WO2021098782A1 - 搬运装置及搬运机器人 - Google Patents

搬运装置及搬运机器人 Download PDF

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Publication number
WO2021098782A1
WO2021098782A1 PCT/CN2020/130150 CN2020130150W WO2021098782A1 WO 2021098782 A1 WO2021098782 A1 WO 2021098782A1 CN 2020130150 W CN2020130150 W CN 2020130150W WO 2021098782 A1 WO2021098782 A1 WO 2021098782A1
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WO
WIPO (PCT)
Prior art keywords
goods
telescopic arm
detection device
push rod
pallet
Prior art date
Application number
PCT/CN2020/130150
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English (en)
French (fr)
Inventor
詹庆鑫
Original Assignee
深圳市海柔创新科技有限公司
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Filing date
Publication date
Priority claimed from CN201922006131.1U external-priority patent/CN211197464U/zh
Priority claimed from CN201922018222.7U external-priority patent/CN211197467U/zh
Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Publication of WO2021098782A1 publication Critical patent/WO2021098782A1/zh

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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

Definitions

  • This application relates to the field of intelligent storage, and in particular to a handling device and a handling robot.
  • Smart warehousing is a link in the logistics process.
  • the application of smart warehousing ensures the speed and accuracy of data input in all aspects of cargo warehouse management, ensuring that companies can accurately and timely grasp the true data of inventory, and reasonably maintain and control corporate inventory.
  • Through scientific coding it is also convenient to manage the batch and shelf life of the stocked goods.
  • Using the location management function of the SNHGES system you can also grasp the current location of all inventory goods in a timely manner, which is conducive to improving the efficiency of warehouse management.
  • Handling robots play an important role in intelligent warehousing.
  • the existing handling robots have low handling efficiency.
  • the embodiments of the present application provide a conveying device and a conveying robot.
  • the first image detection device configured in the conveying device can shorten the distance to the goods, thereby improving the accuracy of identifying the goods, and thus improving the conveying efficiency.
  • a conveying device comprising: a bracket; a pallet installed on the bracket for placing goods; a telescopic arm assembly for pushing the goods placed on the pallet out of the pallet, Or pull the goods to the pallet; and a first image detection device, the first image detection device is used for the image information of the goods;
  • the telescopic arm assembly includes a telescopic arm, the telescopic arm can be parallel to The direction of the pallet extends, in a direction perpendicular to the direction of extension of the telescopic arm and parallel to the pallet, the telescopic arm is located on one side of the pallet, and the first image The detection device is installed on the telescopic arm and is located on the same side of the telescopic arm as the pallet. When the telescopic arm is extended, the first image detection device is extended together.
  • the telescopic arm assembly further includes a fixed push rod and a movable push rod, the fixed push rod and the movable push rod are both installed on the telescopic arm, and can be combined with the telescopic arm Extend; wherein, the fixed push rod, the pallet and the first image detection device are all located on the same side of the telescopic arm, when the telescopic arm is extended, the fixed push rod is used to The cargo is pushed out of the pallet; the movable push rod can be retracted into the telescopic arm, when the movable push rod is not retracted into the telescopic arm, the movable push rod, the fixed push rod, the pallet and The first image detection devices are all located on the same side of the telescopic arm. When the telescopic arm is extended and the movable push rod is not received in the telescopic arm, the movable push rod is used to pull the goods to The pallet.
  • the first image detection device in the extension direction of the telescopic arm, is located between the fixed push rod and the movable push rod.
  • the first image detection device is a camera, and the lens of the first image detection device faces perpendicular to the extension direction of the telescopic arm and parallel to the pallet.
  • the transport device further includes a second image detection device; the second image detection device is used to obtain image information of the goods, and the second image detection device is fixed relative to the pallet.
  • the second image detection device is a camera, and the orientation of the lens of the second image detection device is the same as the extension direction of the telescopic arm.
  • the bracket has an upper surface and a lower surface opposite to each other; the upper surface of the bracket is used for placing goods, and the second image detection device is installed on the lower surface of the bracket.
  • the handling device further includes a fork and a rotating mechanism; the fork includes the pallet and the telescopic arm assembly; the fork is installed on the bracket, and the rotating mechanism is used for To drive the fork to rotate around an axis perpendicular to the pallet.
  • a handling robot including the aforementioned handling robot.
  • a lifting mechanism is further included, and the lifting mechanism is used to drive the conveying device to lift.
  • a shelf is further included, and the conveying device is used to take out the goods from the shelf or to transport the goods to the shelf.
  • it further includes a chassis, which is movable and supports the shelf, the lifting mechanism and the conveying device.
  • the first image detection device configured by the conveying device is installed on the telescopic arm, and can be extended along with the telescopic arm, so as to obtain goods from the conveying device. At this time, the distance to the goods can be shortened, thereby improving the accuracy of the first image detection device to obtain the image information of the goods, and improving the transportation efficiency.
  • a handling robot including: a shelf for placing goods; a detection device for detecting the goods placed on the shelf; and a handling device for transporting the goods to the shelf or removing the goods from the shelf.
  • the rack is moved out.
  • the handling robot further includes a movable chassis, and the chassis carries the rack and the handling device.
  • the shelf includes a bracket and at least one partition; the bracket supports the at least one partition, any one of the at least one partition is used to place goods, and the handling device is used to The goods are transported to any one of the at least one partition, or the goods are transported out of any one of the at least one partition.
  • the detection device includes at least one detection module; any one of the at least one detection module is installed on a corresponding one of the at least one partition, and any one of the at least one detection module is used for To detect the goods placed on a corresponding one of the at least one partition.
  • any one of the at least one detection module is a weight detection device for detecting the weight of the goods placed on the corresponding one of the at least one partition.
  • the weight detection device is in the shape of a sheet.
