WO2021042728A1 - 一种支架、搬运系统及搬运方法 - Google Patents

一种支架、搬运系统及搬运方法 Download PDF

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Publication number
WO2021042728A1
WO2021042728A1 PCT/CN2020/084701 CN2020084701W WO2021042728A1 WO 2021042728 A1 WO2021042728 A1 WO 2021042728A1 CN 2020084701 W CN2020084701 W CN 2020084701W WO 2021042728 A1 WO2021042728 A1 WO 2021042728A1
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WIPO (PCT)
Prior art keywords
support
logistics robot
goods
bracket
logistics
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Application number
PCT/CN2020/084701
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English (en)
French (fr)
Inventor
马庆光
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北京极智嘉科技有限公司
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Publication of WO2021042728A1 publication Critical patent/WO2021042728A1/zh

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical

Definitions

  • This application relates to the technical field of warehousing and logistics, and in particular to a support, a handling system and a handling method.
  • the logistics robot 2' In the intelligent warehousing system, the logistics robot 2'usually cooperates with other automation equipment to complete the entire process. Especially when the cargo 100' to be transported is on the conveyor 3', the logistics robot 2'directly lifts the cargo 100' from the conveyor 3'or lifts the cargo 100' and the pallet 110' that carries the cargo 100'. Place it in the designated location. When placing the cargo 100' or the cargo 100' and the pallet 110' carrying the cargo 100' in the designated position, the cargo 100' or the cargo 100' and the pallet 110' carrying the cargo 100' need to be placed in a fixed position for installation ⁇ 1' ⁇ Type support 1'.
  • bracket 1' is fixed at the designated position, it cannot move with the logistics robot 2', so the goods 100' or the goods 100' and the pallet 110' carrying the goods 100' can only be unloaded at the designated position, which has the problem of insufficient flexibility .
  • the purpose of this application is to provide a bracket that can be unloaded at any designated position and has high flexibility.
  • Another object of the present application is to provide a handling system, which can transport the goods on the conveyor to any designated position, and has high flexibility in unloading the goods.
  • Another object of the present application is to provide a handling method to make cargo handling more flexible.
  • a stent including:
  • the carrying part is set to carry goods
  • the supporting part is arranged on the lower side of the carrying part and used to support the carrying part so that the bracket stands on a plane;
  • a space capable of accommodating a logistics robot is provided between the supporting parts, and the carrying part can be lifted by the logistics robot.
  • the carrying portion is a frame-shaped structure, and a supporting structure for cooperating with the logistics robot to lift is provided in the frame-shaped structure.
  • the load-bearing portion has a "Tian”-shaped structure
  • the load-bearing portion includes a rectangular frame formed by four first connecting rods connected end to end in sequence, and a “ten” formed by fixedly connecting four second connecting rods. Glyph structure.
  • the supporting part includes four third connecting rods connected to the carrying part, and the four third connecting rods are distributed in a rectangular shape on the lower side of the carrying part.
  • the bracket further includes a first marker, and the first marker is arranged on the lower surface of the carrying portion.
  • the bracket further includes a reflective strip, and the reflective strip is disposed on the supporting portion.
  • At least one positioning groove for cooperating with the logistics robot is provided on the lower surface of the carrying part.
  • a handling system including the above-mentioned bracket, and further including:
  • Conveyor device for conveying goods
  • the control server is communicatively connected with the logistics robot, and can control the logistics robot to carry the goods or carry the rack from the conveying device.
  • the logistics robot moves below the carrying part of the bracket at the first designated position
  • a jacking module in the logistics robot jacks up the support and moves it to a second designated position
  • the jacking module is lowered until the supporting part of the bracket is supported;
  • the jacking module continues to descend, and the logistics robot moves out of the bottom of the carrying part.
  • a transportation method using the above-mentioned transportation system includes:
  • Moving goods from the conveyor to the third designated location including;
  • S2 The logistics robot lifts the support until the goods are separated from the conveying device
  • a transportation method using the above-mentioned transportation system includes:
  • Moving goods from the fourth designated location to the conveyor including:
  • the present application also provides a storage system, which includes a work station and a transfer stand on one side of the work station, and the transfer stand includes a first stand and a second stand opposite to each other, wherein,
  • Both the first support and the second support include: a support beam used to support a cargo box or a pallet, and a support column connected to the support beam and used to support the support beam.
  • first support and the second support are arranged in parallel.
  • convex eaves structures are provided on opposite sides of the cargo box or the pallet, and the convex eaves structures can be lapped on the supporting beams of the transfer bracket one by one.
  • the present application provides a bracket, which includes a bearing portion and a supporting portion, the bearing portion is configured to carry goods, and the supporting portion is arranged on the lower side of the bearing portion to support the bearing portion and to make the bracket stand on a plane.
  • the support can achieve the purpose of carrying goods by providing a carrying part, and because the support is an independent mechanism, it has mobility, so that the support can move synchronously with the goods and has high flexibility.
  • Figure 1 is a schematic diagram of a logistics robot carrying goods from a conveyor in the prior art
  • Fig. 2 is a schematic structural diagram of a fixed bracket in the prior art
  • FIG. 3 is a schematic diagram of the structure of the bracket in the embodiment of the present application.
  • FIG. 4 is a schematic diagram of a logistics robot carrying goods from a conveying device in an embodiment of the present application
  • Figure 5 is a top view of a storage system provided by an embodiment of the application.
  • Fig. 6 is a schematic structural diagram of a transport stent provided by an embodiment of the application.
  • Second bracket 122a second support beam; 122b, second support column; 13, cargo box; 131, convex eaves structure.
  • the "above” or “below” of the first feature of the second feature may include direct contact between the first and second features, or may include the first and second features Not in direct contact but through other features between them.
  • “above”, “above” and “above” the second feature of the first feature include the first feature being directly above and obliquely 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” the first feature of the second feature include the first feature directly below and obliquely below the second feature, or it simply means that the first feature has a lower level than the second feature.
