CN111762567A

CN111762567A - Manipulator, storage robot with manipulator and storage system

Info

Publication number: CN111762567A
Application number: CN202010747329.XA
Authority: CN
Inventors: 黄金刚
Original assignee: Hangzhou Huiying Intelligent Technology Co ltd
Current assignee: Hangzhou Huiying Intelligent Technology Co ltd
Priority date: 2020-07-29
Filing date: 2020-07-29
Publication date: 2020-10-13

Abstract

The invention discloses a manipulator, a warehousing robot with the manipulator and a warehousing system. The manipulator comprises grabbing mechanisms which are arranged in a bilateral symmetry mode, each grabbing mechanism comprises a fork and a first driving mechanism used for driving the fork to move left and right, and each fork comprises a clamping jaw and a moving mechanism capable of driving the clamping jaw to move front and back. The invention can avoid the friction resistance between the turnover box and the goods shelf and between the turnover box and the goods storage device of the storage robot in the process of transporting the turnover box, ensures the stability of the goods shelf and the storage robot, does not need to reserve a space for the insertion of a manipulator below the goods storage position of the goods shelf, and improves the utilization rate of the goods shelf.

Description

Manipulator, storage robot with manipulator and storage system

Technical Field

The invention relates to the technical field of warehousing, in particular to a manipulator, a warehousing robot with the manipulator and a warehousing system.

Background

The intelligent storage is a link in the logistics process, and the application of the intelligent storage ensures the speed and the accuracy of data input in each link of the goods warehouse management, ensures that an enterprise can timely and accurately master real data of the inventory, and reasonably keeps and controls the inventory of the enterprise. Through scientific coding, the batch, the shelf life and the like of the inventory goods can be conveniently managed.

At present, intelligent storage sets up a plurality of goods shelves in the warehouse, has placed the turnover case on the goods shelf, and goods are put in the turnover case, and storage robot takes off goods place turnover case from corresponding goods shelves according to wireless instruction's order, carries to staff's disposal area, and the staff picks, scans commodity in staff's disposal area. The manipulator on the existing warehousing robot generally adopts a mode of directly dragging the turnover box to carry the turnover box, and the turnover box has friction resistance with a goods shelf and a goods storage device of the warehousing robot in the dragging process, so that the goods shelf and the warehousing robot are easy to be unstable, and the goods shelf and the body of the warehousing robot can only be built to be short; the manipulator in addition adopts the mode transport turnover case that stretches into the turnover case below with the manipulator then upwards hold up, and this kind of mode needs the goods shelves all to reserve the space that supplies the manipulator to insert in the below of every storage position, will reduce the utilization ratio of goods shelves like this.

Disclosure of Invention

In order to solve the technical problems, the invention provides a manipulator, a storage robot with the manipulator and a storage system, which can avoid friction resistance between a turnover box and a goods shelf and between a storage device of the storage robot in the process of carrying the turnover box, ensure the stability of the goods shelf and the storage robot, and improve the utilization rate of the goods shelf without reserving a space for the manipulator to insert below a goods storage position of the goods shelf.

In order to solve the problems, the invention adopts the following technical scheme:

the manipulator comprises grabbing mechanisms which are arranged in a bilateral symmetry mode, each grabbing mechanism comprises a fork and a first driving mechanism used for driving the fork to move left and right, and each fork comprises a clamping jaw and a moving mechanism capable of driving the clamping jaw to move front and back.

In this scheme, when the turnover case was snatched to the manipulator, earlier with controlling two jack catchs and remove the turnover case left and right sides, then be close to the card each other in the recess of turnover case both sides with two jack catchs, drive the manipulator through jacking equipment after that and rise and hold up the turnover case, make the turnover case not with goods storage device contact on goods shelves or the storage robot, later put the turnover case on goods storage device or goods shelves.

In the process of carrying and transporting the turnover box, the turnover box is not in contact with goods storage devices of the goods shelves and the storage robot, the goods shelves and the storage robot are guaranteed to be stable, the turnover box is grabbed from two sides of the turnover box by the clamping jaws of the mechanical arm, and the space for inserting the mechanical arm does not need to be reserved below the goods storage position of the goods shelves, so that the utilization rate of the goods shelves is improved.

