CN109573449A - A kind of transfer robot, products storage circulation system and container method for carrying - Google Patents
A kind of transfer robot, products storage circulation system and container method for carrying Download PDFInfo
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- CN109573449A CN109573449A CN201910087638.6A CN201910087638A CN109573449A CN 109573449 A CN109573449 A CN 109573449A CN 201910087638 A CN201910087638 A CN 201910087638A CN 109573449 A CN109573449 A CN 109573449A
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- transfer robot
- container
- target container
- driving lever
- box assembly
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- 238000012546 transfer Methods 0.000 title claims abstract description 140
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000003860 storage Methods 0.000 title claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims description 60
- 238000001514 detection method Methods 0.000 claims description 28
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- 230000033001 locomotion Effects 0.000 description 37
- 238000005192 partition Methods 0.000 description 28
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- 239000002699 waste material Substances 0.000 description 1
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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
-
- 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
Abstract
The invention belongs to warehouse logistics technical field, a kind of transfer robot, products storage circulation system and container method for carrying are specifically disclosed, wherein transfer robot includes mobile chassis, can be moved along the channel between adjacent stock container；Pallet is arranged on mobile chassis, for keeping in target container；Box assembly is taken, is arranged on mobile chassis, box assembly is taken the direction of box assembly horizontal extension can be taken vertical with mobile direction relative to mobile chassis horizontal extension to pick and place target container between stock container and pallet.Products storage circulation system includes above-mentioned transfer robot, and container method for carrying carries out the carrying of target container using above-mentioned transfer robot.Transfer robot, products storage circulation system and container method for carrying disclosed by the invention can reduce transfer robot and improve utilization rate of warehouse to the occupied space of warehouse aisles, while improve target container handling efficiency.
Description
Technical field
The present invention relates to warehouse logistics technical field more particularly to a kind of transfer robots, products storage circulation system and container
Method for carrying.
Background technique
The fast development of e-commerce both brought unprecedented opportunity to develop to warehousing and logistics industry, also to storage
Logistics service proposes stern challenge, how high efficiency, low cost, flexibly and accurately carry out package to sort being always stored goods
The problem that popular industry is faced.With the continuous development of robot technology, occur needing storage to be picked and placed goods using robot
Product taking-up on stock container is put into order box to artificial station, then by artificial station by the base stock container handling of object
In.But the sorting mode of traditional " stock container to people ", needs robot that entire stock container is carried to picking region, increases
The load for having added robot to carry, causes the great wasting of resources.
The prior art proposes the sorting mode of " target container to people ", to solve traditional " stock container to people " sorting side
Formula bring resource and energy consumption waste.The sorting mode of " target container to people " use transfer robot target container is removed and
Noninventory container handling is to picking area: after robot receives order instruction, the warehouse aisles that are moved to before target container；Machine
Device people rotates commutation, makes robot just facing towards target container, the telescoping mechanism in robot stretch out with realize target container from
It is removed and placed in warehouse container in the target container storage rack carried to robot；The clamping of robot completion target container
Afterwards, rotation commutation again, makes robot face warehouse aisles, to allow the robot to be carried to target container along storage channel
Designated place.
The transfer robot that the prior art provides, robot needs are rotated in warehouse aisles is just able to achieve mesh
The operation of the pick-and-place or robot of container in warehouse container is marked, the execution of rotary motion needs warehouse aisles to have wider sky
Between, it is unfavorable for the raising of warehouse space utilization rate, and robot one target container of every pick-and-place, it is dynamic is intended to carry out rotation twice
Make, is unfavorable for the raising that transfer robot removes case efficiency.
Summary of the invention
It is an object of the present invention to provide a kind of transfer robots, can be improved warehouse space utilization rate and to mesh
Mark the handling efficiency of container.
It is another object of the present invention to provide a kind of products storage circulation systems, improve warehouse space utilization rate and logistics
Efficiency.
Another object of the present invention is to provide a kind of container method for carrying, simplify target container handling process, improves mesh
Mark container handling efficiency.
To achieve the above object, the present invention adopts the following technical solutions:
A kind of transfer robot, comprising:
Mobile chassis can be moved along the channel between adjacent stock container；
Pallet is arranged on the mobile chassis, for keeping in target container；
Box assembly is taken, is arranged on the mobile chassis, it is described to take box assembly horizontal relative to the mobile chassis
It stretches to pick and place the target container, the side for taking box assembly horizontal extension between the stock container and the pallet
It is vertical to the direction moved with the mobile chassis.
Further, the transfer robot further include:
Lift adjustment component is arranged on the mobile chassis；
Telescopic adjustment component is arranged on the lift adjustment component and takes box assembly to connect with described, the flexible tune
Section component is configured as taking box assembly horizontal extension described in drive, and the lift adjustment component is configured as driving the flexible tune
Section component and described take box assembly vertical lifting.
Further, described to take the box assembly to include:
Two cantilever arms, two cantilever arms are parallel and are oppositely arranged on the two sides of the pallet, each described to stretch
Arm is respectively connected with the telescopic adjustment component out.
It is further, described to take box assembly further include:
Driving lever, the both ends of each cantilever arm are rotatably connected to the rotation axis and the cantilever arm of the driving lever
Length direction is parallel；
Driving lever driving assembly is set on the cantilever arm, for driving the driving lever to rotate.
Further, the driving lever driving assembly is connected with driving lever transmission shaft, and the driving lever both ends of the drive shaft is respectively connected with
The driving lever, and the driving lever for being located at the same driving lever both ends of the drive shaft is mutually perpendicular to.
Further, the both ends of each cantilever arm are provided with detection sensor, for detecting the target container
Position.
Further, the telescopic adjustment component includes:
Connecting plate is connect with the lift adjustment component；
Expansion plate, can be flexible along the connecting plate, and the cantilever arm can be flexible along the expansion plate.
Further, synchronous between the expansion plate and the connecting plate and between the cantilever arm and the expansion plate
It is flexible.
Further, the pallet includes a temporary partition, and the temporary partition and the lift adjustment component connect
It connects, to realize the synchronization lifting of the temporary partition Yu the telescopic adjustment component.
Further, the pallet includes:
Multiple temporary partitions, multiple temporary partitions are alternatively arranged along the vertical direction, offer on the temporary partition
For avoiding the escape port of the telescopic adjustment component.
Further, the transfer robot surface opposite with the stock container is plane.
A kind of products storage circulation system, including transfer robot as described above.
A kind of container method for carrying carries target container using transfer robot as described above.
Further, it is provided with detection sensor on the transfer robot, for detecting the position of the target container,
The container method for carrying includes the following steps:
It is described that box assembly is taken to be increased to target container place height；
The transfer robot is moved along the channel, and the transfer robot, in moving process, the detection passes
Sensor successively scans the two sides edge of target container；
When recording detection sensor scanning for the first time to the target container edge position X1 of transfer robot with
And the detection sensor scans the position X2 of transfer robot when arriving target container edge for the second time；
The center for calculating the target container is (X2-X1)/2；
The transfer robot is moved at the position (X2-X1)/2；
It is described to take box assembly to stretch out and pick up the target container to the pallet.