  • This embodiment provides a support 1 which is used to carry goods 100 and can move synchronously with the goods 100 and can be placed in any position.
  • the bracket 1 includes a carrying part 11 for carrying goods 100 and a supporting part 12 connected to the carrying part 11.
  • the supporting part 12 is provided on the lower side of the carrying part 11 for supporting the carrying part 11 and enabling The entire support 1 stands on a plane.
  • the support 1 can achieve the purpose of carrying the goods 100 by providing the carrying portion 11, and since the support 1 is an independent mechanism, it is movable.
  • the support 1 has a frame structure
  • the carrying portion 11 has a frame structure
  • a supporting structure for cooperating with the logistics robot to lift is provided in the frame structure.
  • the carrying portion 11 has a "Tian"-shaped structure, which includes four first connecting rods 111 and four second connecting rods 112.
  • the four first connecting rods 111 are connected end to end to form a rectangular frame
  • the four second connecting rods 111 are connected to form a rectangular frame.
  • the connecting rod 112 is formed in a "cross"-shaped structure
  • the "cross"-shaped structure is a supporting structure that cooperates with the logistics robot to lift.
  • the supporting part 12 includes four third connecting rods connected to the carrying part 11, and the four third connecting rods are distributed in a rectangular shape on the lower side of the carrying part 11.
  • the bracket 1 adopts a simple frame structure, which can reduce the weight of the bracket 1, thereby improving the mobility.
  • the handling system may further include a pallet 110 (as shown in FIG. 4), the pallet 110 is used to carry the goods 100 and is arranged on the carrying part 11, and the pallet 110 is arranged on the upper side of the rectangular frame, The supporting portion 11 is located on the lower side of the tray 110.
  • the arrangement of the pallet 110 can be adapted to the cargo 100 with a small volume, thereby improving the versatility of the carriage 1 to carry the cargo 100.
  • only “cargo 100” is used for description, but those skilled in the relevant technical field should understand that "cargo 100” in this application is the cargo 100 itself or the cargo 100 plus the carrying cargo 100
  • the usage of the container, such as the cargo 100 and the pallet 110 can be determined according to the actual volume and quantity of the cargo 100.
  • the number of the first connecting rod 111 and the second connecting rod 112 included in the carrying portion 11 and the number of the third connecting rod included in the supporting portion 12 can also be increased or decreased according to requirements.
  • This embodiment also provides a handling system, which includes the above-mentioned support 1, a logistics robot 2 and a control server.
  • the control server is in communication with the logistics robot 2 and can control the logistics robot 2 to carry the support 1 and is arranged on the support 1. 100 on the goods.
  • the control server can be a centralized or distributed controller.
  • the control server can be a single single-chip microcomputer, or it can be composed of multiple distributed single-chip microcomputers.
  • the single-chip microcomputer can run control programs to control logistics.
  • the robot 2 fulfills its function.
  • the logistics robot 2 includes a jacking module.
  • the jacking module may be the cooperation of the cylinder and the ejector rod, or the cooperation of the lifting bracket and the top plate, and there is no specific limitation here, as long as the purpose of lifting can be achieved.
  • the logistics robot 2 can enter under the carrying part 11 from between the two adjacent third links of the support 1, and abut the carrying part 11 by raising the jacking module, and after the jacking module abuts the carrying part 11 , The jacking module continues to rise to jack up and move the support 1.
  • the logistics robot 2 can unload the cargo 100 at any designated position, which improves the flexibility of the cargo 100 handling.
  • the width of the logistics robot 2 is set to L0, and the distance between the inner sides of two adjacent third links of the support 1 is L1, where L1>(L0+location error of the logistics robot 2) is required.
  • a first identifier is provided on the carrying portion 11, and the logistics robot 2 is provided with a first identification device capable of identifying the first identifier, and the first identification device is in communication connection with the control server.
  • the first identifier may be a barcode or a two-dimensional code identifier, and the first identification device may be a camera device above the logistics robot 2.
  • the logistics robot 2 automatically recognizes the first marker on the support 1 through the first recognition device, and sends a signal indicating whether the first marker is recognized to the control server, and the control server directly determines whether the logistics robot 2 moves in place, and then controls the logistics robot 2Go to the next step.
  • a mechanical positioning is also provided between the logistics robot 2 and the support 1.
  • one of the carrying portion 11 and the jacking module is provided with a positioning protrusion, and the other is provided with a positioning groove capable of matching with the positioning protrusion (to cooperate with the logistics robot 2).
  • the setting of mechanical positioning can not only improve the stability of the connection between the logistics robot 2 and the support 1, but also assist in determining whether the logistics robot 2 is moved in place, and further improve the accuracy of the logistics robot 2 moving in place.
  • the support portion 12 of the bracket 1 is provided with a reflective strip
  • the logistics robot 2 is provided with a laser ranging device (not shown in the figure)
  • the laser ranging device is in communication with the control server
  • the laser ranging device is aligned with the reflective strip The emitted laser light is reflected
  • the control server can determine the distance between the logistics robot 2 and the support 1 so as to ensure that the logistics robot 2 smoothly enters under the carrying part 11 and avoid collisions between the logistics robot 2 and the supporting part 12.
  • This embodiment also discloses a transportation method based on the above-mentioned transportation system, including:
  • the logistics robot 2 moves below the carrying portion 11 of the bracket 1 at the first designated position;
  • the jacking module in the logistics robot 2 jacks up the support 1 and moves it to the second designated position;
  • the jacking module is lowered until the supporting part 12 of the bracket 1 is supported;
  • the jacking module continues to descend, and the logistics robot 2 moves out of the bottom of the carrying part 11.
  • the above-mentioned handling method does not need to specially set the fixed bracket 1 at the unloading place of the cargo 100, realizes that it can be unloaded at any designated position, and increases the freedom of unloading the cargo 100.
