CN218023514U - Transfer robot and warehousing system - Google Patents

Abstract

The utility model relates to a transfer robot and warehouse system, transfer robot include running gear, cargo platform and access mechanism, and running gear is used for driving the transfer robot walking, and cargo platform is used for getting to put and transports the goods, and access mechanism locates on the cargo platform, and access mechanism gets the arm and shifts the subassembly including getting, gets the arm and is used for getting along the first direction and puts the goods, shifts the subassembly and is used for transporting the goods along the second direction. The carrying robot can improve the storing and taking efficiency and reduce the occupied space.

Description

Transfer robot and warehousing system

Technical Field

The application relates to the technical field of warehousing, in particular to a transfer robot and a warehousing system.

Background

In the warehouse system, for reducing the manpower, raise the efficiency, adopt access robot transport goods usually to deposit the goods to goods shelves, perhaps take out the goods from goods shelves. But access robot need frequently move between goods shelves and other regions when carrying out the warehouse entry task, still has the problem that access efficiency is lower, in addition, current access robot's the platform of carrying goods is usually through the mode of rotation with the goods transportation of commutateing, and the platform of carrying goods rotation required space is great, comparatively takes up space and efficiency also low.

SUMMERY OF THE UTILITY MODEL

Therefore, there is a need to provide a transfer robot and a warehousing system for solving the problems of low access efficiency and large occupied space of the access robot.

According to an aspect of the present application, there is provided a transfer robot characterized by comprising: the traveling mechanism is used for driving the carrying robot to travel; the cargo carrying platform is used for picking, placing and transferring goods; the storing and taking mechanism is arranged on the cargo carrying platform and comprises a picking and placing arm and a transferring assembly, the picking and placing arm is used for picking and placing cargos along a first direction, and the transferring assembly is used for transferring the cargos along a second direction.

In some embodiments, the transfer robot further comprises a support frame mounted on the traveling mechanism, and at least one buffer platform for placing goods is arranged on the support frame; the pick-and-place arm is used for picking and placing goods between the outer portion of the transfer robot and the loading platform, and the transfer assembly is used for transferring the goods between the loading platform and the buffer storage platform.

In some embodiments, a conveying assembly is arranged on the buffer storage table, and guide plates are mounted on two sides of the conveying assembly and used for guiding goods to move along the conveying direction of the conveying assembly.

In some embodiments, the number of the buffer stages is multiple, the buffer stages are arranged along the extending direction of the support, the loading platform is installed on the support, and the loading platform can move relative to the support along the extending direction of the support.

In some embodiments, the buffer station is a plurality of buffer stations, the plurality of buffer stations are distributed on two sides of the loading platform along the second direction, and the transfer assembly can transfer the goods to the buffer stations along the second direction or from the buffer stations to the loading platform.

In some embodiments, the transfer assembly comprises a jacking transfer; the pick-and-place arm is configured to move the goods onto the jacking transfer machine or move the goods on the jacking transfer machine out; the jacking transfer machine is configured in such a way that the conveying surface of the jacking transfer machine can be moved to the height matched with the pick-and-place arm to transfer the goods, or the conveying surface of the jacking transfer machine is higher than the top surface of the pick-and-place arm.

In some embodiments, the pick-and-place arm is two telescoping forks and the transfer assembly is disposed between the two telescoping forks.

According to another aspect of the present application, there is provided a storage system characterized by comprising the transfer robot as described above.

The transfer robot that this application embodiment provided, drive each part walking through running gear, and set up access mechanism on cargo platform, access mechanism gets the arm and shifts the subassembly including getting, utilize to get to put the arm and get along the first direction and put the goods, utilize the transfer subassembly to transport the goods along the second direction, make the process of transfer robot access goods decompose into two simple actions, single action spend time shorter, each action links up and carries out mutual noninterference, thereby promote access efficiency, and because the required space of action process is less, make the whole occupation space of transfer robot less.

Drawings

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

fig. 2 is a partial configuration view of the transfer robot of fig. 1;

FIG. 3 is a schematic view of a transfer robot according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of a transfer robot according to an embodiment of the present application.

