CN209536103U - A kind of transfer robot and warehousing system - Google Patents
A kind of transfer robot and warehousing system Download PDFInfo
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- CN209536103U CN209536103U CN201822219409.9U CN201822219409U CN209536103U CN 209536103 U CN209536103 U CN 209536103U CN 201822219409 U CN201822219409 U CN 201822219409U CN 209536103 U CN209536103 U CN 209536103U
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- clamping arm
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Abstract
The utility model belongs to warehouse logistics technical field, specifically discloses a kind of transfer robot and warehousing system.Transfer robot disclosed by the utility model includes: mobile chassis；Stand is vertically arranged on mobile chassis, which is vertically provided with multiple container storage areas, and the interconnecting piece for connecting container is provided in each container storage area；Component is held, for clamping container, it includes two clamping arms that this, which holds component, and two clamping arms are oppositely arranged on the two sides of stand width direction, and holding component can opposite stand vertical lifting and horizontal extension.Warehousing system disclosed by the utility model includes above-mentioned transfer robot.Transfer robot disclosed by the utility model and warehousing system are conducive to improve the efficiency that transfer robot carries cargo, improve the running efficiency of warehousing system.
Description
Technical field
The utility model relates to warehouse logistics technical field more particularly to a kind of transfer robot and warehousing systems.
Background technique
The fast development of e-commerce both brought unprecedented opportunity to develop to warehousing and logistics industry, also to storage
Logistics service proposes stern challenge, how high efficiency, low cost, flexibly and accurately carry out package to sort being always stored goods
The problem that popular industry is faced.With the continuous development of robot technology, occur needing storage to be picked and placed goods using robot
Product taking-up on stock container is put into order box to artificial station, then by artificial station by the base stock container handling of object
In.But the sorting mode of traditional " stock container to people ", needs robot that entire stock container is carried to picking region, increases
The load for having added robot to carry, causes the great wasting of resources.
Fig. 1 provides a kind of robot for carrying container for the prior art, as shown in Figure 1 comprising driving unit 100,
Container storage unit 200 and container transmission unit 300, wherein driving unit 100 carries container storage unit 200 and container transport
300 associated movement of unit, container storage unit 200 include one or more container memory spaces, and container transmission unit 300 is matched
It is set to the transmission container 400 between container memory space and stock container.Wherein, container transmission unit 300 includes for placing
The frame 310 of container, the lifting device 320 for driving container 400 to go up and down, the flexible prong for driving container 400 flexible
330 and for drive container 400 rotate rotating device 340.
The robot for the carrying container that the prior art proposes can be realized robot to container 400 rather than stock container
It carries, and robot can be made while carrying a variety of cargos, improve the handling efficiency of transfer robot.But due to the prior art
In middle container transmission unit, need to cooperate rotating device 340 could be suitable by container using lifting device 320, flexible prong 330
Sharp ground on stock container from being delivered in container storage unit 200, and structure is complicated for container transmission unit 300；And it is picked and placed in container
In the process, container needs to be placed on the center of frame 310, may be by container storage unit otherwise after rotating device rotates
Guide rail or supporting plate hinder and can not be successfully and be placed on supporting plate, it is complicated for operation, be easy to cause operation error.
Utility model content
One of the utility model is designed to provide a kind of transfer robot, removes in realization transfer robot to container
While fortune, simplify the structurally and operationally complexity of transfer robot, meanwhile, facilitate arrangement and tune of the transfer robot to container
It is whole.
The another object of the utility model is to provide a kind of warehousing system, and the cargo for improving warehousing system goes out single-action rate,
Reduce the energy consumption of warehousing system.
To achieve the above object, the utility model uses following technical scheme:
A kind of transfer robot, comprising:
Mobile chassis；
Stand is vertically arranged on the mobile chassis, and the stand is vertically provided with multiple container storage areas, often
The interconnecting piece for connecting container is provided in a container storage area；
Component is held, for clamping the container, the component that holds includes two clamping arms, two clamping arm phases
To the two sides that the stand width direction is arranged in, it is described hold component can the relatively described stand vertical lifting and horizontal extension,
So that the container is detached from or places to the container storage area.
Further, the one side wall of the container is provided with the mating part connecting with the interconnecting piece, the mating part with
The interconnecting piece is detachably connected.
Further, one in the mating part and the interconnecting piece is hook, the mating part and the interconnecting piece
In another be hook groove.
Further, multiple container storage areas are arranged at equal intervals in the stand.
Further, the transfer robot further includes lift adjustment component and telescopic adjustment component, the lift adjustment
Component is configured as along the stand vertical lifting, and the telescopic adjustment component is set on the lift adjustment component, and by
It is configured to hold component level described in driving flexible.
Further, the lift adjustment component is U-shaped, including constituting two the first adjustment portions of U-shaped arm and constituting U-shaped
Second adjustment portion at bottom, second adjustment portion are connect with the stand, two clamping arms respectively with two described first
Adjustment portion connection, and each clamping arm can the relatively described first adjustment portion horizontal extension.
Further, the spacing between two first adjustment portions is adjustable.
Further, each container storage area is provided with container detection device, and the container detection device is used for
The corresponding container storage area is detected with the presence or absence of the container.
Further, the transfer robot further includes display screen, and the display screen is for showing order information and described
The container information that transfer robot is carried.
A kind of warehousing system includes transfer robot as described above.
