CN115771698A - Storage robot and storage system - Google Patents

Abstract

The application relates to a warehousing robot and a warehousing system. The warehousing robot includes: the bearing platform is arranged on the bracket and used for bearing the container; the container taking and placing device is arranged on the bracket and used for taking and placing the container; the first lifting mechanism is used for driving the bearing platform to lift along the bracket; the second lifting mechanism is used for driving the container taking and placing device to lift; the bracket is arranged on the robot chassis; the bearing platform is provided with a conveying device for conveying the containers taken and placed by the container taking and placing device; the bearing platform is provided with a lifting channel of the container taking and placing device. The utility model provides a storage robot is provided with packing box and gets and put the device to be equipped with conveyor on storage robot's the load-bearing platform. The container taking and placing device is matched with the conveying device, so that the friction force between the container and the bearing platform can be reduced, the problem that the container and the bearing platform are easy to wear is solved, and in addition, the container taking and placing efficiency can be improved.

Description

Storage robot and storage system

Technical Field

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

Background

The box type storage is an important branch of the modern logistics storage technology, can more fully utilize the existing storage space, and has the advantages of preventing stored objects from being affected with damp and being polluted and the like. A box-type storage system usually comprises racks and a storage robot freely traversable in the roadway between the racks for transporting containers.

Storage robot among the correlation technique, mostly through the telescopic boom clamp embrace the packing box to load-bearing platform on, the frictional force between packing box and the load-bearing platform is great for wearing and tearing easily between packing box and the load-bearing platform also can cause to get, put goods efficiency lower.

Disclosure of Invention

Based on this, provide a storage robot and warehouse system, aim at improving the storage robot and get, put the goods process and easily cause the easy wearing and tearing between packing box and the load-bearing platform to and get, put the problem that the efficiency is lower.

According to an aspect of the present application, there is provided a warehousing robot including: the bearing platform is arranged on the bracket and used for bearing a container; the container taking and placing device is arranged on the bracket and used for taking and placing the container; the first lifting mechanism is used for driving the bearing platform to lift along the bracket; the second lifting mechanism is used for driving the container taking and placing device to lift; the bracket is arranged on the robot chassis; the bearing platform is provided with a conveying device used for conveying the containers taken and placed by the container taking and placing device; the bearing platform is provided with a passage for lifting the container taking and placing device.

The storage robot of this application embodiment is provided with packing box and gets and put the device to be equipped with conveyor on storage robot's the load-bearing platform. Therefore, the container can be taken out from the storage position of the container by the container taking and placing device, and the container taken and placed by the container taking and placing device is conveyed by the conveying device, so that the container is borne on the bearing platform, and the container is conveyed and conveyed. Alternatively, the container can be conveyed outwards from the bearing platform by the conveying device, and then the container is stored to the storage position of the container by the container taking and placing device, so that the cargo placing process is realized. Through the cooperation of the container taking and placing device and the conveying device, the friction force between the container and the bearing platform can be reduced, and the problem that the container and the bearing platform are easy to wear is solved. In addition, get by the packing box and put the device and directly get, put the packing box from between packing box storage bit and the storage robot, need not extra conveying mechanism, and compare in the direct scheme such as holding the packing box of pressing from both sides of fork and drawing to load-bearing platform, need not to reserve the space of fork on load-bearing platform to can reduce load-bearing platform's area, also can improve the packing box and get, put efficiency.

In some embodiments, the container pick-and-place device is capable of picking and placing a container when the container pick-and-place device is in the first state, and the container pick-and-place device is capable of being raised and lowered along the passage of the load-bearing platform when the container pick-and-place device is in the second state.

In some embodiments, the container picking and placing device comprises a rotating assembly and a joint assembly, the rotating assembly can drive the joint assembly to rotate, so that the container picking and placing device is switched between a first state and a second state, and the joint assembly can be jointed to one side of a container facing the storage robot to pick and place the container; when the container taking and placing device takes and places a container, the rotating assembly and the joint assembly are in a first state; when the container taking and placing device finishes taking and placing the containers or the storage robot carries the containers to walk, the rotating assembly and the joint assembly are in a second state.

In some embodiments, the rotating assembly comprises a support, a rotating shaft, and a drive; the support piece is fixedly connected to the second lifting mechanism; the rotating shaft is connected to the support through a bearing seat, and the joint assembly is fixedly connected with the rotating shaft; the driving piece is connected with the rotating shaft, and the rotating shaft is driven to rotate to drive the joint assembly to rotate.

