TWM618837U - Transport robot and transport system with same - Google Patents

Transport robot and transport system with same Download PDF

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Publication number
TWM618837U
TWM618837U TW110202491U TW110202491U TWM618837U TW M618837 U TWM618837 U TW M618837U TW 110202491 U TW110202491 U TW 110202491U TW 110202491 U TW110202491 U TW 110202491U TW M618837 U TWM618837 U TW M618837U
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Taiwan
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unloading
loading
goods
blocking
handling robot
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TW110202491U
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Chinese (zh)
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陳葉廣
孔哲
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大陸商深圳市海柔創新科技有限公司
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Publication of TWM618837U publication Critical patent/TWM618837U/en

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Abstract

The present utility model provides a transport robot and a transport system with 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, which are arranged in the vertical frame at intervals along the vertical direction; a transport mechanism which is configured to transport goods, and the transport mechanism is movably arranged on the vertical frame along the vertical direction and connected to the lift mechanism; and a controller which is electrically connected to the chassis, the lift mechanism and the transport mechanism. The automation of loading and unloading goods is achieved through a coordination of the controller, the lifting mechanism and the transport mechanism, thereby reducing the cost of loading and unloading goods.

Description

搬運機器人及具有該搬運機器人的搬運系統Handling robot and handling system with the same

本新型創作是關於一種智慧倉儲技術領域,特別是關於一種搬運機器人及具有該搬運機器人的搬運系統。The new creation relates to the technical field of smart storage, especially to a handling robot and a handling system with the handling robot.

智慧倉儲是物流過程的一個環節,智慧倉儲的應用,保證了貨物倉庫管理各個環節資料登錄的速度和準確性,確保企業及時準確地掌握庫存的真實資料,合理保持和控制企業庫存。通過科學的編碼,還可方便地對庫存貨物的批次、保質期等進行管理。利用庫位管理功能,更可以及時掌握所有庫存貨物當前所在位置,有利於提高倉庫管理的工作效率。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.

主要的貨物搬運工作由人工完成或者由簡單的機械設備完成。人工搬運具有勞動強度大、人工成本高的缺點,而簡單的機械設備基本為專用設備,僅能將貨物分散在特定的區域,效率低、占地面積大且對不同工況的適應性差。目前主要的貨物搬運方式嚴重制約了倉儲物流過程的整體效率。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.

基於此,有必要針對目前搬運方式存在成本高、效率低的問題,提供一種提高搬運效率、減低搬運成本的搬運機器人及具有該搬運機器人的搬運系統。Based on this, it is necessary to provide a handling robot that improves handling efficiency and reduces handling costs and a handling system with the handling robot in view of the high cost and low efficiency of current handling methods.

上述目的通過下述技術方案實現:The above objectives are achieved through the following technical solutions:

一種搬運機器人,包括:可在地面移動的底盤;立式框架,沿豎直方向設置,並位於所述底盤;升降機構,設置於所述立式框架,並可相對於所述立式框架沿豎直方向升降;儲存機構,包括多個用於儲存待搬運的貨物的儲存元件,多個所述儲存元件沿豎直方向間隔設置於所述立式框架;用於搬運貨物的搬運機構,所述搬運機構沿豎直方向活動設置於所述立式框架,並與所述升降機構連接,所述搬運機構可在所述升降機構的帶動下沿豎直方向升降,以將所述搬運機構中的貨物投遞至對應的所述儲存元件;以及控制器,與所述底盤、所述升降機構以及所述搬運機構電連接,用於控制所述所述底盤、所述升降機構以及所述搬運機構單獨執行動作或聯合執行動作。A handling robot includes: a chassis that can move on the ground; a vertical frame, which is arranged in a vertical direction and is located on the chassis; a lifting mechanism, which is arranged on the vertical frame and can be relatively Vertical lifting; 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; a transport mechanism for transporting goods, so 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 move The goods are delivered to the corresponding storage element; and a controller, which is electrically connected to the chassis, the lifting mechanism, and the handling mechanism, for controlling the chassis, the lifting mechanism, and the handling mechanism Perform actions individually or jointly.

在其中一個實施例中,所述搬運機器人卸貨時,多個所述儲存元件可同步運動實施同步卸貨動作。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.

在其中一個實施例中,所述搬運機器人還包括至少一聯動機構,每一所述聯動機構與至少兩個所述儲存元件連接,用於驅動各所述儲存元件相對於所述立式框架同步運動,實施同步卸貨動作。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.

在其中一個實施例中,所述聯動機構包括同時連接至少兩個所述儲存元件的聯動連接件,所述聯動連接件可同步帶動各所述儲存元件同步俯仰運動。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.

在其中一個實施例中,在同一水平方向上,所述聯動連接件與所述立式框架之間的距離小於等於所述儲存元件的長度。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.

在其中一個實施例中,所述聯動連接件的數量為至少一個;當所述聯動連接件的數量為一個時,所述聯動連接件與所述立式框架分設於所述儲存元件的兩端;所述聯動連接件的數量為多個時,多個所述聯動驅動件沿所述儲存元件的周側間隔設置。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.

在其中一個實施例中,所述聯動機構還包括聯動驅動件,所述聯動驅動件與所述聯動連接件配合以驅動各所述儲存元件實施同步卸貨動作。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.

在其中一個實施例中,所述聯動驅動件的輸出端與其中一個所述儲存元件連接。In one of the embodiments, the output end of the linkage drive member is connected to one of the storage elements.

在其中一個實施例中,所述聯動驅動件的輸出端與其中一個所述儲存元件的底部或頂部連接。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.

在其中一個實施例中,所述聯動驅動件的輸出端與所述聯動連接件連接。In one of the embodiments, the output end of the linkage driving member is connected to the linkage connecting member.

在其中一個實施例中,所述儲存元件包括用於承載貨物的托體,所述托體分別可轉動連接所述聯動連接件與所述立式框架。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.

在其中一個實施例中,所述儲存元件還包括可滾動設置於所述托體的滾動件,所述滾動件可滾動地與所述托體中的貨物接觸。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.

在其中一個實施例中,所述搬運機器人還包括攔擋機構,所述攔擋機構具有攔擋位置與避讓位置,所述攔擋機構處於所述攔擋位置時,所述攔擋機構用於阻擋所述儲存元件中貨物的滑出,所述攔擋機構處於所述避讓位置時,所述儲存元件可移入或移出貨物。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.

在其中一個實施例中,所述攔擋機構可同時攔擋各所述儲存元件中的貨物。In one of the embodiments, the blocking mechanism can simultaneously block the goods in each of the storage elements.

在其中一個實施例中,所述攔擋機構的數量為多個,每一所述攔擋機構同時可攔擋至少兩個所述儲存元件中的貨物。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.

在其中一個實施例中,所述儲存元件具有背離所述立式框架的裝卸貨端,所述攔擋機構可移入所述裝卸貨端或移出所述裝卸貨端。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.

在其中一個實施例中,所述攔擋機構處於所述攔擋位置時,所述攔擋機構與貨物的側壁或底面抵接。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.

在其中一個實施例中,所述攔擋機構設置於所述儲存元件的至少一側。In one of the embodiments, the blocking mechanism is provided on at least one side of the storage element.

在其中一個實施例中,所述攔擋機構包括可運動的攔擋連接件以及多個分別與所述攔擋連接件連接的攔擋元件,至少一個所述攔擋元件對應同一所述儲存元件;所述攔擋連接件可帶動各所述攔擋元件移入所述裝卸貨端,以攔擋所述儲存元件中的貨物。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.

在其中一個實施例中,所述攔擋元件包括阻擋件,所述阻擋件固定設置於所述攔擋連接件,所述攔擋連接件的移動可帶動所述阻擋件移入或移出所述裝卸貨端。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.

在其中一個實施例中,所述攔擋元件包括擺動件以及攔擋件,所述擺動件的一端可轉動連接於所述攔擋連接件,所述擺動件的另一端安裝所述攔擋件,所述擺動件的中部可轉動安裝於所述儲存元件的所述裝卸貨端;所述攔擋連接件升降時可帶動所述擺動件擺動,使所述擺動件帶動所述攔擋件移入或移出所述裝卸貨端。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.

在其中一個實施例中,所述攔擋機構還包括攔擋驅動件,所述攔擋驅動件的輸出端與所述攔擋連接件連接,以驅動所述攔擋元件移入或移出所述裝卸貨端。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.

在其中一個實施例中,所述儲存元件的底部具有活動空間,所述活動空間用於供搬運系統的裝卸貨機構伸入,以向所述儲存元件裝貨或者取貨。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.

在其中一個實施例中,所述儲存元件包括設置於所述立式框架的第一側板與第二側板,所述第一側板與所述第二側板相對設置並圍設成所述活動空間。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 movable space.

在其中一個實施例中,所述搬運機器人還包括旋轉機構,所述旋轉機構設置於所述搬運機構與所述升降機構之間,用於驅動所述搬運機構相對於所述升降機構旋轉,以使所述搬運機構對準對應的所述儲存元件或貨架。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.

在其中一個實施例中,所述搬運機構包括周轉件以及可伸縮設置於所述周轉件的取放件,所述取放件可取出貨物並儲存於所述周轉件,所述取放件還可將所述周轉件中的貨物推出。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.

一種搬運系統,包括控制中心以及如上述任一技術特徵所述的搬運機器人,所述控制中心與所述搬運機器人的控制器傳輸連接,控制所述搬運機器人運動。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.

在其中一個實施例中,所述搬運系統還包括輔助裝置;所述輔助裝置包括支撐架以及多個沿豎直方向間隔設置於所述支撐架的運輸機構,多個所述運輸機構間隔設置的方式與所述搬運機器人的多個儲存元件間隔設置的方式相同;當所述搬運機器人運動至所述輔助裝置處,多個所述儲存元件上的貨物可以同時移送至對應的所述運輸機構,實現同步卸貨;或者,多個所述運輸機構上的貨物可以同時移送至對應的所述儲存元件,實現同步裝貨。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.

在其中一個實施例中,所述運輸機構包括設置於所述支撐架的安裝架以及可運動設置於所述安裝架的運輸部,所述運輸部可帶動貨物運動。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.

在其中一個實施例中,所述搬運系統還包括裝卸貨裝置,所述裝卸貨裝置用於向所述搬運機器人輸送貨物或者將所述搬運機器人上的貨物卸下,所述裝卸貨裝置包括沿豎直方向延伸的立架以及多個沿豎直方向間隔設置於所述立架的裝卸貨機構,多個所述裝卸貨機構間隔設置的方式與所述搬運機器人的多個儲存元件間隔設置的方式相同;當所述搬運機器人對接所述裝卸貨裝置後,多個所述裝卸貨機構能夠分別在不同高度上向各所述儲存元件輸送貨物或者將各所述儲存元件中的貨物卸下。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.

在其中一個實施例中,所述裝卸貨機構包括托架、裝卸元件和裝卸驅動件,多個所述托架沿豎直方向間隔設置於所述立架,所述裝卸驅動件和所述裝卸元件分別設置於對應的所述托架,所述裝卸元件與所述裝卸驅動件連接,所述裝卸元件用於向所述儲存元件輸送貨物或者將所述儲存元件中的貨物卸下。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.

在其中一個實施例中,所述裝卸元件包括鏈條和凸塊,所述鏈條沿裝卸貨方向轉動設置於所述托架,所述凸塊固定設置於所述鏈條;所述裝卸驅動件包括驅動電機,所述驅動電機與所述鏈條傳動連接;所述鏈條能夠承載貨物,所述鏈條轉動時,所述凸塊推動貨物底部以將貨物推至搬運機器人,或者所述凸塊拉動貨物底部以將貨物從搬運機器人拉至所述鏈條。In one of the embodiments, the loading and unloading element includes a chain and a bump, the chain is rotatably disposed on the bracket along the loading and unloading direction, and the bump is fixedly disposed on the chain; the loading and unloading drive member includes a drive The drive motor is connected to the chain in transmission; the chain can carry goods, and when the chain rotates, the bump pushes the bottom of the goods to push the goods to the handling robot, or the bump pulls the bottom of the goods to The goods are pulled from the handling robot to the chain.

在其中一個實施例中,所述裝卸貨機構包括兩套所述裝卸元件,兩套所述裝卸元件平行、間隔設置於所述托架,所述驅動電機與兩條所述鏈條傳動連接。In one of the embodiments, the loading and unloading mechanism includes two sets of the loading and unloading elements, the two sets of loading and unloading elements are arranged in the bracket in parallel and spaced apart, and the driving motor is connected in transmission with the two chains.

在其中一個實施例中,所述裝卸貨機構還包括同步杆,兩條所述鏈條分別與所述同步杆傳動連接,所述驅動電機與一條所述鏈條傳動連接。In one of the embodiments, the loading and unloading mechanism further includes a synchronization rod, two of the chains are respectively connected in transmission with the synchronization rod, and the drive motor is connected in transmission with one of the chains.

在其中一個實施例中,所述裝卸貨裝置還包括調節驅動機構,所述調節驅動機構帶動所述立架沿裝卸貨方向靠近或者遠離所述搬運機器人,所述調節驅動機構帶動所述立架靠近或遠離所述搬運機器人時,所述裝卸貨機構向所述搬運機器人輸送貨物或者將所述搬運機器人上的貨物卸下。In one of the embodiments, the loading and unloading device further includes an adjusting drive mechanism that drives the stand to approach or move away from the handling robot in the loading and unloading direction, and the adjusting drive mechanism drives the stand When approaching or far from the handling robot, the loading and unloading mechanism conveys goods to the handling robot or unloads the goods on the handling robot.

在其中一個實施例中,每個所述裝卸貨機構包括裝卸橫臂和推拉元件,多個所述裝卸橫臂的一端沿豎直方向間隔設置於所述立架,所述推拉元件轉動設置於對應所述裝卸橫臂的另一端;所述推拉元件轉動時具有推拉位置和避讓位置,所述推拉元件轉動至所述推拉位置時向所述搬運機器人輸送貨物或者將所述搬運機器人上的貨物拉下;所述推拉元件轉動至所述避讓位置時,所述推拉元件避讓貨物。In one of the embodiments, each of the loading and unloading mechanisms includes a loading and unloading cross arm and a push-pull element, one ends of a plurality of the loading and unloading cross arms are arranged on the stand at intervals along the vertical direction, and the push-pull element is rotatably arranged at Corresponding to the other end of the loading and unloading cross arm; when the push-pull element rotates, it has a push-pull position and an avoiding position, and when the push-pull element rotates to the push-pull position, it conveys goods to the handling robot or transfers goods on the handling robot Pull down; when the push-pull element rotates to the avoiding position, the push-pull element avoids the goods.

在其中一個實施例中,所述立架的同一水平方向上間隔設置兩個所述裝卸元件,同一水平方向上的兩個所述推拉元件同步轉動至所述推拉位置或所述避讓位置;同一水平方向上的兩個所述推拉元件沿裝卸貨方向同步驅動貨物的兩側。In one of the embodiments, the two mounting and dismounting elements are arranged at intervals in the same horizontal direction of the stand, and the two push-pull elements in the same horizontal direction rotate synchronously to the push-pull position or the avoiding position; The two push-pull elements in the horizontal direction synchronously drive both sides of the cargo along the loading and unloading direction.

在其中一個實施例中,所述推拉元件包括推拉杆以及推拉電機,所述推拉電機設置於所述裝卸橫臂遠離所述立架的一端,所述推拉杆設置於所述推拉電機的輸出軸,所述推拉電機驅動所述推拉杆轉動至所述推拉位置或者所述避讓位置。In one of the embodiments, the push-pull element includes a push-pull rod and a push-pull motor, the push-pull motor is arranged at an end of the loading and unloading cross arm away from the stand, and the push-pull rod is arranged on the output shaft of the push-pull motor , The push-pull motor drives the push-pull rod to rotate to the push-pull position or the avoiding position.

在其中一個實施例中,所述裝卸貨裝置還包括暫存貨架,所述立架沿水平方向活動設置於所述暫存貨架,所述調節驅動機構驅動所述立架相對於所述暫存貨架沿水平方向移動;所述暫存貨架包括沿豎直方向的多層貨架,所述裝卸貨機構將所述搬運機器人上不同高度的貨物拉至所述暫存貨架上對應的各層貨架,或者所述裝卸貨機構將各層貨架上的貨物推至所述搬運機器人。In one of the embodiments, the loading and unloading device further includes a temporary storage rack, the vertical rack is movably arranged on the temporary storage rack in a horizontal direction, and the adjusting drive mechanism drives the vertical rack relative to the temporary storage rack. The shelves move in the horizontal direction; the temporary storage shelves include vertical multi-layer shelves, and the loading and unloading mechanism pulls goods of different heights on the handling robot to the corresponding shelves on the temporary storage shelves, or The loading and unloading mechanism pushes the goods on each shelf to the handling robot.

