CN112573060B

CN112573060B - Transfer robot

Info

Publication number: CN112573060B
Application number: CN201910945617.3A
Authority: CN
Inventors: 陈宇奇; 孔哲
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2019-09-30
Filing date: 2019-09-30
Publication date: 2024-01-09
Anticipated expiration: 2039-09-30
Also published as: CN112573060A

Abstract

The application relates to intelligent storage field discloses a transfer robot, include: a vertical bracket; the supporting plate is used for storing the container; and a handling system mounted to the vertical support, the pallet mounted to the handling system, the handling system for retrieving containers from one of the warehouse rack and the pallet and storing to the other, and/or for retrieving goods from within containers stored by the pallet. Through configuration handling system, can follow the goods in the packing box that the layer board deposited, wait to take out the goods after, put back the packing box to warehouse goods shelves, get goods mode nimble, efficiency is higher.

Description

Transfer robot

[ field of technology ]

The application relates to the field of intelligent storage, in particular to a transfer robot.

[ background Art ]

The intelligent storage is one link of the logistics process, and the application of the intelligent storage ensures the speed and accuracy of data input of each link of the goods warehouse management, ensures that enterprises timely and accurately master real data of the inventory, and reasonably maintains and controls the enterprise inventory. The batch, the quality guarantee period and the like of the stock goods can be conveniently managed through scientific codes. By utilizing the library position management function of the SNHGES system, the current positions of all the stock cargoes can be mastered in time, and the work efficiency of warehouse management can be improved.

The transfer robot plays an important role in intelligent storage, and can accept instructions to the designated positions to pick and place and transfer goods, so that the efficiency of transferring goods in the warehouse is improved. However, the existing transfer robot can only take the goods from the whole container, and when the goods which do not need to be taken out exist in the container, the efficiency of the way of taking the goods from the whole container is low.

[ invention ]

In order to solve the technical problem, the embodiment of the application provides a transfer robot with higher goods taking efficiency.

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

provided is a transfer robot including: a vertical bracket; the supporting plate is used for storing the container; and a handling system mounted to the vertical support, the pallet mounted to the handling system, the handling system for retrieving containers from one of the warehouse rack and the pallet and storing to the other, and/or for retrieving goods from within containers stored by the pallet.

In some embodiments, the transfer robot further comprises a storage rack;

the storage shelf is used for storing containers;

the handling system is also used for taking out containers from one of the storage racks and the pallets and storing them in the other, and/or is also used for taking out goods from the containers stored in the storage racks and storing them in the containers stored in the pallets, and/or is also used for storing goods taken out from the containers stored in the pallets in the containers stored in the storage racks.

In some embodiments, the handling system includes a fork and a cargo transfer assembly; the pallet is supported by the vertical supports, the pallet is mounted to the pallet, and the pallet is used for taking a container out of one of a warehouse shelf and the pallet and storing the container to the other, and/or is used for taking the container out of one of the storage shelf and the pallet and storing the container to the other; the goods transferring assembly is arranged on the fork and is used for taking out goods from one of the container stored by the supporting plate and the container stored by the storage shelf and storing the goods into the other container; the fork comprises a mounting platform, and the supporting plate and the cargo transferring assembly are both mounted on the mounting platform.

In some embodiments, the handling system includes a fork and a cargo transfer assembly; the pallet is supported by the vertical supports, the pallet is mounted to the pallet, and the pallet is used for taking a container out of one of a warehouse shelf and the pallet and storing the container to the other, and/or is used for taking the container out of one of the storage shelf and the pallet and storing the container to the other; the goods transferring assembly is arranged on the vertical bracket and is used for taking out goods from one of the container stored by the supporting plate and the container stored by the storage shelf and storing the goods into the other; the fork comprises a mounting platform, and the supporting plate is mounted on the mounting platform.

In some embodiments, the vertical support comprises a lifting platform; the lifting platform can move along the vertical direction, and the cargo transferring assembly is installed on the lifting platform.

In some embodiments, the cargo transferring assembly comprises a multi-dimensional mechanical joint and an end effector; the end effector is mounted on the multi-dimensional mechanical joint, the multi-dimensional mechanical joint is used for driving the end effector to rotate at multiple angles and move in multiple directions, and the end effector is used for grabbing goods.

In some embodiments, the end effector is a suction cup device for sucking the cargo.

In some embodiments, the transfer robot further comprises a second cargo identification device; the second goods identification device is arranged on the multi-dimensional mechanical joint and is used for identifying the goods in the storage shelf, the goods in the container stored by the supporting plate and/or the goods taken out by the goods transferring assembly; the multi-dimensional mechanical joint is used for driving the second cargo identification device and the end execution device to move in multiple angles and multiple directions.

In some embodiments, the transfer robot further comprises a container identification assembly; the container identification assembly is mounted on the mounting platform and is used for identifying the container.

In some embodiments, the cargo box identification assembly includes a camera device.

In some embodiments, the fork includes a telescoping arm, a fixed push rod, and a movable push rod; the telescopic arm can extend in the horizontal direction, the fixed push rod and the movable push rod are both arranged on the telescopic arm, and the fixed push rod and the movable push rod extend together when the telescopic arm extends; the fixed push rod is used for pushing the container when the telescopic arm stretches out; the movable push rod can be retracted into the telescoping arm and is used for pulling the cargo box when the telescoping arm is retracted.

In some embodiments, the handling system includes a cargo transfer assembly and a mounting platform; the mounting platform is supported by the vertical bracket and is provided with the cargo transferring assembly and the supporting plate; the cargo transferring assembly is used for taking out a cargo box from one of a warehouse goods shelf and the pallet and storing the cargo box to the other, and/or is used for taking out the cargo box stored by the pallet and one of the cargo boxes stored by the storage goods shelf and storing the cargo box to the other.

In some embodiments, the cargo transferring assembly comprises a multi-dimensional mechanical joint and an end effector; the end effector is mounted on the multi-dimensional mechanical joint, the multi-dimensional mechanical joint is used for driving the end effector to rotate at multiple angles and move in multiple directions, and the end effector is used for grabbing goods or containers.

In some embodiments, the end effector comprises a first end effector and a second end effector; the first end effector and the second end effector are interchangeably coupled to the multi-dimensional mechanical joint; the first end effector is used for grabbing goods or containers; the second end effector is for gripping cargo or containers.

