CN212244828U - Transfer robot and warehouse logistics system - Google Patents

Abstract

The utility model belongs to the technical field of the storage commodity circulation, a transfer robot and storage commodity circulation system is specifically disclosed. Wherein, transfer robot includes: moving the chassis; the stand is vertically arranged on the movable chassis; and at least two box taking mechanisms are arranged along the height direction of the vertical frame, and each box taking mechanism can horizontally stretch and vertically lift relative to the movable chassis so as to pick up a container on an inventory container or place the container on the inventory container. The warehouse logistics system comprises the warehouse logistics system. The utility model discloses a transfer robot and storage logistics system can improve and select and logistics efficiency.

Description

Transfer robot and warehouse logistics system

Technical Field

The utility model relates to a storage logistics field especially relates to a transfer robot and storage logistics system.

Background

The rapid development of electronic commerce brings unprecedented development opportunities to the warehouse logistics industry, also provides a serious challenge to warehouse logistics services, and the difficult problem of how to carry out package sorting flexibly and accurately with high efficiency and low cost is always faced by the warehouse logistics industry. With the continuous development of the robot technology, a robot is adopted to transport a target inventory container storing goods to be taken and placed to a manual station, and then the manual station takes out the products on the inventory container and puts the products into an order box. However, in the traditional sorting mode from inventory containers to people, the robot is required to transport the whole inventory containers to a goods sorting area, so that the load of the robot for transporting is increased, and great resource waste is caused.

Fig. 1 provides a robot for handling containers according to the prior art, as shown in fig. 1, which includes a driving unit 100, a container storage unit 200, and a container transfer unit 300, wherein the driving unit 100 carries a container storage unit 200 and a container transport unit 300 for common movement, the container storage unit 200 includes one or more container storage spaces, and the container transfer unit 300 is configured to transfer a container 400 between the container storage space and an inventory container. The container conveying unit 300 includes a frame 310 for placing a container, a lifting device 320 for lifting the container 400, a telescopic fork 330 for extending and retracting the container 400, and a rotating device 340 for rotating the container 400.

However, in the container conveying unit in the prior art, the lifting device 320 and the telescopic fork 330 are required to be matched with the rotating device 340 to smoothly convey the containers 400 from the inventory containers to the container storage unit 200, so the structure of the container conveying unit 300 is complex; in the process of picking and placing the containers, one container 400 can be picked and placed at a time, the picking and placing efficiency of the containers 400 is low, and therefore picking and logistics efficiency is difficult to effectively improve.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a transfer robot improves transfer robot and gets to get of packing box and put efficiency, improves to select and logistics efficiency.

Yet another object of the present invention is to provide a warehouse logistics system, which improves the efficiency of the warehouse logistics system.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a transfer robot comprising:

moving the chassis;

the stand is vertically arranged on the movable chassis;

and at least two box taking mechanisms are arranged along the height direction of the vertical frame, and each box taking mechanism can horizontally stretch and vertically lift relative to the movable chassis so as to pick up a container on an inventory container or place the container on the inventory container.

As an optional technical scheme of the transfer robot, a temporary storage position for temporarily storing the container is arranged on the container taking mechanism.

As an optional technical solution of the transfer robot, the box taking mechanism includes:

a temporary storage plate on which the temporary storage bit is formed;

a deflector assembly configured for deflecting the cargo box to move the cargo box between the staging board and the inventory receptacle;

and the telescopic assembly is connected with the temporary storage plate and the shifting lever assembly and is configured to drive the shifting lever assembly to horizontally extend and retract relative to the temporary storage plate.

As an optional technical scheme of the transfer robot, the telescopic assembly is of a two-stage synchronous telescopic structure or a three-stage synchronous telescopic structure.

As an optional technical scheme of a transfer robot, the relative both sides of temporary storage board all are provided with flexible subassembly, just the temporary storage board corresponds the both sides of flexible subassembly all are provided with the baffle, the baffle is located flexible subassembly's inboard, two form between the baffle temporary storage position.

As an optional technical solution of the transfer robot, the baffle includes a baffle main body extending along the telescopic direction of the telescopic assembly and a guide plate portion disposed at an end of the baffle main body, one end of the guide plate portion is connected to the baffle main body, and the other end of the guide plate portion extends obliquely along a direction away from the baffle main body toward a direction close to the telescopic assembly on the corresponding side; and/or

The board of keeping in includes that the level sets up keeps in the board body and sets up the guide part of the board entrance point of keeping in, the one end and the board body coupling of keeping in of guide part, the other end of guide part is along keeping away from the direction slope downwardly extending of the board body of keeping in.

As an alternative solution of the transfer robot, the box taking mechanism can be extended and retracted in two directions to respectively pick up the containers in the inventory containers on two opposite sides of the transfer robot.

A warehouse logistics system comprising a transfer robot as described above.

The beneficial effects of the utility model reside in that:

the utility model provides a transfer robot, through set up two at least case mechanisms of getting in the direction of height of grudging post, can make the case mechanism of getting on the co-altitude pick up the packing box on the different layers on the stock container simultaneously, or can make the packing box that the case mechanism of getting on the co-altitude carried place on the different layers of stock container, improve transfer robot and get the efficiency of putting the packing box to improving transfer robot to the packing box select and handling efficiency, and then improve the goods and select and store up logistics efficiency.

The utility model provides a storage logistics system gets the packing box through adopting above-mentioned transfer robot to put, improves storage logistics system.

Drawings

Fig. 1 is a schematic view of a robot for handling containers provided in the prior art;

fig. 2 is a schematic structural view of a transfer robot according to a first embodiment of the present invention;

fig. 3 is a schematic structural diagram of a box taking mechanism according to a first embodiment of the present invention;

FIG. 4 is a schematic view of the structure of FIG. 3 with the protective housing removed;

fig. 5 is a schematic structural diagram of a box taking mechanism provided in the second embodiment of the present invention;

fig. 6 is a schematic structural view of the box taking mechanism according to the second embodiment of the present invention after the temporary storage plate is removed;

fig. 7 is a flowchart of a box taking method according to a third embodiment of the present invention;

fig. 8 is a flowchart of a box taking method according to a fourth embodiment of the present invention;

fig. 9 is a flowchart of a cargo loading method for a cargo box according to a fifth embodiment of the present invention.