In some embodiments, the engagement assembly comprises a suction cup assembly for sucking the cargo box to suck or push the cargo box by means of the suction cup assembly; or the engagement assembly comprises a hooking assembly for hooking the container to hook or push the container by means of the hooking assembly.

In some embodiments, the joint assembly further comprises a linear motion mechanism for driving the sucker assembly or the hooking assembly, and the linear motion mechanism is used for driving the sucker assembly or the hooking assembly to move along the goods taking and placing direction so as to take and place the goods box; the sucking disc assembly comprises a sucking disc and a vacuum sucking assembly, the sucking disc is used for sucking or pushing a container, the vacuum sucking assembly is used for sucking the container by the sucking disc and providing power, and the hooking assembly comprises a hook used for hooking or pushing the container.

In some embodiments, the pick-and-place direction of the container pick-and-place device is the same as the conveying direction of the conveying device of the carrying platform.

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

According to another aspect of the present application, there is provided a warehousing robot capable of taking and placing containers on a shelf, wherein the shelf is provided as at least one layer, each layer includes a plurality of storage positions, the warehousing robot includes: a robot chassis; the bearing platform is arranged on the robot chassis; the container taking and placing device is arranged on the bearing platform and is used for taking and placing a container with a specified storage position; the conveying device is arranged on the bearing platform and used for conveying the containers taken and placed by the container taking and placing device; the container taking and placing device comprises a joint assembly and a rotating assembly, wherein the joint assembly can be jointed with one side of a specified container facing the storage robot so as to take and place the container, and the rotating assembly drives the joint assembly to rotate.

According to another aspect of the present application, there is also provided a warehousing system, including a warehousing room and the warehousing robot in any of the above embodiments, the warehousing robot can walk in a tunnel of the warehousing room to interface with storage positions of the multi-layer shelf; the warehousing robot can also be in butt joint with the multi-layer conveying lines, so that the bearing platforms can take and place containers at the same time.

Drawings

Fig. 1 is a schematic structural diagram of a warehousing robot according to an embodiment of the present application;

FIG. 2 is an enlarged view of portion A of FIG. 1;

FIG. 3 is an enlarged view of portion B of FIG. 1;

FIG. 4 is an enlarged schematic view of portion C of FIG. 1;

FIG. 5 is a schematic view of a warehousing robot according to another embodiment of the present application;

FIG. 6 is an enlarged view of portion D of FIG. 5;

fig. 7 is a schematic structural diagram of a warehousing robot according to yet another embodiment of the present application;

FIG. 8 is an enlarged view of section E of FIG. 7;

fig. 9 is a top view of the loading platform assembly of the warehousing robot shown in fig. 7.

Reference numerals:

10-warehouse robot, 100-robot chassis, 200-bracket, 210-bracket, 220-rack, 300-container pick-and-place device, 310-second lifting mechanism, 311-driving wheel, 312-driven wheel, 313-synchronous belt, 314-first motor, 315-guide rail, 320-rotating component, 321-supporting component, 322-rotating shaft, 323-driving component, 330-joint component, 331-sucker component, 332-linear motion mechanism, 400-bearing platform, 410-conveying device, 420-channel, 500-first lifting mechanism, 510-second motor and 520-gear.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.

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

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

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and encompass, for example, both fixed and removable connections or integral parts thereof; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

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

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements 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 the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Embodiments of the first aspect of the present application propose a storage robot 10. As shown in fig. 1 to 6, the storage robot 10 includes at least one loading platform 400, a container pick-and-place device 300, a first lifting mechanism 500, a second lifting mechanism 310, and a robot chassis 100. Specifically, the loading platform 400 is disposed on the stand 200 for loading a cargo box. The container pick-and-place device 300 is disposed on the stand 200 for picking and placing the container. The first lifting mechanism 500 is used for driving the carrying platform 400 to lift along the bracket 200, and the second lifting mechanism 310 is used for driving the container taking and placing device 300 to lift. The stand 200 is provided on the robot chassis 100. The carrier 400 is provided with a conveying device 410 for conveying a container taken and placed by the container taking and placing device 300, and the carrier 400 is provided with a passage 420 for lifting the container taking and placing device 300.

The warehousing robot 10 of the present application includes one or more load-bearing platforms 400, and the multiple load-bearing platforms 400 may be arranged at intervals along the lifting direction thereof. The container pick-and-place device 300 is used for picking and placing containers and comprises a container pick-and-place device 300 for picking a container from a designated container storage position and a container pick-and-place device 300 for storing the container in the designated storage position. The conveying device 410 may adopt a roller, a conveyor belt or a chain machine, etc.

