CN212655100U - Transfer robot and transfer system - Google Patents

Abstract

The utility model provides a transfer robot and handling system, transfer robot includes supporting component and is used for carrying the transport subassembly of waiting to move the thing, and the supporting component establishes on the transport subassembly to can move for the transport subassembly, when the transport subassembly transport waits to move the thing, the supporting component can be dismantled with the fixed goods shelves of depositing and waiting to move the thing and be connected. The transfer robot of this disclosure can improve transfer robot and get the stability of goods in-process.

Description

Transfer robot and transfer system

Technical Field

The disclosure relates to the technical field of intelligent warehousing, in particular to a carrying robot and a carrying system.

Background

With the development of science and technology, a transfer robot is widely used in many fields as an industrial transfer device capable of performing an automatic transfer operation.

The transfer operation performed by the transfer robot is to hold a workpiece by a device and move the workpiece from one processing position to another processing position, and is capable of transferring the load instead of a manual operation, and plays an important role in many fields. At present, in intelligent warehousing system, transfer robot mainly includes fork subassembly, rotary chassis and elevating system, and rotary chassis can drive the fork subassembly and rotate to the angle of adjustment fork subassembly, the fork subassembly can be lifting motion on removing goods shelves under elevating system's effect, so that the access that the fork subassembly arrived different height and carried out the goods. Transfer robot is at the in-process that removes the goods from the fixed goods shelves of depositing the goods, and the tray in the fork subassembly can stretch out to the bottom of goods, then presss from both sides the relative both sides of establishing the goods through the centre gripping arm that stretches out in the fork subassembly to place the goods in the tray, realize taking to the goods.

However, the tray and the clamp arm may cause the transfer robot to shake or topple during the extension process, thereby causing damage to the transfer robot.

SUMMERY OF THE UTILITY MODEL

The present disclosure provides a transfer robot and a transfer system, which can improve the stability of the transfer robot in the goods taking process.

In a first aspect, the present disclosure provides a transfer robot, which includes a support assembly and a transfer assembly for transferring an object to be transferred, wherein the support assembly is disposed on the transfer assembly and is movable relative to the transfer assembly, and when the transfer assembly transfers the object to be transferred, the support assembly is detachably connected to a fixed shelf for storing the object to be transferred.

The transfer robot as described above, optionally, the transfer assembly is a fork assembly, a suction cup assembly, a clamping assembly or a mechanical arm assembly.

In the transfer robot as described above, optionally, an end of the fork assembly has an access opening through which the object to be moved can enter and exit, and when the support assembly is supported on the fixed shelf, the access opening is disposed opposite to the cargo space on the fixed shelf.

The handling robot as described above, optionally, the number of the support assemblies is one or more, the support assemblies are located at opposite sides of the doorway, and/or the support assemblies are located at the bottom of the fork assembly.

The carrying robot as described above, optionally, the fork assembly includes a body and a tray disposed in the body, and when the fork assembly carries the object to be moved, the tray is movable relative to the body, so that an end of the tray extends out of the access opening and is located between the fixed shelf and the body or abuts against a side wall of the fixed shelf of the object to be moved.

The transfer robot as described above, optionally, the support members are provided on the body at least one of on opposite sides of the tray and in a bottom of the body.

In the transfer robot as described above, alternatively, the support assembly may be horizontally movable with respect to the fork assembly, or the support assembly may be rotated at a predetermined angle with respect to the fork assembly.

The transfer robot as described above, optionally, at least a portion of the support member may extend out of the fork assembly and be detachably connected to the fixed rack when the fork assembly transfers the object to be transferred.

The transfer robot as described above, optionally, the fixed shelf includes a placing table for placing the object to be moved, and the support assembly is detachably connected to an edge structure of the placing table.

The transfer robot as described above, optionally, the support assembly includes a connecting member and a clamping member, the first end of the connecting member is connected to the fork assembly, and the clamping member is connected to the second end of the connecting member and detachably connected to the edge structure.

The transfer robot as described above, optionally, the support member is a retractable member.

The transfer robot as described above, optionally, the connecting member is a telescopic rod.

The handling robot as described above, optionally, the gripping member is detachably connected to the edge structure by means of an adsorption and/or a snap fit.

In the transfer robot as described above, the connecting member may be horizontally movable with respect to the fork assembly to attach the clamping member to the side wall of the rim structure, and the clamping member may be an electromagnet or a suction cup.

The transfer robot as described above, optionally, the clamping member includes a first clamping portion and a second clamping portion connected to the first clamping portion, and the connecting member is horizontally movable with respect to the fork assembly so that the first clamping portion and the second clamping portion are detachably connected to different sides of the edge structure, respectively.

