CN208150248U - Haulage equipment - Google Patents
Haulage equipment Download PDFInfo
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- CN208150248U CN208150248U CN201820617100.2U CN201820617100U CN208150248U CN 208150248 U CN208150248 U CN 208150248U CN 201820617100 U CN201820617100 U CN 201820617100U CN 208150248 U CN208150248 U CN 208150248U
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Abstract
The utility model embodiment discloses a kind of haulage equipment, belongs to Intelligent logistics technical field, a kind of haulage equipment, including：Running gear, is set to the bottom of haulage equipment, and the running gear automatically proceeds to predeterminated position based on the walking path that haulage equipment receives；Ontology, is set to the top of running gear, and the ontology is used to support article grasping mechanism；Storing apparatus, connect and slidably with the ontology, and the storing apparatus includes multiple receiving positions, and the position that accommodates is the interlayer for prolonging vertical direction superposition, and an interlayer can accommodate at least one target item；Article grasping mechanism, it installs and is placed on ontology, the carrying task that the article grasping mechanism is received based on haulage equipment from crawl target item in pannier device and is automatically placed in the receiving position of storing apparatus or grabs target item from the receiving position of storing apparatus and be automatically placed in the pannier device.By this programme, the efficiency of article carrying is improved.
Description
Technical field
The utility model relates to Intelligent logistics technical field more particularly to haulage equipments.
Background technique
The fast development of e-commerce and shopping at network both brought unprecedented development machine to logistic storage industry
It meets, also proposes stern challenge to Courier Service.In traditional warehousing and logistics industry, traditional artificial picking mode is operation
Personnel push the trolley equipped with list container, find corresponding article one by one in storehouse according to list (for example, order) and put into
Corresponding list container.This sorting mode needs operator to take a long walk journey, large labor intensity but low efficiency and mistake
Rate is higher.
On this basis, automatic radio frequency of the developed recently based on Intelligent transfer robot.Robot is according to list
It needs and inventory information, the target shelf equipped with list commodity is transported to corresponding sorting station, by the operator for sorting station
Commodity are picked according to prompt and are put into specified containers.Robot sends shelf back to designated position after sorting task.It is this to pick
The relatively artificial square mode of mode is selected all to be improved in efficiency and accuracy.
Utility model content
It is carried to adapt to robot, the precision and stability of shelf requires to meet high requirement.Therefore each to use field
The shelf of scape must be customized according to the size and running environment of robot, so as to cause corresponding system implementation cost.While by
It requires to carry entire shelf in each sorting activity, therefore a large amount of unwanted commodity is caused also to be carried together.Raising machine
Device people handling efficiency reduces energy consumption and reduces an emphasis of the implementation cost as radio frequency improving performance.
In view of this, the utility model embodiment provides a kind of haulage equipment, at least part of solution is deposited in the prior art
The problem of.
In a first aspect, the utility model embodiment provides a kind of haulage equipment, including：
Running gear, the running gear are set to the bottom of the haulage equipment, and the running gear is based on described remove
The walking path that fortune equipment receives automatically proceeds to predeterminated position；
Ontology, the ontology are set to the top of the running gear, and the ontology is used to support the storing apparatus；
Storing apparatus, the storing apparatus are connect and slidably with the ontology, and the storing apparatus includes multiple receivings
Position, the position that accommodates is the interlayer for prolonging vertical direction superposition, and an interlayer can accommodate at least one target item；
Article grasping mechanism, the article grasping mechanism are set on ontology, and the article grasping mechanism is based on described
The carrying task that haulage equipment receives grabs target item from pannier device and is automatically placed in the storing apparatus
Receiving position in or grab target item from the receiving position of the storing apparatus and be automatically placed in article storage dress
In setting.
According to a kind of specific implementation of the utility model embodiment, the article grasping mechanism includes telescopic component,
The telescopic component is grabbed from crawl target item in the pannier device or from the receiving position of the storing apparatus
Target item.
According to a kind of specific implementation of the utility model embodiment, the article grasping mechanism includes lifting assembly,
The telescopic component is promoted and/or is dropped to preset height by the lifting assembly.
According to a kind of specific implementation of the utility model embodiment, the haulage equipment further includes：Rotary components, institute
Article grasping mechanism is stated to be arranged on the rotary components.
According to a kind of specific implementation of the utility model embodiment, the telescopic component includes holding portion and sliding
Portion, the portion that holds grabs target item by way of holding from pannier device, described to hold portion and the sliding
Portion is slidably connected, and the portion that holds can prolong the longitudinal direction sliding of the interlayer by the sliding part.
