CN117902214A - Three-dimensional storage robot and picking and placing method thereof - Google Patents

Abstract

The application relates to a stereoscopic warehousing robot, which comprises: a vehicle body; the lifting frame is arranged at the rear end of the vehicle body; the high-position fork is connected with the lifting frame in a sliding manner along the height direction and is provided with a high-position fork arm; and the low-order fork is movably arranged on the vehicle body along a first direction, so that the low-order fork can extend out of the front end of the vehicle body or retract along the first direction, the first direction is perpendicular to the height direction, the low-order fork is provided with a low-order fork arm which can lift along the height direction, the low-order fork and the high-order fork arm are staggered in a second direction, and the first direction, the second direction and the height direction are perpendicular to each other. In addition, a picking and placing method of the three-dimensional storage robot is also provided. The combination of forward fork-taking type carrying and vertical carrying has compact overall structure and smaller size, and is convenient for running in a warehouse with more compact space requirements.

Description

Three-dimensional storage robot and picking and placing method thereof

Technical Field

The application relates to the technical field of logistics storage robots, in particular to a three-dimensional storage robot and a goods taking and placing method thereof.

Background

In stereoscopic warehouses, racks are generally arranged for storing goods, and the circulation of the goods between the racks and the warehouse floor requires the intervention of people and handling equipment. A common approach is to use either a manually driven forklift or an unmanned automatic forklift to handle the cargo between the pallet and the warehouse floor. Wherein, in unmanned automatic fork truck: the plane carrying robot with the fork-taking carrying tray can only move the goods tray on the ground, and the circulation of the goods between the goods shelf and the warehouse ground can not be realized; although the forward unmanned forklift can transfer goods between the goods shelves and the ground of the warehouse, the forward unmanned forklift is limited by an operation mode, has large whole volume, heavy weight and large turning radius, is not suitable for running in the warehouse with more compact space requirements, requires the ground to have higher bearing capacity, and has very high self cost.

Disclosure of Invention

Based on this, it is necessary to propose a stereoscopic warehouse robot that enables the circulation of goods between the shelves and the warehouse floor and is suitable for operation in warehouses with compact space requirements. In addition, a picking and placing method of the three-dimensional storage robot is also provided.

According to an aspect of the present application, a stereoscopic warehousing robot includes: a vehicle body; the lifting frame is arranged at the rear end of the vehicle body; the high-position fork is connected with the lifting frame in a sliding manner along the height direction and is provided with a high-position fork arm; and the low-order fork is movably arranged on the vehicle body along a first direction, so that the low-order fork can extend out of the front end of the vehicle body or retract along the first direction, the first direction is perpendicular to the height direction, the low-order fork is provided with a low-order fork arm which can lift along the height direction, the low-order fork and the high-order fork arm are staggered in a second direction, and the first direction, the second direction and the height direction are perpendicular to each other.

In some embodiments, a positioning device is arranged on one side of the lifting frame facing the front end of the vehicle body, and the positioning device is used for determining the position of the cargo pallet.

In some of these embodiments, the high yoke is positioned above the upper surface of the vehicle body when the high yoke is in the lowermost position.

In some embodiments, the vehicle body comprises a left side frame, a middle frame and a right side frame which are arranged along the second direction, wherein a fork accommodating area is formed between the left side frame and the middle frame, a fork accommodating area is formed between the right side frame and the middle frame, and each fork accommodating area accommodates one low-level fork.

In some embodiments, a plurality of high-order fork arms are arranged at intervals along the second direction, and the plurality of high-order fork arms are distributed on two sides of the fork accommodating area.

In some of these embodiments, the low-end fork is a self-propelled fork that is movable to the exterior of the body.

In some embodiments, the low-level fork comprises a base, a travelling wheel arranged on the base, a travelling driving mechanism, a jacking mechanism and a jacking driving mechanism, wherein the low-level fork arm is arranged on the jacking mechanism, and the jacking driving mechanism is connected with the jacking mechanism and drives the low-level fork arm to lift in the height direction through the jacking mechanism.

In some of these embodiments, the fork-receiving area extends through the body in the height direction; the inner side of the fork accommodating area in the second direction is provided with a blocking piece, wherein in the process of retracting the low-position fork relative to the vehicle body, the low-position fork arm can be abutted against the blocking piece in response to the descending of the jacking mechanism, so that the travelling wheel is lifted and separated from the ground.