  • the logistics robot 2 by controlling the logistics robot 2 can realize that the logistics robot 2 enters the support 1 in the forward direction, lifts the support 1 and moves backwards; or enters between the supporting parts 11 backwards, and the support 1 is lifted and moves forwards; or Enter the bracket 1 toward the inside, and move forward after rotating 180 degrees inside; or enter the bracket 1 backward, and move backward after rotating 180 degrees inside.
  • a bracket and a transport system disclosed in this embodiment wherein the bracket 1 disclosed in this embodiment has the same structure as the bracket 1 in the first embodiment, and will not be repeated here; what is disclosed in this embodiment
  • the handling system is basically the same as the handling system in the first embodiment.
  • the handling system also includes a conveyor 3, where the conveyor 3 can be a sorting conveyor in a logistics storage system.
  • the support 1 cooperates with the conveying device 3 to realize the application of the support 1 in the field of logistics and storage.
  • the conveying device 3 includes a docking unit capable of docking the goods 100 with the logistics robot 2, and the docking unit includes two conveyor belts 31 arranged in parallel and spaced apart.
  • the logistics robot 2 can move the support 1 to the two conveyor belts. 31, and the lifting module of the logistics robot 2 can lift the goods 100 away from the conveyor belt 31, that is, the height of the connecting part is greater than the height of the support 1, and the width between the two conveyor belts 31 of the connecting part is greater than that of the support 1. width.
  • the conveyor belt 31 can be a chain conveyor belt or a roller conveyor belt.
  • the bracket 1 can be moved between the two conveyor belts 31 and located below the cargo 100, and then the logistics robot 2 lifts the cargo 100 to leave the conveyor belt 31 and is moved by the bracket 1 1Move it to any specified position.
  • the carriage 1 carrying the goods 100 can be moved between the two conveyor belts 31.
  • the lowest part of the goods 100 is higher than the height of the two conveyor belts 31.
  • the jacking module of the logistics robot 2 starts to descend until the goods 100 contact the conveyor belt 31, and then the support 1 moves and leaves the conveyor 3.
  • the goods 100 are usually placed on the pallet 110, and the pallet 110 is in direct contact with the conveying device 3.
  • the support 1 is transported to the conveying device 3, the lower surface of the pallet 110 and the carrying part The upper surface of 11 is in contact, and the logistics robot 2 transports it.
  • the distance between the outer sides of two adjacent third links is L2
  • the distance between the two conveyor belts 31 is L3, where it needs to be satisfied that L2 ⁇ L3.
  • the connecting portion is provided with a second identifier (not shown in the figure), and the logistics robot 2 is provided with a second identification device (not shown in the figure) capable of identifying the second identifier.
  • the second identification device and the control Server communication connection may be set on the ground between the two conveyor belts 31, the second identifier may be a barcode or a two-dimensional code identifier, and the second identification device may be a camera device located on the lower side of the logistics robot 2.
  • the logistics robot 2 automatically recognizes the second identifier of the connection part through the second recognition device, and sends a signal of whether the second identifier is recognized to the control server.
  • the control server can directly determine whether the logistics robot 2 is moved in place, and then control the logistics Robot 2 performs the next operation.
  • the free end of the connection part Set up a limit device (not shown in the figure).
  • the limiting device will limit the cargo 100 to prevent it from continuing to move. After the support 1 arrives, the cargo 100 is directly moved away from the transfer device 3.
  • the connecting portion is provided with a photoelectric sensor, which is connected to the control server, and the photoelectric sensor is configured to sense whether there is a cargo 100 on the conveyor belt 31.
  • the control server receives the signal and controls the logistics robot 2 to move the support 1 to the docking station to carry the cargo 100, thus realizing the unmanned operation of logistics warehousing.
  • the photoelectric sensor can be arranged on the limit device and emit photoelectric signals along the linear direction of the conveyor belt 31.
  • the photoelectric sensor may be disposed on one side of the conveyor belt 31 and emit a photoelectric signal along the conveying direction perpendicular to the conveyor belt 31.
  • this embodiment also provides a transportation method.
  • the transportation method includes a transportation method of transporting the goods 100 from the conveyor 3 to a third designated position and the transportation of the goods 100 from the fourth designated position to the conveying device 3.
  • the handling method includes a transportation method of transporting the goods 100 from the conveyor 3 to a third designated position and the transportation of the goods 100 from the fourth designated position to the conveying device 3.
  • the transport method includes:
  • the logistics robot 2 carries the support 1 and moves under the goods 100 on the conveyor 3;
  • the transport method includes:
  • the logistics robot 2 carries the goods 100 and the support 1 and moves to the connecting part of the conveying device 3;
  • FIG. 5 illustrates another storage system provided by an embodiment of the present application.
  • the storage system shown in FIG. 5 includes a work station 11 and a transfer bracket 12 located on one side of the work station 11, wherein the work station 11 A platform for workers to operate goods, such as conveyor belts, goods packing platforms, or goods processing platforms.
  • the worker sends the goods in the raw material box to the conveyor belt for transshipment; or, the worker packs the goods into the container on the cargo packing platform; or, the worker takes out the semi-finished products in the raw material box and assembles the semi-finished products on the cargo processing platform
  • the finished product is loaded into the container.
  • the transfer bracket 12 is a transfer device used to temporarily store the cargo box, so as to facilitate the workers to pick up or place the goods, and the logistics robot to carry it.
  • the height of the transfer bracket 12 should be higher than the height of the robot.
  • the transfer support includes a first support 121 and a second support 122 that are opposed to each other.
  • Both the first support 121 and the second support 122 include: a support beam for supporting the cargo box 13 or the pallet, and A support column connected with the support beam and used to support the support beam.
  • the first bracket 121 includes a first supporting beam 121a and two first supporting columns 121b, and the two first supporting columns 121b are connected with the first supporting beam 121a to form an inverted "U" shape. structure.