According to a kind of specific implementation of the utility model embodiment, the portion of holding includes that the first handgrip and second is grabbed
Hand, and the corresponding left and right sides that the interlayer is set.
According to a kind of specific implementation of the utility model embodiment, first handgrip and the second handgrip are plate knot
Structure.
According to a kind of specific implementation of the utility model embodiment, the portion of holding further include be separately positioned on it is described
Fastener on the inside of first handgrip and the second handgrip, the fastener is foldable, in when of not grabbing target item institute of the portion of holding
Fastener folding is stated, the fastener opens when target item is grabbed in the portion of holding.
According to a kind of specific implementation of the utility model embodiment, first handgrip and the second handgrip prolong vertical side
To height and the interlayer matched.
According to a kind of specific implementation of the utility model embodiment, the sliding part is guide rail.
According to a kind of specific implementation of the utility model embodiment, the lifting assembly is linear bearing.
According to a kind of specific implementation of the utility model embodiment, the telescopic component includes forking portion, the fork
Portion is taken to grab from crawl target item in the pannier device by way of forking or from the receiving position of storing apparatus
Take target item.
According to a kind of specific implementation of the utility model embodiment, the telescopic component is not held in the haulage equipment
Contraction state is set as when row task.
According to a kind of specific implementation of the utility model embodiment, the haulage equipment is moved to institute from task starting point
During stating predeterminated position, the lifting assembly and the rotary components are automatically adjusted to and grab the object condition
The posture matched.
According to a kind of specific implementation of the utility model embodiment, the bottom of the storing apparatus is equipped with idler wheel.
Haulage equipment provided by the embodiment of the utility model, by running gear automatically by haulage equipment automatic transportation in advance
If destination, the storing apparatus (storing apparatus includes one or more receiving positions) connecting with haulage equipment ontology, energy are utilized
The target item that enough carryings and carrying are grabbed by article grasping mechanism.Compared to the mode of traditional entire shelf of carrying, machine
Some storage container on the shelf for wanting carrying is grabbed to people's property of can choose rather than entire shelf, to improve article
The hit rate of sorting.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be apparent that, the drawings in the following description are merely some embodiments of the present invention, right
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Its attached drawing.
Fig. 1 is a kind of schematic diagram of haulage equipment provided by the embodiment of the utility model；
Fig. 2 is a kind of schematic diagram of pannier device provided by the embodiment of the utility model；
Fig. 3 is the schematic diagram of another haulage equipment provided by the embodiment of the utility model；
Fig. 4 is a kind of flow diagram of the method for carrying based on the scene that replenishes provided by the embodiment of the utility model；
Fig. 5 is a kind of stream for the method that corresponding consolidating the load container is distributed to haulage equipment provided by the embodiment of the utility model
Journey schematic diagram；
Fig. 6 is another method that corresponding consolidating the load container is distributed to haulage equipment provided by the embodiment of the utility model
Flow diagram.
Specific embodiment
The utility model embodiment is described in detail with reference to the accompanying drawing.
It will be appreciated that the described embodiments are only a part of the embodiments of the utility model, rather than whole implementation
Example.Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without creative efforts
The all other embodiment obtained, fall within the protection scope of the utility model.
Referring to Fig. 1, the utility model embodiment provides a kind of haulage equipment, including running gear 101, ontology 102, appearance
Receive device 103 and article grasping mechanism 104.
Running gear 101 is the moving parts of haulage equipment, and as an example, running gear 101 may include one
Or multiple wheels, the haulage equipment is moved by the rolling of wheel.The running gear 101 can be set in the carrying
The bottom of equipment.Certainly, the running gear 101 also can be set in other positions of the haulage equipment.
Haulage equipment can be communicated with background server, which can be wired mode, be also possible to nothing
The mode of line.By being communicated with background server, haulage equipment can know article carrying task, which includes
Distribute to the walking path (walking path includes one or more coordinate points) of haulage equipment and the specific ID of target item
It identifies (for example, Item Number etc.), the running gear 101 is based on the haulage equipment walking path and automatically proceeds to default position
It sets, which can be site or workspace site of target item etc..Staff in workspace
Picking operation can be carried out to target item.
Ontology 102 is the integrated support component of haulage equipment, and as a kind of situation, ontology 102 is set to the walking dress
101 top is set, ontology 102 is used to support article grasping mechanism 104.
