CN110482098A

CN110482098A - A kind of pick-and-place pallet piling up method based on transfer robot, system

Info

Publication number: CN110482098A
Application number: CN201910651149.9A
Authority: CN
Inventors: 陈叶广; 孔哲; 詹庆鑫
Original assignee: Hajou Creative Technology Ltd Shenzhen
Current assignee: Hajou Creative Technology Ltd Shenzhen
Priority date: 2019-07-18
Filing date: 2019-07-18
Publication date: 2019-11-22
Anticipated expiration: 2039-07-18
Also published as: CN110482098B

Abstract

The present invention relates to warehouse logistics technical fields, disclose a kind of pick-and-place pallet piling up method based on transfer robot, system, the transfer robot includes: vertical frame；Storage bracket, the storage bracket are installed on the vertical frame；And handling device, the handling device are installed on the vertical frame；The picking method includes: that cargo is carried to the storage bracket from shelf by the handling device；The storage bracket Circularly liftable, so that the height of the storage bracket declines.After the height decline of the storage bracket, operator can take out cargo from the storage bracket, while providing working efficiency, ensure the safety of operator.

Description

A kind of pick-and-place pallet piling up method based on transfer robot, system

[technical field]

The present invention relates to warehouse logistics technical field more particularly to the pick-and-place pallet piling up method of a kind of transfer robot, system.

[background technique]

The picking mode diversification of current warehouse logistics robot, wherein the robot in stock position, can once remove Multiple containers are transported, efficiency is compared with AGV high.But since such present humanoid robot stock position is fixed, if it is desired to reach people and directly exist With robot if picking, the cargo of eminence is difficult to get to, people needs to climb up ladder or other assistance platforms increase, Risk, while inefficiency are increased to people.

[summary of the invention]

In order to solve the above-mentioned technical problem, the embodiment of the present invention provides a kind of pick-and-place goods based on transfer robot, system Method, so that operator can transport goods from lower.

In order to solve the above-mentioned technical problem, the embodiment of the present invention the following technical schemes are provided:

In a first aspect, providing a kind of picking method based on transfer robot, the transfer robot includes: vertical frame Frame；Storage bracket, the storage bracket are installed on the vertical frame；And handling device, the handling device are installed on described Vertical frame；The picking method includes: that cargo is carried to the storage bracket from shelf by the handling device；The storage Bracket Circularly liftable, so that the height of the storage bracket declines.

In some embodiments, it includes: institute that cargo is carried to the storage bracket from shelf by the handling device It states handling device and carries out cargo from shelf；If the handling device and the storage bracket are not at sustained height, institute Storage bracket Circularly liftable simultaneously is stated, so that the handling device and the storage bracket are in sustained height；The carrying Cargo is carried to the storage bracket by device.

In some embodiments, cargo is carried to the storage bracket from shelf by the handling device further include: Before the handling device carries out cargo from shelf, if the handling device and shelf are not at sustained height, institute It states handling device and the storage bracket synchronous circulating is gone up and down, so that the handling device is in sustained height in shelf.

In some embodiments, the handling device includes pallet fork and pallet fork bracket, and the pallet fork bracket is installed on described Vertical frame, the pallet fork are installed on the pallet fork bracket；Include: if the handling device carries out cargo from shelf The pallet fork misalignment shelf, then the pallet fork is relative to the pallet fork carriage turns, so that the pallet fork is directed at the goods Frame；The pallet fork carries out cargo from shelf.

In some embodiments, if it includes: the goods that cargo is carried to the storage bracket by the handling device Storage bracket described in misalignment is pitched, then the pallet fork is relative to the pallet fork carriage turns, so that described in pallet fork alignment Storage bracket；Cargo is carried to the storage bracket by the pallet fork.

In some embodiments, the pallet fork includes temporary supporting plate, telescopic arm, fixes push rod and movable push bar, described Temporary supporting plate is installed on the pallet fork bracket, and the telescopic arm is installed on the temporary supporting plate, the fixed push rod and the work Dynamic push rod is all installed on the telescopic arm；It includes: the telescopic arm extension that the pallet fork, which carries out cargo from shelf, with So that the movable push bar crosses cargo；The movable push bar stretches out telescopic arm；The telescopic arm retraction, so that the activity Cargo is pulled to the temporary supporting plate from shelf by push rod.

In some embodiments, cargo is carried to before the storage bracket includes: the telescopic arm by the pallet fork It stretches, so that cargo is pushed into the storage bracket from the temporary supporting plate by the fixed push rod.

In some embodiments, the pallet fork bracket includes pallet fork bracket main body and supporting member, the pallet fork bracket main body It is installed on the vertical frame, the supporting member is installed on the pallet fork bracket main body, and the pallet fork is installed on the supporting member； The handling device carries out cargo from shelf further include: before the pallet fork is directed at shelf, if shelf are in level It is located at the vertical frame on longitudinal direction backwards to the side of the pallet fork, then the supporting member is along horizontal transverse movement, so that institute Pallet fork is stated above to be mutually separated with the vertical frame in horizontal longitudinal direction.

In some embodiments, the pallet fork further includes picture shooting assembly, for obtaining the image information of cargo or shelf, To judge whether the handling device with shelf is in sustained height, and/or, judge whether the pallet fork is directed at shelf.

In some embodiments, the image information of cargo or shelf is the two dimensional code for being attached at cargo or shelf.

In some embodiments, the height decline of the storage bracket includes: the storage bracket from the first height Minimum altitude is dropped to, then rises to the second height or the storage bracket from the directly decline of the first height from minimum altitude To the second height, wherein the first height is higher than the second height.

In some embodiments, the transfer robot further includes chassis, and the chassis carries the vertical frame；It is described Picking method further include: before cargo is carried to the storage bracket from shelf by the handling device, the chassis is mobile To shelf.

In some embodiments, the complete annular in the track of the storage bracket Circularly liftable one or semi-enclosed ring Shape.

In some embodiments, the storage bracket Circularly liftable includes storage bracket forward circulation lifting and described The lifting of storage bracket recycled back.

In second aspect, a kind of picking method based on handling system is provided, the handling system includes: conveying robot People, the transfer robot apply picking method as described above, and the storage bracket includes multiple support columns；And conveyer Structure, the transport mechanism include multiple rollers；It includes: that cargo is transferred to multiple institutes that the cargo, which is transferred to the storage bracket, After stating roller, the storage bracket Circularly liftable, so that gap of multiple support columns across multiple rollers And cargo is transferred on multiple support columns.

In the third aspect, a kind of goods putting method based on transfer robot is provided, the transfer robot includes: vertical frame Frame；Storage bracket, the storage bracket are installed on the vertical frame；And handling device, the handling device are installed on described Vertical frame；The goods putting method includes: the storage bracket Circularly liftable, so that the height of the storage bracket declines； After cargo is transferred to the storage bracket, the storage bracket Circularly liftable, so that the height of the storage bracket rises； Cargo is carried to shelf from the storage bracket by the handling device.

In some embodiments, include: if cargo is carried to shelf from the storage bracket by the handling device The handling device and the storage bracket are not at sustained height, then the storage bracket Circularly liftable, so that described remove Shipping unit and the storage bracket are in sustained height；The handling device carries out cargo from the storage bracket；It is described Cargo is carried to shelf by handling device.

In some embodiments, cargo is carried to shelf from the storage bracket by the handling device further include: Cargo is carried out from the storage bracket before cargo is carried to shelf by the handling device, and in the handling device Later, if the handling device and the storage bracket are not at sustained height, the handling device Circularly liftable, so that The handling device and shelf are in sustained height.

