CN207876576U - Manipulator and storage picking robot system with the manipulator - Google Patents
Manipulator and storage picking robot system with the manipulator Download PDFInfo
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- CN207876576U CN207876576U CN201820132208.2U CN201820132208U CN207876576U CN 207876576 U CN207876576 U CN 207876576U CN 201820132208 U CN201820132208 U CN 201820132208U CN 207876576 U CN207876576 U CN 207876576U
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Abstract
The utility model discloses a kind of manipulator and the storage picking robot system with the manipulator.Manipulator includes pedestal, mechanical arm, paw and control mechanism.Pedestal is movably disposed in by translating component on walking mechanism.Mechanical arm has connecting pin and free end, and the connecting pin of mechanical arm is connected to pedestal.Paw is connected to the free end of mechanical arm, to capture cargo.Control mechanism translates component, mechanical arm and paw to control respectively.The utility model allows the pedestal of manipulator to be moved relative to walking mechanism, to extend the extraction scope of manipulator indirectly by increasing one degree of freedom between the pedestal and walking mechanism of manipulator.Accordingly, compared to existing manipulator, the realization for identical extraction scope, the utility model can shorten the mechanical arm arm exhibition of manipulator, and then the structural volume of such as large arm, forearm of mechanical arm can be reduced, keep manipulator more stable when sorting cargo and is easy to avoidance.
Description
Technical field
The utility model is related to warehoused cargos to sort technical field, in particular to a kind of manipulator and have the machine
The storage picking robot system of tool hand.
Background technology
Most large size electric business storage storehouses are laid out using multilayer storage pattern, every layer of shelf along tunnel both sides, and tunnel is long
Up to nearly hundred meters, about 3 meters wide, shelf are truss structure, have a certain distance between adjacent two root posts.Wherein, shelf
Two pallets can be usually placed between interior two root posts, the width of pallet is usually 1 meter, and depth is usually 1.2 meters, close on pallet
Collection stacks cargo.Therefore, in order to sort the cargo of pallet distal end, the arm exhibition of manipulator at least needs to be designed as 2.7 meters.
So causing mechanical arm to be opened up, long, structure is excessive, fluctuation of service.
In addition, the sorting of large size electric business warehoused cargo mainly uses manual work, the mode that this cargo sorts to deposit at present
Less efficient, labor intensity is larger and the higher problem of cost.In order to improve the above problem of artificial picking, this field
Technical staff is it is further proposed that the warehoused cargo based on AGV (Automated Guided Vehicle, also known as AGV trolleies) is carried
Thinking, and main sorting pattern and goods including robot arrival are to two kinds of concrete schemes of picking mode of robot.Wherein, right
It is using AGV combination small-sized machine arms and using the sorting pattern by robot to cargo in the sorting pattern of robot arrival
Implement, however this kind of pattern haves the shortcomings that the size, the weight that sort cargo are limited larger and sort less efficient.Goods is arrived
The sorting pattern of robot is the picking mode implementation for utilizing AGV or transmission line body using cargo to robot, however this kind of mould
Formula adapts to the weaker disadvantage of the sorting ability of different size element shape cargos there are integral layout and corollary equipment are more complex.
Utility model content
One main purpose of the utility model is to overcome at least one defect of the above-mentioned prior art, provide a kind of full
The larger extraction scope of foot and arm opens up smaller manipulator.
Another main purpose of the utility model is to overcome at least one defect of the above-mentioned prior art, provides one kind
Picking robot system that efficiency is higher, can sort sizes, the cargo of weight and layout and corollary equipment are simply stored in a warehouse.
To achieve the above object, the utility model adopts the following technical solution：
One side according to the present utility model provides a kind of manipulator, is installed on a walking mechanism.Wherein, the machine
Tool hand includes pedestal, mechanical arm, paw and control mechanism.The pedestal is movably disposed in the walking by translating component
On mechanism.The mechanical arm has connecting pin and free end, and the connecting pin of the mechanical arm is connected to the pedestal.The hand
Pawl is connected to the free end of the mechanical arm, to capture cargo.The control mechanism to control respectively the translation component,
The mechanical arm and the paw.
One of embodiment according to the present utility model, the translation component includes leading screw and driving motor.Institute
Leading screw is stated to be arranged in the pedestal and with the whorl of base coordinate.The driving motor is sequentially connected in the leading screw, to
The leading screw is driven to rotate.Wherein, when the driving motor drives the leading screw rotation, the pedestal drive the mechanical arm and
The paw is translated along the leading screw.
One of embodiment according to the present utility model, the translation component further include sliding block and/or two holders.
The sliding block offers wire hole, the leading screw be arranged in the wire hole and with the sliding block screw-thread fit, the pedestal is set to institute
State sliding block.Two holders are set on the walking mechanism at intervals, and the leading screw is rotatably arranged in two branch
Between frame.