In order to article easy to carry, the ontology 102 on haulage equipment is connected with storing apparatus 103, storing apparatus 103
Including multiple receiving positions, for example, the receiving position is the interlayer for prolonging vertical direction superposition, an interlayer can accommodate at least one target
Article.
The bottom of storing apparatus 103 is provided with idler wheel, so that when running gear 101 is mobile, storing apparatus 103 can be with
It moves together.In a kind of optinal plan, an idler wheel is respectively set at four angles of 103 bottom of storing apparatus.
After haulage equipment is transported to predeterminated position by running gear 101, mesh is automatically grabbed by article grasping mechanism 104
Mark article.For example, in picking scene, the crawl task which is received based on haulage equipment, from it is pre-
If grabbing target item in the corresponding pannier device in position, and the target item of crawl is automatically placed in the storing apparatus
It (is such as placed on any interlayer in storing apparatus) in 103 receiving position.For another example in the scene that replenishes, article storage
The 104 crawl tasks received based on haulage equipment are placed, it is (any in such as storing apparatus from the receiving position of storing apparatus 103
Interlayer) in grab target item, and the target item of crawl is placed in pannier device corresponding with predeterminated position.
It may include carrying multiple target items in the carrying task that haulage equipment receives as a kind of situation, carry
Equipment obtains multiple target items by walking path from one or more pannier devices.Wherein, walking path can be with
It is that notice is also possible to determination after haulage equipment oneself is planned to haulage equipment after background server is planned.
Pannier device can be any device that can store article, and as an example, referring to fig. 2, article is deposited
Putting device can be a shelf 2.Fig. 2 is a kind of schematic diagram of pannier device provided by the embodiment of the utility model, goods
Frame 2 stores article 3.In a particular embodiment, shelf 2 include multiple interlayers, and each interlayer can accommodate one or more articles
3.Article 3 can be the kinds of goods on shelf and be also possible on shelf that the consolidating the load container of one or more kinds of goods can be held.
In addition, in a particular embodiment, article 3 can also hook out of shelf 2 or on shelf 2 or bar hung.
Article 3 can be placed on the inside or outer surface of shelf in any suitable manner on shelf 2.Shelf 2 can be handled upside down and set
Standby 1 rolls, carries or otherwise carry.Shelf 2 are carried in order to facilitate haulage equipment, shelf 2 include one or
Multiple shelf supports portions and identification of pallets point for identifying shelf identity, article storage system may include any appropriate number
The shelf of amount.
The representative of article 3 is suitable for storage sorting or transmission in automated inventory, warehouse, manufacture and/or part handling system
Any article, can be any material, can be life or abiotic object.As an example, article 3 can
To indicate the article for the commodity being stored in warehouse.Haulage equipment can retrieve specified shelf 2, which includes and to be packaged
The associated special article 3 of customer order, to be delivered to client or its other party.
As another example, article 3 can represent the luggage being stored in the luggage facility on airport.Haulage equipment can be with
Fetch the shelf 2 of the luggage comprising to be transported, be tracked.This may include that specific luggage and articles is selected to sieve for explosive
Choosing, mobile luggage and articles associated with the flight that converted boarding gate, or remove to belong to and had already passed by flight
The luggage and articles of passenger.
As another example, article 3 can indicate the various components of manufacture kit.More specifically, these components
It can indicate the component intended to include in completed knocked down products, such as the computer module for order computer system.In this way
Embodiment in, haulage equipment can be retrieved by the identified specific components of specification relevant to customer order.
As another example, article 3 can be with representative.For example, shelf 2 can be indicated comprising spy in hospital environment
Determine the bed of patient.Therefore, article storage system can be configured as the safely and effectively system for providing and being used for mobile hospital hospital bed,
A possibility which has limited patient injuries and caused by reducing due to mistake a possibility that mistake.In short, article 3
It can be suitable for any suitable article that shelf 2 in any appropriate form store.
Article grasping mechanism 104 can take various ways to realize, referring to Fig. 1 and Fig. 3, be implemented according to the utility model
One specific implementation of example, the article grasping mechanism 104 include telescopic component, and the telescopic component is deposited from the article
It puts and grabs target item in device, in order to cooperate telescopic component, article grasping mechanism 104 can also include telescopic support, institute
Telescopic support is stated for being supported to telescopic component.
Target item height in pannier device is often different, in order to place the target item of different height
To accommodating in position, according to a kind of specific implementation of the utility model embodiment, the article grasping mechanism 104 includes lifting
The telescopic component is promoted and/or is dropped to and the matched height of the target item, lifting group by component, the lifting assembly
Part can be any device for being able to carry out lift in height.As a kind of optional embodiment, lifting assembly can be linear axis
It holds.
