CN110482098B

CN110482098B - Goods taking and placing method based on transfer robot and system

Info

Publication number: CN110482098B
Application number: CN201910651149.9A
Authority: CN
Inventors: 陈叶广; 孔哲; 詹庆鑫
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2019-07-18
Filing date: 2019-07-18
Publication date: 2023-12-08
Anticipated expiration: 2039-07-18
Also published as: CN110482098A

Abstract

The invention relates to the technical field of warehouse logistics, and discloses a picking and placing method based on a transfer robot and a system, wherein the transfer robot comprises the following steps: a vertical frame; a storage bracket mounted to the upright frame; the conveying device is mounted on the vertical frame; the goods taking method comprises the following steps: the handling device is used for handling goods from the goods shelves to the storage brackets; the storage tray is cyclically lifted so that the height of the storage tray is lowered. After the height of the storage bracket is reduced, an operator can take out cargoes from the storage bracket, so that the safety of the operator is ensured while the working efficiency is improved.

Description

Goods taking and placing method based on transfer robot and system

[ field of technology ]

The invention relates to the technical field of warehouse logistics, in particular to a picking and placing method of a transfer robot and a transfer system.

[ background Art ]

The current storage logistics robot gets the mode diversified of goods, and wherein has the robot of depositing the goods position, once can carry a plurality of packing boxes, and efficiency is higher than AGV. However, since the stock position of the robot is fixed at present, if people want to directly pick up goods on the robot, the goods at high positions are difficult to pick up, the people need to climb a ladder or other auxiliary platforms to increase, the danger is increased for people, and meanwhile, the efficiency is low.

[ invention ]

In order to solve the above technical problems, the embodiments of the present invention provide a pick-and-place method based on a transfer robot and a system, so that an operator can transfer goods from a low place.

In order to solve the technical problems, the embodiment of the invention provides the following technical scheme:

in a first aspect, there is provided a method of picking up goods based on a transfer robot comprising: a vertical frame; a storage bracket mounted to the upright frame; the conveying device is mounted on the vertical frame; the goods taking method comprises the following steps: the handling device is used for handling goods from the goods shelves to the storage brackets; the storage tray is cyclically lifted so that the height of the storage tray is lowered.

In some embodiments, the handling device handling goods from a rack to the storage tray comprises: the carrying device carries the goods out of the goods shelf; if the carrying device and the storage bracket are not at the same height, the storage bracket is lifted and lowered in a circulating way at the same time, so that the carrying device and the storage bracket are at the same height; the handling device handles cargo to the storage tray.

In some embodiments, the handling device handling goods from a rack to the storage tray further comprises: before the carrying device carries the goods out of the goods shelf, if the carrying device and the goods shelf are not at the same height, the carrying device and the storage bracket synchronously and circularly lift so that the carrying device and the goods shelf are at the same height.

In some embodiments, the handling device includes a fork and a fork carriage, the fork carriage mounted to the upright frame, the fork mounted to the fork carriage; the handling device handling goods from a shelf includes: if the fork is not aligned with a shelf, the fork rotates relative to the fork carriage so that the fork is aligned with the shelf; the forks carry the goods out of the pallet.

In some embodiments, the handling device handling cargo to the storage tray comprises: if the fork is not aligned with the storage bracket, the fork rotates relative to the fork bracket so that the fork is aligned with the storage bracket; the forks carry cargo to the storage pallet.

In some embodiments, the pallet fork comprises a temporary storage pallet, a telescopic arm, a fixed push rod and a movable push rod, wherein the temporary storage pallet is mounted on the pallet fork bracket, the telescopic arm is mounted on the temporary storage pallet, and the fixed push rod and the movable push rod are both mounted on the telescopic arm; the fork carrying goods out of the shelf includes: the telescopic arm extends forwards so that the movable push rod passes over the goods; the movable push rod extends out of the telescopic arm; the telescopic arm is retracted so that the movable push rod pulls goods from the goods shelf to the temporary storage pallet.

In some embodiments, the fork carrying cargo to the storage bracket comprises: the telescoping arm extends forward such that the fixed push rod pushes cargo from the temporary storage pallet to the storage bracket.

In some embodiments, the fork carriage includes a fork carriage body mounted to the upright frame and a support mounted to the fork carriage body, the fork being mounted to the support; the carrying device carries the goods out of the goods shelf further comprises: before the forks are aligned with the pallet, if the pallet is located on the side of the vertical frame facing away from the forks in the horizontal longitudinal direction, the support member is moved in the horizontal transverse direction so that the forks are spaced apart from the vertical frame in the horizontal longitudinal direction.

In some embodiments, the fork further comprises a shooting component for acquiring image information of the goods or the shelves to determine whether the handling device is at the same height as the shelves and/or whether the fork is aligned with the shelves.

In some embodiments, the image information of the goods or shelves is a two-dimensional code attached to the goods or shelves.

In some embodiments, the lowering of the height of the storage tray comprises: the storage bracket descends from a first height to a lowest height and then ascends from the lowest height to a second height, or the storage bracket descends directly from the first height to the second height, wherein the first height is higher than the second height.

In some embodiments, the transfer robot further comprises a chassis carrying the upright frame; the goods taking method further comprises the following steps: the chassis is moved to the vicinity of the pallet before the transporting device transports the goods from the pallet to the storage pallet.

In some embodiments, the track on which the storage tray is cycled up and down is a complete loop or semi-closed loop.

In some embodiments, the storage tray cycling and lifting includes the storage tray forward cycling and the storage tray reverse cycling and lifting.

In a second aspect, there is provided a method of picking based on a handling system comprising: a transfer robot applying the picking method as described above, the storage tray comprising a plurality of support columns; and a conveying mechanism including a plurality of rollers; the transferring of the cargo to the storage tray comprises: after transferring the cargo to the plurality of rollers, the storage tray is cyclically raised and lowered so that the plurality of support columns pass through the gaps between the plurality of rollers and transfer the cargo to the plurality of support columns.

In a third aspect, there is provided a method of handling robot-based stocking, the handling robot comprising: a vertical frame; a storage bracket mounted to the upright frame; the conveying device is mounted on the vertical frame; the goods placing method comprises the following steps: the storage bracket is circularly lifted so as to enable the height of the storage bracket to be lowered; after the goods are transferred to the storage bracket, the storage bracket is lifted circularly, so that the height of the storage bracket is raised; the handling device handles goods from the storage tray to a pallet.

In some embodiments, the handling device handling goods from the storage tray to a rack comprises: if the carrying device and the storage bracket are not at the same height, the storage bracket is lifted in a circulating way, so that the carrying device and the storage bracket are at the same height; the carrying device carries the goods out of the storage bracket; the handling device handles goods to the goods shelves.

In some embodiments, the handling device handling goods from the storage tray to a rack further comprises: before the carrying device carries the goods to the goods shelf, and after the carrying device carries the goods out of the storage bracket, if the carrying device and the storage bracket are not at the same height, the carrying device is lifted and lowered circularly so that the carrying device and the goods shelf are at the same height.

In some embodiments, the handling device includes a fork and a fork carriage, the fork carriage mounted to the upright frame, the fork mounted to the fork carriage; the handling device handling goods to a rack includes: if the fork is not aligned with the goods shelf, the fork rotates relative to the fork bracket so that the fork is aligned with the goods shelf; the forks carry the cargo to the pallet.

