CN220925237U - Pick-and-place robot, combined robot and warehousing system - Google Patents

Abstract

The disclosure provides a pick-and-place robot, a combined robot and a warehousing system, and relates to the technical field of intelligent warehousing. The picking and placing robot comprises a first movable base and a rotating assembly rotatably connected to the first movable base, wherein the rotating assembly comprises a plurality of rotating pieces which are sequentially arranged along the picking and placing direction; the rotating piece close to the edge of the first movable base is positioned between the bottom surface of the first movable base and the rotating piece close to the center of the first movable base, so that the rotating piece close to the edge of the first movable base firstly contacts a material box to be carried; the connecting lines of the outer peripheral surfaces of the rotating parts close to the edge of the first movable base are obliquely arranged relative to the picking and placing direction so as to form a guide surface for picking; the material box moves along the guide surface to a rotating member near the center of the first moving base. The pick-and-place robot in the present disclosure is not limited by the height of the material box when picking and placing the goods, and can improve the carrying efficiency of the pick-and-place robot.

Description

Pick-and-place robots, combined robots and warehousing systems

Technical Field

The embodiments of the present disclosure relate to the field of intelligent warehousing technology, and in particular to a picking and placing robot, a combined robot and a warehousing system.

Background technique

The handling robot is one of the main equipment that can realize automated handling operations in intelligent logistics terminals. The handling robot can reduce the heavy physical labor of humans and improve the efficiency of handling operations; therefore, the storage robot has become a research hotspot in the warehousing system.

In the related art, the handling robot comprises a frame, a storage unit and a fork device arranged on the frame, wherein the fork device comprises a first transmission member and a telescopic mechanism, and a second transmission member docked with the first transmission member is arranged on the storage unit, and when the first transmission member docks with the second transmission member, the material box can be transported between the fork device and the storage unit. In addition, a third transmission member docked with the first transmission member is arranged on the shelf or transfer device matched with the handling robot, and when the first transmission member docks with the third transmission member, the material box can be transported between the shelf and the fork device by the handling robot.

However, the above-mentioned transport method is limited by the height of the goods to be picked up, which reduces the transport efficiency of the transport robot and further reduces the efficiency of the entire warehousing system.

Utility Model Content

In view of the above problems, the embodiments of the present disclosure provide a picking and placing robot, a combined robot and a warehousing system, which are used to improve the handling efficiency of the picking and placing robot and the combined robot.

In order to achieve the above objectives, the present disclosure provides the following technical solutions:

A first aspect of an embodiment of the present disclosure provides a cargo picking and placing robot, comprising a first mobile base and a rotating assembly rotatably connected to the first mobile base, wherein the rotating assembly comprises a plurality of rotating members;

The plurality of rotating members are arranged in sequence along the direction of picking up and placing goods; wherein the rotating member close to the edge of the first mobile base is located between the bottom surface of the first mobile base and the rotating member close to the center of the first mobile base, so that the rotating member close to the edge of the first mobile base contacts the material box to be transported first;

The connecting line of the partial outer circumferences of several rotating parts near the edge of the first movable base is inclined relative to the picking and placing direction to form a guide surface for picking up goods; the material box moves along the guide surface to the rotating part near the center of the first movable base.

In a possible implementation, the rotating assembly includes a conveyor belt, which surrounds the outer sides of the plurality of rotating members and rotates with the rotation of the plurality of rotating members;

The conveyor belt is wound around the portions of the plurality of rotating members close to the edge of the first movable base to form the guide surface.

In a possible implementation, the plurality of rotating members around which the conveyor belt is wound near the edge of the first movable base include a first rotating member and a second rotating member, and the first rotating member is arranged between the second rotating member and the bottom surface of the first movable base;

The portion of the conveyor belt wound around the first rotating member and the second rotating member constitutes the guide surface.

In a possible implementation, the rotating member includes a rotating wheel;

The first mobile base comprises at least two installation cavities, and the at least two installation cavities are spaced apart and perpendicular to the direction of picking and placing goods;

A plurality of rotating wheels are rotatably connected in each of the installation cavities, and a portion of the outer circumference of the rotating wheel protrudes out of the installation cavity.

In a possible implementation, the first mobile base includes at least two movable wheels disposed at intervals; when picking up or putting down goods, the rotation direction of the movable wheels is opposite to the rotation direction of the rotating member.

A second aspect of an embodiment of the present disclosure provides a combined robot, comprising a handling robot and a picking and placing robot as described in the first aspect.

In a possible implementation, the handling robot includes a frame and a support assembly, the support assembly includes a first support member and a second support member, the first support member is slidably connected to the frame; the second support member is arranged on the first support member;

The second support member includes a first guide channel, the first guide channel penetrates the second support member along the length direction of the second support member, and the first guide channel also penetrates the top surface of the second support member along the height direction of the second support member to form a first top opening;

The cargo picking and placing robot is movably connected in the first guide channel, and the tops of the multiple rotating parts of the cargo picking and placing robot are exposed outside the first top opening.