The transfer robot as described above, optionally, the first clamping part is connected to the top of the edge structure by means of suction and/or snap fit, and the second clamping part is attached to the bottom of the edge structure.

In the transfer robot as described above, the first gripping part may be movable relative to the second gripping part.

The transfer robot as described above, optionally, the clamping member further includes a connecting portion, the second clamping portion is connected to the first clamping portion through the connecting portion, and the connecting portion is a stretchable member or a stretchable member.

In the transfer robot as described above, the connecting portion may be a telescopic link or an elastic rod.

The transfer robot as described above, optionally, the clamping member has a clamping portion, and the connecting member may be rotated at a predetermined angle with respect to the fork assembly, so that the clamping portion is clamped to the bottom of the edge structure.

In the transfer robot as described above, optionally, the engaging portion is a hook adapted to the bottom of the edge structure.

In a second aspect, the present disclosure provides a handling system, which includes a movable rack, a fixed rack for placing an object to be moved, and a handling robot as described in any one of the above items, where the handling robot is located on the movable rack and detachably connected to the fixed rack when handling the object to be moved.

The utility model provides a transfer robot and handling system, through set up supporting component on the handling subassembly, and supporting component can remove for the handling subassembly, when the handling subassembly is handled the article of waiting to move from the fixed bolster like this, handling subassembly accessible supporting component can be dismantled with fixed goods shelves and be connected, thereby can make transfer robot at the in-process of getting goods, the handling subassembly is connected with fixed goods shelves are firm, for the handling subassembly provides the holding power at the in-process of getting goods, thereby improve transfer robot at the stability of getting goods in-process. Therefore, the transfer robot provided by the disclosure can reduce or avoid the risk that the transfer robot shakes or topples due to the fact that the transfer assembly, such as the fork assembly, extends out of the goods taking process, and is favorable for improving the stability of the transfer robot in the goods taking process so as to avoid damage to the transfer robot.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a handling system provided in an embodiment of the present disclosure;

fig. 2 is a schematic view illustrating a connection of a transfer robot with a fixed rack provided in fig. 1;

FIG. 3 is a schematic view of the transfer robot of FIG. 2 coupled to a fixed rack at another angle;

fig. 4 is a top view of a handling system provided in accordance with an embodiment of the present disclosure;

fig. 5 is a schematic view illustrating a connection between another transfer robot and a fixed rack according to a second embodiment of the present disclosure;

fig. 6 is a schematic view illustrating a connection between another transfer robot and a fixed rack according to a third embodiment of the present disclosure;

fig. 7 is a schematic view illustrating a connection between another angle transfer robot and a fixed rack according to a third embodiment of the present disclosure.

The attached drawings indicate the following:

100-a handling robot; 10-a fork assembly; 11-a fixed seat; 111-a bottom wall; 12-a tray; 13-entrance and exit; 14-a gripper arm; 20-rotating the chassis;

30-a support assembly; 31-a connector; 32-a clamp; 321-a first clamping portion; 322-a second grip; 323-a connecting portion; 324-an engagement portion;

200-fixed shelves; 210-placing a table; 220-top; 230-a side wall; 240-bottom;

300-moving the shelf; 310-a mobile chassis; 320-storage shelves; 330-a storage unit;

400-a handling system; 500-the object to be moved.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

At present, a transfer robot can be provided with different end effectors to complete the work of transferring workpieces in various shapes and states, can replace manual goods transfer, and plays an important role in many fields. The goods taking process of the transfer robot is mainly realized by the internal fork assembly. As described in the background, when the transfer robot moves a load from the fixed frame, the transfer assembly, such as a pallet in the fork assembly, may protrude to the bottom of the load to prevent the load from falling off during the picking process. Then the relative both sides of goods are established through the centre gripping arm clamp that stretches out in the fork subassembly, with the goods through pressing from both sides establish, drag or other modes move to the tray in to the realization is to the removal of goods.

However, during the process of extending the pallet and the clamp arms to move the goods, the transfer robot may be shaken or overturned due to the movement of the pallet and the clamp arms relative to the fork assembly, thereby damaging the transfer robot.

Therefore, the embodiment of the disclosure provides a transfer robot and a transfer system, which can improve the stability of the transfer robot in the goods taking process.

The application scenario of the transfer robot may include, but is not limited to, an intelligent warehousing system, an intelligent logistics system, an intelligent sorting system, or other application scenarios requiring a transfer device.

The carrying system and the carrying robot according to the embodiment of the disclosure are further described below by taking the smart warehousing system as an example.