The utility model has the beneficial effects that:
The transfer robot of container provided by the utility model clamps container by the way that clamping arm is arranged, can make
Clamping arm easily clamps container to protruding on stock container, and clamping arm can also be made to be retracted to container storage area, with
It is detached from container or place to container storage area, it is simple to operate, the structure for holding component is simplified, to simplify carrying implement
The structure of device people；And container is limited between two clamping arms during clamping or pick-and-place, container phase easy to accomplish
To the positioning between container storage area, the efficiency that transfer robot picks and places container is improved.
Warehousing system provided by the utility model can be improved warehousing system by using above-mentioned transfer robot
Efficiency.
Detailed description of the invention
Fig. 1 is a kind of robot for carrying container that the prior art provides；
Fig. 2 is structural representation of the transfer robot of container provided by the embodiment of the utility model in the case where clamping container state
Figure；
Fig. 3 is the structural schematic diagram of transfer robot provided by the embodiment of the utility model.
Wherein, appended drawing reference in the corresponding attached drawing 1 of the prior art are as follows:
100- driving unit；200- container storage unit；220- supporting plate；300- container transmission unit；310- frame；320-
Lifting device；330- stretches prong；340- rotating device；400- container；
Appended drawing reference in the corresponding attached drawing 2 of specific embodiment mode and attached drawing 3 are as follows:
10- transfer robot；20- stock container；30- container；301- flange；
1- mobile chassis；11- chassis body；12- drive wheel mechanism；2- stand；21- supporting part；22- container portion；3- liter
Falling tone section component；The first adjustment portion of 31-；The second adjustment portion of 32-；33- extension；4- holds component；41- clamping arm；5- connection
Portion.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples.It is understood that herein
Described specific embodiment is used only for explaining the utility model, rather than the restriction to the utility model.It further needs exist for
It is bright, part relevant to the utility model is illustrated only for ease of description, in attached drawing rather than entire infrastructure.
Fig. 2 is structural representation of the transfer robot 10 provided by the embodiment of the utility model in the case where clamping 30 state of container
Figure, Fig. 3 are the structural schematic diagram of transfer robot 10 provided by the embodiment of the utility model, as shown in Figures 2 and 3, the present embodiment
It provides a kind of transfer robot 10 and is primarily applicable for warehousing and logistics industry for realizing the carrying to container 30, to depositing
The container 30 for being placed with order cargo or express delivery is sorted and is transported, and also be can be applied to and is needed to carry out container 30 or cargo
Other places carried are merely illustrative the application of transfer robot 10 in the present embodiment, and the present embodiment is had not to this
Body limitation.
Specifically, transfer robot 10 provided in this embodiment includes: mobile chassis 1, for realizing transfer robot 10
Transport of the transfer robot 10 to container 30 is realized in movement on the ground；Stand 2 is arranged on mobile chassis 1, for solid
Determine, support and store container 30 to be handled, the interconnecting piece 5 of connection and fixed container 30 is provided in stand 2；Component 4 is held,
It is arranged in stand 2, for clamping container 30, target container 30 is removed and placed from extraneous stock container 20 in stand 2
On, or the container 30 in stand 2, which is taken out, makes container 30 be detached from stand 2, or realizes container 30 in stand 2 on different location
Adjusting；Regulating mechanism, setting are connect in stand 2, and with component 4 is held, and hold component 4 with respect to stand 2 for adjusting
Position, auxiliary holds component 4 and realizes pick-and-place of the container 30 in stand 2；Control assembly, for controlling transfer robot 10
Operating status；Detection components, for detecting the working condition and external environment state of transfer robot 10, accessory control component
Intelligentized control method is carried out to transfer robot 10.
Specifically, mobile chassis 1 includes chassis body 11 and the drive wheel mechanism 12 that 11 bottom of chassis body is arranged in, and is driven
Driving wheel mechanism 12 for realizing mobile chassis 1 movement.Drive wheel mechanism 12 can be specifically included using the form of differential driving
The company of driving wheel motor, two driving wheels that 11 bottom of chassis body is set and connection driving wheel motor and two driving wheels
Connected components etc..Two driving wheels are separately positioned on the two sides of chassis body 11, and driving wheel motor is arranged in chassis body 11
Portion, and its rotary output axis connect with driving wheel and driving wheel is driven to move, and realizes the straight line or turning motion of mobile chassis 1.
In the present embodiment, the on both sides of the middle of mobile chassis 1 is arranged in drive wheel mechanism 12, is conducive to improve mobile chassis
1 robust motion.Multiple universal driven wheels can also be set in chassis body 11, such as can chassis body 11 front and
A pair of universal driven wheel is respectively set in rear portion, and is symmetrical arranged two pairs of universal driven wheel opposed pair driving wheels, be conducive into
One step improves the smooth motion of mobile chassis 1, especially the turning motion stationarity of mobile chassis 1, prevents mobile chassis 1 from transporting
Topple over during dynamic to side.
Drive wheel mechanism 12 can also be able to drive the mechanism of the movement of chassis body 11 using other, and the present embodiment is not to drive
The concrete form of driving wheel mechanism 12 is limited, and is not also limited the specific structure of mobile chassis 1, as long as can be realized band
The mobile structure of dynamic stand 2 can be with, such as existing robot architecture.
