CN208631363U - Handling system - Google Patents
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- CN208631363U CN208631363U CN201820615170.4U CN201820615170U CN208631363U CN 208631363 U CN208631363 U CN 208631363U CN 201820615170 U CN201820615170 U CN 201820615170U CN 208631363 U CN208631363 U CN 208631363U
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- storage container
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- handling system
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Abstract
The utility model embodiment discloses a kind of handling system, belongs to Intelligent logistics technical field, which includes: the first robot, the second robot and interim shelf；Wherein, first robot, is moved at storing goods shelf according to instruction, and specified storage container is grabbed from the storing goods shelf and is placed on the interim shelf or is grabbed storage container from the interim shelf and be placed on the storing goods shelf；Second robot follows the movement of first robot, and the interim shelf are carried during following.By the embodiment of the utility model, the efficiency of article transport is improved.
Description
Technical field
The utility model relates to Intelligent logistics technical field more particularly to handling systems.
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 handling system, at least part of solution is in the prior art
There are the problem of.
The utility model embodiment provides a kind of handling system, comprising: the first robot and the second robot；Wherein,
First robot, is moved at storing goods shelf, and specified storage container is grabbed from the storing goods shelf and is put
It sets and grabs storage container on the interim shelf or at the interim shelf and be placed on the storing goods shelf；
Second robot follows the movement of first robot, and carries during following described interim
Shelf.
According to a kind of specific implementation of the utility model embodiment, the interim shelf are located at second robot
The upper or described second robot dragging has the interim shelf of wheel.
According to a kind of specific implementation of the utility model embodiment, first robot is moved according to guidance path
Dynamic, second robot is based on laser radar target following technology and follows first robot automatically；Alternatively, described first
Robot and second robot are mobile according to identical guidance path respectively.
According to a kind of specific implementation of the utility model embodiment, filled or described first in the interim shelf
After robot will need the storage container grabbed to be all placed into the interim shelf, second robot is according to guidance path
It is moved to predeterminated position.
According to a kind of specific implementation of the utility model embodiment, first robot has grabbing device, institute
Crawl direction can be adjusted by stating grabbing device, so that grabbing device is in crawl towards the storing goods shelf or the interim goods
Frame.
According to a kind of specific implementation of the utility model embodiment, first robot has grabbing device, institute
Crawl height can be adjusted by stating grabbing device, by adjusting highly making grabbing device crawl storing goods shelf or interim shelf upper
In any interlayer storage container and make grabbing device that storage container is placed on to appointing on storing goods shelf or interim shelf
In meaning interlayer.
According to a kind of specific implementation of the utility model embodiment,
The grabbing device includes telescopic component, and the telescopic component grabs storage container.
According to a kind of specific implementation of the utility model embodiment, the grabbing device includes lifting assembly, described
The telescopic component is promoted and/or is dropped to preset height by lifting assembly.
According to a kind of specific implementation of the utility model embodiment,
The telescopic component includes holding portion and sliding part, described to hold portion by way of holding from the interim shelf
Storage container above or from storing goods shelf is grabbed, the portion that holds is slidably connected with the sliding part, and the portion that holds can lead to
Cross the longitudinal direction sliding that the sliding part prolongs shelf 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 includes the non-slip mat being separately positioned on the inside of first handgrip and the second handgrip, described anti-skidding
Pad foldable, when storage container is not grabbed by the portion of holding, the non-slip mat is folded, in when of grabbing storage container institute, the portion of holding
State non-slip mat opening.
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 storage container has container identification, described
First robot identifies target storage container by the container identification.
According to a kind of specific implementation of the utility model embodiment, second robot is followed described in one
First robot, alternatively, multiple second robots follow first robot, alternatively, second machine
Device people follows multiple first robots.
Handling system provided by the embodiment of the utility model grabs to the first robot property of can choose the goods for wanting carrying
Some storage container rather than entire shelf on frame, to improve the hit rate of item picking.Also, the storage grabbed
Container is placed on interim shelf, and interim shelf are carried or dragged by the second robot, and the first robot can be made disposable
It chooses multiple storage containers and disposably carries or drag to designated position by the second robot, improve removing for storage container
Transport efficiency.