The storage robot 10 according to the embodiment of the present disclosure is provided with a container pick-and-place device 300, and a conveying device 410 is disposed on a carrying platform 400 of the storage robot 10. Thus, a container can be picked up from its storage location by the container pick and place device 300 and transported by the transport device 410 such that the container is carried on the load platform 400 for handling and transport. Alternatively, the delivery device 410 may be used to deliver containers from the loading platform 400 and the container pick and place device 300 may be used to deposit containers into their storage locations to effect the stocking process. Through the cooperation of the container pick-and-place device 300 and the conveying device 410, the friction between the container and the bearing platform 400 can be reduced, and the problem that the container and the bearing platform 400 are easy to wear is solved. In addition, get, put the packing box by packing box getting and putting device 300 is direct from getting between packing box storage bit and the storage robot, need not extra conveying mechanism, and compare in the direct clamp of fork and embrace the packing box and draw to schemes such as load-bearing platform, need not to reserve the space of fork on load-bearing platform to can reduce load-bearing platform's area, also can improve the packing box and get, put efficiency.

The operation of the warehousing robot 10 will be described below by taking the picking process as an example:

after the storage robot 10 moves to the designated position, the first lifting mechanism 500 drives the carrying platform 400 to lift along the bracket 200, so that the carrying platform 400 moves to the storage layer where the container to be taken out is located, and then the second lifting mechanism 310 drives the container pick-and-place device 300 to lift, so that the container pick-and-place device 300 moves to the height where the container to be taken out is located. The container pick and place device 300 then retrieves the container from its storage location so that it can be placed in the edge region of the load platform 400. The second lifting mechanism 310 then lifts the container pick-and-place device 300 so that the container pick-and-place device 300 is above the container to be transported or away from the storage level of the container. The container is then transported from the edge region of the load platform 400 to be fully carried on the load platform using the transport device 410 on the load platform 400.

If there are a plurality of load-bearing platforms 400, after the process of taking out one container is completed, the first lifting mechanism 500 can be used to drive the second load-bearing platform 400 to lift and lower, so that the second load-bearing platform moves to the storage layer where the second container to be taken out is located, then the second lifting mechanism 310 is used to drive the container pick-and-place device 300 to lift and lower, and the container pick-and-place device 300 passes through the channel 420 on the load-bearing platform 400 to move to the storage layer where the second container to be taken out is located, and then the previous process of taking out the container is repeated, and so on, until the container pick-and-place is completed or all the load-bearing platforms 400 carry the containers, the warehousing robot 10 can convey the containers to the workbench for further transportation, or can achieve simultaneous pick-and place through the way of butting multiple conveying lines, and the like; in other embodiments, the stocker robot 10 may also transport the containers to other storage locations for storage.

In some embodiments, as shown in fig. 2, 3 and 4, the second lifting mechanism 310 includes a driving wheel 311, a driven wheel 312, a timing belt 313 and a first motor 314, wherein the driving wheel 311 and the driven wheel 312 are disposed at an interval along the first direction on the support 200, the timing belt 313 is tensioned between the driving wheel 311 and the driven wheel 312, and the container pick-and-place device 320 is fixedly connected to the timing belt 313 through a timing belt clamping device. The first motor 314 is disposed on the bracket 200, and a rotating shaft of the first motor 314 is connected to the driving wheel 311. The driving wheel 311 can be driven to rotate by the first motor 314, so as to drive the timing belt 313 to move. The timing belt 313 may drive the container pick-and-place device 320 to move along a first direction, which is a lifting direction of the container pick-and-place device 320, so that the container pick-and-place device 320 can be lifted to different height positions.

Further, the second lifting mechanism 310 may further include a rail 315 disposed on the stand 200, the rail 315 extending in a first direction, the container pick-and-place device 320 slidably engaging the rail 315. The guide rail 315 has a movement guiding function on the container taking and placing device 320, and during the process that the synchronous belt 313 drives the container taking and placing device 320 to move along the first direction, the container taking and placing device 320 slides along the guide rail 315, so that the container taking and placing device 320 can move according to a preset track without deviation, and stability and reliability of the lifting and falling movement of the container taking and placing device 320 are ensured.

In some embodiments, the container pick-and-place device 300 is capable of picking and placing containers when the container pick-and-place device 300 is in the first state, and the container pick-and-place device 300 is capable of being raised and lowered along the path of the load-bearing platform when the container pick-and-place device 300 is in the second state.