The beneficial effects of the present invention are:
Transfer robot provided by the invention, by the horizontal extension direction of box assembly will be taken to be arranged to and transfer robot
The direction of motion it is vertical, when transfer robot can be made to run in warehouse aisles to target container, do not need to do and rotate
The stretching motion for taking box assembly towards target container direction can be realized in movement, realizes target container in warehouse container and keeps in
Pick-and-place between frame enables transfer robot so as to reduce transfer robot activity space needed for warehouse aisles
Target container enough suitable for relatively narrow warehouse aisles is carried, and is optimized the layout of warehouse container in warehouse, is improved the utilization in warehouse
Rate；It, can be along straight line without rotation and after transfer robot completes transfer of the target container between warehouse container and pallet
Movement removes warehouse aisles, and target container is carried to designated place, simplifies the motion action of transfer robot, saves target goods
The handling time of case improves transfer robot to the handling efficiency of target container, improves the efficiency of warehouse logistics.
Products storage circulation system provided by the invention can reduce transfer robot by using above-mentioned transfer robot
Demand to warehouse aisles width, preferably warehouse layout improve warehouse space utilization rate, while improving logistic efficiency.
Container method for carrying provided by the invention can be improved the efficiency of container carrying, to improve logistic efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the transfer robot that the embodiment of the present invention one provides；
Fig. 2 is the structural schematic diagram of the telescopic adjustment component that provides of the embodiment of the present invention one in a first direction；
Fig. 3 is structural schematic diagram of the telescopic adjustment component that provides of the embodiment of the present invention one in second direction；
Fig. 4 is the structural schematic diagram for the flexible transmission component that the embodiment of the present invention one provides；
Fig. 5 is the schematic diagram for 20 center positioning method of target container that the embodiment of the present invention one provides；
Fig. 6 is the structural schematic diagram of transfer robot provided by Embodiment 2 of the present invention.
It is marked in figure as follows:
10- transfer robot；20- target container；
1- mobile chassis；11- chassis body；12- driving wheel；
2- pallet；21- support body；211- support rod；212- supporting block；22- keeps in partition；221- main part；222-
Interconnecting piece；223- escape port；
3- takes box assembly；31- cantilever arm；32- driving lever；33- driving lever transmission shaft；34- driving lever driving assembly；
4- lift adjustment component；41- lifting support；42- lifting and driving component；421- elevating chain；422- lifting sprocket；
43- goes up and down driving assembly；
5- telescopic adjustment component；51- connecting plate；52- expansion plate；53- first stretches transmission component；531- stretches sprocket wheel；
The first stretching chain of 532-；The second stretching chain of 533-；The first transmission belt of 534-；The first driving wheel of 535-；54- second is flexible to be passed
Dynamic component；The second transmission belt of 541-；The second driving wheel of 542-；55- stretches driving assembly；56- stretches guidance set；561- first
Guide groove；The second guide groove of 562-；The first guide rail of 563-；The second guide rail of 564-；57- limits detection switch；
The left sensor of 61- first；The right sensor of 62- first；The left sensor of 63- second；The right sensor of 64- second.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
In the description of the present invention unless specifically defined or limited otherwise, term " connected ", " connection ", " fixation " are answered
It is interpreted broadly, for example, it may be being fixedly connected, may be a detachable connection, or is integral；It can be mechanical connection,
It can be electrical connection；It can be directly connected, the company inside two elements can also be can be indirectly connected through an intermediary
Logical or two elements interaction relationship.For the ordinary skill in the art, can be understood with concrete condition above-mentioned
The concrete meaning of term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of
First feature horizontal height is less than second feature.
In the description of the present embodiment, term " on ", "lower", " right side ", etc. orientation or positional relationships be based on shown in attached drawing
Orientation or positional relationship, be merely for convenience of description and simplification operation, rather than the device or element of indication or suggestion meaning
It must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.In addition,
Term " first ", " second " are only used to distinguish between description, and have no special meaning.
Embodiment one
Fig. 1 is the structural schematic diagram of transfer robot 10 provided in an embodiment of the present invention, as shown in Figure 1, the present embodiment mentions
A kind of transfer robot 10 is supplied, for realizing the carrying and pick-and-place to target container 20, which are mainly applied to stored goods prevalences
Industry has the target container 20 of order cargo or express delivery to be picked and placed and transported storage, with realize picking based on order or on
Goods operation.It also can be applied to other places for needing to be carried to target container 20 or cargo, to removing in the present embodiment
The application of fortune robot 10 is merely illustrative, and the present embodiment does not carry out concrete restriction to this.
In the present embodiment, application of the transfer robot 10 in warehousing and logistics industry is predominantly based on order to warehouse container
In target container 20 carry out picking, get in stocks and handling work: when order management center receives picking order, order management
Center analysis picking order, determines the location information of the corresponding target container 20 of required picking product in picking order, and by position
Information is sent to transfer robot 10.After transfer robot 10 receives picking information and location information, self-navigation is carried out extremely
It is moved at corresponding 20 position of target container of warehouse container, and the taking-up of target container 20 is placed on transfer robot 10,
Target container 20 is carried to employee's treatment region and carries out sorting work by the transfer robot 10 that picking finishes；When order management center
It receives when getting in stocks order, order management center analysis is got in stocks order, the corresponding mesh of kinds of goods of getting in stocks needed for determining in order of getting in stocks
Mark container 20 need to be placed on the location information in warehouse container, and order management central dispatching transfer robot 10 to employee is handled
Target container 20 to be got in stocks is placed on transfer robot 10 by area, employee, while order management center will get in stocks information and position
Confidence breath is sent to transfer robot 10, the storehouse that transfer robot 10 is placed according to location information self-navigation to target container 20
Storage capacity device corresponding position, and target container 20 to be got in stocks is taken out into placement to the designated position of warehouse container from transfer robot 10
Place.
Specifically, transfer robot 10 provided in this embodiment includes: mobile chassis 1, and driving is provided on mobile chassis 1
The mobile drive wheel mechanism of mobile chassis 1, translation and turning motion for realizing transfer robot 10 on ground；Pallet 2,
It is arranged on mobile chassis 1, is used for stored target container 20；Box assembly 3 is taken, is arranged on mobile chassis 1, for realizing mesh
Mark pick-and-place of the container 20 in stock container and pallet 2 between；Lift adjustment component 4 is arranged on mobile chassis 1, quilt
It is configured to drive and takes 3 vertical lifting of box assembly, to realize to the target container 20 for being located at warehouse container different height position
It picks and places；Telescopic adjustment component 5 is arranged on lift adjustment component 4, and can drive vertical lifting by lift adjustment component 4,
And telescopic adjustment component 5 is connect with box assembly 3 is taken, and is configured as drive and is taken 3 horizontal extension of box assembly to carry out target container 20
Pick-and-place between warehouse container and pallet 2；Control assembly, for controlling and adjusting the operating status of transfer robot 10；
Detection components, for detecting the working condition and external environment state of transfer robot 10, accessory control component is to conveying robot
The operation of people 10 regulates and controls.