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 signal of the handling system based on storage container and interim shelf provided by the embodiment of the utility model
Figure；
Fig. 2 is a kind of structural schematic diagram of second robot provided by the embodiment of the utility model；
Fig. 3 is a kind of structural schematic diagram of storing goods shelf provided by the embodiment of the utility model；
Fig. 4 is a kind of schematic diagram of first robot provided by the embodiment of the utility model close to storing goods shelf；
Fig. 5 is a kind of structural schematic diagram of first robot provided by the embodiment of the utility model；
Fig. 6 is a kind of process of the method for carrying based on storage container and interim shelf provided by the embodiment of the utility model
Schematic 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 handling system based on storage container and interim shelf, packet
It includes: the first robot 1, storage container 2, the second robot 3, interim shelf 4 and control server 5.
For storage container 2 for storing wait sort or article to be replenished, storage container 2 may, for example, be carton, turnover
Case, or the customised container of robot manipulation can be adapted to.Storage container 2 can be placed in interim shelf 4 or bogey (for example,
Conveyer belt) on, the storage container 2 can store one or more articles.
First robot 1 can be communicated with control server 5, by being communicatively coupled with control server 5, described
One robot 1 can obtain list content.The list content can be the article order sorted according to the needs of users, table
It may include in list various types of article (article to be sorted), the article to be sorted on same list is needed by one
Or multiple utensil packagings.The corresponding article of list usually requires to be placed using storage container 2, and the first robot 1 obtains
It, can be from crawl storage container 2 relevant to the article in the list in storing goods shelf after the content of list.
Interim shelf 4 can store one or more storage containers.For example, interim shelf 4 include that multiple vertical direction of prolonging are folded
The interlayer added, each interlayer can accommodate at least one storage container 2.In sorting scene, interim shelf 4 are for storing the first machine
The storage container 2 that device people 1 takes out from storing goods shelf, the article in the storage container 2 are article to be sorted；In the scene that replenishes
In, what interim shelf 4 stored is the storage container 2 that replenish to storing goods shelf, and the article in the storage container 2 is object to be replenished
Product.Interim shelf 4 are corresponding with the list, and a list can correspond to one or more temporarily shelf 4, can also with one or
The corresponding interim shelf 4 of multiple lists.
Interim shelf 4 can have wheel or be located at the second machine if interim shelf 4 do not have wheel without wheel
On device people 3, if interim shelf 4 have wheel, the second robot 3 can drag the interim shelf with wheel.
In such a way that interim shelf are set, article relevant to list can be directly placed in a set, this
Sample one, the storage container on interim shelf 4 is the object sorted, and interim shelf 4 are transported appointed place
After (for example, workbench), the efficiency of item picking is greatly improved.
It is mobile that second robot 3 follows the first robot 1, and interim shelf are carried during following.Wherein,
One robot 1 is mobile according to guidance path, and the second robot 3 can automatically track first based on laser radar target following technology
Robot 1, the first robot 1 walk where, the second robot 3 just with where.Alternatively, the first robot 1 and the second machine
People 3 is mobile according to identical guidance path respectively.Certainly, the final position of the guidance path of the first robot 1 and the second machine
The final position of the guidance path of people 3 is not exactly the same, but adjacent position.
First robot 1 and the second robot 3 can be navigated using any navigation mode in the prior art, example
Such as two dimensional code vision guided navigation, inertial navigation, SALM navigation or line walking navigation, can also be using any a variety of in the prior art
The combination of navigation mode is navigated, such as two dimensional code vision guided navigation combination inertial navigation or two dimensional code vision guided navigation knot
Close SLAM navigation etc..The technical solution of the utility model embodiment is not specifically limited navigation mode.
It should be understood that for simplicity, Fig. 1 illustrates only single first robot 1 and single second robot 2
The case where, handling system may include any an appropriate number of first robot 1 and the second robot 2.For example, multiple second machines
Device people 3 follows first robot 1, alternatively, second robot 3 follows multiple first robots 1.
Referring to fig. 2, the second robot 3 may include driving mechanism 101.Pass through the driving mechanism 101, the second robot 3
It can be moved in working space.Second robot 3 can also include the lifting mechanism 102 for carrying interim shelf, lifting
Mechanism 102 lifts interim shelf from ground when rising, so that interim shelf 4, lifting mechanism 102 are carried by the second robot 3
Interim shelf 4 are put it on the ground when decline.It should be noted that lifting mechanism 102 is optionally, the second robot 3 can also
Not include lifting mechanism 102, interim shelf 4 are placed in the main body of the second robot 3.Target identification in second robot 3
Component 103 can effectively identify interim shelf 4 when the first robot 3 lifts interim shelf 4.
