CN115057141A - Warehousing robots and warehousing systems - Google Patents

Abstract

The utility model relates to a warehouse robot, including robot chassis, at least one load-bearing platform, packing box get put subassembly and first transmission device, at least one load-bearing platform sets up on robot chassis, and packing box gets to put subassembly and first transmission device sets up on load-bearing platform, and packing box gets to put the subassembly and is used for getting, puts the packing box, and first transmission device is used for carrying the packing box to get gets to put the packing box that the subassembly got, put. The storage robot can solve the problems that the efficiency of picking and placing the packing boxes by the robot in a box type storage system is low and the area of a bearing platform is large.

Description

Warehousing robots and warehousing systems

technical field

The present application relates to the field of warehousing technology, in particular to a warehousing robot and a warehousing system.

Background technique

Box storage is an important branch of modern logistics warehousing technology, which can make more full use of the existing storage space, and has the advantages of avoiding moisture, pollution and other adverse effects of storage. In the current box-type storage, the existing robots often use forks to directly clamp the cargo box to the carrying platform. The efficiency of picking and placing goods is low. In addition, the forks are arranged on both sides of the cargo platform, which will occupy a certain space, resulting in a larger area of the cargo platform.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide a warehousing robot and a warehousing system in order to solve the problems of low efficiency of picking and placing containers in a box-type storage system and a large area of a carrying platform.

According to an aspect of the present application, a storage robot is provided, the storage robot includes: a robot chassis; at least one carrying platform, disposed on the robot chassis; a container pick-and-place assembly, disposed on the carrying platform, the The cargo box pick-and-place assembly is used to pick and place the cargo box; and a first conveying device is arranged on the carrying platform, and the first conveyor device is used for conveying the cargo box pick-and-place assembly. cargo box.

In some embodiments, the container pick-and-place assembly includes an engagement assembly capable of engaging with a side of the container facing the warehouse robot to pick and place the container.

In some embodiments, the engagement assembly includes a suction cup for attaching to the cargo box, so as to suck or push the cargo box by means of the suction cup; or the engagement assembly includes a suction cup for hooking to the cargo box The hook of the box to hook or push the box by means of the hook.

In some embodiments, the cargo box pick-and-place assembly further includes a support assembly and a translation member; the support assembly connects the translation member and the joint assembly; wherein, the carrying platform is provided with the translation member A guide rail that moves along a first direction; the translation member can move on the guide rail to drive the engaging assembly to move along the first direction, so as to suck, hook or push the cargo box.

In some embodiments, the support assembly is configured to be able to drive the engagement assembly to swing in a first direction with the translation member as a fulcrum; or, the support assembly includes a telescopic rod and is configured to drive the The engaging assembly is lifted and lowered; wherein, the engaging assembly can swing and rise above the conveying surface of the first conveying device, or swing and descend below the conveying surface of the first conveying device.

In some embodiments, the carrying platform is provided with an accommodating space, and the cargo box pick-and-place assembly can be accommodated in the accommodating space to avoid the cargo box.

In some embodiments, the robot chassis is a self-guided chassis or a chassis that travels with rails.

In some embodiments, the case pick-and-place assembly picks and places the case along a first direction, and the first conveyor conveys the goods picked and placed by the case pick-and-place assembly along the first direction The carrying platform further includes a transfer mechanism, and the transfer mechanism transports the cargo box on the carrying platform along the second direction.

In some embodiments, the transfer mechanism includes a jack-up transfer device; the jack-up transfer device is configured to be lower than the jack-up transfer device when the container is conveyed in a first direction The conveying surface of the first conveying device; when the container is conveyed in the second direction, the conveying surface of the lifting and transferring device is higher than the first conveying device.

In some embodiments, a first guide device is provided on the carrying platform along a first direction, and the first guide device is used to guide the container to be conveyed along the first direction; when the container is along the second direction During conveying, the conveying surface of the lifting and transferring device is higher than the first conveying device and the first guiding device.

In some embodiments, the warehouse robot further includes a mounting frame assembly, the mounting frame assembly is disposed on the robot chassis; the carrying platform is movably connected to the mounting frame along the extending direction of the mounting frame assembly The storage robot also includes at least one buffer platform for buffering the cargo box, the buffer platform is installed on the mounting frame component; the buffer platform is provided with a second guide device and a second a conveying device, the second guiding device is used for guiding the container conveyed by the second conveying device to move in a second direction; the second conveying device and the transfer mechanism are configured to make the container move in the second direction; Transfer between the carrying platform and the cache platform.

According to another aspect of the present application, there is also provided a warehousing robot capable of picking up and placing boxes on a shelf, wherein the shelf is arranged in at least one layer, and each layer includes a plurality of adjacent cargo spaces, and the warehousing robot includes : a robot chassis; at least one carrying platform, set on the robot chassis; a cargo box pick-and-place assembly, set on the carrying platform, and the cargo box pick-and-place component is used to pick and place a cargo box at a designated cargo position; and a first conveying device, arranged on the carrying platform, the first conveying device is used for conveying the cargo box picked and placed by the cargo box pick-and-place assembly; the cargo box pick-and-place assembly includes a Designate the side of the container facing the warehouse robot for the joint assembly for picking and placing the container.

According to another aspect of the present application, a storage system is also provided, including a storage warehouse and the above-mentioned storage robot, the storage robot can walk in the roadway of the storage warehouse; the storage robot further includes a mounting frame assembly, the installation The rack assembly is disposed on the robot chassis, and the mounting rack assembly is disposed on the robot chassis along the width direction and/or the length direction of the roadway.