Telescopic component can grab article using various ways, referring to Fig. 1, according to one kind of the utility model embodiment
Specific implementation, telescopic component include holding portion, this holds portion and grabs mesh from pannier device by way of holding
Mark article or from the receiving of storing apparatus be middle crawl target item.Telescopic component further includes sliding part, which holds
Portion's connection holds portion and is slided by the depth direction that sliding part prolongs interlayer.As a kind of optional embodiment, sliding part can be
Guide rail.
According to the specific implementation of the utility model embodiment, the portion of holding includes two handgrips：First handgrip and second
Handgrip, the corresponding left and right sides that interlayer is set of two handgrips.Two handgrips can be plate structure, be also possible to other shapes
Shape structure, such as rod-like structure.The shape of plate structure can be rectangle (including rectangular), round or other shapes etc..First
The height of handgrip and the second handgrip can be with the matched of interlayer, and certainly, the height of the first handgrip and the second handgrip is not higher than
The height of interlayer.
The portion of holding further includes the fastener being separately positioned on the inside of the first handgrip and the second handgrip, and fastener is foldable,
It holds fastener when target item is not grabbed in portion to fold, when target item is grabbed in the portion of holding, the fastener opens.Fastener is used for
The fastening article when grabbing article is placed article and is slid between the first handgrip and the second handgrip.
Other than grabbing target item by the way of holding, referring to Fig. 3 (storing apparatus is not shown in Fig. 3), according to
Another specific implementation of the utility model embodiment, telescopic component include grip, and grip passes through handgrip from article
In storing unit grab target item or from the receiving of storing apparatus be middle crawl target item.Handle component is in haulage equipment
It is set as contraction state when not executing task, is set as open configuration when executing task.According to the another of the utility model embodiment
A kind of specific implementation, the lifting assembly execute zoom operations based on the height of the target item.When the lifting group
When part executes flaring operation, lifting assembly rising height, when the lifting assembly executes shrinkage operation, lifting assembly reduces high
Degree.
According to another specific implementation of the utility model embodiment, the telescopic component includes forking portion, described
It forks portion and grabs target item from pannier device corresponding with the predeterminated position by way of forking.It the portion of forking can
Using a variety of there is the mechanical structure for forking function to realize, details are not described herein.
Article grasping mechanism 104 is based on actual needs, needs to carry out pose adjustment during grabbing article, joins
See Fig. 3, according to a kind of specific implementation of the utility model embodiment, the haulage equipment further includes：Rotary components 105,
The storing apparatus 103 and the article grasping mechanism 104 are arranged on the rotary components 105.Pass through rotary components
105, article grasping mechanism 104 can be allow towards preset direction, such as storing apparatus 103 or pannier device.For example,
In picking scene, make article grasping mechanism 104 towards pannier device by rotary components 105, and from pannier device
Then upper crawl article makes article grasping mechanism 104 towards storing apparatus 103 by rotary components 105, and by the article of crawl
It is placed on any one receiving position of storing apparatus 103, in any one interlayer, each interlayer can accommodate one or more
A article.
According to a kind of specific implementation of the utility model embodiment, the haulage equipment is moved to institute from task starting point
During stating predeterminated position, the lifting assembly and the rotary components 105 are automatically adjusted to and grab the target item
The posture to match can make haulage equipment just automatically adjust posture before grabbing target item in this way,
Reduce the time of crawl target item.
As an example, when needing to extract target item, haulage equipment arrives predetermined position by scheduling walking, is expert at
During walking, rotary components 105 and lifting assembly work, so that the shelf of haulage equipment are rotated by 90 °, the direction of rotation of shelf is taken
Certainly in the locality for the cargo being extracted, and the adjustable height of lifting assembly depends on the position height for the cargo being extracted
It spends, then telescopic component works, and telescopic component extends elongation, and the portion of holding is extended to the corresponding matching of body feed tank for being extracted article
The position of conjunction, then the portion of holding holds the body feed tank of goods putting object, and then lifting assembly works, and lifts the body feed tank for putting article,
Article is quickly put into on the Goods shelf partition plate of cargo respective heights by telescopic component work, telescopic component, and then haulage equipment is received
Starting to go to next place to system command, while haulage equipment walking, rotary components 105 are worked at the same time, so that shelf
Direction is consistent with the positive direction of haulage equipment, and then various components work, and the body feed tank of goods putting object is placed on system
On the Goods shelf partition plate of scheduling, when during carrying out this, haulage equipment is in and goes on the road on next place's picking ground.
