CN108408316A - Haulage equipment - Google Patents
Haulage equipment Download PDFInfo
- Publication number
- CN108408316A CN108408316A CN201810391026.1A CN201810391026A CN108408316A CN 108408316 A CN108408316 A CN 108408316A CN 201810391026 A CN201810391026 A CN 201810391026A CN 108408316 A CN108408316 A CN 108408316A
- Authority
- CN
- China
- Prior art keywords
- haulage equipment
- storing apparatus
- target item
- article
- handgrip
- 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.)
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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
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- 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
- B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
Abstract
The embodiment of the invention discloses a kind of haulage equipments, belong to Intelligent logistics technical field, which includes：Running gear, is set to the bottom of haulage equipment, and the running gear automatically proceeds to predeterminated position based on the walking path that haulage equipment receives；Ontology, is set to the top of running gear, and the ontology is used to support storing apparatus and article grasping mechanism；Storing apparatus is set on ontology, and the storing apparatus includes multiple receiving positions, and the position that accommodates is the interlayer for prolonging vertical direction superposition, and an interlayer can accommodate at least one target item；Article grasping mechanism, it is set to the periphery on ontology and positioned at storing apparatus, the carrying task that the article grasping mechanism is received based on haulage equipment from crawl target item in pannier device and is automatically placed in the receiving position of storing apparatus or captures target item from the receiving position of storing apparatus and be automatically placed in pannier device.This programme improves article carrying efficiency.
Description
Technical field
The present invention relates to Intelligent logistics technical field more particularly to haulage equipments.
Background technology
The fast development of e-commerce and shopping at network both brought unprecedented development machine to logistic storage industry
It meets, also proposes stern challenge to Courier Service.In traditional warehousing and logistics industry, traditional artificial picking mode is operation
Personnel push the trolley equipped with list container, find corresponding article one by one in storehouse according to list (for example, order) and put into
Corresponding list container.This sorting mode needs operating personnel to take a long walk journey, and labor intensity is big but efficiency is low and mistake
Rate is higher.
On this basis, automatic radio frequency of the developed recently based on Intelligent transfer robot.Robot is according to list
It needs and inventory information, the target shelf equipped with list commodity is transported to corresponding sorting station, by the operating personnel for sorting station
Commodity are picked according to prompt and are put into specified containers.Robot sends shelf back to designated position after sorting task.It is this to pick
The relatively artificial square mode of mode is selected all to be improved in efficiency and accuracy.
Invention content
It is carried to adapt to robot, the precision and stability of shelf is required for meeting high requirement.Therefore each to use field
The shelf of scape must be customized according to the size and running environment of robot, so as to cause corresponding system implementation cost.While by
It is required for carrying entire shelf in each sorting activity, therefore a large amount of unwanted commodity is caused also to be carried together.Raising machine
Device people handling efficiency reduces energy consumption and reduces implementation cost as an emphasis of radio frequency improving performance.
In view of this, the embodiment of the present invention provides a kind of haulage equipment, at least part of solution is existing in the prior art
Problem.
In a first aspect, an embodiment of the present invention provides a kind of haulage equipments, including：
Running gear, the running gear are set to the bottom of the haulage equipment, and the running gear is based on described remove
The walking path that fortune equipment receives automatically proceeds to predeterminated position；
Ontology, the ontology are set to the top of the running gear, and the ontology is used to support storing apparatus and article
Grabbing device；
Storing apparatus, the storing apparatus are set on the ontology, and the storing apparatus has one or more hold
Receive position；
Article grasping mechanism, the article grasping mechanism are set on the ontology and positioned at the outer of the storing apparatus
It encloses, the carrying task that the article grasping mechanism is received based on the haulage equipment captures target from pannier device
Article is simultaneously automatically placed in the receiving position of the storing apparatus or captures object from the receiving position of the storing apparatus
Product are simultaneously automatically placed in the pannier device.
A kind of specific implementation according to the ... of the embodiment of the present invention, the article grasping mechanism includes telescopic component, described
Telescopic component from target item is captured in the pannier device or captures target from the receiving position of the storing apparatus
Article.
A kind of specific implementation according to the ... of the embodiment of the present invention, the article grasping mechanism includes lifting assembly, described
The telescopic component is promoted and/or is dropped to preset height by lifting assembly.
A kind of specific implementation according to the ... of the embodiment of the present invention, the haulage equipment further include：
Rotary components, the storing apparatus and the article grasping mechanism are arranged on the rotary components.