One of embodiment according to the present utility model, moving direction of the pedestal relative to the walking mechanism
Perpendicular to the direction of travel of the walking mechanism.
Other side according to the present utility model provides a kind of storage picking robot system, for multiple cargos
Cargo on pallet is sorted and is delivered to end conveyer belt.Wherein, the storage picking robot system includes：It sorts
Vehicle, shuttle and control system.The order-picking trucks travels between multiple cargo pallets, and the order-picking trucks includes the first vehicle
Manipulator described in body, the above embodiment and the first cache platform.The manipulator is set to first car body, for extracting
Cargo to be sorted, the pedestal are movably disposed in by translating component on first car body.First caching is flat
Platform is set to first car body and is equipped with the first conveying mechanism.The shuttle travel on the order-picking trucks and end conveyer belt it
Between, the shuttle includes the second car body and the second cache platform.Second cache platform is set to second car body and sets
There is second conveyor structure.The control system be separately connected and control first car body, the first conveying mechanism, the second car body and
Second conveyor structure, and the control mechanism is contained in the control system.Wherein, the order-picking trucks is travelled to closing on cargo support
When the position of disk, the manipulator is by Cargo Claim to be sorted and is positioned over first cache platform temporarily；The shuttle
When vehicle is travelled to the position of the order-picking trucks and plugged into it, cargo is delivered to second caching by first conveying mechanism
Platform；When the shuttle is travelled to the position of the end conveyer belt and plugged into it, the second conveyor structure is by cargo
It is delivered to the end conveyer belt.
One of embodiment according to the present utility model, further includes track.The track laying is in multiple cargo supports
Between disk and the end conveyer belt.Wherein, the order-picking trucks is set to the track and along the rail running；And/or it is described
Shuttle is set to the track and along the rail running.
One of embodiment according to the present utility model, cargo pallet is vertical overhead pallet, described vertical overhead
Pallet includes frame body and is set to the multilayer laminate of the frame body at interval in the upper and lower；Wherein, the manipulator has multiple work high
Degree, the control system control the manipulator and are converted between multiple working depths, and on laminate described in multilayer
Cargo extracts.
One of embodiment according to the present utility model, first conveying mechanism are slow described first through setting
Deposit platform.And/or the second conveyor structure runs through setting in first cache platform.
One of embodiment according to the present utility model, the order-picking trucks further include identification device.The identification dress
It is arranged in first car body and is connected to the control system, to identify the cargo type of cargo pallet.Wherein, the knowledge
The cargo type of other device identification current cargo pallet is the control system control when cargo type of the target goods sorted
Make the cargo of the manipulator extraction current cargo pallet.
One of embodiment according to the present utility model, cargo pallet or in which cargo on have identification label,
The identification device is by scanning the cargo type for identifying marker recognition cargo pallet.
As shown from the above technical solution, the utility model proposes manipulator and storage picking machine with the manipulator
The advantages of people's system and good effect are：
The utility model proposes manipulator, pass through between the pedestal and walking mechanism of manipulator increase a freedom
Degree allows the pedestal of manipulator to be moved relative to walking mechanism, to extend the extraction scope of manipulator indirectly.Accordingly, it compares
In existing manipulator, the realization for identical extraction scope, the utility model can shorten the mechanical arm arm exhibition of manipulator, in turn
The structural volume that such as large arm, forearm of mechanical arm can be reduced keeps manipulator more stable when sorting cargo and is easy to keep away
Barrier.
The utility model proposes storage picking robot system, the sorting to cargo is realized by the manipulator of order-picking trucks
Work can greatly promote the working efficiency of cargo sorting.Meanwhile the utility model is matched using order-picking trucks and plugging into for shuttle
Design is closed, the working efficiency transported after cargo sorts further is promoted.The utility model can significantly be contracted by above-mentioned design
Bob ETCD estimated time of commencing discharging reduces logistics cost, and sort process is highly efficient convenient, can meet large-scale electric business high efficiency, more categories, intelligence
Change the demand for sorting work.In addition, the utility model can sort sizes, the cargo of weight and layout and corollary equipment letter
It is single.
Description of the drawings
The following detailed description to preferred embodiments of the present invention is considered in conjunction with the accompanying drawings, the utility model
Various targets, feature and advantage will become apparent.Attached drawing is only the exemplary diagram of the utility model, not necessarily
It is drawn to scale.In the accompanying drawings, same reference numeral always shows same or similar component.Wherein：
Fig. 1 is a kind of structural schematic diagram of manipulator shown according to an illustrative embodiments；
Fig. 2 is a kind of structural schematic diagram of storage picking robot system shown according to an illustrative embodiments.
