WO2020133641A1 - 一种用于仓储的机器人及其工作方法 - Google Patents
一种用于仓储的机器人及其工作方法 Download PDFInfo
- Publication number
- WO2020133641A1 WO2020133641A1 PCT/CN2019/075404 CN2019075404W WO2020133641A1 WO 2020133641 A1 WO2020133641 A1 WO 2020133641A1 CN 2019075404 W CN2019075404 W CN 2019075404W WO 2020133641 A1 WO2020133641 A1 WO 2020133641A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tray
- robot
- control
- drive shaft
- tote
- Prior art date
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Classifications
-
- 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
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- 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
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Definitions
- the invention relates to the technical field of robots, in particular to a robot used for storage and a working method thereof.
- Intelligent warehousing is a link in the logistics process.
- the application of intelligent warehousing ensures the speed and accuracy of data input in all links of the goods warehouse management, ensures that the enterprise can grasp the real data of the inventory in a timely and accurate manner, and reasonably maintains and controls the enterprise inventory.
- intelligent storage is to set up multiple shelves for placing goods in the warehouse.
- the robot moves the shelves where the goods are located from the warehouse to the employee processing area according to the order of wireless instructions.
- the staff picks and scans the goods in the employee processing area.
- this kind of robot can only handle the entire shelf, which has higher requirements on its own load-bearing performance and higher cost.
- the weight and height of the shelf are also limited.
- the staff looks for the order on the shelf, and the efficiency is low.
- the present invention provides a robot for warehousing and its working method, which does not need to carry the entire shelf, has low cost, and has no limitation on the size of the shelf, improves the efficiency of the staff to pick goods, and its work occupation
- the small space can greatly increase the shelf density in the warehouse.
- a robot for warehousing of the present invention includes a mobile chassis, and a rack body is provided on the mobile chassis, the rack body includes brackets symmetrically arranged on the left and right sides of the mobile chassis, and the brackets are arranged side by side from top to bottom There are several movable trays, the distance between the two brackets is less than the sum of the lengths of the two trays, and the bracket is also provided with a first driving mechanism that can drive each tray to move left and right independently.
- a mechanical arm for grabbing objects There is a mechanical arm for grabbing objects, a lifting mechanism that can drive the vertical lifting of the mechanical arm is provided on the frame body, a first camera is provided at the bottom of the mobile chassis, and a controller is also provided on the mobile chassis And a wireless communication module, the controller is electrically connected to the mobile chassis, the first driving mechanism, the mechanical arm, the lifting mechanism, the first camera and the wireless communication module.
- the first camera is used to identify the guide line or navigation QR code on the ground of the storage area, help the robot to locate, and cooperate with the mobile chassis to achieve free movement in the storage area.
- the robot receives the wireless command sent by the management center through the wireless communication module.
- the robot drives the mechanical arm to move up and down through the lifting mechanism.
- the mechanical arm is used to remove the goods on the pallet and put it on the shelf in the storage area, or remove the goods on the shelf in the storage area and put it on the pallet.
- Pallets are used to store goods.
- the distance between the two brackets is less than the sum of the lengths of the two trays.
- the right end of the tray on the left bracket is at the midline position between the two brackets.
- the left end is located at the midline between the two brackets.
- the first driving mechanism is used to drive each tray on the bracket to move left and right independently, thereby controlling each tray to move to the inside of the bracket or to the outside of the bracket.
- the lifting mechanism, the robotic arm and all the trays are located in the space above the mobile chassis.
- the trays are located below the robotic arm, which greatly reduces the space occupied by the robot during the movement, making the storage area more densely store more shelves, greatly improving The space utilization rate of the storage area is increased.
- the robot controls the movement of each tray independently, so that when the robot arm is working, it can control the movement of the corresponding tray without hindering the work of the robot arm.
- the robot can complete the picking/discharging operation in the warehouse while reducing the occupied space, without the need to move the entire shelf, the cost is lower, the shelf size is not limited, the efficiency of the staff to select the goods is improved, and the shelf in the warehouse The density is greatly improved.
- the distance between the two racks is less than or equal to the length of the tray.
- the bracket includes pillars symmetrically arranged on the front and rear sides of the mobile chassis, the pillars include two upright columns arranged side by side, and a supporting beam is correspondingly arranged under each tray, and two ends of the supporting beam are respectively connected with two The vertical columns on the inner side of the support column are connected, and the supporting beam is provided with two slide grooves running left and right, and a slide bar matching the slide groove is provided at a corresponding position on the bottom surface of the tray, and the slide bar passes through the corresponding slide groove.
- the tray has a square shape, and the tray can move left and right along the chute. The tray can be moved to the inside of the bracket or the outside of the bracket.
- the first driving mechanism includes a driving shaft disposed in each pillar, the driving shaft is located between the two pillars of the pillar, and a plurality of electromagnetic clutches are sleeved on the driving shaft.
- the shaft sleeve of the electromagnetic clutch is provided with driving gears.
- the bottom and front sides of the tray are provided with racks along the left and right sides.
- the electromagnetic clutch is located on the outside of the corresponding tray.
- the electromagnetic clutch is fixedly connected to the support via a connecting piece
- the first driving mechanism further includes a driving module for driving the rotation of each driving shaft
- the controller It is electrically connected to the electromagnetic clutch and drive module.
- the drive gear on the electromagnetic clutch sleeve is driven by the drive shaft passing through the electromagnetic clutch.
- the tray moves through the drive gear and the rack drive. If the drive shaft does not rotate, the drive gear, The rack prevents the pallet from sliding freely due to external forces.
- the electromagnetic clutch is de-energized and separated, the drive gear on the electromagnetic clutch sleeve is not affected by the drive shaft.
- the driving module includes a first driving motor, a second driving motor, a first driving gear, a second driving gear, a first driven gear, a second driven gear, a first timing pulley, and a second timing belt Wheels, a third timing pulley and a fourth timing pulley, the first drive motor is disposed on the top of the left front pillar, the second drive motor is disposed on the top of the left rear pillar, the first driving gear, the first The synchronous pulley is sleeved on the output shaft of the first drive motor, the second driving gear and the second synchronous pulley are sleeved on the output shaft of the second drive motor, and the first driven gear is sleeved On the left front drive shaft, the second driven gear is sleeved on the left rear drive shaft, the third synchronous pulley is sleeved on the right front drive shaft, and the fourth synchronous pulley is sleeved on On the right rear drive shaft, the first driving gear
- the first driving motor drives the first driving gear and the first synchronous pulley to rotate.
- the first driving gear rotates the left front drive shaft by driving the first driven gear to rotate, and the first synchronous pulley drives the third synchronous pulley to rotate
- the right front drive shaft rotates;
- the second drive motor drives the second driving gear and the second synchronous belt wheel to rotate, the second driving gear rotates the left rear side driving shaft by driving the second driven gear to rotate, and the second synchronous belt
- the wheel rotates the right rear drive shaft by driving the fourth timing pulley to rotate.
- the manipulator includes a manipulator and a first moving mechanism that drives the manipulator to move forward and backward, and the controller is electrically connected to the manipulator and the first moving mechanism, respectively.
- the first moving mechanism includes a base, a top plate, an intermediate plate, and a bottom plate arranged in order from top to bottom.
- the top plate is fixedly connected to the base.
- a guide rail, two sides of the middle plate are respectively inserted into corresponding first guide rails, the middle plate can slide along the first guide rails, and a second guide rail matching the bottom plate is provided on both sides of the bottom surface of the middle plate; Insert the corresponding second guide rail, the bottom plate can slide along the second guide rail, the top surface of the intermediate plate is provided with a third synchronous belt running forward and backward, the top plate is provided with a strip-shaped through hole, the strip-shaped through hole There is a ring-shaped double-sided timing belt and a second driving mechanism for driving the double-sided timing belt to rotate.
- the third timing belt is engaged with the double-sided timing belt.
- the second moving mechanism further includes a first steel belt and a Two steel belts, a first guide wheel and a second guide wheel are respectively provided at the front and rear ends of the middle plate, one end of the first steel belt is fixedly connected to the rear end of the top plate, and the first steel belt bypasses the first guide wheel ,
- the other end of the first steel belt is fixedly connected to the rear end of the bottom plate
- one end of the second steel belt is fixedly connected to the front end of the top plate, the second steel belt bypasses the second guide wheel, and the other end of the second steel belt
- It is fixedly connected to the front end of the bottom plate, and a second camera is provided at both front and rear ends of the top plate, and the controller is electrically connected to the second driving mechanism and the second camera, respectively.
- the second driving mechanism drives the double-sided synchronous belt to rotate, and the double-sided synchronous belt rotates to drive the third synchronous belt to move horizontally. Since the third synchronous belt is fixed horizontally on the middle plate, the third synchronous belt moves horizontally to drive the middle plate to move horizontally.
- the first steel wire belt bypasses the first guide wheel of the middle plate, and both ends are respectively fixed to the rear end of the top plate and the rear end of the bottom plate.
- the second steel belt passes around the second guide wheel of the middle plate, and both ends are respectively fixed at the front end of the top plate and the front end of the bottom plate.
- the middle plate moves forward, the bottom plate moves forward through the first steel belt, the middle plate moves backward, and the bottom plate moves backward through the second steel belt, thereby realizing two-stage linkage between the middle plate and the bottom plate.
- the second camera is used to determine the relative position between the robot arm and the goods on the shelf, which is convenient for fine-tuning the position of the robot arm, so that the goods can be grasped more accurately, and whether the goods need to be grasped can also be confirmed.
- the manipulator includes a support plate arranged along the left and right directions, two claws arranged symmetrically on the left and right sides, and two third guide rails arranged on the left and right directions.
- the support plate and the two third guide rails are both arranged on the bottom of the bottom plate.