  • the weight detection device is parallel to a corresponding one of the at least one partition.
  • any one of the at least one partition supports the goods by the weight detection device installed on it.
  • any one of the at least one detection module is a radio frequency identification device, which is used to read the radio frequency identification tag attached to the goods placed on the corresponding one of the at least one partition to detect the At least one of the partitions corresponds to one of the placed goods.
  • the support includes two vertical beams and at least one cross beam; the two vertical beams are arranged opposite to each other, and any one of the at least one cross beam is connected between the two vertical beams; Any one of the at least one partition is supported by a corresponding one of the at least one beam.
  • the detection device can detect the goods placed on the shelf, avoiding manual detection of the goods, and has higher efficiency.
  • FIG. 1 is a schematic structural diagram of a handling robot provided by an embodiment of the application
  • FIG. 2 is a schematic diagram of another structure of a handling robot provided by an embodiment of the application.
  • FIG. 3 is a schematic diagram of disassembly of the handling device of the handling robot shown in FIG. 2;
  • Figure 4 is a perspective view of the handling device shown in Figure 3, in which the forks are transparentized so that the rotating mechanism is shown;
  • FIG. 5 is a top view of the fork of the transporting device shown in FIG. 3 in another implementation mode, in which the pallet is made transparent, so that the second image detection device is shown;
  • Fig. 6 is a perspective view of the fork of the handling device shown in Fig. 3, in which part of the housing is transparent, so that the driving mode of the fork is shown;
  • Figure 7 is a perspective view of the fork described in Figure 5, in which the fixed push rod is ready to push the cargo out of the pallet;
  • Figure 8 is a perspective view of the fork described in Figure 5, in which the fixed push rod has pushed the goods out of the pallet, or the movable push rod has retracted and passed the goods, ready to pull the goods into the pallet;
  • Figure 9 is a perspective view of the fork described in Figure 5, in which the movable push rod crosses the cargo and resets, ready to pull the cargo into the pallet;
  • Figure 10 is a perspective view of the fork shown in Figure 5, in which the movable push rod has pulled the goods into the pallet;
  • Fig. 11 is a disassembled schematic diagram of the handling robot shown in Fig. 1, which mainly shows that the detection device of the handling robot is separated from the shelf.
  • FIG. 1 is a schematic diagram of a structure of a handling robot provided by an embodiment of this application
  • FIG. 2 is a schematic diagram of another structure of a handling robot provided by an embodiment of this application.
  • the handling robot 100 provided by the present application is used for handling goods 101 on a warehouse shelf (not shown).
  • the warehouse shelves can be single-layer or multi-layer, and any layer of the warehouse shelves is used to place the goods 101.
  • the number of warehouse shelves can be one or at least one.
  • the transport robot 100 includes a chassis 10, a multi-layer rack 20, a lifting mechanism (not shown), and a transport device 30.
  • the chassis 10 carries a multi-layer shelf 20, a lifting mechanism and a conveying device 30.
  • the chassis 10 is movable, and drives the carried multi-layer shelves 20, the lifting mechanism and the conveying device 30 to move together.
  • the movable chassis 10 is provided to realize that the handling robot 100 transports the goods 101 between at least one warehouse shelf.
  • the multi-layer shelf 20 includes a plurality of partitions 22 that divide the multi-layer shelf 20 into multiple layers, and any one of the plurality of partitions 22 is used to place the goods 101.
  • the lifting mechanism is used to drive the lifting device 30 to lift.
  • the lifting mechanism is powered by a motor, and the power is transmitted by the sprocket mechanism.
  • the sprocket mechanism can also be replaced with a screw mechanism, a pulley mechanism and other transmission mechanisms.
  • the sprocket The mechanism can be omitted and directly driven by the motor.
  • the motor is a linear motor.
  • the conveying device 30 is used to convey the goods 101 between the multi-level rack 20 and the warehouse rack.
  • the lifting mechanism drives the conveying device 30 to lift, so that the conveying device 30 can convey the goods 101 on any layer of the multi-layer shelf 20 or any layer of the warehouse shelf.
  • the handling device 30 is not limited to being applied to the handling robot 100.
  • the handling device 30 may also be applied to fields such as shuttle cars and sorting platforms.
  • the conveying device 30 includes a bracket 32, a fork 34 and a rotating mechanism 36.
  • the bracket 32 can be formed by welding of profiles and plates, and is used to support the fork 34 and the rotating mechanism 36.
  • the fork 34 is mounted on the bracket 32, and the rotating mechanism 36 is used to drive the fork 34 to rotate relative to the bracket 32 about a vertical axis to align with the rack 20 or warehouse rack.
  • the rotating mechanism 36 is powered by a motor and transmits power through a sprocket mechanism.
  • the sprocket mechanism can also be replaced with a pulley mechanism, a rack and pinion mechanism, a screw mechanism, etc., in addition, the sprocket The mechanism can be omitted and directly driven by the motor.
  • the fork 34 is used to transport the goods 101 between the multi-layer rack 20 and the warehouse rack after aligning the multi-layer rack 20 or the warehouse rack. If the fork 34 is not aligned with the multi-layer shelf 20, the fork 34 can be rotated relative to the bracket 32 to ensure that the fork 34 is aligned with the multi-layer shelf 20.
  • the fork 34 may be fixedly installed on the bracket 32, and accordingly, the rotating mechanism 36 may also be omitted.
  • the handling robot 100 is fixed on the ground, or the handling robot 100 has a fixed track.
  • the fork 34 can always be aligned with the multi-layer shelf.
  • the fork 34 does not need to be rotated.
  • the chassis 10 has a steering function, and the chassis 10 is turned to replace the rotating mechanism 36, which can also ensure that the fork 34 is aligned with the multi-layer shelf 20.
