CN212173398U - Storage goods shelf and transfer robot - Google Patents

Abstract

The utility model relates to a storage rack, which comprises a support frame, a plurality of storage pallets and at least one detection component. The support frame extends in the vertical direction, and a plurality of storage cargo platforms are arranged on the support frame at intervals along the vertical direction, and the plurality of storage cargo platforms are respectively used for storing the goods to be transported. At least one detection component is arranged on the storage pallet or the support frame, and the at least one detection component is used to detect whether there are goods to be transported on the multiple storage pallets, and/or to detect whether the goods to be transported on the multiple storage pallets are placed in place. The utility model also relates to a handling robot comprising the above-mentioned storage rack. The above-mentioned storage racks and handling robots, the detection components arranged on the storage pallets or the support racks can continuously detect whether there are goods to be transported on multiple storage pallets, which improves the process of judging whether the corresponding storage pallets have goods to be transported. The efficiency of the goods to be handled allows the handling device to quickly plan and implement the handling of the goods.

Description

Storage racks and handling robots

technical field

The utility model relates to the technical field of intelligent storage, in particular to a storage rack and a handling robot.

Background technique

Intelligent warehousing is a link in the logistics process. The application of intelligent warehousing ensures the speed and accuracy of data input in all aspects of cargo warehouse management, ensures that enterprises can grasp the real data of inventory in a timely and accurate manner, and reasonably maintain and control enterprise inventory. Through scientific coding, it is also convenient to manage the batch and shelf life of inventory goods. Using the location management function of the SNHGES system, it is possible to grasp the current location of all inventory goods in time, which is conducive to improving the work efficiency of warehouse management. Handling robots play an important role in intelligent warehousing. Handling robots replace manual handling of goods. However, the robots currently used in warehousing and logistics generally can only judge whether there are goods stored on the storage shelves through the detection device on the handling device, and Judgment can only be made when the handling device and the storage shelf are at the same height, which is less efficient.

Utility model content

Based on this, it is necessary to provide a storage rack and a handling robot for efficiently judging whether there are goods in the current handling robot, which is inefficient in judging whether there are goods on the back basket.

A storage shelf comprising:

a support frame, extending in a vertical direction;

a plurality of storage cargo platforms are arranged on the support frame at intervals along the vertical direction, and the plurality of storage cargo platforms are respectively used for storing the goods to be transported;

At least one detection component is arranged on the storage pallet or the support frame, and at least one of the detection components is used to detect whether there are goods to be transported on a plurality of the storage pallets, and/or to detect a plurality of the storage pallets. Whether the goods to be transported on the storage platform are in place.

In one embodiment, the storage rack includes a plurality of detection assemblies, the number of the plurality of detection assemblies is the same as that of the storage pallets, and the plurality of inspection assemblies are respectively arranged on one of the storage pallets and/or the storage pallets. Or on the support frame, each of the detection components can respectively detect whether there is a cargo to be transported on the corresponding storage platform, and/or detect whether the cargo to be transported on the corresponding storage platform is placed. in place.

In one of the embodiments, each of the detection assemblies respectively includes a first detection structure, each of the first detection structures is respectively disposed on the corresponding storage pallet, and each of the first detection structures is respectively used for It is detected whether there is a cargo to be transported on the corresponding storage pallet.

In one of the embodiments, each of the detection assemblies further includes a second detection structure, each of the second detection structures is respectively disposed on the corresponding storage pallet, and each of the second detection structures uses a It is used to detect whether the goods to be transported on the corresponding storage pallets are placed in place.

In one of the embodiments, each of the first detection structures is disposed corresponding to the middle of the storage pallet, and each of the second inspection structures is disposed corresponding to an edge of the storage pallet.

In one of the embodiments, the storage pallet has an in-out end of goods, and each of the second detection structures is disposed on the other end of the storage pallet opposite to the in-out end of the goods.