Fig. 1 is a schematic structural diagram of a handling system according to an embodiment of the present disclosure. As shown in fig. 1, embodiments of the present disclosure provide an overall structure of a handling system 400. As can be seen from fig. 1, the handling system 400 may include a mobile shelf 300, a fixed shelf 200 for placing the object 500 to be moved, and a handling robot 100, where the handling robot 100 is located on the mobile shelf 300, and is detachably connected to the fixed shelf 200 when handling the object 500 to be moved on the fixed shelf 200, and is used to carry the object 500 to be moved on the mobile shelf 300, or carry the object 500 to be moved on the mobile shelf 300 on the fixed shelf 200, so as to achieve the taking and storage of the object 500 to be moved. In this way, when the transfer robot 10 transfers the object 500 to be moved on the fixed shelf 200, the object is detachably connected to the fixed shelf 200, so that on one hand, a supporting force can be provided for the transfer robot 100 in the goods taking process, so as to improve the stability of the transfer robot 100 in the goods taking process, thereby reducing or avoiding the risk of shaking or overturning of the transfer robot 100, and on the other hand, the normal operation of the transfer robot 100 in other states can not be affected.

Referring to fig. 1, the moving rack 300 may include a moving chassis 310 and a storage rack 320, the storage rack 320 being provided on the moving chassis 310 for storing the object 500 to be moved. The storage shelves 320 may include one or more tiers of storage units 330 arranged in a vertical direction. That is, the storage shelf 320 is provided with one or more predetermined positions for placing the object 500 to be moved. This can increase the storage space of the transfer robot 100100 without occupying more floor space, thereby improving the efficiency of transferring the object 500 to be moved. The transfer robot 100 may be provided on the storage shelf 320 and may vertically move up and down (i.e., elevating movement) on the storage shelf 320 with respect to the storage shelf 320 so that the to-be-moved object 500 may be transferred to a designated position of the moving shelf 300 by the transfer robot 100.

When the transfer robot 100 transfers the object 500 from the fixed shelf 200, the transfer robot 100 should move on the storage shelf 320 to the same height as the fixed shelf 200 so as to transfer the object 500 on the fixed shelf 200.

It is to be understood that the illustrated structure of the present embodiment does not constitute a specific limitation to the structure of the handling system 400. In other embodiments of the present disclosure, the handling system 400 may include more or fewer components than illustrated, or combine certain components, or split certain components, or a different arrangement of components.

The transfer robot 100 in the transfer system 400 will be further described with reference to various embodiments.

Example one

Fig. 2 is a schematic view illustrating connection between a transfer robot and a fixed shelf provided in fig. 1, fig. 3 is a schematic view illustrating connection between a transfer robot and a fixed shelf provided in fig. 2 at another angle, and fig. 4 is a top view of a transfer system according to an embodiment of the present disclosure.

As shown in fig. 2, is a partially enlarged schematic view of a portion a in fig. 1. As can be seen from fig. 2 and 4, the present disclosure provides a transfer robot 100, the transfer robot 100 may include a support assembly 30 and a transfer assembly for transferring an object 500 to be moved, the support assembly 30 may be disposed on the transfer assembly and may be movable relative to the transfer assembly, and the support assembly 30 may be detachably connected to a fixed rack 200 for storing the object 500 to be moved when the transfer assembly transfers the object 500 to be moved. Like this when the handling subassembly handles waiting to move article 500 from the fixed bolster, the handling subassembly can be dismantled with fixed goods shelves 200 and be connected through supporting component 30 to can make handling robot 100 stretch out at the in-process of getting goods through the partial structure of handling subassembly, the handling subassembly can be connected with fixed goods shelves 200 is firm, provides the holding power for the handling subassembly is getting goods in-process, thereby improves handling robot 100 and gets goods stability of in-process.

Therefore, the transfer robot 100 provided by the present disclosure can reduce or avoid the risk that the transfer robot 100 shakes or topples over in the process of extending the transfer components to pick up the goods, and is helpful to improve the stability of the transfer robot 100 in the process of picking up the goods, so as to avoid damage to the transfer robot 100.

Meanwhile, since the support assembly 30 is detachably connected to the fixed shelf 200, after the conveying assembly finishes the operation of conveying the object 500 to be moved from the fixed shelf 200, the connection between the support assembly 30 and the fixed shelf 200 is removed, so as to avoid the influence on other operations of the conveying robot 100 due to the connection between the support assembly 30 and the fixed shelf 200.

Wherein, the carrying assembly can be a fork assembly 10, a sucker assembly, a clamping assembly, a mechanical arm assembly or other carrying assemblies. It should be understood that the chuck assembly, the clamp assembly, and the robot arm assembly may also move relative to the transfer robot 100 during the cargo access process, which may cause the transfer robot 100 to shake or topple, thereby causing damage to the transfer robot 100. In this embodiment, the structure of the carrying assembly is not further limited.