It will be appreciated that the first state is a state in which the engagement assembly 330 is engageable with a container to facilitate access to and removal of the container by the container access device. In some embodiments, however, in the first state, the engagement assembly 330 does not facilitate passage through the channel 420 of the load-bearing platform 400. To solve this problem, the container pick-and-place device 300 of the embodiment of the present application can be switched to the second state, in which the engagement assembly 330 can pass through the channel 420 of the loading platform 400, so that the container pick-and-place device 300 can be lifted along or received in the lifting channel.

In some embodiments, the container pick-and-place device 300 includes a rotating assembly 320 and an engaging assembly 330, and the rotating assembly 320 can rotate the engaging assembly 330 to switch the container pick-and-place device 300 between the first state and the second state. The engagement assembly 330 is engageable with a side of the cargo box facing the warehousing robot 10 to pick and place the cargo box. When the container pick-and-place device 300 picks and places the container, the rotation assembly 320 and the engagement assembly 330 are in a first state; when the container pick-and-place device 300 is finished picking and placing containers or the warehousing robot is moving to carry containers, the rotating assembly 320 and the engaging assembly 320 are in the second state.

In the existing box type storage, the modes of taking out the container from the goods shelf mainly comprise two modes, one mode is to use a telescopic arm to clamp the container for taking out, and the other mode is to use a telescopic flat plate to lift the container for taking out. Because the in-process of flexible arm extraction packing box, flexible arm need get into the space between two adjacent packing boxes for need reserve great space between two adjacent packing boxes, and flexible dull and stereotyped lifts up the packing box and then need reserve great space in the top of packing box, consequently, based on the form of taking out the packing box from the goods shelves at present, the space utilization of goods shelves is lower. In the embodiment of the application, the joint assembly 330 is connected to one side of the container facing the storage robot 10 to take and place the container, and then the conveying device 410 is matched to convey the container taken and placed by the container taking and placing device, so that extra space does not need to be reserved around the container, and the space utilization rate of the goods shelf is improved.

In addition, the container pick-and-place device 300 in the embodiment of the present application further includes a rotating component 320, and the rotating component 320 can drive the engaging component 330 to rotate, so that the container pick-and-place device 300 can be switched between the first state and the second state. Therefore, the container taking and placing device 300 can perform the operation of taking and placing containers in the conveying direction of the goods, and can also pass through the passage 420 of the bearing platform 400 to lift and drop the multi-layer bearing platform, so that the warehousing robot 10 can carry more containers.

It is understood that the rotation path of the engaging component 330 can be in a vertical plane (refer to fig. 1 and 3) or a horizontal plane (refer to fig. 5 and 6), and the engaging component 330 can also be rotated in other manners or not rotated, so long as the engaging component 330 can be received in the channel of the carrying platform and/or lifted and lowered in the channel 420 of the carrying platform in the second state, which is within the scope of the present invention.

Further, since the lifting channel 420 of the container picking and placing device 300 is disposed on the carrying platform 400, when a container is carried on a certain carrying platform 400, the container picking and placing device 300 cannot lift along the channel 420 on the carrying platform 400, and cannot be accommodated in the channel 420 of the carrying platform, and therefore, the operation process of the warehousing robot of the present application further includes: taking the picking process as an example, after the storage robot having a plurality of loading platforms 400 reaches the storage locations corresponding to the shelves, the first lifting mechanism 500 drives the plurality of loading platforms 400 to move up along the support 200, so that the loading platform 400 at the lowermost layer is located at the storage layer of the first goods to be picked and placed, the container picking and placing device 300 moves down to the loading platform 400, the rotating component 320 drives the engaging component 330 to rotate to the goods picking and placing direction, the engaging component 330 picks the goods to the edge of the loading platform 400, then the container picking and placing device 300 moves up, the containers are conveyed to the loading platform 400 by the conveying device 410 on the loading platform 400, after the picking is completed, the loading platform 400 at the second layer is moved down to the storage layer of the second goods to be picked and placed, the container picking and placing device 300 moves down to the loading platform 400, the rotating component 320 drives the engaging component 330 to rotate to the container picking and placing direction for picking and placing, and placing are repeated until the picking is completed or all the loading platforms 400 carry the containers, and placing process is opposite.

It should be understood that the warehousing robot 10 of the present application is not limited to the above-mentioned picking and placing manner, for example, when picking and placing are started, the plurality of carrying platforms 400 may be moved down, and the top carrying platform 400 picks the goods first, or other manners may be adopted to enable the plurality of carrying platforms 400 to pick and place the goods in sequence, as long as or after the picking and placing of one carrying platform 400 is completed, the other carrying platforms 400 may still pick and place the goods.

