WO2018129738A1 - 一种搬运货箱的机器人 - Google Patents

一种搬运货箱的机器人 Download PDF

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Publication number
WO2018129738A1
WO2018129738A1 PCT/CN2017/071280 CN2017071280W WO2018129738A1 WO 2018129738 A1 WO2018129738 A1 WO 2018129738A1 CN 2017071280 W CN2017071280 W CN 2017071280W WO 2018129738 A1 WO2018129738 A1 WO 2018129738A1
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WO
WIPO (PCT)
Prior art keywords
container
robot
sensor
unit
transporting
Prior art date
Application number
PCT/CN2017/071280
Other languages
English (en)
French (fr)
Inventor
吴伟峰
陶熠昆
郑洪波
朱玲芬
Original Assignee
浙江国自机器人技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 浙江国自机器人技术有限公司 filed Critical 浙江国自机器人技术有限公司
Priority to US16/466,382 priority Critical patent/US11370107B2/en
Priority to EP17891876.9A priority patent/EP3569523A4/en
Priority to JP2019529624A priority patent/JP6855025B2/ja
Priority to SG11201906596SA priority patent/SG11201906596SA/en
Priority to PCT/CN2017/071280 priority patent/WO2018129738A1/zh
Publication of WO2018129738A1 publication Critical patent/WO2018129738A1/zh
Priority to JP2021031759A priority patent/JP7190518B2/ja
Priority to US17/850,347 priority patent/US20220324095A1/en
Priority to US18/374,049 priority patent/US20240017395A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"

Definitions

  • the invention relates to the field of logistics and warehousing, in particular to a robot for transporting containers.
  • the handling robot is a kind of equipment used in the field of automatic material handling. It has many advantages such as high automation, flexible application, safety and reliability, high efficiency and convenient maintenance. It is widely used in automobile manufacturing, food industry, tobacco industry, engineering. Logistics and transportation sites such as the machinery industry have also made achievements in various public service places such as airports, hospitals, and office buildings. These advantages also make the handling robot a key device in the modern logistics system and become one of the important members of the 'machine substitution' program.
  • the robot that transports the container can transport a variety of goods in a single unit, improving the handling efficiency of the handling robot.
  • the technical problem to be solved by the present invention is how to improve the handling efficiency of the handling robot. Since the container is handled, the volume and weight are much smaller than the shelf, so the single cassette can carry multiple containers. A single container stores at least one type of cargo, so a single can carry a variety of goods.
  • the present invention provides a robot for transporting a container, comprising a drive unit, a container storage unit and a container transfer unit, wherein the drive unit carries the common movement of the container storage unit and the container transfer unit
  • the container storage unit includes one or more container storage spaces; the container transfer unit is configured to transport the container between the container storage space and the shelf.
  • the drive unit includes a chassis frame and a drive wheel configured to drive the robot to move or stop.
  • the motion includes advancement, retreat, turn, and in-situ rotation.
  • the drive wheels are two or more.
  • the container storage unit includes a support rail, a pallet and a reinforcing rib, wherein the support rail, the pallet and the reinforcing rib are connected to each other to form one or more container storage spaces.
  • the pallet is configured to separate the storage space.
  • the container transport unit includes a lifting device, a rotating device and a telescopic device, wherein one end of the lifting device is connected to the support rail, and can slide up and down along the vertical direction of the support rail, and the other end passes the rotating device Connected to the telescopic device.
  • the telescopic device is a tines.
  • the container storage space and the container have a machine readable code
  • the container transfer unit further includes a positioning sensor and a posture sensor.
  • the machine readable code is a barcode or a two-dimensional code or a character string or an RFID.
  • the positioning sensor is configured to detect a position of the container, the positioning sensor being a visual sensor or a radio frequency sensor.
  • the pose sensor is configured to detect a pose of the container on the container transport unit, the pose sensor being a visual sensor or a radio frequency sensor.
  • the pallet is a full-surface plate or has a hollow or partition.