In the storage robot and storage system provided by the embodiments of the present application, by arranging a container pick-and-place assembly and a first conveying device on the carrying platform, the container pick-and-place assembly is used to take out the container from the position where the container is stored, or to transfer the container It is stored in the position where the cargo box is stored, and the first conveying device is used to transport the cargo box picked and placed by the cargo box pick-and-place assembly, thereby reducing the friction between the cargo box and the carrying platform and improving the picking and placing efficiency of the cargo box. In addition, because the container pick-and-place component first picks up the container, and the first conveying device then transports the container, compared with the solution of directly holding the container by the fork and pulling it to the carrying platform, there is no need to reserve the space for the fork on the carrying platform. Thus, the area of the carrying platform can be reduced.

Description of drawings

1 is a schematic diagram of the state of a storage robot picking up goods from a shelf in an embodiment of the application;

2 is a schematic diagram of the three-dimensional structure of a storage robot in an embodiment of the application;

Fig. 3 is the front view of the storage robot in Fig. 2;

4 is a schematic cross-sectional structural diagram of a first state in which a storage robot picks up goods from a shelf according to an embodiment of the application;

Fig. 5 is the partial enlarged view of A place in Fig. 4;

6 is a schematic structural diagram of a container pick-and-place assembly in an embodiment of the application;

7 is a schematic structural diagram of a container pick-and-place assembly in an embodiment of the application;

8 is a schematic structural diagram of a container pick-and-place assembly in an embodiment of the application;

9 is a schematic structural diagram of a container pick-and-place assembly in an embodiment of the application;

10 is a schematic structural diagram of a container pick-and-place assembly in an embodiment of the application;

11 is a schematic structural diagram of a container pick-and-place assembly in an embodiment of the application;

12 is a schematic structural diagram of a container pick-and-place assembly in an embodiment of the application;

13 is a schematic cross-sectional structural diagram of a second state in which the storage robot picks up the goods from the shelf according to an embodiment of the application;

Fig. 14 is a partial enlarged view at B in Fig. 13;

Figure 15 is a side view of the warehouse robot in Figure 2;

16 is a top view of a storage robot in an embodiment of the application;

17 is a schematic structural diagram of the cooperation between a storage robot and a guide rail mechanism in an embodiment of the application;

FIG. 18 is a schematic structural diagram of the cooperation between a storage robot and a guide rail mechanism in another embodiment of the present application.

Description of reference numbers:

10. Shelf; 11. Cargo box; 21. Main rail; 22. Auxiliary rail;

30. Warehousing robots;

31, carrying platform; 311, guide rail; 312, first conveying device; 313, lifting and transferring device;

32. Translation parts;

331, suction cup; 332, hook; 333, swing arm; 334, telescopic rod; 335, vertical rod; 336, connecting rod;

34. Mounting frame assembly; 341, buffer platform; 342, second conveying device; 343, second guiding device;

35. Robot chassis; 351. Walking wheel;

36. Installation block;

X, the first direction; Y, the second direction.

Detailed ways

In order to make the above objects, features and advantages of the present application more clearly understood, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " Back, Left, Right, Vertical, Horizontal, Top, Bottom, Inner, Outer, Clockwise, Counterclockwise, Axial , "radial", "circumferential" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the application and simplifying the description, rather than indicating or implying the indicated device or Elements must have a particular orientation, be constructed and operate in a particular orientation and are therefore not to be construed as limitations on this application.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless expressly and specifically defined otherwise.

In this application, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between the two elements, unless otherwise specified limit. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations.

In this application, unless otherwise expressly stated and defined, a first feature "on" or "under" a second feature may be in direct contact with the first and second features, or the first and second features indirectly through an intermediary touch. Also, the first feature being "above", "over" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or an intervening element may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for the purpose of illustration only and do not represent the only embodiment.

In the current box-type storage system, the existing robots often use forks to directly clamp the cargo box to the carrying platform. It will result in lower efficiency of picking and placing goods. In addition, the forks are arranged on both sides of the cargo platform, which will occupy a certain space, resulting in a larger area of the cargo platform.

In order to solve the above problems, the present application provides a storage robot. By setting a container pick-and-place assembly and a first conveying device on the carrying platform of the storage robot, the container pick-and-place assembly is used to pick and place the container, and the first transmission device is used. The device transports the containers picked and placed by the container pick-and-place assembly, reduces the friction between the container and the carrying platform, and improves the efficiency of the container pick-and-place. In addition, because the container pick-and-place component first picks up the container, and the first conveying device then transports the container, compared with the solution of directly holding the container by the fork and pulling it to the carrying platform, there is no need to reserve the space for the fork on the carrying platform. Thus, the area of the carrying platform can be reduced.

Referring to FIGS. 1 to 3 , a storage robot 30 provided by an embodiment of the present application includes a robot chassis 35 , at least one carrying platform 31 , a container pick-and-place assembly, and a first conveying device 312 . At least one carrying platform 31 is set on the robot chassis 35, the container picking and placing assembly and the first conveying device 312 are set on the carrying platform 31, the container picking and placing assembly is used for picking and placing the container 11, and the first conveying device 312 is used for The cargo box 11 that is picked and placed by the pick-and-place component for transporting the cargo box.

Wherein, at least one carrying platform 31 includes one or more carrying platforms 31 . The plurality of carrying platforms 31 may be arranged in a vertical direction and/or a horizontal direction, or may be arranged in a direction inclined with respect to the horizontal direction and the vertical direction. At least one carrying platform 31 is disposed on the robot chassis 35 , including that the carrying platform 31 is directly installed on the robot chassis 35 , and the carrying platform 31 is connected to the robot chassis 35 through other connecting structures. The case pick and place assembly is used to pick and place the case 11, including the case pick and place assembly to remove the case 11 from the location where the case 11 is stored, and the case pick and place assembly to store the case 11 for storage. Location of box 11. The first conveying device 312 can be a conveyor belt or a chain machine or the like.