In a possible implementation, the second support member includes a first bottom plate, a first top plate, and two first side plates, and the first bottom plate is disposed on the first support member;

The two first side plates are spaced apart on the first bottom plate, and ends of the two first side plates facing away from the first bottom plate are respectively connected to the first top plate to enclose a first guide channel;

One end of the two first side plates forms a first inlet and outlet, and the other end of the two first side plates forms a second inlet and outlet; the first top opening is arranged on the first top plate.

In a possible implementation, the handling robot further includes two clamping assemblies, which are slidably disposed on the first support member and are respectively located on both sides of the second support member;

The two clamping assemblies can move relative to or away from each other to clamp or release the material box located on the first top plate.

In a possible implementation, a guide rail is provided on the first support member, and the guide rail extends perpendicular to a direction in which the material box enters and exits the first guide channel;

The clamping assembly is slidably arranged on the guide rail via a sliding block.

In a possible implementation, the clamping assembly includes a driving member, a transmission member, and a clamping member; the transmission member includes a driving gear and a driven rack meshing with the driving gear;

The driving member is connected to the driving gear;

The driven rack is connected to the clamping member, and the clamping member is slidably arranged on the guide rail via the sliding block.

In a possible implementation, the cargo picking and placing robot further includes a blocking member, which is rotatably disposed on a side of at least one of the clamping assemblies facing the second support member, and the blocking member is disposed adjacent to the first inlet and outlet and/or the second inlet and outlet;

When the material box is located on the first top plate, the blocking member is parallel to the first bottom plate;

When the material box enters and exits the first guide channel, the blocking member is perpendicular to the first bottom plate.

A third aspect of the embodiments of the present disclosure provides a storage system, comprising at least one shelf and the combined robot described in the second aspect;

The shelf comprises a second guide channel having a second top opening, the second guide channel cooperating with the first guide channel of the transport robot;

The picking and placing robot moves between the first guide channel and the second guide channel to transport material boxes between the transport robot and the shelf.

In one possible implementation, the first mobile base of the cargo picking and placing robot includes a first state and a second state of reciprocating movement between the first guide channel and the second guide channel, and when the first mobile base is in the first state, the rotating member stops rotating; when the first mobile base is in the second state, the rotating member rotates in contact with the material box through the second top opening, and drives the material box to move in a direction away from the shelf, or drives the material box to move in a direction toward the shelf.

In a possible implementation, the storage system further includes a plurality of guide members, and the plurality of guide members are sequentially arranged on the cargo board of the shelf;

Each of the guide members comprises a second bottom plate, a second top plate and two second side plates, wherein the second bottom plate is arranged on the cargo plate;

The two second side plates are spaced apart on the second bottom plate, and the ends of the two second side plates facing away from the second bottom plate are respectively connected to the second top plate to enclose a second guide channel; the second guide channel has a third inlet and a fourth inlet that are oppositely arranged in the inlet and outlet direction of the first movable base;

The second top opening is disposed on the second top plate.

In the picking and placing robot, combined robot and warehousing system provided by the embodiments of the present disclosure, the line connecting the partial outer peripheral surfaces of several rotating parts of the picking and placing robot near the edge of the first movable base is arranged to be inclined relative to the picking and placing direction to form a guide surface for picking up goods; when picking up goods, the bottom end of the guide surface can contact the material box first, and then the rotating component rotates; during the rotation of the rotating component, the material box can move along the guide surface to the rotating part near the center of the first movable base. With this arrangement, the picking and placing robot can carry material boxes at a lower position, so that the picking and placing of the picking and placing robot is no longer limited by the picking height, thereby improving the carrying efficiency of the picking and placing robot, and thus improving the efficiency of the entire warehousing system.

In addition to the technical problems solved by the embodiments of the present disclosure, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of the technical solutions described above, other technical problems that can be solved by the picking and placing robots, combined robots and warehousing systems provided by the embodiments of the present disclosure, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

FIG1 is a perspective view of a cargo picking and placing robot provided in an embodiment of the present disclosure;

FIG2 is a right side view of the cargo picking and placing robot provided in an embodiment of the present disclosure;

FIG3 is a front view of a cargo picking and placing robot provided in an embodiment of the present disclosure;

Fig. 4 is a cross-sectional view along the B-B direction in Fig. 3;

FIG5 is a perspective view of a transport robot provided in an embodiment of the present disclosure;

FIG6 is a partial perspective view of a transport robot provided in an embodiment of the present disclosure;

FIG7 is a front view of FIG6;

FIG8 is a perspective view of a support assembly provided in an embodiment of the present disclosure;

FIG. 9 is a three-dimensional diagram of a storage system provided in an embodiment of the present disclosure.

