CN112093723A

CN112093723A - Container carrying method based on AGV carrying robot

Info

Publication number: CN112093723A
Application number: CN202010817198.8A
Authority: CN
Inventors: 徐斌; 陈洪波; 陈友
Original assignee: Guangdong Jaten Robot and Automation Co Ltd
Current assignee: Guangdong Jaten Robot and Automation Co Ltd
Priority date: 2020-08-14
Filing date: 2020-08-14
Publication date: 2020-12-18

Abstract

The invention provides a container handling method based on an AGV handling robot, wherein two handling robots can communicate with each other, the AGV handling robot comprises an AGV frame, and a lifting device and a clamping device which are arranged on the AGV frame, and the container handling method is characterized by comprising the following steps: the two robots move to the side part of the box body; the two robots move to the two ends of the box body respectively and keep a distance with the end part of the box body; the two robots are respectively close to two ends of the box body, and the clamping device is connected with the connecting part at the end part of the box body; after the two robots communicate, the end part of the box body is synchronously lifted through the lifting device; two robots move the box to a designated position. According to the container handling method based on the AGV handling robot, the two robots are used for synchronously lifting and moving the two ends of the container body, so that the container body is handled.

Description

Container carrying method based on AGV carrying robot

Technical Field

The invention relates to the field of intelligent conveying devices, in particular to a container conveying method based on an AGV conveying robot.

Background

Because of the large size and weight of the container, a tower crane, a portal crane and a forklift are generally used for carrying the container, but the tower crane is only suitable for scenes with large fields (such as a goods yard, a wharf and the like), and the carrying range is only limited in a circumference with the length of a suspension arm of the tower crane as a radius; the portal crane is limited on the fixed portal track for carrying; the forklift is not large enough in carrying capacity and can only be used for carrying objects with small volume and weight. Therefore, it is difficult to carry the containers in a short distance in a yard, a harbor, a cargo yard, a dock, or the like. Although along with technical development, container transport AGV is by the wide application in the container transport, but this type of AGV is very huge in order to improve the load capacity, and its motorcycle type designs very greatly, need occupy great place and deposit, has compressed the storage capacity of spaces such as harbour, goods yard, station, pier to the container, consequently, needs a little occupation space urgently, and the flexibility is strong, the container haulage equipment that the load capacity is big.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a container handling method based on AGV handling robots.

In order to achieve the purpose, the invention adopts the following technical scheme: .

A container handling method based on AGV handling robots, wherein the handling robots are provided with two AGV frames and can communicate with each other, the AGV handling robots comprise AGV frames, and lifting devices and clamping devices which are arranged on the AGV frames, and the container handling method is characterized by comprising the following steps:

(a1) the two robots move to the side part of the box body;

(a2) the two robots move to the two ends of the box body respectively and keep a distance with the end part of the box body;

(a3) the two robots are respectively close to two ends of the box body, and the clamping device is connected with the connecting part at the end part of the box body;

(a4) after the two robots communicate, the end part of the box body is synchronously lifted through the lifting device;

(a5) two robots move the box to a designated position.

Compared with the prior art, the container handling method based on the AGV handling robot has the advantages that the two robots are used for synchronously lifting and moving the two ends of the container body, so that the container body is handled, compared with the existing container body handling method, the applied equipment has the advantages of low cost, low energy consumption, simplicity in operation, small occupied space, large load capacity, good protection on the handled objects, small limitation on operation objects and operation scenes and the like, and the container handling method based on the AGV handling robot has the advantages of strong flexibility, high operation speed, large handling capacity, strong reliability, convenience in large-scale popularization and use, and convenience in realizing integration of automatic warehousing and intelligent handling of the container.

Preferably, in the step (a1), the two robots first perform signal matching to form a robot group.

Preferably, in the step (a1), the two robots are moved close to each other with the two clamping devices in an opposite state, and are synchronously moved to the side of the box body; the arrangement mode can enable the back surfaces of the two robots to move outwards, and the situation that the two robots cannot be normally used due to the fact that the clamping devices are damaged when the two robots collide with an obstacle in the moving process is avoided.