In the storage robot 30 provided in the embodiment of the present application, by arranging the container pick-and-place assembly and the first conveying device 312 on the carrying platform 31, the container pick-and-place assembly is used to take out the container 11 from the position where the container 11 is stored, or to The cargo box 11 is stored at the position where the cargo box 11 is stored, and the first conveying device 312 is used to transport the cargo box 11 picked up and placed by the cargo box pick-and-place assembly, so as to reduce the friction between the cargo box 11 and the carrying platform 31 and improve the Pick-and-place efficiency of the cargo box 11. In addition, since the container pick-and-place assembly first picks up the container 11, and then the first conveying device 312 transports the container 11, compared with the solutions such as forks directly gripping the container 11 and pulling it to the carrying platform 31, there is no need to pre-load the carrying platform 31. The space for the fork is reserved, so that the area of the carrying platform 31 can be reduced.

In some embodiments, the container pick-and-place assembly includes an engagement assembly, which can be engaged with the side of the container 11 facing the warehouse robot 30 to pick and place the container 11 . It should be noted that, in the existing box storage, there are usually two ways to take out the cargo box 11 from the shelf 10, one is to use the telescopic arm to clamp the cargo box 11 to take out, and the other is to lift the cargo box 11 with the telescopic flat plate. The lift box 11 is picked up. Since the telescopic arm needs to enter the space between two adjacent cargo boxes 11 during the process of extracting the cargo box 11 by the telescopic arm, a large space needs to be reserved between the two adjacent cargo boxes 11, and the telescopic plate lifts up The cargo box 11 needs to reserve a large space above the cargo box 11 . Therefore, based on the current form of taking the cargo box 11 from the shelf 10 , the space utilization rate of the shelf 10 is low. However, in the embodiment of the present application, the joint assembly is combined with the side of the container 11 facing the storage robot to pick and place the container 11, and then cooperate with the first conveying device 312 to carry out the picking and placing of the container 11. For transportation, there is no need to reserve additional space around the container 11, so that the space utilization rate of the rack 10 is improved.

Referring to FIGS. 4 and 5 , in some embodiments, the engaging assembly includes suction cups 331 , and the number of suction cups 331 may be one or more, and the suction cups 331 are used for suction on the container 11 to pull the container 11 from the shelf 10 out. When the negative pressure device is used to provide negative pressure to the suction cup 331, the container 11 can be sucked by the suction cup 331; when the container 11 needs to be pushed onto the shelf 10, the container 11 can be pushed by the suction cup 331, and the negative pressure device does not need to be A negative pressure is supplied to the suction cup 331 . Referring to FIG. 6 , in other embodiments, the engaging assembly includes hooks 332 , the number of which is one or more, and the hooks 332 are used for hooking the cargo box 11 , so as to hook or push the cargo box 11 by means of the hooks 332 . When the cargo box 11 is hooked or pushed through the hook 332 , a hook groove or a through hole for the hook 332 to be hooked can be provided on the cargo box 11 , so as to improve the convenience of hooking. The suction cup 331 sucks and pushes the container 11 or hooks and pushes the container 11 through the hook 332 , so that fewer steps are required to take and place the container 11 , thereby improving the efficiency of taking and placing the container 11 . Moreover, since the cargo box 11 is directly moved by means of suction, hooking or pushing, there is no need to reserve additional space around the cargo box 11, thereby improving the space utilization rate.

Further, the container pick-and-place assembly further includes a support assembly and a translation member 32, and the support assembly connects the translation member 32 and the joint assembly. The carrying platform 31 is provided with a guide rail 311 for the translation member 32 to move along the first direction X. The translation member 32 can move on the guide rail 311 and the drive engaging assembly moves along the first direction X to suck, hook or push the cargo box 11. The guide rail 311 guides the translation member 32 to move in the first direction X, and drives the joint assembly to move in the first direction X, so that the container 11 sucked, hooked or pushed by the joint assembly moves in the first direction X, so that the container 11 is realized. Transfer in the first direction X.

Specifically, the translation member 32 may be a slider slidably connected to the guide rail 311 . The first direction X may be any direction perpendicular to the vertical direction, or may be a direction inclined relative to the horizontal direction. Preferably, the first direction X is perpendicular to the vertical direction, and is perpendicular to the side surface of the container 11 facing the storage robot 30 .

Referring to FIGS. 7 and 8 , in some embodiments, the support assembly is configured to drive the engagement assembly to swing along the first direction X with the translation member 32 as a fulcrum. Specifically, the support assembly includes one or more swing arms 333, one end of the swing arm 333 is connected to the translation member 32, and the other end is connected to the joint assembly, and the connection point between the swing arm 333 and the translation member 32 is the swing arm 333. pivot. By swinging the swing arm 333 around the fulcrum in the first direction X, the engaging assembly can be driven to move along the first direction X, so that the engaging assembly can approach or move away from the cargo box 11 along the first direction X, and at the same time realize a lifting action to rise to the first direction X. The conveying device 312 is above the conveying surface to engage with the container 11 , or descends below the conveying surface of the first conveying device 312 to avoid interference of the container 11 on the carrying platform 31 .

Further, the swing driving modes of the swing arm 333 include deceleration motor driving, rotary cylinder driving, electric push rod driving, and the like.