Description of reference numerals:

100: support assembly; 110: first guide channel; 120: first top opening; 130: first support member; 131: guide rail; 132: slider; 133: guide slider; 140: second support member; 141: first bottom plate; 142: first top plate; 143: first side plate;

200: Pick-up and place robot; 210: first mobile base; 211: mobile wheel; 212: mounting cavity; 213: guide slope; 220: rotating part; 230: conveyor belt; 240: guide surface;

300: clamping assembly;

400: blocking member;

500: rack;

600: shelf; 610: second guide channel; 620: second top opening;

700: Material box;

800: guide member; 810: second bottom plate; 820: second top plate; 830: second side plate;

900: Second mobile base.

Detailed ways

As described in the background technology, the handling robot in the related technology has a technical problem of low handling efficiency. The inventors have found that the reason for this problem is that the first transmission member of the handling robot and the third transmission member of the shelf are usually ordinary roller structures. When realizing the transfer of material boxes between the handling robot and the shelf, the first transmission member and the third transmission member are required to be located on the same plane, resulting in the height restriction of the handling robot when picking up and placing goods.

In response to the above technical problems, the embodiments of the present disclosure provide a picking and placing robot, a combined robot and a warehousing system, wherein the connecting line of the partial outer peripheral surfaces of several rotating parts of the picking and placing robot near the edge of the first movable base is arranged to be inclined relative to the picking and placing direction to form a guide surface for picking goods; when picking goods, the bottom end of the guide surface can contact the material box first, and then the rotating assembly rotates; during the rotation of the rotating assembly, the material box can move along the guide surface to the rotating part near the center of the first movable base; with such an arrangement, the picking and placing robot can carry material boxes at a lower position, so that the picking and placing of the picking and placing robot is no longer limited by the picking height, thereby improving the carrying efficiency of the picking and placing robot, and thereby improving the efficiency of the entire warehousing system.

In order to make the above-mentioned purposes, features and advantages of the embodiments of the present disclosure more obvious and understandable, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

Please refer to Figures 1 to 4. An embodiment of the present disclosure provides a picking and placing robot, which is used to place a material box 700 on a shelf 600 (see Figure 9) or take the material box 700 out of the shelf 600 to implement the picking and placing operation of the picking and placing robot.

Please refer to FIG. 1 , the cargo picking and placing robot 200 includes a first mobile base 210 and a rotating assembly. The rotating assembly is rotatably connected to the first mobile base 210 ; the rotating assembly can move with the first mobile base 210 or can rotate relative to the first mobile base 210 .

Illustratively, during the process of picking up goods, the picking and placing robot 200 first moves toward the shelf 600. During this stage, the rotating component stops rotating and moves with the first movable base 210. When the picking and placing robot 200 moves to the picking position, the rotating component rotates synchronously while moving with the first movable base 210. The rotating component contacts the material box 700 and drives the material box 700 to move in the direction away from the shelf 600, so as to place the material box 700 on the shelf 600 on the picking and placing robot 200 and complete the picking operation.

During the cargo delivery process, the first movable base 210 drives the material box 700 to move in the direction toward the shelf 600. At this stage, the rotating component stops rotating and moves with the first movable base 210. When it moves to the cargo delivery position, the rotating component starts to rotate relative to the first movable base 210 to place the material box 700 on the cargo picking and placing robot 200 on the shelf 600, thereby completing the cargo delivery operation.

The rotating assembly includes a plurality of rotating members 220, and the plurality of rotating members 220 are arranged in sequence along the direction of picking up and placing goods; wherein the direction of picking up and placing goods is the M direction in FIG1 and FIG2. The rotating member 220 near the edge of the first mobile base 210 is located between the bottom surface of the first mobile base 210 and the rotating member 220 near the center of the first mobile base 210, so that the rotating member 220 near the edge of the first mobile base 210 first contacts the material box 700 to be transported. In this embodiment, the material box 700 and the rotating member 220 have multiple contact surfaces, which can improve the smoothness of the process of picking up and placing the material box 700, and can also increase the contact area between the material box 700 and the conveyor belt 230, thereby reducing the wear on both.

It should be noted that the edges of the first mobile base 210 are the edges that are arranged opposite to each other along the direction of picking up and placing goods, namely the front edge and the rear edge in FIG. 1. The rotating member 220 near the edge of the first mobile base 210 is lower than the rotating member 220 near the center of the first mobile base 210; in this embodiment, one rotating member 220 near the edge of the first mobile base 210 may be lower than the other rotating members 220; or multiple rotating members 220 near the edge of the first mobile base 210 may be lower than the other rotating members 220.

The connecting line of the partial outer circumferences of several rotating members 220 near the edge of the first movable base 210 is arranged obliquely relative to the direction of picking up and placing goods, so as to form a guide surface 240 for picking up goods; the material box 700 moves along the guide surface 240 to the rotating member 220 near the center of the first movable base 210. In this embodiment, the outer circumferences of two rotating members 220 near the edge of the first movable base 210 may constitute the guide surface 240, for example, the outermost rotating member 220 in the direction of picking up and placing goods is lower than the second outermost rotating member 220, and the outermost rotating member 220 and the partial outer circumferences of the second outermost rotating member 220 constitute the guide surface 240; or the outer circumferences of multiple rotating members 220 near the edge of the first movable base 210 may constitute the guide surface 240. Exemplarily, in the direction of picking up and placing goods, the three rotating members 220 located at the edge in sequence are respectively recorded as the first rotating member, the second rotating member and the third rotating member, the height of the first rotating member is lower than the height of the second rotating member, the height of the second rotating member is lower than the height of the third rotating member, and part of the outer circumferential surfaces of the first rotating member, the second rotating member and the third rotating member constitute the guide surface 240.

