CN208150249U - Haulage equipment - Google Patents
Haulage equipment Download PDFInfo
- Publication number
- CN208150249U CN208150249U CN201820617123.3U CN201820617123U CN208150249U CN 208150249 U CN208150249 U CN 208150249U CN 201820617123 U CN201820617123 U CN 201820617123U CN 208150249 U CN208150249 U CN 208150249U
- Authority
- CN
- China
- Prior art keywords
- haulage equipment
- target item
- storing apparatus
- article
- equipment according
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
- 239000011229 interlayer Substances 0.000 claims abstract description 33
- 230000008602 contraction Effects 0.000 claims description 3
- 238000003860 storage Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 238000000429 assembly Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Abstract
The utility model embodiment discloses a kind of haulage equipment, belongs to Intelligent logistics technical field, which includes：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 storing apparatus and article grasping mechanism；Storing apparatus is set on 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 is set on ontology and is located at the periphery of storing apparatus, 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 pannier device.This programme improves article carrying efficiency.
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 storing apparatus and article
Grabbing device；
Storing apparatus, the storing apparatus are set on the ontology, and the storing apparatus has one or more hold
Receive position；
Article grasping mechanism, the article grasping mechanism are arranged on the body and are located at the outer of the storing apparatus
It encloses, the carrying task that the article grasping mechanism is received based on the haulage equipment grabs target from pannier device
Article is simultaneously automatically placed in the receiving position of the storing apparatus or grabs object from the receiving position of the storing apparatus
Product are simultaneously automatically placed in the pannier device.
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, the storing apparatus and the article grasping mechanism are 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 grab target item or the receiving position from storing apparatus by way of holding from pannier device
Middle crawl target item, the portion that holds are slidably connected with the sliding part, and the portion that holds can prolong institute by the sliding part
State the longitudinal direction sliding of interlayer.
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 target item from pannier device corresponding with the predeterminated position by way of forking.
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.
Haulage equipment provided by the embodiment of the utility model, by running gear automatically by haulage equipment automatic transportation in advance
If destination, using be arranged above ontology it is one or more accommodate positions, can carry and carry and grabbed by article grasping mechanism
Target item grab to the robot property of can choose the goods for wanting carrying compared to the mode of traditional entire shelf of carrying
Some storage container rather than entire shelf on frame, to improve the hit rate of item picking.
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 picking scene provided by the embodiment of the utility model.
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 embodiment of the invention provides a kind of haulage equipments, including running gear 101, ontology 102, receiving dress
Set 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..
Ontology 102 is the integrated support component of haulage equipment, and as a kind of situation, the ontology 102 is set to the row
The top of walking apparatus 101, the ontology 102 are used to support the haulage equipment.
In order to article easy to carry, the storing apparatus for placing one or more articles is provided on haulage equipment
103, the storing apparatus 103 is set on the ontology 102, and the storing apparatus 103 includes multiple receiving positions 1031, example
Such as, which is the interlayer for prolonging vertical direction superposition, and an interlayer can accommodate at least one target item.
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 1031.For another example in the scene that replenishes, the article
The 104 crawl tasks received based on haulage equipment are placed in storage, from 1031 (such as storing apparatus of receiving position of storing apparatus 103
In any interlayer) in grab target item, and the target item of crawl is placed on article storage corresponding with predeterminated position
In device.
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 in an embodiment of the present invention, and shelf 2 are deposited
Storing articles 3.In a particular embodiment, shelf 2 include multiple interlayers, and each interlayer one or more can accommodate article 3.Article
3 kinds of goods that can be on shelf are 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 202 and identification of pallets point 201 for identifying shelf identity, article storage system may include any
An appropriate number of shelf.
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, according to an embodiment of the present invention specific referring to Fig. 1
Implementation, the article grasping mechanism 104 include telescopic component 1042, and the telescopic component 1042 is filled from the article storage
Middle crawl target item is set, in order to cooperate telescopic component 1042, referring to Fig. 1, article grasping mechanism 104 can also include flexible branch
Support member 1043, the telescopic support 1043 is for being supported telescopic component 1042.
