CN114426163A

CN114426163A - Transfer robot, robot equipment and warehousing system

Info

Publication number: CN114426163A
Application number: CN202210108070.3A
Authority: CN
Inventors: 邢志伟; 李泽承
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2022-01-28
Filing date: 2022-01-28
Publication date: 2022-05-03

Abstract

The invention discloses a transfer robot, a robot device and a warehousing system. The transfer robot includes: the first moving chassis, the first vertical frame and the first taking and placing device are arranged on the first moving chassis, the first taking and placing device is arranged on the first vertical frame and used for taking and placing goods, and the first moving chassis is provided with a channel for penetrating through the first moving chassis. The transfer robot of the invention has high transfer efficiency.

Description

Transfer robot, robot equipment and warehousing system

Technical Field

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

Background

The intelligent storage is a link in the logistics process, the application of the intelligent storage ensures the speed and the accuracy of each link of the goods warehouse management, and the goods handling is usually completed manually or by using simple mechanical equipment. In the related art, a driving lane for the transfer robot to shuttle between adjacent shelves is provided, but when one transfer robot exists in the driving lane, the range of motion of other mobile devices, such as other robots, traveling in the lane is limited, and the efficiency of cargo transfer is reduced.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.

Therefore, the embodiment of the invention provides a transfer robot for improving the cargo transfer efficiency.

The embodiment of the invention also provides the robot equipment.

The embodiment of the invention also provides a storage system.

The transfer robot of the embodiment of the invention comprises: the first moving chassis, the first vertical frame and the first taking and placing device are arranged on the first moving chassis, the first taking and placing device is arranged on the first vertical frame and used for taking and placing goods, and the first moving chassis is provided with a channel for penetrating through the first moving chassis.

According to the transfer robot provided by the embodiment of the invention, the first moving chassis is provided with the channel, so that other devices can pass through the first moving chassis through the channel, and the transfer robot and other devices can share one driving roadway without mutual interference, so that the transfer efficiency of goods can be improved, and the storage space utilization rate is higher.

In some embodiments, the first moving chassis includes a chassis body, a first moving portion and a second moving portion, the first moving portion and the second moving portion are spaced apart from each other at a lower end of the chassis body, and the passage is provided in the chassis body and extends between the first moving portion and the second moving portion.

In some embodiments, the channel is generally inverted U-shaped.

In some embodiments, the chassis body has a substantially inverted U-shape, and the first moving portion is provided at a lower end of a first side wall of the chassis body, and the second moving portion is provided at a lower end of a second side wall of the chassis body.

In some embodiments, the projections of the first moving portion and the second moving portion on the horizontal plane are both track-shaped, the projection area of the first moving portion on the horizontal plane is larger than the area of the lower end surface of the first side wall of the chassis body, and the projection area of the second moving portion on the horizontal plane is larger than the area of the lower end surface of the second side wall of the chassis body.

In some embodiments, the first standing frame is a substantially inverted U-shaped frame, the lower end of the first side wall of the first standing frame is connected to the first moving portion, the lower end of the second side wall of the first standing frame is connected to the second moving portion, and the first standing frame and the chassis body are arranged side by side and connected to each other.

In some embodiments, the first pick-and-place device is movable in an up-and-down direction relative to the first stand.

In some embodiments, the transfer robot further comprises a first lifting device provided on the first stand for moving the first pick-and-place device in an up-and-down direction with respect to the first stand.

In some embodiments, the transfer robot further comprises a first buffer device connected to the first stand, and the first buffer device has a first buffer position for buffering the goods picked and placed by the first pick and place device.

In some embodiments, the first buffer bit is a plurality of bits, and the plurality of bits are arranged at intervals in the vertical direction.

In some embodiments, the first buffer device includes a plurality of first buffer boards, the plurality of first buffer boards are arranged on the first vertical frame at intervals in the vertical direction, an upper surface of each first buffer board forms one first buffer position, the first buffer board is located on a first side of the first vertical frame, and the first pick-and-place device is located on a second side of the first vertical frame opposite to the first side.

A robot apparatus according to another embodiment of the present invention includes: a transfer robot according to any one of the embodiments described above; a latent robot passable through the tunnel through the transfer robot.

According to the robot equipment provided by the embodiment of the invention, the first moving chassis is provided with the channel, so that the latent robot can pass through the first moving chassis through the channel, and further the transfer robot and the latent robot can share one driving tunnel without mutual interference, thereby improving the transfer efficiency of goods and ensuring that the storage space utilization rate is higher.

