CN115724109A

CN115724109A - Box taking device, carrying robot, container carrying method and storage logistics system

Info

Publication number: CN115724109A
Application number: CN202111015903.3A
Authority: CN
Inventors: 王启铭
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2021-08-31
Filing date: 2021-08-31
Publication date: 2023-03-03

Abstract

The invention belongs to the technical field of storage logistics, and particularly discloses a box taking device, a carrying robot, a container carrying method and a storage logistics system. Wherein, get case device and include: a mounting bracket having an accommodating space with at least one side opened; the container taking and placing mechanism is arranged on the mounting frame, is used for being in butt joint with a container and can drive the container to enter and exit the accommodating space along a first direction of the container taking device; the conveying mechanism is arranged in the accommodating space and provided with a conveying surface used for supporting and conveying the containers, and the conveying mechanism can convey the containers entering and exiting the accommodating space along a first direction. The carrying robot comprises the box taking device, the container carrying method adopts the carrying robot to carry the containers, and the warehouse logistics system comprises the carrying robot. The box taking device, the carrying robot, the container carrying method and the storage logistics system provided by the invention can improve the carrying efficiency and carrying stability of the containers.

Description

Box taking device, carrying robot, container carrying method and storage logistics system

Technical Field

The invention relates to the technical field of logistics, in particular to a box taking device, a carrying robot, a container carrying method and a storage logistics system.

Background

The rapid development of electronic commerce brings unprecedented development opportunities to the warehouse logistics industry, also provides a serious challenge to warehouse logistics services, and the difficult problem of how to carry out package sorting flexibly and accurately with high efficiency and low cost is always faced by the warehouse logistics industry.

The transfer robot is a material handling in the warehouse, realizes the automation robot equipment of operations such as material loading, unloading and transfer, wherein, the transfer robot for carrying the packing box can take off the packing box from goods shelves and transport to selecting the station in to realize the "packing box to people" letter sorting of goods letter sorting, improved the efficiency of letter sorting.

The existing transfer robot for carrying the containers is generally provided with two fork arms in bilateral symmetry, and the two fork arms can extend out of two sides of the containers so as to clamp the containers on a goods shelf or clamp the containers and place the containers on the goods shelf. However, since two fork arms are required to extend into the side portions of the containers respectively, the fork arms are easily interfered with the containers beside the target container in the process of extending or retracting, so that the containers beside the target container incline to influence the subsequent goods taking operation, and the containers even fall to cause potential safety hazards or damage of goods; meanwhile, the fork arms are adopted for taking goods, when the containers are placed on the goods shelf, the space into which the fork arms stretch needs to be reserved between every two adjacent containers, so that the density of the containers on the goods shelf is reduced, and the improvement of the capacity of the warehouse is not facilitated.

Disclosure of Invention

The invention aims to provide a container taking device, so that the conveying efficiency of containers is improved, and the conveying smoothness and reliability of the containers are improved.

The second purpose of the invention is to provide a transfer robot to improve the efficiency, stability and reliability of taking and placing containers by the transfer robot.

The third purpose of the invention is to provide a container carrying method, so as to improve the container carrying efficiency and the container carrying smoothness.

A fourth object of the present invention is to provide a warehouse logistics system to improve the efficiency and safety of the warehouse logistics system.

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

a carton retrieving apparatus comprising:

a mounting bracket having an accommodating space with at least one side opened;

the container taking and placing mechanism is arranged on the mounting frame and is used for being in butt joint with one side surface of a container, and the container taking and placing mechanism can drive the container to enter and exit the accommodating space along a first direction of the container taking device;

the conveying mechanism is arranged in the accommodating space and provided with a conveying surface for supporting and conveying the containers, and the conveying mechanism can convey the containers entering and exiting the accommodating space along the first direction.

As an optional technical scheme of the box taking device, two conveying mechanisms are arranged at intervals along a second direction of the box taking device, the box taking and placing mechanism is arranged between the two conveying mechanisms, and the second direction is perpendicular to the first direction.

As an optional technical solution of the box taking device, the transmission mechanism includes two rotating members disposed at intervals along the first direction and a transmission belt wound around the two rotating members, and the upper surface of the transmission belt forms the transmission surface.

As an alternative solution of the box taking device, one of the rotating members is a motorized roller.

As an optional technical scheme of the box taking device, the box taking and placing mechanism can be in butt joint with one side face of the box, and the box taking and placing mechanism is in butt joint with one side face of the box in a detachable connection mode.

As an optional technical solution of the container taking and placing device, when the container enters and exits the accommodating space and contacts with the conveying surface, the container taking and placing mechanism and the conveying mechanism together carry the container to move.

As an optional technical solution of the box taking and placing device, the box taking and placing mechanism comprises a pickup assembly for butting against the box and a main driving assembly for driving the pickup assembly to move along the first direction;

the box taking device further comprises a guide assembly, and the guide assembly is used for guiding the picking assembly to move along the first direction.