Wherein, the reference numerals are as follows：
110. order-picking trucks；
111. manipulator；
1111. pedestal；
1112. mechanical arm；
1113. paw；
1114. leading screw；
1115. driving motor；
112. the first cache platform；
113. the first conveying mechanism；
114. identification device；
120. shuttle；
121. the second cache platform；
122. second conveyor structure；
130. track；
210. cargo pallet；
220. cargo；
230. tunnel.
Specific implementation mode
Embodying the exemplary embodiments of the utility model features and advantages will describe in detail in the following description.It should be understood that
Various variations can be had in different embodiments by being the utility model, all not depart from the scope of the utility model, and
Explanation therein and attached drawing are inherently illustrative, rather than to limit the utility model.
In being described below the different illustrative embodiments to the utility model, carried out with reference to attached drawing, the attached drawing
The part of the utility model is formed, and wherein shows many aspects of achievable the utility model by way of example not
Same example arrangement, system and step.It should be understood that other of component, structure, exemplary means, system and step can be used
Specified scheme, and structural and functional modification can be carried out without departing from the scope of the utility model.Although moreover, originally
Can be used in specification term " between ", " both sides " etc. the different example features and element of the utility model are described, still
These terms in this article merely for convenient, such as with reference to the accompanying drawings described in exemplary direction.It is any in this specification
Content is not necessarily to be construed that the specific three dimensional direction of Structure of need is just fallen into the scope of the utility model.
Manipulator embodiment
Refering to fig. 1, the structural representation for the manipulator that can embody the principles of the present invention is representatively illustrated in Fig. 1
Structure when manipulator is applied to storage picking robot system has been shown in particular in figure.In the illustrative embodiments, this reality
Manipulator with novel proposition is illustrated by taking the manipulator stored in a warehouse applied to large-scale electric business as an example.Those skilled in the art
It is easily understood that sorted for the warehoused cargo that the manipulator is applied to other field, and to following specific implementation modes
Make it is a variety of remodeling, addition, substitute, delete or other variation, these variation still the utility model proposes manipulator original
In the range of reason.
As shown in Figure 1, in the present embodiment, the utility model proposes manipulator 111 can be mounted on a vehicle with walking machine
On structure (such as car body of order-picking trucks 110).Wherein, manipulator 111 mainly include pedestal 1111, mechanical arm 1112, paw 1113,
Translate component and control mechanism.Below in conjunction with attached drawing, to the utility model proposes manipulator 111 each chief component
Structure, connection type and functional relationship be described in detail.
As shown in Figure 1, in the present embodiment, the pedestal 1111 of manipulator 111 is movably disposed by translating component
On the car body of order-picking trucks 110.Wherein, mechanical arm 1112 has connecting pin and free end, and the connecting pin of mechanical arm 1112
It is connected on pedestal 1111.Accordingly, single-degree-of-freedom is formed between the pedestal 1111 and the car body of order-picking trucks 110 of tool hand, and makes machine
The pedestal 1111 of tool hand 111 can be moved relative to the car body of order-picking trucks 110, to extend the extraction scope of manipulator 111 indirectly.
That is, for identical extraction scope, the utility model can shorten the arm exhibition of mechanical arm 1112, and for identical mechanical arm 1112
Arm exhibition, the utility model can then expand extraction scope.
Specifically, as shown in Figure 1, in the present embodiment, translation component include mainly 1114, two holders of leading screw with
And driving motor 1115.Wherein, two holders are arranged at intervals on the car body of order-picking trucks 110, and leading screw 1114 is rotatable
Ground is arranged between two supports, leading screw 1114 be arranged in pedestal 1111 and with 1111 screw-thread fit of pedestal, driving motor 1115
It is sequentially connected in leading screw 1114, to drive leading screw 1114 to rotate.By said structure design, when mechanical arm 1112 extends to most
When big stroke, manipulator 111 drives leading screw 1114 to rotate by driving motor 1115, and leading screw 1114 utilizes the spiral shell with pedestal 1111
Line cooperation makes pedestal 1111 that mechanical arm 1112 and paw 1113 be driven to be translated along leading screw 1114, to further expand mechanical arm
1112 extraction scope realizes the extraction to 210 innermost cargo 220 of cargo pallet.
In other embodiments, translation component can be presented in the form of other structures.For example, can add in translating component
Enter sliding block, pedestal 1111 is arranged on sliding block, and open up wire hole on sliding block and worn for leading screw 1114, in leading screw
It is moved by the mobile drive pedestal 1111, mechanical arm 1112 and paw 1113 of sliding block when 1114 rotation.In addition, present embodiment
Employed in leading screw 1114 design, can further provide for move reliable and stable, the higher effect of precision.However translation group
Part also can be used the other structures other than leading screw 1114 and realize that manipulator 111 is set relative to the degree of freedom of the car body of order-picking trucks 110
Meter, such as linear motor, rack-and-pinion etc., are not limited with present embodiment.
