CN210883786U - Transfer robot - Google Patents

Abstract

The application relates to the field of intelligent warehousing and discloses a transfer robot, include: a vertical support; a container handling assembly including a mounting base mounted to the vertical support; a storage assembly including a pallet mounted to the mounting base, the pallet for storing a container; and a cargo transfer assembly mounted to the mounting base for retrieving a cargo container from one of a warehouse rack and the pallet and storing it to the other, and retrieving cargo from within the cargo container in which the pallet is stored. Through configuration goods transfer assembly, can take out the goods from the packing box that the layer board was deposited, it is nimble to get the goods mode, and efficiency is higher.

Description

Transfer robot

[ technical field ] A method for producing a semiconductor device

The application relates to the field of intelligent warehousing, in particular to a transfer robot.

[ background of the invention ]

The intelligent storage is a link in the logistics process, and the application of the intelligent storage ensures the speed and the accuracy of data input in each link of goods warehouse management, ensures that enterprises timely and accurately master real data of the inventory, and reasonably keeps and controls the inventory of the enterprises. Through scientific coding, the batch, the shelf life and the like of the inventory goods can be conveniently managed. By utilizing the storage position management function of the SNHGES system, the current positions of all the stored goods can be mastered in time, and the working efficiency of warehouse management is improved.

The transfer robot plays an important role in intelligent warehousing, can receive instructions to get and put and carry goods at a specified position, and improves the efficiency of carrying in the warehouse. However, the existing transfer robot can only take goods in a whole box, and when goods which are not required to be taken out exist in a container, the efficiency of the mode of taking the goods in the whole box is low.

[ summary of the invention ]

In order to solve the technical problem, the embodiment of the application provides a transfer robot with higher goods taking efficiency.

In order to solve the above technical problem, an embodiment of the present application provides the following technical solutions:

provided is a transfer robot including: a vertical support; a mounting platform supported by the upright support; the supporting plate is arranged on the mounting platform and used for storing a container; and a cargo transfer assembly mounted to the mounting platform for retrieving a container from one of a warehouse rack and the pallet and storing it to the other, and/or retrieving cargo from within a container stored by the pallet.

In some embodiments, the cargo transfer assembly includes a multi-dimensional mechanical joint and an end effector; one end of the multi-dimensional mechanical joint is mounted on the mounting platform, and the other end of the multi-dimensional mechanical joint can rotate in multiple angles and move in multiple directions relative to the mounting platform; the tail end executing device is arranged at the other end of the multi-dimensional mechanical joint and is used for grabbing goods or containers.

In some embodiments, the end effector comprises a first end effector and a second end effector; the first end effector and the second end effector are replaceably connected to the other end of the multi-dimensional mechanical joint, the first end effector is used for grabbing goods or containers, and the second end effector is used for grabbing goods or containers.

In some embodiments, the first end effector is a suction cup device for suctioning goods or containers; the second end executing device is a mechanical claw and is used for clamping goods or containers.

In some embodiments, the mounting platform is provided with a first storage rack and a second storage rack; the first storage rack is used for storing the first end execution device or the second end execution device; the second storage rack is used for storing the first end execution device or the second end execution device.

In some embodiments, the transfer robot further comprises a second cargo identification device; the second cargo identification device is mounted to the cargo transfer assembly for identifying the cargo containers and/or identifying the cargo within the cargo containers in which the pallets are stored.

In some embodiments, the second cargo identification component comprises a second camera; the second camera is arranged at the other end of the multi-dimensional mechanical arm and is used for acquiring image information of a container and/or the container stored by the supporting plate.

In some embodiments, the transfer robot comprises a first cargo identification device; the first cargo identification device is mounted on the mounting platform and used for identifying the cargo in the container stored by the supporting plate.

In some embodiments, the first cargo identification device comprises a first camera and a camera mount; one end of the camera bracket is mounted on the mounting platform, and the other end of the camera bracket is mounted on the first camera; the first camera is used for acquiring image information in a container stored by the supporting plate.

In some embodiments, the transfer robot further comprises a rotational drive device and a mounting base; the mounting base is mounted on the vertical support, and the mounting platform is mounted on the mounting base; the rotary driving device is installed on the installation base and connected with the installation platform, and the rotary driving device is used for driving the installation platform to rotate around the vertical direction.

In some embodiments, the transfer robot further comprises a storage rack; the storage shelf is arranged on the vertical bracket; the cargo transfer assembly is also adapted to deposit cargo removed from a container deposited by the pallet into a container deposited by the storage rack and/or to remove a container from one of the pallet and the storage rack and deposit it onto the other.

In some embodiments, the transfer robot further comprises a lift drive; the lifting driving device is installed on the vertical support, connected with the installation base and used for driving the installation base to move in the vertical direction.

In some embodiments, the storage rack comprises a deck, a plurality of the deck being distributed in a vertical direction; the goods transfer assembly is also used for storing goods taken out of the containers stored in the pallets into any one of the layers, and/or is also used for taking goods out of the containers stored in any one of the layers and storing the goods into the containers stored in the pallets, and/or is also used for taking the goods out of one of any one of the layers and the pallets and storing the goods into the other.

In some embodiments, the transfer robot further comprises a third cargo identification device; the third goods identification device is arranged on the storage shelf and used for identifying the goods in the container stored on the storage shelf.

In some embodiments, the storage rack comprises a deck, a plurality of the deck being distributed in a vertical direction; the goods transfer assembly is also used for storing goods taken out of the containers stored in the pallets to any one of the laminates, and/or is also used for taking goods out of the containers stored in any one of the laminates and storing the goods in the containers stored in the pallets, and/or is also used for taking the goods out of one of any one of the laminates and the pallets and storing the goods in the other; the third goods identification devices are arranged on the vertical support in a distributed mode along the vertical direction, and each third goods identification device is used for obtaining image information in a container stored in a corresponding layer plate.

In some embodiments, the transfer robot further comprises a first cargo identification device; the first cargo identification device is mounted on the mounting platform and used for identifying the cargo in the container stored by the supporting plate.

