CN119284399A - Cargo handling robot and warehousing system - Google Patents

Abstract

The embodiment of the application provides a cargo handling robot and a storage system, which comprises a mobile chassis, wherein the mobile chassis comprises a track running mechanism, a ground running mechanism and a jacking mechanism, the ground running mechanism is connected with the lower end of the jacking mechanism, the track running mechanism is connected with the upper end of the jacking mechanism, the jacking mechanism is used for controlling the track running mechanism and the ground running mechanism to move relatively in the vertical direction, when the cargo handling robot moves along a track, the track running mechanism is contacted with the track, the ground running mechanism is separated from the ground, and when the cargo handling robot moves outside a cargo storage area, the ground running mechanism is contacted with the ground, and the track running mechanism is separated from the track. That is, the cargo handling robot moves in a rail travel mode and a ground travel mode within and outside the cargo storage area, respectively, and can automatically switch between the two modes.

Description

Cargo handling robot and warehousing system

Technical Field

The application relates to the technical field of warehouse logistics, in particular to a cargo handling robot and a warehouse system.

Background

The cargo handling robot is an automated facility in a warehouse system for transferring cargo between a cargo storage area and a cargo access cache area.

In the related art, a cargo handling robot is an AGV chassis that is capable of automatically planning a route to a cargo storage location for cargo access.

However, the moving route of the cargo handling robot of the AGV chassis is unstable, and when the cargo storage area moves, the cargo handled by the cargo handling robot is easy to collide with the stacked cargo or the goods shelf, thereby causing the falling and damage of the cargo.

Disclosure of Invention

The embodiment of the application provides a cargo handling robot and a storage system, which are used for solving the problems that the moving route of the cargo handling robot of the existing AGV chassis is unstable and collision with cargoes is easy to occur.

In a first aspect, an embodiment of the present application provides a cargo handling robot, including a mobile chassis, the mobile chassis including a track running gear, a ground running gear, and a lifting mechanism;

The ground travelling mechanism is connected with the lower end of the jacking mechanism, the track travelling mechanism is connected with the upper end of the jacking mechanism, and the jacking mechanism is used for controlling the track travelling mechanism and the ground travelling mechanism to move relatively in the vertical direction;

When the cargo handling robot moves in the cargo storage area, the cargo handling robot moves along the track, the track running mechanism contacts with the track, and the ground running mechanism is separated from the ground;

when the cargo handling robot moves outside the cargo storage area, the ground travelling mechanism contacts the ground, and the rail travelling mechanism is separated from the rail.

In one possible implementation, the track running mechanism comprises a first moving base and at least two sets of first drive assemblies;

The first movable base is fixedly connected with the upper end of the jacking mechanism, at least two groups of first driving assemblies are respectively connected with the first movable base, at least two groups of first driving assemblies are respectively located on two opposite sides of the first movable base, and at least two groups of first driving assemblies drive the first movable base to move along the track.

In a possible implementation manner, the first driving assembly includes a first driving motor and a first driving wheel, the first driving motor is connected with the first moving base, the first driving wheel is connected with the first driving motor, the first driving wheel is disposed on two sides of the first moving base along the walking direction, and the first driving motor drives the first driving wheel to move along the track.

In one possible implementation, the ground travelling mechanism is configured as an AGV chassis comprising a second mobile base, at least two sets of second drive assemblies, and universal wheels;

The second movable base is fixedly connected with the lower end of the jacking mechanism, at least two groups of second driving assemblies are fixedly connected with the second movable base, the at least two groups of second driving assemblies are respectively positioned on two opposite sides of the second movable base, and the second driving assemblies drive the second movable base to move;

The universal wheels are connected with the second movable base, and the universal wheels are located on the side faces of the connecting line directions of at least two groups of second driving assemblies.

In one possible implementation, the jacking mechanism is configured as at least one of a scissor lift mechanism, a multi-link lift mechanism, a hydraulic lift mechanism, or a lead screw nut lift mechanism.

In one possible implementation, the method further includes:

A support frame;

the telescopic fork is arranged on the supporting frame and is used for carrying goods;

The support frame is disposed on the mobile chassis that moves along a track within the cargo storage area and is free to move outside of the cargo storage area.

In one possible implementation, the telescoping forks are selectively raised and lowered and rotated relative to the support frame.

In one possible implementation, the telescopic fork includes clamping plates arranged in pairs, the clamping plates being used for clamping the goods.

In a possible implementation manner, a pusher dog is movably arranged at the lower part of the holding clamp plate, and the pusher dog is used for extending out to support the goods after the holding clamp plate holds the goods.

In a possible implementation manner, the plurality of telescopic forks are arranged in sequence along the vertical direction and are used for matching with the picking feed box;

The distance between the two holding clamping plates of the telescopic forks is sequentially reduced from top to bottom.