In some embodiments, the handling device handling cargo from the storage tray comprises: if the fork is not aligned with the storage bracket, the fork rotates relative to the fork bracket so that the fork is aligned with the storage bracket; the forks carry cargo out of the storage pallet.

In some embodiments, the pallet fork comprises a temporary storage pallet, a telescopic arm, a fixed push rod and a movable push rod, wherein the temporary storage pallet is mounted on the pallet fork bracket, the telescopic arm is mounted on the temporary storage pallet, and the fixed push rod and the movable push rod are both mounted on the telescopic arm; the fork carrying cargo from the storage bracket includes: the telescoping arm extends forward such that the telescoping arm passes over the cargo; the movable push rod stretches out and draws back the telescopic arm; the telescoping arm retracts such that the movable push rod pulls cargo from the storage bracket to the temporary storage pallet.

In some embodiments, the fork is configured to carry a cargo to a rack comprising: the telescopic arm extends forward so that the fixed push rod pushes the goods from the temporary storage supporting plate to the goods shelf.

In some embodiments, the fork carriage includes a fork carriage body mounted to the upright frame and a support mounted to the fork carriage body, the fork being mounted to the support; the handling device is used for handling goods to a goods shelf and further comprises: before the forks are aligned with the pallet, if the pallet is located on the side of the vertical frame facing away from the forks in the horizontal longitudinal direction, the support member is moved in the horizontal transverse direction so that the forks are spaced apart from the vertical frame in the horizontal longitudinal direction.

In some embodiments, the raising of the height of the storage tray comprises: the storage bracket is lifted from the second height to the highest height and then lowered from the highest height to the first height, or the storage bracket is directly lowered from the second height to the first height, wherein the first height is higher than the second height.

In some embodiments, the transfer robot further comprises a chassis carrying the upright frame; the method for placing goods further comprises the following steps: after the goods are transferred to the storage tray and before the handling device is handling the goods from the storage tray to the pallet, the chassis is moved to the vicinity of the pallet.

In some embodiments, the track of the storage tray that is cycled up and down is a complete loop or semi-closed loop.

In a fourth aspect, there is provided a method of handling based on a handling system, the handling system comprising: a transfer robot applying the method of stocking as described above, the storage tray comprising a plurality of support columns; and a conveying mechanism including a plurality of rollers; the transferring of the cargo to the storage tray comprises: after the goods are transferred to the storage trays, the height of the storage trays is raised so that the goods placed on the plurality of rollers are transferred to the plurality of support columns.

In a fifth aspect, there is provided a pick-and-place method based on a transfer robot including: a vertical frame; a storage bracket mounted to the upright frame; a fork carriage body mounted to the upright frame; the bearing piece is arranged on the fork bracket main body; the fork is arranged on the bearing piece; the picking and placing method comprises the following steps: if the goods shelf is positioned on the side of the vertical frame, which is opposite to the fork, in the horizontal longitudinal direction, the supporting piece moves horizontally and transversely so that the fork is separated from the vertical frame in the horizontal longitudinal direction; the forks carry cargo from the storage pallet to the pallet or the forks carry cargo from the pallet to the storage pallet.

Compared with the prior art, in the picking and placing method based on the transfer robot and the system, after the height of the storage bracket is reduced, an operator can pick up the goods from the storage bracket, so that the working efficiency is improved, and meanwhile, the safety of the operator is ensured.

[ description of the drawings ]

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which the figures of the drawings are not to scale, unless expressly stated otherwise.

Fig. 1 is a perspective view of a transfer robot and a pallet according to a first embodiment of the present invention;

fig. 2 is a perspective view of the transfer robot shown in fig. 1;

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

fig. 4 is a perspective view of the interior of the upright frame of the transfer robot shown in fig. 2;

fig. 5 is an exploded view of the guide and storage tray of the transfer robot shown in fig. 2;

fig. 6 is a front view of the transfer robot shown in fig. 2;

fig. 7 is a perspective view of the transfer device of the transfer robot shown in fig. 2;

FIG. 8 is a perspective view of the handling device shown in FIG. 7 at another angle;

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

fig. 10 is a perspective view of a transfer robot according to a second embodiment of the present invention;

fig. 11 is a front view of the transfer robot shown in fig. 10;

fig. 12 is a plan view of the transfer robot shown in fig. 10;

fig. 13 is a perspective view of a transfer robot according to a third embodiment of the present invention;

fig. 14 is a perspective view of the transfer device of the transfer robot shown in fig. 13;

fig. 15 is a perspective view of a handling system according to a fourth embodiment of the present invention;

fig. 16 is a diagram showing a cargo picking method based on a handling robot according to a fifth embodiment of the present invention;

fig. 17 is a diagram showing another picking method based on a handling robot according to a fifth embodiment of the present invention;

FIG. 18 is a diagram showing a method for picking up goods based on a handling system according to a sixth embodiment of the present invention;

fig. 19 is a schematic view of a handling robot-based method for placing goods according to a seventh embodiment of the present invention;

fig. 20 is a schematic diagram of another method for handling robot-based loading according to a seventh embodiment of the present invention;

fig. 21 is a schematic diagram of a handling system-based method for placing goods according to an eighth embodiment of the present invention.

[ detailed description ] of the invention

In order that the invention may be readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings. It will be understood that when an element is referred to as being "fixed" to another element, it can be directly on the other element or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and the like are used in this specification for purposes of illustration only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items.

Example 1

Referring to fig. 1 and fig. 2, a transfer robot 100 according to a first embodiment of the present invention may be applied to the fields of warehouse logistics, engineering machinery, elevators, etc., and in the present invention, a detailed description will be given by taking the application of the transfer robot 100 in the warehouse logistics field as an example.

The transfer robot 100 is mainly used for transferring the goods 300 on the shelf 200.

The cargo 300 may be one object or a plurality of objects.

In order to facilitate understanding of the present invention, in the present invention, the horizontal transverse direction is denoted by X, the horizontal longitudinal direction is denoted by Y, the vertical direction is denoted by Z, and two of the three are substantially perpendicular.

The transfer robot 100 includes a chassis 10, a vertical frame 20, a storage tray 30, and a transfer device 40. The chassis 10 carries the vertical frame 20, the storage tray 30 and the handling device 40 are mounted to the vertical frame 20, and the storage tray 30 and the handling device 40 are located on the same side of the vertical frame 20 in the horizontal longitudinal direction Y.

The storage bracket 30 is used for placing goods 300, and the storage bracket 30 can be lifted and lowered circularly around the horizontal longitudinal direction Y relative to the vertical frame 20, that is, the track of the storage bracket 30 lifted and lowered circularly is a ring shape around the horizontal longitudinal direction Y. The handling device 40 is used for handling goods 300 between the pallet 200 and the storage rack 30.

The track of the storage bracket 30 which is circularly lifted is a complete ring or a semi-closed ring.

By configuring the storage tray 30 to be capable of being lifted and lowered circularly, the operator does not need to climb a ladder or other auxiliary platform when the operator directly conveys the cargo 300 from the conveying robot 100, thereby reducing the risk factor of the operator directly conveying the cargo 300 on the conveying robot 100. Furthermore, the transfer robot 100 may be configured with substantially twice the number of storage trays 30 at the same height, compared to linear lifting, so that the transfer robot 100 may load more goods 300.