  • the fork 34 includes a pallet 340, a telescopic arm assembly, a first image detection device 350 and a second image detection device 352.
  • the pallet 340 is used to place the goods 101 and is a horizontally arranged flat plate.
  • the pallet 340 has an upper surface 3400 and a lower surface 3402 opposite to each other.
  • the upper surface 3400 is used to place the goods 101.
  • the telescopic arm assembly is used to push the goods 101 placed on the pallet 340 out of the pallet 340 or pull the goods 101 to the pallet 340.
  • the telescopic arm assembly includes a telescopic arm 344, a fixed push rod 346 and or a movable push rod 348.
  • the telescopic arm 344 can extend horizontally.
  • the telescopic arm 344 is located on one side of the support plate 340 in a direction perpendicular to the extension direction of the telescopic arm 344 and parallel to the support plate 340.
  • the telescopic arm 344 is powered by a motor, and the power is transmitted by a sprocket mechanism.
  • the sprocket mechanism can be replaced with a pulley mechanism, a screw mechanism and other transmission mechanisms.
  • the fixed push rod 346 and the movable push rod 348 are both installed on the telescopic arm 344, and the fixed push rod 346 and the movable push rod 348 can extend along with the telescopic arm 344.
  • the fixed push rod 346 and the pallet 340 are located on the same side of the telescopic arm 344. When the telescopic arm 344 is extended, the fixed push rod 346 is used to push the goods from the pallet 340.
  • the movable push rod 348 can be stored in the telescopic arm 344.
  • the movable push rod 348 When the movable push rod 348 is not stored in the telescopic arm 344, the movable push rod 348, the fixed push rod 346 and the support plate 340 are all located on the same side of the telescopic arm 344, and the movable push rod 348 is located in the extension direction of the fixed push rod 346 along the telescopic arm 344.
  • the movable push rod 348 can be directly driven by a motor, and according to actual conditions, it can also transmit power through a transmission mechanism such as a gear set and a linkage mechanism.
  • the movable push rod 348 When the movable push rod 348 is not received in the telescopic arm 344 and the telescopic arm 344 is retracted, the movable push rod 348 is used to pull the goods to the pallet 340.
  • the fixed push rod 346 When the telescopic arm 344 is extended, the fixed push rod 346 is used to push the cargo 101 out of the pallet 340. Specifically, as shown in FIGS. 6 and 7, the fixed push rod 346 extends with the telescopic arm 344 to push the cargo 101 out of the pallet 340. After the fixed push rod 346 pushes the cargo 101 out, the movable push rod 348 is received in the telescopic arm 344 and retracted with the telescopic arm 344.
  • the movable push rod 348 When the telescopic arm 344 is retracted, the movable push rod 348 is used to pull the cargo 101 to the pallet 340. Specifically, as shown in FIG. 7, the movable push rod 348 is received in the telescopic arm 344 and extended with the telescopic arm 344 so that the movable push rod 348 passes over the cargo 101. As shown in Figures 8 and 9, after the movable push rod 348 passes over the cargo 101, the movable push rod 348 extends out of the telescopic arm 344 and retracts with the telescopic arm 344, so that the movable push rod 348 pulls the cargo 101 to the pallet 340 .
  • the fork 34 transports the goods 101 to the multi-layer shelf 20.
  • the fixed push rod 346 extends with the telescopic arm 344 to push the goods 101 to the multi-layer shelf 20, and then the movable push rod 348 is received in the telescopic arm 344 and retracted with the telescopic arm 344 Back.
  • the fork 34 transports the goods 101 from the multi-layer shelf 20.
  • the movable push rod 348 is received in the telescopic arm 344 and extended with the telescopic arm 344, so that the movable push rod 348 passes over the goods 101.
  • the movable push rod 348 is reset and retracts with the telescopic arm 344, so that the movable push rod 348 pulls the goods 101 away from the multi-layer shelf 20.
  • the way in which the fork 34 transports the goods 101 on the warehouse shelf is similar to the way in which the goods 101 are transported on the multi-layer shelf 20, and will not be repeated here.
  • the first image detection device 350 is used to obtain image information of the goods 101.
  • the first image acquisition device 350 may be a camera, which is used to scan the identification code (not shown) attached to the goods 101, and then obtain the information of the goods 101 according to the information provided by the identification code, including the type of the goods 101, the storage date, etc. .
  • the lens of the first image detection device 350 is oriented perpendicular to the extension direction of the telescopic arm 344 and parallel to the support plate 340.
  • the first image detection device 350 is installed on the telescopic arm 344, and is located on the same side of the telescopic arm 344 as the pallet 340, the fixed push rod and the movable push rod that is not contained in the telescopic arm. When the telescopic arm 344 is extended, the first image The detection device 350 extends along with the telescopic arm 344. When the goods 101 are taken out from the warehouse shelf, after the movable push rod 348 passes over the goods 101, the first image detection device 350 is facing the goods 101 and can obtain the image information of the goods 101.
  • the first image detection device 350 and the pallet 340, the fixed push rod 346 and the movable push rod 348 that is not contained in the telescopic arm 344 are all located on the same side of the telescopic arm 344, and the first image detection device 350 is located on the fixed push rod 346 and the movable push rod 346. Between rod 348.
  • the second image detection device 352 is used to obtain image information of the goods 101 or warehouse shelves.
  • the second image detection device 352 may be a camera, which is used to scan the identification code attached to the goods 101 or the warehouse shelf. According to the identification code on the warehouse shelf, it is judged whether the handling device 30 is located on the first floor of the goods to be transported on the warehouse shelf. At the same height, it is judged whether the fork 34 is aligned with the warehouse shelf according to the identification code on the goods 101.
  • the lens orientation of the second image detection device 352 is in the same direction as the extension direction of the telescopic arm 344.