In some embodiments, the handling device includes pallet fork and pallet fork bracket, and the pallet fork bracket is installed on described Vertical frame, the pallet fork are installed on the pallet fork bracket；If it includes: institute that cargo is carried to shelf by the handling device Pallet fork misalignment shelf are stated, then the pallet fork is relative to the pallet fork carriage turns, so that the pallet fork is directed at shelf；It is described Cargo is carried to shelf by pallet fork.

In some embodiments, if it includes: described that the handling device, which carries out cargo from the storage bracket, Storage bracket described in pallet fork misalignment, then the pallet fork is relative to the pallet fork carriage turns, so that the pallet fork is directed at institute State storage bracket；The pallet fork carries out cargo from the storage bracket.

In some embodiments, the pallet fork includes temporary supporting plate, telescopic arm, fixes push rod and movable push bar, described Temporary supporting plate is installed on the pallet fork bracket, and the telescopic arm is installed on the temporary supporting plate, the fixed push rod and the work Dynamic push rod is all installed on the telescopic arm；It includes: described flexible that the pallet fork, which carries out cargo from the storage bracket, Arm extension, so that the telescopic arm crosses cargo；The movable push bar stretches telescopic arm；The telescopic arm retraction, so that Cargo is pulled to the temporary supporting plate from the storage bracket by the movable push bar.

In some embodiments, it includes: the telescopic arm extension that cargo is carried to shelf by the pallet fork, so that Cargo is pushed into shelf from the temporary supporting plate by the fixed push rod.

In some embodiments, the pallet fork bracket includes pallet fork bracket main body and supporting member, the pallet fork bracket main body It is installed on the vertical frame, the supporting member is installed on the pallet fork bracket main body, and the pallet fork is installed on the supporting member； Cargo is carried to shelf by the handling device further include: before the pallet fork is directed at shelf, if shelf are vertical in level It is located at the vertical frame upwards backwards to the side of the pallet fork, then the supporting member is along horizontal transverse movement, so that described Pallet fork is above mutually separated with the vertical frame in horizontal longitudinal direction.

In some embodiments, the height rising of the storage bracket includes: the storage bracket from the second height Maximum height is risen to, then drops to the first height or the storage bracket from the directly decline of the second height from maximum height To the first height, wherein the first height is higher than the second height.

In some embodiments, the transfer robot further includes chassis, and the chassis carries the vertical frame；It is described Goods putting method further include: after cargo is transferred to the storage bracket, and in the handling device by cargo from the storage Bracket is carried to before shelf, and the chassis is moved near shelf.

In some embodiments, the track of the storage bracket Circularly liftable is a complete annular or semi-enclosed Annular.

In fourth aspect, a kind of goods putting method based on handling system is provided, the handling system includes: conveying robot People, the transfer robot apply goods putting method as described above, and the storage bracket includes multiple support columns；And conveyer Structure, the transport mechanism include multiple rollers；It includes: to be transferred to described deposit in cargo that the cargo, which is transferred to the storage bracket, After storing up bracket, the height of the storage bracket rises, so that the cargo being placed on multiple rollers is transferred to multiple institutes It states on support column.

At the 5th aspect, a kind of pick-and-place pallet piling up method based on transfer robot is provided, the transfer robot includes: vertical Frame；Storage bracket, the storage bracket are installed on the vertical frame；Pallet fork bracket main body, the pallet fork bracket main body peace Loaded on the vertical frame；Supporting parts, the supporting parts are installed on the pallet fork bracket main body；And pallet fork, the pallet fork peace Loaded on the supporting parts；If the pick-and-place pallet piling up method includes: that shelf are located at the vertical frame backwards to described on horizontal longitudinal direction The side of pallet fork, then the supporting member is along horizontal transverse movement, so that the pallet fork is in horizontal longitudinal upper and vertical frame Frame is mutually separated；Cargo is carried to shelf or the pallet fork from the storage bracket and carries cargo from shelf by the pallet fork To the storage bracket.

Compared with prior art, a kind of pick-and-place based on transfer robot, system provided in embodiment of the present invention In pallet piling up method, after the height decline of the storage bracket, operator can take out cargo from the storage bracket, provide While working efficiency, the safety of operator has been ensured.

[Detailed description of the invention]

One or more embodiments are illustrated by corresponding attached drawing, these exemplary illustrations not structure The restriction of pairs of embodiment, the element with same reference numbers label is expressed as similar element in attached drawing, unless there are special It declares, composition does not limit the figure in attached drawing.

Fig. 1 is the perspective view of a kind of transfer robot and shelf that first embodiment of the invention provides；

Fig. 2 is the perspective view of transfer robot shown in FIG. 1；

Fig. 3 is the perspective view of another angle of transfer robot shown in Fig. 2；

Fig. 4 is the perspective view inside the vertical frame of transfer robot shown in Fig. 2；

Fig. 5 is the guiding device of transfer robot shown in Fig. 2 and the exploded view of storage bracket；

Fig. 6 is the main view of transfer robot shown in Fig. 2；

Fig. 7 is the perspective view of the handling device of transfer robot shown in Fig. 2；

Fig. 8 is perspective view of the handling device shown in Fig. 7 in another angle；

Fig. 9 is perspective view of the handling device shown in Fig. 8 in another state；

Figure 10 is the perspective view for the transfer robot that second embodiment of the invention provides；

Figure 11 is the main view of transfer robot shown in Fig. 10；

Figure 12 is the top view of transfer robot shown in Fig. 10；

Figure 13 is the perspective view for the transfer robot that third embodiment of the invention provides；

Figure 14 is the perspective view of the handling device of transfer robot shown in Figure 13；

Figure 15 is the perspective view for the handling system that fourth embodiment of the invention provides；

Figure 16 is a kind of picking method based on transfer robot that fifth embodiment of the invention provides；

Figure 17 is another picking method based on transfer robot that fifth embodiment of the invention provides；

Figure 18 is a kind of picking method based on handling system that sixth embodiment of the invention body provides；

Figure 19 is a kind of goods putting method based on transfer robot that seventh embodiment of the invention provides；

Figure 20 is another goods putting method based on transfer robot that seventh embodiment of the invention provides；

Figure 21 is a kind of goods putting method based on handling system that eighth embodiment of the invention provides.

[specific embodiment]

To facilitate the understanding of the present invention, with reference to the accompanying drawings and detailed description, the present invention is carried out in more detail It is bright.It should be noted that be expressed " being fixed on " another element when element, it can directly on the other element or There may be one or more elements placed in the middle therebetween.When an element is expressed " connection " another element, it be can be directly It is connected to another element in succession or there may be one or more elements placed in the middle therebetween.Term used in this specification "vertical", "horizontal", "left" and "right", "inner", "outside" and similar statement are for illustrative purposes only.

Unless otherwise defined, technical and scientific term all used in this specification is led with technology of the invention is belonged to The normally understood meaning of the technical staff in domain is identical.It is specific to be intended merely to description for used term in the description of the invention Embodiment purpose, be not intended to limitation the present invention.Term "and/or" used in this specification includes one or more Any and all combinations of relevant listed item.

Embodiment 1

Fig. 1 and Fig. 2 are please referred to, for a kind of transfer robot 100 that first embodiment of the invention provides, can be applied to store in a warehouse The fields such as logistics, engineering machinery, elevator, in the present invention, by taking the transfer robot 100 is applied to warehouse logistics field as an example It is described in detail.

The transfer robot 100 is mainly used for the cargo 300 on Transport cargo rack 200.

It should be noted that cargo 300 can be also possible to multiple objects with an object.

To facilitate the understanding of the present invention, in the present invention, horizontal cross is indicated with X, and horizontal longitudinal direction is indicated with Y, vertical side It is indicated to Z, and substantially perpendicular two-by-two in three.