The top of mobile chassis 1 is arranged in stand 2, and is fixedly connected with mobile chassis 1, makes the movement band of mobile chassis 1
Dynamic stand 2 is mobile.Stand 2 includes the horizontally disposed container portion 22 supporting part 21 and be vertically arranged.Supporting part 21 and mobile bottom
1 upper surface of disk connection, it is preferable that the upper surface of mobile chassis 1 is plane, and supporting part 21 is slab construction, is conducive to simplify vertical
The connection of frame 2 and mobile chassis 1.
Supporting part 21 can be connect with mobile chassis 1 using unremovably connection type, such as can make to stand using welding
Frame 2 is connected as one with chassis body 11, is conducive to the stability for improving supporting part 21 and chassis body 11.But it preferably, moves
Dynamic chassis 1 is connect by the way of being detachably connected with supporting part 21, such as is threadedly coupled, magnetic connection connection type, favorably
In the type for adjusting stand 2 according to the quantity of container 30 to be handled, the cross-species transferability of transfer robot 10 is improved and using spirit
Activity.
Container portion 22 is provided with multiple container storage areas along the vertical direction, virtually divides between two neighboring container storage area
Every there is no block between that is, two neighboring container storage area.In the present embodiment, the plate knot that container portion 22 is vertically arranged
Structure, the interconnecting piece 5 of plate structure being provided on one side for connecting container 30, vertical side of multiple interconnecting pieces 5 along container portion 22
It is arranged to interval, 22 virtual partition of container portion is made to go out multiple container storage areas.By the way that the container storage area of virtual partition is arranged, make
Movement of the container 30 between each container storage area facilitates tune of the container 30 between different container storage areas there is no obstruction
It is whole.
In other one embodiment, container portion 22 can be barrier board shape structure, and interconnecting piece 5 is arranged in fence plate knot
On the fence of structure.In other another embodiments, container portion 22 can also be the structure of other forms.
It holds component 4 to be arranged in container portion 22, for realizing the clamping to container 30.In the present embodiment, group is held
Part 4 includes two clamping arms 41, and two clamping arms 41 are arranged in parallel in container portion 22 along the two sides of its width direction, and two press from both sides
Thickness direction of the folded arm 41 along container portion 21 is arranged.
In the present embodiment, the periphery of 30 open end of container has extended vertically flange 301 outward, when clamping arm 41 is to goods
When case 30 is clamped, two clamping arms 41 are located at the two sides of container 30, and clamping arm 41 passes through its upper surface and flange
The contact of 301 lower surfaces clamps container 30.And when clamping arm 41 is in original state, between two clamping arms 41
Width be greater than the width of container 30, and be less than 301 maximum widths of flange of opposite sides that container 30 is used to hold, from
And when clamping clamping arm 41 to container 30, the width between adjustment two clamping arms 41 of adjustment is not needed, and two can be made
A clamping arm 41 is directly protruding into the two sides of container 30, by adjusting the lift adjustment of component, makes the raising of clamping arm 41 and container
30 flange 301 contacts and container 30 is driven to increase, and the clamping to container 30 can be realized, simple and quick, and reduces
Clamping arm 41 and container 30 hold the positioning requirements of position, reduce the adjusting difficulty during container 30 clamps.
By being arranged flange 301 in 30 open end of container, 30 structure of container and stock container 20 or stand can be reduced
2 interference, and be conducive to enhance the intensity of container 30.In other embodiments, flange 301 can also be disposed around 30 side of container
The middle part of wall can also be only that the opposite sides that container 30 is used to hold is provided with flange 301.
In the present embodiment, clamping arm 41 is rod-like structure, is conducive to the structure for simplifying clamping arm 41.In other embodiments
In, clamping arm can be plate structure, or the structures such as pneumatic gripping device.
Component 4 is held to connect by regulating mechanism with container portion 22.Regulating mechanism includes lift adjustment component 3, flexible tune
Save component and lateral adjustments component.Lift adjustment component 3 is arranged in stand 2, is configured as being used for along 2 vertical lifting of stand
Adjusting holds component 4 in the position of vertical direction；Telescopic adjustment component is arranged on lift adjustment component 3, holds for adjusting
Component 4 makes to hold component 4 with respect to the stretching of container portion 22 or retract with respect to the horizontal distance in container portion 22；Lateral adjustments component is used
In adjusting the width between two clamping arms 41, to realize that the opposite of two clamping arms 41 is opened or closed up.
In the present embodiment, lift adjustment component 3 is U-shaped, including constituting the second adjustment portion 32 of U-shaped bottom and constituting U-shaped
Two the first adjustment portions 31 of arm, the second adjustment portion 32 are horizontally set on container portion 22 far from its company along 22 width direction of container portion
The side of socket part 5, thickness direction of two the first adjustment portions 31 along container portion 22 are arranged in parallel in the two sides in container portion 22.
Lift adjustment component 3 further includes lifting driving assembly, and the second adjustment portion 32 passes through lifting driving assembly and container portion
22 connections, and the opposite container portion 22 of energy is vertically moving.Two the first adjustment portions 31 are arranged in parallel, and one end passes through cross
The second adjustment portion 32 is connected to along the both ends of its width direction to component is adjusted, and the first adjustment portion 31 can be adjusted with respect to second
Section portion 32 is moved along the width direction of the second adjustment portion 32, to adjust the spacing between two the first adjustment portions 31.Two hold
Arm 41 is connect with by telescopic adjustment component with the first adjustment portion 31 respectively, enables clamping arm 41 along the length of the first adjustment portion 31
Direction movement is spent, to realize the stretching or retraction of clamping arm 41.
