CN108069180A - Robot - Google Patents

Robot Download PDF

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Publication number
CN108069180A
CN108069180A CN201711135812.7A CN201711135812A CN108069180A CN 108069180 A CN108069180 A CN 108069180A CN 201711135812 A CN201711135812 A CN 201711135812A CN 108069180 A CN108069180 A CN 108069180A
Authority
CN
China
Prior art keywords
goods
plate
robot
shelf
cargo
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201711135812.7A
Other languages
Chinese (zh)
Inventor
徐圣东
陈宇奇
孔哲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hajou Creative Technology Ltd Shenzhen
Shenzhen Hairou Innovation Technology Co Ltd
Original Assignee
Hajou Creative Technology Ltd Shenzhen
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hajou Creative Technology Ltd Shenzhen filed Critical Hajou Creative Technology Ltd Shenzhen
Priority to CN201711135812.7A priority Critical patent/CN108069180A/en
Publication of CN108069180A publication Critical patent/CN108069180A/en
Priority claimed from KR1020217037858A external-priority patent/KR102385397B1/en
Priority claimed from RU2021124014A external-priority patent/RU2772360C2/en
Priority claimed from US17/651,328 external-priority patent/US20220169446A1/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical

Abstract

Present disclose provides a kind of robot, including:Shelf structure, the shelf structure include the multi-layered storage rack plate of different height;Elevating mechanism is connected with the shelf structure, for determining that a goods shelf plate is available goods shelf plate;And operating mechanism, it is connected with the elevating mechanism, for accessing cargo.