The application also provides a picking and placing method of the three-dimensional storage robot, which comprises the following steps: the method applied to the three-dimensional storage robot comprises the following steps: controlling one of the lower fork and the upper fork to take a cargo pallet placed at a first storage place and move the cargo pallet to a position above the upper surface of the vehicle body; and controlling the other fork of the low-position fork and the high-position fork to take a cargo pallet arranged on the upper surface of the vehicle body and place the cargo pallet in a second storage place.

In some of these embodiments, the first storage is one of a floor or a pallet storage surface on a shelf and the second storage is the other of the floor or the pallet storage surface on the shelf.

In some of these embodiments, controlling one of the lower fork and the upper fork to pick up a pallet of cargo disposed at the first storage location and move above an upper surface of the vehicle body includes:

Controlling the low-position pallet fork to extend out of the front end of the vehicle body along a first direction and fork a pallet placed on the ground; controlling the lower forks to be retracted in a first direction and moving the pallet to be above the upper forks;

controlling the other fork of the lower fork and the upper fork to pick up a cargo pallet placed on the upper surface of the vehicle body and place the cargo pallet in a second storage place, comprising:

controlling the high-position fork to lift the cargo pallet along the height direction; controlling the three-dimensional storage robot to move so that the goods trays are positioned above the tray storage surface of the goods shelf; and controlling the high-position fork to descend and placing the cargo pallet on the pallet storage surface.

In some of these embodiments, controlling the lower fork to retrieve in a first direction and move the cargo pallet to be above the upper fork comprises:

Controlling the high-position fork to be at the lowest position;

and controlling the low-position fork to place the cargo pallet on the upper surface of the vehicle body.

In some embodiments, the low-level fork comprises a base, a travelling wheel arranged on the base, a travelling driving mechanism, a jacking mechanism and a jacking driving mechanism, wherein the low-level fork arm is arranged on the jacking mechanism, and the jacking driving mechanism is connected with the jacking mechanism and drives the low-level fork arm to lift in the height direction through the jacking mechanism;

controlling the lower fork to retrieve and move the cargo pallet to be located above the upper fork along a first direction, comprising:

And controlling the low fork arm of the low fork to descend and lean against the vehicle body so as to enable the travelling wheel to lift and separate from the ground.

According to the technical scheme, the low-position fork arm can move forwards to fork the goods tray on the ground, then the goods tray is placed on the upper surface of the car body in the process of being recovered to the car body, and then the high-position fork arm can lift the goods tray to be placed on a goods shelf. This achieves a transfer of goods between the shelves and the warehouse floor. In addition, the reverse operational flow may be possible. According to the technical scheme, the combination of the forward fork-taking type conveying and the vertical conveying is compact in integral structure and smaller in size, and is convenient to operate in a warehouse with more compact space requirements.

Drawings

Fig. 1 is a schematic perspective view of a three-dimensional warehouse robot according to the present application.

Fig. 2 is a top view of the stereoscopic warehouse robot of fig. 1.

Fig. 3 is a schematic diagram of a stereoscopic warehouse robot low-position fork in a forward fork-taking state.

Fig. 4 is a schematic diagram of a stereoscopic warehouse robot forward fork pallet.

Fig. 5 and 6 are schematic views of the stereoscopic warehouse robot at different angles for forward forking and lifting up the cargo pallet.

Fig. 7 is a schematic view of a lower fork of the stereoscopic warehouse machine in a forward fork-taking and lifting state.

Fig. 8 is a schematic view of the lower fork in a forward-hand and raised position.

FIG. 9 is a schematic view of a lower fork in a forward-hand and raised position.

Fig. 10 is another schematic view of the lower fork in a forward-hand and raised position.

Fig. 11 and 12 are schematic views of the lower fork retracted rearwardly into the cargo pallet at different angles.

Fig. 13 and 14 are schematic views of the lower fork rearwardly placing the pallet on a different angle of the body.

Fig. 15 and 16 are schematic views of the high-end fork at different angles when lifting the pallet.

Fig. 17 and 18 are schematic views of different angles of the elevated fork lift state of the stereoscopic warehouse robot.

Fig. 19 is a schematic view of a stereoscopic warehouse robot carrying a pallet of goods and before placing it on a pallet.

Fig. 20 is a schematic partial perspective view of the stereoscopic warehouse robot carrying a pallet to a position before the pallet is placed on the pallet.