In one possible implementation, the clamping plate on the uppermost telescopic fork is provided with at least two groups of the pusher dogs along the vertical direction.

In a possible implementation manner, the telescopic fork further comprises a rotating mechanism, the rotating mechanism is connected with the supporting frame in a matched manner, the telescopic fork is arranged on the rotating mechanism, and the rotating mechanism drives the telescopic fork to rotate, so that the telescopic fork can selectively pick and place cargoes on two sides of the cargo handling robot and place the cargoes on the buffer storage position of the supporting frame.

In a possible implementation manner, at least one side of the supporting frame is provided with a plurality of buffer bits, and the buffer bits are used for temporarily storing the goods.

In one possible implementation, the supporting frame is provided with a lifting mechanism, the telescopic fork is connected with the lifting mechanism, and the lifting mechanism drives the telescopic fork to move along the vertical direction.

In a second aspect, an embodiment of the present application provides a cargo warehousing system, including a cargo storage area provided with a track, an in-out warehouse conveying device, and a cargo handling robot according to the first aspect.

In a first aspect, an embodiment of the application provides a cargo handling robot, which comprises a mobile chassis, wherein the mobile chassis comprises a track running mechanism, a ground running mechanism and a lifting mechanism, the ground running mechanism is connected with the lower end of the lifting mechanism, the track running mechanism is connected with the upper end of the lifting mechanism, the lifting mechanism is used for controlling the track running mechanism and the ground running mechanism to move relatively in the vertical direction, when the cargo handling robot moves along a track, the track running mechanism is in contact with the track, the ground running mechanism is separated from the ground, and when the cargo handling robot moves outside a cargo storage area, the ground running mechanism is in contact with the ground, and the track running mechanism is separated from the track. That is, the cargo handling robot moves in a rail travel mode and a ground travel mode within and outside the cargo storage area, respectively, and can automatically switch between the two modes. This cargo handling robot moves along the track in the cargo storage area, because orbital constraint, this cargo handling robot travelling route is more accurate, remove more stably, can avoid the cargo collision of cargo that cargo handling robot machine carried and its both sides, and then avoid the cargo to fall, has improved cargo handling's security and stability. In addition, because this cargo handling robot can follow the navigation and freely remove outside the cargo storage area, compare in the mode of transfer chain transport goods among the prior art, this cargo handling robot carries the travel route of goods more nimble, simple, and transport speed is faster, and efficiency is higher.

In a second aspect, the embodiment of the application provides a cargo storage system, which comprises a cargo storage area provided with a track, a warehouse-in and warehouse-out conveying device and a cargo carrying robot, wherein cargo is placed on one side of the track, the warehouse-in and warehouse-out conveying device is used for conveying warehoused or warehouse-out cargos, the cargo carrying robot is used for transferring cargos between the cargo storage area and the warehouse-in and warehouse-out conveying device, the cargo carrying robot is configured to move along the track in the cargo storage area and move freely outside the cargo storage area, and the cargo storage system has high cargo picking and placing efficiency. The cargo warehousing system comprises the cargo handling robot according to any one of the above technical schemes, so that the cargo handling robot according to any one of the above technical schemes has all beneficial effects and is not described in detail herein.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application.

In the drawings:

FIG. 1 is a first schematic illustration of a cargo handling robot according to an embodiment of the present application;

FIG. 2 is a second schematic view of the cargo-handling robot of FIG. 1;

FIG. 3 is a first schematic view of a mobile chassis of a cargo handling robot according to an embodiment of the present application;

FIG. 4 is a second schematic view of the mobile chassis of FIG. 3;

FIG. 5 is a third schematic view of the mobile chassis of FIG. 3;

FIG. 6 is a first schematic illustration of the cargo handling robot of FIG. 1 moving within a cargo storage area;

FIG. 7 is a second schematic illustration of the cargo handling robot of FIG. 1 moving within a cargo storage area;

FIG. 8 is a schematic illustration of the cargo handling robot of FIG. 1 moving outside of a cargo storage area;

FIG. 9 is a schematic view of the cargo handling robot of FIG. 1 as it enters a track;

FIG. 10 is a schematic view of the cargo-handling robot of FIG. 9;

FIG. 11 is a first schematic view of the mobile chassis of FIG. 3 with the rail-walking assembly removed;

FIG. 12 is a second schematic view of the mobile chassis of FIG. 3 with the rail-walking assembly removed;

FIG. 13 is a first schematic view of a jacking assembly according to an embodiment of the present application;

FIG. 14 is a second schematic view of the jacking assembly of FIG. 13;

FIG. 15 is a third schematic view of the jacking assembly of FIG. 13;

FIG. 16 is a schematic view of a cargo handling robot provided in accordance with another embodiment of the application;

reference numerals illustrate:

100-cargo storage area, 200-cargo handling robot, 300-track, 400-cargo;

210-moving chassis, 220-supporting frame, 230-telescopic fork, 310-guide rail;

211-a track running mechanism, 212-a ground running mechanism, 213-a lifting mechanism, 221-a buffer position, 222-a lifting assembly, 231-a clamping plate, 232-a pusher dog and 233-a fork arm;

2111-a first movable base, 2112-a first driving motor, 2113-a first driving wheel, 2121-a second movable base, 2122-a second driving motor, 2123-a second driving wheel, 2124-a universal wheel, 2131-a jacking motor, 2132-a connecting rod assembly and 2133-a scissor lifting mechanism;

2133 a-a first scissors assembly, 2133 b-a second scissors assembly, 2133 c-a connecting plate.