Target item height in pannier device is often different, in order to place the target item of different height
To accommodating in position, a kind of specific implementation according to an embodiment of the present invention, the article grasping mechanism 104 includes lifting assembly
1045, the telescopic component 1042 is promoted and/or is dropped to and the matched height of the target item by the lifting assembly 1045
Degree, lifting assembly 1045 can be any device for being able to carry out lift in height.As a kind of optional embodiment, lifting assembly
It can be linear bearing.
Telescopic component 1042 can grab article using various ways, referring to Fig. 1, one kind according to an embodiment of the present invention
Specific implementation, telescopic component 1042 include holding portion 1041, this holds portion 1041 by way of holding from article storage
In device grab target item or from the receiving of storing apparatus be middle crawl target item.Telescopic component 1042 further includes sliding
Portion 1040, the sliding part 1040 hold the connection of portion 1041, and it is sliding to hold the depth direction that portion 1041 prolongs interlayer by sliding part 1040
It is dynamic.As a kind of optional embodiment, sliding part 1040 can be guide rail.
Specific implementation according to an embodiment of the present invention, referring to Fig. 1, holding portion 1041 includes two handgrips：First grabs
Hand and the second handgrip, the corresponding left and right sides that interlayer is set of two handgrips.Two handgrips can be plate structure, can also be with
It is other shapes structure, such as rod-like structure.The shape of plate structure can be rectangle (including rectangular), round or other shapes
Deng.The height of first handgrip and the second handgrip can be with the matched of interlayer, certainly, the height of the first handgrip and the second handgrip
Not higher than the height of interlayer.
The portion of holding further includes the fastener 1043 being separately positioned on the inside of the first handgrip and the second handgrip, and fastener 1043 can
It folds, when target item is not grabbed by the portion that holds 1041, the fastener 1043 is folded, and when target item is grabbed in the portion that holds 1041, this is tight
Firmware 1043 opens.Fastener 1043 is used for the fastening article when grabbing article, places article from the first handgrip and the second handgrip
Between slide.
It is according to an embodiment of the present invention another specific referring to Fig. 3 other than grabbing target item by the way of holding
Implementation, telescopic component 1042 include grip 1041, and grip 1041 grabs mesh by handgrip from pannier device
Mark article or from the receiving of storing apparatus be middle crawl target item.Handle component 1041 is not when haulage equipment executes task
It is set as contraction state, is set as open configuration when executing task.It is according to an embodiment of the present invention another specific referring to Fig. 3
Implementation, the lifting assembly 1045 execute zoom operations based on the height of the target item.When the lifting assembly
When 1045 execution flaring operation, lifting assembly rising height, when the lifting assembly 1045 executes shrinkage operation, lifting assembly
Reduce height.
Another kind specific implementation according to an embodiment of the present invention, the telescopic component 1042 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 that Fig. 1, Fig. 3, a kind of specific implementation according to an embodiment of the present invention, the haulage equipment further include：Rotary components 105,
The storing apparatus 103 and the article grasping mechanism 104 are arranged on the rotary components 105.
A kind of specific implementation according to an embodiment of the present invention, the haulage equipment are moved to described pre- from task starting point
If during position, the lifting assembly 1045 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 1045 work, so that the shelf of haulage equipment are rotated by 90 °, the rotation side of shelf
To the locality for the cargo for depending on being extracted, and the adjustable height of lifting assembly 1045 depends on the cargo being extracted
Position height, then telescopic component 1042 works, and telescopic component 1042 extends elongation, will hold portion 1041 and extends to extract
The corresponding position matched of the body feed tank of product, then holds the body feed tank that portion 1041 holds goods putting object, then lifting assembly
1045 work lift the body feed tank for putting article, and telescopic component 1042 works, and telescopic component 1042 is quickly put into article and cargo
On the Goods shelf partition plate of respective heights, then haulage equipment receives system command and starts to go to next place, in haulage equipment walking
Meanwhile rotary components 105 work at the same time, so that the direction of shelf is consistent with the positive direction of haulage equipment, it is then each
The body feed tank of goods putting object is placed on the Goods shelf partition plate of system call by component operation, and when during carrying out this, carrying is set
Standby be in is gone on the road on next place's picking ground.
