CN108313606A - A kind of method that robot transports goods - Google Patents
A kind of method that robot transports goods Download PDFInfo
- Publication number
- CN108313606A CN108313606A CN201710033937.2A CN201710033937A CN108313606A CN 108313606 A CN108313606 A CN 108313606A CN 201710033937 A CN201710033937 A CN 201710033937A CN 108313606 A CN108313606 A CN 108313606A
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- container
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- storage unit
- robot
- handling
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- 238000000034 method Methods 0.000 title claims abstract description 43
- 230000032258 transport Effects 0.000 title abstract 2
- 238000012546 transfer Methods 0.000 claims abstract description 48
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 238000000151 deposition Methods 0.000 claims 16
- 238000010586 diagram Methods 0.000 description 2
- 241000208125 Nicotiana Species 0.000 description 1
- 235000002637 Nicotiana tabacum Nutrition 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a kind of methods that robot transports goods, and are related to warehouse logistics field, include the following steps：A kind of transfer robot and shelf are provided, transfer robot includes driving unit, container storage unit and container transmission unit, wherein driving unit carrying container storage unit and container transmission unit associated movement；Container storage unit and shelf respectively include one or more container memory spaces；Before transfer robot is autonomous mobile to purpose shelf according to pick-up instruction, container transmission unit obtains a container from the container memory space of shelf specified according to pick-up instruction, another container memory space specified according to pick-up instruction being then transmit in container storage unit；If instruction includes same shelf pick-up instruction, then repeatedly picking step；If instruction includes another shelf pick-up instruction, then it is autonomous mobile to another shelf, repeats picking step；After completing whole pick-up instructions, transfer robot carrying takes acquisition, is autonomous mobile to and picks up load bed.
Description
Technical Field
The invention relates to the field of automatic warehouse logistics, in particular to a method for carrying goods by a robot.
Background
The robot transportation is a transportation method applied to the field of automatic material transportation, has the advantages of high automation degree, flexible application, safety, reliability, high efficiency, convenient maintenance and the like, is widely applied to logistics transportation places such as automobile manufacturing industry, food industry, tobacco industry, engineering machinery industry and the like, and is built in various public service places such as airports, hospitals and office buildings. These advantages also make the transfer robot a critical device in modern logistics systems, one of the important members of the "robot-to-robot" project.
In 2011, KIVA corporation proposed a "shelf-to-person" handling method with great success, and its structure and method are described in detail in patent US7850413B 2; therefore, a plurality of similar carrying methods from shelf to person appear in China, and good effects are achieved. However, the method of transporting goods from shelf to person also has the disadvantages that in order to take one piece of goods, the whole goods shelf needs to be transported to the goods picking area, which causes great resource waste, and only one kind of goods can be transported in one time.
Therefore, those skilled in the art have made an effort to develop a method for a transfer robot to transfer goods, which can transfer various goods in a single pass, and improve the transfer efficiency of the transfer robot.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention is directed to improve the carrying efficiency of a transfer robot. Because the container is carried, the volume and the weight are both far smaller than the goods shelf, so a plurality of containers can be carried in one trip. A single container stores at least one type of goods, so that multiple types of goods can be carried in a single pass.
In order to achieve the above object, the present invention provides a method for a robot to carry goods, comprising the steps of:
the method comprises the following steps that 1, a transfer robot and a goods shelf are provided, wherein the transfer robot comprises a driving unit, a goods box storage unit and a goods box transmission unit, and the driving unit bears the goods box storage unit and the goods box transmission unit to move together; the container storage units and the pallets each include one or more container storage spaces;
step 2, the carrying robot autonomously moves to the front of a target goods shelf according to a goods taking instruction, the goods box transmission unit acquires a goods box from one goods box storage space of the goods shelf, which is specified according to the goods taking instruction, and then transmits the goods box to the other goods box storage space, which is specified according to the goods taking instruction, in the goods box storage unit;
step 3, if the command contains the same goods taking command of the goods shelf, repeating the step 2;
step 4, if the instruction comprises another goods taking instruction of the goods shelf, the goods shelf is automatically moved to the other goods shelf, and the step 2 is repeated;
step 5, the carrying robot moves to the front of the target goods shelf autonomously according to the inventory instruction, and the goods box transmission unit acquires a goods box from one goods box storage space of the goods box storage unit, which is specified according to the inventory instruction, and then transmits the goods box to the other goods box storage space of the goods shelves, which is specified according to the inventory instruction;
step 6, if the command contains the same shelf stock command, repeating the step 5;
7, if the command contains another shelf inventory command, autonomously moving to the other shelf, and repeating the step 5;
further, the container storage unit can store a plurality of containers on different height levels; the pallet is capable of storing multiple containers at different height levels.