In one embodiment, each of the storage pallets includes a storage pallet and a connection structure, the storage pallet is fixedly arranged on the support frame through the connection structure; A detection hole, a second detection hole is defined on the edge of the storage pallet, and the first detection structure and the second detection structure are respectively arranged in the first detection hole and the second detection hole.

In one of the embodiments, two sides of the storage pallet along the direction of entering and exiting the goods and the other end of the storage pallet opposite to the in-out end of the goods have flanges, respectively, and the flanges are folded toward the The storage pallet supports the side of the cargo.

In one of the embodiments, the detection assembly includes at least one third detection structure, the third detection structure is disposed on one side of the plurality of storage pallets along the direction of entering and leaving the goods, and the third detection structure is used for Detecting whether there are goods to be transported on the plurality of storage pallets, and/or detecting whether the goods to be transported on the plurality of storage pallets are placed in place along a horizontal direction perpendicular to the direction of inbound and outgoing goods.

In one of the embodiments, the detection assembly further includes at least one fourth detection structure, the third detection structure and the fourth detection structure are arranged at intervals on both sides of the plurality of storage pallets in the direction of entering and leaving the goods, The third detection structure and the fourth detection structure are used to detect whether there are goods to be transported on a plurality of the storage pallets, and/or to detect the edge and entry and exit of the goods to be transported on the plurality of storage pallets Whether the goods are placed in place in the vertical and horizontal direction.

In one embodiment, the storage rack includes a plurality of detection assemblies, the number of the plurality of detection assemblies is the same as that of the storage pallets, and each of the inspection assemblies corresponds to one of the storage pallets; The third detection structure and the fourth detection structure are arranged at intervals on both sides corresponding to the direction of the goods entering and leaving the storage pallet, and each group of the third detection structure and the fourth detection structure is used to detect the corresponding Check whether there are goods to be transported on the storage platform, and/or detect whether the goods to be transported on the corresponding storage platform are in place along a horizontal direction perpendicular to the direction of inbound and outbound goods.

In one of the embodiments, the third detection structure and the fourth detection structure are disposed on the storage pallets adjacent to the storage pallets, or each group of the third inspection structure and the first inspection structure Four detection structures are arranged on the support frame; each group of the third detection structure and the fourth detection structure respectively detects whether there is goods to be transported on the storage pallet, and/or detects the corresponding Whether the goods to be transported on the storage pallet protrude from the storage pallet in a horizontal direction perpendicular to the direction of entering and exiting the goods.

In one of the embodiments, the detection assembly further includes at least one fifth detection structure, the storage pallet has a goods in-out end, the fifth detection structure is close to the goods in-out end of the storage pallet, so The fifth detection structure is used to detect whether there are goods on the plurality of storage pallets protruding from the goods in and out ends of the storage pallets.

In one of the embodiments, the detection assembly further includes at least one sixth detection structure, the sixth detection structure is close to the other end of the storage pallet opposite to the in-out end of the goods, the sixth detection structure The utility model is used for detecting whether there are goods on a plurality of the storage pallets, and protrudes the other end of the storage pallets opposite to the entry and exit ends of the goods.

In one of the embodiments, the fifth detection structure and the sixth detection structure are arranged at intervals along the direction of the goods entering and leaving the storage pallet at the top end of the support frame; or the fifth detection structure and the The sixth detection structure is arranged on the storage cargo platform at intervals along the direction of entering and exiting the goods from the storage cargo platform.

In one of the embodiments, the type of the detection component includes one or a combination of a photoelectric sensor, a magnetic sensor, a visual sensor, an ultrasonic sensor, and a travel switch.

A handling robot includes a chassis, a handling device, and the storage shelf according to any one of the above solutions, the support frame is arranged on the chassis, the handling device can be lifted and lowered relative to the storage shelf, and the handling device The goods to be transported are delivered to the storage rack, or the transport device takes the goods to be transported out of the storage rack.