Preferably, the moving mechanism comprises a first transverse plate, a second transverse plate, a third transverse plate and a fourth transverse plate which are sequentially arranged from outside to inside, a first guide rail matched with the second transverse plate is arranged on the first transverse plate, the second transverse plate can slide along the first guide rail, a second guide rail matched with the third transverse plate is arranged on the second transverse plate, the third transverse plate can slide along the second guide rail, a third guide rail matched with the fourth transverse plate is arranged on the third transverse plate, the fourth transverse plate can slide along the third guide rail, a first rack moving along the front-back direction is arranged on one surface of the second transverse plate facing the first transverse plate, a first gear meshed with the first rack and a driving module driving the first gear to rotate are arranged on the first transverse plate, the moving mechanism further comprises a first synchronous belt, a second synchronous belt, a third synchronous belt and a fourth synchronous belt, a first synchronous belt wheel is arranged at the rear end of the second transverse plate, a second synchronous belt wheel is arranged at the front end of the second transverse plate, one end of the first synchronous belt is fixedly connected with the front end of the first transverse plate, the first synchronous belt bypasses the first synchronous belt wheel, the other end of the first synchronous belt is fixedly connected with the front end of a third transverse plate, one end of the second synchronous belt is fixedly connected with the rear end of the first transverse plate, the second synchronous belt bypasses the second synchronous belt wheel, the other end of the second synchronous belt is fixedly connected with the rear end of the third transverse plate, a third synchronous belt wheel is arranged at the rear end of the third transverse plate, a fourth synchronous belt wheel is arranged at the front end of the third transverse plate, one end of the third synchronous belt is fixedly connected with the front end of the second transverse plate, the third synchronous belt bypasses the third synchronous belt wheel, the other end of the third synchronous belt is fixedly connected with the front end of the fourth transverse plate, one end of the fourth synchronous belt is fixedly connected with the rear end of the second, the other end of the fourth synchronous belt is fixedly connected with the rear end of a fourth transverse plate, and the clamping jaw is arranged on the inner side of the fourth transverse plate.

The driving module drives the first gear to rotate, the first gear drives the first rack to horizontally move back and forth, the first rack drives the second transverse plate to horizontally move back and forth, the second transverse plate drives the third transverse plate to horizontally move back and forth through the first synchronous belt and the second synchronous belt, the third transverse plate drives the fourth transverse plate to horizontally move back and forth through the third synchronous belt and the fourth synchronous belt, and therefore tertiary linkage of the second transverse plate, the third transverse plate and the fourth transverse plate is achieved.

Because the second transverse plate, the third transverse plate and the fourth transverse plate are in three-level linkage extension/retraction, the clamping jaws can extend to the goods storage positions of the goods shelf in front of the manipulator to grab the turnover box on the goods storage positions, and can also extend to the goods storage positions of the goods shelf in front of the manipulator to be tightly attached to the goods shelf to grab the turnover box on the goods storage positions, namely the manipulator can grab the turnover box on the goods shelf in back of the goods shelf to be tightly attached to the goods shelf through one goods shelf.

In this way, 4 rows of shelves can be closely attached to each other and aligned in the storage area to form a shelf group, and an aisle for the storage robot to pass through is reserved between the adjacent shelf groups. When the storage robot needs to grab the target turnover box on the inner side goods shelf in the goods shelf group, the turnover box on the corresponding goods storage position on the outer side goods shelf attached to the storage robot is taken down and placed on the storage robot, then the manipulator penetrates through the corresponding goods storage position to grab the target turnover box, the target turnover box is placed on the storage robot, and then the turnover box on the outer side goods shelf taken down before is placed back to the original position.

Because current manipulator all can only snatch the turnover case on the goods shelves before the face and can not snatch the turnover case on the rear side goods shelves through a goods shelves, so the storage area all hugs closely two rows of goods shelves each other and places at present, and the structure of the manipulator of this scheme can realize 4 rows of goods shelves and hug closely each other in the storage area and align and place, has improved the regional utilization ratio of storage greatly.

Preferably, the clamping jaw comprises a plurality of first bearing plates which are horizontally arranged, and the top surfaces of the first bearing plates are provided with limiting strips which protrude upwards.

The left side and the right side of the turnover box are provided with grooves for the first bearing plate to be inserted into, and the tops of the grooves are provided with limit grooves matched with the limit strips.