It is placed it is one advantage of the present invention that article grasping mechanism 104 can take out two or more destination apparatus
On pannier device, multiple target items are then transported into designated place together, and efficiency is maximized.
Haulage equipment provided in an embodiment of the present invention, by running gear automatically by haulage equipment automatic transportation to default mesh
Ground, using be arranged above ontology it is one or more accommodate positions, can carry and carry the mesh grabbed by article grasping mechanism
Article is marked, compared to the mode of traditional entire shelf of carrying, is grabbed to the robot property of can choose on the shelf for wanting carrying
Some storage container rather than entire shelf, to improve the hit rate of item picking.
Corresponding with haulage equipment above, with haulage equipment provided by the above embodiment, referring to fig. 4, the present invention is real
It applies example and provides a kind of method for carrying based on picking scene, 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, staff or manipulator grab cargo from target item, which is picking
Cargo.The cargo of crawl can be put into an order container, and the cargo in an order container can be the goods of an order
Object.
S404, haulage equipment carry target item and are automatically moved to target storage unit.
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 embodiment of the present invention, which also can be applied to, to replenish other than picking scene
The method for carrying of scene.Wherein, in S403, cargo is put into target positioned at the staff of target operation position or manipulator
In article, which is to need to replenish to obtain the cargo in target item.
Method for carrying provided in an embodiment of the present invention, by running gear automatically by haulage equipment automatic transportation to default mesh
Ground, be arranged on haulage equipment it is one or more accommodate positions, can carry and transport the target grabbed by article grasping mechanism
Article grabs to the robot property of can choose on the shelf for wanting carrying compared to the mode of traditional entire shelf of carrying
Some storage container rather than entire shelf, to improve the hit rate of item picking.
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 (14)
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 storing apparatus and article crawl
Device；
Storing apparatus, the storing apparatus are set on the ontology, and the storing apparatus includes multiple receiving positions, the appearance
Receiving 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 arranged on the body and are located at the periphery of the storing apparatus, institute
The carrying task that article grasping mechanism is received based on the haulage equipment is stated, grabs target item simultaneously from pannier device
Be automatically placed in the receiving position of the storing apparatus or from the receiving position of the storing apparatus grab target item and from
It is dynamic to be 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 storing apparatus and 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
It takes target item or grabs target item from the receiving position of storing apparatus, it is described to hold portion and sliding part sliding company
It connects, the portion that holds can prolong the longitudinal direction sliding of the interlayer by the sliding part.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820617123.3U CN208150249U (en) | 2018-04-26 | 2018-04-26 | Haulage equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820617123.3U CN208150249U (en) | 2018-04-26 | 2018-04-26 | Haulage equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208150249U true CN208150249U (en) | 2018-11-27 |
Family
ID=64375566
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820617123.3U Ceased CN208150249U (en) | 2018-04-26 | 2018-04-26 | Haulage equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208150249U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108408316A (en) * | 2018-04-26 | 2018-08-17 | 北京极智嘉科技有限公司 | Haulage equipment |
| 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 |
| WO2020156393A1 (en) * | 2019-01-31 | 2020-08-06 | 深圳市海柔创新科技有限公司 | Transport robot and fork assembly thereof |
| WO2020156392A1 (en) * | 2019-02-01 | 2020-08-06 | 深圳市海柔创新科技有限公司 | Transfer robot |