In some embodiments, the first end effector comprises a suction cup device for sucking a cargo or container; the second end effector includes a gripper for gripping cargo or a cargo box.

In some embodiments, the mounting platform is provided with a first storage bracket and a second storage bracket; the first storage bracket is used for storing the first end effector or the second end effector; the second storage rack is used for storing the first end effector or the second end effector.

In some embodiments, the transfer robot further comprises a second cargo identification device; the second goods identification device is arranged on the goods transfer assembly and is used for identifying goods in the storage goods shelf, the goods in the goods box stored by the supporting plate and/or goods taken out by the goods transfer assembly and/or identifying the goods box; the multi-dimensional mechanical joint is used for driving the second cargo identification device and the end execution device to move in multiple angles and multiple directions.

In some embodiments, the second cargo identification device comprises a second camera.

In some embodiments, the transfer robot further comprises a first cargo identification device; the first goods identification device is arranged on the mounting platform and is used for identifying goods in a container stored by the supporting plate.

In some embodiments, the transfer robot further comprises a third cargo identification device; the third goods identification device is arranged on the storage shelf and used for identifying goods in the container stored in the storage shelf.

In some embodiments, the handling system further comprises a mounting base and a rotational drive; the mounting base is mounted on the vertical support, and the mounting platform is mounted on the mounting base; the rotary driving device is arranged on the mounting base and connected with the mounting platform, and is used for driving the mounting platform to rotate around the vertical direction relative to the mounting base.

In some embodiments, the mounting base is movable in a vertical direction relative to the upright support; the carrying system further comprises a lifting driving device; the lifting driving device is arranged on the vertical support and connected with the mounting base, and the lifting driving device is used for driving the mounting base to move relative to the vertical support along the vertical direction.

In some embodiments, the storage shelf comprises a lamina; a plurality of the ply is distributed in a vertical direction, each ply for receiving a cargo box.

In some embodiments, the transfer robot further comprises a plurality of first cargo identification devices; the plurality of first goods recognition devices are arranged on the vertical support in a distributed mode along the vertical direction, and each first goods recognition device is used for acquiring goods in a container stored by the corresponding laminate.

In some embodiments, the first cargo identification device comprises a first camera.

In some embodiments, the handling robot further comprises a movement assembly; the moving assembly carries the vertical support and is used for moving on the ground of the warehouse.

Compared with the prior art, in the transfer robot that provides of this application embodiment, through configuration conveying system, can follow the packing box that the layer board deposited and take out the goods, treat after taking out the goods, put back the packing box to warehouse goods shelves, get the goods mode nimble, efficiency is higher.

[ description of the drawings ]

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

Fig. 1 is a perspective view of a transfer robot according to embodiment 1 of the present application;

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

FIG. 3 is a schematic exploded view of a mobile assembly of the transfer robot shown in FIG. 1;

fig. 4 is an assembled schematic view of the vertical support and the lifting drive device of the transfer robot shown in fig. 1;

FIG. 5 is a schematic exploded view of a cargo box handling assembly of the handling robot shown in FIG. 1;

fig. 6 is a perspective view of a cargo transferring assembly of the transfer robot shown in fig. 1;

fig. 7 is a perspective view of a transfer robot according to embodiment 2 of the present application;

fig. 8 is a perspective view of a transfer robot according to embodiment 3 of the present application.

[ detailed description ] of the invention

In order to facilitate an understanding of the present application, the present application will be described in more detail below with reference to the accompanying drawings and detailed description. It will be understood that when an element is referred to as being "fixed" to another element, it can be directly on the other element or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and the like are used in this specification for purposes of illustration only.

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

Example 1

Referring to fig. 1, a handling robot 100 for picking up goods according to embodiment 1 of the present application is provided.

It is to be noted that the warehouse is provided with warehouse goods shelves, the warehouse goods shelves are provided with goods spaces for storing goods, and the goods boxes are used for storing goods.

The transfer robot 100 includes a mobile unit 10, pallet 22, storage rack 24, a transfer system, a container identification unit 50, and a cargo identification unit 60. The mobile unit 10 carries the pallet 22, the container handling unit 30, the cargo transfer unit 40, the container identification unit 50, and the cargo identification unit 60.

The moving assembly 10 is configured to move on the floor of the warehouse to move the loaded pallet 22, the storage rack 24, the container handling assembly 30, the cargo transferring assembly 40, the container identification assembly 50 and the cargo identification assembly 60 together.

Pallets 22 and storage shelves 24 are used to store containers, respectively. The container identification assembly 50 is used to identify containers stored on the warehouse racks for removal by the handling system and/or to identify empty spaces on the warehouse racks for storage by the handling system. The handling system is used to remove and store one of the pallet 22 and the warehouse pallet to the other, and/or to remove and store one of the pallet 22 and the storage pallet 24 to the other, and/or to remove and store goods from one of the pallet 22 and the storage pallet 26 to the other. The cargo identification component 60 is configured to identify the cargo within the container stored by the pallet 22 for retrieval by the cargo transfer component 40 and/or to identify the cargo within the container stored by the storage shelf 24 for inventory of the cargo within the container stored by the storage shelf 24 and/or to identify the cargo retrieved by the handling system to determine if the retrieved cargo is correct.

The transfer robot works as follows:

the mobile assembly 10 moves on the floor of the warehouse to access the warehouse racks. After approaching the warehouse rack, the container recognition module 50 recognizes the container stored in the warehouse rack, and the carrier system takes out the container recognized by the container recognition module 50 and stores it in the pallet 22. After the pallet 22 is stored, the cargo identifying assembly 60 identifies the cargo stored within the pallet 22 and the handling system retrieves the cargo identified by the cargo identifying assembly 60 and stores it on the storage rack 24. After the cargo transfer assembly 40 removes the cargo from the pallet stored cargo containers, the container identification assembly 50 identifies empty spaces in the warehouse racks and the handling system removes the pallet 22 stored cargo containers and stores them in the empty spaces in the warehouse racks.

By configuring the mobile assembly 10, the container handling assembly 30 can access containers on widely spaced warehouse racks. In other embodiments, the warehouse racks are held adjacent to the container handling assembly 30, for example, the handling robot 100 is fixedly mounted on the ground adjacent to the warehouse racks, at which point the mobile assembly 10 may be omitted.

By arranging the storage shelves 24, the transfer robot can take out a large amount of cargo and store it in the storage shelves 24. In other embodiments, fewer loads need to be removed by the transfer robot, and storage shelves 24 need not be provided, and storage shelves 24 may be omitted.