- the two ends of the support plate extend out from both sides of the bottom plate, the two ends of the third guide rail extend out from both sides of the bottom plate, the two ends of the third guide rail are provided with a first slider that can slide along the third guide rail, and a card on the left side
- the claws are fixedly connected with the first sliders on the left side of the two third guide rails, the claws on the right side are fixedly connected with the first sliders on the right side of the two third guide rails, and third drives are provided on both ends of the support plate
- a motor, the third drive motor is used to drive the jaws on the corresponding side to move left and right, and the third drive motor is electrically connected to the controller.
- the controller controls the relative movement of the two jaws to realize the gripping action of the robot on the goods.
- the claw includes a mounting plate and a plurality of convex strips arranged inside the mounting plate, and the convex strips are arranged in a straight line along the front-rear direction.
- the mobile chassis includes a base, two walking modules provided at the bottom of the base, and several universal wheels provided at the bottom of the base, the walking modules are connected to the base through a shock absorption mechanism, and the walking modules include drive wheels And a servo motor driving the driving wheel to rotate, the controller is electrically connected with the servo motor.
- the lifting mechanism includes a fifth timing pulley provided on the outer side of the top of each pillar, four sixth timing pulleys provided on the top surface of the moving chassis, and a third driving mechanism provided on the top surface of the mobile chassis.
- a sixth synchronous pulley corresponds to four fifth synchronous pulleys one by one, the sixth synchronous pulley is located directly under the corresponding fifth synchronous pulley, and the sixth synchronous pulley is corresponding to the corresponding fifth synchronous pulley Connected by a fourth timing belt, the third driving mechanism is used to drive the four sixth timing belt wheels to rotate, and a vertical fourth guide rail is provided on the inside of each pillar.
- a second slider sliding with four guide rails the second slider is fixedly connected with the mechanical arm, four fourth timing belts correspond to the four second sliders one by one, and each fourth timing belt corresponds to the corresponding second sliding
- the blocks are connected by a connection mechanism, and the third drive mechanism is electrically connected to the controller.
- the third driving mechanism drives four sixth synchronous pulleys to rotate synchronously, four sixth synchronous pulleys drive four fifth synchronous pulleys to rotate, and four fourth synchronous belts drive the second slider to slide, thereby driving the mechanical arm to move up and down .
- a working method of a robot for warehousing according to the present invention, used for the above-mentioned robot for warehousing, includes the following steps:
- the robot When the robot receives the pick-up instruction, the robot moves to the shelf position where the tote box where the goods need to be placed is placed. During the movement, the robot selects an empty tray on it to place the tote box to be picked up;
- the tray is controlled to move to the robot arm Directly below, when the robot moves to the shelf position where the tote to be picked up is placed, the robotic arm will remove the tote to be picked and placed on the corresponding tray to complete the picking operation;
- the trays whose height is above the tote with the goods to be picked are moved to the outside of the rack when the robot moves to the need.
- the robotic arm moves to the height of the tote where the goods to be picked are placed.
- the tote is removed, and then the robotic arm rises above the height of the idle tray, and the idle tray moves to the robotic arm.
- the robotic arm places the tote with the goods to be picked on the free tray to complete the picking operation;
- the robot When the robot receives the loading instruction, the robot first performs the picking step to remove the tote where the goods to be loaded are placed on the free tray, and then moves to the workbench, the staff of the workbench will put the goods to be loaded into In the corresponding tote box on the robot, the robot moves to the shelf position corresponding to the tote box where the goods to be loaded are placed;
- the robotic robotic arm will place the tote for the goods to be removed from the pallet and put it into the corresponding storage position to complete the loading operation ;
- the height of the storage location on the shelf for storing the tote is lower than the height of the pallet where the tote is located, then all pallets above the pallet where the tote is located and pallets at the same height as the pallet where the tote is located during movement All move to the outside of the bracket, and control the tray where the tote box is located to move directly under the robot arm.
- the robot arm will place the tote box for the goods to be removed from the tray, and then control
- the pallets whose height is above the height of the storage place for storing the tote box are moved to the outside of the bracket, and the robotic arm of the robot puts the tote box with the goods to be loaded into the corresponding storage position to complete the loading operation.
- the robot When picking or loading goods, the robot adjusts the position of the pallet in advance during the movement, thereby reducing the movement of the robot in front of the shelf, thereby reducing the time for picking and loading the goods, and improving the storage efficiency.
- the method for the robot to control the movement of a tray on the left to the outside of the bracket during the movement includes the following steps:
- the method for the robot to control the movement of a tray on the left to the inside of the bracket during the movement includes the following steps:
- the method for the robot to control the movement of a tray on the right to the outside of the bracket during the movement includes the following steps:
- the method for the robot to control the movement of a tray on the right to the inside of the bracket during the movement includes the following steps:
- the beneficial effects of the present invention are: there is no need to move the entire shelf, the cost is low, the shelf size is not limited, the efficiency of the staff to pick the goods is improved, and the work takes up little space, which can greatly increase the shelf density in the warehouse.
- FIG. 1 is a schematic structural diagram of an embodiment
- Figure 2 is a left side view of Figure 1;
- Figure 3 is a top view of Figure 1;
- FIG. 4 is a block diagram of a circuit principle connection of an embodiment
- FIG. 6 is an enlarged view at A in FIG. 5;
- FIG. 7 is an enlarged view of B in FIG. 5;
- FIG. 8 is a cross-sectional view taken along line A-A of FIG. 1;
- FIG. 9 is a schematic structural view of a mechanical arm
- FIG. 10 is a plan view of FIG. 9;
- FIG. 11 is a schematic structural diagram of a mobile chassis
- Fig. 12 is a schematic diagram of a robotic arm grasping a tote on a tray.
- Servo motor 52, fifth synchronous pulley, 53, sixth synchronous pulley, 54, third drive mechanism, 55, fourth synchronous belt, 56, fourth guide rail, 57, second slider, 58, Connection mechanism, 59, strip-shaped through hole, 60, drive wheel.
- a robot for warehousing in this embodiment includes a mobile chassis 1, a chassis 2 is provided on the mobile chassis 1, and the chassis 2 includes a symmetrically arranged mobile
- the brackets on the left and right sides of the chassis 1 are provided with a plurality of movable trays 3 side by side from top to bottom, the distance between the two brackets is less than or equal to the length of the tray 3, and the brackets are also provided to drive each tray 3
- the first driving mechanism 4 that moves left and right independently, a robot arm 5 for grabbing objects is provided between the two supports, and a lifting mechanism 6 that can drive the robot arm 5 to move vertically is provided on the frame body 2 to move the bottom of the chassis 1
- the first camera 7 is provided.
- the mobile chassis 1 is also provided with a controller 8 and a wireless communication module 9.
- the controller 8 is respectively connected to the mobile chassis 1, the first driving mechanism 4, the robot arm 5, the lifting mechanism 6, and the first camera 7 It is electrically connected to the wireless communication module 9.
- a storage box 31 with a uniform specification is placed on the shelf in the storage area, and the same kind of goods is placed in the storage box 31.
- the turnover box is easy for the robot to grab.
- the first camera is used to identify the guide line or navigation QR code on the ground of the storage area, help the robot to locate, and cooperate with the mobile chassis to achieve free movement in the storage area.
- the robot receives the wireless command sent by the management center through the wireless communication module.
- the robot drives the mechanical arm to move up and down through the lifting mechanism.
- the mechanical arm is used to remove the tote on the pallet and put it on the shelf in the storage area, or remove the tote on the shelf in the storage area and put it on the pallet.
- the pallet is used to store totes.
- the distance between the two brackets is less than or equal to the length of the tray.
- the right end of the tray on the left bracket is at the midline position between the two brackets, and the left end of the tray on the right bracket is at The midline position between the two brackets.
- the first driving mechanism is used to drive each tray on the bracket to move left and right independently, thereby controlling each tray to move to the inside of the bracket or to the outside of the bracket.
- the lifting mechanism, the robot arm and all the trays are located in the space above the mobile chassis.
- the tray is located below the robot arm, which greatly reduces the space occupied by the robot during the movement process, so that the storage area can store more shelves more densely, greatly improving The space utilization rate of the storage area
- the robot controls the movement of each tray independently, so that when the robot arm is working, it can control the movement of the corresponding tray without hindering the work of the robot arm.
- the robot can complete the picking/discharging operation in the warehouse while reducing the occupied space, without the need to move the entire shelf, the cost is lower, the shelf size is not limited, the efficiency of the staff to select the goods is improved, and the shelf in the warehouse The density is greatly improved.
- the bracket includes pillars symmetrically arranged on the front and rear sides of the mobile chassis 1, the pillar includes two upright columns 10 arranged side by side, and a supporting beam 11 is provided under each tray 3 to support The two ends of the beam 11 are respectively connected to the upright columns 10 on the inside of the two pillars.
- the support beam 11 is provided with two slide grooves 12 running left and right.
- the corresponding position on the bottom surface of the tray 3 is provided with a slide bar 13 matching the slide groove 12. 13 through the corresponding chute 12.
- the tray 3 has a square shape, and the tray 3 can move left and right along the chute 12. The tray 3 can be moved to the inside of the rack or outside the rack.
- the first driving mechanism 4 includes a driving shaft 14 disposed in each pillar, the driving shaft 14 is located between the two uprights 10 of the supporting pillar, and the driving shaft 14 is sleeved with Several electromagnetic clutches 15 correspond to the tray 3 in one-to-one correspondence.
- the sleeve of the electromagnetic clutch 15 is provided with drive gears 16, the rack 3 is provided with racks 17 along the left and right sides, and the electromagnetic clutch 15 is located Corresponding to the outer side of the tray 3, the driving gear 16 on the electromagnetic clutch 15 meshes with a rack 17 on the side corresponding to the bottom surface of the tray 3, the electromagnetic clutch 15 is fixedly connected to the support via a connecting member, and the first driving mechanism 4 further includes a drive for driving each drive For the drive module with the shaft 14 rotating, the controller 8 is electrically connected to the electromagnetic clutch 15 and the drive module, respectively.
