CN108726061A - A kind of robot and its method transported goods - Google Patents
A kind of robot and its method transported goods Download PDFInfo
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- CN108726061A CN108726061A CN201710277982.2A CN201710277982A CN108726061A CN 108726061 A CN108726061 A CN 108726061A CN 201710277982 A CN201710277982 A CN 201710277982A CN 108726061 A CN108726061 A CN 108726061A
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- robot
- module
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- flexible
- shelf
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of robot and its methods transported goods, and wherein robot includes mobile unit, storage unit and transmission unit, and transmission unit includes lifting module, rotary module and flexible module.The present invention also provides a kind of methods that robot transports goods, and include the following steps：A kind of robot is provided, for transporting goods；The robot includes mobile unit, storage unit and transmission unit；A kind of shelf are provided, for storing carried cargo；The shelf have layered structure, the one or more cargos of every layer of storage；The shelf arrangements are embarked on journey, and passageway is formed between shelf described in every two row, and the passageway is moved for the robot.A kind of method present invention robot and its transported goods can greatly reduce walkway clearance and improve access goods efficiency.
Description
Technical field
The present invention relates to warehouse logistics field more particularly to a kind of robot and its methods transported goods.
Background technology
Warehouse logistics refer mainly to utilize self-built or lease storehouse, place, storage, keeping, handling, dispatching cargo.Closely
Over year under the overall situation of e-commerce rapid development, when the robot cargo transport technology in modern warehouse logistics field has become
Lower hot spot.Compared with traditional shipping mode, there is high degree of automation, using flexible, safe and reliable, efficient etc. many excellent
Point, these advantages are but also robot cargo transport technology becomes the important technology in modern logistics warehousing system.
There is also some problems for robot cargo transport, as cargo storage density is low, single time volume of freight is few.Cargo storage density is
The cargo amount of storage of unit area, high storage density can not only reduce place lease and purchase cost, while can also subtract
The distance of cargo is transported less.In robot cargo transport, to allow robot to pass through, general passageway can all be done wider, so as to
Allow robot realized in passageway such as advance, retreat, turning in addition rotate in place, this be also robot cargo transport constrain it is highly dense
Degree storage a big difficulty.The quantity of single time transport cargo of single volume of freight, that is, robot.In general, single time volume of freight is more,
Efficiency is higher, and at present there are one single time transport quantity of goods of most of robots or a kind of.
Therefore, a kind of method that those skilled in the art is dedicated to developing robot and its transports goods, can be narrow
Cargo transport is completed in narrow passageway and can transport a variety of cargos single time, improves the cargo storage density and cargo transport efficiency in place.
Invention content
It is close the technical problem to be solved by the present invention is to how improve cargo storage in view of the drawbacks described above of the prior art
Spend and how to improve cargo transport efficiency.
To achieve the above object, the present invention provides a kind of robot, for transporting goods, including mobile unit, storage
Unit and transmission unit, the mobile unit are configured as that the robot, the storage unit is driven to be configured as storage institute
The cargo of carrying；The cargo that the transmission unit is configured as to be carried is removed or placed into from shelf, the transmission unit
It is configured as moving independently of the mobile unit.
Further, the movement includes the lifting relative to the mobile unit, rotation and stretches.
Further, the storage unit is located at the top of the mobile unit, and the transmission unit is located at the storage
The side of unit.
Further, the storage unit includes guide rail, pillar and partition board, and the guide rail is fixed on the pillar, institute
It states partition board to connect with the pillar, the partition board is configured as separating the space of the storage unit.
Further, the transmission unit includes lifting module, rotary module and flexible module, the lifting module installation
It is vertically moved on the guide rail, and along the guide rail；The rotary module is connect with the lifting module, the flexible module
It links with the rotary module, to the both sides of the storage unit and elastic, the flexible module carrying cargo.
Further, the flexible module includes prong mechanism.
