CN114890034A - Handling device and warehousing system - Google Patents

Handling device and warehousing system Download PDF

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Publication number
CN114890034A
CN114890034A CN202210630320.XA CN202210630320A CN114890034A CN 114890034 A CN114890034 A CN 114890034A CN 202210630320 A CN202210630320 A CN 202210630320A CN 114890034 A CN114890034 A CN 114890034A
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CN
China
Prior art keywords
clamping
assembly
article
telescopic arm
article container
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202210630320.XA
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Chinese (zh)
Other versions
CN114890034B (en
Inventor
赵虎
王琨
田国伟
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Beijing Jingdong Zhenshi Information Technology Co Ltd
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Beijing Jingdong Zhenshi Information Technology Co Ltd
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Priority to CN202210630320.XA priority Critical patent/CN114890034B/en
Publication of CN114890034A publication Critical patent/CN114890034A/en
Application granted granted Critical
Publication of CN114890034B publication Critical patent/CN114890034B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/3412—Sorting according to other particular properties according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/025—Boxes

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

The embodiment of the application discloses handling device and warehouse system. The carrying device is used for carrying the article container placed on the goods shelf, the article container is used for containing an article, and one embodiment of the carrying device comprises the following components: the telescopic plate and the clamping component; wherein, press from both sides and embrace the subassembly and include at least: the clamping device comprises a first telescopic arm, a second telescopic arm, a first clamping jaw and a second clamping jaw, wherein the first telescopic arm and the second telescopic arm are oppositely arranged, and the first clamping jaw is connected with the extending tail end of the first telescopic arm and the extending tail ends of the second clamping jaw and the second telescopic arm; and the expansion plate is used for supporting the article container, wherein the expansion plate is connected between the first expansion arm and the second expansion arm and positioned at the bottoms of the first clamping jaw and the second clamping jaw.

Description

Handling device and warehousing system
Technical Field
The embodiment of the application relates to the technical field of logistics, in particular to the technical field of intelligent warehousing, and specifically relates to a carrying device and a warehousing system.
Background
Currently, the types of picking systems of transfer robots are many, and mainly include for picking objects: goods shelves, workbin and carton etc. this goods shelves, workbin and carton can hold a plurality of article, and the handling unit is mainly with workbin or carton as the main.
In the related art, the objects to be conveyed are mainly bins and cartons for accommodating a plurality of articles, and the number of articles hit is low, which results in inefficient conveyance, because the specific number of articles accommodated in the bins and cartons cannot be predicted during conveyance.
Disclosure of Invention
The embodiment of the application provides a carrying device and a warehousing system.
In a first aspect, an embodiment of the present application provides a conveying apparatus for conveying article containers placed on a rack, the article containers being used for accommodating one article, the conveying apparatus including: the telescopic plate and the clamping component; wherein, press from both sides and embrace the subassembly and include at least: the clamping device comprises a first telescopic arm, a second telescopic arm, a first clamping jaw and a second clamping jaw, wherein the first telescopic arm and the second telescopic arm are oppositely arranged, the first clamping jaw is connected with the extending tail end of the first telescopic arm, and the second clamping jaw is connected with the extending tail end of the second telescopic arm; and the expansion plate is used for supporting the article container, wherein the expansion plate is connected between the first expansion arm and the second expansion arm and positioned at the bottoms of the first clamping jaw and the second clamping jaw.
In some embodiments, the clamping and holding assembly is a multi-stage clamping and holding assembly, wherein the multi-stage clamping and holding assembly and the expansion plate are used for forming a clamping and holding space, and the clamping and holding space is used for clamping and holding the article container.
In some embodiments, the handling device comprises: the device comprises a bar code identification component and a position detection component, wherein the position detection component and the bar code identification component are arranged adjacently; a position detection assembly for detecting a storage position of the article receiver on the shelf; the bar code identification component is used for identifying a bar code of the article container.