Further, containers on different height layers of the container storage unit can be stored on different height layers of the goods shelf through the container conveying unit; the containers on the layers with different heights of the goods shelf can be stored on the layers with different heights of the container storage unit through the container conveying unit.
Further, the robot is capable of placing a container of a level on the container storage unit to another level on the container storage unit.
Further, the finishing function can be performed while traveling or while stopping.
Further, the transfer robot can store the containers on any layer of the pallet to a designated layer of the container storage unit by the container conveying unit, and then store the containers on another layer of the same pallet to another designated layer of the container storage unit by the container conveying unit.
Further, the transfer robot can store the containers of any layer on the pallet to a designated layer of the container storage unit through the container conveying unit, and then store the containers of any layer on another pallet to the designated layer of the container storage unit through the container conveying unit.
Further, the transfer robot can store the containers stored in any layer on the container storage unit to a designated layer on the pallet through the container conveying unit, and then store the containers in another layer on the container storage unit to another designated layer on the same pallet through the container conveying unit.
Further, the transfer robot can store the containers stored in any layer on the container storage unit to a designated layer on the pallet by the container conveying unit, and then store the containers in another layer on the container storage unit to a designated layer on another pallet by the container conveying unit.
Further, the carrying robot can send out alarm information when the goods taking command is executed but the goods box cannot be taken, and when the goods storage command is executed but the target storage space is occupied.
The invention also provides a method for carrying goods by the robot, which comprises the following steps:
the carrying robot autonomously moves to the front of a target goods shelf according to a goods taking instruction, the goods box transmission unit acquires a goods box from one goods box storage space of the goods shelf specified according to the goods taking instruction and then transmits the goods box to the other goods box storage space of the goods box storage unit specified according to the goods taking instruction;
or,
the transfer robot autonomously moves to the front of the target pallet according to the stock order, and the container transfer unit takes one container from one of the container storage spaces of the container storage unit specified according to the stock order and then transfers it to the other of the container storage spaces of the pallet specified according to the stock order.
Further, the container storage unit can store a plurality of containers on different height levels; the pallet is capable of storing multiple containers at different height levels.
Further, containers on different height layers of the container storage unit can be stored on different height layers of the goods shelf through the container conveying unit; the containers on the layers with different heights of the goods shelf can be stored on the layers with different heights of the container storage unit through the container conveying unit.
Further, the robot is capable of placing a container of a level on the container storage unit to another level on the container storage unit.
Further, the finishing function can be performed while traveling or while stopping.
Further, the transfer robot can store the containers on any layer of the pallet to a designated layer of the container storage unit by the container conveying unit, and then store the containers on another layer of the same pallet to another designated layer of the container storage unit by the container conveying unit.
Further, the transfer robot can store the containers of any layer on the pallet to a designated layer of the container storage unit through the container conveying unit, and then store the containers of any layer on another pallet to the designated layer of the container storage unit through the container conveying unit.
Further, the transfer robot can store the containers stored in any layer on the container storage unit to a designated layer on the pallet through the container conveying unit, and then store the containers in another layer on the container storage unit to another designated layer on the same pallet through the container conveying unit.
Further, the transfer robot can store the containers stored in any layer on the container storage unit to a designated layer on the pallet by the container conveying unit, and then store the containers in another layer on the container storage unit to a designated layer on another pallet by the container conveying unit.
Further, the carrying robot can send out alarm information when the goods taking command is executed but the goods box cannot be taken, and when the goods storage command is executed but the target storage space is occupied.
Further, the steps further include:
if the command contains the same goods taking or stocking command of the shelf, repeating the goods taking or stocking process; and
if the command comprises a command of taking or storing goods from another shelf, the command is autonomously moved to the other shelf, and the goods taking or storing process is repeated.
