TW202134152A - Transport robot, transport system and transport method of same - Google Patents

Abstract

The present invention provides a transport robot, a transport system and a transport method of the same. The transport robot includes: a chassis which can move on the ground; a vertical frame which is arranged in a vertical direction and located at the chassis; a lift mechanism which is arranged on the vertical frame and can be raised or lowered along the vertical direction relative to the vertical frame; a storage mechanism which includes a plurality of storage assemblies for storing goods to be transported, where the plurality of storage assemblies are arranged in the vertical frame at intervals along the vertical direction; and a transport mechanism which is configured to transport goods, the transport mechanism is movably arranged on the vertical frame along the vertical direction and connected to the lift mechanism, and the transport mechanism can be raised or lowered along the vertical direction under the driving of the lift mechanism, so as to deliver the goods in the transport mechanism to a corresponding storage assembly. The automation of loading and unloading goods is achieved through the coordination of the lifting mechanism and the transport mechanism, thereby reducing the cost of loading and unloading goods.

Description

Handling robot, handling system and handling method thereof

The present invention relates to the technical field of smart storage, in particular to a handling robot, a handling system and a handling method thereof.

Smart warehousing is a link in the logistics process. The application of smart warehousing ensures the speed and accuracy of data logging in all aspects of cargo warehouse management, ensuring that companies can accurately grasp the real information of inventory in a timely and accurate manner, and reasonably maintain and control corporate inventory. Through scientific coding, it is also convenient to manage the batch and shelf life of the stocked goods. Using the location management function, you can also grasp the current location of all inventory goods in time, which is conducive to improving the efficiency of warehouse management.

The main cargo handling work is done manually or by simple mechanical equipment. Manual handling has the disadvantages of high labor intensity and high labor cost, while simple mechanical equipment is basically special equipment, which can only disperse goods in specific areas, with low efficiency, large area and poor adaptability to different working conditions. The current main cargo handling methods have severely restricted the overall efficiency of the warehousing logistics process.

Based on this, it is necessary to provide a handling robot, a handling system and a handling method thereof that improve handling efficiency and reduce handling costs in response to the high cost and low efficiency of current handling methods.

The above objectives are achieved through the following technical solutions:

A handling robot includes: a chassis that can move on the ground; a vertical frame, which is arranged in a vertical direction and located on the chassis; a lifting mechanism, which is arranged on the vertical frame and can be relatively Vertical lifting; a storage mechanism, including a plurality of storage elements for storing goods to be transported, the plurality of storage elements are arranged in the vertical frame at intervals along the vertical direction; and a transport mechanism for transporting goods, The conveying mechanism is movably arranged on the vertical frame in the vertical direction and is connected to the lifting mechanism. The conveying mechanism can be lifted and lowered in the vertical direction under the driving of the lifting mechanism to lift the conveying mechanism The goods in the storage device are delivered to the corresponding storage element.

In one of the embodiments, when the handling robot unloads, a plurality of the storage elements can move synchronously to implement a synchronous unloading action.

In one of the embodiments, the handling robot further includes at least one linkage mechanism, and each linkage mechanism is connected to at least two of the storage elements for driving each of the storage elements to synchronize with respect to the vertical frame Movement to implement synchronized unloading actions.

In one of the embodiments, the linkage mechanism includes a linkage connector that connects at least two storage elements at the same time, and the linkage connector can synchronously drive the storage elements to synchronously pitch and move.

In one of the embodiments, in the same horizontal direction, the distance between the linkage connector and the vertical frame is less than or equal to the length of the storage element.

In one of the embodiments, the number of the linkage connecting piece is at least one; when the number of the linkage connecting piece is one, the linkage connecting piece and the vertical frame are separately provided on two sides of the storage element. When the number of the linkage connecting members is multiple, a plurality of the linkage driving members are arranged at intervals along the circumferential side of the storage element.

In one of the embodiments, the linkage mechanism further includes a linkage driving member that cooperates with the linkage connecting member to drive each of the storage elements to implement a synchronous unloading action.

In one of the embodiments, the output end of the linkage drive member is connected to one of the storage elements.

In one of the embodiments, the output end of the linkage drive member is connected to the bottom or top of one of the storage elements.

In one of the embodiments, the output end of the linkage driving member is connected to the linkage connecting member.

In one of the embodiments, the storage element includes a support body for carrying goods, and the support body respectively rotatably connects the linkage connecting piece and the vertical frame.

In one of the embodiments, the storage element further includes a rolling element rotatably disposed on the supporting body, and the rolling element is rotatably in contact with the goods in the supporting body.

In one of the embodiments, the handling robot further includes a blocking mechanism having a blocking position and an avoiding position. When the blocking mechanism is in the blocking position, the blocking mechanism is used to block the storage element When the cargo slides out, when the blocking mechanism is in the avoiding position, the storage element can be moved in or out of the cargo.

In one of the embodiments, the blocking mechanism can simultaneously block the goods in each of the storage elements.

In one of the embodiments, the number of the blocking mechanism is multiple, and each blocking mechanism can block the goods in at least two of the storage elements at the same time.

In one of the embodiments, the storage element has a loading and unloading end facing away from the vertical frame, and the blocking mechanism can be moved into or out of the loading and unloading end.

In one of the embodiments, when the blocking mechanism is in the blocking position, the blocking mechanism abuts against the side wall or bottom surface of the cargo.

In one of the embodiments, the blocking mechanism is provided on at least one side of the storage element.

In one of the embodiments, the blocking mechanism includes a movable blocking connector and a plurality of blocking elements respectively connected to the blocking connector, at least one of the blocking elements corresponds to the same storage element; the blocking connection The parts can drive each of the blocking elements to move into the loading and unloading ends to block the goods in the storage elements.

In one of the embodiments, the blocking element includes a blocking member, the blocking member is fixedly arranged on the blocking connecting member, and the movement of the blocking connecting member can drive the blocking member to move in or out of the loading and unloading end.

In one of the embodiments, the blocking element includes a swinging piece and a blocking piece, one end of the swinging piece is rotatably connected to the blocking connecting piece, the other end of the swinging piece is installed with the blocking piece, the swinging piece The middle part of the piece can be rotatably installed at the loading and unloading end of the storage element; when the blocking connecting piece is raised and lowered, the swinging piece can be driven to swing, so that the swinging piece drives the blocking piece to move in or out of the loading and unloading cargo end.

In one of the embodiments, the blocking mechanism further includes a blocking driving member, and the output end of the blocking driving member is connected with the blocking connecting member to drive the blocking element to move into or out of the loading and unloading end.

In one of the embodiments, the bottom of the storage element has a movable space, and the movable space is used for the loading and unloading mechanism of the handling system to extend in to load or retrieve goods from the storage element.

In one of the embodiments, the storage element includes a first side plate and a second side plate disposed on the vertical frame, and the first side plate and the second side plate are disposed opposite to each other and surround the activity space.

In one of the embodiments, the handling robot further includes a rotating mechanism, which is disposed between the handling mechanism and the lifting mechanism, and is used to drive the handling mechanism to rotate relative to the lifting mechanism to The conveying mechanism is aligned with the corresponding storage element or shelf.

In one of the embodiments, the transport mechanism includes a turnover part and a pick-and-place part telescopically arranged on the turnover part, the pick-and-place part can take out goods and store them in the turnover part, and the pick-and-place part returns The goods in the turnover parts can be pushed out.

A handling method of a handling robot is suitable for the handling robot according to any of the above technical features. The handling method includes the following steps: a controller receives a first loading and unloading instruction; the controller controls the handling robot according to the The first loading and unloading instruction moves to the first loading and unloading position; if the controller confirms that the first loading and unloading position is the loading position, the controller controls the handling mechanism to transfer the goods to the storage element of the storage mechanism; The controller confirms that the first loading and unloading position is the unloading position, and the controller controls the handling robot to unload the goods at the unloading position.

In one of the embodiments, when the handling robot unloads, a plurality of the storage elements can move synchronously to implement a synchronized unloading action, the first loading and unloading instruction includes a first unloading instruction; the controller controls the handling robot The step of unloading at the unloading position includes: the controller receives a first unloading instruction, and the controller controls the at least two storage elements to be unloaded at the same time according to the first unloading instruction.

In one of the embodiments, the handling robot includes a linkage mechanism electrically connected to the controller, and the step of the controller controlling at least two of the storage elements to unload simultaneously according to the first unloading instruction includes: The controller controls the linkage mechanism to drive the at least two storage elements to move simultaneously according to the first unloading instruction.

In one of the embodiments, the handling robot further includes a blocking mechanism electrically connected to the controller, the blocking mechanism having a blocking position and an avoiding position, and the first loading and unloading instruction includes a first unloading instruction; The controller controlling the handling robot to unload at the unloading position further includes: the controller receives the first unloading instruction, and the controller controls the blocking mechanism to move to the avoiding position according to the first unloading instruction, so that The storage element is in an unloadable state.

In one of the embodiments, the blocking mechanism includes a plurality of blocking elements, and the plurality of blocking elements respectively correspond to a plurality of the storage elements, and the controller controls the blocking mechanism to move to The step of avoiding the position includes the following steps: the controller controls the blocking element in the designated position to move to the corresponding avoiding position according to the first unloading instruction, so that the storage element in the designated position is in the unloadable state; or The controller controls the plurality of blocking elements to move to the corresponding avoiding positions according to the first unloading instruction, so that at least two of the storage elements are in an unloadable state.

In one of the embodiments, the storage element has a loading and unloading end for loading and unloading goods, and the handling method further includes the following steps: after the controller receives the first unloading instruction, the controller controls the The handling mechanism avoids the loading and unloading ends.

A handling system includes a control center and the handling robot according to any one of the above technical features. The control center is in transmission connection with a controller of the handling robot to control the movement of the handling robot.

In one of the embodiments, the handling system further includes an auxiliary device; the auxiliary device includes a support frame and a plurality of transportation mechanisms arranged at intervals along the vertical direction on the support frame, and the plurality of transportation mechanisms are arranged at intervals The manner is the same as the manner in which the multiple storage elements of the handling robot are arranged at intervals; when the handling robot moves to the auxiliary device, the goods on the multiple storage elements can be simultaneously transferred to the corresponding transport mechanism, Synchronous unloading is realized; or, the goods on multiple transport mechanisms can be simultaneously transferred to the corresponding storage elements to realize synchronous loading.

In one of the embodiments, the transportation mechanism includes a mounting frame arranged on the support frame and a transportation part movably arranged on the mounting frame, and the transportation part can drive goods to move.

In one of the embodiments, the handling system further includes a loading and unloading device, the loading and unloading device is used to transport goods to the handling robot or unload the goods on the handling robot, the loading and unloading device includes A vertical frame extending in the vertical direction and a plurality of loading and unloading mechanisms arranged on the vertical frame at intervals in the vertical direction, and the plurality of loading and unloading mechanisms are arranged at intervals from the plurality of storage elements of the handling robot The manner is the same; after the handling robot docks the loading and unloading device, the multiple loading and unloading mechanisms can respectively transport goods to or unload the goods in each storage element at different heights.

In one of the embodiments, the loading and unloading mechanism includes a bracket, a loading and unloading element, and a loading and unloading drive member. A plurality of the brackets are arranged on the stand at intervals in a vertical direction. The elements are respectively arranged on the corresponding brackets, the loading and unloading elements are connected with the loading and unloading driving parts, and the loading and unloading elements are used to transport goods to the storage element or unload the goods in the storage element.

In one of the embodiments, the conveying system further includes a conveying device and a lifting device; the lifting device is arranged between the auxiliary device and the conveying device, and the lifting device moves up and down in a vertical direction to connect The transport mechanism and the conveying device; the lifting device can take the goods of the transport mechanism and transfer it to the conveying device, or the lifting device can take the goods of the conveying device and transfer it To the transport mechanism; or, the lifting device is arranged between the loading and unloading device and the conveying device, and the lifting device moves up and down in the vertical direction to connect the loading and unloading mechanism and the conveying device , The lifting device may receive the goods from the loading and unloading mechanism and transfer them to the conveying device; or, the lifting device may receive the goods from the conveying device and transfer them to the loading and unloading mechanism.

In one of the embodiments, the lifting device includes a lifting frame along a vertical direction, a moving mechanism provided on the lifting frame, and at least one layer of a transfer mechanism provided on the moving mechanism, and the moving mechanism can move along the The lifting frame performs a lifting movement and drives the transfer mechanism to move to receive or transfer goods to the transportation mechanism, or to receive or transfer goods to the loading and unloading mechanism.

In one of the embodiments, the transfer mechanism includes a transfer seat arranged on the moving mechanism and a transfer part movably arranged on the transfer seat, the transfer part can drive the goods to move, and the transfer part can move towards At least one of the transportation agencies can receive or transfer goods, or the transfer part can receive or transfer the goods to at least one of the loading and unloading agencies.

A handling method of a handling system is suitable for the handling system according to any one of the above technical features. The handling method includes the following steps: a control center receives a second loading and unloading instruction; the control center controls the handling robot according to the The second loading and unloading instruction moves to the second loading and unloading position; the control center confirms that the second loading and unloading position is the loading position or the unloading position, and controls the handling robot to perform loading or unloading operations.

In one of the embodiments, if the control center confirms that the second loading and unloading position is the loading position or the unloading position, and controls the handling robot to perform loading or unloading operations, it includes the following steps: the control center obtains Information about the goods in the storage element; if there are goods in the storage element, the control center confirms that the second loading and unloading position is the unloading position, and the control center controls the handling robot to unload the goods at the unloading position; If there is no goods in the storage element, the control center confirms that the second loading and unloading position is the loading position, and the control center controls the handling robot to load the goods at the loading position.

In one of the embodiments, when the handling robot unloads, a plurality of storage elements of the handling element can move synchronously to implement a synchronous unloading action, the second loading and unloading instruction includes a second unloading instruction; the handling system further includes An auxiliary device, the auxiliary device includes a plurality of transportation mechanisms arranged at intervals in a vertical direction; the step of the control center controlling the handling robot to unload at the unloading position includes: the control center receives the second unloading instruction The control center controls the movement of the handling robot to the unloading position, and each of the storage elements of the handling robot corresponds to each of the transport mechanism; the control center controls at least two of the storage elements to unload at the same time, The goods in at least two of the storage elements can be transferred to the corresponding transportation mechanism.

In one of the embodiments, the handling robot includes a linkage mechanism electrically connected to the control center, and the step of the control center controlling at least two storage elements to unload simultaneously according to the second unloading instruction includes: The control center controls the linkage mechanism to drive at least two storage elements to move at the same time according to the second unloading instruction, so as to transfer the goods to the corresponding transportation mechanism.

In one of the embodiments, the handling robot further includes a blocking mechanism electrically connected to the control center, the blocking mechanism has a blocking position and an avoiding position, and the second loading and unloading instruction includes a second unloading instruction; The handling system also includes a loading and unloading device electrically connected to the control center. The loading and unloading device includes a plurality of loading and unloading mechanisms arranged at intervals along the vertical direction. The control center controls the handling robot to unload at the unloading position. The steps include: the control center receives the second unloading instruction; the control center controls the movement of the handling robot to the unloading position, and each storage element of the handling robot corresponds to each of the loading and unloading mechanisms; The control center controls the blocking mechanism to move to the avoidance position according to the second unloading instruction, so that the storage element is in a state of unloading; the control center controls the loading and unloading mechanism to extend into the storage element and take it And remove the goods of the storage element.

In one of the embodiments, the step of the control center confirming that the second loading and unloading position is the unloading position includes: the control center obtains the first relative position information corresponding to the unloading identifier, if the handling robot is If the deviation of the first relative position information is less than the first threshold, the handling robot is in the unloading position; or, the control center obtains the second relative position information corresponding to the auxiliary device or the loading and unloading device, if If the deviation between the handling robot and the second relative position information is less than a second threshold, the handling robot is in the unloading position.

In one of the embodiments, the second loading and unloading instruction includes a second loading instruction, and the control center controlling the handling robot to load at the loading position includes the following steps: the control center receives the second loading instruction Two loading instructions; the control center controls the handling robot to move to the second loading and unloading position according to the second loading instructions; if the control center confirms that the second loading and unloading position is a loading position, The control center controls the handling mechanism to transfer the goods to the corresponding storage element; if the control center confirms that the second loading and unloading position is the unloading position, the control center controls at least one of the loading and unloading mechanisms or at least one The transportation mechanism transfers the goods to the corresponding storage element.

In one of the embodiments, the handling system further includes a lifting device and a conveying device electrically connected to the control center, and the handling method further includes the following steps: after the loading and unloading mechanism or the transportation mechanism receives the goods, The control center controls the lifting device to pick up the goods in at least one of the loading and unloading mechanisms or pick up the goods from at least one of the transportation mechanisms, and transfer the goods to the conveying device.

After adopting the above technical solutions, the present invention has at least the following technical effects:

In the handling robot, handling system and handling method of the present invention, when loading goods, the lifting mechanism drives the handling mechanism to transfer the goods to the storage element of the corresponding height in the storage mechanism. When unloading, the lifting mechanism drives the handling mechanism to take out the corresponding height in the storage mechanism. Of the goods in the storage element. The cooperation between the lifting mechanism and the handling mechanism realizes the automation of cargo loading and unloading, effectively solving the problems of high cost and low efficiency in the current handling methods, reducing the cost of cargo handling and greatly improving the efficiency of cargo handling. At the same time, the conveying mechanism is driven by the lifting mechanism to move to different heights, so that the goods to be conveyed can be delivered to the storage elements of different heights in the storage mechanism, which has strong versatility and reduces floor space.

In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following examples are used in conjunction with the accompanying drawings to further describe the transport robot, transport system and transport method of the present invention in detail. It should be understood that the specific embodiments described here are only used to explain the present invention, but not used to limit the present invention.

The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the described objects and do not have any sequence or technical meaning. The "connection" and "connection" mentioned in this application include direct and indirect connection (connection) unless otherwise specified. In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", The orientation or positional relationship indicated by "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description , Rather than indicating or implying that the pointed device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

In the present invention, unless expressly stipulated and defined otherwise, the “on” or “under” of the first feature on the second feature may be in direct contact with the first and second features, or the first and second features may be indirectly through an intermediary. touch. Moreover, the "above", "above" and "above" of the first feature on the second feature may mean that the first feature is directly above or diagonally above the second feature, or it simply means that the level of the first feature is higher than that of the second feature. The “below”, “below” and “below” of the second feature of the first feature may mean that the first feature is directly below or obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.

Referring to FIG. 1, FIG. 3, FIG. 6, FIG. 9 and FIG. 11, the present invention provides a handling robot 100. The handling robot 100 is suitable for use in a handling system, and can realize the handling of goods 200. It is understandable that the cargo 200 here may be a cargo with a pallet, and the handling robot 100 can carry the cargo 200 through the cradle; of course, it can also be a cargo contained in a cargo compartment, and the handling robot 100 can realize the cargo through the cargo box. 200 handling. The cargo 200 mentioned below is the cargo contained in the cargo box, and the cargo box can be loaded with the cargo 200 to realize the transportation of the cargo 200. The handling robot 100 transports the cargo box to the unloading position and unloads the cargo 200 in the cargo box. , The container can be transported back to the handling robot 100 to realize the reuse of the container and reduce the cost. In other words, the cargo 200 is a cargo box containing the cargo, and the handling robot 100 sends the cargo box to the unloading position, and unloads the cargo box with the cargo through the unloading device.