  • the robot for moving a container The process of moving the cargo box to the cargo box storage unit is as follows: the transport robot moves the cargo box transport unit to the designated position by the lifting device, and simultaneously rotates the telescopic tines to a specified angle by the rotating device, and extends the telescopic tines to the desired transporting goods. Below the box, the container is lifted by the lifting device, retracted into the container by the telescopic fork, and then the telescopic fork and the container are rotated to another specified angle by the rotating device, and then the container is moved to the tray by the telescopic tines. Above the board, lower the container by the lifting device, place it on the pallet, and finally retract the telescopic fork. Therefore, the robot for transporting the container of the present invention can transport a plurality of goods at a glance, and has high work efficiency and low energy consumption.
  • Figure 1 is a perspective view of a handling robot in accordance with a preferred embodiment of the present invention.
  • Figure 2 is a perspective view of a container transport unit in accordance with a preferred embodiment of the present invention.
  • Figure 3 is a perspective view of a handling robot in accordance with another preferred embodiment of the present invention.
  • container transfer unit 31, mounting frame; 32, lifting device; 33, telescopic tines; 34, rotating device; 35, position sensor; 36, positioning sensor;
  • the component can be placed directly on the other component; there can also be an intermediate component that is placed on the intermediate component, And the intermediate component is placed on another component.
  • a component is described as 'mounted to' or 'connected to' another component, it can be understood as either directly 'installing' or 'connecting', or a component is indirectly 'installed' or connected through an intermediate component. To 'another component.
  • a robot for transporting a container includes a drive unit 1, a container storage unit 2, and a container transfer unit 3.
  • the drive unit 1 is configured to drive the cargo box storage unit 2 and the cargo box transport unit 3 mounted thereon to move together on the ground;
  • the container transfer unit 3 is mounted on the side of the container storage unit 2 for transporting the container 4 into or transporting the shipping box storage unit 2 to a designated position.
  • the driving unit 1 includes a chassis frame 11 and a driving wheel 12, wherein the driving wheels 12 are two and symmetrically mounted on both sides of the chassis frame 11. By the rotation of the drive wheel 12, the robot can advance, retreat, turn, and rotate in place.
  • the container storage unit 2 includes a support rail 21, a pallet 22, and a rib 23.
  • the support rails 21 are located above the driving unit 1, are connected to each other by the pallet 22 and the reinforcing ribs 23, and the pallets 22 are used for stacking the cargo boxes.
  • the container storage unit 2 can store a plurality of containers.
  • the pallets 22 are spaced apart.
  • the container transport unit 3 includes a frame 31, a lifting device 32, telescopic tines 33, and a rotating device 34.
  • One end of the lifting device 31 is connected to the support rail 21, and can slide up and down along the vertical direction of the support rail 21, and the other end is connected to the telescopic tines 33 by the rotating device 34.
  • the telescopic tines 33 are rotatable along the z-axis by the rotating device 34.
  • the telescopic tines 33 can be extended or retracted in the x direction. If the rotating device 34 drives the telescopic tines 33 to rotate, the telescopic forks 33 also rotate in the direction of expansion and contraction.
  • the container transport unit 3 further includes a pose sensor 35 for identifying the position of the cargo box above the telescopic tines 33, and a positioning sensor 36 for detecting the position of the cargo box.
  • the pose sensor 35 may be a visual sensor or other sensor that can acquire pose information.
  • the positioning sensor 36 can be a visual sensor or other sensor that can acquire pose information.
  • a flow of the robot carrying the cargo box 4 to the cargo box storage unit 2 for transporting the cargo box is as follows: the robot moves the cargo box transport unit 3 to the designated position by the lifting device 32 while rotating the telescopic tines 33 to the designated by the rotating device 34.
  • the telescopic tines 33 are extended below the required transport container 4, the cargo box 4 is lifted by the lifting device 32, the cargo box 4 is retracted by the telescopic tines 33, and the telescopic tines 33 are rotated by the rotating device 34, The cargo box 4 is rotated to another specified angle, and then the cargo box 4 is moved over the pallet 22 by the telescopic tines 33, and then the cargo box 4 is lowered by the lifting device 32, placed on the pallet 22, and finally the telescopic fork is placed.
  • the teeth 33 are retracted.
  • a robot for transporting a container includes a drive unit 1, a container storage unit 2, and a container transfer unit 3.