Mobile chassis 1 includes chassis body 11 and the drive wheel mechanism that 11 bottom of chassis body is arranged in.In embodiment,
Drive wheel mechanism uses the form of differential driving, specifically includes driving wheel motor, two drives for being arranged in 11 bottom of chassis body
Driving wheel 12 and the connection component etc. for connecting driving motor and two driving wheels 12.Two driving wheels 12 are separately positioned on chassis sheet
Body 11 is along the two sides perpendicular to 5 horizontal extension direction of telescopic adjustment component, i.e., the line of centres of two driving wheels 12 and flexible tune
The telescopic direction for saving component 5 is parallel, to enable the direction of motion of the transfer robot 10 in translation motion and take box assembly 3
Horizontal extension direction it is vertical.
Using above-mentioned set-up mode, transfer robot 10 can be made to be run in warehouse aisles to 20 front of target container
When, it does not need transfer robot 10 and makes rotating motion, the flexible fortune for taking box assembly 3 towards 20 direction of target container can be realized
It is dynamic, pick-and-place of the target container 20 between warehouse container and pallet 2 is realized, so as to reduce transfer robot 10 in warehouse
Activity space needed for channel enables removing for target container 20 of the transfer robot 10 suitable for relatively narrow warehouse aisles
Fortune optimizes the layout of warehouse container in warehouse, improves the utilization rate in warehouse；And transfer robot 10 completes target container 20 in storehouse
After transfer between storage capacity device and pallet 2, it can move along a straight line and remove warehouse aisles, target container 20 is carried to specified
Place simplifies the motion action of transfer robot 10, saves the handling time of target container 20, improves transfer robot 10 to mesh
The handling efficiency for marking container 20, improves the efficiency of warehouse logistics.
In the present embodiment, the on both sides of the middle of chassis body 11 is arranged in drive wheel mechanism, and with respect to chassis body 11
Axisymmetrical setting is conducive to the robust motion for improving mobile chassis 1.Chassis body 11 is respectively provided with along the both ends of translational motion
There is a pair of universal driven wheel, and be symmetrical arranged two pairs of universal driven wheel opposed pair driving wheels 12, is conducive to further increase
The turning motion stationarity of the smooth motion of mobile chassis 1, especially mobile chassis 1, prevents mobile chassis 1 during the motion
Topple over to side.
In the present embodiment, the drive wheel mechanism of differential driving is the conventional arrangement of this field, and the present embodiment no longer carries out
Specifically repeat.In other embodiments, drive wheel mechanism can also be able to drive the mechanism of the movement of chassis body 11 using other,
Such as single driving mechanism, double driving mechanism or all-wheel drive mechanism, the present embodiment do not carry out the specific structure of drive wheel mechanism
Limitation as long as being able to drive mobile chassis 1 realizes the movement for the forms such as advance, retreat, turning, rotating in place, and makes its translation
The direction of the movement drive wheel mechanism vertical with the telescopic direction of box assembly 3 is taken.
In the present embodiment, chassis body 11 has along being plane perpendicular to the two sides for taking 3 horizontal extension direction of box assembly
Conducive to the width for reducing chassis body 11, to reduce warehouse aisles required when transfer robot 10 is run in warehouse aisles
Width.Chassis body 11 is the arcuate structure of evagination along the both ends of the direction of motion, and arcuate structure is separately connected two lateral planes,
Be conducive to improve the aesthetics of chassis body 11 and increase the area at 1 top of mobile chassis, it is convenient to be arranged at the top of mobile chassis 1
Lift adjustment component 4 and pallet 2 etc..
Lift adjustment component 4 includes lifting support 41, lifting and driving component 42 and lifting driving assembly 43.Lifting support 41
It is vertically arranged in the top of chassis body 11, and is connect with chassis body 11 using welding or detachable connection method, detachably
Connection type preferably threaded connection etc. is conducive to the stability and convenience that improve connection.Lifting support 41 is frame-type knot
Structure, and lifting support 41 is along perpendicular to taking the two sides in 3 horizontal extension direction of box assembly to be provided with lifting and driving component 42 and sliding
Rail, and the equal parallel interval setting in every side is conducive to the elevating movement stationarity for improving telescopic adjustment component 5 there are two sliding rail.
The bottom of lifting support 41 is arranged in lifting driving assembly 43, and lifting driving assembly 43 can connect with lifting support 41
It connects, can also be connect with chassis body 11.In the present embodiment, lifting driving assembly 43 is motor, and lifting and driving component 42 is
Sprocket wheel chain transmission component, sprocket wheel chain transmission component include two lifting sprockets for being separately positioned on 41 top of lifting support
422 and the elevating chain 421 that is set between two lifting sprockets 422, telescopic adjustment component 5 and a portion lift chain
Item 421 connects, and the sliding block with the cooperation of two sliding rails is provided on telescopic adjustment component 5, passes through lifting sprocket 422 and lift chain
The cooperation transmission of item 421 and the motion guide of sliding-rail sliding realize the lifting of 5 vertical direction of telescopic adjustment component.
In the present embodiment, two lifting and driving components 42 are driven using the same lifting driving assembly 43, and two rise
Drop transmission component 42 passes through the lifting and driving axis connection being arranged between two lifting sprockets 422 on 41 top of lifting support, real
Existing two lifting and driving components 42 move synchronously.In other embodiments, two lifting and driving components 42 can be respectively adopted
Two lifting driving assembly 43 drivings；Or the set-up mode of sprocket wheel chain transmission component can be the setting of other forms, such as only
Lifting sprocket 422 is set on the top of lifting support 41, elevating chain 421 is set in lifting sprocket 422, elevating chain
421 one end connects telescopic adjustment component 5, and the other end of elevating chain 421 connects counterweight, for realizing chain elevating chain
The elevating movement of telescopic adjustment component 5 when 421 transmission；Or lifting and driving component 42 can also pass for pinion and-rack, belt pulley
The kinds of drive, the present embodiment such as dynamic, feed screw nut formula do not limit the specific structure and form of lifting and driving component 42,
Under the premise of space occupied permission and structure setting are feasible, the existing lifting and driving mode that can be realized elevating movement
With in the lifting and driving component 42 that is applied in the application, and it is driven to due to going up and down the conventional arrangement of machinery field, this implementation
Example is no longer specifically repeated.
Pallet 2 includes support body 21 and temporary partition 22, and support body 21 is vertically arranged in 1 top of mobile chassis, is used for
Support and the temporary partition 22 of connection, multiple temporary partitions 22 are arranged along the short transverse parallel interval of support body 21, and each temporarily
Depositing partition 22 could be used for stored target container 20.