As an optional technical solution of the box taking device, the guide assembly includes:

the guide rail is laid on the mounting rack along the first direction;

and the sliding block is arranged on the guide rail in a sliding manner and is connected with the picking assembly, and the upper surface of the guide rail is lower than the transmission surface.

As an optional technical scheme of the box taking device, the box taking device further comprises a shell, the shell is arranged around the mounting frame and provided with an opening, and the opening of the shell and the opening of the accommodating space are arranged in a superposition mode.

As an optional technical scheme of the carton taking device, the housing includes two outer side plates and a transverse side plate, the two outer side plates are arranged along the second direction of the carton taking device at intervals, the transverse side plate is connected between the two outer side plates, one end, away from the transverse side plate, of each outer side plate is provided with a guide plate portion, the two guide plate portions are inclined and close to each other along the direction away from the transverse side plate, and the second direction is perpendicular to the first direction.

A transfer robot comprises the box taking device, a movable chassis and a vertical frame arranged on the movable chassis, wherein the box taking device can be arranged on the vertical frame in a lifting mode.

As an optional technical scheme of transfer robot, transfer robot still includes the baffle of keeping in, the baffle of keeping in is followed the direction of height interval of grudging post is provided with a plurality ofly, just can keep in on the baffle of keeping in the packing box, it can realize to get the case device the packing box is in the transfer between baffle and the stock container of keeping in.

As an optional technical scheme of the transfer robot, the transfer robot further comprises a lifting mechanism, the lifting mechanism comprises a lifting driving assembly and a lifting frame, the lifting driving assembly is installed between the lifting frame and the vertical frame, and the lifting driving assembly is used for driving the lifting frame to lift along the vertical direction;

the crane with get the case device and all be located the grudging post is kept away from the one side of baffle of keeping in, just the mounting bracket can install with rotating around vertical axis in on the crane.

A container handling method for handling a container by using the handling robot as described above, the container handling method including a container pickup method comprising:

the container taking and placing mechanism extends out and is in butt joint with the container;

a container pick and place mechanism drags the container into the containing space and enables the container to be supported on the conveying surface;

the conveying mechanism acts and drives the container to completely enter the accommodating space.

As an optional technical solution of the container handling method, the container picking method further includes: after the container is supported on the conveying surface, the container taking and placing mechanism continues to drag the container into the accommodating space, and meanwhile, the conveying mechanism conveys the container in the same direction.

As an optional technical solution of the container handling method, the container handling method includes a container loading method, and the container loading method includes:

the conveying mechanism acts to convey the container out of the accommodating space;

the container taking and placing mechanism extends out to push the container out of the accommodating space.

As an optional technical solution of the container handling method, the container loading method further includes: before the conveying mechanism acts, the container taking and placing mechanism is connected with the container; when the container is pushed out of the containing space and placed in place, the container taking and placing mechanism is separated from the container and returns to the initial position.

As an optional technical solution of the container handling method, the container pick and place mechanism includes a suction cup and a main driving assembly that drives the suction cup to move along the first direction, and the connection of the container pick and place mechanism and one side of the container specifically includes:

the main driving assembly drives the suction disc to extend out to abut against one side face of the container;

and vacuumizing the suction disc so that the suction disc can adsorb the container.

A warehouse logistics system comprising an inventory receptacle and a transfer robot as described above for enabling access of the container on the inventory receptacle.

As an optional technical scheme of a warehouse logistics system, the inventory container comprises a plurality of supporting partition plates which are arranged at intervals along the height direction, and a plurality of separating rib plates are convexly arranged on the supporting partition plates along the transverse direction at intervals; a cargo space or a plurality of cargo spaces arranged side by side along the longitudinal direction is formed between two adjacent separating rib plates, and each cargo space can contain one cargo box.

The invention has the beneficial effects that:

according to the box taking device provided by the invention, the butt joint with the container can be realized by arranging the container taking and placing mechanism, the container on the inventory container is dragged into the accommodating space, or the container on the box taking device is pushed out of the accommodating space and pushed into the inventory container, so that the container is transferred on the accommodating space and the inventory container; through setting up transmission device, can support and supplementary transmission the packing box among the business turn over accommodation space, can improve the transmission efficiency and the transmission stability to the packing box, and can reduce the packing box and get the required atress of putting the mechanism, reduce and get the structural requirement of putting the mechanism to the packing box.

According to the carrying robot provided by the invention, the containers are taken and placed by adopting the container taking device, so that the carrying efficiency and the carrying stability of the carrying robot to the containers can be improved.

According to the container carrying method provided by the embodiment of the invention, the container is carried by adopting the carrying robot, so that the carrying efficiency and the carrying stability of the container can be improved.

According to the warehouse logistics system provided by the embodiment of the invention, the carrying robot is adopted to carry the containers, so that the carrying efficiency and the carrying stability of the containers can be improved, and the efficiency and the safety of the warehouse logistics system are improved.