In addition to this, it navigates if it is view-based access control model, the second robot 3 further includes that (Fig. 2 does not show navigation recognizer component
Out), the navigation markup (such as two dimensional code) being laid with for identification on ground.Certainly, the second robot 3 further includes control entire the
Two robots 3 realize the control module of the functions such as movement, navigation (Fig. 2 is not shown).Second robot 3 can also include tracing machine
Structure (Fig. 2 is not shown), such as the follower can be based on the first robot of laser radar target following Technical Follow-Up 1.
Fig. 3 is a kind of schematic diagram of storing goods shelf 6 provided by the embodiment of the utility model, is stored with object on storing goods shelf 6
Product, certain article can also be stored in storage container.In a particular embodiment, storing goods shelf 6 prolongs vertical direction including multiple
The interlayer of superposition, each interlayer can accommodate multiple articles.Interim shelf 4 include one or more support portions 602.
In addition, in a particular embodiment, article can also hook out of storing goods shelf 6 or on storing goods shelf 6 or bar into
Row suspension.Article can be placed on the inside or outer surface of storing goods shelf 6 in any suitable manner on storing goods shelf 6.
The first robot 1 chooses the storage container on storing goods shelf 6 for convenience, each of on storing goods shelf 6
Interlayer has the mark point (Fig. 3 is not shown) for identifying the interlayer, and the first robot 1 determines grabbing device according to the mark point
Which interlayer risen to.
Storing goods shelf 6 can also be used as interim shelf 4 and be used interchangeably, the storage between interim shelf 4 and storage container
Relationship also may refer to shown in Fig. 3.Wherein, interim shelf 4 can be dragged by the second robot 3, carry or otherwise be moved
It is dynamic.It is lifted for the ease of interim shelf by the second robot 3, the bottom of interim shelf is provided with shelf mark 601, the second machine
After device people 3 recognizes interim shelf according to shelf mark 601, interim shelf are lifted by lifting mechanism, and by interim goods
Shelf for conveying is walked.
Article representative 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 can
To indicate the article for the commodity being stored in warehouse.
First robot 1 can specify interim shelf 4, which includes associated with the customer order to be packaged
Special article, to be delivered to client or its other party.
As another example, article can represent the luggage being stored in the luggage facility on airport.First robot 1 can
To fetch the interim shelf 4 for including the luggage that transported, be tracked.This may include selecting specific luggage and articles for exploding
Object screening, mobile luggage and articles associated with the flight that converted boarding gate, or remove to belong to and had already passed by boat
The luggage and articles of the passenger of class.
As another example, article can indicate the various components of manufacture kit.More specifically, these components can
To indicate to intend to include in the component in completed knocked down products, such as the computer module for order computer system.Such
In embodiment, the first robot 1 can retrieve the specific components identified by specification relevant to customer order.
As another example, article can be with representative.For example, in hospital environment, interim shelf 4 can indicate include
The bed of particular patient.Therefore, article storage system can be configured as to provide safely and effectively is for mobile hospital hospital bed
System, a possibility which has limited patient injuries and caused by reducing due to mistake a possibility that mistake.In short, object
Product can be suitable for any suitable article of interim racks store in any appropriate form.
In operation, the first robot 1 and the second robot 3 can be in working spaces associated with article storage system
It is moved between interior point, and the second robot 3 can carry interim shelf 4 between the position in working space.Based on connecing
The order received, the first robot 1 can determine the movement destination of the first robot 1.For example, in a particular embodiment, first
Robot 1 can receive the first machine of identification from the administrator of article storage system or managing device (for example, control server 5)
The information of the destination of people 1 and the routing information of centre.First robot 1 by wireless interface, wired connection or can make
Information is received with any other suitable component, in order to lead to the operator or managing device of article storage system
Letter.Generally, based on control managing device or operator order, can entirely or partly control the first robot 1 to appoint
It what is the need for the place wanted.
It illustrates as one, the rest part of this specification assumes that the first robot 1 is wirelessly received with any
Order, data, instruction or the information of appropriate form construction.These order specific interim shelf 4 for identification, so that the first machine
Device people 1 and the second robot 3 are moved to destination and carry interim shelf 4 by the second robot 2.Second robot 3 can be with
The first robot 3 and/or interim shelf 4 are moved by motor in drive module 101 or wheel.