Referring to fig. 3, the chassis 10 is movable. The chassis 10 is provided with a driving wheel 11 and a driven wheel 12, the driving wheel 11 and the driven wheel 12 can rotate relative to the chassis 10 respectively, the driving wheel 11 and the driven wheel 12 jointly support the chassis 10, and the driving wheel 11 is driven by a wheel driving motor so as to enable the chassis 10 to move along the transverse direction X. By providing the movable chassis 10, the transfer robot 100 can transfer the cargo 300 between the plurality of racks 200.

The number of the driving wheels 11 is 2, the two driving wheels 11 are symmetrically distributed, correspondingly, the number of the wheel driving motors is 2, the two driving wheels 11 are respectively driven by the two wheel driving motors, and the rotating speeds of the two driving wheels 11 can be different, so that the chassis 10 is turned.

The number of the driven wheels 12 is 4, four driven wheels 12 are distributed in a rectangular shape, and the driven wheels 12 can be universal wheels or other wheel body structures with steering functions. The number of driven wheels 12 is not limited to 4, but may be 3, 5, 6, etc., as long as it is at least 3, and three driven wheels 12 may jointly support the chassis 10.

In this embodiment, the chassis 10 is further provided with a guiding device (not shown), which is a camera, for identifying a graphic code attached to the ground, so that the chassis 10 travels along a preset path. The graphic code may be a two-dimensional code, a bar code, or some customized identification code, etc.

In other embodiments, the guiding device is a laser guiding device for guiding the chassis 10 to travel along a laser beam, or the guiding device is a short wave receiving device for guiding the chassis 10 to travel along a preset path by receiving a preset short wave signal.

It should be noted that, in other embodiments, the chassis 10 may be omitted, and the vertical frame 20 may be directly and fixedly mounted on the ground or other platform, and may be used only for carrying the cargo 300 on the shelves 200 therearound.

Referring to fig. 3 and 4, the vertical frame 20 includes an outer frame 21, an inner frame 22, and a suspension 23. The outer frame 21 and the inner frame 22 are disposed substantially around the horizontal longitudinal direction Y, the outer frame 20 is fixedly mounted to the chassis 10, the inner frame 22 is fixedly mounted within the outer frame 21, the inner frame 21 is separated from the outer frame 22 to form an annular space around the horizontal longitudinal direction Y therebetween, and the suspension 23 bypasses the annular space and connects the outer frame 21 and the inner frame 22.

A guide structure 24 is installed in the installation space. The guide structure 24 includes a guide rail 240, a guide 242, and an endless drive mechanism 244. The guide rail 240 is fixedly installed in the outer frame 21, the circulation driving mechanism 244 is installed outside the inner frame 22, the guide device 242 is installed on the circulation driving mechanism 244, the storage bracket 30 is installed on the guide device 242, and the circulation driving mechanism 244 is used for driving the guide device 242 and the storage bracket 30 to rise and fall together and circularly around the horizontal and vertical Y. The guide 242 is maintained in contact with the guide rail 240 during the cyclic lifting of the guide 242 so that the storage bracket 30 is maintained horizontal during the cyclic lifting.

The guide rail 240 is formed by assembling and welding plates and profiles, and the guide rail 240 comprises a plurality of mutually independent sub-rails 2400. Each of the sub-rails 2400 is similar to the track of the storage rack 30, and the guide part 2420 of the guide device 240 does not rotate around the rotation axis thereof during the cyclic lifting process under the combined action of all the sub-rails 2400 and the driving chain, thereby ensuring that the storage rack 30 and the carrying device 40 remain horizontal during the entire cyclic lifting process.

Referring to fig. 5, the guide 242 includes a guide portion 2420, a steering portion 2422, and a connecting shaft portion 2424. The steering part 2422 is mounted on the endless driving mechanism 244, the connecting shaft part 2424 extends longitudinally, the steering part 2422 is sleeved between two ends of the connecting shaft part 2424, the steering part 2422 can rotate around the connecting shaft part 2424 relative to the connecting shaft part 2424, one end of the connecting shaft part 2424 is connected with the guiding part 2420, and the other end of the connecting shaft part 2424 is connected with the storage bracket 30. The guide part 2420 is provided with a plurality of guide wheels 2426, and the plurality of guide wheels 2426 are distributed around the horizontal longitudinal direction Y and surround the guide part 2426. Each guide wheel 2426 can contact only one corresponding sub-rail 2400, and during the vertical lifting of the guide part 2420, at least two guide wheels 2426 contact the corresponding sub-rail 2400 at any time, and the guide wheels 2426 contact the corresponding sub-rail 2400 at different times. The sub-rail 2400 serves as a traveling rail of the guide wheel 2426, and limits the traveling track of the guide wheel 2426 under the combined action of the vertical driving chains, so that the traveling track of the guide part 2420 is limited, and the guide part 2420 is ensured to have a constant angle in the cyclic lifting process.

It should be noted that, the rotation portion 2422 may rotate around the connection rotation shaft 2424 relative to the guiding portion 2420, so that the guiding portion 2420 still has a degree of freedom of rotation relative to the circulation driving mechanism 244, and the guiding portion 2420 is further limited by the guiding track 240, so that the storage rack 30 can be kept horizontal during the circulation lifting process no matter what circulation driving mechanism 244 is used.

The number of the guiding devices 242 may be plural, and the plurality of guiding devices 242 are uniformly distributed in the track of any guiding device 242 that is lifted and lowered circularly.

Referring to fig. 6, the endless drive mechanism 244 includes a rotating wheel 2440, a traction cable 2442 and a drive module. The rotating wheels 2440 and the driving modules 2444 are both mounted on the inner frame 22, the rotating wheels 2440 can rotate around the horizontal longitudinal direction Y relative to the inner frame 22, the number of the rotating wheels 2440 is at least two, the driving modules are connected with one rotating wheel 2440, and the driving modules are used for driving one rotating wheel 2440 to rotate around the horizontal longitudinal direction Y relative to the inner frame 22. The traction cable 2442 is ring-shaped, the rotating part 2422 is mounted on the traction cable 2442, a plurality of rotating wheels 2440 are sleeved on the traction cable 2442 together, and when any one rotating wheel 2440 rotates, the traction cable 2442 is driven to circularly move around the horizontal longitudinal Y in a friction or meshing manner, so that the guiding device 242 is driven to circularly lift around the horizontal longitudinal Y.

In this embodiment, the number of the rotating wheels 2440 is 4, four rotating wheels 2440 are rectangular, and according to practical situations, the number of the rotating wheels 2440 may also be 2, 3, 5, etc., and at least the number of the rotating wheels may be at least 2.

The rotating wheel 2440 is a chain wheel, the traction rope 2442 is a chain, the chain is driven to circularly move in a meshing mode when the chain wheel rotates, the rotating wheel 2440 can also be a V belt wheel according to actual conditions, correspondingly, the traction rope 2442 can be a V belt, and the V belt wheel is driven to circularly move in a friction mode when rotating.

The driving module comprises a circulation driving motor 2444 and a sprocket mechanism 2446, wherein the circulation driving motor 2444 and the sprocket mechanism 2446 are both installed on the inner frame 22, the sprocket mechanism 2446 is connected with the circulation driving motor 2444 and one rotating wheel 2440, and the circulation driving motor 2444 drives one rotating wheel 2440 to rotate through the sprocket mechanism 2446. The sprocket gear 2446 may be replaced with a worm gear, a gear mechanism, or the like, and the sprocket gear 2446 may be omitted, depending on the actual situation.