Fig. 21 is a schematic view of a stereoscopic warehouse robot handling a pallet and placing it on a pallet.

Fig. 22 is a partial perspective view of a stereoscopic warehouse robot carrying a pallet and placing it on a pallet.

Fig. 23 is a schematic view of a stereoscopic warehouse robot carrying a pallet to a shelf and then off.

Component reference numerals in the drawings illustrate:

100. A three-dimensional storage robot; 10. a vehicle body; 101. a front end; 102. a rear end; 103. an upper surface; 104. a positioning device; 110. a left side frame; 120. a middle frame; 130. a right side frame; 140. a fork receiving area; 141. a blocking member; 150. a front boom drive assembly; 160. a rear cantilever drive assembly; 20. a lifting frame; 210. a lifting driving assembly; 30. high-order fork; 310. a high fork arm; 40. a low-level fork; 410. a lower yoke; 420. a base; 421. a limit notch; 431. a walking driving wheel; 432. a walking driven wheel; 441. a walking driving motor; 442. a traveling gear box; 451. a push rod I; 452. a second push rod; 453. an inner scissors differential lever, 454, an outer scissors differential lever; 461. jacking a driving motor; 462. jacking a speed reducer; 463. a coupling; 464. a ball screw; 465. a first bearing seat; 466. a second bearing seat; 467. a slide block; 200. a cargo pallet; 201. fork grooves; 300. a goods shelf; 301. tray storage surface.

Detailed Description

In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the application, whereby the application is not limited to the specific embodiments disclosed below.

In the description of the present application, it should be understood that, if any, these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., are used herein with respect to the orientation or positional relationship shown in the drawings, these terms refer to the orientation or positional relationship for convenience of description and simplicity of description only, and do not indicate or imply that the apparatus or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application.

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

In the present application, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly. For example, the two parts can be fixedly connected, detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present application, unless expressly stated or limited otherwise, the meaning of a first feature being "on" or "off" a second feature, and the like, is that the first and second features are either in direct contact or in indirect contact through an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

It will be understood that if an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. If 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, if any, are for descriptive purposes only and do not represent a unique embodiment.

The application provides a three-dimensional storage robot which can be used for storing, taking and carrying goods in a warehouse. For example, the stereoscopic warehouse robot of the application can realize the circulation of goods between a goods shelf and the warehouse ground. The following detailed description is provided with reference to the accompanying drawings.

Referring to fig. 1 and 2, fig. 1 is a schematic perspective view of a stereoscopic warehouse robot according to the present application. Fig. 2 is a top view of the stereoscopic warehouse robot of fig. 1.

Referring to fig. 1 and 2, a stereoscopic warehouse robot 100 according to an embodiment of the present application includes a vehicle body 10, a lifting frame 20, an upper fork 30, and a lower fork 40. Wherein the lifting frame 20 is arranged at the rear end 102 of the vehicle body 10. The high-order fork 30 is slidably connected to the lifting frame 20 along the height direction Z, and the high-order fork 30 has a high-order fork arm 310. The lower fork 40 has a lower fork arm 410 that can be lifted and lowered in the height direction Z. The low-order fork 40 is movably mounted to the vehicle body 10 in a first direction X such that the low-order fork 40 can extend out of the front end 101 of the vehicle body 10 or retract in the first direction X, which is perpendicular to the height direction Z, and the low-order fork 40 is offset from the high-order fork arm 310 in a second direction Y, which is perpendicular to both the first direction X and the height direction Z.

The vehicle body 10 is a mounting base for the lift frame 20, the high-order fork 30, and the low-order fork 40. The vehicle body 10 is intended to rest on the ground. For example, the vehicle body 10 may be a device capable of self-walking. The vehicle body 10 may also be moved by an operator, for example. When the car body 10 moves, it drives the lifting frame 20, the high-order fork 30 and the low-order fork 40 to move together.

The body 10 has opposite front and rear ends 101, 102. In the present application, the first direction X is a direction in which the rear end 102 of the vehicle body 10 is directed toward the front end 101 of the vehicle body 10. The height direction Z is the height direction of the vehicle body 10. The body 10 of the three-dimensional storage robot 100 is generally placed on the ground for use, so that the first direction X and the second direction Y are both horizontal directions; the height direction Z is along the vertical direction.