The method for carrying the goods by the robot can transport various goods in one time, and has high working efficiency and low energy consumption.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a schematic diagram of a method of robotically handling goods in accordance with a preferred embodiment of the present invention;
wherein,
1. a drive unit; 2. a container storage unit; 3. a container conveying unit; 4. a shelf; 5. a cargo box.
Detailed Description
Fig. 1 is a schematic diagram of a method for a robot to carry goods. The method mainly comprises the following steps: a drive unit 1, a container storage unit 2 and a container conveying unit 3 mounted on the drive unit 1; a shelf 4; containers 5 can be stored on the container storage units 2 and the pallets 4.
The container storage unit 2 can store a plurality of containers 5 on different height levels;
the goods shelf 4 can store a plurality of containers 5 on different height layers;
containers 5 on different height layers of the container storage unit 2 can be stored on different height layers of the goods shelf 4 through the container conveying unit 3;
the containers 5 on different levels of the pallet 4 can be stored on different levels of the container storage unit 2 by the container transfer unit 3.
The robot has an autonomous moving function and can move to any position through the driving unit 1;
the robot has a function of automatically arranging the containers 5, and can place the containers 5 on one layer of the container storage unit 2 to another layer of the container storage unit 2;
when the robot is operated, containers 5 on any layer of the goods shelves 4 can be stored to a specified layer of the container storage unit 2 through the container conveying unit 3, and then containers 5 on another layer of the same goods shelves 4 can be stored to another specified layer of the container storage unit 2 through the container conveying unit 3.
When the robot is operated, containers 5 on any layer of the goods shelf 4 can be stored to a specified layer of the container storage unit 2 through the container conveying unit 3, and then containers 5 on any layer of the other goods shelf 4 can be stored to a specified layer of the container storage unit 2 through the container conveying unit 3.
When the robot is operated, containers 5 stored on any layer of the container storage unit 2 can be stored on a designated layer of the pallet 4 through the container conveying unit 3, and then containers 5 on another layer of the container storage unit 2 can be stored on another designated layer of the same pallet 4 through the container conveying unit 3.
When the robot is operated, containers 5 stored on any layer of the container storage unit 2 can be stored on a designated layer of the pallet 4 by the container conveying unit 3, and then containers 5 on another layer of the container storage unit 2 can be stored on another designated layer of the pallet 4 by the container conveying unit 3.
The carrying robot can send out alarm information when the goods taking command is executed but the goods box can not be taken, and when the goods storage command is executed but the target storage space is occupied.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (21)
1. A method of robotically handling goods, comprising the steps of:
the method comprises the following steps that 1, a transfer robot and a goods shelf are provided, wherein the transfer robot comprises a driving unit, a goods box storage unit and a goods box transmission unit, and the driving unit bears the goods box storage unit and the goods box transmission unit to move together; the container storage units and the pallets each include one or more container storage spaces;
step 2, the carrying robot autonomously moves to the front of a target goods shelf according to a goods taking instruction, the goods box transmission unit acquires a goods box from one goods box storage space of the goods shelf, which is specified according to the goods taking instruction, and then transmits the goods box to the other goods box storage space, which is specified according to the goods taking instruction, in the goods box storage unit;
step 3, if the command contains the same goods taking command of the goods shelf, repeating the step 2;
step 4, if the instruction comprises another goods shelf goods taking instruction, automatically moving to the other goods shelf, and repeating the step 2;
step 5, the carrying robot moves to the front of the target goods shelf autonomously according to the inventory instruction, and the goods box transmission unit acquires a goods box from one goods box storage space of the goods box storage unit, which is specified according to the inventory instruction, and then transmits the goods box to the other goods box storage space of the goods shelves, which is specified according to the inventory instruction;
step 6, if the command contains the same shelf stock command, repeating the step 5;
and 7, if the command comprises another shelf inventory command, autonomously moving to the other shelf, and repeating the step 5.
2. A method of robotic handling of cargo as claimed in claim 1 wherein the container storage unit is capable of storing a plurality of containers on different height levels; the pallet is capable of storing multiple containers at different height levels.