It will be appreciated that in this embodiment, the endless drive mechanism 244 is powered only by the endless drive motor 2444 to drive the plurality of guides 242 to move up and down cyclically. In some other embodiments, the endless drive mechanism 244 includes a plurality of endless drive motors 2444, each endless drive motor 2444 providing power to drive a respective one of the guides 242 to move up and down cyclically, i.e., the endless drive mechanism 244 includes at least two endless drive motors 2444, the endless drive mechanism 244 being powered by one of the at least two endless drive motors 2444 to drive the carrier 40, the endless drive mechanism 244 being powered by the remaining one of the at least two endless drive motors 2444 to drive the storage tray 30. The circulation driving motor 2444 may rotate in a forward direction or in a reverse direction, and thus the circulation driving mechanism 244 is used to drive the storage bracket 30 to move up and down in a forward direction or in a reverse direction.

In this embodiment, the number of the storage brackets 30 is plural, but not more than the number of the guide devices 242, each storage bracket 30 is connected to the connecting shaft 2424 of a corresponding guide device 242, the storage brackets 30 are uniformly distributed in the circular lifting track of any storage bracket 30, and by placing a plurality of cargos 300 on the storage brackets 30 respectively, a counterweight relationship is formed between the storage brackets 30, so as to reduce the power consumption of the circular driving mechanism 244.

The storage tray 30 includes a plurality of horizontal and spaced apart support columns 31, and the plurality of support columns 31 of the storage tray 30 are commonly used to hold the cargo 300.

In this embodiment, each of the support columns 31 extends in a horizontal longitudinal direction Y.

In this embodiment, the transporting device 40 is used for transporting the goods 300 on the shelf 200 or the storage bracket 30 at the same height.

The handling device 40 handles the cargo 300 on the storage bracket 30 as follows: the storage bracket 30 is lifted and lowered circularly until the storage bracket 30 and the carrying device 40 are located at the same height, at this time, the storage bracket 30 is suspended from being lifted and lowered circularly, and after the carrying device carries the goods 300 on the storage bracket 30 located at the same height, the storage bracket 30 is lifted and lowered circularly again.

In this embodiment, the transporting device 40 is connected to the circulation driving mechanism 244, and the circulation driving mechanism 244 is used to drive the transporting device 40 and the storage bracket 30 to lift and lower together in a circulation manner, so that the transporting robot 100 can transport the goods 300 on the racks 200 with different heights. The process of transporting the cargo 300 on the storage bracket 30 by the transporting device 40 is specifically as follows: the cyclic lifting process of the carrying device 40 and the storage bracket 30 may be divided into lifting and lowering processes, when the carrying device 40 is lifted or lowered, and when the movement direction of the storage bracket 30 is opposite to that of the carrying device 40, the storage bracket 30 and the carrying device 40 may be positioned at the same height, at this time, the cyclic lifting of the storage bracket 30 and the carrying device 40 is stopped, and after the carrying device 40 has carried the goods 300 on the storage bracket 30, the cyclic lifting of the storage bracket 30 and the carrying device 40 is continued.

The process of the transporting device 40 for transporting the goods 300 on the shelf 200 is specifically as follows: the carrying device 40 is lifted and lowered circularly until the carrying device 40 and the goods shelf 200 are at the same height, at this time, the carrying device 40 stops lifting and lowering circularly, and after the carrying device 40 carries the goods 300 on the goods shelf 200, the carrying device 40 continues lifting and lowering circularly.

In other embodiments, the handling device 40 is fixedly mounted to the upright frame 20, and thus, the guides 242 are all used to mount the storage tray 30, and the guides 242 may be one.

Referring to fig. 7, the handling device 40 includes a fork carriage 41, a fork 42 and a rotation driving mechanism 43. The fork bracket 41 may be formed by welding a section bar and a plate material, and the fork bracket 41 is fixedly mounted on the guide device 242. The fork 42 is used for carrying a cargo 300 on a pallet 200 or a storage rack 30 aligned with the fork 42, the fork 42 is mounted on the fork rack 41, and after the carrying device 40 is positioned at the same height as a pallet 200 or a storage rack 30, the fork 42 can be rotated relative to the fork rack 41 in the vertical direction Z, so that the fork 42 is aligned with a pallet 200 or a storage rack 30 positioned at the same height as the carrying device 40.

The rotary drive mechanism 43 is used to drive the forks 42 to rotate so that the forks 42 are aligned with a storage rack 30 or pallet 200 of the same support column as the handling device 40. The forks 42 are used to carry cargo 300 on an aligned storage pallet 30 or pallet 200.

It should be noted that, when the carrying device 40 is lifted or lowered, the storage bracket 30 in the opposite movement state is located at one side of the lateral direction X of the carrying device 40, and based on this, the fork 42 can rotate around the vertical direction Z relative to the fork bracket 41, so that the carrying device 40 can be located at the same height as the storage bracket 30 at one side when lifted or lowered, and the carrying of the cargo 300 on the storage bracket 30 is realized. In addition, when the transfer robot 100 transfers the goods 300 on the pallet 200, it is not necessary to turn the pallet 10 to align the forks 42 to the pallet 200, thereby improving the efficiency of the transfer robot 100 transferring the goods 300.

The rotary driving mechanism 43 comprises a rotary driving motor 430 and a belt wheel transmission module 432, the belt wheel transmission module 430 is connected with the fork 42 and the fork bracket 41, the rotary driving motor 430 is connected with the belt wheel transmission module 432, and the rotary driving motor 430 drives the fork 42 to rotate relative to the fork bracket 41 through the belt wheel transmission module 432. According to practical situations, the pulley transmission module 432 may be replaced by a gear transmission module, a worm gear transmission module, etc., or the pulley transmission module 432 is directly omitted, and the rotation driving motor 430 directly drives the fork 42 to rotate.

Referring to fig. 8 and 9, the pallet fork 42 includes a temporary pallet 420, a telescopic arm 422, a fixed push rod 424 and a movable push rod 426. The temporary storage pallet 420 is mounted on the fork carriage 41, the temporary storage pallet 420 can rotate around a vertical Z axis relative to the fork pallet 41, and the temporary storage pallet 420 is used for temporarily storing the goods 300. The telescopic arm 422 is mounted on the temporary storage pallet 420, and the telescopic arm 422 can extend forward relative to the temporary storage pallet 420. The fixed push rod 424 and the movable push rod 426 are both mounted on the telescopic arm 422, when the telescopic arm 422 extends forwards, the fixed push rod 424 and the movable push rod 426 are driven to extend forwards together, the movable push rod 426 is located right in front of the fixed push rod 424, and the distance between the fixed push rod 424 and the movable push rod 426 can accommodate goods 300. The movable push rod 426 may extend out of the telescoping arm 422.

The fork 42, when loaded with cargo 300 on the storage pallet 30 or pallet 200 in alignment therewith, proceeds as follows: the telescopic arm 422 is extended forward until the movable push rod 426 passes over the goods 300 located on the storage bracket 30 or the shelf 200, the movable push rod 426 extends out of the telescopic arm 422, the telescopic arm 422 is retracted, and the goods 300 are pulled to the temporary storage pallet 420 through the movable push rod 426 so as to temporarily store the goods 300.