When picking up goods, the bottom end of the guide surface 240 can contact the material box 700 first, and then the rotating component rotates; during the rotation of the rotating component, the material box can move along the guide surface 240 to the rotating part 220 close to the center of the first movable base 210. With this arrangement, the picking and placing robot can carry material boxes at a lower position, so that the picking and placing robot's picking and placing of goods is no longer limited by the picking height, which improves the carrying efficiency of the picking and placing robot, and thus improves the efficiency of the entire warehousing system.

In a possible embodiment, the rotating assembly includes a conveyor belt 230, which surrounds the outer sides of the plurality of rotating members 220 and rotates with the rotation of the plurality of rotating members 220; the portion of the conveyor belt 230 that surrounds the plurality of rotating members 220 near the edge of the first mobile base 210 constitutes a guide surface 240. In this configuration, a portion of the surface of a portion of the conveyor belt 230 constitutes the guide surface 240, which can increase the contact area between the guide surface 240 and the material box 700, thereby improving the stability of the picking and placing robot 200 during the picking and placing process.

In one example, please continue to refer to Figures 1 and 2, the conveyor belt 230 is wound around several rotating members 220 near the edge of the first movable base 210, including a first rotating member 221 and a second rotating member 222, the first rotating member 221 is the outermost rotating member among the multiple rotating members 220, and the second rotating member 222 is the second outermost rotating member among the multiple rotating members 220.

The first rotating member 221 is disposed between the second rotating member 222 and the bottom surface of the first movable base 210; the conveyor belt 230 forms a guide surface 240 at the first rotating member 221 and the second rotating member 222. With such an arrangement, it is convenient to introduce the material box 700 onto the pick-and-place robot 200, and it is also convenient to remove the material box 700 from the pick-and-place robot 200.

In a possible implementation, please continue to refer to FIG. 1 , the rotating member 220 includes a rotating wheel; the first mobile base 210 includes at least two installation cavities 212, and the at least two installation cavities 212 are arranged at intervals perpendicular to the direction of picking and placing goods; that is, the at least two installation cavities 212 are arranged at intervals along the width direction of the first mobile base 210. The width direction of the first mobile base 210 is the N direction in FIG. 1 .

Each installation cavity 212 is rotatably connected to a plurality of rotating wheels, and part of the outer circumference of the rotating wheel protrudes out of the installation cavity 212, that is, the top surface of each rotating wheel is higher than the top surface of the first movable base 210, ensuring that the bottom surface of the material box 700 can contact the top surface of the rotating wheel to facilitate the transportation of the material box 700.

It should be noted that the first movable base 210 also includes two guide slopes 213, which are arranged at intervals along the direction of picking up or placing goods, and the guide slopes 213 match the guide surface 240. When picking up or placing goods, the material box 700 moves along the guide slopes 213 and the guide surface 240, which can improve the stability of the material box 700 during movement.

In this embodiment, the first mobile base 210 includes at least two spaced-apart mobile wheels 211; when picking up or putting down goods, the rotation direction of the mobile wheels 211 is opposite to the rotation direction of the rotating member 220. When picking up or putting down goods, the movement direction of the material box 700 is opposite to that of the first mobile base 210 to complete the picking up and putting down operations.

Please refer to Figures 5 to 8, the embodiment of the present disclosure provides a combined robot, including a handling robot and a pick-and-place robot 200 described in any of the above embodiments. The pick-and-place robot 200 is configured to move between the handling robot and the shelf to carry the material box 700 from the shelf to the storage unit of the handling robot, and also to carry the material box 700 on the handling robot to the shelf.

In this embodiment, the handling robot can cooperate with multiple pick-up and placement robots 200, and the handling robot is relatively independent of the multiple pick-up and placement robots 200. When one of the pick-up and placement robots 200 fails, it can be used in conjunction with other pick-up and placement robots 200, that is, the remaining pick-up and placement robots 200 can continue to perform the pick-up and placement operation, avoiding the shutdown of the entire combined robot for maintenance, thereby improving the handling efficiency of the combined robot.

In a possible implementation, the handling robot includes a frame 500 and a support assembly 100, wherein the frame 500 can be arranged on a second mobile base 900 of the handling robot. Exemplarily, the second mobile base 900 can include a bottom plate and a walking mechanism arranged on the side of the bottom plate facing the ground, the walking mechanism can include a plurality of walking wheels and a driving mechanism, the plurality of walking wheels include a driving wheel and a driven wheel, the driving wheel is connected to the driving mechanism, and the mobile base can be moved or turned under the drive of the driving mechanism, so that the combined robot moves to the working position.

