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 robot, combined robot and warehousing system

Technical Field

The embodiment of the disclosure relates to the technical field of intelligent warehousing, in particular to a pick-and-place robot, a combined robot and a warehousing system.

Background

The transfer robot is one of main equipment capable of realizing automatic transfer operation of the intelligent logistics terminal, and can reduce heavy manual labor of human beings and improve the efficiency of the transfer operation; therefore, the warehousing robot becomes a research hotspot of the warehousing system.

In the related art, the transfer robot includes a frame, a storage unit and a fork device, wherein the fork device includes a first transmission member and a telescopic mechanism, the storage unit is provided with a second transmission member abutted with the first transmission member, and when the first transmission member is abutted with the second transmission member, the transfer of the material box between the fork device and the storage unit is realized. In addition, be provided with the third driving medium of docking with first driving medium on transfer robot matched with goods shelves or transfer device, when first driving medium and third driving medium dock, realize the transport of material case between goods shelves and fork device of transfer robot.

But foretell transport mode can receive the restriction of getting goods height, has reduced transfer robot's transport efficiency, and then has reduced whole warehouse system's efficiency.

Disclosure of utility model

In view of the foregoing, embodiments of the present disclosure provide a pick-and-place robot, a combined robot, and a warehouse system, which are used for improving the handling efficiency of the pick-and-place robot and the combined robot.

In order to achieve the above object, the embodiments of the present disclosure provide the following technical solutions:

A first aspect of an embodiment of the present disclosure provides a pick-and-place robot, including a first mobile base and a rotating assembly rotatably connected to the first mobile base, the rotating assembly including a plurality of rotating members;

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.

In one possible implementation, the rotating assembly includes a conveyor belt that 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 on the parts of the rotating parts close to the edge of the first movable base to form the guide surface.

In one possible implementation, the conveyor belt is wound around the plurality of rotating members near the edge of the first moving base, and the plurality of rotating members include a first rotating member and a second rotating member, and the first rotating member is disposed between the second rotating member and the bottom surface of the 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.

In one possible implementation, 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.

In one possible implementation, the first mobile base includes at least two mobile wheels disposed at intervals; when picking or placing goods, the rotating direction of the moving wheel is opposite to the rotating direction of the rotating piece.

A second aspect of embodiments of the present disclosure provides a combination robot comprising a handling robot and a pick and place robot as described in the first aspect.

In one possible implementation, the transfer robot includes a frame and a support assembly including 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.

In one possible implementation, the second support includes 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.

In a possible implementation manner, the transfer robot further comprises two clamping assemblies, wherein the two clamping assemblies are slidably arranged on the first supporting piece and are respectively positioned at two sides of the second supporting piece;

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

In one possible implementation, the first support is provided with a guide rail, and the guide rail extends along a direction perpendicular to the direction of the material box entering and exiting the first guide channel;

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

In one possible implementation, the clamping assembly includes a driving 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.

In one possible implementation, the pick and place robot further comprises a blocking member 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 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.

A third aspect of embodiments of the present disclosure provides a warehousing system comprising at least one rack and the combination robot of the second aspect;

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.

In one possible implementation manner, the first moving base of the pick-and-place robot includes a first state and a second state that reciprocally move between the first guide channel and the second guide channel, and the rotating member stops rotating when the first moving 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.

In one possible implementation, the warehouse system further includes a plurality of guide members, and the plurality of guide members are sequentially arranged on the pallet of the goods shelf;

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.

In the pick-and-place robot, the combined robot and the warehouse system provided by the embodiment of the disclosure, the connecting lines of the outer peripheral surfaces of the parts of the pick-and-place robot, which are close to the edges of the first movable base, are obliquely arranged relative to the pick-and-place direction so as to form a guide surface for picking goods; when picking up goods, the bottom end of the guide surface can be in preferential contact with the material box, and then the rotating assembly rotates; the material box can be moved to the rotating piece near the center of the first moving base along the guide surface in the rotating process of the rotating assembly, so that the material box at the lower position of the carrying position of the picking and placing robot is arranged, the picking and placing of the picking and placing robot is not limited by the picking and placing height, the carrying efficiency of the picking and placing robot is improved, and the efficiency of the whole storage system is further improved.