In some embodiments, the transfer robot further comprises a moving assembly; the moving assembly carries the vertical support for movement on the warehouse floor.

Compared with the prior art, in the transfer robot who provides of this application embodiment, through configuration goods transfer assembly, can follow the goods thing of taking out from the packing box that the layer board was deposited, it is nimble to get the goods mode, and efficiency is higher.

[ description of the drawings ]

One or more embodiments are illustrated in drawings corresponding to, and not limiting to, the embodiments, in which elements having the same reference number designation may be represented as similar elements, unless specifically noted, the drawings in the figures are not to scale.

Fig. 1 is a perspective view of a transfer robot according to embodiment 1 of the present application;

fig. 2 is a perspective view of another angle of the transfer robot shown in fig. 1;

FIG. 3 is a disassembled schematic view of the moving components of the transfer robot shown in FIG. 1;

fig. 4 is an assembly view of the vertical support and the elevation driving apparatus of the transfer robot shown in fig. 1;

FIG. 5 is a disassembled schematic view of the container handling assembly of the handling robot of FIG. 1;

fig. 6 is a perspective view of a cargo transfer assembly of the transfer robot shown in fig. 1;

fig. 7 is a perspective view of a transfer robot according to embodiment 2 of the present application;

fig. 8 is a perspective view of a transfer robot according to embodiment 3 of the present application.

[ detailed description ] embodiments

To facilitate an understanding of the present application, the present application is described in more detail below with reference to the accompanying drawings and detailed description. It will be understood that when an element is referred to as being "secured 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 be present. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and the like as used herein are for descriptive purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Example 1

Referring to fig. 1, a transfer robot 100 for taking out goods is provided in embodiment 1 of the present application.

It should be noted that a warehouse shelf is placed in the warehouse, the warehouse shelf is provided with a goods space for storing the goods containers, and the goods containers are used for storing the goods.

The transfer robot 100 includes a moving assembly 10, a pallet 22, a storage rack 24, a transfer system, a container identification assembly 50, and a cargo identification assembly 60. The mobile assembly 10 carries a pallet 22, a container handling assembly 30, a cargo transfer assembly 40, a container identification assembly 50, and a cargo identification assembly 60.

The moving assembly 10 is adapted to move across the floor of the warehouse to move the pallet 22, storage rack 24, container handling assembly 30, cargo transfer assembly 40, container identification assembly 50, and cargo identification assembly 60 carried thereby.

The pallet 22 and storage rack 24 are each used to store containers. The container identification assembly 50 is used to identify containers stored on the warehouse rack for removal by the handling system and/or to identify empty positions on the warehouse rack for storage by the handling system. The handling system is used to retrieve and deposit one of the pallet 22 and the warehouse rack with a container to the other, and/or to retrieve and deposit one of the pallet 22 and the storage rack 24 with a container to the other, and/or to retrieve and deposit a cargo in one of the container stored by the pallet 22 and the container stored by the storage rack 26 with a container to the other. The product identification assembly 60 is used to identify the product within the container stored by the pallet 22 for removal by the supply transfer assembly 40, and/or to identify the product within the container stored by the storage rack 24, to inventory the product within the container stored by the storage rack 24, and/or to identify the product removed by the handling system to determine if the removed product is correct.

The transfer robot works as follows:

the moving assembly 10 moves on the floor of the warehouse to access the warehouse racks. Upon accessing the warehouse rack, the container identification component 50 identifies the containers stored by the warehouse rack, and the handling system retrieves the containers identified by the container identification component 50 and stores them to the pallets 22. After the container is deposited on the pallet 22, the cargo identification component 60 identifies the cargo stored in the container of the pallet 22, and the handling system retrieves the cargo identified by the cargo identification component 60 and stores the same on the storage shelf 24. After the goods transfer assembly 40 has removed the goods from the containers stored in the pallets, the container identification assembly 50 identifies the empty space in the warehouse rack and the handling system removes the containers stored in the pallets 22 and stores them in the empty space in the warehouse rack.

The movement assembly 10 is configured so that the container handling assembly 30 can access containers on warehouse racks that are located remotely. In other embodiments, the warehouse rack is held adjacent to the bin handling assembly 30, for example, the handling robot 100 is fixedly mounted on the ground adjacent to the warehouse rack, in which case the moving assembly 10 may be omitted.

The storage racks 24 are arranged so that the transfer robot can take out a large amount of goods and store them in the storage racks 24. In other embodiments, the transfer robot may need to remove fewer items and the storage racks 24 need not be configured, in which case the storage racks 24 may be omitted.

By configuring the cargo transfer assembly 40, after the cargo box handling assembly 30 takes out the cargo box from the warehouse rack and the cargo transfer assembly 40 takes out the cargo in the cargo box, the cargo box handling assembly 30 stores the cargo box to the warehouse rack again, so that the handling robot 100 can take out the cargo box and take out the cargo, and the worker does not need to take out the cargo from the cargo box, thereby improving the efficiency of cargo scheduling. In other embodiments, the cargo transfer assembly 40 may also retrieve cargo stored in the cargo box of pallet 22 without identifying the cargo, in which case the cargo identification assembly 60 may be omitted. For example, when the goods stored in the container are all the same goods and the area of the goods in the container is large, such as clothes are flatly laid in the container, there is basically no obstacle for the goods transferring assembly 40 to take out the goods, and the goods transferring assembly 40 can randomly take out one of the goods in the container.

In other embodiments, the container handling assembly 30 may also remove a container from the warehouse rack without identifying the container, at which point the container identification assembly 50 may be omitted. For example, warehouse racks have only one cargo space for storing containers.

It should be noted that after the container handling assembly 30 takes out the container from the cargo space and deposits the container on the pallet 22, by configuring the cargo transfer assembly 40, the cargo transfer assembly 40 will take out the cargo from the container stored on the pallet 22 without requiring the worker to take out the cargo from the container, thereby improving the efficiency of taking out the cargo.