Further, as shown in Figure 1, in the present embodiment, in order to make the design mesh of 111 portion size of diminution manipulator
Reach more excellent effect, pedestal 1111 is preferably normal to order-picking trucks 110 relative to the moving direction of the car body of order-picking trucks 110
Direction of travel.That is, the manipulator 111 in present embodiment is to be preferably normal to lane relative to the moving direction of order-picking trucks 110
The extending direction in road 130.
As shown in Figure 1, in the present embodiment, paw 1113 is connected to the free end of mechanical arm 1112, to capture goods
Object.
Further, in the present embodiment, paw 1113 can be preferably negative pressure sucking disc type paw 1113.
In addition, in the present embodiment, control mechanism is for control translation component (such as driving motor 1115), machine respectively
Tool arm 1112 and paw 1113.Also, storage picking robot system where the control mechanism of manipulator 111 may be embodied in
In control system.
It should be noted here that being shown in attached drawing and the manipulator that describes in the present specification is only can use this practicality
An example in many kinds of manipulator of new principle.It should be clearly understood that the principles of the present invention only limit absolutely not
Shown in attached drawing or any details of manipulator described in this specification or manipulator any part.
In conclusion the utility model proposes manipulator and have the manipulator, pass through the pedestal and row in manipulator
It walks and increases one degree of freedom between mechanism, the pedestal of manipulator is allow to be moved relative to walking mechanism, to extension machinery indirectly
The extraction scope of hand.Accordingly, compared to existing manipulator, the realization for identical extraction scope, the utility model can shorten
The mechanical arm arm exhibition of manipulator, and then the structural volume of such as large arm, forearm of mechanical arm can be reduced, so that manipulator is being sorted
It is more stable and be easy to avoidance when cargo.
Storage picking robot system embodiment
Referring to Fig.2, representatively illustrating the system of storage picking robot that can embody the principles of the present invention in Fig. 2
The structural schematic diagram of system.In the illustrative embodiments, the utility model proposes storage picking robot system be to answer
What the cargo for the storage of large-scale electric business illustrated for sorting.It will be readily appreciated by those skilled in the art that being by the storehouse
It stores up picking robot system and is applied to the warehoused cargo sorting of other field, and a variety of change is made to following specific implementation modes
Type, addition, replacement, deletion or other variations, these variations still the utility model proposes storage picking robot system
In the range of principle.
In the present embodiment, the utility model proposes storage picking robot system can be used in multiple cargo supports
Cargo 220 on disk 210 is sorted and is delivered to end conveyer belt.
As shown in Fig. 2, in the present embodiment, cargo pallet 210 is that the structure type based on vertical overhead pallet is presented.
Specifically, vertical overhead pallet includes mainly frame body and is set to the multilayer laminate of frame body at interval in the upper and lower.Each frame body is in length
Array structure is often respectively divided into multiple stacking regions on plate layer by layer, that is, schedules out multiple cargo pallets 210.Each cargo support
Can be with the multiple cargos 220 of stacking in disk 210, and the identical cargo of stacking 220 in identical goods pallet 210.Entire warehousing system
May include the multiple row frame body being arranged substantially in parallel, and the space community between two adjacent row frame bodies makes tunnel 230, tunnel
230 latter end leads to end conveyer belt.
It should be noted that in other embodiments, cargo pallet 210 can also be based on other structures form and present.For example,
Frame body can be that single layer or cargo pallet 210 directly divide on determining face.For another example, it can also be not limited to put down between each frame body
The arrangement of row multiple row.
As shown in Fig. 2, in the present embodiment, the utility model proposes storage picking robot include mainly order-picking trucks
110, shuttle 120, track 130 and control system.Below in conjunction with attached drawing, to the utility model proposes storage picking machine
Structure, connection type and the functional relationship of each chief component of people are described in detail.
As shown in Fig. 2, in the present embodiment, order-picking trucks 110 can travel between multiple cargo pallets 210.Into one
Step combines the above-mentioned description in relation to storage environment, order-picking trucks 110 that can travel in each tunnel 230.Wherein, order-picking trucks 110 is led
Will include the first car body, the utility model proposes manipulator 111, the first cache platform 112, the first conveying mechanism 113 and
Identification device 114.
As shown in Fig. 2, in the present embodiment, manipulator 111 is arranged on the first car body, for extracting goods to be sorted
Object 220.Specifically, the pedestal 1111 of manipulator 111 is arranged by translating component on the first car body.Furthermore it is based on this reality
The storage environment of the multilayer cargo pallet 210 with different height in mode is applied, manipulator 111 can further have multiple works
Make height, and control system can control machinery hand 111 converted between multiple working depths, to multiple and different height
Cargo 220 on cargo pallet 210 (multilayer laminate) extracts.