In the present embodiment, lifting driving assembly may include driving motor and feed screw nut component, and lead screw is along vertical side
To side of the container portion 22 far from container 30 is rotatably arranged on, the side in the second adjustment portion 32 towards container portion 22 is arranged and silk
The nut seat of thick stick cooperation, driving motor is fixed in container portion 22, and its output shaft is connect with lead screw.Under this kind of set-up mode,
Driving motor is arranged in container portion 22, is conducive to the size for reducing the second adjustment portion 32.Going up and down driving assembly also may include
Driving motor and rack and pinion assembly, rack gear are vertically arranged in container portion 22, and gear and driving motor are arranged in the second adjusting
In portion 32.Going up and down driving assembly can also be the other structures of opposite 22 vertical direction of the container portion movement of the second adjustment portion of realization 32
Form, such as hydraulic linear driving, the driving of motor cooperation sprocket wheel chain, motor cooperation belt transmission or motor driven cooperation pulley fortune
It moves.The present embodiment does not make limitation to the specific structure of lifting driving assembly.
For the steady lifting for realizing the second adjustment portion 32, guided way, the second adjustment portion 32 are vertically arranged in container portion 22
On be provided with sliding block, sliding block is slidably connected with guided way, reduce by 32 elevating movement of the second adjustment portion resistance, improve second adjust
The stationarity of 32 elevating movement of portion.
In the present embodiment, the inside of the first adjustment portion 31 is arranged in clamping arm 41, is conducive to that clamping arm 41 is avoided to carry
When container 30, interference of first adjustment portion 31 to container 30.
In the present embodiment, telescopic adjustment component can cooperate the structure type of feed screw nut for driving motor, can also be with
For the structure type of driving motor mate gear rack gear, it can also cooperate chain sprocket etc. that can drive clamping arm for driving motor
The other structures form of 41 opposite first adjustment portion 31 linear motions.And in the present embodiment, it is preferred to use driving motor cooperation
The structure type of rack-and-pinion realizes the stretching motion of clamping arm 41, is conducive to the size for reducing telescopic adjustment component, and simplification is stretched
Contracting adjusts the structure of component.
In the present embodiment, the outside of clamping arm 41 is arranged in along the length direction of clamping arm 41 for rack gear, and gear setting exists
In first adjustment portion 31 and be engaged with rack transmission, driving motor is arranged in the outside of the first adjustment portion 31, and its output shaft with
Gear connection.This kind of set-up mode, during keeping clamping arm 41 flexible, gear is fixed with driving motor, is conducive to drive
The setting of dynamic motor, simplifies the structure of clamping arm 41, the interference for avoiding telescopic adjustment component from clamping container 30.
In the present embodiment, clamping arm 41 is the rod-like structure that cross section is rectangle, length direction and the first adjustment portion
31 length direction is identical, and perpendicular to the width direction in container portion 22.This kind of structure setting is conducive to simplify clamping arm 41
Structure facilitates clamping arm 41 to the clamping of container 30 and facilitates rack gear in the setting in 41 outside of clamping arm.But the present embodiment pair
It is without being limited thereto in the structure of clamping arm 41.
In the present embodiment, it is L-shaped rod-like structure, the lateral surface of clamping arm 41 and that the first adjustment portion 31, which is cross section,
The medial surface of one adjustment portion 31 is oppositely arranged, and gear is arranged in the medial surface of the first adjustment portion 31 and transmission is engaged with rack, and is driven
The lateral surface of the first adjustment portion 31 is arranged in dynamic motor, and the vertical edge that output shaft passes through L-type section is connect with gear.Clamping arm
41 downside is slidably connected at the horizontal edge upper surface of L shape rod-like structure, improves support of first adjustment portion 31 to clamping arm 41,
Guarantee the stability of 41 translational motion of clamping arm.Horizontal edge upper surface can also open up sliding slot, and the downside of clamping arm 41 is settable
Pulley is slidably connected at pulley in sliding slot, provides guiding for the movement of clamping arm 41 and improves the stationarity of the movement of clamping arm 41.
In other embodiments, the first adjustment portion 31 or plate structure or other structures form, the present embodiment are not adjusted to first
The specific structure in section portion 31 is limited.
In the present embodiment, clamping arm 41 by lateral adjustments component realize between two clamping arms 41 it is opposite open or
Close up, be conducive to the structural complexity for simplifying clamping arm 41, while it is multiple to simplify structure of the transfer robot 10 in 30 side of container
Polygamy, the interference that structure clamps container 30 in reduction transfer robot 10 as far as possible.Specifically, the first adjustment portion 31 is close to goods
One end of case portion 22 has inwardly extended vertically extension 33, and extension 33 is slidably connected with the second adjustment portion 32, and in lateral tune
Save the linear relative movement that the two is realized under the drive of component.
In the present embodiment, lateral adjustments component can be to realize the arbitrary structures form to move along a straight line between the two, can
It is identical as lift adjustment component 3 or telescopic adjustment modular construction, it can also be different.Due to can be realized two structure relative rectilinears
The structure of movement is more, also relatively conventional, and the present embodiment does not repeat the specific constructive form of lateral adjustments component.