In some embodiments, the position detection component is specifically configured to: acquiring position image information of a storage position, and extracting coordinate information of the storage position from the position image information; and judging whether the current position reaches the storage position on the shelf or not according to the coordinate information.
In a second aspect, embodiments of the present application provide a picking system, which includes a handling device as described in the first aspect and a control system, wherein the control system is in communication with the handling device; and the control system is used for judging whether the carrying device is started or stopped according to the induction information of the article container.
In some embodiments, sensing information includes: the storage position of the article receiver on the shelf or the bar code of the article receiver.
In a third aspect, embodiments of the present application provide a transfer robot including: a robot body and a handling device as described in the first aspect connected to the robot body.
In some embodiments, the robot body comprises: the moving chassis and the upright post assembly connected to the moving chassis, wherein the upright post assembly extends along the vertical direction, and the carrying device is lifted along the direction of the upright post assembly.
In some embodiments, a plurality of packbaskets are disposed on the mast assembly, and the packbaskets are spaced along the extension direction of the mast assembly for moving the transport apparatus.
In a fourth aspect, embodiments of the present application provide a warehousing system, including: a pallet and a transfer robot as described in the third aspect.
In some embodiments, the shelf is used to hold a plurality of item holders, the plurality of item holders varying in height.
The embodiment of this application provides a handling device and warehouse system, this transport are placed the article container on the goods shelves, and the article container is used for holding an article, and this handling device includes: the clamping assembly and the expansion plate; wherein, press from both sides and embrace the subassembly and include at least: the clamping device comprises a first telescopic arm, a second telescopic arm, a first clamping jaw and a second clamping jaw, wherein the first telescopic arm and the second telescopic arm are oppositely arranged, the first clamping jaw is connected with the extending tail end of the first telescopic arm, and the second clamping jaw is connected with the extending tail end of the second telescopic arm; the telescopic plate is used for supporting the article container, and is connected between the first telescopic arm and the second telescopic arm and positioned at the bottoms of the first clamping jaw and the second clamping jaw; the article container for accommodating one article is used as a carrying unit, so that the problem of ineffective carrying caused by low number of hit articles can be solved.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic structural view of one embodiment of a handling apparatus of the present application;
FIG. 2 is a front view of one embodiment of the handling apparatus of the present application;
FIG. 3 is a top view of one embodiment of a handling device of the present application;
FIG. 4 is a rear view of one embodiment of the handling device of the present application;
FIG. 5 is a schematic view of an embodiment of a picking system of the present application;
fig. 6 is a schematic structural view of an embodiment of the transfer robot of the present application;
FIG. 7 is a front view of one embodiment of a transfer robot of the present application;
FIG. 8 is a schematic block diagram of one embodiment of a warehousing system of the present application.
Reference numerals: 1-a transfer robot; 2-a goods shelf; 10-a handling device; 11-a retractable plate; 211-telescopic arm; 213-barcode identification component; 214-a position detection component; 20-a column assembly; 21-an article receptacle; 30-pack basket; and 40-moving the chassis.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a carrying device of the present application. As shown in fig. 1, an embodiment of the present application provides a carrying device for carrying article containers placed on racks, the article containers being used for accommodating one article, the carrying device 10 including: press from both sides and embrace subassembly and expansion plate 11 for form to press from both sides and embrace the space, press from both sides and embrace the space and be used for pressing from both sides and embrace the article container, wherein, press from both sides and embrace the subassembly and include at least: the clamping device comprises a first telescopic arm 211, a second telescopic arm 211, a first clamping jaw 212 and a second clamping jaw 212, wherein the first telescopic arm and the second telescopic arm are oppositely arranged, the first clamping jaw 212 is connected with the extending tail end of the first telescopic arm 211, and the second clamping jaw 212 is connected with the extending tail end of the second telescopic arm 211; and a telescopic plate 11 for supporting the article container, wherein the telescopic plate 11 is connected between the first telescopic arm and the second telescopic arm and is located at the bottom of the first clamping jaw and the second clamping jaw.
In one example, two telescopic arms are exemplified.