  • the first support column 121b and the first support beam 121a can adopt a split structure or an integrated structure; when a split structure is adopted, the first support column 121b can be connected to the first support column 121b by welding, clamping or threaded connection (bolt or screw).
  • the supporting beam 121a is connected.
  • the second support 122 also includes a second support beam 122a and two second support columns 122b, and its structure is similar to that of the first support 121, which will not be repeated here.
  • first bracket 121 and the second bracket 122 are arranged in parallel.
  • the first bracket 121 and the second bracket 122 can be separated by a certain distance.
  • the distance can be greater than or equal to the size of the cargo box 13 or the pallet, or less than
  • the size of the cargo box 13 or the pallet is specifically determined according to the specific structure of the cargo box 13 or the pallet.
  • the cargo box 13 or the pallet is provided with a raised eave structure 131 on opposite sides, the gap between the first bracket 121 and the second bracket 122 is greater than or equal to the width of the cargo box 13 or the pallet, and the cargo box 13 Or the pallet can be partially inserted into the gap between the first bracket 121 and the second bracket 122, and the eaves structure 131 is lapped on the supporting beams of the transfer bracket one by one, so that the transfer bracket supports the cargo box 13 or the pallet;
  • the eaves structure 131 can be set at any height of the cargo box 13 or the pallet, but it should be ensured that when the cargo box 13 or pallet is placed on the transfer bracket 12, the bottom of the cargo box 13 or the pallet and the ground The distance between should be able to accommodate logistics robots.
  • the gap between the first bracket 121 and the second bracket 122 is smaller than the width of the cargo box 13 or the pallet, so that the bottom of the cargo box 13 or the pallet can be pressed against the transfer bracket .
  • the logistics robot can be lifted from under the transfer bracket to carry the cargo box 13 or the pallet.
  • the length of the transfer bracket can be determined according to needs.
  • the transfer bracket 12 can support two cargo boxes 13 or pallets, or the transfer bracket 12 can only support one cargo box 13 or pallet.
  • FIG. 6 only illustrates the way of cooperation between the cargo box 13 and the transfer bracket, and does not represent the actual length of the transfer bracket.
  • the transfer bracket 12 is used to transfer two cargo boxes 13 as an example.
  • One of the two cargo boxes 13 is a raw material box and the other is a finished product box;
  • a finished product box is hung, and a raw material box is carried by the logistics robot.
  • the logistics robot can first lift the moved raw material box to the first position on the crossbar, hang the raw material box on the transfer bracket 12, and then move forward to the second position (the finished product box can be transported) The position) is jacked up, and the finished box is taken away, so as to realize the transfer.