In some embodiments, referring to fig. 1 and 3, the rotating assembly 320 includes a support 321, a rotating shaft 322, and a driving member 323. The support member 321 is fixedly connected to the second elevating mechanism 310, the rotation shaft 322 is connected to the support member 321 through a bearing housing, and the coupling assembly 330 is fixedly connected to the rotation shaft 322. The driving member 323 is connected to the rotating shaft 322, and drives the rotating shaft 322 to rotate so as to drive the engaging member 330 to rotate. The rotating shaft 322 is driven by the driving member 323 to rotate the engaging element 330, so that the engaging element can be switched between the first state and the second state.

In some embodiments, as shown in fig. 3, in the rotating assembly 320 of the container pick-and-place device 300, the support 321 is fixedly connected to the timing belt 313 of the second lifting mechanism 310 by a timing belt clamping device. Further, the driving member 323 may include a driving motor and a gear set including a first bevel gear and a second bevel gear engaged with each other, the first bevel gear being connected to a rotation shaft of the driving motor, and the second bevel gear being connected to the rotation shaft 322. The driving motor may be mounted on a mounting block fixedly connected to the support member 321 and drive the first bevel gear to rotate, so as to drive the second bevel gear engaged with the first bevel gear to rotate, and the second bevel gear drives the rotating shaft 322 to rotate, thereby driving the coupling assembly 330 fixedly connected to the rotating shaft 322 to rotate.

In other embodiments, as shown in fig. 5 and 6, the rotating assembly 320 includes a driving member 323 and a supporting member 321, the driving member 323 includes a driving motor disposed on the supporting member 321, a rotating shaft of the driving motor penetrates through the supporting member 321 and is connected to the engaging assembly 330, for example, the linear moving mechanism 332 connected to the engaging assembly 330, and the driving motor drives the engaging assembly 330 to rotate in a horizontal plane, so as to switch the engaging assembly 330 between the first state and the second state. In this embodiment, the drive motor may directly drive the engagement assembly 330 to rotate in the horizontal plane, when the engagement assembly 330 is rotated, the engagement assembly does not pick and place the container, and when the engagement assembly 330 is in the second state, the container pick and place device 300 can be received within the channel 420 of the load-bearing platform 400.

In other embodiments, as shown in fig. 7, 8, and 9, the channel 420 on the load-bearing platform 400 is, for example, a "cross" shape. This arrangement allows the engagement assembly 330 of the container handling apparatus 300 to be raised and lowered through the channel 420 without rotating. At this point, the container handling apparatus 300 includes only the engagement assembly 330 without the provision of the rotation assembly 320.

In some embodiments, the engagement assembly 330 includes a suction cup assembly 331 for suctioning the cargo box to suck or push the cargo box by means of the suction cup assembly 331. When it is desired to retrieve goods from the shelves, the suction cup assemblies 331 can be sucked against the side walls of the container using suction to pull the container out of the storage position on the shelves. When the container needs to be pushed to the designated storage position of the shelf from the bearing platform of the warehousing robot, the container can be pushed by means of the sucker component 331, and the sucker component 331 can not adsorb the container through negative pressure at the moment.

It will be appreciated that the combination of the suction cup assemblies 331 and the cargo box interface surface can be varied, such as the different arrangements of the suction cup assemblies 331 shown in FIGS. 3 and 6, to accomplish the loading and unloading of cargo boxes; further, the structural design of the suction cup assembly of the present invention is not limited thereto, and other structures or arrangements capable of achieving suction are within the protection scope of the present invention.

In other embodiments, the engagement assembly 330 includes a hooking assembly for hooking a container to hook or push the container with the hooking assembly. Get the subassembly hook through the hook and get or when propelling movement packing box, can adopt the hook of the subassembly of getting the hook directly to hook and get the packing box edge, in some embodiments, still can set up on the packing box and make things convenient for the hook to get the groove or the hole that the subassembly hook got to promote the hook and get the convenience of packing box. Further, the hooking component can be provided with one or more hooks to achieve hooking of the cargo box.

According to the storage robot of this application, absorb, the propelling movement packing box through sucking disc subassembly 331 or get, the propelling movement packing box through the couple subassembly hook for get, put the step of packing box less, thereby promote and get, put the efficiency of packing box. In addition, the container is translated in a sucking, hooking or pushing mode, extra space does not need to be reserved around the container, and therefore the space utilization rate of the storage system can be improved.