When the manipulator snatchs the turnover case, earlier with controlling two jack catchs and remove the turnover case left and right sides, then be close to two jack catchs each other until first bearing plate insert in the recess that the turnover case both sides correspond, drive one section distance of manipulator rebound through jacking equipment after that for spacing on the first bearing plate inserts the spacing groove that corresponds the recess top, and first bearing plate upwards holds up the turnover case simultaneously and makes turnover case and goods shelves contactless, accomplishes snatching of turnover case.

The purpose that the spacing strip on the first bearing plate inserted the corresponding spacing groove on the turnover case is: when the manipulator breaks down unusually after snatching the turnover case, two forks can be kept away from each other, and because the spacing strip on the first bearing plate inserts and corresponds the spacing groove on the turnover case, the fork is kept away from each other can be obstructed, and the turnover case can not drop, and if not set up like this, when the manipulator breaks down unusually, the turnover case can drop.

Preferably, the jaw comprises a plurality of second bearing plates arranged horizontally. The left side and the right side of the turnover box are provided with grooves for the second bearing plates to be inserted into, and the second bearing plates are used for supporting the turnover box. The number of the first bearing plates is two, and the second bearing plate is located between the two first bearing plates.

Preferably, the manipulator further comprises recognition mechanisms arranged on the front side and the rear side, and the recognition mechanisms comprise first cameras and distance measuring sensors.

The identification mechanism is located below the forks. When getting goods, first camera is used for discerning the two-dimensional code on the turnover case on the goods shelves to can confirm whether the position relation of manipulator and turnover case and confirm is the turnover case that needs snatch, after the two-dimensional code on the turnover case is aimed at to first camera, distance sensor detects the distance between turnover case and the manipulator, and the accurate control manipulator of being convenient for stretches out and takes off the turnover case.

The warehousing robot comprises the manipulator.

The warehousing system comprises the warehousing robot and a plurality of goods shelf groups arranged side by side in a warehousing area, a passageway for the warehousing robot to pass through is reserved between the adjacent goods shelf groups, each goods shelf group comprises N goods shelves arranged side by side, N is 3 or 4, the N goods shelves are mutually attached and aligned, a plurality of goods storage positions for placing turnover boxes are arranged on the goods shelves, the goods storage positions corresponding to the positions on the N goods shelves in the goods shelf groups are mutually communicated front and back, and the warehousing robot further comprises a goods storage device capable of placing a plurality of turnover boxes.

In the scheme, 3 or 4 rows of shelves can be mutually attached and aligned in the storage area to form a shelf group, and a passageway for the storage robot to pass through is reserved between the adjacent shelf groups. When the storage robot needs to grab the target turnover box on the inner side goods shelf in the goods shelf group, the turnover box on the goods storage position in front of the target turnover box on the outer side goods shelf tightly attached to the inner side goods shelf is firstly taken down and placed on the storage robot, then the manipulator penetrates through the goods storage position to grab the target turnover box, the target turnover box is placed on the storage robot, and then the turnover box on the outer side goods shelf taken down before is put back to the original position. Similarly, when the warehousing robot is to place the target turnover box in the target storage position on the inner side goods shelf in the goods shelf group, the turnover box on the storage position located right in front of the target storage position on the outer side goods shelf tightly attached to the inner side goods shelf is taken down and placed on the warehousing robot, then the target turnover box is placed in the target storage position by the manipulator, and then the turnover box on the outer side goods shelf taken down before is placed back to the original position.

At present, two rows of goods shelves are tightly attached to each other and placed in a storage area, and 3 or 4 rows of goods shelves are tightly attached to each other and aligned to be placed as a goods shelf group in the storage area of the storage system, so that the utilization rate of the storage area is greatly improved.

Preferably, the moving mechanism can drive the claws to extend to a maximum length which is more than or equal to the length of two turnover boxes. The moving mechanism can drive the clamping jaws to extend out of the passageway to the goods storage positions on the outermost goods shelf adjacent to the passageway in the goods shelf group and the goods storage positions on the inner goods shelf tightly attached to the outermost goods shelf.

Preferably, the goods storage device comprises a plurality of goods placing mechanisms arranged side by side from top to bottom, and each goods placing mechanism comprises a supporting plate and a second driving mechanism used for driving the supporting plate to move left and right.

The supporting plate is used for storing the turnover box, and the second driving mechanism can drive the supporting plate to move left and right. When the manipulator needs to take out the turnover box on a certain supporting plate, the supporting plate above the supporting plate is moved away so that the position above the supporting plate is not blocked, the manipulator takes out the turnover box on the supporting plate, and then the previously moved supporting plate returns to the original position. Similarly, when the manipulator needs to place the turnover box on a certain supporting plate, the supporting plate above the supporting plate is moved away to enable the supporting plate to be free of shielding, and after the manipulator puts the turnover box, the supporting plate moved away before returns to the original position.