在其中一個實施例中,所述暫存貨架包括沿豎直方向設置的多層暫存輥筒,每層所述暫存輥筒能夠沿裝卸貨方向單獨運輸貨物。In one of the embodiments, the temporary storage rack includes multiple layers of temporary storage rollers arranged in a vertical direction, and each layer of the temporary storage rollers can individually transport goods along the loading and unloading direction.

在其中一個實施例中,所述搬運系統還包括輸送裝置以及升降裝置;所述升降裝置設置於所述輔助裝置與所述輸送裝置之間,所述升降裝置沿豎直方向升降運動,以對接所述運輸機構與所述輸送裝置;所述升降裝置可接取所述運輸機構的貨物,並移送至所述輸送裝置,或者,所述升降裝置可接取所述輸送裝置的貨物,並移送至所述運輸機構;或者,所述升降裝置設置於所述裝卸貨裝置與所述輸送裝置之間,所述升降裝置沿豎直方向升降運動,以對接所述裝卸貨機構與所述輸送裝置,所述升降裝置可接取所述裝卸貨機構的貨物,並移送至所述輸送裝置;或者,所述升降裝置可接取所述輸送裝置的貨物,並移送至所述裝卸貨機構。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.

在其中一個實施例中,所述升降裝置包括沿豎直方向的升降框架、設置於所述升降框架的移動機構以及至少一層設置於所述移動機構的轉運機構,所述移動機構可沿所述升降框架做升降運動,並帶動所述轉運機構運動,以向所述運輸機構接取或移送貨物,或者,向所述裝卸貨機構接取或移送貨物。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.

在其中一個實施例中,所述轉運機構包括設置於所述移動機構的轉運座以及可運動設置於所述轉運座的轉運部,所述轉運部可帶動貨物運動,且所述轉運部可向至少一個所述運輸機構接取或移送貨物,或者,所述轉運部可向至少一個所述裝卸貨機構接取或移送貨物。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.

採用上述技術方案後,本新型創作至少具有如下技術效果:After adopting the above technical solutions, the new creation has at least the following technical effects:

本新型創作的搬運機器人及具有該搬運機器人的搬運系統,裝貨時,升降機構帶動搬運機構將貨物移送至儲存機構中對應高度的儲存元件中,卸貨時,升降機構帶動搬運機構取出儲存機構中對應高度的儲存元件中的貨物。通過升降機構和搬運機構之間的協同配合實現了貨物裝卸的自動化,有效的解決目前搬運方式存在成本高、效率低的問題,降低了貨物裝卸成本的同時大大提高了貨物裝卸的效率。同時搬運機構在升降機構的帶動下運動至不同的高度,進而能夠將待搬運的貨物投遞至儲存機構中不同高度的儲存元件中,通用性強且減小了占地面積。The handling robot created by the new model and the handling system with the handling robot. 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 storage mechanism The goods in the storage element corresponding to the height. 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.

為了使本新型創作的目的、技術方案及優點更加清楚明白,以下通過實施例,並結合附圖,對本新型創作的搬運機器人及具有該搬運機器人的搬運系統進行進一步詳細說明。應當理解,此處所描述的具體實施例僅用以解釋本新型創作,並不用於限定本新型創作。In order to make the purpose, technical solutions and advantages of the creation of the new type clearer, the following embodiments and the accompanying drawings are used to further describe the handling robot of the new type creation and the handling system with the same. It should be understood that the specific embodiments described here are only used to explain the creation of the new type, and are not used to limit the creation of the new type.

本文中為部件所編序號本身,例如“第一”、“第二”等,僅用於區分所描述的物件,不具有任何順序或技術含義。而本申請所說“連接”、“聯接”,如無特別說明,均包括直接和間接連接(聯接)。在本新型創作的描述中,需要理解的是,術語“上”、“下”、“前”、“後”、“左”、“右”、“豎直”、“水平”、“頂”、“底”、“內”、“外”、“順時針”、“逆時針”等指示的方位或位置關係為基於附圖所示的方位或位置關係,僅是為了便於描述本新型創作和簡化描述,而不是指示或暗示所指的裝置或元件必須具有特定的方位、以特定的方位構造和操作,因此不能理解為對本新型創作的限制。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 new creation, it needs to be understood that the terms "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top" , "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise" and other directions or positional relations are based on the positions or positional relations shown in the drawings, and are only for the convenience of describing the creation and The description is simplified, 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 on the creation of the present invention.

在本新型創作中,除非另有明確的規定和限定,第一特徵在第二特徵“上”或“下”可以是第一和第二特徵直接接觸,或第一和第二特徵通過中間媒介間接接觸。而且,第一特徵在第二特徵“之上”、“上方”和“上面”可是第一特徵在第二特徵正上方或斜上方,或僅僅表示第一特徵水平高度高於第二特徵。第一特徵在第二特徵“之下”、“下方”和“下面”可以是第一特徵在第二特徵正下方或斜下方,或僅僅表示第一特徵水平高度小於第二特徵。In the creation of this new model, unless otherwise clearly specified and limited, the first feature "on" or "under" the second feature may be in direct contact with the first and second features, or the first and second features may be through an intermediate medium. Indirect contact. 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.

參見圖1、圖3、圖6、圖9和圖11,本新型創作提供一種搬運機器人100。該搬運機器人100適用於搬運系統中,可以實現貨物200的搬運。可以理解的,這裡的貨物200可以是具有托架的貨物,搬運機器人100通過托架實現貨物200的搬運;當然,也可以是盛放於貨廂中的貨物,搬運機器人100通過貨箱實現貨物200的搬運。下文提及的貨物200為貨物盛放於貨箱中,並且,貨箱可以裝載貨物200,實現貨物200的搬運,搬運機器人100將貨箱輸送至卸貨位置,將貨箱中的貨物200卸載後,貨箱可以再被輸送回搬運機器人100,實現貨箱的重複利用,降低成本。或者說貨物200為裝有貨物的貨箱,搬運機器人100將貨箱送至卸貨位置,通過卸貨裝置將裝有貨物的貨箱卸下。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.

搬運機器人100在智慧倉儲中扮演重要的角色,實現貨物200的搬運,保證貨物200的搬運速度,提高了貨物200的搬運效率,減少了人力資源的消耗。本新型創作的搬運機器人100可以同步卸貨,使得搬運機器人100中的貨物200可以一次性卸下,提高卸貨效率,減少卸貨時間,以提升搬運機器人100的整體工作效率。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 created by the present invention can unload simultaneously, 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.

參見圖1和圖3,在一實施例中,搬運機器人100包括立式框架110以及儲存機構120。立式框架110沿豎直方向設置。儲存機構120包括多個用於儲存待搬運的貨物200的儲存元件121,多個儲存元件121沿豎直方向間隔設置於立式框架110。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.

立式框架110起承載作用,其上安裝搬運機器人100的各個部件。搬運機器人100搬運貨物200時,通過立式框架110可以帶動搬運機器人100上各個部件的同步運動,實現貨物200的搬運。儲存機構120位於立式框架110,用於儲存貨物200,儲存機構120可隨立式框架110同步運動,實現貨物200的搬運。搬運機器人100運動至裝貨位置,待搬運的貨物200被輸送至儲存機構120中儲存,然後,搬運機器人100從裝貨位置運動至卸貨位置,相應的,儲存機構120隨立式框架110運動至卸貨位置,此時,儲存機構120中的貨物200可以被卸走。儲存機構120能夠暫時儲存待搬運的貨物200,提高可搬運機器人100攜帶貨物200的能力。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.

並且,儲存機構120包括多個儲存元件121,多個儲存元件121間隔設置於立式框架110上。每一儲存元件121都可承載一貨箱的貨物200,保證搬運機器人100的儲存能力。可選地,相鄰的兩個儲存元件121之間的距離可以相等,也可以不等。示例性地,各儲存元件121沿豎直方向均勻分佈於立式框架110。待搬運的貨物200可以被輸送至各儲存元件121,搬運機器人100帶動各儲存元件121中的貨物200搬運至卸貨位置。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.

參見圖1和圖3,在一實施例中,搬運機器人100還包括可相對於立式框架110沿豎直方向升降的升降機構140以及用於搬運貨物200的搬運機構150,搬運機構150沿豎直方向活動設置於立式框架110,並與升降機構140連接,搬運機構150可在升降機構140的帶動下沿豎直方向升降,以將搬運機構150中的貨物200投遞至對應的儲存機構120。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 .

搬運機構150為實現搬運機器人100的動作執行終端。在裝貨位置,搬運機構150可以承載待搬運的貨物200,並將該貨物200運送至儲存元件121中。當然,在某些場合需要單獨卸載儲存元件121中的貨物200時,搬運機構150也可取出儲存元件121中的貨物200。可選地,搬運機構150包括但不限於機械手、能夠動作的拖杆或者具有輸送功能的平面等等。升降機構140用於實現搬運機構150的升降運動,其可帶動搬運機構150沿豎直方向做升降運動。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.

在裝貨位置處具有承載貨物200的多層貨架,搬運機器人100在裝貨位置處裝貨時,升降機構140驅動搬運機構150做升降運動,使得搬運機構150可以在貨架上取貨,然後,升降機構140再帶動搬運機構150做升降運動,以將搬運機構150中的貨物200移送到儲存元件121中。如此往復,直至各儲存元件121均儲存貨物200。裝貨完成後,搬運機器人100從裝貨位置運動至卸貨位置,各儲存元件121可執行卸貨操作。卸貨完成後,搬運機器人100返回到裝貨位置,如此往復實現貨物200的連續搬運,提高搬貨效率。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.

升降機構140的作用是帶動搬運機構150沿豎直方向升降。在一實施例中,升降機構140包括升降動力源和升降傳動元件,升降動力源和升降傳動元件分別設置於立式框架110。升降傳動元件傳動連接升降動力源與搬運機構150。具體的,升降動力源的輸出端與升降傳動元件的輸入端傳動連接,升降傳動元件的輸出端與搬運機構150傳動連接。升降動力源與升降傳動元件分別設置於立式框架110,以及升降動力源與升降傳動元件之間的傳動連接關係,便於升降機構140的在立式框架110上的拆裝。可選的,升降動力源輸出的動力形式為轉動、直線運動或者其他任何形式的運動,與升降動力源傳動連接的升降傳動元件最終輸出的是沿豎直方向的運動。可選地,升降動力源包括驅動電機,驅動電機與升降傳動元件的輸入端傳動連接。電機形式的升降動力源運行更加穩定。進一步,驅動電機可正轉或反轉,便於升降機構140的升降程序控制。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.

可選地,升降傳動元件可以為伸縮杆結構、鏈傳動結構或帶動傳動結構等等,還可以為其他能夠搬運機構150做升降運動的結構。示例性地,升降傳動元件為鏈傳動結構,包括鏈輪以及鏈條,鏈條與搬運機構150連接,鏈條沿豎直方向設置於立式框架110。升降動力源的輸出端帶動鏈輪轉動時,鏈條沿立式框架110做升降運動,進而可帶動搬運機構150做升降運動。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.

需要說明的是,升降傳動元件的實質在於輸出升降運動,以帶動搬運機構150做升降運動,進而實現貨物200的裝載。本實施例中,升降傳動元件通過鏈傳動結構實現;並且,能夠實現升降的結構設置多種多樣,不能窮舉,本新型創作的升降運動方式不限於由上述具體結構實現。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 created by the present invention is not limited to the realization of the above-mentioned specific structure.

在一實施例中,搬運機器人100還包括旋轉機構,旋轉機構設置於搬運機構150與升降機構140之間,用於驅動搬運機構150相對於升降機構140旋轉,以使搬運機構150對準對應的儲存機構120。旋轉機構可轉動連接搬運機構150,並且,搬運機構150可相對於旋轉機構轉動。搬運機構150通過旋轉機構轉動時可以調節搬運機構150方向,使得搬運機構150的裝卸口可以調整。搬運機構150通過裝卸口實現貨物200的裝入與移出。當搬運機器人100處於裝貨位置時,旋轉機構可帶動搬運機構150轉動,使得搬運機構150的裝卸口朝向貨架,使得貨物200可以被裝載於搬運機構150中。當搬運機構150將貨物200移送至儲存元件121時,旋轉機構可帶動搬運機構150轉動,使得搬運機構150的裝卸口朝向儲存元件121,此時,搬運機構150中的貨物200可以移送至儲存元件121中。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.

可選地,旋轉機構包括搬運支架、設置於搬運支架的自轉齒輪以及固定安裝於搬運支架的自轉電機。自轉電機的輸出端與自轉齒輪連接,自轉齒輪上安裝搬運機構150,搬運支架安裝於升降機構140上。自轉電機可帶動自轉齒輪轉動,進而可帶動搬運機構150旋轉。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.

需要說明的是,旋轉機構的實質在於輸出旋轉運動,以帶動搬運機構150做旋轉運動,進而實現貨物200的裝卸。本實施例中,旋轉機構通過自轉電機與自轉齒輪實現;並且,能夠實現旋轉的結構設置多種多樣,不能窮舉,本新型創作的旋轉運動方式不限於由上述具體結構實現。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 realize rotation, which cannot be exhaustively listed. The rotating motion mode created by the present invention is not limited to the above-mentioned specific structure.

上述實施例的搬運機器人100裝貨時,升降機構140帶動搬運機構150將貨物200移送至儲存機構120中對應高度的儲存元件121中,卸貨時,升降機構140帶動搬運機構150取出儲存機構120中對應高度的儲存元件121中的貨物200。通過升降機構140和搬運機構150之間的協同配合實現了貨物200裝卸的自動化,有效的解決目前搬運方式存在成本高、效率低的問題,降低了貨物裝卸成本的同時大大提高了貨物200裝卸的效率。同時搬運機構150在升降機構140的帶動下運動至不同的高度,進而能夠將待搬運的貨物200投遞至儲存機構120中不同高度的儲存元件121中,通用性強且減小了占地面積。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.

參見圖1和圖3,在一實施例中,搬運機構150包括周轉件151以及可伸縮設置於周轉件151的取放件152,取放件152可取出貨物200並儲存於周轉件151,取放件152還可將周轉件151中的貨物200推出。取放件152可伸縮地設置於周轉件151中。在裝貨位置時,取放件152伸出周轉件151,在貨架上取出貨物200,然後取放件152縮回周轉件151,以將貨物200暫存於周轉件151。隨後,升降機構140與旋轉機構帶動搬運機構150運動,使得搬運機構150運動至待放貨的儲存元件121處,此時,取放件152伸出周轉件151,取放件152將貨物200移出周轉件151,並移送至儲存元件121中,移送完成後,取放件152縮回周轉件151中。可選地,周轉件151包括但不限於周轉箱,取放件152包括但不限於伸縮電機配合伸縮杆結構、機械手機構等等。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.

在一實施例中,搬運機器人100還包括可移動的底盤160,底盤160設置於立式框架110的底部。可移動的底盤160能夠帶動搬運機器人100移動,大大提高了搬運機器人100對實際工況的適應。具體的,底盤160包括盤架161、行進驅動元件以及多個轉動輪162,立式框架110設置於盤架161的上部,多個轉動輪162設置於盤架161的底部,行進驅動元件設置於盤架161,至少一個轉動輪162與行進驅動元件傳動連接。進一步,至少兩個轉動輪162分別與行進驅動元件傳動連接,與行進驅動元件分別傳動連接的至少兩個轉動輪162分佈於盤架161沿行進方向的兩側,進而實現底盤160的轉向功能。行進驅動元件包括至少兩個輪驅電機,分佈於盤架161沿行進方向兩側的至少兩個轉動輪162分別由單獨的輪驅電機驅動。分佈於盤架161沿行進方向兩側的至少兩個轉動輪162分別由單獨的輪驅電機驅動,能夠簡化底盤160上的傳動結構。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.

在一實施例中,轉動輪162包括主動輪和從動輪。主動輪和從動輪安裝於底盤160的底部,主動輪和從動輪可分別相對於底盤160轉動,主動輪和從動輪共同支承底盤160,主動輪由輪驅電機驅動,以使底盤160移動。通過配置可以移動的底盤160,可以使得搬運機器人100可以在裝貨位置與卸貨位置之間搬運貨物200。主動輪的數量為兩個,兩個主動輪對稱地分佈,相應地,輪驅電機的數量為兩個,兩個主動輪分別由兩個輪驅電機驅動,可使得兩個主動輪的轉速不同,從而實現底盤160轉向。從動輪的數量為四個,四個從動輪呈矩形地分佈,從動輪可以為萬向輪,也可以為其他具有轉向功能的輪體結構。根據實際情況,從動輪的數量並不限制為四個,也可以為六個、三個等。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.

在本實施例中,底盤160還安裝有引導裝置,引導裝置為攝像頭,用於識別地面貼設的圖形碼,以使底盤160沿預設路徑行進。圖形碼可以為二維碼、條碼或者一些定制的標識碼等。在其他一些實施例中,引導裝置為鐳射導引裝置,用於引導底盤160沿雷射光束行進,或者引導裝置為短波接收裝置,通過接收預設的短波信號以引導底盤160沿預設路徑行進。需要說明的是,在其他一些實施例中,底盤160可以省略,立式框架110直接固定安裝在地面或者其他平臺上,僅用於在其周圍裝貨位置與卸貨位置之間搬運貨物200。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.

