CN211732699U - Carrying device and carrying robot with same - Google Patents
Carrying device and carrying robot with same Download PDFInfo
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- CN211732699U CN211732699U CN202020142100.9U CN202020142100U CN211732699U CN 211732699 U CN211732699 U CN 211732699U CN 202020142100 U CN202020142100 U CN 202020142100U CN 211732699 U CN211732699 U CN 211732699U
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Abstract
The utility model relates to the field of warehouse logistics, in particular to a carrying device and a carrying robot with the carrying device, wherein the carrying device comprises a fork and a three-dimensional imaging information acquisition module; the fork is used for taking out goods; the three-dimensional imaging information acquisition module is installed in the fork and used for acquiring the three-dimensional imaging information of the goods so as to determine the position of the goods and avoid the problem of complex label pasting.
Description
[ technical field ] A method for producing a semiconductor device
The utility model relates to a storage commodity circulation field especially relates to a handling device and have this handling device's 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 an enterprise timely and accurately masters the true data of the inventory, and reasonably maintains and controls the inventory of the enterprise. 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 storage, and the transfer robot replaces manual goods handling, but current transfer robot need paste the label of establishing to the packing box in advance before taking out the packing box from goods shelves, like two-dimensional code, radio frequency identification label etc. and transfer robot passes through the orientation that the label of establishing of pasting on the packing box judges the packing box, and the process of establishing the label to the packing box subsides is very loaded down with trivial details nevertheless.
[ summary of the invention ]
In order to solve the technical problem, an embodiment of the utility model provides a handling device and have this handling device's transfer robot to solve and paste the loaded down with trivial details technical problem of label.
In order to solve the technical problem, an embodiment of the utility model provides a following technical scheme:
in one aspect, a handling apparatus is provided, including: a fork for taking out the goods; and the three-dimensional imaging information acquisition module is arranged on the fork and is used for acquiring the three-dimensional imaging information of the goods so as to determine the position of the goods.
In some embodiments, the handling device further comprises a carriage and a rotational drive module; the fork is mounted on the bracket, and the fork can rotate around a vertical direction relative to the bracket; the rotary driving module is connected with the fork and the bracket and used for driving the fork to rotate relative to the bracket in the horizontal plane according to the position information of the goods.
In some embodiments, the handling device further comprises a two-dimensional image scanning module; the two-dimensional image scanning module is arranged on the fork and used for acquiring the graphic code information so as to determine the height of the fork.
In some embodiments, the handling device further comprises a router; the router is electrically connected with the three-dimensional imaging information acquisition module and the two-dimensional image scanning module to receive and deliver the three-dimensional imaging information and the graphic code information.
In some embodiments, the fork includes a fork carriage, a telescoping arm, and a manipulator; the fixed end of the telescopic arm is mounted on the fork support, the movable end of the telescopic arm is mounted with the manipulator, and the movable end can horizontally and transversely move relative to the fork support so as to enable the manipulator to extend to a position where the manipulator can obtain goods or enable the manipulator to be retracted after the goods are obtained; the manipulator is used for acquiring goods.
In some embodiments, the pallet fork further comprises a pallet; the pallet is mounted to the fork support, and when the manipulator withdraws after acquiring the goods, the manipulator is used for depositing the acquired goods onto the pallet.
In some embodiments, the robot comprises a movable push rod; the movable push rod can be retracted into the movable end so as to avoid goods in the process of extending the mechanical arm; the movable push rod may protrude out of the movable end to pull the goods when the robot arm is retracted.
In some embodiments, the pallet may be moved in a horizontal lateral direction relative to the fork carriage to travel to a position proximate to the load accessed by the robot or to retract as the load is deposited onto the pallet.
In some embodiments, the number of telescopic arms is two; the movable ends of the two telescopic arms are separated along the horizontal longitudinal direction, and the movable ends of the two telescopic arms can synchronously move along the horizontal transverse direction relative to the fork brackets; when the manipulator extends to a position where goods can be obtained, the goods are located between the movable ends of the two telescopic arms.