In some embodiments, the latent robot includes a second moving chassis, a second stand disposed on the second moving chassis, and a second pick-and-place device disposed on the second stand for picking and placing goods.

In some embodiments, the second pick-and-place device is movable in an up-and-down direction relative to the second stand.

In some embodiments, the latent robot further comprises a second buffer device connected to the second vertical frame, and the second buffer device has a second buffer position for buffering the goods picked and placed by the second pick-and-place device.

A warehousing system according to yet another embodiment of the invention includes: the goods shelves are provided with driving tunnels between every two adjacent goods shelves; a transfer robot as in any one of the above embodiments, the transfer robot being configured to move along the roadway to take and/or place goods from/onto the racks.

According to the warehousing system provided by the embodiment of the invention, the first moving chassis is provided with the channel, so that other transporting devices can pass through the first moving chassis through the channel, and further, the transporting robot and other transporting devices can share one driving roadway without mutual interference, so that the transporting efficiency of goods can be improved, and the space utilization rate of warehousing is higher.

In some embodiments, the warehousing system further comprises a latent robot for moving along the driving lane and passing through the passage through the transfer robot.

In some embodiments, the shelf comprises a buffer area and a storage area, the buffer area is located below the storage area, the latent robot is used for taking and placing the goods in the buffer area, and the transfer robot is used for taking and placing the goods in the storage area.

In some embodiments, the cache area and the storage area are both multi-layered.

In some embodiments, the concealed robot has cargo placed thereon and/or removed therefrom by the transfer robot.

Drawings

Fig. 1 is a schematic view of a transfer robot according to an embodiment of the present invention.

Fig. 2 is a schematic view of a latent robot according to an embodiment of the present invention.

FIG. 3 is a schematic diagram of a warehousing system according to an embodiment of the invention.

Fig. 4 is a bottom view of the transfer robot according to the embodiment of the present invention.

Reference numerals:

10. a transfer robot;

11. a first moving chassis; 111. a chassis body; 112. a channel; 113. a first moving part; 114. a second moving part; 12. a first stand; 13. a first pick-and-place device; 14. a first cache device; 141. a first cache board; 1411. a first cache bit;

20. a latent robot;

21. a second mobile chassis; 22. a second stand; 23. a second cache device; 231. a second cache bit;

30. a shelf;

31. driving a roadway; 32. a buffer area; 33. and a storage area.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the present invention, it should be noted that the term "cargo" is to be understood in a broad sense and means articles that can be handled, i.e. including the cargo itself that can be handled individually, such as a cargo with an outer wrapping, liquid cargo contained in a container, as well as various cargo containers for containing cargo, such as pallets, containers and the like, and various cargo containers for containing cargo, such as containers for containing cargo.

A transfer robot 10, a robot apparatus, and a stocker system according to an embodiment of the present invention will be described with reference to fig. 1 to 4.

As shown in fig. 1, a transfer robot 10 according to an embodiment of the present invention includes a first moving chassis 11, a first stand 12, and a first pick-and-place device 13, where the first stand 12 is disposed on the first moving chassis 11, the first pick-and-place device 13 is disposed on the first stand 12 for picking and placing goods, and the first moving chassis 11 is provided with a passage 112 for passing through the first moving chassis 11.

It will be appreciated that the tunnel 112 is used to allow other moving devices, such as other mobile robots, to pass through the floor, i.e., other moving devices may pass through the transfer robot 10 via the tunnel 112, thereby increasing the number and density of robots and increasing efficiency. Optionally, the length direction of the passage 112 coincides with the traveling direction of the first moving chassis 11. For example, when the first moving chassis 11 moves in the front-rear direction, the length direction of the passage 112 coincides with the front-rear direction, so that it is possible to facilitate the passage of other ground devices such as the incubation robot 20 through the passage 112.

According to the transfer robot 10 of the embodiment of the present invention, since the first moving chassis 11 is provided with the passage 112, other devices can pass through the first moving chassis 11 through the passage 112, and the transfer robot 10 and other devices can share one driving lane 31 without mutual interference, so that the transfer efficiency of goods can be improved, and the space utilization rate of warehousing is high.

Alternatively, the lower end of the first moving chassis 11 has driving wheels (not shown), and the transfer robot 10 of the embodiment of the present invention can perform translation and rotation of the first moving chassis 11 by rotation of the driving wheels, so that flexibility in moving the first moving chassis 11 can be improved.

