional car storage rack, 005. Box-type four-way shuttle car track, 051. Connecting bracket Rail, 052. Support frame, 053. Roller installation part, 054. Shuttle car track part, 006. Box-type four-way shuttle car, 007. Box-type omnidirectional car track, 071. Track bracket, 072. Omnidirectional car track Department, 073. Omni-directional vehicle track support, 008. Box-type omni-directional vehicle, 009. Column, 010. Beam, 011. Support file, 012. Reinforcing rib, 013. Limit guide wheel, 014. Shelf.

Detailed ways

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are all simplified schematic diagrams, and only illustrate the basic structure of the present invention in a schematic manner, so they only show the structures related to the present invention.

As shown in FIG. 1 to FIG. 4, a flexible box-type vertical warehouse includes a plurality of vertical warehouse units 001 side by side and a picking and handling robot 002. The picking and handling robot 002 shuttles in the vertical warehouse unit 001, so The vertical library unit 001 includes a two-layer box-type four-way shuttle car storage rack 003 and a two-layer box-type omnidirectional car storage rack 004 located below the box-type four-way shuttle car storage rack 003. A box-type four-way shuttle car track 005 is provided on the shuttle car storage rack 003, and a box-type four-way shuttle car track 005 is matched with a box-type four-way shuttle car track 005. The box-type omnidirectional car storage rack A box-type omnidirectional vehicle track 007 is arranged below the 004, and a box-type omnidirectional vehicle 008 is arranged on the box-type omnidirectional vehicle track 007. The box-type four-way shuttle car storage rack 003 and the box-type omnidirectional vehicle The combination of truck storage racks 004 forms a flexible box-type vertical warehouse, which can meet the needs of different commodity attributes, different efficiencies, different single handling quantities, etc., with stronger applicability and higher space utilization.

The box-type four-way shuttle car track 005 includes an inverted "bow"-shaped connecting bracket rail 051 and a support frame 052. The connecting bracket rail 051 is fixed on the box-type four-way shuttle car storage rack 003. One end of the connecting bracket rail 051 forms the roller mounting portion 053, the other end of the connecting bracket rail 051 forms the shuttle rail portion 054, and the support frame 052 is fixedly supported under the shuttle rail portion 054, which increases the The strength of the shuttle rail portion 054 is improved to improve the bearing capacity.

The box-type omnidirectional vehicle track 007 includes a rail bracket 071 , an omnidirectional vehicle track portion 072 and a U-shaped omnidirectional vehicle track support portion 073 , and the track bracket 071 is fixed below the box-type omnidirectional vehicle storage rack 004 , the omnidirectional vehicle track support portion 073 is welded on both ends of the rail bracket 071 , and the omnidirectional vehicle track portion 072 is located inside the omnidirectional vehicle track support portion 073 .

The longitudinal direction of the box-type four-way shuttle car track 005 is consistent with the longitudinal direction of the box-type omnidirectional car track 007, and can meet the use requirements of the box-type four-way shuttle car 006 and the box-type omnidirectional car 008.

The box-type four-way shuttle car storage rack 003 and the box-type omni-directional car storage rack 004 each include a column 009, a beam 010, a support block 011 and a reinforcing rib 012, and the beam 010 is horizontally fixed on the column by means of bolts 009, the support rails 011 are horizontally and vertically mortised on the beams 010, and form a cargo support platform for placing cargo. The reinforcing rib 012 is fixed on the upright column 009 in an X-shape by means of bolts. The box-type four-way shuttle storage rack 003 and the box-type omni-directional vehicle storage rack 004 are all connected in a detachable manner, which avoids environmental pollution caused by welding, reduces the difficulty of installation, and realizes flexible installation and flexibility. , strong adaptability.

The patent of the present invention also provides a picking and handling robot, which includes a box-type four-way shuttle 006 and a box-type omnidirectional vehicle 008 . The specific structure of the box-type four-way shuttle car 006 can be the "four-way shuttle car" developed and patented by our company. The authorization announcement number of this patented technology is: CN214778386U. The specific structure of the box-type omnidirectional vehicle 008 can adopt the patented technology whose patent application number is "202220526073.4".

The bottom of the box-type four-way shuttle 006 is provided with a limit guide wheel 013, and the limit guide wheel 013 is arranged on the inner side of the shuttle track portion 054, which limits the box-type four-way shuttle 006 trajectory to avoid shaking.