Drawings

Fig. 1 is a schematic structural view of a transfer robot according to an embodiment of the present invention when docking a container;

fig. 2 is a schematic structural view of a transfer robot according to an embodiment of the present invention, which pulls a cargo box into a receiving space;

fig. 3 is a schematic structural diagram of a box taking device according to an embodiment of the present invention when a picking assembly retracts;

FIG. 4 is a schematic structural diagram of a box taking device according to an embodiment of the present invention when a picking assembly is extended;

fig. 5 is a schematic structural diagram of a warehouse logistics system according to a fourth embodiment of the invention.

The figures are labeled as follows:

10. a transfer robot; 20. an inventory container; 201. supporting the partition plate; 202. separating rib plates; 203. a cargo space; 30. a cargo box;

1. a box taking device; 11. a mounting frame; 111. mounting a bottom plate; 112. installing a side plate; 113. an accommodating space; 12. a container pick-and-place mechanism; 121. a suction cup; 122. a main drive assembly; 123. a fixed mount; 13. a transport mechanism; 131. a transmission belt; 1311. a transport surface; 132. an active rotating member; 133. a driven rotating member; 14. a guide rail; 15. a housing; 151. an outer panel; 1511. a guide plate portion; 152. a transverse side plate;

2. erecting a frame; 21. a support pillar; 22. a cross beam; 3. moving the chassis; 4. temporarily storing the clapboard; 5. a lifting frame.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. "beneath," "under" and "beneath" a first feature includes the first feature being directly beneath and obliquely beneath the second feature, or simply indicating that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

Example one

As shown in fig. 1 and fig. 2, the present embodiment provides a transfer robot 10, which is used for carrying, picking and placing containers 30, and is mainly applied to the warehouse logistics industry, and is used for picking, placing and transporting containers 30 with ordered goods or couriers stored therein, so as to implement order-based picking or loading operations. The present invention may be applied to other places where the cargo box 30 or the cargo is to be transported, and the application of the transfer robot 10 in the present embodiment is merely an example, and the present embodiment is not particularly limited thereto.

Specifically, the transfer robot 10 provided in the present embodiment includes a moving chassis 3, a stand 2, a box taking device 1, a lifting mechanism, a detection assembly, and a controller. Wherein the mobile chassis 3 is used to realize the movement of the transfer robot 10 on the ground to realize the transportation of the packing box 30 by the transfer robot 10; the vertical frame 2 is arranged on the movable chassis 3 and used for fixing and supporting the box taking device 1; the box taking device 1 is arranged on the vertical frame 2 in a lifting way through a lifting mechanism so as to pick up a packing box 30 on the inventory container or place the packing box 30 on the inventory container; the detection component is used for detecting the working state and the external environment state of the transfer robot 10; the controller is used for acquiring order information of warehouse logistics and intelligently regulating and controlling the operation of the transfer robot 10 based on the order information and the detection result of the detection assembly.

The movable chassis 3 comprises a chassis body and a driving wheel mechanism arranged at the bottom of the chassis body, and the driving wheel mechanism is used for realizing the movement of the movable chassis 3. The driving wheel mechanism can adopt a differential driving mode and specifically comprises a driving wheel motor, two driving wheels arranged at the bottom of the chassis body, a connecting assembly for connecting the driving wheel motor and the two driving wheels and the like. Two drive wheels set up respectively in the both sides of chassis body, and the drive wheel motor sets up in the inside of chassis body, and its rotation output shaft is connected with the drive wheel and drives the drive wheel motion, realizes removing the straight line or the turn motion of chassis 3.

In this embodiment, the driving wheel mechanisms are arranged on two sides of the middle of the moving chassis 3, which is beneficial to improving the motion stability of the moving chassis 3. A plurality of universal driven wheels can be further arranged on the chassis body, if a pair of universal driven wheels can be respectively arranged at the front part and the rear part of the chassis body, and two pairs of universal driven wheels are symmetrically arranged relative to a pair of driving wheels, so that the stable motion of the movable chassis 3 is favorably improved, especially the turning motion stability of the movable chassis 3 is favorably improved, and the movable chassis 3 is prevented from toppling to one side in the motion process.

The driving wheel mechanism can also adopt other mechanisms capable of driving the chassis body to move, the embodiment does not limit the specific form of the driving wheel mechanism and does not limit the specific structure of the movable chassis 3, and the driving wheel mechanism can be used as long as the structure capable of driving the vertical frame 2 to move can be realized, such as the existing robot structure and the like.

For convenience of the following description, a coordinate system of the transfer robot 10 is established in directions shown in fig. 1 and 2, in which an X direction is an extending direction of a rotating shaft of the driving wheels, a Y direction is horizontally disposed and perpendicular to the X direction, and a Z direction is a vertical direction.

The grudging post 2 includes relative and two support columns 21 that the interval set up, and the equal vertical setting of every support column 21, the lower extreme and the removal chassis 3 of support column 21 are connected, are connected with crossbeam 22 between the upper end of two support columns 21, avoid two support columns 21 to take place to rock relatively. Preferably, each support post 21 includes a plurality of support rod segments that are removably connected to improve ease of manufacture and assembly. The structure of the stand 2 can be referred to the prior art, and is not described in detail herein.