- the drive gear on the electromagnetic clutch sleeve is driven by the drive shaft passing through the electromagnetic clutch.
- the tray moves through the drive gear and the rack drive. If the drive shaft does not rotate, the drive gear, The rack prevents the pallet from sliding freely due to external forces.
- the electromagnetic clutch is de-energized and separated, the drive gear on the electromagnetic clutch sleeve is not affected by the drive shaft.
- the drive module includes a first drive motor 18, a second drive motor 19, a first driving gear 20, a second driving gear 21, a first driven gear 22, a second driven gear 23,
- the first timing pulley 24, the second timing pulley 25, the third timing pulley 26, and the fourth timing pulley 27, the first drive motor 18 is provided on the top of the left front pillar
- the second drive motor 19 is provided on the left rear
- the first driving gear 20 and the first synchronous pulley 24 are sleeved on the output shaft of the first drive motor 18, and the second driving gear 21 and the second synchronous pulley 25 are sleeved on the second drive motor 19
- the first driven gear 22 is sleeved on the left front drive shaft
- the second driven gear 23 is sleeved on the left rear drive shaft
- the third timing pulley 26 is sleeved on the right front drive shaft
- the fourth timing pulley 27 is sleeved on
- the first driving motor drives the first driving gear and the first synchronous pulley to rotate.
- the first driving gear rotates the left front drive shaft by driving the first driven gear to rotate, and the first synchronous pulley drives the third synchronous pulley to rotate
- the right front drive shaft rotates;
- the second drive motor drives the second driving gear and the second synchronous belt wheel to rotate, the second driving gear rotates the left rear side driving shaft by driving the second driven gear to rotate, and the second synchronous belt
- the wheel rotates the right rear drive shaft by driving the fourth timing pulley to rotate.
- the robot arm 5 includes a robot arm and a first moving mechanism that drives the robot arm to move back and forth, and the controller 8 is electrically connected to the robot arm and the first moving mechanism, respectively.
- the first moving mechanism includes a base 28, a top plate 29, an intermediate plate 30, and a bottom plate 32 provided in this order from top to bottom.
- the top plate 29 is fixedly connected to the base 28, and the first side of the bottom surface of the top plate 29 is matched with the intermediate plate 30
- the guide rails are inserted into the corresponding first guide rails on both sides of the middle plate 30.
- the middle plate 30 can slide along the first guide rails.
- the second guide rails matching the bottom plate 32 are provided on both sides of the bottom surface of the middle plate 30.
- the guide rail and the bottom plate 32 can slide along the second guide rail.
- the top surface of the middle plate 30 is provided with a third synchronous belt 33 that runs forward and backward.
- the top plate 29 is provided with a strip-shaped through hole 59.
- the double-sided timing belt 34 (the double-sided timing belt is wound on two timing belt wheels) and the second driving mechanism 35 that drives the double-sided timing belt 34 to rotate, the third timing belt 33 is engaged with the double-sided timing belt 34, and the second moves
- the mechanism also includes a first steel belt 36 and a second steel belt 37.
- a first guide wheel 38 and a second guide wheel 39 are provided at the front and rear ends of the intermediate plate 30, respectively.
- One end of the first steel wire 36 is fixedly connected to the rear end of the top plate 29.
- the first steel belt 36 bypasses the first guide wheel 38, the other end of the first steel belt 36 is fixedly connected to the rear end of the bottom plate 32, the one end of the second steel belt 37 is fixedly connected to the front end of the top plate 29, and the second steel belt 37 bypasses the second
- the guide wheel 39 and the other end of the second steel belt 37 are fixedly connected to the front end of the bottom plate 32.
- the front and rear ends of the top plate 29 are provided with second cameras 40.
- the controller 8 is electrically connected to the second driving mechanism 35 and the second camera 40, respectively.
- the second driving mechanism drives the double-sided synchronous belt to rotate, and the double-sided synchronous belt rotates to drive the third synchronous belt to move horizontally. Since the third synchronous belt is fixed horizontally on the middle plate, the third synchronous belt moves horizontally to drive the middle plate to move horizontally.
- the first steel wire belt bypasses the first guide wheel of the middle plate, and both ends are respectively fixed to the rear end of the top plate and the rear end of the bottom plate.
- the second steel belt passes around the second guide wheel of the middle plate, and both ends are respectively fixed at the front end of the top plate and the front end of the bottom plate.
- the middle plate moves forward, the bottom plate moves forward through the first steel belt, the middle plate moves backward, and the bottom plate moves backward through the second steel belt, thereby realizing two-stage linkage between the middle plate and the bottom plate.
- the second camera is used to determine the relative position between the mechanical arm and the crate on the shelf, which is convenient for fine-tuning the position of the robotic arm, so as to grasp the crate more accurately, and confirm whether it is a crate that needs to be grasped.
- the manipulator includes a support plate 41 disposed along the left and right directions, two claws 42 disposed symmetrically on the left and right sides, and two third guide rails 43 disposed along the left and right directions.
- the support plate 41 and the two third guide rails 43 are both disposed at the bottom of the bottom plate 32 ,
- the two ends of the support plate 41 extend out from both sides of the bottom plate 32, the two ends of the third guide rail 43 extend out from both sides of the bottom plate 32, the two ends of the third guide rail 43 are provided with a first slider 44 that can slide along the third guide rail 43, left
- the claw 42 is fixedly connected to the first slider 44 on the left side of the two third guide rails 43, the claw 42 on the right side is fixedly connected to the first slider 44 on the right side of the two third guide rails 43, and the support plate 41 is
- a third drive motor 45 is provided at each end.
- the third drive motor 45 is used to drive the jaw 42 on the corresponding side to move left and right.
- the third drive motor 45
- the claw 42 includes a mounting plate 46 and a plurality of convex strips 47 disposed inside the mounting plate 46.
- the convex strips 47 are arranged in a straight line along the front-rear direction.
- the mobile chassis 1 includes a base 48, two walking modules provided at the bottom of the base 48, and a plurality of universal wheels 49 provided at the bottom of the base 48.
- the walking module is connected to the base 48 through the shock absorbing mechanism 50 to walk
- the module includes a driving wheel 60 and a servo motor 51 that drives the driving wheel 60 to rotate.
- the controller 8 is electrically connected to the servo motor 51.
- the lifting mechanism 6 includes a fifth timing pulley 52 provided outside the top of each pillar, four sixth timing pulleys 53 provided on the top surface of the mobile chassis 1, and
- the third driving mechanism 54 for moving the top surface of the chassis 1 corresponds to the four sixth timing pulleys 53 and the four fifth timing pulleys 52.
- the sixth timing pulley 53 is located directly under the corresponding fifth timing pulley 52 ,
- the sixth synchronous pulley 53 is connected to the corresponding fifth synchronous pulley 52 through the fourth synchronous belt 55
- the third driving mechanism 54 is used to drive the four sixth synchronous pulleys 53 to rotate, and each pillar is provided with a vertical
- the fourth guide rail 56 is provided with a second slider 57 that can slide along the fourth guide rail 56.
- the second slider 57 is fixedly connected to the robot arm 5, four fourth timing belts 55 and four The two sliders 57 are in one-to-one correspondence.
- Each fourth timing belt 55 is connected to the corresponding second slider 57 through a connection mechanism 58, and the third drive mechanism 54 is electrically connected to the controller 8.
- the third driving mechanism drives four sixth synchronous pulleys to rotate synchronously, four sixth synchronous pulleys drive four fifth synchronous pulleys to rotate, and four fourth synchronous belts drive the second slider to slide, thereby driving the mechanical arm to move up and down .
- a working method of a robot for storage in this embodiment, used for the above-mentioned robot for storage, includes the following steps:
- the robot When the robot receives the pick-up instruction, the robot moves to the shelf position where the tote box where the goods need to be placed is placed. During the movement, the robot selects an empty tray on it to place the tote box to be picked up;
- the tray is controlled to move to the robot arm Directly below, when the robot moves to the shelf position where the tote to be picked up is placed, the robotic arm will remove the tote to be picked and placed on the corresponding tray to complete the picking operation;
- the trays whose height is above the tote with the goods to be picked are moved to the outside of the rack when the robot moves to the need.
- the robotic arm moves to the height of the tote where the goods to be picked are placed.
- the tote is removed, and then the robotic arm rises above the height of the idle tray, and the idle tray moves to the robotic arm.
- the robotic arm places the tote with the goods to be picked on the free tray to complete the picking operation;
- the robot When the robot receives the loading instruction, the robot first performs the picking step to remove the tote where the goods to be loaded are placed on the free tray, and then moves to the workbench, the staff of the workbench will put the goods to be loaded into In the corresponding tote box on the robot, the robot moves to the shelf position corresponding to the tote box where the goods to be loaded are placed;
- the robotic robotic arm will place the tote for the goods to be removed from the pallet and put it into the corresponding storage position to complete the loading operation ;
- the height of the storage location on the shelf for storing the tote is lower than the height of the pallet where the tote is located, then all pallets above the pallet where the tote is located and pallets at the same height as the pallet where the tote is located during movement All move to the outside of the bracket, and control the tray where the tote box is located to move directly under the robot arm.
- the robot arm will place the tote box for the goods to be removed from the tray, and then control
- the pallets whose height is above the height of the storage place for storing the tote box are moved to the outside of the bracket, and the robotic arm of the robot puts the tote box with the goods to be loaded into the corresponding storage position to complete the loading operation.