  • the second image detection device 352 is fixed relative to the pallet 340, to be precise, is installed on the lower surface 3402 of the pallet 340.
  • the transport device 30 is lifted to the same height as the first layer of the goods 101 to be transported in the multi-layer rack 20, or the fork 34 is aligned with the multi-layer rack 20, which is set through the initial program, which is more efficient.
  • the initial program which is more efficient.
  • it can also be used Scan the QR code.
  • one of the first image detection device 350 and the second image detection device 352 may be omitted, and only one image detection device obtains the image information of the goods 101 or warehouse shelves.
  • the cargo 101 can be a whole or multiple objects. When the cargo 101 is multiple objects, it should be placed in a container. Correspondingly, the QR code of the cargo 101 is also affixed to it. Outside the cargo box.
  • the motor can be replaced with a pneumatic motor, hydraulic system and other power devices.
  • the first image detection device 350 is installed on the telescopic arm 344 and can be extended along with the telescopic arm 344, so that when the conveying device 30 obtains the goods, the distance to the goods can be shortened, thereby improving the first image detection device 350 to obtain images of the goods.
  • the accuracy of the information improves the handling efficiency.
  • the shelf 20 includes a bracket 21 and at least one partition 22.
  • the bracket 21 is used to support at least one partition 22.
  • the bracket 21 includes two vertical beams 210 and at least one cross beam 212.
  • the two vertical beams 210 are arranged opposite to each other.
  • At least one cross beam 212 is distributed in the vertical direction. One is connected between the two vertical beams 212. Any one of the at least one partition 22 is supported by a corresponding one of the at least one cross beam 212.
  • the number of the cross beams 212 is more than the number of the partitions 22, and any one of the at least one partition 22 is used to place goods.
  • the conveying device 30 is used to convey the goods to any one of the at least one partition 22 or to convey the goods from any one of the at least one partition 22.
  • the detection device 342 is used to detect the goods placed on the shelf 20.
  • the detection device 342 includes at least one detection module 3420, any one of the at least one detection module 3420 is installed on a corresponding one of the at least one partition 22, and any one of the at least one detection module 3420 is used to detect when placed on the at least one partition 22 The goods corresponding to one in.
  • any one of the at least one detection module 3420 is a weight detection device for detecting the weight of the goods placed in the at least one partition.
  • the weight detection device can be a pressure sensor or other types.
