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

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

A method of picking and placing goods based on handling robots and systems

【Technical field】

The invention relates to the technical field of warehousing and logistics, and in particular to a handling robot and a systematic method of picking and placing goods.

【Background technique】

At present, warehousing and logistics robots have diversified ways of picking up goods. Among them, robots with storage positions can transport multiple boxes at a time and are more efficient than AGVs. However, since the inventory position of this type of robot is now fixed, if you want to reach people to pick up goods directly on the robot, it is difficult to get the goods at high places. People need to climb up ladders or other auxiliary platforms to increase the height, which increases the risk. , while being inefficient.

[Content of the invention]

In order to solve the above technical problems, embodiments of the present invention provide a method for picking up and placing goods based on a handling robot and system, so that operators can move goods from low places.

In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions:

In a first aspect, a method of picking up goods based on a handling robot is provided. The handling robot includes: a vertical frame; a storage bracket, the storage bracket is installed on the vertical frame; and a handling device, the handling device The device is installed on the vertical frame; the method of picking up goods includes: the transport device transports goods from the shelf to the storage bracket; the storage bracket is raised and lowered cyclically, so that the height of the storage bracket decreases .

In some embodiments, the transportation device transporting goods from the shelf to the storage bracket includes: the transportation device transporting the goods from the shelf; if the transportation device and the storage bracket are not in the same height, the storage bracket circulates up and down at the same time, so that the transport device and the storage bracket are at the same height; the transport device transports the goods to the storage bracket.

In some embodiments, the transporting device transporting goods from the shelf to the storage bracket further includes: before the transporting device transports the goods from the shelf, if the transporting device and the shelf are not at the same height , then the transportation device and the storage bracket are raised and lowered in a synchronous cycle, so that the transportation device is at the same height on the shelf.

In some embodiments, the handling device includes a fork and a fork bracket, the fork bracket is installed on the vertical frame, the fork is installed on the fork bracket; the The handling device transporting the goods from the shelf includes: if the goods fork is not aligned with the shelf, the goods fork rotates relative to the fork bracket so that the goods fork is aligned with the shelf; the goods The forks move the goods out of the shelves.

In some embodiments, the handling device transporting goods to the storage bracket includes: if the fork is not aligned with the storage bracket, the fork is relative to the fork bracket. Rotate so that the fork is aligned with the storage bracket; the fork carries goods to the storage bracket.

In some embodiments, the cargo fork includes a temporary storage pallet, a telescopic arm, a fixed push rod and a movable push rod, the temporary storage pallet is installed on the fork bracket, and the telescopic arm is installed on the Temporary storage pallet, the fixed push rod and the movable push rod are both installed on the telescopic arm; the cargo fork transporting goods from the shelf includes: the telescopic arm extends forward, so that the movable The push rod passes over the goods; the movable push rod extends a telescopic arm; and the telescopic arm retracts so that the movable push rod pulls the goods from the shelf to the temporary storage pallet.

In some embodiments, the cargo fork transporting goods to the storage pallet includes: the telescopic arm extending forward so that the fixed push rod pushes the goods from the temporary storage pallet to the storage pallet. Storage bays.

In some embodiments, the fork bracket includes a fork bracket body and a support member. The fork bracket body is installed on the vertical frame, and the support member is installed on the fork bracket body. , the cargo fork is installed on the support member; the transport device transporting the goods from the shelf also includes: before the cargo fork is aligned with the shelf, if the shelf is located on the back of the vertical frame in the horizontal and longitudinal direction Toward one side of the fork, the support member moves horizontally and transversely so that the fork is spaced horizontally and longitudinally from the vertical frame.

In some embodiments, the fork further includes a photographing component for obtaining image information of goods or shelves to determine whether the handling device is at the same height as the shelf, and/or to determine whether the fork is aligned. shelves.

In some embodiments, the image information of the goods or shelves is a QR code affixed to the goods or shelves.

In some embodiments, the height decrease of the storage bracket includes: the storage bracket decreases from the first height to the lowest height, and then rises from the lowest height to the second height, or the storage bracket moves from the first height to the second height. One level drops directly to a second level, where the first level is higher than the second level.

In some embodiments, the handling robot further includes a chassis that carries the vertical frame; the picking method further includes: before the handling device carries the goods from the shelf to the storage bracket, The chassis moves to the vicinity of the shelf.

In some embodiments, the cyclic lifting trajectory of the storage bracket is a complete ring or a semi-closed ring.

In some embodiments, the cyclic lifting and lowering of the storage bracket includes the forward cyclic lifting and lowering of the storage bracket and the reverse cyclic lifting and lowering of the storage bracket.

In a second aspect, a method of picking up goods based on a handling system is provided, the handling system includes: a handling robot, the handling robot applies the picking method as described above, and the storage bracket includes a plurality of supporting columns; and a transmission mechanism, the transmission mechanism includes a plurality of rollers; the transfer of the goods to the storage bracket includes: after transferring the goods to a plurality of the rollers, the storage bracket circulates up and down, so that the plurality of storage brackets The supporting columns pass through the gaps between the plurality of rollers and transfer the goods to the plurality of supporting columns.

In a third aspect, a method of placing goods based on a handling robot is provided. The handling robot includes: a vertical frame; a storage bracket, the storage bracket is installed on the vertical frame; and a handling device, the handling device The device is installed on the vertical frame; the method of placing goods includes: the storage bracket is raised and lowered cyclically so that the height of the storage bracket decreases; after the goods are transferred to the storage bracket, the storage bracket The rack is raised and lowered cyclically, so that the height of the storage bracket is raised; the transport device transports goods from the storage bracket to the shelf.

In some embodiments, the carrying device transporting goods from the storage bracket to the shelf includes: if the carrying device and the storage bracket are not at the same height, the storage bracket circulates up and down, So that the transport device and the storage bracket are at the same height; the transport device transports the goods from the storage bracket; the transport device transports the goods to the shelf.

In some embodiments, the carrying device carrying the goods from the storage bracket to the shelf further includes: before the carrying device carries the goods to the shelf, and before the carrying device transports the goods from the storage After the bracket is transported out, if the transportation device and the storage bracket are not at the same height, the transportation device will be raised and lowered in a cycle so that the transportation device and the shelf are at the same height.

In some embodiments, the handling device includes a fork and a fork bracket, the fork bracket is installed on the vertical frame, the fork is installed on the fork bracket; the The handling device transports the goods to the shelf including: if the fork is not aligned with the shelf, the fork rotates relative to the fork bracket so that the fork is aligned with the shelf; the fork moves the goods Transport to shelves.

In some embodiments, the handling device transporting goods from the storage pallet includes: if the pallet fork is not aligned with the storage pallet, the pallet fork is moved relative to the pallet fork support. The rack rotates so that the fork is aligned with the storage bracket; the fork carries goods out of the storage bracket.

In some embodiments, the cargo fork includes a temporary storage pallet, a telescopic arm, a fixed push rod and a movable push rod, the temporary storage pallet is installed on the fork bracket, and the telescopic arm is installed on the Temporary storage pallet, the fixed push rod and the movable push rod are both installed on the telescopic arm; the cargo fork transporting goods from the storage bracket includes: the telescopic arm extends forward to The telescopic arm is allowed to pass over the goods; the movable push rod telescopes the telescopic arm; and the telescopic arm is retracted, so that the movable push rod pulls the goods from the storage bracket to the temporary storage pallet.

In some embodiments, the cargo fork transporting the goods to the shelf includes: the telescopic arm extending forward so that the fixed push rod pushes the goods from the temporary storage pallet to the shelf.