在一實施例中,搬運機器人100還包括控制器,控制器分別與底盤160、搬運機構150、升降機構140以及旋轉機構電連接,以控制各個部件同步運動或者控制至少一部件運動,以實現自動搬貨功能。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.

第一實施例The first embodiment

參見圖1至圖8,在本新型創作的第一實施例中,搬運機器人100卸貨時,多個儲存元件121可同步運動實施同步卸貨動作。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.

為了進一步提高搬運機器人100的搬運效率,本新型創作的搬運機器人100可以在卸貨位置實現同步卸貨。具體卸貨時,多個儲存元件121可同步運動,使得貨物200移出儲存元件121,即時同步卸貨動作。這樣,各儲存元件121中的貨物200可以被同步卸走,縮短卸貨時間,提高搬運機器人100的卸貨效率。卸貨完成後,搬運機器人100可以返回裝貨位置繼續裝貨,提高了搬運機器人100的工作效率。In order to further improve the handling efficiency of the handling robot 100, the handling robot 100 created by 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.

上述實施例的搬運機器人100卸貨時,儲存機構120的多個儲存元件121可以同步運動以實施同步卸貨動作,實現各儲存元件121中貨物200的同步卸出,有效的解決目前貨物需要一層層卸下導致的卸貨效率低的問題,使得搬運機器人100中的貨物200可以一次性卸下,提高卸貨效率,減少卸貨時間,以提升搬運機器人100的整體工作效率。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.

參見圖1至圖4,在一實施例中,搬運機器人100還包括至少一聯動機構130,每一聯動機構130與至少兩個儲存元件121連接,用於驅動各儲存元件121相對於立式框架110同步運動,實施同步卸貨動作。聯動機構130運動時可以實現各儲存元件121的同步運動。可以理解的,可以一個聯動機構130連接所有的儲存元件121,也可以多個聯動機構130中,每個聯動機構130連接多個儲存元件121。示例性地,聯動機構130的數量為兩個,其中一個聯動機構130連接一層至三層的儲存元件121,另一聯動機構130連接四層至六層的儲存元件121。當然,在本新型創作的其他實施方式中,聯動機構130的數量還可更多。本新型創作僅以聯動機構130連接所有的儲存元件121為例進行說明,多個聯動機構130的工作原理與採用一個聯動機構130的工作原理實質相同,在此不一一贅述。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. Illustratively, 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 can be more. The invention of the present invention will only be 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 that of using one linkage mechanism 130, and will not be repeated here.

各儲存機構120可轉動安裝於立式框架110,並且,各儲存機構120還可與聯動機構130連接,聯動機構130運動時,會帶動各儲存元件121相對於立式框架110轉動,使得各儲存元件121可以做俯仰運動。可以理解的,聯動機構130的端部可以安裝於立式框架110,也可以安裝於底盤160,只要保證聯動機構130可驅動儲存元件121做俯仰運動即可。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.

當聯動機構130帶動儲存元件121做仰起運動時,儲存元件121的一端被抬高,另一端則相對於立式框架110轉動保持於初始位置。此時,儲存元件121被抬起,其上的貨物200可以在自身重力作用下滑出儲存元件121,實現貨物200的卸載。由於聯動機構130會同時帶動各儲存元件121做仰起運動,則各儲存元件121可同時被抬起,進而同時執行卸貨操作,實現卸貨。卸貨完成後,聯動機構130帶動各儲存元件121下降,各儲存元件121恢復至水平的初始位置。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.

當聯動機構130帶動各儲存元件121做俯下動作時,外界的貨物200同時被輸送至各儲存元件121後,貨物200可在重力作用下滑入儲存元件121中,實現同步裝貨。使得說明的是,搬運機器人100的同步裝貨需要配合搬運系統的輔助裝置300實現,其具體實現過程在後文詳述,本實施例中僅詳細說明搬運機器人100的同步卸貨。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.

搬運機器人100在裝貨位置向各儲存元件121中裝載貨物200後,搬運機器人100從裝貨位置運動至卸貨位置,此時,聯動機構130帶動各儲存元件121做仰起運動,使得儲存元件121被抬起。這樣,儲存元件121中的貨物200可在自身重力作用下滑出儲存元件121,並儲存至指定的裝置如輔助裝置300中,實現搬運機器人100的同步卸貨。卸貨完成後,搬運機器人100再返回裝貨位置裝貨,如此往復實現搬運機器人100的搬運功能。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.

在一實施例中,聯動機構130包括同時連接至少兩個儲存元件121的聯動連接件131,聯動連接件131可同步帶動各儲存元件121同步俯仰運動。可以理解的,這裡的俯仰運動可以是俯仰轉動運動,也可以是曲線運動,當然,還可以是其他能夠產生俯仰運動的形式。儲存元件121的一端與立式框架110可轉動連接,儲存元件121還與聯動連接件131連接。聯動連接件131可以做升降運動,聯動連接件131升降時可帶動各儲存元件121升降,使得各儲存元件121相對於立式框架110轉動,即儲存元件121做俯仰運動。可以理解的,可以其中一個儲存元件121做俯仰運動的同時驅動聯動連接件131做升降運動,通過聯動連接件131帶動其餘各儲存元件121運動;也可以是聯動連接件131做升降運動,再帶動各儲存元件121運動。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.

如圖1和圖2所示,可選地,聯動連接件131與各儲存元件121之間可以是可轉動連接,也可以是固定連接。當聯動連接件131與各儲存元件121之間是可轉動連接時,可以儲存元件121具有轉軸,儲存元件121通過轉軸可轉動安裝於聯動連接件131;也可以是聯動連接件131具有轉軸,聯動連接件131通過轉軸可轉動安裝於儲存元件121;還可以是聯動連接件131與儲存元件121之間的連接類似於鷹嘴咬合結構。並且,轉軸可以替換為鉸接件或者其他能實現可轉動連接的部件。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.

可選地,聯動連接件131可以為一根連杆,一根連杆連接各儲存元件121。又可選地,聯動件可以包括多個連杆,相鄰的兩個聯動件通過連杆連接,此時,其中一個儲存元件121運動時,可以通過相鄰的連杆帶動其餘的儲存元件121運動。可以理解的,聯動連接件131的具體結構並不局限於連杆,還可以為連接片等等。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.

需要說明的是,本新型創作的實質精神在於聯動連接件131與各儲存元件121之間的聯動,通過聯動連接件131可以實現各儲存元件121的同步運動,進而實現同步執行卸貨操作。本實施例中,連接件的連通通過連杆實現,連杆既可以為一根也可以為多根;並且,聯動連接件131的設置多種多樣,不能窮舉,本新型創作的聯動方式不限於由上述具體結構實現。It should be noted that the essential spirit of the present invention is the linkage between the linkage connecting piece 131 and each storage element 121. The linkage connecting piece 131 can realize the synchronous movement of each storage element 121 so as to realize the unloading operation synchronously. In this embodiment, the connection of the connecting piece is realized by connecting rods, and there may be one or more connecting rods; moreover, the arrangement of the linkage connecting piece 131 is various and cannot be exhaustively listed. The linkage mode of the new creation is not limited to Realized by the above specific structure.

參見圖1和圖3,在一實施例中,在同一水平方向上,聯動連接件131與立式框架110之間的距離小於等於儲存元件121的長度。可以理解的,聯動連接件131與儲存元件121的連接處可以等於儲存元件121的長度,此時,聯動連接件131與立式框架110分別位於儲存元件121的兩端;聯動連接件131與儲存元件121的連接處可以小於儲存元件121的長度,聯動連接件131與儲存元件121的連接處位於儲存元件121的側面。也就是說,聯動連接件131可以位於儲存元件121周側的任意位置,這樣,聯動連接件131做升降運動時都可帶動儲存元件121同步做升降運動,實現搬運機器人100的同步卸貨操作。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.

在一實施例中,聯動連接件131的數量為至少一個。聯動連接件131的數量為一個時,其與立式框架110的配合可以保證儲存元件121固定可靠,同時實現儲存元件121運動的驅動。聯動連接件131的數量為多個時,多個聯動連接件131可以進一步提高各儲存元件121的聯動性,保證各儲存元件121運動一致。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.

當聯動連接件131的數量為一個時,聯動連接件131與立式框架110分設於儲存元件121的兩端。也就是說,聯動連接件131與儲存元件121的連接處和立式框架110分別位於儲存元件121的兩端,該連接處與立式框架110之間的距離等於儲存元件121沿水平方向的尺寸。這樣,通過聯動連接件131與立式框架110可以可靠的支撐儲存元件121,避免儲存元件121偏墜下沉,使得儲存元件121可靠的儲存貨物200。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.

當聯動連接件131的數量為多個時,多個聯動驅動件132沿儲存元件121的周側間隔設置。聯動連接件131沿儲存元件121的周側間隔分佈,可以均勻分佈,也可非均勻分佈,還可對稱分佈。多個聯動連接件131與立式框架110可以可靠的支撐儲存元件121,避免儲存元件121偏墜下沉,使得儲存元件121可靠的儲存貨物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.

參見圖1、圖3和圖4,在一實施例中,聯動機構130還包括聯動驅動件132,聯動驅動件132與聯動連接件131配合以驅動各儲存元件121實施同步卸貨動作。聯動驅動件132為聯動機構130運動的動力源,實現聯動運動件運動的驅動。並且,聯動驅動件132輸出直線運動,以使得聯動連接件131可做升降運動,儲存元件121可做俯仰運動。可選地,聯動驅動件132包括但不限於氣缸、液壓缸、直線電機或電動推杆,還可以為其他能夠輸出直線運動的直線驅動單元。示例性地,聯動驅動件132為直線電機。示例性地,聯動驅動件132的一端設置於底盤160。當然,聯動驅動件132的一端還可設置於立式框架110。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.

可選地,聯動驅動件132可與儲存元件121連接。在一實施例中,聯動驅動件132的輸出端與其中一個儲存元件121連接。聯動驅動件132的一端安裝於立式框架110,另一端與儲存元件121連接。聯動驅動件132輸出直線運動後,可帶動與其連接的儲存元件121運動,進而該儲存元件121可帶動聯動連接件131做升降運動,此時聯動連接件131可帶動其餘各儲存元件121同步運動,使得各儲存元件121相對於立式框架110轉動,實現各儲存元件121抬起,進而實現各儲存元件121同步實施卸貨操作。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.

進一步地,聯動驅動件132的輸出端與其中一個儲存元件121的底部或頂部連接。聯動驅動件132與儲存元件121的頂部連接時,聯動驅動件132收縮可帶動儲存元件121仰起,聯動驅動件132伸展可帶動儲存元件121俯下。聯動驅動件132與儲存元件121的底部連接時,聯動驅動件132伸展可帶動儲存元件121仰起,聯動驅動件132收縮可帶動儲存元件121俯下。示例性地,聯動驅動件132與儲存元件121的底部連接。再進一步地,聯動驅動件132位於與最下方的儲存元件121的底部連接,並且,聯動驅動件132的輸出端與儲存元件121底部的中間區域抵接。這樣,聯動驅動件132不會影響承載元件貨物200的裝載與卸載,避免發生干涉。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 can be extended to drive the storage element 121 to rise, and the linkage drive 132 can be contracted 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.

又可選地,聯動驅動件132的輸出端與聯動連接件131連接。聯動驅動件132可以直接驅動聯動連接件131做升降運動,進而聯動連接件131可帶動各儲存元件121同步運動。進一步地,聯動驅動件132可以位於最下方儲存元件121的底部,並設置於底盤160上,聯動驅動件132的輸出端與聯動連接件131連接。當然,聯動驅動件132也可位於儲存元件121的最上方。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.

本實施例的聯動機構130可以實現各儲存元件121的同時卸貨,各儲存元件121由同一聯動連接件131連接,聯動驅動件132的輸出端與最下方的儲存元件121連接。當聯動驅動件132伸展時,聯動驅動件132可向上推動儲存元件121,使得儲存元件121相對於立式框架110轉動,該儲存元件121轉動的同時可帶動聯動連接件131同步運動,進而聯動連接件131帶動其餘的各儲存元件121同步運動,實現所有儲存元件121仰起運動的同步驅動,進而實現同步卸貨操作。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.

值得說明的是,儲存元件121相對於立式框架110轉動實現俯仰運動的轉動驅動形式多種多樣,本實施例中僅通過可輸出直線運動的聯動驅動件132實現儲存元件121運動的驅動,其他只要能夠實現儲存元件121俯仰運動的驅動部件均應當視作落入本新型創作的保護範圍。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. The driving components capable of realizing the pitching movement of the storage element 121 should all be regarded as falling into the protection scope of the creation of the present invention.

參見圖1、圖3和圖5,在一實施例中,儲存元件121包括用於承載貨物200的托體1211,托體1211分別可轉動連接聯動連接件131與立式框架110。托體1211為承載貨物200的主體,托體1211的一端與立式框架110可轉動連接,另一端與聯動連接件131可轉動連接。記托體1211與立式框架110連接的一端為首端,托體1211與聯動連接件131連接的一端則為尾端。聯動連接件131帶動托體1211升降時,托體1211的尾端會繞托體1211的首端轉動,實現托體1211的俯仰運動。可選地,托體1211的邊緣分別可轉動連接聯動連接件131與立式框架110,當然,也可托體1211的中部區域分別可轉動連接聯動連接件131與立式框架110。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.

可以理解的,托體1211與立式框架110的可轉動連接,可以是托體1211上具有轉軸,托體1211通過轉軸也轉動安裝於立式框架110,也可以是立式框架110具有轉軸,托體1211可轉動安裝於轉軸,等等。並且,上述通過轉軸實現可轉動連接的方式也可替換為鉸接連接或者其他形式的可轉動連接。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.

可選地,托體1211為呈平板狀設置,貨物200的貨廂可以被移送至托體1211上。進一步地,托體1211的邊緣具有三側的翻邊,三側的翻邊在立式框架110處形成裝卸口,貨物200通過裝卸口安裝於托體1211中。並且,翻邊可以限制貨物200在托體1211上的位移,避免貨物200掉出托體1211,保證托體1211可以準確的儲存貨物200。可以理解的,這裡的裝卸口即為第二實施例中的裝卸貨端1215。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.

在一實施例中,儲存元件121還包括可滾動設置於托體1211的滾動件1212,滾動件1212可滾動地與托體1211中的貨物200接觸。滾動件1212可以減小貨物200與托體1211之間的摩擦力,便於貨物200的裝載與卸載。裝載貨物200時,貨物200的底部在自身重力作用下與滾動件1212接觸。貨物200向托體1211內移動的過程中,貨物200會帶動滾輪轉動,減小貨物200與托體1211之間的摩擦力,便於貨物200的裝載。卸載貨物200時,聯動連接件131帶動托體1211仰起,此時,托體1211的尾端高於托體1211的頂端,托體1211中的貨物200在重力作用下滑出托體1211,並且,貨物200沿托體1211滑動的過程中,貨物200的底部會帶動滾動件1212滾動,使得貨物200更容易滑出托體1211,便於貨物200的卸載。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.

可選地,托體1211上開設滾動槽,滾動件1212可滾動安裝於滾動槽中,滾動件1212的頂面略高於托體1211的頂面,保證滾動件1212可與貨物200的底部相接觸。並且,托體1211的底部還具有防護罩,防護罩罩在托體1211的底部罩設滾動件1212,避免滾動件1212的底部與其他部件之間發生干涉。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.

可選地,滾動件1212包括但不限於滾輪、滾軸或滾珠等等,還可以為其他能夠實現滾動的部件。並且,滾動件1212的數量為多個,多個滾動件1212可以呈一列設置,也可以呈多列設置。示例性地,滾動件1212為滾輪,滾輪呈三列設置。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.

參見圖1、圖3、圖6和圖7,本新型創作的第一實施例還提供一種搬運系統,包括輔助裝置300以及上述實施例中的搬運機器人100。輔助裝置300包括支撐架310以及多個沿豎直方向間隔設置於支撐架310的運輸機構320,多個運輸機構320間隔設置的方式與多個儲存元件121間隔設置的方式相同。當搬運機器人100運動至輔助裝置300處,多個儲存元件121上的貨物200可以同時移送至對應的運輸機構320,實現同步卸貨;或者,多個運輸機構320上的貨物200可以同時移送至對應的儲存元件121,實現同步裝貨。Referring to Fig. 1, Fig. 3, Fig. 6 and Fig. 7, the first embodiment of the present invention also provides a conveying system, which includes an auxiliary device 300 and the conveying robot 100 in the above-mentioned 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.