In some embodiments, one of the telescopic arms is movable relative to the other telescopic arm along the horizontal longitudinal direction, so that the distance between the movable ends of the two telescopic arms along the horizontal longitudinal direction is adjustable.
In another aspect, a transfer robot is provided, which includes the transfer device as described above.
In some embodiments, the transfer robot further comprises a cargo storage device and a chassis; the goods storage device is used for storing goods taken out by the fork; the chassis bears the goods storage device and the carrying device, and the chassis is movable.
In some embodiments, the storage device comprises at least two tiers distributed at different heights; the transfer robot further comprises a lifting driving device; the lifting driving device is used for driving the carrying device to lift so that the fork can store the taken goods to one of the at least two laminates.
Compared with the prior art, the utility model discloses in handling device and the transfer robot who has this handling device, through handling device's fork configuration three-dimensional imaging information acquires the module, and three-dimensional imaging information acquires the module and can acquires the three-dimensional imaging information of goods to confirm the position of packing box, avoided pasting the loaded down with trivial details problem of label.
[ 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 schematic structural view of a carrying device according to an embodiment of the present invention;
FIG. 2 is a disassembled schematic view of the handling apparatus shown in FIG. 1, wherein the rotational drive module of the handling apparatus is shown;
FIG. 3 is a schematic view of another angle of the handling apparatus of FIG. 1 with the router of the handling apparatus shown;
FIG. 4 is a schematic structural view of the fork of the handling device of FIG. 1 in a first state wherein the robot of the fork is extended and has acquired the load;
FIG. 5 is a schematic structural view of the forks of the handling apparatus shown in FIG. 1 in a second state, wherein the manipulators of the forks pick up the load and retract it;
FIG. 6 is a schematic structural view of the forks of the transfer device of FIG. 1 in a third position, wherein the movable push rods of the forks are retracted into the telescopic arms and extended;
FIG. 7 is a schematic structural view of the fork of the handling device of FIG. 1 in a fourth state, wherein the robot of the fork is extended and has acquired the load and the pallet of the fork is advanced toward the load;
fig. 8 is a schematic structural view of a transfer robot according to another embodiment of the present invention.
[ detailed description ] embodiments
In order to facilitate an understanding of the invention, the invention 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 invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. 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, in order to provide a carrying device 100 according to an embodiment of the present invention, the carrying device 100 can be applied to a carrying robot, a shuttle, a stereoscopic warehouse, and other storage logistics apparatuses, and in this embodiment, the carrying device 100 is applied to a carrying robot for an example and is described in detail.
The carrying device 100 includes a fork 10 and a three-dimensional imaging information acquisition module 20. The fork 10 is used to take goods out of the pallet. The three-dimensional imaging information acquiring module 20 is mounted on the fork 10 and is configured to acquire three-dimensional imaging information of the goods to determine a position of the goods on the shelf. The three-dimensional imaging information acquiring module 20 may be a depth camera or a panoramic camera, or a combination of multiple cameras, as long as it can acquire three-dimensional imaging information of a cargo.
Referring to fig. 2, in some embodiments, the carrying device 100 further includes a bracket 30 and a rotation driving module 40. The forks 10 are mounted to the carriage 30, and the forks 10 are rotatable relative to the carriage 30 about a vertical direction z. The rotary driving module 40 is connected with the fork 10 and the bracket 30, and the rotary driving module 40 is used for driving the fork 10 to rotate relative to the bracket 30 in the horizontal plane according to the position information of the goods, so that the fork 10 rotates to an angle for taking out the goods more easily, and the rotary driving module is beneficial to avoiding obstacles and aligning the goods and the like.
The rotary drive module 40 may include a first chain wheel mechanism 42 and a rotary drive motor 44, the first chain wheel mechanism 42 being connected to the forks 10, and the rotary drive motor 44 being configured to drive the forks 10 to rotate relative to the bracket 30 via the first chain wheel mechanism 42. It is understood that the first sprocket mechanism 42 may be replaced by a gear set or omitted directly, and the rotary drive motor 44 directly drives the fork 10 to rotate relative to the bracket 30.