In fig. 1 and 2, the clamp-hug assembly comprises two telescopic arms 211 and two clamping jaws 212. The two telescopic arms 211 are arranged oppositely, the clamping and embracing assembly and the telescopic plate 11 are used for forming a clamping and embracing space for clamping and embracing the article container, and the two clamping jaws 212 are connected with the extending tail ends of the two telescopic plates 111.
The retractable plate 11 is used for supporting an object, and the retractable plate 11 is connected between the two retractable plates 111 and is located at the bottom of the two clamping jaws 212.
Correspondingly, in this example, two clamping jaws 212 are connected between two oppositely arranged telescopic arms 211, one end of the two clamping jaws 212 being connected to one telescopic arm 211, for example to one end of this telescopic arm 211 or to the inner surface of one end of the telescopic arm 211. Therefore, in the process of extending and retracting the two telescopic arms 211, the carrying device 10 can be driven to move along the extending and retracting directions of the two telescopic arms 211, so that the article container clamped by the carrying device 10 can be moved onto the shelf 2.
Correspondingly, in this example, each telescopic arm 211 may comprise at least two sliding arms, each sliding arm being in turn slidably connected.
It should be noted that, the at least two sliding arms include an inner section sliding arm, a middle section sliding arm and an outer section sliding arm which are connected in sequence in a sliding manner, and the number of the sliding arms is not limited in this embodiment.
In an embodiment, the handling of item holders placed on shelves for holding items, the handling device comprises: the clamping assembly and the expansion plate; wherein, press from both sides and embrace the subassembly and include at least: the clamping device comprises a first telescopic arm, a second telescopic arm, a first clamping jaw and a second clamping jaw, wherein the first telescopic arm and the second telescopic arm are oppositely arranged, the first clamping jaw is connected with the extending tail end of the first telescopic arm, and the second clamping jaw is connected with the extending tail end of the second telescopic arm; the telescopic plate is used for supporting the article container, and is connected between the first telescopic arm and the second telescopic arm and positioned at the bottoms of the first clamping jaw and the second clamping jaw; the article container for accommodating one article is used as a carrying unit, so that the problem of ineffective carrying caused by low number of hit articles can be solved.
In some optional implementations of this embodiment, the clamping and embracing component is a multi-stage clamping and embracing component, wherein the multi-stage clamping and embracing component and the expansion plate 11 are used for forming a clamping and embracing space, and the clamping and embracing space is used for clamping and embracing the article container.
In one example, three stacked article receptacles are exemplified.
The clamping and holding assembly is a three-stage clamping and holding assembly and is used for taking and stacking a plurality of article containers at the same position on the goods shelf; when the article container arranged on the top (namely, the first layer) is required to be taken, the three-stage clamping and holding assembly only needs to extend out of the two-stage clamping and holding assembly to take out the article container on the top; when the article container placed on the second layer is to be taken, the three-stage clamping and holding assembly is required to extend out of the two-stage clamping and holding assembly and simultaneously extend out of the expansion plate to be used for supporting the article container located on the first layer so as to prevent the article container located on the first layer from sliding out.
In one example, the three-stage clamping and embracing assembly comprises three-stage telescopic arms and three-stage clamping jaws which are positioned on two sides of the clamping and embracing assembly, and the two-side three-stage telescopic arms are positioned on two sides of the clamping and embracing assembly and are used for preventing the article container from sideslipping.
The telescopic plate 11 is positioned at the bottom surface of the clamping and holding assembly and is used for preventing the lower-layer article container from sliding out and bearing the currently pulled article container; the three-stage clamping assembly and the expansion plate extend out simultaneously when goods are taken and placed, so that the article container is prevented from sliding off.
It should be noted that in implementations, each article receptacle typically receives an article, such as a pair of shoes, a toy, etc. Which may include, but is not limited to, a shoe box, a box for holding toys, etc.; for example, shoe boxes are used to accommodate a pair of shoes.