Through configuration cargo transfer assembly 40, take out the packing box from the warehouse goods shelves at packing box handling assembly 30 to after cargo transfer assembly 40 takes out the goods in the packing box, packing box handling assembly 30 deposits the packing box to the warehouse goods shelves again, in order to make transfer robot 100 take out and take out the goods in the packing box, do not need the staff to take out the goods in the packing box, improved the efficiency of cargo dispatch. In other embodiments, the cargo transfer assembly 40 may also remove cargo stored within the cargo box of pallet 22 without identifying the cargo, at which point the cargo identification assembly 60 may be omitted. For example, the cargo stored in the container is the same type of cargo, and when the cargo has a large area in the container, such as clothing is laid in the container, the cargo transferring assembly 40 takes out the type of cargo without any obstacle, and the cargo transferring assembly 40 can take out one cargo from the cargo in the container at random.

In other embodiments, the container handling assembly 30 may remove containers from the warehouse racks without identifying the containers, and the container identification assembly 50 may be omitted. For example, warehouse racks have only one cargo space for storing cargo containers.

It should be noted that, after the cargo box handling assembly 30 takes out the cargo box from the cargo space and stores the cargo box in the pallet 22, by configuring the cargo transferring assembly 40, the cargo transferring assembly 40 takes out the cargo in the cargo box stored in the pallet 22, and no staff is required to take out the cargo from the cargo box, so that the cargo taking efficiency is improved.

In some embodiments, the handling system includes a cargo box handling assembly 30 and a cargo transfer assembly 40.

The container handling assembly 30 is used to remove containers from one of the warehouse racks and pallet 22 and store them to the other, and/or to remove containers from one of the pallet 22 and storage rack 24 and store them to the other.

The cargo transferring assembly 40 is used to remove cargo from one of the containers stored by the pallet 22 and the containers stored by the storage shelves 24 and store it to the other.

In the following, some specific implementations of the transfer robot 100 are described, and it should be noted that the following is only exemplary, and it is within the scope of the present application for other transfer robots to be able to meet at least one of the above situations.

Referring to fig. 3, the mobile assembly 10 includes a chassis 12, a driven wheel 14, a driving wheel 16, and a guide 18. The chassis 12 is formed by welding sectional materials and plates, the whole chassis is flat and symmetrical relative to a vertical symmetry plane, and a circuit module for controlling the operation of the moving assembly 10 is arranged in the chassis 12. Four driven wheels 14 are mounted to the bottom of the chassis 12 and are evenly and symmetrically distributed at both ends of the chassis 12 for supporting the chassis 12 together. In this embodiment, the driven wheel 14 is a universal wheel, and the driven wheel 14 may have other wheel body structures with steering functions according to practical situations. Two drive wheels 16 are mounted to the bottom of the chassis 12 and are symmetrically distributed at both ends of the chassis 12. The two driving wheels 16 are driven by two motors respectively, so that the rotation speeds of the two driving wheels 16 can be different, and the steering of the moving assembly 10 is realized, and when the rotation speeds of the two driving wheels 16 are the same, the moving assembly 10 moves along a straight line. A guide 18 is mounted to the bottom of the chassis 12 for guiding the moving assembly 10 along a predetermined path. In this embodiment, the guiding device 18 is a camera with a lens facing the ground, a large number of two-dimensional codes are attached to the ground of the warehouse, the current position of the moving assembly 10 is determined by scanning the two-dimensional codes through the camera, the orientation of the moving assembly 10 can be determined according to the last scanned two-dimensional code, and the two-dimensional codes can be replaced by identification codes such as bar codes according to practical situations.

Referring back to fig. 1, the top of the chassis 10 carries the vertical support 19, and the pallet 22, the container handling module 30, the cargo transferring module 40, the container identifying module 50 and the cargo identifying module 60 are supported by the vertical support 19. The upright support 19 includes a post 190 and a beam 192. The two upright posts 190 are vertical and symmetrical, each upright post 190 is provided with a guide groove extending along the vertical direction, and the guide grooves of the two upright posts 190 are commonly used for installing the carrying assembly 30 and guiding the carrying assembly 30 to move along the vertical direction.

The plurality of cross members 192 are all horizontally disposed in the vertical direction, and the plurality of cross members 192 are commonly supported by the two columns 190.

Referring to fig. 1 and 2, pallet 22 is a horizontally disposed sheet material fixedly secured to the cargo box handling assembly 30.

The pallet stored on the storage rack 24 may be stored by the pallet handling unit 30 or by a worker, and the pallet stored on the storage rack 24 may be empty. In other embodiments, the cargo transfer assembly 40 places the removed cargo directly onto the storage shelves 24 without pre-depositing the cargo containers on the storage shelves 24.

The storage shelf 24 is fixedly mounted to one side of the upright support 19. Storage shelves 24 include deck 240. The plurality of laminate plates 240 are distributed in the vertical direction. Each deck 240 is used to store containers and is supported by a corresponding cross member 192. By configuring a plurality of the trays 240 for storage of the cargo, the cargo transferring assembly 60 can continue to store cargo in the cargo box stored in one of the trays 240 after the cargo transferring assembly 60 fills the cargo box stored in the other of the trays 240. It will be appreciated that there may be only one ply 240 depending on the circumstances, for example, where there is less cargo or where there is less cargo relative to the cargo box.

Referring to fig. 4 and 5, the pallet jack assembly 30 includes a lift drive 32, a mounting base 34, a rotary drive 36, and forks 38.

The mounting base 34 is movably mounted on the vertical support 19 and can move relative to the vertical support 19 in a vertical direction, and the lifting driving device 32 is used for driving the fork 38 to move relative to the vertical support 19 in the vertical direction. The forks 38 are mounted on the mounting base 34 and are rotatable about a vertical direction relative to the mounting base 34, and the rotary drive 36 is configured to drive the forks 38 about a vertical direction relative to the mounting base 34, the forks 38 being configured to remove a container stored on the storage rack 24 or the warehouse rack and store it to the pallet 22, or to remove a container stored on the pallet 22 and store it to the storage rack 24 or the warehouse rack.