Detailed Description

In order to make the technical solution of the present application better understood by those skilled in the art, the technical solution of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.

In the description of embodiments of the present application, the terms "first," "second," and the like 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 defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly, and may be, for example, fixedly attached, detachably attached, or integrally formed, mechanically attached, directly attached, indirectly attached via an intervening medium, in communication between two elements, or in an interaction relationship between two elements, unless otherwise explicitly specified. 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, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature "above" and "over" a second feature may be a first feature directly above or obliquely above the second feature, or simply indicate that the first feature is higher in level than the second feature. The first feature being "under," "under" and "beneath" the second feature may be the first feature being directly under or obliquely under the second feature, or simply indicating that the first feature is less level than the second feature.

The cargo handling robot is an automated facility in a warehouse system for transferring cargo between a cargo storage area and a cargo access cache area.

In the related art, a cargo handling robot is an AGV chassis that is capable of automatically planning a route to a cargo storage location for cargo access.

However, the moving route of the cargo handling robot of the AGV chassis is unstable, and when the cargo storage area moves, the cargo handled by the cargo handling robot is easy to collide with the stacked cargo or the goods shelf, thereby causing the falling and damage of the cargo.

In order to solve the above problems, the embodiments of the present application provide a cargo handling robot and a warehousing system, and the following details of the solution of the embodiments of the present application will be described with reference to the accompanying drawings.

Fig. 1 is a first schematic diagram of a cargo handling robot 200 according to an embodiment of the application, and fig. 2 is a second schematic diagram of the cargo handling robot 200 of fig. 1.

Referring to fig. 1 and 2, a cargo handling robot 200 includes a mobile chassis 210, a support frame 220, and a telescoping fork 230. Wherein, the supporting frame 220 is disposed on the moving chassis 210, and the telescopic fork 230 is connected with the supporting frame 220, which is disposed on the supporting frame 220. The movable chassis 210 is used for supporting the supporting frame 220 and the telescopic fork 230, and moving the supporting frame 220 and the telescopic fork 230 to a designated position, wherein the supporting frame 220 is used for supporting the telescopic fork 230, and the telescopic fork 230 is used for carrying goods. Illustratively, the cargo 400 may be a bin. The telescoping forks 230 are selectively movable up and down and/or rotated relative to the support frame 220 to carry the cargo 400. The mobile chassis 210 moves along the track 300 within the cargo storage area 100 and is free to move outside of the cargo storage area 100. The cargo handling robot moves in a track walking mode and a ground walking mode respectively in and out of the cargo storage area, and can be automatically switched between the two modes.

When the cargo handling robot 200 moves along the track 300 in the cargo storage area 100, due to the constraint of the track 300, the moving line of the cargo handling robot 200 is more accurate and the movement is more stable, so that the collision between the cargo 400 carried by the cargo handling robot 200 and the cargos 400 on two sides of the cargo handling robot can be avoided, the falling of the cargos 400 is avoided, and the safety and the stability of the carrying of the cargos 400 are improved. In addition, since the cargo handling robot 200 can freely move along the navigation outside the cargo storage area 100, the moving route of the cargo handling robot 200 for handling the cargo 400 is more flexible and simple, the handling speed is faster, and the efficiency is higher than the mode of transporting the cargo by the transporting line in the prior art.

Fig. 3 is a first schematic view of a mobile chassis of the cargo handling robot according to an embodiment of the application, fig. 4 is a second schematic view of the mobile chassis of fig. 3, and fig. 5 is a third schematic view of the mobile chassis of fig. 3.

Referring to fig. 3 to 5, the mobile chassis 210 includes a rail travel mechanism 211, a ground travel mechanism 212, and a lifting mechanism 213. The ground travelling mechanism 212 is connected to the lower end of the lifting mechanism 213, and the rail travelling mechanism 211 is connected to the upper end of the lifting mechanism 213. The jacking mechanism 213 is used for controlling the track travelling mechanism 211 and the ground travelling mechanism 212 to move relatively in the vertical direction, so as to control the ground travelling mechanism 212 to contact and separate from the ground.

Fig. 6 is a first schematic view of the cargo handling robot of fig. 1 moving within a cargo storage area, and fig. 7 is a second schematic view of the cargo handling robot of fig. 1 moving within a cargo storage area.