Further, the lifting module, the rotary module and the flexible module are configured to self-movement,
It does not interfere with each other.
The present invention also provides a kind of methods that robot transports goods, and include the following steps：
A kind of robot is provided, for transporting goods；The robot includes that mobile unit, storage unit and transmission are single
Member；
A kind of shelf are provided, for storing carried cargo；The shelf arrangements are embarked on journey, shape between shelf described in every two row
At passageway, the passageway passes through for robot movement；
The mobile unit is only moved forward and backward in passageway, and the access of cargo is realized by the movement of the transmission unit.
Further, the shelf have layered structure, the one or more cargos of every layer of storage；The robot is logical
The transmission unit is crossed, the cargo in both racks is transported in the storage unit, alternatively, the robot passes through
The cargo in the storage unit is transported in both racks by the transmission unit.
Further, the transmission unit includes lifting module, rotary module and flexible module, the lifting module installation
It is vertically moved on the guide rail, and along the guide rail；The rotary module is connect with the lifting module, the flexible module
It is configured as to the both sides of the storage unit and elastic, the flexible module carrying cargo.
Further, the picking process of the robot comprises the steps of：
Step 1a, the described robot is moved to the side of the specified shelf；
Step 2a, the described lifting module drives the rotary module and the flexible module to be elevated to the first specified altitude assignment；
Step 3a, the described rotary module rotates to the first specified angle so that flexible block motion direction face institute
State the cargo destined on shelf；
Step 4a, the described flexible module reaches below cargo destined；
Step 5a, the described lifting module moves up so that cargo bottom and the flexible module contact simultaneously lift；
Step 6a, the described flexible module is retracted so that cargo is retracted jointly；
Step 7a, the described lifting module drives the rotary module, flexible module and cargo to be elevated to the second specified altitude assignment；
Step 8a, the described rotary module rotates to the second specified angle so that the flexible block motion direction face is deposited
Storage unit；
Step 9a, the described flexible module is stretched out, and the cargo is driven to be moved to the specified partition board of the storage unit jointly
Top；
Step 10a, the described lifting module moves down so that stretches with the baffle contacts and with described the bottom of the cargo
Module is detached from；
Step 11a, the described flexible module is retracted.
Further, described step 2a, 3a, 7a, 8a, 9a, 10a, 11a are configured to synchronize when robot moves
It carries out.
Further, step 2a, 3a is configured to synchronize when robot moves and carry out.
Further, step 7a, 8a is configured to synchronize when robot moves and carry out.
Further, the stock process of the robot comprises the steps of：
Step 1b, the described robot is moved to the side of the specified shelf；
Step 2b, the described lifting module drives the rotary module and the flexible module to be elevated to the first specified altitude assignment；
Step 3b, the described rotary module rotates to the first specified angle so that the flexible block motion direction face is deposited
Cargo destined on storage unit；
Step 4b, the described flexible module reaches below cargo destined；
Step 5b, the described lifting module moves up so that cargo bottom and the flexible module contact simultaneously lift；
Step 6b, the described flexible module is retracted so that cargo is retracted jointly；
Step 7b, the described lifting module drives rotary module, flexible module and cargo to be elevated to the second specified altitude assignment
Step 8b, the described rotary module rotates to the second specified angle so that the flexible block motion direction face goods
Frame；
Step 9b, the described flexible module is stretched out, and cargo is driven to be moved to jointly above the specified frame plate of shelf；
Step 10b, the described lifting module moves down so that cargo bottom contacts with frame plate and is detached from the flexible module；
Step 11b, the described flexible module is retracted.
Further, described step 2b, 3b, 4b, 5b, 6b, 7b, 8b are configured to the same stepping when robot moves
Row.
Further, step 2b, 3b is configured to synchronize when robot moves and carry out.
Further, step 7b, 8b is configured to synchronize when robot moves and carry out.
Further, the width in the passageway is determined by the width of the cargo.