The forks 42 are used to unload the load 300 on their aligned storage brackets 30 or shelves 200 as follows: the telescopic arm 422 is extended forward, and the goods 300 temporarily stored on the temporary storage pallet 420 are pushed onto the storage bracket 30 or the goods shelf 200 aligned with the fork 42 by the fixed push rod 424, and the telescopic arm 422 is retracted.

It should be noted that, by configuring the temporary storage pallet 420 for temporarily storing the goods 300, the pallet 200 does not need to be located at the same height as the storage bracket 30, and after the goods 300 are carried by one of the pallet 200 and the storage bracket 30, the carrying device 40 continues to be circularly lifted to the same height as the other of the pallet 200 and the storage bracket 30, and then the carrying device 40 and the other of the pallet 200 and the storage bracket 30 suspend the circular lifting, and the carrying device 40 carries the goods 300 again.

The fork further comprises a shooting component, wherein the shooting component is used for acquiring image information of goods or goods shelves so as to judge the height of the carrying device relative to the goods or judge whether the fork aims at the goods. In this embodiment, the image information is a two-dimensional code attached to the goods or the shelf.

Example 2

Referring to fig. 10, 11 and 12, a second embodiment of the present invention provides a transfer robot 400, wherein the transfer robot 400 is substantially the same as the transfer robot 100 provided in the first embodiment, and the fork carriage 41 of the transfer robot 400 is different.

One end of the fork bracket 42 is mounted to the other end of the connection shaft 2424, the other end of the fork bracket 41 extends in the horizontal transverse direction X, and the fork 42 is mounted to the other end of the fork bracket 41. If the handling device 40 is configured to be cyclically liftable with respect to the vertical frame 20, when the handling device 40 is cyclically lifted to at least one position with respect to the vertical frame 20, for example, one end of the fork carriage 41 is close to an edge of the vertical frame 20 on the horizontal transverse direction X side, the other end of the fork carriage 41 passes over the edge of the vertical frame 20 on the horizontal transverse direction X side, and the fork 42 is configured to allow separation from the vertical frame 20 on the horizontal transverse direction X. If the handling device 40 is configured to be fixed relative to the upright frame 20, the forks 42 are configured to be always spaced apart from the upright frame 20 in the horizontal transverse direction X. When the forks 42 are spaced apart from the vertical frame 20 in the horizontal transverse direction X, the forks 42 may be rotated about the vertical direction Z so that the forks 42 are aligned with the racks 200 located on either side of the vertical frame 20 in the horizontal longitudinal direction Y, thereby allowing the transfer robot 400 to bidirectionally pick up goods.

In this embodiment, the outer contour of the storage bracket 30 is substantially the same as the outer contour of the fork bracket 41, one end of the storage bracket 30 is connected to the guide 242, the other end of the storage bracket 30 extends in the horizontal transverse direction X, and the extending direction of the other end of the storage bracket 30 coincides with the extending direction of the other end of the fork bracket 41, so as to ensure that the storage bracket 30 at the same height as the handling device 40 coincides with the distance of the fork 42, which corresponds to the protrusion amount of the telescopic arm 422, regardless of the lifting or lowering of the handling device 40.

Example 3

Referring to fig. 13 and 14, in a third embodiment of the present invention, a transfer robot 500 is provided, and the transfer robot 500 is substantially the same as the transfer robot 400 provided in the previous embodiment, except that the fork carriage 41 of the transfer robot 500 is different.

The fork carriage 41 includes a carriage body 410, a support 411, and a lateral drive mechanism. The bracket body 410 is fixedly mounted on the guide device 242, the supporting member 411 is mounted on the bracket body 410, the supporting member 411 can move along a horizontal transverse direction X relative to the bracket body 410, the fork 42 is mounted on the supporting member 411, the fork 42 can rotate relative to the supporting member 411 around a vertical direction Z, and the transverse driving mechanism is used for driving the supporting member 411 to move along the horizontal transverse direction X relative to the bracket body 410, so that the fork 42 is separated from the vertical frame 20 along the horizontal transverse direction X, and the fork 42 can be aligned with the goods shelf 200 positioned on any side of the vertical frame 20 towards the horizontal longitudinal direction Y, so that the transfer robot 500 can take goods bidirectionally.

The specific process of the carrying device 40 for carrying the goods 300 on the shelf 200 is as follows: if the pallet 200 is positioned on the side of the upright frame 20 facing the storage rack 30, the forks 42 are rotated directly to align the pallet 200 to carry the load 300 on the pallet 200. If the pallet 200 is located on the side of the vertical frame 20 facing away from the storage bracket 30, the supporting member 411 is moved in the horizontal transverse direction X, so that the fork 42 is spaced from the vertical frame 20 in the horizontal transverse direction X, the fork 42 is rotated again to align with the pallet 200, so as to carry the goods 300 on the pallet 200, and after the fork 42 has carried the goods 300 on the pallet 200, the supporting member 411 is moved in the transverse direction X, so that the fork 42 is reset, so that the fork 42 can carry the goods 300 on the storage bracket 30.

The fork 42 can move along the horizontal transverse direction X relative to the bracket main body 410 through the supporting member 411, on the one hand, when the bidirectional picking of the transfer robot 500 is realized, the fork 42 does not protrude from the vertical frame 20 when the bidirectional picking is not needed, the possibility of accidental collision of the fork 42 is reduced in the moving process of the transfer robot 500, in addition, the size of the transfer robot 500 is reduced, the area required by the moving of the transfer robot 500 is reduced when the warehouse is deployed, and the warehouse utilization rate is improved. On the other hand, the other end of the storage bracket 30 does not need to extend in the horizontal transverse direction X, and the storage bracket 30 is less loaded and safer when placing the cargo 300.

The transverse driving mechanism comprises a screw rod 412, a guide block 413 and a transverse driving motor 414. The screw rod 412 extends along a horizontal transverse direction X, the screw rod 412 is mounted on the bracket main body 410, the screw rod 412 can rotate around the horizontal transverse direction X relative to the bracket main body 410, the guide block 413 is fixedly mounted on the supporting piece 411, the guide block 413 is sleeved on the screw rod 412, the guide block 413 is in threaded connection with the screw rod 412, when the screw rod 412 rotates, the guide block 413 is driven to move along the horizontal transverse direction X, so that the fork 42 mounted on the supporting piece 411 is driven to move along the horizontal transverse direction X, and the transverse driving motor 414 is used for driving the screw rod 412 to rotate. According to practical situations, the screw rod 412 and the guide block 413 may be replaced by a rack-and-pinion module, a sprocket chain module, or the like, or the screw rod 412 and the guide block 413 may be omitted, the lateral driving motor 414 may be configured as a linear motor, and the lateral driving motor 414 directly drives the supporting member 411 to move along the horizontal lateral direction X.

Example 4

Referring to fig. 15, a fourth embodiment of the present invention provides a conveying system 600, wherein the conveying system 600 includes the conveying robots 100, 400, 500 and the conveying mechanism 50 as described above.

The transfer mechanism 50 is used to transfer cargo 300 to the storage tray 30 or to transfer cargo 300 from the storage tray 30.

The transfer mechanism 50 includes a support body 51, a plurality of rollers 52 mounted to the support body 51, the plurality of rollers 52 being spaced apart from each other and extending horizontally, any one of the rollers 52 being rotatable about its own axis relative to the support body 51, and the plurality of rollers 52 being identical in rotational direction, the plurality of rollers 52 being commonly used to place and transfer the cargo 300.