In some embodiments, the fork bracket includes a fork bracket body and a support member. The fork bracket body is installed on the vertical frame, and the support member is installed on the fork bracket body. , the cargo fork is installed on the support member; the transport device transporting the goods to the shelf also includes: before the cargo fork is aligned with the shelf, if the shelf is located behind the vertical frame in the horizontal and longitudinal direction On one side of the fork, the support member moves horizontally and transversely, so that the fork is separated from the vertical frame in the horizontal and longitudinal direction.

In some embodiments, the fork further includes a photographing component for obtaining image information of goods or shelves to determine whether the handling device is at the same height as the shelf, and/or to determine whether the fork is aligned. shelves.

In some embodiments, the image information of the goods or shelves is a QR code affixed to the goods or shelves.

In some embodiments, the height increase of the storage bay includes: the storage bay rises from the second height to the highest height, and then drops from the highest height to the first height, or the storage bay moves from the second height to the first height. The second height drops directly to the first height, where the first height is higher than the second height.

In some embodiments, the handling robot further includes a chassis that carries the vertical frame; the method of placing goods further includes: after the goods are transferred to the storage bracket, and after the handling device Before the goods are transported from the storage bracket to the shelf, the chassis moves near the shelf.

In some embodiments, the cyclic lifting trajectory of the storage bracket is a complete ring or a semi-closed ring.

In some embodiments, the cyclic lifting and lowering of the storage bracket includes the forward cyclic lifting and lowering of the storage bracket and the reverse cyclic lifting and lowering of the storage bracket.

In a fourth aspect, a method of placing goods based on a handling system is provided. The handling system includes: a handling robot, the handling robot applies the method of placing goods as described above, and the storage bracket includes a plurality of supporting columns; and a transfer mechanism, the transfer mechanism includes a plurality of rollers; the transfer of the goods to the storage bracket includes: after the goods are transferred to the storage bracket, the height of the storage bracket is raised so that the storage bracket is placed on multiple The goods on each of the rollers are transferred to a plurality of the supporting columns.

In a fifth aspect, a method for picking and placing goods based on a handling robot is provided. The handling robot includes: a vertical frame; a storage bracket, the storage bracket is installed on the vertical frame; and a fork bracket body, The main body of the fork bracket is installed on the vertical frame; the supporting part is installed on the main body of the fork bracket; and the fork is installed on the supporting part; The method of picking and placing goods includes: if the shelf is located on the side of the vertical frame facing away from the forks in the horizontal and longitudinal direction, the support member moves horizontally and transversely so that the forks are in the horizontal and longitudinal direction. Separated from the vertical frame; the forks transport goods from the storage racks to the shelves, or the forks transport goods from the shelves to the storage racks.

Compared with the prior art, in the method for picking and placing goods based on a handling robot and system provided by the embodiment of the present invention, after the height of the storage bracket decreases, the operator can remove the goods from the storage bracket. Taking it out from the top not only improves work efficiency, but also ensures the safety of operators.

[Picture description]

One or more embodiments are illustrated through the corresponding drawings. These exemplary illustrations do not constitute limitations to the embodiments. Elements with the same reference numerals in the drawings represent similar elements, unless otherwise specified. It is stated that the figures in the accompanying drawings do not constitute limitations on scale.

Figure 1 is a perspective view of a handling robot and a shelf provided by the first embodiment of the present invention;

Figure 2 is a perspective view of the handling robot shown in Figure 1;

Figure 3 is a perspective view of the handling robot shown in Figure 2 from another angle;

Figure 4 is a perspective view of the interior of the vertical frame of the handling robot shown in Figure 2;

Figure 5 is an exploded view of the guide device and storage bracket of the handling robot shown in Figure 2;

Figure 6 is a front view of the handling robot shown in Figure 2;

Fig. 7 is a perspective view of the transport device of the transport robot shown in Fig. 2;

Figure 8 is a perspective view of the transport device shown in Figure 7 from another angle;

Figure 9 is a perspective view of the transport device shown in Figure 8 in another state;

Figure 10 is a perspective view of a handling robot provided by the second embodiment of the present invention;

Figure 11 is a front view of the handling robot shown in Figure 10;

Figure 12 is a top view of the handling robot shown in Figure 10;

Figure 13 is a perspective view of a handling robot provided by the third embodiment of the present invention;

Fig. 14 is a perspective view of the transport device of the transport robot shown in Fig. 13;

Figure 15 is a perspective view of the transportation system provided by the fourth embodiment of the present invention;

Figure 16 is a pickup method based on a handling robot provided by the fifth embodiment of the present invention;

Figure 17 is another method of picking up goods based on a handling robot provided by the fifth embodiment of the present invention;

Figure 18 is a pick-up method based on a transportation system provided by the sixth embodiment of the present invention;

Figure 19 is a delivery method based on a handling robot provided by the seventh embodiment of the present invention;

Figure 20 is another delivery method based on a handling robot provided by the seventh embodiment of the present invention;

Figure 21 is a method of placing goods based on a handling system provided by the eighth embodiment of the present invention.

【Detailed ways】

In order to facilitate understanding of the present invention, the present invention will be described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is referred to as being "secured" 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 there may be one or more intervening elements present therebetween. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and similar expressions used in this specification are for illustrative purposes only.

Unless otherwise defined, all technical and scientific terms used in this specification have the same meanings commonly understood by those skilled in the technical field belonging to the present invention. The terms used in the description of the present invention are only for the purpose of describing specific embodiments and are not used to limit the present invention. As used in this specification, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Example 1

Please refer to FIG. 1 and FIG. 2 , which is a handling robot 100 provided in the first embodiment of the present invention, which can be used in the fields of warehousing and logistics, engineering machinery, elevators, etc. In the present invention, the handling robot 100 is used in warehousing. Take the logistics field as an example to explain in detail.

The transport robot 100 is mainly used to transport the goods 300 on the shelf 200 .

It should be noted that the cargo 300 may be one object or multiple objects.

In order to facilitate understanding of the present invention, in the present invention, the horizontal direction is represented by X, the horizontal longitudinal direction is represented by Y, and the vertical direction is represented by Z, and two of the three are basically perpendicular to each other.

The transport robot 100 includes a chassis 10 , a vertical frame 20 , a storage bracket 30 and a transport device 40 . The chassis 10 carries the vertical frame 20 , the storage bracket 30 and the transportation device 40 are both installed on the vertical frame 20 , and the storage bracket 30 and the transportation device 40 are located on the vertical frame 20 along the same side of the horizontal longitudinal Y.

The storage bracket 30 is used to place goods 300. The storage bracket 30 can be raised and lowered cyclically around the horizontal longitudinal direction Y relative to the vertical frame 20. That is, the cyclic lifting trajectory of the storage bracket 30 is a horizontal axis. Longitudinal Y ring. The carrying device 40 is used to carry goods 300 between the shelves 200 and the storage brackets 30 .

The cyclic lifting trajectory of the storage bracket 30 is a complete ring or a semi-closed ring.

It is worth noting that by configuring the storage bracket 30 to be cyclically lifted, when the operator directly transports the goods 300 from the handling robot 100, the operator does not need to climb a ladder or other auxiliary platform, thus reducing the operator's direct movement on the said platform. The risk factor of transporting goods 300 on the transport robot 100. In addition, compared with linear lifting, at the same height, the handling robot 100 can basically be configured with twice the number of storage brackets 30 , so that the handling robot 100 can load more goods 300 .

Referring to Figure 3, the chassis 10 is movable. The chassis 10 is equipped with a driving wheel 11 and a driven wheel 12. The driving wheel 11 and the driven wheel 12 can respectively rotate relative to the chassis 10. The driving wheel 11 and the driven wheel 12 jointly support the Chassis 10, the driving wheel 11 is driven by a wheel drive motor, so that the chassis 10 moves in the transverse direction X. By configuring the movable chassis 10 , the transport robot 100 can transport goods 300 between multiple shelves 200 .