In the present embodiment, extension 33 be opening towards the second adjustment portion 32 U-shaped structure, the one of the second adjustment portion 32
End is protruded into the U-shaped opening of corresponding extension 33, and is abutted respectively with two vertical edges of U-shaped structure inside.The two of U-shaped structure are perpendicular
It is respectively arranged with sliding block on the inside of side, the corresponding two sides of the second adjustment portion 32 offer sliding slot, two cunnings of extension 33 respectively
Block is slidably connected at respectively in corresponding sliding slot, is conducive to the kinetic stability for improving extension 33 and the second adjustment portion 32.?
In other embodiments, extension 33 can also be tabular or rod-like structure, and only one side is slided with the second adjustment portion 32 and connected
It connects.
In the present embodiment, two vertical edges of extension 33 are separately positioned on the second adjustment portion 32 along 22 thickness side, container portion
To two sides, in other embodiments example, two vertical edges of extension 33 can also be separately positioned on the second adjustment portion 32 up and down
Two sides.
In the present embodiment, the second adjustment portion 32 is the strip structure that cross section is " work " type, length direction and goods
The width direction of case 30 is identical, and the notch of " work " type structure two sides is above-mentioned sliding slot.This kind of structure setting, due to simplifying second
The structure setting of adjustment portion 32 facilitates the connection of the second adjustment portion 32 and the first adjustment portion 31.In other embodiments, second
Adjustment portion 32 can also be other structures form, such as the structure that cross section is " u "-shaped or L shape.
Each container storage area is provided with the interconnecting piece 5 for connecting container 30, is provided on container 30 and interconnecting piece 5
The mating part of mating connection.In the present embodiment, container 30 and the mounting of stand 2 connect, and interconnecting piece 5 is to link up with, and the one of container 30
It is the hook groove that container portion 22 is arranged in that side, which is correspondingly arranged on the hook groove of hook cooperation mounting or interconnecting piece 5, the one of container 30
Side is correspondingly arranged the hook with hook groove cooperation.This kind of connection type, structure is simple, and setting is convenient, during container 30 clamps,
Clamping arm 41 is driven to be raised and lowered by lifting regulating mechanism, so that it may so that container 30 and hook that clamping arm 41 is held are detached from
Mounting connection is realized in connection, does not need higher positioning accuracy, is reduced and is wanted during container 30 clamps to control precision
It asks, simplifies operation and control complexity that transfer robot 10 acts 30 clamping of container, reduce cost.
In other one embodiment, container 30 can be connect with stand 2 by the way of magnetic, such as set interconnecting piece 5
It is set to electromagnet, metal block is arranged in mating part, control the connection of container 30 and 2 bracket of stand using the on-off of electromagnet or is taken off
From.Or the magnetic absorption members such as magnet can be set by interconnecting piece 5, metal block is correspondingly arranged in the side of container 30 or polarity is opposite
Magnet etc..
In other another embodiments, container 30 and stand 2 can be using the forms of plug connection, such as by interconnecting piece 5
It is set as the connecting pin on vertical 22 surface of container portion, is correspondingly arranged the pin hole of connecting pin grafting in the side of container 30；Or it will be even
Socket part 5 is set as pin hole, is correspondingly arranged connecting pin in the side of container 30.It, can be along container portion 22 to guarantee bonding strength
Width direction is correspondingly arranged multiple pin holes or connecting pin.
In the present embodiment, it links up with as L-type structure, perpendicular to the surface in container portion 22, another side is parallel to goods on one side
The surface of case portion 22, and link up with and can have one fixed width along the width direction in container portion 22, with enhancing hook to container 30
Mount intensity.In other embodiments, hook can be arranged multiple along the width direction interval in container portion 22.
In the present embodiment, interconnecting piece 5 can be integrally formed with container portion 22, and the structure for being conducive to enhance interconnecting piece 5 is strong
Degree improves interconnecting piece 5 to the bearing value of container 30.In other embodiments, interconnecting piece 5 can be with container portion 22 using can
The connection type of disassembly connects, and is advantageously implemented the maintenance or replacement of interconnecting piece 5.
In the present embodiment, transfer robot 10 is additionally provided with control assembly, each dynamic for controlling transfer robot 10
The operation of work.Control assembly includes controller, information transmission modular and message processing module etc..Mobile chassis 1, lift adjustment group
Part 3, lateral adjustments component, telescopic adjustment component, detection components, information transmission modular and message processing module connect with controller
It connects.
Information transmission modular includes the wireless communication module for realizing transfer robot 10 and external communication and is used for
Realize the wire communication module of 10 internal communication of transfer robot.Wireless communication module is mainly used for carrying out with order management center
Wireless telecommunications are to receive order information: when order management center receives picking order, order management center analysis picking is ordered
It is single, determine the position of required picking product in picking order, and the location information of picking product is sent to by wireless communication module
Transfer robot 10.After transfer robot 10 receives the location information of picking information and picking product, control mobile chassis 1 is moved
The container 30 of corresponding kinds of goods is taken out to the container for being placed on itself stand 2 on the warehouse inventory container 20 to corresponding position information
Container 30 is carried to employee's treatment region by storage area, the transfer robot 10 that picking finishes.When order management center receives
When goods order, order management center analysis is got in stocks order, the location information that kinds of goods of getting in stocks needed for determining in order of getting in stocks need to be placed.
