CN211197467U

CN211197467U - Transfer robot

Info

Publication number: CN211197467U
Application number: CN201922018222.7U
Authority: CN
Inventors: 詹庆鑫
Original assignee: Shenzhen Hairou Innovation Technology Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2019-11-19
Filing date: 2019-11-19
Publication date: 2020-08-07
Anticipated expiration: 2029-11-19

Abstract

The application relates to the field of intelligent warehousing and discloses a transfer robot, include: the goods shelf is used for placing goods; the detection device is used for detecting the goods placed on the goods shelf; and a carrying device for carrying the goods to or from the shelf. Through dispose detection device on its goods shelves, detection device detectable places the goods on the goods shelves to avoid artifical detection goods, efficiency is higher.

Description

Transfer robot

[ technical field ] A method for producing a semiconductor device

The application relates to the field of intelligent warehousing, in particular to a transfer robot.

[ background of the invention ]

The intelligent storage is a link in the logistics process, and the application of the intelligent storage ensures the speed and the accuracy of data input in each link of goods warehouse management, ensures that enterprises timely and accurately master real data of the inventory, and reasonably keeps and controls the inventory of the enterprises. Through scientific coding, the batch, the shelf life and the like of the inventory goods can be conveniently managed. By utilizing the storage position management function of the SNHGES system, the current positions of all the stored goods can be mastered in time, and the working efficiency of warehouse management is improved.

The transfer robot plays an important role in intelligent warehousing, can receive instructions to get and put and carry goods at a specified position, and improves the efficiency of carrying in the warehouse. However, although the current transfer robot can pick and place and transfer goods, the current transfer robot cannot detect the transferred goods, needs to manually detect the goods to count the goods, and is low in efficiency.

[ summary of the invention ]

In order to solve the above technical problem, an embodiment of the present application provides a transfer robot, in which the transfer device can detect a load transferred by the transfer robot.

In order to solve the above technical problem, an embodiment of the present application provides the following technical solutions:

provided is a transfer robot including: the goods shelf is used for placing goods; the detection device is used for detecting the goods placed on the goods shelf; and a carrying device for carrying the goods to or from the shelf.

In some embodiments, the transfer robot further comprises a movable chassis; the chassis bears the goods shelf and the carrying device.

In some embodiments, the shelf comprises a support and at least one partition; the bracket supports the at least one partition plate, any one of the at least one partition plate is used for placing goods, and the carrying device is used for carrying the goods to or from the at least one partition plate.

In some embodiments, the detection device comprises at least one detection module; any one of the at least one detection module is installed on a corresponding one of the at least one partition plate, and any one of the at least one detection module is used for detecting goods placed on the corresponding one of the at least one partition plate.

In some embodiments, any one of the at least one detection module is a weight detection device for detecting a weight of the cargo placed on a corresponding one of the at least one partition.

In some embodiments, the weight detecting device is sheet-shaped.

In some embodiments, the weight-sensing device is parallel to a corresponding one of the at least one partition.

In some embodiments, any of the at least one deck panels supports cargo by a weight sensing device to which it is mounted.

In some embodiments, any one of the at least one detection module is a radio frequency identification device, and is configured to read a radio frequency identification tag attached to a cargo placed on a corresponding one of the at least one partition, so as to detect the cargo placed on the corresponding one of the at least one partition.

In some embodiments, the brace comprises two vertical beams and at least one cross beam; the two vertical beams are oppositely arranged, and any one of the at least one cross beam is connected between the two vertical beams; any one of the at least one bulkheads is supported by a corresponding one of the at least one cross beam.

Compared with the prior art, in the transfer robot of this application embodiment, through dispose detection device on its goods shelves, the goods that detection device detectable was placed on the goods shelves avoid artifical detection goods, and efficiency is higher.

[ description of the drawings ]

One or more embodiments are illustrated in drawings corresponding to, and not limiting to, the embodiments, in which elements having the same reference number designation may be represented as similar elements, unless specifically noted, the drawings in the figures are not to scale.