The pallet handling assembly 30 takes out the pallet stored in the warehouse rack or the storage rack 24 and stores it in the pallet, specifically as follows:

the lift drive 32 drives the forks 38 to move in a vertical direction so that the forks 38 are at the same elevation as the pallet or pallet 240 holding container, while the rotary drive 36 drives the forks 38 to rotate about the vertical direction so that the forks 38 are aligned with the pallet or pallet 240 holding container. After the forks 38 are lifted and rotated, the forks 38 are removed from the warehouse rack or container stored in the pallet 240 and stored on the pallet 22.

The pallet handling assembly 30 takes out the pallet stored pallet and stores it on the warehouse rack or storage rack 24 as follows:

the lift drive 32 drives the forks 38 to move in a vertical direction such that the forks 38 are at the same elevation as the empty spaces of the warehouse pallet or tier floor 240, while the rotary drive 36 drives the forks 38 to rotate about the vertical direction such that the forks 38 are aligned with the empty spaces of the warehouse pallet or tier floor 240. After the forks 38 are fully raised and rotated, the forks 38 remove the pallet 22 from the container and store it on a warehouse rack or on the empty space of the storage rack 24.

By configuring the lift drive 32, the lift drive 32 drives the forks 38 supported by the mounting base 34 to move in a vertical direction so that the forks 38 can access containers from different levels of the deck 240 or the warehouse rack, and therefore, the warehouse rack can be configured in multiple layers, improving the utilization of the warehouse rack in vertical space, and in addition, the storage rack 24 can be configured in multiple layers, improving the utilization of the storage rack 24 in vertical space while achieving that the storage rack 24 can store multiple containers, the storage rack 24 has a small floor space, and the chassis 10 for carrying the storage rack 24 can also have a reduced floor space. In other embodiments, the lift drive 32 may be omitted, such as where there is only one layer of storage shelves 24 and warehouse shelves as described above.

By configuring the rotary driving device 36, the rotary driving device 36 drives the fork 38 to rotate around the vertical direction, so that the fork 38 can store and take containers on warehouse shelves in different directions, the goods taking mode of the fork 38 is more flexible, and the container can be stored and taken in a complex warehouse environment. In other embodiments, the rotary drive 36 may be omitted, for example, the empty space of the warehouse rack or the container stored in the warehouse rack is always located in the picking direction of the fork 38, for example, a track dedicated to the moving assembly 10 is provided on the warehouse floor, after the moving assembly 10 approaches the warehouse rack, the empty space of the warehouse rack or the container stored in the warehouse rack is located in the picking direction of the fork 38, and the pallet 240 is a part of the handling robot 100, so that the pallet 240 is configured in the picking direction of the fork 38.

Some specific implementations of the cargo box handling assembly 30 are described below, and it should be noted that the following is exemplary only and that other cargo box handling assemblies that meet at least one of the foregoing are within the scope of the present application.

The mounting base 34 and the storage shelves 24 are respectively located at two opposite sides of the vertical support 19, the mounting base 34 is formed by welding profiles and plates, the mounting base 34 is provided with two sliding pieces, and each sliding piece is mounted on a corresponding sliding groove and can move along the corresponding sliding groove.

The lift drive 32 includes two sets of first sprocket mechanisms, a drive shaft and a lift drive motor. Each group of first sprocket mechanisms is installed on a corresponding upright post, two ends of the transmission shaft are respectively coaxially fixed with driving wheels of the two groups of first sprocket mechanisms, the installation base 34 is respectively fixedly connected with a pitch chain of the two groups of first sprocket mechanisms, and the lifting driving motor is used for driving the driving shaft to rotate so as to drive the two groups of sprockets to synchronously move, and then the installation base is driven to move along the vertical direction.

It will be appreciated that the first sprocket mechanism may be replaced with a pulley mechanism, a rack and pinion mechanism, or the like, as appropriate.

The rotary drive device 36 includes a second sprocket mechanism and a rotary drive motor. The driving wheel of the second sprocket mechanism is rotatably mounted on the fork 38, the driving wheel of the second sprocket mechanism is fixedly mounted on the mounting base 34, and the rotary driving motor is used for driving the driving wheel to rotate, so that the fork 38 is driven to rotate around the vertical direction.

It will be appreciated that the second sprocket mechanism may be replaced with a pulley mechanism, a gear set, etc., as the case may be.

The fork 38 includes a mounting platform 380 and a telescoping arm assembly 382, the telescoping arm assembly 382 being mounted to the mounting platform 380. The mounting platform 380 may be pivotally mounted to the top of the mounting base 34 such that the entire fork 38 may rotate about a vertical axis relative to the mounting base 34. Wherein the pallet 22 is fixedly mounted to the mounting platform 380, the telescopic arm arrangement 382 is used to push a container stored by the pallet 22 to a void of the pallet 240 or warehouse pallet or to pull a container stored by the pallet 240 or warehouse pallet to the pallet 22. In other embodiments, the telescoping arm arrangement 382 moves the container by lifting or gripping.

The two groups of telescopic arm devices 382 are symmetrically and respectively arranged at two sides of the supporting plate 22, and the two groups of telescopic arm devices 382 are cooperatively used for pushing or pulling goods. Depending on the actual situation, there may be only one telescopic arm 382.

Each set of telescoping arm arrangements 382 includes a telescoping arm 3820, a fixed pushrod 3822 and a movable pushrod 3824. One end of telescoping arm 3820 is fixedly mounted to mounting platform 380 and the other end is horizontally extendable or retractable relative to mounting platform 380. The telescoping arm 382 includes an inner arm, a middle arm, and an outer arm fixedly mounted to the mounting platform 380 and located on one side of the pallet 22. The middle joint arm is movably arranged on one side of the outer joint arm, which is close to the supporting plate 22, and can extend or retract relative to the outer joint arm, and the middle joint arm is driven by a sprocket transmission mechanism. The inner joint arm is movably arranged on one side of the middle joint arm, which is close to the supporting plate 22, the inner joint arm can extend or retract relative to the middle joint arm, the inner joint arm is driven by a movable pulley mechanism, a pulley of the movable pulley mechanism is arranged on the inner joint arm, two ends of a sliding rope of the movable pulley are respectively arranged on the outer joint arm and the middle joint arm, when the middle joint arm extends or retracts relative to the outer joint arm, the inner joint arm moves in the same direction relative to the outer joint arm, and the moving speed of the inner joint arm is twice that of the middle joint arm.