  • transfer bracket 12 When the transfer bracket 12 can only support one cargo box 13 or pallet, two transfer brackets 12 can be provided on one side of the workbench 11, one of which is used to carry an empty cargo box 13 or pallet, and the other transfer bracket 12 is used to carry an empty cargo box 13 or pallet.
  • the bracket 12 is used to carry a cargo box 13 or a pallet full of cargo.

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Abstract

一种支架,包括承载部(11)和支撑部(12),承载部(11)设置为承载货物(100),支撑部(12)设置在承载部(11)下侧,用于支撑承载部(11),并使支架立于一平面上,支撑部(12)之间具有可容纳物流机器人的空间,且承载部(11)可被物流机器人顶升。该支架通过设置承载部能够达到承载货物的目的,且由于该支架为独立的机构,具有可移动性,从而能够实现支架随货物的同步移动,柔性较高。还包括一种搬运系统、一种搬运方法、一种仓储系统。

Description

一种支架、搬运系统及搬运方法
本申请要求在2019年9月5日提交中国专利局、申请号为201910837389.8、申请名称为“一种支架、搬运系统及搬运方法”的中国专利的优先权,其全部内容通过引用结合在本申请中。
技术领域
本申请涉及仓储物流技术领域,尤其涉及一种支架、搬运系统及搬运方法。
背景技术
目前,随着智能仓储系统逐渐兴起,物流机器人在仓储领域的应用越来越广泛,作为智能仓储系统的一部分,物流机器人凭借其效率高、灵活性好的优势得到了仓储行业以及制造业的广泛认可,物流机器人的稳定性和载重能力也越来越好。
如图1和2所示,在智能仓储系统中,物流机器人2′通常与其他自动化设备一起协作,来完成整个流程的作业。特别是需要搬运的货物100′在传送装置3′上时,物流机器人2′从传送装置3′上直接将货物100′或者将货物100′和承载货物100′的托盘110′搬起后将其放在指定的位置。在将货物100′或者货物100′和承载货物100′的托盘110′放置到指定位置时,需要将货物100′或者货物100′和承载货物100′的托盘110′放置在在指定位置安装的固定式支架1′上。但是由于支架1′是固定在指定位置的,其不能随物流机器人2′移动,因此货物100′或者货物100′和承载货物100′的托盘110′只能卸载在指定位置,存在柔性不足的问题。
为此,亟需提供一种支架、搬运系统及搬运方法以解决上述问题。
发明内容
本申请的目的在于提供一种支架,可实现在任意指定位置卸载,柔性较高。
本申请的另一目的在于提供一种搬运系统,可将传送装置上的货物搬运至任意指定位置,货物卸载柔性较高。
本申请的又一目的在于提供一种搬运方法,使得货物搬运更加灵活。
为达此目的,本申请采用以下技术方案:
一种支架,包括:
承载部,设置为承载货物;
支撑部,设置在所述承载部下侧,用于支撑所述承载部,使所述支架立于一平面上;其中,
所述支撑部之间具有可容纳物流机器人的空间,且所述承载部可被所述物流机器人顶升。
可选地,所述承载部为框形结构,所述框形结构内设置有用于与所述物流机器人配合顶升的支撑结构。
可选地,所述承载部呈“田”字形结构,所述承载部包括由四根第一连杆首尾依次连接形成的矩形框架,以及由四根第二连杆固定连接形成的“十”字形结构。
可选地,所述支撑部包括与所述承载部连接的四根第三连杆,所述四根第三连杆在所述承载部下侧呈矩形分布。
可选地,所述支架还包括一第一标识物,所述第一标识物设置在所述承载部下表面。
可选地,所述支架还包括反光条,所述反光条设置在所述支撑部上。
可选地,所述承载部的下表面设置有至少一个用于与所述物流机器人配合的定位槽。
一种搬运系统,包括上述的支架,还包括:
传送装置,用于传送货物;
物流机器人,其包括顶升模块,所述顶升模块能从所述承载部下方将所述支架顶起并移动;
控制服务器,与所述物流机器人通讯连接,并能够控制所述物流机器人从所述传送装置上搬运所述货物或者搬运所述支架。
一种使用上述的搬运系统的搬运方法,其特征在于,包括:
物流机器人移动至处于第一指定位置的支架的承载部下方;
所述物流机器人中的顶升模块将所述支架顶起并移动至第二指定位置;
所述顶升模块下降,直到所述支架的支撑部被支撑;
所述顶升模块继续下降,所述物流机器人移出所述承载部下方。
一种使用上述的搬运系统的搬运方法,包括:
从传送装置搬运货物至第三指定位置,包括;
S1:物流机器人携带支架并移动至所述传送装置上的所述货物下方;
S2:所述物流机器人顶升支架,直至所述货物脱离所述传送装置;
S3:所述物流机器人携带所述货物和所述支架移动至所述第三指定位置;
S4:所述物流机器人的顶升模块下降,直到所述支架的支撑部被支撑;
S5:所述顶升模块继续下降,所述物流机器人移出所述承载部下方。
一种使用上述的搬运系统的搬运方法,包括:
从第四指定位置搬运货物至传送装置,包括:
S10:货物设置于支架上,物流机器人移动至所述支架的承载部下方;
S20:所述物流机器人中的顶升模块将所述支架和所述货物顶起;
S30:所述物流机器人携带所述货物和所述支架移动至所述传送装置处;
S40:所述顶升模块下降,直到所述货物与所述传送装置接触;
S50:所述顶升模块继续下降,所述物流机器人和所述支架移出所述传送装置。
本申请还提供了一种仓储系统,该系统包括工站以及位于所述工站一侧的 转运支架,所述转运支架包括相对而置的第一支架及第二支架,其中,
所述第一支架与所述第二支架均包括:用于支撑货箱或托盘的支撑横梁,以及与支撑横梁连接且用于支撑所述支撑横梁的支撑柱。
可选地,所述第一支架与所述第二支架平行设置。
可选地,所述货箱或托盘相对的两侧设置有凸檐结构,所述凸檐结构可一一对应搭接在所述转运支架的支撑横梁。
本申请的有益效果:
本申请提供了一种支架,该支架包括承载部和支撑部,承载部设置为承载货物,支撑部设置在承载部下侧,用于支撑承载部,并使支架立于一平面上。该支架通过设置承载部能够达到承载货物的目的,且由于该支架为独立的机构,具有可移动性,从而能够实现支架随货物的同步移动,柔性较高。
附图说明
图1是现有技术中物流机器人从传送装置搬运货物的示意图;