  • the sensor such as the displacement sensor, detects the weight of the goods placed on the partition by detecting the displacement of the partition being pressed down, and so on. According to the weight of the goods, it can detect whether there are goods, and when the quantity of individual goods is basically the same, it can also detect the quantity of goods. In the process of inventorying goods, manual weighing is omitted and efficiency is improved.
  • the weight detection device is sheet-shaped. The weight detection device is parallel to the corresponding one of the at least one partition 22.
  • any one of the at least one partition 22 supports the cargo by the weight detection device installed on it. It can be understood that, according to actual conditions, the bulkhead 22 can also directly support the goods, and the weight detection device is arranged between the beam 212 and the bulkhead 22 to detect the total weight of the bulkhead 22 and the goods placed on it.
  • the number of weight detection devices may also be only one.
  • the weight detection device is installed between the shelf 20 and the chassis 10 to detect the amount of goods placed together on at least one partition 22. gross weight.
  • any one of the at least one detection module is a radio frequency identification device.
  • the radio frequency identification device is an RFID module, and the radio frequency identification device is used for reading and placing
  • a radio frequency identification tag that is, an RFID tag, is attached to the goods corresponding to one of the at least one partition to detect the goods placed on the corresponding one of the at least one partition, so as to avoid manual use of a code scanner to identify the goods caused by the radio frequency identification tag low efficiency.
  • the detection device 342 can detect 20 goods placed on the shelf, avoiding the low efficiency caused by manual detection of the goods, and the efficiency is relatively high. high.

Abstract

一种搬运装置及搬运机器人，搬运装置包括托架（32）；托板（340）安装于托架（32）；伸缩臂组件用于将托板（340）所放置的货物（101）推出托板（340），或者将货物（101）拉至托板（340）；第一图像检测装置（350）用于获取货物（101）的图像信息；伸缩臂组件包括伸缩臂（344），伸缩臂（344）可沿平行于托板（340）的方向伸出，伸缩臂（344）位于托板（340）的一侧，第一图像检测装置（350）安装于伸缩臂（344），并与托板（340）位于伸缩臂（344）的同一侧，当伸缩臂（344）伸出时，第一图像检测装置（350）一并伸出，从而在搬运装置获取货物（101）时，能够缩短与货物的距离，提高了准确度和搬运效率。

Description

搬运装置及搬运机器人
本申请要求于2019年11月19日提交中国专利局、申请号为201922006131.1、申请名称为“一种搬运装置及具有此搬运装置的搬运机器人”以及于2019年11月19日提交中国专利局、申请号为201922018222.7、申请名称为“一种搬运机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及智能仓储领域，尤其涉及一种搬运装置及搬运机器人。
背景技术
智能仓储是物流过程的一个环节，智能仓储的应用，保证了货物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物的批次、保质期等进行管理。利用SNHGES系统的库位管理功能，更可以及时掌握所有库存货物当前所在位置，有利于提高仓库管理的工作效率。
搬运机器人在智能仓储中扮演着重要的角色，然而，现有的搬运机器人搬运效率低。
发明内容
为了解决上述技术问题，本申请实施例提供一种搬运装置及搬运机器人，该搬运装置所配置的第一图像检测装置能够缩短与货物的距离，从而提高识别货物的准确度，进而提高搬运效率。
为了解决上述技术问题，本申请实施例提供以下技术方案：
一方面，提供一种搬运装置，包括：托架；托板，安装于所述托架，用于放置货物；伸缩臂组件，用于将所述托板所放置的货物推出所述托板，或者将货物拉至所述托板；以及第一图像检测装置，所述第一图像检测装 置用于货物的图像信息；其中，所述伸缩臂组件包括伸缩臂，所述伸缩臂可沿平行于所述托板的方向伸出，在沿垂直于所述伸缩臂的伸出方向且平行于所述托板的方向上，所述伸缩臂位于所述托板的一侧，所述第一图像检测装置安装于所述伸缩臂，并与所述托板位于所述伸缩臂的同一侧，当所述伸缩臂伸出时，所述第一图像检测装置一并伸出。
