CN206885961U - A kind of transfer robot - Google Patents
A kind of transfer robot Download PDFInfo
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- CN206885961U CN206885961U CN201720442315.0U CN201720442315U CN206885961U CN 206885961 U CN206885961 U CN 206885961U CN 201720442315 U CN201720442315 U CN 201720442315U CN 206885961 U CN206885961 U CN 206885961U
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- memory cell
- transmission unit
- transfer robot
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Abstract
The utility model discloses a kind of transfer robot, including mobile unit, memory cell and transmission unit, mobile unit is configured as driving robot, the goods that transmission unit is configured as being carried is removed or placed into from shelf, memory cell is configured as depositing carried goods, and transmission unit is configured as moving independently of mobile unit.Motion includes the lifting relative to mobile unit, rotation and stretched.Memory cell includes guide rail, pillar and dividing plate, and guide rail is fixed on pillar, and dividing plate is connected with pillar, and dividing plate is configured as the space for separating memory cell.Transmission unit includes lifting module, rotary module and flexible module, and lifting module is arranged on guide rail, and is vertically moved along guide rail；Flexible module is connected with lifting module.Lifting module, rotary module and flexible module are configured to self-movement, do not interfere with each other.Transfer robot described in the utility model greatly reduces walkway clearance and improves access goods efficiency.
Description
Technical field
Warehouse logisticses field is the utility model is related to, more particularly to a kind of robot to transport goods.
Background technology
Warehouse logisticses, refer mainly to utilize self-built or lease storehouse, place, storage, keeping, handling, dispatching goods.Closely
Over year under the overall situation of ecommerce rapid development, when the robot cargo transport technology in modern warehouse logisticses field has become
Lower focus.Compared with traditional shipping mode, have automaticity it is high, using it is flexible, safe and reliable, that efficiency is high etc. is many excellent
Point, these advantages also cause robot cargo transport technology to become the important technology in modern logistics warehousing system.
Robot freights there is also some problems, as goods storage density is low, single time volume of freight is few.Goods storage density is
The goods amount of storage of unit area, high storage density can not only reduce place lease and purchase cost, while can also subtract
The distance of goods is transported less.In robot cargo transport, to allow robot to pass through, general passageway can all be done wider, so as to
Allow robot realized in passageway such as advance, retreat, turn in addition rotate in place, this be also robot cargo transport constrain it is highly dense
Degree one big difficult point of storage.Single time volume of freight is the quantity of single time transport goods of robot.In general, single time volume of freight is more,
Efficiency is higher, and most of single time transport quantity of goods of robot only have one or a kind of at present.
Therefore, those skilled in the art is directed to developing a kind of transfer robot, and fortune can be completed in gorge
Goods and a variety of goods can be transported single time, improve the goods storage density and cargo transport efficiency in place.
Utility model content
In view of the drawbacks described above of prior art, technical problem to be solved in the utility model is how to improve goods to deposit
Store up density and how to improve cargo transport efficiency.
To achieve the above object, the utility model provides a kind of transfer robot, for transporting goods, including it is mobile single
Member, memory cell and transmission unit, the mobile unit are configured as driving the robot, and the memory cell is configured as
The carried goods of storage；The goods that the transmission unit is configured as being carried is removed or placed into from shelf, the biography
Defeated unit is configured as moving independently of the mobile unit.
Further, the motion includes the lifting relative to the mobile unit, rotation and stretched.
Further, the memory cell is located at the top of the mobile unit, and the transmission unit is located at the storage
The sidepiece of unit.
Further, the memory cell includes guide rail, pillar and dividing plate, and the guide rail is fixed on the pillar, institute
State dividing plate to be connected with the pillar, the dividing plate is configured as the space for separating the memory cell.
Further, the transmission unit includes lifting module, rotary module and flexible module, the lifting module installation
Vertically moved on the guide rail, and along the guide rail；The rotary module is connected with the lifting module, the flexible module
Linked with the rotary module, to the both sides of the memory cell and elastic, the flexible module carrying goods.
Further, the flexible module includes prong mechanism.
Further, lifting module, the rotary module and the flexible module are configured to self-movement,
It does not interfere with each other.
Because memory cell and transmission unit are conllinear with the mobile unit direction of motion, i.e., parallel and passageway direction, therefore machine
People's width need to only be not less than 1.5 times of goods width, and length direction is not less than 2.5 times of goods width.Because passageway inner machine people can
Go out fork to both sides, therefore crossing pipeline robot without turning or rotating in place, deduct preset clearance, walkway clearance is typically no less than
1.8 times of goods width.A kind of transfer robot described in the utility model, walkway clearance and access goods efficiency can be greatly reduced.