In some embodiments, the handling system includes a container handling assembly 30 and a cargo transfer assembly 40.

The container handling assembly 30 is used to retrieve and deposit containers from one of the warehouse rack and pallet 22 to the other and/or to retrieve and deposit containers from one of the pallet 22 and storage rack 24 to the other.

The cargo turning assembly 40 is adapted to retrieve cargo from one of the containers stored by the pallets 22 and the storage racks 24 and store the cargo to the other.

While specific implementations of some transfer robots 100 are described below, it should be noted that the following is merely exemplary and that other transfer robots capable of satisfying at least one of the above conditions are within the scope of the present application.

Referring to fig. 3, the moving assembly 10 includes a chassis 12, a driven wheel 14, a driving wheel 16 and a guiding device 18. The chassis 12 is formed by assembling and welding sectional materials and plates, is flat and symmetrical relative to a vertical symmetrical plane, and a circuit module for controlling the operation of the moving assembly 10 is arranged in the chassis 12. Four driven wheels 14 are mounted to the bottom of the chassis 12 and are evenly and symmetrically distributed at both ends of the chassis 12 to collectively support the chassis 12. In the present embodiment, the driven wheel 14 is a universal wheel, and the driven wheel 14 may have another wheel body structure having a steering function according to actual circumstances. Two drive wheels 16 are mounted on the bottom of the chassis 12 and are symmetrically distributed at both ends of the chassis 12. The two driving wheels 16 are driven by two motors, so that the rotating speeds of the two driving wheels 16 can be different, thereby realizing the steering of the moving assembly 10, and the rotating speeds of the two driving wheels 16 are the same, so that the moving assembly 10 travels along a straight line. A guide 18 is mounted to the bottom of the chassis 12 for guiding the travel assembly 10 along a predetermined path. In this embodiment, the guiding device 18 is a camera whose lens is directly facing the ground, a large number of two-dimensional codes are attached to the ground of the warehouse, the two-dimensional codes are scanned by the camera to determine the current position of the moving assembly 10, the orientation of the moving assembly 10 can be determined according to the last scanned two-dimensional code, and the two-dimensional codes can be replaced by identification codes such as bar codes according to actual conditions.

Referring back to fig. 1, the top of the chassis 10 carries the vertical supports 19, the pallet 22, the container handling assembly 30, the cargo transfer assembly 40, the container recognition assembly 50 and the cargo recognition assembly 60, all supported by the vertical supports 19. The vertical support 19 includes a vertical column 190 and a horizontal beam 192. The two columns 190 are vertical and symmetrical, each column 190 is provided with a guide groove extending along the vertical direction, and the guide grooves of the two columns 190 are commonly used for installing the carrying assembly 30 and guiding the carrying assembly 30 to move along the vertical direction.

The plurality of beams 192 are horizontally distributed in the vertical direction, and the plurality of beams 192 are commonly supported by the two columns 190.

Referring to fig. 1 and 2, the pallet 22 is a horizontally disposed panel that is fixedly mounted to the container handling assembly 30.

The containers stored by the storage racks 24 may be stored by the container handling assembly 30, may be stored by a worker, and may be empty from the storage racks 24. In other embodiments, the cargo transfer assembly 40 places the retrieved cargo directly on the storage racks 24 without pre-storing containers on the storage racks 24.

The storage shelf 24 is fixedly mounted to one side of the upright support 19. The storage shelf 24 includes a tier floor 240. The plurality of floors 240 are distributed in a vertical direction. Each deck 240 is used to store containers and is supported by a corresponding one of the beams 192. By providing a plurality of decks 240 for storing containers, the goods transfer assembly 60 can continue to store goods in containers stored in another deck 240 after the goods transfer assembly 60 fills the containers stored in one deck 240. It will be appreciated that there may be only one deck 240, for example, with less cargo or smaller cargo relative to the cargo box, depending on the application.

Referring to fig. 4 and 5, the container handling assembly 30 includes a lift drive 32, a mounting base 34, a rotation drive 36, and a fork 38.

The mounting base 34 is movably mounted to the upright support 19 and is vertically movable relative to the upright support 19, and the lift drive assembly 32 is configured to drive the forks 38 vertically relative to the upright support 19. The forks 38 are mounted to the mounting base 34 and are vertically rotatable relative to the mounting base 34, the rotary drive mechanism 36 is configured to drive the forks 38 vertically rotatable relative to the mounting base 34, and the forks 38 are configured to retrieve a container stored in the storage rack 24 or the warehouse rack and store the container in the pallet 22, or to retrieve a container stored in the pallet 22 and store the container in the storage rack 24 or the warehouse rack.

The container handling assembly 30 retrieves and deposits containers stored on the warehouse rack or storage racks 24 to pallets as follows:

the lift drive 32 moves the forks 38 in a vertical direction so that the forks 38 are at the same height as the containers stored on the warehouse rack or tier 240, while the rotary drive 36 rotates the forks 38 in a vertical direction so that the forks 38 are aligned with the containers stored on the warehouse rack or tier 240. After the forks 38 are raised and rotated, the forks 38 remove the stored containers from the warehouse rack or tier 240 and deposit them onto the pallets 22.

The container handling assembly 30 retrieves and stores the containers stored by the pallets to the warehouse rack or storage rack 24 as follows:

the lift drive 32 drives the forks 38 in a vertical direction so that the forks 38 are at the same height as the empty location of the warehouse rack or tier 240, while the rotary drive 36 drives the forks 38 in a vertical direction so that the forks 38 are aligned with the empty location of the warehouse rack or tier 240. After the forks 38 are raised and lowered and rotated, the forks 38 remove the containers stored in the pallets 22 and deposit them onto the warehouse rack or empty space of the storage rack 24.