In some embodiments, the engaging assembly 330 further comprises a linear motion mechanism 332 for driving the sucker assembly 331 or the hooking assembly, and the linear motion mechanism 332 is used for driving the sucker assembly 331 or the hooking assembly to move along the pick-and-place direction for picking and placing the box. Wherein, sucking disc subassembly 331 includes the sucking disc that is used for absorbing or propelling movement packing box and absorbs the vacuum subassembly that provides power for the sucking disc absorbs the packing box, and the subassembly is got including the couple that is used for the hook to get or propelling movement packing box to the hook. The linear motion mechanism 332 may be a linear sliding platform, an electric cylinder, or an electric telescopic rod, etc., as long as it can drive the engaging assembly 330 to perform the goods picking and placing operations, and other similar or identical mechanical structure designs are within the scope of the present invention.

Specifically, in some embodiments, a vacuum suction assembly may be disposed on the robot chassis 100 or inside the robot chassis 100, the vacuum suction assembly being connected with the suction cup assembly 331 through a connecting tube. In addition, a pneumatic slip ring for fixing the connecting pipe can be arranged on the rotating shaft 322, and the connecting pipe can be retracted and extended by the pneumatic slip ring in the lifting process of the sucker component 331.

In some embodiments, the rack 200 includes a rack 210 and a rack 220 disposed on the rack 210, and the rack 220 extends in a lifting direction of the loading platform 400 of the stocker robot. The first lifting mechanism 500 includes a second motor 510 and a gear 520 connected to a rotating shaft of the second motor 510, the second motor 510 is mounted on the supporting frame of the supporting platform, the gear 520 is engaged with the rack 220, and the gear is driven by the second motor 510 to rotate, so that the supporting platform is lifted along the bracket 200. It is to be understood that the first lifting mechanism 510 of the present invention is not limited thereto, and various lifting methods such as a belt and a chain may be used.

In some embodiments, as shown in fig. 3, a guide rail for guiding the lifting of the carrying platform 400 is further disposed on the support 200, and the support frame on the carrying platform 400 includes a guiding mechanism such as a slider engaged with the guide rail.

In some embodiments, the pick-and-place direction of the container pick-and-place device 300 is the same as the conveying direction of the conveying device 410 of the carrying platform 400. Therefore, the storage robot 10 can complete the operation of picking and placing the containers through the cooperation of the container picking and placing device 300 and the conveying device 410.

In some embodiments, the robot chassis 100 is a self-guided chassis or a chassis that travels in coordination with a track. When the robot chassis 100 is a self-guiding chassis, rollers or tracks capable of walking may be disposed on the robot chassis 100, and the rollers or tracks drive the robot chassis 100 and other components disposed on the robot chassis 100 to move, so as to realize the walking of the warehousing robot 10. When robot chassis 100 is the chassis of cooperation track removal, can set up the walking wheel that can follow track removal on robot chassis 100, guide the action route of walking wheel through the track to ensure storage robot 10's action route is the simplest, with the walking time that reduces storage robot 10, improve the efficiency of getting goods, and promote storage robot 10's stability.

Based on the same purpose, the application also provides a warehousing robot 10, wherein the warehousing robot 10 can take and place the boxes on the shelves, the shelves are arranged into at least one layer, and each layer comprises a plurality of storage positions. The warehouse robot 10 includes a robot chassis 100, at least one load-bearing platform 400, a container pick-and-place device 300, and a conveyor 410. Wherein at least one load-bearing platform 400 is arranged on the robot chassis 100. The container taking and placing device 300 is disposed on the carrying platform 400, and the container taking and placing device 300 is used for taking and placing a container with a specified storage position. The conveying device 410 is disposed on the carrying platform 400, and the conveying device 410 is used for conveying containers taken in and put out by the container taking and placing device 300. The container pick-and-place device 300 includes an engaging assembly 330 capable of engaging with a side of the designated container facing the warehousing robot 10 to pick and place the container, and in one embodiment, the container pick-and-place device 300 further includes a rotating assembly 320 for rotating the engaging assembly 330.

The storage robot 10 according to the embodiment of the present disclosure is provided with a container pick-and-place device 300, and a conveying device 410 is disposed on a carrying platform 400 of the storage robot 10. Thus, a container can be picked up from a designated container storage location on the pallet by the container pick-and-place device 300 and the container picked and placed by the container pick-and-place device 300 can be transported by the transport device 410 so that the container is carried on the load-bearing platform 400, thereby achieving the pick-and-place process. Alternatively, the container may be transported outwardly from the carrier 400 by the transport device 410, for example from a central region of the carrier to an edge location, and then pushed by the container pick and place device to a storage location on the pallet for storage. Through the cooperation of the container taking and placing device 300 and the conveying device 410, the friction force between the container and the bearing platform 400 can be reduced, the problem of easy abrasion between the container and the bearing platform 400 is solved, compared with the scheme that a container is directly clamped to the bearing platform by a telescopic fork and the like, the space of the fork is not required to be reserved on the bearing platform, the area of the bearing platform 31 can be reduced, and in addition, the container taking and placing efficiency can also be improved.