The reference numbers illustrate:

10. a transfer robot;

11. a traveling mechanism;

12. a cargo carrying platform;

13. an access mechanism; 131. a pick-and-place arm; 131a, a telescopic arm; 131b, a push-pull rod; 132. a transfer assembly; 132a, jacking transfer machine; 132b, a roller;

14. a support;

15. a cache table; 151. a transfer assembly; 152. a guide plate;

20. goods;

x, a first direction; y, second direction.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and that modifications may be made by one skilled in the art without departing from the spirit and scope of the application and it is therefore not intended to be limited to the specific embodiments disclosed below.

In the description of the present application, 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," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be interconnected within two elements or in a relationship where two elements interact with each other unless otherwise specifically limited. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as the case may be.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The automatic storing and taking robot is important carrying equipment in warehousing and storage operation, and the automatic storing robot is used for replacing manpower to take goods out of a goods shelf and carrying the goods to a buffer storage conveying device or carrying the goods to the goods shelf so as to improve storing and taking efficiency. However, when the automatic access robot performs an in-out task, the automatic access robot needs to frequently move between the shelf and the buffer conveying device, and thus the problem of low access efficiency still exists.

For solving above-mentioned problem, this application embodiment provides a transfer robot, gets the mechanism of putting the goods and transporting the goods through the setting, decomposes the action of access goods into getting to put the action and transporting the action, because it is shorter to decompose the back single action cost time, and two actions link up going on to promote access efficiency. In addition, the space required by the actions of taking and placing the goods and transferring the goods is smaller, so that the whole occupied space of the transfer robot is smaller.

Fig. 1 is a schematic structural view of a transfer robot according to an embodiment of the present application. Fig. 2 is a partial schematic structural view of the transfer robot of fig. 1.

Referring to fig. 1 and fig. 2, a transfer robot 10 provided in an embodiment of the present application includes a traveling mechanism 11, a cargo platform 12, and an access mechanism 13, where the traveling mechanism 11 is configured to drive the transfer robot 10 to travel, the cargo platform 12 is configured to pick and place and transfer goods 20, the access mechanism 13 is disposed on the cargo platform 12, and the access mechanism 13 includes a pick-and-place arm 131 and a transfer assembly 132, the pick-and-place arm 131 is configured to pick and place the goods 20 along a first direction X, and the transfer assembly 132 is configured to transfer the goods 20 along a second direction Y.

The transfer robot 10 provided by the embodiment of the application, drive each part through running gear 11 and walk, and set up access mechanism 13 on cargo platform 12, access mechanism 13 is including getting and putting arm 131 and transfer assembly 132, utilize getting and putting arm 131 to get and put goods 20 along first direction X, utilize transfer assembly 132 to transport goods 20 along second direction Y, make the process that transfer robot 10 accessed goods 20 decompose into two simple actions, single action cost time is shorter, thereby promote access efficiency, because be equipped with along the transfer assembly 132 of second direction Y transportation goods, when getting the goods and needing to shift the goods when getting by getting and putting arm 131, can be with the help of transfer assembly 132, and need not platform 12, access mechanism 13 rotates certain angle, and then need not to reserve cargo platform 12, the turn radius space of access mechanism 13, therefore the required space of this kind of transfer robot 10 action process is less, make the whole occupation space of transfer robot 10 less.

In one embodiment, the traveling mechanism 11 includes a chassis and rollers mounted on the chassis, and other components of the transfer robot 10 are mounted on the chassis, and the chassis is driven by the rollers to travel, so as to drive the entire transfer robot 10 to travel.

As one embodiment, the first direction X and the second direction Y are perpendicular to each other, and the first direction X and the second direction Y are both parallel to the horizontal direction, so that the picking and placing arm 131 can pick and place the goods 20 and the transferring assembly 132 can transfer the goods 20 conveniently, the actions are continuous, the efficiency is improved, and the occupied space is reduced.