During the descent of any one of the storage trays 30, a plurality of the support columns 31 thereof may pass through the gaps between the plurality of rollers 52, thereby transferring the cargo 300 placed on the storage tray 30 to the plurality of rollers 52.

During the ascent of any one of the storage trays 30, a plurality of the support columns 31 thereof may pass through the gaps between the plurality of the rollers 52, thereby transferring the cargo 300 placed on the plurality of the rollers 52 onto the storage tray 30.

Compared with the prior art, the carrying system 600 and the carrying robots 100, 400 and 500 thereof provided by the invention have the advantages that the storage bracket 30 can be lifted and lowered circularly relative to the vertical frame 20, so that an operator can carry the goods 300 from a low place, the working efficiency is improved, and the safety of the operator is ensured.

In addition, the storage bracket 30 can be lifted and lowered cyclically with respect to the vertical frame 20, and the efficiency of transporting the cargo 300 by the transfer robot 100,400,500 and the transfer mechanism 50 is improved.

Example 5

Referring to fig. 16, a fifth embodiment of the present invention provides a method for picking up goods by the transfer robot 100,400, 500.

The goods taking method comprises the following steps:

step S10: the handling device handles goods from the pallet to the storage tray.

Step S20: the storage tray is cyclically lifted so that the height of the storage tray is lowered.

In step S20, after the height of the storage bracket is lowered, the operator may take out the goods from the storage bracket, thereby improving the working efficiency and guaranteeing the safety of the operator.

In some embodiments, the handling device is configured to handle the cargo onto the storage rack at the same height as the handling device, and step S10 includes:

step S12: the carrying device carries the goods out of the goods shelf;

step S14: if the carrying device and the storage bracket are not at the same height, the storage bracket is lifted in a circulating way, so that the carrying device and the storage bracket are at the same height;

Step S16: the handling device handles cargo to the storage tray.

In some embodiments, the handling device is configured to handle goods from a rack located at the same height as the handling device, so, in order for the handling device to handle goods from racks at different heights, the handling device is configured to be cyclically lifted in synchronization with the storage rack, and step S10 further includes:

step S11: before the carrying device carries the goods out of the goods shelf, if the carrying device and the goods shelf are not at the same height, the carrying device and the storage bracket synchronously and circularly lift so that the carrying device and the goods shelf are at the same height.

In some embodiments, the fork is used to carry out on a pallet aligning the goods with the fork, and step S12 includes:

step S122: if the fork is not aligned with a shelf, the fork rotates relative to the fork carriage so that the fork is aligned with the shelf;

step S124: the forks carry the goods out of the pallet.

In some embodiments, the forks are used to carry cargo onto the storage pallet aligned with the forks, step S16 comprises:

Step S162: if the fork is not aligned with the storage bracket, the fork rotates relative to the fork bracket so that the fork is aligned with the storage bracket;

step S164: the forks carry cargo to the storage pallet.

In some embodiments, the forks remain horizontal to carry out the cargo on the pallet so that more cargo may be placed on the pallet at the same height, step S124 includes:

step S1242: the telescopic arm extends forwards relative to the temporary storage supporting plate so that the movable push rod passes over goods on the goods shelf;

step S1244: the movable push rod extends out of the telescopic arm;

step S1246: the telescopic arm is retracted so that the movable push rod pulls goods from the goods shelf to the temporary storage pallet.

In some embodiments, the forks remain horizontal to carry cargo to the storage racks so that at the same height, more storage racks may be configured to place more cargo, step S164 includes:

step S1642: the telescoping arm extends forward such that the fixed push rod pushes cargo from the temporary storage pallet to the storage bracket.

In step S1642 or step S1246, by pulling the goods from the shelf to the temporary storage pallet or pushing the goods from the temporary storage pallet to the storage pallet, on the one hand, in the case that the storage pallet is used up, the goods can be temporarily stored by the temporary storage pallet, on the other hand, the storage pallet does not need to be located at the same height as the shelf, the goods can be temporarily stored in the temporary storage pallet, the transporting device is recycled to lift, and when the fork and the storage pallet are located at the same height, the goods are transported to the storage pallet.

In some embodiments, when the pallet is located on a side of the vertical frame facing away from the pallet fork in the horizontal longitudinal direction during the process of picking up the goods by the handling robot, the pallet fork cannot be aligned with the pallet because the vertical frame is located between the pallet fork and the pallet, and the pallet fork is separated from the vertical frame in the horizontal longitudinal direction by moving the pallet fork horizontally and transversely relative to the vertical frame, so that the pallet fork is aligned with the pallet located on the side of the vertical frame facing away from the pallet fork in the horizontal longitudinal direction. Step S12 further includes:

step S120: before the forks are aligned with the pallet, if the pallet is located on the side of the vertical frame facing away from the forks in the horizontal longitudinal direction, the support member is moved in the horizontal transverse direction so that the forks are spaced apart from the vertical frame in the horizontal longitudinal direction.

It is understood that the step S120 may be applied to other transfer robots according to practical situations.

Referring to fig. 17, in some other embodiments, the transfer robot includes only a vertical frame, a storage bracket, a fork bracket body, a support, and a fork. The storage bracket is installed in the vertical frame, the fork bracket main body is installed in the vertical frame, the bearing piece is installed in the fork bracket main body, and the fork is installed in the bearing piece. The goods taking method comprises the following steps:

Step G10: if the goods shelf is positioned on the side of the vertical frame, which is opposite to the fork, in the horizontal longitudinal direction, the supporting piece moves horizontally and transversely so that the fork is separated from the vertical frame in the horizontal longitudinal direction;

step G20: the forks carry cargo from the pallet to the storage pallet.

In some embodiments, there may be a greater distance between different shelves and, therefore, the transfer robot may be movable such that the transfer robot may carry goods out of different shelves.

The goods taking method further comprises the following steps:

step S00: the chassis is moved to the vicinity of the pallet before the transporting device transports the goods from the pallet to the storage pallet.

In some embodiments, the fork further comprises a shooting component for acquiring image information of the goods or the shelves to determine whether the handling device is at the same height as the shelves and/or whether the fork is aligned with the shelves. The image information of the goods or the goods shelf is a two-dimensional code attached to the goods or the goods shelf.

Example 6

Referring to fig. 18, a sixth embodiment of the present invention provides a picking method based on the above-mentioned handling system 600, and the handling robot applies the picking method as described above.

The goods taking method further comprises the following steps:

step S30: when the height of the storage tray is lowered, a plurality of the support columns pass through gaps between the plurality of rollers so that the cargo placed on the plurality of support columns is transferred to the plurality of rollers.

In step S30, the operator may remove the goods from the plurality of rollers.

Example 7

Referring to fig. 19, a seventh embodiment of the present invention provides a method for placing goods based on the transfer robot 100, 400, 500 described above.

The goods placing method comprises the following steps:

step F10: the storage bracket is circularly lifted so as to enable the height of the storage bracket to be lowered;

step F20: after the goods are transferred to the storage bracket, the storage bracket is lifted circularly, so that the height of the storage bracket is raised;

Step F30: the handling device handles goods from the storage tray to a pallet.

In step F20, the operator may put the goods on the storage bracket after the height is lowered, so that the safety of the operator is ensured while the working efficiency is improved.