In addition to the technical problems, technical features constituting the technical solutions, and beneficial effects brought by the technical features of the technical solutions described above, other technical problems that the pick-and-place robot, the combined robot, and the warehouse system provided in the embodiments of the present disclosure can solve, other technical features included in the technical solutions, and beneficial effects brought by the technical features, further detailed description will be made in specific embodiments.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, a brief description will be given below of the drawings required for the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a perspective view of a pick and place robot provided in an embodiment of the present disclosure;

FIG. 2 is a right side view of the pick and place robot provided by embodiments of the present disclosure;

fig. 3 is a front view of a pick and place robot provided by an embodiment of the present disclosure;

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

Fig. 5 is a perspective view of a transfer robot provided by an embodiment of the present disclosure;

Fig. 6 is a partial perspective view of a transfer robot provided by an embodiment of the present disclosure;

FIG. 7 is a front view of FIG. 6;

FIG. 8 is a perspective view of a support assembly provided by an embodiment of the present disclosure;

Fig. 9 is a perspective view of a warehousing system provided by an embodiment of the disclosure.

Reference numerals illustrate:

100: a support assembly; 110: a first guide channel; 120: a first top opening; 130: a first support; 131: a guide rail; 132: a slide block; 133: a guide slide block; 140: a second support; 141: a first base plate; 142: a first top plate; 143: a first side plate;

200: a pick-and-place robot; 210: a first mobile base; 211: a moving wheel; 212: a mounting cavity; 213: a guide slope; 220: a rotating member; 230: a conveyor belt; 240: a guide surface;

300: a clamping assembly;

400: a blocking member;

500: a frame;

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

700: a material box;

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

900: and a second movable base.

Detailed Description

As described in the background art, the related art transfer robot has a technical problem of low transfer efficiency, and the inventor has found that the problem arises because the first transmission member of the transfer robot and the third transmission member of the shelf are generally in a common roller structure, and when the transfer of the material box between the transfer robot and the shelf is realized, the first transmission member and the third transmission member are required to be located on the same plane, so that the transfer robot is highly limited in picking and placing goods.

In view of the above technical problems, an embodiment of the present disclosure provides a pick-and-place robot, a combined robot, and a warehouse system, where a line connecting part of outer circumferential surfaces of a plurality of rotating members of the pick-and-place robot near an edge of a first moving base is obliquely arranged with respect to a pick-and-place direction, so as to form a guide surface for picking a good; when picking up goods, the bottom end of the guide surface can be in preferential contact with the material box, and then the rotating assembly rotates; the material box can move along the guide surface to the rotating piece close to the center of the first moving base in the rotating process of the rotating assembly; so set up, get the material case that put goods robot can transport the lower department of position to get the restriction that put goods robot got put goods no longer receive the goods height, improved get the transport efficiency of putting goods robot, and then improved whole warehouse system's efficiency.

In order to make the above objects, features and advantages of the embodiments of the present disclosure more comprehensible, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present disclosure. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of the present disclosure.

Referring to fig. 1 to 4, the embodiment of the present disclosure provides a pick and place robot for placing a material box 700 on a shelf 600 (see fig. 9) or taking the material box 700 out of the shelf 600 to implement a pick and place operation of the pick and place robot.

Referring to fig. 1, the pick and place robot 200 includes a first moving base 210 and a rotating assembly. Wherein the rotating assembly is rotatably connected to the first moving base 210; the rotating assembly may move with the first moving base 210 or may rotate relative to the first moving base 210.

Illustratively, during pick-and-place robot 200 first moves toward shelf 600, at which stage the rotating assembly stops rotating and moves with first mobile base 210; when the pick and place robot 200 moves to the pick and place position, the rotating assembly synchronously rotates while moving along with the first moving base 210, and the rotating assembly contacts with the material box 700 and drives the material box 700 to move along the direction of the material box 700 back to the shelf 600, so that the material box 700 on the shelf 600 is placed on the pick and place robot 200, and the pick and place operation is completed.