The transfer robot 100 includes chassis 10, vertical frame 20, storage bracket 30 and handling device 40.It is described Chassis 10 carries the vertical frame 20, and the storage bracket 30 and handling device 40 are all installed on the vertical frame 20, and And the storage bracket 30 and handling device 40 are located at the vertical frame 20 along the same side of level longitudinal direction Y.

The storage bracket 30 be used for arrangement of goods 300, the storage bracket 30 can relative to the vertical frame 20 around The track of horizontal longitudinal direction Y Circularly liftable namely 30 Circularly liftable of the storage bracket is an annular around level longitudinal direction Y.Institute Handling device 40 is stated for transporting goods 300 between shelf 200 and the storage bracket 30.

The track of 30 Circularly liftable of storage bracket is a complete annular or semi-enclosed annular.

It is worth noting that operator is directly from conveying robot by configuring recyclable lifting for storage bracket 30 People 100 transport goods 300 when, operator does not need to climb up ladder or other assistance platforms, thus reduces operator Directly transport goods on the transfer robot 100 300 danger coefficient.In addition, compared to linear lifting, in identical height Under, the storage bracket 30 of substantially configurable twice of the quantity of the transfer robot 100, to make the transfer robot 100 More cargos 300 can be loaded.

Referring to Fig. 3, the chassis 10 is removable.The chassis 10 is equipped with driving wheel 11 and driven wheel 12, the master Driving wheel 11 and the driven wheel 12 can be respectively relative to the chassis 10 and rotate, and the driving wheel 11 and the driven wheel 12 are common The chassis 10 is supported, the driving wheel 11 drives motor driven by wheel, so that transversely X is mobile on the chassis 10.Pass through and configures Transportable chassis 10 can allow transfer robot 100 to transport goods 300 between multiple shelf 200.

The quantity of the driving wheel 11 is 2, and two driving wheels 11 are symmetrically distributed, and correspondingly, the wheel drives motor Quantity be 2, two driving wheels 11 by two wheels drive motor drivens, may make two driving wheels 11 respectively Revolving speed is different, to realize that the chassis 10 turns to.

The quantity of the driven wheel 12 is 4, and four driven wheels 12 are distributed in rectangle, and the driven wheel 12 can be Universal wheel, or other Wheel structures with turning function.According to the actual situation, the quantity of the driven wheel 12 is not It is limited to 4, or 3,5,6 etc., as long as at least 3, three driven wheels 12 can support the chassis 10 jointly.

In the present embodiment, the chassis 10 is also equipped with guide device (not shown), and the guide device is camera, The graphic code that ground is sticked for identification, so that the chassis 10 is advanced along preset path.Graphic code can be two dimensional code, bar shaped Code or the identification code of some customizations etc..

In some other embodiment, the guide device is las er-guidance device, for guiding the chassis 10 along sharp Light beam is advanced or the guide device is short-wave reception device, by receiving preset short-wave signal to guide the chassis 10 advance along preset path.

It should be noted that the chassis 10 can be omitted in some other embodiment, the vertical frame 20 is directly It is fixedly mounted on ground or other platforms, is only used for transporting goods 300 on surrounding shelf 200.

Fig. 3 and Fig. 4 are please referred to, the vertical frame 20 includes outer framework 21, inner frame 22 and suspension 23.The outline border Frame 21 and the inner frame 22 are substantially around level longitudinal direction Y setting, and the outer framework 20 is fixedly installed in the chassis 10, The inner frame 22 is fixedly installed in the outer framework 21, and the inner frame 21 is separated with 22 phase of outer framework in the two Between one annular space around level longitudinal direction Y of molding, the suspension 23 avoids the annular space and by the outer framework 21 It is connected with inner frame 22.

Guide frame 24 is installed in the installation space.The guide frame 24 includes guide rail 240, guiding device 242 and circulation driving mechanism 244.The guide rail 240 is fixedly installed in the outer framework 21, and the circulation is driven Motivation structure 244 is installed on outside the inner frame 22, and the guiding device 242 is installed on the circulation driving mechanism 244, described to deposit Storage bracket 30 is installed on the guiding device 242, and the circulation driving mechanism 244 is for driving the guiding device 242 and depositing Bracket 30 is stored up together around horizontal longitudinal direction Y Circularly liftable.During 242 Circularly liftable of guiding device, the guiding dress It sets 242 holdings to be in contact with the guide rail 240, so that the storage bracket 30 keeps water during Circularly liftable It is flat.

The guide rail 240 is welded by plate and profile group, and the guide rail 240 includes multiple mutually independent Sub-track 2400.Each sub-track 2400 is similar to the track of 30 Circularly liftable of storage bracket, in all sons Under the collective effect of track 2400 and drive chain so that the guide part 2420 of guiding device 240 during Circularly liftable not The movement rotated around own torque occurs, to guarantee storage bracket 30 and handling device 40 during entire Circularly liftable Keep horizontal.

Referring to Fig. 5, the guiding device 242 includes guide part 2420, steering portion 2422, and connection axle portion 2424. The steering portion 2422 is installed on the circulation driving mechanism 244, and the connection axle portion 2424 is longitudinal to be extended, the steering portion 2422 be sheathed on it is described connection axle portion 2424 both ends between, the steering portion 2422 can around the connection axle portion 2424 relative to The connection axle portion 2424 rotates, and one end of the connection axle portion 2424 connects the guide part 2420, the connection axle portion 2424 other end connects the storage bracket 30.The guide part 2420 is equipped with directive wheel 2426, the directive wheel 2426 Quantity be it is multiple, multiple directive wheels 2426 and surround the guide part around level longitudinal direction Y distribution.It is each described Directive wheel 2426 only can contact a corresponding sub-track 2400, during the guide part 2420 vertical lift, In Any time all has at least there are two the directive wheels 2426 to be in contact with the accordingly sub-track 2400, and when different It carves and is in contact by the different directive wheels 2426 with the corresponding sub-track 2400.Sub-track 2400 is as directive wheel 2426 Walking track, limits the run trace of directive wheel 2426 in the case where chain collective effect is vertically driven, to limit guide part 2420 run trace guarantees that angle during Circularly liftable of guide part 2420 is constant.

It is worth noting that can be around the connection shaft 2424 relative to the guide part by the rotation section 2422 2420 rotations, the freedom degree that may make the guide part 2420 still to rotate there are one relative to the circulation driving mechanism 244, The guide rail 240 is cooperated further to limit the guide part 2420 again, so that no matter driving using which kind of circulation In the case where motivation structure 244, it all can guarantee that the storage bracket 30 holding during Circularly liftable is horizontal.

The quantity of the guiding device 242 can be to be multiple, and multiple guiding devices 242 are evenly distributed on any one In the track of 242 Circularly liftable of guiding device.

Referring to Fig. 6, the circulation driving mechanism 244 includes runner 2440, hauling rope 2442 and drive module.It is described Runner 2440 and drive module 2444 are all installed on the inner frame 22, and the runner 2440 can be around level longitudinal direction Y relative to institute State the rotation of inner frame 22, the quantity at least two of the runner 2440, the drive module and one of them described runner 2440 are connected, and the drive module is for driving one of them described runner 2440 around level longitudinal direction Y relative to the inner frame 22 rotations.The hauling rope 2442 is ring-type, and the rotation section 2422 is installed on the hauling rope 2442, multiple runners 2440 are sheathed on the hauling rope 2442 jointly, when any one of runner 2440 rotates by way of rubbing or engaging The hauling rope 2442 is driven to surround horizontal longitudinal direction Y shuttling movement, to drive the guiding device 242 around level longitudinal direction Y Circularly liftable.

In the present embodiment, the quantity of the runner 2440 is 4, and four runners 2440 are in distributed rectangular, according to reality Border situation, the quantity of the runner 2440 can also be 2,3,5 etc., and the quantity of at least described runner is at least 2.