Referring to fig. 6 and 7, when the cargo handling robot 200 moves along the rail 300 within the cargo storage area 100, the rail travel mechanism 211 contacts the rail 300 and the ground travel mechanism 212 is separated from the ground. At this time, the rail traveling mechanism 211 serves as a driving unit to drive the supporting frame 220 and the telescopic fork 230 to move along the rail 300 and to reach the placement position of the target cargo to carry or place the cargo 400.

Fig. 8 is a schematic view of the cargo handling robot of fig. 1 moving outside of a cargo storage area.

Referring to fig. 8, when the cargo handling robot 200 walks on the ground, the lifting mechanism 213 is retracted, and the upper end and the lower end thereof are kept at the minimum distance, so that the distance between the track traveling mechanism 211 and the ground traveling mechanism 212 is minimized, thereby lowering the height of the support frame 220, avoiding the support frame 220 from shaking during the movement process, and ensuring that the cargo handling robot 200 is more stable in the movement state during the container handling process.

Fig. 9 is a schematic view of the cargo-handling robot of fig. 1 when entering a track, and fig. 10 is a schematic view of the cargo-handling robot of fig. 9.

Referring to fig. 9 and 10, when the cargo handling robot 200 is ready to enter the track 300 from the ground and the ground travel mode is changed to the track 300 travel mode, the lifting mechanism 213 expands and contracts, the height of the track travel mechanism 211 increases, and the distance between the track travel mechanism and the ground travel mechanism 212 increases. At this time, the ground travelling mechanism 212 moves into the track 300. When the ground traveling mechanism 212 moves into the track 300, the jacking mechanism 213 contracts, the height of the track traveling mechanism 211 descends, and after the track traveling mechanism 211 contacts the track 300, the height of the track traveling mechanism 211 remains unchanged. As the lifting mechanism 213 continues to retract, the ground engaging mechanism 212 begins to rise in position and gradually breaks away from the ground. When the ground travelling mechanism 212 is separated from the ground, the jacking mechanism 213 stops shrinking, and the rail travelling mechanism 211 starts to serve as a driving assembly to drive the supporting frame 220 and the telescopic fork 230 to move along the rail 300.

It will be appreciated that when the cargo handling robot 200 enters the ground from the track 300, the climbing mechanism 213 expands and the ground travelling mechanism 212 moves downward, and the distance between the ground travelling mechanism 212 and the track travelling mechanism 211 gradually increases when the track 300 is shifted from the track 300 travelling mode to the ground travelling mode. After ground engaging mechanism 212 contacts the ground, track engaging mechanism 211 begins to move upward and gradually disengages track 300 as jacking mechanism 213 continues to expand. When the track traveling mechanism 211 is completely separated from the track 300, the ground traveling mechanism 212 moves out of the track 300, and at this time, the jacking mechanism 213 starts to shrink until it shrinks to the lowest position, so that the track traveling mechanism 211 and the ground traveling mechanism 212 keep the minimum interval, and the moving state of the cargo handling robot 200 is ensured to be more stable during the process of handling the cargo box.

The track running mechanism 211 comprises a first moving base 2111 and at least two groups of first driving components, wherein the first moving base 2111 is fixedly connected with the upper end of the jacking mechanism 213, the supporting frame 220 is fixedly connected with the first moving base 2111, the at least two groups of first driving components are respectively positioned at two opposite sides of the first moving base 2111, and the at least two groups of first driving components drive the first moving base 2111 to move along the track 300.

With continued reference to fig. 3-5, in some examples, a set of first drive assemblies includes a first drive motor 2112 and a first drive wheel 2113. The first moving base 2111 is fixedly connected with the upper end of the jacking mechanism 213, the supporting frame 220 is fixedly connected with the first moving base 2111, the first driving motor 2112 is fixedly connected with the first moving base 2111, the first driving wheel 2113 is connected with the first driving motor 2112, the first driving wheel 2113 is connected with the track 300 in a matching manner, and the first driving motor 2112 drives the first driving wheel 2113 to move along the track 300. In these examples, each first drive wheel 2113 is controlled individually by each first drive motor 2112. To ensure that the mobile chassis 210 can move stably along the track 300, it is necessary to ensure that all the first driving motors 2112 operate synchronously.

In other examples, a set of first drive assemblies includes a first drive motor 2112 and a plurality of first drive wheels 2113. The first driving motor 2112 is fixedly disposed on the first moving base 2111, a plurality of first driving wheels 2113 are respectively disposed at both sides of the first moving base 2111, and all the first driving wheels 2113 are connected to the first driving motor 2112 through a transmission assembly. That is, the first drive motor 2112 drives all of the first drive wheels 2113 through the transmission assembly in synchrony. The first drive motor 2112 may be a servo motor or a dc motor with a decelerator, for example.