Preferably, in the step (a1), the two robots move to the side of the cabinet in a state that the gripping device is parallel to the side of the cabinet; the arrangement mode is convenient for two robots to be close to the end part of the box body in a state that the clamping devices are parallel to the side face of the box body, so that the subsequent clamping devices can easily clamp the two sides of the end part of the box body, and the carrying efficiency is improved.

Preferably, in the step (a2), the robot moves to the end of the box body with the clamping device facing the end of the box body, so that when the robot approaches the end of the box body, the clamping device can stably clamp two sides of the end of the box body, and effective protection can be provided for the box body in the process of carrying the box body.

Preferably, in the step (a3), after the two robots respectively contact with the corresponding ends of the box body, the two clamping arms respectively lock two sides of the end of the box body; through utilizing the arm lock to lock the box both sides, can avoid carrying the box in-process, the box drops because taking place the shake to reduce the impaired risk of box, improve the security of transport operation.

Preferably, in the step (a4), the two robots respectively lift the two ends of the box body to the same height, so as to ensure that the two ends of the box body are kept at the same horizontal height, and prevent the box body from tilting towards one end of the box body.

Preferably, the method further comprises the following steps:

(b1) the two robot carrying boxes move to the designated positions;

(b2) the two robots place the box body at a designated position, and the clamping device releases the connection of the box body;

(b3) the two robots are respectively far away from the end part of the box body and move towards the same side of the box body;

(b4) the two robots approach and are far away from the box body.

Preferably, in the step (b4), the two robots are close to each other with the two clamping devices in an opposite state, and the arrangement mode enables the back surfaces of the two robots to face outwards to be far away from the box body, so that the clamping devices are prevented from being damaged when the two robots collide with an obstacle in the moving process.

Preferably, the method further comprises a step (b5) of standing by in situ or returning to a standby area to stand by or perform the next carrying task after the two robots are far away from the box body.

Drawings

FIG. 1 is a schematic view of a first angle of the present invention;

FIG. 2 is a schematic view of a second angle of the present invention;

FIG. 3 is a schematic view of a third angle of the present invention;

FIG. 4 is a cross-sectional view of the frame;

FIG. 5 is a schematic view of a lifting mechanism;

FIG. 6 is a cross-sectional view of the lifting mechanism;

FIG. 7 is a perspective view of the vertical guide mechanism;

FIG. 8 is a cross-sectional view of the vertical guide mechanism;

FIG. 9 is a cross-sectional view of the clamping device;

FIG. 10 is a perspective view of the clamping device;

FIG. 11 is a schematic view of the second embodiment;

FIG. 12 is a flowchart of a third embodiment;

FIG. 13 is a schematic view of the handling apparatus approaching the cabinet;

FIG. 14 is a schematic view of the separation of two robots;

FIG. 15 is a schematic view of two robots moving toward the ends of the cabinet;

FIG. 16 is a schematic view of two robots approaching the ends of the tank;

FIG. 17 is a schematic view from above of two robots attached to a cabinet;

FIG. 18 is a schematic view of the horizontal angle at which two robots are attached to the cabinet;

FIG. 19 is a schematic illustration of two robotic lift cases;

fig. 20 is a schematic view of two robots moving the box to a designated position.

Description of reference numerals:

the robot comprises a robot body 1, a vehicle frame 10, a main body 11, a cross beam 12, a fixed plate 13, a hood 14, supporting legs 15, a working area 16, a supporting frame 17, a mounting plate 18, a driving device 2, a driving wheel 21, a driven wheel 22, a power supply module 3, a lifting device 4, a lifting mechanism 41, a first telescopic part 42, a first pulley 43, a traction part 44, a sliding block 5, a front plate 51, a rear plate 52, a side plate 53, a second pulley 54, a door frame 6, a guide rail 60, a first door frame 61, a second door frame 62, a vertical plate 63, a connecting part 64, a clamping arm 7, a connecting plate 71, a clamping jaw 72, a bolt 73, a horizontal moving mechanism 8, a second telescopic part 81, a sliding rail 82, a sliding part 83 and.