In one of the embodiments, the handling robot further includes a vertical frame, the handling device is movably arranged on the vertical frame, and the storage rack is arranged on the vertical frame through the support frame, so The conveying device and the storage rack are respectively arranged on two sides of the vertical frame; the vertical frame is arranged on the chassis, and the chassis can move on the ground.

The above-mentioned storage racks and handling robots, the detection components arranged on the storage pallets or the support racks can continuously detect whether there are goods to be transported on multiple storage pallets, and/or whether the goods to be moved on multiple storage pallets are Placing in place greatly improves the efficiency of judging whether the corresponding storage platform has goods to be transported and/or whether the goods to be transported on multiple storage platforms are placed in place during the process of cargo handling, allowing the handling device to quickly make Cargo handling plans and implements handling, which improves the overall efficiency of cargo handling.

Description of drawings

The accompanying drawings constituting a part of the present application are used to provide further understanding of the present invention, and the schematic embodiments of the present invention and descriptions thereof are used to explain the present invention and do not constitute an improper limitation of the present invention.

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are only some implementations of the present invention. For example, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

1 is a schematic structural diagram of a storage shelf provided by an embodiment of the present utility model;

FIG. 2 is a schematic structural diagram of a storage pallet and a detection assembly according to an embodiment of the present invention;

3 is a structural diagram of a detection component provided by an embodiment of the present invention;

4 is a schematic structural diagram of a storage shelf provided by another embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a handling robot according to an embodiment of the present invention.

Among them, 10-handling robot, 100-handling device, 200-chassis, 300-storage rack, 310-support frame, 320-storage pallet, 321-storage pallet, 322-flanging, 323-first inspection hole, 324-Second detection hole, 325-Cargo inlet and outlet, 330-Detection assembly, 331-First detection structure, 332-Second detection structure, 333-Third detection structure, 334-Fourth detection structure, 335-Detection installation structure.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present utility model more clearly understood, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. The following description of the specific implementations is only exemplary, and it should be understood that the specific implementations described herein are only used to explain the present invention, but not to limit the present invention and its application or usage.

It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. In contrast, when an element is referred to as being "directly" connected to another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for illustrative purposes only.

In the description of the present invention, it should be understood that the terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", The orientation or positional relationship indicated by "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or It is implied that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as a limitation of the present invention.

The present invention provides a storage rack 300 , which includes a support frame 310 , a plurality of storage pallets 320 and at least one detection component 330 . The support frame 310 extends in a vertical direction for supporting a plurality of storage pallets 320 . A plurality of storage pallets 320 are disposed on the support frame 310 at intervals along the vertical direction, and the plurality of storage pallets 320 are respectively used to store goods to be transported. At least one detection component 330 is disposed on the storage pallet 320 or the support frame 310 , and the at least one detection component 330 is used to detect whether there are goods to be transported on the multiple storage pallets 320 , and/or to detect the pending cargo on the multiple storage pallets 320 . Whether the transported goods are in place. In the above-mentioned storage rack 300, the detection component 330 disposed on the storage rack 320 or the support frame 310 can continuously detect whether there are goods to be transported on the multiple storage racks 320, and/or the multiple storage racks 320 to be transported Whether the goods are placed in place greatly improves the efficiency of judging whether there are goods to be transported on the multiple storage platforms 320 and/or whether the goods to be transported on the multiple storage platforms are placed in place during the cargo handling process, allowing the handling device 100 can quickly make a cargo handling plan and implement it, which improves the overall efficiency of cargo handling. It can be understood that, in the utility model, the goods stored in the storage rack 300 and the goods carried by the handling robot 10 may also be empty bins or bins carrying goods.