The frame 500 is disposed on the second mobile base 900. In one example, the bottom end of the frame 500 is mounted on the bottom plate, for example, the bottom end of the frame 500 is welded to the upper surface of the bottom plate, wherein the frame may include two columns disposed at intervals, and a crossbeam for connecting the two columns; the bottom ends of the columns are fixed on the mobile chassis.

The support assembly 100 includes a first support member 130 and a second support member 140 , and the first support member 130 is slidably disposed on the frame 500 . Exemplarily, a guide slider 133 is disposed on the first support member 130 , wherein the guide slider 133 is slidably disposed on the frame 500 .

In this embodiment, the first support member 130 may include a first support plate 134, a second support plate 135 and a support rod 136, and the first support plate 134 and the second support plate 135 are arranged at intervals along a direction perpendicular to the direction in which the combined robot enters and exits the first guide channel 110, that is, the first support plate 134 and the second support plate 135 are arranged at intervals along the N direction in Figure 9. The support rod 136 is arranged between the first support plate 134 and the second support plate 135, and is used to connect the first support plate 134 and the second support plate 135. It should be noted that the number of the support rods 136 can be one or more, and this embodiment does not make specific restrictions here. The first support member 130 provided in this embodiment can simplify the structure of the first support member 130 and reduce the weight of the first support member 130.

The second support member 140 is disposed on the first support member 130, for example, the second support member 140 is disposed on the support rod 136. The second support member 140 includes a first guide channel 110. Exemplarily, the second support member 140 includes a first bottom plate 141, a first top plate 142 and two first side plates 143, and the first bottom plate 141 is disposed on the first support member 130; for example, the first bottom plate 141 is disposed on the support rod 136.

The two first side plates 143 are spaced apart on the first bottom plate 141 , that is, the two first side plates 143 are spaced apart along a direction perpendicular to the direction in which the combined robot enters and exits the first guide channel 110 .

The ends of the two first side plates 143 facing away from the first bottom plate 141 are respectively connected to the first top plate 142 to enclose the first guide channel 110. The first guide channel 110 has a first inlet and a second inlet arranged oppositely in the direction of the first movable base 210 entering and exiting; that is, along the M direction in FIG. 8 , the first guide channel 110 has a first inlet and a second inlet arranged oppositely.

The first top opening 120 is disposed on the first top plate 142 , and the first top opening can penetrate the first top plate 142 in the direction of entry and exit of the first movable base 210 to facilitate the rotating part 220 of the cargo picking and placing robot 200 to pick up and place the material box.

The picking and placing robot 200 is movably connected in the first guide channel 110, that is, the picking and placing robot 200 can move in the first guide channel 110, and the tops of the multiple rotating parts 220 of the picking and placing robot 200 are exposed outside the first top opening 120, so that the tops of the multiple rotating parts 220 are in contact with the material box 700, lifting the material box 700 to facilitate the subsequent transportation of the material box 700 to the shelf.

It should be noted that when the pick-and-place robot 200 includes a conveyor belt 230, the conveyor belt 230 exposed in the first top opening 120 is in contact with the material box 700. That is, when the rotating member 220 is located in the first guide channel 110, the top surface of the conveyor belt 230 is higher than the top plate 142, or in other words, the top surface of the conveyor belt 230 is higher than the first top opening 120. The material box 700 is in rotational contact with the conveyor belt 230, which can improve the stability of the process of picking and placing the material box 700 on the one hand, and increase the contact area between the material box 700 and the conveyor belt 230 on the other hand, thereby reducing the wear on both.

Please refer to Figures 6 and 7. In a possible implementation, two clamping assemblies 300 are further included. The two clamping assemblies 300 are slidably set on the first support member 130 and are respectively located on both sides of the second support member 140. For example, the two clamping assemblies 300 can be slidably set on the support rod 136.

Exemplarily, a guide rail 131 is provided on the first support member 130, and the guide rail 131 extends in a direction perpendicular to the direction in which the material box enters and exits the first guide channel 110; the clamping assembly 300 is slidably disposed on the guide rail 131 through a slider 132, so that the two clamping assemblies 300 can move relative to or away from each other to clamp or release the material box 700 located on the first top plate 142.

When the material box 700 is located at the top of the first guide channel 110 and needs to move with the combined robot, the two clamping assemblies 300 move toward the material box 700 and contact the material box 700 respectively to clamp the material box 700, thereby ensuring the stability of the material box 700.

When the material box 700 needs to be placed on the shelf 600, the two clamping assemblies 300 move in opposite directions to loosen the material box 700 located on the first top plate 142, so that the material box 700 can move with the picking and placing robot 200 and completely enter the second guide channel 610. During the above movement process, the material box 700 can be placed on the shelf 600.