3. A method of robotic handling of cargo as claimed in claim 1 wherein cargo containers on different levels of the cargo storage unit may be stored on different levels of the pallet by a cargo container transfer unit; the containers on the layers with different heights of the goods shelf can be stored on the layers with different heights of the container storage unit through the container conveying unit.
4. A method for robotic handling of cargo as claimed in claim 1 wherein the robot is capable of placing a container of a level on the container storage unit to another level on the container storage unit.
5. A method for robotic handling of goods as claimed in claim 4, wherein the finishing function can be performed while travelling or while stopped.
6. A method for robot handling of cargo as recited in claim 1, wherein the handling robot is capable of depositing containers of any level on the pallet to a designated level of the container storage unit by the container transfer unit and then depositing containers of another level on the same pallet to another designated level of the container storage unit by the container transfer unit.
7. The method for robot handling of cargo of claim 1, wherein the handling robot is capable of depositing containers of any layer on a pallet to a designated layer of the container storage unit by the container transfer unit and then depositing containers of any layer on another pallet to a designated layer of the container storage unit by the container transfer unit.
8. A method for robot handling of cargo as recited in claim 1, wherein the handling robot is capable of depositing containers stored at any level on the container storage unit to a designated level on the pallet by the container transfer unit and then depositing containers at another level on the container storage unit to another designated level on the same pallet by the container transfer unit.
9. The method for robot handling of cargo of claim 1, wherein the handling robot is capable of depositing containers stored at any level on the container storage unit to a designated level on the pallet by the container transfer unit and then depositing containers at another level on the container storage unit to a designated level on another pallet by the container transfer unit.
10. A method for robotic handling of goods as claimed in claim 1, wherein the handling robot is capable of issuing a warning message when a pick command is executed without accessing a container and when an inventory command is executed while a destination storage space is occupied.
11. A method of robotically handling goods, comprising the steps of:
the carrying robot autonomously moves to the front of a target goods shelf according to a goods taking instruction, the goods box transmission unit acquires a goods box from one goods box storage space of the goods shelf specified according to the goods taking instruction and then transmits the goods box to the other goods box storage space of the goods box storage unit specified according to the goods taking instruction;
or,
the transfer robot autonomously moves to the front of the target pallet according to the stock order, and the container transfer unit takes one container from one of the container storage spaces of the container storage unit specified according to the stock order and then transfers it to the other of the container storage spaces of the pallet specified according to the stock order.
12. A method of robotic handling of cargo as claimed in claim 11 wherein the container storage unit is capable of storing a plurality of containers on different height levels; the pallet is capable of storing multiple containers at different height levels.
13. A method of robotic handling of cargo as claimed in claim 11 wherein cargo containers on different levels of the cargo storage unit may be stored on different levels of the racks by a cargo container transfer unit; the containers on the layers with different heights of the goods shelf can be stored on the layers with different heights of the container storage unit through the container conveying unit.
14. A method for robotic handling of cargo as claimed in claim 11, wherein the robot is capable of placing a container of a level on the container storage unit to another level on the container storage unit.
15. A method for robotic handling of goods as claimed in claim 14, wherein the finishing function can be performed while travelling or while stopped.
16. A method for robotic handling of goods as claimed in claim 11, wherein the handling robot is capable of depositing containers from any level on a pallet to a designated level of the container storage unit by the container transfer unit and then depositing containers from another level on the same pallet to another designated level of the container storage unit by the container transfer unit.
17. A method for robot handling of cargo as recited in claim 11, wherein the handling robot is capable of depositing containers of any layer on a pallet to a designated layer of the container storage unit by the container transfer unit and then depositing containers of any layer on another pallet to a designated layer of the container storage unit by the container transfer unit.
18. A method for robot handling of cargo as recited in claim 11, wherein the handling robot is capable of depositing containers stored at any level on the container storage unit to a designated level on the pallet by the container transfer unit and then depositing containers at another level on the container storage unit to another designated level on the same pallet by the container transfer unit.
19. A method for robot handling of cargo as recited in claim 11, wherein the handling robot is capable of depositing containers stored at any level on the container storage unit to a designated level on the pallet by the container transfer unit and then depositing containers at another level on the container storage unit to a designated level on another pallet by the container transfer unit.