在一些实施例中，所述伸缩臂组件还包括固定推杆及活动推杆，所述固定推杆及所述活动推杆皆安装于所述伸缩臂，并且皆可随所述伸缩臂一并伸出；其中，所述固定推杆，所述托板以及所述第一图像检测装置皆位于所述伸缩臂的同一侧，在所述伸缩臂伸出时，所述固定推杆用于将货物推出所述托板；所述活动推杆可收入所述伸缩臂，在所述活动推杆未收入所述伸缩臂时，所述活动推杆，所述固定推杆，所述托板以及所述第一图像检测装置皆位于所述伸缩臂的同一侧，在所述伸缩臂伸出，并且所述活动推杆未收入所述伸缩臂时，所述活动推杆用于将货物拉至所述托板。
在一些实施例中，在沿所述伸缩臂的伸出方向上，所述第一图像检测装置位于所述固定推杆与所述活动推杆之间。
在一些实施例中，所述第一图像检测装置为摄像头，所述第一图像检测装置的镜头朝向垂直于所述伸缩臂的伸出方向并且平行于所述托板。
在一些实施例中，所述搬运装置还包括第二图像检测装置；所述第二图像检测装置用于获取货物的图像信息，所述第二图像检测装置相对于所述托板固定。
在一些实施例中，所述第二图像检测装置为摄像头，所述第二图像检测装置的镜头朝向与所述伸缩臂的伸出方向同向。
在一些实施例中，所述托架具有相背的上表面和下表面；所述托架的上表面用于放置货物，所述第二图像检测装置安装于所述托架的下表面。
在一些实施例中，所述搬运装置还包括货叉和旋转机构；所述货叉包括所述托板和所述伸缩臂组件；所述货叉安装于所述托架，所述旋转机构用于驱动所述货叉绕一垂直于所述托板的轴线旋转。
另一方面，提供一种搬运机器人包括如上所述的搬运机器人。
在一些实施例中，还包括升降机构，所述升降机构用于驱动所述搬运装置升降。
在一些实施例中，还包括货架，所述搬运装置用于从所述货架将货物 取出，或者将货物搬运至所述货架。
在一些实施例中，还包括底盘，所述底盘可移动，支承所述货架，所述升降机构及所述搬运装置。
与现有技术相比较，在本申请实施例的搬运装置中，所述搬运装置所配置的第一图像检测装置安装于伸缩臂上，可随伸缩臂一并伸出，从而在搬运装置获取货物时，能够缩短与货物的距离，进而提高第一图像检测装置获取货物图像信息的准确度，提高了搬运效率。
又一方面，提供一种搬运机器人包括：货架，用于放置货物；检测装置，用于检测放置于所述货架的货物；以及搬运装置，用于将货物搬运至所述货架或者将货物从所述货架搬运出。
在一些实施例中，搬运机器人还包括可移动的底盘，所述底盘承载所述货架及所述搬运装置。
在一些实施例中，所述货架包括支架以及至少一个隔板；所述支架支承所述至少一个隔板，所述至少一个隔板中任意的一个用于放置货物，所述搬运装置用于将货物搬运至所述至少一个隔板中任意的一个，或者将货物从所述至少一个隔板中任意的一个搬运出。
在一些实施例中，所述检测装置包括至少一个检测模块；所述至少一个检测模块中任意的一个安装于所述至少一个隔板中对应的一个，所述至少一个检测模块中任意的一个用于检测所述至少一个隔板中对应的一个所放置的货物。
在一些实施例中，所述至少一个检测模块中任意的一个为重量检测装置，用于检测放置于所述至少一个隔板中对应的一个所放置的货物的重量。
在一些实施例中，所述重量检测装置呈片状。
在一些实施例中，所述重量检测装置平行于所述至少一个隔板中对应的一个。
在一些实施例中，所述至少一个隔板中任意的一个由其所安装的重量检测装置支承货物。
在一些实施例中，所述至少一个检测模块中任意的一个为射频识别装置，用于读取所述至少一个隔板中对应一个所放置的货物上贴设的射频识别标签，以检测所述至少一个隔板中对应一个所放置的货物。
在一些实施例中，所述支架包括两个竖梁以及至少一个横梁；所述两 个竖梁相对设置，所述至少一个横梁中任意的一个连接于所述两个竖梁之间；所述至少一个隔板中任意的一个由所述至少一个横梁中对应的一个支承。
与现有技术相比较，在本申请实施例的搬运机器人中，通过在其货架上配置检测装置，检测装置可检测放置于货架上的货物，避免人工检测货物，效率较高。
附图说明
图1为本申请实施例提供的搬运机器人的一种结构示意图；
图2为本申请实施例提供的搬运机器人的另一种结构示意图；
图3为图2所示的搬运机器人的搬运装置的拆解示意图；
图4为图3所示的搬运装置的透视图，其中货叉被透明化，以使旋转机构被示出；
图5为图3所示的另一种实现方式的搬运装置的货叉的俯视图，其中托板被透明化，以使第二图像检测装置被示出；
图6为图3所示的搬运装置的货叉的立体图，其中部分外壳被透明化，以使货叉的驱动方式被示出；
图7为图5所述的货叉的立体图，其中固定推杆准备将货物推出托板；
图8为图5所述的货叉的立体图，其中固定推杆已经将货物推出托板，或者活动推杆收起并越过货物，准备将货物拉入托板；
图9为图5所述的货叉的立体图，其中活动推杆越过货物并复位，准备将货物拉入托板；
图10为图5所示的货叉的立体图，其中活动推杆已经将货物拉入托板；
图11为图1所示的搬运机器人的拆解示意图，其主要示出了搬运机器人的检测装置与货架相分离。
具体实施方式
为了便于理解本申请，下面结合附图和具体实施方式，对本申请进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当 一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“垂直的”、“水平的”、“左”、“右”、“内”、“外”以及类似的表述只是为了说明的目的。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。在本申请的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是用于限制本申请。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
图1为本申请实施例提供的搬运机器人的一种结构示意图；图2为本申请实施例提供的搬运机器人的另一种结构示意图。
请参阅图1和图2，本申请提供的搬运机器人100，用于搬运仓库货架(图未示)上的货物101。
仓库货架可以为单层或者多层，仓库货架的任意一层用于放置货物101。仓库货架的数量可以为一个或者至少一个。
搬运机器人100包括底盘10，多层货架20，升降机构(图未示)以及搬运装置30。
底盘10承载多层货架20，升降机构以及搬运装置30。底盘10可移动，并带动所承载的多层货架20，升降机构以及搬运装置30一并移动。通过设置可移动的底盘10，以实现搬运机器人100在至少一个仓库货架之间搬运货物101。
多层货架20的任意一层用于放置货物101。具体地说，多层货架20包括多个隔板22，多个隔板22将多层货架20分隔成多层，多个隔板22中的任意一个用于放置货物101。
升降机构用于驱动搬运装置30升降，升降机构由电机提供动力，由链轮机构传递动力，根据实际情况，链轮机构也可以替换成丝杆机构，带轮机构等传动机构，此外，链轮机构可以省略，由电机直接驱动，此时，电机为线性电机。
搬运装置30用于将货物101在多层货架20与仓库货架之间搬运。通过升降机构驱动搬运装置30升降，以实现搬运装置30能够在多层货架20的任意一层，或者仓库货架的任意一层上搬运货物101。
可以理解，搬运装置30并不仅限于应用于搬运机器人100，例如，搬运装置30还可应用于穿梭车，分拣平台等领域。
请参阅图3和图4，搬运装置30包括托架32，货叉34以及旋转机构36。