The lifting mechanism 213 is fixedly mounted on the ground travelling mechanism 212. In some examples, the ground travel mechanism 212 is configured as an AGV base with autonomous navigation functions. The AGV chassis comprises a second movable base 2121, at least two groups of second driving components and universal wheels 2124, wherein the second movable base 2121 is fixedly connected with the lower end of the jacking mechanism 213, the at least two groups of second driving components are fixedly connected with the second movable base 2121 and are respectively positioned on two opposite sides of the second movable base 2121, the universal wheels 2124 are connected with the second movable base 2121, and the universal wheels 2124 are positioned on the side surfaces of the connecting line directions of the at least two groups of second driving components.

Illustratively, the second drive assembly includes a second drive motor 2122 and a second drive wheel 2123. The second driving motor 2122 is fixedly installed on the second moving base 2121, the second driving wheel 2123 is fixedly connected to an output end of the second driving motor 2122, and the second driving wheel 2123 is disposed on two sides of the second moving base 2121 along the walking direction. With the direction perpendicular to the connection line of the two groups of driving components as the front-back direction, universal wheels 2124 are respectively arranged in the front-back direction of the two second driving wheels 2123 which are oppositely arranged, and the universal wheels 2124 are connected with the second movable base 2121.

Fig. 11 is a first schematic view of the mobile chassis of fig. 3 with the rail-walking assembly removed, and fig. 12 is a second schematic view of the mobile chassis of fig. 3 with the rail-walking assembly removed.

Referring to fig. 11 and 12, in an embodiment of the present application, the ground traveling mechanism 212 includes a second traveling base 2121, two second driving motors 2122, two second driving wheels 2123, and four universal wheels 2124. Wherein, two second driving wheels 2123 are disposed opposite to each other on the second moving base 2121 and located on a center line of the second moving base 2121. The two second driving motors 2122 are fixed on the second moving base 2121, and the two second driving motors 2122 are respectively connected with the two second driving wheels 2123. Two second driving motors 2122 are used to drive the second moving base 2121 to move. It can be appreciated that by changing the rotational speeds of the two second driving motors 2122, the moving direction of the second moving base 2121 can be controlled, which is the prior art and will not be described herein.

Two universal wheels 2124 are provided in the front-rear direction of the two second driving wheels 2123 with the direction perpendicular to the connecting line of the two second driving wheels 2123 as the front-rear direction, for supporting the second moving base 2121 and adjusting the moving direction of the second moving base 2121.

With continued reference to fig. 11 and 12, in some examples, the jacking mechanism 213 is configured as a multi-link lifting mechanism, specifically including a jacking motor 2131 and a link assembly 2132, where the jacking motor 2131 is fixedly disposed on the second moving base 2121, and an output end of the jacking motor 2131 is connected to the link assembly 2132, and when the output end of the jacking motor 2131 rotates, it is possible to control the movement of an upper end of the link assembly 2132, even if a distance between the upper end and the lower end changes, so that a distance between the first moving base 2111 connected to the upper end and the second moving base 2121 connected to the lower end changes.

Fig. 13 is a first schematic view of a jacking assembly according to an embodiment of the application, fig. 14 is a second schematic view of the jacking assembly of fig. 13, and fig. 15 is a third schematic view of the jacking assembly of fig. 13.

Referring to fig. 13-15, in other examples, the lifting mechanism 213 is configured as a scissor lift mechanism 2133. The fork lifting mechanism 2133 includes a first fork 2133a, a second fork 2133b, and a connecting plate 2133c, which are cross-connected, wherein a lower end of the first fork 2133a and a lower end of the second fork 2133b are connected to the first movable base 2111, an upper end of the first fork 2133a and an upper end of the second fork 2133b are connected to the connecting plate 2133c, and the connecting plate 2133c is used to connect to the first movable base 2111. When the driving member drives the first or second fork 2133a or 2133b to move, the two move synchronously, so that the connecting plate 2133c moves up and down, thereby changing the distance between the first and second moving bases 2111 and 2121. Illustratively, the driving member may be a servo motor.

The jacking mechanism 213 may be configured as a hydraulic lifting mechanism or a screw-nut lifting mechanism, as long as the first movement base 2111 and the second movement base 2121 can be moved relatively, and detailed description thereof will be omitted.

As shown in fig. 1 and 2, in some examples, the telescopic forks 230 have a plurality, and the plurality of telescopic forks 230 are sequentially disposed in the vertical direction, and each telescopic fork 230 is connected to the support frame 220. When the target cargo 400 is moved, when the target cargo 400 is located below, the upper telescopic fork 230 can clamp the cargo 400 above the target cargo 400 to separate the cargo from the target cargo 400, the lower telescopic fork 230 immediately moves the target cargo 400 away, and finally the upper telescopic fork 230 places the non-target cargo 400 at the original target cargo 400. It is understood that, when the goods 400 are placed at the target positions, the operation process is opposite to the process of carrying the target goods 400, and will not be described herein.