To employee's treatment region, employee handles and container 30 to be got in stocks is placed on carrying implement order management central dispatching transfer robot 10
The container storage area of device people 10, and order management center will get in stocks information and location information is sent to by wireless communication module and is removed
Robot 10 is transported, transfer robot 10 controls mobile chassis 1 according to location information and moves to the appearance of the inventory at corresponding position information
On device 20, and container 30 to be got in stocks is placed from the clamping of container storage area to 20 designated position of stock container in warehouse.
Wire communication module is mainly used for controller and mobile chassis 1, lift adjustment component 3, telescopic adjustment component and cross
To the communication adjusted between component, specific position is moved to control mobile chassis 1, clamping arm 41 is raised and lowered to spy
Positioning is set, clamping arm 41 is made to open or close up and/or is controlled clamping arm 41 and stretches out or retract, and realizes clamping arm 41 to container 30
It is accurate clamping and placement.The control that controller acts 30 clamping of container mainly includes the following aspects:
(1) container that control clamping arm 41 clamps container 30 to transfer robot 10 from the stock container 20 in warehouse is deposited
Put area, comprising the following steps:
Step S101: controller controls lift adjustment component 3 and moves, and clamping arm 41 is made to be increased to specific position.Certain bits
It is set to corresponding position of the container 30 on stock container 20, the confirmation of the position can be controller and hold according to container 30 in inventory
The correspondence number of plies on device 20 and preset, i.e., one height value of each layer correspondence.
Step S102: controller controls telescopic adjustment component movement, and clamping arm 41 is made to stretch out preset length, so that two folders
Folded arm 41 is located at the two sides of container 30 to be clamped.Since stock container 20 in warehouse and putting for container 30 are more advised
It is whole, it can ensure that transfer robot 10 is arranged for container 30 by presetting the athletic posture of transfer robot 10, make clamping arm
It is located at the two sides of container 30 after 41 stretchings.30 He of container can also be acquired by the way that image capture module, such as CCD camera is arranged
The image location information of stock container 20, image capture module are connected by controller, are enabled the controller to according to Image Acquisition
The pose of the image information adjustment transfer robot 10 of module acquisition, it is ensured that clamping arm 41 is located at container 30 after clamping arm 41 is stretched out
Two sides.
Step S103: controller controls lift adjustment component 3 and moves, and contacts clamping arm 41 with the flange 301 of container 30
And corresponding container 30 is raised, disengage container 30 with stock container 20.
Step S104: controller controls mobile chassis 1 and moves, and transports mobile chassis 1 to the direction far from stock container 20
It is dynamic, so that container 30 is detached from 20 range of stock container.
Step S105: controller controls lift adjustment component 3 and moves, and container 30 is made to move to preset height.The default height
The number of plies and container 30 for spending the place on stock container 20 according to container 30 itself need to be placed on the number of plies of container storage area
Specifically it is arranged.
Step S106: controller controls telescopic adjustment component movement, and clamping arm 41 is made to be retracted to initial position.
Step S107: controller controls lift adjustment component 3 and moves, and makes clamping arm 41 that container 30 be driven to decline, until goods
The hook groove and hook mounting connection of case 30.
Step S108: controller control lift adjustment part component continues to move, and is detached from the decline of clamping arm 41 with container 30.
(2) control clamping arm 41 clamps the stock container of container 30 to warehouse from the container storage area of transfer robot 10
20, comprising the following steps:
Step S201: controller controls lift adjustment component 3 and moves, and clamping arm 41 is made to be increased to the flange with container 30
301 contacts, and raising container 30 disengages container 30 with hook.
Step S202: controller controls telescopic adjustment component movement, and clamping arm 41 is made to stretch out preset length.
Step S203: controller controls lift adjustment component 3 and moves, and so that clamping arm 41 is moved to stock container 20 needs to place
The respective heights of container 30.
Step S204: controller controls mobile chassis 1 and moves, and moves mobile chassis 1 towards stock container 20, makes goods
Case 30 protrudes into 30 placing range of container of stock container 20.
Step S205: controller controls lift adjustment component 3 and moves, and makes clamping arm 41 that container 30 be driven to decline, and in goods
After case 30 is contacted with stock container 20, separate 41 persistent movement of clamping arm with container 30 to clamping arm 41.
Step S206: controller controls telescopic adjustment component movement, and clamping arm 41 is made to be retracted to initial position.
(3) control clamping arm 41 deposits the container 30 of transfer robot 10 in container on the basis of not across container 30
Put progress position adjustment between area, comprising the following steps:
Step S301: controller controls lateral adjustments component movement, so that two clamping arms 41 is flared to two relatively and holds
The distance between arm 41 is greater than the maximum width of container 30.
Step S302: controller controls lift adjustment component 3 and moves, and clamping arm 41 is made to move to the height of container 30 to be adjusted
Degree.
Step S303: controller controls lateral adjustments component movement, closes up two clamping arms 41 to initial position.
Step S304: controller controls lift adjustment component 3 and moves, and clamping arm 41 is made to rise the flange 301 with container 30
Contact, and the rising of container 30 is driven to disengage with hook.
Step S305: controller controls telescopic adjustment component movement, extend out to clamping arm 41 and is detached from interference with hook
Distance.
Step S306: controller controls lift adjustment component 3 and moves, and makes clamping arm 41 that container 30 be driven to move to target position
The height set.
Step S307: controller controls telescopic adjustment component movement, and clamping arm 41 is made to be retracted to initial position.