托架32可由型材和板材组焊而成，用于支承货叉34及旋转机构36。
货叉34安装于托架32，旋转机构36用于驱动货叉34相对于托架32绕一竖直轴线旋转，以对准货架20或者仓库货架。如图3所示，旋转机构36由电机提供动力，并通过链轮机构传递动力，可以理解，链轮机构也可替换成带轮机构，齿轮齿条机构，丝杆机构等，此外，链轮机构可以省略，由电机直接驱动。
货叉34用于在对准多层货架20或者仓库货架后，在多层货架20与仓库货架之间搬运货物101。若货叉34未对准多层货架20，可通过货叉34相对于托架32旋转，以保证货叉34对准多层货架20。
可以理解，根据实际情况，货叉34可以固定安装于托架32，相应地，旋转机构36也可以省略。例如，搬运机器人100是固定在地面的，或者，搬运机器人100有固定的轨道，此时，货叉34能够始终对准多层货架，显然，货叉34是不需要旋转的，又例如，底盘10具有转向功能，通过底盘10转向，以替代旋转机构36，也能够保证货叉34对准多层货架20。
请参阅图3至图5，货叉34包括托板340，伸缩臂组件，第一图像检测装置350以及第二图像检测装置352。
托板340用于放置货物101，为一水平设置的平板，托板340具有相对的上表面3400及下表面3402。上表面3400用于放置货物101。
伸缩臂组件用于将托板340所放置的货物101推出托板340或者将货物101拉至托板340。伸缩臂组件包括伸缩臂344，固定推杆346以及或活动推杆348。
伸缩臂344可水平地伸出，在垂直于伸缩臂344的伸出方向且平行于托板340的方向上，伸缩臂344位于托板340的一侧。如图6所示，伸缩臂344由电机提供动力，由链轮机构传递动力，根据实际情况，链轮机构可以替换成带轮机构，丝杠机构等传动机构驱动。
固定推杆346及活动推杆348皆安装于伸缩臂344，固定推杆346及活动推杆348可随伸缩臂344一并伸出。固定推杆346与托板340位于伸 缩臂344的同一侧，在伸缩臂344伸出时，固定推杆346用于将货物从托板340上推出。活动推杆348可收入伸缩臂344，当活动推杆348未收入伸缩臂344时，活动推杆348，固定推杆346以及托板340三者皆位于伸缩臂344的同一侧，并且活动推杆348位于固定推杆346沿伸缩臂344的伸出方向上。活动推杆348可直接由电机驱动，根据实际情况，也可通过如齿轮组，连杆机构等传动机构传递动力。当活动推杆348未收入伸缩臂344，并且伸缩臂344缩回时，活动推杆348用于将货物拉至托板340。
请参阅图7至图10，此处描述固定推杆346及活动推杆348如何在托板340上搬运货物101，如下：
在伸缩臂344伸出时，固定推杆346用于将货物101推出托板340。具体地，如图6和图7所示，固定推杆346随伸缩臂344伸出，将货物101推出托板340。在固定推杆346将货物101推出后，活动推杆348收入伸缩臂344并随伸缩臂344缩回。
在伸缩臂344缩回时，活动推杆348用于将货物101拉至托板340。具体地，如图7所示，活动推杆348收入伸缩臂344并随伸缩臂344伸出，以使得活动推杆348越过货物101。如图8和图9所示，在活动推杆348越过货物101后，活动推杆348伸出伸缩臂344并随伸缩臂344缩回，以使得活动推杆348将货物101拉至托板340。
此处进一步描述货叉34如何在多层货架上搬运货物101，如下：
货叉34将货物101搬运至多层货架20，具体地，固定推杆346随伸缩臂344伸出，将货物101推至多层货架20，然后活动推杆348收入伸缩臂344并随伸缩臂344缩回。
货叉34将货物101从多层货架20搬运出，具体地，活动推杆348收入伸缩臂344并随伸缩臂344伸出，以使活动推杆348越过货物101。在活动推杆348越过货物101后，活动推杆348复位并随伸缩臂344缩回，以使得活动推杆348将货物101拉离多层货架20。
货叉34在仓库货架上搬运货物101的方式与在多层货架20上搬运货物101的方式相似，此处不再赘述。
请参阅图1和图11，第一图像检测装置350用于获取货物101的图像信息。第一图像获取装置350可以为摄像头，用于扫描贴设于货物101上的标识码(图未示)，进而根据标识码提供的信息获取货物101的信息， 包括货物101的种类，存放日期等。第一图像检测装置350的镜头朝向垂直于伸缩臂344的伸出方向并且平行于托板340。
第一图像检测装置350安装于伸缩臂344，并与托板340，固定推杆以及未收入伸缩臂的活动推杆皆位于伸缩臂344的同一侧，在伸缩臂344伸出时，第一图像检测装置350随伸缩臂344一并伸出，在将货物101从仓库货架取出时，活动推杆348越过货物101后，第一图像检测装置350正对货物101，可获取货物101的图像信息。
第一图像检测装置350与托板340，固定推杆346及未收入伸缩臂344的活动推杆348皆位于伸缩臂344的同一侧，并且第一图像检测装置350位于固定推杆346与活动推杆348之间。
第二图像检测装置352用于获取货物101或者仓库货架的图像信息。第二图像检测装置352可以为摄像头，用于扫描贴设于货物101或者仓库货架上的标识码，根据仓库货架上的标识码，以判断搬运装置30是否与仓库货架待搬运货物的一层处于同一高度，根据货物101上的标识码判断货叉34是否对准仓库货架。第二图像检测装置352的镜头朝向与伸缩臂344的伸出方向同向。
第二图像检测装置352相对于托板340固定，准确地说，安装于托板340的下表面3402。
需要说明，搬运装置30升降至多层货架20待搬运货物101的一层处于同一高度，或者货叉34对准多层货架20，是通过初始程序设定的，效率更高，当然，也可以采用扫描二维码的方式进行。
可以理解，根据实际情况，第一图像检测装置350与第二图像检测装置352中的一个可以省略，仅由一个图像检测装置获取货物101或者仓库货架的图像信息。
此外，需要说明，货物101可以为一个整体，也可以为多个物体，当货物101为多个物体时，其宜放置于一个货箱内，相应地，货物101的二维码也贴设于该货箱外。
可以理解，电机可替换成气动马达，液压系统等动力装置。
第一图像检测装置350安装于伸缩臂344上，可随伸缩臂344一并伸出，从而在搬运装置30获取货物时，能够缩短与货物的距离，进而提高第一图像检测装置350获取货物图像信息的准确度，提高了搬运效率。
货架20包括支架21以及至少一个隔板22。支架21用于支承至少一个隔板22，支架21包括两个竖梁210以及至少一个横梁212，两个竖梁210相对设置，至少一个横梁212沿竖直方向分布于，至少一个横梁212中任意的一个连接于两个竖梁212之间。至少一个隔板22中任意的一个由至少一个横梁212中对应的一个支承，在图示中，横梁212的数量多于隔板22的数量，至少一个隔板22中任意的一个用于放置货物。搬运装置30用于将货物搬运至至少一个隔板22中任意的一个，或者将货物从至少一个隔板22中任意的一个搬运出。,
检测装置342用于检测放置于货架20上的货物。检测装置342包括至少一个检测模块3420，至少一个检测模块3420中的任意一个安装于至少一个隔板22中对应的一个，至少一个检测模块3420中任意的一个用于检测放置于至少一个隔板22中对应一个的货物。