It can be understood that, as shown in fig. 3, since the driving lanes 31 between the shelves 30 are narrow, the transfer robot 10 with the above structure can facilitate other robots to drive on the same lane as the transfer robot 10, so as to improve the utilization rate of the driving lanes 31 and further enlarge the storage space of the shelves 30.

In some embodiments, as shown in fig. 1, the first moving chassis 11 includes a chassis body 111, a first moving portion 113 and a second moving portion 114, the first moving portion 113 and the second moving portion 114 are spaced apart from each other at a lower end of the chassis body 111, and the passage 112 is provided in the chassis body 111 and extends between the first moving portion 113 and the second moving portion 114. It can be understood that, as shown in fig. 1, the first moving portion 113 and the second moving portion 114 are disposed at the lower end of the chassis body 111 at intervals in the left-right direction, and the first moving portion 113 and the second moving portion 114 may be driven by a driving wheel or a crawler belt, etc. to move the chassis body 111 in the front-back direction. The passage 112 is disposed in the chassis body 111 and extends between the first moving portion 113 and the second moving portion 114, and it can be understood that a part of the passage 112 is formed on the chassis body 111, and another part of the passage 112 is formed between the first moving portion 113 and the second moving portion 114, so as to facilitate the processing and manufacturing of the passage 112, and make the structure of the transfer robot 10 more reasonable and the using effect better.

Alternatively, as shown in fig. 1, the channel 112 is generally inverted U-shaped, in other words, the cross-section of the channel 112 orthogonal to the front-to-rear direction is generally n-shaped. That is, the lower end of the passage 112 extends downward to the ground so that other robots pass through the passage 112, and the upper end of the passage 112 is of a closed structure so as to leave an installation space in the chassis body 111 so as to install the transmission or control components of the first moving chassis 11 in the chassis body 111, thereby further improving the rationality of the design of the passage 112 and making the structural layout of the transfer robot 10 more reasonable.

Alternatively, as shown in fig. 1, the chassis body 111 has a substantially inverted U shape, that is, a cross section of the chassis body 111 orthogonal to the front-rear direction has a substantially inverted U shape, the first moving portion 113 is provided at a lower end of a first side wall of the chassis body 111, and the second moving portion 114 is provided at a lower end of a second side wall of the chassis body 111. It can be understood that the cross-sectional outer circumferential profile of the chassis body 111 is n-shaped, the left side of the chassis body 111 has a first sidewall, and the right side of the chassis body 111 has a second sidewall.

In other words, the left outer wall surface of the chassis body 111 and the left inner wall surface of the passage 112 define a first side wall of the chassis body 111, and the right outer wall surface of the chassis body 111 and the right inner wall surface of the passage 112 define a second side wall of the chassis body 111. Because the first moving portion 113 is disposed at the lower end of the first side wall of the chassis body 111, and the second moving portion 114 is disposed at the lower end of the second side wall of the chassis body 111, the accommodating space in the first side wall of the chassis body 111 and the accommodating space in the second side wall of the chassis body 111 can be fully utilized, so that the first moving chassis 11 of the transfer robot 10 has a compact structural layout, a reasonable design, and a high space utilization rate.

Alternatively, two driving wheels are provided, one driving wheel is provided at the lower end of the first moving portion 113, and the other driving wheel is provided at the lower end of the second moving portion 114, and the two driving wheels can move at a different speed to achieve steering and translation of the chassis body 111. Further, the lower end of the first moving part 113 and the lower end of the second moving part 114 may be provided with a driven wheel to assist the rotation of the chassis body 111, for example, the driven wheel is a universal wheel, so that the moving effect of the first moving chassis 11 may be better.

In some embodiments, as shown in fig. 1 and 4, the projections of the first moving part 113 and the second moving part 114 on the horizontal plane are both racetrack-shaped, the projection area of the first moving part 113 on the horizontal plane is larger than the area of the lower end surface of the first side wall of the chassis body 111, and the projection area of the second moving part 114 on the horizontal plane is larger than the area of the lower end surface of the second side wall of the chassis body 111. It can be understood that a projected area of the lower end surface of the first moving part 113 toward the ground is larger than a projected area of the lower end surface of the first sidewall of the chassis body 111 toward the ground. The projected area of the lower end surface of the second moving portion 114 facing the ground is larger than the projected area of the lower end surface of the second side wall of the chassis body 111 facing the ground, so that the transfer robot 10 can operate more stably and is not prone to rollover, and the reliability of the transfer robot 10 during operation is greatly improved.