In addition, in the embodiment of the application, the joint assembly 330 is connected to one side of the container facing the storage robot 10 to take and place the container, and then the conveying device 410 is matched to convey the container taken and placed by the container taking and placing device, so that extra space does not need to be reserved around the container, and the space utilization rate of the shelf is improved.

In addition, the structure and connection relationship of the robot chassis 100, the at least one carrying platform 400, the container pick-and-place device 300 and the conveying device 410 are the same as or different from those of the robot chassis 100, the at least one carrying platform 400, the container pick-and-place device 300 and the conveying device 410 in the above embodiments.

Based on the same purpose, the application also provides a warehousing system, which comprises a warehousing warehouse and the warehousing robot 10 in any one of the above embodiments, wherein the warehousing robot 10 can walk in a roadway of the warehousing warehouse to butt joint storage positions of the multi-layer shelf. The warehousing robot 10 can also interface with multiple levels of conveyor lines to allow multiple load platforms 400 to pick and place cases simultaneously.

In an embodiment of the present application, the warehousing system includes a warehouse and the warehousing robot 10 in the above embodiment, and the warehousing robot 10 can walk in a roadway of the warehouse to take, place and transport containers in the warehouse. The warehousing robot 10 can also interface with the multi-layer conveying lines, so that the multiple carrying platforms 400 can take and place the containers at the same time, and the storage and taking efficiency of the warehouse can be improved.

Taking the warehousing robot 10 shown in fig. 1 as an example, a specific ex-warehouse process of the container of the present application is described as follows:

the warehousing robot 10 is controlled to move to the storage location of the shelf,

starting the first lifting mechanism 500 to lift the first bearing platform 400 to the storage layer of the first container to be taken and placed;

starting the second lifting mechanism 310 to lift the container taking and placing device 300 to the storage layer;

the sucker component 331 is driven by the linear motion mechanism 332 to move along the goods taking and placing directions until the sucker component 331 abuts against one side surface, facing the warehousing robot 10, of the container on the storage position;

starting the vacuum suction assembly to enable the suction cup assembly 331 to suck the side face of the container;

controlling the linear motion mechanism 332 to drive the sucker assemblies 331 to convey the containers to the loading platform 400 in the pick-and-place direction until part of the containers are pulled onto the conveying device 410 of the loading platform 400;

the vacuum suction assembly is turned off, the suction cup assembly 331 loses suction force on the cargo box, and the second lifting mechanism 310 drives the cargo box taking and placing device 300 to ascend, so that the suction cup assembly 331 is far away from the cargo box;

starting the conveying device 410, conveying the containers to the load-bearing platform in the loading and unloading direction under the transmission of the conveying device 410 until the whole container is transferred to the load-bearing platform 400, and stopping the conveying device 410;

starting the first lifting mechanism 500, and lifting the second bearing platform 400 to the storage layer corresponding to the second container to be taken and placed;

the second lifting mechanism 310 is activated to lift the container pick-and-place device 300 through the passage 420 of the loading platform 400 to the storage level of the second container to be picked and placed;

repeating the goods taking steps until the goods containers are taken and placed or all the bearing platforms 400 are loaded with the goods containers;

the storage robot 10 after the goods taking is moved to a workbench, a preset unloading or goods placing area and the like, and the containers are unloaded by butting the bearing platform 400 with equipment such as a conveying line of the unloading area, and the containers can be conveyed to other storage positions for storage, so that the containers are transported.

Taking the warehousing robot 10 shown in fig. 1 as an example, a specific warehousing process of the container of the present application is described as follows:

controlling the storage robot 10 loaded with the containers to move to the goods placing position of the goods shelf, and starting the first lifting mechanism 500 to lift the bearing platform 400 to the storage layer of the first container to be placed;

starting the conveying device 410, conveying the containers to the outside of the bearing platform 400 by the conveying device 410 along the goods taking and placing directions, moving the containers to the appointed storage position, and stopping the conveying device 410 until the containers are not moved any more;

starting the second lifting mechanism 310 to lift the container pick-and-place device 300 to the storage layer where the container is located;

the sucker components 331 are driven to move along the goods taking and placing directions through the linear motion mechanism 332 until the sucker components 331 abut against the side face of the goods box;

continuing to push the sucker members 331 forward through the linear motion mechanism 332 until the container is fully pushed onto the storage location of the pallet;

the above steps are repeated until all containers on the load-bearing platform 400 are transferred to different storage locations of the pallet for storage.