Wherein, the prior art corresponds to the reference numbers in figure 1:

100-a drive unit; 200-a container storage unit; 220-a pallet; 300-a container transfer unit; 310-a frame; 320-a lifting device; 330-telescoping tines; 340-a rotation device; 400-a cargo box;

the reference numbers in figures 2-6 correspond to the detailed description:

10-a box taking mechanism; 20-erecting a frame; 201-support column; 202-a reinforcing beam; 30-moving the chassis; 40-a cargo box;

1-temporary storage plate; 11-temporary storage plate body; 12-a guide;

2-a telescoping assembly; 21-fixing the plate; 22-a connecting plate; 23-a retractable plate; 24-an extension plate; 25-a telescopic transmission assembly; 251-a first pulley; 252-a first synchronization belt; 253-a second pulley; 254-a second synchronous belt; 255-a third pulley; 256-a third synchronous belt; 257 — a drive rack; 26-a telescopic drive assembly; 27-a synchronous drive assembly; 271-a transmission shaft; 272-a fourth pulley; 273-fifth pulley; 274-a fourth synchronous belt; 28-a telescoping guiding assembly; 281-a first channel; 282-a second guide groove; 283-a first guide rail; 284-a second guide rail;

3-a deflector rod assembly; 31-a deflector rod; 32-a toggle driving member;

4-a baffle plate; 41-baffle body; 42-a guide plate portion;

5-a first protective shell; 6-a second protective shell; 7-first connecting member.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

Example one

Fig. 2 is the utility model provides a transfer robot's schematic structure diagram, as shown in fig. 2, this embodiment provides a transfer robot for the realization is to the transport of packing box 40 with get and put, and it is mainly applied to storage logistics industry, gets to deposit packing box 40 that has order goods or express delivery and puts and the transportation, in order to realize getting goods or getting the goods operation based on the order. The present invention can also be applied to other places where the container 40 or the goods need to be transported, and the application to the transport robot in the present embodiment is merely an example, and the present embodiment is not particularly limited thereto.

As shown in fig. 2, the transfer robot according to the present embodiment includes a moving chassis 30, an upright 20, a box taking mechanism 10, a detection unit, and a controller. Wherein the mobile chassis 30 is used for realizing the movement of the transfer robot on the ground so as to realize the transportation of the cargo box 40 by the transfer robot; the stand 20 is arranged on the movable chassis 30 and used for fixing and supporting the box taking mechanism 10; at least two box taking mechanisms 10 are arranged along the height direction of the vertical frame 20, and each set of box taking mechanism 10 can horizontally stretch and vertically lift relative to the movable chassis 30 so as to pick up the containers 40 on the inventory container or place the containers 40 on the inventory container; the detection assembly is used for detecting the working state and the external environment state of the transfer robot; the controller is used for acquiring order information of warehouse logistics and intelligently regulating and controlling the operation of the transfer robot based on the order information and the detection result of the detection assembly.

The transfer robot provided by the embodiment can enable the box taking mechanisms 10 at different heights to simultaneously pick up the containers 40 on different layers of the inventory container or can place the containers 40 carried by the box taking mechanisms 10 at different heights on different layers of the inventory container by arranging at least two box taking mechanisms 10 in the height direction of the vertical frame 20, so that the picking and placing efficiency of the transfer robot on the containers 40 is improved, the picking and carrying efficiency of the transfer robot on the containers 40 is improved, and the goods picking and warehousing logistics efficiency is improved.

Specifically, the moving chassis 30 includes a chassis body and a driving wheel mechanism disposed at the bottom of the chassis body, and the driving wheel mechanism is used for realizing the movement of the moving chassis 30. The driving wheel mechanism can adopt a differential driving mode and specifically comprises a driving wheel motor, two driving wheels arranged at the bottom of the chassis body, a connecting assembly for connecting the driving wheel motor and the two driving wheels and the like. The two driving wheels are respectively arranged on two sides of the chassis body, the driving wheel motor is arranged in the chassis body, and the rotating output shaft of the driving wheel motor is connected with the driving wheels and drives the driving wheels to move, so that the straight line or turning motion of the movable chassis 30 is realized.

In the embodiment, the driving wheel mechanisms are arranged on two sides of the middle part of the moving chassis 30, which is beneficial to improving the motion stability of the moving chassis 30. A plurality of universal driven wheels can be further arranged on the chassis body, if a pair of universal driven wheels can be respectively arranged at the front part and the rear part of the chassis body, and two pairs of universal driven wheels are symmetrically arranged relative to a pair of driving wheels, so that the stable motion of the movable chassis 30 is favorably improved, particularly the turning motion stability of the movable chassis 30 is favorably improved, and the movable chassis 30 is prevented from toppling to one side in the motion process.

The driving wheel mechanism can also adopt other mechanisms capable of driving the chassis body to move, the embodiment does not limit the specific form of the driving wheel mechanism, and does not limit the specific structure of the movable chassis 30, so long as the structure capable of driving the stand 20 to move can be realized, such as the existing robot structure and the like.

The stand 20 includes two vertical support columns 201 that set up and relative interval, gets punch-out equipment and constructs 10 and set up between support column 201 and pass through elevating system with two support columns 201 and be connected to make it to get punch-out equipment and construct 10 and can go up and down relatively stand 201 vertically, be formed with the activity space that supplies packing box 40 and get punch-out equipment and construct 10 vertical lift between two support columns 201.

In this embodiment, the vertical frame 20 is not provided with a temporary storage partition, the box taking mechanism 10 is provided with a temporary storage position for temporarily storing the containers 40, the containers 40 are picked up by the box taking mechanism 10 and then kept on the box taking mechanism 10, so that the box taking mechanism 10 can drive the containers 40 to vertically lift, the containers 40 can be lowered to a height suitable for picking by picking workers in the picking process, the work efficiency is improved, the handling robot can be better suitable for picking and placing the containers 40 on stock containers with a higher number of layers, the picking efficiency of the containers 40 and the applicability of the handling robot are improved, and great convenience is provided for the picking operation of the picking workers; meanwhile, each box taking mechanism 10 can vertically lift, so that the distance between two adjacent containers 40 can be increased when the goods are picked, the picking space is increased, and the operation is convenient; moreover, because the temporary storage partition plate is not arranged on the vertical frame 20, the structural interference between the temporary storage partition plate and the operation process of the carton taking mechanism 10 can be avoided, the convenience of the carton taking mechanism 10 in setting is improved, the overall structure of the transfer robot is simplified, and the control complexity of the carton taking mechanism 10 is simplified.

In one embodiment, each support column 201 includes a vertically disposed support riser and vertically disposed support pillars located on two opposite sides of the support riser, the support risers of two support columns 201 are disposed in parallel and spaced apart, the two support pillars are located on the inner side of the support riser, and the two support pillars and the support riser form a U-shaped structure with an opening facing the other support column 201. This kind of setting can protect for the structure that sets up in the U type groove of U type structure.

Further, the supporting vertical plates are in a plate-shaped state, the supporting upright columns are formed by processing square steel, the overall structural strength of the upright frame 20 is improved, and the box taking mechanism 10 is conveniently connected with the supporting upright columns. In one embodiment, to improve the structural strength of the stand 20, reinforcing bars are connected between two adjacent support columns. Optionally, the top ends of the two supporting columns 201 are provided with the reinforcing beam 202, so that the problem that the tail end of the supporting column 201 shakes when the height is high is solved.

The stand 20 that this embodiment provided overall structure is simple, and processing is convenient. In other embodiments, two or more supporting columns 201 may be disposed at intervals on each side of the box taking mechanism 10 along the telescopic direction of the box taking mechanism 10, and the structure of the standing frame 20 is not limited in this embodiment.

Fig. 3 is a schematic structural view of a container taking mechanism 10 according to a first embodiment of the present invention, fig. 4 is a schematic structural view of the structure in fig. 3 after a protective casing is removed, as shown in fig. 3 and 4, each set of container taking mechanism 10 includes a temporary storage plate 1, a telescopic assembly 2 and a shift lever assembly 3, and the temporary storage plate 1 is used for temporarily storing a container 40 picked up by the container taking mechanism 10; the deflector rod assembly 3 is used for deflecting the container 40 so that the container 40 moves between the temporary storage plate 1 and the inventory container; the telescopic component 2 is connected with the temporary storage plate 1 and the deflector rod component 3 and is used for driving the deflector rod component 3 to horizontally extend and retract relative to the temporary storage plate 1.