In response to the order received, the first robot 1 is moved to specified storage position (referring to fig. 4), is such as moved to
At storing goods shelf 6, the second robot 3 carries interim shelf 4 and the first robot 1 is followed also to be moved at storing goods shelf 6.
First robot can choose the storage container on storing goods shelf 6 or on interim shelf 4 automatically.As one
A example, the first robot 1 have selecting device, which can adjust selected directions by way of rotation, so that
Selecting device is towards storing goods shelf or interim shelf.
First robot 1 is in addition to that can choose storage container on shelf (including storing goods shelf 6 and interim shelf 4) automatically
Except, for the storage container stored on shelf, which can also adjust adjustment crawl height, by adjusting height
Degree is so that being located at the storage container of any interlayer and making the crawl on grabbing device crawl storing goods shelf or interim shelf
Storage container is placed in any interlayer on storing goods shelf or interim shelf by device.
Referring to Fig. 5, Fig. 5 is a kind of schematic diagram of the first robot provided by the embodiment of the utility model.First robot
With grabbing device, which includes telescopic component 51, and telescopic component 51 is for grabbing storage container.Grabbing device 50 is also
Including lifting assembly 52, which promotes and/or drops to preset height for telescopic component 51.
Wherein, in a particular embodiment, telescopic component 51 includes holding portion 511 and sliding part 512, holds portion 511 and passes through
The mode held grabs storage container from interim shelf or from storing goods shelf, holds portion 511 and sliding part 512 slides
Connection, 511 hold portion can prolong the longitudinal direction sliding of shelf interlayer by sliding part 512.
In a particular embodiment, holding portion 511 includes the first handgrip 5111 and the second handgrip 5112, and corresponding setting exists
The left and right sides of the interlayer.First handgrip and the second handgrip can be plate structure, as shown in Fig. 5, or other
Structure, such as rod-like structure.
In a particular embodiment, holding portion 511 further includes being separately positioned in the first handgrip 5111 and the second handgrip 5112
The non-slip mat 5113 of side, the non-slip mat 5113 is foldable, and when storage container is not grabbed by the portion that holds 511, the non-slip mat 5113 is folded,
When storage container is grabbed in the portion that holds 511, the non-slip mat 5113 is opened.
In a particular embodiment, the interlayer of the height and shelf of 5112 vertical direction of the first handgrip 5111 and the second handgrip
Matched, such first handgrip 5111 and the second handgrip 5112 can be deep into crawl in the interlayer of shelf and be located on interlayer
Storage container.
In a particular embodiment, sliding part 512 is guide rail, and lifting assembly 52 is linear bearing.
Storage container is an independent article storage unit, and the position of storage container is known for the ease of the first robot 1
It sets, is provided with container identification on the storage container, which can be two dimensional code or similar to the other of two dimensional code
Pictorial symbolization is also possible to RFID or other electronic tags with wireless transmitting function similar to RFID.First machine
People 1 identifies target storage container by the container identification, and then carries out corresponding grasping manipulation to target storage container.
Interim shelf 4 stored after the corresponding storage container of the list or interim racks store it is full after, the second machine
People 3 can be the position that operator in system specifies according to guidance path automatic moving to predeterminated position, the predeterminated position,
It can be the position that control server 5 determines.
Handling system provided by the embodiment of the utility model grabs to the first robot property of can choose the goods for wanting carrying
Some storage container rather than entire shelf on frame, to improve the hit rate of item picking.Also, the storage grabbed
Container is placed on interim shelf, and interim shelf are carried or dragged by the second robot, and the first robot can be made disposable
It chooses multiple storage containers and disposably carries or drag to designated position by the second robot, improve removing for storage container
Transport efficiency.
Referring to Fig. 6, the utility model embodiment additionally provides a kind of method for carrying based on storage container and interim shelf,
Include:
S601, the first robot are moved at storing goods shelf according to instruction.
S602, the first robot pass through the grabbing device being arranged in first robot and grab from the storing goods shelf
It takes storage container and is placed on interim shelf or grabs storage container from interim shelf and be placed on the storing goods shelf
On.