Further, the width of of length no more than 2.5 times of the cargo of the robot, the width of the robot
The width of the cargo no more than 1.5 times；The width of the cargo of the width in the passageway no more than 1.8 times.
Since storage unit and transmission unit are conllinear with the mobile unit direction of motion, i.e., parallel and passageway direction, therefore machine
People's width need to only be not less than 1.5 times of cargo width, and length direction is not less than 2.5 times of cargo width.Since passageway inner machine people can
Go out fork to both sides, therefore crossing pipeline robot without turning or rotating in place, deducts preset clearance, walkway clearance is typically no less than
1.8 times of cargo width.A kind of robot of the present invention and its method transported goods, can greatly reduce walkway clearance and deposit
Picking efficiency.
The technique effect of the design of the present invention, concrete structure and generation is described further below with reference to attached drawing, with
It is fully understood from the purpose of the present invention, feature and effect.
Description of the drawings
Fig. 1 is the robot three-dimensional schematic diagram of the preferred embodiment of the present invention；
Fig. 2 is the transmission unit schematic three dimensional views of the preferred embodiment of the present invention；
Fig. 3 is the schematic three dimensional views of the shelf of the preferred embodiment of the present invention；
Fig. 4 is the schematic diagram of the method for the transport cargo of the preferred embodiment of the present invention；
Wherein, 10- robots；11- mobile units；111- driving wheels；12- storage units；121- guide rails；122- pillars；
123- partition boards；13- transmission units；131- lifts module；132- rotary modules；133- stretches module；134- locating modules；135-
Detection module；20- shelf；21- frame plates；30- cargos；
Specific implementation mode
Fig. 1 and Fig. 2 is the schematic three dimensional views of a preferred embodiment of robot of the present invention.Robot 10 mainly wraps
It includes：Mobile unit 11 is installed on the storage unit 12 on 11 top of mobile unit and is installed on 12 side of storage unit, mobile single
The transmission unit 13 at first 11 rear portions.The transmission unit 12 further comprises lifting module 131, be installed in lifting module 131
The rotary module 132 in portion, the flexible module 133 for being installed on 132 top of rotary module, wherein 133 fixing end of rotary module and liter
It drops module 131 to connect, round end is connect with flexible module 133.The mobile unit 11 includes at least two driving wheels 111, can
It realizes and advances, retreats and rotate in place.The storage unit 12 further comprises guide rail 121, pillar 122 and partition board 123；Institute
Guide rail 121 is stated, and pillar 122 is vertically arranged to 11 top of mobile unit and storage unit 12 is layered by partition board 123；It is described to deposit
12 each layer of storage unit can arrangement of goods 30.The partition board 123 can be for whole face tablet or with hollow out or partition.The lifting
Module 131 is connect with the guide rail 121, and can be moved along 121 vertical direction of guide rail.The rotary module 132 can be revolved along z-axis
Turn so that flexible module 133 rotates jointly.The flexible module 133 can be prong mechanism, can stretch in the x-direction.The liter
Drop module 131, rotary module 132, flexible module 133 can move simultaneously.The transmission unit 13 further comprises being installed on
Locating module 134 near 132 rotation center of rotary module, the locating module 134, which can detect, is positioned over flexible module 133
The pose of the cargo 30 of top.The transmission unit 13 further comprises the detection module for being installed on 133 lower section of flexible module
135, the detection module 135 is for detecting in 133 telescopic direction of flexible module whether have barrier.The robot 10 has
Independent navigation function.The navigation mode of the independent navigation function can be vision or laser or electromagnetism.
Fig. 3 and 4 is the schematic three dimensional views of robot shelf of the present invention and transports the schematic diagram of the method for cargo.Institute
Stating shelf 20 has layered structure, is separated by frame plate 21, every layer can store one or more cargos 30.The frame plate 21 can
Think whole face tablet or there is hollow out or partition.The shelf 20 are distributed in 10 moving direction both sides of robot.The both sides goods
20 intermediate road surface of frame is passageway.The robot 10 can be carried the cargo 30 in both racks 20 by transmission unit 13
Onto storage unit 12.Cargo 30 in storage unit 12 can be transported to two by the robot 10 by transmission unit 13
On side shelf 20.