  • the drive unit 1 is configured to drive the cargo box storage unit 2 and the cargo box transport unit 3 mounted thereon to move together on the ground;
  • the container transfer unit 3 is mounted on the side of the container storage unit 2 for transporting the container 4 into or transporting the shipping box storage unit 2 to a designated position.
  • the driving unit 1 includes a chassis frame 11 and a driving wheel 12, wherein the driving wheels 12 are two and symmetrically mounted on both sides of the chassis frame 11. By the rotation of the drive wheel 12, the robot can advance, retreat, turn, and rotate in place.
  • the container storage unit 2 includes a support rail 21, a pallet 22, and a rib 23.
  • the support rails 21 are located above the driving unit 1, are connected to each other by the pallet 22 and the reinforcing ribs 23, and the pallets 22 are used for stacking the cargo boxes.
  • the container storage unit 2 can store a plurality of containers.
  • the pallet 22 is a flat plate that connects the support rails 21 on both sides.
  • the container transport unit 3 includes a frame 31, a lifting device 32, telescopic tines 33, and a rotating device 34.
  • One end of the lifting device 31 is connected to the support rail 21, and can slide up and down along the vertical direction of the support rail 21, and the other end is connected to the telescopic tines 33 by the rotating device 34.
  • the telescopic tines 33 are rotatable along the z-axis by the rotating device 34.
  • the telescopic tines 33 can be extended or retracted in the x direction. If the rotating device 34 drives the telescopic tines 33 to rotate, the telescopic forks 33 will also rotate in the direction of expansion and contraction.
  • the container transport unit 3 further includes a pose sensor 35 for identifying the position of the cargo box above the telescopic tines 33, and a positioning sensor 36 for detecting the position of the cargo box.
  • the pose sensor 35 can be a visual sensor or other sensor that can acquire pose information, such as a radio frequency sensor.