As shown in Fig. 2, in the present embodiment, the first cache platform 112 is arranged on the first car body, for temporarily storing
The cargo 220 on order-picking trucks 110 is extracted by manipulator 111.The first conveying mechanism 113 is provided in first cache platform 112.
Specifically, the first conveying mechanism 113 may be used through the structure being arranged in the first cache platform 112, for example, transfer roller or
Conveyer belt.That is, when the first conveying mechanism 113 in the first cache platform 112 does not work, the two then embodies the first cache platform
112 function is used for arrangement of goods 220, and when the first conveying mechanism 113 works, the two then embodies the work(of the first conveying mechanism 113
Can, for cargo 220 to be delivered to other positions (such as shuttle 120 or end conveyer belt).
As shown in Fig. 2, in the present embodiment, identification device 114 is arranged on the first car body and is connected to control system
It unites, for identification the cargo type of cargo pallet 210.Specifically, when identification device 114 identifies current cargo pallet 210
Cargo type is when the cargo type of the target goods sorted, and control system control machinery hand 111 extracts current cargo pallet
210 cargo 220.
Furthermore in the present embodiment, in order to advanced optimize the recognition efficiency and accuracy of identification device 114, cargo
Pallet 210 or in which cargo 220 on be provided with identification label, so as to identification device 114 pass through scanning, reading or induction identification
The label information of label quickly and accurately identifies the cargo type of cargo pallet 210.For example, which marks
The form of bar code, Quick Response Code or electronic tag may be used.Correspondingly, tool may be used in the identification device 114 of order-picking trucks 110
There are the equipment or structure, such as camera, code reader etc. of visual performance.
As shown in Fig. 2, in the present embodiment, shuttle 120 can travel order-picking trucks 110 and end conveyer belt it
Between.Further combined with the above-mentioned description in relation to storage environment, shuttle 120 can travel in each tunnel 230, and back and forth in picking
It selects between vehicle 110 and end conveyer belt.Wherein, shuttle 120 includes mainly the second car body, the second cache platform 121 and the
Two conveying mechanisms 122.
As shown in Fig. 2, in the present embodiment, the second cache platform 121 is arranged on the second car body, for temporarily storing
The cargo 220 of shuttle 120 is delivered to by order-picking trucks 110.It is provided with second conveyor structure 122 in second cache platform 121.Tool
For body, second conveyor structure 122 may be used through the structure being arranged in the second cache platform 121, such as transfer roller or biography
Send band.That is, when the second conveyor structure 122 in the second cache platform 121 does not work, the two then embodies the second cache platform 121
Function, be used for arrangement of goods 220, second conveyor structure 122 work when, the two then embodies the function of second conveyor structure 122,
For cargo 220 to be delivered to other positions (such as order-picking trucks 110 or end conveyer belt).
As shown in Fig. 2, in the present embodiment, track 130 is laid in tunnel 230, order-picking trucks 110 and shuttle 120
It is separately positioned on track 130, and can be travelled along track 130.That is, by the laying of track 130, order-picking trucks 110 and shuttle
120 realize the form in tunnel 230.In addition, the end of track 130 extend to the end in tunnel 230 and with end conveyer belt
Connection.In other embodiments, for example, when cargo pallet 210 is presented otherwise, 230 path of tunnel changes
Or disappear, track 130 can be according to the flexible change and adjustment of LK algorithm demand to cargo 220.That is, track 130 is laid on respectively
Between cargo pallet 210 and end conveyer belt, so that order-picking trucks 110 and shuttle 120 travel on track 130.For another example, it sorts
Vehicle 110 and shuttle 120 can share same track 130, or can use separate track 130 respectively, then or sort
One of vehicle 110 and shuttle 120 travel on track 130, are freely travelled or otherwise wherein another, not with
Present embodiment is limited.
In the present embodiment, control system at least with the first car body, identification device 114, the first conveying mechanism 113,
Two car bodies and second conveyor structure 122 are separately connected, for controlling said mechanism or element respectively.Also, the control of manipulator 111
Mechanism processed is contained in control system, to control 111 each mechanism of manipulator or element.