It can be appreciated that by providing a plurality of telescopic forks 230 in the support frame 220, the target cargo 400 located under the stack of the cargo 400 can be conveniently handled with high handling efficiency. Taking the example of a handling robot having two telescoping forks 230. When the target cargo 400 positioned at the lower layer of the cargo 400 stack is moved, the upper telescopic fork 230 can lift the cargo 400 positioned above the target cargo 400, the lower telescopic fork 230 can immediately move the target cargo 400, and finally the upper telescopic fork 230 can place the non-target cargo 400 to the original target cargo 400.

Referring to fig. 1 and 2, the telescopic fork includes fork arms 233 arranged in pairs, and the fork arms 233 are used to hold the cargo 400. In addition, the telescopic fork 231 may be configured as a bi-directional telescopic fork 231, thereby facilitating the picking and placing of the goods 400 on both sides of the track 300.

Illustratively, the yoke 233 includes multiple stages of yokes that are sequentially coupled, and a telescoping drive assembly coupled to the multiple stages of yokes for driving the multiple stages of yokes to extend or retract to pick and place the cargo 400. Illustratively, the yoke 233 includes two stages of yokes, where the yoke 233 includes a primary yoke and a secondary yoke, where the primary yoke is connected with the support frame 220, the secondary yoke is slidably connected with the primary yoke, and the telescopic drive assembly is fixedly disposed on the primary yoke, and drives the secondary yoke to move along the primary yoke, thereby completing the forking and retraction of the cargo 400.

In addition, the telescopic driving piece can be an assembly structure of a motor and a synchronous belt transmission assembly, and can also be an assembly structure of a motor and a gear rack.

With continued reference to fig. 1 and 2, the telescopic fork 231 further includes a clamping plate 231, and each of the fork arms 233 is provided with a clamping plate 231. Because the holding clamp plate 231 has a larger surface area, a larger clamping area with the side surface of the goods 400 can be ensured, the clamping force is increased, and the goods 400 are prevented from sliding down in the process of clamping and moving.

When the supporting frame 220 is provided with the plurality of telescopic forks 231 in the vertical direction, in order to facilitate the placement of the non-target cargo 400 lifted by the clasping means at the position where the original target cargo 400 is placed, the distance between the two clasping plates 231 on the telescopic fork 230 positioned above is smaller than the distance between the two clasping plates 231 on the telescopic fork 230 positioned below, so that the clasping plates 231 on the telescopic fork 230 positioned above are ensured not to interfere with the clasping plates 231 on the telescopic fork 230 positioned below. And the two holding clamp plates 231 on the upper telescopic fork 230 are larger in size, and can extend into the space between the two holding clamp plates 231 on the lower telescopic fork 230 to place the goods 400.

Specifically, when the target cargo is located at the bottommost layer of the cargo stack, the lower portion of the holding clamp plate 231 of the telescopic fork 231 located above holds and lifts the cargo of the upper layer of the target cargo, and the telescopic fork 231 located below holds and retracts the target cargo. At this time, the position of the telescopic fork 231 located above is moved downwards, so that the non-target goods are placed at the original target goods. Since the two holding clamp plates 231 on the telescopic fork 231 located above are larger and the distance between the two holding clamp plates 231 is smaller than the distance between the two holding clamp plates 231 on the telescopic fork 231 located below, when the non-target goods are placed at the original target goods placing position, the non-target goods interfere with the telescopic fork 231 and the holding clamp plates 231 located below.

To ensure that the cargo 400 is stable, it will not slip off the telescoping forks 231 due to excessive weight. In some examples, the lower portion of the clamping plate 231 is rotatably provided with a plurality of fingers 232, and the fingers 232 are used for extending to support the cargo after the clamping plate 231 clamps the cargo 400, in particular, the fingers 232 can be switched to rotate in a direction parallel to and perpendicular to the clamping plate 231, so that the cargo 400 can be supported and prevented from falling.

In addition, in some examples, two holding clamp plates 231 on the telescopic fork 230 arranged above are provided with two groups of pusher dogs 232 at intervals along the vertical direction, so that non-target goods 400 positioned at a higher position can be clamped. Illustratively, the pawl 232 includes a lever and a lever motor, the lever motor is fixedly mounted on the clamping plate 231, an end of the pawl 232 is connected to an output end of the lever motor, and the output end of the lever motor rotates to drive the pawl 232 to rotate.

In some embodiments, the bottom of the support frame 220 is provided with buffer bits 221. When the cargo handling robot 200 needs to handle a plurality of cargos 400, the telescopic fork 230 can temporarily store the cargos 400 in the buffer position 221, and after all the target cargos are handled, all the cargos 400 are moved to the in-out and in-out conveying equipment together.