Get case device 1 and install on grudging post 2 through elevating system, elevating system includes crane 5 and lift drive assembly, and lift drive assembly installs between grudging post 2 and crane 5 for drive crane 5 goes up and down. The box taking device 1 is arranged on the lifting frame 5. The lifting mechanism may be, but not limited to, a sprocket chain type lifting mechanism, a screw nut type lifting mechanism, a rack and pinion type lifting mechanism, etc., and the specific structure of the lifting mechanism and the connection between the lifting mechanism and the container taking device 1 may refer to the prior art, which is not limited in this embodiment.

As shown in fig. 3 and 4, the box taking device 1 includes a mounting frame 11, a box taking and placing mechanism 12, and a conveying mechanism 13. Wherein, the mounting rack 11 is arranged on the lifting rack 5, and the mounting rack 11 is provided with an accommodating space 113 with at least one side opening; the container pick-and-place mechanism 12 is arranged on the mounting frame 11, and is used for being abutted against the container 30 and driving the container 30 to enter and exit the accommodating space 113 along the first direction of the container pick-and-place device 1; the conveying mechanism 13 is disposed in the accommodating space 113, the conveying mechanism 13 has a conveying surface 1311 for supporting and conveying the container 30, and the conveying mechanism 13 can convey the container 30 into and out of the accommodating space 113 in a first direction. Wherein the first direction is parallel to the X-direction or parallel to the Y-direction.

The container taking device 1 and the transfer robot 10 provided in this embodiment can realize docking with the container 30 by providing the container taking and placing mechanism 12, and pull the container 30 on the inventory container into the accommodating space 113, or push the container 30 on the container taking device 1 out of the accommodating space 113 and onto the inventory container, thereby realizing transfer of the container 30 between the accommodating space 113 and the inventory container; through setting up transmission device 13, can support and supplementary transmission to the packing box 30 in the business turn over accommodation space 113, can improve the transmission efficiency and the transmission stability to packing box 30, and can reduce the required atress of packing box pick and place mechanism 12, reduce the structural requirement to packing box pick and place mechanism 12.

The mounting frame 11 preferably includes a horizontally disposed mounting bottom plate 111 and a vertically disposed mounting side plate 112, the lower end of the mounting side plate 112 is vertically connected to the mounting bottom plate 111, two mounting side plates 112 are oppositely disposed along the second direction and spaced apart from each other, the accommodating space 113 is formed between the two mounting side plates 112, the conveying mechanism 13 and the container pick-and-place mechanism 12 are both mounted on the mounting bottom plate 111, and the upper end of the mounting side plate 112 is higher than the conveying surface 1311. By arranging the two mounting side plates 112, the container 30 entering the accommodating space 113 can be protected, the container 30 is prevented from accidentally falling from the side of the mounting frame 11, and the safety and the reliability of the container 30 in the taking and placing process are improved; meanwhile, the arrangement of the mounting side plates 112 can also provide protection for the conveying mechanism 13 and the container pick-and-place mechanism 12.

Preferably, the conveying mechanism 13 is a belt conveying mechanism, which is stable in conveying and low in cost, and does not cause scratch damage to the containers 30. Specifically, the transmission mechanism 13 includes a driving rotation member 132 and a driven rotation member 133 disposed opposite to and spaced apart from each other in the first direction, and a transmission belt 131 wound around the driving rotation member 132 and the driven rotation member 133, and an upper surface of the transmission belt 131 forms a transmission surface 1311.

Preferably, both the rotation members (the driving rotation member 132 and the driven driving member 133) are rollers, and the rotation shafts of the rollers are disposed in the second direction. This arrangement makes it possible to increase the width of the belt 131 and thus the width of the conveying surface 1311, thereby improving the safety and reliability of conveyance. In other embodiments, the driving rotation member 132 and the driven rotation member 133 may be provided as pulleys.

In order to improve the compactness of the carton taking device 1, it is preferable that the driving rotation member 132 is a motorized roller, that is, the driving rotation member 132 includes a cylinder and a transmission driving unit disposed inside the cylinder, and the space occupied by the driving rotation member is small, and the compactness is high. In other embodiments, the driving rotation member 132 may be a separate cylinder structure, and the transmission mechanism 13 further includes a transmission motor disposed outside the driving rotation member 132 and a transmission structure connected between the transmission motor and the driving rotation member 132.

In other embodiments, the transmission mechanism 13 may also be a roller transmission mechanism, a roller transmission mechanism or a chain transmission mechanism, and all of the roller transmission mechanism, the roller transmission mechanism or the chain transmission mechanism may be configured according to the prior art, which is not illustrated in the present invention.