A kind of specific implementation according to the ... of the embodiment of the present invention, the telescopic component include holding portion and sliding part, institute
The portion of holding is stated to grab from crawl target item in pannier device by way of holding or from the receiving position of storing apparatus
Take target item, the portion that holds to be slidably connected with the sliding part, it is described hold portion can be prolonged by the sliding part it is described every
The longitudinal direction sliding of layer.
A kind of specific implementation according to the ... of the embodiment of the present invention, the portion of holding include the first handgrip and the second handgrip,
And corresponding it is arranged in the left and right sides of the interlayer.
A kind of specific implementation according to the ... of the embodiment of the present invention, first handgrip and the second handgrip are platy structure.
A kind of specific implementation according to the ... of the embodiment of the present invention, the portion of holding further include being separately positioned on described first
Fastener on the inside of handgrip and the second handgrip, the fastener is foldable, described tight when target item is not grabbed by the portion of holding
Firmware folds, and when target item is grabbed in the portion of holding, the fastener opens.
A kind of specific implementation according to the ... of the embodiment of the present invention, first handgrip and the second handgrip prolong vertical direction
The matched of height and the interlayer.
A kind of specific implementation according to the ... of the embodiment of the present invention, the sliding part are guide rail.
A kind of specific implementation according to the ... of the embodiment of the present invention, the lifting assembly are linear bearing.
A kind of specific implementation according to the ... of the embodiment of the present invention, the telescopic component includes forking portion, described to fork portion
By way of forking target item is captured from pannier device corresponding with the predeterminated position.
A kind of specific implementation according to the ... of the embodiment of the present invention, the telescopic component does not execute in the haulage equipment appoints
Contraction state is set as when business.
A kind of specific implementation according to the ... of the embodiment of the present invention, the haulage equipment are moved to described pre- from task starting point
If during position, the lifting assembly and the rotary components are automatically adjusted to and capture what the target item matched
Posture.
Haulage equipment provided in an embodiment of the present invention, by running gear automatically by haulage equipment automatic transportation to default mesh
Ground, using be arranged above ontology it is one or more accommodate positions, can carry and carry the mesh captured by article grasping mechanism
Article is marked, compared to the mode of traditional entire shelf of carrying, robot can be captured selectively on the shelf for wanting carrying
Some storage container rather than entire shelf, to improve the hit rate of item picking.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this field
For those of ordinary skill, without creative efforts, other attached drawings are can also be obtained according to these attached drawings.
Fig. 1 is a kind of schematic diagram of haulage equipment provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of pannier device provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of another haulage equipment provided in an embodiment of the present invention；
Fig. 4 is a kind of flow diagram of the method for carrying based on picking scene provided in an embodiment of the present invention.
Specific implementation mode
The embodiment of the present invention is described in detail below in conjunction with the accompanying drawings.
It will be appreciated that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art obtained without creative efforts it is all its
Its embodiment, shall fall within the protection scope of the present invention.
Referring to Fig. 1, an embodiment of the present invention provides a kind of haulage equipments, including running gear 101, ontology 102, receiving dress
Set 103 and article grasping mechanism 104.
Running gear 101 is the moving parts of haulage equipment, and as an example, running gear 101 may include one
Or multiple wheels, the haulage equipment is moved by the rolling of wheel.The running gear 101 can be set to the carrying
The bottom of equipment.Certainly, the running gear 101 can also be set to other positions of the haulage equipment.
Haulage equipment can be communicated with background server, which can be wired mode, can also be nothing
The mode of line.By being communicated with background server, haulage equipment can know article carrying task, which includes
Distribute to the walking path (walking path includes one or more coordinate points) of haulage equipment and the specific ID of target item
It identifies (for example, Item Number etc.), the running gear 101 automatically proceeds to default position based on the haulage equipment walking path
It sets, which can be site or workspace site of target item etc..
Ontology 102 is the integrated support component of haulage equipment, and as a kind of situation, the ontology 102 is set to the row
The top of walking apparatus 101, the ontology 102 are used to support the haulage equipment.
In order to article easy to carry, the storing apparatus for placing one or more articles is provided on haulage equipment
103, the storing apparatus 103 is set on the ontology 102, and the storing apparatus 103 includes multiple receiving positions 1031, example
Such as, which is the interlayer for prolonging vertical direction superposition, and an interlayer can accommodate at least one target item.