The handling robot 100 plays an important role in smart warehousing, realizes the handling of the goods 200, ensures the handling speed of the goods 200, improves the handling efficiency of the goods 200, and reduces the consumption of human resources. The handling robot 100 of the present invention can unload goods synchronously, so that the goods 200 in the handling robot 100 can be unloaded at one time, improving the unloading efficiency, reducing the unloading time, and improving the overall working efficiency of the handling robot 100.

Referring to FIGS. 1 and 3, in an embodiment, the handling robot 100 includes a vertical frame 110 and a storage mechanism 120. The vertical frame 110 is arranged along the vertical direction. The storage mechanism 120 includes a plurality of storage elements 121 for storing goods 200 to be transported, and the plurality of storage elements 121 are arranged on the vertical frame 110 at intervals along the vertical direction.

The vertical frame 110 plays a supporting role, and various components of the handling robot 100 are mounted on it. When the handling robot 100 transports the cargo 200, the vertical frame 110 can drive the synchronous movement of various components on the handling robot 100 to realize the handling of the cargo 200. The storage mechanism 120 is located in the vertical frame 110 and is used to store the goods 200. The storage mechanism 120 can move synchronously with the vertical frame 110 to realize the transportation of the goods 200. The handling robot 100 moves to the loading position, and the goods 200 to be transported are transported to the storage mechanism 120 for storage. Then, the handling robot 100 moves from the loading position to the unloading position. Accordingly, the storage mechanism 120 moves to the storage mechanism 120 along with the vertical frame 110 The unloading position, at this time, the goods 200 in the storage mechanism 120 can be unloaded. The storage mechanism 120 can temporarily store the goods 200 to be transported, and improve the ability of the transportable robot 100 to carry the goods 200.

In addition, the storage mechanism 120 includes a plurality of storage elements 121, and the plurality of storage elements 121 are arranged on the vertical frame 110 at intervals. Each storage element 121 can carry a container of goods 200 to ensure the storage capacity of the handling robot 100. Optionally, the distance between two adjacent storage elements 121 may be equal or unequal. Illustratively, the storage elements 121 are evenly distributed on the vertical frame 110 along the vertical direction. The goods 200 to be transported can be transported to each storage element 121, and the handling robot 100 drives the goods 200 in each storage element 121 to be transported to the unloading position.

1 and 3, in one embodiment, the handling robot 100 further includes a lifting mechanism 140 that can be raised and lowered in a vertical direction relative to the vertical frame 110, and a handling mechanism 150 for handling the goods 200. The handling mechanism 150 is vertically moved. It is movably arranged in the vertical frame 110 in the vertical direction and is connected with the lifting mechanism 140. The conveying mechanism 150 can be lifted and lowered in the vertical direction under the driving of the lifting mechanism 140 to deliver the goods 200 in the conveying mechanism 150 to the corresponding storage mechanism 120 .

The transport mechanism 150 is a terminal that realizes the action execution of the transport robot 100. At the loading position, the handling mechanism 150 can carry the cargo 200 to be transported and transport the cargo 200 to the storage element 121. Of course, when the cargo 200 in the storage element 121 needs to be separately unloaded in some occasions, the handling mechanism 150 can also take out the cargo 200 in the storage element 121. Optionally, the conveying mechanism 150 includes, but is not limited to, a manipulator, a drag bar that can move, or a plane with a conveying function, and the like. The lifting mechanism 140 is used to realize the lifting movement of the conveying mechanism 150, and it can drive the conveying mechanism 150 to perform a lifting movement in a vertical direction.

There is a multi-layer shelf carrying goods 200 at the loading position. When the handling robot 100 loads goods at the loading position, the lifting mechanism 140 drives the handling mechanism 150 to move up and down, so that the handling mechanism 150 can pick up the goods on the shelf and then lift it The mechanism 140 then drives the conveying mechanism 150 to perform a lifting movement, so as to transfer the goods 200 in the conveying mechanism 150 to the storage element 121. It reciprocates in this way until each storage element 121 stores the goods 200. After the loading is completed, the handling robot 100 moves from the loading position to the unloading position, and each storage element 121 can perform the unloading operation. After the unloading is completed, the handling robot 100 returns to the loading position, so that the continuous handling of the goods 200 is realized reciprocatingly, and the efficiency of the handling is improved.

The function of the lifting mechanism 140 is to drive the conveying mechanism 150 to lift in a vertical direction. In an embodiment, the lifting mechanism 140 includes a lifting power source and a lifting transmission element, and the lifting power source and the lifting transmission element are respectively disposed on the vertical frame 110. The lifting transmission element drivingly connects the lifting power source and the conveying mechanism 150. Specifically, the output end of the lifting power source is drivingly connected with the input end of the lifting transmission element, and the output end of the lifting transmission element is drivingly connected with the transport mechanism 150. The lifting power source and the lifting transmission element are respectively arranged on the vertical frame 110, and the transmission connection relationship between the lifting power source and the lifting transmission element facilitates the disassembly and assembly of the lifting mechanism 140 on the vertical frame 110. Optionally, the form of power output by the lifting power source is rotation, linear motion or any other form of motion, and the final output of the lifting transmission element connected to the lifting power source is movement in the vertical direction. Optionally, the lifting power source includes a driving motor, and the driving motor is drivingly connected with the input end of the lifting transmission element. The operation of the lifting power source in the form of a motor is more stable. Further, the driving motor can rotate forward or reverse, which is convenient for the lifting program control of the lifting mechanism 140.

Optionally, the lifting transmission element may be a telescopic rod structure, a chain transmission structure or a driving transmission structure, etc., and may also be other structures capable of lifting and lowering the conveying mechanism 150. Exemplarily, the lifting transmission element is a chain transmission structure, including a sprocket and a chain, the chain is connected to the conveying mechanism 150, and the chain is arranged on the vertical frame 110 in a vertical direction. When the output end of the lifting power source drives the sprocket to rotate, the chain moves up and down along the vertical frame 110, which in turn can drive the transport mechanism 150 to move up and down.

It should be noted that the essence of the lifting transmission element is to output lifting motion, so as to drive the conveying mechanism 150 to perform the lifting motion, so as to realize the loading of the goods 200. In this embodiment, the lifting transmission element is realized by a chain transmission structure; moreover, there are various structures that can realize lifting, which cannot be exhaustively listed. The lifting movement mode of the present invention is not limited to the realization of the above-mentioned specific structure.

In an embodiment, the handling robot 100 further includes a rotating mechanism, which is disposed between the handling mechanism 150 and the lifting mechanism 140, and is used to drive the handling mechanism 150 to rotate relative to the lifting mechanism 140 so that the handling mechanism 150 is aligned with the corresponding Storage organization 120. The rotating mechanism can be rotatably connected to the conveying mechanism 150, and the conveying mechanism 150 can be rotated relative to the rotating mechanism. The direction of the conveying mechanism 150 can be adjusted when the conveying mechanism 150 is rotated by the rotating mechanism, so that the loading and unloading port of the conveying mechanism 150 can be adjusted. The transport mechanism 150 implements the loading and unloading of the cargo 200 through the loading and unloading port. When the handling robot 100 is at the loading position, the rotating mechanism can drive the handling mechanism 150 to rotate so that the loading and unloading port of the handling mechanism 150 faces the shelf, so that the goods 200 can be loaded in the handling mechanism 150. When the handling mechanism 150 transfers the goods 200 to the storage element 121, the rotating mechanism can drive the handling mechanism 150 to rotate so that the loading and unloading port of the handling mechanism 150 faces the storage element 121. At this time, the goods 200 in the handling mechanism 150 can be transferred to the storage element. 121 in.

Optionally, the rotating mechanism includes a conveying bracket, a rotation gear provided on the conveying bracket, and a rotation motor fixedly installed on the conveying bracket. The output end of the autorotation motor is connected to the autorotation gear, the transport mechanism 150 is installed on the autorotation gear, and the transport bracket is installed on the lifting mechanism 140. The rotation motor can drive the rotation gear to rotate, which in turn can drive the transport mechanism 150 to rotate.

It should be noted that the essence of the rotating mechanism is to output a rotating motion, so as to drive the conveying mechanism 150 to make a rotating motion, so as to realize the loading and unloading of the goods 200. In this embodiment, the rotating mechanism is realized by an autorotating motor and an autorotating gear; moreover, there are various structures that can achieve rotation, which cannot be exhaustively listed. The rotating motion mode of the present invention is not limited to the above specific structure.

When the handling robot 100 of the above embodiment loads goods, the lifting mechanism 140 drives the handling mechanism 150 to transfer the goods 200 to the storage element 121 of the corresponding height in the storage mechanism 120. When unloading, the lifting mechanism 140 drives the handling mechanism 150 to take out the storage mechanism 120. The goods 200 in the storage element 121 corresponding to the height. Through the cooperation between the lifting mechanism 140 and the handling mechanism 150, the automation of the loading and unloading of the cargo 200 is realized, which effectively solves the problems of high cost and low efficiency in the current handling methods, reduces the cost of cargo handling and greatly improves the loading and unloading of the cargo 200 efficient. At the same time, the conveying mechanism 150 is driven by the lifting mechanism 140 to move to different heights, so that the goods 200 to be conveyed can be delivered to the storage elements 121 of different heights in the storage mechanism 120, which has strong versatility and reduces the floor space.

1 and 3, in one embodiment, the transport mechanism 150 includes a turnover part 151 and a pick-and-place part 152 telescopically arranged on the turnover part 151. The pick-and-place part 152 can take out the goods 200 and store them in the turnover part 151. The placing part 152 can also push out the goods 200 in the turnover part 151. The pick-and-place member 152 is telescopically arranged in the turnover member 151. At the loading position, the pick-and-place piece 152 extends out of the turnover piece 151, and the goods 200 are taken out on the shelf, and then the pick-and-place piece 152 retracts to the turnover piece 151 to temporarily store the goods 200 in the turnover piece 151. Subsequently, the lifting mechanism 140 and the rotating mechanism drive the transport mechanism 150 to move, so that the transport mechanism 150 moves to the storage element 121 to be placed. At this time, the pick-and-place piece 152 extends out of the revolving piece 151, and the pick-and-place piece 152 moves the goods 200 out The turnover part 151 is transferred to the storage element 121. After the transfer is completed, the pick-and-place part 152 is retracted into the turnover part 151. Optionally, the turnover part 151 includes but is not limited to a turnover box, and the pick-and-place part 152 includes but is not limited to a telescopic motor cooperated with a telescopic rod structure, a manipulator mechanism, and the like.

In an embodiment, the handling robot 100 further includes a movable chassis 160, and the chassis 160 is disposed at the bottom of the vertical frame 110. The movable chassis 160 can drive the handling robot 100 to move, which greatly improves the adaptation of the handling robot 100 to actual working conditions. Specifically, the chassis 160 includes a disk rack 161, a traveling drive element, and a plurality of rotating wheels 162. The vertical frame 110 is disposed on the upper part of the disk rack 161, the plurality of rotating wheels 162 are disposed on the bottom of the disk rack 161, and the traveling driving element is disposed on the bottom of the rack 161. The disk frame 161, at least one rotating wheel 162 is drivingly connected with the traveling driving element. Further, at least two rotating wheels 162 are respectively connected to the traveling drive element in transmission, and the at least two rotating wheels 162 respectively connected to the traveling drive element are distributed on both sides of the disc frame 161 along the traveling direction, thereby realizing the steering function of the chassis 160. The traveling driving element includes at least two wheel drive motors, and at least two rotating wheels 162 distributed on both sides of the disk frame 161 in the traveling direction are driven by separate wheel drive motors. At least two rotating wheels 162 distributed on both sides of the disk frame 161 along the traveling direction are driven by separate wheel drive motors, which can simplify the transmission structure on the chassis 160.

In one embodiment, the rotating wheel 162 includes a driving wheel and a driven wheel. The driving wheel and the driven wheel are installed at the bottom of the chassis 160. The driving wheel and the driven wheel can respectively rotate relative to the chassis 160. The driving wheel and the driven wheel jointly support the chassis 160. The driving wheel is driven by the wheel drive motor to move the chassis 160. By configuring the movable chassis 160, the handling robot 100 can transport the cargo 200 between the loading position and the unloading position. The number of driving wheels is two, and the two driving wheels are distributed symmetrically. Correspondingly, the number of wheel drive motors is two. The two driving wheels are driven by two wheel drive motors respectively, which can make the speed of the two driving wheels different. , So as to realize the chassis 160 steering. The number of driven wheels is four, and the four driven wheels are distributed in a rectangular shape. The driven wheels can be universal wheels or other wheel structure with steering function. According to the actual situation, the number of driven wheels is not limited to four, and can also be six, three, etc.

In this embodiment, the chassis 160 is also installed with a guiding device, and the guiding device is a camera for recognizing the graphic code attached to the ground, so that the chassis 160 can travel along a preset path. The graphic code can be a two-dimensional code, a bar code, or some customized identification codes. In some other embodiments, the guiding device is a laser guiding device for guiding the chassis 160 to travel along the laser beam, or the guiding device is a shortwave receiving device that receives a preset shortwave signal to guide the chassis 160 to travel along a preset path . It should be noted that in some other embodiments, the chassis 160 may be omitted, and the vertical frame 110 is directly fixedly installed on the ground or other platforms, and is only used to transport the goods 200 between the surrounding loading position and the unloading position.

In one embodiment, the handling robot 100 further includes a controller, which is electrically connected to the chassis 160, the handling mechanism 150, the lifting mechanism 140, and the rotating mechanism, respectively, to control the synchronous movement of various components or control the movement of at least one component to realize automatic movement. Moving goods function.

The first embodiment

Referring to FIGS. 1 to 8, in the first embodiment of the present invention, when the handling robot 100 unloads, a plurality of storage elements 121 can move synchronously to implement a synchronous unloading action.

In order to further improve the handling efficiency of the handling robot 100, the handling robot 100 of the present invention can realize synchronous unloading at the unloading position. During specific unloading, the multiple storage elements 121 can move synchronously, so that the goods 200 are moved out of the storage element 121, and the unloading actions are synchronized in real time. In this way, the goods 200 in each storage element 121 can be unloaded synchronously, shortening the unloading time, and improving the unloading efficiency of the handling robot 100. After the unloading is completed, the handling robot 100 can return to the loading position to continue loading, which improves the working efficiency of the handling robot 100.

When the handling robot 100 in the above embodiment unloads, the multiple storage elements 121 of the storage mechanism 120 can move synchronously to implement the synchronous unloading action, so as to realize the synchronous unloading of the goods 200 in each storage element 121, which effectively solves the current need for unloading goods layer by layer. The problem of low unloading efficiency caused by the lowering allows the goods 200 in the handling robot 100 to be unloaded at one time, which improves the unloading efficiency, reduces the unloading time, and improves the overall work efficiency of the handling robot 100.

1 to 4, in one embodiment, the handling robot 100 further includes at least one linkage mechanism 130, and each linkage mechanism 130 is connected to at least two storage elements 121 for driving each storage element 121 relative to the vertical frame 110 synchronous movement, the implementation of synchronous unloading action. When the linkage mechanism 130 moves, the storage elements 121 can move synchronously. It is understandable that one linkage mechanism 130 may be connected to all storage elements 121, or multiple linkage mechanisms 130 may be connected to multiple storage elements 121 in each linkage mechanism 130. Exemplarily, the number of linkage mechanisms 130 is two. One linkage mechanism 130 connects storage elements 121 from one layer to three layers, and the other linkage mechanism 130 connects storage elements 121 from four to six layers. Of course, in other embodiments of the present invention, the number of linkage mechanisms 130 may be more. The present invention is only described by taking the linkage mechanism 130 connected to all the storage elements 121 as an example. The working principle of multiple linkage mechanisms 130 is substantially the same as the working principle of one linkage mechanism 130, which will not be repeated here.

Each storage mechanism 120 can be rotatably installed on the vertical frame 110, and each storage mechanism 120 can also be connected with the linkage mechanism 130. When the linkage mechanism 130 moves, it will drive each storage element 121 to rotate relative to the vertical frame 110, so that each storage mechanism 120 is rotated relative to the vertical frame 110. Element 121 can do pitching motion. It is understandable that the end of the linkage mechanism 130 can be mounted on the vertical frame 110 or the chassis 160, as long as the linkage mechanism 130 can drive the storage element 121 to make a pitching motion.

When the linkage mechanism 130 drives the storage element 121 to make an upward movement, one end of the storage element 121 is raised, and the other end is rotated relative to the vertical frame 110 and held at the initial position. At this time, the storage element 121 is lifted, and the cargo 200 on it can slide out of the storage element 121 under its own gravity to realize the unloading of the cargo 200. Since the linkage mechanism 130 will simultaneously drive each storage element 121 to make an upward movement, each storage element 121 can be lifted at the same time, and then the unloading operation can be performed at the same time to realize unloading. After the unloading is completed, the linkage mechanism 130 drives the storage elements 121 to descend, and the storage elements 121 return to a horizontal initial position.

When the linkage mechanism 130 drives the storage elements 121 to make a downward motion, after the external goods 200 are transported to the storage elements 121 at the same time, the goods 200 can slide into the storage elements 121 under the action of gravity to realize synchronous loading. It should be noted that the synchronous loading of the handling robot 100 needs to be implemented in cooperation with the auxiliary device 300 of the handling system. The specific implementation process will be described in detail later, and only the synchronous unloading of the handling robot 100 will be described in detail in this embodiment.

After the handling robot 100 loads the goods 200 into the storage elements 121 at the loading position, the handling robot 100 moves from the loading position to the unloading position. At this time, the linkage mechanism 130 drives the storage elements 121 to move upwards, so that the storage elements 121 Was lifted. In this way, the goods 200 in the storage element 121 can slide out of the storage element 121 under its own gravity, and be stored in a designated device such as the auxiliary device 300, so as to realize the synchronous unloading of the handling robot 100. After the unloading is completed, the handling robot 100 returns to the loading position for loading, so that the handling function of the handling robot 100 is realized reciprocally.

In an embodiment, the linkage mechanism 130 includes a linkage connector 131 that connects at least two storage elements 121 at the same time, and the linkage connector 131 can synchronously drive the storage elements 121 to move synchronously. It is understandable that the pitch movement here can be a pitch rotation movement, or a curve movement, of course, it can also be other forms that can generate a pitch movement. One end of the storage element 121 is rotatably connected with the vertical frame 110, and the storage element 121 is also connected with the linkage connector 131. The linkage connecting piece 131 can perform a lifting movement. When the linkage connecting piece 131 is raised and lowered, it can drive each storage element 121 to rise and fall, so that each storage element 121 rotates relative to the vertical frame 110, that is, the storage element 121 makes a pitching movement. It is understandable that one of the storage elements 121 can drive the linkage connecting piece 131 to move up and down while one of the storage elements 121 is making a pitching motion, and the linkage connecting piece 131 drives the other storage elements 121 to move; it can also be the linkage connecting piece 131 making up and down movement, and then drive it Each storage element 121 moves.

As shown in FIGS. 1 and 2, optionally, the linkage connection 131 and each storage element 121 may be rotatably connected or fixedly connected. When the linkage connector 131 is rotatably connected with each storage element 121, the storage element 121 may have a rotating shaft, and the storage element 121 can be rotatably mounted on the linkage connector 131 through the rotating shaft; or the linkage connector 131 may have a rotating shaft. The connecting piece 131 is rotatably mounted on the storage element 121 via a rotating shaft; it can also be that the connection between the linkage connecting piece 131 and the storage element 121 is similar to an olecranon structure. In addition, the rotating shaft can be replaced with a hinge or other components capable of realizing rotatably connected.

Optionally, the linkage connecting member 131 may be a connecting rod, and a connecting rod is connected to each storage element 121. Alternatively, the linkage may include multiple linkages, and two adjacent linkages are connected by linkages. At this time, when one of the storage elements 121 moves, the other storage elements 121 can be driven by the adjacent linkages. sports. It can be understood that the specific structure of the linkage connecting member 131 is not limited to a connecting rod, and may also be a connecting piece or the like.