The transfer robot 100 of the present disclosure will be further described below by taking the fork assembly 10 as an example.

The transfer robot 100 may further include a rotating chassis 20 and a lifting mechanism (not shown), wherein the rotating chassis 20 may be connected to the bottom 240 of the fork assembly 10, and may drive the fork assembly 10 to rotate, and adjust a rotation angle of the fork assembly 10 relative to the moving rack 300 or the fixed rack 200, so that the fork assembly 10 may move and transfer the object 500 to be transferred from the fixed rack 200 or the moving rack 300. The lifting assembly can be arranged on one side of the rotating chassis 20 facing the moving rack 300, and the fork assembly 10 can be driven by the lifting mechanism to perform lifting motion on the storage rack 320, so that the fork assembly 10 can reach different heights to access goods, and then the taking or storage of the objects 500 to be moved in the storage units 330 at different heights on the moving rack 300 can be realized through the fork assembly 10. The structure of the transfer robot 100 in the prior art can be referred to for the rotating chassis 20 and the lifting mechanism, and in this embodiment, the structure thereof will not be further described.

It is to be understood that the configuration illustrated in the present embodiment does not constitute a specific limitation on the configuration of the transfer robot 100. In other embodiments of the present disclosure, the transfer robot 100 may include more or fewer components than shown, or combine certain components, or split certain components, or a different arrangement of components.

Referring to fig. 2 to 4, the end of the fork assembly 10 has a gate 13 for allowing the article 500 to be moved to enter and exit, and when the fork assembly 10 is connected to the fixed shelf 200 through the support assembly 30, the gate 13 can be disposed opposite to the cargo space on the fixed shelf 200. That is, when the fork assembly 10 is coupled with the fixed shelf 200 by the support assembly 30, it is possible to align the doorway 12 with the cargo space on the fixed shelf 200 for the movement of the cargo between the cargo spaces of the handling robot 100 and the fixed shelf 200 while improving the stability of the handling robot 100 in the picking process due to the arrangement of the support assembly 30.

Wherein the support assembly 30 may be disposed on the fork assembly 10 proximate an end of the doorway 13. Thus, the supporting assembly 30 and the access opening 13 can be located at the same end of the fork assembly 10, and the distance between the supporting assembly 30 and the fixed shelf 200 can be shortened while the fork assembly 10 and the fixed shelf 200 are connected to provide enough supporting force for the fork assembly 10, so that the structure of the supporting assembly 30 is more compact.

It should be noted that the size and structure of the opening of the access opening 13 should be adapted to the structure of the article 500 to be moved, so that the article 500 to be moved can enter and exit the fork assembly 10 through the access opening 13. For example, when the object 500 is a rectangular parallelepiped, the access opening 13 should also be a rectangular opening corresponding to the rectangular parallelepiped. In this embodiment, the size and structure of the opening of the doorway 13 are not further limited.

In order to improve the stability of the connection between the fork assembly 10 and the fixed shelf 200, the number of the supporting assemblies 30 may be multiple, such as 2, 3, or 4. The support assemblies 30 may be located on at least one of opposite sides of the doorway 13 and the bottom of the fork assembly 10. That is, a plurality of support assemblies 30 may be provided on opposite sides of the doorway 13, at the bottom of the fork assembly 10, or both at opposite sides of the doorway 13 and at the bottom of the fork assembly 10. This makes it possible to diversify the manner of arrangement of the support members 30 while ensuring the stability of the transfer robot 100 during the picking process.

When the plurality of support assemblies 30 are located at the opposite sides of the doorway 13, the force applied to the two sides of the doorway 13 of the fork assembly 10 is more uniform, and the stability of the connection between the fork assembly 10 and the fixed rack 200 is further improved, so as to reduce or avoid the risk of the transfer robot 100 shaking or overturning during the process that part of the structure of the fork assembly 10 (such as the pallet 12 and the clamping arm 14) extends and moves the object 500 to be moved on the fixed rack 200. Meanwhile, it is possible to reduce the risk that the mobile carrier 300 is shaken or overturned due to the shaking or overturning of the transfer robot 100.

Alternatively, the number of support assemblies 30 may be one and located at the bottom of the fork assembly 10. In this case, the support assembly 30 may be disposed at the bottom of the fork assembly 10 in the center, so that when the transfer robot 100 is connected to the fixed shelf 200 through the support assembly 30, the balance of the connection between the transfer robot 100 and the fixed shelf 200 can be ensured. In this embodiment, the number and the arrangement position of the supporting assemblies 30 are not further limited, as long as the fork assembly 10 can be detachably connected to the supporting assemblies 30, so that the risk that the transfer robot 100 shakes or topples during the process that part of the structure of the fork assembly 10 extends out of the object 500 to be moved on the movable fixed rack 200 can be reduced or avoided, and the entering and exiting of goods at the doorway 13 are not affected.