Referring to fig. 3, in some embodiments, the shelf label is provided with a preset identifier, such as a two-dimensional code, a bar code, or the like. The carrying device 100 further includes a two-dimensional image scanning module 50. The two-dimensional image scanning module 50 is mounted on the fork 10, and is configured to acquire preset identification information on a shelf, so as to determine the height of the fork 10. The two-dimensional image scanning module 50 may be a camera. It is understood that, depending on the actual situation, the two-dimensional image scanning module 50 may be omitted, for example, the fork 10 is always kept at a certain height, the fork 10 does not need to be determined at the certain height, and for example, the fork 10 can be lifted, but the height at which the fork 10 is lifted is set by a preset program, and the fork 10 does not need to be determined at the certain height. When the three-dimensional imaging information acquiring module 20 can acquire all the required information, the two-dimensional image scanning module 50 may not be provided.
Referring back to fig. 3, in some embodiments, the handling apparatus 100 further includes a router 60. The router is installed on the fork 10 and electrically connected to the three-dimensional imaging information acquisition module 20 and the two-dimensional image scanning module 50 to receive and deliver the three-dimensional imaging information and the graphic code information. It is understood that, according to practical situations, the router 60 may be omitted, for example, the three-dimensional imaging information acquiring module 20 and the two-dimensional image scanning module 50 are directly connected to a host computer through two network cables respectively.
Referring to fig. 4 and 5 together, in some embodiments, the fork 10 includes a fork carriage 12, a telescoping arm 14, and a robot 16. The fixed end of the telescopic arm 14 is mounted to the fork carriage 12 and the free end of the telescopic arm 14 is mounted to the manipulator 16, the free end being movable in a horizontal transverse direction x relative to the fork carriage 12 to extend the manipulator 16 to a position where it can access the goods 101, the manipulator 16 being extended as shown in fig. 4, or the manipulator 16 being retracted after access to the goods 101, the manipulator 16 being retracted as shown in fig. 5. The robot 16 is used to acquire the goods 101. It will be appreciated that the forks 10 are not limited to the above-described form as long as the forks 10 can take out the load 101, depending on the actual situation.
The telescopic arm 14 may include a second chain wheel mechanism (not shown) connected to the movable end of the telescopic arm 14 and a telescopic driving motor (not shown) for driving the movable end of the telescopic arm 14 to move relative to the fork carriage 12 through the second chain wheel mechanism. It can be understood that, according to actual conditions, the second sprocket mechanism may be replaced by a pulley mechanism, a screw rod structure, or the like, or may be directly omitted and directly driven by the movable end of the telescopic arm 14, where the telescopic driving motor is a linear motor.
Referring back to fig. 5, in some embodiments, the fork 10 further includes a pallet 18. The pallet 18 is mounted to the fork carriage 12, and when the robot 16 is retracted after acquiring the goods 101, the robot 16 is used to deposit the acquired goods 101 to the pallet 18. It will be appreciated that the pallet 18 may be omitted and the forks 10 may deposit the removed load 101 to a storage location, depending on the application.
Referring to fig. 4, 5 and 6, in some embodiments, the robot 16 includes a movable pusher bar. The movable push rod may be retracted into the movable end, as shown in fig. 6, to clear the cargo 101 during extension of the robot arm 16. The movable push rod may protrude the movable end to pull the goods 101 when the robot arm 16 is retracted, as shown in fig. 4 and 5. It will be appreciated that the manipulator 16 is not limited to the above described forms, as the case may be, for example, by a mechanical gripper or a magnetic chuck or like gripping means.
The manipulator 16 may be movable in a rotational manner or in a moving manner as long as it can be received in the movable end or protrude therefrom.
Referring to fig. 5 and 7 together, in some embodiments, the pallet 18 may be moved in a horizontal transverse direction x relative to the fork carriage 12 to travel to a position proximate to the goods 101 captured by the robot 16 as shown in fig. 7, or to retract when the goods 101 are deposited on the pallet 18 as shown in fig. 5, to reduce the gap between the pallet 18 and the shelf from which the goods 101 are not easily dropped.