In a particular embodiment, the height of grabbing device is adjusted to storing goods shelf towards storing goods shelf by the first robot
Specified storage container where interlayer height；First robot grabs specified storage by grabbing device from storing goods shelf to be held
Device；The height of grabbing device is adjusted to the height of the specified interlayer of interim shelf towards interim shelf by the first robot；First
Specified storage container is placed on the specified interlayer on interim shelf by robot by grabbing device.
In a particular embodiment, the height of grabbing device is adjusted to interim shelf towards interim shelf by the first robot
The height of interlayer where upper specified storage container；First robot grabs specified storage by grabbing device from interim shelf to be held
Device；The height of grabbing device is adjusted to the height of the specified interlayer on storing goods shelf towards storing goods shelf by the first robot；The
Specified storage container is placed on the specified interlayer on storing goods shelf by one robot by grabbing device.
S603, the second robot follow the movement of first robot, and carry during following described interim
Shelf.
During realizing step S601-S603, storage container is deposited for storing wait sort or article to be replenished
Storage container may, for example, be carton, turnover box, or can be adapted to the customised container of robot manipulation.Storage container, which can be placed in, to be faced
When shelf or storing goods shelf on, the storage container can carry one or more articles.
First robot 1 can be communicated with control server 5, by being communicatively coupled with control server 5, described
One robot 1 can obtain list content.The list content can be the article order sorted according to the needs of users, table
It may include in list various types of article (article to be sorted), the article to be sorted on same list is needed by one
Or multiple utensil packagings.The corresponding article of list usually requires to be placed using storage container 4, and the first robot 1 obtains
It, can be from crawl storage container 4 relevant to the article in the list in storing goods shelf after the content of list.
When the first robot 1 from storing goods shelf crawl storage container be placed into interim shelf (corresponding to picking scene) or
From interim shelf crawl storage container be placed into storing goods shelf (corresponding to the scene that replenishes) when, the first robot 1 can follow with
Lower laying method places storage container:
I. storage container is placed into the shortest position of operational stroke by the first robot.For example, to be grabbed from storing goods shelf
Storage container is placed into for interim shelf, and storage container is placed in interim shelf and the storage goods where the storage container
The immediate interlayer of the interlayer height of frame, the operational stroke of the first robot are most short.Wherein, the interlayer height of storing goods shelf can be with
It is identical as the interlayer height of interim shelf.
Ii. storage container is randomly placed any position by the first robot.
Iii. the information for the multiple storage containers that will be grabbed according to the first robot is being faced for each storage container allocation
When shelf on position, such as: the storage container taken out first is placed on the first layers of interim shelf, and (bottom is most upper
Layer), and so on.
Iv. the corresponding list of the storage container that will be grabbed according to the first robot or merchandise news, for storage container point
The position on interim shelf is fitted over, which is the position for being most suitable for work station picking.
V. the corresponding unloading equipment information of the storage container that will be grabbed according to the first robot exists for storage container allocation
Position on interim shelf, the position are the position for being most suitable for unloading equipment unloading；
It vi. is storage container allocation on interim shelf such as size, weight information according to the self attributes of storage container
Position, which is the most matched position of self attributes with storage container.
Certainly, if be that the selected placement location of storage container is occupied according to any of the above-described kind of mode, the first machine
People adjusts position of the storage container on interim shelf or storing goods shelf, and method of adjustment includes:
I. the first robot takes out storage container using withdrawing device, is put into new position after adjusting position；
Ii. the first robot can adjust the position of storage container in situ or in the process of walking.
After the completion of the first robot picks the operation of storage container, or temporarily the storage location on shelf is piled, temporarily
Shelf are moved to work station position by the second robot, operate to storage container.
The operation of storage container can be, corresponding kinds of goods are removed or placed by operator or manipulator；To storage container
Operation be also possible to take out storage container by operator or manipulator and transport or transmission；May be used also to the operation of storage container
Be by the first robot extraction device take out storage container and be placed on designated position (such as another shelf or transmission set
It is standby upper).
Method for carrying provided by the embodiment of the utility model grabs to the first robot property of can choose the goods for wanting carrying
Some storage container rather than entire shelf on frame, to improve the hit rate of item picking.Also, the storage grabbed
Container is placed on interim shelf, and interim shelf are carried or dragged by the second robot, and the first robot can be made disposable
It chooses multiple storage containers and disposably carries or drag to designated position by the second robot, improve removing for storage container
Transport efficiency.