The number of the driving wheels 11 is 2, and the two driving wheels 11 are symmetrically distributed. Correspondingly, the number of the wheel drive motors is 2, and the two driving wheels 11 are respectively composed of two wheel drive motors. Driving can make the rotation speeds of the two driving wheels 11 different, thereby realizing the steering of the chassis 10 .

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

In this embodiment, the chassis 10 is also equipped with a guidance device (not shown). The guidance device is a camera for identifying graphic codes posted on the ground, so that the chassis 10 travels along a preset path. Graphic codes can be QR codes, barcodes or some customized identification codes.

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 shortwave receiving device for guiding the chassis 10 by receiving a preset shortwave signal. The chassis 10 travels along a preset path.

It should be noted that in some other embodiments, the chassis 10 can be omitted, and the vertical frame 20 is directly fixed and installed on the ground or other platforms, and is only used to transport goods 300 on the shelves 200 around it.

Referring to FIGS. 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 basically arranged around the horizontal longitudinal direction Y. The outer frame 20 is fixedly installed on the chassis 10, and the inner frame 22 is fixedly installed in 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 between the two. The suspension 23 avoids 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 device 242 and a circulating driving mechanism 244 . The guide track 240 is fixedly installed in the outer frame 21, the circulation drive mechanism 244 is installed outside the inner frame 22, the guide device 242 is installed in the circulation drive mechanism 244, and the storage tray The rack 30 is installed on the guide device 242, and the cyclic driving mechanism 244 is used to drive the guide device 242 and the storage bracket 30 to circulate upward and downward around the horizontal and vertical direction Y. During the cyclic lifting and lowering process of the guide device 242 , the guide device 242 remains in contact with the guide rail 240 so that the storage bracket 30 remains horizontal during the cyclic lifting and lowering process.

The guide rail 240 is assembled and welded by plates and profiles, and the guide rail 240 includes a plurality of mutually independent sub-rails 2400 . Each of the sub-rails 2400 is similar to the cyclic lifting trajectory of the storage bracket 30. Under the joint action of all of the sub-rails 2400 and the drive chain, the guide portion 2420 of the guide device 240 does not move during the cyclic lifting process. The movement of rotation around its own axis ensures that the storage bracket 30 and the handling device 40 remain level during the entire lifting cycle.

Referring to FIG. 5 , the guide device 242 includes a guide part 2420 , a steering part 2422 , and a connecting shaft part 2424 . The steering part 2422 is installed on the circulating drive mechanism 244. The connecting shaft part 2424 extends longitudinally. The steering part 2422 is sleeved between the two ends of the connecting shaft part 2424. The steering part 2422 can be wound around. The connecting shaft portion 2424 rotates relative to the connecting shaft portion 2424 , one end of the connecting shaft portion 2424 is connected to the guide portion 2420 , and the other end of the connecting shaft portion 2424 is connected to the storage bracket 30 . The guide part 2420 is equipped with guide wheels 2426. The number of the guide wheels 2426 is multiple. The plurality of guide wheels 2426 are distributed around the horizontal and longitudinal direction Y and surround the guide part. Each guide wheel 2426 can only contact one corresponding sub-rail 2400. During the vertical lifting process of the guide part 2420, there are at least two guide wheels 2426 and the corresponding sub-rail at any time. 2400 are in contact, and different guide wheels 2426 are in contact with the corresponding sub-rails 2400 at different times. The sub-track 2400 serves as the walking track of the guide wheel 2426, and limits the walking track of the guide wheel 2426 under the combined action of the vertical drive chain, thereby limiting the walking track of the guide part 2420 and ensuring that the angle of the guide part 2420 remains unchanged during the cyclic lifting process.

It is worth noting that the rotating part 2422 can rotate around the connecting shaft 2424 relative to the guide part 2420, so that the guide part 2420 still has a degree of freedom to rotate relative to the cyclic driving mechanism 244. , and cooperate with the guide track 240 to further limit the guide portion 2420, so that no matter what kind of cyclic driving mechanism 244 is used, the storage bracket 30 can be ensured to remain horizontal during the cyclic lifting process.

The number of the guide devices 242 may be multiple, and the plurality of guide devices 242 are evenly distributed in the cyclic lifting trajectory of any one of the guide devices 242 .

Referring to FIG. 6 , the circulating driving mechanism 244 includes a runner 2440 , a traction cable 2442 and a driving module. The runner 2440 and the driving module 2444 are both installed on the inner frame 22. The runner 2440 can rotate relative to the inner frame 22 around the horizontal longitudinal direction Y. The number of the runner 2440 is at least two, so The driving module is connected to one of the rotating wheels 2440, and is used to drive one of the rotating wheels 2440 to rotate around the horizontal longitudinal direction Y relative to the inner frame 22. The traction rope 2442 is annular, the rotating part 2422 is installed on the traction rope 2442, and a plurality of runners 2440 are jointly sleeved on the traction rope 2442. When any one of the runners 2440 rotates, friction will occur. Alternatively, the traction cable 2442 can be driven to circulate around the horizontal longitudinal direction Y in a meshing manner, thereby driving the guide device 242 to circulate up and down around the horizontal longitudinal direction Y.

In this embodiment, the number of the runners 2440 is 4, and the four runners 2440 are distributed in a rectangular shape. According to the actual situation, the number of the runners 2440 can also be 2, 3, 5, etc., at least all The number of wheels mentioned above is at least 2.

The runner 2440 is a sprocket, and the traction rope 2442 is a chain. When the sprocket rotates, it drives the chain to circulate in a meshing manner. According to the actual situation, the runner 2440 can also be a V-pulley. Correspondingly, the traction rope 2442 may be a V-belt, and when the V-pulley rotates, it drives the V-pulley to circulate through friction.

The drive module includes a cyclic drive motor 2444 and a sprocket mechanism 2446. The cyclic drive motor 2444 and the sprocket mechanism 2446 are both installed on the inner frame 22. The sprocket mechanism 2446 connects the cyclic drive motor 2444 and a sprocket mechanism. As for the runner 2440, the circulation drive motor 2444 drives one of the runner 2440 to rotate through the sprocket mechanism 2446. Depending on the actual situation, the sprocket mechanism 2446 can also be replaced with a worm gear mechanism, a gear mechanism, etc. In addition, the sprocket mechanism 2446 can be omitted.

It can be understood that in this embodiment, the cyclic driving mechanism 244 is only powered by the cyclic driving motor 2444 to drive the plurality of guide devices 242 to cyclically lift. In some other embodiments, the cyclic driving mechanism 244 includes a plurality of cyclic driving motors 2444, and each of the cyclic driving motors 2444 respectively provides power to drive a corresponding guide device 242 to cyclically lift, that is, , the circulating driving mechanism 244 includes at least two circulating driving motors 2444, and the circulating driving mechanism 244 is powered by one of the at least two circulating driving motors 2444 to drive the conveying device 40. The drive mechanism 244 is powered by the remaining of the at least two cycle drive motors 2444 to drive the storage tray 30 . The circulation drive motor 2444 can rotate forward or reversely. Therefore, the circulation drive mechanism 244 is used to drive the storage tray 30 to circulate upward or downward in a forward direction or in a reverse direction.

In this embodiment, the number of storage brackets 30 is multiple, but does not exceed the number of guide devices 242. Each storage bracket 30 has a connecting shaft 2424 with a corresponding guide device 242. Connected, a plurality of storage brackets 30 are evenly distributed in the cyclic lifting trajectory of any one of the storage brackets 30. By placing multiple goods 300 on multiple storage brackets 30, multiple goods 300 can be placed. The storage bracket 30 forms a counterweight relationship to reduce the power consumption of the circulation drive mechanism 244.