Description

Robot
Technical field
This disclosure relates to warehouse logistics field, more particularly, to a kind of robot.
Background technology
It is higher and higher to the efficiency and cost requirement of carrying and the access of cargo with the fast development of logistic industry.Example When transporting goods such as businessman in storehouse, in order to save manpower and cost, businessman is transported goods by robot, therefore, such as What improves the efficiency that robot transports goods and larger challenge is brought to businessman.
During present inventive concept is realized, inventor has found that at least there are the following problems in the prior art, existing to remove Robot is transported during cargo transport, can only once carry a cargo so that the efficiency that robot transports goods is low.
The content of the invention
In view of this, present disclose provides a kind of robots for transporting goods.
Present disclose provides a kind of robot, including:Shelf structure, the shelf structure include the multilayer goods of different height Frame plate, elevating mechanism are connected with the shelf structure, for determining that a goods shelf plate is that can use goods shelf plate and operating mechanism, It is connected with the elevating mechanism, for accessing cargo.
In accordance with an embodiment of the present disclosure, above-mentioned shelf structure further includes at least one fixed structure, each fixed knot Structure is used to fix corresponding goods shelf plate.
In accordance with an embodiment of the present disclosure, above-mentioned elevating mechanism be connected with the shelf structure including:The elevating mechanism with At least one fixed structure connection, at least one fixed structure are connected with the multi-layered storage rack plate.
In accordance with an embodiment of the present disclosure, above-mentioned robot, further includes chassis, and the elevating mechanism includes:Column is fixed on The chassis, the column are connected with the shelf structure, and can make the operating mechanism lifting moving.
In accordance with an embodiment of the present disclosure, aforesaid operations mechanism includes two goods arms.
In accordance with an embodiment of the present disclosure, above-mentioned goods arm includes:Fixed plate, movable plate and at least one operating body.It is described Fixed plate is connected to the elevating mechanism, and the movable plate can carry out telescopic movable compared with the fixed plate, it is described at least One operating parts is connected to the movable plate, at least one operating parts in the first condition in first state, it is described extremely A few operating parts is in the second state under a second condition, wherein, the goods arm can pass through the flexible work of the movable plate The action of access cargo is realized in the state switching of dynamic and described at least one operating parts.
In accordance with an embodiment of the present disclosure, above-mentioned goods arm can pass through the telescopic movable of the movable plate and described at least one The action of access cargo is realized in the state switching of a operating parts, including:At least one operating parts is under first state, institute It is contactless with cargo to state goods arm, at least one operating parts is under the second state, the goods arm and cargo contacts, the goods Arm realizes access cargo under the switching of first state and the second state.
In accordance with an embodiment of the present disclosure, aforesaid operations mechanism lifting moving includes:The fixed plate of the goods arm is connected to institute It states on the guide rail of column, the goods arm is moved along the lifting rail of the column, also, described two goods arms are synchronized with the movement.
In accordance with an embodiment of the present disclosure, above-mentioned chassis includes at least one idler wheel, and at least one idler wheel is for described Robot is slided.
In accordance with an embodiment of the present disclosure, above-mentioned robot further includes navigation positioning module, and the navigation positioning module can Obtain the routing information from current location to target location.
In accordance with an embodiment of the present disclosure, can solve once carry a cargo in existing robot at least partly The technical issues of, and therefore can be realized by the multi-layered storage rack plate of robot and once carry multiple cargos, improve robot The technique effect of handling efficiency.
Description of the drawings
By the description referring to the drawings to the embodiment of the present disclosure, the above-mentioned and other purposes of the disclosure, feature and Advantage will be apparent from, in the accompanying drawings:
Fig. 1 diagrammatically illustrates the stereogram of the robot according to the embodiment of the present disclosure;
Fig. 2 diagrammatically illustrates the structure diagram of the robot according to the embodiment of the present disclosure;And
Fig. 3 diagrammatically illustrates the structure diagram of the goods arm according to the robot of the embodiment of the present disclosure.
Specific embodiment
Hereinafter, it will be described with reference to the accompanying drawings embodiment of the disclosure.However, it should be understood that these descriptions are simply exemplary , and it is not intended to limit the scope of the present disclosure.In addition, in the following description, the description to known features and technology is omitted, with Avoid unnecessarily obscuring the concept of the disclosure.
Term as used herein is not intended to limit the disclosure just for the sake of description specific embodiment.It uses herein Term " comprising ", "comprising" etc. show the presence of the feature, step, operation and/or component, but it is not excluded that in the presence of Or other one or more features of addition, step, operation or component.
All terms (including technical and scientific term) as used herein have what those skilled in the art were generally understood Meaning, unless otherwise defined.It should be noted that term used herein should be interpreted that with consistent with the context of this specification Meaning, without should by idealization or it is excessively mechanical in a manner of explain.
It, in general should be according to this in the case where using similar to " in A, B and C etc. at least one " such statement Field technology personnel are generally understood the meaning of the statement to make an explanation (for example, " having system at least one in A, B and C " Should include but not limited to individually with A, individually with B, individually with C, with A and B, with A and C, with B and C, and/or System with A, B, C etc.).In the case where using similar to " in A, B or C etc. at least one " such statement, it is general come Say be generally understood the meaning of the statement to make an explanation (for example, " having in A, B or C at least according to those skilled in the art The system of one " should include but not limited to individually with A, individually with B, individually with C, with A and B, with A and C, with B and C, and/or the system etc. with A, B, C).It should also be understood by those skilled in the art that substantially arbitrarily represent two or more The adversative conjunction and/or phrase of optional project, either in specification, claims or attached drawing, shall be construed as It gives including one of these projects, the possibility of these projects either one or two projects.For example, phrase " A or B " should It is understood to include the possibility of " A " or " B " or " A and B ".
Embodiment of the disclosure provides a kind of robot, which includes:Shelf structure, the shelf structure are included not Level multi-layered storage rack plate, elevating mechanism are connected with shelf structure, for determining that a goods shelf plate is available goods shelf plate, with And operating mechanism, it is connected with elevating mechanism, for accessing cargo.