Further, the support assembly may specifically be a single swing arm 333 connecting the translation member 32 and the joint assembly to form a single rocker mechanism. The number of single rocker mechanisms is one or more, for example, in a specific embodiment, the number of single rocker mechanisms is two, and the two single rocker mechanisms are respectively located on opposite sides of the translation member 32, or, the translation The number of the members 32 is two, and the two single rocker mechanisms are connected with the two translation members 32 in one-to-one correspondence. Correspondingly, two engagement assemblies are also provided, and the two engagement assemblies are respectively connected to the two single rocker mechanisms, so that the engagement between the engagement assemblies and the cargo box 11 is more stable.

The support assembly can also be two swing arms 333, the two swing arms 333 are arranged at intervals along the first direction X, and the two swing arms 333 are connected by a connecting rod 336, and the joint assembly is connected on the connecting rod 336, so, The translation member 32, the two swing arms 333 and the connecting rod 336 form a double rocker mechanism. The number of double rocker mechanisms is one or more. When the number of double rocker mechanisms is two, the two double rocker mechanisms are located on opposite sides of the translation member 32 respectively, or the number of translation members 32 is two , the two double rocker mechanisms are connected with the two translation members 32 in one-to-one correspondence.

Referring to FIG. 9 , in some embodiments, the support assembly includes a telescopic rod 334 and is configured to drive the engagement assembly to ascend and descend along the second direction Y, and the support assembly can ascend above the conveying surface of the first conveying device 312 , or descend to below the conveying surface of the first conveying device 312 . Through the telescopic rod 334, the engaging assembly is driven up and down along the second direction Y, so that the engaging assembly can be raised above the conveying surface of the first conveying device 312 to be engaged with the container 11, and can also be lowered to the conveying surface of the first conveying device 312. to avoid interference when the first conveyor 312 transports the container 11 . The number of telescopic rods 334 is one or more. For example, when the number of telescopic rods 334 is two, the two telescopic rods 334 are connected by connecting rods 336 , and the joint assembly is connected to the connecting rods 336 .

Further, the telescopic driving manner of the telescopic rod 334 includes cylinder driving and electric cylinder driving.

Referring to FIG. 10 , in addition, the support assembly can also be a vertical rod 335 arranged in the vertical direction. The vertical rod 335 does not need to have a lifting function or a swing function. The movement of the translation member 32 in the first direction X drives the vertical rod 335 to move, Therefore, the cargo box 11 is avoided along the first direction X. As shown in FIG.

It should be noted that, referring to FIGS. 7 to 10 , when the engaging assembly includes a suction cup 331 , the supporting assembly may be in the form of a swing arm 333 , a telescopic rod 334 or a vertical rod 335 , referring to FIGS. 6 , 11 and 12 , when engaging When the assembly includes the hook 332 , the support assembly may also include a swing arm 333 , a telescopic rod 334 or a vertical rod 335 .

In some embodiments, the opposite ends of the connecting rod 336 along the first direction X are provided with suction cups 331 or hooks 332. As shown in FIG. 8 , two suction cups 331 facing oppositely are installed on the upper end of the single set of swing arms 333 at the same time. Based on this, through the movement of the translation member 32 , the suction cups 331 or the hooks 332 at both ends of the connecting rod 336 , or the two suction cups 331 at the upper end of the single set of swing arms 333 can suck or hook the suction cups 331 located on either side of the storage robot 30 . so that when the storage robot 30 is located between the two racks 10, the storage robot 30 or the carrying platform 31 can be taken out of the two racks 10 without turning the storage robot 30 or the loading platform 31, which reduces the time for the storage robot 30 to move. Further increase efficiency and save space required for turns.

Referring to FIG. 4 , FIG. 13 , and FIG. 14 , in some embodiments, the carrying platform 31 is provided with a accommodating space, and the container pick-and-place assembly can be accommodated in the accommodating space to avoid the container 11 . During the process of taking out the cargo box 11 from the position where the cargo box 11 is stored, the cargo box 11 is drawn or hooked by the cargo box pick-and-place assembly, so that the cargo box 11 can be picked up and placed after the cargo box 11 leaves the position where the cargo box 11 is stored. The components are accommodated in the accommodating cavity, so that the container pick-and-place assembly can avoid the container 11 during the subsequent process of continuing to transport the container 11 through the first conveying device 312 .

In some embodiments, the robot chassis 35 is a self-guiding chassis or a chassis that travels with rails. When the robot chassis 35 is a self-guided chassis, a roller or a pulley that can walk automatically can be set on the robot chassis 35, and the robot chassis 35 and other components arranged on the robot chassis 35 are driven to move by the roller or the pulley, so as to realize the storage robot 30. of automatic walking. When the robot chassis 35 is a chassis that moves with the track, a walking wheel 351 that can move along the track can be provided on the robot chassis 35, and the movement path of the walking wheel 351 can be guided through the track, so as to ensure that the movement path of the storage robot 30 is the most simplified , so as to reduce the walking time of the storage robot 30 , improve the efficiency of picking up goods, and improve the stability of the storage robot 30 .

In some embodiments, the container pick-and-place assembly picks and places the container 11 along the first direction X, and the first conveyor 312 transports the container 11 picked and placed by the container pick-and-place assembly along the first direction X; the carrying platform 31 It also includes a transfer mechanism, and the transfer mechanism transports the cargo box 11 on the carrying platform 31 along the second direction Y. During the process of picking up the cargo boxes 11 , the cargo boxes 11 obtained by the cargo box pick-and-place assembly can be transferred through the transfer assembly, so that the storage robot 30 can continuously pick up multiple cargo boxes 11 and then carry them. During the process of placing the cargo boxes 11 , the container 11 can be continuously transferred to the container pick-and-place assembly through the transfer component, so that the storage robot 30 can transport multiple containers 11 at the same time and then store the multiple containers 11 continuously, thereby reducing the time for the storage robot 30 to move. Improve efficiency.