One advantage of the utility model is that article grasping mechanism 104 can take out two or more destination apparatus
It is placed on pannier device, multiple target items is then transported into designated place together, and efficiency is maximized.
Haulage equipment provided by the embodiment of the utility model, by running gear automatically by haulage equipment automatic transportation in advance
If destination, the storing apparatus (storing apparatus includes one or more receiving positions) connecting with haulage equipment ontology, energy are utilized
The target item that enough carryings and carrying are grabbed by article grasping mechanism.Compared to the mode of traditional entire shelf of carrying, machine
Some storage container on the shelf for wanting carrying is grabbed to people's property of can choose rather than entire shelf, to improve article
The hit rate of sorting.
Referring to fig. 4, with haulage equipment provided by the above embodiment, the utility model embodiment provides a kind of based on benefit
The method for carrying of goods yard scape, including：
S401, haulage equipment are automatically moved to target item storing unit according to the article carrying task received.
S402, haulage equipment grabs target item from target storage unit, and is placed in storing apparatus.
Wherein, target item can be consolidating the load container.Haulage equipment can be communicated with background server, the communication party
Formula can be wired mode, be also possible to wirelessly.By being communicated with background server, haulage equipment can be known
Article carrying task, the article carrying task include distribute to the walking path of haulage equipment (walking path include one or
Multiple coordinate points) and the specific ID of target item identify (for example, Item Number etc.), haulage equipment is according to the ID of target item
Mark recognizes the target item to be grabbed from target storage unit, and grabs the target item.In addition, target storage unit
Each interlayer can be respectively arranged with interlayer ID mark, identified according to interlayer ID, haulage equipment can also determine that article is grabbed
Take which interlayer is the height of device reach, so as to grab target item from the predetermined interlayer of target storage unit.Cause
This in this case, article carrying task further include interlayer ID mark.
Target item is carried in the storing apparatus of haulage equipment, wherein storing apparatus includes multiple receiving positions, the receiving
To prolong the interlayer that vertical direction is superimposed, an interlayer can accommodate at least one target item for position.In each of storing apparatus
Interlayer can also be respectively arranged with interlayer ID mark, be identified by interlayer ID, and haulage equipment can true article grasping mechanism
Which interlayer is height reach, so as to which target item to be placed in the predetermined interlayer of storing apparatus.
S403, haulage equipment carry target item and are automatically moved to target operation position.
On target operation position, cargo is placed in target item by staff or manipulator, which is to replenish
Cargo on to target storage unit.
S404, haulage equipment carry target item and are automatically moved to target storage unit.
S405, haulage equipment grab target item from storing apparatus, and are placed in target storage placement.
It may include carrying multiple objects in the article carrying task that the haulage equipment receives as a kind of situation
Product, haulage equipment obtain multiple target items by carrying out path planning from one or more pannier devices.
It should be understood that the haulage equipment in the utility model embodiment also can be applied to other than the scene that replenishes
The method for carrying of picking scene.Wherein, in S403, staff or manipulator grab cargo from target item, the goods
Object is the cargo of picking.The cargo of crawl can be put into an order container, and the cargo in an order container can be one
The cargo of a order.
When haulage equipment is moved to target operation position, wherein can realize in the following way：If a, target storage
Device has target item, then haulage equipment grabs one or more target items in target storage unit, then moves to target
Working position；If b, there are target item, haulage equipment partial target article (mesh under target storage unit crawl in target operation position
Mark storing unit has target item) or unloaded (target storage unit does not have target item) operation to target operation position.Wherein,
Target item can be consolidating the load container, and consolidating the load container can be any device for arrangement of goods, for example, container can be packet
Mounted box, packaging bag or container etc..
After haulage equipment reaches designated position, need to place goods onto target item, it can be real in the following way
It is existing：If a, haulage equipment carries all target items or partial target article, operator, operation robot (such as parallel machine
The various operation robots such as device people, 6DOF manipulator) or other automation equipments place goods onto target item；b,
If haulage equipment does not carry target item or part does not carry target item, operator, operation robot (such as parallel manipulator
The various operation robots such as people, 6DOF manipulator) or other automation equipments by cargo storage to target item, and should
Target item is placed in some the receiving position for accommodating container.
During realizing S402, referring to Fig. 5, according to a kind of specific implementation of the utility model embodiment, after
Consolidating the load container distribution situation described in platform server based on target item storing unit and target operation position is distributed to haulage equipment
Corresponding consolidating the load container handling strategy may include：
S4021 obtains the consolidating the load container distributed intelligence of target item storing unit.