In order to further improve the transmission stability of the container 30, the two transmission mechanisms 13 are arranged oppositely and at intervals along the second direction, the distance between the two transmission mechanisms 13 is smaller than the width of the container 30, and the container pick-and-place mechanism 12 is arranged between the two transmission mechanisms 13, so that the two sides of the bottom of the container 30 can be respectively supported on the transmission surfaces 1311 of the two transmission mechanisms 13 in the pick-and-place process of the container 30, the transmission stability and reliability are improved, the container 30 is dragged by the container pick-and-place mechanism 12 positioned in the middle, the transmission direction of the container 30 can be effectively guided, the container 30 is prevented from being inclined in the conveying process, and the stress stability of the container 30 in the transmission process is improved; meanwhile, the arrangement can also reduce the structural interference between the container picking and placing mechanism 12 and the conveying mechanism 13. In other embodiments, only one transport mechanism 13 may be provided, and the container pick and place mechanism 12 may be provided above the transport mechanism 13.

The container pick and place mechanism 12 includes a pick assembly for docking with the container 30 and a main drive assembly 122 for driving the pick assembly in a first direction of the container pick and place apparatus 1 to move the container 30 into and out of the receiving space 113.

Preferably, the container pick and place mechanism 12 is capable of interfacing with a side of the container 30, and the container pick and place mechanism 12 interfaces with a side of the container using a removable connection such as magnetic, vacuum, or a removable mechanical connection. This kind of setting of packing box pick and place mechanism 12 can reduce packing box pick and place mechanism 12 and packing box 30 and dock required space, avoids packing box pick and place mechanism 12 to stretch into packing box 30's both sides and presss from both sides the armful to packing box 30 to the clearance demand between two adjacent packing box 30 on the inventory container has been reduced, packing box 30 improves the density of arranging on the inventory container. The detachable mechanical connection mode can be but is not limited to a clamping, plugging or hanging mode and the like. In other embodiments, the container pick and place mechanism 12 may also pick and place the container 30 using an existing clipping structure.

In the present embodiment, the pick-up assembly is connected to the container 30 by vacuum suction, that is, the pick-up assembly includes a suction cup 121 and an air pump assembly (not shown) for supplying air to and evacuating the suction cup 121. The air pump assembly comprises an air pump and an air pipe connected between the suction cup 121 and the air pump. When the main driving assembly 122 drives the suction cups 121 to contact the side surfaces of the container 30, the air pump vacuumizes the suction cups 121 through air pipes, namely, the suction cups 121 can perform a vacuum adsorption effect on the container 30; when the cargo box 30 needs to be released, the air pump introduces positive pressure air to the suction cups 121 through the air pipes, and then the suction cups 121 can release the cargo box 30.

The pick-up assembly is butted with the container 30 in a vacuum adsorption mode, so that the structure is simple, the realization is easy and the cost is low; meanwhile, the arrangement can conveniently enable the picking assembly to act on only one side surface of the container 30 to realize stable picking of the container 30, and the convenience for taking and placing the container 30 is high; meanwhile, the container 30 is taken and placed in a vacuum adsorption mode, the structure of the container 30 does not need to be changed, the improvement cost is low, and the universality is high; moreover, the container 30 is picked and placed in a vacuum adsorption mode, so that the requirement of the alignment precision of the picking assembly and the container 30 can be reduced, and the convenience of picking and placing the container 30 is improved.

In order to facilitate the assembly and disassembly of the pick-up assembly, the container pick-and-place mechanism 12 further includes a fixing frame 123, the suction cup 121 is detachably connected to the fixing frame 123, the fixing frame 123 is detachably connected to the main driving assembly 122, and the main driving assembly 122 drives the fixing frame 123 to move along the first direction, so as to drive the suction cup 121 to move along the first direction. Preferably, the suction cups 121 are spaced at least two in the second direction and/or the vertical direction to improve the suction reliability to the cargo box 30 and reduce the suction force required for the single suction cup 121.

Each suction cup 121 can be provided with an air pipe separately, and the air pump supplies air to a single air pipe. Or, one end of the air pipe close to the suction cup 121 may be provided with an air distribution block for air distribution, and the suction cup 121 is arranged on the air distribution block, so that air supply to the plurality of suction cups 121 can be realized by one air pipe, and uniformity and consistency of air supply of the suction cups 121 are ensured.

In the present embodiment, the main driving assembly 122 employs a main driving motor to cooperate with a main transmission assembly for transmission. The main driving motor is preferably disposed at a side of the mounting frame 11 away from the opening of the accommodating space 113 to avoid interference with the cargo box 30. The main transmission assembly may be, but not limited to, a belt transmission, a rack and pinion transmission, a chain transmission, a lead screw nut transmission, or the like, which can realize the linear movement of the fixing frame 123. The present embodiment does not limit the transmission form and the specific structure form of the main transmission assembly.

In order to further improve the smoothness of the picking assembly in the first direction, the box taking device 1 is further provided with a guiding assembly, and the guiding assembly is arranged on the mounting base plate 111 and extends along the first direction. The guide assembly comprises a first guide part and a second guide part which are connected in a sliding mode, the first guide part is laid on the installation base plate 111 along the first direction and located between the two transmission mechanisms 13, the second guide part is matched with the first guide part in a sliding or rolling mode, and the second guide part is detachably connected with the fixing frame 123.