Cargo 30 in both racks 20 is transported in storage unit 12 by the robot 10 by transmission unit 13
Flow is as follows：
Step 1a, robot 10 is moved to 20 side of specified shelf；
Step 2a, lifting module 131 drives rotary module 132 and flexible module 133 to be elevated to the first specified altitude assignment；
Step 3a, rotary module 132 rotates to the first specified angle so that 133 direction of motion face shelf of flexible module
Cargo destined 30 on 20；
Step 4a, module 133 of stretching reaches 30 lower section of cargo destined；
Step 5a, lifting module 131 moves up so that 30 bottom of cargo contacts and lifts with flexible module 133；
Step 6a, flexible module 133 is retracted so that cargo 30 is retracted jointly；
Step 7a, lifting module 131 drives rotary module 132, flexible module 133 and cargo 30 to be elevated to the second specified height
Degree；
Step 8a, rotary module 132 rotates to the second specified angle so that 133 direction of motion face storage of flexible module
Unit 12；
Step 9a, flexible module 133 is stretched out, and cargo 30 is driven to be moved to jointly on the specified partition board 123 of storage unit 12
Side；
Step 10a, lifting module 131 moves down so that 30 bottom of cargo contacts with partition board 123 and taken off with flexible module 133
From；
Step 11a, flexible module 133 is retracted；
Described step 2a, 3a, 7a, 8a, 9a, 10a, 11a can be carried out when robot 10 moves；Step 2a, 3a
It can be carried out at the same time.Step 7a, 8a can be carried out at the same time.
Cargo 30 in storage unit 12 is transported in both racks 20 by the robot 10 by transmission unit 13
Flow is as follows：
Step 1b, robot 10 is moved to 20 side of specified shelf；
Step 2b, lifting module 131 drives rotary module 132 and flexible module 133 to be elevated to the first specified altitude assignment；
Step 3b, rotary module 132 rotates to the first specified angle so that 133 direction of motion face storage of flexible module
Cargo destined 30 on unit 12；
Step 4b, module 133 of stretching reaches 30 lower section of cargo destined；
Step 5b, lifting module 131 moves up so that 30 bottom of cargo contacts and lifts with flexible module 133；
Step 6b, flexible module 133 is retracted so that cargo 30 is retracted jointly；
Step 7b, lifting module 131 drives rotary module 132, flexible module 133 and cargo 30 to be elevated to the second specified height
Degree
Step 8b, rotary module 132 rotates to the second specified angle so that 133 direction of motion face shelf of flexible module
20；
Step 9b, flexible module 133 is stretched out, and cargo 30 is driven to be moved to 21 top of specified frame plate of shelf 20 jointly；
Step 10b, lifting module 131 moves down so that 30 bottom of cargo contacts with frame plate 21 and taken off with flexible module 133
From；
Step 11b, flexible module 133 is retracted；
Described step 2b, 3b, 4b, 5b, 6b, 7b, 8b can be carried out when robot 10 moves.
Step 2b, 3b can be carried out at the same time.
Step 7b, 8b can be carried out at the same time.
Since storage unit 12 and transmission unit 13 are conllinear with 11 direction of motion of mobile unit, i.e., parallel and passageway direction,
Therefore 10 width of robot need to only be not less than 1.5 times of cargo width, length direction is not less than 2.5 times of cargo width.Due in passageway
Robot 10 can go out fork to both sides, therefore crossing pipeline robot 10 without turning or rotating in place, and deduct preset clearance, cross road width
Degree is typically no less than 1.8 times of cargo width.Such as：Cargo width 600mm, then robot width can be 900mm, length
1500mm, walkway clearance 1080mm.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that the ordinary skill of this field is without wound
The property made labour, which according to the present invention can conceive, makes many modifications and variations.Therefore, all technician in the art
Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Scheme, all should be in the protection domain being defined in the patent claims.