Referring to FIGS. 15 and 16 , in some embodiments, the transfer mechanism includes a jack-up transfer device 313 ; the jack-up transfer device 313 is configured to lift the transfer device 313 when the container 11 is transported along the first direction X Lower than the conveying surface of the first conveying device 312 ; when the container 11 is conveyed in the second direction Y, the conveying surface of the jacking and transferring device 313 is higher than the first conveying device 312 . Through the lifting and lowering function of the lifting and transferring device 313, during the process that the first conveying device 312 transports the cargo box 11 along the first direction X, the lifting and transferring device 313 avoids the cargo box 11, and at the same time, the transfer mechanism moves along the first direction X. During the process of transferring the container 11 in the two directions Y, the first conveying device 312 avoids the container 11 to avoid interference in the conveyance of the container 11 along the first direction X and the second direction Y. In the prior art, there is a robot that transfers the cargo box 11 through the rotating carrying platform 31, but the rotating carrying platform 31 needs to occupy a large space. There is no need to rotate the carrying platform 31, which can reduce the occupation of space.

As one of the embodiments, the lifting and transferring device 313 adopts a liftable roller line structure, the first conveying device 312 includes two sub-conveying parts arranged at intervals, and the rollers in the roller line are arranged on the two sub-transmitting parts of the first conveying device 312 Between the conveying parts, the axial direction of the drum is parallel to the first direction X. Taking the joint assembly including the suction cup 331 as an example, in the process of pulling the container 11 sucked by the suction cup 331 along the first direction X by the first conveying device 312, the conveying surface of the roller line is lower than the conveying surface of the first conveying device 312, so that It is ensured that the roller line does not affect the transportation of the container 11 by the first conveying device 312 . When the container 11 on the first conveying device 312 needs to be transferred to the buffer platform 341, the roller line of the lifting and transferring device 313 is driven to rise, so that the conveying surface of the roller line is higher than the conveying surface of the first conveying device 312, The container 11 is lifted by the drum line and leaves the first conveying device 312 , the drum line is activated, the drum line runs, and the container 11 is transported to the buffer platform 341 . Wherein, the plurality of rollers can be two, three, four or more, which can be adjusted according to the size of the carrying platform 31 and the radius of the rollers.

In some embodiments, the carrying platform 31 is provided with a first guide device along the first direction X, and the first guide device is used to guide the container 11 to be conveyed along the first direction X, so as to prevent the container 11 from being transported in the first conveying device 312 The conveying direction is deviated from above. When the container 11 is conveyed in the second direction Y, the conveying surface of the lifting and transferring device 313 is higher than the first conveying device 312 and the first guiding device, so as to prevent the first conveying device 312 and the first guiding device from being in the container 11 The container 11 is interfered during conveyance in the second direction Y. Specifically, the first guide device may be a guide plate disposed on opposite side edges of the carrying platform 31 , and the first transfer device 312 is located between the two guide plates.

In some embodiments, the storage robot 30 further includes a mounting frame assembly 34 , the mounting frame assembly 34 is disposed on the robot chassis 35 , and the carrying platform 31 is movably connected to the mounting frame assembly 34 along the extending direction of the mounting frame assembly 34 . The shape of the mounting bracket assembly 34 may specifically be an arch shape, a straight line, a broken line, a curve or a combination thereof. The storage robot 30 further includes at least one buffer platform 341 for buffering the cargo box 11, the buffer platform 341 is mounted on the mounting frame assembly 34, and the buffer platform 341 is provided with a second guide device 343 (refer to FIG. 2) and a second conveyor device 342, the second guiding device 343 is used to guide the cargo box 11 conveyed by the second conveying device 342 to move along the second direction Y; the second conveying device 342 and the transfer mechanism are configured to make the cargo box 11 move between the carrying platform 31 and the buffer platform 341 transfer between.

After the roller on the carrying platform 31 transfers the cargo box 11 from the carrying platform 31 to the buffer platform 341, the cargo box 11 partially contacts the second conveyor 342 on the buffer platform 341, so that the second conveyor 342 continues to drive the cargo box 11 moves, so that the cargo box 11 is completely separated from the carrying platform 31 and completely transferred to the buffer platform 341 . When the cargo box 11 is completely separated from the carrying platform 31, the drum can stop working to save energy.

By arranging the buffer platform 341 on the mounting frame assembly 34, the second transfer device 342 and the transfer mechanism are configured to transfer the case 11 between the carrier platform 31 and the buffer platform 341, so that the warehouse robot 30 can store a plurality of cases at the same time 11, and then transport a plurality of cargo boxes 11 in a centralized manner, thereby reducing the walking time of the storage robot 30 and improving the transport efficiency. The second conveying device 342 may use a conveyor belt or a chain machine or the like.

In some embodiments, the mounting frame assembly 34 is provided with a plurality of buffer platforms 341 , so that the storage robot 30 can transport a plurality of containers 11 at one time, thereby improving the picking and placing efficiency of the containers 11 . Wherein, the multiple cache platforms 341 may specifically be two, three, four, five, six, seven, eight, nine, ten or more, and the cache platforms 341 may be set on the carrying platform 31 On one or both sides, the multiple cache platforms 341 on the same side are arranged at intervals in the vertical direction, the carrying platform 31 is configured to be able to rise and fall in the vertical direction to connect with the cache platforms 341 of different layers, and the carrying platform 31 can use a motor , The chain mechanism drives the lifting and lowering.