In the present embodiment, the first guide is a guide rail 14, the second guide is a slider, that is, the guide assembly is a guide rail slider structure, and the upper surface of the guide rail 14 is lower than the conveying surface 1311. In other embodiments, the first guiding element may also be a guide rod, and the second guiding element may be a guide sleeve slidably sleeved on the guide rod. Other structures capable of realizing linear motion guiding are within the protection scope of the present invention, and the present invention is not limited thereto.

Further, the suction cups 121 are located above the guide rails 14, so that the height of the fixing frame 123 is reduced, and the height of the suction cups 121 is raised, so that the height of the butt joint position of the suction cups 121 and the container 30 relative to the bottom of the container 30 is increased, the conveying smoothness of the container 30 is improved, the structure compactness is improved, and the structure interference is reduced.

The box taking device 1 preferably further comprises a housing 15 surrounding the mounting frame 11, the housing 15 has an opening, and the opening of the housing 15 coincides with the opening of the accommodating space 113, so as to improve the appearance of the box taking device 1. The housing 15 preferably includes a lateral side plate 152 surrounding to form a U-shaped structure and two opposite and spaced outer side plates 151, the two outer side plates 151 are respectively located at the outer sides of the two mounting side plates 112 and detachably connected to the corresponding mounting side plates 112, and the opening formed by the lateral side plate 152 and the two outer side plates 151 surrounding is consistent with the opening of the accommodating space 113. The arrangement of the housing 15 is beneficial to protecting the box taking device 1, and can prevent the container 30 from dropping from one side deviating from the opening of the accommodating space 113, thereby improving the placement safety and reliability of the container 30 on the box taking device 1.

Further, one end of each of the outer side plates 151 away from the lateral side plate 152 is provided with a guide plate portion 1511, and the two guide plate portions 1511 are inclined close to each other in a direction away from the lateral side plate 152, and the second direction is perpendicular to the first direction. The provision of the guide panel portion 1511 facilitates guiding the cargo box 30 into and out of the accommodation space 1131.

As shown in fig. 1, in the present embodiment, the transfer robot 10 further includes a plurality of temporary storage partitions 4 disposed at intervals in the height direction of the vertical frame 2, each temporary storage partition 4 is vertically connected to the supporting column 21, and each temporary storage partition 4 can be used for temporarily storing one container 30. With this arrangement, the transfer robot 10 can transfer a plurality of pallets 30 at a time, and efficiency of transferring the pallets 30 can be improved.

Further, every baffle 4 of keeping in all can dismantle with grudging post 2 and be connected to can set up the baffle 4 of keeping in of reasonable quantity on grudging post 2 according to the demand of the height of stock container, the height of grudging post 2 and transport, improve handling robot 10's use flexibility and commonality, make baffle 4 of keeping in can carry out modularization processing and setting, improve baffle 4's of keeping in processing and use flexibility, conveniently keep in baffle 4's processing, equipment and transport. The specific structure of the temporary storage partition plate 4 can refer to the prior art, which is not the focus of the present invention and will not be described herein.

In order to avoid the interference between the box taking device 1 and the temporary storage partition plate 4, the box taking device 1 and the temporary storage partition plate 4 are respectively located on two opposite sides of the vertical frame 2, and the box taking device 1 is connected with the lifting frame 5 through the rotating mechanism, so that the box taking device 1 rotates around a vertical axis, the opening direction of the accommodating space 113 is changed, and the box taking and placing mechanism 12 and the conveying mechanism 13 can transfer the box 30 between the mounting frame 11 and the temporary storage partition plate 4. The arrangement of the rotating mechanism can refer to the existing arrangement, which is not the focus of the present invention and is not described herein again.

The present embodiment also provides a warehouse logistics system including the transfer robot 10 described above.

Example two

The present embodiment provides a container transporting method, which uses the transporting robot 10 in the first embodiment to transport a container 30, so as to improve the efficiency and smoothness of transporting the container 30.

The container carrying method provided in the present embodiment includes a container pickup method, that is, a carrying method in which the carrying robot 10 carries the container 30 on the stock container into a target position. The container picking method comprises the following steps:

step S101, the carrying robot 10 receives order information of an order management center and analyzes the position of order goods;

step S102, planning an optimal traveling path by the carrying robot 10 according to the position of the order goods, and automatically navigating along a warehouse channel to the front side of a target container;

step S103, operating a lifting mechanism to drive the box taking device to be lifted to be opposite to a target container;

step S104, extending the container taking and placing mechanism 12 and butting the container 30;

in this embodiment, the step specifically includes:

step S1041, the main driving assembly 122 drives the suction cup 121 to extend until the suction cup 121 abuts against the front side surface of the cargo box 30;

step S1042, the air pump vacuumizes the suction cup 121, so that the suction cup 121 sucks the container 30.

Step S105, retracting the container pick-and-place mechanism 12, drawing the container 30 into the accommodation space, and supporting the container 30 on the conveying surface 1311;

in step S106, when the container 30 contacts the conveying surface 1311, the conveying mechanism 13 is operated to drive the container 30 into the accommodating space 113 completely.