Optionally, in the present invention, one detection component 330 may detect all storage pallets 320 , or multiple detection components 330 may detect multiple storage pallets 320 . As shown in FIGS. 1-3 , an embodiment of the present invention provides a storage rack 300 , which includes a support frame 310 , a plurality of storage pallets 320 , and a plurality of detection assemblies 330 . The number of the plurality of detection assemblies 330 is the same as that of the storage pallets 320 , the plurality of inspection assemblies 330 are respectively disposed on one storage pallet 320 and/or the support frame 310 , and each detection assembly 330 can detect the corresponding storage pallets 320 respectively. Check whether there are goods to be transported, and/or detect whether the goods to be transported on the corresponding storage platform 320 are in place. The plurality of detection components 330 respectively detect the corresponding storage pallets 320, which further improves the detection efficiency.

The function of the detection component 330 includes detecting whether the corresponding storage platform 320 contains goods to be transported. It is understandable that when there is a cargo to be transported on the corresponding storage platform 320 and there is no cargo to be transported on the corresponding storage platform 320 When goods are loaded, the detection signal generated by the detection component 330 is different. The handling robot 10 controls the handling device 100 to deliver the goods to the storage pallet 320 without the goods, or to take out the goods on the storage pallet 320 with the goods according to different detection signals output by the detection component 330 . Optionally, the type of the detection component 330 includes one or a combination of a photoelectric sensor, a magnetic sensor, a visual sensor, an ultrasonic sensor, and a travel switch. The above-mentioned various types of detection components 330 can respectively or in a combined manner realize the judgment of whether there is a to-be-carried goods on the corresponding storage pallet 320 .

In an embodiment of the present invention, as shown in FIGS. 2-3 , each detection assembly 330 includes a first detection structure 331 respectively, each first detection structure 331 is respectively disposed on the corresponding storage pallet 320, A detection structure 331 is respectively used to detect whether there are goods to be transported on the corresponding storage pallets 320 . By directly installing the first detection structure 331 on the storage pallet 320 , it is possible to more directly judge whether the goods on the storage pallet 320 are present or not. As an achievable manner, the first detection structure 331 includes a photoelectric sensor, and the first detection structure 331 of the photoelectric sensor type can send out different detection signals when there is a cargo to be transported on the corresponding storage pallet 320 . In other embodiments of the present invention, the first detection structure 331 may also be installed on the support frame 310 near the corresponding storage pallet 320 . In this embodiment, the handling device 100 can transport goods to the corresponding storage pallet 320 or take out the goods from the corresponding storage pallet 320 according to different detection signals output by the first detection structure 331 , while avoiding the need for the handling device 100 to When picking up the goods from the empty storage rack 320, the goods cannot be picked up, which also avoids the collision accident caused by the transport device 100 re-transporting the goods to the storage rack 320 with the goods.

During the process of handling the goods, there will be start-stop, acceleration and deceleration and turning. If the goods are placed in an unstable position during the handling process, the goods will fall. In an embodiment of the present invention, as shown in FIGS. 2-3 , each detection assembly 330 further includes a second detection structure 332, and each second detection structure 332 is respectively disposed on the corresponding storage pallet 320, and each The second detection structures 332 are respectively used to detect whether the goods to be transported on the corresponding storage pallets 320 are placed in place. It can be understood that, only when all the second detection structures 332 have sent out detection signals that the goods are in place, the process of transporting can start. As an achievable manner, the type of the second detection structure 332 includes a travel switch. When the cargo is in place, the cargo will trigger the travel switch to send a position signal, thereby allowing the process of cargo handling to begin.