It should be noted that there are multiple options for the structure of the clamping assembly 300. As an example, the clamping assembly 300 includes a driving member, a transmission member, and a clamping member; the transmission member includes a driving gear and a driven rack meshing with the driving gear; the driving member is connected to the driving gear; the driven rack is connected to the clamping member, and the clamping member is slidably disposed on the guide rail 131 through a slider 132. The meshing mode of the driving gear and the driven rack can ensure the stability of the clamping assembly 300 during movement.

Please continue to refer to Figures 6 and 7. In a possible implementation, the cargo picking and placing robot further includes a blocking member 400, which is rotatably disposed on the side of at least one clamping assembly 300 facing the second support member 140, that is, the blocking member 400 can be disposed on the side of one clamping assembly 300 facing the other clamping assembly 300, or can be disposed on the sides of the two clamping assemblies 300 facing each other. The blocking member 400 is disposed adjacent to the first inlet and/or the second inlet, so as to facilitate positioning and blocking of the material box 700.

When the material box 700 is located on the first top plate 142 , the blocking member 400 is parallel to the first bottom plate 141 , so as to block both sides of the material box 700 to prevent the material box 700 from moving.

When the material box 700 enters and exits the first guide passage 110 , the blocking member 400 is perpendicular to the first bottom plate 141 to open a moving path for the material box 700 .

The embodiment of the present disclosure also provides a storage system, please refer to Figure 9, the storage system includes at least one shelf 600 and the combined robot described in any of the above embodiments. Exemplarily, the storage system includes two shelves 600 arranged side by side, and a channel for the transport robot to move is formed between adjacent shelves 600.

The shelf 600 includes a second guide channel 610 with a second top opening 620. Along the width direction of the shelf 600, i.e., the N direction in FIG. 1 , the second guide channel 610 has a third inlet and a fourth inlet that are arranged opposite to each other, so as to facilitate the entry and exit of the pick-and-place robot, thereby placing the material box 700 on the shelf 600, or taking the material box 700 out of the shelf 600. It should be noted that the second guide channel 610 can be arranged in a variety of ways, for example, two baffles arranged at intervals are arranged on the top surface of the shelf 600, the length direction of the baffles is parallel to the width direction of the shelf 600, and the area enclosed by the two baffles constitutes the second guide channel 610.

The second guide channel 610 cooperates with the first guide channel 110, and the pick-and-place robot 200 moves between the first guide channel 110 and the second guide channel 610 to transport the material box between the transport robot and the shelf 600. Compared with the related art, the action of pulling the material box or inserting and lifting the material box is reduced, the pick-and-place efficiency of the pick-and-place assembly is improved, and the efficiency of the storage system is further improved.

It should be noted that the number of second guide channels 610 can be multiple, and multiple second guide channels 610 are arranged in sequence on the shelf 600, so that a picking and placing robot 200 is also configured on the shelf 600. Such a setting can be used in conjunction with multiple combined robots to improve the efficiency of the warehousing system.

Please continue to refer to Figure 9. The first mobile base 210 can move back and forth between the first guide channel 110 and the second guide channel 610. During the movement, the working state of the first mobile base 210 includes a first state and a second state. When the first mobile base 210 is in the first state, the rotating member 220 stops rotating. At this time, the material box 700 is located on the rotating member 220 and can move with the movement of the first mobile base 210.

When the first movable base 210 is in the second state, the rotating member 220 is in rotational contact with the material box 700 through the second top opening 620, and drives the material box 700 to move in a direction away from the shelf 600, so as to place the material box 700 on the shelf 600 on the picking and placing robot 200 to complete the picking operation; or drives the material box 700 to move in a direction toward the shelf 600, so as to place the material box 700 on the picking and placing robot 200 on the shelf 600 to complete the placing operation.

In one example, when the material box 700 is located on the shelf 600 and the picking and placing robot 200 is in an unloaded state; the first mobile base 210 moves from the first guide channel 110 to the second guide channel 610, at this time the first mobile base 210 is in the first state, the rotating member 220 stops rotating and moves synchronously with the first mobile base 210.

When the first movable base 210 enters the second guide channel 610 from the third entrance and exit, the picking and placing robot 200 makes initial contact with one end of the material box 700. At this time, the first movable base 210 is in the second state, so that the rotating member 220 starts to rotate. The rotating member 220 makes rotational contact with the material box 700 during the rotation process to drive the material box 700 to move in a direction away from the shelf 600; the first movable base 210 continues to move, and when it is completely moved into the second guide channel, the material box 700 is completely located on the picking and placing robot 200.

Afterwards, the first mobile base 210 is in the first state and controls the rotating member 220 to stop moving. At this time, the first mobile base 210 can drive the picking and placing robot 200 carrying the material box 700 to move from the second guide channel 610 back to the first guide channel 110 to complete the picking action.

In another example, the picking and placing robot 200 is in a loading state, and the material box 700 is located on the picking and placing component 20; the first movable base 210 moves from the first guide channel 110 to the second guide channel 610, and completely enters the second guide channel 610 from the third entrance and exit. At this time, the first movable base 210 is in the first state, the rotating member 220 stops rotating and moves synchronously with the first movable base 210 to drive the material box 700 to move toward the shelf 600.