Fig. 1 is a perspective view of a transfer robot according to an embodiment of the present disclosure;

fig. 2 is a disassembled schematic view of a carrying device of the carrying robot shown in fig. 1;

FIG. 3 is a perspective view of the handling device shown in FIG. 2 with the forks of the handling device being transparentized so that the rotating mechanism of the handling device is shown;

FIG. 4 is a perspective view of the forks of the handling apparatus shown in FIG. 2 with portions of the outer shells of the forks being transparentized so that the drive mechanisms for the forks are shown;

FIG. 5 is a perspective view of the forks of the transfer device of FIG. 2 with the stationary push rods of the forks ready to push a load out of the pallet;

FIG. 6 is a perspective view of the forks of the transfer device of FIG. 2, wherein the fixed push rod of the fork has pushed the load out of the pallet or the movable push rod of the fork has retracted and passed over the load in preparation for pulling the load into the pallet;

FIG. 7 is a perspective view of the fork of FIG. 2 with the movable push rod of the fork clear of the load and repositioned in preparation for pulling the load into the pallet;

FIG. 8 is a perspective view of the fork of FIG. 2, wherein the movable push rod of the fork has pulled the load into the pallet;

fig. 9 is a disassembled schematic view of the transfer robot shown in fig. 1, which mainly shows that the detection device of the transfer robot is separated from the rack.

[ detailed description ] embodiments

To facilitate an understanding of the present application, the present application is described in more detail below with reference to the accompanying drawings and detailed description. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and the like as used herein are for descriptive purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1, one embodiment of the present application provides a transfer robot 100 for transferring goods on a warehouse rack (not shown). The warehouse shelf can be a single layer or multiple layers, and any layer of the warehouse shelf is used for placing goods. The number of warehouse racks may be one or at least one. The transfer robot 100 includes a chassis 10, a rack 20, a lifting mechanism (not shown), a transfer device 30, and a detection device 342. The chassis 10 carries the racks 20, the lifting mechanism, and the carrying device 30. The chassis 10 can move and drive the carried goods shelf 20, lifting mechanism and carrying device 30 to move together. The movable chassis 10 is provided to enable the transfer robot 100 to transfer goods between at least one warehouse rack. Any one of the layers of the shelf 20 is used for placing goods. The lifting mechanism is used for driving the carrying device 30 to lift, the lifting mechanism is powered by a motor, power is transmitted by a chain wheel mechanism, the chain wheel mechanism can be replaced by a screw rod mechanism, a belt wheel mechanism and other transmission mechanisms according to actual conditions, in addition, the chain wheel mechanism can be omitted, the motor is directly driven, and in this case, the motor is a linear motor. The handling device 30 is used for handling goods between the racks 20 and warehouse racks. The lifting mechanism drives the carrying device 30 to lift, so that the carrying device 30 can carry goods on any layer of the shelf 20 or any layer of the warehouse shelf.

Referring to fig. 2 to 4, the carrying device 30 includes a bracket 32, a fork 34 and a rotating mechanism 36. The bracket 32 may be formed from a welded assembly of profiles and plates for supporting the forks 34 and the rotating mechanism 36. The forks 34 are mounted to the carriage 32 and the rotation mechanism 36 is used to drive the forks 34 to rotate about a vertical axis relative to the carriage 32 to align the racks 20 or warehouse racks. The forks 34 are used to carry goods 101 between the racks 20 and the warehouse rack. If the forks 34 are misaligned with the shelf 20, the forks 34 may be rotated relative to the brackets 32 to ensure that the forks 34 are aligned with the shelf 20. It will be appreciated that the rotation mechanism 36 may be omitted as appropriate, for example, the transfer robot may move on a fixed track, and after moving to the vicinity of the warehouse rack, the forks are always aligned with the warehouse rack, and the rack may be arranged in the pickup direction of the forks.

The fork 34 includes a pallet 340, a telescopic arm assembly, and an image sensing device 352. The pallet 340 is used for placing the goods 101, and is a horizontally disposed flat plate for placing the goods 101. The telescopic arm assembly is used to push the goods 101 placed by the pallet 340 out of the pallet 340 or pull the goods 101 to the pallet 340. The telescopic arm assembly includes a telescopic arm 344, a fixed pushrod 346 and/or a movable pushrod 348. The telescopic arm 344 may be extended horizontally, and the telescopic arm 344 is located at one side of the support plate 340 in a direction perpendicular to the extending direction of the telescopic arm 344 and parallel to the support plate 340. As shown in fig. 6, the telescopic arm 344 is powered by a motor and is driven by a sprocket mechanism, and the sprocket mechanism may be driven by a transmission mechanism such as a belt wheel mechanism or a screw mechanism instead, depending on the actual situation. The fixed push rod 346 and the movable push rod 348 are mounted to the telescopic arm 344, and the fixed push rod 346 and the movable push rod 348 can be extended together with the telescopic arm 344. The fixed push rod 346 is located on the same side of the telescopic arm 344 as the support plate 340, and when the telescopic arm 344 is extended, the fixed push rod 346 is used to push the goods out of the support plate 340. The movable push rod 348 can be retracted into the telescopic arm 344, and when the movable push rod 348 is not retracted into the telescopic arm 344, all three of the movable push rod 348, the fixed push rod 346 and the supporting plate 340 are located on the same side of the telescopic arm 344, and the movable push rod 348 is located in the extending direction of the fixed push rod 346 along the telescopic arm 344. The movable push rod 348 can be directly driven by a motor, or can transmit power through a transmission mechanism such as a gear set and a link mechanism according to actual conditions. When the movable push rod 348 is not retracted into the telescopic arm 344 and the telescopic arm 344 is retracted, the movable push rod 348 is used to pull the goods to the pallet 340.

