CN211732699U - A handling device and a handling robot having the same - Google Patents

Abstract

The utility model relates to the field of warehousing and logistics, in particular to a handling device and a handling robot having the handling device. The handling device comprises a fork and a three-dimensional imaging information acquisition module; the fork is used for taking out goods; the three-dimensional The imaging information acquisition module is installed 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, avoiding the troublesome problem of labeling.

Description

A handling device and a handling robot having the same

【Technical field】

The utility model relates to the field of warehousing and logistics, in particular to a handling device and a handling robot having the handling device.

【Background technique】

Intelligent warehousing is a link in the logistics process. The application of intelligent warehousing ensures the speed and accuracy of data input in all aspects of cargo warehouse management, ensures that enterprises can grasp the real data of inventory in a timely and accurate manner, and reasonably maintain and control enterprise inventory. Through scientific coding, it is also convenient to manage the batch and shelf life of inventory goods. Using the location management function of the SNHGES system, it is possible to grasp the current location of all inventory goods in time, which is conducive to improving the work efficiency of warehouse management.

Handling robots play an important role in intelligent warehousing. Handling robots replace manual handling of goods, but the existing handling robots need to pre-label the containers before taking them out of the shelves, such as QR codes and radio frequency identification. Labels, etc., the handling robot judges the orientation of the container through the label attached to the container, but the process of labeling the container is very cumbersome.

[Content of the invention]

In order to solve the above technical problems, the embodiments of the present invention provide a transport device and a transport robot having the transport device, so as to solve the technical problem of cumbersome labeling.

In order to solve the above-mentioned technical problems, the embodiments of the present invention provide the following technical solutions:

In one aspect, a handling device is provided, comprising: a fork for taking out goods; and a three-dimensional imaging information acquisition module installed on the fork, and the three-dimensional imaging information acquisition module is used for acquiring three-dimensional imaging information of the goods , to determine the location of the goods.

In some embodiments, the handling device further includes a bracket and a rotary drive module; the fork is mounted on the bracket, and the fork is rotatable relative to the bracket in a vertical direction; the The rotary drive module connects the fork and the bracket, and the rotary drive module is used for driving the fork to rotate relative to the bracket in a horizontal plane according to the position information of the goods.

In some embodiments, the handling device further includes a two-dimensional image scanning module; the two-dimensional image scanning module is installed on the fork, and is used to obtain graphic code information to determine the height of the fork.

In some embodiments, the conveying device further includes a router; the router is electrically connected to the three-dimensional imaging information acquisition module and the two-dimensional image scanning module, so as to receive and deliver the three-dimensional imaging information and the Graphic code information.

In some embodiments, the fork includes a fork support, a telescopic 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 of the telescopic arm is mounted on the manipulator. The ends are movable horizontally and laterally relative to the fork support to extend the manipulator to a position where the load can be obtained, or to retract the manipulator after obtaining the load; the manipulator is used to obtain the load.

In some embodiments, the fork further includes a pallet; the pallet is mounted on the fork bracket, and when the robot is retracted after acquiring the goods, the robot is used to store the acquired goods in a the pallet.

In some embodiments, the manipulator includes a movable push rod; the movable push rod can be retracted into the movable end to avoid goods during the extension of the manipulator; the movable push rod can protrude from the movable end end to pull the load when the manipulator is retracted.

In some embodiments, the pallet can be moved horizontally relative to the fork carriage to travel to a position proximate to the cargo captured by the robot, or to retract when the cargo is deposited on the pallet.

In some embodiments, the number of the 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 be synchronously relative to the The fork support moves; when the manipulator is extended to a position where the cargo can be obtained, the cargo is 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 in the horizontal longitudinal direction, so that the distance between the movable ends of the two telescopic arms in the horizontal longitudinal direction is adjustable.

On the other hand, there is provided a transfer robot including the transfer device as described above.

In some embodiments, the handling robot further includes a cargo storage device and a chassis; the cargo storage device is used to store the cargo taken out by the fork; the chassis carries the cargo storage device and the handling device, The chassis is movable.

In some embodiments, the storage device includes at least two layers distributed at different heights; the transport robot further includes a lift drive device; the lift drive device is used to drive the transport device to go up and down, so that all The fork is capable of depositing the retrieved cargo to one of the at least two decks.

Compared with the prior art, in the handling device of the embodiment of the present invention and the handling robot having the handling device, by disposing the 3D imaging information acquisition module on the fork of the handling device, the 3D imaging information acquisition module can Obtain the 3D imaging information of the goods to determine the position of the cargo box, avoiding the cumbersome problem of labeling.