In this embodiment, during the process of conveying the containers 30 by the conveying mechanism 13, the container pick-and-place mechanism 12 simultaneously drags the containers 30 in the same direction, so as to realize the synchronous conveying of the containers 30 by the conveying mechanism 13 and the container pick-and-place mechanism 12.

It will be appreciated that the container pick and place mechanism 12 may also serve only to dock the container 30 and to draw the container 30 into and out of the receiving space 113, and that the container pick and place mechanism 12 may be disengaged from the container 30 when the transfer mechanism 13 is able to stably transfer the container 30.

Step S107, when the container 30 is conveyed to the place in the accommodating space 113, the container taking and placing mechanism 12 and the conveying mechanism 13 stop operating;

step S108, the lifting mechanism drives the box taking device 1 to lift to be consistent with the height of the vacant temporary storage partition plate 4;

step S109, the rotating mechanism drives the box taking device 1 to rotate 90 degrees, so that the opening of the accommodating space 113 faces the temporary storage partition plate 4;

it should be understood that the sequence of step S108 and step S109 may be changed or performed simultaneously.

Step S110, the container taking and placing mechanism 12 and the conveying mechanism 13 cooperate to push the container 30 in the accommodating space 113 into the temporary storage partition 4;

in step S111, the transfer robot 10 operates to transfer the container 30 to the target position.

The container handling method also includes a container pick-up method, which is primarily to replace the container 30 on the transfer robot 10 onto the inventory receptacle. The cargo box loading method comprises the following steps:

step S201, the transfer robot 10 moves to the front side of the target cargo space;

step S202, operating a lifting mechanism to drive the box taking device 1 to be opposite to a target container;

it should be noted that, if the current position of the box taking device 1 is directly opposite to the target container, this step can be omitted.

Step S203, the rotating mechanism acts to adjust the opening of the accommodating space 113 to face the target container;

it should be noted that this step may be omitted when the initial state of the box taking device 1 is the state in which the opening of the accommodating space 113 faces the temporary storage partition 4.

Step S204, the container pick and place mechanism 12 and the transport mechanism 13 transfer the target container from the temporary storage partition 4 into the accommodation space 113.

The steps can refer to the above steps S104 to S107, and are not described herein again.

Step S205, the rotating mechanism drives the box taking device 1 to rotate 90 degrees, so that the opening of the accommodating space 113 faces to the inventory container where the target goods space 30 is located;

s206, the lifting mechanism acts to lift the box taking device 1 to a position matched with the height of the target cargo space;

step S207, the transmission mechanism 13 and the container taking and placing mechanism 12 synchronously operate to output the target container to the accommodating space 113;

in this step, the container pick and place mechanism 12 may be connected to one side surface of the container 30, or the transfer mechanism 13 may be in contact with only one side surface of the container 30, that is, the transfer mechanism 13 may act on the container 30 only by thrust.

In step S208, when the container 30 exits the accommodating space 113 and enters the target cargo space, the conveying mechanism 13 stops operating, and the container pick and place mechanism 12 continues operating to push the target container into position.

When the target container completely enters the target cargo space, the container pick and place mechanism 12 is separated from the container 30 and retracted to the initial position at step S209.

In the container conveying method according to the present embodiment, the efficiency and smoothness of conveying the container 30 can be improved by conveying the container 30 by using the above-described conveying robot 10.

EXAMPLE III

The present embodiment provides a transfer robot and a warehouse logistics system, which have substantially the same structure as the transfer robot provided in the first embodiment, and only some of the settings have differences, and the structure in the first embodiment is not described again in this embodiment.

In this embodiment, the transport mechanism draws the container into or out of the receiving space simultaneously with the container pick and place mechanism. In particular, when the containers are stored on the inventory receptacle, the front ends of the containers extend outside the inventory receptacle, i.e., the front ends of the bottoms of the containers are located outside the inventory receptacle. When the transfer robot moves to the front of the target container, the container taking device is lifted until the front end of the container abuts against the transmission surface of the transmission mechanism 13; when the box taking device is lifted to the proper position, the box taking and placing mechanism extends out and is in butt joint with the box, and at the moment, the box taking and placing mechanism and the conveying mechanism act together to completely pull the box into the accommodating space.

When the carrying robot needs to put the container into the inventory container, the container taking device is lifted until the conveying surface is parallel to the bottom surface of the target cargo space, and the conveying mechanism and the container taking and placing mechanism act together to output the container out of the containing space and enable the container to enter the target cargo space.

Under the arrangement, preferably, when the box taking device takes and places the containers, the box taking device is close to or abutted against the inventory container on the opening side of the accommodating space, so that the situation that the length of the containers extending out of the inventory container is too long to influence the placing stability and the placing safety of the containers is avoided. Meanwhile, in order to avoid the interference between the inventory container and the stand, when the first direction of the box taking device is parallel to the X direction, one side of the box taking device facing the inventory container protrudes out of one side of the stand facing the inventory container.