20. A method for robotic handling of goods as claimed in claim 11, wherein the handling robot is capable of issuing a warning message when a pick command is executed without accessing a container and when an inventory command is executed while a destination storage space is occupied.
21. The method for robotically handling cargo of claim 11, wherein the steps further comprise:
if the command contains the same goods taking or stocking command of the shelf, repeating the goods taking or stocking process; and
if the command comprises a command of taking or storing goods from another shelf, the command is autonomously moved to the other shelf, and the goods taking or storing process is repeated.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710033937.2A CN108313606A (en) | 2017-01-16 | 2017-01-16 | A kind of method that robot transports goods |
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| CN201710033937.2A CN108313606A (en) | 2017-01-16 | 2017-01-16 | A kind of method that robot transports goods |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109264283A (en) * | 2018-11-16 | 2019-01-25 | 北京艾瑞思机器人技术有限公司 | Sorting system and container method for sorting |
| CN109636269A (en) * | 2018-11-14 | 2019-04-16 | 深圳市海柔创新科技有限公司 | Cargo processing method, device, storage medium and computer equipment |
| CN109625747A (en) * | 2018-11-05 | 2019-04-16 | 上海快仓智能科技有限公司 | Cargo method for carrying and cargo movement system |
| WO2019154433A3 (en) * | 2018-11-05 | 2019-10-03 | 上海快仓智能科技有限公司 | Item transportation robot and control method therefor |
| CN110626691A (en) * | 2019-09-12 | 2019-12-31 | 深圳市海柔创新科技有限公司 | Sorting robot and sorting method |
| CN112265773A (en) * | 2019-12-16 | 2021-01-26 | 深圳市海柔创新科技有限公司 | Goods shelving method and device and carrying robot |
| CN112678707A (en) * | 2020-12-22 | 2021-04-20 | 上海开放大学 | Mill uses cargo handling robot |
| CN113879749A (en) * | 2021-11-07 | 2022-01-04 | 浙江科技学院 | Carrying device with intelligent counterweight adjustment function and using method |
| WO2022017396A1 (en) * | 2020-07-24 | 2022-01-27 | 深圳市海柔创新科技有限公司 | Robot, cargo handling method, server and warehousing system |
| WO2022142773A1 (en) * | 2020-12-31 | 2022-07-07 | 深圳市海柔创新科技有限公司 | Lifting apparatus and handling robot |
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| CN109625747A (en) * | 2018-11-05 | 2019-04-16 | 上海快仓智能科技有限公司 | Cargo method for carrying and cargo movement system |
| WO2019154433A3 (en) * | 2018-11-05 | 2019-10-03 | 上海快仓智能科技有限公司 | Item transportation robot and control method therefor |
| US11645619B2 (en) | 2018-11-14 | 2023-05-09 | Hai Robotics Co., Ltd. | Material handling method, equipment, storage medium and computer device |
| CN109636269A (en) * | 2018-11-14 | 2019-04-16 | 深圳市海柔创新科技有限公司 | Cargo processing method, device, storage medium and computer equipment |
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| US12103770B2 (en) | 2019-08-30 | 2024-10-01 | Hai Robotics Co., Ltd. | Sorting robot and sorting method |
| CN110626691A (en) * | 2019-09-12 | 2019-12-31 | 深圳市海柔创新科技有限公司 | Sorting robot and sorting method |
| CN112265773A (en) * | 2019-12-16 | 2021-01-26 | 深圳市海柔创新科技有限公司 | Goods shelving method and device and carrying robot |
| WO2022017396A1 (en) * | 2020-07-24 | 2022-01-27 | 深圳市海柔创新科技有限公司 | Robot, cargo handling method, server and warehousing system |
| CN112678707A (en) * | 2020-12-22 | 2021-04-20 | 上海开放大学 | Mill uses cargo handling robot |
| WO2022142773A1 (en) * | 2020-12-31 | 2022-07-07 | 深圳市海柔创新科技有限公司 | Lifting apparatus and handling robot |
| WO2022206375A1 (en) * | 2021-03-31 | 2022-10-06 | 深圳市库宝软件有限公司 | Material conveying method and device |
| CN113879749B (en) * | 2021-11-07 | 2023-08-04 | 浙江科技学院 | Handling device with counterweight intelligent adjustment function and use method |
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