Through setting up temporary storage board 1, can make packing box 40 buffer memory on temporary storage board 1, avoid driving lever subassembly 3 or flexible subassembly 2 to support packing box 40 all the time or carry at transfer robot transport packing box 40 in-process, improve the life of getting punch-out equipment and constructing 10, and improve the stability of setting of packing box 40 on getting punch-out equipment and constructing 10.

In other embodiments, the temporary storage plate 1 and the shift lever assembly 3 may not be provided, but the container 40 may be clamped and picked up by providing the pair of clamping arms on the telescopic assembly 2, and the clamping arms may always support the container 40 during the transportation process of the container 40 by the transfer robot. For the clamping process of the container 40 by the clipping arm and the specific structure of the clipping arm, refer to the patent CN209536130U, which is not described herein again.

The relative both sides of temporary storage board 1 all set up a set of flexible subassembly 2, and in this embodiment, flexible subassembly 2 is the synchronous extending structure of second grade, is favorable to when increasing the maximum length that flexible subassembly 2 stretches out, size when reducing flexible subassembly 2 and retracting to reduce transfer robot's overall dimension, improve stretching out or retracting efficiency of driving lever subassembly 3. Specifically, the telescopic assembly 2 includes a fixed plate 21, a connecting plate 22 and a telescopic plate 23 arranged in parallel, and a telescopic transmission assembly 25 and a telescopic driving assembly 26 for driving the connecting plate 22 and the telescopic plate 23 to synchronously extend and retract, wherein the fixed plate 21 is vertically connected with the temporary storage plate 1.

The telescopic transmission assembly 25 comprises a first telescopic transmission assembly and a second telescopic transmission assembly, wherein the first telescopic transmission assembly is used for realizing horizontal extension and contraction of the connecting plate 22 relative to the fixing plate 21, and the second telescopic transmission assembly is used for realizing horizontal extension and contraction of the telescopic plate 23 relative to the connecting plate 22.

As shown in fig. 4, the first telescopic driving assembly includes two first pulleys 251 disposed at both ends of the fixed plate 21 and a first timing belt 252 wound between the two first pulleys 251. The central axes of the two first belt wheels 251 are located at the same height, and one of the first belt wheels 251 is connected with the output shaft of the driving motor in the telescopic driving assembly 26, and the output shaft of the driving motor rotates to drive the first belt wheel 251 to rotate, so as to drive the first synchronous belt 252 to rotate.

The connecting plate 22 is located below the first synchronous belt 252, a driving rack 257 is arranged along the length direction of the upper side edge of the connecting plate 22, the first synchronous belt 252 is a double-sided synchronous belt, and external teeth of the double-sided synchronous belt are meshed with the driving rack 257, so that the connecting plate 22 driven by the first synchronous belt 252 horizontally stretches.

The second telescopic transmission assembly comprises a second synchronous belt 254 and a second belt wheel 253, the second belt wheel 253 is pivoted at the second end of the connecting plate 22 and penetrates through the two opposite sides of the connecting plate 22, the rotating shaft of the second belt wheel 253 is vertically arranged, one end of the second synchronous belt 254 is fixedly connected to the first end of the telescopic plate 23, and the other end of the second synchronous belt 254 bypasses the second belt wheel 253 and penetrates through the connecting plate 22 to be fixedly connected to the vicinity of the first end of the fixing plate 21. When the telescopic assembly 2 is in the retracted state, the first end of the connecting plate 22, the first end of the telescopic plate 23 and the first end of the fixing plate 21 are disposed opposite to each other, and the first ends of the connecting plate 22, the telescopic plate 23 and the fixing plate 21 are located at the lower side, taking the direction shown in fig. 5 as an example.

When the connecting plate 22 retracts relative to the fixing plate 21, the second synchronous belt 254 bypasses the second belt pulley 253 arranged on the connecting plate 22, the length of the second synchronous belt 254 is fixed, and when the second belt pulley 253 moves in a translation mode along with the connecting plate 22, the second belt pulley 253 rotates relative to the second synchronous belt 254, so that the length of the second synchronous belt 254 located on one side, facing the fixing plate 21, of the connecting plate 22 is increased, the length of the second synchronous belt 254 located on one side, facing the expansion plate 23, of the connecting plate 22 is reduced, and the expansion plate 23 is pulled to retract relative to the connecting plate 22. Similarly, when the connecting plate 22 extends relative to the fixing plate 21, the second timing belt 254 and the second pulley 253 drive the expansion plate 23 to extend relative to the connecting plate 22. Therefore, when the telescopic driving assembly 26 drives the first telescopic transmission assembly to perform telescopic motion, the telescopic plate 23 is synchronously driven to be telescopic relative to the connecting plate 22, that is, two-stage synchronous telescopic adjustment of the telescopic adjustment assembly is realized.

Further, the telescopic transmission assembly further comprises a third telescopic transmission assembly, the third telescopic transmission assembly comprises a third synchronous belt 256 and a third belt wheel 255, the third belt wheel 255 is pivoted to the first end of the connecting plate 22 and penetrates through two opposite sides of the connecting plate 22, and a rotating shaft of the third belt wheel 255 is vertically arranged. One end of the third timing belt 256 is fixed to the second end of the fixing plate 21, and the other end of the third timing belt 256 is wound around the third pulley 255 and passes through the connecting plate 22 to be fixedly coupled to the second end of the expansion plate 23. The working principle of the third telescopic transmission assembly can refer to the action principle of the second telescopic transmission assembly, and the details are not repeated here.

In this embodiment, in order to improve the smoothness of the telescopic motion of the telescopic assembly 2, the telescopic assembly 2 further comprises a telescopic guide assembly 28, the telescopic guide assembly 28 comprises a first guide slot 281 arranged inside the fixing plate 21, a second guide slot 282 arranged inside the connecting plate 22, a first guide rail 282 arranged outside the connecting plate 22 and a second guide rail 284 arranged outside the telescopic plate 23, the first guide rail 283 is slidably connected with the first guide slot 281, and the second guide rail 284 is slidably connected with the second guide slot 282. However, the structure of the telescopic guide assembly 28 in the present embodiment is not limited thereto, and any structure may be used as long as the telescopic guide of the connecting plate 22 with respect to the fixed plate 21 and the telescopic guide of the telescopic plate 23 with respect to the connecting plate 22 can be achieved, which will not be described in detail in the present embodiment.

In this embodiment, to improve the telescopic synchronization of the two sets of telescopic assemblies 2 on the opposite sides of the temporary storage board 1, the two sets of telescopic assemblies 2 share one telescopic driving assembly 26, and two corresponding first pulleys 251 in the two sets of telescopic assemblies 2 are connected through the synchronous transmission assembly 27. Specifically, the synchronous transmission assembly 27 includes a fourth pulley 272 coaxially connected to the first pulley 251, a transmission shaft 271 disposed between the two telescopic assemblies 2, a fifth pulley 273 disposed at two ends of the transmission shaft 271, and a fourth synchronous belt 274 wound around the fourth pulley 272 and the fifth pulley 273 on the corresponding sides. In other embodiments, the synchronous rotation between the two first pulleys 251 can be realized by other transmission structures, such as a sprocket and chain structure, and will not be described in detail herein.