In a specific embodiment, the extending direction of the mounting frame assembly 34 is parallel to the vertical direction, and the carrying platform 31 is movably connected to the mounting frame assembly 34 along the vertical direction, so that the container pick-and-place assembly on the carrying platform 31 can be moved. Following the carrying platform 31 to move in the vertical direction, it is convenient to take and place the cargo boxes 11 of different heights.

17 and 18, based on the same purpose of the invention, the present application also provides a storage robot 30, the storage robot 30 can pick up and place the boxes 11 on the shelf 10, and the shelf 10 is set to at least one layer, each layer Includes multiple adjacent bays. The storage robot 30 includes a robot chassis 35, at least one carrying platform 31, a container pick-and-place assembly, and a first conveying device 312. At least one carrying platform 31 is arranged on the robot chassis 35, and the container pick-and-place assembly is arranged on the carrying platform 31. The cargo box pick-and-place assembly is used to pick and place the cargo box 11 at the designated cargo position. The first conveying device 312 is arranged on the carrying platform 31, and the first conveyor device 312 is used for conveying the cargo box 11 picked and placed by the cargo box pick-and-place assembly. , the container pick-and-place assembly includes a joint assembly that can be engaged with the side of the designated container 11 facing the storage robot 30 to pick and place the container 11 .

In the storage robot 30 provided in the embodiment of the present application, by arranging the container pick-and-place assembly and the first conveying device 312 on the carrying platform 31, the joint component of the container pick-and-place assembly is used to join the side of the container 11 that faces the storage robot 30. , that is, use the reserved travel channel beside the rack 10 to access the cargo box 11 , avoid reserving space in other directions around the cargo box 11 , thereby improving the space utilization rate of the rack 10 . Since the container 11 picked and placed by the container pick-and-place assembly is transported by the conveying device, the frictional force between the container 11 and the carrying platform 31 is reduced, thereby improving the picking and placing efficiency of the container 11 . Also because the container pick-and-place assembly first picks up the container 11, and then the first conveying device 312 transports the container 11, compared to the solution of directly holding the container 11 by the forks and pulling it to the carrying platform 31, there is no need to reserve on the carrying platform 31. Therefore, the area of the carrying platform 31 can be reduced.

In addition, the structure and connection relationship of the robot chassis 35 , the at least one carrying platform 31 , the container pick-and-place assembly, and the first conveying device 312 are the same as those of the robot chassis 35 , the at least one carrying platform 31 , the container pick-and-place assembly, and the first transfer device 312 in the above-mentioned embodiment. The structure and connection relationship of a transmission device 312 are the same or different.

Further, the storage robot 30 also includes a transfer mechanism, a first guide device, a mounting frame assembly 34, a buffer platform 341, a second guide device 343 and a second transfer device 342, the structure of which is the same as that of the transfer mechanism, the first guide device in the above embodiment The structures of the device, the mounting frame assembly 34 , the buffer platform 341 , the second guide device 343 and the second conveying device 342 are the same or different.

Referring to FIG. 17 and FIG. 18 , based on the same purpose of the invention, the present application also provides a storage system, which includes the storage robot 30 in the above embodiment.

In an embodiment of the present application, the storage system includes a storage warehouse and the storage robot 30 in the above embodiment. The storage robot 30 can walk in the roadway of the storage warehouse. The storage robot 30 further includes a mounting frame assembly 34. The mounting frame assembly 34 is provided with On the robot chassis 35, the mounting frame assembly 34 is disposed on the robot chassis 35 along the width direction and/or the length direction of the roadway. Referring to FIG. 18 , at this time, the mounting frame assembly 34 is arranged on the robot chassis 35 along the width direction of the roadway, but because the two uprights of the mounting frame assembly 34 have a certain thickness in the width direction of the roadway, a certain space will be occupied. The width of the roadway is widened, which affects the storage density of the entire warehouse. In order to increase the storage density of the warehouse, the solution can be adopted that the mounting assembly 34 is arranged on the robot chassis 35 along the length direction of the roadway. on the other column of assembly 34. Through the above-mentioned storage robot 30 walking in the roadway of the storage warehouse to pick, place and transport the cargo boxes 11 in the storage warehouse, the access efficiency of the storage warehouse can be improved, and the space utilization rate of the storage warehouse can be improved.

Since the carrying platform 31 of the storage robot 30 has a vertical lifting function, the storage robot 30 can be responsible for the access of multiple layers of goods at the same time, so as to solve the problem of sacrificing the storage space of goods by adding an additional elevator in the case of low traffic in the past. .

In addition, in the process of carrying out the task of entering and leaving the warehouse, the traditional shuttle must move to the buffer conveying device located at the end of the aisle to pick and place the container 11 every time a container 11 is transported, resulting in a lot of time for the shuttle to move. , instead of picking and placing goods, resulting in low efficiency of picking and placing goods. However, in the embodiment of the present application, by setting the buffer platform 341 and using the transfer mechanism to transfer the containers 11 on the carrying platform 31 to the buffer platform 341, the suction cup 331 assembly can continue to absorb the containers 11 from the shelf 10 and transfer them to the carrying platform 341. On the platform 31, the warehouse robot 30 can transport a plurality of containers 11 at one time, thereby improving the efficiency of picking up goods.

The same warehousing system can be used in combination with the traditional shuttle car and the warehousing robot 30 in the above-mentioned embodiment. According to the distribution of hot spots in the flow of goods, the goods are more reasonably distributed in different equipment operation areas, so as to realize the operation of low-flow equipment and low-flow equipment. Commodities, high-traffic equipment runs high-traffic commodities.