When the manipulator needs to take the turnover box from the lower position on the shelf or place the turnover box on the lower position on the shelf, the corresponding supporting plate is moved away, so that the manipulator can take or put goods without being hindered by the supporting plate, and then the moved supporting plate returns to the original position. The warehousing robot is controlled by independent movement of each supporting plate, so that when the manipulator works, the manipulator can be prevented from working by controlling the movement of the corresponding supporting plate.

Preferably, the warehousing robot further comprises a movable chassis, a rack body is arranged on the movable chassis, the goods storage device and the manipulator are arranged on the rack body, a lifting mechanism capable of driving the manipulator to vertically lift is further arranged on the rack body, the manipulator is located above the goods storage device, and a second camera is arranged at the bottom of the movable chassis.

The storage robot drives the manipulator to ascend and descend through the lifting mechanism, and the manipulator is used for taking down a turnover box on the storage device to a storage area shelf or taking down a turnover box on the storage area shelf to the storage device.

The second camera is used for identifying guide lines or navigation two-dimensional codes on the ground of the storage area, assisting the storage robot in positioning, and realizing free movement in the storage area by matching with the movable chassis.

The movable chassis comprises a chassis, two walking modules are arranged at the bottom of the chassis, each walking module comprises a driving wheel and a walking motor for driving the driving wheel to rotate, and universal wheels are further arranged at four corners of the bottom surface of the chassis. The driving wheel is driven by the walking motor to move, so that the moving chassis is controlled to move freely on the ground.

The goods storage device, the manipulator and the lifting mechanism are all located above the movable chassis, so that the space occupied by the storage robot in the moving process is reduced, more goods shelves can be stored more densely in the storage area, and the space utilization rate of the storage area is improved.

Preferably, obstacle avoidance sensors are arranged on the left side and the right side of the movable chassis.

The invention has the beneficial effects that: (1) can avoid turnover case and goods shelves, storage robot to store up goods device at transport turnover case in-process and produce frictional resistance, guarantee goods shelves, storage robot stability to make goods shelves, storage robot fuselage can build higher, and need not to reserve the space that supplies manipulator male below the storage goods position of goods shelves, improved the utilization ratio of goods shelves. (2) The manipulator is through setting up and the first bearing plate of turnover case both sides spacing groove complex, and the turnover case drops when avoiding the manipulator trouble unusual. (3) 3 or 4 rows of shelves are mutually closely attached and aligned in the storage area to form a shelf group, so that the utilization rate of the storage area is greatly improved.

Drawings

FIG. 1 is a top view of a robot;

FIG. 2 is a front view of the robot;

FIG. 3 is a bottom view of the robot;

FIG. 4 is a schematic structural view of the fork;

FIG. 5 is a top view of FIG. 4;

FIG. 6 is a rear view of FIG. 4;

FIG. 7 is a schematic structural view of a warehousing robot;

FIG. 8 is a front view of the warehousing robot;

FIG. 9 is a schematic structural view of the mobile chassis;

FIG. 10 is a schematic structural view of a transfer case;

fig. 11 is a schematic view of the working state of the warehousing robot.

In the figure: 1. pallet fork, 2, first bearing plate, 3, spacing bar, 4, first transverse plate, 5, second transverse plate, 6, third transverse plate, 7, fourth transverse plate, 8, first rack, 9, first gear, 10, driving module, 11, first synchronous belt, 12, second synchronous belt, 13, third synchronous belt, 14, fourth synchronous belt, 15, first synchronous belt wheel, 16, second synchronous belt wheel, 17, third synchronous belt wheel, 18, fourth synchronous belt wheel, 19, second bearing plate, 20, first camera, 21, distance measuring sensor, 22, manipulator, 23, shelf, 24, pallet, 25, moving chassis, 26, shelf, 27, lifting mechanism, 28, second camera, 29, obstacle avoidance sensor, 30, turnover box, 31, groove, 32, spacing groove, 33, driving motor, 34, second gear, 35, second rack, 36, fourth guide rail, 37, The device comprises a sliding block 38, a chassis 39, a driving wheel 40, a walking motor 41 and a universal wheel.