The storage bracket 30 includes a plurality of horizontal and spaced supporting columns 31 , and the plurality of supporting columns 31 of the storage bracket 30 are jointly used to place goods 300 .

In this embodiment, each of the supporting columns 31 extends along the horizontal longitudinal direction Y.

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

The process of the transport device 40 transporting the goods 300 on the storage bracket 30 is as follows: the storage bracket 30 circulates up and down until the storage bracket 30 and the transport device 40 are at the same height. At this time, The storage bracket 30 pauses its cyclic lifting, and after the transport device has completed transporting the goods 300 on the storage bracket 30 located at the same height, the storage bracket 30 continues its cyclic lifting.

In this embodiment, the transportation device 40 is connected to the cyclic driving mechanism 244 , and the cyclic driving mechanism 244 is used to drive the transportation device 40 and the storage bracket 30 to circulate up and down together, so that the The handling robot 100 can handle goods 300 on shelves 200 of different heights. The specific process of the transport device 40 transporting the goods 300 on the storage bracket 30 is as follows: the cyclic lifting process of the transport device 40 and the storage bracket 30 can be divided into rising and falling processes. When the movement direction of the storage bracket 30 and the transportation device 40 is opposite, the storage bracket 30 and the transportation device 40 can be located at the same height. At this time, the storage bracket 30 The storage bracket 30 and the transportation device 40 both stop lifting and lowering in cycles. After the transportation device 40 has finished transporting the goods 300 on the storage bracket 30 , the storage bracket 30 and the transportation device 40 continue to move up and down in cycles.

The specific process of the transport device 40 transporting the goods 300 on the shelf 200 is as follows: the transport device 40 circulates up and down until the transport device 40 and the shelf 200 are at the same height. At this time, the transport device 40 stops circulating up and down. After the transportation device 40 completes transportation of the goods 300 on the shelf 200, the transportation device 40 continues to circulate up and down.

In some other embodiments, the carrying device 40 is fixedly installed on the vertical frame 20 . Therefore, all of the guide devices 242 are used to install the storage bracket 30 , and there may be only one guide device 242 .

Referring to FIG. 7 , the transportation device 40 includes a fork bracket 41 , a fork 42 and a rotation drive mechanism 43 . The fork bracket 41 can be welded by profiles and plates, and the fork bracket 41 is fixedly installed on the guide device 242 . The fork 42 is used to transport goods 300 on a shelf 200 or a storage bracket 30 that is aligned with it. The fork 42 is installed on the fork bracket 41. Between the handling device 40 and a shelf 200 Or after the storage bracket 30 is at the same height, the fork 42 can rotate relative to the fork bracket 41 around the vertical direction Z, so that the fork 42 is aligned with the carrying device 40 Shelves 200 or storage racks 30 located at the same height.

The rotary drive mechanism 43 is used to drive the fork 42 to rotate, so that the fork 42 is aligned with a storage bracket 30 or shelf 200 located on the same support column as the transport device 40 . The forks 42 are used to transport goods 300 on a storage bracket 30 or shelf 200 aligned therewith.

It is worth noting that when the transport device 40 is rising or falling, the storage bracket 30 in the opposite motion state is located on one side of the transport device 40 in the transverse direction X. Based on this, the fork 42 can be used around the vertical direction Z. Rotating relative to the fork bracket 41 allows the transportation device 40 to be at the same height as the storage bracket 30 on one side when rising or descending, thereby realizing transportation on the storage bracket 30 Goods 300. In addition, when the transport robot 100 transports the goods 300 on the shelf 200, it is not necessary to turn the chassis 10 to align the forks 42 with the shelf 200, which improves the efficiency of the transport robot 100 in transporting the goods 300.

The rotation drive mechanism 43 includes a rotation drive motor 430 and a pulley transmission module 432. The pulley transmission module 430 is connected to the fork 42 and the fork bracket 41. The rotation drive motor 430 is connected to the pulley transmission module 432. Module 432 , the rotation drive motor 430 drives the fork 42 to rotate relative to the fork bracket 41 through the pulley transmission module 432 . According to the actual situation, the pulley transmission module 432 can be replaced with a gear transmission module, a worm gear transmission module, etc., or the pulley transmission module 432 is directly omitted, and the rotation drive motor 430 directly drives the fork 42 Turn.

Referring to FIGS. 8 and 9 , the cargo fork 42 includes a temporary storage pallet 420 , a telescopic arm 422 , a fixed push rod 424 and a movable push rod 426 . The temporary storage pallet 420 is installed on the fork bracket 41. The temporary storage pallet 420 can rotate relative to the fork pallet 41 around a vertical axis Z. The temporary storage pallet 420 Used for temporary storage of goods 300. The telescopic arm 422 is installed 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 installed on the telescopic arm 422. When the telescopic arm 422 extends forward, it drives the fixed push rod 424 and the movable push rod 426 to extend forward together. The push rod 426 is located directly 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 the cargo 300 . The movable push rod 426 can extend out of the telescopic arm 422 .

When the cargo fork 42 loads goods 300 on the storage bracket 30 or shelf 200 that is aligned with it, the process is as follows: the telescopic arm 422 extends forward until the movable push rod 426 passes over the storage bracket 30 or shelf 200 . For the goods 300 on the shelf 200, the movable push rod 426 extends the telescopic arm 422, the telescopic arm 422 retracts, and the goods 300 are pulled to the temporary storage pallet 420 through the movable push rod 426. Put the goods 300 into temporary storage.

When the cargo fork 42 unloads the goods 300 on the storage bracket 30 or the shelf 200 that it is aligned with, the details are as follows: the telescopic arm 422 extends forward, and the fixed push rod 424 temporarily stores the goods 300 on the temporary storage tray. The goods 300 on the plate 420 are pushed onto the storage bracket 30 or the shelf 200 aligned with the cargo fork 42, and the telescopic arm 422 retracts.

It is worth noting that by configuring the temporary storage board 420 for temporary storage of goods 300, the shelf 200 does not need to be at the same height as the storage bracket 30. The handling device 40 is in contact with the shelf 200 and the storage bracket 30. After one of the two has transported the goods 300, the transportation device 40 continues to rise and fall in a cycle to the same height as the other of the shelf 200 and the storage bracket 30, the transportation device 40 and the storage bracket 30 are moved to the same height. The bracket 30 pauses the lifting and lowering cycle, and the transport device 40 then transports the goods 300 with the other of the shelf 200 and the storage bracket 30 .

The fork also includes a photographing component, which is used to obtain image information of goods or shelves to determine the height of the handling device relative to the goods, or to determine whether the fork is aligned with the goods. In this embodiment, the image information is a two-dimensional code attached to the goods or shelves.

Example 2

Please refer to Figure 10, Figure 11 and Figure 12. A second embodiment of the present invention provides a transport robot 400. The transport robot 400 is basically the same as the transport robot 100 provided in the first embodiment. The difference is that the transport robot 400 The fork carriage 41 is different.