The runner 2440 is sprocket wheel, and the hauling rope 2442 is chain, when the sprocket wheel rotates by way of engagement The chain shuttling movement is driven, according to the actual situation, the runner 2440 can also be V belt wheel, correspondingly, the hauling rope 2442 can be V band, and the V belt wheel drives the V belt wheel shuttling movement when rotating by way of friction.

The drive module includes circulation driving motor 2444 and chain-wheel mechanism 2446,2444 He of circulation driving motor Chain-wheel mechanism 2446 is all installed on the inner frame 22, and the chain-wheel mechanism 2446 connects the circulation driving motor 2444 and one A runner 2440, the circulation driving motor 2444 drive 2440 turns of a runner by the chain-wheel mechanism 2446 It is dynamic.According to the actual situation, the chain-wheel mechanism 2446 can also be substituted for turbine and worm mechanism, gear mechanism etc., in addition, described Chain-wheel mechanism 2446 can be omitted.

It is understood that in the present embodiment, the circulation driving mechanism 244 is only by the circulation driving motor 2444 Power is provided to drive multiple 242 Circularly liftables of the guiding device.In some other embodiments, the circulation driving machine Structure 244 includes multiple circulation driving motors 2444, and each circulation driving motor 2444 provides power respectively to drive One corresponding 242 Circularly liftable of guiding device, that is, the circulation driving mechanism 244 includes that at least two circulations are driven Dynamic motor 2444, the circulation driving mechanism 244 is by an offer in the described at least two circulation driving motors 2444 Power is to drive the handling device 40, and the circulation driving mechanism 244 is by the described at least two circulation driving motors Remaining offer power is in 2444 to drive the storage bracket 30.Circulation driving motor 2444 can be rotated forward or be inverted, Therefore, for driving, 30 forward circulation of storage bracket is gone up and down the circulation driving mechanism 244 or recycled back is gone up and down.

In the present embodiment, the quantity of the storage bracket 30 is multiple, but is no more than the number of the guiding device 242 Amount, the connection shaft 2424 of each guiding device 242 corresponding with one of storage bracket 30 is connected, it is multiple described in deposit Storage bracket 30 is distributed evenly in the Circularly liftable track of any one of storage bracket 30, by multiple storages Bracket 30 places multiple cargos 300 respectively, and multiple storage brackets 30 may make to form counterweight relationship, to reduce circulation driving The power consumption of mechanism 244.

The storage bracket 30 includes multiple horizontal and support columns 31 separately, multiple supports of the storage bracket 30 Column 31 is provided commonly for arrangement of goods 300.

In the present embodiment, each support column 31 extends along level longitudinal direction Y.

In the present embodiment, the handling device 40 is used in the shelf 200 that are in sustained height with it or described deposits 300 are transported goods on storage bracket 30.

The handling device 40 transport goods on the storage bracket 30 300 process it is as follows: the storage bracket 30 Circularly liftable, until the storage bracket 30 is located at sustained height with the handling device 40, at this point, the storage bracket 30 is temporary Stop Circularly liftable, it is described after the handling device is being located at it and has carried cargo 300 on storage bracket 30 of sustained height Storage bracket 30 is further continued for Circularly liftable.

In the present embodiment, the handling device 40 is connected with the circulation driving mechanism 244, the circulation driving mechanism 244 for driving the handling device 40 and the storage bracket 30 together Circularly liftable, so that the transfer robot 100 It can transport goods 300 on the shelf 200 of different height.The handling device 40 transports goods on the storage bracket 30 300 process is specific as follows: the process of 30 Circularly liftable of the handling device 40 and the storage bracket can all be divided into rising and Decline process, when the handling device 40 rises or falls, the direction of motion of the storage bracket 30 and the handling device 40 When opposite, the storage bracket 30 can be located at sustained height with the handling device 40, at this point, the storage bracket 30 and described Handling device 40 all stops Circularly liftable, after the handling device 40 has carried cargo 300 on the storage bracket 30, institute It states storage bracket 30 and the handling device 40 continues cycling through lifting.

The handling device 40 transport goods on shelf 200 300 process it is specific as follows: the handling device 40 recycles Lifting, until the handling device 40 is in sustained height with shelf 200, the handling device 40 stops Circularly liftable at this time, After the handling device 40 has carried cargo 300 on shelf 200, the handling device 40 continues cycling through lifting.

In some other embodiment, the handling device 40 is fixedly installed in the vertical frame 20, therefore, described to lead It is completely used for that the storage bracket 30 is installed to device 242, and the guiding device 242 can be one.

Referring to Fig. 7, the handling device 40 includes pallet fork bracket 41, pallet fork 42 and rotary drive mechanism 43.It is described Pallet fork bracket 41 can be welded by profile and plate group, and the pallet fork bracket 41 is fixedly installed in the guiding device 242.It is described Pallet fork 42 is used on one corresponding thereto quasi- shelf 200 or storage bracket 30 transport goods 300, and the pallet fork 42 is installed In the pallet fork bracket 41, it is located at sustained height in the handling device 40 and a shelf 200 or the storage bracket 30 Afterwards, the pallet fork 42 can be rotated around vertical direction Z relative to the pallet fork bracket 41 so that the pallet fork 42 be aligned one with The handling device 40 is located at the shelf 200 or storage bracket 30 of sustained height.

The rotary drive mechanism 43 is for driving the pallet fork 42 to rotate, so that the pallet fork 42 is directed at one and institute State storage bracket 30 or shelf 200 that handling device 40 is located at same support column.The pallet fork 42 is used in one and its phase Transport goods 300 on the storage bracket 30 or shelf 200 of alignment.

It is worth noting that the handling device 40 is when rising or falling, the storage bracket in reverse motions state 30 are located at the side of the 40 transverse direction X of handling device, are based on this, can be around vertical direction Z relative to the pallet fork by pallet fork 42 Bracket 41 rotates, and may make that the handling device 40 can all can be with the storage bracket 30 of side in rising or decline In sustained height, realization transports goods 300 on the storage bracket 30.In addition, the transfer robot 100 is in shelf 200 On transport goods 300 when, do not need by the chassis 10 turn to so that pallet fork 42 be aligned shelf 200, improve the carrying Robot 100 transport goods 300 efficiency.

The rotary drive mechanism 43 includes rotary drive motor 430 and belt wheel transmission module 432, the belt wheel transmission mould Block 430 connects the pallet fork 42 and pallet fork bracket 41, and the rotary drive motor 430 connects the belt wheel transmission module 432, The rotary drive motor 430 drives the pallet fork 42 relative to the pallet fork bracket 41 by the belt wheel transmission module 432 Rotation.According to the actual situation, the belt wheel transmission module 432 can be substituted for gear drive module, Worm Wheel System module Deng directly driving 42 turns of the pallet fork by the rotary drive motor 430 alternatively, the belt wheel transmission module 432 is directly omitted It is dynamic.

Fig. 8 and Fig. 9 are please referred to, the pallet fork 42 includes temporary supporting plate 420, and telescopic arm 422 fixes push rod 424 and lives Dynamic push rod 426.The temporary supporting plate 420 is installed on the pallet fork bracket 41, and the temporary supporting plate 420 can be around the axis of a vertical Z Line is rotated relative to the pallet fork supporting plate 41, and the temporary supporting plate 420 is for keeping in cargo 300.The telescopic arm 422 is installed on The temporary supporting plate 420, the telescopic arm 422 can protract relative to the temporary supporting plate 420.The fixed push rod 424 and work Dynamic push rod 426 is all installed on the telescopic arm 422, and the telescopic arm 422 drives the fixed push rod 424 and the work when protracting Dynamic push rod 426 protracts together, and the movable push bar 426 is located at the front of the fixed push rod 424, the fixed push rod 424 The distance between described movable push bar 426 can holding freight 300.The extended telescopic arm 422 of movable push bar 426.