Number (for example, two dimensional code or bar code) or label (such as RFID tag) etc. can be set on consolidating the load container,
The number or label on container can be read accordingly by camera or label induction, and then obtain target item storage dress
Set interior consolidating the load container distributed intelligence (for example, the type of consolidating the load container, quantity etc.).
S4023, judges whether target item storing unit has target consolidating the load container.
Background server obtains the quantity of remaining consolidating the load container, and then sentence by inquiry consolidating the load container number information
Whether disconnected target item storing unit out there remains target consolidating the load container.
S4025, if so, distributing carrying task for haulage equipment, which is to grab one in target storage unit
A or multiple target consolidating the load containers are simultaneously placed into the storing apparatus of haulage equipment.
When there are also when target consolidating the load container, give haulage equipment distribution by inquiring target item storing unit for background server
Carrying task in can carry the number of target consolidating the load container, haulage equipment can be automatically moved to target item storing unit
And target consolidating the load container is recognized according to number, it is placed into the storing apparatus of haulage equipment automatically.
By above steps, haulage equipment can automatically select and carry consolidating the load container to target operation position, target work
Make position operation object (manipulator, artificial etc.) can directly in consolidating the load container arrangement of goods, improve cargo restocking
Efficiency.
During realizing S402, referring to Fig. 6, according to another specific implementation of the utility model embodiment,
The consolidating the load container distribution situation based on target item storing unit and target operation position is corresponding to haulage equipment distribution
Consolidating the load container handling strategy, including：
S4022 obtains the consolidating the load container distributed intelligence of target operation position.
Number (for example, two dimensional code or bar code) or label (such as RFID tag) etc. can be set on consolidating the load container,
The number or label on consolidating the load container can be read accordingly by camera or label induction, and then obtain target operation position
Consolidating the load container distributed intelligence (for example, the type of consolidating the load container, quantity etc.).
S4024, judges whether target operation position has consolidating the load container.
Background server obtains the quantity of remaining consolidating the load container, and then sentence by inquiry consolidating the load container number information
Whether disconnected target item storing unit out there remains target consolidating the load container.
S4026, if so, distributing carrying task for haulage equipment, which is to grab in target item storing unit
It takes partial target consolidating the load container and is placed into the storing apparatus of haulage equipment.
Or the carrying task may be haulage equipment zero load.It should be understood that since target operation position has had
Part consolidating the load container can preferentially consume the cargo in target operation position in consolidating the load container, can control at this time as a kind of situation
Haulage equipment processed accommodates and carries another part consolidating the load container or control haulage equipment does not carry consolidating the load container but unloaded, etc.
The cargo of whole consolidating the load containers in target operation position all runs out of and then carries out consolidating the load by executing S402-S405
The carrying of container and the restocking that replenishes of cargo.
Through the above steps, enable the consolidating the load container of target operation position preferentially to be consumed, improve consolidating the load container
Service efficiency.
Haulage equipment has the function of moving up and down target item.For convenience of picking or the operation that replenishes, haulage equipment can be incited somebody to action
Target item is moved to easy to operate interlayer height, and operator, (such as parallel robot, 6DOF are mechanical for operation robot
The various operation robots such as hand) or other automation equipments can with relatively convenient replenished to target item or picking.
Target item can be placed on fixed position by haulage equipment, operator, operation robot or other automations
Equipment carries out picking to target item on fixed position or replenishes.
Target item can be removed from storing apparatus and be placed on transmission line etc. in transfers equipment by haulage equipment, operator
Member, operation robot or other automation equipments carry out picking to target item in the transfers equipment such as transmission line or replenish；Or
Target item is removed and is carried out in the transfers equipment such as transmission line by person operator, operation robot or other automation equipments
Picking replenishes, picking or target item is put back to the shifting apparatus such as transmission line again after replenishing, and last haulage equipment is passing
Target item of the crawl by picking or after replenishing on the shifting apparatus such as defeated line.
Cargo corresponding to target item, target item and/or target item haulage equipment the binding of receiving position information from
And corresponding informance is formed, relevant information is stored in background server or haulage equipment or database, thus basis of formation information,
For used in subsequent operation.