During the process of placing goods, the first moving base 210 moves with the animal box 700 along the direction towards the goods shelf 600, at this stage, the rotating component stops rotating and moves together with the first moving base 210, and when the moving component is to be moved to the place goods, the rotating component starts rotating relative to the first moving base 210, so that the material box 700 on the pick-and-place robot 200 is placed on the goods shelf 600, and the placing goods operation is completed.

The rotating assembly comprises a plurality of rotating pieces 220, and the rotating pieces 220 are sequentially arranged along the picking and placing direction; the picking and placing direction is the M direction in the attached drawings 1 and 2. Wherein the rotating member 220 near the edge of the first moving base 210 is located between the bottom surface of the first moving base 210 and the rotating member 220 near the center of the first moving base 210, such that the rotating member 220 near the edge of the first moving base 210 contacts the material box 700 to be handled first. In this embodiment, the material box 700 and the rotating member 220 have multiple contact surfaces, so that the process stability of taking and placing the material box 700 can be improved, the contact area between the material box 700 and the conveyor belt 230 can be increased, and the abrasion to the material box 700 and the conveyor belt 230 can be reduced.

It should be noted that the edges of the first moving base 210 are opposite edges along the pick-and-place direction, i.e., the front edge and the rear edge in fig. 1. The rotating member 220 near the edge of the first moving base 210 is lower than the rotating member 220 near the center of the first moving base 210; in this embodiment, it may be that one rotating member 220 near the edge of the first moving base 210 is lower than the other rotating members 220; it is also possible that the plurality of rotating members 220 near the edge of the first moving base 210 are lower than the remaining rotating members 220.

The connection lines of the partial outer circumferential surfaces of the plurality of rotating members 220 near the edge of the first moving base 210 are inclined with respect to the picking and placing direction to form a guide surface 240 for picking; the material tank 700 is moved along the guide surface 240 to the rotating member 220 near the center of the first moving base 210. In the present embodiment, the outer peripheral surfaces of the two rotating members 220 near the edge of the first moving base 210 may constitute the guide surface 240, for example, the outermost rotating member 220 in the picking and placing direction is lower than the sub-outer rotating member 220, and the outermost rotating member 220 and a part of the outer peripheral surfaces of the sub-outer rotating member 220 constitute the guide surface 240; the outer circumferential surfaces of the plurality of rotating members 220 near the edge of the first moving base 210 may constitute the guide surface 240. Illustratively, in the picking and placing direction, three rotating members 220 located at the edges in sequence are sequentially denoted as a first rotating member, a second rotating member, and a third rotating member, the first rotating member has a height lower than that of the second rotating member, the second rotating member has a height lower than that 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.

During picking, the bottom end of the guiding surface 240 may be preferentially contacted with the material box 700, and then the rotating assembly rotates; the material box can be moved to the rotating piece 220 close to the center of the first moving base 210 along the guide surface 240 in the rotating process of the rotating assembly, so that the material box at the lower position of the pick-and-place robot can be carried, the pick-and-place of the pick-and-place robot is not limited by the pick-and-place height, the carrying efficiency of the pick-and-place robot is improved, and the efficiency of the whole storage system is further improved.

In one possible embodiment, the rotating assembly includes a conveyor belt 230, the conveyor belt 230 surrounding the outer sides of the plurality of rotating members 220 and rotating with the rotation of the plurality of rotating members 220; the portions of the conveyor belt 230 around the plurality of rotating members 220 near the edge of the first moving base 210 constitute guide surfaces 240. By the arrangement, the guide surface 240 is formed on a part of the surface of the part of the conveying belt 230, so that the contact area between the guide surface 240 and the material box 700 can be increased, and the stability of the pick-and-place robot 200 in the pick-and-place process can be improved.