For the pallet fork 42 when loading cargo 300 on quasi- corresponding thereto storage bracket 30 or shelf 200, process is such as Under: the telescopic arm 422 protracts, until the movable push bar 426 is on the storage bracket 30 or shelf 200 Cargo 300, the movable push bar 426 stretch out the telescopic arm 422, and the telescopic arm 422 bounces back, and pass through the movable push bar Cargo 300 is pulled to the temporary supporting plate 420 by 426, and cargo 300 is kept in.

When the pallet fork 42 is to unload cargo 300 on storage bracket 30 or shelf 200 that it is aligned, specifically such as Under: the telescopic arm 422 protracts, and is pushed away the cargo 300 being temporarily stored on the temporary supporting plate 420 by the fixed push rod 424 To the storage bracket 30 or shelf 200 aligned with the pallet fork 42, the telescopic arm 422 bounces back.

It is worth noting that by the temporary goods plate 420 for being configured to temporary cargo 300, shelf 200 do not need with it is described Storage bracket 30 is located at sustained height, the handling device 40 with one in shelf 200 and described 30 the two of storage bracket After having carried cargo 300, the handling device 40 continue cycling through be elevated to in shelf 200 and described 30 the two of storage bracket After another is in sustained height, the handling device 40 and the storage bracket 30 suspend Circularly liftable, the handling device 40 carry out transporting goods again with another in shelf 200 and described 30 the two of storage bracket 300.

The pallet fork further includes picture shooting assembly, and the picture shooting assembly is used to obtain the image information of cargo or shelf, with Judge height of the handling device relative to cargo, or judges pallet fork whether to quasi-goods.In the present embodiment, image information is It is attached at the two dimensional code of cargo or shelf.

Embodiment 2

Figure 10, Figure 11 and Figure 12 are please referred to, second embodiment of the invention provides a kind of transfer robot 400, described to remove Fortune robot 400 and the transfer robot 100 that first embodiment provides are essentially identical, and difference is, the transfer robot 400 Pallet fork bracket 41 it is different.

One end of the pallet fork bracket 42 be installed on it is described connection shaft 2424 the other end, the pallet fork bracket 41 it is another One end extends along horizontal cross X, and the pallet fork 42 is installed on the other end of the pallet fork bracket 41.If the handling device 40 be configured as can be relative to 20 Circularly liftable of vertical frame, then in the handling device 40 relative to the vertical frame When 20 Circularly liftables at least one position, for example, one end of the pallet fork bracket 41 is close to the vertical frame 20 in level The edge of the lateral side X, the other end of the pallet fork bracket 41 cross the vertical frame 20 on the side of the side horizontal cross X Edge, the pallet fork 42 are configured as that it is allowed to be mutually separated on horizontal cross X with the vertical frame 20.If the handling device 40 be configured as it is fixed relative to the vertical frame 20, then the pallet fork 42 be configured as on horizontal cross X always with institute Vertical frame 20 is stated to be mutually separated.When the pallet fork 42 is mutually separated on horizontal cross X with the vertical frame 20, the pallet fork 42 can rotate around vertical direction Z, so that the alignment of the pallet fork 42 is located at the vertical frame 20 towards any one of level longitudinal direction Y The shelf 200 of side, so that the transfer robot 400 can be with two-way picking.

In the present embodiment, the outer profile of the storage bracket 30 is substantially identical as the outer profile of the pallet fork bracket 41, One end of the storage bracket 30 is connected with the guiding device 242, and the other end of the storage bracket 30 prolongs along horizontal cross X It stretches, and the extending direction of 30 other end of the storage bracket is consistent with the extending direction of 41 other end of pallet fork bracket, with Guarantee to rise or decline regardless of the handling device 40, is in the storage bracket 30 of sustained height all with the handling device 40 Consistent at a distance from the pallet fork 42, the distance is corresponding with the front-extending quantity of telescopic arm 422.

Embodiment 3

Figure 13 and Figure 14 are please referred to, provides a kind of transfer robot 500, the conveying robot in third embodiment of the invention People 500 and the transfer robot 400 that previous embodiment provides are essentially identical, and difference is, the pallet fork of the transfer robot 500 Bracket 41 is different.

The pallet fork bracket 41 includes bracket main body 410, supporting member 411 and transversal driving mechanism.The bracket main body 410 are fixedly installed in the guiding device 242, and the supporting member 411 is installed on the bracket main body 410, the supporting member 411 It can be moved relative to the bracket main body 410 along horizontal cross X, the pallet fork 42 is installed on the supporting member 411, the pallet fork 42 can rotate around vertical direction Z relative to the supporting member 411, and the transversal driving mechanism is for driving the supporting member 411 Moved relative to the bracket main body 410 along horizontal cross X so that the pallet fork 42 on horizontal cross X with it is described vertical Frame 20 is mutually separated, so that the pallet fork 42 can be directed at the goods positioned at the vertical frame 20 towards any side of level longitudinal direction Y Frame 200, to realize that the transfer robot 500 can two-way picking.

The handling device 40 transports goods 300 on shelf 200, and detailed process is as follows: if shelf 200 be located at it is described Vertical frame 20 is towards the side of the storage bracket 30, and directly rotation is to be directed at shelf 200 for the pallet fork 42, thus in shelf Transport goods 300 on 200.If shelf 200 are located at the vertical frame 20 backwards to the side of the storage bracket 30, the bearing Part 411 is first moved along horizontal cross X so that the pallet fork 42 on horizontal cross X with the vertical frame 20 separately, it is described Pallet fork 42 is rotated further by to be directed at shelf 200, to transport goods 300 on shelf 200, the pallet fork 42 is on shelf 200 After having carried cargo 300, transversely X is mobile for the supporting member 411, so that the pallet fork 42 resets, to make the pallet fork 42 It can transport goods 300 on the storage bracket 30.

The pallet fork 42 can be moved relative to bracket main body 410 along horizontal cross X by supporting member 411, on the one hand, in reality While existing 500 two-way picking of transfer robot, pallet fork 42 does not protrude vertical frame 20 when not needing two-way picking, is carrying During robot 500 is mobile, a possibility that reducing 42 accident collision of pallet fork, in addition, reducing the transfer robot 500 Size, when warehouse is disposed, reduce the transfer robot 500 it is mobile when required area, improve utilization rate of warehouse.Separately On the one hand, the other end of storage bracket 30 does not need to extend along horizontal cross X, load of the storage bracket 30 in arrangement of goods 300 Lotus is smaller, and safety is higher.

The transversal driving mechanism includes screw rod 412, guide block 413 and horizontal drive motor 414.412 edge of screw rod Horizontal cross X extends, and the screw rod 412 is installed on the bracket main body 410, the screw rod 412 can around horizontal cross X relative to The bracket main body 410 rotates, and the guide block 413 is fixedly installed in the supporting member 411, and the guide block 413 is sheathed on described Screw rod 412, and the guide block 413 and 412 bolt of screw rod, the screw rod 412 drive 413 edge of guide block when rotating Horizontal cross X is mobile, so that the pallet fork 42 for being installed on the supporting member 411 is driven to move together along horizontal cross X, the transverse direction Driving motor 414 is for driving the screw rod 412 to rotate.According to the actual situation, the screw rod 412 and guide block 413 can be replaced At rack-and-pinion module, sprocket wheel chain module etc., alternatively, the screw rod 412 and guide block 413 all omit, the laterally driven electricity Machine 414 is configured to linear motor, and the horizontal drive motor 414 directly drives the supporting member 411 and moves along horizontal cross X.