By configuring the lifting driving device 32, the lifting driving device 32 drives the fork 38 supported by the mounting base 34 to move in the vertical direction, so that the fork 38 can store and take containers from the layer plates 240 with different heights or the warehouse shelf, therefore, the warehouse shelf can be configured into multiple layers, the utilization rate of the warehouse shelf in the vertical space is improved, in addition, the storage shelf 24 can be configured into multiple layers, the utilization rate of the storage shelf 24 in the vertical space is improved while the storage shelf 24 can store a plurality of containers, the floor area of the storage shelf 24 is small, and the floor area of the chassis 10 for bearing the storage shelf 24 can be reduced. In other embodiments, the lift drive 32 may be omitted, as in the case of the storage racks 24 and warehouse racks having only one tier.

By configuring the rotary driving device 36, the rotary driving device 36 drives the fork 38 to rotate around the vertical direction, so that the fork 38 can access the containers from the warehouse racks in different directions, and the goods access mode of the fork 38 is more flexible, which is beneficial to accessing the containers in a complex warehouse environment. In other embodiments, the rotary drive 36 may be omitted, for example, the empty space of the warehouse rack or the container stored on the warehouse rack is always located in the pick direction of the forks 38, for example, a track dedicated to the moving assembly 10 is provided on the warehouse floor, and after the moving assembly 10 approaches the warehouse rack, the empty space of the warehouse rack or the container stored on the warehouse rack is located in the pick direction of the forks 38, and the layer 240 is part of the transfer robot 100, such that the layer 240 is disposed in the pick direction of the forks 38.

While specific implementations of some of the container handling assemblies 30 are described below, it should be noted that the following is merely exemplary and other container handling assemblies capable of meeting at least one of the above conditions are within the scope of the present application.

The mounting base 34 and the storage shelf 24 are respectively located at two opposite sides of the vertical support 19, the mounting base 34 is formed by assembling and welding sectional materials and plates, and the mounting base 34 is provided with two sliding parts, each sliding part is mounted on a corresponding sliding groove and can move along the sliding groove.

The lifting drive device 32 includes two sets of first chain wheel mechanisms, a transmission shaft and a lifting drive motor. Every first sprocket mechanism of group installs on a corresponding stand, and the both ends of transmission shaft are coaxial fixed with the action wheel of two sets of first sprocket mechanisms respectively, and mounting base 34 is connected with the pitch chain fixed of two sets of first sprocket mechanisms respectively, and lift driving motor is used for driving the driving shaft and rotates to drive two sets of sprocket synchronous motion, and then drive mounting base and remove along vertical direction.

It is understood that the first sprocket mechanism may be replaced with a belt wheel mechanism, a rack and pinion mechanism, etc., according to the actual situation.

The rotation drive device 36 includes a second sprocket mechanism and a rotation drive motor. The driving wheel of the second chain wheel mechanism is rotatably mounted on the fork 38, the driving wheel of the second chain wheel mechanism is fixedly mounted on the mounting base 34, and the rotary driving motor is used for driving the driving wheel to rotate, so as to drive the fork 38 to rotate around the vertical direction.

It will be appreciated that the second sprocket mechanism may be replaced by a belt pulley mechanism, a gear train, etc., depending on the actual situation.

The fork 38 includes a mounting platform 380 and a telescopic arm arrangement 382, the telescopic arm arrangement 382 being mounted to the mounting platform 380. The mounting platform 380 may be mounted to the top of the mounting base 34 by a pivoting support so that the entire fork 38 may be rotated about a vertical direction relative to the mounting base 34. Wherein the pallet 22 is fixedly mounted to the mounting platform 380 and the telescoping arm assembly 382 is used to push a container stored on the pallet 22 to the empty position of the tier 240 or warehouse rack or pull a container stored on the tier 240 or warehouse rack to the pallet 22. In other embodiments, the telescopic arm assembly 382 may be used to move the container by lifting or gripping.

The two sets of telescopic arm devices 382 are symmetrically and respectively arranged at two sides of the supporting plate 22, and the two sets of telescopic arm devices 382 work together to push or pull the goods. Depending on the actual situation, only one telescopic arm 382 may be provided.

Each set of telescoping arm assemblies 382 includes a telescoping arm 3820, a fixed pushrod 3822, and a movable pushrod 3824. One end of the telescoping arm 3820 is fixedly mounted to the mounting platform 380 and the other end is extendable and retractable horizontally relative to the mounting platform 380. Telescoping arm 382 includes an inner knuckle arm, a middle knuckle arm, and an outer knuckle arm that is fixedly mounted to mounting platform 380 and located on one side of pallet 22. The middle-joint arm is movably arranged on one side of the outer-joint arm close to the supporting plate 22, the middle-joint arm can extend or retract relative to the outer-joint arm, and the middle-joint arm is driven by a chain wheel transmission mechanism. The inner knuckle arm is movably arranged on one side, close to the supporting plate 22, of the middle knuckle arm, the inner knuckle arm can extend or retract relative to the middle knuckle arm, the inner knuckle arm is driven through a movable pulley mechanism, a pulley of the movable pulley mechanism is arranged on the inner knuckle arm, two ends of a sliding cable of the movable pulley are respectively arranged on the outer knuckle arm and the middle knuckle arm, when the middle knuckle arm extends or retracts relative to the outer knuckle arm, the inner knuckle arm moves in the same direction relative to the outer knuckle arm, and the moving speed of the inner knuckle arm is twice that of the middle knuckle arm.

The fixed push rod 3822 protrudes from the other end of the telescopic arm 3820, the movable push rod 3824 is movably mounted to the other end of the telescopic arm 3820, and when the telescopic arm 3820 extends or retracts, the movable push rod 3824 and the fixed push rod 3822 extend or retract together. The movable push rod 3824 can be retracted into or protruded from the other end of the telescopic arm 3820, and can be directly driven by a motor. The movable pushrod 3824 that protrudes the other end of the telescopic boom 3820 is spaced apart from the fixed pushrod 3822 by a distance for accommodating a cargo box, wherein the movable pushrod 3824 that protrudes the other end of the telescopic boom 3820 is located in front of the fixed pushrod 3822 in the extending direction of the telescopic boom 3820. The movable push rod 3824 and the fixed push rod 3822, which protrude from the other end of the telescopic arm 3820, are both located on the same side of the telescopic arm 3820 as the supporting plate 22, and are both located higher than the supporting plate 22.