Detailed Description

Embodiments of the present invention are described below with reference to the accompanying drawings:

example one

Referring to fig. 1 to 3, a transfer robot 1 of the present embodiment includes a frame 10, a lifting device 4, and a clamping device, the clamping device is disposed on the frame 10 through the lifting device 4, the lifting device 4 is used for lifting the clamping device, the clamping device includes two clamping arms 7, the two clamping arms 7 are disposed on two sides of the lifting device 4 respectively, the two clamping arms 7 are used for clamping two sides of an object to be transported, and at least one clamping arm 7 is horizontally movable relative to the lifting device 4, so that a distance between the two clamping arms 7 is adjustable.

Referring to fig. 1, in particular, two of the clamping arms 7 can move horizontally relative to the lifting device 4.

Referring to fig. 4, the vehicle frame 10 includes a seat body, and a driving mechanism, a power supply module 3 and a control mechanism (not shown in the figure) disposed on the seat body, where the seat body includes a main body 11, and supporting legs 15 formed by extending the left and right sides of the main body 11 to the front side, a working area 16 is formed between the two supporting legs 15, the power supply module 3 is configured to supply power to the lifting device 4, the driving mechanism and the control mechanism, the driving mechanism is configured to drive the seat body to move, and the control mechanism is configured to control the driving mechanism to work.

The frame 10 of the transfer robot 1 of the invention is in a shape of Chinese character 'ji', the reasonable structure layout ensures that the whole equipment volume is small, when the transfer robot 1 is in a standby state, the frame 10 of a plurality of transfer robots 1 can reduce the occupation of a plurality of transfer robots 1 to the storage space by misplacing, in addition, the arrangement of the frame 10 ensures that the gravity center of the transfer robot 1 is more stable, thereby improving the stability when moving and transferring the transferred objects, increasing the load bearing capacity and improving the transfer capacity of the transfer robot 1.

Referring to fig. 1 to 4, specifically, the driving mechanism includes a driving device 2, two driving wheels 21 and two driven wheels 22, the two driven wheels 22 are disposed at the bottom of the supporting foot 15, the two driving wheels 21 are disposed at the left and right sides of the main body 11, and the driving device 2 is configured to drive the two driving wheels 21 to move.

Referring to fig. 1 to 4, specifically, the main body 11 includes a cross beam 12 and a fixing plate 13, the fixing plate 13 is disposed above the cross beam 12 for mounting the driving device 2, the power supply module 3 and the control mechanism, the driving wheel 21 is disposed below the fixing plate 13, and the two supporting legs 15 are respectively disposed on the left and right sides of the cross beam 12; the main body 11 is arranged as described above, and the center of gravity of the frame 10 can be shifted toward the driving wheel 21 (toward the rear of the frame 10), so that it is avoided that the center of gravity of the transfer robot 1 is shifted too far forward of the frame 10 to affect the normal movement of the transfer robot 1 when the transfer robot 1 transfers a transferred object.

Referring to fig. 1 to 4, a hood 14 is disposed on the main body 11 corresponding to the fixing plate 13, and the driving device 2, the power supply module 3 and the control mechanism are disposed in the hood 14, so as to provide an isolation function and prevent the driving device 2, the power supply module 3 and the control mechanism from adhering to pollutants in an external environment.

Referring to fig. 1 to 4, specifically, the driven wheel 22 is disposed at the front end of the supporting foot 15 through the supporting frame 17, the driven wheel 22 is disposed at a position where the wheel body axis of the driven wheel 22 coincides with the axis of the supporting foot 15, and the driving wheel 21 is disposed at a position where the wheel body axis of the driving wheel 21 coincides with the axis of the supporting foot 15, which enables the center of gravity of the transfer robot 1 to be set as low as possible, thereby improving the stability of the transfer robot 1 during movement.