The article that temperature is high and/or shipment amount is big is placed in apart from the closer pannier device of working position, temperature it is low and/
Or the few article of shipment amount is placed in apart from the farther away pannier device of working position, so that haulage equipment transport distance is reduced,
The pairs of higher article of probability of occurrence, can be placed in the pannier device closed on, thus increase in the following outbound at
To the probability of hit, sorting efficiency is improved by reducing haulage equipment travel distance.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the utility model, the change that can be readily occurred in
Change or replace, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should be with right
It is required that protection scope subject to.
It is understood that term " one " is interpreted as " at least one " or " one or more ", i.e., in one embodiment,
The quantity of one element can be one, and in a further embodiment, the quantity of the element can be it is multiple, term " one " is no
It can be interpreted as the limitation to quantity.
Although for example the ordinal number of " first ", " second " etc. will be used to describe various assemblies, not limit those herein
Component.The term is only used for distinguishing a component and another component.For example, first assembly can be referred to as the second component, and same
Sample, the second component can also be referred to as first assembly, without departing from the introduction of utility model design.Term as used herein
"and/or" includes any of the project of one or more associations listed and all combinations.
Term used herein is only used for describing the purpose of various embodiments and is not intended to limit.As used herein,
Singular is intended to also include plural form, makes an exception unless the context clearly dictates.Will further be understood that term " includes " and/or
" having " specifies depositing for the feature, number, step, operation, component, element or combinations thereof when being used in this specification
, and it is not excluded for the presence or additional of one or more of the other feature, number, step, operation, component, element or its group.
Term used herein including technical and scientific term has and the normally understood art of those skilled in the art
The identical meaning of language, only if it were not for being defined differently than the term.It should be understood that the term tool limited in usually used dictionary
Have and the consistent meaning of the meaning of term in the prior art.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the utility model, the change that can be readily occurred in
Change or replace, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should be with right
It is required that protection scope subject to.
Claims (15)
1. a kind of haulage equipment, which is characterized in that including：
Running gear, the running gear are set to the bottom of the haulage equipment, and the running gear is based on the carrying and sets
The standby walking path received automatically proceeds to predeterminated position；
Ontology, the ontology are set to the top of the running gear, and the ontology is used to support article grasping mechanism；
Storing apparatus, the storing apparatus are connect and slidably with the ontology, and the storing apparatus includes multiple receiving positions, institute
Stating and accommodating position is the interlayer for prolonging vertical direction superposition, and an interlayer can accommodate at least one target item；
Article grasping mechanism, the article grasping mechanism are set on ontology, and the article grasping mechanism is based on the carrying
The carrying task that equipment receives grabs target item from pannier device and is automatically placed in the appearance of the storing apparatus
It receives in position or grabs target item from the receiving position of the storing apparatus and be automatically placed in the pannier device.
2. haulage equipment according to claim 1, it is characterised in that：
The article grasping mechanism includes telescopic component, and the telescopic component grabs target item from the pannier device
Or target item is grabbed from the receiving position of the storing apparatus.
3. haulage equipment according to claim 2, it is characterised in that：
The article grasping mechanism includes lifting assembly, and the telescopic component is promoted and/or dropped to pre- by the lifting assembly
If height.
4. haulage equipment according to claim 3, which is characterized in that the haulage equipment further includes：
Rotary components, the article grasping mechanism are arranged on the rotary components.
5. haulage equipment according to claim 2, it is characterised in that：
The telescopic component includes holding portion and sliding part, and the portion that holds is grabbed from pannier device by way of holding
Take target item, the portion that holds is slidably connected with the sliding part, it is described hold portion can be prolonged by the sliding part it is described every
The longitudinal direction sliding of layer.
6. haulage equipment according to claim 5, it is characterised in that：
The portion of holding includes the first handgrip and the second handgrip, and the corresponding left and right sides that the interlayer is arranged in.
7. haulage equipment according to claim 6, it is characterised in that：
First handgrip and the second handgrip are plate structure.
8. haulage equipment according to claim 6, it is characterised in that：
The portion of holding further includes the fastener being separately positioned on the inside of first handgrip and the second handgrip, and the fastener can
It folds, when target item is not grabbed by the portion of holding, the fastener is folded, described tight when target item is grabbed in the portion of holding
Firmware opens.
9. haulage equipment according to claim 6, it is characterised in that：
First handgrip and the second handgrip prolong the height of vertical direction and the matched of the interlayer.
10. the haulage equipment according to any one of claim 5-9, it is characterised in that：
The sliding part is guide rail.
11. haulage equipment according to claim 3, it is characterised in that：
The lifting assembly is linear bearing.