The telescopic assembly 2 provided by the embodiment can realize the bidirectional extension of the telescopic plate 23 by controlling the positive and negative rotation of the driving motor so as to take and place the container 40 on the inventory containers on the two opposite sides of the carrying robot, and adopt the transmission form of the synchronous belt, and has the advantages of simple structure, convenient setting and lower cost. However, it can be understood that the structure of the telescopic assembly 2 provided in this embodiment is only an exemplary structure, the telescopic assembly 2 is not limited to the above structure, the telescopic assembly 2 can also adopt the existing structure capable of realizing two-stage synchronous telescoping, for example, the first telescopic transmission assembly can be a rack and pinion transmission, a chain and sprocket transmission, etc., or the telescopic assembly can also adopt the existing structure capable of realizing two-stage stepwise telescoping, the utility model discloses do not do detail to this.

For protecting the box taking mechanism 10, the upper side of the fixing plate 21 is provided with a first protection shell 5, a first accommodating space is formed between the first protection shell 5 and the fixing plate 21, and the first telescopic transmission assembly is located in the first accommodating space and used for protecting the first telescopic transmission assembly. Further, the outer sides of the two ends of the fixing plate 21 are provided with second protective cases 6, a second accommodating space is formed between the second protective cases 6 and the outer side surface of the fixing plate 21, the telescopic transmission assembly 25 is located in one of the second accommodating spaces at one end, and the fourth synchronous belt 274, the fourth pulley 272 and the fifth pulley 273 are located in the second accommodating space at the other end.

Temporary storage plate 1 surrounds the position of keeping in that forms and is used for holding packing box 40 with the fixed plate 21 that is located its relative both sides, for the in-process that avoids packing box 40 to get into temporary storage position interferes with telescopic component 2 mutually, optionally, temporary storage plate 1 corresponds telescopic component 2's relative both sides and is provided with baffle 4, and baffle 4 is located telescopic component 2's inboard and extends along telescopic component 2's flexible direction. The spacing between the flaps 4 is slightly greater than the width of the container 40 so that the container 40 can be received between the flaps 4 while the flaps 4 prevent the container 40 from colliding with the telescopic assembly 2.

Further, baffle 4 includes baffle main part 41 and sets up the guide plate portion 42 at baffle main part 41 both ends, and the one end and the baffle 4 of guide plate portion 42 are connected, and the other end extends to the direction slope that is close to fixed plate 21 along the direction of keeping away from baffle main part 41 to it is the structure of flaring outward to make to be located between two baffle main parts 41 of temporary storage board 1 with the one end, leads for packing box 40 gets into the temporary storage position.

Furthermore, the inlet of the two ends of the temporary storage board 1 is provided with a guide portion 12, one end of the guide portion 12 is connected with the temporary storage board main body 11, and the other end of the guide portion 12 extends downwards along the direction far away from the temporary storage board 1 main body, so as to further guide the container 40 to be transferred to the temporary storage board 1.

The deflector rod assembly 3 is arranged at the end of the expansion plate 23 and comprises a deflector rod 31 and a deflector rod driving piece 32, the fixed end of the deflector rod driving piece 32 is fixed with the expansion plate 23, and the driving end of the deflector rod driving piece 32 is connected with the deflector rod 31 so as to drive the deflector rod 31 to switch between a working position capable of shifting the container 40 and an idle position incapable of shifting the container 40. Optionally, the shift lever driving member 32 is a driving motor, an output shaft of the driving motor is consistent with a length direction of the expansion plate 23, and the output shaft of the driving motor is connected to one end of the shift lever 31 to drive the shift lever 31 to rotate in a vertical plane.

Further, when the shift lever 31 is in the working position, one end of the shift lever 31 extends between the two expansion plates 23, the shift lever 31 is perpendicular to the expansion plates 23, and when the shift lever 31 is in the idle position, the shift lever 31 is vertically arranged to avoid collision with other structures when the shift lever 31 is not in operation. However, the present invention is not limited to this, and the working position and the limiting position of the shift lever 31 may be set as required. And the shift lever 31 can rotate not only in a vertical plane but also in a horizontal plane to realize the switching between the working position and the idle position.

In this embodiment, the driving lever driving member 32 is a steering engine, which can realize the precise control of the rotation angle of the driving lever 32 through the feedback mechanism and the angle setting of the steering engine, and has a small volume, thereby being beneficial to the installation and setting of the driving lever driving assembly 34. In other embodiments, the driving motor may also be a servo motor or other driving forms capable of controlling the rotation angle.

Both ends of expansion plate 23 along its length direction all are provided with driving lever assembly 3, and when packing box 40 was located temporary storage board 1, two sets of driving lever assembly 3 on the same expansion plate 23 were located the relative both sides of packing box 40 respectively to realize better that packing box 40 moved between temporary storage position and stock container, simultaneously, can realize the transport to packing box 40 on the stock container of transfer robot relative both sides.

As an example of the orientation shown in fig. 3, the deflector rod assembly 3 on the left side is referred to as a first deflector rod assembly, and the deflector rod assembly 3 on the right side is referred to as a second deflector rod assembly, and there are several cases of taking and placing the cargo box 40:

when the container 40 on the left side of the transfer robot needs to be picked up, the retractable assembly 2 controls the retractable plates 23 to extend leftwards to two opposite sides of the container 40, the deflector rod driving piece 32 of the first deflector rod assembly controls the deflector rod 31 to rotate to the working position from the idle position, the retractable assembly 2 drives the deflector rod 31 to retract rightwards, meanwhile, the deflector rod 31 contacts with one side of the container 40 and drives the container 40 to move to the temporary storage plate 1, and when the retractable plates 23 retract to the initial position, the deflector rod driving piece 32 of the first deflector rod assembly controls the deflector rod 31 to return to the idle position from the working position.

When the container 40 needs to be transferred from the temporary storage plate 1 to the inventory container on the left side of the transfer robot, the deflector rod driving piece 32 of the second deflector rod assembly controls the deflector rod 31 to rotate from the idle position to the working position, and the telescopic assembly 2 controls the telescopic plate 23 to extend out, so that the deflector rod 31 of the second deflector rod assembly drives the container 40 to move to the inventory container; when the retractable plate 23 has the maximum extension length, the lever driving member 32 of the second lever assembly controls the lever 31 to rotate from the working position to the idle position, and the retractable assembly 2 controls the retractable plate 23 to retract to the initial position.

When a target container 40 on the right side of the transfer robot needs to be picked up, a second deflector rod assembly is adopted to deflect the container 40 on the inventory container to the temporary storage plate 1; when the container 40 on the temporary storage plate 1 needs to be transferred to the inventory container on the right side of the transfer robot, the first shift lever assembly is adopted to shift the container 40 on the temporary storage plate 1 to the inventory container, and the description is omitted.

In the present embodiment, each shift lever 31 is correspondingly provided with a shift lever driving member 32, so as to realize independent control of each shift lever driving member 32 on the shift lever 31, and in other embodiments, the shift levers 31 located at two ends of the same telescopic plate 23 can be driven by the same shift lever driving member 32. In the present embodiment, one driving lever 31 is disposed at one end of each expansion plate 23, and in other embodiments, two or more driving levers 31 may be disposed at intervals along the height direction of the end of each expansion plate 23.