In an embodiment of the present invention, as shown in FIGS. 2-3 , each of the first detection structures 331 is arranged in the middle of the corresponding storage pallet 320 , and each of the second detection structures 332 is arranged at the edge of the corresponding storage pallet 320 . . The supporting portion of the storage pallet 320 is equivalent to the general size of the goods to be transported. When the storage pallet 320 supports at least half of the volume of the goods to be transported, the goods to be transported can stay on the storage pallet 320 . By installing the first detection structure 331 in the middle of the corresponding storage platform 320 , it can accurately determine whether there are goods to be transported on the storage platform 320 under most working conditions. When the goods are placed in place, the outer edge of the general goods is located at the edge of the storage pallet 320, and the second detection structure 332 is arranged on the edge of the storage pallet 320, which can effectively determine that the goods to be transported are on the corresponding storage pallet 320. Is it in place. As an achievable manner, each second detection structure 332 is disposed at the other end of the corresponding storage cargo platform 320 opposite to the cargo in-out end 325, which can effectively detect whether the cargo to be transported is placed in place. It can be understood that, only when the first detection structure 331 sends out a signal of goods availability and the second detection mechanism sends a signal in place, the handling robot 10 can transport the goods from the starting point to the end point.

The function of the storage platform 320 is to support the goods to be transported. Optionally, the part of the storage platform 320 for carrying the goods to be transported is a plane, a bracket or other structures. In an embodiment of the present invention, as shown in FIGS. 2-3 , each storage pallet 320 includes a storage pallet 321 and a connection structure, and the storage pallet 321 is fixedly arranged on the support frame 310 through the connection structure. A first detection hole 323 is formed in the middle of the storage pallet 321, and a second detection hole 324 is formed at the edge of the storage pallet 321. The first detection structure 331 and the second detection structure 332 are respectively arranged in the first detection hole 323 and the second detection hole 324. In the hole 324, the top of the photoelectric sensor type first detection structure 331 is lower than the plane of the storage pallet 321 carrying goods, and the top of the travel switch type second detection structure 332 protrudes from the plane of the storage pallet 321 to carry the goods. The first detection structure 331 and the second detection structure 332 are installed on the storage pallet 321 in the form of openings, so as to prevent the goods from hitting the first detection structure 331 or the second detection structure 332 during the transportation of the goods. As an achievable way, the detection installation structure 335 is provided on the side of the storage pallet 321 away from the goods, so that the first detection structure 331 and the second detection structure 332 can be connected to each other.

Further, as shown in FIGS. 2-3 , the two sides of the storage pallet 321 along the direction of entering and leaving the goods and the other end of the storage pallet 321 opposite to the goods in and out end 325 have flanges 322 respectively, and the flanges 322 are folded toward the storage The pallet 321 supports one side of the cargo. The flanges 322 on the storage pallet 321 can play the role of guiding and positioning the goods during storage to the storage pallet 321 or taking out from the storage pallet 321. It can be understood that the process of storing the goods to the storage pallet 321 and taking them out from the storage pallet 321 all need to pass through the goods in and out ends 325 of the storage pallet 321, and the goods in and out ends 325 of the storage pallet 321 are not provided with the flanges 322 so as to At the completion of the cargo storage and retrieval process. And the goods move in the direction of entering and exiting the goods during the process of taking out or storing in the storage pallet 321, and the flanges 322 provided on both sides of the storage pallet 321 along the direction of entering and exiting the goods can guide the goods during the movement of the goods. The directional movement ensures that the goods are stored in the storage pallet 321 or taken out from the storage pallet 321 smoothly. The flange 322 provided on the other end of the storage pallet 321 opposite to the goods in-out end 325 can prevent the goods from falling from the storage pallet 321 .

In one embodiment of the present invention, one inspection assembly 330 is used to inspect all storage pallets 320 . Further, as shown in FIG. 4 , the detection assembly 330 includes at least one third detection structure 333 , the third detection structure 333 is disposed on one side of the multiple storage pallets 320 in the direction of entering and exiting the goods, and the third detection structure 333 is used to detect multiple Check whether there are goods to be transported on the storage pallet 320, and/or detect whether the goods to be transported on the plurality of storage pallets 320 are in place in a horizontal direction perpendicular to the direction of entering and leaving the goods. Further, the detection assembly 330 further includes at least one fourth detection structure 334. The third detection structure 333 and the fourth detection structure 334 are arranged at intervals on both sides of the storage pallet 320 in the direction of entering and leaving the goods. The four detection structures 334 are used to detect whether the goods to be transported on the plurality of storage pallets 320 are placed in place. As an achievable way, the third detection structure 333 and the fourth detection structure 334 are photoelectric sensors or visual sensors, when it is detected that the storage pallet 320 has goods protruding from the storage pallet 320 on either side of the storage pallet 320 along the direction of entering and leaving the goods , the third detection structure 333 or the fourth detection structure 334 sends out a danger signal, which further ensures the stability of the goods during the movement of the handling robot 10 .