In some embodiments, the handling device is for handling goods onto the storage tray at the same height as the handling device, step F30 comprises:

step F32: if the carrying device and the storage bracket are not at the same height, the storage bracket is lifted in a circulating way, so that the carrying device and the storage bracket are at the same height;

step F34: the carrying device carries the goods out of the storage bracket;

step F36: the handling device handles goods to the goods shelves.

In some embodiments, the handling device is configured to handle goods from a rack at the same height as the handling device, so, in order for the handling device to handle goods from racks at different heights, the handling device is configured to cycle up and down in synchronization with the storage rack, step F30 further includes:

step F35: before the carrying device carries the goods to the goods shelf, and after the carrying device carries the goods out of the storage bracket, if the carrying device and the storage bracket are not at the same height, the carrying device is lifted and lowered circularly so that the carrying device and the goods shelf are at the same height.

In some embodiments, the forks are used to carry cargo to the pallet to which the forks are aligned, step F36 comprises:

step F362: if the fork is not aligned with the goods shelf, the fork rotates relative to the fork bracket so that the fork is aligned with the goods shelf;

step F364: the forks carry the cargo to the pallet.

In some embodiments, the forks are used to carry cargo out of the storage pallet aligned with the forks, and step F34 comprises:

step F342: if the fork is not aligned with the storage bracket, the fork rotates relative to the fork bracket so that the fork is aligned with the storage bracket;

step F344: the forks carry cargo out of the storage pallet.

In some embodiments, the forks remain horizontal to carry cargo out of the storage rack such that at the same height, more of the storage racks may be configured to place more cargo, step F344 includes:

step F3442: the telescoping arm extends forward such that the telescoping arm passes over the cargo;

step F3444: the movable push rod stretches out and draws back the telescopic arm;

step F3446: the telescoping arm retracts such that the movable push rod pulls cargo from the storage bracket to the temporary storage pallet.

In some embodiments, the forks remain horizontal to carry the cargo to the pallet so that more cargo may be placed on the pallet at the same height, step F364 comprises:

step F3642: the telescopic arm extends forward so that the fixed push rod pushes the goods from the temporary storage supporting plate to the goods shelf.

In step F3446 or step F3642, the goods are temporarily stored in the temporary storage pallet by pulling the goods from the storage pallet to the temporary storage pallet or pushing the goods from the temporary storage pallet to the shelf, on the one hand, in the case that the storage pallet is used up, the goods can be temporarily stored in the temporary storage pallet through the temporary storage pallet, on the other hand, the storage pallet is not required to be located at the same height as the shelf, the transporting device is recycled to lift, and the goods are transported to the shelf when the fork is located at the same height as the shelf.

In some embodiments, when the pallet is located on a side of the vertical frame facing away from the pallet fork in the horizontal longitudinal direction during the process of picking up the goods by the handling robot, the pallet fork cannot be aligned with the pallet because the vertical frame is located between the pallet fork and the pallet, and the pallet fork is separated from the vertical frame in the horizontal longitudinal direction by moving the pallet fork horizontally and transversely relative to the vertical frame, so that the pallet fork is aligned with the pallet located on the side of the vertical frame facing away from the pallet fork in the horizontal longitudinal direction. Step F36 further includes:

Step F360: before the forks are aligned with the pallet, if the pallet is located on the side of the vertical frame facing away from the forks in the horizontal longitudinal direction, the support member is moved in the horizontal transverse direction so that the forks are spaced apart from the vertical frame in the horizontal longitudinal direction.

Referring to fig. 20, in some other embodiments, the transfer robot includes only a vertical frame, a storage bracket, a fork bracket body, a support, and a fork. The storage bracket is installed in the vertical frame, the fork bracket main body is installed in the vertical frame, the bearing piece is installed in the fork bracket main body, and the fork is installed in the bearing piece. The goods taking method comprises the following steps:

step H10: if the goods shelf is positioned on the side of the vertical frame, which is opposite to the fork, in the horizontal longitudinal direction, the supporting piece moves horizontally and transversely so that the fork is separated from the vertical frame in the horizontal longitudinal direction;

step H20: the forks carry cargo from the storage pallet to the pallet.

In some embodiments, there may be a greater distance between different shelves and, therefore, the transfer robot may be movable such that the transfer robot may transfer the goods onto different shelves. The goods taking method further comprises the following steps:

Step F25: after the goods are transferred to the storage tray and before the handling device is handling the goods from the storage tray to the pallet, the chassis is moved to the vicinity of the pallet.

Example 8

Referring to fig. 21, an eighth embodiment of the present invention provides a method for placing goods based on the handling system 600 described above, and the handling robot applies the method for placing goods according to the seventh embodiment.

The transferring of the cargo to the storage tray comprises:

step F22: after transferring the cargo to the plurality of rollers, the storage tray is cyclically raised and lowered so that the plurality of support columns pass through the gaps between the plurality of rollers and transfer the cargo to the plurality of support columns.

In step F22, the operator may place the goods on a plurality of the rollers located at a low position.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; the technical features of the above embodiments or in the different embodiments may also be combined within the idea of the invention, the steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims

1. A goods taking method based on a transfer robot is characterized in that,

the transfer robot includes:

the vertical frame comprises an outer frame and an inner frame, wherein the inner frame is fixedly arranged in the outer frame, the inner frame is separated from the outer frame to form an annular space between the outer frame and the inner frame, and a guide structure is arranged in the annular space;

a storage bracket mounted to the upright frame, wherein the storage bracket is mounted to the guide structure; a kind of electronic device with high-pressure air-conditioning system

A carrying device mounted to the vertical frame and configured to be lifted and lowered together with the storage bracket in a circulating manner;

the carrying device comprises a fork and a fork bracket, and the fork bracket is arranged on the guide structure; the fork is arranged on the fork bracket and can rotate around the vertical direction relative to the fork bracket;

the storage brackets in opposite motion are positioned on one lateral side of the carrying device; the goods taking method comprises the following steps:

the handling device is used for handling goods from the goods shelves to the storage brackets;

the storage bracket is circularly lifted so as to enable the height of the storage bracket to be lowered;

The handling device handling goods from a rack to the storage tray includes:

the carrying device carries the goods out of the goods shelf;

if the carrying device and the storage bracket are not at the same height, the storage bracket and the carrying device are lifted and lowered in a circulating way at the same time, so that the carrying device and the storage bracket are at the same height;

the handling device handling the cargo to the storage tray;

the handling device handling cargo to the storage tray includes:

if the fork is not aligned with the storage bracket, the fork rotates relative to the fork bracket so that the fork is aligned with the storage bracket;

the forks carry cargo to the storage pallet.

2. The method of claim 1, wherein,

the handling device handling goods from a shelf to the storage tray further comprises:

before the carrying device carries the goods out of the goods shelf, if the carrying device and the goods shelf are not at the same height, the carrying device and the storage bracket synchronously and circularly lift so that the carrying device and the goods shelf are at the same height.

3. The method of claim 1, wherein,

The handling device handling goods from a pallet includes:

if the fork is not aligned with a shelf, the fork rotates relative to the fork carriage so that the fork is aligned with the shelf;

the forks carry the goods out of the pallet.

4. The method of claim 3, wherein,

the fork comprises a temporary storage supporting plate, a telescopic arm, a fixed push rod and a movable push rod, wherein the temporary storage supporting plate is arranged on the fork bracket, the telescopic arm is arranged on the temporary storage supporting plate, and the fixed push rod and the movable push rod are both arranged on the telescopic arm;

the fork carrying goods out of the pallet comprising:

the telescopic arm extends forwards so that the movable push rod passes over the goods;

the movable push rod extends out of the telescopic arm;

the telescopic arm is retracted so that the movable push rod pulls goods from the goods shelf to the temporary storage pallet.