In some embodiments, the transfer robot 10 further includes a support frame 14 mounted on the traveling mechanism 11, the support frame 14 is provided with at least one buffer station 15 for placing the cargo 20, the pick-and-place arm 131 is used for picking and placing the cargo 20 between the outside of the transfer robot 10 and the loading platform 12, and the transfer unit 132 is used for transferring the cargo 20 between the loading platform 12 and the buffer station 15. Based on this, get and put arm 131 and can follow the outside (like on the goods shelves) and obtain goods 20, transfer assembly 132 transports the goods 20 that get and put arm 131 and get to the buffer platform 15 on, transfer robot 10 can get the goods once, just shift the goods to buffer platform 15 buffer, like this because there are a plurality of buffer platforms 15, so transfer robot 10 can carry a plurality of goods simultaneously, utilize buffer platform 15 to save a plurality of goods 20 temporarily for transfer robot 10 can obtain a plurality of goods 20 after again, the required time of robot round trip movement has been reduced, thereby improve access efficiency.

In some embodiments, the buffer stage 15 is provided with a conveying assembly 151, and guide plates 152 are mounted on both sides of the conveying assembly 151, and the guide plates 152 are used for guiding the goods 20 to move along the conveying direction of the conveying assembly 151. The conveying assembly 151 may be a conveying belt or a roller set. By installing the guide plates 152 on both sides of the transfer assembly 151, the goods 20 can be more accurately moved in the transfer direction of the transfer assembly 151, and the goods 20 are prevented from falling off from both sides of the buffering table 15.

In some embodiments, the plurality of buffer tables 15 are arranged along the extending direction of the support 14, the cargo platform 12 is mounted on the support 14, and the cargo platform 12 can move relative to the support 14 in a reciprocating manner along the extending direction of the support 14. The power mechanism for driving the cargo platform 12 to move may be a motor, an electric cylinder, or an air cylinder. Moreover, a guide rail may be disposed on the support 14, and a sliding block or a pulley slidably connected to the guide rail may be correspondingly disposed on the cargo platform 12 to improve the stability of the cargo platform 12 during the moving process. Through cargo platform 12 along support 14 extending direction reciprocating motion, can transport more goods 20 between cargo platform 12 and buffer station 15, a plurality of buffer stations 15 can save more goods 20 promptly, further reduce the required time of robot round trip movement, improve access efficiency, cargo platform 12 also can move to different height and the different layer looks adaptations of goods shelves.

Further, the direction in which the bracket 14 extends may be various directions. Preferably, the extending direction of the rack 14 is parallel to the vertical direction, so that the space in the vertical direction is fully utilized to provide a plurality of buffer stations 15, so as to increase the buffer capacity of the transfer robot 10 and reduce the space occupied by the transfer robot 10 in the horizontal direction, thereby enabling more flexible shuttling movement between adjacent racks. The number of the cache stations 15 may be two, three, four, five, six, seven, eight or more.

Alternatively, a plurality of buffer platforms 15 are distributed on both sides of the cargo platform 12 in the second direction Y, and the transfer unit 132 can transfer the cargo 20 to the buffer platforms 15 on both sides in the second direction Y or from the buffer platforms 15 on both sides to the cargo platform 12. Accordingly, when the overall height of the transfer robot 10 is determined, the number of buffer stages 15 can be increased, and the number of loads 20 that can be transferred by the transfer robot 10 at a time can be increased, thereby further improving the storage efficiency.

Fig. 3 is a schematic structural view of a transfer robot according to an embodiment of the present application.

Referring to fig. 3, in some embodiments, transfer assembly 132 includes a lift-off transfer 132a; the pick-and-place arm 131 is configured to move the goods 20 onto the jacking mover 132a or move the goods 20 on the jacking mover 132a out; the lifting transfer machine 132a is configured such that the conveying surface of the lifting transfer machine 132a can be moved to a height at which the goods 20 are transferred in cooperation with the pick-and-place arm 131, or moved such that the conveying surface of the lifting transfer machine 132a is higher than the top surface of the pick-and-place arm 131. Alternatively, the lifting transfer machine 132a is driven by an electric cylinder or an air cylinder to be lifted. By arranging the jacking transfer machine 132a to adjust the height of the goods 20, the pick-and-place arm 131 is prevented from generating spatial interference on the transfer assembly 132 in the process of transferring the goods 20 between the loading platform 12 and the buffer storage table 15.