One end of the fork bracket 42 is installed on the other end of the connecting shaft 2424. The other end of the fork bracket 41 extends along the horizontal transverse direction X. The fork 42 is installed on the fork bracket. The other end of rack 41. If the carrying device 40 is configured to be cyclically raised and lowered relative to the vertical frame 20 , when the carrying device 40 is cyclically raised and lowered to at least one position relative to the vertical frame 20 , for example, the fork One end of the bracket 41 is close to the edge of the vertical frame 20 on the horizontal transverse direction X side, and the other end of the fork bracket 41 crosses the edge of the vertical frame 20 on the horizontal transverse direction X side. The fork 42 is configured to allow it to be spaced apart from the vertical frame 20 in the horizontal transverse direction X. If the handling device 40 is configured to be fixed relative to the vertical frame 20 , the fork 42 is configured to always be spaced apart from the vertical frame 20 in the horizontal transverse direction X. When the fork 42 is spaced apart from the vertical frame 20 in the horizontal direction 20 towards the shelves 200 on either side of the horizontal longitudinal direction Y, so that the handling robot 400 can pick up goods in both directions.

In this embodiment, the outer contour of the storage bracket 30 is substantially the same as the outer contour of the fork bracket 41 , and one end of the storage bracket 30 is connected to the guide device 242 . The other end of 30 extends along the horizontal transverse direction The storage brackets 30 of the transport device 40 at the same height are all at the same distance from the fork 42 , and the distance corresponds to the forward extension of the telescopic arm 422 .

Example 3

Referring to Figures 13 and 14, a third embodiment of the present invention provides a handling robot 500. The handling robot 500 is basically the same as the handling robot 400 provided in the previous embodiment. The difference lies in that the fork of the handling robot 500 Bracket 41 is different.

The fork bracket 41 includes a bracket body 410, a support member 411 and a transverse driving mechanism. The bracket body 410 is fixedly installed on the guide device 242, and the support member 411 is installed on the bracket body 410. The support member 411 can move along the horizontal transverse direction X relative to the bracket body 410, so The cargo fork 42 is installed on the support member 411. The cargo fork 42 can rotate around the vertical direction Z relative to the support member 411. The transverse driving mechanism is used to drive the support member 411 relative to the bracket. The rack body 410 moves along the horizontal transverse direction X, so that the cargo fork 42 is separated from the vertical frame 20 in the horizontal transverse direction X, so that the cargo fork 42 can be aligned on the vertical frame 20 toward the horizontal longitudinal direction. Shelves 200 on either side of Y, so that the handling robot 500 can pick up goods in both directions.

The specific process of the transport device 40 transporting the goods 300 on the shelf 200 is as follows: if the shelf 200 is located on the side of the vertical frame 20 facing the storage bracket 30 , the cargo fork 42 directly rotates to align with the shelf 200 , thereby transporting the goods 300 on the shelf 200. If the shelf 200 is located on the side of the vertical frame 20 facing away from the storage bracket 30 , the support member 411 first moves along the horizontal transverse direction The frames 20 are spaced apart, and the cargo fork 42 is rotated to align with the shelf 200 to transport the goods 300 on the shelf 200. After the cargo fork 42 has transported the goods 300 on the shelf 200, the support member 411 moves along the transverse direction. The movement of

The cargo fork 42 can move along the horizontal transverse direction X relative to the bracket body 410 through the support 411. On the one hand, while realizing the two-way pickup of goods by the handling robot 500, the cargo fork 42 does not protrude from the vertical position when two-way pickup is not required. The frame 20 reduces the possibility of accidental collision of the forks 42 during the movement of the handling robot 500. In addition, it reduces the size of the handling robot 500 and reduces the time required for the handling robot 500 to move when deployed in the warehouse. required area to improve warehouse utilization. On the other hand, the other end of the storage bracket 30 does not need to extend along the horizontal transverse direction X. The load of the storage bracket 30 when placing the goods 300 is smaller and the safety is higher.

The transverse driving mechanism includes a screw rod 412, a guide block 413 and a transverse driving motor 414. The screw rod 412 extends along the horizontal transverse direction Fixedly installed on the support 411, the guide block 413 is sleeved on the screw rod 412, and the guide block 413 is screwed with the screw rod 412. When the screw rod 412 rotates, it drives the guide The block 413 moves along the horizontal transverse direction X, thereby driving the fork 42 installed on the support member 411 to move along the horizontal transverse direction X. The transverse driving motor 414 is used to drive the screw rod 412 to rotate. According to the actual situation, the screw rod 412 and the guide block 413 can be replaced with a rack and pinion module, a sprocket chain module, etc., or the screw rod 412 and the guide block 413 are both omitted, and the transverse drive motor 414 is configured as a straight line The transverse drive motor 414 directly drives the support member 411 to move along the horizontal transverse direction X.

Example 4

Referring to Figure 15, a fourth embodiment of the present invention provides a transportation system 600. The transportation system 600 includes the transportation robots 100, 400, 500 and the transmission mechanism 50 as mentioned above.

The transfer mechanism 50 is used to transfer the goods 300 to the storage bracket 30 , or to transfer the goods 300 out of the storage bracket 30 .

The transmission mechanism 50 includes a support body 51 and a plurality of rollers 52 installed on the support body 51. The plurality of rollers 52 are spaced apart from each other and extend horizontally. Any one of the rollers 52 can rotate around its own axis relative to the other rollers 52. The support body 51 rotates, and the plurality of rollers 52 rotate in the same direction, and the plurality of rollers 52 are jointly used to place and transport the goods 300 .

When any one of the storage brackets 30 is descending, its plurality of supporting columns 31 can pass through the gaps between the plurality of rollers 52, so that the goods placed on the storage bracket 30 can 300 is transferred to a plurality of said rollers 52 .

When any of the storage brackets 30 is rising, its plurality of supporting columns 31 can pass through the gaps between the plurality of rollers 52, so that it can be placed on the plurality of rollers 52. The goods 300 are transferred to the storage rack 30 .

Compared with the prior art, the present invention provides a handling system 600 and its handling robots 100, 400, 500. The storage bracket 30 can be cyclically raised and lowered relative to the vertical frame 20, and the operator can move from a low position to a lower position. It can transport 300 goods at a time, which not only improves work efficiency, but also ensures the safety of operators.

In addition, the storage bracket 30 can be cyclically raised and lowered relative to the vertical frame 20, which also improves the efficiency of the transport robot 100, 400, 500 and the transmission mechanism 50 in transporting the goods 300.

Example 5

Please refer to Figure 16. The fifth embodiment of the present invention provides a method for picking up goods by the handling robot 100, 400, 500 as described above.

The pickup methods include:

Step S10: The transport device transports the goods from the shelf to the storage bracket.

Step S20: The storage bracket circulates up and down, so that the height of the storage bracket decreases.

In step S20, after the height of the storage bracket is lowered, the operator can take out the goods from the storage bracket, which improves work efficiency and ensures the safety of the operator.

In some embodiments, the carrying device is used to carry goods to the storage bracket located at the same height as the carrying device, and step S10 includes:

Step S12: The transport device transports the goods from the shelf;

Step S14: If the transportation device and the storage bracket are not at the same height, the storage bracket is raised and lowered cyclically so that the transportation device and the storage bracket are at the same height;

Step S16: The transport device transports the goods to the storage bracket.

In some embodiments, the carrying device is used to carry goods from a shelf located at the same height as the carrying device. Therefore, in order to enable the carrying device to carry goods from shelves of different heights, The carrying device is configured to cycle up and down synchronously with the storage bracket. Step S10 also includes:

Step S11: Before the transport device transports the goods from the shelf, if the transport device and the shelf are not at the same height, the transport device and the storage bracket are raised and lowered in a synchronous cycle, so that the transport device is The shelves are at the same height.

In some embodiments, the cargo fork is used to transport goods from a shelf aligned with the cargo fork, and step S12 includes:

Step S122: If the fork is not aligned with the shelf, rotate the fork relative to the fork bracket so that the fork is aligned with the shelf;

Step S124: The cargo forks transport the goods from the shelf.