During the return process, the first movable base 210 is in the second state, so that the rotating member 220 starts to rotate. The rotating member 220 rotates and contacts with the material box 700 during the rotation process to drive the material box 700 to move in the direction toward the shelf 600; when the first movable base 210 is completely moved out of the second guide channel, the material box 700 is completely placed on the shelf 600 to complete the release action.

With such an arrangement, the picking and placing robot 200 can perform picking and placing actions during movement. Compared with related technologies, it reduces the actions of pulling material boxes or inserting and lifting material boxes, improves the picking and placing efficiency of the picking and placing components, and thus reduces the cost of the combined robot.

In order to further describe the picking and placing state of the picking and placing robot 200 in detail, the working mode of the moving wheels 211 and the rotating wheels in the first moving base 210 will be described below. Please refer to Figures 1 and 2. The first moving base 210 includes at least two moving wheels 211 arranged at intervals. The movement of the first moving base 210 is achieved by the rotation of the moving wheels 211. The rotating member 220 includes a plurality of rotating wheels 221, and the plurality of rotating wheels 221 are arranged on the first moving base 210 at intervals along a circular track, and the plane where the circular track is located is perpendicular to the bottom surface of the first moving base 210; that is, the plane where the circular track surrounded by the plurality of rotating wheels 221 is located is perpendicular to the ground.

When the first mobile base 210 is in the second state, the rotation direction of the mobile wheel 211 is opposite to that of the rotating wheel 221. Exemplarily, in the process of picking up goods, that is, in the process of moving the material box 700 located on the shelf 600 to the picking and placing robot 200, when the first mobile base 210 enters the second guide channel 610 from the third entrance, the picking and placing robot 200 makes initial contact with one end of the material box 700, at which time the rotation direction of the rotating wheel 221 is opposite to that of the mobile wheel 211. Taking the position shown in FIG. 1 as an example, the mobile wheel 211 drives the picking and placing robot 200 to move toward the shelf, and the rotation direction of the rotating wheel 221 is clockwise. At this time, when the first mobile base 210 continues to move, the material box 700 gradually moves to the picking and placing robot 200, and when it is completely moved into the second guide channel 610, the material box 700 is completely located on the picking and placing robot 200.

During the process of placing goods and returning the goods, during the process of returning the goods, the first movable base 210 is in the second state, so that the rotating member 220 starts to rotate, and the rotation direction of the rotating wheel 221 is opposite to the rotation direction of the moving wheel 211. Taking the orientation shown in FIG. 1 as an example, the moving wheel 211 drives the picking and placing robot 200 to move away from the shelf 600, and the rotation direction of the rotating wheel 221 is counterclockwise; thereafter, the first movable base 210 continues to move toward the first guide channel 110, and the material box 700 is gradually moved onto the shelf 600. When it is completely moved outside the second guide channel, the material box 700 is completely located on the shelf 600.

This embodiment can complete the picking action or the placing action of the picking and placing robot 200 by changing the rotating direction and the working state of the rotating wheel 221, which has the advantage of a simple structure and improves the working efficiency of the picking and placing robot 200.

In a possible implementation, the storage system further includes a plurality of guide members 800, and the plurality of guide members 800 are sequentially arranged on the cargo board of the shelf 600;

Each guide member 800 includes a second bottom plate 810, a second top plate 820 and two second side plates 830, and the second bottom plate 810 is arranged on the cargo plate;

The two second side plates 830 are spaced apart from each other on the second bottom plate 810 , and ends of the two second side plates 830 facing away from the second bottom plate 810 are respectively connected to the second top plate 820 to enclose the second guide channel 610 .

The second guide channel 610 has a third inlet and a fourth inlet and outlet relatively arranged in the direction of entry and exit of the first movable base 210; the second top opening 620 is arranged on the second top plate 820, and passes through the second top plate 820 in the direction of entry and exit of the first movable base 210, so as to facilitate the picking and placing of the material box by the picking and placing component of the picking and placing robot.

The various embodiments or implementation methods in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referenced to each other.

It should be noted that the phrases "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include certain features, structures or characteristics, but not every embodiment may include the certain features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing certain features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments, whether explicitly or not explicitly described.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims (15)

1. The pick-and-place robot is characterized by comprising a first movable base and a rotating assembly rotatably connected with the first movable base, wherein the rotating assembly comprises a plurality of rotating pieces;

The rotating parts are sequentially arranged along the picking and placing direction; the rotating piece close to the edge of the first movable base is positioned between the bottom surface of the first movable base and the rotating piece close to the center of the first movable base, so that the rotating piece close to the edge of the first movable base firstly contacts a material box to be carried;

Connecting lines of partial peripheral surfaces of the rotating parts close to the edge of the first movable base are obliquely arranged relative to the picking and placing direction so as to form a guide surface for picking; the material box moves along the guide surface to the rotating piece close to the center of the first moving base.