Fig. 16 is a schematic view of a cargo handling robot 200 according to another embodiment of the application.

Referring to fig. 16, in some examples, at least one side of the support frame 220 is provided with a plurality of buffer locations 221, and in these examples, the cargo handling robot 200 further includes a rotating assembly coupled to the support frame 220, and the telescopic forks 230 are disposed on the rotating assembly. The rotating assembly is used to rotate the telescopic fork 230 by 90 ° and to temporarily store the target cargo 400 or the non-target cargo 400 in the buffer position 221. It can be appreciated that by providing the buffer memory locations 221 on the support frame 220, the single handling capability of the cargo handling robot 200 can be greatly improved, and the handling efficiency can be improved. Illustratively, the support frame 220 is provided with a buffer rack on both sides, the buffer rack having a plurality of buffer sites configured as buffer sites 221. In addition, the number of the buffer cargo space and the size of the space in the buffer racks at both sides of the supporting frame 220 may be set according to actual needs, and are not limited herein.

Illustratively, the rotating assembly includes a rotating bracket, a rotating tray, and a rotary drive motor. Wherein the rotating bracket is disposed inside the support frame 220 in a shape corresponding to the support frame 220 and is movable in a vertical direction along the support frame 220. The rotary tray rotates and sets up on the runing rest, and the rotary driving motor is fixed to be set up on the runing rest to the output of rotary driving motor is connected with the rotary tray, and the rotary driving motor drives the rotary tray and rotates. The telescopic pallet fork 230 is provided on the rotary tray, that is, the rotary driving motor drives the telescopic pallet fork 230 to rotate through the rotary tray. The rotation driving motor can realize forward and reverse rotation, so that the bidirectional rotation of the rotation tray is realized, and the telescopic fork 230 can pick up and put the goods 400 to the buffer storage positions 221 at the two sides of the support frame 220 corresponding to the pick-up and put-out openings at the two sides of the support frame 220.

With continued reference to fig. 1 and 2, the support frame 220 of the present application is a rectangular frame structure formed by sequentially connecting a plurality of cross members and longitudinal members. Linear guide rails 310 are arranged on two sides of the supporting frame 220 along the vertical direction, and sliding blocks are matched on the linear guide rails 310. The telescopic fork 230 is fixedly connected with the slider.

In addition, the cargo handling robot 200 also includes a lift assembly 222. Illustratively, the lifting assembly 222 includes a lifting motor and a transmission assembly, the lifting motor is fixed on the support frame 220, and the transmission assembly is disposed on the support frame 220, the lifting motor is connected with the transmission assembly, the transmission assembly is connected with the telescopic fork 230, and the lifting motor drives the telescopic fork 230 to move in a vertical direction through the transmission assembly, so that the telescopic fork 230 can reach a designated position of the target cargo 400.

In a second aspect, an embodiment of the present application provides a cargo warehousing system, including a cargo storage area 100, a warehouse in and out conveyor apparatus, and a cargo handling robot 200 according to the first aspect. Wherein the cargo storage area 100 is used for placing and storing cargo.

In the related art, the cargo storage area 100 is an area where cargo is stored, and may include various cargo storage facilities such as trays, shelves, or cargo bases therein. Illustratively, the cargo storage area 100 is used for storing the cargo 400, and the cargo 400 may be an empty cargo 400 or a cargo 400 containing the cargo. The cargo 400 may be stacked on a pallet, the base of the cargo 400, or may be placed on the shelves of the cargo storage area 100, respectively. For example, the cargo may be placed within the cargo 400, the cargo 400 stacked and stored in the cargo storage area 100, and when a specified cargo is desired, a worker removes the targeted cargo 400 from the cargo storage area 100.

The warehouse-in and warehouse-out conveying equipment is used for conveying warehoused and warehouse-out cargoes and can be logistics equipment such as a cargo conveying line, an unpacking machine or a cargo sorting device. When the cargo is put in the warehouse, the in-out conveying apparatus conveys the cargo 400 to the buffer area, and the cargo handling robot 200 transfers the cargo 400 of the buffer area to the designated position of the cargo storage area 100. Correspondingly, at the time of shipment of the cargo, the cargo handling robot 200 transfers the cargo within the cargo storage area 100 to the in-out conveying apparatus, and then transfers the cargo from the in-out conveying apparatus to the designated location.

In the present version, a track 300 is provided within the cargo storage area 100, with cargo (e.g., bin 400) disposed on at least one side of the track 300. The cargo handling robot 200 is placed on the ground outside the cargo storage area 100, and is capable of moving between the cargo storage area 100 and the in-out garage delivery apparatus, thereby transferring cargo therebetween, and the cargo warehousing system has high cargo pick-and-place efficiency. Since the cargo warehousing system includes the cargo handling robot 200 according to any one of the above-mentioned embodiments, the cargo handling robot 200 according to any one of the above-mentioned embodiments has all the advantages and effects thereof, and will not be described in detail herein.