Specifically, in the present embodiment, control system can control the transport condition of the first car body and the second car body,
The transport condition includes at least starting and stopping and travel speed of the first car body and the second car body etc..For example, when need
When extracting new cargo 220, control system controls order-picking trucks 110 and starts and travelled along track 130, when identification device 114 is known
When being clipped to the cargo pallet 210 of corresponding cargo type, identification information can be sent to control system, control system control at this time picks
It selects vehicle 110 to stop, stops after further order-picking trucks 110 can control to be moved to the better position apart from the cargo pallet 210, so as to
220 extraction of cargo action later.When needing the cargo 220 kept on order-picking trucks 110 being delivered to shuttle 120, control
System controls order-picking trucks 110 and stops, and controls the traveling of shuttle 120 and plug into the position for closing on order-picking trucks 110 and with it.When need
When cargo 220 on shuttle 120 is delivered to end conveyer belt, the control system control traveling of shuttle 120 is to closing on end
Hold the position of conveyer belt.
Meanwhile in the present embodiment, control system can control the first conveying mechanism 113 and second conveyor structure 122
Working condition.For example, when the first cache platform 112 or the second cache platform 121 are used for arrangement of goods 220, control
System controls the first conveying mechanism 113 or second conveyor structure 122 and is stopped, plug into when order-picking trucks 110 and shuttle 120 or
When shuttle 120 is docked with end conveyer belt, control system can be according to need to control the first conveying mechanism 113 or second conveyor structure
122 work, to which the cargo 220 kept in be sent in the second cache platform 121 or end conveyer belt.
Furthermore in the present embodiment, have near the cargo pallet 210 of target goods when order-picking trucks 110 is moved to stacking
And when stopping, 111 discharging of goods 220 of control system control machinery hand.Wherein, the mode of extraction can be set in advance in control system
In system, or by control system progress intelligence learning and judgement.For example, for the cargo pallet 210 of single layer stacking, control system control
The outer cargo 220 of 111 advantage distillation of manipulator processed, i.e. advantage distillation close to tunnel 230 (order-picking trucks 110) cargo 220, from
And stopped by outer cargo 220 when avoiding extracting inner cargo 220.For another example, for the cargo pallet 210 of multilayer stacking,
The cargo 220 of 111 advantage distillation top layer of control system control machinery hand, to ensure the stability of multilayer stacking provisions.
In addition, in the present embodiment, control system can receive the identification information of identification device 114, while being capable of root
Identification function and the associated mechanisms action of identification device 114 are controlled according to the concrete structure of identification device 114.To identify dress
114 are set as the equipment with visual performance, i.e., identification device 114 is including regulating mechanism (such as holder) and mounted on adjusting
Shooting in mechanism or scanning means, when needing the identification label to different location to be shot or scanned, control system control
The regulating mechanism adjustment shooting of identification device 114 processed or the visual direction of scanning means, and towards the identification that need to be shot or scan
Label.
It should be noted that it is above in relation to control system to the explanation of the control program of above-mentioned each device, only be based on this reality
The exemplary illustration for applying mode relevant design, according to the different designs for the various embodiments for meeting the utility model principle, control
System can not be limited to the control program of above-mentioned each device there are many selection with present embodiment.
Based on it is above-mentioned to the utility model proposes storage picking robot system exemplary illustration, the storage picking machine
A kind of typical picking flow of device people's system is：
Control system control order-picking trucks 110 is travelled along track 130 in tunnel 230, and is sent to identification device 114 and waited picking
The cargo type of the target goods of choosing.In the driving process of order-picking trucks 110, identification device 114 is to each cargo pallet in both sides
210 cargo type is identified, when the cargo type of some cargo pallet 210 meets the cargo type of target goods, control
System processed controls order-picking trucks 110 in the parking of the position of the cargo pallet 210 (or into one according to the identification information of identification device 114
Successive step is extremely closer to the position of the cargo pallet 210).Order-picking trucks 110 in place after, control system control machinery hand 111 according to
The cargo 220 in the cargo pallet 210 is extracted according to preset extracting mode and rule, and the cargo 220 extracted is by machine
Tool hand 111 is placed and is temporarily stored in the first cache platform 112.When need to the cargo 220 of 210 distalmost end of cargo pallet into
When row extraction, control system (control mechanism) controls driving motor work, keeps the pedestal 1111 of manipulator flat with respect to the first car body
It moves, to enable paw 1113 to extract the cargo 220 of distalmost end.When completing carrying to the cargos 220 of respective numbers
After taking, which terminates.
When shuttle 120 is plugged into order-picking trucks 110, control system control shuttle 120 is along track 130 in tunnel 230
It travels and close to order-picking trucks 110, this is to be advisable with the control system control parking waiting of order-picking trucks 110, or picking in the process
It selects vehicle 110 to complete once to extract and plugs into when not restarting.During shuttle 120 drives towards order-picking trucks 110, when two
When being smaller than a default deceleration distance of person, control system control shuttle 120 slow down and steadily butt up against order-picking trucks 110.
After shuttle 120 stops and butts up against order-picking trucks 110, the first conveying mechanism of control system control 113 (or control first is defeated simultaneously
Send mechanism 113 and second conveyor structure 122) work, the cargo 220 placed in the first cache platform 112 is delivered to second and is delayed
It deposits on platform 121, this time is plugged into end.