Referring to fig. 1 to 4, specifically, a mounting plate 18 is disposed between the two supporting feet 15, the mounting plate 18 is disposed on one side of the supporting feet 15 close to the main body 11, and the lifting device 4 is disposed on the mounting plate 18; this arrangement can improve the connection strength between the two support legs 15, and when the transfer robot 1 transfers a transferred object, the pressure applied to the lifting device 4 by the transferred object is applied to the mounting plate 18, thereby reducing the influence of the transferred object on the main body 11 of the vehicle frame 10 and prolonging the service life of the vehicle frame 10.

Referring to fig. 5 to 6, the lifting device 4 includes a lifting mechanism 41 and a slide block 5, the slide block 5 is slidably sleeved outside the lifting mechanism 41, the clamping arm 7 is horizontally movably disposed on a front end surface of the slide block 5, and the lifting mechanism 41 can drive the slide block 5 to move up and down.

The lifting device 4 adopts the above arrangement mode, and lifts the slider 5 by using the lifting mechanism 41, so as to change the height of the two clamping arms 7 arranged on the slider 5 relative to the horizontal plane, ensure that the two clamping arms 7 are always positioned on the same horizontal plane, and after the two clamping arms 7 respectively clamp the two sides of the object to be transported, the two sides of the object to be transported are kept on the same plane, thereby avoiding the object to be transported from inclining to the left or right and dropping off, in addition, the slider 5 is arranged to be sleeved outside the lifting mechanism 41 in a sliding way, thereby improving the connection strength of the slider 5 and the lifting mechanism 41, and improving the stability of the slider 5 during movement.

Referring to fig. 5 to 6, the lifting mechanism 41 includes a first telescopic member 42, a first pulley 43 and a traction member 44, the first telescopic member 42 is disposed on the frame 10, the first pulley 43 is disposed on the telescopic end of the first telescopic member 42, one end of the traction member 44 is fixedly connected with respect to the fixed end of the first telescopic member 42 (or the frame 10), and the other end of the traction member 44 passes around the first pulley 43 and is connected with the slider 5.

In particular, the pulling element 44 is a chain.

The lifting mechanism 41 utilizes the first telescopic part 42 to stretch and change the length of the free end of the traction part 44 which bypasses the first pulley 43, thereby changing the height of the slide block 5 which is provided with the clamping device relative to the horizontal plane, realizing the lifting of the conveyed object, having easy available parts, low cost, simple structure, simple operation and fast response speed, and selecting the first telescopic part 42 with strong lifting capability, thus ensuring that the lifting mechanism 41 has larger bearing capacity and strong reliability.

Referring to fig. 5 to 6, in particular, two lifting mechanisms 41 are provided, the first telescopic member 42 is a lifting cylinder, the two first telescopic members 42 are respectively disposed at two ends of the main body 11, and free ends of two traction members 44 are respectively connected to two sides of the sliding block 5; each first telescopic part 42 is provided with two first pulleys 43 arranged in parallel, the traction part 44 is arranged corresponding to the first pulley 43, and the two traction parts 44 connected with the two first pulleys 43 arranged in parallel are connected with one side corresponding to the sliding block 5 in parallel.

By arranging the two lifting mechanisms 41, the left side and the right side of the slide block 5 can be respectively lifted, so that the stability of the slide block 5 in the up-and-down movement process is improved, and the clamping device can be stably lifted by the lifting device 4 after clamping the conveyed object.

Referring to fig. 7 to 8, a vertical guide mechanism is arranged between the lifting mechanism 41 and the sliding block 5, the vertical guide mechanism includes a gantry 6 arranged on the frame 10, the gantry 6 is located outside the lifting mechanism 41, two sides of the gantry 6 are provided with guide rails 60 formed by inward recessing, and two sides of the sliding block 5 are slidably connected with the guide rails 60 through second pulleys 54.