It is to be understood that, based on the several embodiments provided in the present application, those skilled in the art may combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments, which all do not exceed the protection scope of the present application.

The foregoing detailed description of the embodiments of the present application further illustrates the purposes, technical solutions and advantageous effects of the embodiments of the present application, and it should be understood that the foregoing is merely a specific implementation of the embodiments of the present application, and is not intended to limit the scope of the embodiments of the present application, and any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the scope of the embodiments of the present application.

Claims (15)

1. The cargo handling robot is characterized by comprising a movable chassis, wherein the movable chassis comprises a track travelling mechanism, a ground travelling mechanism and a jacking mechanism;

The ground travelling mechanism is connected with the lower end of the jacking mechanism, the track travelling mechanism is connected with the upper end of the jacking mechanism, and the jacking mechanism is used for controlling the track travelling mechanism and the ground travelling mechanism to move relatively in the vertical direction;

When the cargo handling robot moves in the cargo storage area, the cargo handling robot moves along the track, the track running mechanism contacts with the track, and the ground running mechanism is separated from the ground;

when the cargo handling robot moves outside the cargo storage area, the ground travelling mechanism contacts the ground, and the rail travelling mechanism is separated from the rail.

2. The cargo handling robot of claim 1, wherein the rail travel mechanism comprises a first mobile base and at least two sets of first drive assemblies;

The first movable base is fixedly connected with the upper end of the jacking mechanism, at least two groups of first driving assemblies are respectively connected with the first movable base, at least two groups of first driving assemblies are respectively located on two opposite sides of the first movable base, and at least two groups of first driving assemblies drive the first movable base to move along the track.

3. The cargo handling robot of claim 2, wherein the first drive assembly includes a first drive motor and a first drive wheel, the first drive motor is coupled to the first movable base, the first drive wheel is coupled to the first drive motor, the first drive wheel is disposed on both sides of the first movable base in a direction of travel, and the first drive motor drives the first drive wheel to move along the track.

4. The cargo handling robot of claim 1, wherein the ground travel mechanism is configured as an AGV chassis comprising a second mobile base, at least two sets of second drive assemblies, and universal wheels;

The second movable base is fixedly connected with the lower end of the jacking mechanism, at least two groups of second driving assemblies are fixedly connected with the second movable base, the at least two groups of second driving assemblies are respectively positioned on two opposite sides of the second movable base, and the second driving assemblies drive the second movable base to move;

The universal wheels are connected with the second movable base, and the universal wheels are located on the side faces of the connecting line directions of at least two groups of second driving assemblies.

5. The cargo handling robot of claim 1, wherein the jacking mechanism is configured as at least one of a scissor lift mechanism, a multi-link lift mechanism, a hydraulic lift mechanism, or a lead screw nut lift mechanism.

6. The cargo handling robot of claim 1, further comprising:

A support frame;

the telescopic fork is arranged on the supporting frame and is used for carrying goods;

The support frame is disposed on the mobile chassis that moves along a track within the cargo storage area and is free to move outside of the cargo storage area.

7. The cargo handling robot of claim 6, wherein the telescoping forks are selectively raised and lowered and rotated relative to the support frame.

8. The cargo handling robot of claim 6, wherein the telescoping forks include a pair of clamping plates for clamping the cargo.

9. The cargo handling robot of claim 8, wherein the lower portion of the clamping plate is movably provided with a finger for extending to support the cargo after the clamping plate clamps the cargo.

10. The cargo handling robot of claim 8, wherein the plurality of telescoping forks are arranged in sequence in a vertical direction for mating with a pick bin;

The distance between the two holding clamping plates of the telescopic forks is sequentially reduced from top to bottom.

11. The cargo handling robot of claim 9, wherein the robot comprises a robot arm,

At least two groups of pusher dogs are arranged on the clamping plate on the uppermost telescopic fork along the vertical direction.

12. The cargo handling robot of claim 6, wherein the telescoping forks further comprise a rotating mechanism, the rotating mechanism is cooperatively connected with the support frame, the telescoping forks are disposed on the rotating mechanism, and the rotating mechanism drives the telescoping forks to rotate, so that the telescoping forks selectively pick and place cargo on both sides of the cargo handling robot and place the cargo in the buffer position of the support frame.

13. The cargo handling robot of claim 6, wherein the support frame is provided with a plurality of buffer locations on at least one side for temporarily storing the cargo.

14. The cargo handling robot of claim 6, wherein the support frame is provided with a lifting mechanism, the telescoping fork being coupled to the lifting mechanism, the lifting mechanism driving the telescoping fork to move in a vertical direction.

15. A cargo warehousing system comprising a cargo storage area provided with rails, a warehouse in and out conveyor apparatus, and a cargo handling robot according to any one of claims 6-14.