After haulage equipment is transported to predeterminated position by running gear 101, mesh is captured by article grasping mechanism 104 automatically
Mark article.For example, in picking scene, the crawl task which is received based on haulage equipment, from it is pre-
If capturing target item in the corresponding pannier device in position, and the target item of crawl is automatically placed in the storing apparatus
It (is such as placed on the arbitrary interlayer in storing apparatus) in 103 receiving position 1031.For another example in the scene that replenishes, the article
The 104 crawl tasks received based on haulage equipment are placed in storage, from 1031 (such as storing apparatus of receiving position of storing apparatus 103
In arbitrary interlayer) in capture target item, and the target item of crawl is placed on article storage corresponding with predeterminated position
In device.
It may include carrying multiple target items as a kind of situation, in the carrying task that haulage equipment receives, carry
Equipment obtains multiple target items by walking path from one or more pannier devices.Wherein, walking path can be with
It is that notice can also be to be determined after haulage equipment oneself is planned to haulage equipment after background server is planned.
Pannier device can be any device for capableing of store things, and as an example, referring to Fig. 2, article is deposited
It can be a shelf 2 to put device.Fig. 2 is a kind of schematic diagram of pannier device provided in an embodiment of the present invention, and shelf 2 are deposited
Storing articles 3.In a particular embodiment, shelf 2 include multiple interlayers, and each interlayer can accommodate one or more articles 3.Article
3 can be kinds of goods on shelf can also be the consolidating the load container that one or more kinds of goods can be held on shelf.
In addition, in a particular embodiment, the hook or bar that article 3 can also be out of shelf 2 or on shelf 2 are hung.
Article 3 can be placed on the inside or outer surface of shelf in any suitable manner on shelf 2.Shelf 2 can be handled upside down and set
Standby 1 rolls, carries or otherwise carry.Shelf 2 are carried in order to facilitate haulage equipment, shelf 2 include one or
Multiple shelf supports portions 202 and identification of pallets point 201 for identifying shelf identity, article storage system may include any
An appropriate number of shelf.
The representative of article 3 is suitable for storage sorting or transmission in automated inventory, warehouse, manufacture and/or part handling system
Any article, can be any material, can have life or abiotic object.As an example, article 3 can
To indicate the article for the commodity being stored in warehouse.Haulage equipment can retrieve specified shelf 2, which includes and to be packaged
The associated special article 3 of customer order, to be delivered to client or its other party.
As another example, article 3 can represent the luggage being stored in the luggage facility on airport.Haulage equipment can be with
Fetch the shelf 2 for including the luggage that be transported, track.This may include that the specific luggage and articles of selection are sieved for explosive
Choosing, mobile luggage and articles associated with the flight that converted boarding gate, or remove to belong to and had already passed by flight
The luggage and articles of passenger.
As another example, article 3 can indicate the various components of manufacture kit.More specifically, these components
It can indicate to intend to include in the component in completed knocked down products, such as the computer module for order computer system.In this way
Embodiment in, haulage equipment can retrieve the specific components by being identified with the relevant specification of customer order.
As another example, article 3 can be with representative.For example, in hospital environment, shelf 2 can be indicated comprising spy
Determine the bed of patient.Therefore, article storage system can be configured as the safely and effectively system provided for mobile hospital sick bed,
Which has limited the possibility of patient injury and reduce wrong possibility caused by mistake.In short, article 3
It can be suitable for any suitable article that shelf 2 in any appropriate form store.
Article grasping mechanism 104 can take various ways to realize, according to the ... of the embodiment of the present invention specific referring to Fig. 1
Realization method, the article grasping mechanism 104 include telescopic component 1042, and the telescopic component 1042 is filled from the article storage
Middle crawl target item is set, in order to coordinate telescopic component 1042, referring to Fig. 1, article grasping mechanism 104 can also include flexible branch
Support member 1043, the telescopic support 1043 is for being supported telescopic component 1042.
Target item height in pannier device is often different, in order to place the target item of different height
To accommodating in position, a kind of specific implementation according to the ... of the embodiment of the present invention, the article grasping mechanism 104 includes lifting assembly
1045, the telescopic component 1042 is promoted and/or is dropped to and the matched height of the target item by the lifting assembly 1045
Degree, lifting assembly 1045 can be any device that can carry out lift in height.As a kind of optional embodiment, lifting assembly
It can be linear bearing.