When shuttle 120 is plugged into end conveyer belt, control system control control shuttle 120 is along track 130 in tunnel
It is travelled in 230 and leans on proximal end conveyer belt.During shuttle 120 drives towards end conveyer belt, one is smaller than when the two
When default deceleration distance, control system control shuttle 120 slows down and steadily butts up against end conveyer belt.Shuttle 120 stops
And after butting up against end conveyer belt, control system control second conveyor structure 122 (or 122 He of second conveyor structure is controlled simultaneously
End conveyer belt) work, the cargo 220 placed in the second cache platform 121 is delivered to end conveyer belt or is transmitted through end
Band is delivered to other stations, this time is plugged into end.
It should be noted that above-mentioned picking flow is merely illustrative.In other embodiments, according to different pickings
The different remodeling of the storage picking robot system of demand sum, the utility model proposes storage picking robot system picking
Flow can have various change.
For example, storage picking robot system can be implemented to sort after order-picking trucks 110 extracts a type of cargo 220
Vehicle 110 is plugged into shuttle 120, can also implement after order-picking trucks 110 extracts a plurality of types of cargos 220 order-picking trucks 110 with
Shuttle 120 is plugged into.Similarly, storage picking robot system can be completed primary with order-picking trucks 110 in shuttle 120
Implement plugging into for shuttle 120 and end conveyer belt after plugging into, can also be completed in shuttle 120 and the multiple of order-picking trucks 110 connect
Implement plugging into for shuttle 120 and end conveyer belt after refuting.
For another example, plugging into for order-picking trucks 110 and shuttle 120 can be implemented when preferably order-picking trucks 110 stops, but also
It can when driving implement in order-picking trucks 110, then need shuttle 120 being designed as with the travel speed higher than order-picking trucks 110 at this time.
Furthermore order-picking trucks 110 stops and the process plugged into shuttle 120, the extraction of certain cargo 220 can be completed in order-picking trucks 110
And carried out when not being again started up, can also stop progress in the normal driving process of order-picking trucks 110.
For another example, temporary cargo 220 is delivered to the process of plugging into of end conveyer belt for storage picking robot system,
Can be carried out between order-picking trucks 110 and end conveyer belt using shuttle 120, also using order-picking trucks 110 directly with end
End conveyer belt is plugged into.
It should be noted here that being shown in attached drawing and the storage picking robot system described in the present specification is only energy
Enough use an example in the storage picking robot system of many kinds of the utility model principle.It should be clearly understood that
The principles of the present invention are only limitted to show in attached drawing absolutely not or storage picking robot system described in this specification is appointed
What details or storage picking robot system any part.
In conclusion the utility model proposes storage picking robot system, realized pair by the manipulator of order-picking trucks
The sorting work of cargo can greatly promote the working efficiency of cargo sorting.Meanwhile the utility model utilizes order-picking trucks and shuttle
The matching design of plugging into of vehicle further promotes the working efficiency transported after cargo sorts.The utility model passes through above-mentioned design energy
Enough be greatly shortened delivery availability, reduce logistics cost, sort process is highly efficient convenient, can meet large-scale electric business high efficiency,
More categories, the intelligent demand for sorting work.
It is described in detail above and/or illustrate the utility model proposes manipulator and storage with the manipulator pick
The illustrative embodiments of goods robot system.But the embodiment of the utility model is not limited to particular implementation as described herein
Mode, on the contrary, the component part of each embodiment and/or step can be with other component parts as described herein and/or steps
It is rapid independent and be used separately.Each component part of one embodiment and/or each step also can be with other embodiments
Other component parts and/or step are used in combination.Introduce it is described here and/or diagram element/component part/wait whens,
Term "one", " one " and " above-mentioned " etc. to indicate there are one or more elements/component part/etc..Term "comprising",
" comprising " and " having " to indicate the open meaning being included and refer in addition to list element/component part/
Also may be present Deng except other element/component part/etc..In addition, term " first " in claims and specification and
" second " etc. only uses as label, is not the numerical limit to its object.
Although according to different specific embodiments to the utility model proposes manipulator and with the storehouse of the manipulator
Storage picking robot system is described, but it will be recognized by those skilled in the art can be in spirit and scope by the claims
The interior implementation to the utility model is modified.
Claims (10)
1. a kind of manipulator is installed on a walking mechanism, which is characterized in that the manipulator includes：
Pedestal is movably disposed in by translating component on the walking mechanism；
Mechanical arm has connecting pin and free end, and the connecting pin of the mechanical arm is connected to the pedestal；
Paw is connected to the free end of the mechanical arm, to capture cargo；And
Control mechanism, to control the translation component, the mechanical arm and the paw respectively.