It should be noted that the essential spirit of the present invention lies in the linkage between the linkage connector 131 and each storage element 121, through which the linkage connector 131 can realize the synchronized movement of each storage element 121, thereby realizing the simultaneous execution of unloading operations. In this embodiment, the connection of the connecting members is realized by connecting rods, and there may be one or more connecting rods; moreover, the arrangement of the linkage connecting member 131 is various and cannot be exhaustively listed. The linkage mode of the present invention is not limited to The above specific structure is realized.

1 and 3, in an embodiment, in the same horizontal direction, the distance between the linkage connecting member 131 and the vertical frame 110 is less than or equal to the length of the storage element 121. It is understandable that the connection between the linkage connector 131 and the storage element 121 can be equal to the length of the storage element 121. At this time, the linkage connector 131 and the vertical frame 110 are respectively located at both ends of the storage element 121; the linkage connector 131 and the storage element 121 The connection point of the element 121 may be smaller than the length of the storage element 121, and the connection point of the linkage connector 131 and the storage element 121 is located on the side of the storage element 121. In other words, the linkage connector 131 can be located at any position on the circumference of the storage element 121. In this way, the linkage connector 131 can drive the storage element 121 to synchronously perform the lifting motion when the linkage connector 131 performs the lifting movement, so as to realize the synchronous unloading operation of the handling robot 100.

In an embodiment, the number of the linkage connecting member 131 is at least one. When the number of the linkage connector 131 is one, its cooperation with the vertical frame 110 can ensure that the storage element 121 is fixed and reliable, and at the same time realizes the driving of the movement of the storage element 121. When the number of linkage connectors 131 is multiple, multiple linkage connectors 131 can further improve the linkage of each storage element 121 and ensure that the storage elements 121 move in unison.

When the number of the linkage connecting member 131 is one, the linkage connecting member 131 and the vertical frame 110 are separately provided at two ends of the storage element 121. That is to say, the connection between the linkage connector 131 and the storage element 121 and the vertical frame 110 are respectively located at the two ends of the storage element 121, and the distance between the connection and the vertical frame 110 is equal to the size of the storage element 121 in the horizontal direction. . In this way, the storage element 121 can be reliably supported by the linkage connecting member 131 and the vertical frame 110, and the storage element 121 is prevented from falling and sinking, so that the storage element 121 can reliably store the goods 200.

When the number of the linkage connecting members 131 is multiple, the multiple linkage driving members 132 are arranged at intervals along the circumferential side of the storage element 121. The linkage connectors 131 are distributed at intervals along the circumferential side of the storage element 121, and may be evenly distributed, non-uniformly distributed, or symmetrically distributed. The multiple linkage connectors 131 and the vertical frame 110 can reliably support the storage element 121 and prevent the storage element 121 from falling and sinking, so that the storage element 121 can reliably store the goods 200.

1, 3, and 4, in an embodiment, the linkage mechanism 130 further includes a linkage driving member 132, and the linkage driving member 132 cooperates with the linkage connecting member 131 to drive each storage element 121 to perform a synchronous unloading action. The linkage driving member 132 is a power source for the movement of the linkage mechanism 130, and realizes the driving of the movement of the linkage moving member. In addition, the linkage driving member 132 outputs linear motion, so that the linkage connecting member 131 can perform a lifting motion, and the storage element 121 can perform a pitching motion. Optionally, the linkage drive 132 includes, but is not limited to, an air cylinder, a hydraulic cylinder, a linear motor or an electric push rod, and may also be another linear drive unit capable of outputting linear motion. Illustratively, the linkage drive 132 is a linear motor. Exemplarily, one end of the linkage driving member 132 is provided on the chassis 160. Of course, one end of the linkage driving member 132 can also be disposed on the vertical frame 110.

Optionally, the linkage drive 132 may be connected to the storage element 121. In an embodiment, the output end of the linkage drive 132 is connected to one of the storage elements 121. One end of the linkage driving member 132 is installed on the vertical frame 110, and the other end is connected with the storage element 121. After the linkage drive 132 outputs linear motion, it can drive the storage element 121 connected to it to move, and then the storage element 121 can drive the linkage connection 131 to move up and down. At this time, the linkage connection 131 can drive the other storage elements 121 to move synchronously. The storage elements 121 are made to rotate relative to the vertical frame 110, so that the storage elements 121 are lifted, and then the storage elements 121 are synchronized to perform unloading operations.

Further, the output end of the linkage driving member 132 is connected to the bottom or top of one of the storage elements 121. When the linkage drive 132 is connected to the top of the storage element 121, the linkage drive 132 shrinks to drive the storage element 121 up, and the linkage drive 132 extends to drive the storage element 121 to fall down. When the linkage driving member 132 is connected to the bottom of the storage element 121, the linkage driving member 132 expands to drive the storage element 121 to raise, and the linkage drive 132 shrinks to cause the storage element 121 to fall down. Illustratively, the linkage drive 132 is connected to the bottom of the storage element 121. Furthermore, the linkage drive 132 is connected to the bottom of the storage element 121 at the bottom, and the output end of the linkage drive 132 abuts against the middle area of the bottom of the storage element 121. In this way, the linkage driving member 132 will not affect the loading and unloading of the load-bearing component cargo 200, avoiding interference.

Optionally, the output end of the linkage driving member 132 is connected to the linkage connecting member 131. The linkage driving member 132 can directly drive the linkage connecting member 131 to perform a lifting movement, and the linkage connecting member 131 can drive the storage elements 121 to move synchronously. Further, the linkage driving member 132 may be located at the bottom of the lowermost storage element 121 and arranged on the chassis 160, and the output end of the linkage driving member 132 is connected to the linkage connecting member 131. Of course, the linkage drive 132 can also be located at the top of the storage element 121.

The linkage mechanism 130 of this embodiment can realize the simultaneous unloading of the storage elements 121. The storage elements 121 are connected by the same linkage connection 131, and the output end of the linkage drive 132 is connected with the storage element 121 at the bottom. When the linkage drive member 132 is extended, the linkage drive member 132 can push the storage element 121 upwards, so that the storage element 121 rotates relative to the vertical frame 110. The storage element 121 rotates and can drive the linkage connection member 131 to move synchronously, and then the linkage connection The piece 131 drives the remaining storage elements 121 to move synchronously, and realizes the synchronous driving of all the storage elements 121 upward movement, thereby realizing the synchronous unloading operation.

It is worth noting that the storage element 121 rotates with respect to the vertical frame 110 to achieve pitching motion in a variety of rotational drive forms. In this embodiment, only the linkage drive 132 that can output linear motion is used to drive the storage element 121 to move. All driving components capable of realizing the pitching movement of the storage element 121 should be regarded as falling within the protection scope of the present invention.

Referring to FIGS. 1, 3 and 5, in one embodiment, the storage element 121 includes a support body 1211 for carrying the goods 200, and the support body 1211 rotatably connects the linkage connector 131 and the vertical frame 110 respectively. The supporting body 1211 is the main body for carrying the goods 200. One end of the supporting body 1211 is rotatably connected with the vertical frame 110, and the other end is rotatably connected with the linkage connector 131. It is noted that the end of the holder body 1211 connected with the vertical frame 110 is the head end, and the end of the holder body 1211 connected with the linkage connector 131 is the tail end. When the linkage connecting member 131 drives the support body 1211 to rise and fall, the tail end of the support body 1211 will rotate around the head end of the support body 1211 to realize the pitching movement of the support body 1211. Optionally, the edges of the support body 1211 can respectively rotatably connect the linkage connector 131 and the vertical frame 110. Of course, the middle area of the support body 1211 can also be rotatably connect the linkage connector 131 and the vertical frame 110, respectively.

It is understandable that the rotatably connection between the support body 1211 and the vertical frame 110 may be that the support body 1211 has a rotating shaft, and the support body 1211 is also rotatably mounted on the vertical frame 110 through the rotating shaft, or the vertical frame 110 has a rotating shaft. The supporting body 1211 can be rotatably mounted on the rotating shaft, and so on. In addition, the above-mentioned way of realizing the rotatable connection through the rotating shaft can also be replaced with a hinged connection or other forms of rotatable connection.

Optionally, the support body 1211 is provided in a flat plate shape, and the cargo compartment of the cargo 200 can be transferred to the support body 1211. Further, the edge of the support body 1211 has three-sided flanges, and the three-sided flanges form a loading and unloading port at the vertical frame 110, and the cargo 200 is installed in the support body 1211 through the loading and unloading port. In addition, the flanging can limit the displacement of the cargo 200 on the carrier body 1211, prevent the cargo 200 from falling out of the carrier body 1211, and ensure that the carrier body 1211 can accurately store the cargo 200. It is understandable that the loading and unloading port here is the loading and unloading end 1215 in the second embodiment.

In an embodiment, the storage element 121 further includes a rolling element 1212 that is rollably disposed on the support body 1211, and the rolling element 1212 is rotatably in contact with the goods 200 in the support body 1211. The rolling element 1212 can reduce the friction between the cargo 200 and the support body 1211, and facilitate the loading and unloading of the cargo 200. When the cargo 200 is loaded, the bottom of the cargo 200 contacts the rolling element 1212 under the action of its own gravity. When the cargo 200 moves into the carrier body 1211, the cargo 200 will drive the rollers to rotate, reducing the friction between the cargo 200 and the carrier body 1211, and facilitating the loading of the cargo 200. When the cargo 200 is unloaded, the linkage connector 131 drives the support body 1211 to rise up. At this time, the tail end of the support body 1211 is higher than the top of the support body 1211, and the cargo 200 in the support body 1211 slides out of the support body 1211 under the action of gravity, and When the cargo 200 slides along the supporting body 1211, the bottom of the cargo 200 will drive the rolling element 1212 to roll, making the cargo 200 easier to slide out of the supporting body 1211, which facilitates the unloading of the cargo 200.

Optionally, a rolling groove is provided on the supporting body 1211, and the rolling member 1212 can be installed in the rolling groove. The top surface of the rolling member 1212 is slightly higher than the top surface of the supporting body 1211 to ensure that the rolling member 1212 can be aligned with the bottom of the cargo 200. touch. In addition, the bottom of the support body 1211 also has a protective cover, and the protective cover covers the bottom of the support body 1211 with a rolling element 1212 to avoid interference between the bottom of the rolling element 1212 and other components.

Optionally, the rolling element 1212 includes but is not limited to a roller, a roller or a ball, etc., and may also be other components capable of rolling. In addition, the number of rolling elements 1212 is multiple, and the plurality of rolling elements 1212 may be arranged in one row or in multiple rows. Exemplarily, the rolling element 1212 is a roller, and the rollers are arranged in three rows.

Referring to FIG. 1, FIG. 3, FIG. 6 and FIG. 7, the first embodiment of the present invention also provides a transport system, which includes an auxiliary device 300 and the transport robot 100 in the foregoing embodiment. The auxiliary device 300 includes a support frame 310 and a plurality of transportation mechanisms 320 arranged at intervals along the vertical direction on the support frame 310. The manner in which the plurality of transportation mechanisms 320 are spaced apart is the same as the manner in which the plurality of storage elements 121 are spaced apart. When the handling robot 100 moves to the auxiliary device 300, the goods 200 on the multiple storage elements 121 can be simultaneously transferred to the corresponding transport mechanism 320 to realize synchronous unloading; or, the goods 200 on the multiple transport mechanisms 320 can be simultaneously transferred to the corresponding transport mechanism 320. The storage element 121 can realize synchronous loading.

The auxiliary device 300 can realize synchronous unloading or synchronous loading of the goods 200. The auxiliary device 300 is arranged at the unloading position or the loading position. When the auxiliary device 300 is unloaded, the auxiliary device 300 is located at the unloading position; when the auxiliary device 300 is loaded, the auxiliary device 300 is located at the loading position. The present invention is only described by taking the auxiliary device 300 at the unloading position as an example. The auxiliary device 300 is located at the unloading position. After the handling robot 100 has finished loading at the loading position, the handling robot 100 moves to the unloading position. At this time, the handling robot 100 is docked with the auxiliary device 300, and the auxiliary device 300 can receive each of the handling robots 100. The goods 200 of the storage element 121 are stored.

Specifically, the mounting frame 321 plays a supporting role, and is used to support various transportation mechanisms 320 for transporting the goods 200. The auxiliary device 300 has the same number of transport mechanisms 320 as the storage elements 121, and the height of the transport mechanism 320 is consistent with the height of the corresponding storage element 121. After the handling robot 100 is docked with the auxiliary device 300, the storage element 121 and the transport mechanism 320 are at the same level. When unloading, the linkage driving member 132 of the linkage mechanism 130 stretches to drive the end of the storage element 121 at the bottom to lift up. When the storage element 121 is lifted, the linkage connecting piece 131 can be driven to rise, and the linkage connecting piece 131 rises. During the process, the remaining storage elements 121 can be driven to lift up. In this way, each storage element 121 can be lifted at the same time, and the cargo 200 in the storage element 121 slides out of the storage element 121 under the action of gravity and the action of the rolling element 1212, and moves to the corresponding transport mechanism 320, and the transport mechanism 320 lifts it up. 200 of the goods are transported away to realize the unloading of the goods 200.

The auxiliary device 300 can also realize the loading of the cargo 200. Specifically, each layer of transport mechanism 320 drives the goods 200 to move toward the corresponding storage element 121 and transfers the goods 200 to the corresponding storage element 121. It can be understood that when the cargo 200 is loaded, the linkage mechanism 130 can drive the end of the storage element 121 to descend, and at the same time, each transport mechanism 320 simultaneously transfers the cargo 200 to the corresponding storage element 121. When the cargo 200 is gradually transferred to the supporting body 1211 and contacted with the rolling element 1212, the cargo 200 can slide into the storage element 121 under the action of its own gravity and the cooperation of the rolling element 1212. Of course, the storage element 121 may not move, and the goods 200 can also be moved into the storage element 121 through the thrust of the transport mechanism 320 in conjunction with the rolling element 1212.

Referring to FIGS. 6 and 7, in one embodiment, the transportation mechanism 320 includes a mounting frame 321 provided on the support frame 310 and a transportation part 322 movably arranged on the mounting frame 321, and the transportation part 322 can drive the cargo 200 to move. The mounting frame 321 is a frame structure, which carries the transportation part 322 and is used to implement the installation of the transportation part 322. The transportation part 322 is a main component for realizing the transportation of the goods 200. When the cargo 200 is located in the transportation part 322, the transportation part 322 can drive the cargo 200 to move toward or away from the storage element 121.

Optionally, the transportation part 322 is a structure capable of realizing horizontal transportation, such as a conveyor belt structure, an assembly line, a conveying roller structure, or a roller structure. Exemplarily, the transportation part 322 has a roller structure, which specifically includes a plurality of rollers, and each roller has a built-in rolling motor to drive the rollers to rotate, so as to realize the transportation of the goods 200. It should be noted that there are various structures that realize the horizontal transportation of the goods 200 and cannot be exhaustively listed. The transportation part 322 of the present invention is not limited to the above-mentioned specific structure.

In an embodiment, the auxiliary device 300 further includes a movable base, and the base is disposed at the bottom of the support frame 310. The movable base can drive the auxiliary device 300 to move, which greatly improves the adaptation of the auxiliary device 300 to actual working conditions. In this way, the auxiliary device 300 can be easily moved to the loading position, the unloading position, or any other position to cooperate with the handling robot 100 to work. Optionally, the structure of the base is completely the same as the structure of the chassis 160 of the handling robot 100, which will not be repeated here.

1, 6 and 8, in one embodiment, the handling system further includes a conveying device 500 and a lifting device 400 arranged between the auxiliary device 300 and the conveying device 500. The lifting device 400 moves up and down in a vertical direction. The transport mechanism 320 and the transport device 500 are connected to each other. The lifting device 400 can receive the cargo 200 of the transportation mechanism 320 and transfer it to the conveying device 500; or, the lifting device 400 can receive the cargo 200 of the conveying device 500 and transfer it to the transportation mechanism 320.

The lifting device 400 is used to receive the cargo 200 from the transportation mechanism 320 or to transport the cargo 200 to the transportation mechanism 320. Since the transportation mechanisms 320 are arranged at intervals in the vertical direction, in order to facilitate the loading and unloading of the auxiliary device 300, the lifting device 400 needs to be moved to the transportation mechanism 320 at the corresponding position to perform corresponding operations. The conveying device 500 is used to realize the conveying of the goods 200, and can transport the goods 200 unloaded by the lifting device 400 away, and can also transport the goods 200 to be loaded to the lifting device 400. Optionally, the conveying device 500 may be a structure capable of realizing horizontal conveying, such as a conveyor belt structure, an assembly line, a conveying roller structure, or a roller structure. Exemplarily, the conveying device 500 has an assembly line structure,

Specifically, when unloading, the lifting device 400 rises to one of the transport mechanisms 320, and after receiving the goods 200 of the transport mechanism 320, the lifting device 400 descends and transfers the goods 200 to the conveying device 500, which is then transferred to the conveying device 500. Send away. Then, the lifting device 400 rises to another transportation mechanism 320 and reciprocates in this way until the goods 200 on the transportation mechanism 320 are all transported away. When loading goods, after the lifting device 400 descends and receives the goods 200 conveyed by the conveying device 500, the lifting device 400 rises to one of the transport mechanisms 320, and transfers the goods 200 to the transport mechanism 320; subsequently, the lifting device 400 Then descend to the conveying device 500, and reciprocate in this way, until the transport mechanism 320 loads the goods 200.

In one embodiment, the lifting device 400 includes a lifting frame 410 along a vertical direction, a moving mechanism 420 arranged on the lifting frame 410, and at least one layer of a transfer mechanism 430 arranged on the moving mechanism 420. The moving mechanism 420 can be formed along the lifting frame 410. The lifting movement drives the transfer mechanism 430 to move to receive or transfer the goods 200 to the transportation mechanism 320. The lifting frame 410 has a bearing function and is used for bearing the moving mechanism 420 and the transfer mechanism 430. Optionally, rotating wheels can also be provided at the bottom of the lifting frame 410 to adapt to different applications. The transfer mechanism 430 is used to carry the cargo 200 and realize the transfer of the cargo 200 between a high position such as the transportation mechanism 320 and a low position such as the conveying device 500. The moving mechanism 420 is arranged in the lifting frame 410 along the vertical direction, and can output vertical movement to drive the transfer mechanism 430 to perform the lifting movement.

It is understandable that the moving mechanism 420 is used to realize the vertical lifting movement of the transfer mechanism 430, and the specific structure of the moving mechanism 420 may be a telescopic rod structure, a chain transmission structure or a driving transmission structure, etc., and may also be other transportable mechanisms. 150 structure for lifting movement. Exemplarily, the specific structure of the moving mechanism 420 is the same as the structure of the lifting mechanism 140 of the handling robot 100, which will not be repeated here. Of course, the specific structure of the moving mechanism 420 may also be different from the structure of the lifting mechanism 140 of the handling robot 100, as long as the moving mechanism 420 can realize the lifting movement.

Exemplarily, the number of the transfer mechanism 430 is one layer, and the transfer mechanism 430 receives goods from one transportation mechanism 320 or delivers goods to one transportation mechanism 320 at a time. Of course, in other embodiments of the present invention, when the transfer mechanism 430 has at least two layers, the at least two layer transfer mechanism 430 can remove the goods of the at least two transportation mechanisms 320 at a time, or transfer the goods to the at least two transportation mechanisms 320. , Improve the efficiency of cargo turnover.