In one example, taking a shoe box as an example, two clamping jaws 212 are connected between two oppositely arranged telescopic arms 211, and one end of each clamping jaw 212 is connected with one telescopic arm 211. Therefore, in the process of extending and retracting the two telescopic arms 211, the carrying device 10 can be driven to move along the extending and retracting directions of the two telescopic arms 211, so that the shoe box clamped by the carrying device 10 can be moved onto the shelf 2.
In one example, three stacked shoe boxes are exemplified.
The clamping and holding assembly is used for taking and stacking a plurality of shoe boxes at the same position on the goods shelf; when the shoe box placed on the uppermost surface (namely, the first layer) needs to be taken, the third-stage clamping component only needs to extend out of the second-stage clamping component to take out the uppermost shoe box; when the shoe box placed on the second layer is to be taken, the three-level clamping and holding assembly is required to extend out of the two-level clamping and holding assembly and simultaneously extend out of the expansion plate to be used for supporting the shoe box located on the first layer, so that the shoe box located on the first layer is prevented from sliding out.
In this embodiment, at least one article container is used as the carrying unit, so that the picking efficiency of a plurality of stacked article containers can be improved, and the floor space can be reduced.
In some optional implementations of this embodiment, the handling device includes: the device comprises a bar code identification component and a position detection component, wherein the position detection component and the bar code identification component are arranged adjacently; a position detection assembly for detecting a storage position of the article receiver on the shelf; the bar code identification component is used for identifying a bar code of the article container.
In one example, in fig. 3 and 4, the position detection component 214 and the barcode recognition component 213 are located at the front end of the clamping component for positioning and scanning the barcode of the article container to obtain the barcode of the article container when the cargo container is carried.
Correspondingly, in this example, the barcode identification component 213 may include: an area-array camera; wherein the side of the article container, i.e. the bar code face of the article container, corresponds to an area-array camera.
Correspondingly, in this embodiment, when the goods taking action is performed, the barcode recognition component 213 is first lifted to a certain height corresponding to the current height of the bottom surface of the article container, and the lifted height may be set according to the height of the bottom surface of the article container, for example, H (height) _1+50 mm.
In an example, taking a shoe box as an example, when the shoe box needs to be carried, the position of the shoe box is located by the position detecting component 214, and the barcode identifying component 213 is lifted to a height corresponding to the location, so as to scan the barcode of the shoe box, so as to obtain the barcode of the shoe box for carrying the shoe box subsequently.
In this implementation, the bar code recognition component is used for recognizing the correctness of the bar code, and the position detection component is used for recognizing the position of the article container, so that the precise carrying operation is carried out.
In some optional implementations of this embodiment, the position detection component is specifically configured to: acquiring position image information of a storage position, and extracting coordinate information of the storage position from the position image information; and judging whether the current position reaches the storage position on the shelf or not according to the coordinate information.
The position detection component 214 is used for acquiring position image information of the storage position, extracting coordinate information of the storage position from the position image information, and judging whether the current position reaches the storage position on the shelf or not according to the coordinate information; the coordinate information may include parameters in three directions, for example, parameters in X-axis, Y-axis, and Z-axis directions.
Correspondingly, in this example, the location detection component 214 includes: an area-array camera; wherein, the crossbeam face of goods shelves can correspond area array camera.
Correspondingly, in this example, when the goods taking action is performed, the position detecting component 214 is first lifted, the lifting height is a certain height of the bottom surface of the shelf beam surface corresponding to the current storage position, and the lifting height can be set according to the height of the bottom surface of the shelf beam surface, for example, H _2+30 mm.
In this implementation, the position detection assembly can be used to identify where the article container is located, thereby performing a precise handling operation.
Referring to fig. 5, fig. 5 shows a schematic structural diagram of an embodiment of the picking system of the present application. As shown in fig. 5, embodiments of the present application provide a picking system comprising: the control system 510 is in communication connection with the handling device 10; and a control system 510 for determining whether to start or stop the carrying device 10 according to the sensing information of the article container.