Through setting up vertical guiding mechanism, ensure that slider 5 steadily reciprocates along the direction of guide rail 60 to improve the stability when transfer robot 1 lifts on site or puts down the transported substance, in addition, after the clamping device centre gripping transported substance, slider 5 slopes forward, and vertical guiding mechanism can carry on spacingly and provide the holding power to slider 5, avoids slider 5 to shift and impaired, thereby ensures the ability of transfer robot 1 transport transported substance.

Referring to fig. 7 to 8, in particular, the door frame 6 includes a first door frame 61 and a second door frame 62, and the first door frame 61 and the second door frame 62 are correspondingly disposed on the left and right sides of the frame 10; the rear ends of the first door frame 61 and the second door frame 62 are connected through a vertical plate 63, and one end of the traction piece 44 is fixedly connected with the vertical plate 63 so that one end of the traction piece 44 is fixedly connected relative to the main body 11; a connecting piece 64 is arranged between the first door frame 61 and the second door frame 62, and two ends of the connecting piece 64 are respectively connected with the upper ends of the first door frame 61 and the second door frame 62; the door frame 6 is simple in structure and convenient to assemble and produce.

Referring to fig. 5 to 8, in particular, the sliding block 5 includes a front plate 51, a rear plate 52 and two side plates 53, the front plate 51 is disposed in front of the rear plate 52, a gap is left between the front plate 51 and the rear plate 52 to keep a space for a convex wall of a guide rail 60, the two side plates 53 are oppositely disposed on two sides of the rear plate 52 and located in the guide rail 60, the second pulleys 54 are disposed on the side plates 53, and two second pulleys 54 arranged up and down are disposed on a single side plate 53; the slider 5 adopts the above arrangement mode, can utilize the clearance between the front plate 51 and the back plate 52 and the portal 6 to cooperate, thereby avoiding the slider 5 to deviate from the portal 6, and further improving the connection strength of the slider 5 and the portal 6.

Referring to fig. 9 to 10, the clamping arm 7 is disposed on the slider 5 through a horizontal moving mechanism 8, the horizontal moving mechanism 8 includes a second telescopic member 81, the second telescopic member 81 is disposed on the slider 5 in parallel with the horizontal plane, and the clamping arm 7 is disposed on the telescopic end of the telescopic member.

As another arrangement of the horizontal movement mechanism: the horizontal moving mechanism comprises a rotating motor, a screw rod and a pushing piece in threaded connection with the screw rod, the screw rod is rotatably arranged on the sliding block in parallel with the horizontal plane, the clamping arm is fixedly connected with the pushing piece, and the rotating motor drives the screw rod to rotate so that the pushing piece drives the clamping arm to horizontally move; the description does not show the drawings of the present modification, but the present modification still falls within the scope of the claims of the present invention.

The horizontal moving mechanism 8 has the advantages of simple structure, easily obtained parts, low cost, convenience for production and manufacture and reduced maintenance.

Referring to fig. 9 to 10, the horizontal moving mechanism 8 further includes a slide rail 82 and a sliding member 83, the slide rail 82 is disposed on the slide block 5 in parallel with the horizontal plane, and the rear end of the clamping arm 7 is slidably connected to the slide rail 82 through the sliding member 83.

As another arrangement of the slide rail and the slide member: the sliding part is arranged on the sliding block in a manner of being parallel to the horizontal plane, and the clamping arm is connected with the sliding part in a sliding manner through the sliding rail; the description does not show the drawings of the present modification, but the present modification still falls within the scope of the claims of the present invention.

Through set up slide rail 82 on slider 5 (or arm lock 7), supply arm lock 7 (or slider 5) to carry out sliding connection, on the one hand, can improve the joint strength between slider 5 and the arm lock 7, ensure that arm lock 7 sets up on slider 5 firmly, and the setting of slide rail 82 can reduce clamping device centre gripping transport thing back arm lock 7 and apply to the pressure on horizontal migration mechanism 8 single part to prolong the life of horizontal migration mechanism 8, on the other hand, the setting of slide rail 82 can ensure that arm lock 7 smoothly moves to the horizontal direction, ensures that two arm lock 7 keep better levelness.