The fixed push rod 3822 protrudes from the other end of the telescopic arm 3820, the movable push rod 3824 is movably mounted on the other end of the telescopic arm 3820, and when the telescopic arm 3820 is extended or retracted, the movable push rod 3824 and the fixed push rod 3822 are extended or retracted together. The movable push rod 3824 may be received in or protrude from the other end of the telescoping arm 3820 and may be directly driven by a motor. The movable push rod 3824 protruding from the other end of the telescoping arm 3820 is spaced from the fixed push rod 3822 by a distance for receiving a cargo box, wherein the movable push rod 3824 protruding from the other end of the telescoping arm 3820 is located in front of the fixed push rod 3822 in the extending direction of the telescoping arm 3820. The movable push rod 3824 and the fixed push rod 3822 protruding from the other end of the telescopic arm 3820 are located on the same side of the telescopic arm 3820 as the pallet 22, and are located higher than the pallet 22.

When the pallet fork 38 takes a container from the pallet 22 and stores it in the empty space of the deck 240 or the warehouse rack, the movable push rod 3824 is in a state of being retracted into the other end of the telescopic arm 3820, the telescopic arm 3820 is extended, the fixed push rod 3822 pushes the container stored in the pallet 22 from the pallet 22 to the empty space of the deck 240 or the warehouse rack, and after pushing the container to the empty space of the deck 240 or the warehouse rack, the telescopic arm 3820 is retracted.

When the pallet fork 38 is used to remove a container from the deck 220 or warehouse rack and store the container on the pallet 22, the movable push rod 3824 is in a state of being retracted into the other end of the telescopic arm 3820, the telescopic arm 3820 is extended to enable the movable push rod 3824 to pass over the container, the movable push rod 3824 protrudes out of the other end of the telescopic arm 3820 after passing over the container, then the telescopic arm 3820 is retracted, the movable push rod 3824 protruding out of the telescopic arm 3820 pulls the container to the pallet 22, and after the container is pulled to the pallet 22, the movable push rod 3824 is retracted into the other end of the telescopic arm 3820.

Referring back to fig. 5, the pallet identification assembly 50 includes an imaging device mounted to the forks 38 with the lens orientation of the imaging device aligned with the extension of the telescoping arm 3820 for acquiring image information of the warehouse rack or pallet. The camera device is fixedly mounted to the mounting platform 380, and in some other embodiments, the camera device is mounted to the other end of the telescopic arm 3820 and extends along with the other end of the telescopic arm 3820.

By acquiring image information of the warehouse rack, it is determined whether the empty space of the warehouse rack or the container stored in the warehouse rack is located at the same height as the fork 38. Because the positions of the laminates are relatively fixed, whether the empty spaces of the laminates or the containers stored by the laminates are located at the same height as the forks 38 or not can be achieved through programming parameters of the lifting drive device and the rotary drive device, and the efficiency is higher.

In some embodiments, the warehouse rack is attached with two-dimension codes, the fork 38 is initially located at the lowest position, the fork 38 is gradually lifted, the camera device starts scanning from the lower two-dimension code, when the appointed two-dimension code is scanned, the fork 38 stops lifting, and at this time, the empty position of the warehouse rack or the container stored in the warehouse rack is located at the same height as the fork. The two-dimensional code is also attached to the container, when the container stored in the warehouse goods shelf and the fork 38 are located at the same height, the fork 38 rotates, the camera device scans the two-dimensional code on the container, and when the position of the two-dimensional code on the container in the visual field of the camera device is complete or centered, the fork 38 stops rotating, and at the moment, the fork 38 is aligned with the container stored in the warehouse goods shelf.

Referring to fig. 6, the cargo transferring assembly 40 is mounted on the mounting platform 380 and can rotate along with the forks 38 about a vertical axis so that the cargo transferring assembly 40 approaches a container stored in the deck 240, and the cargo transferring assembly 40 can also move along with the forks 38 in a vertical direction so that the cargo transferring assembly 40 and the container stored in the deck 240 are located at the same height, and the cargo transferring assembly 40 approaches the container stored in the deck 240 or is located at the same height as the container stored in the deck, thereby facilitating the cargo transferring assembly 40 to take out the cargo from the container stored in the deck 240 or store the taken out cargo into the container stored in the deck 240.

Some specific implementations of the cargo transferring assembly 40 are described below, and it should be noted that the following is exemplary only, and that other cargo transferring assemblies that meet at least one of the foregoing are within the scope of the present application.

The cargo transferring assembly 40 includes a multi-dimensional mechanical joint 42 and an end effector 44. One end of the multidimensional mechanical joint 42 is mounted on the mounting platform 380 and is located on the same side of the mounting platform 380 as the supporting plate 22, and the other end of the multidimensional mechanical joint 42 can rotate at multiple angles and move in multiple directions relative to the mounting platform 380. The multi-dimensional mechanical joint 42 includes a rotating base 420, a first radial arm 422, a second radial arm 424, and a tri-axial cradle head 426. The rotation base 420 has a first rotation axis O1. One end of the first radial arm 422 is movably mounted on the rotating base 420, the first radial arm 422 can rotate relative to the rotating base 420 around a second rotation axis O2, and the second rotation axis O2 is perpendicular to the first rotation axis O1. One end of the second radial arm 424 is movably mounted at the other end of the first radial arm 422, the second radial arm 424 can rotate around a third rotation axis O3 relative to the other end of the first radial arm 422, and the third rotation axis O3 is parallel to the second rotation axis O2. A tri-axial cradle head 426 is mounted to the other end of the second swing arm 424 for mounting the end effector 44. The rotating base 420 is mounted on the mounting platform 380 and is located on the same side of the mounting platform 380 as the pallet 22, and the first rotating axis O1 is along the vertical direction, and the second rotating axis O2 is along the horizontal direction.

The end effector 44 is used to release the cargo from the grasp and is mounted to the other end of the multi-dimensional mechanical joint 42. In this embodiment, the end effector 44 is a suction cup device, and the end effector 44 is not limited to the suction cup device according to the actual situation, and the end effector 44 adapted to the type of the goods can be configured according to the type of the goods, for example, the suction cup device is suitable for grabbing solid and flat-surface box-packed goods, and the gripper is suitable for grabbing goods with unstable shapes such as clothes.

The process of retrieving cargo from the cargo box stored by pallet 22 by cargo transfer assembly 40 is specifically as follows:

after the multi-dimensional mechanical joint 42 drives the end effector 44 to move into the pallet 22 or the container stored in the pallet 240, the end effector 44 grabs the goods, and the multi-dimensional mechanical joint 42 drives the end effector 44 to reset.