In the present embodiment, support body 21 includes four support rods 211 being vertically arranged, and four support rods 211 are in rectangle
Distribution setting, and four support rods 211 are connected in bottom using supporting block 212, support plate 212 and mobile chassis 1 use screw thread
Connection etc. is detachably connected or is connected using weldedization.By the way that supporting block 212 is arranged, be conducive to improve support body 21 and moves
The connective stability and reliability on dynamic chassis 1.And it can be stored keeping the length and width dimensions of support body 21 to meet target container 20
Requirement while, reduce mobile chassis 1 size, to further decrease transfer robot 10 to the need of warehouse aisles width
It asks, further increases utilization rate of warehouse.
Temporary partition 22 is horizontally set between four support rods 211, and the quadrangle of temporary partition 22 respectively with four branch
Strut 211 connects, and the mode of connection can be welded connecting, or threaded connection, plug connection, clamping connection etc. are removable
Unload connection type connection.In the present embodiment, the main part 221 of partition 22 including rectangle is kept in, main part 221 is perpendicular to taking
The horizontal extension direction of box assembly 3 is located at the inside of 41 bracket of lifting support, is conducive to that the floor projection of pallet 2 is made at least to exist
Perpendicular to being respectively positioned in the drop shadow spread of mobile chassis 1 on horizontal extension direction, make on perpendicular to horizontal extension direction, carries
The maximum width of robot 10 is the maximum width of mobile chassis 1, is made in transfer robot 10 in warehouse aisles moving process
In, pallet 2 will not the warehouse container to warehouse aisles two sides cause collision etc. interference.
Main part 221 is outward extended with interconnecting piece 222 along the both ends of the two sides perpendicular to horizontal extension direction, each
Interconnecting piece 222 is connected with corresponding support rod 211, to make temporary partition 22 along the two sides perpendicular to horizontal extension direction
There is the escape port 223 for avoiding telescopic adjustment component 5 on side.When telescopic adjustment component 5 is in fully retracted state, stretch
Contracting, which adjusts component 5, to realize vertical lifting of the telescopic adjustment component 5 on lifting support 41 by each escape port 223.
In the present embodiment, transfer robot may be implemented to five goods there are five temporary partition 22 in setting on pallet 2
It is carried while case.It is temporary on pallet not to being defined on the temporary partition 22 on pallet 2 but in the present invention
22 quantity of partition can carry out self-setting according to demand.
In the present embodiment, take box assembly 3 include cantilever arm 31, driving lever 32 and driving lever driving assembly 34 (see Fig. 3), two
Cantilever arm 31 is parallel and is oppositely arranged on the two sides of pallet 2, and each cantilever arm 31 connects with a telescopic adjustment component 5
It connects.The prolonging direction of cantilever arm 31 is the telescopic direction of telescopic adjustment component 5, and the inside of each cantilever arm 31, which is provided with, dials
Bar 32 and driving lever driving assembly 34, and the both ends of each cantilever arm 31 are provided with a driving lever 32, driving lever driving assembly 34 with
Driving lever 32 connects and driving lever 32 is driven to rotate, and the rotation direction of driving lever 32 is parallel with the length direction of cantilever arm 31.
In the present embodiment, two driving levers 32 on same cantilever arm 31 are driven using same driving lever driving assembly 34
Dynamic, driving lever driving assembly 34 includes driving motor and driving lever transmission shaft 33, the output shaft and driving lever transmission shaft of driving lever driving motor
33 connections, and the both ends of driving lever transmission shaft 33 are separately connected and are fixed with above-mentioned driving lever 32, and are located at same root driving lever transmission shaft 33
Two driving levers 32 at both ends are mutually perpendicular to.
In the present embodiment, driving motor is steering engine, can by the feedback mechanism and angle of steering engine be arranged realize to dial
The accurate control of 32 rotational angle of bar, and small volume are conducive to the installation and setting of driving lever driving assembly 34.In other implementations
In example, driving motor can control other drive forms of rotation angle with servo motor etc..
When taking box assembly 3 to need from stock container by the pick-and-place to temporary partition 22 of target container 20, telescopic adjustment
Component 5 drives two cantilever arms 31 to be respectively protruding into the two sides of target container 20, and after cantilever arm 31 stretches out preset length, driving lever is driven
The dynamic driving of component 34 driving lever 32 rotates, and makes the driving lever 32 of 31 front side of cantilever arm in horizontally disposed and vertical with cantilever arm 31, stretching
The driving lever 32 of 31 rear side of arm is in be vertically arranged.Cantilever arm 31 is driven to retract by control telescopic adjustment component 5, two cantilever arms 31
The driving lever 32 of front end and the preceding end in contact of target container 20, and moved with moving-target container 20 along towards the direction of pallet 2.By
The state in a vertical shape of driving lever 32 in 31 rear end of cantilever arm, makes warehouse container to the channel between temporary partition 22 be opened, makes mesh
Mark container 20 is placed under the wave action of driving lever 32 to pallet 2.When taking box assembly 3 to need target container 20 from temporary
When partition 22 is picked and placed into warehouse container, 32 driving assembly of driving lever drives driving lever 32 to rotate, and makes the driving lever 32 of 31 rear end of cantilever arm
It is vertical in horizontally disposed and relative extension arm 31, and the state in a vertical shape of driving lever 32 of 31 front end of cantilever arm；By controlling flexible adjust
It saves component 5 to stretch out, cantilever arm 31 is driven to move towards the direction of warehouse container, 31 rear end of cantilever arm is contacted with target container 20 and band
Moving-target container 20 is moved to the direction of warehouse container, due to the state in a vertical shape of driving lever 32 of 31 front end of cantilever arm, keeps in partition
Channel between 22 and warehouse container is opened, and moves target container 20 under the action of telescopic adjustment component 5 and driving lever 32
Into warehouse container.
In the present embodiment, band moving-target container 20 is moved by way of driving lever 32 is arranged and stirs target container 20, can
Simplify the structure for taking box assembly 3, conveniently take the operation of box assembly 3, reduces the requirement for taking box assembly 3 to position target container 20,
It can be suitable for the pick-and-place of the target container 20 of sizes and shape simultaneously.In other one embodiment, it can also be and take
Box assembly 3 only includes cantilever arm 31, holds effect realization to the folder of target container 20 to target container 20 by cantilever arm 31
It takes and places.In other another embodiments, box assembly 3 can also be taken to realize to target goods using other forms and structure
The pick-and-place of case 20 acts on.
In the present embodiment, telescopic adjustment component 5 is second level stretching structure, is conducive to stretch in increase telescopic adjustment component 5
While maximum length out, reduce size when telescopic adjustment component 5 retracts, to reduce the whole ruler of transfer robot 10
It is very little.Specifically, Fig. 2 is the structural schematic diagram of telescopic adjustment component provided in an embodiment of the present invention in a first direction, and Fig. 3 is this hair
For the telescopic adjustment component that bright embodiment provides in the structural schematic diagram of second direction, Fig. 4 is provided in an embodiment of the present invention flexible
The structural schematic diagram of transmission component.As in Figure 2-4, telescopic adjustment component 5 includes connecting plate 51, expansion plate 52, flexible transmission
Component and flexible driving assembly 55.