- the method for the robot to control the movement of a tray on the left to the outside of the bracket during the movement includes the following steps:
- the method for the robot to control the movement of a tray on the left to the inside of the bracket during the movement includes the following steps:
- the method for the robot to control the movement of a tray on the right to the outside of the bracket during the movement includes the following steps:
- the method for the robot to control the movement of a tray on the right to the inside of the bracket during the movement includes the following steps:
- the robot adjusts the position of the pallet in advance during the movement of picking or loading, thereby reducing the movement of the storage robot in front of the shelf, thereby reducing the time for picking and loading, and improving the storage efficiency.
- the pallets other than the pallet that is driven to move it needs to be connected to a fixed and non-rotating drive shaft through an electromagnetic clutch combined with electricity, so that these pallets will not slide freely when the storage robot moves.
- the robot can control the rotation of the first drive motor and the second drive motor according to the needs, and cooperate with the corresponding electromagnetic clutch to turn on and off, so that it can be simultaneously controlled. Any tray on both sides moves.
- the first drive motor rotates clockwise
- the second drive motor rotates counterclockwise
- all electromagnetic clutches on the left front drive shaft are energized
- all electromagnetic clutches on the left rear drive shaft are de-energized and separated
- the right front drive shaft All the electromagnetic clutches are disconnected after power off, and all the electromagnetic clutches on the right rear drive shaft are energized, and the trays on both sides move to the outside of the bracket.
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Abstract
一种用于仓储的机器人及其工作方法。该机器人包括移动底盘（1），所述移动底盘上设有架体（2），所述架体（2）包括对称设置在移动底盘左右两侧的支架，所述支架上从上至下并排设有若干个可左右移动的托盘（3），两个支架之间的距离小于两个托盘的长度之和，所述支架上还设有可驱动各个托盘单独左右移动的第一驱动机构（4），两个支架之间设有用于抓取物品的机械臂（5），所述架体上设有可带动机械臂竖直升降的升降机构（6），所述移动底盘底部设有第一摄像头（7），所述移动底盘上还设有控制器（8）和无线通信模块（9）。该仓储机器人无需搬运整个货架，成本较低，货架尺寸不受限制，提高工作人员拣选货品的效率，且其工作占用空间小，可以使仓库内货架密度大大提高。
Description
本发明涉及机器人技术领域，尤其涉及一种用于仓储的机器人及其工作方法。
智能仓储是物流过程的一个环节，智能仓储的应用，保证了货品仓库管理各个环节数据输入的速度和准确性，确保企业及时准确地掌握库存的真实数据，合理保持和控制企业库存。通过科学的编码，还可方便地对库存货品的批次、保质期等进行管理。
目前，智能仓储是在仓库内设置多个放置货品的货架，机器人根据无线指令的订单将货品所在货架从仓库搬运至员工处理区，工作人员在员工处理区挑拣、扫描商品。但是，这种机器人只能搬运整个货架，对自身的承重等性能要求较高，成本较高，货架的重量、高度等也受到限制，工作人员在货架上找寻订单货品，效率较低。
在此处键入技术问题描述段落。
本发明为了解决上述技术问题，提供了一种用于仓储的机器人及其工作方法，其无需搬运整个货架，成本较低，货架尺寸不受限制，提高工作人员拣选货品的效率，且其工作占用空间小，可以使仓库内货架密度大大提高。
为了解决上述问题，本发明采用以下技术方案予以实现：
本发明的一种用于仓储的机器人，包括移动底盘，所述移动底盘上设有架体，所述架体包括对称设置在移动底盘左右两侧的支架，所述支架上从上至下并排设有若干个可左右移动的托盘，两个支架之间的距离小于两个托盘的长度之和，所述支架上还设有可驱动各个托盘单独左右移动的第一驱动机构，两个支架之间设有用于抓取物品的机械臂，所述架体上设有可带动机械臂竖直升降的升降机构，所述移动底盘底部设有第一摄像头，所述移动底盘上还设有控制器和无线通信模块，所述控制器分别与移动底盘、第一驱动机构、机械臂、升降机构、第一摄像头和无线通信模块电连接。
在本方案中，第一摄像头用于识别仓储区域地面上的导向线或导航二维码，帮助机器人定位，配合移动底盘，实现在仓储区域自由移动。机器人通过无线通信模块接收管理中心发送的无线指令。
机器人通过升降机构带动机械臂升降，机械臂用于将托盘上的货品取下放到仓储区域的货架上，或者将仓储区域的货架上的货品取下放到托盘上。
托盘用于存放货品。两个支架之间的距离小于两个托盘的长度之和，每个支架上的托盘位于初始位置时，左侧支架上托盘的右端位于两个支架之间的中线位置，右侧支架上托盘的左端位于两个支架之间的中线位置。第一驱动机构用于驱动支架上的各个托盘单独左右移动，从而控制各个托盘移到支架内侧或移到支架外侧。
当机械臂需要将某个托盘上的货品取下时，该托盘正上方的所有托盘以及与该托盘位于同一高度的托盘都移动到支架外侧，然后将该托盘移动到机械臂正下方，机械臂将该托盘上货品取下，然后所有托盘都回到原位。同理，当机械臂需要将货品放置到某个托盘上时，该托盘上方的所有托盘以及与该托盘位于同一高度的托盘都移动到支架外侧，然后将该托盘移动到机械臂正下方，等机械臂放完货品后，所有托板都回到原位。
当机械臂需要从仓储区域的货架上较低位置取货品或要将货品放到仓储区域的货架上较低位置时，将相应的托盘移动到支架外侧，使得机械臂取货或放货不会受到托盘的阻碍。
升降机构、机械臂以及所有托盘都位于移动底盘的上方空间，托盘位于机械臂下方，大大减小了机器人在移动过程中占用的空间，使得仓储区域可以更密集的存放更多的货架，大大提高了仓储区域的空间利用率。机器人通过对各个托盘的独立移动控制，使得机械臂在工作的时候，可以通过控制相应托盘移动不阻碍机械臂工作。机器人在减小占用空间的同时能够很好的完成仓储中取货/放货操作，无需搬运整个货架，成本较低，货架尺寸不受限制，提高工作人员拣选货品的效率，且使仓库内货架密度大大提高。
作为优选，两个支架之间的距离小于或等于托盘的长度。
作为优选，所述支架包括对称设置在移动底盘前后两侧的支柱，所述支柱包括左右并排设置的两个立柱，每个托盘下方对应设有支撑梁，所述支撑梁两端分别与两个支柱的内侧的立柱连接，所述支撑梁上设有两个左右走向的滑槽，所述托盘底面对应位置设有与滑槽匹配的滑条，所述滑条穿过对应的滑槽。托盘呈方形，托盘可沿滑槽左右移动，托盘能够移动到支架内侧，也可移动到支架外侧。