The process of depositing the removed cargo by the cargo transferring assembly 40 into the container stored by the pallet 22 or the container stored by the deck 240 is specifically as follows:

after the multi-dimensional mechanical joint 42 drives the end effector 44 to move to the position above the container stored in the layer 240 or the container stored in the pallet 22, the end effector 44 releases the goods so that the goods fall into the container stored in the layer 240 or the container stored in the pallet 22, and according to practical situations, for example, the goods are fragile goods, in order to avoid damage caused by falling, after the multi-dimensional mechanical joint 42 drives the end effector 44 to move to the position inside the container stored in the layer 240 or the container stored in the pallet 22, the end effector 44 releases the goods again so as to avoid damage caused by falling of the goods.

Referring to fig. 2 and 6, the cargo identifying assembly 60 includes a first cargo identifying device 62, a second cargo identifying device 64, and a third cargo identifying device 66.

The first cargo identification device 62 and the second cargo identification device 64 are used for identifying the cargo in the cargo box stored in the pallet 22.

The first cargo identification device 62 is fixedly mounted to the mounting platform 380. The first cargo recognition device 62 includes a first camera 620 and a camera support 622. The camera support 622 is rod-shaped, is located on the same side of the mounting platform 380 as the support plate 22, one end of the camera support 622 is fixedly mounted on the mounting platform 380, and the other end of the camera support 622 is higher than the support plate 22. The first camera 620 is mounted on the other end of the camera support 622, and is used for acquiring image information of goods in the cargo box stored in the pallet 22 so as to identify the goods in the cargo box stored in the pallet 22.

The second cargo recognition device 64 is fixedly mounted at the other end of the multi-dimensional mechanical joint 42 and moves together with the other end of the multi-dimensional mechanical joint 42. The second cargo identification device 64 includes a second camera. The second camera is mounted at the other end of the multi-dimensional mechanical joint 42 and moves along with the other end of the multi-dimensional mechanical joint 42, and is used for acquiring the image information of the goods in the container stored in the pallet 22 so as to identify the goods in the container stored in the pallet 22.

The second cargo identification device 64 is also used to identify cargo within the cargo box stored by the storage shelf 24. Specifically, the second camera moves along with the other end of the multi-dimensional mechanical joint 42, so as to acquire the image information of the cargo in the cargo box stored in the deck 240, so as to identify the cargo in the cargo box stored in the deck 240.

The third cargo identification device 66 is used to identify the cargo within the cargo box stored on the storage shelf. The third cargo identification device 66 includes a third camera 660. A plurality of third cameras 660 are mounted on the vertical support 19 in a distributed manner along the vertical direction, and each third camera 660 is used for acquiring the image information of the goods in the container stored in the corresponding laminate 240 so as to identify the goods in the container stored in the corresponding laminate 240. Each third camera 660 may hang from its corresponding beam 192 with its corresponding ply 240 below the beam 192.

Here, how each cargo recognition device (i.e., the first, second, and third cargo recognition devices described above) recognizes cargo within a cargo box will be described in detail. The above-described cargo image information includes SKU (stock level unit) information of the cargo, and position information of the cargo. The bar code containing SKU information is attached to the goods, the bar code containing the appointed SKU information is marked by scanning the bar code in the visual field of the camera, and the goods attached with the bar code are the goods to be taken out (in the container stored by the supporting plate) or the goods stored (in the container stored by the layer plate). Since the position of the cargo box stored in the pallet or the laminate is basically fixed, the position of the cargo to be accessed in the cargo box is determined according to the position of the marked bar code in the field of view of the camera, and at this time, the cargo identification device completes the operation of identifying the cargo in the cargo box.

The differences of the first, second and third cargo identifying devices are further described herein on the basis of the principles of the cargo identifying devices described above to identify cargo. The first cargo recognition device and the second cargo recognition device are both used for recognizing cargos in the cargo box stored by the supporting plate, but the first cargo recognition device is fixed on the mounting base, and under the condition that the positions of the cargos in the cargo box are scattered, the first camera of the first cargo recognition device can accurately acquire the position information of each cargo in the cargo box, but under the condition that the positions of the cargos in the cargo box are dense, the accuracy of acquiring the position information of each cargo in the cargo box by the first camera can be reduced. The third goods recognition device is fixed in the storage goods shelves, and similar to the first goods recognition device, when the goods position in the container that the plywood deposited is more scattered, the third camera of third goods recognition device can obtain the goods image information in the container comparatively accurately, and when the goods position in the container that the plywood deposited is comparatively concentrated, the third camera of third goods recognition device obtains the degree of accuracy of the positional information of each goods in the container and can decline. Therefore, the second cargo identification device is arranged at the other end of the mechanical arm and moves along with the other end of the mechanical arm, and the mechanical arm can drive the second cargo identification device to move so as to be close to each cargo in the cargo box, so that the accuracy of acquiring image information of each cargo in the cargo box by the second camera of the second cargo identification device is improved. Thus, in other embodiments, the second cargo identification device may be omitted in cases where the cargo positions within the cargo box are more discrete as previously described.

Because the first cargo identification device and the second cargo identification device are both used for identifying the cargoes in the container stored by the supporting plate, in order to improve the identification efficiency, the first cargo identification device identifies the cargoes in the container before the second cargo identification device, if the first cargo identification device has identified the position information and SKU information of the cargoes in the container (under the condition that the positions of the cargoes are scattered as described above), the second cargo identification device only needs to identify SKU information of the cargoes in the container according to the position information and SKU information provided by the first cargo identification device, and can determine the position information of the cargoes by finding matched SKU information without identifying the position information of the cargoes again. If the first cargo identification device does not identify the position information of the cargo, the second cargo identification device needs to identify the position information and SKU information of the cargo. The second cargo identifying device and the third cargo identifying device are used for identifying the cargo in the cargo box stored in the storage component, and the same manner as the cooperation manner of the first cargo identifying device and the second cargo identifying device is omitted herein.

The second cargo identifying device is further used for identifying SKU information of the cargoes grabbed by the end executing device to match with the appointed SKU information so as to judge whether the end executing device grabs wrong cargoes or not. Based on this, by disposing a plurality of the deck, it is also possible to select one of the plurality of deck for storing only the wrong cargo.