It is parallel to each other between connecting plate 51, expansion plate 52 and cantilever arm 31, connecting plate 51 is for realizing telescopic adjustment group
The connection of part 5 and lift adjustment component 4, the outside of connecting plate 51 are provided with chain connector and two sliding blocks, chain connector
It is connect with elevating chain 421, two sliding blocks are slidably connected with two one slide rails respectively, realize that connecting plate 51 is steadily gone up and down.Expansion plate
52 are located at the inside of connecting plate 51, expansion plate 52 positioned at connecting plate 51 and cantilever arm 31 between and respectively with connecting plate 51 and stretching
Arm 31 connects.Expansion plate 52 can be flexible with respect to connecting plate 51, cantilever arm 31 can relative telescopic plate 52 it is flexible.
In the present embodiment, the transmission component that stretches is flexible using secondary synchronization, i.e., when expansion plate 52 is stretched with respect to connecting plate 51
When contracting, the synchronous relative telescopic plate 52 of cantilever arm 31 is flexible, so as to improve the stretching operation efficiency of telescopic adjustment component 5, mentions
High transfer robot 10 takes case efficiency.
Flexible transmission component includes the first flexible transmission component 53 being arranged between connecting plate 51 and expansion plate 52 and sets
Set the second flexible transmission component 54 between expansion plate 52 and cantilever arm 31.
In the present embodiment, the first flexible transmission component 53 includes main transmission component, and wherein main transmission component includes setting
Two flexible sprocket wheels 531 at 51 both ends of connecting plate, are arranged between two flexible sprocket wheels 531 and flexible sprocket wheel 531 cooperation
First stretching chain 532, and one of them flexible sprocket wheel 531 is connect with the driving motor output shaft in flexible driving assembly 55,
Flexible sprocket wheel 531 is driven to rotate by the output shaft rotation of driving motor, to drive the rotation of the first stretching chain 532.Expansion plate
52 are located at the top of the first stretching chain 532, and the lower side of expansion plate 52 is provided with the with the cooperation of the first stretching chain 532
Two stretching chains 533 drive 533 translational motion of the second stretching chain by the rotation of the second stretching chain 532, stretch to drive
Contracting plate 52 is flexible with respect to connecting plate 51.
The present embodiment can keep the first stretching chain 532 that position is arranged by using the chain sprocket kind of drive
Under the premise of constant, realize that expansion plate 52 is flexible with respect to 51 rear and front end of connecting plate, to enable 5 band of telescopic adjustment component
Dynamic cantilever arm 31 is realized to the flexible of any side of pallet 2, realizes that transfer robot 10 is right in the case where not turning commutation
The container of any side is moved to take in warehouse container two sides, improves convenience and flexibility that target container 20 is carried.At it
In his embodiment, expansion plate 52 can also be driven flexible with respect to connecting plate 51 using other driving forms, such as feed screw nut, tooth
Take turns rack-driving etc..
In the present embodiment, the first flexible transmission component 53 further includes the auxiliary biography that 5 upside of telescopic adjustment component is arranged in
Dynamic component, accessory drive component include the first transmission belt 534 and the first driving wheel 535.With the left and right directions of structure shown in Fig. 4
For reference, accessory drive component is described, the left end (right end) of expansion plate 52 is provided with the first installing port, the first installing port
Through two pairs of two sides of expansion plate 52, the first driving wheel 535, which is mounted in the first installing port and can rotate with expansion plate 52, to be connected
It connects, and the axis vertical setting of the first driving wheel 535.The right end that one end of first transmission belt 534 is fixed on connecting plate 51 is (left
End), the other end of the first transmission belt 534 around the first driving wheel 535 and is fixed on one side of the expansion plate 52 far from connecting plate 51.
When main transmission component movement drives expansion plate 52 to stretch with respect to connecting plate 51, the both ends of the first transmission belt 534 are in the first transmission
It is close to each other or separate under the rotary action of wheel 535, stretching operation of the auxiliary telescopic plate 52 with respect to connecting plate 51.It is auxiliary by being arranged
Transmission component is helped, on the one hand can be improved stationarity of the expansion plate 52 with respect to 51 stretching motion of connecting plate, guarantees telescopic adjustment group
Stress during stretching motion of part 5 is steady, stable and reliable operation, on the other hand, since the both ends of the first transmission belt 534 are distinguished
Opposite connecting plate 51 and expansion plate 52 are fixed, can limit maximum extension elongation of the expansion plate 52 with respect to connecting plate 51, play pair
The stretching position-limiting action of expansion plate 52.
Second flexible transmission component 54 includes the second transmission belt 541 and the second driving wheel 542.With structure shown in Fig. 4
Left and right directions is reference, the second flexible transmission component 54 is described, the right end (left end) of expansion plate 52 is provided with the second peace
Mouth is filled, the second installing port runs through the opposite sides face of expansion plate 52, and the second driving wheel 542 is rotatably installed in the second installing port,
And second driving wheel 542 axis vertical setting.One end of second transmission belt 541 is fixed on cantilever arm 31 far from connecting plate 51
One end, the other end of the second transmission belt 541 are fixed on the left end (right end) of connecting plate 51 around the second driving wheel 542.
When expansion plate 52 is retracted with respect to connecting plate 51, it is arranged on expansion plate 52 due to the second transmission belt 541
Second driving wheel 542, and 541 length of the second transmission belt is certain, while the second driving wheel 542 is with 52 translational motion of expansion plate,
It rotates the second driving wheel 542 relative to the second transmission belt 541, the second transmission belt 541 is driven to be located at expansion plate 52 towards connecting plate
The length of 51 one sides increases, and the length of expansion plate 52 towards 31 one side of cantilever arm reduces, to pull 31 relative telescopic of cantilever arm
Plate 52 retracts.Similarly, when expansion plate 52 is stretched out with respect to connecting plate 51, the second transmission belt 541 and the drive of the second driving wheel 542 are stretched
31 relative telescopic plate 52 of arm stretches out out.To, when flexible driving assembly 55 drives the first flexible 53 stretching motion of transmission component,
Flexible, the i.e. two-stage synchronization telescope adjusting of realization telescopic adjustment component 5 of 31 relative telescopic plate 52 of synchronous drive cantilever arm.
In the present embodiment, the first transmission belt 534 and the second transmission belt 541 can be belt, or synchronous belt is put down
Band or chain etc., the first driving wheel 535 and the second driving wheel 542 are to cooperate with the first transmission belt 534 or the second transmission belt 541
Structure.
In the present embodiment, the same length of connecting plate 51, expansion plate 52 and cantilever arm 31, and the first transmission belt
534 and second the length of transmission belt 541 be substantially equal to twice of 51 length of connecting plate, be conducive to increase cantilever arm 31 as much as possible
The extension elongation and expansion plate 52 of relative telescopic plate 52 are reducing telescopic adjustment component with respect to the extension elongation of connecting plate 51
When 5 contraction while size, increase the maximum extension elongation of telescopic adjustment component 5 as far as possible, to further decrease carrying
The overall dimensions of robot 10.