輔助裝置300可以實現貨物200的同步卸載或同步裝載。輔助裝置300設置於卸貨位置或裝貨位置。當輔助裝置300卸貨時,輔助裝置300位於卸貨位置;當輔助裝置300裝貨時,輔助裝置300位於裝貨位置。本新型創作僅以輔助裝置300位於卸貨位置為例進行說明。輔助裝置300位於卸貨位置,搬運機器人100在裝貨位置裝貨完成後,搬運機器人100運動至卸貨位置,此時,搬運機器人100與輔助裝置300對接,輔助裝置300可以接取搬運機器人100中各儲存元件121的貨物200。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 will only be 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.

具體的,安裝架321起支撐作用,用於支撐用於運輸貨物200的各個運輸機構320。輔助裝置300具有與儲存元件121數量相同的運輸機構320,並且,運輸機構320所處的高度與對應儲存元件121所處的高度相一致。當搬運機器人100與輔助裝置300對接後,儲存元件121與運輸機構320處於同一水平高度。卸貨時,聯動機構130的聯動驅動件132伸展,以驅動最下方的儲存元件121的末端向上抬起,儲存元件121抬起的過程中可帶動聯動連接件131做上升,聯動連接件131上升的過程中可以帶動其餘各儲存元件121抬起。這樣,各儲存元件121可同時抬起,儲存元件121中的貨物200在重力作用下以及滾動件1212的作用下滑出儲存元件121,並運動至對應的運輸機構320上,運輸機構320將其上的貨物200運走,實現貨物200的卸載。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.

輔助裝置300也可以實現貨物200的裝載。具體的,各層運輸機構320帶動貨物200朝向對應的儲存元件121運動,並將貨物200移送至對應的儲存元件121中。可以理解的,裝載貨物200時,聯動機構130可以帶動儲存元件121的末端下降,同時,各運輸機構320同時向對應的儲存元件121移送貨物200。當貨物200被逐漸移送至托體1211中,並與滾動件1212接觸後,貨物200可以在自身重力作用下以及滾動件1212的配合滑入儲存元件121。當然,儲存元件121也可不運動,通過運輸機構320的推力配合滾動件1212也可使貨物200移入儲存元件121中。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.

參見圖6和圖7,在一實施例中,運輸機構320包括設置於支撐架310的安裝架321以及可運動設置於安裝架321的運輸部322,運輸部322可帶動貨物200運動。安裝架321為架體結構,其承載運輸部322,用於實現運輸部322的安裝。運輸部322為實現貨物200運輸的主要部件。貨物200位於運輸部322時,運輸部322可帶動貨物200朝向或遠離儲存元件121的方向運動。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.

可選地,運輸部322為傳送帶結構、流水線、傳送輥結構或輥筒結構等可實現水平運送的結構。示例性地,運輸部322為輥筒結構,具體包括多個輥筒,每個輥筒中內置滾動電機,以驅動輥筒轉動,進而實現貨物200的運送。需要說明的是,實現水平運送貨物200的結構多種多樣,不能窮舉,本新型創作的運輸部322不限於由上述具體結構實現。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 for horizontally transporting the goods 200 and cannot be exhaustively listed. The transportation part 322 created in the present invention is not limited to the above-mentioned specific structure.

在一實施例中,輔助裝置300還包括可移動的底座,底座設置於支撐架310底部。可移動的底座能夠帶動輔助裝置300移動,大大提高了輔助裝置300對實際工況的適應。這樣,輔助裝置300可以很容易的移動至裝貨位置、卸貨位置或者其他任意位置配合搬運機器人100工作。可選地,底座的結構與搬運機器人100的底盤160結構完全相同,在此不一一贅述。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.

參見圖1、圖6和圖8,在一實施例中,搬運系統還包括輸送裝置500以及設置於輔助裝置300與輸送裝置500之間的升降裝置400,升降裝置400沿豎直方向升降運動,以對接運輸機構320與輸送裝置500。升降裝置400可接取運輸機構320的貨物200,並移送至輸送裝置500;或者,升降裝置400可接取輸送裝置500的貨物200,並移送至運輸機構320。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 goods 200 of the transportation mechanism 320 and transfer them to the conveying device 500; or, the lifting device 400 may receive the goods 200 of the conveying device 500 and transfer them to the transportation mechanism 320.

升降裝置400用於接取運輸機構320的貨物200或者向運輸機構320運送貨物200。由於各運輸機構320沿豎直方向間隔佈置,為了方便輔助裝置300的裝貨以及卸貨,需要升降裝置400運動至對應位置的運輸機構320處進行相應的操作。輸送裝置500用於實現貨物200的輸送,可以將升降裝置400卸載的貨物200運走,也可以將待裝載的貨物200運輸至升降裝置400。可選地,輸送裝置500可以為傳送帶結構、流水線、傳送輥結構或輥筒結構等可實現水平運送的結構。示例性地,輸送裝置500為流水線結構,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,

具體的,卸貨時,升降裝置400上升到其中一側運輸機構320處,接取該運輸機構320的貨物200後,升降裝置400下降,並將貨物200移送至輸送裝置500上,由輸送裝置500送走。然後,升降裝置400再上升至另一運輸機構320處,如此往復,直至運輸機構320上的貨物200都被運走。裝貨時,升降裝置400下降並接取輸送裝置500輸送的貨物200後,升降裝置400上升到其中一側運輸機構320處,並將貨物200移送至該運輸機構320上;隨後,升降裝置400再下降至輸送裝置500處,如此往復,直至運輸機構320都裝載貨物200。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.

在一實施例中,升降裝置400包括沿豎直方向的升降框架410、設置於升降框架410的移動機構420以及至少一層設置於移動機構420的轉運機構430,移動機構420可沿升降框架410做升降運動,並帶動轉運機構430運動,以向運輸機構320接取或移送貨物200。升降框架410起承載作用,用於承載移動機構420以及轉運機構430。可選地,升降框架410的底部也可設置轉動輪,以適應不同的應用場合。轉運機構430用於承載貨物200,實現貨物200在高位置如運輸機構320與低位置如輸送裝置500之間的移送。移動機構420沿豎直方向設置於升降框架410,並可輸出豎直方向的運動,以帶動轉運機構430做升降運動。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.

可以理解的,移動機構420用於實現轉運機構430沿豎直方向的升降運動,移動機構420的具體結構可以為伸縮杆結構、鏈傳動結構或帶動傳動結構等等,還可以為其他能夠搬運機構150做升降運動的結構。示例性地,移動機構420的具體結構與搬運機器人100的升降機構140的結構相同,在此不一一贅述。當然,移動機構420的具體結構也可與搬運機器人100的升降機構140的結構相異,只要移動機構420可實現升降運動即可。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.

示例性地,轉運機構430的數量為一層,轉運機構430每次接取一個運輸機構320的貨物,或向一個運輸機構320輸送貨物。當然,在本新型創作的其他實施方式中,當轉運機構430為至少兩層時,至少兩層轉運機構430可以一次移走至少兩個運輸機構320的貨物,或向至少兩個運輸機構320輸送貨物,提高貨物周轉的效率。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 layers of the 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. Cargo, improve the efficiency of cargo turnover.

在一實施例中,轉運機構430包括設置於移動機構420的轉運座431以及可運動設置於轉運座431的轉運部432,轉運部432可帶動貨物200運動,且轉運部432可向至少一個運輸機構320接取或移送貨物200。轉運座431起承載作用,用於承載轉運部432,以將轉運部432安裝於移動機構420上。移動機構420做升降運動時,可通過轉運座431帶動轉運部432同步升降,進而實現貨物200的裝載與卸載。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.

可選地,轉運部432為傳送帶結構、流水線、傳送輥結構或輥筒結構等可實現水平運送的結構。示例性地,轉運部432為輥軸結構,具體包括多個輥軸,每個輥軸中內置滾動電機,以驅動輥軸轉動,進而實現貨物200的運送。需要說明的是,實現水平運送貨物200的結構多種多樣,不能窮舉,本新型創作的轉運部432不限於由上述具體結構實現。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.

轉運部432可以一次接取一個運輸機構320的貨物200,這一點在上文提及。轉運部432也可以一次接取多個運輸機構320的貨物200,移動機構420可以逐層接取運輸機構320的貨物200,接取完成後再一同輸送至輸送裝置500運走。示例性地,移動機構420帶動轉運部432上升到最頂部,轉運部432接取一個運輸機構320的貨物200後,下降一層在接取一個運輸機構320的貨物200,待轉運部432裝滿或者運輸機構320的貨物200接取完之後,移動機構420帶動轉運部432下降至輸送裝置500的位置,轉運部432將其上所有的貨物200移送至輸送裝置500。當然,移動機構420可以由下向上逐層運動,其原理與從上向下的原理實質相同,在此不一一贅述。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.

當然,轉運部432也可一次接取輸送裝置500移送的多個貨物200,然後逐層輸送至各個運輸機構320,其原理與上述的卸貨原理實質相同,在此不一一贅述。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.

在一實施例中,搬運系統還包括控制中心,搬運系統的各部分之間分別在控制中心的控制下協調執行動作,搬運系統的控制中心與外部的伺服器保持通訊連接。控制中心能夠識別待搬運貨物200的資訊,以及控制中心能夠獲取每個待搬運貨物200對應的裝貨位置與卸貨位置的資訊,控制中心根據所獲取的各項資訊協調控制各部分,進而高效的完成貨物200的搬運。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.

本實施例的的搬運機器人100及其搬運系統,卸貨時,儲存機構120的多個儲存元件121可以同步運動以實施同步卸貨動作,實現各儲存元件121中貨物200的同步卸出,使得搬運機器人100中的貨物200可以一次性卸下,提高卸貨效率,減少卸貨時間,以提升搬運機器人100的整體工作效率。並且,搬運機器人100配合輔助裝置300使用後,可以實現同時裝貨、卸貨,提高搬運系統的工作效率。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.

第二實施例Second embodiment

參見圖9和圖17,在本新型創作的第二實施例中,搬運機器人100還包括攔擋機構170,攔擋機構170具有攔擋位置與避讓位置,攔擋機構170處於攔擋位置時,攔擋機構170用於阻擋儲存元件121中貨物200的滑出,攔擋機構170處於避讓位置時,儲存元件121可移入或移出貨物200。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 for The cargo 200 in the storage element 121 is prevented from sliding out. When the blocking mechanism 170 is in the avoiding position, the storage element 121 can be moved in or out of the cargo 200.

可以理解的,儲存元件121上儲存待搬運的貨物200後,搬運機器人100從裝貨位置向卸貨位置運動的過程中,搬運機器人100會行走一端距離,儲存於儲存元件121中的貨物200會存在掉落風險。一旦儲存元件121中的貨物200掉落,一方面會損壞貨物200,造成經濟損失,另一方面,需要人工或者智慧揀貨裝置等將貨物200撿起,重新放置到儲存元件121中進行輸送,這樣會影響貨物200的搬運效率。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.

為此,本新型創作的搬運機器人100還包括攔擋機構170,通過攔擋機構170對儲存元件121中的貨物200進行阻擋。這樣可以避免儲存元件121中的貨物200滑出。具體的,攔擋機構170具有攔擋位置與避讓位置。當攔擋機構170處於避讓位置時,可以向儲存元件121中裝載貨物200,也可以從儲存元件121中取出貨物200。當攔擋機構170處於攔擋位置時,儲存元件121中的貨物200與攔擋機構170抵接,攔擋機構170可限制儲存元件121中的貨物200滑出,避免貨物200掉落。To this end, the handling robot 100 created by 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.

具體的,當搬運機器人100處於裝貨位置時,攔擋機構170處於避讓位置,此時,可以向儲存元件121中裝載貨物200;裝載完成後,攔擋機構170運動至攔擋位置,此時,攔擋機構170可與儲存元件121中的貨物200抵接,限制貨物200滑出儲存元件121;隨後,搬運機器人100可以在裝貨位置向卸貨位置運動,在此過程中攔擋機構170一直處於攔擋位置;當攔擋機構170處於卸貨位置後,攔擋機構170從攔擋位置運動至避讓位置,此時,儲存元件121中的貨物200可以被取出。並且,搬運機器人100如此往復運動。可以理解的,攔擋機構170可以在搬運機器人100移動的過程中就起攔擋作用無論儲存元件121中是否有貨物,也可以只在搬貨即儲存元件121有貨物時起攔擋作用。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.

上述實施例的搬運機器人100搬貨時,攔擋機構170運動至攔擋位置,攔擋機構170可與儲存元件121中的貨物200抵接,限制貨物200滑出儲存元件121,有效的解決目前搬貨時貨物容易滑出搬運機器人的貨架的問題,使得搬運機器人100在搬運過程中貨物200無法滑出儲存元件121,保證貨物200安全,避免出現滑出風險,提高搬運效率,而且,搬運機器人100裝卸貨時,攔擋機構170運動至避讓位置,此時,可以向各儲存元件121中裝載貨物200,也可以移出各儲存元件121中的貨物200,不會阻礙搬運機器人100的裝卸貨操作,便於使用。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.

在一實施例中,攔擋機構170可同時攔擋各儲存元件121中的貨物200。也就是說,攔擋機構170可以同時運動至攔擋位置,以對儲存元件121中的貨物200進行攔擋,攔擋機構170還可以同時運動至避讓位置,以使儲存元件121可以進行裝卸貨操作。當然,在本新型創作的其他實施方式中,攔擋機構170的數量為多個,每一攔擋機構170同時可攔擋至少兩個儲存元件121中的貨物200。可以理解的,可以一個攔擋機構170同時作用於所有儲存元件121的貨物200,也可以多個攔擋機構170作用於多個儲存元件121。示例性地,攔擋機構170的數量為兩個,其中一個攔擋機構170用於攔擋一層至三層的儲存元件121的貨物200,另一攔擋機構170用於四層至六層的儲存元件121的貨物200。當然,在本新型創作的其他實施方式中,攔擋機構170的數量還可更多。本新型創作僅以攔擋機構170同時攔擋所有儲存元件121的貨物200為例進行說明,多個攔擋機構170的工作原理與採用一個攔擋機構170的工作原理實質相同,在此不一一贅述。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 only takes the blocking mechanism 170 to block 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 one blocking mechanism 170, which will not be repeated here.

值得說明的是,攔擋機構170的設置位置原則上不受限制,可以可運動設置於立式框架110,也可以可運動設置於底盤160,還可以可運動設置於儲存元件121,只要保證攔擋機構170能夠運動至避讓位置或攔擋位置即可。本實施例中,僅以攔擋機構170可運動設置於底盤160為例進行說明,攔擋機構170設置於其他位置的工作原理與攔擋機構170可運動設置於底盤160的工作原理實質相同,在此不一一贅述。具體的,攔擋機構170相對於底盤160運動時,攔擋機構170可以運動至攔擋位置或避讓位置。當攔擋機構170可以運動至攔擋位置後,攔擋機構170可攔擋各儲存元件121中的貨物200;當攔擋機構170可以運動至避讓位置後,攔擋機構170不再阻擋儲存元件121,貨物200可以自由進出儲存元件121。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.

在一實施例中,儲存元件121具有背離立式框架110的裝卸貨端1215。貨物200從儲存元件121的裝卸貨端1215完成貨物200的裝卸。示例性地,如圖10所示,儲存元件121上遠離立式框架110的一端具有裝卸貨端1215,裝貨時,貨物200從裝卸貨端1215移入儲存元件121中,卸貨時,貨物200從裝卸貨端1215移出儲存元件121。可選地,裝卸貨端1215為儲存元件121的端部開口,或者其他能夠供貨物200進出的進出口。當然,在本新型創作的其他實施方式中,裝卸貨端1215也可以設置於儲存元件121上靠近立式框架110的一端。這樣也能夠實現貨物200在儲存元件121中的裝卸。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 can also be arranged on the storage element 121 at an end 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.

可選地,裝卸貨端1215與搬運機構150同側設置,裝卸貨端1215進行裝卸貨操作時,搬運機構150需要避開裝卸貨端1215,以避免搬運機構1215與裝卸貨裝置600發生干涉,保證裝卸貨可靠。此時,搬運機構150可以上升至搬運機器人100的最高位置,或者高於裝卸貨裝置600的位置,又或者移動至搬運機器人100的另一側。又可選地,裝卸貨端1215與搬運機構150異側設置。裝卸貨端1215的裝卸貨不會受到搬運機構150的影響,儲存元件121裝卸貨時,搬運機構150不會對裝卸貨裝置600產生干涉。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.

參見圖9和圖10,在一實施例中,攔擋機構170可移入裝卸貨端1215或移出裝卸貨端1215。也就是說,當攔擋機構170移入裝卸貨端1215時,攔擋機構170處於攔擋位置,此時,貨物200的端部與攔擋機構170抵接,攔擋機構170攔擋貨物200以限制貨物200從裝卸貨端1215滑出。當攔擋機構170移出裝卸貨端1215時,攔擋機構170處於避讓位置,此時,裝卸貨端1215無阻擋,可以經裝卸貨端1215向儲存元件121裝載貨物200,也可以經裝卸貨端1215卸載儲存元件121中的貨物200。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.