Referring to fig. 9 to 10, a locking mechanism is arranged on the clamping arm 7, and the locking mechanism is used for detachably and fixedly connecting the side part of the conveyed object.

Specifically, the clamping arm 7 comprises a connecting plate 71 and a jaw 72, the jaw 72 is arranged at the front end of the connecting plate 71, and the jaw 72 is connected with the sliding block 5 through the connecting plate 71; the locking mechanism is a bolt 73 arranged at one side opposite to the two claws 72, and the bolt 73 can be detachably inserted into a jack (not shown) at the outer side of the conveyed object.

The locking mechanism is arranged on the clamping arm 7, so that the clamping arm 7 can be detachably connected with the side part of the conveyed object after contacting the conveyed object, the side part of the conveyed object is fixed, the clamping device can firmly clamp the conveyed object during lifting, carrying and transferring, and the conveyed object is prevented from being loosened and falling to cause damage to the conveyed object.

Still include navigation induction mechanism (not shown in the figure), navigation induction mechanism is one of them in magnetic point navigation device, magnetic guide rail navigation head, vision navigation head, laser navigation head, infrared navigation head, ultrasonic navigation head, the two-dimensional code navigation head, navigation induction mechanism sets up on frame 10 or lifting device 4, navigation induction mechanism with control mechanism communication is connected, power module 3 with navigation induction mechanism electricity is connected.

The control mechanism is provided with a signal matching module, so the signal matching module is used for signal matching between the transfer robot 1 and another transfer robot 1, and two transfer robots which are matched in a group form a dual-sub robot group.

The working process of the transfer robot 1 of the present embodiment:

(1) the control mechanism controls the frame 10 to move to the periphery of the conveyed object according to the detection information of the navigation sensing mechanism;

(2) the navigation sensing mechanism detects the position of the conveyed object, and the control mechanism controls the vehicle frame 10 to move to the end part of the conveyed object and keep a certain distance according to the detection information of the navigation sensing mechanism;

(3) the navigation sensing mechanism detects the end position of the conveyed object, and the control mechanism controls the frame 10 to be close to the end of the conveyed object according to the detection information of the navigation sensing mechanism;

(4) the navigation sensing mechanism detects the end position of the conveyed object in real time, and the control mechanism controls the clamping arm 7 to clamp the conveyed object according to the detection information of the navigation sensing mechanism;

(5) the control mechanism controls the lifting device 4 to lift the conveyed object;

(6) the control mechanism controls the vehicle frame 10 to move according to the detection information of the navigation sensing mechanism so as to carry the conveyed object.

Compared with the prior art, the transfer robot 1 has the following beneficial effects:

(1) the invention provides a transfer robot 1, which consists of three core components, namely a frame 10, a lifting device 4 and a clamping device, so that the internal structure of the transfer robot 1 is modularized and simplified, the robot 1 is convenient to install, control and maintain, and the maintenance cost is reduced;

(2) the invention provides a transfer robot 1, the volume is smaller, thus reduce the occupation to the storage space, through forming a pair of robot groups with two transfer robots, two transfer robots 1 of a pair of robot groups cooperate and grasp both ends of the transported object respectively, and lift both ends of the transported object at the same time, can carry the transported object, its flexibility is strong, the load capacity is large, it is easy to popularize and use in a large scale, in addition, any transfer robot 1 in a pair of robot groups needs to be maintained, can replace another transfer robot 1 and original transfer robot to form the new pair of robot groups to continue carrying out the task, guarantee that the task of carrying is carried on incessantly, thus raise the production efficiency;

(3) in the bipartite robot group consisting of the two carrying robots, the distance between the two clamping arms 7 of the carrying robot 1 is adjustable, so that the carrying robot 1 can be used for carrying different carried objects with different widths and specifications, application scenes and applicable carrying objects of the invention are increased, and the utilization rate of the invention is improved;

(4) the invention provides a transfer robot 1, wherein two clamping arms 7 on a clamping device are matched with and clamp two sides of a conveyed object together, so that the left side and the right side of the conveyed object are fixed at the end part of the conveyed object, jolts and vibration generated in the conveying process of the conveyed object can be effectively buffered, the conveyed object is effectively protected, and the conveyed object is prevented from falling to the left side or the right side and being damaged due to vibration.