In some embodiments, as shown in fig. 1, the first standing frame 12 is a substantially inverted U-shaped frame, the lower end of the first side wall of the first standing frame 12 is connected to the first moving portion 113, the lower end of the second side wall of the first standing frame 12 is connected to the second moving portion 114, and the first standing frame 12 and the chassis body 111 are arranged side by side and connected to each other. For example, the first stand 12 is arranged side by side with the chassis body 111 in the front-rear direction, and it is understood that the lower end of the first side wall of the first stand 12 and the lower end of the second side wall of the first stand 12 are connected to the first moving portion 113 and the second moving portion 114, respectively, and one side of the first side wall of the first stand 12 and one side of the second side wall of the first stand 12 are connected to the chassis body 111, so that the reliability of the connection of the first stand 12 can be improved, and the strength of the first stand 12 can be made higher.

Alternatively, as shown in fig. 1, the first pick-and-place device 13 is movable in the up-and-down direction with respect to the first stand 12. In particular, the first pick-and-place device 13 has a first telescopic member (not shown) that can be moved in a direction away from and towards the first stand 12 to pick and place goods.

For example, the transfer robot 10 further includes a first lifting device (not shown) provided on the first stand 12 for moving the first pick-and-place device 13 in the up-down direction with respect to the first stand 12. It can be understood that, when the first pick-and-place device 13 needs to move in the up-and-down direction to pick and place the goods, the first pick-and-place device 13 may be driven by the first lifting device to move, for example, the first lifting device may be a chain wheel transmission structure, a ball screw transmission structure, an air cylinder or a hydraulic cylinder.

Optionally, as shown in fig. 1, the transfer robot 10 further includes a first buffer device 14, the first buffer device 14 is connected to the first standing frame 12, and the first buffer device 14 has a first buffer position 1411 for buffering the goods picked and placed by the first pick-and-place device 13. It can be understood that, when the transfer robot 10 needs to transfer goods on the shelf 30, the first telescopic component of the first pick-and-place device 13 may extend in a direction away from the first vertical frame 12 to pick up the goods, and after the goods are picked up, the first telescopic component of the first pick-and-place device 13 may move in a direction close to the first vertical frame 12, so as to place the goods on the first pick-and-place device 13 on the first buffer position 1411, so that the transfer robot 10 may transfer more goods, and the work efficiency of the transfer robot 10 is improved.

In some embodiments, as shown in fig. 1, the first cache bits 1411 are multiple, and the multiple first cache bits 1411 are arranged at intervals along the up-down direction for caching more goods.

Specifically, as shown in fig. 1, the first buffer device 14 includes a plurality of first buffer plates 141, the plurality of first buffer plates 141 are arranged on the first vertical frame 12 at intervals in the vertical direction, an upper surface of each first buffer plate 141 forms a first buffer position 1411, the first buffer plates 141 are located on a first side of the first vertical frame 12, and the first pick-and-place device 13 is located on a second side of the first vertical frame 12 opposite to the first side. It can be understood that the first pick-and-place device 13 is located at the front side of the first standing frame 12, the first buffer board 141 is located at the rear side of the first standing frame 12, the first moving chassis 11 is located at the rear side of the first standing frame 12, and the first buffer board 141 is located above the first moving chassis 11, so that the structure of the transfer robot 10 can be more compact, the layout is more reasonable, and the use effect of the transfer robot 10 is better.

As shown in fig. 1 to 3, a robot apparatus according to another embodiment of the present invention includes a transfer robot 10 and a latent robot 20, the transfer robot 10 of the embodiment of the present invention, the latent robot 20 being passable through the transfer robot 10 through a tunnel 112.

According to the robot apparatus of the embodiment of the present invention, since the first moving chassis 11 is provided with the passage 112, the hidden robot 20 can pass through the first moving chassis 11 through the passage 112, and the transfer robot 10 and the hidden robot 20 can share one driving lane 31 without mutual interference, so that the transfer efficiency of goods can be improved, and the space utilization rate of warehousing is high.

It can be understood that, because the driving lanes 31 between the shelves 30 are narrow, the robot device with the above structure can facilitate other robots to drive on the same lane with the transfer robot 10, so that the utilization rate of the driving lanes 31 is improved, and the storage space of the shelves 30 is further enlarged.