Referring back to fig. 4, in some embodiments, the number of the telescopic arms 14 is two. The free ends of the two telescopic arms 14 are spaced apart in a horizontal longitudinal direction y, and the free ends of the two telescopic arms 14 are synchronously movable in a horizontal transverse direction x relative to the fork carriage 12. When the manipulator 16 is extended to a position where the goods 101 can be taken in, the goods 101 are located between the movable ends of the two telescopic arms 14, and the two telescopic arms 14 can transfer the goods 101 more stably when the manipulator 16 is retracted.
In some embodiments, one of the telescopic arms 14 is movable relative to the other telescopic arm 14 along the horizontal longitudinal direction y, so that the distance between the movable ends of the two telescopic arms 14 along the horizontal longitudinal direction y can be adjusted to fit different sizes of cargos.
In some embodiments, the fixed ends of both of the telescopic arms 14 are movably mounted to the fork carriage 12, both of the telescopic arms 14 are simultaneously movable in the horizontal longitudinal direction y relative to the fork carriage 12, and the moving directions of both of the telescopic arms 14 are opposite. In other embodiments, the fixed end of one of the telescopic arms 14 is fixedly mounted to the fork carriage 12, and the fixed end of the other telescopic arm 14 is movably mounted to the fork carriage 12. When one of the telescopic arms 14 is moved in the horizontal longitudinal direction y relative to the other telescopic arm 14, one of the telescopic arms 14 is fixed relative to the fork carriage 12 and the other telescopic arm 14 is moved in the horizontal longitudinal direction y relative to the fork carriage 12.
Referring to fig. 8, a transfer robot 200 according to another embodiment of the present invention includes the transfer device 100 as described above.
In some embodiments, the transfer robot 200 further includes a cargo storage device 70 and a chassis 80. The storage device 70 is used for storing the goods taken out by the fork 10. The chassis 80 carries the cargo storage device 70 and the carrying device 100, and the chassis 80 is movable.
In some embodiments, the storage device 70 includes at least two tiers 72 distributed at different heights. The transfer robot 200 further includes a lift driving device (not shown). The lifting driving device is used for driving the carrying device 100 to lift so that the fork 10 can store the taken goods to one of the at least two floors 72.
Compared with the prior art, the embodiment of the utility model provides an among the handling device and the transfer robot who has this handling device, through handling device's fork configuration three-dimensional imaging information acquires the module, and three-dimensional imaging information acquires the module and can acquires the three-dimensional imaging information of goods to confirm the position of packing box, avoided pasting the loaded down with trivial details problem of label.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will 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 invention.
Claims (13)
1. A handling device, comprising:
a fork for taking out the goods; and
the three-dimensional imaging information acquisition module is arranged on the fork and used for acquiring three-dimensional imaging information of the goods so as to determine the position of the goods.
2. The handling device of claim 1, further comprising a cradle and a rotational drive module;
the fork is mounted on the bracket, and the fork can rotate around a vertical direction relative to the bracket;
the rotary driving module is connected with the fork and the bracket and used for driving the fork to rotate relative to the bracket in the horizontal plane according to the position information of the goods.
3. The handling device of claim 1, further comprising a two-dimensional image scanning module;
the two-dimensional image scanning module is arranged on the fork and used for acquiring the graphic code information so as to determine the height of the fork.
4. The handling device of claim 3, further comprising a router;
the router is electrically connected with the three-dimensional imaging information acquisition module and the two-dimensional image scanning module to receive and deliver the three-dimensional imaging information and the graphic code information.
5. The handling device of any of claims 1 to 4, wherein the forks comprise a fork carriage, a telescopic arm and a robot arm;
the fixed end of the telescopic arm is mounted on the fork support, the movable end of the telescopic arm is mounted with the manipulator, and the movable end can horizontally and transversely move relative to the fork support so as to enable the manipulator to extend to a position where the manipulator can obtain goods or enable the manipulator to be retracted after the goods are obtained;
the manipulator is used for acquiring goods.
6. The handling device of claim 5, wherein the forks further comprise a pallet;
the pallet is mounted to the fork support, and when the manipulator withdraws after acquiring the goods, the manipulator is used for depositing the acquired goods onto the pallet.