Example two

Referring to fig. 11, another object of the present invention is to provide a transfer device using the transfer robot 1, which includes a twin robot group, the twin robot group is composed of two robots 1, the two robots 1 respectively clamp two ends of a transported object and lift the two ends of the transported object to transfer the transported object.

The two robots 1 of the twin robot group perform information exchange communication through the control mechanism during the cooperative task execution process, so that the two robots 1 synchronously move and lift the conveyed object, which belongs to the application of the prior art, and will not be described in detail herein.

Compared with the prior art, the carrying device comprises a two-subsystem robot group consisting of two carrying robots with small volume and strong flexibility, the two carrying robots 1 are cooperated to respectively clamp two ends of a carried object and simultaneously lift two ends of the carried object to carry the carried object, and the carrying device has the advantages of small occupied space, strong flexibility and large load capacity.

EXAMPLE III

Referring to fig. 12 to 20, another object of the present invention is to provide a method for carrying a box 9 by a carrying device of the second embodiment, which includes the following steps:

(a1) the two robots 1 move to the side parts of the box body 9;

(a2) the two robots 1 move to two ends of the box body 9 respectively and keep a distance with the end part of the box body 9;

(a3) the two robots 1 are respectively close to two ends of the box body 9, and the clamping device is connected with a connecting part at the end part of the box body 9;

(a4) after the two robots 1 communicate, the end parts of the box bodies 9 are synchronously lifted through the lifting devices;

(a5) the two robots 1 move the box 9 to a specified position.

In the step (a1), the two robots 1 are firstly subjected to signal matching to form a robot group, and the two robots 1 are closed after the two clamping devices are in a relative state and synchronously move to the side part of the box body 9; the arrangement mode enables the back surfaces of the two robots 1 to move outwards, and avoids the phenomenon that the clamping devices are damaged when the two robots 1 collide with an obstacle in the moving process, so that the robots 1 cannot be normally used.

In the step (a1), the two robots 1 move to the side of the box 9 in a state where the gripping devices are parallel to the side of the box 9; this kind of arrangement mode is convenient for two robots 1 to be close to 9 tip of box with the parallel box 9 side's of clamping device state to follow-up clamping device can easily carry out the centre gripping to the both sides of 9 tip of box, improves handling efficiency.

In the step (a1), if the navigation sensing mechanism disposed on the robot 1 is one of a magnetic point navigation device, a magnetic guide rail navigation device, an infrared navigation device, and a two-dimensional code navigation device; a carrying area is arranged on the placing surface of the box body 9, the box body 9 is positioned in the carrying area, a sensing piece is arranged outside the carrying area, and the two robots obtain the relative positions of the two robots and the box body 9 through the sensing piece; if the navigation sensing mechanism arranged on the robot 1 is one of a visual navigation device, a laser navigation device and an ultrasonic navigation device, the two robots directly acquire the relative positions of the two robots and the box 9.

In the step (a2), the robot 1 moves to the end of the box 9 in a state that the clamping device faces the end of the box 9, so that when the robot 1 approaches the end of the box 9, the clamping device can stably clamp both sides of the end of the box 9, and effective protection can be provided for the box 9 in the process of carrying the box 9.

In the step (a3), the robot 1 obtains the distance between the robot 1 and the end of the box 9 through the navigation sensing mechanism, so as to avoid that the box 9 and the robot 1 are damaged due to the fact that the clamping device cannot stably clamp the two sides of the end of the box 9 due to misoperation.