Referring to fig. 3 and 4, the fork assembly 10 may include a body and a tray 12 disposed in the body, and when the fork assembly 10 carries the object 500 to be moved, the tray 12 may move relative to the body such that an end of the tray 12 extends out of the access opening 13 and is positioned between the fixed shelf 200 and the body or against the side wall 230 of the fixed shelf 200. Therefore, the fork assembly 10 can conveniently move the object 500 to be moved to the tray 12, or move the object 500 to be moved on the tray 12 to the fixed shelf 200 or the movable shelf 300, and meanwhile, the object 500 to be moved can be prevented from hanging and falling off in the process of taking or storing.

Wherein the body may be understood to be other structures on the fork assembly 10 other than the pallet 12. The body may include a holder 11, and the inlet and outlet 13 may be provided at an end of the holder 11. The tray 12 may be slidably connected to a track (not shown) on the fixed base 11 via a slider (not shown) at the bottom, so that when the fork assembly 10 moves the object to be moved, the tray 12 may move relative to the fixed base 11, and the end of the tray 12 may extend out of the access opening 13 and abut against the side wall 230 of the fixed shelf 200.

It should be understood that, as can be seen from fig. 4, the body may further include a clamping arm 14, the clamping arm 14 is disposed on the fixed seat 11 and located at two opposite sides of the tray 12 and can be extended and retracted along the direction of the object to be moved, so as to pull the object to be moved 500 on the fixed shelf 200 or the movable shelf 300 onto the tray 12 to take the goods, or push the goods on the tray 12 into the storage unit 330 of the fixed shelf 200 or the movable shelf 300 to store the object to be moved, thereby achieving the two-way pushing and pulling of the object to be moved. The clamp arm 14 may be a retractable push-pull assembly as is known in the art. The fork assembly 10 may refer to the structure of the fork assembly 10 in the prior art, and in the present embodiment, the structure of the fork assembly 10 is not further limited.

In particular, the support members 30 may be provided on the body, such as the mounting base 11, on opposite sides of the tray 12. Thus, when the fork assembly 10 is connected to the fixed shelf 200 by the support assemblies 30, the support assemblies 30 may be located on opposite sides of the tray 12 to avoid interference with the movement of the item 500 to be moved.

Illustratively, the support assembly 30 may be located inside the holder 11, such as on the same side of the bottom wall 111 as the tray 12, i.e., on the inner bottom wall 111 of the holder 11 as shown in fig. 3. Alternatively, the support assembly 30 may be located outside the holder 11, such as on the outer sidewall 230 or the bottom wall 111 of the holder 11 opposite the tray 12 (the outer bottom wall 111 of the holder 11). In this embodiment, the position of the supporting component 30 on the body such as the fixing base 11 is not further described.

Wherein the support assembly 30 is horizontally movable relative to the fork assembly 10. Alternatively, the support assembly 30 may be rotated (i.e., rotated) at a predetermined angle relative to the fork assembly 10. This allows for a greater variety of configurations of the support assembly 30 and the manner in which the support assembly 30 moves relative to the fork assembly 10, while ensuring that the fork assembly 10 is coupled to the fixed pallet 200.

As one possible embodiment, at least a portion of the support assembly 30 may extend beyond the fork assembly 10 and be removably coupled to the fixed rack 200 while the fork assembly 10 is carrying the object 500 to be moved. That is, when the object to be moved is carried, part or all of the support assembly 30 may extend out of the fork assembly 10 to be detachably connected to the fixed shelf 200. Thus, when the support assembly 30 is not coupled to the fixed shelf 200, the support assembly 30 can be retracted with respect to the fork assembly 10 to avoid interference with other operations of the transfer robot 100.

Specifically, as shown in fig. 2 to 4, the fixed shelf 200 may include a placing table 210 for placing the object 500 to be moved. The support assembly 30 may be removably attached to the edge structure of the placement table 210. In this way, the supporting point of the supporting assembly 30 on the placing table 210 can have a small height difference with the tray 12, so that the tray 12 and the placing table 210 or the bottom 240 of the object 500 to be moved can be as horizontal as possible, so that the object 500 to be moved can be moved onto the tray 12 by the clamping arm 14.

It should be understood that the edge structure of the placing table 210 may be understood as a structure of an edge region of the placing table 210.