In an example, referring to fig. 1 and 2, the plurality of rotating members 220 of the conveyor belt 230, which are disposed near the edge of the first moving base 210, include a first rotating member 221 and a second rotating member 222, wherein the first rotating member 221 is the outermost rotating member of the plurality of rotating members 220, and the second rotating member 222 is the next-to-outer rotating member of the plurality of rotating members 220.

The first rotation member 221 is disposed between the second rotation member 222 and the bottom surface of the first moving base 210; the conveyor belt 230 forms a guide surface 240 at portions of the first rotating member 221 and the second rotating member 222. By the arrangement, the material box 700 can be conveniently led into the picking and placing robot 200, and the material box 700 can also be conveniently led out of the picking and placing robot 200.

In one possible implementation, referring to FIG. 1, turning element 220 comprises a turning wheel; the first moving base 210 includes at least two mounting cavities 212, and the at least two mounting cavities 212 are arranged at intervals along a direction perpendicular to the picking and placing direction; that is, at least two mounting cavities 212 are spaced apart in the width direction of the first moving base 210. The width direction of the first moving base 210 is the N direction in fig. 1.

Each installation cavity 212 is internally and rotatably connected with a plurality of rotating wheels, and part of the peripheral surfaces of the rotating wheels protrude out of the installation cavity 212, namely, the top surface of each rotating wheel is higher than the top surface of the first movable base 210, so that the bottom surface of the material box 700 can be contacted with the top surface of the rotating wheels, and the material box 700 can be conveniently carried.

It should be noted that, the first moving base 210 also includes two guiding inclined planes 213, the two guiding inclined planes 213 are spaced along the picking and placing direction, and the guiding inclined planes 213 are matched with the guiding surfaces 240. When picking or placing goods, the material box 700 moves along the guide inclined plane 213 and the guide surface 240, so that the stability of the material box 700 in the moving process can be improved.

In the present embodiment, the first moving base 210 includes at least two moving wheels 211 disposed at intervals; during picking or placing, the rotation direction of the moving wheel 211 is opposite to the rotation direction of the rotating member 220, and during picking or placing, the movement direction of the material box 700 and the first moving base 210 is opposite to each other, so as to complete picking and placing operations.

Referring to fig. 5 to 8, an embodiment of the present disclosure provides a combined robot, including a handling robot and the pick-and-place robot 200 described in any of the above embodiments. The pick and place robot 200 is configured to: the material box 700 may be transferred from the rack to a storage unit of the transfer robot by moving the material box 700 between the transfer robot and the rack, or the material box 700 may be transferred from the transfer robot to the rack.

In this embodiment, the handling robot may be mutually matched with the plurality of pick and place robots 200, and the handling robot is relatively independent from the plurality of pick and place robots 200. When one of the pick and place robots 200 fails, the pick and place robot can be used together with other pick and place robots 200, that is, the rest of the pick and place robots 200 can be used for continuously executing pick and place operations, so that the whole combined robot is prevented from being stopped and overhauled, and the carrying efficiency of the combined robot is improved.

In one possible implementation, the transfer robot includes a frame 500 and a support assembly 100, wherein the frame 500 may be disposed on a second mobile base 900 of the transfer robot. Illustratively, the second mobile base 900 may include a base plate and a traveling mechanism disposed on a side of the base plate facing the ground, and the traveling mechanism may include a plurality of traveling wheels including a driving wheel and a driven wheel, and the driving wheel is connected with the driving mechanism, and may move or steer the mobile base under the driving of the driving mechanism, thereby moving the combined robot to the working position.

The rack 500 is disposed on the second moving 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 on the upper surface of the bottom plate, wherein the frame may include two stand columns disposed at intervals, and a cross beam for connecting the two stand columns; the bottom of the upright post is fixed on the movable chassis.

The support assembly 100 includes a first support 130 and a second support 140, the first support 130 being slidably disposed in the housing 500. Illustratively, a guide slider 133 is provided on the first support 130, wherein the guide slider 133 is slidably provided on the frame 500.