Design, concrete structure and caused technique effect of the present utility model are made furtherly below with reference to accompanying drawing
It is bright, to be fully understood from the purpose of this utility model, feature and effect.
Brief description of the drawings
Fig. 1 is the robot three-dimensional schematic diagram of a preferred embodiment of the present utility model；
Fig. 2 is the transmission unit schematic three dimensional views of a preferred embodiment of the present utility model；
Fig. 3 is the schematic three dimensional views of the shelf of a preferred embodiment of the present utility model；
Fig. 4 is the schematic diagram of the transport goods of a preferred embodiment of the present utility model；
Wherein, 10- robots；11- mobile units；111- driving wheels；12- memory cell；121- guide rails；122- pillars；
123- dividing plates；13- transmission units；131- lifts module；132- rotary modules；133- stretches module；134- locating modules；
135- detection modules；20- shelf；21- frame plates；30- goods；
Embodiment
Fig. 1 and Fig. 2 is the schematic three dimensional views of a preferred embodiment of robot described in the utility model.Robot 10
Mainly include：Mobile unit 11, it is installed on the memory cell 12 on the top of mobile unit 11 and is installed on the side of memory cell 12,
The transmission unit 13 at the rear portion of mobile unit 11.The transmission unit 12 further comprises lifting module 131, is installed on lifting module
The rotary module 132 on 131 tops, the flexible module 133 for being installed on the top of rotary module 132, the wherein fixing end of rotary module 133
It is connected with lifting module 131, round end is connected with flexible module 133.The mobile unit 11 includes at least two driving wheels
111, it can be achieved to advance, retreat and rotate in place.The memory cell 12 further comprises guide rail 121, pillar 122 and every
Plate 123；The guide rail 121, pillar 122 are vertically arranged to the top of mobile unit 11 and are divided memory cell 12 by dividing plate 123
Layer；12 each layer of memory cell can arrangement of goods 30.The dividing plate 123 can be whole face flat board or with hollow out or every
It is disconnected.The lifting module 131 is connected with the guide rail 121, and can be moved along the vertical direction of guide rail 121.The rotary module 132
It can be rotated along z-axis so that flexible module 133 rotates jointly.The flexible module 133 can be prong mechanism, can be in the x-direction
It is flexible.The lifting module 131, rotary module 132, flexible module 133 can move simultaneously.The transmission unit 13 is further
Including the locating module 134 being installed near the pivot of rotary module 132, the locating module 134, which can detect, to be positioned over
The pose of the goods 30 of the flexible top of module 133.The transmission unit 13 further comprises being installed on the flexible lower section of module 133
Detection module 135, the detection module 135 are used for detecting in the flexible telescopic direction of module 133 whether have barrier.The machine
People 10 has independent navigation function.The navigation mode of the independent navigation function can be vision or laser or electromagnetism.
Fig. 3 and 4 is the schematic three dimensional views of robot shelf described in the utility model and the schematic diagram for transporting goods.It is described
Shelf 20 have hierarchy, are separated by frame plate 21, and every layer can deposit one or more goods 30.The frame plate 21 can be with
For whole face flat board or there is hollow out or cut-off.The shelf 20 are distributed in the moving direction both sides of robot 10.The both racks
20 middle road surfaces are passageway.Goods 30 in both racks 20 can be transported to by the robot 10 by transmission unit 13
In memory cell 12.Goods 30 in memory cell 12 can be transported to both sides by the robot 10 by transmission unit 13
On shelf 20.
Goods 30 in both racks 20 is transported in memory cell 12 by the robot 10 by transmission unit 13
Flow is as follows：
Step 1a, robot 10 is moved to the specified side of shelf 20；
Step 2a, lifting module 131 drives rotary module 132 and flexible module 133 to be elevated to the first specified altitude assignment；
Step 3a, rotary module 132 rotates to the first specified angle so that the flexible direction of motion face shelf of module 133
Cargo destined 30 on 20；
Step 4a, flexible module 133 reaches the lower section of cargo destined 30；
Step 5a, lifting module 131 moves up so that the bottom of goods 30 contacts and lifted with flexible module 133；
Step 6a, flexible module 133 is retracted so that goods 30 is retracted jointly；
Step 7a, lifting module 131 drives rotary module 132, flexible module 133 and goods 30 to be elevated to the second specified height
Degree；
Step 8a, rotary module 132 rotates to the second specified angle so that the flexible direction of motion face of module 133 storage
Unit 12；
Step 9a, flexible module 133 is stretched out, and drives goods 30 to be moved to jointly on the specified dividing plate 123 of memory cell 12
Side；
Step 10a, lifting module 131 moves down so that the bottom of goods 30 contacts with dividing plate 123 and taken off with flexible module 133
From；
Step 11a, flexible module 133 is retracted；
Described step 2a, 3a, 7a, 8a, 9a, 10a, 11a can be carried out when robot 10 moves；Step 2a, 3a
It can carry out simultaneously.Step 7a, 8a can be carried out simultaneously.