The lifter 20 is mounted to a rear end 102 provided on the vehicle body 10, and a longitudinal direction of the lifter 20 is set along a height direction Z of the vehicle body 10. The lift bracket 20 is slidably coupled to one end of the high-end fork 30. Further, the lifting frame 20 is further provided with a lifting drive assembly 210 on a side facing away from the front end 101 of the vehicle body 10. The lifting driving assembly 210 is used for driving the high-level fork 30 to lift. Illustratively, the lift drive assembly 210 includes a lift motor, a rack and pinion drive mechanism. The rotational movement of the output shaft of the lift motor is converted into the lifting movement of the high-order fork 30 by the rack and pinion transmission mechanism.

The low-level fork 40 can extend out of the front end 101 of the vehicle body 10 or retract in the first direction X. For example, the lower forks 40 may extend entirely beyond the front end 101 of the vehicle body 10, i.e., outside the vehicle body 10. Alternatively, the low-end fork 40 can extend partially beyond the front end 101 of the body 10. The shape of the lower yoke 410 is not limited, and the lower yoke 410 is exemplified as a plate shape.

The low position fork 40 is movable relative to the vehicle body 10 in a first direction X. Thus, as shown in fig. 3 and 4, the lower fork 40 has a forward-facing, forked state in which the lower yoke 410 of the lower fork 40 is capable of forking the pallet 200. The lower fork arm 410 of the lower fork 40 can be raised in the height direction; thus, as shown in fig. 6 to 8, the lower fork arm 410 can lift the cargo pallet 200 after the cargo pallet 200 is picked up by the lower fork arm 40 in the forward picking state. Meanwhile, referring to fig. 1,9 to 14, the lower fork 40 can be retracted rearward with respect to the vehicle body 10; and the lower fork arm 410 can be lowered in the height direction when the lower fork 40 is retracted with respect to the vehicle body 10, so that the cargo pallet 200 can be placed on the upper surface 103 of the vehicle body 10.

The high fork 30 includes a high fork arm 310, and the high fork arm 310 is used to lift a cargo pallet 200 carrying cargo. The shape and number of the upper fork arms 310 are not limited. As shown in fig. 15 to 18, the high fork arm 310 can be lifted along the lifting frame 20, so that the high fork arm 310 can fork the cargo pallet 200 and lift the cargo pallet 200.

Referring to fig. 1 and 2, the lower fork 40 and the upper fork arm 310 are arranged to be staggered in the second direction Y. Such that the lower yoke 410 and the upper yoke 310 can each operate independently.

In the present application, the cargo pallet 200 is a device for carrying cargo. Referring to fig. 6, the bottom of the cargo pallet 200 is provided with a fork groove 201, and the fork groove 201 is used to cooperate with the lower fork arm 410 or the upper fork arm 310. I.e., the lower yoke 410 or the upper yoke 310 may be just received in the yoke 201 and then hold the cargo pallet 200.

According to the technical scheme of the application, after the low-level fork arm 410 can be moved forwards to fork the goods tray 200 on the ground, the goods tray 200 is placed on the upper surface of the car body 10 again in the process of being recovered to the car body 10, and then the high-level fork arm 310 can lift the goods tray 200 to be placed on the goods shelf 300. This enables the transfer of goods between the racks 300 and the warehouse floor. In addition, the reverse operational flow may be possible. In addition, the technical scheme of the application has compact integral structure and smaller size of the combination of the forward fork-taking type carrying and the vertical carrying, and is convenient for running in a warehouse with more compact space requirements.

In the present application, the object to be transferred is taken as the cargo pallet 200 as an example. The cargo is placed on the cargo pallet 200. Of course, in some cases, the object to be transported may also be cargo. Thus, although the cargo pallet 200 is illustrated as an example of an object to be transported, it should not be construed as being limited thereto.

In some embodiments, referring to fig. 1, the side of the lift 20 facing the front end 101 of the vehicle body 10 is provided with a positioning device 104. The cargo pallet 200 may be determined using the positioning device 104 to guide the stereoscopic warehousing robot 100 to move and interface with the cargo pallet 200.

The positioning device 104 may be, for example, an image acquisition device. The image collector may monitor the environmental information in real time and then determine the position of the cargo pallet 200. The positioning device 104 may be, for example, a distance sensor that actually detects an obstacle ahead. When the cargo pallet 200 is within its detection range, the position of the cargo pallet 200 may be determined.