It will be appreciated that when the container pick and place device 300 employs a hook assembly, the pick and place process for containers is substantially the same, except that the hook assembly employs a hook to pick a container at the time of picking, such as to hook a side wall or side wall of a container; further, the container pick-and-place device 300 may also use other same or similar mechanisms to pick and place the containers, which are within the scope of the present invention.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.

Claims (10)

1. A warehousing robot, comprising:

the bearing platform is arranged on the bracket and used for bearing a container;

the container taking and placing device is arranged on the bracket and is used for taking and placing the container;

the first lifting mechanism is used for driving the bearing platform to lift along the bracket;

the second lifting mechanism is used for driving the container taking and placing device to lift; and

the bracket is arranged on the robot chassis;

the bearing platform is provided with a conveying device for conveying the containers taken and placed by the container taking and placing device; the bearing platform is provided with a passage for lifting the container taking and placing device.

2. The warehousing robot of claim 1 wherein the container pick-and-place device is capable of picking and placing containers when in a first state and is capable of lifting along the channel of the load-bearing platform when in a second state.

3. The warehousing robot as claimed in claim 2, wherein the container pick-and-place device includes a rotating assembly and a joint assembly, the rotating assembly can drive the joint assembly to rotate, so that the container pick-and-place device is switched between a first state and a second state, and the joint assembly can be jointed with one side of a container facing the warehousing robot to pick and place the container;

when the container taking and placing device takes and places a container, the rotating assembly and the joint assembly are in a first state; when the container taking and placing device finishes taking and placing the containers or the storage robot carries the containers to walk, the rotating assembly and the joint assembly are in a second state.

4. The warehousing robot of claim 3, wherein the rotating assembly includes a support, a rotating shaft, and a drive;

the support piece is fixedly connected to the second lifting mechanism;

the rotating shaft is connected to the support through a bearing seat, and the joint assembly is fixedly connected with the rotating shaft;

the driving piece is connected with the rotating shaft, and the rotating shaft is driven to rotate to drive the joint assembly to rotate.

5. The warehouse robot of claim 3, wherein the engagement assembly includes a suction cup assembly for sucking the cargo box to suck or push the cargo box by means of the suction cup assembly; or

The engagement assembly includes a hooking assembly for hooking the container to hook or push the container by means of the hooking assembly.

6. The warehousing robot of claim 5, wherein the engagement assembly further comprises a linear motion mechanism for driving a suction cup assembly or a hooking assembly, the linear motion mechanism being configured to drive the suction cup assembly or the hooking assembly to move in a loading and unloading direction for loading and unloading the container;

the sucking disc assembly comprises a sucking disc and a vacuum sucking assembly, the sucking disc is used for sucking or pushing a container, the vacuum sucking assembly is used for the sucking disc to suck the container to provide power, and the hooking assembly comprises a hook used for hooking or pushing the container.

7. The warehousing robot as claimed in claim 1 wherein the pick-and-place direction of the container pick-and-place device is the same as the conveying direction of the conveyor of the load-bearing platform.

8. The warehousing robot of claim 1, wherein the robot chassis is a self-guided chassis or a chassis that travels in coordination with a track.

9. The utility model provides a storage robot can get on the goods shelves, put the case, its characterized in that, the goods shelves set up to at least one deck, and every layer includes a plurality of storage bits, storage robot includes:

a robot chassis;

at least one bearing platform arranged on the robot chassis;

the container taking and placing device is arranged on the bearing platform and is used for taking and placing a container with a specified storage position; and

the conveying device is arranged on the bearing platform and used for conveying the containers taken and placed by the container taking and placing device;

the container taking and placing device comprises a joint assembly and a rotating assembly, wherein the joint assembly can be jointed with one side of a specified container facing the storage robot so as to take and place the container, and the rotating assembly drives the joint assembly to rotate.

10. A warehousing system, characterized by comprising a warehouse and the warehousing robot of any one of claims 1-9, wherein the warehousing robot can walk in a roadway of the warehouse to butt joint storage positions of a plurality of layers of shelves;

the storage robot can also be in butt joint with the multi-layer conveying lines, so that the multiple bearing platforms can take and place the containers at the same time.

Images