In one embodiment, the transfer mechanism 430 includes a transfer seat 431 arranged on the moving mechanism 420 and a transfer part 432 movably arranged on the transfer seat 431. The transfer part 432 can drive the cargo 200 to move, and the transfer part 432 can transport at least one The agency 320 receives or transfers the goods 200. The transfer seat 431 plays a bearing role and is used to carry the transfer part 432 so as to install the transfer part 432 on the moving mechanism 420. When the moving mechanism 420 moves up and down, the transfer seat 431 can drive the transfer part 432 to move up and down synchronously, so as to realize the loading and unloading of the goods 200.

Optionally, the transfer part 432 is a structure capable of realizing horizontal transportation, such as a conveyor belt structure, an assembly line, a conveying roller structure, or a roller structure. Exemplarily, the transfer part 432 is a roller shaft structure, and specifically includes a plurality of roller shafts, and each roller shaft has a built-in rolling motor to drive the roller shaft to rotate, so as to realize the transportation of the goods 200. It should be noted that there are various structures for horizontally transporting the goods 200 and cannot be exhaustively listed. The transfer unit 432 of the present invention is not limited to the above-mentioned specific structure.

The transfer unit 432 can receive the goods 200 of one transportation agency 320 at a time, which is mentioned above. The transfer unit 432 may also receive the goods 200 of multiple transport mechanisms 320 at a time, and the moving mechanism 420 may receive the goods 200 of the transport mechanism 320 layer by layer, and then transport them to the conveying device 500 together after the pickup is completed. Exemplarily, the moving mechanism 420 drives the transfer part 432 to rise to the top. After the transfer part 432 receives the goods 200 of a transport mechanism 320, it descends one level before receiving the goods 200 of a transport mechanism 320, until the transfer part 432 is full or After the cargo 200 of the transportation mechanism 320 is received, the moving mechanism 420 drives the transfer part 432 to descend to the position of the conveying device 500, and the transfer part 432 transfers all the goods 200 on it to the conveying device 500. Of course, the moving mechanism 420 can move layer by layer from bottom to top, and its principle is substantially the same as the principle from top to bottom, and will not be repeated here.

Of course, the transfer unit 432 can also receive multiple goods 200 transferred by the conveying device 500 at one time, and then transport them to each transport mechanism 320 layer by layer. The principle is substantially the same as the above-mentioned unloading principle, and will not be repeated here.

In one embodiment, the handling system further includes a control center, and the various parts of the handling system are respectively coordinated to execute actions under the control of the control center, and the control center of the handling system maintains a communication connection with an external server. The control center can identify the information of the goods 200 to be moved, and the control center can obtain the information of the loading position and unloading position corresponding to each goods 200 to be moved. The control center coordinates and controls the various parts according to the acquired information, thereby efficiently Complete the handling of cargo 200.

In the handling robot 100 and its handling system of this embodiment, when unloading, the multiple storage elements 121 of the storage mechanism 120 can move synchronously to implement a synchronized unloading action, so as to realize the synchronous unloading of the goods 200 in each storage element 121, so that the handling robot The goods 200 in 100 can be unloaded at one time, which improves unloading efficiency and reduces unloading time, so as to improve the overall work efficiency of the handling robot 100. In addition, after the handling robot 100 is used in conjunction with the auxiliary device 300, loading and unloading can be realized at the same time, thereby improving the working efficiency of the handling system.

Second embodiment

9 and 17, in the second embodiment of the present invention, the handling robot 100 further includes a blocking mechanism 170. The blocking mechanism 170 has a blocking position and an avoiding position. When the blocking mechanism 170 is in the blocking position, the blocking mechanism 170 is used to block When the cargo 200 in the storage element 121 slides out, when the blocking mechanism 170 is in the avoiding position, the storage element 121 can move in or out of the cargo 200.

It is understandable that after the goods 200 to be transported are stored on the storage element 121, when the handling robot 100 moves from the loading position to the unloading position, the handling robot 100 will travel a distance, and the goods 200 stored in the storage element 121 will exist. Risk of falling. Once the goods 200 in the storage element 121 fall, on the one hand, it will damage the goods 200 and cause economic losses. On the other hand, manual or smart picking devices are required to pick up the goods 200 and place them in the storage element 121 for transportation. This will affect the handling efficiency of the cargo 200.

To this end, the handling robot 100 of the present invention further includes a blocking mechanism 170 through which the goods 200 in the storage element 121 are blocked. This can prevent the goods 200 in the storage element 121 from slipping out. Specifically, the blocking mechanism 170 has a blocking position and an avoiding position. When the blocking mechanism 170 is in the avoiding position, the goods 200 can be loaded into the storage element 121 and the goods 200 can also be taken out of the storage element 121. When the blocking mechanism 170 is in the blocking position, the cargo 200 in the storage element 121 abuts against the blocking mechanism 170, and the blocking mechanism 170 can restrict the cargo 200 in the storage element 121 from sliding out and prevent the cargo 200 from falling.

Specifically, when the handling robot 100 is in the loading position, the blocking mechanism 170 is in the avoiding position. At this time, the goods 200 can be loaded into the storage element 121; after the loading is completed, the blocking mechanism 170 moves to the blocking position. At this time, the blocking mechanism 170 can abut the cargo 200 in the storage element 121 to restrict the cargo 200 from sliding out of the storage element 121; then, the handling robot 100 can move from the loading position to the unloading position, and the blocking mechanism 170 is always in the blocking position during this process; After the blocking mechanism 170 is in the unloading position, the blocking mechanism 170 moves from the blocking position to the avoiding position. At this time, the goods 200 in the storage element 121 can be taken out. And, the transfer robot 100 reciprocates in this way. It is understandable that the blocking mechanism 170 can act as a block while the handling robot 100 is moving, regardless of whether there is goods in the storage element 121, or it can only act as a block when the goods are being moved, that is, when the storage element 121 has goods.

When the handling robot 100 of the above embodiment moves goods, the blocking mechanism 170 moves to the blocking position, and the blocking mechanism 170 can abut the goods 200 in the storage element 121 to restrict the goods 200 from sliding out of the storage element 121, which effectively solves the current situation of moving goods. The problem that goods easily slip out of the handling robot’s shelf prevents the goods 200 from sliding out of the storage element 121 during the handling of the handling robot 100, ensuring the safety of the goods 200, avoiding the risk of slipping out, and improving handling efficiency. Moreover, the handling robot 100 loads and unloads goods. At this time, the blocking mechanism 170 moves to the avoiding position. At this time, the goods 200 can be loaded into the storage elements 121, or the goods 200 in the storage elements 121 can be removed, which will not hinder the loading and unloading operations of the handling robot 100, which is convenient for use.

In an embodiment, the blocking mechanism 170 can block the goods 200 in each storage element 121 at the same time. In other words, the blocking mechanism 170 can be moved to the blocking position at the same time to block the goods 200 in the storage element 121, and the blocking mechanism 170 can also be moved to the avoiding position at the same time, so that the storage element 121 can be loaded and unloaded. Of course, in other embodiments of the present invention, the number of blocking mechanisms 170 is multiple, and each blocking mechanism 170 can block the goods 200 in at least two storage elements 121 at the same time. It is understandable that one blocking mechanism 170 can act on the goods 200 of all storage elements 121 at the same time, or multiple blocking mechanisms 170 can act on multiple storage elements 121. Exemplarily, the number of blocking mechanisms 170 is two. One blocking mechanism 170 is used to block the goods 200 of the storage elements 121 of one to three layers, and the other blocking mechanism 170 is used for the storage elements 121 of four to six layers. Goods 200. Of course, in other embodiments of the present invention, the number of blocking mechanisms 170 can be more. The present invention is only described by taking the blocking mechanism 170 blocking the goods 200 of all the storage elements 121 at the same time as an example. The working principle of multiple blocking mechanisms 170 is substantially the same as the working principle of using one blocking mechanism 170, which will not be repeated here.

It is worth noting that the setting position of the blocking mechanism 170 is not restricted in principle. It can be movably installed on the vertical frame 110, movably installed on the chassis 160, or movably installed on the storage element 121, as long as the blocking mechanism is ensured 170 can move to the avoiding position or blocking position. In this embodiment, only the blocking mechanism 170 is movably arranged on the chassis 160 as an example for description. The working principle of the blocking mechanism 170 being movably arranged on the chassis 160 is substantially the same as the working principle of the blocking mechanism 170 being movably arranged on the chassis 160. Go into details one by one. Specifically, when the blocking mechanism 170 moves relative to the chassis 160, the blocking mechanism 170 can move to the blocking position or the avoiding position. When the blocking mechanism 170 can move to the blocking position, the blocking mechanism 170 can block the cargo 200 in each storage element 121; when the blocking mechanism 170 can move to the avoiding position, the blocking mechanism 170 no longer blocks the storage element 121 and the cargo 200 can be free In and out of the storage element 121.

In an embodiment, the storage element 121 has a loading and unloading end 1215 facing away from the vertical frame 110. The cargo 200 is loaded and unloaded from the loading and unloading end 1215 of the storage element 121. Exemplarily, as shown in FIG. 10, the end of the storage element 121 far from the vertical frame 110 has a loading and unloading end 1215. When loading, the goods 200 are moved from the loading and unloading end 1215 into the storage element 121. When unloading, the goods 200 are moved from the loading and unloading ends 1215 into the storage element 121. The loading and unloading end 1215 moves out of the storage element 121. Optionally, the loading and unloading end 1215 is an end opening of the storage element 121, or other inlets and outlets through which the supplies 200 can enter and exit. Of course, in other embodiments of the present invention, the loading and unloading end 1215 may also be disposed on the end of the storage element 121 close to the vertical frame 110. In this way, the loading and unloading of the goods 200 in the storage element 121 can also be realized.

Optionally, the loading and unloading end 1215 and the handling mechanism 150 are arranged on the same side. When the loading and unloading end 1215 performs loading and unloading operations, the handling mechanism 150 needs to avoid the loading and unloading end 1215 to avoid interference between the handling mechanism 1215 and the loading and unloading device 600. Ensure reliable loading and unloading. At this time, the transport mechanism 150 can rise to the highest position of the transport robot 100, or be higher than the position of the loading and unloading device 600, or move to the other side of the transport robot 100. Optionally, the loading and unloading end 1215 and the conveying mechanism 150 are arranged on different sides. The loading and unloading of the loading and unloading end 1215 will not be affected by the handling mechanism 150. When the storage element 121 is loading and unloading, the handling mechanism 150 will not interfere with the loading and unloading device 600.

Referring to FIGS. 9 and 10, in one embodiment, the blocking mechanism 170 can be moved into the loading and unloading end 1215 or out of the loading and unloading end 1215. In other words, when the blocking mechanism 170 moves into the loading and unloading end 1215, the blocking mechanism 170 is in the blocking position. At this time, the end of the cargo 200 abuts the blocking mechanism 170, and the blocking mechanism 170 blocks the cargo 200 to restrict the cargo 200 from loading and unloading. The end 1215 slides out. When the blocking mechanism 170 moves out of the loading and unloading end 1215, the blocking mechanism 170 is in the avoiding position. At this time, the loading and unloading end 1215 is unobstructed, and the cargo 200 can be loaded into the storage element 121 via the loading and unloading end 1215, or it can be unloaded via the loading and unloading end 1215. The goods 200 in the storage element 121 are stored.

In one embodiment, when the blocking mechanism 170 is in the blocking position, the blocking mechanism 170 abuts against the side wall or bottom surface of the cargo 200. In other words, the blocking position of the blocking mechanism 170 may be located on the bottom surface or the side surface of the storage element 121. When the blocking mechanism 170 moves to the blocking position, the blocking mechanism 170 can abut the cargo 200 in the storage element 121 on the side or bottom surface. At this time, due to the abutment force of the blocking mechanism 170, the movement of the cargo 200 in the storage element 121 is restricted. The cargo 200 is prevented from slipping out of the storage element 121. When the blocking mechanism 170 moves to the avoiding position, the blocking mechanism 170 is separated from the side or bottom surface of the cargo 200 of the storage element 121, and the cargo 200 can move in the storage element 121 to realize the loading and unloading operation of the storage element 121.

In an embodiment, the blocking mechanism 170 is disposed on at least one side of the storage element 121. It is understandable that the blocking mechanism 170 may be arranged on one side of the storage element 121, as shown in FIGS. 9 and 10, at this time, the blocking mechanism 170 can block the goods 200 in the storage element 121 at the blocking position. Of course, in other embodiments of the present invention, the blocking mechanism 170 may also be located on both sides of the storage element 121 respectively. In this way, the cargo 200 in the storage element 121 can be further blocked. Furthermore, the two blocking mechanisms 170 may be arranged symmetrically or asymmetrically, as long as they can block the goods 200 in the storage element 121.

Exemplarily, this embodiment only takes the blocking mechanism 170 which can be moved into or out of the loading and unloading end 1215 or out of the loading and unloading end 1215 as an example for description, and the blocking mechanism 170 is provided on one side of the storage element 121, as mentioned in other embodiments The working principle of the blocking mechanism 170 in different layout forms is substantially the same as the working principle of the blocking mechanism 170 of this embodiment, and will not be repeated here. At this time, the blocking position of the blocking mechanism 170 is at the loading and unloading end 1215. When the blocking mechanism 170 moves to the loading and unloading end 1215, the blocking mechanism 170 is in the loading and unloading end 1215 and faces the cargo 200 to block the cargo 200.

In one embodiment, the blocking mechanism 170 includes a movable blocking connection 171 and a plurality of blocking elements 172 respectively connected to the blocking connection 171, at least one blocking element 172 corresponds to the same storage element 121. The blocking connecting member 171 can drive each blocking element 172 to move into the loading and unloading end 1215 to block the cargo 200 in the storage element 121. The blocking connecting piece 171 serves as a connection and is used to connect each blocking element 172. When the blocking connector 171 moves, it can synchronously drive a plurality of blocking elements 172 to move, so that the blocking element 172 can move to the loading and unloading end 1215 of the corresponding storage element 121 or move out of the loading and unloading end 1215 of the storage element 121. Optionally, the blocking connector 171 includes, but is not limited to, a connecting rod or a long plate, and the like.

The blocking element 172 plays a blocking role and is used to block the cargo 200. When the blocking connector 171 drives the blocking element 172 to move to the blocking position, the blocking element 172 is located in the loading and unloading cargo end 1215. At this time, the end of the cargo 200 is facing the blocking element 172, and the blocking element 172 restricts the cargo 200 from moving out of the storage element 121 . When the blocking connector 171 drives the blocking element 172 to move to the avoiding position, the blocking element 172 is separated from the loading and unloading end 1215. At this time, there is no object at the end of the cargo 200 to block, and the storage element 121 can be loaded or unloaded.

It can be understood that the avoidance position may be located outside the blocking element 172, or may be located at the bottom of the storage element 121 or a position flush with the storage element 121. When the avoidance position is located at the bottom of the storage element 121, as long as the blocking element 172 is not affecting the moving in or out of the next layer of goods 200.

Optionally, the blocking connection 171 can perform a lifting movement, and when the blocking connection 171 is raised and lowered, the blocking elements 172 can be driven to move up and down synchronously, so that the blocking element 172 is located at the loading and unloading end 1215 or moved out of the loading and unloading end 1215. At this time, the escape position may be located at the bottom of the storage element 121 or a position flush with the storage element 121. Of course, the blocking connector 171 can also perform horizontal movement. When the blocking connector 171 moves horizontally, the blocking elements 172 can be driven to move horizontally synchronously, so that the blocking element 172 is located at the loading and unloading end 1215 or moved out of the loading and unloading end 1215. At this time, the avoiding position may be located outside the blocking element 172. Of course, the blocking connector 171 can also be one or a combination of other forms of motion such as rotation, swing, and movement, as long as the blocking element 172 can be moved into or out of the loading and unloading end 1215. Exemplarily, the present invention is only described by using the blocking connecting member 171 to perform the lifting movement displacement. In addition, the escape position is located at the bottom of the storage element 121 or a position flush with the storage element 121.

In one embodiment, the blocking element 172 includes a blocking member, which is fixedly disposed on the blocking connecting member 171, and the movement of the blocking connecting member 171 can drive the blocking member to move in or out of the loading and unloading end 1215. In this embodiment, the blocking member is fixedly arranged on the blocking connecting member 171, and the movement of the blocking connecting member 171 can directly drive the blocking member to move, so that the blocking member moves to the blocking position or the avoiding position. For example, when the blocking connecting piece 171 drives the blocking piece up, the blocking piece can move to the loading and unloading end 1215 to block the cargo 200; when the blocking connecting piece 171 drives the blocking piece down, the blocking piece can move to the avoiding position. Block goods 200. Optionally, the blocking member may be a baffle, a block, a limit post, and other components capable of blocking.

9 and 10, in an embodiment, the blocking element 172 includes a swinging member 1721 and a blocking member 1722. One end of the swinging member 1721 is rotatably connected to the blocking connecting member 171, and the other end of the swinging member 1721 is installed with a blocking member 1722, The middle part of the swing member 1721 is rotatably mounted on the loading and unloading end 1215 of the storage element 121. When the blocking connecting member 171 is raised and lowered, the swinging member 1721 can be driven to swing, so that the swinging member 1721 drives the blocking member 1722 to move in or out of the loading and unloading end 1215.

In other words, the blocking link 171 realizes the switching between the blocking position and the avoiding position through the indirect movement of the blocking element 172, such as a swing motion. Specifically, when the blocking connecting member 171 moves, one end of the swinging member 1721 can be moved to move relative to the storage element 121, and then the other end of the swinging member 1721 can drive the blocking member 1722 to move, so that the blocking member 1722 moves to avoid position or block Location. The head of the swinging member 1721 is rotatably connected with the blocking connecting member 171, the middle of the swinging member 1721 is rotatably connected to the storage element 121, and the tail of the swinging member 1721 is connected with the blocking member 1722. The blocking member 1722 can be moved to an unyielding position or a blocking position.

Exemplarily, when the blocking connecting piece 171 moves upward in the vertical direction, the blocking connecting piece 171 can drive the blocking piece 1722 to move to the blocking position through the swinging member 1721. When the blocking connecting piece 171 moves downward in the vertical direction, the blocking connecting piece 171 can drive the blocking member 1722 to move to the avoiding position through the swing member 1721. Optionally, the swinging member 1721 is a swinging rod, and the blocking member 1722 is a blocking rod.

It should be noted that the essential spirit of the present invention is that the blocking connection 171 and each blocking element 172 move, so that each blocking element 172 moves to the avoiding position or blocking position of the corresponding storage element 121 respectively. In the above two embodiments, two forms of the blocking element 172 are respectively introduced; moreover, the arrangement of the blocking element 172 is various and cannot be exhaustively listed. The linkage mode of the present invention is not limited to the implementation of the above-mentioned specific structure.

In an embodiment, the blocking mechanism 170 further includes a blocking driving member, and the output end of the blocking driving member is connected to the blocking connecting member 171 to drive the blocking element 172 to move in or out of the loading and unloading end 1215. The blocking driving member is the power source for the movement of the blocking mechanism 170, and realizes the driving of the movement of the blocking moving member. In addition, the blocking driving member outputs linear motion, so that the blocking connecting member 171 can move up and down, and then the blocking connecting member 171 can drive the blocking element 172 to move, so that the blocking element 172 moves to the avoiding position or the blocking position. Optionally, the blocking drive includes but is not limited to a cylinder, a hydraulic cylinder, a linear motor or an electric push rod, and may also be other linear drive units capable of outputting linear motion. Illustratively, the blocking drive is a linear motor. Exemplarily, one end of the blocking drive member is provided on the chassis 160. Of course, in other embodiments of the present invention, the rotating motor cooperates with the protruding member to drive.