The box-type omni-directional vehicle 008 is provided with a multi-layer storage rack 014, which can realize multiple pick-up and one-time unloading, and improve the efficiency of handling.

At the same time, as shown in Figure 5, according to the height of the workshop, in order to make full use of the space, a four-layer box-type four-way shuttle car storage rack 003 and a three-layer box-type omnidirectional car storage rack 004 are designed.

As shown in Fig. 6, in order to meet the comprehensive requirements of the one-time handling of multiple boxes of A commodity, the frequent and single-time high efficiency of B and C commodities, the double-layer box-type four-way shuttle car storage racks 003 can be designed for storage respectively. Commodities B and C, single-layer box-type omnidirectional car storage rack 004 is used to store commodity A, box-type four-way shuttle car 006 is used to pick and transport the goods on the box-type four-way shuttle car storage rack 003, box-type omnidirectional car 008 is used to pick and transport the goods on the storage rack 004 of the box-type omnidirectional vehicle, that is, to achieve the purpose of the flexible box-type vertical warehouse, and the applicability is stronger.

When in use, the box-type four-way shuttle 006 and the box-type omnidirectional vehicle 008 are individually controlled to handle their respective picking and handling work, which improves efficiency.

Taking the above ideal embodiments according to the present invention as inspiration, and through the above description, relevant personnel can make various changes and modifications without departing from the technical idea of the present invention. The technical scope of the present invention is not limited to the contents in the specification, and the technical scope must be determined according to the scope of the claims.

Claims (8)

1. A flexible box-type vertical warehouse, which comprises a plurality of side-by-side vertical warehouse units and a picking and handling robot, and the picking and handling robot shuttles through the vertical warehouse unit, wherein the vertical warehouse unit includes a multi-layer box A four-way shuttle car storage rack and a multi-layer box-type omnidirectional car storage rack located below the box-type four-way shuttle car storage rack, each layer of the box-type four-way shuttle car storage rack is provided with a box-type four-way shuttle car storage rack. To the shuttle car track, the box-type four-way shuttle car track is matched with a box-type four-way shuttle car, and a box-type omnidirectional car track is arranged under the box-type omnidirectional car storage shelf. A box-type omnidirectional vehicle is matched with a box-type omnidirectional vehicle on the track of the vehicle, and the combination of the box-type four-way shuttle vehicle storage rack and the box-type omnidirectional vehicle storage rack forms a flexible box-type vertical warehouse. 2. A flexible box-type vertical library according to claim 1, wherein the box-type four-way shuttle track comprises an inverted "bow"-shaped connecting support rail and a support frame, and the connecting support rail Fixed on the box-type four-way shuttle car storage rack, one end of the connecting bracket rail forms a roller mounting part, the other end of the connecting bracket rail forms a shuttle car track part, and the support frame is fixedly supported on the Below the shuttle track section. 3. A flexible box-type vertical library according to claim 1, wherein the box-type omnidirectional vehicle track comprises a rail bracket, an omnidirectional vehicle track portion and a U-shaped omnidirectional vehicle track support portion, and the A rail bracket is fixed below the box-type omnidirectional vehicle storage rack, the omnidirectional vehicle rail support portion is welded on both ends of the rail bracket, and the omnidirectional vehicle rail portion is located at the omnidirectional vehicle rail support portion internal. 4 . The flexible box-type vertical library according to claim 1 , wherein the longitudinal direction of the box-type four-way shuttle car track is consistent with the longitudinal direction of the box-type omnidirectional car track. 5 . 5. A flexible box-type vertical library according to claim 1, wherein the box-type four-way shuttle car storage rack and the box-type omnidirectional car storage rack both comprise uprights, beams, support rails and Reinforcing ribs, the beams are horizontally fixed on the uprights with bolts, the support blocks are horizontally and vertically mortised on the beams, and form a cargo support platform, and the reinforcing ribs are fixed on the uprights in an X shape with bolts superior. 6 . The picking and handling robot applied to a flexible box-type vertical warehouse according to claim 1 , wherein the picking and handling robot comprises a box-type four-way shuttle and a box-type omnidirectional vehicle. 7 . 7 . The picking and transporting robot according to claim 6 , wherein a limit guide wheel is set at the bottom of the box-type four-way shuttle, and the limit guide wheel is matched and arranged on the shuttle track. 8 . inside of the part. 8 . The picking and transporting robot according to claim 6 , wherein the box-type omnidirectional vehicle is provided with a multi-layer storage rack. 9 .

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