Various ways may be used to capture article in telescopic component 1042, referring to Fig. 1, one kind according to the ... of the embodiment of the present invention
Specific implementation, telescopic component 1042 include holding portion 1041, this holds portion 1041 by way of holding from article storage
In device capture target item or from the receiving of storing apparatus be middle crawl target item.Telescopic component 1042 further includes sliding
Portion 1040, the sliding part 1040 hold the connection of portion 1041, hold the depth direction cunning that portion 1041 prolongs interlayer by sliding part 1040
It is dynamic.As a kind of optional embodiment, sliding part 1040 can be guide rail.
Specific implementation according to the ... of the embodiment of the present invention, referring to Fig. 1, it includes two handgrips to hold portion 1041：First grabs
Hand and the second handgrip, two handgrips are corresponding to be arranged in the left and right sides of interlayer.Two handgrips can be platy structure, can also
It is other shapes structure, such as rod-like structure.The shape of platy structure can be rectangle (including rectangular), round or other shapes
Deng.The height of first handgrip and the second handgrip can be with the matched of interlayer, certainly, the height of the first handgrip and the second handgrip
Not higher than the height of interlayer.
The portion of holding further includes the fastener 1043 being separately positioned on the inside of the first handgrip and the second handgrip, and fastener 1043 can
It folds, when target item is not grabbed by the portion that holds 1041, the fastener 1043 folds, and when target item is grabbed in the portion that holds 1041, this is tight
Firmware 1043 opens.Fastener 1043 is used for the fastening article when capturing article, places article from the first handgrip and the second handgrip
Between slide.
It is according to the ... of the embodiment of the present invention another specific referring to Fig. 3 other than capturing target item by the way of holding
Realization method, telescopic component 1042 include grip 1041, and grip 1041 captures mesh by handgrip from pannier device
Mark article or from the receiving of storing apparatus be middle crawl target item.Handle component 1041 is not when haulage equipment executes task
It is set as contraction state, open configuration is set as when executing task.It is according to the ... of the embodiment of the present invention another specific referring to Fig. 3
Realization method, height of the lifting assembly 1045 based on the target item execute zoom operations.When the lifting assembly
When 1045 execution flaring operation, lifting assembly rising height, when the lifting assembly 1045 executes shrinkage operation, lifting assembly
Reduce height.
Another kind specific implementation according to the ... of the embodiment of the present invention, the telescopic component 1042 includes forking portion, described
It forks portion and captures target item from pannier device corresponding with the predeterminated position by way of forking.It the portion of forking can
With using it is a variety of have fork the mechanical structure of function and realize, details are not described herein.
Article grasping mechanism 104 is based on actual needs during capturing article, needs to carry out pose adjustment, ginseng
See that Fig. 1, Fig. 3, a kind of specific implementation according to the ... of the embodiment of the present invention, the haulage equipment further include：Rotary components 105,
The storing apparatus 103 and the article grasping mechanism 104 are arranged on the rotary components 105.
A kind of specific implementation according to the ... of the embodiment of the present invention, the haulage equipment are moved to described pre- from task starting point
If during position, the lifting assembly 1045 and the rotary components 105 are automatically adjusted to and capture the target item
The posture to match can make haulage equipment just automatically adjust posture before capturing target item in this way,
Reduce the time of crawl target item.
As an example, when needing to extract target item, haulage equipment arrives precalculated position by dispatching walking, is expert at
During walking, rotary components 105 and lifting assembly 1045 work so that the shelf of haulage equipment are rotated by 90 °, the rotation side of shelf
To the locality of the cargo depending on being extracted, and the adjustable height of lifting assembly 1045 depends on the cargo being extracted
Position height, the then work of telescopic component 1042, telescopic component 1042 extend elongation, will hold portion 1041 and extend to extract
The body feed tank of product corresponds to matched position, then holds the body feed tank that portion 1041 holds goods putting object, then lifting assembly
1045 work lift the body feed tank for putting article, and telescopic component 1042 works, and telescopic component 1042 is quickly put into article and cargo
On the Goods shelf partition plate of respective heights, then haulage equipment receives system command and starts to go to next place, in haulage equipment walking
Meanwhile rotary components 105 work at the same time so that the direction of shelf is consistent with the positive direction of haulage equipment, then each
The body feed tank of goods putting object is placed on the Goods shelf partition plate of system call by component operation, and when during carrying out this, carrying is set
Standby be in is gone on the road on next place's picking ground.
It is placed it is one advantage of the present invention that article grasping mechanism 104 can take out two or more destination apparatus
On pannier device, multiple target items are then transported into appointed place together, and efficiency is maximized.