Goods 30 in memory cell 12 is transported in both racks 20 by the robot 10 by transmission unit 13
Flow is as follows：
Step 1b, robot 10 is moved to the specified side of shelf 20；
Step 2b, lifting module 131 drives rotary module 132 and flexible module 133 to be elevated to the first specified altitude assignment；
Step 3b, rotary module 132 rotates to the first specified angle so that the flexible direction of motion face of module 133 storage
Cargo destined 30 on unit 12；
Step 4b, flexible module 133 reaches the lower section of cargo destined 30；
Step 5b, lifting module 131 moves up so that the bottom of goods 30 contacts and lifted with flexible module 133；
Step 6b, flexible module 133 is retracted so that goods 30 is retracted jointly；
Step 7b, lifting module 131 drives rotary module 132, flexible module 133 and goods 30 to be elevated to the second specified height
Degree；
Step 8b, rotary module 132 rotates to the second specified angle so that the flexible direction of motion face shelf of module 133
20；
Step 9b, flexible module 133 is stretched out, and drives goods 30 to be moved to the top of specified frame plate 21 of shelf 20 jointly；
Step 10b, lifting module 131 moves down so that the bottom of goods 30 contacts with frame plate 21 and taken off with flexible module 133
From；
Step 11b, flexible module 133 is retracted；
Described step 2b, 3b, 4b, 5b, 6b, 7b, 8b can be carried out when robot 10 moves.
Step 2b, 3b can be carried out simultaneously.
Step 7b, 8b can be carried out simultaneously.
Because memory cell 12 and transmission unit 13 are conllinear with the direction of motion of mobile unit 11, i.e., parallel and passageway direction,
Therefore the width of robot 10 need to only be not less than 1.5 times of goods width, length direction is not less than 2.5 times of goods width.Due in passageway
Robot 10 can go out fork to both sides, therefore cross pipeline robot 10 without turning or rotating in place, and deduct preset clearance, passageway is wide
Degree is typically no less than 1.8 times of goods width.Such as：Goods width 600mm, then robot width can be 900mm, length
1500mm, walkway clearance 1080mm.
Preferred embodiment of the present utility model described in detail above.It should be appreciated that the ordinary skill of this area without
Creative work can is needed to make many modifications and variations according to design of the present utility model.Therefore, it is all in the art
Technical staff on the basis of existing technology can by logical analysis, reasoning, or a limited experiment according to design of the present utility model
, all should be in the protection domain being defined in the patent claims with obtained technical scheme.
Claims (7)
- A kind of 1. transfer robot, for transporting goods, it is characterised in that including mobile unit, memory cell and transmission unit, The mobile unit is configured as driving the robot, and the memory cell is configured as depositing carried goods；It is described The goods that transmission unit is configured as being carried is removed or placed into from shelf, and the transmission unit is configured as independently of institute State mobile unit motion.
- 2. transfer robot as claimed in claim 1, it is characterised in that the motion is included relative to the mobile unit Lifting, rotate and stretch.
- 3. transfer robot as claimed in claim 1, it is characterised in that the memory cell is located at the upper of the mobile unit Portion, the transmission unit are located at the sidepiece of the memory cell.
- 4. transfer robot as claimed in claim 1, it is characterised in that the memory cell includes guide rail, pillar and dividing plate, The guide rail is fixed on the pillar, and the dividing plate is connected with the pillar, and the dividing plate is configured as separating the storage The space of unit.
- 5. transfer robot as claimed in claim 4, it is characterised in that the transmission unit includes lifting module, rotating mould Block and flexible module, the lifting module is arranged on the guide rail, and is vertically moved along the guide rail；The rotary module with The lifting module connection, the flexible module and rotary module linkage, to the both sides of the memory cell and front and rear stretch Contracting, the flexible module carry the goods.
- 6. transfer robot as claimed in claim 5, it is characterised in that the flexible module includes prong mechanism.