Alternatively, support assembly 30 may be removably coupled to other portions of stationary shelf 200 (e.g., the support feet). In this embodiment, the position of the connecting portion 323 between the support member 30 and the fixed shelf 200 is not further limited.

The transfer robot 100 according to the embodiment of the present disclosure will be further described below by taking the edge structure of the support assembly 30 and the placing table 210 as an example.

Specifically, referring to fig. 2-4, the support assembly 30 may include a link member 31 and a clamp member 32, a first end of the link member 31 may be coupled to the fork assembly 10, and the clamp member 32 may be coupled to a second end of the link member 31 and removably coupled to the rim structure. Thus, when the pallet 12 and the clamp arm 14 of the fork assembly 10 are extended to move the object 500 to be moved on the fixed shelf 200, the fork assembly 10 can be detachably connected to the edge structure through the support assembly 30, thereby reducing or preventing the risk that the transfer robot 100 shakes or topples due to the extension of the pallet 12 and the clamp arm 14, and improving the stability of the transfer robot 100.

As a possible embodiment, the support member 30 may be a telescopic member. The telescopic assembly can be fixed on the fixing seat 11, and when the telescopic assembly is required to be connected with the fixed goods shelf 200, the part of the telescopic assembly can extend out of the fork assembly 10 to be connected with the fixed goods shelf 200, so that supporting force is provided for the fork assembly 10. When the movement of the object 500 to be moved from the fixed shelf 200 is completed, the support assembly 30 may be disconnected from the fixed shelf 200 so that the support assembly 30 assumes the retracted state to avoid interference with other work of the transfer robot 100.

It should be noted that, when the transfer robot 100 includes a plurality of support assemblies 30, because of different factors such as the moving path of the transfer robot 100, the style of the transfer assemblies, the angle of the transfer assemblies, such as the gates 13 of the fork assemblies 10, aligned with the cargo space of the fixed shelf 200, etc., the plurality of support assemblies 30 may have unequal length expansion, i.e., the expansion amount of each support assembly 30 may be different, so as to achieve better connection of the transfer robot 100 with the fixed shelf 200 during cargo storage.

As another possible embodiment, the fork assembly 10 may be slidably connected to the fixing seat 11, or the fork assembly 10 may be hinged to the fixing seat 11, and at least a portion of the fork assembly 10 may extend out of the fork assembly 10 when it is required to connect with the fixed shelf 200.

The carrier robot 100 according to the embodiment of the present disclosure will be further described below by taking the supporting member 30 as an example of a retractable member.

The connecting member 31 may be a telescopic rod, so that the telescopic function of the supporting component 30 can be realized by changing the telescopic state of the connecting member 31.

Further, the clip 32 may be removably attached to the edge structure by at least one of suction and snap-fit. This enables the structure of the clamp 32 to be more diversified.

Specifically, the connecting member 31 is horizontally movable relative to the fork assembly 10 to allow the clamping member 32 to be attached to the side wall 230 of the edge structure (e.g., the cross member of the placement table 210 shown in fig. 2 and 3) such that the fork assembly 10 is fixed relative to the fixed shelf 200. The link 31 may be horizontally disposed on the bottom wall 111 of the fixed seat 11 of the fork assembly 10, and the second end of the link 31 (i.e., the free end of the telescoping rod) may extend toward the access opening 13 of the fork assembly 10 (as shown in fig. 2-4), so that the link 31 may be horizontally moved relative to the fork assembly 10 to be attached to the side wall 230 of the edge structure.

The clamping member 32 may be an electromagnet, a suction cup, or other suction member capable of absorbing with the sidewall 230 of the edge structure. It should be understood that the type of clip 32 will depend on the material used for the edge structure side walls 230. In the present embodiment, the kind of the clamp 32 is not further limited.

The utility model provides a transfer robot through set up the supporting component that can remove for the fork subassembly on the fork subassembly to can make transfer robot at the in-process of getting goods, fork subassembly accessible supporting component can dismantle with fixed goods shelves and be connected, provides the holding power for the fork subassembly is getting goods in-process, thereby improves transfer robot and gets goods in-process stability, in order to avoid artificial damage to transfer robot.

Example two

Fig. 5 is a schematic view illustrating a connection between another transfer robot and a fixed rack according to a second embodiment of the present disclosure.

On the basis of the first embodiment, the present embodiment provides another supporting assembly 30. The difference from the above embodiment is that the supporting component 30 of the present embodiment is different from the clamping component 32.