In order to realize the vertical lifting of the box taking mechanism 10 on the vertical frame 20, each set of box taking mechanism 10 is correspondingly provided with a lifting mechanism. The utility model discloses in, lifting unit can be but not limited to rack and pinion transmission, sprocket chain drive, synchronous belt drive, screw nut transmission, connecting rod drive and friction roller transmission etc. and above-mentioned transmission form is comparatively conventional lift transmission form among the prior art, the utility model discloses do not specifically restrict lifting unit's concrete transmission form and structure, refer to in the prior art arbitrary can realize driving lever subassembly 3 and temporarily save plate 1's elevating unit's elevating system's structure can.

In this embodiment, two opposite sides of the temporary storage board 1 are respectively provided with a lifting mechanism to improve the lifting stability of the temporary storage board 1. The two lifting mechanisms of the same box taking mechanism 10 may be driven synchronously by the same lifting driving unit, or may be driven separately by two lifting driving units, which is not limited in this embodiment.

In this embodiment, the transfer robot is further provided with a control system for controlling the operation of each action of the transfer robot. The control system comprises a controller, an order management module, a navigation module, an information transmission module, an information processing module, an identification module, a display module, an alarm module, a power supply module and the like. The driving wheel mechanism, the lifting driving unit, the telescopic driving assembly 26, the driving rod driving piece 32, the detection assembly and various modules in the control system are all connected with the controller.

The navigation module is used for realizing the autonomous navigation function of the mobile chassis 30, so that the transfer robot can plan the optimal path according to the position of the container 40 and automatically navigate to the front of the inventory container where the container 40 is located according to the optimal planned path. The navigation mode of the mobile chassis 30 may be two-dimensional code, barcode and radar SLAM navigation, and may also be a method of guiding the mobile chassis 30 to move to a target position by a conventional electric or magnetic guidance mode.

The information transmission module comprises a wireless communication module for realizing the communication between the transfer robot and the outside and a wired communication module for realizing the internal communication of the transfer robot. The wireless communication module is mainly used for carrying out wireless communication with an order management center in the warehouse logistics system to receive order information so as to realize the dispatching of the order management center on the transfer robot. The wired communication module is mainly used for internal communication between the controller and the mobile chassis 30, the lifting driving unit, the telescopic assembly 2 and the deflector rod assembly 3, so as to control the mobile chassis 30 to move to a specific position, the deflector rod assembly 3 to be lifted or lowered to a specific position, the deflector rod assembly 3 to be extended or retracted, or the deflector rod to be rotated to a specific angle, thereby realizing accurate acquisition and placement of the container 40 by the container taking mechanism 10.

The order management module is used for receiving information sent to the transfer robot by the order processing center, and updating completed orders and unfinished orders in time according to the transfer motion of the transfer robot, so that the system can conveniently monitor the completion condition of the orders in real time. The identification module is used for identifying external information and converting the external information into an information form which can be processed by the controller, such as identifying bar code information attached to the bottom surface for realizing path navigation of the mobile chassis 30, identifying label code information attached to the inventory container to acquire the placement condition of the cargo box 40 on the inventory container, or identifying label code information on the cargo box 40 to acquire information of the cargo in the cargo box 40, wherein the label code information can be a two-dimensional code, a bar code or an RFID radio frequency code and the like. The power module is used for controlling power of the mobile chassis 30 and comprises a rechargeable battery, a charging port and a power on-off circuit which are arranged on the mobile chassis 30, and the power module can be a wired charging module or a wireless charging module. The display module is used for displaying the running state of the transfer robot, such as displaying the power condition of the transfer robot through setting a state indicator lamp, displaying the order processing condition through setting a display screen, and the like. The alarm module is used for alarming the abnormal operation state of the transfer robot so as to facilitate workers to find out faults in time, and the alarm module can be a combination of one or more of a buzzer, a voice broadcast device, an LED display device and the like.

The detection assembly comprises an environment monitoring module for shooting external environment information and an obstacle avoidance sensor for detecting obstacles, the environment detection module and the obstacle avoidance sensor are connected with the controller and used for assisting the mobile chassis 30 to navigate and avoid obstacles, and smooth walking of the transfer robot is realized.

The detection assembly also comprises a first detection sensor which is arranged in the middle of the inlet end of the temporary storage plate 1 and is used for detecting and identifying label information on the inventory container; second detection sensors disposed on both sides of the temporary storage plate 1 for recognizing label information on the packing box 40; and a third detection sensor arranged on the expansion plate 23 and used for detecting whether the container 40 exists at the position of the container 40. The first detection sensor and the second detection sensor may be RFID tag card readers or two-dimensional code card readers, and the third detection sensor may be a correlation photoelectric sensor. The first detection sensor, the second detection sensor and the third detection sensor are conventional in the art, and the description of this embodiment is omitted.

Example two

Compared with the first embodiment, the transfer robot provided in this embodiment also includes a moving chassis 30, a vertical frame 20 disposed on the moving chassis 30, at least two box taking mechanisms 10 disposed along the height direction of the vertical frame 20, and a lifting mechanism for driving the box taking mechanisms 10 to vertically lift relative to the vertical frame 20, where each box taking mechanism 10 includes a telescopic assembly 2, a temporary storage plate 1, and a lever assembly 3. The difference is that the structure of the retractable assembly 2 provided in this embodiment is different from that of the first embodiment, and the present embodiment only details the structure of the retractable assembly 2, and the description of the structure same as that of the first embodiment is omitted.

Fig. 5 is a schematic structural diagram of the container taking mechanism 10 provided by the embodiment of the present invention, and fig. 6 is a schematic structural diagram of the container taking mechanism 10 provided by the embodiment of the present invention after the temporary storage plate 1 is removed, as shown in fig. 5 and 6, in this embodiment, the telescopic assembly 2 is a three-stage synchronous telescopic structure, which can increase the length of the telescopic plate 23, and realize the picking up of the container 40 located inside the double-deep storage container.

In the present embodiment, the double-deep stock accommodation means that the stock containers are provided with two cargo spaces side by side in the depth direction (the telescopic direction of the telescopic assembly). In warehouse management of a warehouse logistics system, in order to improve space utilization of a warehouse, generally, for each inventory receptacle, one inventory receptacle is disposed adjacent to one side of the inventory receptacle, another inventory receptacle is disposed at an interval on the other side, and a channel for a transfer robot to pass through is formed between the two inventory receptacles disposed at an interval.

Under this kind of setting, in the two deep position goods positions, the packing box 40 that is located inboard goods position needs the board that stretches out of flexible subassembly 2 to cross outside goods position and just can be stirred by driving lever assembly 3, consequently, for picking up the packing box 40 that is located in two deep position goods positions in the inboard goods position, needs the maximum extension length of increase flexible subassembly 2.