- 7. transfer robot as claimed in claim 5, it is characterised in that the lifting module, the rotary module and described Flexible module is configured to self-movement, does not interfere with each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720442315.0U CN206885961U (en) | 2017-04-25 | 2017-04-25 | A kind of transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720442315.0U CN206885961U (en) | 2017-04-25 | 2017-04-25 | A kind of transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206885961U true CN206885961U (en) | 2018-01-16 |
Family
ID=61324980
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720442315.0U Active CN206885961U (en) | 2017-04-25 | 2017-04-25 | A kind of transfer robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438708A (en) * | 2018-05-18 | 2018-08-24 | 李占胜 | A kind of material intelligent bin system |
| CN108638078A (en) * | 2018-04-03 | 2018-10-12 | 黄永怀 | A kind of Intelligent transfer robot |
| CN108792393A (en) * | 2017-07-11 | 2018-11-13 | 浙江国自机器人技术有限公司 | Movable equipment |
| CN109592280A (en) * | 2019-01-21 | 2019-04-09 | 深圳市海柔创新科技有限公司 | A kind of intelligent warehousing system, cargo pick and place method and its background process terminal |
| USD959529S1 (en) | 2019-03-13 | 2022-08-02 | Hai Robotics Co., Ltd. | Warehouse robot |
| WO2023045777A1 (en) * | 2021-09-24 | 2023-03-30 | 深圳市海柔创新科技有限公司 | Fork mechanism, and transfer robot |
| US12116208B2 (en) | 2019-01-21 | 2024-10-15 | Hai Robotics Co., Ltd. | Intelligent warehousing system, method for fetching material and background processing terminal thereof |
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- 2017-04-25 CN CN201720442315.0U patent/CN206885961U/en active Active
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108792393A (en) * | 2017-07-11 | 2018-11-13 | 浙江国自机器人技术有限公司 | Movable equipment |
| CN108638078A (en) * | 2018-04-03 | 2018-10-12 | 黄永怀 | A kind of Intelligent transfer robot |
| CN108438708A (en) * | 2018-05-18 | 2018-08-24 | 李占胜 | A kind of material intelligent bin system |
| CN109592280A (en) * | 2019-01-21 | 2019-04-09 | 深圳市海柔创新科技有限公司 | A kind of intelligent warehousing system, cargo pick and place method and its background process terminal |
| US12116208B2 (en) | 2019-01-21 | 2024-10-15 | Hai Robotics Co., Ltd. | Intelligent warehousing system, method for fetching material and background processing terminal thereof |
| USD976980S1 (en) | 2019-03-13 | 2023-01-31 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD1005366S1 (en) | 2019-03-13 | 2023-11-21 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD969896S1 (en) | 2019-03-13 | 2022-11-15 | Hai Robotics Co., Ltd | Warehouse robot |
| USD970576S1 (en) | 2019-03-13 | 2022-11-22 | Hai Robotics Co., Ltd | Warehouse robot |
| USD970575S1 (en) | 2019-03-13 | 2022-11-22 | Hai Robotics Co., Ltd | Warehouse robot |
| USD974439S1 (en) | 2019-03-13 | 2023-01-03 | Hai Robotics Co., Ltd | Warehouse robot |
| USD974438S1 (en) | 2019-03-13 | 2023-01-03 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD974437S1 (en) | 2019-03-13 | 2023-01-03 | Hai Robotics Co., Ltd | Warehouse robot |
| USD976978S1 (en) | 2019-03-13 | 2023-01-31 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD961646S1 (en) | 2019-03-13 | 2022-08-23 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD976979S1 (en) | 2019-03-13 | 2023-01-31 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD981463S1 (en) | 2019-03-13 | 2023-03-21 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD982050S1 (en) | 2019-03-13 | 2023-03-28 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD959529S1 (en) | 2019-03-13 | 2022-08-02 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD998012S1 (en) | 2019-03-13 | 2023-09-05 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD998011S1 (en) | 2019-03-13 | 2023-09-05 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD998013S1 (en) | 2019-03-13 | 2023-09-05 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD998672S1 (en) | 2019-03-13 | 2023-09-12 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD1004664S1 (en) | 2019-03-13 | 2023-11-14 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD969899S1 (en) | 2019-03-13 | 2022-11-15 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD1005365S1 (en) | 2019-03-13 | 2023-11-21 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD1006082S1 (en) | 2019-03-13 | 2023-11-28 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD1032679S1 (en) | 2019-03-13 | 2024-06-25 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD1045949S1 (en) | 2019-03-13 | 2024-10-08 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD1045950S1 (en) | 2019-03-13 | 2024-10-08 | Hai Robotics Co., Ltd. | Warehouse robot |
| WO2023045777A1 (en) * | 2021-09-24 | 2023-03-30 | 深圳市海柔创新科技有限公司 | Fork mechanism, and transfer robot |
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