| US11542135B2 (en) | 2019-02-01 | 2023-01-03 | Hai Robotics Co., Ltd. | Handling robot |
| US11597598B2 (en) | 2019-02-01 | 2023-03-07 | Hai Robotics Co., Ltd. | Handling robot |
| USD998013S1 (en) | 2019-03-13 | 2023-09-05 | Hai Robotics Co., Ltd. | Warehouse robot |
-
2018
- 2018-04-26 CN CN201820617123.3U patent/CN208150249U/en not_active Ceased
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11827450B2 (en) | 2018-04-26 | 2023-11-28 | Beijing Geekplus Technology Co., Ltd. | Robot |
| 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 |
| US11104516B2 (en) | 2018-04-26 | 2021-08-31 | Beijing Geekplus Technology Co., Ltd. | Robot, carrying system and method |
| CN108408316A (en) * | 2018-04-26 | 2018-08-17 | 北京极智嘉科技有限公司 | Haulage equipment |
| WO2020156393A1 (en) * | 2019-01-31 | 2020-08-06 | 深圳市海柔创新科技有限公司 | Transport robot and fork assembly thereof |
| US11932487B2 (en) | 2019-01-31 | 2024-03-19 | Hai Robotics Co., Ltd. | Handling robot and handling assembly thereof |
| WO2020156392A1 (en) * | 2019-02-01 | 2020-08-06 | 深圳市海柔创新科技有限公司 | Transfer robot |
| US11542135B2 (en) | 2019-02-01 | 2023-01-03 | Hai Robotics Co., Ltd. | Handling robot |
| US11597598B2 (en) | 2019-02-01 | 2023-03-07 | Hai Robotics Co., Ltd. | Handling robot |
| US11945706B2 (en) | 2019-02-01 | 2024-04-02 | Hai Robotics Co., Ltd. | Handling robot |
| US11851278B2 (en) | 2019-02-01 | 2023-12-26 | Hai Robotics Co., Ltd. | Handling robot |
| USD998011S1 (en) | 2019-03-13 | 2023-09-05 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD1005365S1 (en) | 2019-03-13 | 2023-11-21 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD1005366S1 (en) | 2019-03-13 | 2023-11-21 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD1006082S1 (en) | 2019-03-13 | 2023-11-28 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD1004664S1 (en) | 2019-03-13 | 2023-11-14 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD998672S1 (en) | 2019-03-13 | 2023-09-12 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD998012S1 (en) | 2019-03-13 | 2023-09-05 | Hai Robotics Co., Ltd. | Warehouse robot |
| USD998013S1 (en) | 2019-03-13 | 2023-09-05 | Hai Robotics Co., Ltd. | Warehouse robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108408316A (en) | Haulage equipment | |
| JP7216755B2 (en) | ROBOT, TRANSPORT SYSTEM AND METHOD | |
| CN208150249U (en) | Haulage equipment | |
| CN208150248U (en) | Haulage equipment | |
| CN108107862B (en) | Article conveying system and method integrating storage and sorting | |
| CN109279252B (en) | Cargo picking system and method | |
| KR102404136B1 (en) | Warehousing management system and method | |
| EP3044741B1 (en) | Autonomous mobile picking | |
| CN208307638U (en) | Picking or replenishment system based on robot | |
| CN108423355A (en) | Handling system and method for carrying | |
| CN108726062A (en) | Picking or replenishing method based on robot and system | |
| JP6600727B1 (en) | Picking assortment system | |
| CN110879578A (en) | Cargo processing system and cargo processing method | |
| CN208631363U (en) | Handling system | |
| KR20210005941A (en) | Order fulfillment system and method | |
| CN208636703U (en) | Integrate the article delivery system that storage sorts | |
| CN108408315B (en) | Conveying equipment | |
| CN108408315A (en) | Haulage equipment | |
| CN217576686U (en) | Sowing work system | |
| WO2021234710A1 (en) | Article delivery unit | |
| JPH06219509A (en) | Bucket automatic warehouse | |
| CN107628404A (en) | Radio frequency and method of a kind of logistic storage center based on order to people |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
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. |
|
| CP01 | Change in the name or title of a patent holder | ||
| IP01 | Partial invalidation of patent right |
Commission number: 5W119815 Conclusion of examination: Maintain the validity of the patent on the basis of claims 5-10 Decision date of declaring invalidation: 20200805 Decision number of declaring invalidation: 45442 Denomination of utility model: Handling equipment Granted publication date: 20181127 Patentee: Beijing jizhijia Technology Co.,Ltd. |
|
| IP01 | Partial invalidation of patent right | ||
| IW01 | Full invalidation of patent right |
Decision date of declaring invalidation: 20230515 Decision number of declaring invalidation: 560826 Granted publication date: 20181127 |
|
| IW01 | Full invalidation of patent right |