In some embodiments, the cargo fork is used to transport goods to the storage bracket aligned with the cargo fork, and step S16 includes:

Step S162: If the cargo fork is not aligned with the storage bracket, the cargo fork is rotated relative to the fork bracket so that the cargo fork is aligned with the storage bracket;

Step S164: The cargo forks transport the goods to the storage bracket.

In some embodiments, the forks are kept horizontally to move the goods out of the shelf, so that more goods can be placed on the shelf at the same height. Step S124 includes:

Step S1242: The telescopic arm extends forward relative to the temporary storage pallet so that the movable push rod passes over the goods located on the shelf;

Step S1244: The movable push rod extends the telescopic arm;

Step S1246: The telescopic arm retracts, so that the movable push rod pulls the goods from the shelf to the temporary storage pallet.

In some embodiments, the cargo forks are kept horizontally to carry the goods to the storage brackets, so that at the same height, more storage brackets can be configured to place more goods. Step S164 includes:

Step S1642: The telescopic arm extends forward, so that the fixed push rod pushes the goods 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 bracket, on the one hand, when the storage bracket is exhausted In this case, the goods can be temporarily stored on the temporary storage pallet. On the other hand, the storage bracket does not need to be at the same height as the shelf. The goods can be temporarily stored on the temporary storage pallet. The transportation The device recirculates and lifts, and when the cargo fork and the storage bracket are at the same height, the goods are transported to the storage bracket.

In some embodiments, during the process of picking up goods by the handling robot, when the shelf is located on the side of the vertical frame facing away from the forks in the horizontal and longitudinal direction, since the vertical frame is located on the forks The fork cannot be aligned with the shelf by moving the fork horizontally and transversely relative to the vertical frame, so that the fork is separated from the vertical frame in the horizontal and longitudinal direction. , thereby achieving the alignment of the cargo fork with the shelf located on the side of the vertical frame facing away from the cargo fork in the horizontal and longitudinal direction. Step S12 also includes:

Step S120: Before the cargo fork is aligned with the shelf, if the shelf is located on the side of the vertical frame facing away from the cargo fork in the horizontal and longitudinal direction, the support member moves horizontally and transversely so that the cargo The forks are horizontally and longitudinally spaced apart from the vertical frame.

It can be understood that, depending on the actual situation, step S120 can be applied to other handling robots.

Referring to FIG. 17 , in some other embodiments, the handling robot only includes a vertical frame, a storage bracket, a fork bracket body, a supporting member, and a fork. The storage bracket is installed on the vertical frame, the fork bracket main body is installed on the vertical frame, the supporting member is installed on the fork bracket main body, and the fork is installed on the The supporting parts. The pickup methods include:

Step G10: If the shelf is located on the side of the vertical frame facing away from the forks in the horizontal and longitudinal direction, the support member moves horizontally and transversely so that the forks are in contact with the vertical frame in the horizontal and longitudinal direction. frames separated;

Step G20: The cargo fork transports the goods from the shelf to the storage bracket.

In some embodiments, different shelves may be far away from each other. Therefore, the handling robot can move so that the handling robot can carry goods out of different shelves.

The pickup method also includes:

Step S00: Before the transport device transports the goods from the shelf to the storage bracket, the chassis moves near the shelf.

In some embodiments, the fork further includes a photographing component for obtaining image information of goods or shelves to determine whether the handling device is at the same height as the shelf, and/or to determine whether the fork is aligned. shelves. The image information of goods or shelves is a QR code affixed to the goods or shelves.

In some embodiments, the height decrease of the storage bracket includes: the storage bracket decreases from the first height to the lowest height, and then rises from the lowest height to the second height, or the storage bracket moves from the first height to the second height. One level drops directly to a second level, where the first level is higher than the second level.

In some embodiments, the cyclic lifting trajectory of the storage bracket is a complete ring or a semi-closed ring.

In some embodiments, the cyclic lifting and lowering of the storage bracket includes the forward cyclic lifting and lowering of the storage bracket and the reverse cyclic lifting and lowering of the storage bracket.

Example 6

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

The pickup method also includes:

Step S30: When the height of the storage bracket decreases, a plurality of the supporting columns pass through the gaps between the plurality of rollers, so that the goods placed on the plurality of supporting columns are transferred to a plurality of supporting columns. on the roller.

In step S30, the operator can take out the goods from the plurality of rollers.

Example 7

Referring to Figure 19, the seventh embodiment of the present invention provides a method of placing goods based on the above-mentioned handling robot 100, 400, 500.

The delivery methods include:

Step F10: The storage bracket is raised and lowered cyclically, so that the height of the storage bracket is lowered;

Step F20: After the goods are transferred to the storage bracket, the storage bracket is raised and lowered in a cycle so that the height of the storage bracket is increased;

Step F30: The transport device transports the goods from the storage bracket to the shelf.

In step F20, the operator can place the goods on the lowered storage bracket, which improves work efficiency and ensures the safety of the operator.

In some embodiments, the carrying device is used to carry goods to the storage bracket located at the same height as the carrying device, and step F30 includes:

Step F32: If the transportation device and the storage bracket are not at the same height, the storage bracket is raised and lowered cyclically so that the transportation device and the storage bracket are at the same height;

Step F34: The transport device transports the goods from the storage bracket;

Step F36: The transport device transports the goods to the shelf.

In some embodiments, the carrying device is used to carry goods from a shelf located at the same height as the carrying device. Therefore, in order to enable the carrying device to carry goods from shelves of different heights, The transportation device is configured to cycle up and down synchronously with the storage bracket. Step F30 also includes:

Step F35: Before the transport device transports the goods to the shelf, and after the transport device transports the goods from the storage bracket, if the transport device and the storage bracket are not at the same height, then The conveying device circulates up and down so that the conveying device and the shelf are at the same height.

In some embodiments, the fork is used to transport goods to the shelf to which the fork is aligned, and step F36 includes:

Step F362: If the fork is not aligned with the shelf, the fork is rotated relative to the fork bracket so that the fork is aligned with the shelf;

Step F364: The cargo fork carries the goods to the shelf.

In some embodiments, the cargo fork is used to transport goods from the storage bracket aligned with the cargo fork, and step F34 includes:

Step F342: If the cargo fork is not aligned with the storage bracket, the cargo fork is rotated relative to the fork bracket so that the cargo fork is aligned with the storage bracket;

Step F344: The cargo fork carries the goods out of the storage bracket.

In some embodiments, the cargo forks are kept horizontally to carry out the goods on the storage bracket, so that at the same height, more of the storage brackets can be configured to place more goods, Step F344 includes:

Step F3442: The telescopic arm extends forward so that the telescopic arm passes over the cargo;

Step F3444: The movable push rod telescopically telescopic arm;

Step F3446: The telescopic arm retracts, so that the movable push rod pulls the goods from the storage bracket to the temporary storage pallet.

In some embodiments, the forks are kept horizontally to transport the goods to the shelf, so that more goods can be placed on the shelf at the same height. Step F364 includes:

Step F3642: The telescopic arm extends forward so that the fixed push rod pushes the goods from the temporary storage pallet to the shelf.

In step F3446 or step F3642, by pulling the goods from the storage tray to the temporary storage pallet or pushing the goods from the temporary storage pallet to the shelf, on the one hand, when the storage tray is exhausted In this case, the goods can be temporarily stored on the temporary storage pallet. On the other hand, the storage bracket does not need to be at the same height as the shelf. The goods can be temporarily stored on the temporary storage pallet. The transportation The device recirculates and lifts, and when the fork and the shelf are at the same height, the goods are transported to the shelf.