在一實施例中,攔擋機構170處於攔擋位置時,攔擋機構170與貨物200的側壁或底面抵接。也就是說,攔擋機構170的攔擋位置可以位於儲存元件121的底面或側面。當攔擋機構170移動至攔擋位置時,攔擋機構170可在側面或底面與儲存元件121中的貨物200抵接,此時,由於攔擋機構170的抵接力限制貨物200在儲存元件121中的移動,防止貨物200從儲存元件121中滑出。當攔擋機構170移動至避讓位置後,攔擋機構170脫離儲存元件121的貨物200的側面或底面,貨物200可以在儲存元件121中移動,實現儲存元件121的裝卸貨操作。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.

在一實施例中,攔擋機構170設置於儲存元件121的至少一側。可以理解的,攔擋機構170可以設置於儲存元件121的一側,如圖9和圖10所示,此時,攔擋機構170在攔擋位置可以攔擋儲存元件121中的貨物200。當然,在本新型創作的其他實施方式中,攔擋機構170也可以分別位於儲存元件121的兩側。這樣可以進一步攔擋儲存元件121中的貨物200。進一步,兩個攔擋機構170可以對稱佈置,也可以非對稱佈置,只要能夠攔擋儲存元件121中的貨物200即可。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.

示例性地,本實施例僅以攔擋機構170可移入裝卸貨端1215或移出裝卸貨端1215為例進行說明,並且,攔擋機構170設置於儲存元件121的一側,其他實施例所提及的不同佈局形式攔擋機構170的工作原理與本實施例的攔擋機構170的工作原理實質相同,在此不一一贅述。此時,攔擋機構170的攔擋位置位於裝卸貨端1215。當攔擋機構170運動至裝卸貨端1215後,攔擋機構170處於裝卸貨端1215中並正對貨物200,以攔擋貨物200。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.

在一實施例中,攔擋機構170包括可運動的攔擋連接件171以及多個分別與攔擋連接件171連接的攔擋元件172,至少一個攔擋元件172對應同一儲存元件121。攔擋連接件171可帶動各攔擋元件172移入裝卸貨端1215,以攔擋儲存元件121中的貨物200。攔擋連接件171起連接的作用,用於連接各個攔擋元件172。攔擋連接件171運動時,可以同步帶動多個攔擋元件172運動,使得攔擋元件172可以運動至對應的儲存元件121的裝卸貨端1215或移出儲存元件121的裝卸貨端1215。可選地,攔擋連接件171包括但不限於連杆或長板等等。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.

攔擋元件172起攔擋作用,用於實現貨物200的阻擋。當攔擋連接件171帶動攔擋元件172運動至攔擋位置後,攔擋元件172正好位於裝卸貨端1215中,此時,貨物200的端部正對攔擋元件172,攔擋元件172限制貨物200移出儲存元件121。當攔擋連接件171帶動攔擋元件172運動至避讓位置後,攔擋元件172脫離裝卸貨端1215,此時,貨物200的端部沒有物體進行阻攔,可以向儲存元件121裝貨或卸貨。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.

可以理解的,避讓位置可以位於攔擋元件172的外側,也可以位於儲存元件121的底部或與儲存元件121相平齊的位置。當避讓位置位於儲存元件121的底部時,只要攔擋元件172處於不影響下一層貨物200的移入或移出即可。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.

可選地,攔擋連接件171可以做升降運動,攔擋連接件171升降時可帶動各攔擋元件172同步升降,使得攔擋元件172位於裝卸貨端1215或移出裝卸貨端1215。此時,避讓位置可以位於儲存元件121的底部或與儲存元件121相平齊的位置。當然,攔擋連接件171也可以做水平運動,攔擋連接件171水平運動時可帶動各攔擋元件172同步水平移動,使得攔擋元件172位於裝卸貨端1215或移出裝卸貨端1215。此時,避讓位置可以位於攔擋元件172的外側。當然,攔擋連接件171還可以為其他形式的運動如旋轉運動、擺動運動、移動運動等中的一種或多種的組合,只要能夠實現攔擋元件172移入或移出裝卸貨端1215即可。示例性地,本新型創作僅以攔擋連接件171做升降運動位移進行說明。並且,避讓位置位於儲存元件121的底部或與儲存元件121相平齊的位置。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 creation of the present invention is only described by using the blocking connector 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.

在一實施例中,攔擋元件172包括阻擋件,阻擋件固定設置於攔擋連接件171,攔擋連接件171的移動可帶動阻擋件移入或移出裝卸貨端1215。本實施例中,阻擋件固定設置於攔擋連接件171上,攔擋連接件171的運動可直接帶動阻擋件運動,以使阻擋件運動至攔擋位置或避讓位置。比如,攔擋連接件171帶動阻擋件上升時,阻擋件可以運動至裝卸貨端1215,以對貨物200進行攔擋;攔擋連接件171帶動阻擋件下降時,阻擋件可以運動至避讓位置,以不再攔擋貨物200。可選地,阻擋件可以為擋板、擋塊、限位柱等能夠實現攔擋的部件。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.

參見圖9和圖10,在一實施例中,攔擋元件172包括擺動件1721以及攔擋件1722,擺動件1721的一端可轉動連接於攔擋連接件171,擺動件1721的另一端安裝攔擋件1722,擺動件1721的中部可轉動安裝於儲存元件121的裝卸貨端1215。攔擋連接件171升降時可帶動擺動件1721擺動,使擺動件1721帶動攔擋件1722移入或移出裝卸貨端1215。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.

也就是說,攔擋連接件171通過攔擋元件172的間接運動如擺動運動實現在攔擋位置與避讓位置之間的切換。具體的,攔擋連接件171運動時可帶動擺動件1721的一端運動,使得相對於儲存元件121擺動,進而擺動件1721的另一端可帶動攔擋件1722運動,使得攔擋件1722運動裝置避讓位置或攔擋位置。擺動件1721的頭部與攔擋連接件171可轉動連接,擺動件1721的中部可轉動連接至儲存元件121,擺動件1721的尾部與攔擋件1722連接。攔擋件1722可以運動至別讓位置或攔擋位置。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.

示例性地,攔擋連接件171沿豎直方向向上運動時,攔擋連接件171可通過擺動件1721帶動攔擋件1722運動至攔擋位置,攔擋連接件171沿豎直方向向下運動時,攔擋連接件171可通過擺動件1721帶動攔擋件1722運動至避讓位置。可選地,擺動件1721為擺動杆,攔擋件1722為攔擋杆。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.

需要說明的是,本新型創作的實質精神在於攔擋連接件171與各攔擋元件172運動,使得各攔擋元件172分別運動至對應儲存元件121的避讓位置或攔擋位置。上述兩個實施例中分別介紹攔擋元件172的兩種形式;並且,攔擋元件172的設置多種多樣,不能窮舉,本新型創作的聯動方式不限於由上述具體結構實現。It should be noted that the essential spirit of the creation of the present invention lies in the movement of the blocking connector 171 and each blocking element 172, 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 realization of the specific structure described above.

在一實施例中,攔擋機構170還包括攔擋驅動件,攔擋驅動件的輸出端與攔擋連接件171連接,以驅動攔擋元件172移入或移出裝卸貨端1215。攔擋驅動件為攔擋機構170運動的動力源,實現攔擋運動件運動的驅動。並且,攔擋驅動件輸出直線運動,以使得攔擋連接件171可做升降運動,進而攔擋連接件171可帶動攔擋元件172運動,使得攔擋元件172運動至避讓位置或攔擋位置。可選地,攔擋驅動件包括但不限於氣缸、液壓缸、直線電機或電動推杆,還可以為其他能夠輸出直線運動的直線驅動單元。示例性地,攔擋驅動件為直線電機。示例性地,攔擋驅動件的一端設置於底盤160。當然,在本新型創作的其他實施方式中,轉動電機配合凸起件進行驅動。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 piece to drive.

在一實施例中,儲存元件121的底部具有活動空間,活動空間用於供搬運系統的裝卸貨機構620移入,以向儲存元件121裝貨或者取貨。由於儲存元件121裝卸貨時不能運動,在裝卸貨時,需要其他部件如搬運機構150或裝卸貨裝置600的配合結構將貨物200移入儲存元件121或取出儲存元件121,這就需要儲存元件121的底部具有供搬運機構150以及輔助裝置300伸入的空間,以方便儲存元件121的裝卸貨。向儲存元件121裝貨時,搬運機構150或裝卸貨裝置600可伸入活動空間中將貨物200放置於儲存元件121上,再從活動空間中移出;從儲存元件121中卸貨時,搬運機構150或裝卸貨裝置600可伸入活動空間托住儲存元件121的貨物200,並帶動貨物200移出儲存元件121。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.

在一實施例中,儲存元件121包括設置於立式框架110的第一側板1213與第二側板1214,第一側板1213與第二側板1214相對設置並圍設成活動空間。第一側板1213和第二側板1214設置於立式框架110的同一高度,並且第一側板1213和第二側板1214平行設置。這樣,第一側板1213和第二側板1214可以分別用於托住貨物200的兩側底部,並保證貨物200平整,避免偏斜。第一側板1213與第二側板1214之間的部分為缺口,即為上述的活動空間,其允許搬運機構150或裝卸貨裝置600伸入以進行裝卸貨操作。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.

當然,在本新型創作的其他實施方式中,儲存元件121包括用於承載貨物200的托體,托體沿貨物200進出方向具有活動空間,且活動空間沿貨物200進出方向的尺寸小於托體沿貨物200進出方向的尺寸。也就是說,此時的活動空間為托體的開口。通過托體承載貨物200,並且托體的活動空間也可允許搬運機構150或裝卸貨裝置600伸入以進行裝卸貨操作。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. The dimensions of the cargo 200 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.

參見圖9和圖11,本新型創作的第二實施例還提供一種搬運系統,包括裝卸貨裝置600以及上述實施例中的搬運機器人100。裝卸貨裝置600用於向搬運機器人100輸送貨物200或者將搬運機器人100上的貨物200卸下,裝卸貨裝置600包括沿豎直方向延伸的立架610以及多個沿豎直方向間隔設置於立架610的裝卸貨機構620,多個裝卸貨機構620間隔設置的方式與多個儲存元件121間隔設置的方式相同。當搬運機器人100對接裝卸貨裝置600後,多個裝卸貨機構620能夠分別在不同高度上向各儲存元件121輸送貨物200或者將各儲存元件121中的貨物200卸下。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.

裝卸貨裝置600可以實現貨物200的同步卸載或同步裝載。裝卸貨裝置600設置於卸貨位置或裝貨位置。當裝卸貨裝置600卸貨時,裝卸貨裝置600位於卸貨位置;當裝卸貨裝置600裝貨時,裝卸貨裝置600位於裝貨位置。本新型創作僅以裝卸貨裝置600位於卸貨位置為例進行說明。裝卸貨裝置600位於卸貨位置,搬運機器人100在裝貨位置裝貨完成後,搬運機器人100運動至卸貨位置,此時,搬運機器人100與裝卸貨裝置600對接,裝卸貨裝置600可以接取搬運機器人100中各儲存元件121的貨物200。當然,此位置處也可實現貨物200的逆向輸送,即搬運機器人100與裝卸貨裝置600對接後,裝卸貨裝置600可以將貨物200移送至各儲存元件121中。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 invention of 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 at the unloading position. After the loading and unloading is completed by the handling robot 100 at the loading position, the handling robot 100 moves to the unloading position. At this time, the handling robot 100 is docked with the loading and unloading device 600, and the loading and unloading device 600 can receive the handling 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.

具體的,立架610起支撐作用,用於支撐用於運輸貨物200的各個裝卸貨機構620。裝卸貨裝置600具有與儲存元件121數量相同的裝卸貨機構620。多個裝卸貨機構620能夠分別在不同高度上向搬運機器人100輸送貨物200或者將搬運機器人100上的貨物200卸下,大大縮短了搬運機器人100在裝卸貨過程中的等待時間。並且,裝卸貨機構620所處的高度與對應儲存元件121所處的高度相一致。當搬運機器人100與裝卸貨裝置600對接後,儲存元件121與裝卸貨機構620處於同一水平高度,多個裝卸貨機構620能夠實現一次性向搬運機器人100上的全部儲存元件121輸送貨物200,或者多個裝卸貨機構620能夠實現一次性將搬運機器人100上全部儲存元件121中的貨物200取下。當然在具體的工況中,也可以是裝卸貨裝置600中的一個或者幾個裝卸貨機構620同時實現向搬運機器人100輸送貨物200或者將搬運機器人100上的貨物200卸下。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.

每個裝卸貨機構620能夠單獨動作以實現向搬運機器人100輸送貨物200或者將搬運機器人100上的貨物200卸下。參見圖10至圖13,在一實施例中,裝卸貨機構620包括托架621、裝卸元件622和裝卸驅動件623,多個托架621沿豎直方向間隔設置於立架610,裝卸驅動件623和裝卸元件622分別設置於對應的托架621,裝卸元件622與裝卸驅動件623連接,裝卸元件622用於向儲存元件121輸送貨物200或者將儲存元件121中的貨物200卸下。裝卸驅動件623能夠允許對應的裝卸元件622單獨執行向搬運機器人100輸送貨物200或者將搬運機器人100上的貨物200卸下。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.

進一步地,如圖10至圖13所示,裝卸元件622包括鏈條6221和凸塊6222,鏈條6221沿裝卸貨方向轉動設置於托架621,凸塊6222固定設置於鏈條6221。裝卸驅動件623包括驅動電機,驅動電機與鏈條6221傳動連接;鏈條6221能夠承載貨物200,驅動電機驅動鏈條6221轉動時,凸塊6222推動貨物200底部以將貨物200推至搬運機器人100,或者凸塊6222拉動貨物200底部以將貨物200從搬運機器人100拉至鏈條6221,或者凸塊6222擋住貨物200底部,搬運機器人100遠離裝卸貨裝置600時貨物200轉移至鏈條6221。具體的,鏈條6221設置於沿裝卸貨方向間隔設置的兩個鏈輪上,驅動電機的輸出軸與其中一個鏈輪傳動連接,驅動電機轉動時驅動鏈條6221運行,進而凸塊6222推動貨物200底部以將貨物200推至搬運機器人100,或者凸塊6222拉動貨物200底部以將貨物200從搬運機器人100拉至鏈條6221。更進一步的,裝卸貨機構620包括兩套裝卸元件622,兩套裝卸元件622平行、間隔設置於托架621,驅動電機與兩條鏈條6221傳動連接。兩套裝卸元件622能夠增加貨物200裝卸過程中的平穩性。在本新型創作一個實施例中,如圖13所示,裝卸貨機構620還包括同步杆624,兩條鏈條6221分別與同步杆624傳動連接,驅動電機與一條鏈條6221傳動連接。具體的,同步杆624沿與裝卸貨方向垂直的水平方向連接兩個間隔設置的鏈輪,進而保證兩條鏈條6221同步轉動。可以理解的,上述實施例中的鏈條6221只是起到傳動和承載貨物的作用,在本新型創作其他的實施例中,使用皮帶、同步帶等替換鏈條。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 serves to drive and carry goods. In other embodiments of the present invention, belts, timing belts, etc. are used to replace the chains.

在另一實施例中,如圖10、圖11、圖14和圖15所示,每個裝卸貨機構620包括裝卸橫臂625和推拉元件626,多個裝卸橫臂625的一端沿豎直方向間隔設置於立架610,推拉元件626轉動設置於對應裝卸橫臂625的另一端。推拉元件626轉動時具有推拉位置和避開位置,推拉元件626轉動至推拉位置時向搬運機器人100輸送貨物200或者將搬運機器人100上的貨物200拉下。推拉元件626轉動至避開位置時,推拉元件626避讓貨物200。可以理解的,推拉元件626推拉貨物200時可以是推拉貨物200的頂部、中部或者底部。在本新型創作一實施例中,立架610的同一水平方向上間隔設置兩個裝卸元件620,同一水平方向上的兩個推拉元件626分別轉動至推拉位置或避開位置。同一水平方向上的兩個推拉元件626沿裝卸貨方向分別驅動貨物200的兩側。推拉元件626同步推拉貨物200的兩側,能夠有效保證貨物200推拉過程的穩定性。進一步,同一水平方向上的兩個推拉元件626沿裝卸貨方向同步推/拉貨物200的中部兩側。可以理解的,同一水平方向上的兩個推拉元件626,同步轉動至推拉位置或避開位置,或者先後轉動至推拉位置或避開位置。在本新型創作其他的實施例中,立架610的同一高度方向上僅設置一個裝卸貨機構620,裝卸貨機構620推拉貨物200時推拉貨物200的頂部或者底部。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.