In some embodiments, the storage system includes a rack 10, a guide rail mechanism, and the storage robot 30 in the above-described embodiments. The chassis of the storage robot 30 is provided with walking wheels 351 . The guide rail mechanism includes a first guide rail and a second guide rail, the extending direction of the first guide rail is perpendicular to the extending direction of the second guide rail, and the side edges of the first guide rail and the second guide rail have process bending edges. Correspondingly, two groups of walking wheels 351 on the robot chassis 35 of the storage robot 30 can be provided according to the different extending directions of the first guide rail and the second guide rail, and the two groups of walking wheels 351 walk on the first guide rail and on the second guide rail respectively. walk on rails. The travel path of the storage robot 30 is limited by the bent edges of the first guide rail and the second guide rail to avoid deviating from the track. Wherein, a cross connecting plate is provided at the staggered position of the first track and the second track, so that the storage robot 3030 can complete the channel switching more smoothly.

Further, the guide rail mechanism includes a main guide rail 21 and an auxiliary guide rail 22. The main guide rail 21 is located below the auxiliary guide rail 22 and the two are arranged horizontally. The top of the storage robot 30 is provided with rollers for abutting with the auxiliary guide rails 22, or, the top of the storage robot 30 is provided with a mounting block 36, the mounting block 36 is provided with rollers, and the mounting block 36 can be telescopically moved in the vertical direction. When the lengths of the passage beside the rack 10 along the first direction X and the second direction Y are long, both the main guide rail 21 and the auxiliary guide rail 22 may be set to include a first guide rail and a second guide rail. When the length of the passage beside the shelf 10 along the first direction X is shorter and the length along the second direction Y is longer, the main guide rail 21 can be set to include the first guide rail and the second guide rail, while the auxiliary guide rail 22 only includes the second guide rail . The cross-sectional shape of the auxiliary guide rail 22 is T-shape, L-shape, V-shape or dovetail shape, and the shape of the mounting block 36 matches the cross-sectional shape of the auxiliary guide rail 22 .

When the storage robot 30 is converted from moving in the first direction X to moving in the second direction Y, the mounting block 36 on the top drives the rollers to abut against the auxiliary guide rail 22, so that the roller on the top rolls along the auxiliary guide rail 22 to make it move It is more stable and avoids shaking of the storage robot 30 during high-speed operation or the need for long-term buffering due to the upward movement of the overall center of gravity after the storage robot 30 is elevated. In addition, in order to further improve the stability, a shock-absorbing mechanism can also be added to the walking wheels 351 of the robot chassis 35 and the rollers on the top.

In some embodiments, the rail mechanism includes a first rail and a second rail, the extension direction of the first rail is parallel to the first direction X, and the extension direction of the second rail is parallel to the second direction Y; wherein the first direction X and The second directions Y are both perpendicular to the vertical direction, and the second direction Y is perpendicular to the first direction X. Correspondingly, there are also multiple groups of traveling wheels 351 on the robot chassis 35 of the storage robot 30 , and the multiple groups of traveling wheels 351 correspond to the first guide rail and the second guide rail respectively.

In some embodiments, the guide rail mechanism includes a main guide rail 21 and an auxiliary guide rail 22, and the main guide rail 21 and the auxiliary guide rail 22 are arranged parallel to each other in vertical directions. By arranging the main guide rail 21 and the auxiliary guide rail 22 that are parallel to each other in the vertical direction, the upper and lower ends of the storage robot 30 are both supported and guided by the guide rails, which further improves the stability. Among them, the combination of the first guide rail and the second guide rail, and the combination of the main guide rail 21 and the auxiliary guide rail 22 can be set by choosing one of the combinations, or both can be set at the same time.

Taking the storage robot 30 shown in FIG. 1 as an example, the specific delivery process of the container 11 of the present application is described as follows:

Control the storage robot 30 to move to the pickup position of the shelf 10, and drive the suction cup 331 to move forward through the translation member 32 until the suction cup 331 abuts on the side of the cargo box 11 facing the storage robot 30 at the pickup position;

Start the negative pressure device, so that the suction cup 331 adsorbs the side of the cargo box 11;

Activate the first conveying device 312, and control the translation member 32 to pull the suction cup 331 backward and move together with the cargo box 11 until part of the box body of the cargo box 11 is pulled to the first conveying device 312;

When the negative pressure device is turned off, the suction cup 331 loses its adsorption force on the cargo box 11 , and the swing arm 333 is driven to swing backward to make the suction cup 331 away from the cargo box 11 until the entire cargo box pick-and-place assembly is accommodated in the accommodating space of the carrying platform 31 ;

The container 11 is transported backward under the transmission of the first conveying device 312 until the entire container 11 is transferred to the carrying platform 31, and the first conveying device 312 is stopped;

Activate the jacking and transferring device 313, and control the conveying surface of the jacking and transferring device 313 to be higher than the first conveying device 312, so that the jacking and transferring device 313 lifts the container 11 and leaves the first conveying device 312;

Activate the second transfer device 342, and use the jack-up transfer device 313 and the second transfer device 342 to transfer the container 11 to the buffer platform 341;

The above steps can be repeated, and by controlling the lifting and lowering of the carrying platform 31 to dock with the buffer platforms 341 at different heights, so that each buffer platform 341 is filled with the cargo boxes 11 to improve the efficiency of picking up goods.

The warehouse robot 30 that has finished picking up the goods moves to the preset unloading area, and the cache platform 341 can be used to directly dock with the conveying line and other equipment in the unloading area for unloading, or the container 11 on the cache platform 341 can be transferred to the carrying platform 31 first. Then, the carrying platform 31 and the conveying line in the unloading area are used for docking and unloading.