Detailed Description

The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.

The manipulator of the embodiment, as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, and fig. 6, comprises a left-right symmetrically arranged grabbing mechanism, the grabbing mechanism comprises a fork 1 and a first driving mechanism for driving the fork 1 to move left and right, the fork 1 comprises a jaw and a moving mechanism capable of driving the jaw to move forward and backward, the moving mechanism comprises a first transverse plate 4, a second transverse plate 5, a third transverse plate 6, and a fourth transverse plate 7, which are sequentially arranged from outside to inside, a first guide rail matched with the second transverse plate 5 is arranged on the first transverse plate 4, the second transverse plate 5 can slide along the first guide rail, a second guide rail matched with the third transverse plate 6 is arranged on the second transverse plate 5, the third transverse plate 6 can slide along the second guide rail, a third guide rail matched with the fourth transverse plate 7 is arranged on the third transverse plate 6, the fourth transverse plate 7 can slide along the third guide rail, a first rack 8 moving forward and backward is arranged on one side of the second transverse plate 5 facing the first, a first gear 9 meshed with the first rack 8 and a driving module 10 driving the first gear 9 to rotate are arranged on the first transverse plate 4, the moving mechanism further comprises a first synchronous belt 11, a second synchronous belt 12, a third synchronous belt 13 and a fourth synchronous belt 14, a first synchronous belt wheel 15 is arranged at the rear end of the second transverse plate 5, a second synchronous belt wheel 16 is arranged at the front end of the second transverse plate 5, one end of the first synchronous belt 11 is fixedly connected with the front end of the first transverse plate 4, the first synchronous belt 11 bypasses the first synchronous belt wheel 15, the other end of the first synchronous belt 11 is fixedly connected with the front end of the third transverse plate 6, one end of the second synchronous belt 12 is fixedly connected with the rear end of the first transverse plate 4, the second synchronous belt 12 bypasses the second synchronous belt wheel 16, the other end of the second synchronous belt 12 is fixedly connected with the rear end of the third transverse plate 6, a third synchronous belt wheel 17 is arranged at the rear end of the third transverse plate 6, a fourth synchronous belt wheel, one end of a third synchronous belt 13 is fixedly connected with the front end of a second transverse plate 5, the third synchronous belt 13 winds around a third synchronous belt pulley 17, the other end of the third synchronous belt 13 is fixedly connected with the front end of a fourth transverse plate 7, one end of a fourth synchronous belt 14 is fixedly connected with the rear end of the second transverse plate 5, the fourth synchronous belt 14 winds around a fourth synchronous belt pulley 18, the other end of the fourth synchronous belt 14 is fixedly connected with the rear end of the fourth transverse plate 7, a clamping jaw comprises two first bearing plates 2 and three second bearing plates 19 which are arranged on the inner side of the fourth transverse plate 7, the first bearing plates 2 and the second bearing plates 19 are all horizontally arranged, the three second bearing plates 19 are positioned between the two first bearing plates 2, the top surface of the first bearing plate 2 is provided with a limiting strip 3 which protrudes upwards, the left side surface and the right side surface of the turnover box 30 are provided with five grooves 31 which are in one-, wherein, the top of the groove 31 corresponding to the first bearing plate 2 is provided with a limit groove 32 matched with the limit strip 3.

In this scheme, when the turnover case was snatched to the manipulator, earlier with controlling two jack catchs and remove the turnover case left and right sides, then be close to two jack catchs each other until first bearing plate, second bearing plate insert in the recess that the turnover case both sides correspond, drive one section distance of manipulator rebound through jacking equipment after that for spacing on the first bearing plate inserts the spacing groove that corresponds the recess top, first bearing plate, second bearing plate upwards hold up the turnover case simultaneously and make turnover case and goods shelves contactless, accomplish snatching of turnover case.

The manipulator further comprises recognition mechanisms arranged on the front side and the rear side, and the recognition mechanisms comprise a first camera 20 and a distance measuring sensor 21.

The first driving mechanism comprises a driving motor 33, a second gear 34, a second rack 35 and fourth guide rails symmetrically arranged on the front side and the rear side of the fork 1, the fourth guide rails 36 are arranged along the left-right direction, sliding blocks 37 capable of sliding along the fourth guide rails 36 are arranged on the fourth guide rails 36, the sliding blocks 37 are fixedly connected with the fork 1, the second rack 35 is parallel to the fourth guide rails 36, the second gear 34 is meshed with the second rack 35, and the driving motor 33 is used for driving the second gear 34 to rotate.