Embodiment 4

Figure 15 is please referred to, fourth embodiment of the invention provides a kind of handling system 600, and the handling system 600 includes such as The upper transfer robot 100,400,500 and transport mechanism 50.

The transport mechanism 50 is used to for cargo 300 being transferred to the storage bracket 30, or for holding in the palm the storage Cargo 300 on frame 30 is transferred out of.

The transport mechanism 50 includes bearing main body 51 and is installed on the multiple rollers 52 for supporting main body 51, multiple The roller 52 is spaced apart from each other and horizontal extension, and any one of roller 52 all can be around its own axis relative to the branch Hold the rotation of main body 51, and the rotation direction of multiple rollers 52 is identical, multiple rollers 52 be provided commonly for placing and Transmit cargo 300.

During the decline, multiple support columns 31 may pass through multiple described any one of storage bracket 30 Gap between roller 52, so that the cargo 300 being placed on the storage bracket 30 be made to be transferred on multiple rollers 52.

During rising, multiple support columns 31 may pass through multiple described any one of storage bracket 30 Gap between roller 52, so that the cargo 300 being placed on the multiple roller 52 be made to be transferred to the storage bracket On 30.

Compared with prior art, a kind of handling system 600 and its transfer robot 100,400 provided by the invention, 500, it can be transported goods from lower relative to 20 Circularly liftable of vertical frame, operator by the storage bracket 30 300, while improving work efficiency, ensure the safety of operator.

In addition, by storage bracket 30 transfer robot can be also improved relative to vertical 20 Circularly liftable of frame 100,400,500 transmit the efficiency of cargo 300 with transport mechanism 50.

Embodiment 5

Please refer to Figure 16, fifth embodiment of the invention provides a kind of transfer robot as described above 100,400,500 Picking method.

The picking method includes:

Step S10: cargo is carried to the storage bracket from shelf by the handling device.

Step S20: the storage bracket Circularly liftable, so that the height of the storage bracket declines.

In step S20, after the height decline of the storage bracket, operator can be by cargo from the storage bracket Upper taking-up while improving work efficiency, has ensured the safety of operator.

In some embodiments, the handling device is being located at same height with the handling device for being carried to cargo On the storage bracket of degree, step S10 includes:

Step S12: the handling device carries out cargo from shelf；

Step S14: if the handling device and the storage bracket are not at sustained height, the storage bracket circulation Lifting, so that the handling device and the storage bracket are in sustained height；

Step S16: cargo is carried to the storage bracket by the handling device.

In some embodiments, the handling device is used for cargo from the goods for being located at sustained height with the handling device It carries out on frame, therefore, in order to carry out the handling device will on the never level shelf of cargo, is removed described Shipping unit is configured to go up and down with the storage bracket synchronous circulating, step S10 further include:

Step S11: before the handling device carries out cargo from shelf, if the handling device is not located with shelf In sustained height, then the handling device and the storage bracket synchronous circulating are gone up and down, so that the handling device is in shelf In sustained height.

In some embodiments, the pallet fork is used to carry out on shelf that cargo is aligned with the pallet fork, step S12 Include:

Step S122: if the pallet fork misalignment shelf, the pallet fork relative to the pallet fork carriage turns so that The pallet fork is directed at the shelf；

Step S124: the pallet fork carries out cargo from shelf.

In some embodiments, the pallet fork is used to cargo being carried to the storage bracket being aligned with the pallet fork On, step S16 includes:

Step S162: if storage bracket described in the pallet fork misalignment, the pallet fork turns relative to the pallet fork bracket It is dynamic, so that the pallet fork is directed at the storage bracket；

Step S164: cargo is carried to the storage bracket by the pallet fork.

In some embodiments, the pallet fork holding horizontally carries out the cargo on shelf, so that in identical height The shelf of degree can place more cargos, and step S124 includes:

Step S1242: the telescopic arm protracts relative to the temporary supporting plate so that the movable push bar at Cargo on shelf；

Step S1244: the movable push bar stretches out telescopic arm；

Step S1246: the telescopic arm retraction, so that cargo is pulled to the temporary support from shelf by the movable push bar Plate.

In some embodiments, cargo is horizontally carried to the storage bracket by the pallet fork holding, so that in phase With under height, can configure more storage brackets, to place more cargos, step S164 includes:

Step S1642: the telescopic arm extension, so that cargo is pushed into institute from the temporary supporting plate by the fixed push rod State storage bracket.

By the way that cargo is pulled to the temporary supporting plate from shelf or by cargo in step S1642 perhaps step S1246 The storage bracket is pushed into from the temporary supporting plate, on the one hand, can be by described temporary in the case where the storage bracket is used up It deposits supporting plate and keeps in cargo, on the other hand, the storage bracket is not needed to be located at sustained height with shelf, can be first temporarily stored into cargo The temporary supporting plate, the handling device recycling lifting, when the pallet fork and the storage bracket are in sustained height, then Cargo is carried to the storage bracket.

In some embodiments, during the transfer robot picking, when shelf are located at institute on horizontal longitudinal direction Vertical frame is stated backwards to the side of the pallet fork, since the vertical frame is between the pallet fork and shelf, the pallet fork Shelf can not be directed at, by by the pallet fork relative to the vertical frame along horizontal transverse movement so that the pallet fork exists Horizontal longitudinal direction is upper mutually to be separated with the vertical frame, so that realizing that the pallet fork is aligned on horizontal longitudinal direction is located at the vertical frame Shelf of the frame backwards to the pallet fork side.Step S12 further include:

Step S120: before the pallet fork is directed at shelf, if shelf are located at the vertical frame on horizontal longitudinal direction and carry on the back To the side of the pallet fork, then the supporting member is along horizontal transverse movement so that the pallet fork it is horizontal it is longitudinal it is upper with it is described Vertical frame is mutually separated.

It is understood that according to the actual situation, step S120 can be applied to other transfer robots.

Figure 17 is please referred to, in some other embodiments, the transfer robot only includes vertical frame, storage support Frame, pallet fork bracket main body, supporting parts and pallet fork.The storage bracket is installed on the vertical frame, the pallet fork bracket master Body is installed on the vertical frame, and the supporting parts are installed on the pallet fork bracket main body, and the pallet fork is installed on the support Part.The picking method includes:

Step G10: if shelf are located at the vertical frame backwards to the side of the pallet fork, the branch on horizontal longitudinal direction Bearing member is along horizontal transverse movement, so that the pallet fork is above mutually separated with the vertical frame in horizontal longitudinal direction；

Step G20: cargo is carried to the storage bracket from shelf by the pallet fork.

In some embodiments, it may be possible to there are distances between different shelf farther out, therefore, pass through the transfer robot It is removable, so that the transfer robot can carry out cargo from different shelf.

The picking method further include:

Step S00: before cargo is carried to the storage bracket from shelf by the handling device, the chassis is mobile To shelf.

In some embodiments, the pallet fork further includes picture shooting assembly, for obtaining the image information of cargo or shelf, To judge whether the handling device with shelf is in sustained height, and/or, judge whether the pallet fork is directed at shelf.Cargo Or the image information of shelf is the two dimensional code for being attached at cargo or shelf.

Embodiment 6

Figure 18 is please referred to, sixth embodiment of the invention provides a kind of picking side based on handling system 600 as described above Method, and the transfer robot applies picking method as described above.

The picking method further include:

Step S30: when the decline of the height of the storage bracket, multiple support columns are across multiple rollers Gap so that the cargo being placed on multiple support columns is transferred on multiple rollers.

In step s 30, operator can take out cargo from multiple rollers.