In some embodiments, during the process of picking up goods by the handling robot, when the shelf is located on the side of the vertical frame facing away from the forks in the horizontal and longitudinal direction, since the vertical frame is located on the forks The fork cannot be aligned with the shelf by moving the fork horizontally and transversely relative to the vertical frame, so that the fork is separated from the vertical frame in the horizontal and longitudinal direction. , thereby achieving the alignment of the cargo fork with the shelf located on the side of the vertical frame facing away from the cargo fork in the horizontal and longitudinal direction. Step F36 also includes:

Step F360: Before the cargo fork is aligned with the shelf, if the shelf is located on the side of the vertical frame facing away from the cargo fork in the horizontal and longitudinal direction, the support member moves horizontally and transversely so that the cargo The forks are horizontally and longitudinally spaced apart from the vertical frame.

It can be understood that, depending on the actual situation, step S120 can be applied to other handling robots.

Referring to FIG. 20 , in some other embodiments, the handling robot only includes a vertical frame, a storage bracket, a fork bracket body, a supporting member, and a fork. The storage bracket is installed on the vertical frame, the fork bracket main body is installed on the vertical frame, the supporting member is installed on the fork bracket main body, and the fork is installed on the The supporting parts. The pickup methods include:

Step H10: If the shelf is located on the side of the vertical frame facing away from the forks in the horizontal and longitudinal direction, the support member moves horizontally and transversely so that the forks are in contact with the vertical frame in the horizontal and longitudinal direction. frames separated;

Step H20: The cargo forks transport the goods from the storage bracket to the shelf.

In some embodiments, different shelves may be far away from each other. Therefore, the handling robot is movable so that the handling robot can carry goods to different shelves. The pickup method also includes:

Step F25: After the goods are transferred to the storage bracket and before the transportation device transports the goods from the storage bracket to the shelf, the chassis moves to the vicinity of the shelf.

In some embodiments, the fork further includes a photographing component for obtaining image information of goods or shelves to determine whether the handling device is at the same height as the shelf, and/or to determine whether the fork is aligned. shelves. The image information of goods or shelves is a QR code affixed to the goods or shelves.

In some embodiments, the height increase of the storage bay includes: the storage bay rises from the second height to the highest height, and then drops from the highest height to the first height, or the storage bay moves from the second height to the first height. The second height drops directly to the first height, where the first height is higher than the second height.

In some embodiments, the cyclic lifting trajectory of the storage bracket is a complete ring or a semi-closed ring.

In some embodiments, the cyclic lifting and lowering of the storage bracket includes the forward cyclic lifting and lowering of the storage bracket and the reverse cyclic lifting and lowering of the storage bracket.

Example 8

Referring to FIG. 21 , the eighth embodiment of the present invention provides a cargo placing method based on the above-mentioned handling system 600 , and the handling robot applies the cargo placing method of the seventh embodiment.

Transferring the goods to the storage rack includes:

Step F22: After the goods are transferred to the plurality of rollers, the storage bracket is raised and lowered in a cycle so that the plurality of supporting columns pass through the gaps between the plurality of rollers and the goods are transferred to the plurality of supports. On the pillar.

In step F22, the operator can place the goods on a plurality of the rollers located at a lower level.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, but not to limit it; under the idea of the present invention, the technical features of the above embodiments or different embodiments can also be combined. The steps may be performed 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, one of ordinary skill in the art Skilled persons should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not deviate from the essence of the corresponding technical solutions from the implementation of the present invention. Example scope of technical solutions.

Claims (25)