【Description of drawings】

One or more embodiments are exemplified by the accompanying drawings, which are not intended to limit the embodiments, and elements with the same reference numerals in the drawings represent similar elements, unless otherwise specified. It is stated that the figures in the accompanying drawings do not constitute a scale limitation.

1 is a schematic structural diagram of a handling device provided in one embodiment of the present invention;

Fig. 2 is a disassembled schematic diagram of the handling device shown in Fig. 1 , wherein the rotary drive module of the handling device is shown;

FIG. 3 is a schematic structural view of the transport device shown in FIG. 1 from another angle, wherein the router of the transport device is shown;

FIG. 4 is a schematic structural diagram of the fork of the handling device shown in FIG. 1 in a first state, wherein the manipulator of the fork is stretched out and has acquired the goods;

FIG. 5 is a schematic structural diagram of the fork of the handling device shown in FIG. 1 in a second state, wherein the manipulator of the fork acquires and retracts the goods;

6 is a schematic structural diagram of the fork of the handling device shown in FIG. 1 in a third state, wherein the movable push rod of the fork is received in the telescopic arm and extended;

FIG. 7 is a schematic structural diagram of the fork of the handling device shown in FIG. 1 in a fourth state, wherein the manipulator of the fork extends and has acquired the goods, and the pallet of the fork travels toward the goods;

FIG. 8 is a schematic structural diagram of a handling robot according to another embodiment of the present invention.

【Detailed ways】

In order to facilitate understanding of the present invention, the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element, or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The terms "vertical", "horizontal", "left", "right", "inner", "outer" and similar expressions used in this specification are for illustrative purposes only.

Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the technical field of the present invention. The terms used in the description of the present invention are only for the purpose of describing specific embodiments, and are not used to limit the present invention. As used in this specification, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Please refer to FIG. 1 , which is a handling device 100 provided by one of the embodiments of the present invention. The handling device 100 can be applied to warehousing and logistics equipment such as handling robots, shuttle vehicles, and three-dimensional warehouses. The above-mentioned application of the conveying device 100 to a conveying robot is taken as an example for detailed description.

The handling device 100 includes a fork 10 and a three-dimensional imaging information acquisition module 20 . The forks 10 are used to remove goods from the shelves. The three-dimensional imaging information acquisition module 20 is installed on the fork 10, and is used for acquiring the three-dimensional imaging information of the goods to determine the position of the goods on the shelf. The three-dimensional imaging information acquisition module 20 may be a depth camera or a panoramic camera, or a combination of multiple cameras, as long as it can acquire the three-dimensional imaging information of the goods.

Referring to FIG. 2 , in some embodiments, the transport device 100 further includes a bracket 30 and a rotary drive module 40 . The fork 10 is mounted on the bracket 30 , and the fork 10 is rotatable relative to the bracket 30 around the vertical direction z. The rotary drive module 40 is connected to the fork 10 and the bracket 30 , and the rotary drive module 40 is used to drive the fork 10 relative to the bracket 30 in a horizontal plane according to the position information of the goods Rotate, so that the fork 10 can be rotated to an angle where it is easier to take out the goods, which is beneficial to avoid obstacles and align the goods.

The rotary drive module 40 may include a first sprocket mechanism 42 connected to the fork 10 and a rotary drive motor 44 for passing through the first sprocket mechanism 42 drives the fork 10 to rotate relative to the bracket 30 . It can be understood that, according to the actual situation, the first sprocket mechanism 42 can also be replaced with a gear set, or can be directly omitted, and the fork 10 is directly driven to rotate relative to the bracket 30 by the rotary drive motor 44 .

Referring to FIG. 3 , in some embodiments, the shelves are affixed with preset marks, such as two-dimensional codes, barcodes, and the like. The conveying device 100 further includes a two-dimensional image scanning module 50 . The two-dimensional image scanning module 50 is installed on the fork 10 and is used for acquiring preset identification information on the shelf to determine the height of the fork 10 . The two-dimensional image scanning module 50 may be a camera. It can be understood that, according to the actual situation, the two-dimensional image scanning module 50 can be omitted. For example, the fork 10 is always maintained at a height, and the fork 10 does not need to determine its height. For example, the fork 10 It can be raised and lowered, but the height of the lift fork 10 is set by a preset program, and at this time, the fork 10 does not need to determine the height at which it is located. When the three-dimensional imaging information acquisition 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 device 100 further includes a router 60 . The router is installed on the fork 10 and is electrically connected to the 3D imaging information acquisition module 20 and the 2D image scanning module 50 to receive and deliver the 3D imaging information and the graphic code information . It can be understood that, according to the actual situation, the router 60 may be omitted. For example, the three-dimensional imaging information acquisition module 20 and the two-dimensional image scanning module 50 are directly connected to the host through two network cables, respectively.