The robot according to disclosure illustrative embodiments is described with reference to Fig. 1~Fig. 3.
Fig. 1 diagrammatically illustrates the stereogram of the robot according to the embodiment of the present disclosure.
Fig. 2 diagrammatically illustrates the structure diagram of the robot according to the embodiment of the present disclosure.
As shown in Fig. 1~Fig. 2, the robot of one embodiment of the disclosure include shelf structure 100, elevating mechanism 200 and Operating mechanism 300.Wherein, shelf structure 100 includes the multi-layered storage rack plate 110 of different height.
In the embodiments of the present disclosure, the primary structure of cargo is stored during shelf structure 100 transports goods for robot, Such as multi-layered storage rack plate 110 can be included, every layer of goods shelf plate 110 can arrangement of goods, different goods shelf plates 110 for example can be with In different height, those goods shelf plates 110 for example can be detachable installation, and those skilled in the art can be according to practical application A certain number of goods shelf plates 110 are installed, with this realize robot when transporting goods by cargo storage in multi-layered storage rack plate 110 On or robot the cargo on multi-layered storage rack plate 110 can be positioned on the common shelf of storehouse, robot is improved with this Handling efficiency.
According to the embodiment of the present disclosure, shelf structure 100 further includes at least one fixed structure 120, each fixed structure 120 For fixing corresponding goods shelf plate 110.
According to the embodiment of the present disclosure, fixed structure 120 for example can be rod-like structure, such as can be U-shaped rod-shaped knot Structure, wherein, each fixed structure 120 is used to fix different goods shelf plates 110.Fixed structure 120 for example can be by goods shelf plate 110 The center section of U-shaped rod-like structure is fixed on, and certain area is left on goods shelf plate 110 and the both sides of U-shaped rod-like structure.
According to the embodiment of the present disclosure, elevating mechanism 200 is connected with shelf structure 100, for determining that a goods shelf plate 110 is Goods shelf plate 110 can be used.
According to the embodiment of the present disclosure, elevating mechanism 200 is connected with shelf structure 100, and elevating mechanism 200 can for example be realized The function of moving up and down, such as when cargo is placed on the goods shelf plate 110 of different height by robot, elevating mechanism 200 can Different 110 corresponding height of goods shelf plate are moved to above, realize that cargo is positioned over different goods shelf plates 110 by robot with this On.
According to the embodiment of the present disclosure, elevating mechanism 200 is connected with shelf structure 100 including elevating mechanism 200 and at least one A fixed structure 120 connects, and at least one fixed structure 120 is connected with multi-layered storage rack plate 110.
In the embodiments of the present disclosure, elevating mechanism 200 is connected with shelf structure 100 for example can be elevating mechanism 200 with Multiple fixed structures 120 connect, such as can be that the both ends of fixed structure 120 are connected (i.e. U-shaped rod-shaped knot with elevating mechanism 200 The both ends of structure are connected with elevating mechanism 200), connection mode for example can be detachably connected.Fixed structure 120 and multilayer goods Frame plate 110 connects, such as a fixed structure 120 connects a goods shelf plate 110, will be corresponding by multiple fixed structures 120 Multiple goods shelf plates 110 are connected on elevating mechanism 200.Those skilled in the art can will be a certain number of solid according to practical application Determine structure 120 to be connected on elevating mechanism 200, realize that multiple goods shelf plates 110 are connected on elevating mechanism 200 with this.
According to the embodiment of the present disclosure, operating mechanism 300 is connected with elevating mechanism 200, for accessing cargo.
In the embodiments of the present disclosure, what operating mechanism 300 can for example carry out cargo picks and places action.Wherein, operating mechanism 300 can move up and down along elevating mechanism 200, and then cargo is placed on the goods shelf plate 110 of different height.
In the embodiments of the present disclosure, operating mechanism 300 can be towed structure, tray-like structure, hold formula structure, with And mechanical arm etc..Wherein, towed structure, such as can be by the way that cargo is dragged on shelf structure 100;Pellet type knot Structure, such as can be that cargo is placed on pallet and is placed on together on common shelf, robot will be held in the palm by operating mechanism 300 Disk and cargo are lifted from common shelf and are placed on the shelf structure 100 of robot together;Hold formula structure, such as can be with Cargo is lifted by gripping cargo and pressed from both sides to shelf structure 100;Mechanical arm, such as can be incited somebody to action by arm Grasp Modes Cargo is placed on shelf structure 100.The embodiment of the present disclosure does not limit the concrete structure of operating mechanism, and those skilled in the art can It is configured according to practical situations.
According to the robot of the embodiment of the present disclosure, chassis 400 is further included.
In the embodiments of the present disclosure, robot for example further includes chassis 400, and chassis 400 carries the elevator of robot Structure 200 and operating mechanism 300.
According to the robot of the embodiment of the present disclosure, chassis 400 includes at least one idler wheel, and at least one idler wheel is used to make machine Device people can be moved.
Robot can for example be moved by idler wheel, such as different places that can be in storehouse access cargos.
According to the embodiment of the present disclosure, elevating mechanism 200 includes column 210.Wherein, column 210 is fixed on chassis 400, stands Column 210 is connected with shelf structure 100, and can make 300 lifting moving of operating mechanism.
In the embodiments of the present disclosure, elevating mechanism 200 is for example including two columns 210, wherein, two columns 210 are fixed On chassis 400, such as two columns 210 are perpendicularly fixed on chassis 400.Wherein, column 210 and shelf structure 100 Connection, such as column 210 are connected with fixed structure 120, and specifically, such as the both ends of U-shaped rod-like structure are connected with column 210.
In the embodiments of the present disclosure, shelf structure 100 can be for example connected on column 210, and shelf structure 100 is for example also It can be fixed in the other structures of robot, such as can be fixed on the main body frame of robot, the embodiment of the present disclosure is not The fixed form of shelf structure 100 is limited, those skilled in the art can specifically set according to practical situations.
In the embodiments of the present disclosure, 300 lifting moving of operating mechanism, for example, can be operating mechanism 300 movably with Column 210 connects, such as operating mechanism 300 can make lifting moving along column 210, and operating mechanism 300 is by along column 210 carry out lifting moving, can be placed on cargo on the goods shelf plate 110 of different height.
As described above, operating mechanism 300 for example can be towed structure, tray-like structure, hold formula structure, Yi Jiji Tool arm etc., the embodiment of the present disclosure do not limit the concrete structure of operating mechanism, in order to make it easy to understand, the embodiment of the present disclosure will be with The operating mechanism of towed structure is described in detail.
According to the embodiment of the present disclosure, operating mechanism 300 includes two goods arms 310.