作为优选，所述第一驱动机构包括设置在每个支柱内的驱动轴，所述驱动轴位于所在支柱的两个立柱之间，所述驱动轴上套设有若干个电磁离合器，电磁离合器与托盘一一对应，所述电磁离合器的轴套上套设有驱动齿轮，所述托盘底面前后两侧设有沿左右走向的齿条，所述电磁离合器位于对应托盘的外侧，所述电磁离合器上的驱动齿轮与托盘底面对应一侧的齿条啮合，所述电磁离合器通过连接件与支柱固定连接，所述第一驱动机构还包括用于驱动各个驱动轴转动的驱动模块，所述控制器分别与电磁离合器、驱动模块电连接。
电磁离合器通电接合时，电磁离合器轴套上的驱动齿轮受穿过该电磁离合器的驱动轴驱动，驱动轴转动则通过驱动齿轮、齿条传动带动托盘移动，驱动轴不转动，则通过驱动齿轮、齿条使得托盘不会受外力作用随意滑动。电磁离合器断电分离时，电磁离合器轴套上的驱动齿轮不受驱动轴的影响。通过控制各个电磁离合器的通断电能够控制选定的托盘受驱动轴驱动，从而实现控制各个托盘移动的目的。
作为优选，所述驱动模块包括第一驱动电机、第二驱动电机、第一主动齿轮、第二主动齿轮、第一从动齿轮、第二从动齿轮、第一同步带轮、第二同步带轮、第三同步带轮和第四同步带轮，所述第一驱动电机设置在左前侧支柱顶部，所述第二驱动电机设置在左后侧支柱顶部，所述第一主动齿轮、第一同步带轮都套设在第一驱动电机的输出轴上，所述第二主动齿轮、第二同步带轮都套设在第二驱动电机的输出轴上，所述第一从动齿轮套设在左前侧驱动轴上，所述第二从动齿轮套设在左后侧驱动轴上，所述第三同步带轮套设在右前侧驱动轴上，所述第四同步带轮套设在右后侧驱动轴上，所述第一主动齿轮与第一从动齿轮啮合，所述第二主动齿轮与第二从动齿轮啮合，所述第一同步带轮与第三同步带轮通过第一同步带连接，所述第二同步带轮与第四同步带轮通过第二同步带连接，所述控制器分别与第一驱动电机和第二驱动电机电连接。
第一驱动电机驱动第一主动齿轮、第一同步带轮转动，第一主动齿轮通过带动第一从动齿轮转动而使得左前侧驱动轴转动，第一同步带轮通过带动第三同步带轮转动而使得右前侧驱动轴转动；第二驱动电机驱动第二主动齿轮、第二同步带轮转动，第二主动齿轮通过带动第二从动齿轮转动而使得左后侧驱动轴转动，第二同步带轮通过带动第四同步带轮转动而使得右后侧驱动轴转动。
作为优选，所述机械臂包括机械手和带动机械手前后移动的第一移动机构，所述控制器分别与机械手、第一移动机构电连接。
作为优选，所述第一移动机构包括从上至下依次设置的基座、顶板、中间板和底板，所述顶板与基座固定连接，所述顶板底面两侧设有与中间板匹配的第一导轨，所述中间板两侧分别插入对应第一导轨，所述中间板可沿第一导轨滑动，所述中间板底面两侧设有与底板匹配的第二导轨，所述底板两侧分别插入对应第二导轨，所述底板可沿第二导轨滑动，所述中间板顶面设有沿前后走向的第三同步带，所述顶板上设有条形通孔，所述条形通孔内设有呈环形的双面同步带以及驱动双面同步带转动的第二驱动机构，所述第三同步带与双面同步带啮合，所述第二移动机构还包括第一钢丝带和第二钢丝带，所述中间板前后两端分别设有第一导向轮和第二导向轮，所述第一钢丝带一端与顶板后端固定连接，所述第一钢丝带绕过第一导向轮，所述第一钢丝带另一端与底板后端固定连接，所述第二钢丝带一端与顶板前端固定连接，所述第二钢丝带绕过第二导向轮，所述第二钢丝带另一端与底板前端固定连接，所述顶板前后两端都设有第二摄像头，所述控制器分别与第二驱动机构、第二摄像头电连接。
第二驱动机构驱动双面同步带转动，双面同步带转动带动第三同步带水平移动，由于第三同步带水平固定在中间板上，所以第三同步带水平移动带动中间板水平移动。第一钢丝带绕过中间板的第一导向轮，两端分别固定在顶板后端、底板后端。第二钢丝带绕过中间板的第二导向轮，两端分别固定在顶板前端、底板前端。中间板向前移动，通过第一钢丝带带动底板前移，中间板向后移动，通过第二钢丝带带动底板后移，从而实现中间板、底板两级联动。第二摄像头用于确定机械臂与货架上货品之间的相对位置，便于微调机械臂的位置，使得更精确地抓取货品，还能确认是否是需要抓取的货品。
作为优选，所述机械手包括一个沿左右走向设置的支撑板、两个左右对称设置的卡爪和两根沿左右走向设置的第三导轨，支撑板和两个第三导轨都设置在底板底部，所述支撑板两端伸出底板两侧，所述第三导轨两端伸出底板两侧，所述第三导轨两端设有可沿第三导轨滑动的第一滑块，左侧的卡爪与两个第三导轨左侧的第一滑块固定连接，右侧的卡爪与两个第三导轨右侧的第一滑块固定连接，所述支撑板两端分别设有第三驱动电机，所述第三驱动电机用于驱动对应一侧的卡爪左右移动，所述第三驱动电机与控制器电连接。控制器通过控制两个卡爪相对运动从而实现机械手对货品的抓放动作。
作为优选，所述卡爪包括安装板和设置在安装板内侧的多个凸条，所述凸条沿前后走向排列成一条直线。
作为优选，所述移动底盘包括底座、设置在底座底部的两个行走模块和设置在底座底部的若干个万向轮，所述行走模块通过减震机构与底座连接，所述行走模块包括驱动轮和驱动驱动轮转动的伺服电机，所述控制器与伺服电机电连接。
作为优选，所述升降机构包括设置在每个支柱顶部外侧的第五同步带轮、设置在移动底盘顶面的四个第六同步带轮以及设置在移动底盘顶面的第三驱动机构，四个第六同步带轮与四个第五同步带轮一一对应，所述第六同步带轮位于对应的第五同步带轮正下方，所述第六同步带轮与对应第五同步带轮通过第四同步带连接，所述第三驱动机构用于驱动四个第六同步带轮转动，每个支柱内侧都设有竖直的第四导轨，所述第四导轨上设有可沿第四导轨滑动的第二滑块，所述第二滑块与机械臂固定连接，四个第四同步带与四个第二滑块一一对应，每个第四同步带与对应的第二滑块通过连接机构连接，所述第三驱动机构与控制器电连接。
第三驱动机构驱动四个第六同步带轮同步转动，四个第六同步带轮带动四个第五同步带轮转动，四个第四同步带带动第二滑块滑动，从而带动机械臂升降。
本发明的一种用于仓储的机器人的工作方法，用于上述一种用于仓储的机器人，包括以下步骤：
取货步骤如下：
当机器人接收到取货指令后，机器人向放有需取货品的周转箱所在货架位置移动，在移动过程中，机器人选择其上一个空闲的托盘用于放置待取的周转箱；
如果放有需取货品的周转箱所在高度不低于该空闲托板所在高度，则控制该托盘上方的所有托盘以及与该托盘同样高度的托盘都移动到支架外侧，控制该托盘移动到机械臂正下方，当机器人移动到放有需取货品的周转箱所在货架位置后，机器人的机械臂将放有需取货品的周转箱取下并放到对应的托盘上，完成取货操作；
如果放有需取货品的周转箱所在高度低于该空闲托盘所在高度，则控制高度在放有需取货品的周转箱所在高度之上的托盘都移动到支架外侧，当机器人移动到放有需取货品的周转箱所在货架位置后，机械臂移动到放有需取货品的周转箱所在高度将该周转箱取下，接着机械臂上升到该空闲托盘所在高度上方，该空闲托盘移动到机械臂正下方，机械臂将放有需取货品的周转箱放到该空闲托盘上，完成取货操作；
上货步骤如下：
当机器人接收到上货指令后，机器人先执行取货步骤将放有需上货货品的周转箱取下放到空闲托盘上，之后移动到工作台，工作台的工作人员将需上货货品放入机器人上对应的周转箱内，机器人向放有需上货货品的周转箱对应的货架位置移动；
如果货架上用于存放该周转箱的储货位高度不低于该周转箱所在托盘的高度，则在移动过程中控制该托盘上方的所有托盘以及与该托盘同样高度的托盘都移动到支架外侧，控制该托盘移动到机械臂正下方，当机器人移动到对应货架处后，机器人的机械臂将放有需上货货品的周转箱从托盘上取下放入对应储货位，完成上货操作；
如果货架上用于存放该周转箱的储货位高度低于该周转箱所在托盘的高度，则在移动过程中控制该周转箱所在托盘上方的所有托盘以及与该周转箱所在托盘同样高度的托盘都移动到支架外侧，控制该周转箱所在托盘移动到机械臂正下方，当机器人移动到对应货架处后，机器人的机械臂将放有需上货货品的周转箱从托盘上取下，接着控制高度在用于存放该周转箱的储货位高度之上的托盘都移动到支架外侧，机器人的机械臂将放有需上货货品的周转箱放入对应储货位，完成上货操作。
取货或上货时，机器人在移动过程中预先调整托盘的位置，从而减少了机器人在货架前的动作，从而减少了取货、上货的时间，提高了仓储效率。
作为优选，机器人在移动过程中控制左侧某个托盘向支架外侧移动的方法包括以下步骤：
控制第一驱动电机顺时针转动、第二驱动电机不转动；
控制左前侧的驱动轴上该待移动托盘的对应的电磁离合器通电接合，控制左前侧的驱动轴上其他电磁离合器断电分离；控制左后侧的驱动轴上该待移动托盘的对应的电磁离合器断电分离，控制左后侧的驱动轴上其他电磁离合器通电接合；控制右前侧的驱动轴上所有电磁离合器断电分离；控制右后侧的驱动轴上所有电磁离合器通电接合；
机器人在移动过程中控制左侧某个托盘向支架内侧移动的方法包括以下步骤：
控制第一驱动电机逆时针转动、第二驱动电机不转动；
控制左前侧的驱动轴上该待移动托盘的对应的电磁离合器通电接合，控制左前侧的驱动轴上其他电磁离合器断电分离；控制左后侧的驱动轴上该待移动托盘的对应的电磁离合器断电分离，控制左后侧的驱动轴上其他电磁离合器通电接合；控制右前侧的驱动轴上所有电磁离合器断电分离；控制右后侧的驱动轴上所有电磁离合器通电接合；
机器人在移动过程中控制右侧某个托盘向支架外侧移动的方法包括以下步骤：