In this embodiment, the first support 130 may include a first support plate 134, a second support plate 135 and a support bar 136, and the first support plate 134 and the second support plate 135 are spaced apart in a direction perpendicular to the direction in which the combined robot enters and exits the first guide path 110, i.e., the first support plate 134 and the second support plate 135 are spaced apart in the N direction of fig. 9. The support bar 136 is disposed between the first support plate 134 and the second support plate 135 for connecting the first support plate 134 and the second support plate 135. The number of the support bars 136 may be one or plural, and the present embodiment is not particularly limited herein. The first support 130 provided in the present embodiment can simplify the structure of the first support 130 and reduce the weight of the first support 130.

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

The two first side plates 143 are disposed at intervals on the first bottom plate 141, that is, the two first side plates 143 are disposed at intervals in a direction perpendicular to the direction in which the combined robot enters and exits the first guide path 110.

One ends of the two first side plates 143 facing away from the first bottom plate 141 are respectively connected with the first top plate 142 to enclose the first guide channel 110. Wherein, the first guide channel 110 has a first inlet and a second inlet which are oppositely arranged in the inlet and outlet direction of the first moving base 210; i.e., along the direction M of fig. 8, the first guide passage 110 has a first inlet and a second inlet which are disposed opposite to each other.

The first top opening 120 is disposed on the first top plate 142, and the first top opening may penetrate through the first top plate 142 in the in-out direction of the first moving base 210, so as to facilitate the fetching and placing of the material box by the rotating member 220 of the cargo robot 200.

The pick and place robot 200 is movably connected in the first guide channel 110, that is, the pick and place robot 200 can move in the first guide channel 110, and the tops of the plurality of rotating members 220 of the pick and place robot 200 are exposed out of the first top opening 120, so that the tops of the plurality of rotating members 220 are in contact with the material box 700, and the material box 700 is jacked up, so that the material box 700 can be conveniently carried onto a shelf subsequently.

It should be noted that, when the pick and place robot 200 includes the conveyor 230, the conveyor 230 exposed in the first top opening 120 contacts the material box 700. That is, when the rotating member 220 is positioned in the first guide passage 110, the top surface of the conveyor belt 230 is higher than the top plate 142, or the top surface of the conveyor belt 230 is higher than the first top opening 120. The material box 700 and the conveyer belt 230 are in rotary contact, so that the process stability of the material box 700 can be improved, the contact area of the material box 700 and the conveyer belt 230 can be increased, and the abrasion of the material box 700 and the conveyer belt 230 can be reduced.

Referring to fig. 6 and 7, in one possible embodiment, two clamping assemblies 300 are further included, where the two clamping assemblies 300 are slidably disposed on the first support 130 and are respectively located on two sides of the second support 140, for example, the two clamping assemblies 300 may be slidably disposed on the support bar 136.

Illustratively, the first support 130 is provided with a guide rail 131, and the guide rail 131 extends along a direction perpendicular to the direction in which the material box enters and exits the first guide channel 110; the clamping assemblies 300 are slidably mounted on the guide rails 131 by the sliders 132 so that the two clamping assemblies 300 can move relatively or relatively to each other to clamp or unclamp the material box 700 on the first top plate 142.

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

When it is desired to place the material tank 700 on the pallet 600, the two clamping assemblies 300 are moved in opposite directions to release the material tank 700 on the first top deck 142, so that the material tank 700 moves along with the pick and place robot 200 and completely enters the second guide channel 610, and the material tank 700 can be placed on the pallet 600 during the movement.

It should be noted that the structure of the clamping assembly 300 may have a variety of options. As one example, the clamping assembly 300 includes 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 a clamping member which is slidably arranged on the guide rail 131 through a sliding block 132. By way of the engagement of the driving gear and the driven rack, the stability of the clamping assembly 300 during movement can be ensured.

With continued reference to fig. 6 and 7, in one possible embodiment, the pick and place robot further comprises a stop 400, the stop 400 being rotatably arranged on the side of at least one clamping assembly 300 facing the second support 140, i.e. the stop 400 may be arranged on the side of one clamping assembly 300 facing the other clamping assembly 300, or on the sides of both clamping assemblies 300 facing each other. And the blocking member 400 is disposed adjacent the first access opening and/or the second access opening to facilitate positioning and blocking of the material tank 700.