1. A method of picking up goods based on a handling robot, characterized by: The handling robots include: Vertical frame, the vertical frame includes an outer frame and an inner frame. The inner frame is fixedly installed in the outer frame. The inner frame is separated from the outer frame to form an annular space between them. , a guide structure is installed in the annular space; a storage bracket mounted on the vertical frame, wherein the storage bracket is mounted on the guide structure; and A handling device, which is installed on the vertical frame and circulates up and down together with the storage bracket; The handling device includes a cargo fork and a cargo fork bracket, and the cargo fork bracket is installed on the guide structure; the cargo fork is installed on the cargo fork bracket and can rotate relative to the cargo fork in a vertical direction. The carriage rotates; The storage bracket in the opposite motion state is located on one side of the transport device transversely; the picking method includes: The transport device transports goods from the shelf to the storage bracket; The storage bracket is raised and lowered cyclically, so that the height of the storage bracket is reduced; The transport device transports goods from the shelf to the storage bracket including: The transport device transports the goods from the shelf; If the transportation device and the storage bracket are not at the same height, the storage bracket and the transportation device circulate up and down at the same time so that the transportation device and the storage bracket are at the same height; The transport device transports goods to the storage bracket; The transport device transporting goods to the storage bracket includes: If the fork is not aligned with the storage bracket, the fork is rotated relative to the fork bracket so that the fork is aligned with the storage bracket; The forks carry goods to the storage racks. 2. The method of picking up goods according to claim 1, characterized in that: The transport device transporting goods from the shelf to the storage bracket also includes: Before the transport device transports the goods from the shelf, if the transport device and the shelf are not at the same height, the transport device and the storage bracket will be raised and lowered synchronously so that the transport device is at the same height as the shelf. high. 3. The method of picking up goods according to claim 1, characterized in that: The transport device transporting goods from the shelf includes: If the fork is not aligned with the shelf, the fork is rotated relative to the fork bracket so that the fork is aligned with the shelf; The forks transport goods from the shelves. 4. The method of picking up goods according to claim 3, characterized in that: The cargo fork includes a temporary storage pallet, a telescopic arm, a fixed push rod and a movable push rod. The temporary storage pallet is installed on the fork bracket, and the telescopic arm is installed on the temporary storage pallet. The fixed push rod and the movable push rod are both installed on the telescopic arm; The forks used to transport goods from the shelves include: The telescopic arm extends forward so that the movable push rod passes over the cargo; The movable push rod extends the telescopic arm; The telescopic arm retracts, so that the movable push rod pulls goods from the shelf to the temporary storage pallet. 5. The method of picking up goods according to claim 4, characterized in that: The cargo fork transporting goods to the storage bracket includes: The telescopic arm extends forward so that the fixed push rod pushes goods from the temporary storage pallet to the storage bracket. 6. The method of picking up goods according to claim 3, characterized in that: The fork bracket includes a fork bracket main body and a supporting member. The fork bracket main body is installed on the vertical frame. The supporting member is installed on the fork bracket main body. The fork is installed on the vertical frame. to the support; The transport device transporting goods from the shelf also includes: Before the fork is aligned with the shelf, if the shelf is located on the side of the vertical frame facing away from the fork in the horizontal longitudinal direction, the support member moves horizontally so that the fork is horizontally Longitudinally separated from the vertical frame. 7. The method of picking up goods according to claim 3, characterized in that: The fork also includes a shooting component for obtaining image information of goods or shelves, To determine whether the handling device is at the same height as the shelf, and/or to determine whether the fork is aligned with the shelf. 8. The method of picking up goods according to claim 1, characterized in that: The storage bay height reduction includes: The storage bracket descends from the first height to the lowest height, and then rises from the lowest height to the second height, or the storage bracket directly drops from the first height to the second height, wherein the first height is higher than the second height. high. 9. The method of picking up goods according to any one of claims 1 to 8, characterized in that, The handling robot further includes a chassis carrying the vertical frame; The pickup method also includes: Before the transport device transports goods from the shelf to the storage rack, the chassis moves near the shelf. 10. The method of picking up goods according to claim 1, characterized in that: The cyclic lifting trajectory of the storage bracket is a complete ring or a semi-closed ring. 11. The method of picking up goods according to claim 1, characterized in that: The cyclic lifting and lowering of the storage bracket includes the forward cyclic lifting and lowering of the storage bracket and the reverse cyclic lifting and lowering of the storage bracket. 12. A method of picking up goods based on a handling system, characterized by: The handling system includes: A handling robot that applies the picking method according to any one of claims 1 to 11, and the storage bracket includes a plurality of supporting columns; and A conveying mechanism, the conveying mechanism includes a plurality of rollers; Transferring the goods to the storage rack includes: After the goods are transferred to the plurality of rollers, the storage bracket is raised and lowered in a cycle, so that the plurality of supporting columns pass through the gaps between the plurality of rollers and the goods are transferred to the plurality of supporting columns. . 13. A method of placing goods based on a handling robot, characterized by: The handling robots include: Vertical frame, the vertical frame includes an outer frame and an inner frame. The inner frame is fixedly installed in the outer frame. The inner frame is separated from the outer frame to form an annular space between them. , a guide structure is installed in the annular space; a storage bracket mounted on the vertical frame, wherein the storage bracket is mounted on the guide structure; and A handling device, which is installed on the vertical frame and circulates up and down together with the storage bracket; The handling device includes a cargo fork and a cargo fork bracket, and the cargo fork bracket is installed on the guide structure; the cargo fork is installed on the cargo fork bracket and can rotate relative to the cargo fork in a vertical direction. The carriage rotates; The storage bracket in the opposite motion state is located on one side of the transport device transversely; the method of placing goods includes: The storage bracket is raised and lowered cyclically, so that the height of the storage bracket is reduced; After the goods are transferred to the storage bracket, the storage bracket is raised and lowered in a cycle so that the height of the storage bracket is increased; The transport device transports goods from the storage bracket to the shelf; The transport device transporting goods from the storage bracket to the shelf includes: If the transportation device and the storage bracket are not at the same height, the storage bracket and the transportation device are raised and lowered cyclically so that the transportation device and the storage bracket are at the same height; The carrying device carries goods out of the storage tray; The transport device transports goods to the shelves; The transport device transporting goods from the storage tray includes: If the fork is not aligned with the storage bracket, the fork is rotated relative to the fork bracket so that the fork is aligned with the storage bracket; The cargo forks transport goods from the storage pallets. 14. The method of placing goods according to claim 13, characterized in that: The transport device transporting goods from the storage bracket to the shelf also includes: Before the transport device transports the goods to the shelf, and after the transport device transports the goods from the storage bracket, if the transport device and the storage bracket are not at the same height, the transport device The device is raised and lowered cyclically so that the transport device and the shelf are at the same height. 15. The method of releasing goods according to claim 13, characterized in that: The transport device transporting goods to the shelves includes: If the fork is not aligned with the shelf, the fork is rotated relative to the fork bracket so that the fork is aligned with the shelf; The forks transport goods to the shelves. 16. The method of releasing goods according to claim 15, characterized in that: The cargo fork includes a temporary storage pallet, a telescopic arm, a fixed push rod and a movable push rod. The temporary storage pallet is installed on the fork bracket, and the telescopic arm is installed on the temporary storage pallet. The fixed push rod and the movable push rod are both installed on the telescopic arm; The cargo fork transporting goods from the storage bracket includes: The telescopic arm extends forward so that the telescopic arm passes over the cargo; The movable push rod telescopic arm; The telescopic arm retracts so that the movable push rod pulls goods from the storage bracket to the temporary storage pallet. 17. The method of releasing goods according to claim 16, characterized in that: The fork transporting goods to the shelf includes: The telescopic arm extends forward so that the fixed push rod pushes the goods from the temporary storage pallet to the shelf. 18. The method of releasing goods according to claim 15, characterized in that: The fork bracket includes a fork bracket main body and a supporting member. The fork bracket main body is installed on the vertical frame. The supporting member is installed on the fork bracket main body. The fork is installed on the vertical frame. to the support; The transport device transporting the goods to the shelf also includes: Before the fork is aligned with the shelf, if the shelf is located on the side of the vertical frame facing away from the fork in the horizontal longitudinal direction, the support member moves horizontally so that the fork is horizontally Longitudinally separated from the vertical frame. 19. The method of placing goods according to claim 15, characterized in that: The fork also includes a shooting component for obtaining image information of goods or shelves, To determine whether the handling device is at the same height as the shelf, and/or to determine whether the fork is aligned with the shelf. 20. The method of releasing goods according to claim 13, characterized in that: The height increase of the storage bracket includes: The storage bracket rises from the second height to the highest height, and then drops from the highest height to the first height, or the storage tray drops directly from the second height to the first height, wherein, The first height is higher than the second height. 21. The method of placing goods according to any one of claims 15 to 20, characterized in that, The handling robot further includes a chassis carrying the vertical frame; The delivery method also includes: After the goods are transferred to the storage rack, and before the handling device transports the goods from the storage rack to the shelf, the chassis moves to the vicinity of the shelf. 22. The method of releasing goods according to claim 13, characterized in that: The cyclic lifting trajectory of the storage bracket is a complete ring or a semi-closed ring. 23. The method of releasing goods according to claim 13, characterized in that: The cyclic lifting and lowering of the storage bracket includes the forward cyclic lifting and lowering of the storage bracket and the reverse cyclic lifting and lowering of the storage bracket. 24. A method of placing goods based on a handling system, characterized by: The handling system includes: A handling robot that applies the loading method according to any one of claims 15 to 23, and the storage bracket includes a plurality of supporting columns; and A conveying mechanism, the conveying mechanism includes a plurality of rollers; Transferring the goods to the storage rack includes: After the goods are transferred to the storage bracket, the height of the storage bracket is raised, so that the goods placed on the plurality of rollers are transferred to the plurality of supporting columns. 25. A method of picking and placing goods based on a handling robot, characterized by: The handling robots include: Vertical frame, the vertical frame includes an outer frame and an inner frame. The inner frame is fixedly installed in the outer frame. The inner frame is separated from the outer frame to form an annular space between them. , a guide structure is installed in the annular space; a storage bracket mounted on the vertical frame, wherein the storage bracket is mounted on the guide structure; The main body of the fork bracket is installed on the vertical frame and circulates up and down together with the storage bracket; the storage bracket in the opposite motion state is located on the main body of the fork bracket. transverse side; A support member, the support member is installed on the main body of the fork bracket and can rotate in a vertical direction relative to the main body of the fork bracket; and A cargo fork, the cargo fork is installed on the support member; The methods of picking up and placing goods include: If the shelf is located on the side of the vertical frame facing away from the forks in the horizontal and longitudinal direction, the support member moves horizontally and transversely so that the forks are separated from the vertical frame in the horizontal and longitudinal direction. ; The fork transports goods from the storage bracket to the shelf, or the fork transports the goods from the shelf to the storage bracket; Wherein, the cargo fork transporting goods from the storage bracket to the shelf includes: If the cargo fork and the storage bracket are not at the same height, the storage bracket and the fork bracket body are raised and lowered cyclically so that the cargo fork and the storage bracket are at the same height; The cargo forks transport goods from the storage tray; The forks transport goods to the shelves; The cargo fork transporting goods from the storage bracket includes: If the fork is not aligned with the storage bracket, the fork is rotated relative to the fork bracket so that the fork is aligned with the storage bracket; The cargo forks transport goods from the storage tray; The fork transporting goods from the shelf to the storage bracket includes: The forks transport goods from the shelves; If the cargo fork and the storage bracket are not at the same height, the storage bracket and the fork bracket body circulate up and down at the same time so that the cargo fork and the storage bracket are at the same height; The cargo forks transport goods to the storage rack; The cargo fork transporting goods to the storage bracket includes: If the fork is not aligned with the storage bracket, the fork is rotated relative to the fork bracket so that the fork is aligned with the storage bracket; The forks carry goods to the storage racks.