In the present embodiment, in order to improve the stretching motion stationarity of telescopic adjustment component 5, telescopic adjustment component 5 is also wrapped
Flexible guidance set 56 is included, flexible guidance set 56 includes be separately positioned on 52 inside of 51 inside of connecting plate and expansion plate the
One guide groove 561 and the second guide groove 562, and it is separately positioned on first guide rail 563 in 31 outside of 52 outside of expansion plate and cantilever arm
With the second guide rail 564, the first guide rail 563 is slidably connected with the first guide groove 561, and the second guide rail 564 and the sliding of the second guide groove 562 connect
It connects.
In the present embodiment, telescopic adjustment component further includes the limit detection switch 57 that the both ends of cantilever arm 51 are arranged in,
For detecting the extreme position of stretching or the retraction of cantilever arm 31, to regulate and control to the operation of telescopic adjustment component 5, guarantee
The operational reliability of telescopic adjustment component 5.
In other one embodiment, flexible transmission component can also realize that secondary synchronization is stretched using other driving forms
Contracting, such as rack-and-pinion form.In other another embodiments, between expansion plate 52 and connecting plate 51 and expansion plate 52 with stretch
The independent telescope that one flexible transmission component realizes expansion plate 52 and cantilever arm 31 is respectively set between arm 31 out.
In the present embodiment, each telescopic adjustment component 5 is provided with a flexible driving assembly 55, then can make each
The setting of flexible driving assembly 55 does not influence storage of the target container 20 on temporary partition 22.In other embodiments, may be used
To be two telescopic adjustment components 5 using the same of the same flexible cooperation of driving assembly 55 transmission shaft two flexible transmission components of realization
Step movement.
In the present embodiment, transfer robot 10 is additionally provided with control assembly, each dynamic for controlling transfer robot 10
The operation of work.Control assembly include controller, order management module, navigation module, information transmission modular, message processing module,
Identification module, display module, alarm module and power module etc..Drive wheel mechanism, lifting driving assembly 43, flexible driving group
Each generic module in part, driving lever driving assembly 34, detection module and control assembly is connect with controller.
Navigation module enables transfer robot 10 according to target goods for realizing the independent navigation function of mobile chassis 1
20 position of case carries out optimum path planning and according to optimum programming path self-navigation to 20 front of target container.Mobile chassis 1
Navigation mode can for two dimensional code, bar code and radar SLAM navigation, be also possible to through traditional electric or magnetic guidance side
Formula guides the operation of mobile chassis 1 to target position.
Information transmission modular includes the wireless communication module for realizing transfer robot 10 and external communication and is used for
Realize the wire communication module of 10 internal communication of transfer robot.Wireless communication module be mainly used for in products storage circulation system
Order management center is communicated wirelessly to receive order information, to realize order management center to the tune of transfer robot 10
Degree.Wire communication module is mainly used for controller and mobile chassis 1, lift adjustment component 4, telescopic adjustment component 5 and takes case group
Internal communication between part 3 is moved to specific position to control mobile chassis 1, box assembly 3 is taken to be raised and lowered to certain bits
It sets, make that box assembly 3 is taken to stretch out or retract, or make the rotation of driving lever 32 to special angle, take box assembly 3 to target container to realize
20 accurate acquisition and placement.
Order management module is used to receive the information that order processing center is dispatched into transfer robot 10, and according to carrying implement
The carrying movement of device people 10 to order being completed and backlog timely updates, facilitate system to order performance into
Row real time monitoring.Identification module external information for identification, and it is converted into the message form that controller is capable of handling, such as identification patch
The bar code information on bottom surface is overlayed on for realizing the path navigation of mobile chassis 1, identifies the mark being covered on target container 20
Code information is signed, the information of cargo in target container 20 is obtained, wherein label code information can penetrate for two dimensional code, bar code or RFID
Frequency code etc..Power module is used to carry out Electric control for mobile chassis 1 comprising be arranged in rechargeable battery on mobile chassis 1,
Charging port and power on-off line, power module can be wired charging module, or wireless charging module.Show mould
Block is used to show the operating status of transfer robot 10, and the electric power shape of transfer robot 10 is such as shown by setting status indicator lamp
Condition shows order processing situation etc. by setting display screen.Alarm module is used for the abnormal operating condition to transfer robot 10
It alarms, to facilitate staff to find failure in time, alarm module can show for buzzer, voice announcer and LED
Deng one or more of combination.
Detection components include the environment monitoring module for shooting external environmental information and the avoidance for detecting barrier
Sensor, context detection module and obstacle avoidance sensor are connect with controller, for assisting mobile chassis 1 to be navigated and kept away
Barrier realizes the smooth walking of transfer robot 10.
Detection components further include the detection sensing being arranged on transfer robot 10, for positioning 20 position of target container
Device.In the present embodiment, detection sensor is arranged on the cantilever arm 31 for taking box assembly 3, and the both ends of each cantilever arm 31 are equal
It is provided with a detection sensor.
When being carried using transfer robot 10 to target container 20, transfer robot 10 is according to order information and leads
Boat information runs the placement position to the front of target container 20, but due to target container 20 in warehouse container along warehouse aisles
The reasons such as inclination, the precision of navigation information and warehouse floor inclination, the center of target container 20 and take the center of box assembly 3 can
It can will not be aligned, at this point, if cantilever arm 31 may be made to touch 20 front of target container using taking box assembly 3 to carry out taking case, and
It is non-to extend into 20 two sides of target container, therefore, using after navigating and carrying out Primary Location, using detection sensor to taking box assembly
The center of 3 relative target containers 20 is accurately positioned.
Fig. 5 is the schematic diagram of 20 center positioning method of target container provided in an embodiment of the present invention, for convenience of to target goods
Two detection sensors for being located at the two sides of direction of motion front end are respectively designated as first by the description of 20 center positioning method of case
Two sensors for being located at the two sides of direction of motion rear end are respectively designated as second by left sensor 61 and the first right sensor 62
Left sensor 63 and the second right sensor 64, the first left sensor 61 and the second left sensor 63 are located at the same of mobile chassis 1
Side, the first right sensor 62 and the second right sensor 64 are located at the same side of mobile chassis 1.
By taking target container 20 is located at 10 left side of transfer robot as an example, 20 center positioning method of target container is retouched
It states:
Transfer robot 10 is being run to before 20 front of target container, according to position of the target container 20 on warehouse container
It sets, height where box assembly 3 will be taken to be increased to target container 20；
When transfer robot 10 is run in warehouse aisles to target 20 location of container, the first left sensor 61 is inswept
First edge of target container 20, the first left 61 signal of sensor are had by no change, when recording the first left 61 sign mutation of sensor
The coordinate position X1 of transfer robot 10；
Transfer robot 10 continues to go ahead, the second edge of the first inswept target container 20 of left sensor 61, and first is left
61 signal of sensor is by there is change nothing, the coordinate position X2 of transfer robot 10 when recording the first left 61 sign mutation of sensor；
The coordinate position for calculating the corresponding transfer robot 10 in 20 center of target container is (X2-X1/2)；
By calculating corresponding 10 coordinate of transfer robot in 20 center of target container, it is moved to transfer robot 10
At coordinate position (X2-X1/2), the center for taking box assembly 3 and the center of target container 20 can be made to be aligned, at this point, control is flexible
Mechanism is stretched out, then two cantilever arms 31 can be made to be located at the two sides of target container 20, avoid cantilever arm 31 and target container 20
It collides or interferes, improve the accuracy for taking box assembly 3 to pick up target container 20.