作為一種可實現的方式,如圖14和圖15所示,推拉元件626包括推拉杆6261以及推拉電機6262,推拉電機6262設置於裝卸橫臂625遠離立架610的一端,推拉杆6261設置於推拉電機6262的輸出軸,推拉電機6262驅動推拉杆6261轉動至推拉位置或者避讓位置。兩個推拉杆6261能夠分別在推拉電機6262的驅動下轉動至推拉位置,進而將貨物200從搬運機器人100拉出或者推動貨物200至搬運機器人100。可以理解的,推拉電機6262的作用是驅動推拉杆6261轉動,推拉杆6261直接設置於推拉電機6262的輸出軸,或者推拉杆6261通過傳動機構與推拉電機6262的輸出軸連接,只要能實現推拉電機6262驅動推拉杆6261轉動至推拉位置或者避讓位置即可。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.

在一實施例中,裝卸貨裝置600中的全部裝卸貨機構620同步動作以實現在不同高度上向搬運機器人100輸送貨物200或者將搬運機器人100上的貨物200卸下,或者裝卸貨裝置600中的部分裝卸貨機構620單獨動作以實現在指定高度上向搬運機器人100輸送貨物200或者將搬運機器人100上的貨物200卸下。如圖16和圖17所示,作為一種可實現的方式,裝卸貨裝置600還包括調節驅動機構630,調節驅動機構630帶動立架610沿裝卸貨方向靠近或者遠離搬運機器人100,調節驅動機構630帶動立架610靠近或遠離搬運機器人100時,裝卸貨機構620向搬運機器人100輸送貨物200或者將搬運機器人100上的貨物200卸下。本實施例提供的裝卸貨裝置600能夠一次性將搬運機器人100上的所有貨物200或指定的貨物200取下,或者同步向搬運機器人100輸送多個貨物200。作為一種可實現的方式,調節驅動機構630採用電機及皮帶形式的驅動結構。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.

在本新型創作一實施例中,裝卸貨裝置600還包括暫存貨架640,立架610沿水平方向活動設置於暫存貨架640,調節驅動機構630驅動立架610相對於暫存貨架640沿水平方向移動。暫存貨架640包括沿豎直方向的多層貨架,裝卸貨機構620將搬運機器人100上不同高度的貨物200拉至暫存貨架640上對應的各層貨架,或者裝卸貨機構620將各層貨架上的貨物200推至搬運機器人100。暫存貨架640能夠暫時儲存裝卸貨裝置600從搬運機器人100上卸下的貨物200,或者暫時儲存向搬運機器人100上輸送的待搬運貨物200。作為一種可實現的方式,暫存貨架640包括沿豎直方向設置的多層暫存輥筒641,每層暫存輥筒641能夠沿裝卸貨方向單獨運輸貨物200。可選的,每層暫存輥筒641能夠同時承載多個貨物200。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, and the adjusting drive mechanism 630 drives the vertical rack 610 horizontally relative to the temporary storage rack 640. Move in direction. 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.

在一實施例中,裝卸貨裝置600還包括可移動的底座,底座設置於立架610底部。裝卸貨裝置600還包括可移動的底座,底座設置於立架610底部。可移動的底座能夠帶動裝卸貨裝置600移動,大大提高了裝卸貨裝置600對實際工況的適應。這樣,裝卸貨裝置600可以很容易的移動至裝貨位置、卸貨位置或者其他任意位置配合搬運機器人100工作。可選地,底座的結構與搬運機器人100的底盤160結構完全相同,在此不一一贅述。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 also 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, which will not be repeated here.

參見圖9和圖11,在一實施例中,搬運系統還包括輸送裝置500以及設置於裝卸貨裝置600與輸送裝置500之間的升降裝置400,升降裝置400沿豎直方向升降運動,以對接裝卸貨機構620與輸送裝置500。升降裝置400可接取裝卸貨機構620的貨物200,並移送至輸送裝置500;或者,升降裝置400可接取輸送裝置500的貨物200,並移送至裝卸貨機構620。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.

升降裝置400用於接取裝卸貨機構620的貨物200或者向裝卸貨機構620運送貨物200。由於各裝卸貨機構620沿豎直方向間隔佈置,為了方便裝卸貨裝置600的裝貨以及卸貨,需要升降裝置400運動至對應位置的裝卸貨機構620處進行相應的操作。輸送裝置500用於實現貨物200的輸送,可以將升降裝置400卸載的貨物200運走,也可以將待裝載的貨物200運輸至升降裝置400。可選地,輸送裝置500可以為傳送帶結構、流水線、傳送輥結構或輥筒結構等可實現水平運送的結構。示例性地,輸送裝置500為流水線結構。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.

具體的,卸貨時,升降裝置400上升到其中一側裝卸貨機構620處,接取該裝卸貨機構620的貨物200後,升降裝置400下降,並將貨物200移送至輸送裝置500上,由輸送裝置500送走。然後,升降裝置400再上升至另一裝卸貨機構620處,如此往復,直至裝卸貨機構620上的貨物200都被運走。裝貨時,升降裝置400下降並接取輸送裝置500輸送的貨物200後,升降裝置400上升到其中一側裝卸貨機構620處,並將貨物200移送至該裝卸貨機構620上;隨後,升降裝置400再下降至輸送裝置500處,如此往復,直至裝卸貨機構620都裝載貨物200。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.

在一實施例中,升降裝置400包括沿豎直方向的升降框架410、設置於升降框架410的移動機構420以及至少一層設置於移動機構420的轉運機構430,移動機構420可沿升降框架410做升降運動,並帶動轉運機構430運動,以向裝卸貨機構620接取或移送貨物200。升降框架410起承載作用,用於承載移動機構420以及轉運機構430。可選地,升降框架410的底部也可設置轉動輪,以適應不同的應用場合。轉運機構430用於承載貨物200,實現貨物200在高位置如裝卸貨機構620與低位置如輸送裝置500之間的移送。移動機構420沿豎直方向設置於升降框架410,並可輸出豎直方向的運動,以帶動轉運機構430做升降運動。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.

可以理解的,移動機構420用於實現轉運機構430沿豎直方向的升降運動,移動機構420的具體結構可以為伸縮杆結構、鏈傳動結構或帶動傳動結構等等,還可以為其他能夠搬運機構150做升降運動的結構。示例性地,移動機構420的具體結構與搬運機器人100的升降機構140的結構相同,在此不一一贅述。當然,移動機構420的具體結構也可與搬運機器人100的升降機構140的結構相異,只要移動機構420可實現升降運動即可。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.

示例性地,轉運機構430的數量為一層,轉運機構430每次接取一個裝卸貨機構620的貨物200,或向一個裝卸貨機構620輸送貨物200。當然,在本新型創作的其他實施方式中,當轉運機構430為至少兩層時,至少兩層轉運機構430可以一次移走至少兩個裝卸貨機構620的貨物200,或向至少兩個裝卸貨機構620輸送貨物200,提高貨物200周轉的效率。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 layer transfer mechanism 430 can remove the goods 200 of at least two loading and unloading mechanisms 620 at a time, or load and unload the goods to at least two. The mechanism 620 transports the goods 200 and improves the efficiency of the turnover of the goods 200.

在一實施例中,轉運機構430包括設置於移動機構420的轉運座431以及可運動設置於轉運座431的轉運部432,轉運部432可帶動貨物200運動,且轉運部432可向至少一個裝卸貨機構620接取或移送貨物200。轉運座431起承載作用,用於承載轉運部432,以將轉運部432安裝於移動機構420上。移動機構420做升降運動時,可通過轉運座431帶動轉運部432同步升降,進而實現貨物200的裝載與卸載。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.

可選地,轉運部432為傳送帶結構、流水線、傳送輥結構或輥筒結構等可實現水平運送的結構。示例性地,轉運部432為輥軸結構,具體包括多個輥軸,每個輥軸中內置滾動電機,以驅動輥軸轉動,進而實現貨物200的運送。需要說明的是,實現水平運送貨物200的結構多種多樣,不能窮舉,本新型創作的轉運部432不限於由上述具體結構實現。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.

轉運部432可以一次接取一個裝卸貨機構620的貨物200,這一點在上文提及。轉運部432也可以一次接取多個裝卸貨機構620的貨物200,移動機構420可以逐層接取裝卸貨機構620的貨物200,接取完成後再一同輸送至輸送裝置500運走。示例性地,移動機構420帶動轉運部432上升到最頂部,轉運部432接取一個裝卸貨機構620的貨物200後,下降一層在接取一個裝卸貨機構620的貨物200,待轉運部432裝滿或者裝卸貨機構620的貨物200接取完之後,移動機構420帶動轉運部432下降至輸送裝置500的位置,轉運部432將其上所有的貨物200移送至輸送裝置500。當然,移動機構420可以由下向上逐層運動,其原理與從上向下的原理實質相同,在此不一一贅述。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.

當然,轉運部432也可一次接取輸送裝置500移送的多個貨物200,然後逐層輸送至各個裝卸貨機構620,其原理與上述的卸貨原理實質相同,在此不一一贅述。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.

在一實施例中,搬運系統還包括控制中心,搬運系統的各部分之間分別在控制中心的控制下協調執行動作,搬運系統的控制中心與外部的伺服器保持通訊連接。控制中心能夠識別待搬運貨物200的資訊,以及控制中心能夠獲取每個待搬運貨物200對應的裝貨位置與卸貨位置的資訊,控制中心根據所獲取的各項資訊協調控制各部分,進而高效的完成貨物200的搬運。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.

本實施例中的搬運機器人100及其搬運系統,搬貨時,攔擋機構170運動至攔擋位置,攔擋機構170可與儲存元件121中的貨物200抵接,限制貨物200滑出儲存元件121,使得搬運機器人100在搬運過程中貨物200無法滑出儲存元件121,保證貨物200安全,避免出現滑出風險,提高搬運效率,而且,搬運機器人100裝卸貨時,攔擋機構170運動至避讓位置,此時,可以向各儲存元件121中裝載貨物200,也可以移出各儲存元件121中的貨物200,不會阻礙搬運機器人100的裝卸貨操作,便於使用。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.

基於上述兩個實施例的搬運機器人100,本新型創作還提供一種搬運機器人100的搬運方法,適用於上述兩個實施例中的搬運機器人100,所述搬運方法包括如下步驟:控制器接收第一裝卸貨指令;所述控制器控制所述搬運機器人100根據所述第一裝卸貨指令運動至第一裝卸貨位置;若所述控制器確認所述第一裝卸貨位置為裝貨位置,所述控制器控制搬運機構150移送貨物200至儲存機構120的儲存元件121中;若所述控制器確認所述第一裝卸貨位置為卸貨位置,所述控制器控制所述搬運機器人100在所述卸貨位置卸貨。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 instructions; the controller controls the handling robot 100 to move to the first loading and unloading position according to the first loading and unloading instructions; if the controller confirms that the first loading and unloading position is the loading position, the 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 unload the goods in the unloading position. Position unloading.

搬運機器人100的各部分之間分別在控制器的控制下協調執行動作,搬運機器人100的控制器與搬運系統的控制中心或者外部伺服器等保持通訊連接。搬運機器人100能夠識別待搬運貨物200的資訊,以及搬運機器人100能夠獲取每個待搬運貨物200對應的裝貨位置與卸貨位置的資訊,搬運機器人100根據所獲取的各項資訊協調控制各部分,進而高效的完成貨物200的搬運。可選地,控制器包括但不限於CPU,還可為其他能夠實現控制的部件。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.

當需要進行裝卸貨時,控制器接收到第一裝卸貨指令,進而控制器根據第一裝卸貨指令控制搬運機器人100運動,使得搬運機器人100在第一裝卸貨位置運動。第一裝卸貨位置包括裝貨位置以及卸貨位置,定義裝貨位置為貨架所在的位置,卸貨位置為運輸機構320或裝卸貨機構620所在的位置。可以理解的,裝貨位置與卸貨位置可以互換,也就是說,搬運機器人100可以在卸貨位置裝貨,在裝貨位置卸貨。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.

通常,搬運機器人100可以在裝貨位置由搬運機構150裝貨,在卸貨位置由運輸機構320或裝卸貨機構620進行卸貨。當控制器根據第一裝卸貨指令控制搬運機器人100運動至裝貨位置後,控制器可以控制升降機構140驅動搬運機構150做升降運動,使得搬運機構150可以在貨架上取貨,然後,升降機構140再帶動搬運機構150做升降運動,以將搬運機構150中的貨物200移送到儲存元件121中,實現貨物200的裝載。如此往復,直至各儲存元件121均儲存貨物200。當控制器根據第一卸貨指令運動從裝貨位置運動至卸貨位置後,控制器控制運輸機構320或裝卸貨機構620接取儲存元件121中的貨物200,實現貨物200的卸載。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.

當然,裝卸貨過程也可以逆著進行,即搬運機器人100在卸貨位置由運輸機構320或裝卸貨機構620在卸貨位置裝貨,在裝貨位置由搬運機構150卸貨。當控制器根據第一裝卸貨指令控制搬運機器人100運動至卸貨位置後,控制器控制運輸機構320或裝卸貨機構620將其上的貨物200移送至對應的儲存元件121中,實現貨物200的裝載。當搬運機器人100裝滿貨物200後,控制器根據第一卸貨指令運動從卸貨位置運動至裝貨位置,控制器可以控制升降機構140驅動搬運機構150做升降運動,使得搬運機構150可以在儲存元件121中取貨,然後,升降機構140再帶動搬運機構150做升降運動,以將搬運機構150中的貨物200移走。如此往復,直至各儲存元件121的貨物200均被取走,實現貨物200的卸載。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.

值得說明的是,控制器控制搬運機器人100運動至第一裝卸貨位置後,需要判斷第一裝卸貨位置是裝貨位置還是卸貨位置。比如,當搬運機器人100中沒有貨物200時,搬運機器人100運動至第一裝卸貨位置後,若第一裝卸貨位置為裝貨位置,此時搬運機構150向儲存元件121中裝貨;當搬運機器人100中有貨物200時,搬運機器人100運動至第一裝卸貨位置後,若第一裝卸貨位置為卸貨位置,此時,通過運輸機構320或裝卸貨機構620卸貨。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.

上述實施例的搬運方法可以實現貨物200的自動搬運,有效的解決目前搬運方式存在成本高、效率低的問題,降低了貨物200裝卸成本的同時大大提高了貨物200裝卸的效率。同時搬運機構150在升降機構140的帶動下運動至不同的高度,進而能夠將待搬運的貨物200投遞至儲存機構120中不同高度的儲存元件121中,通用性強且減小了占地面積。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.

在一實施例中,所述搬運機器人100卸貨時,多個所述儲存元件121可同步運動實施同步卸貨動作,所述第一裝卸貨指令包括第一卸貨指令;所述控制器控制所述搬運機器人100在所述卸貨位置卸貨的步驟包括:所述控制器接收第一卸貨指令,所述控制器根據所述第一卸貨指令控制至少兩個所述儲存元件121同時卸貨。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.

當搬運機器人100為第一實施例中的搬運機器人100時,搬運機器人100中的各儲存元件121可以實現同步卸貨。具體的,當控制器接收的第一裝卸貨指令為第一卸貨指令時,控制器根據第一卸貨指令控制搬運機器人100從裝貨位置運動至卸貨位置。此時的卸貨位置對應搬運系統的輔助裝置300。並且,各個儲存元件121分別對接各個運輸機構320。控制器控制至少兩個儲存元件121同時卸貨時,對應儲存元件121的至少兩個運輸機構320可以接取儲存元件121中移出的貨物200,完成搬運機器人100的卸貨操作。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.

在一實施例中,所述搬運機器人100裝貨時,多個所述儲存元件121可同步運動實施同步裝貨動作,所述第一裝卸貨指令包括第一裝貨指令;所述控制器控制所述搬運機器人100在所述裝貨位置裝貨的步驟包括:所述控制器接收第一裝貨指令,所述控制器根據所述第一裝貨指令控制輔助裝置300向至少兩個所述儲存元件121同時裝貨。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.

當搬運機器人100為第一實施例中的搬運機器人100時,搬運機器人100中的各儲存元件121可以實現同步裝貨。當搬運機器人100需要裝貨,並且,該裝貨操作由輔助裝置300實現。具體的,當控制器接收的第一裝卸貨指令為第一裝貨指令時,控制器根據第一裝貨指令控制搬運機器人100從卸貨位置運動至裝貨位置。此時的裝貨位置與上述實施例中的裝貨位置相反,卸貨位置與上述實施例中的卸貨位置相反。此時的裝貨位置對應搬運系統的輔助裝置300。並且,各個儲存元件121分別對接各個運輸機構320。控制器控制輔助裝置300的各運輸機構320向對應位置的儲存元件121中移入貨物,實現各儲存元件121的同步裝貨,完成搬運機器人100的裝貨操作。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.

在一實施例中,所述搬運機器人100包括與所述控制器電連接的聯動機構130,所述控制器根據所述第一卸貨指令控制至少兩個所述儲存元件121同時卸貨的步驟包括:所述控制器根據所述第一卸貨指令控制所述聯動機構130帶動至少兩個儲存元件121同時運動。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.