Example 2

Referring to fig. 7, embodiment 2 of the present application provides a transfer robot 200, which is substantially the same as the transfer robot 100 provided in embodiment 1, except for the mounting position of the cargo transferring assembly 40.

One side of one of the columns 190 facing away from the other column 190 is provided with a guide column that is guided in the vertical direction. The two guide posts are arranged in parallel and together serve to guide the movement of the cargo transferring assembly 40 in a vertical direction relative to the upright support 19.

The vertical support also includes a lift platform 70. The lifting platform 70 is provided with two clamping jaws, each clamping jaw is sleeved on a corresponding guide post, and the lifting platform 70 can move relative to the vertical support 19 along the vertical direction. The rotation base 420 is horizontally mounted to the elevating platform 70, and the first rotation axis O1 is disposed in the horizontal direction.

When the cargo transferring assembly 40 needs to take out the cargo from the container stored in the pallet 22 or needs to store the taken out cargo into the container stored in the pallet 22, the lifting platform 70 moves in the vertical direction, so that the cargo transferring assembly 40 supported by the lifting platform is located at the same height as the container stored in the pallet 22, and the cargo transferring assembly 40 is beneficial to taking out the cargo from the container stored in the pallet 22 or storing the taken out cargo into the container stored in the pallet 22.

It will be appreciated that the number of the cargo transferring assemblies 40 may be two, and that two cargo transferring assemblies 40 are disposed on both sides of the vertical support frame according to practical situations.

The cargo transferring assembly 40 is lifted by the lift platform 70 when it is at the same elevation as the container stored in the deck 240. The cargo transferring assembly 40, due to its mounting to the lift platform of the vertical support, is closer to the container in which the deck 240 is stored than in embodiment 1.

Example 3

Referring to fig. 8, embodiment 3 of the present application provides a transfer robot 300 substantially identical to the transfer robot 100 provided in embodiment 1, except that the telescopic arm arrangement of the cargo handling assembly 30 is removed and the cargo handling assembly 40 performs the function of accessing the cargo box, i.e., the cargo handling assembly 40 is used to retrieve the cargo box from one of the warehouse pallet and pallet 22, store it to the other, and retrieve the cargo from one of the cargo box stored in the pallet 22 and the cargo box stored in the storage pallet 24, and store it to the other.

End effector 44 includes a first end effector 440 and a second end effector 442. A first end effector 440 and a second end effector 442 are alternatively coupled to the other end of the multi-dimensional mechanical joint 42, the first end effector 440 being configured to grasp cargo and the second end effector 442 being configured to grasp cargo containers.

It will be appreciated that depending on the actual situation, the first end effector may also be used to grasp cargo containers, and that due to the different specifications of the cargo containers, the end effector may be adapted to the corresponding model, and similarly, the second end effector may also be used to grasp cargo.

The first end effector 440 is a suction cup device for sucking a load. The second end effector 442 is a gripper for gripping a container. The first end effector 440 or the second end effector 442 may also be replaced with an effector such as a hook, a shovel, or the like, depending on the particular situation.

The cargo box identification assembly may be omitted and in this embodiment the cargo box identification function is replaced by the second cargo identification device 64.

The mounting platform 380 is provided with a first storage rack 3800 for storing the first end effector 440 or the second end effector 442 and a second storage rack 3802 for storing the first end effector 440 or the second end effector 442. By providing the first and second storage brackets 3800,3802, the first and second end effectors 440, 442 can be stored as being replaced.

The mounting platform 380 is raised and lowered in a vertical direction such that the cargo transfer assembly 40 supported by the mounting platform 380 is at the same height as the cargo container stored by the warehouse rack or tier 240, and the mounting platform 380 is rotated about the vertical direction such that the cargo transfer assembly 40 is positioned adjacent to the cargo container stored by the warehouse rack or tier 240, the cargo transfer assembly 40 is at the same height as the cargo container stored by the warehouse rack or tier 240, and the cargo container stored adjacent to the warehouse rack or tier 240, both facilitate the cargo transfer assembly 40 to remove the cargo container from the warehouse rack or storage rack 24, or to store the cargo container to the warehouse rack or storage rack 24.

The process of retrieving and depositing containers stored on warehouse racks or storage racks 24 to pallet 22 by cargo transfer assembly 40 is specifically as follows:

the multi-dimensional mechanical joint 42 stores the first end effector 442 to the first storage bracket 3800 or the second storage bracket 3802, and the multi-dimensional mechanical joint 42 mounts the second end effector 440 stored in the first storage bracket 3800 or the second storage bracket 3802. The multi-dimensional mechanical joints 42 drive the second end effector 442 to access the containers stored on the warehouse racks or pallets 240, the second end effector 442 grabs the containers stored on the warehouse racks or pallets 240, the multi-dimensional mechanical joints 42 drive the second end effector 442 to access the pallet 22, and the second end effector 442 releases the containers to store the containers on the pallet 22.

The process of the cargo transferring assembly 40 retrieving a container stored on pallet 22 and storing it to a warehouse rack or to a storage rack empty is specifically as follows:

the multi-dimensional mechanical joint 42 stores the first end effector 442 to the first storage bracket 3800 or the second storage bracket 3802, and the multi-dimensional mechanical joint 42 mounts the second end effector 440 stored in the first storage bracket 3800 or the second storage bracket 3802. The multi-dimensional mechanical joint 42 drives the second end effector 442 to access the container stored on the pallet 22, and the second end effector 442 grips the container stored on the pallet 24. The multi-dimensional mechanical joint 42 drives the second end effector 442 toward the void of the warehouse pallet or ply 240 and the second end effector 442 releases the container to store the container in the void of the warehouse pallet or ply 240. The multi-dimensional mechanical joint 42 drives the second end effector 442 to reset.

The process of retrieving cargo from the cargo box stored by pallet 22 or the cargo box stored by storage rack 24 by cargo transfer assembly 40 is specifically as follows:

the multi-dimensional mechanical joint 42 stores the second end effector 442 in the first storage bracket 3800 or the second storage bracket 3802, the multi-dimensional mechanical joint 42 is assembled with the first end effector 440 stored in the first storage bracket 3800 or the second storage bracket 3802, the multi-dimensional mechanical joint 42 drives the first end effector 440 to move into the container in which the pallet 22 is stored or the container in which the ply 240 is stored, the first end effector 440 grabs the cargo, and the multi-dimensional mechanical joint 42 drives the first end effector 440 to protrude from the container.

the multi-dimensional mechanical joints 42 drive the first end effector 42 to move over the pallet 22 or the pallet 240 to release the cargo so that the cargo falls into the pallet 22 or the pallet 240.