Referring to fig. 5-8, it is described how the fixed push rod 346 and the movable push rod 348 can move the cargo 101 on the pallet 340, as follows:

when the telescopic arm 344 is extended, the fixed push rod 346 is used to push the goods 101 out of the pallet 340. Specifically, as shown in fig. 5 and 6, the fixed push rod 346 extends with the telescopic arm 344 to push the cargo 101 out of the pallet 340. After the fixed push rod 346 pushes the cargo 101 out, the movable push rod 348 retracts into the telescopic arm 344 and retracts with the telescopic arm 344.

When the telescopic arm 344 is retracted, the movable push rod 348 is used to pull the cargo 101 to the pallet 340. Specifically, as shown in fig. 6, the movable push rod 348 is received into the telescopic arm 344 and extended with the telescopic arm 344 such that the movable push rod 348 passes over the cargo 101. As shown in fig. 7 and 8, after the movable push rod 348 passes over the cargo 101, the movable push rod 348 extends out of the telescopic arm 344 and retracts with the telescopic arm 344 such that the movable push rod 348 pulls the cargo 101 to the pallet 340.

It is further described here how the forks 34 handle goods 101 on the pallet 20, as follows:

the fork 34 carries the goods 101 to the shelf 20, specifically, the fixed push bar 346 extends with the telescopic arm 344, pushing the goods 101 to the shelf 20, and the movable push bar 348 retracts with the telescopic arm 344.

The forks 34 carry the product 101 from the racks 20. specifically, the movable push rod 348 is received into the telescopic arm 344 and extended with the telescopic arm 344 such that the movable push rod 348 passes over the product 101. After the movable push bar 348 passes over the item of cargo 101, the movable push bar 348 is reset and retracted with the telescoping arm 344 such that the movable push bar 348 pulls the item of cargo 101 off of the shelf 20.

The manner in which the forks 34 carry the goods 101 on the warehouse rack is similar to the manner in which the goods 101 are carried on the racks 20 and will not be described in detail herein.

Referring to fig. 1 and 9, the image detection device 352 is fixed relative to the pallet 340 and is used to obtain image information of the goods 101 or warehouse shelf. The image capturing device 352 may be a camera for scanning an identification code attached to the goods 101 or the warehouse rack, determining whether the carrying device 30 is at the same height as a layer of goods to be carried on the warehouse rack according to the identification code on the warehouse rack, and determining whether the fork 34 is aligned with the warehouse rack according to the identification code on the goods 101. The lens of the image detection device 352 faces in the same direction as the extending direction of the telescopic arm 344.

In addition, it should be noted that the cargo 101 may be a whole body, or may be at least one object, and when the cargo 101 is at least one object, it is preferably placed in a cargo box, and correspondingly, the two-dimensional code of the cargo 101 is also attached outside the cargo box.

The shelf 20 comprises a support 21 and at least one partition 22. The bracket 21 is used for supporting at least one partition 22, the bracket 21 includes two vertical beams 210 and at least one cross beam 212, the two vertical beams 210 are oppositely arranged, the at least one cross beam 212 is distributed along the vertical direction, and any one of the at least one cross beam 212 is connected between the two vertical beams 212. Any one of the at least one deck panels 22 is supported by a corresponding one of the at least one cross beams 212, the number of cross beams 212 being greater than the number of deck panels 22 in the illustration, any one of the at least one deck panels 22 being used for cargo placement. The handling device 30 is used to handle the cargo to any of the at least one partition 22 or to handle the cargo from any of the at least one partition 22. ,

the detection device 342 is used to detect the goods placed on the shelf 20. The detecting device 342 includes at least one detecting module 3420, any one of the at least one detecting module 3420 is installed at a corresponding one of the at least one partition 22, and any one of the at least one detecting module 3420 is used for detecting the goods placed at the corresponding one of the at least one partition 22.