  • the positioning sensor 36 can be a visual sensor or other sensor that can acquire pose information, such as a radio frequency sensor.
  • a flow of the robot carrying the cargo box 4 to the cargo box storage unit 2 for transporting the cargo box is as follows: the robot moves the cargo box transport unit 3 to the designated position by the lifting device 32 while rotating the telescopic tines 33 to the designated by the rotating device 34.
  • the telescopic tines 33 are extended below the required transport container 4, the cargo box 4 is lifted by the lifting device 32, the cargo box 4 is retracted by the telescopic tines 33, and the telescopic tines 33 are rotated by the rotating device 34, The cargo box 4 is rotated to another specified angle, and then the cargo box 4 is moved over the pallet 22 by the telescopic tines 33, and then the cargo box 4 is lowered by the lifting device 32, placed on the pallet 22, and finally the telescopic fork is placed.
  • the teeth 33 are retracted.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Civil Engineering (AREA)
  • Geology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Manipulator (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

一种搬运货箱的机器人，涉及自动化物流仓储领域，包括驱动单元(1)、货箱存储单元(2)和货箱传输单元(3)，其中所述驱动单元(1)承载所述货箱存储单元(2)和货箱传输单元(3)共同运动；所述货箱存储单元(2)包括一个或多个货箱存储空间；所述货箱传输单元(3)被配置为在所述存储空间和货架之间传输所述货箱。该搬运货箱的机器人，单趟可以搬运多种货物，提高了搬运机器人的搬运效率，降低了能耗。

Description

一种搬运货箱的机器人
技术领域
本发明涉及物流仓储领域，尤其涉及一种搬运货箱的机器人。
背景技术
搬运机器人是一种应用于自动化物料搬运领域的设备，具有自动化程度高、应用灵活、安全可靠、效率高及维修方便等诸多优点，因而广泛地应用与汽车制造业、食品行业、烟草行业、工程机械行业等物流运输场所，其在各类公共服务场所诸如机场、医院、办公大楼也有所建树。这些优势也使得搬运机器人成为了现代物流系统中的关键设备，成为了'机器换人'计划中的重要成员之一。
由于 KIVA 公司提出了'货架到人'的概念并取得巨大成功，且在美国专利 US7850413B2 中详细阐述了其结构及方法；为此，国内也出现了很多'货架到人'概念的无人搬运机器人，且取得了良好的效果。但是 KIVA 机器人为取一件货物，需要将整个货架搬运到拣货区域，造成极大的资源浪费。
因此，为了克服 KIVA 机器人单趟只能取一件货物的缺陷，本领域的技术人员致力于开发一种 搬运货箱的机器人，单趟可以搬运多种货物，提高了搬运机器人的搬运效率 。
发明内容
有鉴于现有技术的上述缺陷，本发明所要解决的技术问题是如何提高搬运机器人的搬运效率。由于搬运的为货箱，体积和重量均远小于货架，故单趟可以搬运多个货箱。单个货箱至少存储一种货物，故单趟可以搬运多种货物。
为实现上述目的，本发明提供了一种搬运货箱的机器人，包括驱动单元、货箱存储单元和货箱传输单元，其中所述驱动单元承载所述货箱存储单元和货箱传输单元共同运动；所述货箱存储单元包括一个或多个货箱存储空间；所述货箱传输单元被配置为在所述货箱存储空间和货架之间传输所述货箱。
进一步地，所述驱动单元包括底盘框架和驱动轮，所述驱动轮被配置为驱动所述机器人运动或停止。