Specifically, the telescopic assembly 2 comprises a fixed plate 21, a connecting plate 22, an extension plate 24 and a telescopic plate 23 which are sequentially arranged from outside to inside, and further comprises a telescopic transmission assembly 25 and a telescopic driving assembly 26 which are used for realizing synchronous telescopic of the connecting plate 22, the fixed plate 21 and the telescopic plate 23. Wherein, flexible drive assembly 26 includes driving motor, and flexible drive assembly 25 is including being used for realizing the first flexible drive assembly of connecting plate 22 relative fixed plate 21 level flexible, being used for realizing the second flexible drive assembly of extension board 24 relative connecting plate 22 level flexible and being used for realizing the third flexible drive assembly of extension board 23 relative extension board 24 level flexible.

The first telescopic transmission assembly comprises first belt wheels 251 arranged at two ends of the fixing plate 21 in the length direction and first synchronous belts 252 wound on the two first belt wheels 251, the central shafts of the two first belt wheels 251 are located at the same height, one of the two first belt wheels 251 is connected with an output shaft of a driving motor, and the first end of the connecting plate 22 is detachably connected with the first synchronous belts 252 through a first connecting piece 7.

That is, when the driving motor drives one of the first pulleys 251 to rotate, the first pulley 251 drives the first synchronous belt 252 to rotate, and since the portion of the first synchronous belt 252 located between the two first pulleys 251 is horizontally disposed and connected to the connecting plate 22, the connecting plate 22 moves along with the first synchronous belt 252, so as to achieve horizontal extension and retraction of the connecting plate 22 relative to the fixing plate 21.

The second telescopic transmission assembly comprises second belt wheels 253 arranged at two ends of the telescopic plate 23 and second synchronous belts 254 wound on the two second belt wheels 253, the centers of the two second belt wheels 253 are positioned at the same height, and the second synchronous belts 254 are connected with the extension plate 24 through second connecting pieces.

The third telescopic transmission assembly comprises third belt wheels 255 arranged at two ends of the extension plate 24 in the length direction and third synchronous belts 256 wound on the third belt wheels 255, the centers of the two third belt wheels 255 are positioned at the same height, and the telescopic plate 23 is connected with the third synchronous belts 256 through a third connecting piece.

The adoption sets up three synchronous belt drive structure and can realize the level of connecting plate 22, extension board 24 and expansion plate 23 flexible, simple structure, and the cost is lower. And when the telescopic assembly 2 is in a contracted state, namely an initial state, the first connecting piece 7 is positioned near the first end of the fixed plate 21, the second connecting piece is positioned near the first end of the connecting plate 22, the third connecting piece is positioned near the first end of the extension plate 24, and the first ends of the fixed plate 21, the connecting plate 22, the extension plate 24 and the telescopic plate 23 are oppositely arranged; when the telescopic assembly 2 is in the maximum extension state, the first connecting member 7 is located near the second end of the fixed plate 21, the second connecting member is located near the second end of the connecting plate 22, and the third connecting member is located near the second end of the extension plate 24. That is, the extension stroke of the connecting plate 22, the extension plate 24 and the extension plate 23 is smaller than the distance between the pulleys at the two ends of the connected synchronous belt.

The utility model provides a flexible subassembly 2 simple structure sets up conveniently, and can realize flexible subassembly 2's two-way flexible to the packing box 40 in the inventory container of the relative both sides of realization to transfer robot picks up in step. It can be understood that the present invention is not limited to the above-mentioned telescopic assembly 2 for achieving three-level telescopic, and in other embodiments, other three-level synchronous telescopic structures in the prior art may be adopted to achieve synchronous telescopic of the extension plate 24, the connecting plate 22 and the telescopic plate 23, or the connecting plate 22, the extension portion and the telescopic plate 23 may be adopted to achieve the maximum extension of the telescopic plate 23 according to the structure of hierarchical telescopic extension.

In this embodiment, the overall length of the telescoping assembly 2 is greater than the sum of the lengths of the three containers 40 when the telescoping panels 23 are in the maximum extension so that the telescoping panels 23 can be used to pick up a container 40 in the rear cargo space over the front one of the dual depth cargo spaces.

In this embodiment, the opposite sides of the temporary storage board 1 are provided with the telescopic assemblies 2, the two telescopic assemblies 2 are synchronously driven by the same telescopic driving assembly 26, and the telescopic driving assembly 26 respectively drives the first pulleys 251 of the two telescopic assemblies 2 through the synchronous transmission assembly 27.

Specifically, the synchronous transmission assembly 27 includes a fourth pulley 272 sleeved on the output shaft of the driving motor, a transmission shaft 271 with two ends respectively sleeved with the first pulleys 251 of the two telescopic assemblies 2, a fifth pulley 273 sleeved on the transmission shaft 271, and a fourth synchronous belt 274 wound on the fourth pulley 272 and the fifth pulley 273.

However, the present embodiment is not limited to the above-mentioned structure form of the synchronous transmission assembly, and other structure forms capable of realizing synchronous rotation of the two first pulleys 251 may also be adopted, and the present embodiment is not illustrated.

It can be understood that the transfer robot provided by the embodiment can be suitable for taking and placing the containers 40 in the double-deep stock container, and can also be suitable for taking and placing the three-deep stock container and the four-deep stock container, and for the double-deep stock container and the four-deep stock container, when the double-deep stock container and the four-deep stock container are placed in a warehouse, every two adjacent stock containers are arranged at intervals to form a channel for the transfer robot to pass through between the two stock containers.

The embodiment also provides a warehouse logistics system, which comprises the carrying robot.

EXAMPLE III

Fig. 7 is a flowchart of a box taking method according to an embodiment of the present invention, and as shown in fig. 7, the present embodiment provides a box taking method, which uses a transfer robot according to a first embodiment to pick up a target container 40 on an inventory container, so as to implement an order picking task.

In this embodiment, the height of the inventory receptacles is substantially the same as the height of the transfer robot to enable the transfer robot to pick up the totes 40 on each level of the inventory receptacles. And the height of each box taking mechanism 10 is less than or equal to the height of the containers 40, so as to avoid the interference of the box taking mechanism 10 on the box taking operation of the adjacent box taking mechanisms 10 when two box taking mechanisms 10 respectively pick up the containers 40 on two adjacent layers of cargo spaces.

Specifically, the method for taking the box provided by the embodiment includes the following steps:

s301, the control system distributes a box taking task to the transfer robot;

assuming that the number of target containers 40 included in the task of taking containers allocated to the transfer robot by the order management system is N, and the number of the box-taking mechanisms 10 on the transfer robot is M, the task of taking containers is allocated according to the following principle:

(1)N≤M；

(2) n target containers 40 are located at different levels of the inventory container, or there are N1 target containers 40 located at the Fn1 th level of the inventory container, and N1 is equal to or less than Fn1-sum (F < Fn1), and N1 is equal to or less than Fmax-Fn1-sum (F > Fn1) +1, where sum (F < Fn1) refers to the sum of the number of all target containers 40 having a level height less than Fn1, and sum (F > Fn1) refers to the sum of the number of all target containers 40 having a level height greater than Fn 1.

The above distribution principle is illustrated: when two container taking mechanisms 10 are present on the transfer robot, the two containers 40 cannot be allocated to the same transfer robot at the highest and lowest layers of the inventory containers; when the transfer robot has three forks, the highest and lowest floors of the inventory container cannot have two packing boxes 40 allocated to the same transfer robot at the same time, and when the highest and lowest floors do not have the allocated packing boxes 40, the second and next highest floors cannot have 3 packing boxes 40 allocated to the same transfer robot, and if the highest and next highest floors are equally allocated with the packing boxes 40, the next highest floor cannot have 2 packing boxes 40 allocated to the same transfer robot at the same time.