In an embodiment of the present invention, as shown in FIG. 4 , the storage rack 300 includes a plurality of detection components 330 , the number of the detection components 330 is the same as that of the storage pallets 320 , and each detection component 330 corresponds to a storage pallet 320. Each group of the third detection structures 333 and the fourth detection structures 334 are arranged at intervals on both sides of the corresponding storage pallet 320 in the direction of inward and outward goods, and each group of the third detection structures 333 and the fourth detection structures 334 is used to detect the corresponding storage pallet 320 Check whether there is goods to be transported on the corresponding storage platform 320, and/or detect whether the goods to be transported on the corresponding storage platform 320 are in place along a horizontal direction perpendicular to the direction of inbound and outbound goods. Optionally, each group of the third detection structure 333 and the fourth detection structure 334 is arranged on the storage pallet 320 adjacent to the corresponding storage pallet 320, or each group of the third detection structure 333 and the fourth detection structure 334 is arranged on the support frame. 310; Each group of the third detection structure 333 and the fourth detection structure 334 respectively detects whether there is a cargo protruding from the storage cargo platform 320 on both sides of the corresponding storage cargo platform 320 along the direction of entering and leaving the cargo.

In another embodiment of the present invention, the detection assembly 330 further includes at least one fifth detection structure, the storage pallet 320 has a goods in-out end 325, the fifth detection structure is close to the goods in-out end 325 of the storage pallet 320, and the fifth detection structure The structure is used to detect whether there are goods on the plurality of storage pallets 320 protruding from the goods in and out ends 325 of the storage pallets 320 . Further, the detection assembly 330 further includes at least one sixth detection structure, the sixth detection structure is close to the other end of the storage pallet 320 opposite to the goods in-out end 325 , and the sixth detection structure is used to detect whether there are any on the storage pallets 320 Goods, protruding from the other end of the storage pallet 320 opposite to the in-out end of the goods. As an achievable way, the fifth detection structure and the sixth detection structure are arranged at intervals along the direction of the goods entering and leaving the storage pallet 320 at the top of the support frame 310; or the fifth detection structure and the sixth detection structure are along the storage pallet 320 The direction of entering and leaving the goods is arranged at intervals on the storage pallet 320. As an achievable manner, the fifth detection structure and the sixth detection structure are photoelectric sensors or visual sensors, when it is detected that any goods on any storage pallet 320 protrude from the goods in-out end 325 of the storage pallet 320, or When it is detected that any goods on any storage pallet 320 protrude from the other end of the storage pallet 320 opposite to the goods in-out end 325, the fifth detection structure or the sixth detection structure sends out a danger signal, which further ensures that the handling robot 10 is moving during the movement process. the stability of the cargo. When the fifth sensor or the sixth sensor is disposed on the storage pallet 320, the fifth sensor and/or the sixth sensor has a bidirectional detection function.

As shown in FIG. 5 , the present invention further provides a handling robot 10 , which includes a chassis 200 , a handling device 100 and the storage rack 300 described in any of the above embodiments. A support frame 310 is arranged on the chassis 200 , and the handling device 100 Relative to the storage rack 300 , the transport device 100 can transport the goods to be transported to the storage rack 300 , or the transport device 100 can take out the goods to be transported from the storage rack 300 . The above-mentioned handling robot 10, the detection components 330 respectively disposed on the storage pallet 320 or the support frame 310 can continuously detect whether there is goods to be transported on the corresponding storage pallet 320, which greatly improves the judgment of the corresponding storage pallet during the cargo handling process. Whether the 320 has the efficiency of the cargo to be transported allows the transport device 100 to quickly make a cargo transport plan and implement the transport, which improves the overall efficiency of cargo transport.