进一步地，所述运动包括前进、后退、转弯和原地旋转。
进一步地，所述驱动轮为两个或两个以上。
进一步地，所述货箱存储单元包括支撑导轨、托板和加强筋，其中，所述支撑导轨、托板和加强筋相互连接形成一个或多个货箱存储空间。
进一步地，所述托板被配置为分隔所述存储空间。
进一步地，所述货箱传输单元包括升降装置、旋转装置和伸缩装置，其中，升降装置的一端与所述支撑导轨连接，且可沿所述支撑导轨竖直方向上下滑动，另一端通过旋转装置与所述伸缩装置连接。
进一步地，所述伸缩装置为叉齿。
进一步地，所述货箱存储空间和所述货箱具有机读编码，所述货箱传输单元还包括定位传感器和位姿传感器。
进一步地，所述机读编码为条形码或二维码或字符串或RFID。
进一步地，所述定位传感器被配置为检测所述货箱的位置，所述定位传感器为视觉传感器或射频传感器。
进一步地，所述位姿传感器被配置为检测所述货箱传输单元上所述货箱的位姿，所述位姿传感器为视觉传感器或射频传感器。
进一步地，所述托板为整面平板或具有镂空或隔断。
本发明所述的搬运货箱的机器人 搬运货箱到货箱存储单元的流程如下：搬运机器人通过升降装置将货箱传输单元移动到指定位置，同时通过旋转装置将伸缩叉齿旋转到指定角度，伸出伸缩叉齿到所需搬运货箱的下方，通过升降装置抬起货箱，通过伸缩叉齿缩回货箱，再通过旋转装置将伸缩叉齿以及货箱旋转到另一指定角度，再通过伸缩叉齿将货箱移动到托板上方，再通过升降装置降下货箱，使其放置到托板上，最后将伸缩叉齿缩回。因此，本发明所述的搬运货箱的机器人一趟可以运输多种货物，工作效率高、能耗低。
以下将结合附图对本 发明 的构思、具体结构及产生的技术效果作进一步说明，以充分地了解本 发明 的目的、特征和效果。
附图说明
图1是本发明的一个较佳实施例的搬运机器人的立体图；
图2是本发明的一个较佳实施例的货箱传输单元的立体图；
图3是本发明的另一个较佳实施例的搬运机器人的立体图；
其中，
1 、驱动单元；11、底盘框架；12、驱动轮；
2 、货箱存储单元；21、支撑导轨；22、托板；
3 、货箱传输单元；31、安装框架；32、升降装置；33、伸缩叉齿；34、旋转装置；35、位姿传感器；36、定位传感器；
4 、货箱。
具体实施方式
以下参考说明书附图介绍本发明的两个优选实施例，使其技术内容更加清楚和便于理解。本发明可以通过许多不同形式的实施例来得以体现，本发明的保护范围并非仅限于文中提到的实施例。
在附图中，结构相同的部件以相同数字标号表示，各处结构或功能相似的组件以相似数字标号表示。附图所示的每一组件的尺寸和厚度是任意示出的，本实用新型并没有限定每个组件的尺寸和厚度。为了使图示更清晰，附图中有些地方适当夸大了部件的厚度。
当某些组件被描述为'在'另一组件'上'时，所述组件可以直接置于所述另一组件上；也可以存在一中间组件，所述组件置于所述中间组件上，且所述中间组件置于另一组件上。当一个组件被描述为'安装至'或'连接至'另一组件时，二者可以理解为直接'安装'或'连接'，或者一个组件通过一中间组件间接'安装至'、或'连接至'另一个组件。
实施例1：
如图1和图2所示，一种搬运货箱的机器人包括:驱动单元1、货箱存储单元2、货箱传输单元3。
（1）驱动单元1用于带动安装于其上的货箱存储单元2、货箱传输单元3共同在地面上移动；
（2）货箱存储单元2安装于驱动单元1上方，用于存储货箱4；
（3）货箱传输单元3安装于货箱存储单元2一侧，用于将货箱4传送入或者传送出货箱存储单元2到指定位置。
所述驱动单元1包括底盘框架11及驱动轮12，其中驱动轮12为两个，且对称安装于底盘框架11两侧。通过驱动轮12的旋转，可实现机器人的前进、后退、转弯以及原地旋转。
所述货箱存储单元2包括支撑导轨21、托板22、加强筋23。其中支撑导轨21位于驱动单元1上方，通过托板22及加强筋23相互连接，且托板22用于叠放货箱。
所述货箱存储单元2可存放多个货箱。
所述托板22中间隔断。
所述货箱传输单元3包括框架31、升降装置32、伸缩叉齿33、旋转装置34。其中升降装置31一端与支撑导轨21连接，且可沿支撑导轨21竖直方向上下滑动，另一端通过旋转装置34与伸缩叉齿33连接。
所述伸缩叉齿33可通过旋转装置34沿z轴旋转。
所述伸缩叉齿33可沿x方向伸出或着缩回，若旋转装置34带动伸缩叉齿33旋转，伸缩叉齿33伸缩方向也随之旋转。
所述货箱传输单元3还包括用于识别伸缩叉齿33上方货箱位姿的位姿传感器35，用于检测货箱位置的定位传感器36。
所述位姿传感器35可以为视觉传感器也可以为其他可获取位姿信息的传感器。
所述定位传感器36可以为视觉传感器也可以为其他可获取位姿信息的传感器。
一种搬运货箱的机器人搬运货箱4到货箱存储单元2的流程如下：机器人通过升降装置32将货箱传输单元3移动到指定位置，同时通过旋转装置34将伸缩叉齿33旋转到指定角度，伸出伸缩叉齿33到所需搬运货箱4的下方，通过升降装置32抬起货箱4，通过伸缩叉齿33缩回货箱4，再通过旋转装置34将伸缩叉齿33以及货箱4旋转到另一指定角度，再通过伸缩叉齿33将货箱4移动到托板22上方，再通过升降装置32降下货箱4，使其放置到托板22上，最后将伸缩叉齿33缩回。