Specifically, referring to fig. 5, in the embodiment of the present disclosure, the clamping member 32 may include a first clamping portion 321 and a second clamping portion 322 connected to the first clamping portion 321, and the connecting member 31 may be horizontally movable relative to the fork assembly 10, so that the first clamping portion 321 and the second clamping portion 322 are detachably connected to different sides of the edge structure. This enables the clamp members 32 to be attached to different sides of the edge structure to clamp the edge structure by the support assembly 30, helping to further improve the stability of the attachment of the support assembly 30 to the fixed shelf 200.

As shown in fig. 5, the first clamping portion 321 can be connected to the top 220 of the edge structure by at least one of suction and clamping, and the second clamping portion 322 can be clamped to the bottom 240 of the edge structure, so as to connect the clamping members 32 to the top 220 and the side wall 230 of the edge structure, respectively, and fix the fork assembly 10 relative to the fixed shelf 200.

The first clamping portion 321 may be a plate-shaped structure, so that the contact area of the first clamping portion 321 and the edge structure top 220 may be increased, thereby improving the connection effect of the first clamping portion 321 and the edge structure. The second clamping portion 322 may be a hook adapted to the bottom 240 of the edge structure, so that the second clamping portion 322 can be clamped to the bottom 240 of the edge structure. For example, the second clamping portion 322 may be an "L" shaped hook as shown in fig. 5.

Further, in order to better match the thickness of the placing table 210, the first clamping portion 321 may move relative to the second clamping portion 322, so that the distance between the first clamping portion 321 and the second clamping portion 322 can be adjusted by the movement of the first clamping portion 321 relative to the second clamping portion 322, thereby matching the placing table 210 with different thicknesses, so as to improve the connectable application range of the supporting assembly 30.

Specifically, the clamping member 32 may further include a connecting portion 323, the second clamping portion 322 may be connected to the first clamping portion 321 through the connecting portion 323, and the connecting portion 323 may be a stretchable member or a stretchable member. Thus, the length of the connecting portion 323 can be changed to allow the first clamping portion 321 to move relative to the second clamping portion 322, so that the distance between the first clamping portion 321 and the second clamping portion 322 can be adjusted.

Illustratively, the connecting portion 323 may be a telescopic link, an elastic rod, or other connecting rod capable of changing length.

The utility model provides a transfer robot, through the setting of first clamping part and second clamping part on the supporting component, can be so that transfer robot is getting the in-process of goods, and the marginal structure of fixed goods shelves is cliied to fork subassembly accessible supporting component to improve transfer robot and getting the stability of goods in-process, in order to avoid causing the damage to transfer robot.

EXAMPLE III

Fig. 6 is a schematic view illustrating connection between another transfer robot and a fixed shelf according to a third embodiment of the present disclosure, and fig. 7 is a schematic view illustrating connection between another transfer robot and a fixed shelf according to a third embodiment of the present disclosure.

On the basis of the first embodiment, the present embodiment provides another supporting assembly 30. The difference from the above embodiment is that the supporting component 30 of the present embodiment is different from the clamping component 32.

Specifically, referring to fig. 6 and 7, in the disclosed embodiment, the clamping member 32 has a locking portion 324, and the connecting member 31 can be rotated at a predetermined angle relative to the fork assembly 10, so that the locking portion 324 can be locked with the bottom 240 of the edge structure. Thus, when the fork assembly 10 is coupled to the fixed shelf 200 through the support assembly 30, the clamping member 32 may be engaged with the bottom 240 of the edge structure, so that the fork assembly 10 is relatively fixed to the fixed shelf 200, thereby preventing the transfer robot 100 from shaking and overturning when moving the object to be moved from the fixed shelf 200.

In order to facilitate the rotation of the connecting member 31 at a predetermined angle relative to the fork assembly 10, the first end of the connecting member 31 (i.e. the fixed end of the telescopic rod) can be fixed on the fixing base 11 by a hinge or other movable means.

It should be understood that the predetermined angle can be understood as the range of angles through which the link 31 swings relative to the fork assembly 10. The predetermined angular swing of the link 31 relative to the fork assembly 10 is for the engagement portion 324 to engage with the bottom 240 of the rim structure, and therefore the predetermined angular swing is determined by the height difference between the link 31 and the bottom 240 of the rim structure. That is, when the height difference is different, the preset angle is changed accordingly. In this embodiment, the size of the preset angle is not further limited.

Illustratively, the engaging portion 324 is a hook adapted to the edge structure bottom 240, so as to engage with the edge structure bottom 240.

It should be noted that in the present embodiment, the connecting member 31 can also swing at a predetermined angle relative to the fork assembly 10, so that the engaging portion 324 can be engaged with the bottom 240 of the edge structure. The swinging of the link 31 at this time is understood to be the elastic swinging of the link 31 relative to the fork assembly 10, rather than the swinging of the link 31 relative to the fork assembly in this embodiment. That is, the connecting member 31 of the present embodiment is not limited to being rotatable at a predetermined angle relative to the fork assembly 10.