Alternatively, as shown in fig. 2, the latent robot 20 includes a second moving chassis 21, a second stand 22, and a second pick-and-place device (not shown), the second stand 22 being provided on the second moving chassis 21, and the second pick-and-place device being provided on the second stand 22 for picking and placing the goods. It can be understood that the latent robot 20 can handle the goods at the lower position by the second pick-and-place device, and the transfer robot 10 can handle the goods at the higher position by the first pick-and-place device 13, which cooperate with each other to further improve the efficiency of goods handling.

Alternatively, as shown in fig. 2, the second pick-and-place device is movable in the up-and-down direction with respect to the second stand 22. In particular, the second pick-and-place device has a second telescopic member (not shown) that can be moved in a direction away from and towards the second stand 22 to pick and place the goods.

For example, the transfer robot 10 further includes a second lifting device (not shown) provided on the second stand 22 for moving the second pick-and-place device in the up-and-down direction with respect to the second stand 22. It can be understood that, when the second pick-and-place device needs to move in the up-and-down direction to pick and place the goods, the second pick-and-place device can be driven by the second lifting device to move, for example, the second lifting device can be a chain wheel transmission structure, a ball screw transmission structure, a cylinder or a hydraulic cylinder, etc.

Optionally, as shown in fig. 2, the latent robot 20 further includes a second buffer device 23, the second buffer device 23 is connected to the second vertical frame 22, and the second buffer device 23 has a second buffer position for buffering the goods picked and placed by the second pick and place device. It can be understood that, when the latent robot 20 needs to transport the goods on the shelf 30, the second telescopic component of the second pick-and-place device can extend in the direction away from the second vertical frame 22 to pick up the goods, and after the goods are picked up, the second telescopic component of the second pick-and-place device can move in the direction close to the second vertical frame 22, so that the goods on the second pick-and-place device can be placed on the second buffer position, and the transport robot 10 can transport more goods, thereby improving the work efficiency of the transport robot 10. For example, the second buffer position is multiple, and multiple second buffer positions are arranged at intervals along the up-down direction for buffering more goods.

As shown in fig. 1 to 3, a stocker system according to another embodiment of the present invention includes a transfer robot 10 and a plurality of shelves 30, and a driving lane 31 is provided between adjacent shelves 30. The transfer robot 10 is a transfer robot 10 of an embodiment of the present invention, and the transfer robot 10 is configured to move along a travel lane 31 to take goods from the racks 30 and/or place goods on the racks 30. Optionally, the stocker system further includes a latent robot 20, the latent robot 20 being adapted to move along the driving lane 31 and being passable through the transfer robot 10 through the passage 112.

According to the warehousing system of the embodiment of the invention, since the first mobile chassis 11 is provided with the channel 112, the latent robot 20 can pass through the first mobile chassis 11 through the channel 112, and further the transfer robot 10 and the latent robot 20 can share one driving lane 31 without mutual interference, so that the transfer efficiency of goods can be improved, and the space utilization rate of the warehousing system is high.

It can be understood that the warehousing system of the embodiment of the present invention may combine the advantage of the rapid operation of the latent robot 20, the shelf 30 is not required to be modified, the cost for constructing the shelf 30 is reduced, the transportation robot 10 and the latent robot 20 do not need to separately provide the driving tunnel 31, so as to improve the overall storage efficiency of the warehousing system, and the transportation robot 10 and the latent robot 20 may simultaneously transport multiple boxes of goods, so as to improve the transport efficiency of the transportation robot 10 and the latent robot 20.

Alternatively, the rack 30 includes a buffer area 22 and a storage area 23, the buffer area 22 is located below the storage area 23, the latent robot 20 is used to take and place the goods in the buffer area 22, and the transfer robot 10 is used to take and place the goods in the storage area 23. Optionally, the buffer area 22 and the storage area 23 are both multi-layered. For example, 1-3 levels below the shelf 30 may be the buffer area 22, and more than 3 levels of the shelf 30 may be the storage area 23. When the warehousing system is in operation, the latent robot 20 can pick and place the goods in the buffer area 22, the transfer robot 10 can pick and place the goods in the storage area 23, and the two robots are matched with each other to improve the transfer efficiency of the goods.