In the step (a3), after the two robots 1 are respectively contacted with the corresponding end parts of the box body 9, the two clamping arms 7 respectively lock two sides of the end part of the box body 9, and the connecting parts on the end part of the box body 9 are jacks; through utilizing arm lock 7 to lock 9 both sides of box, can avoid carrying 9 in-processes of box, box 9 drops because of taking place the shake to reduce the impaired risk of box 9, improve the security of transport operation.

In the step (a4), the two robots 1 respectively lift the two ends of the box 9 to the same height, so as to ensure that the two ends of the box 9 are maintained at the same horizontal height, and prevent the box 9 from tilting to one end, which may cause the box 9 to tilt.

In the step (a5), the two robots 1 plan the moving path to the designated position by using the navigation sensing mechanism according to the related instruction, and the planning of the moving path by using the navigation sensing mechanism belongs to the application of the prior art.

Further comprising the steps of:

(b1) the two robots 1 move the carrying boxes 9 to the designated positions;

(b2) the two robots 1 place the box body 9 at a designated position, and the clamping device releases the connection of the box body 9;

(b3) the two robots 1 are respectively far away from the end part of the box body 9 and move towards the same side of the box body 9;

(b4) the two robots 1 are close to and away from the tank 9.

In the step (b4), the two robots 1 are close to each other with the two clamping devices in a relative state, and the arrangement mode enables the back surfaces of the two robots 1 to face outwards to be far away from the box 9, so that the clamping devices are prevented from being damaged when the two robots 1 collide with an obstacle in the moving process.

And a step (b5) of standing by in situ or returning to a standby area to stand by or perform the next carrying task after the two robots 1 are far away from the box 9.

Compared with the prior art, the method for transporting the box 9 by the transporting device provided by the invention has the advantages that two robots 1 are used for synchronously lifting and moving two ends of the box 9, so that the box 9 is transported, compared with the existing method for transporting the box 9, the applied equipment has the advantages of low cost, low energy consumption, simplicity in operation, small occupied space, large load capacity, good protection on transported objects, few limitations on operation objects and operation scenes and the like, and the method for transporting the box 9 by the transporting device provided by the invention has the advantages of strong flexibility, high operation speed, large transporting amount, strong reliability, convenience for large-scale popularization and use, and convenience for realizing integration of automatic warehousing and intelligent transportation of containers.

Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. A container handling method based on AGV handling robots, wherein the handling robots are provided with two AGV frames and can communicate with each other, the AGV handling robots comprise AGV frames, and lifting devices and clamping devices which are arranged on the AGV frames, and the container handling method is characterized by comprising the following steps:

(a1) the two robots move to the side part of the box body;

(a5) two robots move the box to a designated position.

2. The AGV transfer robot-based container transfer method of claim 1 wherein in step (a1), the two robots are signal matched to form a robot group.

3. The AGV transfer robot-based container transfer method of claim 1, wherein in step (a1), the two robots are moved close together with the two grippers facing each other and moved to the sides of the housing in synchronization.

4. The AGV transfer robot-based container transfer method of claim 1, wherein in step (a1), the two robots move to the sides of the cassette with the gripping devices parallel to the sides of the cassette.

5. The AGV transfer robot-based container transfer method of claim 1, wherein in step (a2), the robot moves to the end of the cassette with the grippers facing the end of the cassette.

6. The AGV transfer robot-based container transfer method of claim 1, wherein in step (a3), the two clamping arms lock both sides of the end of the cassette after the two robots are brought into contact with the corresponding ends of the cassette, respectively.

7. The AGV transfer robot-based container transfer method of claim 1 wherein in step (a4), the two robots respectively lift both ends of the cassette to the same height.

8. The AGV transfer robot-based container transfer method of claim 1 further comprising the steps of:

(b1) the two robot carrying boxes move to the designated positions;

(b4) the two robots approach and are far away from the box body.

9. The AGV transfer robot-based container transfer method of claim 8 wherein in step (b4), the two robots are brought together with the two grippers in opposition.

10. The AGV transfer robot-based container transfer method of claim 8 further comprising the step (b5) of standing by or returning to a stand-by area to stand by or perform the next transfer task after the two robots are separated from the cassette.