Step S308: controller control lift adjustment component 3 move, make clamping arm 41 drive container 30 decline and with extension
It connects, and after mounting, driving clamping arm 41 to continue decline disengages clamping arm 41 with container 30.
(4) control clamping arm 41 stores the container 30 of transfer robot 10 in container on the basis of across container 30
Position adjustment is carried out between area, comprising the following steps:
Step S401: controller controls lateral adjustments component movement, so that two clamping arms 41 is flared to two relatively and holds
The distance between arm 41 is greater than the maximum width of container 30.
Step S402: controller controls lift adjustment component 3 and moves, and clamping arm 41 is made to move to the height of container 30 to be adjusted
Degree.
Step S403: controller controls lateral adjustments component movement, closes up two clamping arms 41 to initial position.
Step S404: controller controls lift adjustment component 3 and moves, and clamping arm 41 is made to rise the flange 301 with container 30
Contact, and the rising of container 30 is driven to disengage with hook.
Step S405: controller controls telescopic adjustment component movement, extend out to clamping arm 41 and is detached from other containers 30
The distance of interference.
Step S406: controller controls lift adjustment component 3 and moves, and makes clamping arm 41 that container 30 be driven to move to target position
The height set.
Step S407: controller controls telescopic adjustment component movement, and clamping arm 41 is made to be retracted to initial position.
Step S408: controller control lift adjustment component 3 move, make clamping arm 41 drive container 30 decline and with extension
It connects, and after mounting, driving clamping arm 41 to continue decline disengages clamping arm 41 with container 30.
Based on above-mentioned analysis, transfer robot 10 can be realized container 30 in the stock container 20 and transfer robot in warehouse
Clamping and placement between 10 container storage area, to realize the picking of transfer robot 10 and function of getting in stocks.Conveying robot
People 10 can also realize adjustment of the container 30 between the container storage area of the different layers of transfer robot 10, so as to reality
Now to the more preferable arrangement of order cargo, facilitates picking or get in stocks and staff's picking or get in stocks.
When due to picking or getting in stocks, in order there are many cargo possibility, a variety of cargos are placed on different stock containers 20
In.For the picking efficiency for improving transfer robot 10, transfer robot 10 is preferably taken by the container 30 on all orders
Afterwards, or at least after so that each container storage area is stored and is had container 30, transfer robot 10 is made to move to employee's treatment region, carried out
Subsequent processing.
In the present embodiment, transfer robot 10 further includes intelligent guidance system, and intelligent guidance system is connect with controller,
After controller receives order information and the corresponding location information of each order kinds of goods, the location information of each kinds of goods is transmitted to intelligence
Energy navigation system, intelligent guidance system contexture by self reach the optimal path of each location information.Or it can be with order management center
The optimal path of transfer robot 10 is generated according to order information, and transfer robot 10 is transmitted to by wireless communication module
Intelligent guidance system arrives transfer robot 10 successively according to optimal path and reaches the corresponding location information of each kinds of goods.
For the more preferable operation for realizing transfer robot 10, detection components are additionally provided on transfer robot 10.Detection components
Including the obstacle avoidance sensor for detecting road barricade, make in 10 operational process of transfer robot, avoids road barricade and smooth
Operation.
Detection sensor further includes that the container detection device of cargo whether is stored for detecting every layer of container storage area.Goods
Boxes detecting device with for detection container 30 whether be articulated on container storage area close to switch, pressure sensor etc., to sentence
Whether disconnected transfer robot 10 is in full load condition, is conducive to be greater than the layer of the container storage area of transfer robot 10 when order numbers
When number, so that the transfer robot 10 under full load condition is moved to employee's treatment region in time and carry out Order Batch processing.Container
Detection device can also be that the scanning device of container storage area is arranged in, and by the two dimensional code or bar code on scanning container 30, sentence
Whether disconnected have container 30 in container storage area, and can obtain goods information in the container 30 of respective layer, be conducive to controller or
Which order cargo order management center obtains in time and has been handled upside down the conveying of robot 10.
It is possible to further which display screen is arranged on transfer robot 10, ordered for showing that transfer robot 10 is received
30 information of container carried in single information and transfer robot 10, while can show the corresponding container of every layer of container storage area
30 information, are conducive to quick sorting of the employee to cargo of employee's treatment region, and carry out the verification of order cargo and regular.
Transfer robot 10 provided in this embodiment, can not only according to order deploy intelligent storage robot picking, on
Goods, at the same have the function of storage business, outbound business, warehouse allot, stock allotment and empty storekeeper reason etc., realize to batch pipe
The function synthesizeds such as reason, material correspondence, stock-taking, quality inspection management, empty storekeeper reason and just in time inventory management use.
The present embodiment additionally provides a kind of warehousing system, includes above-mentioned transfer robot 10.
Note that above are only the preferred embodiment and institute's application technology principle of the utility model.Those skilled in the art's meeting
Understand, the utility model is not limited to specific embodiment described here, is able to carry out for a person skilled in the art various bright
Aobvious variation, readjustment and substitution is without departing from the protection scope of the utility model.Therefore, although passing through above embodiments
The utility model is described in further detail, but the utility model is not limited only to above embodiments, is not departing from
It can also include more other equivalent embodiments in the case that the utility model is conceived, and the scope of the utility model is by appended
Scope of the claims determine.