In some embodiments, the top of the lower yoke 410 of the lower yoke 40 is not lower in height than the top of the upper yoke 310 when the lower yoke 40 is retracted relative to the vehicle body 10. In this way, when the lower fork 40 is retracted with respect to the vehicle body 10, the lower fork 40 can lower the cargo pallet 200 to the upper surface of the vehicle body 10, and support the cargo pallet 200 by the vehicle body 10. The body 10 acts as the primary force-bearing member, reducing the risk of damage to the high yoke 310 from prolonged force. Of course, when the lower fork 40 is retracted relative to the vehicle body 10, the lower fork arms 410 of the lower fork 40 may still be utilized to support the cargo pallet 200.

In some embodiments, referring to FIG. 1, when the high yoke 310 is in the lowermost position, the high yoke 310 is positioned above the upper surface of the vehicle body 10. In the present application, when the high yoke 310 is at the lowest position, the high yoke 310 is also located above the upper surface of the vehicle body 10. Thus, the high yoke 310 is positioned always above the upper surface 103 of the body 10, which simplifies its design of the positional relationship with the body 10 and still mates with the cargo pallet 200.

In some embodiments, referring to fig. 2, the vehicle body 10 includes a left side frame 110, a middle frame 120, and a right side frame 130 arranged along a second direction, wherein a fork accommodating area 140 is formed between the left side frame 110 and the middle frame 120, and a fork accommodating area 140 is formed between the right side frame 130 and the middle frame 120, and each fork accommodating area 140 accommodates a lower fork 40 therein; the second direction Y is perpendicular to both the first direction X and the height direction Z. When the vehicle body 10 is placed on the ground, the second direction Y is also the horizontal direction. The left side frame 110, the middle frame 120, and the right side frame 130 may be configured using square tubes as main components, but are not limited thereto.

In the present application, two fork receiving areas 140 are located on either side of the intermediate frame 120. Each of the fork pockets 140 has one of the lower forks 40 described above disposed therein. The two lower forks 40 are used together to fork the pallet 200 for good stability.

In addition, referring to fig. 1 and 2, a front boom drive assembly 150 and a rear boom drive assembly 160 are also mounted to the vehicle body 10. The front boom drive assembly 150 is used to drive the front wheels and the rear boom drive assembly 160 is used to drive the rear wheels. Illustratively, a front boom drive assembly 150 is mounted in each of the left side frames 110. A rear boom drive assembly 160 is mounted within the rear end 102 of the body 10. The application adopts the cantilever type walking driving device and is arranged in the vehicle body 10, so that the vehicle body has smaller turning radius, is convenient for carrying goods and running in a warehouse with more compact space requirement.

In some embodiments, referring to fig. 1, a plurality of high-order prongs 310 are spaced apart along the second direction Y, and the plurality of high-order prongs 310 are distributed on both sides of the fork accommodating area 140. Illustratively, the number of upper fork arms 310 is 4, and 1 upper fork arm 310 is provided on each side of each fork receiving area 140. In this way, the upper fork arms 310 can be staggered from the lower fork 40, and the upper fork arms 310 do not interfere with the entry and exit of the lower fork 40 into and from the fork receiving area 140. It will be appreciated that the sides of each fork receiving area 140 are not limited to being provided with 1 high yoke 310. A plurality of high fork arms 310 may be respectively disposed at both sides of each fork receiving area 140 according to the arrangement of the fork pockets 201 of the cargo pallet 200.

In some embodiments, as shown in fig. 3-5, the lower fork 40 is a self-propelled fork, and the lower fork 40 is capable of moving outside the vehicle body 10. In particular, a wire encoder may be disposed within the body 10 and used to control the forward extension distance of the lower fork 40. In this way, the extent to which the low-order fork 40 extends beyond the front end 101 of the body 10 can be controlled as desired. It is possible that the lower fork 40 as shown in fig. 3 to 5 moves integrally to the outside of the fork receiving area 140, and furthermore, it is of course also possible that a portion of the lower fork 40 protrudes out of the fork receiving area 140.

The particular implementation of the low-profile fork 40 as a self-propelled fork is not limited. And the lifting mode of the low-level fork arm 410 is not used now, and any lifting structure capable of lifting an object to be lifted can be applied to the low-level fork 40 of the present application.

As an example, referring to fig. 8 to 11, the low-level fork 40 includes a base 420, a travelling wheel disposed on the base 420, a travelling driving mechanism, a lifting mechanism, and a lifting driving mechanism disposed on the lifting mechanism, where the lifting driving mechanism is connected to the lifting mechanism and drives the low-level fork 410 to lift in the height direction through the lifting mechanism.