According to the embodiment of the present disclosure, two goods arms 310 are for example respectively arranged on different columns 210, operating mechanism 300 for example can access cargo by two goods arms 310.
Fig. 3 diagrammatically illustrates the structure diagram of the goods arm according to the robot of the embodiment of the present disclosure.
As shown in figure 3, goods arm 310 includes fixed plate 311, movable plate 312 and at least one operating parts 313.Wherein, Gu Fixed board 311 is connected to elevating mechanism 200.
According to the embodiment of the present disclosure, fixed plate 311 is connected on elevating mechanism 200, and specifically, fixed plate 311 can connect It is connected on column 210, such as fixed plate 311 can only be moved up and down with respect to column 210, it is impossible to it is moved horizontally with respect to column 210, Fixed plate 311 play by goods arm 310 support on column 210.
According to the embodiment of the present disclosure, 300 lifting moving of operating mechanism includes:The fixed plate 311 of goods arm 310 is connected to column On 210 guide rail, goods arm 310 is moved along the lifting rail of column 210, also, two goods arms 310 are synchronized with the movement.
According to the embodiment of the present disclosure, operating mechanism 300 for example can carry out lifting moving along column 210, specifically, often A column 210 for example can include sliding equipment, wherein sliding equipment for example can include two lifting sprockets, a chain, One secondary guide rail slide block, fixed plate 311 can be for example connected by guide rail slide block on the guide rail with column 210, by lifting sprocket, Chain realizes that goods arm 310 is moved along the lifting rail of column 210.
It is appreciated that the embodiment of the present disclosure does not limit the mode that goods arm carries out lifting moving compared with column, i.e., do not limit Specific sliding equipment, sliding equipment can include lifting sprocket, chain and guide rail slide block, can also be other slips Mechanism, those skilled in the art can specifically set according to practical application.
In the embodiments of the present disclosure, (goods shelf plate 110 in the U-shaped structure of shelf structure can be located at when goods arm 310 is shunk Within the both sides certain area of U-shaped rod-like structure), ensure with shelf structure 100 to interfere during goods 310 lifting moving of arm, It realizes that robot architecture is compact, saves space-efficient effect.
According to the embodiment of the present disclosure, two goods arms 310, which are synchronized with the movement, for example can be, two goods arms are driven by a motor It moves and is synchronized with the movement to realize, saving space is achieved the effect that with this, reduce cost and improves the precision that goods arm transports goods.
According to the embodiment of the present disclosure, movable plate 312 can carry out telescopic movable compared with fixed plate 311.
According to the embodiment of the present disclosure, movable plate 312 can for example include the first plate 312a and the second plate 312b, the first plate 312a for example can carry out telescopic movable compared with fixed plate 311, and the second plate 312b can for example be carried out with respect to the first plate 312a Telescopic movable.Similarly, the movable plate 312 of the embodiment of the present disclosure can also include the 3rd plate, the 4th plate ..., and the disclosure is implemented Example is not construed as limiting its quantity.
According to the embodiment of the present disclosure, at least one operating parts 313 is connected to movable plate 312, and at least one operating parts 313 exists The second state is under a second condition in first state, at least one operating parts 313 under first condition.
According to the embodiment of the present disclosure, at least one operating parts 313 is connected to movable plate 312, such as can be operating parts 313 The second plate 312b of movable plate 312 is connected to, such as the both ends of a second plate 312b can connect at least one operating parts 313。
According to the embodiment of the present disclosure, first condition for example can be that robot is under off position or is preparing Access the not process with cargo contacts during cargo, second condition for example can be during robot access cargo and cargo The process of contact, first state for example can be that operating parts 313 is in vertical state, and the second state for example can be operating parts 313 are in horizontality.
According to the embodiment of the present disclosure, telescopic movable and at least one operating parts that goods arm 310 can be by movable plate 312 The action of access cargo is realized in 313 state switching.Wherein, at least one operating parts 313 is under first state, goods arm 310 Contactless with cargo, at least one operating parts 313 is under the second state, and goods arm 310 and cargo contacts, goods arm is in first state Access cargo is realized under switching with the second state.
According to the embodiment of the present disclosure, the movable plate 312 of goods arm 310 for example freely can be stretched out and retracted from both ends, be realized Two-way stretching is retracted, and operating parts 313 is in vertically and horizontally two states.When picking, it is operated first part 313 and is in vertical State, goods arm 310 stretches out movable plate 312 until the end of movable plate 312 (i.e. the second plate 312b) is more than cargo back, operating parts 313 are switched to horizontality from vertical state, and then goods arm 310 is retracted, and operating parts 313 keeps horizontality that can just drag at this time Cargo is dragged to the goods shelf plate 110 of robot.When goods putting, operating parts 313 is in horizontality, and then goods arm 310 stretches out Movable plate 312 until cargo be pushed into from robot goods shelf plate 110 by operating parts 313 on the common shelf of storehouse, operating parts 313 from Horizontality is switched to vertical state, and then goods arm 310 is retracted.
According to the robot of the embodiment of the present disclosure, navigation positioning module is further included, navigation positioning module can be obtained from working as Front position is to the routing information of target location.
In the embodiments of the present disclosure, navigation positioning module for example can be that laser navigation, two-dimension code navigation, indoor positioning are used to Property navigation or tape navigation etc. modes, navigation positioning module robot is caused to obtain current location automatically to target location Routing information realizes robot according to routing information into line access cargo.The unlimited navigation positioning module processed of the embodiment of the present disclosure is adopted Specific navigation mode, as long as robot autonomous navigation can be realized, those skilled in the art can be according to practical application The specific setting navigation mode of situation.
In accordance with an embodiment of the present disclosure, robot includes multi-layered storage rack plate, the side moved by robot goods arm liftable Formula so that a variety of cargos can be placed on different goods shelf plates by robot, realized that multiple cargos are once carried by robot, improved The handling efficiency of robot.
Embodiment of the disclosure is described above.But the purpose that these embodiments are merely to illustrate that, and It is not intended to limitation the scope of the present disclosure.Although respectively describing each embodiment above, but it is not intended that each reality Use cannot be advantageously combined by applying the measure in example.The scope of the present disclosure is defined by the appended claims and the equivalents thereof.It does not take off From the scope of the present disclosure, those skilled in the art can make a variety of alternatives and modifications, these alternatives and modifications should all fall at this Within scope of disclosure.