控制器與聯動機構130電連接,進一步地與聯動機構130的聯動驅動件132電連接。控制器可以控制聯動驅動件132運動,以使得聯動機構130可以帶動至少兩個儲存元件121同步運動執行卸貨動作。可以理解的,當控制器接收第一卸貨指令後,當搬運機器人100的儲存元件121與輔助裝置300的運輸機構320對接後,控制器通過控制聯動驅動件132控制聯動機構130帶動至少兩個儲存元件121同步抬起,使得儲存元件121中的貨物200從儲存元件121中滑出,並移動至對應的運輸機構320中,完成搬運機器人100的卸貨操作。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.

在一實施例中,所述搬運機器人100還包括與所述控制器電連接的攔擋機構170,所述攔擋機構170具有攔擋位置與避讓位置,所述第一裝卸貨指令包括第一卸貨指令;所述控制器控制所述搬運機器人100在所述卸貨位置卸貨還包括:所述控制器接收所述第一卸貨指令,所述控制器根據所述第一卸貨指令控制所述攔擋機構170移動至避讓位置,使所述儲存元件121處於可卸貨狀態。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 the controller controls the blocking mechanism 170 to move to the first unloading instruction according to the first unloading instruction. In the avoiding position, the storage element 121 is in an unloadable state.

當搬運機器人100為第二實施例中的搬運機器人100時,搬運機器人100可以對儲存元件121中的貨物200進行阻攔,避免搬運機器人100運送貨物200過程中貨物200滑出儲存元件121,以起到保護儲存元件121中貨物200的作用,避免貨物200被損壞。具體的,本新型創作的搬運機器人100在搬運過程中通過攔擋機構170處於攔擋位置對儲存元件121中的貨物200進行阻擋,當需要卸貨時,攔擋機構170從攔擋位置移動至避讓位置,此時,裝卸貨裝置600可以對儲存元件121進行卸貨操作。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 created by 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. , The loading and unloading device 600 can perform unloading operations on the storage element 121.

由於第二實施例中已經對攔擋機構170的結構及其工作原理進行詳細說明,在此不一一贅述,本處僅從控制方法角度進行說明。具體的,控制器接收第一卸貨指令後,控制器根據第一卸貨指令控制搬運機器人100運動至卸貨位置。隨後,控制器控制攔擋機構170從攔擋位置移動至避讓位置,攔擋機構170不再阻擋儲存元件121中的貨物200,儲存元件121中的貨物200可以移出,處於可卸貨狀態,並具體通過裝卸貨裝置600的裝卸貨機構620實現。具體的,搬運機器人100處於卸貨位置,此時的搬運機器人100靠近裝卸貨裝置600,各個儲存元件121分別對接裝卸貨機構620。隨後,控制器控制攔擋機構170從攔擋位置移動至避讓位置,攔擋機構170不再阻擋儲存元件121中的貨物200,裝卸貨機構620可以伸入儲存元件121中,接取並移走儲存元件121中的貨物200,實現搬運機器人100的卸貨操作。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.

在一實施例中,所述搬運機器人100還包括與所述控制器電連接的攔擋機構170,所述攔擋機構170具有攔擋位置與避讓位置,所述第一裝卸貨指令包括第一裝貨指令;所述搬運方法還包括如下步驟:所述控制器接收所述第一裝貨指令,所述控制器根據所述第一裝貨指令控制所述攔擋機構170移動至避讓位置,使所述儲存元件121處於可裝貨狀態。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.

當搬運機器人100為第二實施例中的搬運機器人100時,搬運機器人100可以對儲存元件121中的貨物200進行阻攔,避免搬運機器人100運送貨物200過程中貨物200滑出儲存元件121,以起到保護儲存元件121中貨物200的作用,避免貨物200被損壞。具體的,本新型創作的搬運機器人100在裝貨過程中,攔擋機構170從攔擋位置移動至避讓位置,此時,裝卸貨機構620可以對儲存元件121進行裝貨操作。具體的,將待搬運的貨物200放置於裝卸貨機構620上,然後,攔擋機構170從攔擋位置移動至避讓位置,以使裝卸貨機構620可以伸入儲存元件121中,隨後,裝卸貨機構620將貨物200放置於儲存元件121後,從儲存元件121中移出。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 created by 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.

在一實施例中,所述攔擋機構170包括多個攔擋元件172,多個所述攔擋元件172分別對應多個所述儲存元件121,所述控制器根據所述第一卸貨指令控制所述攔擋機構170移動至避讓位置的步驟包括如下步驟:所述控制器根據所述第一卸貨指令控制指定位置的所述攔擋元件172移動至對應的避讓位置,使指定位置的所述儲存元件121處於可卸貨狀態;或者,所述控制器根據所述第一卸貨指令控制多個所述攔擋元件172分別移入對應的避讓位置,使至少兩個所述儲存元件121處於可卸貨狀態。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.

控制器與攔擋機構170電連接,進一步地與攔擋機構170的攔擋驅動件電連接。控制器可以控制攔擋驅動件運動,進而使得攔擋機構170中至少一個攔擋元件172運動。可以理解的,控制器控制攔擋機構170中指定的一個或者多個攔擋元件172運動時,指定的攔擋元件172所對應的儲存元件121處的攔擋元件172從攔擋位置移動至避讓位置,以使指定的一個或多個攔擋元件172對應的儲存元件121處於可卸貨狀態,此時,裝卸貨機構620可以接取指定的一個或多個攔擋元件172對應的儲存元件121中的貨物200。當然,控制器也可控制攔擋機構170中所有攔擋元件172從攔擋位置移動至避讓位置,以使各儲存元件121處於可卸貨狀態,此時,裝卸貨機構620可以接取對應的儲存元件121中的貨物200。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.

在一實施例中,所述儲存元件121具有用於裝卸貨物200的裝卸貨端1215,所述搬運方法還包括如下步驟:所述控制器接收所述第一卸貨指令後,所述控制器控制所述搬運機構150避讓所述裝卸貨端1215。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.

也就是說,控制器接收第一卸貨指令後,控制器控制搬運機構150運動至指定位置,以使搬運機構150遠離裝卸貨端,以避讓運輸機構320或裝卸貨機構620對貨物200的裝載或卸載。可以理解的,裝卸貨端1215為貨物200裝卸的開口,其具體形式上文已經提及,在此不一一贅述。當採用運輸機構320或裝卸貨機構620進行卸貨時,搬運機構150需要避讓運輸機構320或裝卸貨機構620以避免產生干涉,具體的,控制器可以控制搬運機構150運動至指定位置。這裡的指定位置可以是搬運機器人100的最頂端或高於運輸機構320、裝卸貨機構620的位置,也可以是異於裝卸貨端1215的位置。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 transport mechanism 320 or the loading and unloading mechanism 620 is used for unloading, the transport mechanism 150 needs to avoid the transport 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 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.

具體的,當裝卸貨端1215與搬運機構150同側設置時,控制器可以控制搬運機構150上升至搬運機器人100的最頂端,也可以控制搬運機構150上升至高於運輸機構320或裝卸貨機構620的位置,還可以運動至立式框架110的另一側,以使裝卸貨端1215與搬運機構150相背離設置。這樣就可以使搬運機構150遠離裝卸貨端1215,避免搬運機構150與裝卸貨端1215處的運輸機構320或裝卸貨機構620發生干涉。當裝卸貨端1215與搬運機構150異側設置時,搬運機構150不會阻擋裝卸貨端1215,此時搬運機構150可以運動至指定位置,也可以不運動,只要不影響裝卸貨即可。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.

在一實施例中,所述儲存元件121具有用於裝卸貨物200的裝卸貨端1215,所述搬運方法還包括如下步驟: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:

所述控制器接收所述第一裝貨指令後,所述控制器控制所述搬運機構150避讓所述裝卸貨端1215。After the controller receives the first loading instruction, the controller controls the handling mechanism 150 to avoid the loading and unloading end 1215.

可以理解的,無論是從裝卸貨端1215裝貨還是卸貨,控制器都需要控制搬運機構150避讓裝卸貨端1215,以避免搬運機構150與裝卸貨端1215處的運輸機構320或裝卸貨機構620發生干涉。其避讓原理與上述實施例相同,在此不一一贅述。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.

以上所述實施例的各技術特徵可以進行任意的組合,為使描述簡潔,未對上述實施例中的各個技術特徵所有可能的組合都進行描述,然而,只要這些技術特徵的組合不存在矛盾,都應當認為是本說明書的記載範圍。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.

以上所述實施例僅表達了本新型創作的幾種實施方式,其描述較為具體和詳細,但並不能因此而理解為對本新型創作專利範圍的限制。應當指出的是,對於所屬領域中具通常知識者來說,在不脫離本新型創作構思的前提下,還可以做出若干變形和改進,這些都屬於本新型創作的保護範圍。因此,本新型創作專利的保護範圍應以所附請求項為准。The above-mentioned embodiments only express several implementations of the invention, and the description is more specific and detailed, but it should not be understood as a limitation on the patent scope of the invention. It should be pointed out that for those with ordinary knowledge in the field, without departing from the creative concept of the present invention, a number of modifications and improvements can be made, all of which belong to the protection scope of the present invention. Therefore, the scope of protection of the new creation patent shall be subject to the attached claims.

100:搬運機器人 110:立式框架 120:儲存機構 121:儲存元件 130:聯動機構 131:聯動連接件 132:聯動驅動件 140:升降機構 150:搬運機構 151:周轉件 152:取放件 160:底盤 161:盤架 162:轉動輪 170:攔擋機構 171:攔擋連接件 172:攔擋組件 200:貨物 300:輔助裝置 310:支撐架 320:運輸機構 321:安裝架 322:運輸部 400:升降裝置 410:升降框架 420:移動機構 430:轉運機構 431:轉運座 432:轉運部 500:輸送裝置 600:裝卸貨裝置 610:立架 620:裝卸貨機構 621:托架 622:裝卸組件 623:裝卸驅動件 624:同步杆 625:裝卸橫臂 626:推拉組件 630:調節驅動機構 640:暫存貨架 641:暫存輥筒 1211:托體 1212:滾動件 1213:第一側板 1214:第二側板 1215:裝卸貨端 1721:擺動件 1722:攔擋件 6221:鏈條 6222:凸塊 6261:推拉杆 6262:推拉電機 A:部分 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 component 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 components 630: Adjust the 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

圖1為本新型創作第一實施例的搬運機器人從一角度看的立體圖。 圖2為圖1所示的搬運機器人從另一角度看的立體圖。 圖3為圖1所示的搬運機器人在部分A處的局部示意圖。 圖4為圖1所示的搬運機器人去掉底座、立式框架以及升降機構的立體圖。 圖5為圖2所示的儲存元件的立體圖。 圖6為具體圖1所示搬運機器人的搬運系統的立體圖。 圖7為圖6所示的搬運系統中輔助裝置的立體圖。 圖8為圖6所示的搬運系統中升降裝置的立體圖。 圖9為本新型創作第二實施例的搬運機器人的立體圖。 圖10為圖9所示的搬運機器人的局部放大圖。 圖11為圖10所示的搬運機器人應用於搬運系統的立體圖。 圖12為圖11所示的搬運系統中一實施方式的裝卸貨裝置的立體圖。 圖13為圖12所示的裝卸貨裝置的局部示意圖。 圖14為圖11所示的搬運系統中另一實施方式的裝卸貨裝置的立體圖。 圖15為圖14所示的裝卸貨裝置的局部示意圖。 圖16為本新型創作再一實施方式提供的裝卸貨裝置的立體圖。 圖17為圖14所示的裝卸貨裝置與搬運機器人配合的立體圖。 Fig. 1 is a perspective view of the handling robot of the first embodiment of the new creation from one angle. Fig. 2 is a perspective view of the transfer robot shown in Fig. 1 viewed from another angle. Fig. 3 is a partial schematic diagram of the handling robot shown in Fig. 1 at part A. Fig. 4 is a perspective view of the transport robot shown in Fig. 1 with the base, the vertical frame, and the lifting mechanism removed. Fig. 5 is a perspective view of the storage element shown in Fig. 2. Fig. 6 is a perspective view of the conveying system of the conveying robot shown in Fig. 1 in detail. Fig. 7 is a perspective view of the auxiliary device in the transport system shown in Fig. 6. Fig. 8 is a perspective view of the lifting device in the transport system shown in Fig. 6. Fig. 9 is a perspective view of the handling robot according to the second embodiment of the new creation. Fig. 10 is a partial enlarged view of the transfer robot shown in Fig. 9. Fig. 11 is a perspective view of the conveying robot shown in Fig. 10 applied to a conveying system. Fig. 12 is a perspective view of a loading and unloading device according to an embodiment of the conveying system shown in Fig. 11. Fig. 13 is a partial schematic diagram of the loading and unloading device shown in Fig. 12. Fig. 14 is a perspective view of another embodiment of the loading and unloading device in the conveying system shown in Fig. 11. Fig. 15 is a partial schematic diagram of the loading and unloading device shown in Fig. 14. Figure 16 is a perspective view of a loading and unloading device provided by another embodiment of the new creation. Fig. 17 is a perspective view of the cooperation between the loading and unloading device shown in Fig. 14 and the handling robot.

100:搬運機器人 100: Handling robot

110:立式框架 110: vertical frame

120:儲存機構 120: storage organization

121:儲存元件 121: storage components

131:聯動連接件 131: Linkage connector

150:搬運機構 150: handling mechanism

151:周轉件 151: Turnover

152:取放件 152: Pick and place

160:底盤 160: Chassis

161:盤架 161: Disc Shelf

162:轉動輪 162: Rotating Wheel

200:貨物 200: Cargo

A:部分 A: Part

Claims (19)