In this embodiment, the control system may determine whether to start or stop the carrying device according to the sensing information of the article container.
In one example, the sensed information may include: the storage position of the article receiver on the shelf or the bar code of the article receiver.
In this implementation, the control system 510 is in communication connection with the position detection component, the barcode recognition component, and the clamping component in the handling device 10, respectively; the position detection assembly and the bar code identification assembly are located at the front end of the clamping assembly and used for positioning when the article container is carried and scanning the bar code of the article container to acquire the bar code of the article container. The position detection assembly is used for acquiring position image information of the storage position, extracting coordinate information of the storage position from the position image information, and judging whether the current position reaches the storage position on the shelf or not according to the coordinate information; the coordinate information may include parameters in three directions, that is, parameters in X-axis, Y-axis, and Z-axis directions.
For example, the control system 510 is respectively connected to the position detecting assembly, the barcode identifying assembly and the clamping assembly in the carrying device 10; the position detection assembly and the bar code identification assembly are positioned at the front end of the clamping assembly and used for positioning and scanning the bar code of the shoe box when the shoe box is carried so as to obtain the bar code of the shoe box. And the position detection assembly is used for acquiring position image information of the storage position, extracting coordinate information of the storage position from the position image information, and judging whether the current position reaches the storage position on the shelf or not according to the coordinate information.
The control system is used for judging whether to start and stop at least one of the position detection assembly, the bar code identification assembly and the clamping and holding assembly according to the sensing information of the article container.
In one example, the barcode identification component may include: an area-array camera; wherein: the side of the article holder, i.e. the bar code face of the article holder, corresponds to an area-array camera.
This implementation is applicable to the scene of selecting of multiple type of article, can realize automatic selecting, and then promotes the efficiency of selecting under this scene, dwindles area, lifting efficiency simultaneously.
Referring to fig. 6, fig. 6 is a schematic structural view showing an embodiment of a transfer robot according to the present application. As shown in fig. 6, an embodiment of the present application provides a transfer robot 1, the transfer robot 1 including: the robot comprises a robot body and a carrying device connected to the robot body.
In the present embodiment, the transfer robot 1 may include a transfer robot body and a transfer device 10 attached to the robot body. The handling device 10 is used for handling article holders.
In some optional implementations of this embodiment, the robot body includes: the moving chassis and the upright post assembly connected to the moving chassis, wherein the upright post assembly extends along the vertical direction, and the carrying device is lifted along the direction of the upright post assembly.
In one example, as shown in fig. 7, the robot body may include a moving chassis 40 and a post assembly 20 connected to the moving chassis 40, the post assembly 20 extending in a vertical direction, and the carrier device 10 may be lifted and lowered in the direction of the post assembly 20 to take or place the article accommodators 21 at different heights of the shelf 2. The moving chassis 40 can move the pillar assembly 20 and the carrying device 10 on the supporting surface, so that the carrying device 10 can carry the article container 21 between the shelves 2 or between the shelves 2 and other transportation equipment.
It should be noted that, the structure of the moving chassis 40 and the column assembly 20 is not limited in this application, and may be the structure of the moving chassis 40 and the column assembly 20 in the prior art, and a driving assembly in the prior art may be used to drive the carrying device 10 to descend along the extending direction of the column assembly 20, for example, a driving assembly composed of a driving member, a pulley and a tension rope, or a belt driving assembly, a sprocket chain driving assembly, etc., and the application is not limited herein.
In some embodiments, the handling device 10 is raised and lowered in a vertical direction such that the handling device 10 partially grips the article container 21 or is disengaged from the article container 21, facilitating precise control of the raising and lowering of the handling device 10.
Specifically, when the carrying device 10 grips the article container 21, the carrying device 10 is raised in the vertical direction to carry the article container; or the telescopic arm 211 is telescopic to drive the article container 21 to move by the carrying device 10.