In the above embodiment, the support frame 310 in the storage rack 300 can be directly disposed on the chassis 200 . In another embodiment of the present invention, the handling robot 10 further includes a vertical frame, the handling device 100 can be raised and lowered on the vertical frame, the storage rack 300 is arranged on the vertical frame through the support frame 310 , the handling device 100 and the storage shelf 300 are respectively arranged on both sides of the vertical frame. The vertical frame is provided on the chassis 200, and the chassis 200 can move on the ground. It can be understood that, in the handling robot 10 in each of the above embodiments, if the detection component 330 detects that the goods to be transported are stored on the corresponding storage pallet 320, the detection component 330 must detect that the goods to be transported are placed in place at the same time. After that, the handling robot 10 can run normally. If the goods to be handled are not placed in place, the detection component 330 will issue a warning and prohibit the handling robot 10 from moving and lifting to avoid further damage. When the transport robot 10 is walking, the detection component 330 detects whether the goods move relative to the storage platform 320 . If the goods move relative to the storage platform 320 , the detection component 330 will issue a warning and prohibit the moving and lifting operation of the transport robot 10 , so as to avoid hitting the slipped goods and causing damage.

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.

The above-mentioned embodiments only represent several embodiments of the present utility model, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the utility model patent. It should be pointed out that for those of ordinary skill in the art, some modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for this utility model shall be subject to the appended claims.

Claims (18)

1. A storage rack, comprising:

a support frame extending in a vertical direction;

the storage cargo platforms are arranged on the supporting frame at intervals along the vertical direction and are respectively used for storing cargoes to be carried;

the detection assembly is used for detecting whether goods to be transported exist on the storage goods platforms or not and/or detecting whether the goods to be transported on the storage goods platforms are put in place or not.

2. The storage rack according to claim 1, wherein the storage rack comprises a plurality of detection assemblies, the number of the detection assemblies is the same as that of the storage platforms, the detection assemblies are respectively arranged on one storage platform and/or the supporting frame, and each detection assembly is capable of respectively detecting whether goods to be transported exist on the corresponding storage platform and/or detecting whether the goods to be transported on the corresponding storage platform are put in place.

3. The storage rack according to claim 2, wherein each of the detecting assemblies comprises a first detecting structure, each of the first detecting structures is disposed on the corresponding storage platform, and each of the first detecting structures is used for detecting whether the goods to be transported exist on the corresponding storage platform.

4. The storage rack according to claim 3, wherein each of the detecting assemblies further comprises a second detecting structure, each of the second detecting structures is disposed on the corresponding storage platform, and each of the second detecting structures is used for detecting whether the goods to be transported on the corresponding storage platform are put in place.

5. The storage rack of claim 4, wherein each of the first sensing structures is disposed at a middle portion of the corresponding storage platform and each of the second sensing structures is disposed at an edge of the corresponding storage platform.

6. The storage rack of claim 5, wherein the storage platforms have cargo access ends, and each of the second sensing structures is disposed at an opposite end of the corresponding storage platform from the cargo access end.

7. The storage rack of claim 6, wherein each storage platform comprises a storage pallet and a connecting structure, and the storage pallet is fixedly arranged on the supporting frame through the connecting structure; the middle part of the storage pallet is provided with a first detection hole, the edge of the storage pallet is provided with a second detection hole, and the first detection structure and the second detection structure are respectively arranged in the first detection hole and the second detection hole.