图2是现有技术中固定式支架的结构示意图;
图3是本申请实施例中的支架的结构示意图;
图4是本申请实施例中物流机器人从传送装置搬运货物的示意图;
图5为本申请实施例提供的仓储系统的俯视图;
图6为本申请实施例提供的转运支架的结构示意图。
图1和2中:
100′、货物;110′、托盘;1′、固定式支架;2′、物流机器人;3′、传送装置;
图3和4中:
100、货物;110、托盘;
1、支架;11、承载部;111、第一连杆;112、第二连杆;12、支撑部;
2、物流机器人;3、传送装置;31、传送带;
图5和图6中,
11、工站;12、转运支架;121、第一支架;121a第一支撑横梁;121b、第一支撑柱;
122、第二支架;122a第二支撑横梁;122b、第二支撑柱;13、货箱;131、凸檐结构。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚,下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本申请一部分实施例,而不是全部的实施例。通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。
因此,以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围,而是仅仅表示本申请的选定实施例。基于本申请中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他 实施例,都属于本申请保护的范围。
应注意到:相似的标号和字母在下面的附图中表示类似项,因此,一旦某一项在一个附图中被定义,则在随后的附图中不需要对其进行进一步定义和解释。
在本申请的描述中,需要说明的是,术语“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系,或者是该发明产品使用时惯常摆放的方位或位置关系,仅是为了便于描述本申请和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本申请的限制。此外,术语“第一”、“第二”、“第三”等仅用于区分描述,而不能理解为指示或暗示相对重要性。在本申请的描述中,除非另有说明,“多个”的含义是两个或两个以上。
在本申请的描述中,还需要说明的是,除非另有明确的规定和限定,术语“设置”、“连接”应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接;可以是机械连接,也可以是电连接。对于本领域的普通技术人员而言,可以具体情况理解上述术语在本申请中的具体含义。
在本申请中,除非另有明确的规定和限定,第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触,也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且,第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方,或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方,或仅仅表示第一特征水平高度小于第二特征。
下面详细描述本申请的实施例,所述实施例的示例在附图中示出,其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的,仅用于解释本申请,而不能理解为对本申请的限制。
实施例一
本实施例提供一种支架1,该支架1用于承载货物100,并能够随货物100同步移动,可被放置在任何位置。如图3所示,支架1包括用于承载货物100的承载部11以及与承载部11连接的支撑部12,支撑部12设置在承载部11的下侧,用于支撑承载部11,并使整个支架1立于一平面上。该支架1通过设置承载部11能够达到承载货物100的目的,且由于该支架1为独立的机构,具有可移动性。同时,支撑部12之间具有可容纳物流机器人的空间,因此,承载部11可被所述物流机器人顶升,从而能够实现支架1随货物100的同步移动,将支架1和货物100放置在任何位置,柔性较高。
在一些实施例中,如图3所示,支架1呈框架式结构,承载部11为框形结构,并且框形结构内设置有用于与物流机器人配合顶升的支撑结构。示例性的,承载部11呈“田”字形结构,其包括四根第一连杆111和四根第二连杆112, 四根第一连杆111首尾依次连接形成矩形框架,四根第二连杆112形成呈“十”字形结构,“十”字形结构即为与物流机器人配合顶升的支撑结构。支撑部12包括与承载部11连接的四根第三连杆,四根第三连杆在承载部11下侧呈矩形分布。支架1通过采用结构简单的框架式结构,可以减轻支架1的重量,从而提高可移动性能。
可选地,所述搬运系统还可以包括一托盘110(如图4所示),所述托盘110用于承载货物100,并被设置在承载部11上,托盘110设置于矩形框架上侧,承载部11位于托盘110的下侧。托盘110的设置可以适应体积较小的货物100,从而提高支架1搬运货物100的通用性。在本实施例中,为了便于描述,仅利用“货物100”进行说明,但相关技术领域内的技术人员应理解,本申请中的“货物100”为货物100本身或者货物100加上承载货物100的容器,如货物100和托盘110,承载货物100的容器的使用情况可以根据货物100实际的体积和数量确定。此外,承载部11包括的第一连杆111和第二连杆112的数量、以及支撑部12包括的第三连杆的数量也可根据需求增减。
本实施例还提供了一种搬运系统,该搬运系统包括上述的支架1、物流机器人2和控制服务器,控制服务器与物流机器人2通讯连接,并能够控制物流机器人2搬运支架1、设置于支架1上的货物100。在本实施例中,控制服务器可以是集中式或分布式的控制器,比如,控制服务器可以是一个单独的单片机,也可以是分布的多块单片机构成,单片机中可以运行控制程序,进而控制物流机器人2实现其功能。在一些实施例中,物流机器人2包括顶升模块。可选地,顶升模块可以为气缸和顶杆的配合,或者升降支架与顶板的配合,在此不做具体限制,只要能够达到升降的目的即可。
物流机器人2能从支架1的相邻两个第三连杆之间进入承载部11的下方,并通过升高顶升模块与承载部11抵接,待顶升模块与承载部11抵接后,顶升模块继续升高能够将支架1顶起并移动。通过使物流机器人2能移动至支架1并能带动支架1一起移动,使得需要放置货物100的指定位置无需专门设置固定的支架1以用于承接物流机器人2搬运过来的货物100,从而实现了物流机器人2可在任意指定位置卸载货物100,提高了货物100搬运的灵活性。
在一些实施例中,设定物流机器人2的宽度为L0,支架1相邻两第三连杆内侧之间的距离为L1,其中需满足L1>(L0+物流机器人2的定位误差)。