控制第一驱动电机顺时针转动、第二驱动电机不转动；
控制右前侧的驱动轴上该待移动托盘的对应的电磁离合器通电接合，控制右前侧的驱动轴上其他电磁离合器断电分离；控制右后侧的驱动轴上该待移动托盘的对应的电磁离合器断电分离，控制右后侧的驱动轴上其他电磁离合器通电接合；控制左前侧的驱动轴上所有电磁离合器断电分离；控制左后侧的驱动轴上所有电磁离合器通电接合；
机器人在移动过程中控制右侧某个托盘向支架内侧移动的方法包括以下步骤：
控制第一驱动电机逆时针转动、第二驱动电机不转动；
控制左前侧的驱动轴上该待移动托盘的对应的电磁离合器通电接合，控制左前侧的驱动轴上其他电磁离合器断电分离；控制左后侧的驱动轴上该待移动托盘的对应的电磁离合器断电分离，控制左后侧的驱动轴上其他电磁离合器通电接合；控制右前侧的驱动轴上所有电磁离合器断电分离；控制右后侧的驱动轴上所有电磁离合器通电接合。
在移动过程中，对于受驱动移动的托盘之外的托盘，需要通过一个电磁离合器结合通电与一个固定不转动的驱动轴连接，从而使得这些托盘不会在仓储机器人移动时自由滑动。
本发明的有益效果是：无需搬运整个货架，成本较低，货架尺寸不受限制，提高工作人员拣选货品的效率，且其工作占用空间小，可以使仓库内货架密度大大提高。
图1是实施例的一种结构示意图；
图2是图1的左视图；
图3是图1的俯视图；
图4是实施例的一种电路原理连接框图；
图5是第一驱动机构的结构示意图；
图6是图5中A处放大图；
图7是图5中B处放大图；
图8是图1的A-A剖视图；
图9是机械臂的结构示意图；
图10是图9的俯视图；
图11是移动底盘的结构示意图；
图12是机械臂抓取托盘上周转箱的示意图。
图中：1、移动底盘，2、架体，3、托盘，4、第一驱动机构，5、机械臂，6、升降机构，7、第一摄像头，8、控制器，9、无线通信模块，10、立柱，11、支撑梁，12、滑槽，13、滑条，14、驱动轴，15、电磁离合器，16、驱动齿轮，17、齿条，18、第一驱动电机，19、第二驱动电机，20、第一主动齿轮，21、第二主动齿轮，22、第一从动齿轮，23、第二从动齿轮，24、第一同步带轮，25、第二同步带轮，26、第三同步带轮，27、第四同步带轮，28、基座，29、顶板，30、中间板，31、周转箱，32、底板，33、第三同步带，34、双面同步带，35、第二驱动机构，36、第一钢丝带，37、第二钢丝带，38、第一导向轮，39、第二导向轮，40、第二摄像头，41、支撑板，42、卡爪，43、第三导轨，44、第一滑块，45、第三驱动电机，46、安装板，47、凸条，48、底座，49、万向轮，50、减震机构，51、伺服电机，52、第五同步带轮，53、第六同步带轮，54、第三驱动机构，55、第四同步带，56、第四导轨，57、第二滑块，58、连接机构，59、条形通孔，60、驱动轮。
在此处键入本发明的最佳实施方式描述段落。
下面通过实施例，并结合附图，对本发明的技术方案作进一步具体的说明。
本实施例的一种用于仓储的机器人，如图1、图2、图3、图4所示，包括移动底盘1，移动底盘1上设有架体2，架体2包括对称设置在移动底盘1左右两侧的支架，支架上从上至下并排设有若干个可左右移动的托盘3，两个支架之间的距离小于或等于托盘3的长度，支架上还设有可驱动各个托盘3单独左右移动的第一驱动机构4，两个支架之间设有用于抓取物品的机械臂5，架体2上设有可带动机械臂5竖直升降的升降机构6，移动底盘1底部设有第一摄像头7，移动底盘1上还设有控制器8和无线通信模块9，控制器8分别与移动底盘1、第一驱动机构4、机械臂5、升降机构6、第一摄像头7和无线通信模块9电连接。
仓储区域的货架上放置有统一规格的周转箱31，周转箱31内放置有同一种货品。周转箱便于机械臂抓取。
在本方案中，第一摄像头用于识别仓储区域地面上的导向线或导航二维码，帮助机器人定位，配合移动底盘，实现在仓储区域自由移动。机器人通过无线通信模块接收管理中心发送的无线指令。
机器人通过升降机构带动机械臂升降，机械臂用于将托盘上的周转箱取下放到仓储区域的货架上，或者将仓储区域的货架上的周转箱取下放到托盘上。
托盘用于存放周转箱。两个支架之间的距离小于或等于托盘的长度，每个支架上的托盘位于初始位置时，左侧支架上托盘的右端位于两个支架之间的中线位置，右侧支架上托盘的左端位于两个支架之间的中线位置。第一驱动机构用于驱动支架上的各个托盘单独左右移动，从而控制各个托盘移到支架内侧或移到支架外侧。
如图12所示，当机械臂需要将某个托盘上的周转箱取下时，该托盘正上方的所有托盘以及与该托盘位于同一高度的托盘都移动到支架外侧，然后将该托盘移动到机械臂正下方，机械臂将该托盘上周转箱取下，然后所有托盘都回到原位。同理，当机械臂需要将货品放置到某个托盘上时，该托盘上方的所有托盘以及与该托盘位于同一高度的托盘都移动到支架外侧，然后将该托盘移动到机械臂正下方，等机械臂放完周转箱后，所有托板都回到原位。
当机械臂需要从仓储区域的货架上较低位置取周转箱或要将周转箱放到仓储区域的货架上较低位置时，将相应的托盘移动到支架外侧，使得机械臂取货或放货不会受到托盘的阻碍。
升降机构、机械臂以及所有托盘都位于移动底盘的上方空间，托盘位于机械臂下方，大大减小了机器人在移动过程中占用的空间，使得仓储区域可以更密集的存放更多的货架，大大提高了仓储区域的空间利用率。机器人通过对各个托盘的独立移动控制，使得机械臂在工作的时候，可以通过控制相应托盘移动不阻碍机械臂工作。机器人在减小占用空间的同时能够很好的完成仓储中取货/放货操作，无需搬运整个货架，成本较低，货架尺寸不受限制，提高工作人员拣选货品的效率，且使仓库内货架密度大大提高。
如图1、图5、图7所示，支架包括对称设置在移动底盘1前后两侧的支柱，支柱包括左右并排设置的两个立柱10，每个托盘3下方对应设有支撑梁11，支撑梁11两端分别与两个支柱的内侧的立柱10连接，支撑梁11上设有两个左右走向的滑槽12，托盘3底面对应位置设有与滑槽12匹配的滑条13，滑条13穿过对应的滑槽12。托盘3呈方形，托盘3可沿滑槽12左右移动，托盘3能够移动到支架内侧，也可移动到支架外侧。
如图5、图6、图7所示，第一驱动机构4包括设置在每个支柱内的驱动轴14，驱动轴14位于所在支柱的两个立柱10之间，驱动轴14上套设有若干个电磁离合器15，电磁离合器15与托盘3一一对应，电磁离合器15的轴套上套设有驱动齿轮16，托盘3底面前后两侧设有沿左右走向的齿条17，电磁离合器15位于对应托盘3的外侧，电磁离合器15上的驱动齿轮16与托盘3底面对应一侧的齿条17啮合，电磁离合器15通过连接件与支柱固定连接，第一驱动机构4还包括用于驱动各个驱动轴14转动的驱动模块，控制器8分别与电磁离合器15、驱动模块电连接。
电磁离合器通电接合时，电磁离合器轴套上的驱动齿轮受穿过该电磁离合器的驱动轴驱动，驱动轴转动则通过驱动齿轮、齿条传动带动托盘移动，驱动轴不转动，则通过驱动齿轮、齿条使得托盘不会受外力作用随意滑动。电磁离合器断电分离时，电磁离合器轴套上的驱动齿轮不受驱动轴的影响。通过控制各个电磁离合器的通断电能够控制选定的托盘受驱动轴驱动，从而实现控制各个托盘移动的目的。
如图3、图5所示，驱动模块包括第一驱动电机18、第二驱动电机19、第一主动齿轮20、第二主动齿轮21、第一从动齿轮22、第二从动齿轮23、第一同步带轮24、第二同步带轮25、第三同步带轮26和第四同步带轮27，第一驱动电机18设置在左前侧支柱顶部，第二驱动电机19设置在左后侧支柱顶部，第一主动齿轮20、第一同步带轮24都套设在第一驱动电机18的输出轴上，第二主动齿轮21、第二同步带轮25都套设在第二驱动电机19的输出轴上，第一从动齿轮22套设在左前侧驱动轴上，第二从动齿轮23套设在左后侧驱动轴上，第三同步带轮26套设在右前侧驱动轴上，第四同步带轮27套设在右后侧驱动轴上，第一主动齿轮20与第一从动齿轮22啮合，第二主动齿轮21与第二从动齿轮23啮合，第一同步带轮24与第三同步带轮26通过第一同步带连接，第二同步带轮25与第四同步带轮27通过第二同步带连接，控制器8分别与第一驱动电机18和第二驱动电机19电连接。
第一驱动电机驱动第一主动齿轮、第一同步带轮转动，第一主动齿轮通过带动第一从动齿轮转动而使得左前侧驱动轴转动，第一同步带轮通过带动第三同步带轮转动而使得右前侧驱动轴转动；第二驱动电机驱动第二主动齿轮、第二同步带轮转动，第二主动齿轮通过带动第二从动齿轮转动而使得左后侧驱动轴转动，第二同步带轮通过带动第四同步带轮转动而使得右后侧驱动轴转动。
如图9、图10所示，机械臂5包括机械手和带动机械手前后移动的第一移动机构，控制器8分别与机械手、第一移动机构电连接。
第一移动机构包括从上至下依次设置的基座28、顶板29、中间板30和底板32，顶板29与基座28固定连接，顶板29底面两侧设有与中间板30匹配的第一导轨，中间板30两侧分别插入对应第一导轨，中间板30可沿第一导轨滑动，中间板30底面两侧设有与底板32匹配的第二导轨，底板32两侧分别插入对应第二导轨，底板32可沿第二导轨滑动，中间板30顶面设有沿前后走向的第三同步带33，顶板29上设有条形通孔59，条形通孔59内设有呈环形的双面同步带34（双面同步带绕在两个同步带轮上）以及驱动双面同步带34转动的第二驱动机构35，第三同步带33与双面同步带34啮合，第二移动机构还包括第一钢丝带36和第二钢丝带37，中间板30前后两端分别设有第一导向轮38和第二导向轮39，第一钢丝36带一端与顶板29后端固定连接，第一钢丝带36绕过第一导向轮38，第一钢丝带36另一端与底板32后端固定连接，第二钢丝带37一端与顶板29前端固定连接，第二钢丝带37绕过第二导向轮39，第二钢丝带37另一端与底板32前端固定连接，顶板29前后两端都设有第二摄像头40，控制器8分别与第二驱动机构35、第二摄像头40电连接。