12. haulage equipment according to claim 2, it is characterised in that：
The telescopic component includes forking portion, and the portion that forks grabs mesh from the pannier device by way of forking
Mark article grabs target item from the receiving position of storing apparatus.
13. haulage equipment according to claim 3, it is characterised in that：
The telescopic component is set as contraction state when the haulage equipment does not execute task.
14. haulage equipment according to claim 4, it is characterised in that：
During the haulage equipment is moved to the predeterminated position from task starting point, the lifting assembly and the rotation group
Part is automatically adjusted to the posture to match with the crawl target item.
15. haulage equipment according to claim 1, which is characterized in that the bottom of the storing apparatus is equipped with idler wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820617100.2U CN208150248U (en) | 2018-04-26 | 2018-04-26 | Haulage equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820617100.2U CN208150248U (en) | 2018-04-26 | 2018-04-26 | Haulage equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208150248U true CN208150248U (en) | 2018-11-27 |
Family
ID=64375665
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820617100.2U Active CN208150248U (en) | 2018-04-26 | 2018-04-26 | Haulage equipment |
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| Country | Link |
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| CN (1) | CN208150248U (en) |
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| CN108408315A (en) * | 2018-04-26 | 2018-08-17 | 北京极智嘉科技有限公司 | Haulage equipment |
| CN109730039A (en) * | 2019-01-14 | 2019-05-10 | 重庆京渝瑞基测控仪器仪表制造有限公司 | The control method of silkworm cultivating system |
| WO2019109644A1 (en) * | 2018-04-26 | 2019-06-13 | 北京极智嘉科技有限公司 | Robot, and conveying system and method |
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| CN112027472A (en) * | 2020-09-08 | 2020-12-04 | 北京极智嘉科技有限公司 | Warehouse carrying and scheduling system and control method |
| CN114148390A (en) * | 2021-12-14 | 2022-03-08 | 中铁九局集团第二工程有限公司 | Tool transfer device for subway construction |
| CN108408315B (en) * | 2018-04-26 | 2024-04-12 | 北京极智嘉科技股份有限公司 | Conveying equipment |
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| WO2019109644A1 (en) * | 2018-04-26 | 2019-06-13 | 北京极智嘉科技有限公司 | Robot, and conveying system and method |
| CN108408315A (en) * | 2018-04-26 | 2018-08-17 | 北京极智嘉科技有限公司 | Haulage equipment |
| CN108408315B (en) * | 2018-04-26 | 2024-04-12 | 北京极智嘉科技股份有限公司 | Conveying equipment |
| US11827450B2 (en) | 2018-04-26 | 2023-11-28 | Beijing Geekplus Technology Co., Ltd. | Robot |
| US11104516B2 (en) | 2018-04-26 | 2021-08-31 | Beijing Geekplus Technology Co., Ltd. | Robot, carrying system and method |
| AU2019412355B2 (en) * | 2018-12-25 | 2022-11-10 | Beijing Geekplus Technology Co., Ltd. | Transfer robot, warehouse logistics system and article transferring method |
| WO2020135460A1 (en) * | 2018-12-25 | 2020-07-02 | 北京极智嘉科技有限公司 | Transfer robot, warehouse logistics system and article transferring method |
| CN109730039A (en) * | 2019-01-14 | 2019-05-10 | 重庆京渝瑞基测控仪器仪表制造有限公司 | The control method of silkworm cultivating system |
| CN111003048A (en) * | 2019-12-13 | 2020-04-14 | 芜湖鼎恒材料技术有限公司 | A haulage equipment for automobile engine cylinder lid refabrication usefulness |
| CN111620033A (en) * | 2020-06-01 | 2020-09-04 | 北京极智嘉科技有限公司 | Inventory management system and method |
| CN112027472A (en) * | 2020-09-08 | 2020-12-04 | 北京极智嘉科技有限公司 | Warehouse carrying and scheduling system and control method |
| CN114148390A (en) * | 2021-12-14 | 2022-03-08 | 中铁九局集团第二工程有限公司 | Tool transfer device for subway construction |
| CN114148390B (en) * | 2021-12-14 | 2023-05-12 | 中铁九局集团第二工程有限公司 | Tool transfer device for subway construction |
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Address after: 100102 Room 101, block a, 9 Xinbei Road, Laiguangying Township, Chaoyang District, Beijing Patentee after: Beijing jizhijia Technology Co.,Ltd. Address before: 100102 Room 101, block a, 9 Xinbei Road, Laiguangying Township, Chaoyang District, Beijing Patentee before: Beijing Geekplus Technology Co.,Ltd. |