7. The handling device of claim 6, wherein the robot comprises a movable pusher;
the movable push rod can be retracted into the movable end so as to avoid goods in the process of extending the mechanical arm;
the movable push rod may protrude out of the movable end to pull the goods when the robot arm is retracted.
8. The transfer device of claim 7, wherein the pallet is movable in a horizontal lateral direction relative to the fork carriage to travel to a position proximate to the load accessed by the robot or to retract when the load is deposited onto the pallet.
9. The handling device according to claim 7, characterized in that the number of telescopic arms is two;
the movable ends of the two telescopic arms are separated along the horizontal longitudinal direction, and the movable ends of the two telescopic arms can synchronously move along the horizontal transverse direction relative to the fork brackets;
when the manipulator extends to a position where goods can be obtained, the goods are located between the movable ends of the two telescopic arms.
10. The handling device of claim 9, wherein one of said telescopic arms is movable in a horizontal longitudinal direction relative to the other of said telescopic arms such that the distance between the free ends of both of said telescopic arms in the horizontal longitudinal direction is adjustable.
11. A transfer robot characterized by comprising the transfer device according to any one of claims 1 to 10.
12. The transfer robot of claim 11, further comprising a stock device and a chassis;
the goods storage device is used for storing goods taken out by the fork;
the chassis bears the goods storage device and the carrying device, and the chassis is movable.
13. The transfer robot of claim 12, wherein the storage means comprises at least two stages distributed at different heights;
the transfer robot further comprises a lifting driving device;
the lifting driving device is used for driving the carrying device to lift so that the fork can store the taken goods to one of the at least two laminates.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020142100.9U CN211732699U (en) | 2020-01-21 | 2020-01-21 | Carrying device and carrying robot with same |
| EP20872357.7A EP4039618A4 (en) | 2019-09-30 | 2020-09-30 | Cargo taking and placing control method, device, handling device and handling robot |
| PCT/CN2020/119651 WO2021063412A1 (en) | 2019-09-30 | 2020-09-30 | Cargo taking and placing control method, device, handling device and handling robot |
| US17/707,135 US20220219902A1 (en) | 2019-09-30 | 2022-03-29 | Control method for goods retrievement and storage, apparatus, carrying apparatus, and transport robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020142100.9U CN211732699U (en) | 2020-01-21 | 2020-01-21 | Carrying device and carrying robot with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211732699U true CN211732699U (en) | 2020-10-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020142100.9U Active CN211732699U (en) | 2019-09-30 | 2020-01-21 | Carrying device and carrying robot with same |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211732699U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112850228A (en) * | 2021-01-07 | 2021-05-28 | 许昌学院 | Mechanical automation handling device |
| CN113060459A (en) * | 2021-03-15 | 2021-07-02 | 深圳供电局有限公司 | Stacking and carrying device for intelligent storage |
| CN113479822A (en) * | 2021-08-04 | 2021-10-08 | 杭州海康机器人技术有限公司 | Conveying device |
| CN113562371A (en) * | 2021-07-09 | 2021-10-29 | 中国核电工程有限公司 | Liftable rod box temporary storage device |
| TWI843051B (en) * | 2021-01-28 | 2024-05-21 | 大陸商北京極智嘉科技股份有限公司 | Cargo box carrying system, robot and method for carrying cargo box |
-
2020
- 2020-01-21 CN CN202020142100.9U patent/CN211732699U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112850228A (en) * | 2021-01-07 | 2021-05-28 | 许昌学院 | Mechanical automation handling device |
| TWI843051B (en) * | 2021-01-28 | 2024-05-21 | 大陸商北京極智嘉科技股份有限公司 | Cargo box carrying system, robot and method for carrying cargo box |
| CN113060459A (en) * | 2021-03-15 | 2021-07-02 | 深圳供电局有限公司 | Stacking and carrying device for intelligent storage |
| CN113562371A (en) * | 2021-07-09 | 2021-10-29 | 中国核电工程有限公司 | Liftable rod box temporary storage device |
| CN113479822A (en) * | 2021-08-04 | 2021-10-08 | 杭州海康机器人技术有限公司 | Conveying device |
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