The utility model provides a transfer robot, through the setting of block portion on the holder, can make transfer robot at the in-process of getting goods, bottom looks joint of fork subassembly accessible supporting component and edge structure to improve transfer robot at the in-process of getting goods stability, in order to avoid causing the damage to transfer robot man.

In the description of the present disclosure, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present disclosure.

In the description of the present disclosure, it is to be understood that the terms "comprises" and "comprising," and any variations thereof, as used herein, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integral to one another; either directly or indirectly through intervening media, such as through internal communication or through an interaction between two elements. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims (22)

1. A transfer robot is characterized by comprising a support assembly and a transfer assembly used for transferring an object to be transferred, wherein the support assembly is arranged on the transfer assembly and can move relative to the transfer assembly, and when the transfer assembly transfers the object to be transferred, the support assembly is detachably connected with a fixed shelf for storing the object to be transferred.

2. The transfer robot of claim 1, wherein the transfer assembly is a fork assembly, a suction cup assembly, a gripper assembly, or a robotic arm assembly.

3. The transfer robot of claim 2, wherein the end of the fork assembly has an access opening through which the article to be moved can enter and exit, and the access opening is disposed opposite to a cargo space on the fixed shelf when the support assembly is supported on the fixed shelf.

4. A transfer robot as claimed in claim 3, wherein the number of the support assemblies is one or more, the support assemblies being located on opposite sides of the doorway, and/or the support assemblies being located at the bottom of the fork assembly.

5. The transfer robot of claim 4, wherein the fork assembly comprises a body and a tray disposed within the body, the tray being movable relative to the body such that an end of the tray extends out of the access opening and is positioned between the fixed shelf and the body or against a side wall of the fixed shelf when the fork assembly transfers the item to be transferred.

6. The transfer robot of claim 5, wherein the support assemblies are provided on the body at least one of on opposite sides of the tray and at a bottom of the body.

7. A transfer robot as claimed in any one of claims 2-6, wherein the support assembly is horizontally movable relative to the fork assembly or is rotatable at a predetermined angle relative to the fork assembly.

8. The transfer robot of claim 7, wherein at least a portion of the support assembly extends beyond the fork assembly and is removably coupled to the stationary rack while the fork assembly is transferring the item to be transferred.

9. The transfer robot of claim 8, wherein the stationary gantry includes a placement table for placing the item to be moved, and the support assembly is detachably connected to an edge structure of the placement table.

10. The transfer robot of claim 9, wherein the support assembly includes a connector member having a first end coupled to the fork assembly and a clamp member coupled to a second end of the connector member and removably coupled to the edge structure.

11. The transfer robot of claim 10, wherein the support assembly is a telescoping assembly.

12. The transfer robot of claim 11, wherein the connector is a telescoping rod.

13. A transfer robot as claimed in claim 10, wherein the clamp is detachably connected to the edge structure by means of an adsorption and/or snap fit.

14. A transfer robot as recited in claim 13, wherein the attachment member is horizontally movable relative to the fork assembly to enable the gripping member to be attached to the side wall of the rim structure, the gripping member being an electromagnet or suction cup.

15. A transfer robot as recited in claim 13, wherein the clamp comprises a first clamp portion and a second clamp portion connected to the first clamp portion, the connector being horizontally movable relative to the fork assembly to removably connect the first and second clamp portions, respectively, to different sides of the edge structure.

16. A transfer robot as claimed in claim 15, wherein the first grip part is connected to the top of the edge structure by means of an adsorption and/or snap fit, and the second grip part is snapped into engagement with the bottom of the edge structure.

17. The transfer robot of claim 15, wherein the first gripper is movable relative to the second gripper.

18. The transfer robot of claim 17, wherein the clamp further comprises a connecting portion through which the second clamp portion is connected to the first clamp portion, the connecting portion being a stretchable or stretchable member.

19. The transfer robot of claim 18, wherein the connecting portion is a telescopic link or an elastic rod.

20. The transfer robot of claim 13, wherein the clamp has a snap-fit portion, and the connector is rotatable at a predetermined angle relative to the fork assembly to snap the snap-fit portion into engagement with the bottom of the edge structure.

21. The transfer robot of claim 20, wherein the engaging portion is a hook that fits into a bottom of the edge structure.

22. A handling system, characterized by comprising a mobile carrier, a fixed carrier for placing an object to be moved, and a handling robot according to any one of claims 1-21, which is located on the mobile carrier and detachably connected to the fixed carrier for handling the object to be moved.

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