实施例2：
如图2和图3所示，一种搬运货箱的机器人包括:驱动单元1、货箱存储单元2、货箱传输单元3。
（1）驱动单元1用于带动安装于其上的货箱存储单元2、货箱传输单元3共同在地面上移动；
（2）货箱存储单元2安装于驱动单元1上方，用于存储货箱4；
（3）货箱传输单元3安装于货箱存储单元2一侧，用于将货箱4传送入或者传送出货箱存储单元2到指定位置。
所述驱动单元1包括底盘框架11及驱动轮12，其中驱动轮12为两个，且对称安装于底盘框架11两侧。通过驱动轮12的旋转，可实现机器人的前进、后退、转弯以及原地旋转。
所述货箱存储单元2包括支撑导轨21、托板22、加强筋23。其中支撑导轨21位于驱动单元1上方，通过托板22及加强筋23相互连接，且托板22用于叠放货箱。
所述货箱存储单元2可存放多个货箱。
所述托板22为连接两侧支撑导轨21的平板。
所述货箱传输单元3包括框架31、升降装置32、伸缩叉齿33、旋转装置34。其中升降装置31一端与支撑导轨21连接，且可沿支撑导轨21竖直方向上下滑动，另一端通过旋转装置34与伸缩叉齿33连接。
所述伸缩叉齿33可通过旋转装置34沿z轴旋转。
所述伸缩叉齿33可沿x方向伸出或者缩回，若旋转装置34带动伸缩叉齿33旋转，伸缩叉齿33伸缩方向也随之旋转。
所述货箱传输单元3还包括用于识别伸缩叉齿33上方货箱位姿的位姿传感器35，用于检测货箱位置的定位传感器36。
所述位姿传感器35可以为视觉传感器也可以为其他可获取位姿信息的传感器，如射频传感器。
所述定位传感器36可以为视觉传感器也可以为其他可获取位姿信息的传感器，如射频传感器。
一种搬运货箱的机器人搬运货箱4到货箱存储单元2的流程如下：机器人通过升降装置32将货箱传输单元3移动到指定位置，同时通过旋转装置34将伸缩叉齿33旋转到指定角度，伸出伸缩叉齿33到所需搬运货箱4的下方，通过升降装置32抬起货箱4，通过伸缩叉齿33缩回货箱4，再通过旋转装置34将伸缩叉齿33以及货箱4旋转到另一指定角度，再通过伸缩叉齿33将货箱4移动到托板22上方，再通过升降装置32降下货箱4，使其放置到托板22上，最后将伸缩叉齿33缩回。
以上详细描述了本 发明 的较佳具体实施例。应当理解，本领域的普通技术无需创造性劳动就可以根据本 发明 的构思作出诸多修改和变化。因此，凡本技术领域中技术人员依本 发明 的构思在现有技术的基础上通过逻辑分析、推理或者有限的实验可以得到的技术方案，皆应在由权利要求书所确定的保护范围内。

Claims (13)

  1. 一种搬运货箱的机器人，其特征在于，包括驱动单元、货箱存储单元和货箱传输单元，其中所述驱动单元承载所述货箱存储单元和货箱传输单元共同运动；所述货箱存储单元包括一个或多个货箱存储空间；所述货箱传输单元被配置为在所述货箱存储空间和货架之间传输所述货箱。
  2. 如权利要求1所述的搬运货箱的机器人，其特征在于，所述驱动单元包括底盘框架和驱动轮，所述驱动轮被配置为驱动所述机器人运动或停止。
  3. 如权利要求2所述的搬运货箱的机器人，其特征在于，所述运动包括前进、后退、转弯和原地旋转。
  4. 如权利要求2所述的搬运货箱的机器人，其特征在于，所述驱动轮为两个或两个以上。
  5. 如权利要求1所述的搬运货箱的机器人，其特征在于，所述货箱存储单元包括支撑导轨、托板和加强筋，其中，所述支撑导轨、托板和加强筋相互连接形成一个或多个货箱存储空间。
  6. 如权利要求5所述的搬运货箱的机器人，其特征在于，所述托板被配置为分隔所述存储空间。
  7. 如权利要求5所述的搬运货箱的机器人，其特征在于，所述货箱传输单元包括升降装置、旋转装置和伸缩装置，其中，升降装置的一端与所述支撑导轨连接，且可沿所述支撑导轨竖直方向上下滑动，另一端通过旋转装置与所述伸缩装置连接。
  8. 如权利要求7所述的搬运货箱的机器人，其特征在于，所述伸缩装置为叉齿。
  9. 如权利要求1-8任意一项所述的搬运货箱的机器人，其特征在于，所述货箱存储空间和所述货箱具有机读编码，所述货箱传输单元还包括定位传感器和位姿传感器。
  10. 如权利要求9所述的搬运货箱的机器人，其特征在于，所述机读编码为条形码或二维码或字符串或RFID。
  11. 如权利要求9所述的搬运货箱的机器人，其特征在于，所述定位传感器被配置为检测所述货箱的位置，所述定位传感器为视觉传感器或射频传感器。
  12. 如权利要求9所述的搬运货箱的机器人，其特征在于，所述位姿传感器被配置为检测所述货箱传输单元上所述货箱的位姿，所述位姿传感器为视觉传感器或射频传感器。
  13. 如权利要求5所述的搬运货箱的机器人，其特征在于，所述托板为整面平板或具有镂空或隔断。
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