Claims (20)
1. a kind of robot, for transporting goods, which is characterized in that described including mobile unit, storage unit and transmission unit
Mobile unit is configured as that the robot, the storage unit is driven to be configured as storing carried cargo；The transmission
The cargo that unit is configured as to be carried is removed or placed into from shelf, and the transmission unit is configured as independently of the shifting
Moving cell moves.
2. robot as described in claim 1, which is characterized in that the movement includes the liter relative to the mobile unit
Drop is rotated and is stretched.
3. robot as described in claim 1, which is characterized in that the storage unit is located at the top of the mobile unit,
The transmission unit is located at the side of the storage unit.
4. robot as described in claim 1, which is characterized in that the storage unit includes guide rail, pillar and partition board, described
Guide rail is fixed on the pillar, and the partition board is connect with the pillar, and the partition board is configured as separating the storage unit
Space.
5. robot as claimed in claim 4, which is characterized in that the transmission unit include lifting module, rotary module and
Flexible module, the lifting module is mounted on the guide rail, and is vertically moved along the guide rail；The rotary module with it is described
Module connection, the flexible module and rotary module linkage are lifted, to the both sides of the storage unit and elastic, institute
It states flexible module and carries the cargo.
6. robot as claimed in claim 5, which is characterized in that the flexible module includes prong mechanism.
7. robot as claimed in claim 5, which is characterized in that the lifting module, the rotary module and described flexible
Module is configured to self-movement, does not interfere with each other.
8. a kind of method that robot transports goods, which is characterized in that include the following steps：
A kind of robot is provided, for transporting goods；The robot includes mobile unit, storage unit and transmission unit；
A kind of shelf are provided, for storing carried cargo；The shelf arrangements are embarked on journey, and are formed between shelf described in every two row
Road, the passageway pass through for robot movement；
The mobile unit is only moved forward and backward in passageway, and the access of cargo is realized by the movement of the transmission unit.
9. the method that robot as claimed in claim 8 transports goods, which is characterized in that the shelf have layered structure,
The one or more cargos of every layer of storage；The robot is by the transmission unit, by the cargo in both racks
It is transported in the storage unit, alternatively, the robot is by the transmission unit, by the goods in the storage unit
Object is transported in both racks.
10. the method that robot as claimed in claim 8 transports goods, which is characterized in that the transmission unit includes lifting
Module, rotary module and flexible module, the lifting module is mounted on the guide rail, and is vertically moved along the guide rail；Institute
It states rotary module to connect with the lifting module, the flexible module is configured as to the both sides of the storage unit and front and back stretches
Contracting, the flexible module carry the cargo.
11. the method that robot as claimed in claim 10 transports goods, which is characterized in that the picking process of the robot
It comprises the steps of：
Step 1a, the described robot is moved to the side of the specified shelf；
Step 2a, the described lifting module drives the rotary module and the flexible module to be elevated to the first specified altitude assignment；
Step 3a, the described rotary module rotates to the first specified angle so that goods described in the flexible block motion direction face
Cargo destined on frame；
Step 4a, the described flexible module reaches below cargo destined；
Step 5a, the described lifting module moves up so that cargo bottom and the flexible module contact simultaneously lift；
Step 6a, the described flexible module is retracted so that cargo is retracted jointly；
Step 7a, the described lifting module drives the rotary module, flexible module and cargo to be elevated to the second specified altitude assignment；
Step 8a, the described rotary module rotates to the second specified angle so that the flexible block motion direction face storage is single
Member；
Step 9a, the described flexible module is stretched out, and the cargo is driven to be moved to jointly above the specified partition board of the storage unit；
Step 10a, the described lifting module moves down so that the bottom of the cargo and the baffle contacts and with the flexible module
It is detached from；
Step 11a, the described flexible module is retracted.