In this embodiment, any one of the at least one detecting module 3420 is a weight detecting device for detecting the weight of the cargo placed on the corresponding one of the at least one partition, and the weight detecting device may be a pressure sensor, or may be another type of sensor, such as a displacement sensor, for detecting the weight of the cargo placed on the partition by detecting the displacement of the partition when the partition is pressed down, and so on. Whether the goods are placed or not can be detected according to the weight of the goods, the number of the goods can be detected under the condition that the number of the single goods is basically consistent, the process of manual weighing is omitted in the process of checking the goods, and the efficiency is improved. In some alternative embodiments, the weight detecting device is sheet-shaped. The weight detecting means is parallel to a corresponding one of the at least one partition 22. Any one of the at least one partition 22 supports the cargo by the weight sensing device to which it is mounted. It will be appreciated that, depending on the application, cargo may also be supported directly by the deck 22, with a weight sensing device being provided between the cross member 212 and the deck 22 to sense the total weight of the deck 22 and the cargo it is resting upon.

It is understood that the number of the weight detecting devices may be only one, and in some embodiments, the weight detecting devices are installed between the shelves 20 and the chassis 10 for detecting the total weight of the goods placed together by the at least one partition 22.

In some other embodiments, any one of the at least one detection module is a Radio Frequency Identification device, for example, a Radio Frequency Identification (RFID) technology is used, so that the Radio Frequency Identification device is an RFID module, and the Radio Frequency Identification device is configured to read a Radio Frequency Identification tag attached to a corresponding cargo in the at least one partition, that is, an RFID tag, so as to detect the cargo in the at least one partition, and avoid inefficiency caused by manually identifying the Radio Frequency Identification tag of the cargo with a code scanning gun.

Compared with the prior art, in the transfer robot 100 provided in the embodiment of the present application, the detection device 342 is disposed on the shelf 20 of the transfer robot 100, so that the detection device 342 can detect the goods placed on the shelf 20, thereby avoiding inefficiency caused by manual detection of the goods and achieving high efficiency.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; within the context of the present application, features from the above embodiments or from different embodiments may also be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the present application as described above, which are not provided in detail for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A transfer robot, characterized by comprising:

the goods shelf is used for placing goods;

the detection device is used for detecting the goods placed on the goods shelf; and

and the conveying device is used for conveying goods to the goods shelf or conveying the goods out of the goods shelf.

2. The transfer robot of claim 1, further comprising a movable chassis;

the chassis bears the goods shelf and the carrying device.

3. The transfer robot of claim 2, wherein the rack comprises a rack and at least one partition;

the bracket supports the at least one partition plate, any one of the at least one partition plate is used for placing goods, and the carrying device is used for carrying the goods to or from the at least one partition plate.

4. A transfer robot as claimed in claim 3, wherein the detection means comprises at least one detection module;

any one of the at least one detection module is installed on a corresponding one of the at least one partition plate, and any one of the at least one detection module is used for detecting goods placed on the corresponding one of the at least one partition plate.

5. The transfer robot of claim 4, wherein any one of the at least one detection module is a weight detection device for detecting a weight of the goods placed on the corresponding one of the at least one partition.

6. The transfer robot of claim 5, wherein the weight detecting device is sheet-shaped.

7. The transfer robot of claim 6, wherein the weight detecting device is parallel to a corresponding one of the at least one partition.

8. The transfer robot of claim 7, wherein any one of the at least one bulkheads supports the load by a weight detecting device mounted thereto.

9. The transfer robot of claim 4, wherein any one of the at least one detection module is a radio frequency identification device configured to read a radio frequency identification tag attached to the cargo placed on the corresponding one of the at least one partition to detect the cargo placed on the corresponding one of the at least one partition.

10. A transfer robot according to any one of claims 3 to 9, wherein the rack comprises two vertical beams and at least one cross beam;

the two vertical beams are oppositely arranged, and any one of the at least one cross beam is connected between the two vertical beams;

any one of the at least one bulkheads is supported by a corresponding one of the at least one cross beam.