可选地,承载部11上设置有第一标识物,物流机器人2设置有能识别第一标识物的第一识别装置,第一识别装置与控制服务器通讯连接。其中第一标识物可为条形码或二维码标识,第一识别装置可为物流机器人2上方的摄像装置。物流机器人2通过第一识别装置自动识别支架1上的第一标识物,并将是否识别到第一标识物的信号发送至控制服务器,控制服务器直接确定物流机器人2是否移动到位,然后控制物流机器人2进行下一步操作。
可选地,为了确保物流机器人2与支架1的稳定顶升,物流机器人2与支架1之间还设置有机械定位。具体可选地,承载部11和顶升模块其中一个设置有定位凸起,另一个设置有能与定位凸起配合的定位槽(以与物流机器人2配 合)。其中机械定位的设置不仅可以提高物流机器人2与支架1连接的稳定性,同时也能辅助确定物流机器人2是否移动到位,进一步提高了物流机器人2移动到位的准确性。
另外可选地,支架1的支撑部12设置有反光条,物流机器人2设置有激光测距装置(图中未示),激光测距装置与控制服务器通讯连接,通过反光条对激光测距装置发出的激光进行反射,控制服务器能够判断出物流机器人2与支架1之间的距离,从而可以确保物流机器人2顺利进入到承载部11下方,避免物流机器人2与支撑部12发生碰撞。
本实施例基于上述搬运系统还公开一种搬运方法,包括:
物流机器人2移动至处于第一指定位置的支架1的承载部11下方;
物流机器人2中的顶升模块将支架1顶起并移动至第二指定位置;
顶升模块下降,直到支架1的支撑部12被支撑;
顶升模块继续下降,物流机器人2移出承载部11下方。
上述搬运方法无需在货物100卸载处专门设置固定的支架1,实现了可在任意指定位置卸载,增加了货物100卸载的自由性。
其中,通过控制物流机器人2可实现物流机器人2正向进入支架1,将支架1顶起后倒着移动;或倒着进入承载部11之间,将支架1顶起后正向移动;或正向进入支架1,在内部旋转180度后正向移动;或倒着进入支架1,在内部旋转180度后倒着移动。
实施例二
如图4所示,本实施例公开的一种支架和搬运系统,其中,本实施例公开的支架1与实施例一中的支架1的结构相同,在此不再赘述;本实施例公开的搬运系统与实施例一中的搬运系统基本相同,两者的不同之处在于,该搬运系统还包括传送装置3,其中传送装置3可为物流仓储系统中的分拣传送装置,在本实施例中,支架1与传送装置3配合,可实现支架1在物流仓储领域的应用。
在一些实施例中,传送装置3包括能与物流机器人2进行货物100对接的接驳部,接驳部包括平行且间隔设置的两个传送带31,物流机器人2能将支架1移动至两个传送带31之间,且物流机器人2的顶升模块能顶升货物100脱离传送带31,即,接驳部的高度大于支架1的高度,接驳部的两个传送带31之间的宽度大于支架1的宽度。
可选地,传送带31可选链式传送带或滚筒传送带。当传送装置3上有货物100需要搬运到指定位置时,支架1可以移动至两个传送带31之间,并位于货物100的下方,然后物流机器人2顶升货物100至脱离传送带31,并由支架1将其移动至任意指定位置。同理,当需要有货物100搬运至传送装置3上时,支架1携带货物100可移动至两个传送带31之间,其中货物100的最低处高于两个传送带31高度,待支架1到达接驳部指定位置时,物流机器人2的顶升模块开始下降,直至货物100与传送带31接触,然后支架1移动并离开传送装置3。可选地,为了便于多个货物100的整体传送,货物100通常放置于托盘110 上,托盘110与传送装置3直接接触,待支架1对传送装置3搬运时,托盘110的下表面与承载部11的上表面接触,由物流机器人2将其搬运。
在一些实施例中,相邻两第三连杆外侧之间的距离为L2,两个传送带31之间距离为L3,其中需满足,L2<L3。
具体可选地,接驳部设置有第二标识物(图中未示),物流机器人2设置有能识别第二标识物的第二识别装置(图中未示),第二识别装置与控制服务器通讯连接。其中第二标识物可设置在两个传送带31之间的地面上,第二标识物可为条形码或二维码标识,第二识别装置可为位于物流机器人2下侧的摄像装置。物流机器人2通过第二识别装置自动识别接驳部的第二标识物,并将是否识别到第二标识物的信号发送至控制服务器,控制服务器可直接确定物流机器人2是否移动到位,然后控制物流机器人2进行下一步操作。
可选地,为避免接驳部的传送带31将货物100传送至末端时依然继续传送,导致货物100从传送带31末端,即接驳部的自由端直接落至地面上,接驳部的自由端设置有限位装置(图中未示)。当货物100传送至接驳部的自由端时,限位装置对货物100起到限位作用,避免其继续移动,待支架1到达后直接将货物100搬离传送装置3。
可选地,接驳部设置有光电传感器,光电传感器与控制服务器连接,光电传感器被配置为能感应传送带31上是否存在货物100。当光电传感器感应到接驳部有货物100时,控制服务器接到信号,并控制物流机器人2将支架1移动至接驳部搬运货物100,实现了物流仓储的无人化操作。可选地,光电传感器可设置于限位装置上,且沿传送带31的直线方向发射光电信号。于其他实施例中,光电传感器可设置于传送带31的一侧,且沿垂直于传送带31的传送方向发射光电信号。
基于本实施例提供的搬运系统,本实施例还提供一种搬运方法,搬运方法包括从传送装置3搬运货物100至第三指定位置的搬运方法和从第四指定位置搬运货物100至传送装置3的搬运方法。
当从传送装置3搬运货物100至第三指定位置时,该搬运方法包括:
S1:物流机器人2携带支架1移动至传送装置3上的货物100下方;
S2:物流机器人2顶升支架1,直至货物100脱离传送装置3;
S3:物流机器人2携带货物100和支架1移动至第三指定位置;
S4:物流机器人2的顶升模块下降,直到支架1的支撑部12被支撑;
S5:顶升模块继续下降,物流机器人2移出承载部11下方。
当从第四指定位置搬运货物100至传送装置3时,该搬运方法包括:
S10:货物10设置于支架1上,物流机器人2移动至支架1的承载部11下方;
S20:物流机器人2中的顶升模块将支架1和货物100顶起;
S30:物流机器人2携带货物100和支架1移动至传送装置3的接驳部;
S40:顶升模块下降,直到货物100与传送装置3接触;
S50:顶升模块继续下降,物流机器人2和支架1移出传送装置3的接驳部。
如图5所示,图5示例出了本申请实施例提供的另一仓储系统,在图5所示的仓储系统包含工站11以及位于工站11一侧的转运支架12,其中工站11为工人对货物进行操作的平台,如传送带、货物打包平台或者货物加工平台。示例性的,工人将原料箱中货物送入传送带进行转运;或者,工人在货物打包平台将货物打包装入货箱;或者,工人将原料箱中的半成品取出,并在货物加工平台将半成品组装成成品后装入货箱。在使用时,转运支架12为一个转运的装置,用于暂存货箱,以方便工人拿取或放置货物,以及物流机器人搬运。其中,转运支架12的高度应高于机器人的高度。
如图6所示,转运支架包括相对而置的第一支架121及第二支架122,其中,第一支架121与第二支架122均包括:用于支撑货箱13或托盘的支撑横梁,以及与支撑横梁连接且用于支撑支撑横梁的支撑柱。如图6中所示,第一支架121包括第一支撑横梁121a及两个第一支撑柱121b,且两个第一支撑柱121b与第一支撑横梁121a连接后形成一个倒置的“U”形结构。第一支撑柱121b与第一支撑横梁121a可以采用分体结构或者一体结构;在采用分体结构时,第一支撑柱121b可通过焊接、卡接或者螺纹连接件(螺栓或螺钉)与第一支撑横梁121a连接。第二支架122也包括第二支撑横梁122a及两个第二支撑柱122b,其结构与第一支架121类似,在此不再赘述。