2. The pick and place robot of claim 1 wherein said rotating assembly comprises a conveyor belt encircling the outside of said plurality of rotating members and rotating with the rotation of said plurality of rotating members;

the conveyor belt is wound on the parts of the rotating parts close to the edge of the first movable base to form the guide surface.

3. The pick and place robot of claim 2 wherein said conveyor belt includes a first rotating member and a second rotating member about a plurality of said rotating members disposed adjacent an edge of said first moving base, said first rotating member being disposed between said second rotating member and a bottom surface of said first moving base;

The parts of the conveyor belt, which are wound around the first rotating member and the second rotating member, form the guide surface.

4. A pick and place robot as claimed in any one of claims 1-3, wherein the rotating member comprises a rotating wheel;

The first movable base comprises at least two mounting cavities, and the at least two mounting cavities are arranged at intervals along the direction perpendicular to the picking and placing direction;

And a plurality of rotating wheels are rotatably connected in each mounting cavity, and part of the peripheral surfaces of the rotating wheels protrude out of the mounting cavities.

5. The pick and place robot of claim 4 wherein said first mobile base includes at least two spaced apart mobile wheels; when picking or placing goods, the rotating direction of the moving wheel is opposite to the rotating direction of the rotating piece.

6. A combination robot comprising a handling robot and a pick and place robot according to any one of claims 1-5.

7. The combination robot of claim 6, wherein the transfer robot comprises a frame and a support assembly, the support assembly comprising a first support and a second support, the first support being slidably coupled to the frame; the second support piece is arranged on the first support piece;

The second support comprises a first guide channel which penetrates through the second support along the length direction of the second support, and the first guide channel also penetrates through the top surface of the second support along the height direction of the second support so as to form a first top opening;

The picking and placing robot is movably connected in the first guide channel, and the tops of the rotating pieces of the picking and placing robot are exposed out of the first top opening.

8. The combination robot of claim 7, wherein the second support comprises a first bottom plate, a first top plate, and two first side plates, the first bottom plate being disposed on the first support;

The two first side plates are arranged on the first bottom plate at intervals, and one ends of the two first side plates, which deviate from the first bottom plate, are respectively connected with the first top plate so as to enclose a first guide channel;

One end of each first side plate is enclosed to form a first inlet and outlet, and the other end of each first side plate is enclosed to form a second inlet and outlet; the first top opening is disposed on the first top plate.

9. The combination robot of claim 8, wherein the transfer robot further comprises two clamping assemblies slidably disposed on the first support member and on opposite sides of the second support member;

the two clamping assemblies can move relatively or oppositely to clamp or unclamp a material box located on the first top plate.

10. The combination robot of claim 9, wherein the first support is provided with a rail extending in a direction perpendicular to the direction of the material bin entering and exiting the first guide channel;

The clamping component is arranged on the guide rail in a sliding way through a sliding block.

11. The combination robot of claim 10, wherein the clamping assembly comprises a drive member, a transmission member, and a clamping member; the transmission piece comprises a driving gear and a driven rack meshed with the driving gear;

the driving piece is connected with the driving gear;

The driven rack is connected with the clamping piece, and the clamping piece is arranged on the guide rail in a sliding way through the sliding block.

12. The combination robot of any one of claims 9-11, further comprising a stop rotatably disposed on a side of at least one of the clamping assemblies facing the second support member, the stop disposed adjacent the first access opening and/or the second access opening;

The barrier is parallel to the first bottom plate when the material tank is located on the first top plate;

When the material box enters and exits the first guide channel, the blocking piece is perpendicular to the first bottom plate.

13. A warehousing system comprising at least one rack and the combination robot of any one of claims 6-12;

The goods shelf comprises a second guide channel with a second top opening, and the second guide channel is matched with the first guide channel of the carrying robot;

The pick and place robot moves between the first guide channel and the second guide channel to transfer a material bin between the transfer robot and the pallet.

14. The warehousing system of claim 13 wherein the first mobile base of the pick and place robot includes a first state and a second state that reciprocate between the first guide channel and the second guide channel, the rotating member stopping rotation when the first mobile base is in the first state; when the first movable base is in a second state, the rotating piece is in rotary contact with the material box through the second top opening, and drives the material box to move in the direction back to the goods shelf, or drives the material box to move in the direction towards the goods shelf.

15. The warehousing system of claim 13 or 14, further comprising a plurality of guides, the plurality of guides being arranged in sequence on pallets of the racks;

Each guide piece comprises a second bottom plate, a second top plate and two second side plates, wherein the second bottom plate is arranged on the pallet;

The two second side plates are arranged on the second bottom plate at intervals, and one ends of the two second side plates, which deviate from the second bottom plate, are respectively connected with the second top plate so as to enclose a second guide channel; the second guide channel is provided with a third inlet and a fourth inlet which are oppositely arranged in the inlet and outlet direction of the first movable base;

the second top opening is provided in the second top plate.