When the fork 38 is used to remove a container from the pallet 22 and deposit it in the empty position of the tier 240 or warehouse rack, the movable pusher 3824 is retracted into the other end of the telescoping arm 3820, the telescoping arm 3820 is extended, the fixed pusher 3822 pushes a container stored in the pallet 22 from the pallet 22 to the empty position of the tier 240 or warehouse rack, and the telescoping arm 3820 is retracted after pushing a container to the empty position of the tier 240 or warehouse rack.

When the fork 38 is used to retrieve and store a container from the tier 220 or warehouse rack to the pallet 22, the movable pusher 3824 is retracted into the other end of the telescoping arm 3820, the telescoping arm 3820 is extended so that the movable pusher 3824 passes over the container, the movable pusher 3824 protrudes beyond the other end of the telescoping arm 3820 after passing over the container, the telescoping arm 3820 is then retracted, the movable pusher 3824 protruding the telescoping arm 3820 pulls the container to the pallet 22, and the movable pusher 3824 retracts into the other end of the telescoping arm 3820 after pulling the container to the pallet 22.

Referring again to fig. 5, the container recognition assembly 50 includes a camera mounted to the fork 38 with a lens oriented in a direction consistent with the extension direction of the telescopic arm 3820 for obtaining image information of the warehouse rack or container. The camera is fixedly mounted to the mounting platform 380, and in some other embodiments, the camera is mounted to the other end of the telescoping arm 3820 and extends with the other end of the telescoping arm 3820.

By obtaining image information of the warehouse rack, it is determined whether the empty warehouse rack or the container stored by the warehouse rack is at the same height as the forks 38. Because the positions of the layers are relatively fixed, the parameters of the lifting drive device and the rotating drive device can be set through a program according to the vacancy of the layers or whether the container stored by the layers and the pallet fork 38 are positioned at the same height, the efficiency is higher, and the vacancy of the layers or the container stored by the layers can be identified through the container identification component.

In some embodiments, the warehouse rack is labeled with two-dimensional codes, the fork 38 is initially located at the lowest position, the fork 38 is gradually raised, the camera device also starts scanning from the two-dimensional code at the lower layer, when the specified two-dimensional code is scanned, the fork 38 stops lifting, and at this time, the empty position of the warehouse rack or the container stored in the warehouse rack is located at the same height as the fork. The two-dimensional code is also attached to the container, when the container stored on the warehouse rack and the fork 38 are located at the same height, the fork 38 rotates, the camera device scans the two-dimensional code on the container, when the position of the two-dimensional code on the container in the field of view of the camera device is complete or centered, the fork 38 stops rotating, and at the moment, the fork 38 is aligned with the container stored on the warehouse rack.

Referring to fig. 6, the cargo transfer unit 40 is mounted to the mounting platform 380 and is rotatable with the forks 38 about a vertical axis such that the cargo transfer unit 40 is adjacent to a container stored on the deck 240, and the cargo transfer unit 40 is movable with the forks 38 in a vertical direction such that the cargo transfer unit 40 is at the same height as the container stored on the deck 240 and the cargo transfer unit 40 is adjacent to or at the same height as the container stored on the deck 240, thereby facilitating the cargo transfer unit 40 to retrieve a cargo from the container stored on the deck 240 or to store the retrieved cargo in the container stored on the deck 240.

While specific implementations of some of the cargo transfer assemblies 40 are described below, it should be noted that the following is merely exemplary and that other cargo transfer assemblies capable of satisfying at least one of the above conditions are within the scope of the present application.

The cargo transfer assembly 40 includes a multi-dimensional mechanical joint 42 and an end effector 44. One end of the multi-dimensional mechanical joint 42 is mounted on the mounting platform 380 and is located on the same side of the mounting platform 380 as the supporting plate 22, and the other end of the multi-dimensional mechanical joint 42 can rotate at multiple angles and move in multiple directions relative to the mounting platform 380. The multi-dimensional mechanical joint 42 includes a rotating base 420, a first radial arm 422, a second radial arm 424, and a three-axis pan-tilt head 426. The rotating base 420 has a first rotation axis O1. One end of the first radial arm 422 is movably mounted on the rotation base 420, the first radial arm 422 can rotate around a second rotation axis O2 relative to the rotation base 420, and the second rotation axis O2 is perpendicular to the first rotation axis O1. One end of the second radial arm 424 is movably mounted to the other end of the first radial arm 422, the second radial arm 424 is rotatable relative to the other end of the first radial arm 422 about a third rotation axis O3, and the third rotation axis O3 is parallel to the second rotation axis O2. A three axis pan/tilt head 426 is mounted to the other end of the second swing arm 424 for mounting the end effector 44. The rotating base 420 is mounted to the mounting platform 380 on the same side of the mounting platform 380 as the pallet 22, with the first axis of rotation O1 in the vertical direction and the second axis of rotation O2 in the horizontal direction.

An end effector 44 for releasing the load from the gripper is mounted at the other end of the multi-dimensional mechanical joint 42. In this embodiment, the end effector 44 is a suction cup device, and the end effector 44 is not limited to the suction cup device according to actual conditions, and the end effector 44 can be configured to match with the type of the goods according to the type of the goods, for example, the suction cup device should grip the boxed goods with solid state and flat surface, the gripper should grip the goods with unfixed shape such as clothes, and so on.

The process of removing the cargo from the container in which the pallet 22 is stored by the cargo transfer assembly 40 is as follows:

after the multi-dimensional mechanical joint 42 drives the end effector 44 to move into the container where the pallet 22 or the layer 240 is stored, the end effector 44 grabs the goods, and the multi-dimensional mechanical joint 42 drives the end effector 44 to reposition.