Please refer to FIG. 4 and FIG. 5 together. In some embodiments, the fork 10 includes a fork bracket 12 , a telescopic arm 14 and a manipulator 16 . The fixed end of the telescopic arm 14 is mounted on the fork bracket 12, the movable end of the telescopic arm 14 is mounted with the manipulator 16, and the movable end can move relative to the fork bracket 12 along the horizontal transverse direction x, In order to make the manipulator 16 extend to a position where it can acquire the goods 101, the manipulator 16 is extended as shown in FIG. 4, or the manipulator 16 is retracted after acquiring the goods 101, and the manipulator 16 is retracted as shown in FIG. 5 shown. The robot arm 16 is used to obtain the goods 101 . It can be understood that, according to the actual situation, the fork 10 is not limited to the above-mentioned form, as long as the fork 10 can take out the goods 101 .

The telescopic arm 14 may include a second sprocket mechanism (not shown) and a telescopic drive motor (not shown), the second sprocket mechanism is connected to the movable end of the telescopic arm 14, and the telescopic drive The motor is used to drive the movable end of the telescopic arm 14 to move relative to the fork bracket 12 through the second sprocket mechanism. It can be understood that, according to the actual situation, the second sprocket mechanism can be replaced with a pulley mechanism, a screw structure, etc., or can be omitted directly, and is directly driven by the movable end of the telescopic arm 14. At this time, the telescopic drive The 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 on the fork bracket 12 . When the robot 16 is retracted after acquiring the goods 101 , the robot 16 is used to store the acquired goods 101 on the pallet 18 . It can be understood that, according to the actual situation, the pallet 18 can be omitted, and the fork 10 can store the goods 101 taken out to a storage point.

Please refer to FIG. 4 , FIG. 5 and FIG. 6 together. In some embodiments, the manipulator 16 includes a movable push rod. The movable push rod can be retracted into the movable end, as shown in FIG. 6 , so as to avoid the goods 101 during the process of extending the manipulator 16 . The movable push rod can protrude from the movable end to pull the cargo 101 when the manipulator 16 is retracted, as shown in FIGS. 4 and 5 . It can be understood that, according to the actual situation, the manipulator 16 is not limited to the above-mentioned form, for example, a gripping device such as a mechanical gripper or a magnetic chuck is used.

The manipulator 16 can move in a rotating manner or move in a moving manner, as long as it can be received in the movable end or protrude from the movable end.

Referring to FIGS. 5 and 7 together, in some embodiments, the pallet 18 is movable relative to the fork bracket 12 in the horizontal transverse direction x to travel to a position close to the cargo 101 captured by the robot 16 . 7, or when the goods 101 are stored on the pallet 18, as shown in FIG. 5, the gap between the pallet 18 and the shelf can be narrowed, and the goods 101 are not easily dropped from the gap.

Referring back to FIG. 4 , in some embodiments, the number of the telescopic arms 14 is two. The movable ends of the two telescopic arms 14 are separated along the horizontal longitudinal direction y, and the movable ends of the two telescopic arms 14 can move synchronously relative to the fork bracket 12 along the horizontal transverse direction x. When the manipulator 16 is extended to a position where the cargo 101 can be acquired, the cargo 101 is located between the movable ends of the two telescopic arms 14, and the two telescopic arms 14 can be more stably held when the manipulator 16 is retracted Transfer goods 101.

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 suit different sizes of goods.

In some embodiments, the fixed ends of the two telescopic arms 14 are movably mounted on the fork bracket 12, and the two telescopic arms 14 can move relative to the fork bracket 12 along the horizontal longitudinal direction y at the same time, And the moving directions of the two telescopic arms 14 are opposite. In some other embodiments, the fixed end of one of the telescopic arms 14 is fixedly mounted on the fork bracket 12 , and the fixed end of the other telescopic arm 14 is movably mounted on the fork bracket 12 . When one of the telescopic arms 14 moves relative to the other telescopic arm 14 in the horizontal longitudinal direction y, one of the telescopic arms 14 is fixed relative to the fork bracket 12 , and the other telescopic arm 14 is horizontally The longitudinal direction y moves relative to the fork support 12 .