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

The stopper 400 is perpendicular to the first bottom plate 141 to open a moving path of the material tank 700 when the material tank 700 enters and exits the first guide passage 110.

The disclosed embodiments also provide a warehouse system, referring to fig. 9, comprising at least one shelf 600 and the combined robot described in any of the above embodiments. Illustratively, the warehouse system includes two shelves 600 disposed side by side, with a aisle between adjacent shelves 600 for movement by the transfer robot.

The shelf 600 includes a second guide channel 610 having a second top opening 620, and the second guide channel 610 has a third access opening and a fourth access opening opposite to each other along the width direction of the shelf 600, i.e., the N direction in fig. 1, to facilitate the access of the pick and place robot, thereby enabling the placement of the material bin 700 on the shelf 600, or, alternatively, the removal of the material bin 700 from the shelf 600. It should be noted that, the arrangement of the second guide channel 610 may be in various manners, for example, two baffles are disposed on the top surface of the shelf 600 at intervals, the length direction of the baffles is parallel to the width direction of the shelf 600, and an area enclosed between the two baffles forms 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 transfer the material bin between the transfer robot and the pallet 600. Compared with the prior art, the action of pulling the material box or inserting and lifting the material box is reduced, the picking and placing efficiency of the picking and placing assembly is improved, and the efficiency of a warehousing system is further improved.

It should be noted that, the number of the second guiding channels 610 may be multiple, and the multiple second guiding channels 610 are sequentially arranged on the shelf 600, so that the picking and placing robots 200 are also configured on the shelf 600, so that the picking and placing robots can be matched with multiple combined robots to use, and efficiency of the warehouse system is improved.

With continued reference to fig. 9, the first moving base 210 can reciprocate between the first guide channel 110 and the second guide channel 610, and during the moving process, the working states of the first moving base 210 include a first state and a second state, when the first moving base 210 is in the first state, the rotating member 220 stops rotating, and at this time, the material box 700 is located on the rotating member 220 and can move along with the movement of the first moving base 210.

When the first moving 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 moves the material box 700 along the direction opposite to the shelf 600, so as to place the material box 700 on the shelf 600 on the pick-and-place robot 200, and complete the pick-and-place operation; or the animal carrying bin 700 is moved in a direction toward the pallet 600 to place the bin 700 on the pick and place robot 200 on the pallet 600 to complete the placing operation.

In one example, when the material bin 700 is located on the pallet 600 and the pick and place robot 200 is in an empty state; the first moving base 210 moves from the first guide path 110 to the second guide path 610, and at this time, the first moving base 210 is in the first state, and the rotating member 220 stops rotating and moves synchronously with the first moving base 210.

When the first moving base 210 enters the second guide channel 610 from the third inlet and outlet, the pick-and-place robot 200 is initially contacted with one end of the material box 700, at this time, the first moving base 210 is in a second state, so that the rotating member 220 starts to rotate, and the rotating member 220 is in rotational contact with the material box 700 in the rotating process, so as to drive the material box 700 to move along the direction deviating from the shelf 600; the first moving base 210 continues to move and the material box 700 is completely located on the pick and place robot 200 when it is completely moved into the second guide path.

Thereafter, the first moving base 210 is in the first state, and the rotating member 220 is controlled to stop moving. At this time, the first moving base 210 may drive the pick and place robot 200 carrying the material box 700 to move from the second guiding channel 610 back to the first guiding channel 110, so as to complete the pick operation.

In another example, the pick and place robot 200 is in a cargo state and the material bin 700 is located on the pick and place assembly 20; the first moving base 210 moves from the first guide path 110 to the second guide path 610 and completely enters the second guide path 610 from the third inlet and outlet, and at this time, the first moving base 210 is in the first state, and the rotating member 220 stops rotating and moves synchronously with the first moving base 210, so as to move the animal feed box 700 toward the shelf 600.