When the article container 21 on the shelf 2 is transported to the transporting device 10, the clamping jaw assembly 211 rotates to clamp the article container 21 by the telescopic arm 211 extending to the end of the article container 21, at this time, the telescopic arm 112 extends to connect the article container, and the telescopic arm 112 is used to block the lower article container to prevent the lower article container from sliding out together. When the article container 21 on the conveying device 10 is conveyed to the shelf 2, the telescopic arm 112 is first extended to the shelf 2, and then the telescopic arm 211 is extended, and the jaw assembly 211 is rotated to push the article container out of the telescopic arm 112, so as to unload the article container 21.
In one example, when transporting a shoe box on the shelf 2 to the transporter 10, the jaw assembly 211 is rotated to grip the shoe box by the telescoping arm 211 telescoping to the end of the shoe box, at which time the telescoping arm 112 is extended to access the shoe box while the telescoping arm 112 is used to block the lower shoe box to prevent the lower shoe box from sliding out together. When the shoe box on the carrying device 10 is carried to the shelf 2, the telescopic arm 112 is firstly extended to the shelf 2, then the telescopic arm 211 is extended, and the clamping jaw assembly 211 rotates to push the shoe box out of the telescopic arm 112 so as to unload the shoe box.
The carrying device 10 provided by the embodiment of the application, through setting up the telescopic arm 211 and the telescopic arm 112, two telescopic arms 211 when carrying, the telescopic arm 112 moves along the telescopic direction of the telescopic arm 211 to be close to the bottom of the article container, so that the carrying device is connected with the position of the article container 21, and the carrying operation of the article container 21 is facilitated.
In this embodiment, the carrying device 10 may be lifted along the vertical direction, or the driving mechanism on the robot body may drive the carrying device 10 to lift along the extending direction of the pillar assembly 20.
In some optional implementations of the present embodiment, a plurality of packbaskets are disposed on the mast assembly, and the packbaskets are disposed at intervals along the extending direction of the mast assembly for moving the carrying device.
In one example, as shown in FIG. 7, a plurality of packbaskets 30 can be provided on the mast assembly 20, the packbaskets 30 being spaced apart in the direction of extension of the mast assembly 20, and the transport apparatus 10 being rotatable to place the article containers 21 on the packbasket 30 on the rack 2 or to place the article containers 21 on the rack 2 on the packbasket 30.
It should be noted that the mobile handling device may be a rotary and/or a horizontal or vertical mobile handling device.
The following description is given by taking an example of a shoe box as an example, and the process of carrying the shoe box is described by a clamping assembly:
a first step, extending the expansion plate to a position of the shoe box, wherein the height of the upper surface of the expansion plate can be set according to the height of the shoe box, for example, H _3 ═ H _1-5 mm;
secondly, the telescopic arm extends to the tail end of the shoe box;
third, the jaws are rotated, for example, by 90 °;
it should be noted that the rotation angle of the clamping jaw can be set according to the position of the shoe box on the shelf.
Fourthly, the shoe box is pulled to the telescopic plate by the telescopic arm;
fifthly, simultaneously retracting the telescopic arm and the telescopic plate to the original position (namely, the unextended initial position);
sixthly, rotating the clamping and holding assembly, for example, 90 degrees;
it should be noted that the rotation angle of the clamping and holding assembly can be set according to the position of the shoe box on the shelf.
Seventhly, lifting the rotating assembly to a destination pack basket, and rotating the clamping jaws for 90 degrees;
the destination pack basket can be set according to the height of the shoe box on the shelf.
Eighthly, extending the expansion plate to the tail end;
ninth, the clamping jaws rotate 90 degrees, the telescopic arms extend out, and the clamping jaws extend to the shoe box;
the tenth step, the retractable plate is retracted, and the shoe box falls into the pack basket;
the above goods taking process is completed.
Similarly, in the goods putting process, the shoe box is firstly embraced to the clamping and embracing component, then the shoe box is moved to the goods shelf from the clamping and embracing component to carry out the racking action, and the specific lifting height and the rotation of the clamping jaw are the same as the goods taking process.