In the present embodiment, detection sensor is infrared sensor, issues light to infrared sensor according to target container 20
Whether line is blocked by target container 20, exports different detection signals.
In the present embodiment, 20 center position of target container is likely located in front of the position of navigator fix, at this point, logical
Transfer robot 10 of overdriving continues to move forwards to 20 centralized positioning position of target container；20 center of target container can also
Can be located at navigator fix position rear, at this point, transfer robot 10 reach navigation position after, fall back to target container 20
Center position.
When target container 20 is located at 10 right side of transfer robot, the method and the above method at 20 center of target container are determined
Unanimously, it the difference is that, is detected using the first right sensor 62.Traffic direction and diagram side when transfer robot 10
To it is opposite when, using the second left sensor 63 of right sensor 64 or the second carry out position detection.That is, by each cantilever arm 31
Both ends be respectively provided with a detection sensor, can be to different traffic directions and the target goods not ipsilateral positioned at transfer robot 10
Case 20 carries out accurate position positioning, improves the accuracy that transfer robot 10 or target container 20 pick and place.
In the present embodiment, detection components can also include the photographing module of location tags code for identification, warehouse container
The center of corresponding each 20 storage area of target container is provided with location tags code, and location tags code and photographing module combine
When getting in stocks for accurately determining, the corresponding position coordinates of transfer robot 10.
The present embodiment additionally provides a kind of container method for carrying for picking, includes the following steps:
Step S1: transfer robot 10 receives the order information at order management center and analyzes order cargo position；
Step S2: transfer robot 10 plans optimal travel path according to order cargo position, and along warehouse aisles
Self-navigation operation；
Step S3: in 10 self-navigation operational process of transfer robot, using the positioning at above-mentioned 20 center of target container
Method positions 20 center of target container；
Step S4: transfer robot 10 is moved at 20 center corresponding position (X2-X1/2) of target container；
Step S5: telescopic adjustment component 5 controls cantilever arm 31 and stretches out preset length；
Step S6: the driving lever 32 that driving lever driving assembly 34 is driven towards target container 20 is horizontal positioned；
Step S7: telescopic adjustment component 5 controls cantilever arm 31 and is retracted to original state.
Step S8: 10 translational motion of transfer robot goes out warehouse aisles and runs to sorting target position.
The present embodiment additionally provides a kind of container method for carrying for getting in stocks, and includes the following steps:
Step S1: transfer robot 10 receives get in stocks instruction after, be moved to goods area, manually or mechanically arm is by target goods
Case 20 is placed to the pallet 2 of transfer robot 10；
Step S2: transfer robot 10 plans optimal travel path, and edge in warehouse container position according to target container 20
Warehouse aisles self-navigation operation；
Step S3: in 10 self-navigation operational process of transfer robot, according to the position on photographing module and warehouse container
Set the center that label code determines 20 storage area of target container in warehouse container；
Step S4: transfer robot 10 is moved to the corresponding position of the center of 20 storage area of target container；
Step S5: driving lever driving assembly 34 drives the driving lever 32 far from warehouse one end horizontal positioned；
Step S6: telescopic adjustment component 5 controls cantilever arm 31 and stretches out preset length；
Step S7: telescopic adjustment component 5 controls cantilever arm 31 and is retracted to original state.
The present embodiment additionally provides a kind of products storage circulation system, including above-mentioned transfer robot 10.
Embodiment two
Fig. 6 is the structural schematic diagram of transfer robot 10 provided in an embodiment of the present invention, as shown in fig. 6, the present embodiment mentions
A kind of transfer robot 10 is supplied, for realizing the carrying to target container 20.It is provided in this embodiment compared with embodiment one
10 basic structure of transfer robot is identical as the transfer robot 10 that embodiment one provides, and includes mobile chassis 1, lift adjustment
Component 4, telescopic adjustment component 5, takes box assembly 3, control assembly and detection components, and mobile chassis 1, lift adjustment at pallet 2
Component 4, takes the structure of box assembly 3, control assembly and detection components to be the same as example 1 at telescopic adjustment component 5, only pallet
It is had differences in 2 setting, the present embodiment no longer repeats perhaps structure in being the same as example 1.
As shown in fig. 6, the pallet 2 of transfer robot 10 provided in this embodiment only includes one piece of temporary partition 22, i.e.,
The transfer robot 10 that the embodiment provides only is able to achieve the once carrying to a target container 20.Temporary partition 22, which is located at, to be risen
The inside of descending branch frame 41, and the two sides of temporary partition 22 are connect with two connecting plates 51 of telescopic adjustment component 5 respectively, so as to stretch
The elevating movement that contracting adjusts component 5 drives temporary partition 22 to move.
Although transfer robot 10 provided in this embodiment is only capable of once realizing the carrying to a target container 20, by
Lifting can be carried out with telescopic adjustment component 5 in temporary partition 22 to move synchronously, and can be realized to the target for being located at different height
Container 20 picking or get in stocks, and improves picking or the convenience got in stocks and flexibility.
The present embodiment additionally provides a kind of 20 center positioning method of target container, this method and the method phase in embodiment one
Together, the present embodiment is no longer repeated.
The present embodiment additionally provides a kind of container method for carrying for picking, the method phase of this method and embodiment one kind
Together, the present embodiment is no longer repeated.
The present embodiment additionally provides a kind of container method for carrying for getting in stocks, and includes the following steps:
Step S1: transfer robot 10 receives get in stocks instruction after, be moved to goods area, manually or mechanically arm is by target goods
Case 20 is placed to the pallet 2 of transfer robot 10；
Step S2: 4 telescopic adjustment component 5 of lift adjustment component is increased to the height in 20 place warehouse container of target container
Degree；
Step S3: transfer robot 10 plans optimal travel path, and edge in warehouse container position according to target container 20
Warehouse aisles self-navigation operation；
Step S4: in 10 self-navigation operational process of transfer robot, according to the position on photographing module and warehouse container
Set the center that label code determines 20 storage area of target container in warehouse container；
Step S5: transfer robot 10 is moved to the corresponding position of the center of 20 storage area of target container；
Step S6: 32 driving assembly of driving lever drives the driving lever 32 far from warehouse one end horizontal positioned；
Step S7: telescopic adjustment component 5 controls cantilever arm 31 and stretches out preset length；
Step S8: telescopic adjustment component 5 controls cantilever arm 31 and is retracted to original state.