The process of depositing the removed cargo into the container stored in the pallet 22 or the container stored in the tier 240 by the cargo transfer assembly 40 is as follows:

after the multi-dimensional mechanical joint 42 drives the end effector 44 to move to a position above a container stored in the layer 240 or a container stored in the pallet 22, the end effector 44 releases the goods so that the goods fall into the container stored in the layer 240 or the container stored in the pallet 22, and according to the actual situation, for example, the goods are fragile goods, in order to prevent the goods from being damaged due to dropping, after the multi-dimensional mechanical joint 42 drives the end effector 44 to move to a position in the container stored in the layer 240 or the container stored in the pallet 22, the end effector 44 releases the goods so as to prevent the goods from being damaged due to dropping.

Referring to fig. 2 and 6, the cargo identification assembly 60 includes a first cargo identification device 62, a second cargo identification device 64 and a third cargo identification device 66.

Both the first cargo identification device 62 and the second cargo identification device 64 are used to identify the cargo within the container in which the pallet 22 is stored.

First cargo identification device 62 is fixedly mounted to mounting platform 380. The first item identification device 62 includes a first camera 620 and a camera mount 622. The camera support 622 is rod-shaped and located on the same side of the mounting platform 380 as the supporting plate 22, one end of the camera support 622 is fixedly mounted on the mounting platform 380, and the other end of the camera support 622 is higher than the supporting plate 22. A first camera 620 is mounted to the other end of the camera mount 622 for capturing image information of the cargo within the cargo box in which the pallet 22 is stored to identify the cargo within the cargo box in which the pallet 22 is stored.

The second cargo recognition device 64 is fixedly mounted to the other end of the multi-dimensional mechanical joint 42 and is movable with the other end of the multi-dimensional mechanical joint 42. The second cargo recognizing device 64 includes a second camera. The second camera is mounted at the other end of the multi-dimensional mechanical joint 42 and is movable with the other end of the multi-dimensional mechanical joint 42 for acquiring image information of the cargo in the cargo box stored by the pallet 22 to identify the cargo in the cargo box stored by the pallet 22.

The second item identification device 64 is also used to identify items within the containers stored on the storage shelves 24. Specifically, the second camera moves together with the other end of the multi-dimensional mechanical joint 42 to acquire image information of the goods in the container stored in the layer 240, so as to identify the goods in the container stored in the layer 240.

The third goods identification device 66 is used to identify the goods in the containers stored in the storage racks. The third cargo recognition device 66 comprises a third camera 660. A plurality of third cameras 660 are installed on the vertical supports 19 in a distributed manner in the vertical direction, and each third camera 660 is configured to acquire image information of goods in the cargo box stored in one corresponding layer 240 to identify the goods in the cargo box stored in the corresponding layer 240. Each third camera 660 may be suspended from its corresponding beam 192 with its corresponding tier floor 240 positioned below the beam 192.

Here, how each of the cargo recognition devices (i.e., the first, second, and third cargo recognition devices described above) recognizes the cargo in the cargo box will be described in detail. The above-mentioned cargo image information includes SKU (stock keeping unit) information of the cargo, and position information of the cargo. The goods are pasted with the bar codes containing the SKU information, the bar codes containing the designated SKU information are marked by scanning the bar codes in the visual field of the camera, and the goods pasted with the bar codes are the goods to be taken out (in the container stored by the supporting plate) or stored (in the container stored by the laminate). Since the position of the cargo box stored in the pallet or the laminate is substantially fixed, the position of the cargo to be stored and taken in the cargo box is determined based on the position of the marked bar code in the camera field of view, and at this time, the cargo recognition device completes the operation of recognizing the cargo in the cargo box.

On the basis of the principle of identifying the cargo by the cargo identification device, the differences of the first, second and third cargo identification devices are further explained herein. The first goods identification device and the second goods identification device are used for identifying goods in the container stored by the supporting plate, but the first goods identification device is fixed on the mounting base, under the condition that the positions of the goods in the container are dispersed, the position information of each goods in the container can be accurately acquired by the first camera of the first goods identification device, but under the condition that the positions of the goods in the container are dense, the accuracy of acquiring the position information of each goods in the container by the first camera can be reduced. The third goods recognition device is fixed on the storage shelf, is similar to the first goods recognition device, and when the goods positions in the container stored by the laminate are scattered, the third camera of the third goods recognition device can accurately acquire the goods image information in the container, and when the goods positions in the container stored by the laminate are concentrated, the accuracy of acquiring the position information of each goods in the container by the third camera of the third goods recognition device can be reduced. Therefore, the second cargo identification device is mounted at the other end of the mechanical arm and moves along with the other end of the mechanical arm, and the mechanical arm can drive the second cargo identification device to move to be close to each cargo in the cargo box, so that the accuracy of the second camera of the second cargo identification device for acquiring the image information of each cargo in the cargo box is improved. Thus, in other embodiments, the second cargo identification device may be omitted where the cargo locations within the cargo box are more dispersed as previously described.

Because the first goods identification device and the second goods identification device are used for identifying the goods in the container stored by the supporting plate, in order to improve the identification efficiency, the first goods identification device identifies the goods in the container before the second goods identification device, if the first goods identification device identifies the position information and the SKU information of the goods in the container (if the positions of the goods are scattered), the second goods identification device can determine the position information of the goods by only identifying the SKU information of the goods in the container according to the position information and the SKU information provided by the first goods identification device, and the position information of the goods does not need to be identified again. If the first cargo identification device does not identify the position information of the cargo, the second cargo identification device needs to identify the position information and the SKU information of the cargo. The second cargo identification device and the third cargo identification device are both used for identifying the cargo in the container stored in the storage assembly, and the same is true for the cooperation mode of the first cargo identification device and the second cargo identification device, which is not repeated herein.

The second cargo identification device is also used for identifying the SKU information of the cargo grabbed by the end execution device to be matched with the designated SKU information so as to judge whether the end execution device grabs the wrong cargo. In this case, the plurality of layers are arranged, and one container stored in the plurality of layers can be selected to store only wrong goods.