In the present embodiment, in one transportation process of the transportation robot, the containers 40 picked up by the plurality of box picking mechanisms 10 are preferably target containers 40 corresponding to the same order, or may be target containers 40 in different orders.

Furthermore, in the box taking task, at least two target containers 40 are positioned in the same column of the same inventory container, so that a plurality of box taking mechanisms 10 can carry out box taking operation on the target containers 40 at the same time, and the box taking efficiency is improved.

S302, planning an optimal box taking travel path by the control system according to the positions of all target containers 40 in the box taking task;

the optimal box taking travel path is preferably the shortest travel path of all feasible paths so as to improve the box taking efficiency.

Step S303, the control system allocates a box taking mechanism 10 for taking boxes to each target container 40 according to the layer height sequence of all the target containers 40;

when the layer heights of all the target containers 40 are different, the box taking mechanisms 10 are distributed according to the layer height sequence of the layer height of the target containers 40, if the sequence of the layer height of the target containers 40 in all the target containers 40 from low to high is Kh, and the sequence of the height of the box taking mechanisms 10 for picking up the target containers 40 in all the box taking mechanisms 10 from low to high is Kq, Kh is less than or equal to Kq, and N-Kn is less than or equal to M-Kq.

In one embodiment, Kh is Kq, that is, the sequence number of the target container 40 in all the target containers 40 is consistent with the height sequence of the container taking mechanism 10 corresponding to the target container 40. For example, three target containers 40 are located at 1, 2, and 3 levels, respectively, and the transfer robot has three container pickup mechanisms 10, the container pickup mechanism 10 located at the lowermost level is used to pick up the target container 40 located at the first level, the container pickup mechanism 10 located at the middle level is used to pick up the target container 40 located at the second level, and the container pickup mechanism 10 located at the uppermost level is used to pick up the target container 40 located at the third level.

When there are n1 containers 40 on the same floor of the inventory container, the n1 containers 40 are ordered in floor height because the floor heights are the same, first, based on the floor height ordering of the floor heights of the n1 containers 40 among the floor heights of all the containers 40, the n1 box taking mechanisms 10 are allocated to pick up the n1 containers 40 respectively, and for the n1 containers 40, any one of the n1 box taking mechanisms 10 can be used to pick up the container 40 therein.

If there are four target containers 40 to be picked up, wherein the a1 container 40 is at the level 1, the a2 and A3 containers 40 are at the level 1, and the a4 containers 40 are at the level five, if there are four container picking mechanisms 10, and five container picking mechanisms 10 are respectively B1, B2, B3 and B4 from low to high, then the B1 picking mechanism 10 is used to pick up the a1 container 40, the B2 and B3 picking mechanism 10 is used to pick up the a2 and A3 containers 40, the B4 picking mechanism 10 is used to pick up the a4 container 40, and one of the B2 and B3 picking mechanism 10 is used to pick up either one of the a2 and A3 containers 40, and the other picks up the remaining containers 40 in the a2 and A3.

And S304, sequentially running the carrying robot to the front of each target container 40 according to the optimal travel path and picking up the target containers 40 by adopting the distributed container taking mechanisms 10, wherein when a plurality of target containers 40 are positioned in the same column of the inventory container, a plurality of container taking mechanisms 10 corresponding to the plurality of target containers 40 carry out the cargo taking operation at the same time.

The picking operation of the box taking mechanism 10 to the target container 40 comprises the following steps:

step S3041, lifting the box taking mechanism 10 to the front of the corresponding target container 40;

step S3042, the controller controls the telescopic assembly 2 to extend to two sides of the two telescopic plates 23 located on the target container 40;

step S3043, the controller controls the shift lever driving member 32 of the shift lever assembly 3 located at the front end of the expansion plate 23 to operate, so that the shift lever 31 rotates to the working position;

step S3044, the controller controls the retraction assembly 2 to retract, in the process, the shift lever 31 contacts the target container 40 and drives the target container 40 to move from the cargo space of the inventory container to the temporary storage space of the temporary storage plate 1;

in step S3045, the controller controls the lever driving member 32 of the lever assembly 3 located at the front end of the retractable plate 23 to move, so that the lever 31 rotates to the idle position.

Step S305, when the transfer robot finishes picking up all the target containers 40, the transfer robot moves to a picking point;

step S306, the box taking mechanism 10 sequentially ascends and descends to a height position suitable for picking by the picking staff.

In the case taking method provided by the embodiment, since the carrying robot in the first embodiment is used for case taking operation, when the containers 40 are located in the same column of the same inventory container, the case taking mechanisms 10 located on the carrying robot can simultaneously perform case taking operation, so that the case taking operation is convenient and fast, the case taking efficiency is improved, and the goods picking and logistics efficiency is improved.

Example four

Fig. 8 is a flowchart of a box taking method according to an embodiment of the present invention, and as shown in fig. 8, this embodiment provides a box taking method based on a transfer robot, which uses the transfer robot according to the second embodiment to pick up a target container 40 on an inventory container. The box taking method provided by the embodiment comprises the following steps:

s401, distributing a box taking task to the carrying robot by the control system;

step S402, judging whether an internal container 40 exists in the container taking task, if so, executing step S403, and if not, executing step S406;

step S403, judging whether the number n2 of the target containers 40 with the floor height number Fn2 of the internal container 40 meets n 2-Fn 2-sum (F < Fn2) -1 and n 2-Fax-Fn 2-sum (F > Fn2) +1, if yes, executing step S403, and if not, executing step S405;

step S404, using the outer container 40 corresponding to the inner container 40 as an additional target container 40 for the container picking task;

step S405, allocating the outer container 40 corresponding to the inner container 40 to another transfer robot as a new container picking task, and first performing a container picking operation for the outer container 40;

s406, planning an optimal box taking travel path by the control system according to the positions of all the target containers 40 in the box taking task;

step S407, the control system allocates a box taking mechanism 10 for taking boxes to each target container 40 according to the floor height of all the target containers 40;

the target container 40 includes a target container 40 assigned in the order management center initial task assignment and additional target containers 40 formed based on the internal target containers 40.

The operation of allocating the box taking mechanism 10 to the target container 40 may specifically refer to step S303 of the third embodiment;

step S408, the carrying robot sequentially runs to the front of each target container 40 according to the optimal container taking travel path and picks up the target containers 40 by adopting the allocated container taking mechanism 10, wherein after picking up the internal target containers 40 corresponding to the additional target containers 40, the additional target containers 40 are returned to the internal goods positions corresponding to the additional target containers 40;

by diverting the additional target container 40 to the internal cargo space corresponding to the additional target container 40, the target container 40 can be directly returned to the external cargo space after being picked, so that the container taking operation of the container 40 on the external cargo space caused by returning to the internal cargo space is avoided, and the container returning efficiency is improved.

When the box taking operation of the internal target container and the additional target container is carried out by the same carrying robot, the box returning operation of the additional target container is carried out by the carrying robot, and the box taking operation of the other target container is carried out after the box taking operation of the current internal target container is finished; when the box taking operation of the internal target container and the additional target container is carried out by different carrying robots, the box returning operation of the additional target container and the box taking operation of the target container can be synchronously carried out.