The present embodiment additionally provides a kind of products storage circulation system, including above-mentioned transfer robot 10.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of transfer robot characterized by comprising
Mobile chassis (1) can be moved along the channel between adjacent stock container；
Pallet (2) is arranged on the mobile chassis (1), for keeping in target container (20)；
It takes box assembly (3), is arranged on the mobile chassis (1), it is described to take box assembly (3) be relative to the mobile chassis
(1) horizontal extension is described to take case group to pick and place the target container (20) between the stock container and the pallet (2)
The direction of part (3) horizontal extension is vertical with the mobile chassis (1) mobile direction.
2. transfer robot according to claim 1, which is characterized in that the transfer robot (10) further include:
Lift adjustment component (4) is arranged on the mobile chassis (1)；
Telescopic adjustment component (5) is arranged on the lift adjustment component (4) and takes box assembly (3) to connect with described, described to stretch
Contracting adjusts component (5) and is configured as taking box assembly (3) horizontal extension described in drive, and the lift adjustment component (4) is configured as
It drives the telescopic adjustment component (5) and described takes box assembly (3) vertical lifting.
3. transfer robot according to claim 2, which is characterized in that described to take the box assembly (3) to include:
Two cantilever arms (31), two cantilever arms (31) are parallel and are oppositely arranged on the two sides of the pallet (2), each
The cantilever arm (31) is respectively connected with the telescopic adjustment component (5).
4. transfer robot according to claim 3, which is characterized in that described to take box assembly (3) further include:
The both ends of driving lever (32), each cantilever arm (31) are rotatably connected to the rotation of the driving lever (32) driving lever (32)
Shaft axis is parallel with the length direction of the cantilever arm (31)；
Driving lever driving assembly (34) is set on the cantilever arm (31), for driving the driving lever (32) to rotate.
5. transfer robot according to claim 4, which is characterized in that the driving lever driving assembly (34) is connected with driving lever
Transmission shaft (33), driving lever transmission shaft (33) both ends are respectively connected with the driving lever (32), and are located at the same driving lever transmission
The driving lever (32) at axis (33) both ends is mutually perpendicular to.
6. transfer robot according to claim 3, which is characterized in that the both ends of each cantilever arm (31) are respectively provided with
There is detection sensor, for detecting the position of the target container (20).
7. transfer robot according to claim 3, which is characterized in that the telescopic adjustment component (5) includes:
Connecting plate (51) is connect with the lift adjustment component (4)；
Expansion plate (52), can be flexible along the connecting plate (51), and the cantilever arm (31) can stretch along the expansion plate (52)
Contracting.
8. a kind of products storage circulation system, which is characterized in that including such as described in any item transfer robots of claim 1-7
(10)。
9. a kind of container method for carrying, which is characterized in that using such as the described in any item transfer robots of claim 1-7 (10)
It carries target container (20).
10. container method for carrying according to claim 13, which is characterized in that be provided on the transfer robot (10)
Detection sensor, for detecting the position of the target container (20), the container method for carrying includes the following steps:
It is described that box assembly (3) is taken to be increased to target container (20) place height；
The transfer robot (10) is moved along the channel, and the transfer robot (10) is in moving process, the inspection
Survey the two sides edge that sensor successively scans target container (20)；
Record the position that the detection sensor scans transfer robot (10) when arriving target container (20) edge for the first time
The X1 and position X2 for scanning transfer robot (10) when arriving target container (20) edge for second of the detection sensor；
The center for calculating the target container (20) is (X2-X1)/2；
The transfer robot (10) is moved at the position (X2-X1)/2；
It is described to take box assembly (3) to stretch out and pick up the target container (20) to the pallet (2).
Priority Applications (9)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910087638.6A CN109573449A (en) | 2019-01-29 | 2019-01-29 | A kind of transfer robot, products storage circulation system and container method for carrying |
| CN202010536681.9A CN111620024B (en) | 2019-01-29 | 2019-01-29 | Transfer robot, container taking method and container placing method |
| DE202019005946.6U DE202019005946U1 (en) | 2018-12-25 | 2019-12-25 | Handling robots |
| PCT/CN2019/128111 WO2020135460A1 (en) | 2018-12-25 | 2019-12-25 | Transfer robot, warehouse logistics system and article transferring method |
| JP2021537744A JP2022514979A (en) | 2018-12-25 | 2019-12-25 | Transport robot, warehousing / logistics system and item transport method |
| KR1020217023095A KR20210107766A (en) | 2018-12-25 | 2019-12-25 | Transfer robots, warehouse logistics systems and methods of transporting goods |
| AU2019412355A AU2019412355B2 (en) | 2018-12-25 | 2019-12-25 | Transfer robot, warehouse logistics system and article transferring method |
| EP19902811.9A EP3904238A4 (en) | 2018-12-25 | 2019-12-25 | Transfer robot, warehouse logistics system and article transferring method |
| US17/357,434 US20210323767A1 (en) | 2018-12-25 | 2021-06-24 | Transfer robot, warehouse logistics system and article transferring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910087638.6A CN109573449A (en) | 2019-01-29 | 2019-01-29 | A kind of transfer robot, products storage circulation system and container method for carrying |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010536681.9A Division CN111620024B (en) | 2019-01-29 | 2019-01-29 | Transfer robot, container taking method and container placing method |
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| Publication Number | Publication Date |
|---|---|
| CN109573449A true CN109573449A (en) | 2019-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010536681.9A Active CN111620024B (en) | 2019-01-29 | 2019-01-29 | Transfer robot, container taking method and container placing method |
| CN201910087638.6A Pending CN109573449A (en) | 2018-12-25 | 2019-01-29 | A kind of transfer robot, products storage circulation system and container method for carrying |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010536681.9A Active CN111620024B (en) | 2019-01-29 | 2019-01-29 | Transfer robot, container taking method and container placing method |
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| Country | Link |
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| CN (2) | CN111620024B (en) |
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| CN109878963A (en) * | 2019-04-12 | 2019-06-14 | 上海伽佰智能科技有限公司 | A kind of container transfer robot |
| CN109941652A (en) * | 2019-04-19 | 2019-06-28 | 北京极智嘉科技有限公司 | A kind of transfer robot |
| CN110077771A (en) * | 2019-05-20 | 2019-08-02 | 上海振华重工(集团)股份有限公司 | A kind of handling device and lifting device |
| CN110294249A (en) * | 2019-06-26 | 2019-10-01 | 焦雨洁 | A kind of products storage circulation system |
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| WO2023036335A1 (en) * | 2021-09-13 | 2023-03-16 | 北京极智嘉科技股份有限公司 | Transport robot and method for retrieving and transporting box |
| CN114084850A (en) * | 2021-11-24 | 2022-02-25 | 杭州海康机器人技术有限公司 | AGV material handling method, AGV and storage system |
| CN115417046A (en) * | 2022-09-07 | 2022-12-02 | 北京德诚科技有限责任公司 | Pick-and-place mechanism and cargo access system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111620024B (en) | 2023-08-25 |
| CN111620024A (en) | 2020-09-04 |
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