In an embodiment, the bottom of the storage element 121 has a movable space, and the movable space is used for the loading and unloading mechanism 620 of the handling system to move in to load or retrieve the storage element 121. Since the storage element 121 cannot move during loading and unloading, other components such as the handling mechanism 150 or the loading and unloading device 600 are required to move the goods 200 into the storage element 121 or take out the storage element 121 during loading and unloading, which requires the storage element 121 There is a space at the bottom for the conveying mechanism 150 and the auxiliary device 300 to extend, so as to facilitate the loading and unloading of the storage element 121. When loading the storage element 121, the handling mechanism 150 or the loading and unloading device 600 can extend into the activity space to place the goods 200 on the storage element 121, and then move it out of the activity space; when unloading from the storage element 121, the transport mechanism 150 Or the loading and unloading device 600 can extend into the activity space to support the goods 200 in the storage element 121 and drive the goods 200 out of the storage element 121.

In an embodiment, the storage element 121 includes a first side plate 1213 and a second side plate 1214 disposed on the vertical frame 110, and the first side plate 1213 and the second side plate 1214 are disposed opposite to each other and surround an activity space. The first side plate 1213 and the second side plate 1214 are arranged at the same height of the vertical frame 110, and the first side plate 1213 and the second side plate 1214 are arranged in parallel. In this way, the first side plate 1213 and the second side plate 1214 can respectively be used to hold the bottoms of both sides of the cargo 200, and ensure that the cargo 200 is flat and avoid deflection. The part between the first side plate 1213 and the second side plate 1214 is a gap, that is, the above-mentioned movable space, which allows the transport mechanism 150 or the loading and unloading device 600 to extend in for loading and unloading operations.

Of course, in other embodiments of the present invention, the storage element 121 includes a support body for carrying the goods 200, the support body has a movable space along the in and out direction of the goods 200, and the size of the movable space along the in and out direction of the goods 200 is smaller than that of the carrier body along the goods. 200 dimensions in the direction of entry and exit. In other words, the active space at this time is the opening of the support body. The cargo 200 is carried by the carrier, and the movable space of the carrier may also allow the handling mechanism 150 or the loading and unloading device 600 to extend in for loading and unloading operations.

9 and 11, the second embodiment of the present invention also provides a handling system, including a loading and unloading device 600 and the handling robot 100 in the above-mentioned embodiment. The loading and unloading device 600 is used to transport the goods 200 to the handling robot 100 or unload the goods 200 on the handling robot 100. The loading and unloading device 600 includes a stand 610 extending in the vertical direction and a plurality of stands 610 spaced apart in the vertical direction. For the loading and unloading mechanism 620 of the rack 610, the manner in which the multiple loading and unloading mechanisms 620 are arranged at intervals is the same as the manner in which the multiple storage elements 121 are arranged at intervals. After the handling robot 100 docks with the loading and unloading device 600, the multiple loading and unloading mechanisms 620 can respectively transport the goods 200 to the storage elements 121 or unload the goods 200 in the storage elements 121 at different heights.

The loading and unloading device 600 can realize synchronous unloading or synchronous loading of the goods 200. The loading and unloading device 600 is arranged at the unloading position or the loading position. When the loading and unloading device 600 unloads, the loading and unloading device 600 is located at the unloading position; when the loading and unloading device 600 is loading, the loading and unloading device 600 is located at the loading position. The present invention is only described by taking the loading and unloading device 600 at the unloading position as an example. The loading and unloading device 600 is located in the unloading position. After the loading and unloading is completed at the loading position, the loading and unloading robot 100 moves to the unloading position. At this time, the loading and unloading device 600 is docked with the loading and unloading device 600, and the loading and unloading device 600 can pick up the loading and unloading robot. The goods 200 of each storage element 121 in 100. Of course, the reverse conveyance of the goods 200 can also be realized at this position, that is, after the handling robot 100 is docked with the loading and unloading device 600, the loading and unloading device 600 can transfer the goods 200 to each storage element 121.

Specifically, the stand 610 plays a supporting role for supporting various loading and unloading mechanisms 620 for transporting the goods 200. The loading and unloading device 600 has the same number of loading and unloading mechanisms 620 as the number of storage elements 121. The multiple loading and unloading mechanisms 620 can respectively transport the goods 200 to the handling robot 100 or unload the goods 200 on the handling robot 100 at different heights, which greatly reduces the waiting time of the handling robot 100 during the loading and unloading process. In addition, the height of the loading and unloading mechanism 620 is consistent with the height of the corresponding storage element 121. When the handling robot 100 is docked with the loading and unloading device 600, the storage element 121 and the loading and unloading mechanism 620 are at the same level. Multiple loading and unloading mechanisms 620 can deliver goods 200 to all the storage elements 121 on the handling robot 100 at one time, or more One loading and unloading mechanism 620 can remove the goods 200 in all the storage elements 121 on the handling robot 100 at one time. Of course, in a specific working condition, one or several loading and unloading mechanisms 620 in the loading and unloading device 600 may simultaneously deliver the goods 200 to the handling robot 100 or unload the goods 200 on the handling robot 100.

Each loading and unloading mechanism 620 can act independently to transport the goods 200 to the handling robot 100 or unload the goods 200 on the handling robot 100. 10-13, in an embodiment, the loading and unloading mechanism 620 includes a bracket 621, a loading and unloading element 622, and a loading and unloading drive member 623. A plurality of brackets 621 are arranged at intervals in the vertical direction on the stand 610, and the loading and unloading drive member The loading and unloading element 623 and the loading and unloading element 622 are respectively arranged in the corresponding bracket 621. The loading and unloading element 622 is connected to the loading and unloading drive 623. The loading and unloading element 622 is used to transport the goods 200 to the storage element 121 or to unload the goods 200 in the storage element 121. The loading and unloading drive 623 can allow the corresponding loading and unloading element 622 to individually transport the goods 200 to the handling robot 100 or unload the goods 200 on the handling robot 100.

Further, as shown in FIGS. 10 to 13, the loading and unloading element 622 includes a chain 6221 and a protrusion 6222. The chain 6221 is rotatably disposed on the bracket 621 along the loading and unloading direction, and the protrusion 6222 is fixedly disposed on the chain 6221. The loading and unloading drive 623 includes a drive motor, which is connected to the chain 6221 in transmission; the chain 6221 can carry the cargo 200. When the drive motor drives the chain 6221 to rotate, the bump 6222 pushes the bottom of the cargo 200 to push the cargo 200 to the handling robot 100, or convex The block 6222 pulls the bottom of the cargo 200 to pull the cargo 200 from the handling robot 100 to the chain 6221, or the bump 6222 blocks the bottom of the cargo 200, and the cargo 200 is transferred to the chain 6221 when the handling robot 100 is away from the loading and unloading device 600. Specifically, the chain 6221 is arranged on two sprockets arranged at intervals along the loading and unloading direction, and the output shaft of the driving motor is drivingly connected with one of the sprockets. When the driving motor rotates, the chain 6221 is driven to run, and then the bump 6222 pushes the bottom of the cargo 200 The cargo 200 can be pushed to the handling robot 100, or the bump 6222 can pull the bottom of the cargo 200 to pull the cargo 200 from the handling robot 100 to the chain 6221. Furthermore, the loading and unloading mechanism 620 includes two nesting and unloading elements 622, the two nesting and unloading elements 622 are arranged in parallel and spaced apart on the bracket 621, and the driving motor is drivingly connected with the two chains 6221. The two sets of unloading elements 622 can increase the stability of the cargo 200 during the loading and unloading process. In an embodiment of the present invention, as shown in FIG. 13, the loading and unloading mechanism 620 further includes a synchronization rod 624, two chains 6221 are respectively drivingly connected to the synchronization rod 624, and a driving motor is drivingly connected to a chain 6221. Specifically, the synchronization rod 624 connects two sprockets arranged at intervals along a horizontal direction perpendicular to the loading and unloading direction, thereby ensuring that the two chains 6221 rotate synchronously. It is understandable that the chain 6221 in the above-mentioned embodiment only plays a role of transmission and carrying goods. In other embodiments of the present invention, a belt, a timing belt, etc. are used to replace the chain.

In another embodiment, as shown in FIGS. 10, 11, 14 and 15, each loading and unloading mechanism 620 includes a loading and unloading cross arm 625 and a push-pull element 626, and one end of the multiple loading and unloading cross arms 625 is along the vertical direction. It is arranged at intervals on the stand 610, and the push-pull element 626 is rotatably arranged at the other end of the corresponding mounting and dismounting cross arm 625. When the push-pull element 626 rotates, it has a push-pull position and an avoiding position. When the push-pull element 626 rotates to the push-pull position, the goods 200 are conveyed to the handling robot 100 or the goods 200 on the handling robot 100 are pulled down. When the push-pull element 626 rotates to the avoiding position, the push-pull element 626 avoids the cargo 200. It can be understood that the push-pull element 626 can push and pull the top, middle, or bottom of the goods 200 when they push and pull the goods 200. In an embodiment of the present invention, two mounting and dismounting elements 620 are spaced apart in the same horizontal direction of the stand 610, and the two push-pull elements 626 in the same horizontal direction are respectively rotated to the push-pull position or the avoiding position. The two push-pull elements 626 in the same horizontal direction respectively drive the two sides of the cargo 200 along the loading and unloading direction. The push-pull element 626 pushes and pulls both sides of the cargo 200 synchronously, which can effectively ensure the stability of the pushing-pull process of the cargo 200. Further, the two push-pull elements 626 in the same horizontal direction push/pull both sides of the middle part of the cargo 200 synchronously along the loading and unloading direction. It can be understood that the two push-pull elements 626 in the same horizontal direction rotate synchronously to the push-pull position or the avoiding position, or rotate to the push-pull position or the avoiding position one after another. In other embodiments of the present invention, only one loading and unloading mechanism 620 is provided in the same height direction of the stand 610, and the loading and unloading mechanism 620 pushes and pulls the top or bottom of the goods 200 when the goods 200 are pushed or pulled.

As an achievable way, as shown in FIGS. 14 and 15, the push-pull element 626 includes a push-pull rod 6261 and a push-pull motor 6262. The push-pull motor 6262 is arranged at the end of the mounting and dismounting cross arm 625 away from the stand 610, and the push-pull rod 6261 is arranged at the push-pull rod 6261. The output shaft of the motor 6262, the push-pull motor 6262 drives the push-pull rod 6261 to rotate to the push-pull position or the avoiding position. The two push-pull rods 6261 can be respectively rotated to the push-pull position under the drive of the push-pull motor 6262, thereby pulling the goods 200 from the handling robot 100 or pushing the goods 200 to the handling robot 100. It can be understood that the function of the push-pull motor 6262 is to drive the push-pull rod 6261 to rotate. The push-pull rod 6261 is directly arranged on the output shaft of the push-pull motor 6262, or the push-pull rod 6261 is connected to the output shaft of the push-pull motor 6262 through a transmission mechanism. The 6262 drives the push-pull rod 6261 to rotate to the push-pull position or the avoiding position.

In one embodiment, all the loading and unloading mechanisms 620 in the loading and unloading device 600 act in synchronization to deliver goods 200 to the handling robot 100 at different heights or to unload the goods 200 on the handling robot 100, or in the loading and unloading device 600 Part of the loading and unloading mechanism 620 of the singly operates to deliver the goods 200 to the handling robot 100 at a specified height or to unload the goods 200 on the handling robot 100. As shown in Figures 16 and 17, as an achievable way, the loading and unloading device 600 further includes an adjusting drive mechanism 630, the adjusting drive mechanism 630 drives the stand 610 to approach or move away from the handling robot 100 along the loading and unloading direction, and the adjusting drive mechanism 630 When the stand 610 is driven to approach or move away from the handling robot 100, the loading and unloading mechanism 620 transports the cargo 200 to the handling robot 100 or unloads the cargo 200 on the handling robot 100. The loading and unloading device 600 provided in this embodiment can remove all the goods 200 or the designated goods 200 on the handling robot 100 at one time, or simultaneously transport multiple goods 200 to the handling robot 100. As an achievable way, the adjusting drive mechanism 630 adopts a drive structure in the form of a motor and a belt.

In an embodiment of the present invention, the loading and unloading device 600 further includes a temporary storage rack 640. The vertical rack 610 is movably arranged on the temporary storage rack 640 in a horizontal direction. The adjusting drive mechanism 630 drives the vertical rack 610 in a horizontal direction relative to the temporary storage rack 640. move. The temporary storage shelf 640 includes multiple shelves along the vertical direction. The loading and unloading mechanism 620 pulls the goods 200 of different heights on the handling robot 100 to the corresponding shelves on the temporary storage shelf 640, or the loading and unloading mechanism 620 transfers the goods on each shelf. 200 is pushed to the handling robot 100. The temporary storage rack 640 can temporarily store the goods 200 unloaded from the transport robot 100 by the loading and unloading device 600 or temporarily store the goods 200 to be transported to the transport robot 100. As an achievable way, the temporary storage rack 640 includes multiple layers of temporary storage rollers 641 arranged in a vertical direction, and each layer of the temporary storage rollers 641 can separately transport the goods 200 along the loading and unloading direction. Optionally, each layer of temporary storage roller 641 can carry multiple goods 200 at the same time.

In an embodiment, the loading and unloading device 600 further includes a movable base, and the base is disposed at the bottom of the stand 610. The loading and unloading device 600 further includes a movable base, and the base is arranged at the bottom of the stand 610. The movable base can drive the loading and unloading device 600 to move, which greatly improves the adaptability of the loading and unloading device 600 to actual working conditions. In this way, the loading and unloading device 600 can be easily moved to the loading position, the unloading position, or any other position to cooperate with the handling robot 100 to work. Optionally, the structure of the base is completely the same as the structure of the chassis 160 of the handling robot 100, and will not be repeated here.

9 and 11, in one embodiment, the handling system further includes a conveying device 500 and a lifting device 400 disposed between the loading and unloading device 600 and the conveying device 500. The lifting device 400 moves up and down in a vertical direction to connect The loading and unloading mechanism 620 and the conveying device 500. The lifting device 400 can receive the cargo 200 of the loading and unloading mechanism 620 and transfer it to the conveying device 500; or the lifting device 400 can receive the cargo 200 of the conveying device 500 and transfer it to the loading and unloading mechanism 620.

The lifting device 400 is used for receiving the cargo 200 of the loading and unloading mechanism 620 or transporting the cargo 200 to the loading and unloading mechanism 620. Since the loading and unloading mechanisms 620 are arranged at intervals in the vertical direction, in order to facilitate the loading and unloading of the loading and unloading device 600, the lifting device 400 needs to be moved to the loading and unloading mechanism 620 at the corresponding position to perform corresponding operations. The conveying device 500 is used to realize the conveying of the goods 200, and can transport the goods 200 unloaded by the lifting device 400 away, and can also transport the goods 200 to be loaded to the lifting device 400. Optionally, the conveying device 500 may be a structure capable of realizing horizontal conveying, such as a conveyor belt structure, an assembly line, a conveying roller structure, or a roller structure. Illustratively, the conveying device 500 has a pipeline structure.

Specifically, when unloading, the lifting device 400 rises to one of the loading and unloading mechanisms 620, and after receiving the goods 200 of the loading and unloading mechanism 620, the lifting device 400 descends and transfers the goods 200 to the conveying device 500, which is then transported The device 500 is sent away. Then, the lifting device 400 rises to another loading and unloading mechanism 620, and reciprocates in this way, until the goods 200 on the loading and unloading mechanism 620 are all transported away. When loading goods, after the lifting device 400 descends and receives the goods 200 conveyed by the conveying device 500, the lifting device 400 rises to one of the loading and unloading mechanisms 620, and transfers the goods 200 to the loading and unloading mechanism 620; subsequently, lifting The device 400 descends to the conveying device 500 again, and reciprocates in this way until the loading and unloading mechanism 620 loads the cargo 200.

In one embodiment, the lifting device 400 includes a lifting frame 410 along a vertical direction, a moving mechanism 420 arranged on the lifting frame 410, and at least one layer of a transfer mechanism 430 arranged on the moving mechanism 420. The moving mechanism 420 can be formed along the lifting frame 410. The lifting movement drives the transfer mechanism 430 to move to receive or transfer the goods 200 to the loading and unloading mechanism 620. The lifting frame 410 has a bearing function and is used for bearing the moving mechanism 420 and the transfer mechanism 430. Optionally, rotating wheels can also be provided at the bottom of the lifting frame 410 to adapt to different applications. The transfer mechanism 430 is used to carry the cargo 200 to realize the transfer of the cargo 200 between a high position such as the loading and unloading mechanism 620 and a low position such as the conveying device 500. The moving mechanism 420 is arranged in the lifting frame 410 along the vertical direction, and can output vertical movement to drive the transfer mechanism 430 to perform the lifting movement.

It is understandable that the moving mechanism 420 is used to realize the vertical lifting movement of the transfer mechanism 430, and the specific structure of the moving mechanism 420 may be a telescopic rod structure, a chain transmission structure or a driving transmission structure, etc., and may also be other transportable mechanisms. 150 structure for lifting movement. Exemplarily, the specific structure of the moving mechanism 420 is the same as the structure of the lifting mechanism 140 of the handling robot 100, which will not be repeated here. Of course, the specific structure of the moving mechanism 420 may also be different from the structure of the lifting mechanism 140 of the handling robot 100, as long as the moving mechanism 420 can realize the lifting movement.

Exemplarily, the number of the transfer mechanism 430 is one layer, and the transfer mechanism 430 receives the goods 200 of one loading and unloading mechanism 620 at a time, or transfers the goods 200 to one loading and unloading mechanism 620. Of course, in other embodiments of the present invention, when the transfer mechanism 430 has at least two layers, the at least two layers of the transfer mechanism 430 can remove the goods 200 of at least two loading and unloading mechanisms 620 at a time, or to at least two loading and unloading mechanisms. 620 transports 200 goods and improves the efficiency of 200 goods turnover.

In one embodiment, the transfer mechanism 430 includes a transfer seat 431 arranged on the moving mechanism 420 and a transfer part 432 movably arranged on the transfer seat 431. The transfer part 432 can drive the cargo 200 to move, and the transfer part 432 can load and unload at least one The cargo organization 620 receives or transfers the cargo 200. The transfer seat 431 plays a bearing role and is used to carry the transfer part 432 so as to install the transfer part 432 on the moving mechanism 420. When the moving mechanism 420 moves up and down, the transfer seat 431 can drive the transfer part 432 to move up and down synchronously, so as to realize the loading and unloading of the goods 200.

Optionally, the transfer part 432 is a structure capable of realizing horizontal transportation, such as a conveyor belt structure, an assembly line, a conveying roller structure, or a roller structure. Exemplarily, the transfer part 432 is a roller shaft structure, and specifically includes a plurality of roller shafts, and each roller shaft has a built-in rolling motor to drive the roller shaft to rotate, so as to realize the transportation of the goods 200. It should be noted that there are various structures for horizontally transporting the goods 200 and cannot be exhaustively listed. The transfer unit 432 of the present invention is not limited to the above-mentioned specific structure.