Haulage equipment provided in an embodiment of the present invention, by running gear automatically by haulage equipment automatic transportation to default mesh
Ground, using be arranged above ontology it is one or more accommodate positions, can carry and carry the mesh captured by article grasping mechanism
Article is marked, compared to the mode of traditional entire shelf of carrying, robot can be captured selectively on the shelf for wanting carrying
Some storage container rather than entire shelf, to improve the hit rate of item picking.
Haulage equipment corresponding with haulage equipment above, being provided with above-described embodiment, referring to Fig. 4, the present invention is real
It applies example and provides a kind of method for carrying based on picking scene, including：
S401, haulage equipment are automatically moved to target item storing unit according to the article carrying task received.
S402, haulage equipment captures target item from target storage unit, and is placed in storing apparatus.
Wherein, target item can be consolidating the load container.Haulage equipment can be communicated with background server, the communication party
Formula can be wired mode, can also be wirelessly.By being communicated with background server, haulage equipment can be known
Article carrying task, the article carrying task include distribute to the walking path of haulage equipment (walking path include one or
Multiple coordinate points) and target item specific ID marks (for example, Item Number etc.), haulage equipment is according to the ID of target item
Mark recognizes the target item to be captured from target storage unit, and captures the target item.In addition, target storage unit
Each interlayer can be respectively arranged with interlayer ID mark, identified according to interlayer ID, haulage equipment can also determine that article is grabbed
Take which interlayer is the height of device reach, so as to capture target item from the predetermined interlayer of target storage unit.Cause
This in this case, article carrying task further includes interlayer ID mark.
Target item is carried in the storing apparatus of haulage equipment, wherein storing apparatus includes multiple receiving positions, the receiving
To prolong the interlayer of vertical direction superposition, an interlayer can accommodate at least one target item for position.In each of storing apparatus
Interlayer can also be respectively arranged with interlayer ID mark, identified by interlayer ID, and haulage equipment can true article grasping mechanism
Which interlayer is height reach, so as to which target item to be placed in the predetermined interlayer of storing apparatus.
S403, haulage equipment carry target item and are automatically moved to target operation position.
On target operation position, staff or manipulator capture cargo from target item, which is picking
Cargo.The cargo of crawl can be put into an order container, and the cargo in an order container can be the goods of an order
Object.
S404, haulage equipment carry target item and are automatically moved to target storage unit.
May include carrying multiple objects as a kind of situation, in the article carrying task that the haulage equipment receives
Product, haulage equipment obtain multiple target items by carrying out path planning from one or more pannier devices.
It should be understood that other than picking scene, the haulage equipment in the embodiment of the present invention, which can also be applied to, to replenish
The method for carrying of scene.Wherein, in S403, cargo is put into target positioned at the staff of target operation position or manipulator
In article, which is to need to replenish to obtain the cargo in target item.
Method for carrying provided in an embodiment of the present invention, by running gear automatically by haulage equipment automatic transportation to default mesh
Ground, be arranged on haulage equipment it is one or more accommodate positions, can carry and transport the target captured by article grasping mechanism
Article, compared to the mode of traditional entire shelf of carrying, robot can be captured selectively on the shelf for wanting carrying
Some storage container rather than entire shelf, to improve the hit rate of item picking.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be multiple, and term " one " is no
It can be interpreted as the limitation to quantity.
Although for example the ordinal number of " first ", " second " etc. will be used to describe various assemblies, not limit those herein
Component.The term is only used for distinguishing a component and another component.For example, first assembly can be referred to as the second component, and it is same
Sample, the second component can also be referred to as first assembly, without departing from the introduction of inventive concept.Term as used herein " and/
Or " project listed any for including one or more associations and all combinations.
Term used herein is only used for describing the purpose of various embodiments and is not intended to limit.As used herein,
Singulative is intended to also include plural form, makes an exception unless the context clearly dictates.Will further be understood that term " comprising " and/or
" having " specifies depositing for the feature, number, step, operation, component, element or combinations thereof when being used in this specification
, and it is not excluded for the presence or additional of one or more of the other feature, number, step, operation, component, element or its group.