The road wheels include a road driving wheel 431 and a road driven wheel 432. The travel drive mechanism includes a travel drive motor 441 and a travel gear case 442 provided inside the base 420. The traveling driving wheel 431 and the traveling driven wheel 432 are connected with the traveling driving wheel 431 via the traveling gear box 442, and the traveling driving motor 441 drives the traveling driving wheel 431 to rotate, and then drives the low-level fork 40 to move back and forth in the first direction X relative to the vehicle body 10.

Illustratively, the jacking mechanism includes a first push rod 451, a second push rod 452, an inner scissor differential rod 453, and an outer scissor differential rod 454. The jacking driving mechanism comprises a jacking driving motor 461, a jacking speed reducer 462, a coupling 463, a ball screw 464, a first bearing seat 465, a second bearing seat 466 and a sliding block 467 which are arranged in the base 420. Wherein the lifting driving motor 461 is connected with the ball screw 464 via the lifting speed reducer 462 and the coupling 463; two ends of the ball screw 464 are respectively and rotatably connected with a first bearing seat 465 and a second bearing seat 466; the sliding block 467 is sleeved on the ball screw 464 and is connected with the first push rod 451, the second push rod 452 and the outer shear differential rod 454 in an end-to-end rotation mode in sequence; the inner scissors differential lever 453 and the outer scissors differential lever 454 are also respectively connected in their middle portions in a rotating manner; one end of the inner scissors differential rod 453 is rotatably connected to the base 420, the other end of the inner scissors differential rod 453 slides in the limit notch 421 of the base 420 through a roller (not shown), one end of the outer scissors differential rod 454 is rotatably connected to the base 420, the other end of the outer scissors differential rod 454 also slides in the limit notch 421 of the base 420 through a roller, and the other end of the outer scissors differential rod 454 is also rotatably connected with the second push rod 452.

Under the rotation driving of the lifting driving motor 461, the ball screw 464 rotates to drive the sliding block 467 thereon to move along the direction of the ball screw 464, at this time, due to the change of the relative position of the sliding block 467, the outer scissors differential rod 454 rotates relative to the lower plate of the lower fork 40, the inner scissors differential rod 453 also rotates relative to the upper plate of the lower fork 40 along with the displacement conduction, and then the relative distance between the upper plate of the lower fork 40 and the lower fork 40 is changed, so as to finally achieve the motion foundation of the lifting cargo tray 200.

After the lower fork 40 is retracted, the top of the lower yoke 410 is not lower than the top of the upper yoke 310 in the height direction Z. In this way, the low-level fork arm 410 can fork the goods tray 200 on the ground and then put on the upper surface of the vehicle body 10, so that the high-level fork arm 310 can lift the goods tray 200.

In other embodiments, the lower fork 40 is slidably disposed relative to the body 10 and is coupled to a drive mechanism disposed within the body 10 for movement in a first direction upon actuation of the drive mechanism.

In some embodiments, referring to FIG. 1, in the height direction Z, the fork-receiving area 140 extends through the body 10; the fork accommodating area 140 is provided with a stop 141 on the inner side in the second direction Y, wherein the lower fork arm 410 can be abutted against the stop 141 in response to the descent of the jacking mechanism during the retraction of the lower fork 40 relative to the vehicle body 10, so that the travelling wheel is lifted and separated from the ground.

In this embodiment, the fork receiving area 140 extends through the body 10, which simplifies the structural design of the body 10. For example, the left side frame 110, the middle frame 120, and the right side frame 130 of the vehicle body 10 may be constructed using square tubes as main components, and the fork accommodating area 140 is formed by a gap between adjacent workshops when the frames are formed.

Referring to fig. 1, in order to avoid the influence of the traveling wheels of the lower fork 40 on the overall movement of the stereoscopic warehousing robot 100, the inner side of the fork accommodating area 140 in the second direction Y in this embodiment is provided with a stopper 141. In this way, in the process of retracting the low fork 40 relative to the vehicle body 10, the low fork arm 410 abuts against the stop member 141, and then the lifting mechanism is controlled continuously to drive the low fork arm 410 continuously. At this time, due to the limit of the stopper 141, the base 420 of the fork is lifted, so that the traveling wheel is lifted and separated from the ground.