Example 2

Referring to fig. 7, embodiment 2 of the present application provides a transfer robot 200, which is substantially the same as the transfer robot 100 provided in embodiment 1, except that the mounting position of the cargo transferring unit 40 is different.

One side of one of the columns 190 facing away from the other column 190 is provided with a guide post that is guided in a vertical direction. Two guide posts are arranged in parallel and are used together for guiding the goods transfer assembly 40 to move in the vertical direction relative to the vertical support 19.

The vertical support also includes a lifting platform 70. The lifting platform 70 is provided with two clamping jaws, each clamping jaw is sleeved on a corresponding guide post, and the lifting platform 70 can move relative to the vertical support 19 along the vertical direction. The spin base 420 is horizontally mounted to the elevating platform 70, and the first rotation axis O1 is arranged in a horizontal direction.

When the cargo transfer assembly 40 requires removal of cargo from the container in which the pallet 22 is stored or storage of the removed cargo into the container in which the pallet 22 is stored, the lift platform 70 is moved in a vertical direction so that the cargo transfer assembly 40 supported by the lift platform is at the same elevation as the container in which the pallet 22 is stored to facilitate removal of cargo from the container in which the pallet 22 is stored by the cargo transfer assembly 40 or storage of the removed cargo into the container in which the pallet 22 is stored.

It is understood that the number of the cargo transferring assemblies 40 may be two according to actual conditions, and two cargo transferring assemblies 40 are arranged on two sides of the vertical bracket.

The cargo transfer unit 40 is raised and lowered by the lift platform 70 when it is desired to be at the same elevation as the container in which the tier floor 240 is stored. The cargo transfer unit 40 is mounted to the vertical support platform and is closer to the container on which the deck 240 is stored than in embodiment 1.

Example 3

Referring to fig. 8, embodiment 3 of the present application provides a transfer robot 300, which is substantially the same as the transfer robot 100 provided in embodiment 1, except that the telescopic arm device of the cargo handling assembly 30 is removed, and the cargo transferring assembly 40 performs a cargo box accessing function, that is, the cargo transferring assembly 40 is used to retrieve and store a cargo box from one of the warehouse rack and pallet 22 to the other, and retrieve and store a cargo box from one of the cargo box stored in the pallet 22 and the cargo box stored in the storage rack 24 to the other.

End effector 44 includes a first end effector 440 and a second end effector 442. A first end effector 440 and a second end effector 442 are alternatively coupled to the other end of the multi-dimensional mechanical joint 42, the first end effector 440 being configured to grasp cargo and the second end effector 442 being configured to grasp a container.

It can be understood that according to actual conditions, the first end effector can also be used for grabbing the packing box, and because the specification of packing box is different, the end effector that can the adaptation corresponds the model, and in the same way, the second end effector also can be used for grabbing the goods.

The first end effector 440 is a suction cup device for attracting the cargo. The second end effector 442 is a gripper for gripping a container. Depending on the actual situation, the first end effector 440 or the second end effector 442 may be replaced by an effector such as a hook or a shovel.

The container recognition assembly may be omitted and in this embodiment the second cargo recognition device 64 is substituted for its function of container recognition.

The mounting platform 380 is provided with a first storage cradle 3800 for storing the first end effector 440 or the second end effector 442, and a second storage cradle 3802 for storing the first end effector 440 or the second end effector 442. By providing first and second storage racks 3800,3802, alternative first and second end effectors 440, 442 may be stored.

The mounting platform 380 is raised and lowered in a vertical direction so that the product transfer assembly 40 supported by the mounting platform 380 is at the same elevation as the containers stored on the warehouse rack or shelf 240, and the mounting platform 380 is rotated in a vertical direction so that the product transfer assembly 40 is proximate to the containers stored on the warehouse rack or shelf 240, and the product transfer assembly 40 is at the same elevation as the containers stored on the warehouse rack or shelf 240, and proximate to the containers stored on the warehouse rack or shelf 240, to facilitate the product transfer assembly 40 in removing containers from the warehouse rack or storage rack 24, or in storing containers to the warehouse rack or storage rack 24.

The process of retrieving and depositing containers stored on the warehouse rack or storage rack 24 to the pallets 22 by the product transfer assembly 40 is as follows:

the multi-dimensional robotic joint 42 deposits the first end effector 442 to the first storage cradle 3800 or the second storage cradle 3802, and the multi-dimensional robotic joint 42 mounts the second end effector 440 for storage in the first storage cradle 3800 or the second storage cradle 3802. The multi-dimensional mechanical joint 42 drives the second end effector 442 to access a container stored on the warehouse rack or tier 240, the second end effector 442 grabs the container stored on the warehouse rack or tier 240, the multi-dimensional mechanical joint 42 drives the second end effector 442 to access the pallet 22, and the second end effector 442 releases the container to store the container to the pallet 22.

The process of the product transfer assembly 40 removing and depositing containers deposited on pallets 22 to a warehouse rack or storage rack empty space is as follows:

the multi-dimensional robotic joint 42 deposits the first end effector 442 to the first storage cradle 3800 or the second storage cradle 3802, and the multi-dimensional robotic joint 42 mounts the second end effector 440 for storage in the first storage cradle 3800 or the second storage cradle 3802. The multi-dimensional mechanical joint 42 drives the second end effector 442 toward the container stored in the pallet 22 and the second end effector 442 grabs the container stored in the pallet 24. The multi-dimensional mechanical joint 42 drives the second end effector 442 toward the storage shelf or tier 240 void and the second end effector 442 releases the container for storage into the storage shelf or tier 240 void. The multi-dimensional mechanical joint 42 drives the second end effector 442 to reposition.

The process of removing the cargo from the container stored in the pallet 22 or the storage rack 24 by the cargo transfer assembly 40 is as follows:

the multi-dimensional robotic joint 42 deposits the second end effector 442 into the first storage cradle 3800 or the second storage cradle 3802, the multi-dimensional robotic joint 42 mounts the first end effector 440 stored in the first storage cradle 3800 or the second storage cradle 3802, the multi-dimensional robotic joint 42 actuates the first end effector 440 to move into a cargo box in which the pallets 22 are stored or into a cargo box in which the tier 240 is stored, the first end effector 440 grasps the cargo, and the multi-dimensional robotic joint 42 actuates the first end effector 440 to extend from the cargo box.