During the retraction process, the first moving base 210 is in the second state, so that the rotating member 220 starts to rotate, and the rotating member 220 is in rotational contact with the material box 700 during the rotation process, so as to drive the material box 700 to move along the direction towards the shelf 600; when the first moving base 210 is completely moved out of the second guide path, the material box 700 is completely placed to the shelf 600 to complete the loading motion.

So set up, get put the goods robot 200 and remove the in-process, just can realize getting the goods action, compare with the correlation technique, reduced and pulled the action of getting the material case or inserting the material case, improved the getting of getting the goods subassembly put goods efficiency, and then reduced combined robot's cost.

In order to describe the pick and place state of the pick and place robot 200 in further detail, the operation modes of the moving wheel 211 and the rotating wheel in the first moving base 210 will be described below. Referring to fig. 1 and 2, the first moving base 210 includes at least two moving wheels 211 disposed at intervals, and the first moving base 210 is moved by the rotation of the moving wheels 211. The rotating member 220 includes a plurality of rotating wheels 221, the plurality of rotating wheels 221 are disposed on the first moving base 210 along an annular track at intervals, and a plane of the annular track is perpendicular to a bottom surface of the first moving base 210; that is, the plane of the circular track defined by the plurality of rotating wheels 221 is perpendicular to the ground.

When the first moving base 210 is in the second state, the rotating direction of the moving wheel 211 is opposite to the rotating direction of the rotating wheel 221. Illustratively, during the process of picking, i.e. the process of moving the material box 700 located on the goods shelf 600 to the picking and placing robot 200, when the first moving base 210 enters the second guiding channel 610 from the third inlet and outlet, the picking and placing robot 200 is initially contacted with one end of the material box 700, at this time, the rotating direction of the rotating wheel 221 is opposite to that of the moving wheel 211, taking the direction shown in fig. 1 as an example, the moving wheel 211 drives the picking and placing robot 200 to move towards the goods shelf, the rotating direction of the rotating wheel 221 is clockwise, at this time, when the first moving base 210 continues to move, the material box 700 gradually moves onto the picking and placing robot 200, and when the material box 700 completely moves into the second guiding channel 610, the material box 700 is completely located on the picking and placing robot 200.

During the process of placing and withdrawing, during the withdrawing, the first moving base 210 is in the second state, so that the rotating member 220 starts to rotate, the rotating direction of the rotating wheel 221 is opposite to the rotating direction of the moving wheel 211, taking the direction shown in fig. 1 as an example, the moving wheel 211 drives the picking and placing robot 200 to move away from the goods shelf 600, and the rotating direction of the rotating wheel 221 is anticlockwise; then, the first moving base 210 moves towards the first guide path 110, and the material box 700 moves onto the shelf 600 gradually, and when the first moving base moves out of the second guide path, the material box 700 is located on the shelf 600.

The present embodiment can complete the picking motion or the placing motion of the picking and placing robot 200 by changing the rotation direction and the working state of the rotation wheel 221, which has the advantage of simple structure and improves the working efficiency of the picking and placing robot 200.

In one possible implementation, the warehousing system further includes a plurality of guides 800, the plurality of guides 800 being sequentially arranged on the pallets of the racks 600;

Each guide 800 includes a second bottom plate 810, a second top plate 820, and two second side plates 830, the second bottom plate 810 being disposed on the pallet;

Two second side plates 830 are disposed on the second bottom plate 810 at intervals, and one ends of the two second side plates 830 facing away from the second bottom plate 810 are respectively connected with the second top plate 820 to enclose the second guide channel 610.

The second guide passage 610 has a third inlet and a fourth inlet and outlet which are oppositely disposed in the in-out direction of the first moving base 210; the second top opening 620 is disposed on the second top plate 820 and penetrates through the second top plate 820 in the in-out direction of the first moving base 210, so as to facilitate the picking and placing of the picking and placing components of the picking and placing robot to pick and place the material box.

In this specification, each embodiment or implementation is described in a progressive manner, and each embodiment focuses on a difference from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.

It should be noted that references in the specification to "one embodiment," "an example embodiment," "some embodiments," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present disclosure, and not for limiting the same; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions 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.