In another embodiment, the hidden robot 20 places and/or removes goods thereon and/or therefrom by the transfer robot 10. It is understood that the transfer robot 10 may directly place the goods transferred by the transfer robot onto the hidden robot 20, or the transfer robot 10 takes the goods from the hidden robot 20, thereby improving the closeness of the fit of the two robots, resulting in higher transfer efficiency of the goods. For example, when the transfer robot 10 and the hidden robot 20 are located at the same position, the transfer robot 10 may perform a synchronous operation, and may directly place one or more containers of goods on the hidden robot 20.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" and the like mean that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A transfer robot, characterized by comprising: the first moving chassis, the first vertical frame and the first taking and placing device are arranged on the first moving chassis, the first taking and placing device is arranged on the first vertical frame and used for taking and placing goods, and the first moving chassis is provided with a channel for penetrating through the first moving chassis.

2. The transfer robot of claim 1, wherein the first moving chassis includes a chassis body, a first moving portion and a second moving portion, the first moving portion and the second moving portion being provided at a lower end of the chassis body at an interval, the passage being provided in the chassis body and extending between the first moving portion and the second moving portion.

3. The transfer robot of claim 2, wherein the channel is generally inverted U-shaped.

4. The transfer robot of claim 2, wherein the chassis body is substantially inverted U-shaped, and the first moving portion is provided at a lower end of a first side wall of the chassis body, and the second moving portion is provided at a lower end of a second side wall of the chassis body.

5. The transfer robot of claim 4, wherein the first moving part and the second moving part each have a racetrack-shaped projection on a horizontal plane, and wherein a projected area of the first moving part on the horizontal plane is larger than an area of a lower end surface of the first side wall of the undercarriage body, and a projected area of the second moving part on the horizontal plane is larger than an area of a lower end surface of the second side wall of the undercarriage body.

6. The transfer robot of claim 4, wherein the first stand is a substantially inverted U-shaped frame, a lower end of a first side wall of the first stand is connected to the first moving portion, a lower end of a second side wall of the first stand is connected to the second moving portion, and the first stand and the chassis body are arranged side by side and connected to each other.

7. A transfer robot according to any one of claims 1-6, wherein the first pick-and-place device is movable in an up-and-down direction with respect to the first stand.

8. The transfer robot of claim 7, further comprising a first lifting device provided on the first stand for moving the first pick-and-place device in an up-and-down direction with respect to the first stand.

9. The transfer robot of any one of claims 1 to 8, further comprising a first buffer device connected to the first stand, the first buffer device having a first buffer location for buffering the goods picked and placed by the first pick and place device.

10. The transfer robot of claim 9, wherein the first buffer position is a plurality of first buffer positions arranged at intervals in a vertical direction.

11. The transfer robot of claim 10, wherein the first buffer device includes a plurality of first buffer plates that are provided at intervals in a vertical direction on the first vertical frame, an upper surface of each of the first buffer plates constitutes one of the first buffer positions, the first buffer plate is located on a first side of the first vertical frame, and the first pick-and-place device is located on a second side of the first vertical frame opposite to the first side.

12. A robotic device, comprising:

a transfer robot according to any one of claims 1 to 11;

a latent robot passable through the tunnel through the transfer robot.

13. The robotic device of claim 12, wherein the latent robot includes a second mobile chassis, a second stand disposed on the second mobile chassis, and a second pick-and-place device disposed on the second stand for picking and placing goods.

14. A robotic device according to claim 12, wherein the second pick-and-place device is movable in an up-and-down direction relative to the second stand.

15. The robotic device of claim 14, wherein the latent robot further comprises a second buffer device coupled to the second riser, the second buffer device having a second buffer location for buffering the cargo picked and placed by the second pick and place device.

16. A warehousing system, comprising:

the goods shelves are provided with driving tunnels between every two adjacent goods shelves;

a transfer robot as claimed in any one of claims 1 to 11, for moving along the drive lane for taking goods from and/or placing them onto the racks.

17. The warehousing system of claim 16, further comprising a latent robot for moving along the roadway and traversable through the aisle through the transfer robot.

18. The warehousing system of claim 17 wherein said shelves comprise a buffer and a storage area, said buffer being located below said storage area, said incubation robot for accessing said buffer and said transfer robot for accessing said storage area.

19. The warehousing system of claim 18, wherein said cache area and said storage area are both multi-tiered.

20. The warehousing system of claim 17, characterized in that said latent robot has goods placed thereon and/or removed therefrom by said transfer robot.