一種搬運機器人,包括:可在地面移動的底盤;立式框架,沿豎直方向設置,並位於所述底盤;升降機構,設置於所述立式框架,並可相對於所述立式框架沿豎直方向升降;儲存機構,包括多個用於儲存待搬運的貨物的儲存元件,多個所述儲存元件沿豎直方向間隔設置於所述立式框架;用於搬運貨物的搬運機構,所述搬運機構沿豎直方向活動設置於所述立式框架,並與所述升降機構連接,所述搬運機構可在所述升降機構的帶動下沿豎直方向升降,以將所述搬運機構中的貨物投遞至對應的所述儲存元件;以及控制器,與所述底盤、所述升降機構以及所述搬運機構電連接,用於控制所述所述底盤、所述升降機構以及所述搬運機構單獨執行動作或聯合執行動作。 A handling robot includes: a chassis that can move on the ground; a vertical frame, which is arranged in a vertical direction and is located on the chassis; a lifting mechanism, which is arranged on the vertical frame and can be relatively Vertical lifting; 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; a transport mechanism for transporting goods, so 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 move The goods are delivered to the corresponding storage element; and a controller, which is electrically connected to the chassis, the lifting mechanism, and the handling mechanism, for controlling the chassis, the lifting mechanism, and the handling mechanism Perform actions individually or jointly. 根據請求項1所述的搬運機器人,其中所述搬運機器人卸貨時,多個所述儲存元件可同步運動實施同步卸貨動作。 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. 根據請求項2所述的搬運機器人,其中所述搬運機器人還包括至少一聯動機構,每一所述聯動機構與至少兩個所述儲存元件連接,用於驅動各所述儲存元件相對於所述立式框架同步運動,實施同步卸貨動作;所述聯動機構包括同時連接至少兩個所述儲存元件的聯動連 接件,所述聯動連接件可同步帶動各所述儲存元件同步俯仰運動;所述聯動機構還包括聯動驅動件,所述聯動驅動件與所述聯動連接件配合以驅動各所述儲存元件實施同步卸貨動作;所述聯動驅動件的輸出端與其中一個所述儲存元件連接,或者,所述聯動驅動件的輸出端與所述聯動連接件連接。 The handling robot according to claim 2, wherein 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 storage element relative to the The vertical frame moves synchronously to implement synchronous unloading; the linkage mechanism includes a linkage linkage that connects at least two storage elements at the same time The linkage connecting piece can synchronously drive each of the storage elements to synchronize the pitching movement; the linkage mechanism also includes a linkage driving piece that cooperates with the linkage connecting piece to drive each of the storage elements to implement Synchronous unloading action; the output end of the linkage drive is connected with one of the storage elements, or the output end of the linkage drive is connected with the linkage connection. 根據請求項1至請求項3中任一項所述的搬運機器人,其中所述儲存元件包括用於承載貨物的托體,所述托體分別可轉動連接所述聯動連接件與所述立式框架;所述儲存元件還包括可滾動設置於所述托體的滾動件,所述滾動件可滾動地與所述托體中的貨物接觸。 The handling robot according to any one of claim 1 to claim 3, wherein the storage element includes a support body for carrying goods, and the support body is respectively rotatably connected to the linkage connecting piece and the vertical The frame; the storage element also includes a rolling element that can be rollably arranged on the carrier, and the rolling element is rollably in contact with the goods in the carrier. 根據請求項1所述的搬運機器人,其中所述搬運機器人還包括攔擋機構,所述攔擋機構具有攔擋位置與避讓位置,所述攔擋機構處於所述攔擋位置時,所述攔擋機構用於阻擋所述儲存元件中貨物的滑出,所述攔擋機構處於所述避讓位置時,所述儲存元件可移入或移出貨物;所述攔擋機構可同時攔擋各所述儲存元件中的貨物;所述攔擋機構的數量為多個,每一所述攔擋機構同時可攔擋至少兩個所述儲存元件中的貨物;所述攔擋機構設置於所述儲存元件的至少一側。 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; the blocking mechanism can block the goods in each of the storage elements at the same time; the blocking mechanism The number is multiple, and each blocking mechanism can block at least two goods in the storage element at the same time; the blocking mechanism is arranged on at least one side of the storage element. 根據請求項5所述的搬運機器人,其中所述儲存元件具有背離所述立式框架的裝卸貨端,所述攔擋機構可移入所述裝卸貨端或移出所述裝卸貨端; 所述攔擋機構處於所述攔擋位置時,所述攔擋機構與貨物的側壁或底面抵接。 The handling robot according to claim 5, wherein the storage element has a loading and unloading end away from the vertical frame, and the blocking mechanism can be moved into or out of the loading and unloading end; When the blocking mechanism is in the blocking position, the blocking mechanism abuts against the side wall or bottom surface of the cargo. 根據請求項5或請求項6所述的搬運機器人,其中所述攔擋機構包括可運動的攔擋連接件以及多個分別與所述攔擋連接件連接的攔擋元件,至少一個所述攔擋元件對應同一所述儲存元件;所述攔擋連接件可帶動各所述攔擋元件移入所述裝卸貨端,以攔擋所述儲存元件中的貨物。 The handling robot according to claim 5 or claim 6, 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 The storage element; the blocking connector can drive each of the blocking elements to move into the loading and unloading end to block the goods in the storage element. 根據請求項7所述的搬運機器人,其中所述攔擋元件包括阻擋件,所述阻擋件固定設置於所述攔擋連接件,所述攔擋連接件的移動可帶動所述阻擋件移入或移出所述裝卸貨端;或者,所述攔擋元件包括擺動件以及攔擋件,所述擺動件的一端可轉動連接於所述攔擋連接件,所述擺動件的另一端安裝所述攔擋件,所述擺動件的中部可轉動安裝於所述儲存元件的所述裝卸貨端;所述攔擋連接件升降時可帶動所述擺動件擺動,使所述擺動件帶動所述攔擋件移入或移出所述裝卸貨端;或者,所述攔擋機構還包括攔擋驅動件,所述攔擋驅動件的輸出端與所述攔擋連接件連接,以驅動所述攔擋元件移入或移出所述裝卸貨端。 The handling robot according to claim 7, wherein 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 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 storage element can be rotatably installed at 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 further includes a blocking drive, and the output end of the blocking drive is connected to the blocking connection to drive the blocking element to move in or out of the loading and unloading end. 根據請求項5或請求項6所述的搬運機器人,其中所述儲存元件的底部具有活動空間,所述活動空間用於供搬運系統的裝卸貨機構伸入,以向所述儲存元件裝貨或者取貨; 所述儲存元件包括設置於所述立式框架的第一側板與第二側板,所述第一側板與所述第二側板相對設置並圍設成所述活動空間。 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 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 oppositely and enclose the activity space. 根據請求項1、請求項2或請求項5所述的搬運機器人,其中所述搬運機器人還包括旋轉機構,所述旋轉機構設置於所述搬運機構與所述升降機構之間,用於驅動所述搬運機構相對於所述升降機構旋轉,以使所述搬運機構對準對應的所述儲存元件或貨架;或者,所述搬運機構包括周轉件以及可伸縮設置於所述周轉件的取放件,所述取放件可取出貨物並儲存於所述周轉件,所述取放件還可將所述周轉件中的貨物推出。 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 to align the conveying mechanism with the corresponding storage element or shelf; or, the conveying mechanism includes a revolving member and a pick-and-place member that is telescopically arranged on the revolving member The pick-and-place piece can take out goods and store them in the turnover piece, and the pick-and-place piece can also push out the goods in the turnover piece. 一種搬運系統,包括控制中心以及如請求項1至請求項10中任一項所述的搬運機器人,所述控制中心與所述搬運機器人的控制器傳輸連接,控制所述搬運機器人運動。 A handling system includes a control center and the handling robot according to any one of claim 1 to claim 10, wherein the control center is in transmission connection with a controller of the handling robot to control the movement of the handling robot. 根據請求項11所述的搬運系統,其中所述搬運系統還包括輔助裝置;所述輔助裝置包括支撐架以及多個沿豎直方向間隔設置於所述支撐架的運輸機構,多個所述運輸機構間隔設置的方式與所述搬運機器人的多個儲存元件間隔設置的方式相同;當所述搬運機器人運動至所述輔助裝置處,多個所述儲存元件上的貨物可以同時移送至對應的所述運輸機構,實現同步卸貨;或者,多個所述運輸機構上的貨物可以同時移送至對應的所述儲存元件,實現同步裝貨; 所述運輸機構包括設置於所述支撐架的安裝架以及可運動設置於所述安裝架的運輸部,所述運輸部可帶動貨物運動。 The transportation system according to claim 11, wherein the transportation system further includes an auxiliary device; the auxiliary device includes a support frame and a plurality of transportation mechanisms arranged on the support frame at intervals in the vertical direction, and a plurality of the transportation mechanisms The mechanism is set at intervals in the same manner as 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 locations. The transportation mechanism realizes synchronous unloading; or, the goods on multiple transportation mechanisms can be transferred to the corresponding storage element at the same time to realize synchronous loading; 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. 根據請求項11所述的搬運系統,其中所述搬運系統還包括裝卸貨裝置,所述裝卸貨裝置用於向所述搬運機器人輸送貨物或者將所述搬運機器人上的貨物卸下,所述裝卸貨裝置包括沿豎直方向延伸的立架以及多個沿豎直方向間隔設置於所述立架的裝卸貨機構,多個所述裝卸貨機構間隔設置的方式與所述搬運機器人的多個儲存元件間隔設置的方式相同;當所述搬運機器人對接所述裝卸貨裝置後,多個所述裝卸貨機構能夠分別在不同高度上向各所述儲存元件輸送貨物或者將各所述儲存元件中的貨物卸下;所述裝卸貨機構包括托架、裝卸元件和裝卸驅動件,多個所述托架沿豎直方向間隔設置於所述立架,所述裝卸驅動件和所述裝卸元件分別設置於對應的所述托架,所述裝卸元件與所述裝卸驅動件連接,所述裝卸元件用於向所述儲存元件輸送貨物或者將所述儲存元件中的貨物卸下。 The handling system according to claim 11, 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 stand extending in the vertical direction and a plurality of loading and unloading mechanisms arranged on the stand at intervals in the vertical direction. The components are arranged at intervals in the same manner; when the handling robot is docked with the loading and unloading device, a plurality of the loading and unloading mechanisms can respectively transport goods to each of the storage elements at different heights or transfer the goods in each of the storage elements. Cargo unloading; 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 at intervals in the vertical direction on the stand, the loading and unloading drive member and the loading and unloading element are respectively provided For the corresponding bracket, the loading and unloading element is connected with the loading and unloading drive member, and the loading and unloading element is used for conveying goods to the storage element or unloading the goods in the storage element. 根據請求項13所述的搬運系統,其中所述裝卸元件包括鏈條和凸塊,所述鏈條沿裝卸貨方向轉動設置於所述托架,所述凸塊固定設置於所述鏈條;所述裝卸驅動件包括驅動電機,所述驅動電機與所述鏈條傳動連接;所述鏈條能夠承載貨物,所述鏈條轉動時,所述凸塊推動貨物底部以將貨物推至所述搬運機器人,或者所述凸塊拉動貨物底部以將貨物從所述搬運機器人拉 至所述鏈條;所述裝卸貨機構包括兩套所述裝卸元件,兩套所述裝卸元件平行、間隔設置於所述托架,所述驅動電機與兩條所述鏈條傳動連接;所述裝卸貨機構還包括同步杆,兩條所述鏈條分別與所述同步杆傳動連接,所述驅動電機與一條所述鏈條傳動連接。 The handling system according to claim 13, wherein the loading and unloading element includes a chain and a bump, the chain is rotatably disposed on the bracket in a loading and unloading direction, and the bump is fixedly disposed on the chain; the loading and unloading The driving component includes a driving motor, which is connected to the chain in transmission; the chain can carry goods, and when the chain rotates, the bump pushes the bottom of the goods to push the goods to the handling robot, or The bump pulls the bottom of the cargo to pull the cargo from the handling robot To the chain; the loading and unloading mechanism includes two sets of the loading and unloading elements, the two sets of the loading and unloading elements are arranged in the bracket in parallel and spaced apart, and the drive motor is connected to the two chains in transmission; the loading and unloading The cargo mechanism also includes a synchronization rod, the two chains are respectively connected in transmission with the synchronization rod, and the drive motor is in transmission connection with one of the chains. 根據請求項13所述的搬運系統,其中所述裝卸貨裝置還包括調節驅動機構,所述調節驅動機構帶動所述立架沿裝卸貨方向靠近或者遠離所述搬運機器人,所述調節驅動機構帶動所述立架靠近或遠離所述搬運機器人時,所述裝卸貨機構向所述搬運機器人輸送貨物或者將所述搬運機器人上的貨物卸下。 The handling system according to claim 13, wherein the loading and unloading device further includes an adjustment drive mechanism, the adjustment drive mechanism drives the stand to move closer to or away from the handling robot in the loading and unloading direction, and the adjustment drive mechanism drives When the stand is close to or far from the handling robot, the loading and unloading mechanism transports goods to the handling robot or unloads the goods on the handling robot. 根據請求項15所述的搬運系統,其中每個所述裝卸貨機構包括裝卸橫臂和推拉元件,多個所述裝卸橫臂的一端沿豎直方向間隔設置於所述立架,所述推拉元件轉動設置於對應所述裝卸橫臂的另一端;所述推拉元件轉動時具有推拉位置和避讓位置,所述推拉元件轉動至所述推拉位置時向所述搬運機器人輸送貨物或者將所述搬運機器人上的貨物拉下;所述推拉元件轉動至所述避讓位置時,所述推拉元件避讓貨物;所述立架的同一水平方向上間隔設置兩個所述裝卸元件,同一水平方向上的兩個所述推拉元件同步轉動至所述推拉位置或所述避讓位置;同一水平方向上的兩個所述推拉元件沿裝卸貨方向同步驅動貨物的兩側; 所述推拉元件包括推拉杆以及推拉電機,所述推拉電機設置於所述裝卸橫臂遠離所述立架的一端,所述推拉杆設置於所述推拉電機的輸出軸,所述推拉電機驅動所述推拉杆轉動至所述推拉位置或者所述避讓位置。 The handling system according to claim 15, wherein each of the loading and unloading mechanisms includes a loading and unloading cross arm and a push-pull element, and one ends of a plurality of the loading and unloading cross arms are arranged on the stand at intervals in a vertical direction, and the push-pull The component is rotated at the other end corresponding to the loading and unloading cross arm; when the push-pull element rotates, it has a push-pull position and a retreat position. The goods on the robot are pulled down; when the push-pull element rotates to the avoiding position, the push-pull element avoids the goods; the two loading and unloading elements are spaced apart in the same horizontal direction of the stand, and two in the same horizontal direction The two push-pull elements synchronously rotate to the push-pull position or the avoiding position; the two push-pull elements in the same horizontal direction synchronously drive both sides of the cargo in the loading and unloading direction; The push-pull element includes a push-pull rod and a push-pull motor. The push-pull motor is arranged at an end of the loading and unloading cross arm away from the stand. The push-pull rod is arranged on the output shaft of the push-pull motor. The push-pull rod rotates to the push-pull position or the avoiding position. 根據請求項16所述的搬運系統,其中所述裝卸貨裝置還包括暫存貨架,所述立架沿水平方向活動設置於所述暫存貨架,所述調節驅動機構驅動所述立架相對於所述暫存貨架沿水平方向移動;所述暫存貨架包括沿豎直方向的多層貨架,所述裝卸貨機構將所述搬運機器人上不同高度的貨物拉至所述暫存貨架上對應的各層貨架,或者所述裝卸貨機構將各層貨架上的貨物推至所述搬運機器人;所述暫存貨架包括沿豎直方向設置的多層暫存輥筒,每層所述暫存輥筒能夠沿裝卸貨方向單獨運輸貨物。 The handling system according to claim 16, wherein the loading and unloading device further includes a temporary storage rack, the stand is movably arranged on the temporary storage rack in a horizontal direction, and the adjustment drive mechanism drives the stand relative to The temporary storage rack moves in a horizontal direction; the temporary storage rack includes a vertical multi-layer rack, and the loading and unloading mechanism pulls goods of different heights on the handling robot to the corresponding layers on the temporary storage rack Shelves, or the loading and unloading mechanism pushes the goods on each shelf to the handling robot; the temporary storage shelves include multiple layers of temporary storage rollers arranged in a vertical direction, and each layer of the temporary storage rollers can be loaded and unloaded along The cargo direction is transported separately. 根據請求項11至請求項17中任一項所述的搬運系統,其中所述搬運系統還包括輸送裝置以及升降裝置;所述升降裝置設置於所述輔助裝置與所述輸送裝置之間,所述升降裝置沿豎直方向升降運動,以對接所述運輸機構與所述輸送裝置;所述升降裝置可接取所述運輸機構的貨物,並移送至所述輸送裝置,或者,所述升降裝置可接取所述輸送裝置的貨物,並移送至所述運輸機構;或者,所述升降裝置設置於所述裝卸貨裝置與所述輸送裝置之間,所述升降裝置沿豎直方向升降運動,以對接所述裝卸貨機構與所述輸送裝置,所述升降裝置可接取所 述裝卸貨機構的貨物,並移送至所述輸送裝置;或者,所述升降裝置可接取所述輸送裝置的貨物,並移送至所述裝卸貨機構。 The conveying system according to any one of claim 11 to claim 17, wherein 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, so 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 in the goods of the transport mechanism and transfer it to the conveying device, or the lifting device The goods of the conveying device can be received and transferred 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 dock the loading and unloading mechanism with the conveying device, the lifting device can access all The goods of the loading and unloading mechanism are transferred to the conveying device; or, the lifting device can receive the goods of the conveying device and transfer them to the loading and unloading mechanism. 根據請求項18所述的搬運系統,其中所述升降裝置包括沿豎直方向的升降框架、設置於所述升降框架的移動機構以及至少一層設置於所述移動機構的轉運機構,所述移動機構可沿所述升降框架做升降運動,並帶動所述轉運機構運動,以向所述運輸機構接取或移送貨物,或者,向所述裝卸貨機構接取或移送貨物;所述轉運機構包括設置於所述移動機構的轉運座以及可運動設置於所述轉運座的轉運部,所述轉運部可帶動貨物運動,且所述轉運部可向至少一個所述運輸機構接取或移送貨物,或者,所述轉運部可向至少一個所述裝卸貨機構接取或移送貨物。 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; the transfer mechanism includes a set A transfer seat on the moving mechanism and a transfer part movably arranged on the transfer seat, the transfer part can drive the movement of the goods, and the transfer part can receive or transfer the goods to at least one of the transport mechanisms, or , The transfer part can receive or transfer goods to at least one of the loading and unloading mechanisms.
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114194688A (en) * 2021-12-27 2022-03-18 安徽驿星智能物流装备制造有限公司 Stabilizing mean for storage lifting machine
CN114516525A (en) * 2022-03-18 2022-05-20 湖南傲派自动化设备有限公司 Automatic carton feeding system
TWI807606B (en) * 2021-01-21 2023-07-01 大陸商北京極智嘉科技股份有限公司 A container handing system and a robot

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EP4119470A4 (en) * 2020-03-09 2023-12-20 Hai Robotics Co., Ltd. Carrying robot, system and method, and loading and unloading device, system and method of the carrying robot
CN218618448U (en) * 2022-11-15 2023-03-14 深圳市海柔创新科技有限公司 Discharging equipment and logistics system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI807606B (en) * 2021-01-21 2023-07-01 大陸商北京極智嘉科技股份有限公司 A container handing system and a robot
CN114194688A (en) * 2021-12-27 2022-03-18 安徽驿星智能物流装备制造有限公司 Stabilizing mean for storage lifting machine
CN114194688B (en) * 2021-12-27 2023-06-27 安徽驿星智能物流装备制造有限公司 Stabilizing mechanism for storage hoister
CN114516525A (en) * 2022-03-18 2022-05-20 湖南傲派自动化设备有限公司 Automatic carton feeding system

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