Taking the storage robot 30 shown in FIG. 1 as an example, the specific storage process of the container 11 of the present application is described as follows:

Control the storage robot 30 loaded with the container 11 to move to the storage position of the rack 10, activate the second conveying device 342 and the lifting and transferring device 313 to make them dock, so as to transfer the container 11 on the buffer platform 341 to the carrier on platform 31;

Controlling the lifting and transferring device 313 to descend to a lower level than the conveying surface of the first conveying device 312 , so that the container 11 on the lifting and transferring device 313 falls onto the first conveying device 312 ;

The first conveying device 312 is activated, and the first conveying device 312 drives the cargo box 11 to move forward for a certain distance;

The swing arm 333 is driven to swing forward so that the suction cup 331 can abut on one side of the cargo box 11 , and the translation member 32 is controlled to push the suction cup 331 and the cargo box 11 forward until the cargo box 11 is assisted to push the cargo box 11 to the storage position of the rack 10 ;

The above steps can be repeated until all the boxes 11 on the buffer platform 341 are placed on the shelves 10 .

The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as a limitation on the scope of the patent application. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims (13)

1. a storage robot, is characterized in that, described storage robot comprises: robot chassis; At least one carrying platform is arranged on the robot chassis; a cargo box pick-and-place assembly, disposed on the carrying platform, the cargo box pick-and-place assembly is used to pick up and place a cargo box; and The first conveying device is arranged on the carrying platform, and the first conveying device is used for conveying the cargo box picked up and placed by the cargo box picking and placing assembly. 2 . The storage robot according to claim 1 , wherein the container pick-and-place assembly includes a side that can be engaged with the container and faces the storage robot, so as to pick and place the container. 3 . Engage components. 3. The warehouse robot according to claim 2, wherein the engaging component comprises a suction cup for being sucked to the cargo box, so as to suck or push the cargo box by means of the suction cup; or The engagement assembly includes a hook for hooking to the cargo box for hooking or pushing the cargo box by means of the hook. 4. The storage robot according to claim 3, characterized in that, the container pick-and-place assembly further comprises a support assembly and a translation member; the support assembly connects the translation member and the engagement assembly; Wherein, the carrying platform is provided with a guide rail for the translation member to move along the first direction; The translation member can move on the guide rail to drive the engaging assembly to move in a first direction, so as to suck, hook or push the cargo box. 5. The warehouse robot according to claim 4, wherein the support assembly is configured to be able to drive the engagement assembly to swing in a first direction with the translation member as a fulcrum; or, The support assembly includes a telescopic rod, and is configured to drive the joint assembly up and down; Wherein, the engaging assembly can swing and rise above the conveying surface of the first conveying device, or swing and descend below the conveying surface of the first conveying device. 6. The storage robot according to any one of claims 1-5, wherein the carrying platform is provided with a accommodating space, and the container pick-and-place assembly can be accommodated in the accommodating space to avoid the cargo box. 7 . The warehouse robot according to claim 1 , wherein the robot chassis is a self-guided chassis or a chassis that travels with rails. 8 . 8. The warehouse robot according to any one of claims 1-5, characterized in that, the container pick-and-place assembly takes and places the container along a first direction, and the first conveying device is along the first direction conveying the cargo box picked and placed by the cargo box pick-and-place assembly; The carrying platform further includes a transfer mechanism, and the transfer mechanism transports the cargo box on the carrying platform along the second direction. 9. The storage robot according to claim 8, wherein the transfer mechanism comprises a lifting and transferring device; The jack-up and transfer device is configured to be lower than the conveying surface of the first conveyor when the container is conveyed in the first direction; When the container is conveyed in the second direction, the conveying surface of the jacking and transferring device is higher than the first conveying device. 10 . The storage robot according to claim 9 , wherein a first guiding device is provided on the carrying platform along a first direction, and the first guiding device is used to guide the container to be conveyed in the first direction. 11 . ; When the container is conveyed in the second direction, the conveying surface of the jacking and transferring device is higher than the first conveying device and the first guiding device. 11. The storage robot according to claim 8, characterized in that, the storage robot further comprises a mounting frame assembly, and the mounting frame assembly is arranged on the robot chassis; The carrying platform is movably connected to the mounting frame assembly along the extending direction of the mounting frame assembly; The storage robot further includes at least one buffer platform for buffering the container, the buffer platform being mounted on the mounting frame assembly; A second guiding device and a second conveying device are arranged on the buffer platform, and the second guiding device is used to guide the cargo box conveyed by the second conveying device to move in a second direction; the second conveying device and the transfer mechanism is configured to transfer the case between the carrier platform and the buffer platform. 12. A warehousing robot capable of picking up and placing cargo boxes on a shelf, wherein the shelf is set to at least one layer, and each layer includes a plurality of adjacent cargo spaces, and the warehousing robot comprises: robot chassis; At least one carrying platform is arranged on the robot chassis; a cargo box pick-and-place assembly, disposed on the carrying platform, the cargo box pick-and-place assembly is used to pick up and place a cargo box at a designated cargo position; and a first conveying device, arranged on the carrying platform, the first conveying device is used for conveying the cargo box picked up and placed by the cargo box pick-and-place assembly; The container pick-and-place assembly includes an engagement assembly capable of being engaged with a side of a designated container facing the storage robot, so as to pick and place the container. 13. A storage system, characterized in that, Including a warehouse and the warehouse robot according to any one of claims 1-12, the warehouse robot can walk in the roadway of the warehouse; The storage robot further includes an installation frame assembly, the installation frame assembly is disposed on the robot chassis, and the installation frame assembly is disposed on the robot chassis along the width direction and/or the length direction of the roadway.

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