Example four

The embodiment provides a warehouse logistics system as shown in fig. 5, and the warehouse logistics system provided by the embodiment comprises an inventory container 20, a container 30 and a transfer robot 10, wherein the container 30 is placed on the inventory container 20, and the transfer robot 10 is used for transferring the container 30 on the inventory container 20. The structure of the warehouse logistics system provided in this embodiment is substantially the same as that of the first embodiment, and only the structure of the inventory container 20 is different, and the structure the same as that of the first embodiment is not repeated in this embodiment.

Specifically, as shown in fig. 5, the inventory receptacle 20 includes a plurality of supporting partitions 201 arranged at intervals in the height direction, each supporting partition 201 is provided with a plurality of cargo spaces 203 in the transverse direction, and each cargo space 203 can be used for storing one cargo box 30. Each supporting partition 201 is preferably provided with two cargo spaces 203 or three cargo spaces 203 along the longitudinal direction, so that the arrangement density of the cargo boxes 30 on the inventory container 20 is improved, and the space utilization rate of the inventory container 20 is improved.

In the embodiment, two cargo spaces 203 which are adjacently arranged in the transverse direction are provided with separating rib plates 202, and the separating rib plates 202 extend in the longitudinal direction and are vertically protruded on the upper surface of the supporting partition plate 201, that is, one cargo space 203 or a plurality of cargo spaces 203 which are arranged in the longitudinal direction are formed between two adjacent separating rib plates 202.

The inventory container 20 provided by the embodiment, through set up the partition rib plate 202 on the support baffle 201, adopt the partition rib plate 202 to separate the goods position 203 of transversely arranging, can avoid when the packing box 30 is got and put in manual work or adopt transfer robot 10, cause the promotion and cause out of order phenomenon such as packing box 30 slope to the packing box 30 next door, guarantee that packing box 30 sets up stability and reliability on inventory container 20, reduce the interference between packing box 30, thereby make things convenient for transfer robot 10 to the butt joint of packing box 30 and get and put more.

In this embodiment, the partition rib plate 202 is welded to the support spacer 201 to improve structural stability. However, it should be understood that the partition rib plate 202 and the support partition plate 201 may also be detachably connected by means of a plug connection or other detachable connection methods, so as to facilitate the installation, removal and replacement of the partition rib plate 202.

Other configurations of the inventory receptacles 20 may be found in the prior art and will not be described in detail herein.

It is to be noted that the foregoing description is only exemplary of the invention and that the principles of the technology may be employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A carton taking device is characterized by comprising:

a mounting frame (11) having an accommodating space (113) with at least one side opened;

a container pick and place mechanism (12) arranged on the mounting frame (11) and used for being butted with a container (30) and driving the container (30) to enter and exit the accommodating space (113) along a first direction of the container pick and place device;

a transport mechanism (13) disposed in the accommodation space (113), the transport mechanism (13) having a transport surface (1311) for supporting and transporting the containers (30), the transport mechanism (13) being capable of transporting the containers (30) in and out of the accommodation space (113) along the first direction.

2. A container pick and place device according to claim 1, characterised in that the transport means (13) are arranged in two spaced apart relationship along a second direction of the device, the container pick and place mechanism (12) being arranged between the two transport means (13), the second direction being perpendicular to the first direction.

3. The box taking device according to claim 1, wherein the transmission mechanism (13) comprises two rotating members arranged at intervals in the first direction and a transmission belt (131) wound around the two rotating members, and an upper surface of the transmission belt (131) forms the transmission surface (1311).

4. A container pick-up device as claimed in claim 3, wherein one of the rotatable members is a motorized roller.

5. The pick and place device as claimed in claim 1, wherein the pick and place mechanism (12) is capable of interfacing with a side of the container (30), and the pick and place mechanism (12) interfaces with a side of the container (30) with a removable connection.

6. The carton picking apparatus according to any one of claims 1 to 5, characterized in that the carton picking and placing mechanism (12) and the transport mechanism (13) move together with the carton (30) when the carton (30) enters and exits the accommodation space and contacts the transport plane (1311).

7. A carton pick and place device according to any one of claims 1 to 5, characterised in that the carton pick and place mechanism (12) comprises a pick assembly for docking the carton (30) and a main drive assembly (122) for moving the pick assembly in the first direction;

8. A transfer robot, characterized by comprising the box taking device according to any one of claims 1 to 7, further comprising a moving chassis (3) and a stand (2) provided on the moving chassis (3), wherein the box taking device is liftably provided on the stand (2).

9. A container handling method, characterized in that a container (30) is handled using the handling robot of claim 8, the container handling method comprising a container pick-up method comprising:

the container picking and placing mechanism (12) extends out and is in butt joint with the container (30);

-the container pick and place mechanism (12) draws the container (30) into the receiving space (113) and supports the container (30) on the transport surface (1311);

the conveying mechanism (13) acts and drives the container (30) to completely enter the accommodating space (113).

10. A warehouse logistics system, characterized in that it comprises an inventory receptacle (20) and a transfer robot as claimed in claim 8 for enabling access of the containers (30) on the inventory receptacle (20).