In an alternative embodiment, the jacking transfer machine 132a further includes a plurality of rollers 132b arranged in parallel. When the roller 132b rotates around its rotation axis, the goods 20 pressed on the roller 132b will be moved by the roller 132b, so that the goods 20 on the loading platform 12 leave the loading platform 12. Based on this, when the goods 20 moves to partially press on the buffer table 15, the transfer unit 151 on the buffer table 15 will further move the goods 20 until the goods 20 completely leave the loading platform 12 and completely locate on the buffer table 15, so as to transfer the goods 20 between the loading platform 12 and the buffer table 15.

In the related art, the automatic access robot comprises a goods taking structure and a cache structure, and a plurality of goods taking and placing tasks can be executed at one time by the automatic access robot through the cache structure, so that the access efficiency is improved. Wherein, get and need to have the cooperation in structure and the action between the structure and the buffer memory structure to the goods 20 that get the structure of getting get shift to buffer memory structure, perhaps shift to the structure of getting goods 20 on the buffer memory structure. Currently, in the related art, a rotation butt joint mode is usually adopted to realize the cooperation between the goods taking structure and the buffer structure. Specifically, after the goods are taken by the goods taking structure, the goods taking structure is rotated by a certain angle, so that the goods taking structure is butted with the cache structure, and the goods 20 on the goods taking structure are transferred to the cache structure. Because the goods are taken out each time, the taken goods can be transferred to the buffer structure only by rotating a certain angle, the robot occupies a large space in the working process; in addition, after each time of goods taking, the goods taking structure needs to rotate and is in butt joint with the buffer structure, the time is long, and the problem that the rotation angle is inaccurate easily occurs in the rotation process of the goods taking structure, so that the goods taking structure is difficult to butt joint with the buffer structure, and the goods taking efficiency is low.

In the transfer robot 10 provided in the embodiment of the present application, the pick-and-place arm 131 adopts a telescopic action to pick and place the goods 20, and the transfer component 132 transfers the goods 20 between the buffer table 15 and the cargo platform 12 in a linear transfer manner such as a roller 132b and a conveyor belt, and the like, so that the complex actions such as rotary docking and the like are not involved in the whole process, and therefore, the storage efficiency is improved on the premise of occupying a small space.

In some embodiments, the pick-and-place arm 131 is two telescoping forks with the transfer assembly 132 disposed therebetween. The goods 20 are taken and placed between the outside of the transfer robot 10 and the carrying platform 12 through the telescopic fork, and the fork stretches along a single direction in the taking and placing process, so that the operation is simple, the taking and placing efficiency is high, and the occupied space is small. The transfer unit 132 is disposed between the two telescopic forks, so that the pick-and-place arm 131 can directly place the goods 20 on the transfer unit 132 or directly pick the goods 20 from the transfer unit 132, thereby making the processes of picking and placing the goods 20 and transferring the goods 20 more consistent and efficient.

Alternatively, the retractable fork includes a retractable arm 131a and a push-pull rod 131b, the push-pull rod 131b is disposed at the movable end of the retractable arm 131a, and the push-pull rod 131b has a push-pull state (in this case, a substantially horizontal state) in which the push-pull rod 131b pushes and pulls the cargo 20 along with the retractable movement of the retractable arm 131a, and an avoidance state (in this case, a substantially vertical state) in which the push-pull rod 131b avoids the cargo 20 during the retractable movement of the retractable arm 131 a. In the cargo taking process, the telescopic arm 131a drives the push-pull rod 131b in the avoiding state to move, so that the push-pull rod 131b moves from one side of the cargo 20 to the other side of the cargo 20, then the push-pull rod 131b is switched to the push-pull state, and the telescopic arm 131a reversely drives the push-pull rod 131b in the push-pull state to move, so that the cargo 20 is pulled onto the cargo platform 12.