12. the method that robot as claimed in claim 11 transports goods, which is characterized in that the step 2a, 3a, 7a, 8a,
9a, 10a, 11a are configured to synchronize when robot moves and carry out.
13. the method that robot as claimed in claim 11 transports goods, which is characterized in that step 2a, 3a is configured
For progress can be synchronized when robot moves.
14. the method that robot as claimed in claim 11 transports goods, which is characterized in that step 7a, 8a is configured
For progress can be synchronized when robot moves.
15. the method that robot as claimed in claim 10 transports goods, which is characterized in that the stock process of the robot
It comprises the steps of：
Step 1b, the described robot is moved to the side of the specified shelf；
Step 2b, the described lifting module drives the rotary module and the flexible module to be elevated to the first specified altitude assignment；
Step 3b, the described rotary module rotates to the first specified angle so that the flexible block motion direction face storage is single
Cargo destined in member；
Step 4b, the described flexible module reaches below cargo destined；
Step 5b, the described lifting module moves up so that cargo bottom and the flexible module contact simultaneously lift；
Step 6b, the described flexible module is retracted so that cargo is retracted jointly；
Step 7b, the described lifting module drives rotary module, flexible module and cargo to be elevated to the second specified altitude assignment
Step 8b, the described rotary module rotates to the second specified angle so that the flexible block motion direction face shelf；
Step 9b, the described flexible module is stretched out, and cargo is driven to be moved to jointly above the specified frame plate of shelf；
Step 10b, the described lifting module moves down so that cargo bottom contacts with frame plate and is detached from the flexible module；
Step 11b, the described flexible module is retracted.
16. the method that robot as claimed in claim 15 transports goods, which is characterized in that the step 2b, 3b, 4b, 5b,
6b, 7b, 8b are configured to synchronize when robot moves and carry out.
17. the method that robot as claimed in claim 15 transports goods, which is characterized in that step 2b, 3b is configured
For progress can be synchronized when robot moves.
18. the method that robot as claimed in claim 15 transports goods, which is characterized in that step 7b, 8b is configured
For progress can be synchronized when robot moves.
19. the method that robot as claimed in claim 8 transports goods, which is characterized in that the width in the passageway is by described
The width of cargo determines.
20. the method that robot as claimed in claim 19 transports goods, which is characterized in that the length of the robot does not surpass
Cross the width of 2.5 times of the cargo, the width of the cargo of the width no more than 1.5 times of the robot；The passageway
Width no more than 1.8 times of the cargo width.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710277982.2A CN108726061A (en) | 2017-04-25 | 2017-04-25 | A kind of robot and its method transported goods |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710277982.2A CN108726061A (en) | 2017-04-25 | 2017-04-25 | A kind of robot and its method transported goods |
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|---|---|
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Family
ID=63934846
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| USD998013S1 (en) | 2019-03-13 | 2023-09-05 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD998012S1 (en) | 2019-03-13 | 2023-09-05 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD998011S1 (en) | 2019-03-13 | 2023-09-05 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD998672S1 (en) | 2019-03-13 | 2023-09-12 | Hai Robotics Co., Ltd. | Warehouse robot |
| CN112320178A (en) * | 2020-08-25 | 2021-02-05 | 北京京东乾石科技有限公司 | Shuttle car layer changing elevator and shuttle car conveyer for three-dimensional warehouse |
| CN113277254B (en) * | 2021-06-10 | 2023-01-10 | 深圳市海柔创新科技有限公司 | Cargo carrying method, device, equipment, robot and warehousing system |
| CN113277254A (en) * | 2021-06-10 | 2021-08-20 | 深圳市海柔创新科技有限公司 | Cargo carrying method, device, equipment, robot and warehousing system |
| CN113733108A (en) * | 2021-07-13 | 2021-12-03 | 武汉理工大学 | Intelligent express delivery carrying robot and use method |
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