Term used herein including technical and scientific term has and the normally understood art of those skilled in the art
The identical meaning of language, only if it were not for being defined differently than the term.It should be understood that the term tool limited in usually used dictionary
There is the meaning consistent with the meaning of term in the prior art.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, all answer by the change or replacement that can be readily occurred in
It is included within the scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of haulage equipment, which is characterized in that including：
Running gear, the running gear are set to the bottom of the haulage equipment, and the running gear is based on the carrying and sets
The standby walking path received automatically proceeds to predeterminated position；
Ontology, the ontology are set to the top of the running gear, and the ontology is used to support storing apparatus and article crawl
Device；
Storing apparatus, the storing apparatus are set on the ontology, and the storing apparatus includes multiple receiving positions, the appearance
It is the interlayer for prolonging vertical direction superposition to receive position, and an interlayer can accommodate at least one target item；
Article grasping mechanism, the article grasping mechanism are set to the periphery on the ontology and positioned at the storing apparatus, institute
The carrying task that article grasping mechanism is received based on the haulage equipment is stated, target item is captured simultaneously from pannier device
Be automatically placed in the receiving position of the storing apparatus or from the receiving position of the storing apparatus capture target item and from
It is dynamic to be placed in the pannier device.
2. haulage equipment according to claim 1, it is characterised in that：
The article grasping mechanism includes telescopic component, and the telescopic component captures target item from the pannier device
Or capture target item from the receiving position of the storing apparatus.
3. haulage equipment according to claim 2, it is characterised in that：
The article grasping mechanism includes lifting assembly, and the telescopic component is promoted and/or dropped to pre- by the lifting assembly
If height.
4. haulage equipment according to claim 3, which is characterized in that the haulage equipment further includes：
Rotary components, the storing apparatus and the article grasping mechanism are arranged on the rotary components.
5. haulage equipment according to claim 2, it is characterised in that：
The telescopic component includes holding portion and sliding part, and the portion that holds is grabbed by way of holding from pannier device
It takes target item or captures target item from the receiving position of storing apparatus, the portion that holds connects with sliding part sliding
It connects, the portion that holds can prolong the longitudinal direction sliding of the interlayer by the sliding part.
6. haulage equipment according to claim 5, it is characterised in that：
The portion of holding includes the first handgrip and the second handgrip, and corresponding is arranged in the left and right sides of the interlayer.
7. haulage equipment according to claim 6, it is characterised in that：
First handgrip and the second handgrip are platy structure.
8. haulage equipment according to claim 5, it is characterised in that：
The portion of holding further includes the fastener being separately positioned on the inside of first handgrip and the second handgrip, and the fastener can
It folds, when target item is not grabbed by the portion of holding, the fastener folds, described tight when target item is grabbed in the portion of holding
Firmware opens.
9. haulage equipment according to claim 6, it is characterised in that：
First handgrip and the second handgrip prolong the matched of the height and the interlayer of vertical direction.
10. according to the haulage equipment described in any one of claim 5-9, it is characterised in that：
The sliding part is guide rail.
Priority Applications (11)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810391026.1A CN108408316A (en) | 2018-04-26 | 2018-04-26 | Haulage equipment |
| JP2019546837A JP6848081B2 (en) | 2018-04-26 | 2018-07-25 | Robots, transport systems and methods |
| DE202018006834.9U DE202018006834U1 (en) | 2018-04-26 | 2018-07-25 | robot |
| EP18886393.0A EP3786085B1 (en) | 2018-04-26 | 2018-07-25 | Conveying system and conveying method with a first robot and a second robot |
| PCT/CN2018/097038 WO2019109644A1 (en) | 2018-04-26 | 2018-07-25 | Robot, and conveying system and method |
| KR1020197039032A KR102363467B1 (en) | 2018-04-26 | 2018-07-25 | Robots, transport systems and methods |
| US16/463,822 US11104516B2 (en) | 2018-04-26 | 2018-07-25 | Robot, carrying system and method |
| AU2018378096A AU2018378096B2 (en) | 2018-04-26 | 2018-07-25 | Robot, and conveying system and method |
| JP2021032988A JP7216755B2 (en) | 2018-04-26 | 2021-03-02 | ROBOT, TRANSPORT SYSTEM AND METHOD |
| US17/444,051 US11827450B2 (en) | 2018-04-26 | 2021-07-29 | Robot |
| US18/494,689 US20240051755A1 (en) | 2018-04-26 | 2023-10-25 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810391026.1A CN108408316A (en) | 2018-04-26 | 2018-04-26 | Haulage equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108408316A true CN108408316A (en) | 2018-08-17 |
Family
ID=63137027
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810391026.1A Pending CN108408316A (en) | 2018-04-26 | 2018-04-26 | Haulage equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108408316A (en) |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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