The transfer unit 432 can receive the cargo 200 of one loading and unloading mechanism 620 at a time, which is mentioned above. The transfer unit 432 may also receive the goods 200 of multiple loading and unloading mechanisms 620 at a time, and the moving mechanism 420 may receive the goods 200 of the loading and unloading mechanism 620 layer by layer, and then transport them to the conveying device 500 together after the receiving is completed. Exemplarily, the moving mechanism 420 drives the transfer part 432 to rise to the top. After the transfer part 432 receives the cargo 200 of a loading and unloading mechanism 620, it descends one level before receiving the cargo 200 of a loading and unloading mechanism 620, and the transfer part 432 will load it. After the full or loading and unloading mechanism 620 receives the goods 200, the moving mechanism 420 drives the transfer part 432 to descend to the position of the conveying device 500, and the transfer part 432 transfers all the goods 200 thereon to the conveying device 500. Of course, the moving mechanism 420 can move layer by layer from bottom to top, and its principle is substantially the same as the principle from top to bottom, and will not be repeated here.

Of course, the transfer unit 432 may also receive multiple cargoes 200 transferred by the conveying device 500 at one time, and then transport them to each loading and unloading mechanism 620 layer by layer. The principle is substantially the same as the above-mentioned unloading principle, which will not be repeated here.

In one embodiment, the handling system further includes a control center, and the various parts of the handling system are respectively coordinated to execute actions under the control of the control center, and the control center of the handling system maintains a communication connection with an external server. The control center can identify the information of the goods 200 to be moved, and the control center can obtain the information of the loading position and unloading position corresponding to each goods 200 to be moved. The control center coordinates and controls the various parts according to the acquired information, thereby efficiently Complete the handling of cargo 200.

In the handling robot 100 and its handling system in this embodiment, when moving goods, the blocking mechanism 170 moves to the blocking position, and the blocking mechanism 170 can abut the goods 200 in the storage element 121 to restrict the goods 200 from sliding out of the storage element 121, so that The cargo 200 cannot slide out of the storage element 121 during the handling of the handling robot 100, ensuring the safety of the cargo 200, avoiding the risk of slipping out, and improving handling efficiency. Moreover, when the handling robot 100 loads and unloads the cargo, the blocking mechanism 170 moves to the avoiding position. , The goods 200 can be loaded into each storage element 121, or the goods 200 in each storage element 121 can be removed, which will not hinder the loading and unloading operations of the handling robot 100, which is convenient for use.

Based on the handling robot 100 of the above two embodiments, the present invention also provides a handling method of the handling robot 100, which is suitable for the handling robot 100 in the above two embodiments. The handling method includes the following steps: the controller receives the first loading and unloading Cargo instruction; the controller controls the handling robot 100 to move to the first loading and unloading position according to the first loading and unloading instruction; if the controller confirms that the first loading and unloading position is the loading position, the control The controller controls the handling mechanism 150 to transfer the goods 200 to the storage element 121 of the storage mechanism 120; if the controller confirms that the first loading and unloading position is the unloading position, the controller controls the handling robot 100 to be in the unloading position discharge.

The various parts of the handling robot 100 coordinate and execute actions under the control of the controller, and the controller of the handling robot 100 maintains a communication connection with the control center of the handling system or an external server. The handling robot 100 can recognize the information of the cargo 200 to be transported, and the handling robot 100 can obtain the information of the loading position and unloading position corresponding to each cargo 200 to be transported. The handling robot 100 coordinates and controls various parts according to the acquired information. In turn, the cargo 200 can be transported efficiently. Optionally, the controller includes but is not limited to a CPU, and may also be other components capable of realizing control.

When loading and unloading is required, the controller receives the first loading and unloading instruction, and then the controller controls the movement of the handling robot 100 according to the first loading and unloading instruction, so that the handling robot 100 moves at the first loading and unloading position. The first loading and unloading position includes a loading position and an unloading position. The loading position is defined as the position where the rack is located, and the unloading position is the position where the transportation mechanism 320 or the loading and unloading mechanism 620 is located. It is understandable that the loading position and the unloading position are interchangeable, that is, the handling robot 100 can load at the unloading position and unload at the loading position.

Generally, the handling robot 100 can be loaded by the handling mechanism 150 at the loading position, and unloaded by the transport mechanism 320 or the loading and unloading mechanism 620 at the unloading position. After the controller controls the handling robot 100 to move to the loading position according to the first loading and unloading instructions, the controller can control the lifting mechanism 140 to drive the handling mechanism 150 to move up and down, so that the handling mechanism 150 can pick up the goods on the shelf, and then the lifting mechanism 140 then drives the conveying mechanism 150 to perform a lifting movement, so as to transfer the goods 200 in the conveying mechanism 150 to the storage element 121 to realize the loading of the goods 200. It reciprocates in this way until each storage element 121 stores the goods 200. After the controller moves from the loading position to the unloading position according to the first unloading instruction movement, the controller controls the transport mechanism 320 or the loading and unloading mechanism 620 to receive the goods 200 in the storage element 121 to realize the unloading of the goods 200.

Of course, the loading and unloading process can also be reversed, that is, the handling robot 100 is loaded at the unloading position by the transport mechanism 320 or the loading and unloading mechanism 620 at the unloading position, and unloaded by the handling mechanism 150 at the loading position. After the controller controls the handling robot 100 to move to the unloading position according to the first loading and unloading instruction, the controller controls the transport mechanism 320 or the loading and unloading mechanism 620 to transfer the cargo 200 thereon to the corresponding storage element 121 to realize the loading of the cargo 200 . When the handling robot 100 is filled with the goods 200, the controller moves from the unloading position to the loading position according to the first unloading instruction movement. The controller can control the lifting mechanism 140 to drive the conveying mechanism 150 to move up and down, so that the conveying mechanism 150 can store components The goods are picked up in 121, and then the lifting mechanism 140 drives the conveying mechanism 150 to perform a lifting motion to remove the goods 200 in the conveying mechanism 150. In this reciprocation, until the goods 200 of each storage element 121 are taken away, the unloading of the goods 200 is realized.

It is worth noting that after the controller controls the handling robot 100 to move to the first loading and unloading position, it needs to determine whether the first loading and unloading position is the loading position or the unloading position. For example, when there is no cargo 200 in the handling robot 100, after the handling robot 100 moves to the first loading and unloading position, if the first loading and unloading position is the loading position, then the handling mechanism 150 loads the storage element 121; When there is a cargo 200 in the robot 100, after the handling robot 100 moves to the first loading and unloading position, if the first loading and unloading position is the unloading position, at this time, the transport mechanism 320 or the loading and unloading mechanism 620 is used to unload the goods.

The transportation method of the above embodiment can realize the automatic transportation of the goods 200, effectively solve the problems of high cost and low efficiency in the current transportation methods, reduce the cost of loading and unloading the goods 200, and greatly improve the efficiency of the loading and unloading of the goods 200. At the same time, the conveying mechanism 150 is driven by the lifting mechanism 140 to move to different heights, so that the goods 200 to be conveyed can be delivered to the storage elements 121 of different heights in the storage mechanism 120, which has strong versatility and reduces the floor space.

In an embodiment, when the handling robot 100 unloads, a plurality of the storage elements 121 can move synchronously to implement a synchronous unloading action, the first loading and unloading instruction includes a first unloading instruction; the controller controls the handling The step of the robot 100 unloading at the unloading position includes: the controller receives a first unloading instruction, and the controller controls the at least two storage elements 121 to unload at the same time according to the first unloading instruction.

When the handling robot 100 is the handling robot 100 in the first embodiment, each storage element 121 in the handling robot 100 can realize synchronous unloading. Specifically, when the first loading and unloading instruction received by the controller is the first unloading instruction, the controller controls the handling robot 100 to move from the loading position to the unloading position according to the first unloading instruction. The unloading position at this time corresponds to the auxiliary device 300 of the transport system. In addition, each storage element 121 is connected to each transportation mechanism 320 respectively. When the controller controls at least two storage elements 121 to unload at the same time, at least two transport mechanisms 320 corresponding to the storage elements 121 can receive the goods 200 removed from the storage elements 121 to complete the unloading operation of the handling robot 100.

In an embodiment, when the handling robot 100 is loading, a plurality of the storage elements 121 can move synchronously to implement a synchronized loading action, the first loading and unloading instruction includes a first loading instruction; the controller controls The step of loading the handling robot 100 at the loading position includes: the controller receives a first loading instruction, and the controller controls the auxiliary device 300 to send to at least two loading instructions according to the first loading instruction. The storage elements 121 are loaded at the same time.

When the handling robot 100 is the handling robot 100 in the first embodiment, the storage components 121 in the handling robot 100 can realize synchronous loading. When the handling robot 100 needs to load, and the loading operation is implemented by the auxiliary device 300. Specifically, when the first loading and unloading instruction received by the controller is the first loading instruction, the controller controls the handling robot 100 to move from the unloading position to the loading position according to the first loading instruction. The loading position at this time is opposite to the loading position in the above embodiment, and the unloading position is opposite to the unloading position in the above embodiment. The loading position at this time corresponds to the auxiliary device 300 of the transport system. In addition, each storage element 121 is connected to each transportation mechanism 320 respectively. The controller controls each transport mechanism 320 of the auxiliary device 300 to move the goods into the storage element 121 at the corresponding position, realize the synchronous loading of each storage element 121, and complete the loading operation of the handling robot 100.

In an embodiment, the handling robot 100 includes a linkage mechanism 130 electrically connected to the controller, and the step of controlling the at least two storage elements 121 to unload simultaneously by the controller according to the first unloading instruction includes: The controller controls the linkage mechanism 130 to drive the at least two storage elements 121 to move simultaneously according to the first unloading instruction.

The controller is electrically connected to the linkage mechanism 130 and further electrically connected to the linkage driving member 132 of the linkage mechanism 130. The controller can control the movement of the linkage driving member 132, so that the linkage mechanism 130 can drive the at least two storage elements 121 to move synchronously to perform the unloading action. It is understandable that after the controller receives the first unloading instruction, when the storage element 121 of the handling robot 100 is docked with the transport mechanism 320 of the auxiliary device 300, the controller controls the linkage mechanism 130 to drive at least two storage units by controlling the linkage drive 132. The element 121 is lifted synchronously, so that the goods 200 in the storage element 121 slide out of the storage element 121 and move to the corresponding transport mechanism 320 to complete the unloading operation of the handling robot 100.

In an embodiment, the handling robot 100 further includes a blocking mechanism 170 electrically connected to the controller, the blocking mechanism 170 has a blocking position and an avoiding position, and the first loading and unloading instruction includes a first unloading instruction; The controller controlling the handling robot 100 to unload at the unloading position further includes:

The controller receives the first unloading instruction, and according to the first unloading instruction, the controller controls the blocking mechanism 170 to move to the avoiding position, so that the storage element 121 is in the unloadable state.

When the handling robot 100 is the handling robot 100 in the second embodiment, the handling robot 100 can block the goods 200 in the storage element 121 to prevent the goods 200 from sliding out of the storage element 121 when the handling robot 100 transports the goods 200. In order to protect the goods 200 in the storage element 121, the goods 200 are prevented from being damaged. Specifically, the handling robot 100 of the present invention blocks the goods 200 in the storage element 121 when the blocking mechanism 170 is in the blocking position during the transportation process. When the cargo needs to be unloaded, the blocking mechanism 170 moves from the blocking position to the avoiding position. At this time, The loading and unloading device 600 can perform unloading operations on the storage element 121.

Since the structure of the blocking mechanism 170 and its working principle have been described in detail in the second embodiment, it will not be repeated here, and the description will only be made here from the perspective of the control method. Specifically, after the controller receives the first unloading instruction, the controller controls the handling robot 100 to move to the unloading position according to the first unloading instruction. Subsequently, the controller controls the blocking mechanism 170 to move from the blocking position to the avoiding position. The blocking mechanism 170 no longer blocks the goods 200 in the storage element 121, and the goods 200 in the storage element 121 can be removed, in a state of unloading, and specifically through loading and unloading. The loading and unloading mechanism 620 of the device 600 is realized. Specifically, the handling robot 100 is at the unloading position. At this time, the handling robot 100 is close to the loading and unloading device 600, and each storage element 121 is connected to the loading and unloading mechanism 620, respectively. Subsequently, the controller controls the blocking mechanism 170 to move from the blocking position to the avoiding position, the blocking mechanism 170 no longer blocks the goods 200 in the storage element 121, and the loading and unloading mechanism 620 can extend into the storage element 121 to receive and remove the storage element 121 The cargo 200 in the transport robot 100 realizes the unloading operation.

In an embodiment, the handling robot 100 further includes a blocking mechanism 170 electrically connected to the controller, the blocking mechanism 170 has a blocking position and an avoiding position, and the first loading and unloading instructions include a first loading instruction The transport method also includes the following steps: the controller receives the first loading instruction, and the controller controls the blocking mechanism 170 to move to the avoiding position according to the first loading instruction, so that the storage The component 121 is in a loadable state.

When the handling robot 100 is the handling robot 100 in the second embodiment, the handling robot 100 can block the goods 200 in the storage element 121 to prevent the goods 200 from sliding out of the storage element 121 when the handling robot 100 transports the goods 200. In order to protect the goods 200 in the storage element 121, the goods 200 are prevented from being damaged. Specifically, during the loading process of the handling robot 100 of the present invention, the blocking mechanism 170 moves from the blocking position to the avoiding position. At this time, the loading and unloading mechanism 620 can perform loading operations on the storage element 121. Specifically, the cargo 200 to be transported is placed on the loading and unloading mechanism 620, and then the blocking mechanism 170 is moved from the blocking position to the avoiding position, so that the loading and unloading mechanism 620 can extend into the storage element 121, and then the loading and unloading mechanism 620 After the goods 200 are placed in the storage element 121, they are removed from the storage element 121.

In an embodiment, the blocking mechanism 170 includes a plurality of blocking elements 172, and the plurality of blocking elements 172 respectively correspond to a plurality of the storage elements 121, and the controller controls the blocking according to the first unloading instruction. The step of moving the mechanism 170 to the avoiding position includes the following steps: the controller controls the blocking element 172 at the designated position to move to the corresponding avoiding position according to the first unloading instruction, so that the storage element 121 at the designated position is in the ready position. Unloading state; or, according to the first unloading instruction, the controller controls a plurality of the blocking elements 172 to move into corresponding avoiding positions, so that at least two of the storage elements 121 are in a unloadable state.

The controller is electrically connected to the blocking mechanism 170 and further electrically connected to the blocking driving member of the blocking mechanism 170. The controller can control the movement of the blocking driving member, thereby causing at least one blocking element 172 in the blocking mechanism 170 to move. It is understandable that when the controller controls the movement of one or more designated blocking elements 172 in the blocking mechanism 170, the blocking element 172 at the storage element 121 corresponding to the designated blocking element 172 moves from the blocking position to the avoiding position, so that the designated blocking element 172 is moved from the blocking position to the avoiding position. The storage element 121 corresponding to the one or more blocking elements 172 is in the unloadable state. At this time, the loading and unloading mechanism 620 can receive the goods 200 in the storage element 121 corresponding to the designated one or more blocking elements 172. Of course, the controller can also control all the blocking elements 172 in the blocking mechanism 170 to move from the blocking position to the avoiding position, so that each storage element 121 is in the unloadable state. At this time, the loading and unloading mechanism 620 can access the corresponding storage element 121 Of goods 200.

In an embodiment, the storage element 121 has a loading and unloading end 1215 for loading and unloading goods 200, and the handling method further includes the following steps: after the controller receives the first unloading instruction, the controller controls The handling mechanism 150 avoids the loading and unloading end 1215.

That is to say, after the controller receives the first unloading instruction, the controller controls the handling mechanism 150 to move to a designated position, so that the handling mechanism 150 is away from the loading and unloading end, so as to avoid the loading or unloading of the goods 200 by the transportation mechanism 320 or the loading and unloading mechanism 620. Uninstall. It is understandable that the loading and unloading end 1215 is an opening for loading and unloading the cargo 200, and its specific form has been mentioned above, and will not be repeated here. When the transportation mechanism 320 or the loading and unloading mechanism 620 is used for unloading, the handling mechanism 150 needs to avoid the transportation mechanism 320 or the loading and unloading mechanism 620 to avoid interference. Specifically, the controller can control the transport mechanism 150 to move to a specified position. The designated position here may be the top of the handling robot 100 or a position higher than the transportation mechanism 320 and the loading and unloading mechanism 620, or may be a position different from the loading and unloading end 1215.

Specifically, when the loading and unloading end 1215 is set on the same side as the handling mechanism 150, the controller can control the handling mechanism 150 to rise to the top of the handling robot 100, or control the handling mechanism 150 to rise higher than the transportation mechanism 320 or the loading and unloading mechanism 620. The position can also be moved to the other side of the vertical frame 110, so that the loading and unloading end 1215 is set away from the handling mechanism 150. In this way, the handling mechanism 150 can be kept away from the loading and unloading end 1215, avoiding interference between the handling mechanism 150 and the transport mechanism 320 or the loading and unloading mechanism 620 at the loading and unloading end 1215. When the loading and unloading end 1215 and the handling mechanism 150 are arranged on opposite sides, the handling mechanism 150 will not block the loading and unloading end 1215. At this time, the handling mechanism 150 may move to a designated position or not, as long as it does not affect the loading and unloading.

In an embodiment, the storage element 121 has a loading and unloading end 1215 for loading and unloading the cargo 200, and the handling method further includes the following steps: after the controller receives the first loading instruction, the controller The handling mechanism 150 is controlled to avoid the loading and unloading end 1215.

It is understandable that whether loading or unloading from the loading and unloading end 1215, the controller needs to control the handling mechanism 150 to avoid the loading and unloading end 1215, so as to avoid the handling mechanism 150 and the transport mechanism 320 or the loading and unloading mechanism 620 at the loading and unloading end 1215. Interference occurred. The principle of avoidance is the same as that of the above-mentioned embodiment, and will not be repeated here. Exemplarily, when loading and unloading the goods 200 from the end close to the handling mechanism 150, the handling mechanism 150 will first rise to the highest position, thereby leaving space for the docking of the handling robot 100 and the auxiliary device 300 or the loading and unloading device 600.

Based on the handling system of the above two embodiments, the present invention also provides a handling method of the handling system, which is suitable for the handling system in the above two embodiments, and the handling method includes the following steps: the control center receives a second loading and unloading instruction The control center controls the handling robot 100 to move to the second loading and unloading position according to the second loading and unloading instructions; the control center confirms that the second loading and unloading position is the loading position or the unloading position, and The handling robot 100 is controlled to perform loading or unloading operations.

The various parts of the handling system are coordinated and executed under the control of the control center, and the control center of the handling system maintains a communication connection with the external server. The control center can identify the information of the goods 200 to be moved, and the control center can obtain the information of the loading position and unloading position corresponding to each goods 200 to be moved. The control center coordinates and controls the various parts according to the acquired information, thereby efficiently Complete the handling of cargo 200.

When loading and unloading is required, the control center receives the second loading and unloading instruction, and then the control center controls the movement of the handling robot 100 according to the second loading and unloading instruction, so that the handling robot 100 moves at the second loading and unloading position. The second loading and unloading position also includes the loading position and the unloading position, which is substantially the same as the first loading and unloading position, just for difference. It is understandable that the loading position and the unloading position are interchangeable, that is, the handling robot 100 can load at the unloading position and unload at the loading position.

Generally, the handling robot 100 can be loaded by the handling mechanism 150 at the loading position, and unloaded by the transport mechanism 320 or the loading and unloading mechanism 620 at the unloading position. When the control center controls the handling robot 100 to move to the loading position according to the second loading and unloading instructions, the control center can control the lifting mechanism 140 to drive the handling mechanism 150 to move up and down, so that the handling mechanism 150 can pick up the goods on the shelf, and then the lifting mechanism 140 then drives the conveying mechanism 150 to perform a lifting movement, so as to transfer the goods 200 in the conveying mechanism 150 to the storage element 121 to realize the loading of the goods 200. It reciprocates in this way until each storage element 121 stores the goods 200. After the control center moves from the loading position to the unloading position according to the second unloading instruction movement, the transportation mechanism 320 or the loading and unloading mechanism 620 can receive the goods 200 in the storage element 121 to realize the unloading of the goods 200.