Embodiment 7

Figure 19 is please referred to, seventh embodiment of the invention provides one kind and is based on transfer robot 100,400 as described above, 500 goods putting method.

The goods putting method includes:

Step F10: the storage bracket Circularly liftable, so that the height of the storage bracket declines；

Step F20: after cargo is transferred to the storage bracket, the storage bracket Circularly liftable, so that described deposit The height for storing up bracket rises；

Step F30: cargo is carried to shelf from the storage bracket by the handling device.

In step F20, operator can be put cargo to height on the storage bracket after declining, and improve work While efficiency, the safety of operator has been ensured.

In some embodiments, the handling device is located at sustained height with the handling device for being carried to cargo The storage bracket on, step F30 includes:

Step F32: if the handling device and the storage bracket are not at sustained height, the storage bracket circulation Lifting, so that the handling device and the storage bracket are in sustained height；

Step F34: the handling device carries out cargo from the storage bracket；

Step F36: cargo is carried to shelf by the handling device.

In some embodiments, the handling device is used for cargo from the goods for being located at sustained height with the handling device It carries out on frame, therefore, in order to carry out the handling device will on the never level shelf of cargo, is removed described Shipping unit is configured to go up and down with the storage bracket synchronous circulating, step F30 further include:

Step F35: before cargo is carried to shelf by the handling device, and in the handling device by cargo from institute It states after storage bracket carries out, if the handling device and the storage bracket are not at sustained height, carryings is filled Circularly liftable is set, so that the handling device and shelf are in sustained height.

In some embodiments, the pallet fork is used to for cargo being carried to the shelf of the pallet fork alignment, step F36 packet It includes:

Step F362: if the pallet fork misalignment shelf, the pallet fork relative to the pallet fork carriage turns so that The pallet fork is directed at shelf；

Step F364: cargo is carried to shelf by the pallet fork.

In some embodiments, the pallet fork from the storage bracket being aligned with the pallet fork for carrying cargo Out, step F34 includes:

Step F342: if storage bracket described in the pallet fork misalignment, the pallet fork turns relative to the pallet fork bracket It is dynamic, so that the pallet fork is directed at the storage bracket；

Step F344: the pallet fork carries out cargo from the storage bracket.

In some embodiments, the pallet fork holding horizontally carries out the cargo on the storage bracket, so that Under identical height, it can configure more storage brackets, to place more cargos, step F344 includes:

Step F3442: the telescopic arm extension, so that the telescopic arm crosses cargo；

Step F3444: the movable push bar stretches telescopic arm；

Step F3446: the telescopic arm retraction, so that cargo is pulled to institute from the storage bracket by the movable push bar State temporary supporting plate.

In some embodiments, cargo is horizontally carried to shelf by the pallet fork holding, so that mutually level Shelf can place more cargos, and step F364 includes:

Step F3642: the telescopic arm extension, so that cargo is pushed into goods from the temporary supporting plate by the fixed push rod Frame.

In step F3446 or step F3642, by by cargo from the storage bracket be pulled to the temporary supporting plate or Cargo is pushed into shelf from the temporary supporting plate, on the one hand, can be by described temporary in the case where the storage bracket is used up Supporting plate keeps in cargo, and on the other hand, the storage bracket does not need to be located at sustained height with shelf, cargo first can be temporarily stored into institute Temporary supporting plate is stated, the handling device recycling lifting is carried when the pallet fork and shelf are in sustained height, then by cargo To shelf.

In some embodiments, during the transfer robot picking, when shelf are located at institute on horizontal longitudinal direction Vertical frame is stated backwards to the side of the pallet fork, since the vertical frame is between the pallet fork and shelf, the pallet fork Shelf can not be directed at, by by the pallet fork relative to the vertical frame along horizontal transverse movement so that the pallet fork exists Horizontal longitudinal direction is upper mutually to be separated with the vertical frame, so that realizing that the pallet fork is aligned on horizontal longitudinal direction is located at the vertical frame Shelf of the frame backwards to the pallet fork side.Step F36 further include:

Step F360: before the pallet fork is directed at shelf, if shelf are located at the vertical frame on horizontal longitudinal direction and carry on the back To the side of the pallet fork, then the supporting member is along horizontal transverse movement so that the pallet fork it is horizontal it is longitudinal it is upper with it is described Vertical frame is mutually separated.

Figure 20 is please referred to, in some other embodiments, the transfer robot only includes vertical frame, storage support Frame, pallet fork bracket main body, supporting parts and pallet fork.The storage bracket is installed on the vertical frame, the pallet fork bracket master Body is installed on the vertical frame, and the supporting parts are installed on the pallet fork bracket main body, and the pallet fork is installed on the support Part.The picking method includes:

Step H10: if shelf are located at the vertical frame backwards to the side of the pallet fork, the branch on horizontal longitudinal direction Bearing member is along horizontal transverse movement, so that the pallet fork is above mutually separated with the vertical frame in horizontal longitudinal direction；

Step H20: cargo is carried to shelf from the storage bracket by the pallet fork.

In some embodiments, it may be possible to there are distances between different shelf farther out, therefore, pass through the transfer robot It is removable, so that cargo can be carried on different shelf by the transfer robot.The picking method further include:

Step F25: after cargo is transferred to the storage bracket, and in the handling device by cargo from the storage Bracket is carried to before shelf, and the chassis is moved near shelf.

Embodiment 8

Figure 21 is please referred to, eighth embodiment of the invention provides a kind of goods putting side based on handling system 600 as described above Method, and the transfer robot applies the goods putting method of the 7th embodiment.

The cargo is transferred to the storage bracket

Step F22: after cargo is transferred to multiple rollers, the storage bracket Circularly liftable, so that multiple institutes It states gap of the support column across multiple rollers and is transferred to cargo on multiple support columns.

In step F22, cargo can be placed on multiple rollers of lower by operator.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；At this It under the thinking of invention, can also be combined between the technical characteristic in above embodiments or different embodiment, step can be with It is realized with random order, and there are many other variations of different aspect present invention as described above, for simplicity, they do not have Have and is provided in details；Although the present invention is described in detail referring to the foregoing embodiments, the ordinary skill people of this field Member is it is understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or to part of skill Art feature is equivalently replaced；And these are modified or replaceed, each reality of the present invention that it does not separate the essence of the corresponding technical solution Apply the range of a technical solution.

Claims

1. a kind of picking method based on transfer robot, which is characterized in that

The transfer robot includes:

Vertical frame；

Storage bracket, the storage bracket are installed on the vertical frame；And

Handling device, the handling device are installed on the vertical frame；

The picking method includes:

Cargo is carried to the storage bracket from shelf by the handling device；

The storage bracket Circularly liftable, so that the height of the storage bracket declines.

2. picking method according to claim 1, which is characterized in that

Cargo is carried to the storage bracket from shelf by the handling device

The handling device carries out cargo from shelf；

If the handling device and the storage bracket are not at sustained height, the storage bracket while Circularly liftable, with So that the handling device and the storage bracket are in sustained height；

Cargo is carried to the storage bracket by the handling device.

3. picking method according to claim 2, which is characterized in that

Cargo is carried to the storage bracket from shelf by the handling device further include:

Before the handling device carries out cargo from shelf, if the handling device and shelf are not at sustained height, Then the handling device and the storage bracket synchronous circulating are gone up and down, so that the handling device is in same height in shelf Degree.

4. picking method according to claim 2, which is characterized in that

The handling device includes pallet fork and pallet fork bracket, and the pallet fork bracket is installed on the vertical frame, the pallet fork peace Loaded on the pallet fork bracket；

The handling device, which carries out cargo from shelf, includes:

If the pallet fork misalignment shelf, the pallet fork is relative to the pallet fork carriage turns, so that the pallet fork is aligned The shelf；

The pallet fork carries out cargo from shelf.