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 (16)
1. a kind of handling system characterized by comprising the first robot and the second robot；Wherein,
First robot, is moved at storing goods shelf, and storage container is grabbed from the storing goods shelf and is placed on interim
Storage container is grabbed on shelf or from the interim shelf and is placed on the storing goods shelf；
Second robot follows the movement of first robot, and the interim shelf are carried during following.
2. handling system according to claim 1, which is characterized in that the interim shelf are located in second robot
Or the second robot dragging has the interim shelf of wheel.
3. handling system according to claim 1, it is characterised in that:
First robot is mobile according to guidance path, and it is automatic that second robot is based on laser radar target following technology
Follow first robot；
Alternatively,
First robot and second robot are mobile according to identical guidance path respectively.
4. handling system according to claim 1, it is characterised in that:
It is filled in the interim shelf or first robot will need the storage container grabbed to be all placed into described face
When shelf after, second robot is according to guidance path automatic moving to predeterminated position.
5. handling system according to claim 1, it is characterised in that:
First robot has grabbing device, and the grabbing device can adjust crawl height, by adjusting highly making
It is located at the storage container of any interlayer on grabbing device crawl storing goods shelf or interim shelf and grabbing device will be stored
Container is placed in any interlayer on storing goods shelf or interim shelf.
6. handling system according to claim 5, it is characterised in that:
The grabbing device includes telescopic component, and the telescopic component grabs storage container.
7. handling system according to claim 6, it is characterised in that:
The grabbing device includes lifting assembly, and the telescopic component is promoted and/or dropped to default height by the lifting assembly
Degree.
8. handling system according to claim 6, it is characterised in that:
The telescopic component includes holding portion and sliding part, it is described hold portion by way of holding from the interim shelf or
Person grabs storage container from storing goods shelf, and the portion that holds is slidably connected with the sliding part, and the portion that holds can pass through institute
State the longitudinal direction sliding that sliding part prolongs shelf interlayer.
9. handling system according to claim 8, 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.
10. handling system according to claim 9, it is characterised in that:
First handgrip and the second handgrip are plate structure.
11. handling system according to claim 10, it is characterised in that:
The portion of holding further includes the non-slip mat being separately positioned on the inside of first handgrip and the second handgrip, and the non-slip mat can
It folds, when storage container is not grabbed by the portion of holding, the non-slip mat is folded, described anti-when storage container is grabbed in the portion of holding
Skidding is opened.
12. handling system according to claim 9, it is characterised in that:
First handgrip and the second handgrip prolong the height of vertical direction and the matched of the interlayer.
13. the handling system according to any one of claim 8-12, it is characterised in that:
The sliding part is guide rail.
14. handling system according to claim 7, it is characterised in that:
The lifting assembly is linear bearing.
15. handling system according to claim 1, it is characterised in that:
The storage container has container identification, and first robot is held by the storage of container identification identification crawl
Device.
16. handling system according to claim 1, it is characterised in that:
One second robot follows first robot, alternatively, multiple second robots follow one
First robot, alternatively, second robot follows multiple first robots.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820615170.4U CN208631363U (en) | 2018-04-26 | 2018-04-26 | Handling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201820615170.4U CN208631363U (en) | 2018-04-26 | 2018-04-26 | Handling system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423355A (en) * | 2018-04-26 | 2018-08-21 | 北京极智嘉科技有限公司 | Handling system and method for carrying |
| CN114176460A (en) * | 2021-11-19 | 2022-03-15 | 科大讯飞股份有限公司 | Cleaning control method, related device, cleaning method, cleaning equipment and cleaning system |
| US11827450B2 (en) | 2018-04-26 | 2023-11-28 | Beijing Geekplus Technology Co., Ltd. | Robot |
-
2018
- 2018-04-26 CN CN201820615170.4U patent/CN208631363U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423355A (en) * | 2018-04-26 | 2018-08-21 | 北京极智嘉科技有限公司 | Handling system and method for carrying |
| US11827450B2 (en) | 2018-04-26 | 2023-11-28 | Beijing Geekplus Technology Co., Ltd. | Robot |
| CN114176460A (en) * | 2021-11-19 | 2022-03-15 | 科大讯飞股份有限公司 | Cleaning control method, related device, cleaning method, cleaning equipment and cleaning system |
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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. |