Claims (10)

1. a kind of robot, including:
Shelf structure, the multi-layered storage rack plate including different height;
Elevating mechanism is connected with the shelf structure, for determining that a goods shelf plate is available goods shelf plate;And
Operating mechanism is connected with the elevating mechanism, for accessing cargo.
2. robot according to claim 1, wherein, the shelf structure further includes at least one fixed structure, each The fixed structure is used to fix corresponding goods shelf plate.
3. robot according to claim 2, wherein, the elevating mechanism be connected with the shelf structure including:
The elevating mechanism is connected at least one fixed structure;
At least one fixed structure is connected with the multi-layered storage rack plate.
4. robot according to claim 1, further includes chassis, the elevating mechanism includes:
Column is fixed on the chassis, and the column is connected with the shelf structure, and can move the operating mechanism lifting It is dynamic.
5. robot according to claim 1, wherein, the operating mechanism includes two goods arms.
6. robot according to claim 5, wherein, the goods arm includes:
Fixed plate, the fixed plate are connected to the elevating mechanism;
Movable plate, the movable plate can carry out telescopic movable compared with the fixed plate;And
At least one operating parts, at least one operating parts are connected to the movable plate, and at least one operating parts is The second state is under a second condition in first state, at least one operating parts under the conditions of one,
Wherein, the goods arm can be switched by the telescopic movable of the movable plate and the state of at least one operating parts Realize the action of access cargo.
7. robot according to claim 6, wherein, the goods arm can by the telescopic movable of the movable plate and The action of access cargo is realized in the state switching of at least one operating parts, including:
At least one operating parts is under first state, and the goods arm and cargo are contactless, at least one operating parts Under the second state, the goods arm and cargo contacts, the goods arm are realized under the switching of first state and the second state and deposited Picking object.
8. the robot according to claim 4 or 6, wherein, the operating mechanism lifting moving includes:
The fixed plate of the goods arm is connected on the guide rail of the column, and the goods arm is moved along the lifting rail of the column It is dynamic, also, described two goods arms are synchronized with the movement.
9. robot according to claim 4, wherein, the chassis includes at least one idler wheel, at least one rolling Wheel is slided for the robot.
10. robot according to claim 1, further includes navigation positioning module, the navigation positioning module can obtain Routing information from current location to target location.
CN201711135812.7A 2017-11-14 2017-11-14 Robot Pending CN108069180A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711135812.7A CN108069180A (en) 2017-11-14 2017-11-14 Robot