The driving motor drives the second gear to rotate, the second gear drives the second rack to horizontally move left and right, and the second rack drives the fork to horizontally move left and right.

The stocker robot of the present embodiment, as shown in fig. 7, includes the above-described robot hand 22.

The warehousing system of the embodiment, as shown in fig. 7, fig. 8, fig. 9, fig. 10, and fig. 11, including the above-mentioned warehousing robot, still include a plurality of goods shelves groups that set up side by side that are located in the warehousing area, leave the passageway that supplies the warehousing robot to pass between the adjacent goods shelves group, goods shelves group includes a plurality of goods shelves 23 that set up side by side, N is 3 or 4, N goods shelves hug closely each other and align, be equipped with a plurality of storage positions that are used for placing turnover case 30 on the goods shelves 23, the storage position that the position corresponds on a plurality of goods shelves 23 in the goods shelves group communicates each other from beginning to end, the maximum length that moving mechanism can drive the jack catch to stretch out is greater than or equal to the length of two.

The storage robot is still including removing chassis 25 and the storage device that can place a plurality of turnover cases 30, be equipped with support body 26 on the removal chassis 25, the storage device, manipulator 22 all sets up on support body 26, still be equipped with the elevating system 27 that can drive the vertical lift of manipulator 22 on the support body 26, manipulator 22 is located the storage device top, it is equipped with second camera 28 to remove chassis 25 bottom, it keeps away barrier sensor 29 all to be equipped with on the left and right sides of removing chassis 25, the storage device includes a plurality of from last puts the goods mechanism that sets up side by side down, it includes layer board 24 and is used for driving the second actuating mechanism that layer board 24 controlled about.

In the scheme, the moving mechanism can drive the clamping jaws to extend out of the passageway to the goods storage position on the outermost goods shelf adjacent to the passageway in the goods shelf group and the goods storage position on the inner goods shelf tightly attached to the outermost goods shelf.

In the storage area, 3 or 4 rows of shelves can be arranged closely and aligned with each other to form a shelf group, and an aisle for the storage robot to pass through is reserved between adjacent shelf groups. When the storage robot is to grab the target turnover box on the inner side goods shelf in the goods shelf group, the turnover box on the goods storage position in front of the target turnover box on the outer side goods shelf tightly attached to the inner side goods shelf is taken down and placed on one idle supporting plate, then the manipulator penetrates through the goods storage position to grab the target turnover box, the target turnover box is placed on the other idle supporting plate, and the turnover box on the outer side goods shelf taken down before is put back to the original position. Similarly, when the warehousing robot is to place the target turnover box in the target storage position on the inner side goods shelf in the goods shelf group, the turnover box on the storage position located right in front of the target storage position on the outer side goods shelf tightly attached to the inner side goods shelf is taken down and placed on an idle supporting plate, then the target turnover box is placed in the target storage position by the manipulator, and then the turnover box taken down before on the outer side goods shelf is placed back to the original position.

As shown in fig. 11, in the storage area, 4 rows of shelves are closely attached to each other and aligned to form a shelf group, and the storage robot can grab the turnover boxes on the storage positions of the shelves inside the shelf group.

The mobile chassis is also provided with a controller and a wireless communication module, and the controller is respectively electrically connected with the mobile chassis, the manipulator, the lifting mechanism, the second camera, the obstacle avoidance sensor, the second driving mechanism and the wireless communication module. The controller is used for controlling the whole warehousing robot to work, and the wireless communication module is used for receiving wireless instructions sent by the management center.

The movable chassis comprises a chassis 38, two walking modules are arranged at the bottom of the chassis 38, each walking module comprises a driving wheel 39 and a walking motor 40 for driving the driving wheel 39 to rotate, and universal wheels 41 are further arranged at four corners of the bottom surface of the chassis 38. The driving wheel is driven by the walking motor to move, so that the moving chassis is controlled to move freely on the ground.

Claims

1. The utility model provides a manipulator, its characterized in that, snatchs the mechanism including bilateral symmetry setting, it includes fork (1) and is used for driving fork (1) and removes the first actuating mechanism who removes, fork (1) include the jack catch and can drive the moving mechanism of jack catch back-and-forth movement.