继续参考图6,第一支架121与第二支架122平行设置,第一支架121与第二支架122之间可以间隔一定的距离,该距离可以大于等于货箱13或托盘的尺寸,也可以小于货箱13或托盘的尺寸,具体的根据货箱13或托盘的具体结构而定。如图6中所示,货箱13或托盘相对的两侧设置有凸檐结构131,第一支架121与第二支架122之间的间隙大于或者等于货箱13或托盘的宽度,货箱13或托盘可以部分插入到第一支架121与第二支架122之间的间隙,并且凸檐结构131一一对应搭接在转运支架的支撑横梁,以实现转运支架支撑货箱13或托盘;在具体设置凸檐结构131时,凸檐结构131可以设置在货箱13或托盘的任一高度,但是应保证货箱13或托盘放置在转运支架12上时,货箱13或托盘的底部与地面之间的距离应能够容纳物流机器人。在货箱13或托盘没有凸檐结构131时,第一支架121与第二支架122之间的间隙小于货箱13或托盘的宽度,以使得货箱13或托盘的底部可抵压在转运支架。但是无论采用什么样的宽度,应可保证物流机器人可从转运支架下方顶升以搬运货箱13或托盘。
应当理解的是,转运支架的长度可以根据需要而定,示例性的,转运支架12可支撑两个货箱13或托盘,或者转运支架12仅可支撑一个货箱13或托盘。在图6中仅示例出了货箱13与转运支架的配合方式,并不代表转运支架的实际长度。
为方便理解本申请实施例提供的转运支架12,以转运支架12用于转运两个货箱13为例,两个货箱13中的一个为原材料箱,另一个为成品箱;转运支架12上悬挂有一个成品箱,物流机器人搬运有一个原材料箱。当需要搬运成品箱时,物流机器人可先将搬运的原材料箱顶升到横杆上的第一位置,并将原材料箱挂在转运支架12上,之后前行至第二位置(可搬运成品箱的位置)顶升, 将成品箱带走,从而实现转运。
在转运支架12仅可支撑一个货箱13或托盘时,工台11的一侧可设置两个转运支架12,其中的一个转运支架12用于承载空的货箱13或托盘,另外的一个转运支架12用于承载装满货物的货箱13或托盘。
显然,本申请的上述实施例仅仅是为了清楚说明本申请所作的举例,而并非是对本申请的实施方式的限定。对于所属领域的普通技术人员来说,在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。凡在本申请的精神和原则之内所作的任何修改、等同替换和改进等,均应包含在本申请权利要求的保护范围之内。

Claims (13)

  1. 一种支架,其特征在于,包括:
    承载部(11),设置为承载货物(100);
    支撑部(12),设置在所述承载部(11)下侧,用于支撑所述承载部(11),使所述支架(1)立于一平面上;其中,
    所述支撑部(12)之间具有可容纳物流机器人的空间,且所述承载部(11)可被所述物流机器人顶升。
  2. 根据权利要求1所述的支架,其特征在于,所述承载部(11)为框形结构,所述框形结构内设置有用于与所述物流机器人配合顶升的支撑结构。
  3. 根据权利要求1或2所述的支架,其特征在于,所述支撑部(12)包括与所述承载部(11)连接的四根第三连杆,所述四根第三连杆在所述承载部(11)下侧呈矩形分布。
  4. 根据权利要求1~3任一项所述的支架,其特征在于,所述支架(1)还包括一第一标识物,所述第一标识物设置在所述承载部(11)下表面。
  5. 根据权利要求1~4任一项所述的支架,其特征在于,所述支架(1)还包括反光条,所述反光条设置在所述支撑部(12)上。
  6. 根据权利要求1~5任一项所述的支架,其特征在于,所述承载部(11)的下表面设置有至少一个用于与所述物流机器人配合的定位槽。
  7. 一种搬运系统,其特征在于,包括如权利要求1-6任意一项所述的支架(1),还包括:
    传送装置(3),用于传送货物(100);
    物流机器人(2),其包括顶升模块,所述顶升模块能从所述承载部(11)下方将所述支架(1)顶起并移动;
    控制服务器,与所述物流机器人(2)通讯连接,并能够控制所述物流机器人(2)从所述传送装置(3)上搬运所述货物(100)或者搬运所述支架(1)。
  8. 一种使用权利要求7所述的搬运系统的搬运方法,其特征在于,包括:
    物流机器人(2)移动至处于第一指定位置的支架(1)的承载部(11)下方;
    所述物流机器人(2)中的顶升模块将所述支架(1)顶起并移动至第二指定位置;
    所述顶升模块下降,直到所述支架(1)的支撑部(12)被支撑;
    所述顶升模块继续下降,所述物流机器人(2)移出所述承载部(11)下方。
  9. 一种使用权利要求7所述的搬运系统的搬运方法,其特征在于,包括:
    从传送装置(3)搬运货物(100)至第三指定位置,包括;
    S1:物流机器人(2)携带支架(1)并移动至所述传送装置(3)上的所述货物(100)下方;
    S2:所述物流机器人(2)顶升支架(1),直至所述货物(100)脱离所述传送装置(3);
    S3:所述物流机器人(2)携带所述货物(100)和所述支架(1)移动至 所述第三指定位置;
    S4:所述物流机器人(2)的顶升模块下降,直到所述支架(1)的支撑部(12)被支撑;
    S5:所述顶升模块继续下降,所述物流机器人(2)移出所述承载部(11)下方。
  10. 一种使用权利要求7所述的搬运系统的搬运方法,其特征在于,包括:
    从第四指定位置搬运货物(100)至传送装置(3),包括:
    S10:货物(100)设置于支架(1)上,物流机器人(2)移动至所述支架(1)的承载部(11)下方;
    S20:所述物流机器人(2)中的顶升模块将所述支架(1)和所述货物(100)顶起;
    S30:所述物流机器人(2)携带所述货物(100)和所述支架(1)移动至所述传送装置(3)处;
    S40:所述顶升模块下降,直到所述货物(100)与所述传送装置(3)接触;
    S50:所述顶升模块继续下降,所述物流机器人(2)和所述支架(1)移出所述传送装置(3)。
  11. 一种仓储系统,其特征在于,包括工站以及位于所述工站一侧的转运支架,所述转运支架包括相对而置的第一支架及第二支架,其中,
    所述第一支架与所述第二支架均包括:用于支撑货箱或托盘的支撑横梁,以及与支撑横梁连接且用于支撑所述支撑横梁的支撑柱。
  12. 根据权利要求11所述的仓储系统,其特征在于,所述第一支架与所述第二支架平行设置。
  13. 根据权利要求11所述的仓储系统,其特征在于,所述货箱或托盘相对的两侧设置有凸檐结构,所述凸檐结构可一一对应搭接在所述转运支架的支撑横梁。
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