Furthermore, the push-pull rod 131b is rotatably connected to the movable end of the telescopic arm 131a, and the push-pull state and the avoidance state can be switched by rotating the push-pull rod 131b, so that the operation is convenient and quick, and the efficiency is improved.

In some embodiments, the telescopic fork is a bidirectional fork, that is, both opposite ends of the telescopic arm 131a are telescopic, and correspondingly, both opposite ends of the telescopic arm 131a are provided with push-pull rods 131b. Accordingly, the opposite ends of the telescopic arms 131a can pick and place the goods 20, so that the transfer robot 10 can pick and place the goods 20 located in different directions without rotating. The retractable fork is a conventional device, and thus the specific structure thereof will not be described in detail.

Fig. 4 shows a schematic structural diagram of a transfer robot according to an embodiment of the present application.

Referring to fig. 4, in some embodiments, the number of cargo platforms 12 is multiple. Optionally, the number of cargo platforms 12 is the same as or different from the number of buffer stations 15. Take the same example of the quantity of cargo platform 12 and the quantity of buffer storage platform 15, each cargo platform 12 sets up with a buffer storage platform 15 relatively, correspondingly, access mechanism 13 on cargo platform 12 also sets up with buffer storage platform 15 relatively, based on this, can not only improve access efficiency through a plurality of goods 20 of buffer storage platform 15 temporary storage, can also get between a plurality of cargo platforms 12 and transfer robot 10 outside simultaneously through a plurality of access mechanism 13 and put goods 20, make and to fill up goods 20 on the buffer storage platform 15 fast, or the goods 20 of storage on the buffer storage platform 15 can be taken away fast, further improve access efficiency.

Based on the same purpose, the application also provides a storage system.

In an embodiment of the present application, the stocker system includes the transfer robot in the above-described embodiment.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several implementation modes of the present application, and the description thereof is specific and detailed, but not construed as limiting the scope of the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.

Claims (8)

1. A transfer robot, characterized by comprising:

the traveling mechanism is used for driving the carrying robot to travel;

the cargo carrying platform is used for picking, placing and transferring cargos;

the storing and taking mechanism is arranged on the cargo carrying platform and comprises a storing and taking arm and a transferring assembly, the storing and taking arm is used for storing and taking goods along a first direction, and the transferring assembly is used for transferring the goods along a second direction.

2. The transfer robot of claim 1, further comprising a rack mounted on the traveling mechanism, the rack having at least one buffer stage for placing goods thereon;

the pick-and-place arm is used for picking and placing goods between the outer portion of the transfer robot and the loading platform, and the transfer assembly is used for transferring the goods between the loading platform and the buffer storage table.

3. The transfer robot of claim 2, wherein the buffer stage is provided with a transfer unit, and guide plates for guiding the goods to move in a transfer direction of the transfer unit are installed on both sides of the transfer unit.

4. The transfer robot of claim 2, wherein the buffer table is provided in plurality, and the plurality of buffer tables are arranged along a direction in which the support extends, and the cargo platform is mounted on the support and is movable relative to the support along the direction in which the support extends.

5. The transfer robot of claim 2, wherein the buffer stages are plural, the plurality of buffer stages are distributed on both sides of the cargo platform in the second direction, and the transfer unit is capable of transferring the cargo in the second direction to or from the buffer stages on both sides.

6. The transfer robot of claim 1, wherein the transfer assembly comprises a jacking mover;

the picking and placing arm is configured to move the goods onto the jacking transfer machine or move the goods on the jacking transfer machine out;

the jacking transfer machine is configured in such a way that the conveying surface of the jacking transfer machine can be moved to the height matched with the pick-and-place arm to transfer the goods, or moved to the position that the conveying surface of the jacking transfer machine is higher than the top surface of the pick-and-place arm.

7. The transfer robot of claim 1, wherein the pick-and-place arm is two telescoping forks and the transfer assembly is disposed between the two telescoping forks.

8. A storage system comprising the transfer robot of any one of claims 1 to 7.

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