Compared with the prior art, in the transfer robots 100,200, 300 provided in embodiment 1, embodiment 2 and embodiment 3 of the present application, through configuration of the transfer system, the goods can be taken out from the container stored by the pallet, and after the goods are taken out, the container is returned to the warehouse goods shelf, so that the goods taking mode is flexible and the efficiency is higher.

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

Claims

1. A transfer robot, comprising:

a vertical bracket;

the supporting plate is used for storing the container; and

a handling system mounted to the vertical support, the pallet mounted to the handling system for retrieving containers from one of the warehouse racks and the pallet and storing to the other, and/or for retrieving goods from within containers stored by the pallet;

The carrying system can move along the vertical direction relative to the vertical bracket;

the handling system includes a cargo transfer assembly;

the transfer robot further comprises a second cargo identification device;

the second goods identification device is arranged on the goods transfer assembly and is used for identifying goods in the storage goods shelf, the goods in the goods box stored by the supporting plate and/or the goods taken out by the goods transfer assembly and/or identifying the goods box;

the transfer robot further comprises a storage shelf, wherein the storage shelf is used for storing containers; the goods transferring assembly is used for taking out goods from the container stored in the storage shelf and storing the goods into the container stored in the supporting plate, and/or is also used for storing the goods taken out from the container stored in the supporting plate into the container stored in the storage shelf;

the handling system further comprises a fork;

the pallet is supported by the vertical supports, the pallet is mounted to the pallet, and the pallet is used for taking a container out of one of a warehouse shelf and the pallet and storing the container to the other, and/or is used for taking the container out of one of the storage shelf and the pallet and storing the container to the other;

The goods transfer assembly is installed in the fork or the vertical support, the fork comprises an installation platform, and the supporting plate and the goods transfer assembly are installed in the installation platform.

2. The transfer robot of claim 1, wherein the upright support comprises a lifting platform;

the lifting platform can move along the vertical direction, and the cargo transferring assembly is installed on the lifting platform.

3. The transfer robot of claim 1, wherein the cargo transferring assembly comprises a multi-dimensional mechanical joint and an end effector;

the end effector is mounted on the multi-dimensional mechanical joint, the multi-dimensional mechanical joint is used for driving the end effector to rotate at multiple angles and move in multiple directions, and the end effector is used for grabbing goods.

4. A transfer robot according to claim 3, wherein the second cargo identification means is mounted to the multi-dimensional mechanical joint for identifying the storage racks, the cargo in the containers stored by the pallets and/or the cargo removed by the cargo transfer assembly;

the multi-dimensional mechanical joint is used for driving the second cargo identification device and the end execution device to move in multiple angles and multiple directions.

5. The transfer robot of any one of claims 1 to 4, further comprising a container identification assembly;

the container identification assembly is mounted on the mounting platform and is used for identifying the container.

6. The transfer robot of claim 1, wherein the fork comprises a telescoping arm, a fixed pushrod and a movable pushrod;

the telescopic arm can extend in the horizontal direction, the fixed push rod and the movable push rod are both arranged on the telescopic arm, and the fixed push rod and the movable push rod extend together when the telescopic arm extends;

the fixed push rod is used for pushing the container when the telescopic arm stretches out;

the movable push rod can be retracted into the telescoping arm and is used for pulling the cargo box when the telescoping arm is retracted.

7. The transfer robot of claim 1, wherein the handling system comprises a cargo transfer assembly and a mounting platform;

the mounting platform is supported by the vertical bracket and is provided with the cargo transferring assembly and the supporting plate;

the cargo transferring assembly is used for taking out a cargo box from one of a warehouse goods shelf and the pallet and storing the cargo box to the other, and/or is used for taking out the cargo box stored by the pallet and one of the cargo boxes stored by the storage goods shelf and storing the cargo box to the other.

8. The transfer robot of claim 7, wherein the cargo transferring assembly comprises a multi-dimensional mechanical joint and an end effector;

the end effector is mounted on the multi-dimensional mechanical joint, the multi-dimensional mechanical joint is used for driving the end effector to rotate at multiple angles and move in multiple directions, and the end effector is used for grabbing goods or containers.

9. The transfer robot of claim 8, wherein the end effector comprises a first end effector and a second end effector;

the first end effector and the second end effector are interchangeably coupled to the multi-dimensional mechanical joint;

the first end effector is used for grabbing goods or containers;

the second end effector is for gripping cargo or containers.

10. The transfer robot of claim 9, wherein the mounting platform is provided with a first storage rack and a second storage rack;

the first storage bracket is used for storing the first end effector or the second end effector;

the second storage rack is used for storing the first end effector or the second end effector.

11. The transfer robot according to claim 9, wherein,

12. The transfer robot according to any one of claims 1 to 11, further comprising first cargo identification means;

the first goods identification device is arranged on the mounting platform and is used for identifying goods in a container stored by the supporting plate.

13. The transfer robot of claim 1, further comprising a third cargo identification device;

the third goods identification device is arranged on the storage shelf and used for identifying goods in the container stored in the storage shelf.

14. The transfer robot of claim 1, wherein the transfer system further comprises a mounting base and a rotational drive;

the mounting base is mounted on the vertical support, and the mounting platform is mounted on the mounting base;

the rotary driving device is arranged on the mounting base and connected with the mounting platform, and is used for driving the mounting platform to rotate around the vertical direction relative to the mounting base.

15. The transfer robot of claim 14, wherein the mounting base is movable in a vertical direction relative to the upright support;

the carrying system further comprises a lifting driving device;

the lifting driving device is arranged on the vertical support and connected with the mounting base, and the lifting driving device is used for driving the mounting base to move relative to the vertical support along the vertical direction.

16. The transfer robot of claim 15, wherein the storage shelves comprise laminate panels;

a plurality of the ply is distributed in a vertical direction, each ply for receiving a cargo box.

17. The transfer robot of claim 16, further comprising a plurality of third cargo identification devices;

the third cargo identification devices are arranged on the vertical support in a distributed mode along the vertical direction, and each third cargo identification device is used for acquiring a cargo in a cargo box stored by the corresponding laminate.

18. The transfer robot of claim 1, further comprising a movement assembly;

the moving assembly carries the vertical support and is used for moving on the ground of the warehouse.