The process of depositing the removed cargo into the container stored in the pallet 22 or the container stored in the tier 240 by the cargo transfer assembly 40 is as follows:

the multi-dimensional mechanical joint 42 moves the first end effector 42 over a container in which the pallet 22 is stored or a container in which the deck 240 is stored, and the first end effector 42 releases the cargo to drop into the container in which the pallet 22 is stored or the container in which the deck 240 is stored.

Compared with the prior art, in the transfer robots 100,200, and 300 provided in embodiments 1, 2, and 3 of the present application, by configuring the transfer system, the cargo can be taken out from the cargo box stored in the pallet, and after the cargo is taken out, the cargo box is put back to the warehouse shelf, so that the cargo taking method is flexible and the efficiency is high.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; within the context of the present application, where technical features in the above embodiments or in different embodiments can also be combined, the steps can be implemented in any order and there are many other variations of the different aspects of the present application as described above, which are not provided in detail for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims (17)

1. A transfer robot, characterized by comprising:

a vertical support;

a mounting platform supported by the upright support;

the supporting plate is arranged on the mounting platform and used for storing a container; and

a cargo transfer assembly mounted to the mounting platform for retrieving a container from one of a warehouse rack and the pallet and storing it to the other, and/or retrieving cargo from within a container stored by the pallet.

2. The transfer robot of claim 1, wherein the cargo transfer assembly includes a multi-dimensional mechanical joint and an end effector;

one end of the multi-dimensional mechanical joint is mounted on the mounting platform, and the other end of the multi-dimensional mechanical joint can rotate in multiple angles and move in multiple directions relative to the mounting platform;

the tail end executing device is arranged at the other end of the multi-dimensional mechanical joint and is used for grabbing goods or containers.

3. The transfer robot of claim 2, wherein the end effector includes a first end effector and a second end effector;

the first end effector and the second end effector are replaceably connected to the other end of the multi-dimensional mechanical joint, the first end effector is used for grabbing goods or containers, and the second end effector is used for grabbing goods or containers.

4. A transfer robot as claimed in claim 3, wherein the first end effector is a chuck device for sucking a cargo or a container;

the second end executing device is a mechanical claw and is used for clamping goods or containers.

5. A transfer robot as claimed in claim 3, wherein the mounting platform is provided with a first storage rack and a second storage rack;

the first storage rack is used for storing the first end execution device or the second end execution device;

the second storage rack is used for storing the first end execution device or the second end execution device.

6. The transfer robot according to claim 2, further comprising a second cargo recognition device;

the second cargo identification device is mounted to the cargo transfer assembly for identifying the cargo containers and/or identifying the cargo within the cargo containers in which the pallets are stored.

7. The transfer robot of claim 6, wherein the second cargo identification component comprises a second camera;

the second camera is arranged at the other end of the multi-dimensional mechanical arm and is used for acquiring image information of a container and/or the container stored by the supporting plate.

8. A transfer robot according to any one of claims 1 to 7, characterized in that the transfer robot comprises a first cargo identification device;

the first cargo identification device is mounted on the mounting platform and used for identifying the cargo in the container stored by the supporting plate.

9. The transfer robot of claim 8, wherein the first cargo recognition device includes a first camera and a camera mount;

one end of the camera bracket is mounted on the mounting platform, and the other end of the camera bracket is mounted on the first camera;

the first camera is used for acquiring image information in a container stored by the supporting plate.

10. The transfer robot according to any one of claims 1 to 7, further comprising a rotation drive device and a mounting base;

the mounting base is mounted on the vertical support, and the mounting platform is mounted on the mounting base;

the rotary driving device is installed on the installation base and connected with the installation platform, and the rotary driving device is used for driving the installation platform to rotate around the vertical direction.

11. The transfer robot of claim 10, further comprising a storage rack;

the storage shelf is arranged on the vertical bracket;

the cargo transfer assembly is also adapted to deposit cargo removed from a container deposited by the pallet into a container deposited by the storage rack and/or to remove a container from one of the pallet and the storage rack and deposit it onto the other.

12. The transfer robot of claim 11, further comprising a lift drive device;

the lifting driving device is installed on the vertical support, connected with the installation base and used for driving the installation base to move in the vertical direction.

13. The transfer robot of claim 12, wherein the storage rack includes a deck, a plurality of which are distributed in a vertical direction;

the goods transfer assembly is also used for storing goods taken out of the containers stored in the pallets into any one of the layers, and/or is also used for taking goods out of the containers stored in any one of the layers and storing the goods into the containers stored in the pallets, and/or is also used for taking the goods out of one of any one of the layers and the pallets and storing the goods into the other.

14. The transfer robot of claim 11, further comprising a third cargo recognition device;

the third goods identification device is arranged on the storage shelf and used for identifying the goods in the container stored on the storage shelf.

15. The transfer robot of claim 14, wherein the storage rack includes a deck, a plurality of which are distributed in a vertical direction;

the goods transfer assembly is also used for storing goods taken out of the containers stored in the pallets to any one of the laminates, and/or is also used for taking goods out of the containers stored in any one of the laminates and storing the goods in the containers stored in the pallets, and/or is also used for taking the goods out of one of any one of the laminates and the pallets and storing the goods in the other;

the third goods identification devices are arranged on the vertical support in a distributed mode along the vertical direction, and each third goods identification device is used for obtaining image information in a container stored in a corresponding layer plate.

16. The transfer robot of claim 15, further comprising a first cargo recognition device;

the first cargo identification device is mounted on the mounting platform and used for identifying the cargo in the container stored by the supporting plate.

17. The transfer robot of any one of claims 1 to 7, further comprising a moving assembly;

the moving assembly carries the vertical support for movement on the warehouse floor.

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