Step S409, when the transfer robot finishes picking up all the target containers 40, the transfer robot moves to a picking point;

step S410, the box taking mechanism 10 is lifted to a height suitable for picking by the picking staff.

In the method for taking containers provided by the embodiment, because the carrying robot in the second embodiment is used for taking containers, when a plurality of containers 40 are positioned in the same longitudinal column of the same inventory container, a plurality of container taking mechanisms 10 positioned on the carrying robot can simultaneously carry out the container taking operation, so that the container taking operation is convenient and rapid, the container taking efficiency is improved, and the goods picking and logistics efficiency is improved; the box taking method provided by the embodiment can be applied to box taking operation of the internal containers of the double-depth, three-depth or four-depth inventory containers, so that the box taking efficiency is further improved, and the warehouse utilization rate is improved.

EXAMPLE five

Fig. 9 is a flowchart of a cargo box loading method according to an embodiment of the present invention, and as shown in fig. 9, the embodiment provides a cargo box loading method based on a transfer robot, which is used for loading a cargo box 40 into a target cargo space of an inventory container, so as to improve the efficiency of the transfer robot for loading the cargo box 40 or returning the cargo box after picking. The box returning method provided by the embodiment is suitable for the transfer robot in the first embodiment or the second embodiment.

It is understood that the loading of the containers may be a returning operation of picking up the containers from the inventory container for picking up the containers, returning the picked containers to the cargo space of the inventory container, a loading operation of replenishing new containers into the inventory container, or an operation of placing the containers into the inventory container for other reasons, which is not limited in this embodiment.

Specifically, the method for returning to the box provided by the embodiment includes the following steps:

s501, distributing a cargo box loading task to the transfer robot by the control system;

the allocation principle of the box-returning task corresponds to the allocation principle of the goods space, and the detailed description is omitted here.

In one embodiment, at least two target cargo positions in the target cargo positions corresponding to the cargo loading tasks of the cargo containers are located on the same longitudinal column of the same inventory container, so that the cargo loading operation of the cargo containers is simultaneously performed by at least two box taking mechanisms, and the cargo loading efficiency of the cargo containers is improved.

In one embodiment, since the box taking mechanism 10 can extend and retract in two directions, if there are a plurality of target containers in the inventory containers located on two opposite sides of the transfer robot, which are located in the same column in the height direction and are arranged in a staggered manner, the box taking mechanism 10 corresponding to the plurality of target containers simultaneously performs a box taking operation.

S502, the control system plans an optimal box returning travel path according to the positions of all the target containers 40 in the box returning task;

and S503, sequentially running the transfer robot to the front of the target cargo space of each target cargo box 40 according to the optimal travel path, placing the target cargo box 40 into the target cargo space, and simultaneously carrying out cargo loading operation on the cargo boxes by the box taking mechanisms 10 where the cargo boxes 40 are located when the cargo boxes 40 are located in the same column of the same inventory container.

Further, since the telescopic mechanism 10 can be extended and retracted in two directions, and when the carrying robot carries out loading on the containers, if a plurality of target cargo positions in inventory containers located on two opposite sides of the carrying robot are located in the same vertical column in the height direction and are arranged in a staggered manner, the box taking mechanism 10 corresponding to the plurality of target cargo positions simultaneously executes loading operation on the containers.

The operation of the box taking mechanism 10 for placing the container 40 into the target cargo space comprises the following steps:

step S5031, the box taking mechanism 10 is lifted to the front of the target goods position;

step S5032, the controller controls the deflector rod driving piece 32 of the deflector rod assembly 3 on the side far away from the target cargo space to act, so that the deflector rod 31 rotates to a working position;

step S5032, the controller controls the telescopic assembly 2 to extend until the target container 40 falls into the target cargo space;

step S5033, the controller controls the corresponding shift lever 31 to rotate from the working position to the idle position;

in step S5034, the controller controls the retraction assembly 2 to retract to the initial state.

The sequence of step S5033 and step S5034 may be exchanged or may be performed synchronously.

In the cargo box loading method provided by the embodiment, because the transfer robot in the first embodiment or the second embodiment is used for loading cargo containers, when the target cargo positions corresponding to the plurality of cargo boxes 40 are located in the same column of the same inventory container, the plurality of box taking mechanisms 10 located on the transfer robot can simultaneously perform cargo box loading operation, so that the cargo box loading operation is convenient and fast, the cargo box loading efficiency is improved, and the cargo loading, cargo picking and logistics efficiency are improved.

It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims (8)

1. A transfer robot, characterized by comprising:

a mobile chassis (30);

a stand (20) vertically disposed on the moving chassis (30);

the box taking mechanisms (10) are at least provided in two sets along the height direction of the vertical frame (20), and each set of box taking mechanism (10) can horizontally stretch and vertically lift relative to the movable chassis (30) so as to pick up a container (40) on an inventory container or place the container (40) on the inventory container.

2. The transfer robot as claimed in claim 1, wherein a temporary storage location for temporarily storing the container (40) is provided on the container pickup mechanism (10).

3. The transfer robot according to claim 2, wherein the box taking mechanism (10) includes:

the temporary storage plate (1), wherein the temporary storage position is formed on the temporary storage plate (1);

a toggle assembly (3) configured for toggling the cargo box (40) to move the cargo box (40) between the staging board (1) and the inventory receptacle;

the telescopic assembly (2) is connected with the temporary storage plate (1) and the deflector rod assembly (3) and is configured to drive the deflector rod assembly (3) to horizontally stretch relative to the temporary storage plate (1).

4. A handling robot according to claim 3, characterized in that said telescopic assembly (2) is a two-stage synchronous telescopic structure or said telescopic assembly (2) is a three-stage synchronous telescopic structure.

5. A transfer robot as claimed in claim 3, wherein said telescopic assemblies (2) are provided on opposite sides of said staging board (1), and wherein baffles (4) are provided on both sides of said staging board (1) corresponding to said telescopic assemblies (2), said baffles (4) being located inside said telescopic assemblies (2), said staging position being formed between two of said baffles (4).

6. The transfer robot according to claim 5, wherein the barrier (4) includes a barrier main body (41) extending in the telescopic direction of the telescopic assembly (2) and a guide plate portion (42) provided at an end of the barrier main body (41), one end of the guide plate portion (42) is connected to the barrier main body (41), and the other end of the guide plate portion (42) extends obliquely in a direction away from the barrier main body (41) toward the telescopic assembly (2) on the corresponding side; and/or

The temporary storage plate (1) comprises a temporary storage plate body (11) and a guide portion (12), wherein the temporary storage plate body (11) is horizontally arranged, the guide portion (12) is arranged at the inlet end of the temporary storage plate (1), one end of the guide portion (12) is connected with the temporary storage plate body (11), and the other end of the guide portion (12) extends downwards in an inclined mode in the direction away from the temporary storage plate body (11).

7. A transfer robot according to any of claims 1-6, characterized in that the pick mechanism (10) is bi-directionally telescopic to pick up the containers (40) in the inventory receptacles on opposite sides of the transfer robot, respectively.

8. A warehouse logistics system, characterized by comprising the transfer robot of any one of claims 1 to 7.

Images