第二驱动机构驱动双面同步带转动，双面同步带转动带动第三同步带水平移动，由于第三同步带水平固定在中间板上，所以第三同步带水平移动带动中间板水平移动。第一钢丝带绕过中间板的第一导向轮，两端分别固定在顶板后端、底板后端。第二钢丝带绕过中间板的第二导向轮，两端分别固定在顶板前端、底板前端。中间板向前移动，通过第一钢丝带带动底板前移，中间板向后移动，通过第二钢丝带带动底板后移，从而实现中间板、底板两级联动。第二摄像头用于确定机械臂与货架上周转箱之间的相对位置，便于微调机械臂的位置，使得更精确地抓取周转箱，还能确认是否是需要抓取的周转箱。
机械手包括一个沿左右走向设置的支撑板41、两个左右对称设置的卡爪42和两根沿左右走向设置的第三导轨43，支撑板41和两个第三导轨43都设置在底板32底部，支撑板41两端伸出底板32两侧，第三导轨43两端伸出底板32两侧，第三导轨43两端设有可沿第三导轨43滑动的第一滑块44，左侧的卡爪42与两个第三导轨43左侧的第一滑块44固定连接，右侧的卡爪42与两个第三导轨43右侧的第一滑块44固定连接，支撑板41两端分别设有第三驱动电机45，第三驱动电机45用于驱动对应一侧的卡爪42左右移动，第三驱动电机45与控制器8电连接。控制器通过控制两个卡爪相对运动从而实现机械手对货品的抓放动作。
卡爪42包括安装板46和设置在安装板46内侧的多个凸条47，凸条47沿前后走向排列成一条直线。
如图11所示，移动底盘1包括底座48、设置在底座48底部的两个行走模块和设置在底座48底部的若干个万向轮49，行走模块通过减震机构50与底座48连接，行走模块包括驱动轮60和驱动驱动轮60转动的伺服电机51，控制器8与伺服电机51电连接。
如图1、图2、图8所示，升降机构6包括设置在每个支柱顶部外侧的第五同步带轮52、设置在移动底盘1顶面的四个第六同步带轮53以及设置在移动底盘1顶面的第三驱动机构54，四个第六同步带轮53与四个第五同步带轮52一一对应，第六同步带轮53位于对应的第五同步带轮52正下方，第六同步带轮53与对应第五同步带轮52通过第四同步带55连接，第三驱动机构54用于驱动四个第六同步带轮53转动，每个支柱内侧都设有竖直的第四导轨56，第四导轨56上设有可沿第四导轨56滑动的第二滑块57，第二滑块57与机械臂5固定连接，四个第四同步带55与四个第二滑块57一一对应，每个第四同步带55与对应的第二滑块57通过连接机构58连接，第三驱动机构54与控制器8电连接。
第三驱动机构驱动四个第六同步带轮同步转动，四个第六同步带轮带动四个第五同步带轮转动，四个第四同步带带动第二滑块滑动，从而带动机械臂升降。
本实施例的一种用于仓储的机器人的工作方法，用于上述一种用于仓储的机器人，包括以下步骤：
取货步骤如下：
当机器人接收到取货指令后，机器人向放有需取货品的周转箱所在货架位置移动，在移动过程中，机器人选择其上一个空闲的托盘用于放置待取的周转箱；
如果放有需取货品的周转箱所在高度不低于该空闲托板所在高度，则控制该托盘上方的所有托盘以及与该托盘同样高度的托盘都移动到支架外侧，控制该托盘移动到机械臂正下方，当机器人移动到放有需取货品的周转箱所在货架位置后，机器人的机械臂将放有需取货品的周转箱取下并放到对应的托盘上，完成取货操作；
如果放有需取货品的周转箱所在高度低于该空闲托盘所在高度，则控制高度在放有需取货品的周转箱所在高度之上的托盘都移动到支架外侧，当机器人移动到放有需取货品的周转箱所在货架位置后，机械臂移动到放有需取货品的周转箱所在高度将该周转箱取下，接着机械臂上升到该空闲托盘所在高度上方，该空闲托盘移动到机械臂正下方，机械臂将放有需取货品的周转箱放到该空闲托盘上，完成取货操作；
上货步骤如下：
当机器人接收到上货指令后，机器人先执行取货步骤将放有需上货货品的周转箱取下放到空闲托盘上，之后移动到工作台，工作台的工作人员将需上货货品放入机器人上对应的周转箱内，机器人向放有需上货货品的周转箱对应的货架位置移动；
如果货架上用于存放该周转箱的储货位高度不低于该周转箱所在托盘的高度，则在移动过程中控制该托盘上方的所有托盘以及与该托盘同样高度的托盘都移动到支架外侧，控制该托盘移动到机械臂正下方，当机器人移动到对应货架处后，机器人的机械臂将放有需上货货品的周转箱从托盘上取下放入对应储货位，完成上货操作；
如果货架上用于存放该周转箱的储货位高度低于该周转箱所在托盘的高度，则在移动过程中控制该周转箱所在托盘上方的所有托盘以及与该周转箱所在托盘同样高度的托盘都移动到支架外侧，控制该周转箱所在托盘移动到机械臂正下方，当机器人移动到对应货架处后，机器人的机械臂将放有需上货货品的周转箱从托盘上取下，接着控制高度在用于存放该周转箱的储货位高度之上的托盘都移动到支架外侧，机器人的机械臂将放有需上货货品的周转箱放入对应储货位，完成上货操作。
机器人在移动过程中控制左侧某个托盘向支架外侧移动的方法包括以下步骤：
控制第一驱动电机顺时针转动、第二驱动电机不转动；
控制左前侧的驱动轴上该待移动托盘的对应的电磁离合器通电接合，控制左前侧的驱动轴上其他电磁离合器断电分离；控制左后侧的驱动轴上该待移动托盘的对应的电磁离合器断电分离，控制左后侧的驱动轴上其他电磁离合器通电接合；控制右前侧的驱动轴上所有电磁离合器断电分离；控制右后侧的驱动轴上所有电磁离合器通电接合；
机器人在移动过程中控制左侧某个托盘向支架内侧移动的方法包括以下步骤：
控制第一驱动电机逆时针转动、第二驱动电机不转动；
控制左前侧的驱动轴上该待移动托盘的对应的电磁离合器通电接合，控制左前侧的驱动轴上其他电磁离合器断电分离；控制左后侧的驱动轴上该待移动托盘的对应的电磁离合器断电分离，控制左后侧的驱动轴上其他电磁离合器通电接合；控制右前侧的驱动轴上所有电磁离合器断电分离；控制右后侧的驱动轴上所有电磁离合器通电接合；
机器人在移动过程中控制右侧某个托盘向支架外侧移动的方法包括以下步骤：
控制第一驱动电机顺时针转动、第二驱动电机不转动；
控制右前侧的驱动轴上该待移动托盘的对应的电磁离合器通电接合，控制右前侧的驱动轴上其他电磁离合器断电分离；控制右后侧的驱动轴上该待移动托盘的对应的电磁离合器断电分离，控制右后侧的驱动轴上其他电磁离合器通电接合；控制左前侧的驱动轴上所有电磁离合器断电分离；控制左后侧的驱动轴上所有电磁离合器通电接合；
机器人在移动过程中控制右侧某个托盘向支架内侧移动的方法包括以下步骤：
控制第一驱动电机逆时针转动、第二驱动电机不转动；
控制左前侧的驱动轴上该待移动托盘的对应的电磁离合器通电接合，控制左前侧的驱动轴上其他电磁离合器断电分离；控制左后侧的驱动轴上该待移动托盘的对应的电磁离合器断电分离，控制左后侧的驱动轴上其他电磁离合器通电接合；控制右前侧的驱动轴上所有电磁离合器断电分离；控制右后侧的驱动轴上所有电磁离合器通电接合。
在本方案中，取货或上货时，机器人在移动过程中预先调整托盘的位置，从而减少了仓储机器人在货架前的动作，从而减少了取货、上货的时间，提高了仓储效率。在移动过程中，对于受驱动移动的托盘之外的托盘，需要通过一个电磁离合器结合通电与一个固定不转动的驱动轴连接，从而使得这些托盘不会在仓储机器人移动时自由滑动。
机器人在不动时，则不需要对受驱动移动的托盘之外的托盘进行固定，机器人可根据需要控制第一驱动电机、第二驱动电机转动，配合相应电磁离合器通断电，从而可同时控制两侧的任意托盘移动。如：第一驱动电机顺时针转动，第二驱动电机逆时针转动，左前侧的驱动轴上所有电磁离合器通电接合，左后侧的驱动轴上所有电磁离合器断电分离，右前侧的驱动轴上所有电磁离合器断电分离，右后侧的驱动轴上所有电磁离合器通电接合，则两侧的托盘都向支架外侧移动。
在此处键入工业实用性描述段落。
在此处键入序列表自由内容描述段落。
Claims (10)
- 一种用于仓储的机器人，其特征在于，包括移动底盘（1），所述移动底盘（1）上设有架体（2），所述架体（2）包括对称设置在移动底盘（1）左右两侧的支架，所述支架上从上至下并排设有若干个可左右移动的托盘（3），两个支架之间的距离小于两个托盘（3）的长度之和，所述支架上还设有可驱动各个托盘（3）单独左右移动的第一驱动机构（4），两个支架之间设有用于抓取物品的机械臂（5），所述架体（2）上设有可带动机械臂（5）竖直升降的升降机构（6），所述移动底盘（1）底部设有第一摄像头（7），所述移动底盘（1）上还设有控制器（8）和无线通信模块（9），所述控制器（8）分别与移动底盘（1）、第一驱动机构（4）、机械臂（5）、升降机构（6）、第一摄像头（7）和无线通信模块（9）电连接。
- 根据权利要求1所述的一种用于仓储的机器人，其特征在于，两个支架之间的距离小于或等于托盘（3）的长度。