Claims (10)
1. a kind of transfer robot characterized by comprising
Mobile chassis (1)；
Stand (2) is vertically arranged on the mobile chassis (1), and the stand (2) is vertically provided with multiple container storages
Area is provided with the interconnecting piece (5) for connecting container (30) in each container storage area；
Component (4) are held, for clamping the container (30), described hold component (4) include two clamping arms (41), two institutes
The two sides that clamping arm (41) is oppositely arranged on the stand (2) width direction are stated, the component (4) that holds can the relatively described stand
(2) vertical lifting and horizontal extension, so that the container (30) is detached from or places to the container storage area.
2. transfer robot according to claim 1, which is characterized in that the one side wall of the container (30) is provided with and institute
The mating part of interconnecting piece (5) connection is stated, the mating part is detachably connected with the interconnecting piece (5).
3. transfer robot according to claim 2, which is characterized in that in the mating part and the interconnecting piece (5)
One is hook, another in the mating part and the interconnecting piece (5) is hook groove.
4. transfer robot according to claim 1, which is characterized in that multiple container storage areas are arranged at equal intervals
On the stand (2).
5. transfer robot according to claim 1, which is characterized in that the transfer robot (10) further includes rising-falling tone
Component (3) and telescopic adjustment component are saved, the lift adjustment component (3) is configured as along the stand (2) vertical lifting, described
Telescopic adjustment component is set on the lift adjustment component (3), and is configured as holding component (4) level described in driving and stretching
Contracting.
6. transfer robot according to claim 5, which is characterized in that the lift adjustment component (3) is U-shaped, including
Constitute U-shaped arm two the first adjustment portions (31) and constitute U-shaped bottom the second adjustment portion (32), second adjustment portion (32) with
Stand (2) connection, two clamping arms (41) connect with two first adjustment portions (31) respectively, and each described
Clamping arm (41) can relatively described first adjustment portion (31) horizontal extension.
7. transfer robot according to claim 6, which is characterized in that between two first adjustment portions (31)
Away from adjustable.
8. transfer robot according to claim 1, which is characterized in that each container storage area is provided with container
Detection device, the container detection device is for detecting the corresponding container storage area with the presence or absence of the container (30).
9. transfer robot according to claim 1, which is characterized in that the transfer robot (10) further includes display
Screen, the display screen are used to show order information and the container information that the transfer robot (10) is carried.
10. a kind of warehousing system, which is characterized in that comprising such as the described in any item transfer robots of claim 1-9 (10).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822219409.9U CN209536103U (en) | 2018-12-27 | 2018-12-27 | A kind of transfer robot and warehousing system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822219409.9U CN209536103U (en) | 2018-12-27 | 2018-12-27 | A kind of transfer robot and warehousing system |
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| CN209536103U true CN209536103U (en) | 2019-10-25 |
Family
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110194341A (en) * | 2018-12-27 | 2019-09-03 | 北京极智嘉科技有限公司 | A kind of transfer robot and warehousing system |
| CN111284982A (en) * | 2020-01-18 | 2020-06-16 | 嵊州市铭恩建设机械厂 | Full-automatic shuttling intelligent warehousing system for glass production |
| 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 |
| CN112918356A (en) * | 2021-03-11 | 2021-06-08 | 八时物流科技(成都)有限公司 | Logistics vehicle with multidirectional loading and unloading container function |
| WO2021114728A1 (en) * | 2019-12-13 | 2021-06-17 | 北京极智嘉科技股份有限公司 | Self-driven mobile device, warehouse system, and related method |
| CN113942442A (en) * | 2020-07-15 | 2022-01-18 | 深圳市卓派自动化技术有限公司 | Cargo delivery robot system and cargo carrying method |
| WO2023143406A1 (en) * | 2022-01-29 | 2023-08-03 | 北京极智嘉科技股份有限公司 | Carrying robot and warehousing system comprising same |
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2018
- 2018-12-27 CN CN201822219409.9U patent/CN209536103U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110194341A (en) * | 2018-12-27 | 2019-09-03 | 北京极智嘉科技有限公司 | A kind of transfer robot and warehousing system |
| WO2021114728A1 (en) * | 2019-12-13 | 2021-06-17 | 北京极智嘉科技股份有限公司 | Self-driven mobile device, warehouse system, and related method |
| CN111284982A (en) * | 2020-01-18 | 2020-06-16 | 嵊州市铭恩建设机械厂 | Full-automatic shuttling intelligent warehousing system for glass production |
| CN111284982B (en) * | 2020-01-18 | 2021-11-26 | 山东力诺特种玻璃股份有限公司 | Full-automatic shuttling intelligent warehousing system for glass production |
| CN113942442A (en) * | 2020-07-15 | 2022-01-18 | 深圳市卓派自动化技术有限公司 | Cargo delivery robot system and cargo carrying method |
| CN112918356A (en) * | 2021-03-11 | 2021-06-08 | 八时物流科技(成都)有限公司 | Logistics vehicle with multidirectional loading and unloading container function |
| WO2023143406A1 (en) * | 2022-01-29 | 2023-08-03 | 北京极智嘉科技股份有限公司 | Carrying robot and warehousing system comprising same |
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Address after: 100020 No. 1 Building, No. 36 Chuangyuan Road, Chaoyang District, Beijing 101 Patentee after: Beijing jizhijia Technology Co.,Ltd. Address before: 100020 No. 1 Building, No. 36 Chuangyuan Road, Chaoyang District, Beijing 101 Patentee before: Beijing Geekplus Technology Co.,Ltd. |