2. The manipulator according to claim 1, wherein the moving mechanism comprises a first transverse plate (4), a second transverse plate (5), a third transverse plate (6) and a fourth transverse plate (7) which are sequentially arranged from outside to inside, a first guide rail matched with the second transverse plate (5) is arranged on the first transverse plate (4), the second transverse plate (5) can slide along the first guide rail, a second guide rail matched with the third transverse plate (6) is arranged on the second transverse plate (5), the third transverse plate (6) can slide along the second guide rail, a third guide rail matched with the fourth transverse plate (7) is arranged on the third transverse plate (6), the fourth transverse plate (7) can slide along the third guide rail, a first rack (8) moving forwards and backwards is arranged on one surface of the second transverse plate (5) facing the first transverse plate (4), a first gear (9) meshed with the first rack (8) and a first driving gear (9) are arranged on the first transverse plate (4), and the first gear (9) drives the first gear (9) to rotate The moving mechanism further comprises a first synchronous belt (11), a second synchronous belt (12), a third synchronous belt (13) and a fourth synchronous belt (14), wherein a first synchronous belt wheel (15) is arranged at the rear end of the second transverse plate (5), a second synchronous belt wheel (16) is arranged at the front end of the second transverse plate (5), one end of the first synchronous belt (11) is fixedly connected with the front end of the first transverse plate (4), the first synchronous belt (11) bypasses the first synchronous belt wheel (15), the other end of the first synchronous belt (11) is fixedly connected with the front end of the third transverse plate (6), one end of the second synchronous belt (12) is fixedly connected with the rear end of the first transverse plate (4), the second synchronous belt (12) bypasses the second synchronous belt wheel (16), the other end of the second synchronous belt (12) is fixedly connected with the rear end of the third transverse plate (6), and the rear end of the third transverse plate (6) is provided with a third synchronous belt wheel (17), third diaphragm (6) front end is equipped with fourth synchronous pulley (18), third hold-in range (13) one end and second diaphragm (5) front end fixed connection, third hold-in range (13) is walked around third synchronous pulley (17), third hold-in range (13) other end and fourth diaphragm (7) front end fixed connection, fourth hold-in range (14) one end and second diaphragm (5) rear end fixed connection, fourth synchronous pulley (18) are walked around in fourth hold-in range (14), fourth hold-in range (14) other end and fourth diaphragm (7) rear end fixed connection, the jack catch sets up inboard in fourth diaphragm (7).

3. The manipulator according to claim 1, characterized in that the claw comprises a plurality of first bearing plates (2) which are horizontally arranged, and the top surfaces of the first bearing plates (2) are provided with limit strips (3) which protrude upwards.

4. A manipulator according to claim 1, characterized in that the jaws comprise a number of second, horizontally arranged bearing plates (19).

5. The manipulator according to claim 1, further comprising an identification mechanism provided on both front and rear sides, the identification mechanism including a first camera (20) and a distance measuring sensor (21).

6. A warehousing robot, characterized by comprising a manipulator (22) according to any of claims 1-5.

7. A warehousing system, characterized in that, includes the warehousing robot of claim 6, still includes a plurality of goods shelves group that set up side by side that are located the warehousing area, leaves the passageway that supplies the warehousing robot to pass between the adjacent goods shelves group, goods shelves group includes N goods shelves (23) that set up side by side, N is 3 or 4, N goods shelves (23) hug closely and align each other, be equipped with a plurality of storage positions that are used for placing turnover case (30) on goods shelves (23), the storage position that the position corresponds on N goods shelves (23) in the goods shelves group communicates each other around, the warehousing robot still includes the storage device that can place a plurality of turnover cases (30).

8. The stocker system of claim 7, wherein the moving mechanism drives the claws to extend a maximum length greater than or equal to the length of two containers.

9. The warehousing system of claim 7, characterized in that said storage means comprises a plurality of put-off mechanisms arranged side by side from top to bottom, said put-off mechanisms comprising pallets (24) and a second driving mechanism for driving the pallets (24) to move left and right.

10. The warehousing system of claim 7, characterized in that the warehousing robot further comprises a moving chassis (25), a rack body (26) is arranged on the moving chassis (25), the storage device and the manipulator (22) are arranged on the rack body (26), a lifting mechanism (27) capable of driving the manipulator (22) to vertically lift is further arranged on the rack body (26), the manipulator (22) is positioned above the storage device, and a second camera (28) is arranged at the bottom of the moving chassis (25).