- 根据权利要求1所述的一种用于仓储的机器人，其特征在于，所述支架包括对称设置在移动底盘（1）前后两侧的支柱，所述支柱包括左右并排设置的两个立柱（10），每个托盘（3）下方对应设有支撑梁（11），所述支撑梁（11）两端分别与两个支柱的内侧的立柱（10）连接，所述支撑梁（11）上设有两个左右走向的滑槽（12），所述托盘（3）底面对应位置设有与滑槽（12）匹配的滑条（13），所述滑条（13）穿过对应的滑槽（12）。
- 根据权利要求3所述的一种用于仓储的机器人，其特征在于，所述第一驱动机构（4）包括设置在每个支柱内的驱动轴（14），所述驱动轴（14）位于所在支柱的两个立柱（10）之间，所述驱动轴（14）上套设有若干个电磁离合器（15），电磁离合器（15）与托盘（3）一一对应，所述电磁离合器（15）的轴套上套设有驱动齿轮（16），所述托盘（3）底面前后两侧设有沿左右走向的齿条（17），所述电磁离合器（15）位于对应托盘（3）的外侧，所述电磁离合器（15）上的驱动齿轮（16）与托盘（3）底面对应一侧的齿条（17）啮合，所述电磁离合器（15）通过连接件与支柱固定连接，所述第一驱动机构（4）还包括用于驱动各个驱动轴（14）转动的驱动模块，所述控制器（8）分别与电磁离合器（15）、驱动模块电连接。
- 根据权利要求4所述的一种用于仓储的机器人，其特征在于，所述驱动模块包括第一驱动电机（18）、第二驱动电机（19）、第一主动齿轮（20）、第二主动齿轮（21）、第一从动齿轮（22）、第二从动齿轮（23）、第一同步带轮（24）、第二同步带轮（25）、第三同步带轮（26）和第四同步带轮（27），所述第一驱动电机（18）设置在左前侧支柱顶部，所述第二驱动电机（19）设置在左后侧支柱顶部，所述第一主动齿轮（20）、第一同步带轮（24）都套设在第一驱动电机（18）的输出轴上，所述第二主动齿轮（21）、第二同步带轮（25）都套设在第二驱动电机（19）的输出轴上，所述第一从动齿轮（22）套设在左前侧驱动轴上，所述第二从动齿轮（23）套设在左后侧驱动轴上，所述第三同步带轮（26）套设在右前侧驱动轴上，所述第四同步带轮（27）套设在右后侧驱动轴上，所述第一主动齿轮（20）与第一从动齿轮（22）啮合，所述第二主动齿轮（21）与第二从动齿轮（23）啮合，所述第一同步带轮（24）与第三同步带轮（26）通过第一同步带连接，所述第二同步带轮（25）与第四同步带轮（27）通过第二同步带连接，所述控制器（8）分别与第一驱动电机（18）和第二驱动电机（19）电连接。
- 根据权利要求1所述的一种用于仓储的机器人，其特征在于，所述机械臂（5）包括机械手和带动机械手前后移动的第一移动机构，所述控制器（8）分别与机械手、第一移动机构电连接。
- 根据权利要求6所述的一种用于仓储的机器人，其特征在于，所述第一移动机构包括从上至下依次设置的基座（28）、顶板（29）、中间板（30）和底板（32），所述顶板（29）与基座（28）固定连接，所述顶板（29）底面两侧设有与中间板（30）匹配的第一导轨，所述中间板（30）两侧分别插入对应第一导轨，所述中间板（30）可沿第一导轨滑动，所述中间板（30）底面两侧设有与底板（32）匹配的第二导轨，所述底板（32）两侧分别插入对应第二导轨，所述底板（32）可沿第二导轨滑动，所述中间板（30）顶面设有沿前后走向的第三同步带（33），所述顶板（29）上设有条形通孔（59），所述条形通孔（59）内设有呈环形的双面同步带（34）以及驱动双面同步带（34）转动的第二驱动机构（35），所述第三同步带（33）与双面同步带（34）啮合，所述第二移动机构还包括第一钢丝带（36）和第二钢丝带（37），所述中间板（30）前后两端分别设有第一导向轮（38）和第二导向轮（39），所述第一钢丝带一端与顶板后端固定连接，所述第一钢丝带（36）绕过第一导向轮（38），所述第一钢丝带（36）另一端与底板（32）后端固定连接，所述第二钢丝带（37）一端与顶板（29）前端固定连接，所述第二钢丝带（37）绕过第二导向轮（39），所述第二钢丝带（37）另一端与底板（32）前端固定连接，所述顶板（29）前后两端都设有第二摄像头（40），所述控制器（8）分别与第二驱动机构（35）、第二摄像头（40）电连接。
- 根据权利要求7所述的一种用于仓储的机器人，其特征在于，所述机械手包括一个沿左右走向设置的支撑板（41）、两个左右对称设置的卡爪（42）和两根沿左右走向设置的第三导轨（43），支撑板（41）和两个第三导轨（43）都设置在底板（32）底部，所述支撑板（41）两端伸出底板（32）两侧，所述第三导轨（43）两端伸出底板（32）两侧，所述第三导轨（43）两端设有可沿第三导轨（43）滑动的第一滑块（44），左侧的卡爪（42）与两个第三导轨（43）左侧的第一滑块（44）固定连接，右侧的卡爪（42）与两个第三导轨（43）右侧的第一滑块（44）固定连接，所述支撑板（41）两端分别设有第三驱动电机（45），所述第三驱动电机（45）用于驱动对应一侧的卡爪（42）左右移动，所述第三驱动电机（45）与控制器（8）电连接。
- 一种用于仓储的机器人的工作方法，用于权利要求5所述的一种用于仓储的机器人，其特征在于，包括以下步骤：取货步骤如下：当机器人接收到取货指令后，机器人向放有需取货品的周转箱所在货架位置移动，在移动过程中，机器人选择其上一个空闲的托盘用于放置待取的周转箱；如果放有需取货品的周转箱所在高度不低于该空闲托板所在高度，则控制该托盘上方的所有托盘以及与该托盘同样高度的托盘都移动到支架外侧，控制该托盘移动到机械臂正下方，当机器人移动到放有需取货品的周转箱所在货架位置后，机器人的机械臂将放有需取货品的周转箱取下并放到对应的托盘上，完成取货操作；如果放有需取货品的周转箱所在高度低于该空闲托盘所在高度，则控制高度在放有需取货品的周转箱所在高度之上的托盘都移动到支架外侧，当机器人移动到放有需取货品的周转箱所在货架位置后，机械臂移动到放有需取货品的周转箱所在高度将该周转箱取下，接着机械臂上升到该空闲托盘所在高度上方，该空闲托盘移动到机械臂正下方，机械臂将放有需取货品的周转箱放到该空闲托盘上，完成取货操作；上货步骤如下：当机器人接收到上货指令后，机器人先执行取货步骤将放有需上货货品的周转箱取下放到空闲托盘上，之后移动到工作台，工作台的工作人员将需上货货品放入机器人上对应的周转箱内，机器人向放有需上货货品的周转箱对应的货架位置移动；如果货架上用于存放该周转箱的储货位高度不低于该周转箱所在托盘的高度，则在移动过程中控制该托盘上方的所有托盘以及与该托盘同样高度的托盘都移动到支架外侧，控制该托盘移动到机械臂正下方，当机器人移动到对应货架处后，机器人的机械臂将放有需上货货品的周转箱从托盘上取下放入对应储货位，完成上货操作；如果货架上用于存放该周转箱的储货位高度低于该周转箱所在托盘的高度，则在移动过程中控制该周转箱所在托盘上方的所有托盘以及与该周转箱所在托盘同样高度的托盘都移动到支架外侧，控制该周转箱所在托盘移动到机械臂正下方，当机器人移动到对应货架处后，机器人的机械臂将放有需上货货品的周转箱从托盘上取下，接着控制高度在用于存放该周转箱的储货位高度之上的托盘都移动到支架外侧，机器人的机械臂将放有需上货货品的周转箱放入对应储货位，完成上货操作。
- 根据权利要求9所述的一种用于仓储的机器人的工作方法，其特征在于，机器人在移动过程中控制左侧某个托盘向支架外侧移动的方法包括以下步骤：控制第一驱动电机顺时针转动、第二驱动电机不转动；控制左前侧的驱动轴上该待移动托盘的对应的电磁离合器通电接合，控制左前侧的驱动轴上其他电磁离合器断电分离；控制左后侧的驱动轴上该待移动托盘的对应的电磁离合器断电分离，控制左后侧的驱动轴上其他电磁离合器通电接合；控制右前侧的驱动轴上所有电磁离合器断电分离；控制右后侧的驱动轴上所有电磁离合器通电接合；机器人在移动过程中控制左侧某个托盘向支架内侧移动的方法包括以下步骤：控制第一驱动电机逆时针转动、第二驱动电机不转动；控制左前侧的驱动轴上该待移动托盘的对应的电磁离合器通电接合，控制左前侧的驱动轴上其他电磁离合器断电分离；控制左后侧的驱动轴上该待移动托盘的对应的电磁离合器断电分离，控制左后侧的驱动轴上其他电磁离合器通电接合；控制右前侧的驱动轴上所有电磁离合器断电分离；控制右后侧的驱动轴上所有电磁离合器通电接合；机器人在移动过程中控制右侧某个托盘向支架外侧移动的方法包括以下步骤：控制第一驱动电机顺时针转动、第二驱动电机不转动；控制右前侧的驱动轴上该待移动托盘的对应的电磁离合器通电接合，控制右前侧的驱动轴上其他电磁离合器断电分离；控制右后侧的驱动轴上该待移动托盘的对应的电磁离合器断电分离，控制右后侧的驱动轴上其他电磁离合器通电接合；控制左前侧的驱动轴上所有电磁离合器断电分离；控制左后侧的驱动轴上所有电磁离合器通电接合；机器人在移动过程中控制右侧某个托盘向支架内侧移动的方法包括以下步骤：控制第一驱动电机逆时针转动、第二驱动电机不转动；控制左前侧的驱动轴上该待移动托盘的对应的电磁离合器通电接合，控制左前侧的驱动轴上其他电磁离合器断电分离；控制左后侧的驱动轴上该待移动托盘的对应的电磁离合器断电分离，控制左后侧的驱动轴上其他电磁离合器通电接合；控制右前侧的驱动轴上所有电磁离合器断电分离；控制右后侧的驱动轴上所有电磁离合器通电接合。
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