5. The method of claim 4, wherein,

the fork carrying cargo to the storage bracket comprising:

the telescoping arm extends forward such that the fixed push rod pushes cargo from the temporary storage pallet to the storage bracket.

6. The method of claim 3, wherein,

The fork bracket comprises a fork bracket main body and a supporting piece, wherein the fork bracket main body is installed on the vertical frame, the supporting piece is installed on the fork bracket main body, and the fork is installed on the supporting piece;

the carrying device carries the goods out of the goods shelf further comprises:

before the forks are aligned with the pallet, if the pallet is located on the side of the vertical frame facing away from the forks in the horizontal longitudinal direction, the support member is moved in the horizontal transverse direction so that the forks are spaced apart from the vertical frame in the horizontal longitudinal direction.

7. The method of claim 3, wherein,

the fork also comprises a shooting component for acquiring image information of goods or shelves,

to determine whether the handling device is at the same height as the pallet and/or whether the forks are aligned with the pallet.

8. The method of claim 1, wherein,

the lowering of the height of the storage tray includes:

the storage bracket descends from a first height to a lowest height and then ascends from the lowest height to a second height, or the storage bracket descends directly from the first height to the second height, wherein the first height is higher than the second height.

9. The method of picking up a commodity according to any one of claims 1 to 8, wherein,

the transfer robot further comprises a chassis, wherein the chassis bears the vertical frame;

the goods taking method further comprises the following steps:

the chassis is moved to the vicinity of the pallet before the transporting device transports the goods from the pallet to the storage pallet.

10. The method of claim 1, wherein,

the track of the storage bracket which is circularly lifted is a complete ring or a semi-closed ring.

11. The method of claim 1, wherein,

the storage bracket cyclic lifting comprises forward cyclic lifting of the storage bracket and reverse cyclic lifting of the storage bracket.

12. A goods taking method based on a carrying system is characterized in that,

the handling system includes:

a transfer robot applying the pick method of any one of claims 1 to 11, the storage tray comprising a plurality of support columns; a kind of electronic device with high-pressure air-conditioning system

A conveying mechanism including a plurality of rollers;

the transferring of the cargo to the storage tray comprises:

after transferring the cargo to the plurality of rollers, the storage tray is cyclically raised and lowered so that the plurality of support columns pass through the gaps between the plurality of rollers and transfer the cargo to the plurality of support columns.

13. A goods placing method based on a transfer robot is characterized in that,

the transfer robot includes:

the storage brackets in opposite motion are positioned on one lateral side of the carrying device; the goods placing method comprises the following steps:

after the goods are transferred to the storage bracket, the storage bracket is lifted circularly, so that the height of the storage bracket is raised;

The transporting device transports goods from the storage bracket to a goods shelf;

the handling device handling goods from the storage tray to a rack includes:

if the carrying device and the storage bracket are not at the same height, the storage bracket and the carrying device are lifted in a circulating way, so that the carrying device and the storage bracket are at the same height;

the carrying device carries the goods out of the storage bracket;

the carrying device carries the goods to the goods shelf;

the handling device handling cargo from the storage tray includes:

the forks carry cargo out of the storage pallet.

14. The method of claim 13, wherein,

the handling device handling goods from the storage tray to a rack further includes:

before the carrying device carries the goods to the goods shelf, and after the carrying device carries the goods out of the storage bracket, if the carrying device and the storage bracket are not at the same height, the carrying device is lifted and lowered circularly so that the carrying device and the goods shelf are at the same height.

15. The method of claim 13, wherein,

the handling device handling goods to a rack includes:

if the fork is not aligned with the goods shelf, the fork rotates relative to the fork bracket so that the fork is aligned with the goods shelf;

the forks carry the cargo to the pallet.

16. The method of claim 15, wherein,

the fork carrying cargo from the storage bracket includes:

the telescoping arm extends forward such that the telescoping arm passes over the cargo;

the movable push rod stretches out and draws back the telescopic arm;

the telescoping arm retracts such that the movable push rod pulls cargo from the storage bracket to the temporary storage pallet.

17. The method of claim 16, wherein,

the fork carrying cargo to a rack comprising:

the telescopic arm extends forward so that the fixed push rod pushes the goods from the temporary storage supporting plate to the goods shelf.

18. The method of claim 15, wherein,

the handling device is used for handling goods to a goods shelf and further comprises:

19. The method of claim 15, wherein,

20. The method of claim 13, wherein,

the elevation of the storage tray includes:

the storage bracket is lifted from the second height to the highest height and then lowered from the highest height to

A first height, or the storage tray is lowered directly from a second height to the first height, wherein,

the first height is higher than the second height.

21. The method of stocking according to any one of claims 15 to 20,

the method for placing goods further comprises the following steps:

after the goods are transferred to the storage tray and before the handling device is handling the goods from the storage tray to the pallet, the chassis is moved to the vicinity of the pallet.

22. The method of claim 13, wherein,

the track of the circular lifting of the storage bracket is a complete ring or a semi-closed ring.

23. The method of claim 13, wherein,

24. A goods placing method based on a carrying system is characterized in that,

the handling system includes:

a transfer robot applying the method of placing goods according to any one of claims 15 to 23, the storage tray comprising a plurality of support columns; a kind of electronic device with high-pressure air-conditioning system

A conveying mechanism including a plurality of rollers;

the transferring of the cargo to the storage tray comprises:

after the goods are transferred to the storage trays, the height of the storage trays is raised so that the goods placed on the plurality of rollers are transferred to the plurality of support columns.

25. A picking and placing method based on a transfer robot is characterized in that,

the transfer robot includes:

a storage bracket mounted to the upright frame, wherein the storage bracket is mounted to the guide structure;

the fork bracket main body is arranged on the vertical frame and circularly ascends and descends together with the storage bracket; the storage brackets in opposite motion are positioned on one lateral side of the fork bracket body;

a support mounted to the fork carriage body to be rotatable about a vertical direction with respect to the fork carriage body; and

A fork mounted to the support;

the picking and placing method comprises the following steps:

if the goods shelf is positioned on the side of the vertical frame, which is opposite to the fork, in the horizontal longitudinal direction, the supporting piece moves horizontally and transversely so that the fork is separated from the vertical frame in the horizontal longitudinal direction;

the forks carry goods from the storage pallet to the pallet or the forks carry goods from the pallet to the storage pallet;

wherein the fork carries cargo from the storage bracket to a rack comprises:

if the fork and the storage bracket are not at the same height, the storage bracket and the fork bracket main body are lifted in a circulating way, so that the fork and the storage bracket are at the same height;

the fork carries the goods out of the storage bracket;

the fork conveys goods to a goods shelf;

the fork carrying cargo from the storage bracket includes:

the fork carries the goods out of the storage bracket;

The fork carrying cargo from a pallet to the storage pallet comprising:

the goods fork conveys goods out of the goods shelf;

if the fork and the storage bracket are not at the same height, the storage bracket and the fork bracket main body are lifted and lowered in a circulating way at the same time, so that the fork and the storage bracket are at the same height;

the forks carry cargo to the storage brackets;

the fork carrying cargo to the storage bracket comprising:

the forks carry cargo to the storage pallet.