Applications Claiming Priority (45)

Application Number Priority Date Filing Date Title
CN201711135812.7A CN108069180A (en) 2017-11-14 2017-11-14 Robot
KR1020217037858A KR102385397B1 (en) 2017-11-14 2018-09-07 Transport Robot and Transport Robot-Based Pickup Method
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AU2018368407A AU2018368407B2 (en) 2017-11-14 2018-09-07 Handling robot and method for retrieving inventory item based on handling robot
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CA3082510A CA3082510A1 (en) 2017-11-14 2018-09-07 Automated guided vehicle designed for warehouse
PCT/CN2018/104654 WO2019095804A1 (en) 2017-11-14 2018-09-07 Transport robot and transport robot-based pickup method
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PCT/CN2020/105514 WO2021018193A1 (en) 2017-11-14 2020-07-29 Method for controlling warehouse robot to store and retrieve inventory material
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AU2021266330A AU2021266330A1 (en) 2017-11-14 2021-11-12 Handling robot and method for retrieving inventory item based on handling robot
US17/585,828 US20220153522A1 (en) 2017-11-14 2022-01-27 Method for controlling warehouse robot to store and fetch inventory materials
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AU2022203237A AU2022203237A1 (en) 2017-11-14 2022-05-13 Automated guided vehicle designed for warehouse

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CN108069180A true CN108069180A (en) 2018-05-25