5. picking method according to claim 4, which is characterized in that

Cargo is carried to the storage bracket by the handling device

If storage bracket described in the pallet fork misalignment, the pallet fork is relative to the pallet fork carriage turns, so that described Pallet fork is directed at the storage bracket；

Cargo is carried to the storage bracket by the pallet fork.

6. picking method according to claim 5, which is characterized in that

The pallet fork includes that temporary supporting plate, telescopic arm, fixed push rod and movable push bar, the temporary supporting plate are installed on the goods Fork bracket, the telescopic arm are installed on the temporary supporting plate, and the fixed push rod and the movable push bar are all installed on described stretch Contracting arm；

The pallet fork, which carries out cargo from shelf, includes:

The telescopic arm extension, so that the movable push bar crosses cargo；

The movable push bar stretches out telescopic arm；

The telescopic arm retraction, so that cargo is pulled to the temporary supporting plate from shelf by the movable push bar.

7. picking method according to claim 6, which is characterized in that

Cargo is carried to the storage bracket by the pallet fork

The telescopic arm extension, so that cargo is pushed into the storage bracket from the temporary supporting plate by the fixed push rod.

8. picking method according to claim 4, which is characterized in that

The pallet fork bracket includes pallet fork bracket main body and supporting member, and the pallet fork bracket main body is installed on the vertical frame, The supporting member is installed on the pallet fork bracket main body, and the pallet fork is installed on the supporting member；

The handling device carries out cargo from shelf further include:

Before the pallet fork is directed at shelf, if shelf are located at the vertical frame backwards to the one of the pallet fork on horizontal longitudinal direction Side, then the supporting member is along horizontal transverse movement, so that the pallet fork is above mutually separated with the vertical frame in horizontal longitudinal direction.

9. picking method according to claim 4, which is characterized in that

The pallet fork further includes picture shooting assembly, for obtaining the image information of cargo or shelf, to judge the handling device Whether with shelf sustained height is in, and/or, judge whether the pallet fork is directed at shelf.

10. picking method according to claim 1, which is characterized in that

The height of the storage bracket declines

The storage bracket drops to minimum altitude from the first height, then rises to the second height or described from minimum altitude Storage bracket directly drops to the second height from the first height, wherein the first height is higher than the second height.

11. the picking method according to any of claims 1 to 10, which is characterized in that

The transfer robot further includes chassis, and the chassis carries the vertical frame；

The picking method further include:

Before cargo is carried to the storage bracket from shelf by the handling device, the chassis is moved near shelf.

12. picking method according to claim 1, which is characterized in that

The complete annular in track one of the storage bracket Circularly liftable or semi-enclosed annular.

13. picking method according to claim 1, which is characterized in that

The storage bracket Circularly liftable includes the storage bracket forward circulation lifting and the storage bracket recycled back liter Drop.

14. a kind of picking method based on handling system, which is characterized in that

The handling system includes:

Transfer robot, the described in any item picking methods of transfer robot application claim 1 to 13, the storage support Frame includes multiple support columns；And

Transport mechanism, the transport mechanism include multiple rollers；

The cargo is transferred to the storage bracket

After cargo is transferred to multiple rollers, the storage bracket Circularly liftable, so that multiple support columns pass through Cargo is simultaneously transferred on multiple support columns by gap between multiple rollers.

15. a kind of goods putting method based on transfer robot, which is characterized in that

The transfer robot includes:

Vertical frame；

Storage bracket, the storage bracket are installed on the vertical frame；And

Handling device, the handling device are installed on the vertical frame；

The goods putting method includes:

The storage bracket Circularly liftable, so that the height of the storage bracket declines；

After cargo is transferred to the storage bracket, the storage bracket Circularly liftable, so that the height of the storage bracket Rise；

Cargo is carried to shelf from the storage bracket by the handling device.

16. goods putting method according to claim 15, which is characterized in that

Cargo is carried to shelf from the storage bracket and includes: by the handling device

If the handling device and the storage bracket are not at sustained height, the storage bracket Circularly liftable, so that The handling device and the storage bracket are in sustained height；

The handling device carries out cargo from the storage bracket；

Cargo is carried to shelf by the handling device.

17. goods putting method according to claim 16, which is characterized in that

Cargo is carried to shelf from the storage bracket by the handling device further include:

Cargo is removed from the storage bracket before cargo is carried to shelf by the handling device, and in the handling device After transporting, if the handling device and the storage bracket are not at sustained height, the handling device Circularly liftable, with So that the handling device and shelf are in sustained height.

18. goods putting method according to claim 16, which is characterized in that

Cargo is carried to shelf and includes: by the handling device

If the pallet fork misalignment shelf, the pallet fork is relative to the pallet fork carriage turns, so that the pallet fork is aligned Shelf；

Cargo is carried to shelf by the pallet fork.

19. goods putting method according to claim 18, which is characterized in that

The handling device, which carries out cargo from the storage bracket, includes:

The pallet fork carries out cargo from the storage bracket.

20. goods putting method according to claim 19, which is characterized in that

The pallet fork, which carries out cargo from the storage bracket, includes:

The telescopic arm extension, so that the telescopic arm crosses cargo；

The movable push bar stretches telescopic arm；

The telescopic arm retraction, so that cargo is pulled to the temporary supporting plate from the storage bracket by the movable push bar.

21. goods putting method according to claim 20, which is characterized in that

Cargo is carried to shelf and includes: by the pallet fork

The telescopic arm extension, so that cargo is pushed into shelf from the temporary supporting plate by the fixed push rod.

22. goods putting method according to claim 18, which is characterized in that

Cargo is carried to shelf by the handling device further include:

23. picking method according to claim 18, which is characterized in that

24. goods putting method according to claim 15, which is characterized in that

The height of the storage bracket rises

The storage bracket rises to maximum height from the second height, then drops to the first height or described from maximum height Storage bracket directly drops to the first height from the second height, wherein

First height is higher than the second height.

25. 8 to 24 described in any item goods putting methods according to claim 1, which is characterized in that

The goods putting method further include:

Cargo is carried to goods from the storage bracket after cargo is transferred to the storage bracket, and in the handling device Before frame, the chassis is moved near shelf.

26. picking method according to claim 15, which is characterized in that

The track of the storage bracket Circularly liftable is a complete annular or semi-enclosed annular.

27. picking method according to claim 15, which is characterized in that

28. a kind of goods putting method based on handling system, which is characterized in that

The handling system includes:

Transfer robot, the described in any item goods putting methods of transfer robot application claim 15 to 27, the storage Bracket includes multiple support columns；And

Transport mechanism, the transport mechanism include multiple rollers；

The cargo is transferred to the storage bracket

After cargo is transferred to the storage bracket, the height of the storage bracket rises, so that being placed in multiple rollers Cargo on son is transferred on multiple support columns.

29. a kind of pick-and-place pallet piling up method based on transfer robot, which is characterized in that

The transfer robot includes:

Vertical frame；

Storage bracket, the storage bracket are installed on the vertical frame；

Pallet fork bracket main body, the pallet fork bracket main body are installed on the vertical frame；

Supporting parts, the supporting parts are installed on the pallet fork bracket main body；And

Pallet fork, the pallet fork are installed on the supporting parts；

The pick-and-place pallet piling up method includes:

If shelf are located at the vertical frame backwards to the side of the pallet fork on horizontal longitudinal direction, the supporting member is along horizontal horizontal To movement, so that the pallet fork is above mutually separated with the vertical frame in horizontal longitudinal direction；

The pallet fork by cargo from the storage bracket be carried to shelf or the pallet fork cargo is carried to from shelf it is described Storage bracket.