2. manipulator according to claim 1, which is characterized in that the translation component includes：
Leading screw is arranged in the pedestal and coordinates with the whorl of base；And
Driving motor is sequentially connected in the leading screw, to drive the leading screw to rotate；
Wherein, when the driving motor drives the leading screw rotation, the pedestal drives the mechanical arm and the paw along institute
State leading screw translation.
3. manipulator according to claim 2, which is characterized in that the translation component further includes：
Sliding block, offers wire hole, the leading screw be arranged in the wire hole and with the sliding block screw-thread fit, the pedestal is set to institute
State sliding block；And/or
Two holders are set on the walking mechanism at intervals, and the leading screw is rotatably arranged between two holders.
4. manipulator according to claim 1, which is characterized in that mobile side of the pedestal relative to the walking mechanism
To the direction of travel perpendicular to the walking mechanism.
5. a kind of storage picking robot system is passed for end to be sorted and be delivered to the cargo on multiple cargo pallets
Send band, which is characterized in that the storage picking robot system includes：
Order-picking trucks travels between multiple cargo pallets, and the order-picking trucks includes：
First car body；
Such as Claims 1 to 4 any one of them manipulator, it is set to first car body, for extracting cargo to be sorted, institute
It states pedestal and is movably disposed on first car body by translating component；And
First cache platform is set to first car body and is equipped with the first conveying mechanism；
Shuttle travels between the order-picking trucks and end conveyer belt, and the shuttle includes：
Second car body；And
Second cache platform is set to second car body and is equipped with second conveyor structure；And
Control system is separately connected and controls first car body, the first conveying mechanism, the second car body and second conveyor structure,
And the control mechanism is contained in the control system；
Wherein, when the order-picking trucks is travelled to the position for closing on cargo pallet, the manipulator by Cargo Claim to be sorted simultaneously
It is positioned over first cache platform temporarily；It is described when the shuttle is travelled to the position of the order-picking trucks and plugged into it
Cargo is delivered to second cache platform by the first conveying mechanism；The shuttle is travelled to the position of the end conveyer belt
And when plugging into it, cargo is delivered to the end conveyer belt by the second conveyor structure.
6. storage picking robot system according to claim 5, which is characterized in that further include：
Track is layed between multiple cargo pallets and the end conveyer belt；
Wherein, the order-picking trucks is set to the track and along the rail running；And/or the shuttle is set to the track
And along the rail running.
7. storage picking robot system according to claim 5, which is characterized in that cargo pallet is vertical high frame torr
Disk, the vertical overhead pallet include frame body and are set to the multilayer laminate of the frame body at interval in the upper and lower；Wherein, the manipulator
With multiple working depths, the control system controls the manipulator and is converted between multiple working depths, and to more
Cargo on the layer laminate extracts.
8. storage picking robot system according to claim 5, which is characterized in that first conveying mechanism, which runs through, to be set
It sets in first cache platform；And/or the second conveyor structure runs through setting in first cache platform.
9. according to claim 5~8 any one of them storage picking robot system, which is characterized in that the order-picking trucks is also
Including：
Identification device set on first car body and is connected to the control system, to identify the cargo type of cargo pallet；
Wherein, the cargo type of the identification device identification current cargo pallet is the cargo type of target goods to be sorted
When, the control system controls the cargo of the manipulator extraction current cargo pallet.
10. storage picking robot system according to claim 9, which is characterized in that cargo pallet or in which cargo
It is upper that there is identification label, the cargo type that the identification device passes through the scanning identification marker recognition cargo pallet.
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| CN2017112629056 | 2017-12-04 | ||
| CN201711262905 | 2017-12-04 |
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| CN207876576U true CN207876576U (en) | 2018-09-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810014437.9A Pending CN109867077A (en) | 2017-12-04 | 2018-01-08 | For the system for picking of storing in a warehouse, method, apparatus, order-picking trucks and shuttle |
| CN201810014627.0A Active CN109870983B (en) | 2017-12-04 | 2018-01-08 | Method and device for processing tray stack image and system for warehousing goods picking |
| CN201820132208.2U Active CN207876576U (en) | 2017-12-04 | 2018-01-25 | Manipulator and storage picking robot system with the manipulator |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810014437.9A Pending CN109867077A (en) | 2017-12-04 | 2018-01-08 | For the system for picking of storing in a warehouse, method, apparatus, order-picking trucks and shuttle |
| CN201810014627.0A Active CN109870983B (en) | 2017-12-04 | 2018-01-08 | Method and device for processing tray stack image and system for warehousing goods picking |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109870983B (en) | 2022-01-04 |
| CN109867077A (en) | 2019-06-11 |
| CN109870983A (en) | 2019-06-11 |
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