Referring to fig. 8, fig. 8 is a schematic structural diagram of an embodiment of the warehousing system of the present application. As shown in fig. 8, an embodiment of the present application provides a warehousing system including: a transfer robot 1 and a rack 2, wherein the transfer robot 1 is used for taking and placing the article container 21 from the rack 2.
In some alternative implementations of this embodiment, the shelf is used to house a plurality of item holders, the plurality of item holders varying in height.
In this implementation, the height of each article receptacle may be different, so that handling of article receptacles of different heights may be achieved.
In one example, multiple groups of article receivers are spaced apart on the shelf 2 with gaps between each group of article receivers. Wherein the gap is used for the insertion and extraction of the fork, so that other article holders 21 of the layer in the shelf can be prevented from being influenced when the article holders 21 are taken and placed. Thereby, the access of the article container 21 is facilitated.
In this embodiment, the article container 21 may be transferred to the rack 2 by the transfer robot 1, or the article container 21 on the rack 2 may be transferred to another rack 2 or another transportation facility by the transfer robot 1.
It should be noted that the heights of the plurality of article containers stacked at the same position may be different, so that the article containers of different heights can be carried.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present application is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present application are mutually replaced to form the technical solution.

Claims (11)

1. A carrying device for carrying an article container placed on a rack, the article container for containing an article, the carrying device comprising: the telescopic plate and the clamping component; wherein,
the clamping and holding assembly at least comprises: the clamping device comprises a first telescopic arm, a second telescopic arm, a first clamping jaw and a second clamping jaw, wherein the first telescopic arm and the second telescopic arm are oppositely arranged, and the first clamping jaw is connected with the extending tail end of the first telescopic arm and the extending tail end of the second clamping jaw and the second telescopic arm;
the expansion plate is used for supporting the article container, wherein the expansion plate is connected between the first expansion arm and the second expansion arm and positioned at the bottoms of the first clamping jaw and the second clamping jaw.
2. The handling device of claim 1, wherein the clamping and embracing assembly is a multi-stage clamping and embracing assembly, wherein the multi-stage clamping and embracing assembly and the expansion plate are used for forming a clamping and embracing space, and the clamping and embracing space is used for clamping and embracing the article container.
3. The handling device according to claim 1 or 2, comprising: the device comprises a bar code identification component and a position detection component, wherein the position detection component and the bar code identification component are arranged adjacently;
the position detection assembly is used for detecting the storage position of the article container on the goods shelf;
the bar code identification component is used for identifying a bar code of the article container.
4. The handling device of claim 3, wherein the position detection assembly is specifically configured to:
acquiring position image information of a storage position, and extracting coordinate information of the storage position from the position image information;
and judging whether the current position reaches the storage position on the shelf or not according to the coordinate information.
5. A picking system comprising a handling device according to any of claims 1-4 and a control system, wherein the control system is communicatively connected to the handling device;
and the control system is used for judging whether the carrying device is started or stopped according to the induction information of the article container.
6. The picking system of claim 5, wherein the sensed information includes: the storage position of the article receiver on the shelf or the bar code of the article receiver.
7. A transfer robot comprising a robot body and the transfer device of any one of claims 1 to 4 attached to the robot body.
8. The transfer robot of claim 7, wherein the robot body comprises: the carrying device comprises a moving chassis and a stand column assembly connected to the moving chassis, wherein the stand column assembly extends in the vertical direction, and the carrying device is lifted and lowered in the direction of the stand column assembly.
9. The transfer robot of claim 8, wherein a plurality of the packbaskets are provided on the mast assembly at intervals along an extending direction of the mast assembly for moving the transfer device.
10. A warehousing system comprising: a pallet and a transfer robot as claimed in any one of claims 7-9.
11. The warehousing system of claim 10, wherein the shelves are configured to hold a plurality of item holders, the plurality of item holders varying in height.
CN202210630320.XA 2022-06-06 2022-06-06 Handling device and warehousing system Active CN114890034B (en)

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