According to some embodiments of the present application, a method for picking and placing the stereoscopic warehouse robot 100 is also provided, and the method should be applicable to the stereoscopic warehouse robot 100 of any of the foregoing embodiments. The goods placing method comprises the following steps:

And S100, controlling one of the lower fork 40 and the upper fork 30 to fork out the cargo pallet 200 placed at the first storage place and move to the position above the upper surface of the vehicle body 10.

The pallet 200 may be supported on the upper surface of the vehicle body 10 when it is moved above the upper surface of the vehicle body 10, or may be supported on the lower fork 40 or the upper fork 30.

And S200, controlling the other fork of the low-order fork 40 and the high-order fork 30 to take the cargo pallet 200 placed on the upper surface of the vehicle body 10 and place the cargo pallet in a second storage place.

The first storage location is one of the floor or shelf 300 and the second storage location is the other of the tray storage surface 301 of the floor or shelf 300.

With the above method, the lower fork 40 can be used to move forward to fork the cargo pallet 200 on the ground, and then the cargo pallet 200 is placed on the upper surface 103 of the vehicle body 10 again during the process of being recovered to the vehicle body 10, so that the upper fork 30 can lift the cargo pallet 200 to be placed on the pallet storage surface 301 of the pallet 330. This enables the transfer of goods between the racks 300 and the warehouse floor. The opposite operation is also possible, namely, the high-order forks 30 are used to transfer the pallet 200 on the pallet 300 to the upper surface 103 of the vehicle body 10, and the low-order forks 40 are used to transfer the pallet 200 to the ground.

A specific application scenario of the picking and placing method of the present application is described below with reference to the accompanying drawings. In particular, it is described how to achieve the transfer of a pallet of goods on the ground to a pallet.

S310, controlling the low-level fork 40 to extend out of the front end 101 of the vehicle body 10 along the first direction X and fork the cargo pallet 200 on the ground.

Referring to fig. 3-7, the lower fork 40 extends in a first direction X beyond the front end 101 of the body 10 and forks a pallet 200.

S320, controlling the lower fork 40 to retract along the first direction X and moving the pallet 200 to be positioned above the upper fork 30.

Referring to fig. 11 to 14, the low-level fork 40 retrieves and places a pallet on the upper surface of the vehicle body 10. At this time, the high-order fork 30 is at its lowest position, and the cargo pallet 200 is also located above the high-order fork 30.

Further, S320 comprises S321, controlling the high-order fork 30 to be at the lowest position; s321, controlling the low-level fork 40 to place the cargo pallet 200 on the upper surface 103 of the vehicle body 10.

In this step, the cargo pallet 200 is placed on the upper surface 100 of the vehicle body 10, and the risk of damage to the high-order fork arms 310 due to long-term stress is reduced by using the vehicle body 10 as the main stress member. It will be appreciated that it is preferable to ensure that the high pallet fork 30 is in its lowest position. Therefore, if the high-order fork 30 is not at the lowest position, the high-order fork 30 is controlled to be at the lowest position.

S330, controlling the high-position fork 30 to lift the cargo pallet 200 along the height direction Z. Referring to fig. 15 and 16, the high-order fork 30 lifts the cargo pallet in the height direction Z to a proper height.

And S340, controlling the three-dimensional storage robot 100 to move so that the cargo pallet 200 is positioned above the pallet storage surface 301 of the goods shelf 300.

Referring to fig. 19 and 20, the stereoscopic warehousing robot 100 moves to a position to interface with the shelf 300 such that the cargo pallet 200 is located above the pallet storage surface 301 of the shelf 300.

In addition, during the process of moving the stereoscopic warehouse robot 100 to the shelf, there is a process of docking with the shelf 3300, which may be after docking is completed or during docking or before docking, the high-order fork on the stereoscopic warehouse robot 100 lifts the cargo pallet 200 to a position slightly higher than the pallet storing surface 301. That is, the order of steps S330 and S340 is not limited, and steps S330 and S340 may be performed alternately.

And S350, controlling the high-position fork 30 to descend and placing the cargo pallet 200 on the pallet storage surface 301. Referring to fig. 21 and 22, the high-order fork 30 descends and places the cargo pallet 200 on the pallet storage surface 301. Thereby completing the flow of the cargo pallet 200 between the ground and the pallet 300.

S360, controlling the stereoscopic warehouse robot 100 to leave the goods shelf 300. As shown in fig. 23, the stereoscopic warehouse robot 100 is driven off the shelf, and the shelf 300 is not used by other devices.