Of course, the loading and unloading process can also be reversed, that is, the handling robot 100 is loaded at the unloading position by the transport mechanism 320 or the loading and unloading mechanism 620 at the unloading position, and unloaded by the handling mechanism 150 at the loading position. After the control center controls the handling robot 100 to move to the unloading position according to the second loading and unloading instruction, the transport mechanism 320 or the loading and unloading mechanism 620 can transfer the cargo 200 thereon to the corresponding storage element 121 to realize the loading of the cargo 200. When the handling robot 100 is filled with the goods 200, the control center moves from the unloading position to the loading position according to the second unloading instruction movement. The control center can control the lifting mechanism 140 to drive the handling mechanism 150 for lifting motion, so that the handling mechanism 150 can store components The goods are picked up in 121, and then the lifting mechanism 140 drives the conveying mechanism 150 to perform a lifting motion to remove the goods 200 in the conveying mechanism 150. In this reciprocation, until the goods 200 of each storage element 121 are taken away, the unloading of the goods 200 is realized.

It is worth noting that after the control center controls the handling robot 100 to move to the second loading and unloading position, it needs to determine whether the second loading and unloading position is the loading position or the unloading position. For example, when there is no cargo 200 in the handling robot 100, after the handling robot 100 moves to the second loading and unloading position, if the second loading and unloading position is the loading position, then the handling mechanism 150 loads the storage element 121; When there is a cargo 200 in the robot 100, after the handling robot 100 moves to the second loading and unloading position, if the second loading and unloading position is the unloading position, at this time, the cargo is unloaded through the transport mechanism 320 or the loading and unloading mechanism 620.

The transportation method of the above embodiment can realize the automatic transportation of the goods 200, effectively solve the problems of high cost and low efficiency in the current transportation methods, reduce the cost of loading and unloading the goods 200, and greatly improve the efficiency of the loading and unloading of the goods 200. At the same time, the conveying mechanism 150 is driven by the lifting mechanism 140 to move to different heights, so that the goods 200 to be conveyed can be delivered to the storage elements 121 of different heights in the storage mechanism 120, which has strong versatility and reduces the floor space.

In an embodiment, if the control center confirms that the second loading and unloading position is the loading position or the unloading position, and controls the handling robot 100 to perform loading or unloading operations, the steps include the following steps: the control The center obtains information about the goods in the storage element 121; if there are goods in the storage element 121, the control center confirms that the second loading and unloading position is the unloading position, and the control center controls the handling robot 100 to unload the goods. Position unloading; if there is no goods in the storage element 121, the control center confirms that the second loading and unloading position is the loading position, and the control center controls the handling robot 100 to load the goods at the loading position.

In other words, whether the storage element 121 performs a loading operation or an unloading operation is determined based on whether there is a cargo 200 in it. When there is a cargo 200 in the storage element 121, it indicates that the storage element 121 does not need to be loaded and needs to be unloaded. At this time, after the handling robot 100 moves to the second loading and unloading position, the second loading and unloading position is the unloading position. At the time, the control center can control the handling robot 100 to unload the goods at the loading position. Specifically, the storage element 121 corresponds to the transport mechanism 320 of the auxiliary device 300, and the goods in each storage element 121 can be synchronously unloaded to the corresponding transport mechanism 320. When there is no cargo 200 in the storage element 121, it indicates that the storage element 121 does not need to be unloaded and needs to be loaded. At this time, after the handling robot 100 moves to the second loading and unloading position, the second loading and unloading position is the loading position At this time, the control center can control the handling robot 100 to load at the loading position. Specifically, the storage element 121 corresponds to the transport mechanism 320 of the auxiliary device 300, and the goods in each transport mechanism 320 can be loaded into the corresponding storage element 121 simultaneously.

In an embodiment, the second loading and unloading instruction includes a second loading instruction, and the control center controlling the handling robot to load at the loading position includes the following steps: the control center receives the second loading instruction. Loading instruction; the control center controls the handling robot 100 to move to the second loading and unloading position according to the second loading instruction; the control center confirms that the second loading and unloading position is a loading and unloading position, the The control center controls the handling mechanism 150 to transfer the goods 200 to the storage element 121 of the storage mechanism 120; the control center confirms that the second loading and unloading position is the unloading position, and the control center controls at least one of the loading and unloading mechanisms 620 Or at least one of the transport mechanism 320 transfers the goods 200 to the corresponding storage element 121.

When the handling robot 100 loads, the control center receives the second loading instruction. Optionally, the control center controls the handling robot 100 to move to the loading position according to the second loading instruction. Subsequently, the control center can control the lifting mechanism 140 to drive the handling mechanism 150 to move up and down, so that the handling mechanism 150 can pick up the goods on the shelf. Then, the lifting element drives the conveying mechanism 150 to perform a lifting motion, so as to transfer the goods 200 in the conveying mechanism 150 to the storage element 121 to realize the loading of the goods 200. It reciprocates in this way until each storage element 121 stores the goods 200. Optionally, the control center controls the handling robot 100 to move to the unloading position according to the second loading instruction. After the storage element 121 is docked with the transportation mechanism 320 or the loading and unloading mechanism 620, the control center controls at least one transportation mechanism 320 or at least one loading and unloading mechanism. The cargo mechanism 620 can transfer the cargo 200 thereon to the corresponding storage element 121. It is understandable that one or several transport agencies 320 or loading and unloading agencies 620 can be designated to perform the loading action, or all transport agencies 320 or loading and unloading agencies 620 can perform the loading action.

In an embodiment, when the handling robot 100 unloads, a plurality of the storage elements 121 can move synchronously to implement a synchronous unloading action, the second loading and unloading instruction includes a second unloading instruction; the handling system further includes an auxiliary device 300. The auxiliary device 300 includes a plurality of transport mechanisms 320 arranged at intervals in the vertical direction; the step of the control center controlling the handling robot 100 to unload at the unloading position includes: the control center receives the second Unloading instructions; the control center controls the handling robot 100 to move to the unloading position, each of the storage elements 121 of the handling robot 100 corresponds to each of the transportation mechanisms 320; the control center controls at least two The storage elements 121 are unloaded at the same time, so that the goods 200 in at least two of the storage elements 121 can be transferred to the corresponding transportation mechanism 320.

When the handling system includes the handling robot 100 in the first embodiment, each storage element 121 in the handling robot 100 can realize synchronous unloading. Specifically, when the second loading and unloading instruction received by the control center is the second unloading instruction, the control center controls the handling robot 100 to move from the loading position to the unloading position according to the second unloading instruction. The unloading position at this time corresponds to the auxiliary device 300 of the transport system. In addition, each storage element 121 is connected to each transportation mechanism 320 respectively. When the controller controls at least two storage elements 121 to unload at the same time, at least two transport mechanisms 320 corresponding to the storage elements 121 can receive the goods 200 removed from the storage elements 121 to complete the unloading operation of the handling robot 100.

In an embodiment, when the handling robot 100 is loading, the multiple storage elements 121 can move synchronously to implement a synchronized loading action, and the second loading and unloading instruction includes a second loading instruction; the handling system also The auxiliary device 300 includes a plurality of transportation mechanisms 320 arranged at intervals in the vertical direction; the step of controlling the handling robot 100 to load at the loading position by the control center includes: the control center Receiving the second loading instruction; the control center controls the handling robot 100 to move to the loading position, and each storage element 121 of the handling robot 100 corresponds to each transportation mechanism 320; The control center controls at least two transportation mechanisms 320 to load at least two storage elements 121 at the same time.

When the handling robot 100 is the handling robot 100 in the first embodiment, the storage components 121 in the handling robot 100 can realize synchronous loading. When the handling robot 100 needs to load, and the loading operation is implemented by the auxiliary device 300. Specifically, when the second loading and unloading instruction received by the controller is the second loading instruction, the controller controls the handling robot 100 to move from the unloading position to the loading position according to the second loading instruction. The loading position at this time is opposite to the loading position in the above embodiment, and the unloading position is opposite to the unloading position in the above embodiment. The loading position at this time corresponds to the auxiliary device 300 of the transport system. In addition, each storage element 121 is connected to each transportation mechanism 320 respectively. The controller controls each transport mechanism 320 of the auxiliary device 300 to move the goods into the storage element 121 at the corresponding position, realize the synchronous loading of each storage element 121, and complete the loading operation of the handling robot 100.

In an embodiment, the handling robot 100 includes a linkage mechanism 130 electrically connected to the control center, and the step of the control center controlling at least two storage elements 121 to unload at the same time according to the second unloading instruction includes: The control center controls the linkage mechanism 130 to drive the at least two storage elements 121 to move at the same time according to the second unloading instruction, so as to transfer the goods 200 to the corresponding transportation mechanism 320.

The control center is electrically connected to the linkage mechanism 130 and further electrically connected to the linkage driving member 132 of the linkage mechanism 130. The control center can control the movement of the linkage driving member 132, so that the linkage mechanism 130 can drive the at least two storage elements 121 to move synchronously to perform the unloading action. It is understandable that after the control center receives the second unloading instruction, when the storage element 121 of the handling robot 100 is docked with the transport mechanism 320 of the auxiliary device 300, the controller controls the linkage mechanism 130 to drive at least two storage units by controlling the linkage drive 132. The element 121 is lifted synchronously, so that the goods 200 in the storage element 121 slide out of the storage element 121 and move to the corresponding transport mechanism 320 to complete the unloading operation of the handling robot 100.

In an embodiment, the handling robot 100 further includes a blocking mechanism 170 electrically connected to the control center, the blocking mechanism 170 has a blocking position and an avoiding position, and the second loading and unloading instruction includes a second unloading instruction; The handling system further includes a loading and unloading device 600 electrically connected to the control center. The loading and unloading device 600 includes a plurality of loading and unloading mechanisms 620 arranged at intervals along the vertical direction. The control center controls the handling robot 100. The step of unloading at the unloading position includes: the control center receives the second unloading instruction; the control center controls the movement of the handling robot 100 to the unloading position, and each storage element of the handling robot 100 121 respectively correspond to each of the loading and unloading mechanisms 620; the control center controls the blocking mechanism 170 to move to the avoiding position according to the second unloading instruction, so that the storage element 121 is in the unloadable state; the control center controls the station The loading and unloading mechanism 620 extends into the storage element 121 to receive and remove the goods 200 in the storage element 121.

When the handling system includes the handling robot 100 in the second embodiment, the handling robot 100 can block the goods 200 in the storage element 121 to prevent the goods 200 from sliding out of the storage element 121 when the handling robot 100 transports the goods 200. The function of protecting the cargo 200 in the storage element 121 to prevent the cargo 200 from being damaged. Specifically, the handling robot 100 of the present invention blocks the goods 200 in the storage element 121 when the blocking mechanism 170 is in the blocking position during the transportation process. When the cargo needs to be unloaded, the blocking mechanism 170 moves from the blocking position to the avoiding position. At this time, The loading and unloading device 600 can perform unloading operations on the storage element 121.

Since the structure of the blocking mechanism 170 and its working principle have been described in detail in the second embodiment, it will not be repeated here, and the description will only be made here from the perspective of the control method. Specifically, after the control center receives the second unloading instruction, the control center controls the handling robot 100 to move to the unloading position according to the second unloading instruction. At this time, the handling robot 100 is close to the loading and unloading device 600, and each storage element 121 is connected to the loading and unloading mechanism 620, respectively. . Subsequently, the control center controls the blocking mechanism 170 to move from the blocking position to the avoiding position, the blocking mechanism 170 no longer blocks the goods 200 in the storage element 121, and the control center controls the loading and unloading mechanism 620 to extend into the storage element 121, pick up and move The cargo 200 in the storage element 121 is taken to realize the unloading operation of the handling robot 100.

In an embodiment, the handling robot 100 further includes a blocking mechanism 170 electrically connected to the control center, the blocking mechanism 170 has a blocking position and an avoiding position, and the second loading and unloading instruction includes a second loading instruction The handling system also includes a loading and unloading device 600 electrically connected to the control center, the loading and unloading device 600 includes a plurality of loading and unloading mechanisms 620 spaced apart in the vertical direction, and the control center controls the handling robot The step of 100 loading at the loading position includes: the control center receives the second loading instruction; the control center controls the handling robot 100 to move to the loading position, and the handling robot 100 Each storage element 121 corresponds to each loading and unloading mechanism 620; the control center controls the blocking mechanism 170 to move to the avoiding position according to the second loading instruction, so that the storage element 121 is in a loadable state The control center controls the loading and unloading mechanism 620 to carry the goods 200 and extend into the storage element 121, and place the goods 200 in the storage element 121.

When the handling system includes the handling robot 100 in the second embodiment, the handling robot 100 can block the goods 200 in the storage element 121 to prevent the goods 200 from sliding out of the storage element 121 when the handling robot 100 transports the goods 200. The function of protecting the cargo 200 in the storage element 121 to prevent the cargo 200 from being damaged. Specifically, during the loading process of the handling robot 100 of the present invention, the blocking mechanism 170 moves from the blocking position to the avoiding position. At this time, the loading and unloading mechanism 620 can perform loading operations on the storage element 121. Specifically, the cargo 200 to be transported is placed on the loading and unloading mechanism 620, and then the blocking mechanism 170 is moved from the blocking position to the avoiding position, so that the loading and unloading mechanism 620 can extend into the storage element 121, and then the loading and unloading mechanism 620 After the goods 200 are placed in the storage element 121, they are removed from the storage element 121.

In one embodiment, the step of the control center confirming that the second loading and unloading position is the unloading position includes: the control center obtains the first relative position information corresponding to the unloading identifier, if the handling robot 100 is If the deviation of the first relative position information is less than the first threshold, the handling robot 100 is in the unloading position; or, the control center obtains the second relative position corresponding to the auxiliary device 300 or the loading and unloading device 600 Information, if the deviation between the handling robot 100 and the second relative position information is less than a second threshold, the handling robot 100 is in the unloading position.

Optionally, an unloading mark is provided near the auxiliary device 300 or the loading and unloading device 600, and the unloading mark is set corresponding to the auxiliary device 300 or the loading and unloading device 600, and is used to indicate the unloading position of the auxiliary device 300 or the loading and unloading device 600, If the handling robot 100 moves to the position indicated by the unloading mark, it indicates that the handling robot 100 has moved in place and the unloading operation can be performed. That is, the position information corresponding to the unloading identifier is the first relative position information, and the control center can determine the position of the auxiliary device 300 or the loading and unloading device 600 according to the first relative position information, and then determine the unloading position moved by the handling robot 100.

Specifically, the control center can control the handling robot 100 to approach the auxiliary device 300 or the loading and unloading device 600. The control center can obtain the current position of the handling robot 100 and compare the current position with the first relative position information. If the deviation of the first relative position information is within the first threshold, it indicates that the handling robot 100 moves to the unloading position. At this time, the storage element 121 is docked with the transport mechanism 320 or the loading and unloading mechanism 620 to perform loading and unloading operations. If the deviation between the handling robot 100 and the first relative position information exceeds the range of the first threshold, it indicates that the handling robot 100 has not moved to the unloading position. At this time, the storage element 121 deviates from the transport mechanism 320 or the loading and unloading mechanism 620, and cannot be effectively docked. ; If loading and unloading operations are carried out at this time, there may be a risk of the cargo 200 falling. Therefore, the control center needs to continue to control the movement of the handling robot 100 until the deviation between the handling robot 100 and the first relative position information is within the range of the first threshold, and the handling robot 100 stops moving. The first threshold range here refers to the maximum deviation range allowed when the storage element 121 is docked with the transport mechanism 320 or the loading and unloading mechanism 620. Within this range, the goods 200 can be transferred normally. If this range is exceeded, the goods 200 will be dropped. Fall risk.

Alternatively, the control center may record the position information of the auxiliary device 300 or the loading and unloading device 600 as the second relative position information. The control center can determine the unloading position moved by the handling robot 100 according to the second relative position information. Specifically, the control center can control the handling robot 100 to approach the auxiliary device 300 or the loading and unloading device 600. The control center can obtain the current position of the handling robot 100 and compare the current position with the second relative position information. If the deviation of the second relative position information is within the second threshold, it indicates that the handling robot 100 moves to the unloading position. At this time, the storage element 121 is docked with the transport mechanism 320 or the loading and unloading mechanism 620 to perform loading and unloading operations. If the deviation between the handling robot 100 and the second relative position information exceeds the range of the second threshold, it indicates that the handling robot 100 has not moved to the unloading position. At this time, the storage element 121 deviates from the transport mechanism 320 or the loading and unloading mechanism 620 and cannot be effectively docked. ; If loading and unloading operations are carried out at this time, there may be a risk of the cargo 200 falling. Therefore, the control center needs to continue to control the movement of the handling robot 100 until the deviation between the handling robot 100 and the second relative position information is within the range of the second threshold, and the handling robot 100 stops moving.

The first threshold and the second threshold here refer to the maximum deviation range allowed when the storage element 121 is docked with the transport mechanism 320 or the loading and unloading mechanism 620. Within this range, the goods 200 can be transferred normally. If this range is exceeded, the goods 200 has the risk of falling.

It is worth noting that the steps of using the auxiliary device 300 or the loading and unloading device 600 to load the handling robot 100 are substantially the same as the steps of using the auxiliary device 300 or the loading and unloading device 600 to unload the handling robot 100, which is the use of the auxiliary device 300 or loading and unloading. The inverse process of the step of unloading the cargo device 600 to the handling robot 100 will not be repeated here.

In an embodiment, the handling system further includes a lifting device 400 and a conveying device 500 electrically connected to the control center, and the handling method further includes the following steps:

After the loading and unloading mechanism 620 or the transportation mechanism 320 receives the goods 200, the control center controls the lifting device 400 to receive the goods 200 in at least one of the loading and unloading mechanisms 620 or to receive at least one of the transportation mechanisms 320 of the cargo 200, and transfer the cargo 200 to the conveying device 500.

The transfer mechanism 430 can carry multiple goods 200 at one time without repeated actions, thereby improving work efficiency. Specifically, when unloading, the control center can control the moving mechanism 420 to drive the transfer mechanism 430 to pick up the goods 200 of the transport mechanism 320 layer by layer, and then descend to the conveying device 500 to transfer all the goods 200 on the transfer mechanism 430 to the conveyance at once. The device 500 is conveyed to the designated location by the conveying device 500. When loading goods, the moving mechanism 420 can drive the transfer mechanism 430 to descend to the conveying device 500, and sequentially pick up the multiple goods 200 conveyed by the conveying device 500; Move to the transport mechanism 320 layer by layer.

In an embodiment, the storage element 121 has a loading and unloading end 1215 for loading and unloading goods 200, and the handling method further includes the following steps: after the control center receives the second unloading instruction, the control center controls The handling mechanism 150 avoids the loading and unloading end 1215.

That is to say, after the control center receives the second unloading instruction, the control center controls the handling mechanism 150 to move to a designated position to keep the handling mechanism 150 away from the loading and unloading end, so as to avoid the loading or unloading of the goods 200 by the transportation mechanism 320 or the loading and unloading mechanism 620. Uninstall. It is understandable that the loading and unloading end 1215 is an opening for loading and unloading the cargo 200, and its specific form has been mentioned above, and will not be repeated here. When the transportation mechanism 320 or the loading and unloading mechanism 620 is used for unloading, the handling mechanism 150 needs to avoid the transportation mechanism 320 or the loading and unloading mechanism 620 to avoid interference. Specifically, the control center can control the transport mechanism 150 to move to a designated position. The designated position here may be the top of the handling robot 100 or a position higher than the transportation mechanism 320 and the loading and unloading mechanism 620, or may be a position different from the loading and unloading end 1215.