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CN109375626A (en) * 2018-11-20 2019-02-22 深圳市海柔创新科技有限公司 Alignment code is sticked method, apparatus, computer equipment and storage medium
CN109625727A (en) * 2018-12-12 2019-04-16 福州麦辽自动化设备有限公司 A kind of locking cargo transfer robot
WO2019095803A1 (en) * 2017-11-14 2019-05-23 Shenzhen Hairou Innovation Technology Co., Ltd. Automated guided vehicle designed for warehouse
CN110186459A (en) * 2019-05-27 2019-08-30 深圳市海柔创新科技有限公司 Air navigation aid, mobile vehicle and navigation system
CN110451153A (en) * 2019-09-10 2019-11-15 浙江国自机器人技术有限公司 A kind of shelf and a kind of warehousing system
CN110510315A (en) * 2019-08-30 2019-11-29 深圳市海柔创新科技有限公司 Sorting machine people and method for sorting
CN110734006A (en) * 2019-10-25 2020-01-31 台州风达机器人科技有限公司 multi-layer type transfer robot
CN110902366A (en) * 2018-09-18 2020-03-24 罗伯特·博世有限公司 Device and method for handling storage units
CN111634597A (en) * 2020-03-09 2020-09-08 深圳市海柔创新科技有限公司 Loading and unloading device and loading and unloading method
EP3919411A4 (en) * 2019-02-01 2022-07-06 Hai Robotics Co Ltd Transfer robot
US11396424B2 (en) 2017-11-14 2022-07-26 Hai Robotics Co., Ltd. Handling robot

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Publication number Priority date Publication date Assignee Title
WO2019095803A1 (en) * 2017-11-14 2019-05-23 Shenzhen Hairou Innovation Technology Co., Ltd. Automated guided vehicle designed for warehouse
WO2019095804A1 (en) * 2017-11-14 2019-05-23 深圳市海柔创新科技有限公司 Transport robot and transport robot-based pickup method
US11396424B2 (en) 2017-11-14 2022-07-26 Hai Robotics Co., Ltd. Handling robot
US11104514B2 (en) 2017-11-14 2021-08-31 Hai Robotics Co., Ltd. Handling robot and method for retrieving inventory item based on handling robot
CN110902366A (en) * 2018-09-18 2020-03-24 罗伯特·博世有限公司 Device and method for handling storage units
CN109375626A (en) * 2018-11-20 2019-02-22 深圳市海柔创新科技有限公司 Alignment code is sticked method, apparatus, computer equipment and storage medium
CN109625727B (en) * 2018-12-12 2021-06-18 北京兆驰供应链管理有限公司 Cargo handling robot with lock
CN109625727A (en) * 2018-12-12 2019-04-16 福州麦辽自动化设备有限公司 A kind of locking cargo transfer robot
EP3919411A4 (en) * 2019-02-01 2022-07-06 Hai Robotics Co Ltd Transfer robot
CN110186459A (en) * 2019-05-27 2019-08-30 深圳市海柔创新科技有限公司 Air navigation aid, mobile vehicle and navigation system
CN110186459B (en) * 2019-05-27 2021-06-29 深圳市海柔创新科技有限公司 Navigation method, mobile carrier and navigation system
CN110510315B (en) * 2019-08-30 2021-12-07 深圳市海柔创新科技有限公司 Sorting robot and sorting method
CN110510315A (en) * 2019-08-30 2019-11-29 深圳市海柔创新科技有限公司 Sorting machine people and method for sorting
CN110451153B (en) * 2019-09-10 2020-12-25 浙江国自机器人技术股份有限公司 Goods shelf and storage system
CN110451153A (en) * 2019-09-10 2019-11-15 浙江国自机器人技术有限公司 A kind of shelf and a kind of warehousing system
CN110734006A (en) * 2019-10-25 2020-01-31 台州风达机器人科技有限公司 multi-layer type transfer robot
CN111634597A (en) * 2020-03-09 2020-09-08 深圳市海柔创新科技有限公司 Loading and unloading device and loading and unloading method
CN111634597B (en) * 2020-03-09 2021-09-28 深圳市海柔创新科技有限公司 Loading and unloading device and loading and unloading method

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