In addition, in the above embodiment, it is described how the high-order fork 30 and the low-order fork 40 are used in cooperation. It should also be noted that the upper fork 30 and the lower fork 40 may of course be used independently of each other. For example, the lower fork 40 can be controlled to be retracted into the vehicle body 10 by using the upper fork 30 alone. For example, when the lower fork 40 is used alone, the upper fork 30 may be controlled to be at the lowest position or raised to the highest position.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims (10)

1. A stereoscopic warehousing robot, characterized in that the stereoscopic warehousing robot comprises:

A vehicle body;

The lifting frame is arranged at the rear end of the vehicle body;

The high-position fork is connected with the lifting frame in a sliding manner along the height direction and is provided with a high-position fork arm; and

The low-order fork is movably arranged on the vehicle body along a first direction, so that the low-order fork can extend out of the front end of the vehicle body or retract along the first direction, the first direction is perpendicular to the height direction, the low-order fork is provided with a low-order fork arm which can lift along the height direction, the low-order fork and the high-order fork arm are staggered in a second direction, and the first direction, the second direction and the height direction are perpendicular to each other.

2. The stereoscopic warehouse robot according to claim 1, wherein a side of the lifting frame facing the front end of the vehicle body is provided with a positioning device for determining a position of the cargo pallet.

3. The stereoscopic warehouse robot according to claim 1, wherein the high fork arm is located above the upper surface of the vehicle body when the high fork arm is in the lowest position.

4. The stereoscopic warehouse robot according to claim 1, wherein the vehicle body comprises a left side frame, a middle frame and a right side frame arranged along the second direction, wherein a fork accommodating area is formed between the left side frame and the middle frame, a fork accommodating area is formed between the right side frame and the middle frame, and each fork accommodating area accommodates one of the lower forks.

5. The stereoscopic warehouse robot according to claim 4, wherein a plurality of the high fork arms are arranged at intervals along the second direction, and the plurality of high fork arms are distributed at both sides of the fork accommodating area.

6. A method for picking and placing goods by a stereoscopic warehouse robot, which is applied to the stereoscopic warehouse robot as claimed in any one of claims 1-5, and comprises the following steps:

controlling one of the lower fork and the upper fork to take a cargo pallet placed at a first storage place and move the cargo pallet to a position above the upper surface of the vehicle body; and

And controlling the other fork of the low-position fork and the high-position fork to take a cargo pallet arranged on the upper surface of the vehicle body and placing the cargo pallet at a second storage place.

7. The method of claim 6, wherein the first storage location is one of a floor or a pallet storage surface on a shelf and the second storage location is the other of the floor or the pallet storage surface on the shelf.

8. The method of claim 6, wherein the step of providing the first layer comprises,

Controlling one of the lower fork and the upper fork to pick up a cargo pallet placed at a first storage location and move above an upper surface of the vehicle body, comprising:

Controlling the low-position pallet fork to extend out of the front end of the vehicle body along a first direction and fork a pallet placed on the ground; controlling the lower forks to be retracted in a first direction and moving the pallet to be above the upper forks;

controlling the other fork of the lower fork and the upper fork to pick up a cargo pallet placed on the upper surface of the vehicle body and place the cargo pallet in a second storage place, comprising:

controlling the high-position fork to lift the cargo pallet along the height direction; controlling the three-dimensional storage robot to move so that the goods trays are positioned above the tray storage surface of the goods shelf; and controlling the high-position fork to descend and placing the cargo pallet on the pallet storage surface.

9. The method of claim 8, wherein controlling the lower fork to retrieve in a first direction and move the cargo pallet to be above the upper fork comprises:

Controlling the high-position fork to be at the lowest position;

and controlling the low-position fork to place the cargo pallet on the upper surface of the vehicle body.

10. The method of claim 8, wherein the low-level fork comprises a base, a travelling wheel arranged on the base, a travelling driving mechanism, a jacking mechanism and a jacking driving mechanism, wherein the low-level fork arm is arranged on the jacking mechanism, and the jacking driving mechanism is connected with the jacking mechanism and drives the low-level fork arm to lift in the height direction through the jacking mechanism;

controlling the lower fork to retrieve and move the cargo pallet to be located above the upper fork along a first direction, comprising:

And controlling the low fork arm of the low fork to descend and lean against the vehicle body so as to enable the travelling wheel to lift and separate from the ground.