Referring to FIG. 8 , another embodiment of the present invention provides a handling robot 200 including the handling device 100 as described above.

In some embodiments, the handling robot 200 further includes a 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 storage device 70 and the transport device 100 , and the chassis 80 is movable.

In some embodiments, the storage device 70 includes at least two decks 72 distributed at different heights. The transport robot 200 further includes a lift drive device (not shown in the figure). The elevating driving device is used to drive the conveying device 100 to elevate, so that the fork 10 can store the taken out goods to one of the at least two decks 72 .

Compared with the prior art, in the handling device provided by the embodiment of the present invention and the handling robot having the handling device, by disposing a three-dimensional imaging information acquisition module on the fork of the handling device, the three-dimensional imaging information acquisition module can Obtain the 3D imaging information of the goods to determine the position of the cargo box, avoiding the cumbersome problem of labeling.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; under the idea of the present invention, the technical features in the above embodiments or different embodiments can also be combined, The steps may be carried out 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 invention has been The skilled person should understand that it is still possible to modify the technical solutions recorded in the foregoing embodiments, or to perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the implementation of the present invention. scope of technical solutions.

Claims (13)

1. a handling device, is characterized in that, comprises: Forks, for taking out cargo; and The three-dimensional imaging information acquisition module is installed on the fork, and the three-dimensional imaging information acquisition module is used for acquiring the three-dimensional imaging information of the goods to determine the position of the goods. 2. The handling device according to claim 1, wherein the handling device further comprises a bracket and a rotary drive module; The fork is mounted on the bracket, and the fork is rotatable relative to the bracket in a vertical direction; The rotary drive module is connected to the fork and the bracket, and the rotary drive module is used to drive the fork to rotate relative to the bracket in a horizontal plane according to the position information of the goods. 3. The handling device according to claim 1, wherein the handling device further comprises a two-dimensional image scanning module; The two-dimensional image scanning module is installed on the fork, and is used for acquiring graphic code information to determine the height of the fork. 4. The conveying device according to claim 3, characterized in that, the conveying device further comprises a router; The router is electrically connected to the three-dimensional imaging information acquisition module and the two-dimensional image scanning module, so as to receive and deliver the three-dimensional imaging information and the graphic code information. 5. The handling device according to any one of claims 1 to 4, wherein the fork comprises a fork bracket, a telescopic arm and a manipulator; The fixed end of the telescopic arm is installed on the fork bracket, the movable end of the telescopic arm is installed with the manipulator, and the movable end can move relative to the fork bracket in the horizontal direction, so that the manipulator can extend. out to a position where the goods can be obtained, or the manipulator can be retracted after the goods have been obtained; The manipulator is used to acquire goods. 6. The handling device according to claim 5, wherein the fork further comprises a pallet; The pallet is mounted on the fork bracket, and when the manipulator retracts after acquiring the goods, the manipulator is used to store the acquired goods to the pallet. 7. The handling device according to claim 6, wherein the manipulator comprises a movable push rod; The movable push rod can be received in the movable end, so as to avoid the goods in the process of extending the manipulator; The movable push rod can protrude from the movable end to pull the goods when the manipulator is retracted. 8. The handling device according to claim 7, wherein the pallet is movable relative to the fork support in a horizontal transverse direction to travel to a position close to the goods acquired by the robot, or in Returned when goods are stored on pallets. 9. The handling device according to claim 7, wherein the number of the 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 move synchronously relative to the fork bracket along the horizontal transverse direction; When the manipulator is extended to a position where the goods can be acquired, the goods are located between the movable ends of the two telescopic arms. 10 . The transport device according to claim 9 , wherein one of the telescopic arms is movable relative to the other telescopic arm in a horizontal longitudinal direction, so that the movable ends of the two telescopic arms can be moved in a horizontal longitudinal direction. 11 . The distance can be adjusted. 11. A transport robot, comprising the transport device according to any one of claims 1 to 10. 12. The handling robot according to claim 11, wherein the handling robot further comprises a storage device and a chassis; the storage device is used for storing the goods taken out by the fork; The chassis carries the storage device and the handling device, and the chassis is movable. 13. The handling robot according to claim 12, wherein the storage device comprises at least two decks distributed at different heights; The handling robot also includes a lift drive device; The elevating driving device is used to drive the conveying device to elevate, so that the fork can store the taken out goods to one of the at least two decks.

Images