Specifically, when the loading and unloading end 1215 is set on the same side as the handling mechanism 150, the control center can control the handling mechanism 150 to rise to the top of the handling robot 100, or control the handling mechanism 150 to rise higher than the transportation mechanism 320 or the loading and unloading mechanism 620. The position can also be moved to the other side of the vertical frame 110, so that the loading and unloading end 1215 is set away from the handling mechanism 150. In this way, the handling mechanism 150 can be kept away from the loading and unloading end 1215, avoiding interference between the handling mechanism 150 and the transport mechanism 320 or the loading and unloading mechanism 620 at the loading and unloading end 1215. When the loading and unloading end 1215 and the handling mechanism 150 are arranged on opposite sides, the handling mechanism 150 will not block the loading and unloading end 1215. At this time, the handling mechanism 150 may move to a designated position or not, as long as it does not affect the loading and unloading.

In one embodiment, the storage element 121 has a loading and unloading end 1215 for loading and unloading the cargo 200, and the handling method further includes the following steps: after the control center receives the second loading instruction, the control center The handling mechanism 150 is controlled to avoid the loading and unloading end 1215.

It is understandable that whether loading or unloading from the loading and unloading end 1215, the control center needs to control the handling mechanism 150 to avoid the loading and unloading end 1215 to avoid the handling mechanism 150 and the transport mechanism 320 or the loading and unloading mechanism 620 at the loading and unloading end 1215. Interference occurred. The principle of avoidance is the same as that of the above-mentioned embodiment, and will not be repeated here. Exemplarily, when the cargo 200 is loaded and unloaded from the end close to the handling mechanism 150, the handling mechanism 150 (that is, the fork) will first rise to the highest position, thereby connecting the handling robot 100 with the auxiliary device 300 or the loading and unloading device 600 Leave space.

The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the various technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, All should be considered as the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the present invention, and their description is relatively specific and detailed, but they should not be understood as a limitation on the patent scope of the present invention. It should be pointed out that for those with ordinary knowledge in the field, without departing from the concept of the present invention, several modifications and improvements can be made, and these all fall within the protection scope of the present invention. Therefore, the scope of protection of the patent for the present invention shall be subject to the appended claims.

100: Handling robot 110: vertical frame 120: storage organization 121: storage components 130: linkage mechanism 131: Linkage connector 132: linkage drive 140: Lifting mechanism 150: handling mechanism 151: Turnover 152: Pick and place 160: Chassis 161: Disc Shelf 162: Rotating Wheel 170: blocking mechanism 171: Block connector 172: blocking element 200: Cargo 300: auxiliary device 310: Support frame 320: Transport Agency 321: mounting frame 322: Ministry of Transport 400: Lifting device 410: Lifting frame 420: mobile agency 430: Transshipment Agency 431: transfer seat 432: Transit Department 500: Conveying device 600: loading and unloading device 610: stand 620: Loading and Unloading Organization 621: Bracket 622: loading and unloading components 623: Loading and unloading drive parts 624: Synchronous lever 625: loading and unloading cross arm 626: push-pull element 630: drive mechanism 640: Temporary Storage Shelves 641: Temporary Storage Roller 1211: support body 1212: rolling parts 1213: The first side panel 1214: second side panel 1215: loading and unloading end 1721: swing parts 1722: stop 6221: chain 6222: bump 6261: push and pull rod 6262: Push-pull motor A: Part

Fig. 1 is a perspective view of the handling robot of the first embodiment of the present invention from one angle; Figure 2 is a perspective view of the handling robot shown in Figure 1 from another angle; Fig. 3 is a partial schematic diagram of the handling robot shown in Fig. 1 at part A; 4 is a perspective view of the handling robot shown in FIG. 1 with the base, the vertical frame, and the lifting mechanism removed; Figure 5 is a perspective view of the storage element shown in Figure 2; Fig. 6 is a perspective view of the handling system of the handling robot shown in Fig. 1 in detail; Figure 7 is a perspective view of the auxiliary device in the handling system shown in Figure 6; Figure 8 is a perspective view of the lifting device in the handling system shown in Figure 6; Fig. 9 is a perspective view of a handling robot according to a second embodiment of the present invention; Fig. 10 is a partial enlarged view of the handling robot shown in Fig. 9; Fig. 11 is a perspective view of the handling robot shown in Fig. 10 applied to a handling system; Fig. 12 is a perspective view of a loading and unloading device of an embodiment in the handling system shown in Fig. 11; Figure 13 is a partial schematic diagram of the loading and unloading device shown in Figure 12; Figure 14 is a perspective view of another embodiment of the loading and unloading device in the handling system shown in Figure 11; Figure 15 is a partial schematic diagram of the loading and unloading device shown in Figure 14; Figure 16 is a perspective view of a loading and unloading device provided by yet another embodiment of the present invention; Fig. 17 is a perspective view of the cooperation between the loading and unloading device shown in Fig. 14 and the handling robot.

100: Handling robot

110: vertical frame

120: storage organization

121: storage components

131: Linkage connector

150: handling mechanism

151: Turnover

152: Pick and place

160: Chassis

161: Disc Shelf

162: Rotating Wheel

200: Cargo

A: Part

Claims (27)

A handling robot, including: A chassis that can be moved on the ground; A vertical frame, arranged in a vertical direction, and located on the chassis; The lifting mechanism is arranged on the vertical frame and can be lifted and lowered in a vertical direction relative to the vertical frame; The storage mechanism includes a plurality of storage elements for storing goods to be transported, and the plurality of storage elements are arranged in the vertical frame at intervals along the vertical direction; and A conveying mechanism for conveying goods, the conveying mechanism is movably arranged on the vertical frame in the vertical direction, and is connected to the lifting mechanism, and the conveying mechanism can be driven by the lifting mechanism in the vertical direction Lifting and lowering to deliver the goods in the conveying mechanism to the corresponding storage element. The handling robot according to claim 1, wherein when the handling robot unloads, a plurality of the storage elements can move synchronously to implement a synchronous unloading action; Preferably, the handling robot further includes at least one linkage mechanism, and each linkage mechanism is connected to at least two storage elements for driving each of the storage elements to move synchronously with respect to the vertical frame to implement synchronization. Unloading action; More preferably, the linkage mechanism includes a linkage connector that connects at least two of the storage elements at the same time, and the linkage connector can synchronously drive each of the storage elements to pitch synchronously; Further preferably, the number of the linkage connecting member is at least one; When the number of the linkage connecting piece is one, the linkage connecting piece and the vertical frame are separately provided at both ends of the storage element; When the number of the linkage connecting members is multiple, the multiple linkage driving members are arranged at intervals along the circumferential side of the storage element. The handling robot according to claim 2, wherein the linkage mechanism further includes a linkage driving member that cooperates with the linkage connecting member to drive each of the storage elements to implement a synchronous unloading action; Preferably, the output end of the linkage drive member is connected to one of the storage elements, or the output end of the linkage drive member is connected to the linkage connection member. The handling robot according to claim 2, wherein the storage element includes a support body for carrying goods, and the support bodies are respectively rotatably connected to the linkage connecting piece and the vertical frame; Preferably, the storage element further includes a rolling member rotatably arranged on the supporting body, and the rolling member is rotatably in contact with the goods in the supporting body. The handling robot according to claim 1, wherein the handling robot further includes a blocking mechanism having a blocking position and an avoiding position, and when the blocking mechanism is in the blocking position, the blocking mechanism is used to block the When the goods in the storage element slide out, when the blocking mechanism is in the avoiding position, the storage element can move in or out of the goods; Preferably, the blocking mechanism can block the goods in each of the storage elements at the same time; More preferably, the number of the blocking mechanism is multiple, and each blocking mechanism can block the goods in at least two of the storage elements at the same time; Further preferably, the blocking mechanism is provided on at least one side of the storage element. The handling robot according to claim 5, wherein the blocking mechanism includes a movable blocking connector and a plurality of blocking elements respectively connected to the blocking connector, at least one of the blocking elements corresponds to the same storage element; The blocking connecting piece can drive each blocking element to move into the loading and unloading end to block the goods in the storage element; Preferably, the blocking element includes a blocking member, the blocking member is fixedly arranged on the blocking connecting member, and the movement of the blocking connecting member can drive the blocking member to move in or out of the loading and unloading end; or, the The blocking element includes a swinging piece and a blocking piece, one end of the swinging piece is rotatably connected to the blocking connecting piece, the other end of the swinging piece is installed with the blocking piece, and the middle of the swinging piece is rotatably installed on the The loading and unloading end of the storage element; when the blocking connection member is raised and lowered, the swinging member can be driven to swing, so that the swinging member drives the blocking member to move in or out of the loading and unloading end; or, the blocking mechanism is also It includes a blocking driving member, and the output end of the blocking driving member is connected with the blocking connecting member to drive the blocking element to move in or out of the loading and unloading end. The handling robot according to claim 5 or claim 6, wherein the bottom of the storage element has a movable space, and the movable space is used for the loading and unloading mechanism of the handling system to extend to load the storage element or Pick up Preferably, the storage element includes a first side plate and a second side plate arranged on the vertical frame, and the first side plate and the second side plate are arranged opposite to each other and surround the movable space. The handling robot according to claim 1, claim 2, or claim 5, wherein the handling robot further includes a rotating mechanism, the rotating mechanism is disposed between the conveying mechanism and the lifting mechanism, and is used to drive the The conveying mechanism rotates relative to the lifting mechanism, so that the conveying mechanism is aligned with the corresponding storage element or shelf; Alternatively, the transport mechanism includes a turnover part and a pick-and-place part telescopically arranged on the turnover part. The pick-and-place part can take out goods and store them in the turnover part, and the pick-and-place part can also transfer the turnover part. The goods in the piece are launched. A handling method of a handling robot, which is applicable to the handling robot described in any one of claim 1 to claim 8, and the handling method includes the following steps: The controller receives the first loading and unloading instruction; The controller controls the handling robot to move to a first loading and unloading position according to the first loading and unloading instruction; If the controller confirms that the first loading and unloading position is the loading position, the controller controls the handling mechanism to transfer the goods to the storage element of the storage mechanism; If the controller confirms that the first loading and unloading position is the unloading position, the controller controls the handling robot to unload the goods at the unloading position. The handling method according to claim 9, wherein when the handling robot unloads, a plurality of the storage elements can move synchronously to implement a synchronous unloading action, and the first loading and unloading instruction includes a first unloading instruction; the controller controls The steps of the handling robot unloading at the unloading position include: The controller receives a first unloading instruction, and the controller controls the simultaneous unloading of at least two storage elements according to the first unloading instruction; Preferably, the handling robot includes a linkage mechanism electrically connected to the controller, and the step of the controller controlling at least two of the storage elements to unload simultaneously according to the first unloading instruction includes: The controller controls the linkage mechanism to drive at least two storage elements to move simultaneously according to the first unloading instruction. The handling method according to claim 9, wherein the handling robot further includes a blocking mechanism electrically connected to the controller, the blocking mechanism having a blocking position and an avoiding position, and the first loading and unloading instruction includes a first unloading Instruction; the controller controlling the handling robot to unload at the unloading position further includes: The controller receives the first unloading instruction, and the controller controls the blocking mechanism to move to an avoiding position according to the first unloading instruction, so that the storage element is in an unloadable state; Preferably, the blocking mechanism includes a plurality of blocking elements, and the plurality of blocking elements respectively correspond to a plurality of the storage elements, and the controller controls the blocking mechanism to move to the avoiding position according to the first unloading instruction The steps include the following steps: The controller controls the blocking element at a designated position to move to the corresponding avoidance position according to the first unloading instruction, so that the storage element at the designated position is in an unloadable state; Alternatively, the controller controls the plurality of blocking elements to move to the corresponding avoidance positions according to the first unloading instruction, so that at least two of the storage elements are in the unloadable state. The handling method according to claim 10 or claim 11, wherein the storage element has a loading and unloading end for loading and unloading goods, and the handling method further includes the following steps: After the controller receives the first unloading instruction, the controller controls the transport mechanism to avoid the loading and unloading end. A handling system includes a control center and the handling robot according to any one of claim 1 to claim 8, wherein the control center is in transmission connection with a controller of the handling robot to control the movement of the handling robot. The transportation system according to claim 13, wherein the transportation system further includes an auxiliary device; the auxiliary device includes a support frame and a plurality of transportation mechanisms arranged at intervals in the vertical direction on the support frame, and a plurality of the transportation mechanisms The interval arrangement of the mechanism is the same as the interval arrangement of the multiple storage elements of the handling robot; When the handling robot moves to the auxiliary device, the goods on the multiple storage elements can be simultaneously transferred to the corresponding transportation mechanism to realize synchronous unloading; or, the goods on the multiple transportation mechanisms can be simultaneously unloaded. Transfer to the corresponding storage element to realize synchronous loading. The handling system according to claim 14, wherein the transportation mechanism includes a mounting frame provided on the support frame and a transportation part movably arranged on the mounting frame, and the transportation part can drive the movement of the goods. The handling system according to claim 13, wherein the handling system further comprises a loading and unloading device, the loading and unloading device is used to transport goods to the handling robot or unload the goods on the handling robot, the loading and unloading The cargo device includes a vertical frame extending in the vertical direction and a plurality of loading and unloading mechanisms arranged on the vertical frame at intervals in the vertical direction. The way of component interval setting is the same; After the handling robot docks the loading and unloading device, the multiple loading and unloading mechanisms can respectively transport goods to or unload the goods in each storage element at different heights. The handling system according to claim 16, wherein the loading and unloading mechanism includes a bracket, a loading and unloading element, and a loading and unloading drive member, a plurality of the brackets are arranged on the stand at intervals in a vertical direction, and the loading and unloading drive member And the loading and unloading elements are respectively arranged in the corresponding brackets, the loading and unloading elements are connected with the loading and unloading driving parts, and the loading and unloading elements are used to transport goods to the storage element or unload the goods in the storage element Down. The handling system according to any one of claim 14 to claim 17, wherein the handling system further includes a conveying device and a lifting device; The lifting device is arranged between the auxiliary device and the conveying device, and the lifting device moves up and down in the vertical direction to connect the transportation mechanism and the conveying device; the lifting device can receive the The goods of the transport mechanism are transferred to the conveying device, or the lifting device can take the goods of the conveying device and transfer to the transport mechanism; or, the lifting device is provided in the loading and unloading device and the conveying device. Between the conveying devices, the lifting device moves up and down in a vertical direction to connect the loading and unloading mechanism with the conveying device. The lifting device can receive the goods of the loading and unloading mechanism and transfer it to the conveying device Or, the lifting device can take the goods of the conveying device and transfer them to the loading and unloading mechanism. The handling system according to claim 18, wherein the lifting device includes a lifting frame along a vertical direction, a moving mechanism provided on the lifting frame, and at least one layer of a transfer mechanism provided on the moving mechanism, the moving mechanism It can move up and down along the lifting frame and drive the transfer mechanism to move to receive or transfer goods to the transportation mechanism, or to receive or transfer goods to the loading and unloading mechanism; Preferably, the transfer mechanism includes a transfer seat arranged on the moving mechanism and a transfer part movably arranged on the transfer seat. The transportation mechanism receives or transfers the goods, or the transfer part may receive or transfer the goods to at least one of the loading and unloading mechanisms. A handling method of a handling system, which is applicable to the handling system according to any one of claim 13 to claim 19, and the handling method includes the following steps: The control center receives the second loading and unloading instruction; The control center controls the handling robot to move to the second loading and unloading position according to the second loading and unloading instruction; The control center confirms that the second loading and unloading position is the loading position or the unloading position, and controls the handling robot to perform loading or unloading operations. The handling method according to claim 20, wherein if the control center confirms that the second loading and unloading position is a loading position or an unloading position, and controls the handling robot to perform loading or unloading operations, it includes the following steps: The control center obtains the cargo information in the storage component; If there is goods in the storage element, the control center confirms that the second loading and unloading position is the unloading position, and the control center controls the handling robot to unload the goods at the unloading position; If there is no goods in the storage element, the control center confirms that the second loading and unloading position is the loading position, and the control center controls the handling robot to load the goods at the loading position. The handling method according to claim 21, wherein when the handling robot unloads, a plurality of storage elements of the handling element can move synchronously to implement a synchronous unloading action, and the second loading and unloading instruction includes a second unloading instruction; The handling system further includes an auxiliary device that includes a plurality of transportation mechanisms arranged at intervals in a vertical direction; the step of controlling the handling robot to unload at the unloading position by the control center includes: The control center receives the second unloading instruction; The control center controls the movement of the handling robot to the unloading position, and each storage element of the handling robot corresponds to each transportation mechanism; The control center controls the simultaneous unloading of at least two storage elements, so that the goods in the at least two storage elements can be transferred to the corresponding transportation mechanism. The handling method according to claim 22, wherein the handling robot includes a linkage mechanism electrically connected to the control center, and the control center controls the step of simultaneously unloading at least two storage elements according to the second unloading instruction include: The control center controls the linkage mechanism to drive the at least two storage elements to move simultaneously according to the second unloading instruction, so as to transfer the goods to the corresponding transportation mechanism. The handling method according to claim 21, wherein the handling robot further includes a blocking mechanism electrically connected to the control center, the blocking mechanism having a blocking position and an avoiding position, and the second loading and unloading instruction includes a second unloading Instructions; the handling system also includes a loading and unloading device electrically connected to the control center, the loading and unloading device includes a plurality of loading and unloading mechanisms arranged at intervals along the vertical direction, the control center controls the handling robot in the The steps for unloading at the unloading location include: The control center receives the second unloading instruction; The control center controls the movement of the handling robot to the unloading position, and each storage element of the handling robot corresponds to each of the loading and unloading mechanisms; The control center controls the blocking mechanism to move to the avoidance position according to the second unloading instruction, so that the storage element is in a unloadable state; The control center controls the loading and unloading mechanism to extend into the storage element to receive and remove the goods of the storage element. The handling method according to claim 22 or claim 24, wherein the step of the control center confirming that the second loading and unloading position is the unloading position includes: The control center obtains the first relative position information corresponding to the unloading identifier, and if the deviation between the handling robot and the first relative position information is less than a first threshold, the handling robot is in the unloading position; Alternatively, the control center obtains the second relative position information corresponding to the auxiliary device or the loading and unloading device, and if the deviation between the handling robot and the second relative position information is less than a second threshold, the handling robot is in the unloading position. Location. The handling method according to claim 22 or claim 24, wherein the second loading and unloading instruction includes a second loading instruction, and the control center controlling the handling robot to load at the loading position includes the following steps: The control center receives the second loading instruction; The control center controls the handling robot to move to the second loading and unloading position according to the second loading instruction; If the control center confirms that the second loading and unloading position is the loading position, the control center controls the handling mechanism to transfer the goods to the corresponding storage element; If the control center confirms that the second loading and unloading position is the unloading position, the control center controls at least one loading and unloading mechanism or at least one transportation mechanism to transfer the goods to the corresponding storage element. The transportation method according to any one of claim 21 to claim 24, wherein the transportation system further includes a lifting device and a conveying device electrically connected to the control center, and the transportation method further includes the following steps: After the loading and unloading mechanism or the transportation mechanism receives the goods, the control center controls the lifting device to receive the goods in at least one of the loading and unloading mechanisms or to receive the goods from at least one of the transportation mechanisms, and transfer the goods to the conveying device .

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