8. The storage rack according to claim 7, wherein two sides of the storage board along the goods entering and exiting direction and the other end of the storage board opposite to the goods entering and exiting end are respectively provided with a flanging, and the flanging is folded towards one side of the storage board supporting the goods.

9. The storage rack according to claim 1, wherein the detecting assembly comprises at least one third detecting structure, the third detecting structure is disposed at one side of the plurality of storage platforms along the loading/unloading direction, and the third detecting structure is configured to detect whether the goods to be handled exist on the plurality of storage platforms and/or whether the goods to be handled on the plurality of storage platforms are put in place along a horizontal direction perpendicular to the loading/unloading direction.

10. The storage rack according to claim 9, wherein the detecting assembly further comprises at least one fourth detecting structure, the third detecting structure and the fourth detecting structure are disposed at two sides of the loading and unloading direction of the plurality of storage platforms at intervals, and the third detecting structure and the fourth detecting structure are configured to detect whether the goods to be transported exist on the plurality of storage platforms and/or detect whether the goods to be transported on the plurality of storage platforms are placed in place along a horizontal direction perpendicular to the loading and unloading direction.

11. The storage rack according to claim 10, wherein the storage rack comprises a plurality of detection assemblies, the number of the detection assemblies is the same as that of the storage platforms, and each detection assembly corresponds to one storage platform; each group of the third detection structures and the fourth detection structures are arranged at the two sides of the storage goods table in and out goods direction at intervals, and each group of the third detection structures and the fourth detection structures are used for detecting whether corresponding goods to be carried exist on the storage goods table and/or detecting whether corresponding goods to be carried on the storage goods table are put in place in the horizontal direction perpendicular to the goods in and out directions.

12. The storage rack of claim 11, wherein the third and fourth detection structures are disposed on the adjacent storage platforms corresponding to the storage platforms, or each set of the third and fourth detection structures is disposed on the support frame; and each group of the third detection structure and the fourth detection structure respectively detect whether goods to be carried exist on the corresponding storage goods platform and/or detect whether the corresponding goods to be carried on the storage goods platform protrudes out of the storage goods platform in the horizontal direction perpendicular to the goods entering and exiting direction.

13. The storage rack of claim 9, wherein the detection assembly further comprises at least one fifth detection structure, the storage platforms having a cargo access end, the fifth detection structure being proximate the cargo access end of the storage platforms, the fifth detection structure being configured to detect whether a plurality of the storage platforms have cargo protruding beyond the cargo access end of the storage platforms.

14. The storage rack of claim 13, wherein the sensing assembly further comprises at least one sixth sensing structure proximate the end of the plurality of storage platforms opposite the cargo access end, the sixth sensing structure configured to sense the presence of cargo on the plurality of storage platforms protruding beyond the end of the plurality of storage platforms opposite the cargo access end.

15. The storage rack of claim 14, wherein the fifth and sixth sensing structures are spaced apart from each other at a top end of the support frame in a direction of movement of the storage rack into and out of the product; or the fifth detection structure and the sixth detection structure are arranged on the storage goods table at intervals along the direction of goods entering and exiting from the storage goods table.

16. The storage rack of claim 15, wherein the type of detection assembly comprises one or a combination of photoelectric sensors, magnetic sensors, visual sensors, ultrasonic sensors, travel switches.

17. A transfer robot comprising a chassis, a transfer device, and the storage rack according to any one of claims 1 to 16, wherein the support frame is provided on the chassis, the transfer device is liftable with respect to the storage rack, and the transfer device transfers a load to be transferred to the storage rack or takes out the load to be transferred from the storage rack.

18. The transfer robot of claim 17, further comprising a vertical frame, wherein the transfer device is arranged on the vertical frame in a liftable manner, the storage racks are arranged on the vertical frame via the support frames, and the transfer device and the storage racks are respectively arranged on two sides of the vertical frame; the vertical frame is arranged on the chassis, and the chassis can move on the ground.

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