在本实施例中，至少一个检测模块3420中任意的一个为重量检测装置，用于检测至少一个隔板中对应一个所放置的货物的重量，重量检测装置可以为压力传感器，也可以为其他类型的传感器，如位移传感器，通过检测隔板被下压的位移，以检测隔板所放置的货物的重量，等等。根据货物的重量可检测是否放置有货物，以及在单个货物数量基本一致的情况下，还可检测货物的数量，在盘点货物过程中，省去了人工称重的过程，提高了效率。在一些可选的实施例中，重量检测装置为片状。重量检测装置平行于至少一个隔板22中对应的一个。至少一个隔板22中任意的一个由其所安装的重量检测装置支承货物。可以理解，根据实际情况，也可由隔板22直接支承货物，重量检测装置设置于横梁212与隔板22之间，以检测隔板22及其所放置的货物的总重量。
可以理解，根据实际情况，重量检测装置的数量也可以仅为一个，在一些实施例中，重量检测装置安装于货架20与底盘10之间，用于检测至少一个隔板22共同放置的货物的总重量。
在其他一些实施例中，至少一个检测模块中任意的一个为射频识别装置，例如采用射频识别技术(Radio Frequency Identification，RFID)，那么射频识别装置即为RFID模块，射频识别装置用于读取放置于至少一个隔板中对应一个的货物上贴设的射频识别标签，也即RFID标签，以检测放置于至少一个隔板中对应一个的货物，避免人工用扫码枪识别货物的射 频识别标签导致效率低下。
本申请例实施例提供的搬运机器人100中，通过在搬运机器人100的货架20配置检测装置342，检测装置342可检测放置于货架上的20的货物，避免人工检测货物导致的效率低下，效率较高。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；在本申请的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上的本申请的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (22)

  1. 一种搬运装置，其特征在于，包括：
    托架；
    托板，安装于所述托架，用于放置货物；
    伸缩臂组件，用于将所述托板所放置的货物推出所述托板，或者将货物拉至所述托板；以及
    第一图像检测装置，所述第一图像检测装置用于货物的图像信息；
    其中，所述伸缩臂组件包括伸缩臂，所述伸缩臂可沿平行于所述托板的方向伸出，在沿垂直于所述伸缩臂的伸出方向且平行于所述托板的方向上，所述伸缩臂位于所述托板的一侧，所述第一图像检测装置安装于所述伸缩臂，并与所述托板位于所述伸缩臂的同一侧，当所述伸缩臂伸出时，所述第一图像检测装置一并伸出。
  2. 根据权利要求1所述的搬运装置，其特征在于，所述伸缩臂组件还包括固定推杆及活动推杆，所述固定推杆及所述活动推杆皆安装于所述伸缩臂，并且皆可随所述伸缩臂一并伸出；
    其中，所述固定推杆，所述托板以及所述第一图像检测装置皆位于所述伸缩臂的同一侧，在所述伸缩臂伸出时，所述固定推杆用于将货物推出所述托板；
    所述活动推杆可收入所述伸缩臂，在所述活动推杆未收入所述伸缩臂时，所述活动推杆，所述固定推杆，所述托板以及所述第一图像检测装置皆位于所述伸缩臂的同一侧，在所述伸缩臂伸出，并且所述活动推杆未收入所述伸缩臂时，所述活动推杆用于将货物拉至所述托板。
  3. 根据权利要求2所述的搬运装置，其特征在于，在沿所述伸缩臂的伸出方向上，所述第一图像检测装置位于所述固定推杆与所述活动推杆之间。
  4. 根据权利要求3所述的搬运装置，其特征在于，所述第一图像检测装置为摄像头，所述第一图像检测装置的镜头朝向垂直于所述伸缩臂的伸出方向并且平行于所述托板。
  5. 根据权利要求1至4任一项所述的搬运装置，其特征在于，所述搬运装置还包括第二图像检测装置；
    所述第二图像检测装置用于获取货物的图像信息，所述第二图像检测装置相对于所述托板固定。
  6. 根据权利要求5所述的搬运装置，其特征在于，所述第二图像检测装置为摄像头，所述第二图像检测装置的镜头朝向与所述伸缩臂的伸出方向同向。
  7. 根据权利要求6所述的搬运装置，其特征在于，所述托架具有相背的上表面和下表面；
    所述托架的上表面用于放置货物，所述第二图像检测装置安装于所述托架的下表面。
  8. 根据权利要求7所述的搬运装置，其特征在于，所述搬运装置还包括货叉和旋转机构；
    所述货叉包括所述托板和所述伸缩臂组件；
    所述货叉安装于所述托架，所述旋转机构用于驱动所述货叉绕一垂直于所述托板的轴线旋转。
  9. 一种搬运机器人，其特征在于，包括权利要求1至8任一项所述的搬运装置。
  10. 根据权利要求9所述的搬运机器人，其特征在于，还包括升降机构，所述升降机构用于驱动所述搬运装置升降。
  11. 根据权利要求10所述的搬运机器人，其特征在于，还包括货架，所述搬运装置用于从所述货架将货物取出，或者将货物搬运至所述货架。
  12. 根据权利要求11所述的搬运机器人，其特征在于，还包括底盘，所述底盘可移动，支承所述货架，所述升降机构及所述搬运装置。
  13. 一种搬运机器人，其特征在于，包括：
    货架，用于放置货物；
    检测装置，用于检测放置于所述货架的货物；以及
    搬运装置，用于将货物搬运至所述货架或者将货物从所述货架搬运出。
  14. 根据权利要求13所述的搬运机器人，其特征在于，所述搬运机器人还包括可移动的底盘；
    所述底盘承载所述货架及所述搬运装置。
  15. 根据权利要求14所述的搬运机器人，其特征在于，所述货架包括支架以及至少一个隔板；
    所述支架支承所述至少一个隔板，所述至少一个隔板中任意的一个用于放置货物，所述搬运装置用于将货物搬运至所述至少一个隔板中任意的一个，或者将货物从所述至少一个隔板中任意的一个搬运出。
  16. 根据权利要求15所述的搬运机器人，其特征在于，所述检测装置包括至少一个检测模块；
    所述至少一个检测模块中任意的一个安装于所述至少一个隔板中对应的一个，所述至少一个检测模块中任意的一个用于检测所述至少一个隔板中对应的一个所放置的货物。
  17. 根据权利要求16所述的搬运机器人，其特征在于，所述至少一个检测模块中任意的一个为重量检测装置，用于检测放置于所述至少一个隔板中对应的一个所放置的货物的重量。
  18. 根据权利要求17所述的搬运机器人，其特征在于，所述重量检测装置呈片状。
  19. 根据权利要求18所述的搬运机器人，其特征在于，所述重量检测装置平行于所述至少一个隔板中对应的一个。
  20. 根据权利要求19所述的搬运机器人，其特征在于，所述至少一个隔板中任意的一个由其所安装的重量检测装置支承货物。
  21. 根据权利要求16所述的搬运机器人，其特征在于，所述至少一个检测模块中任意的一个为射频识别装置，用于读取所述至少一个隔板中对应一个所放置的货物上贴设的射频识别标签，以检测所述至少一个隔板中对应一个所放置的货物。
  22. 根据权利要求15至21任一项所述的搬运机器人，其特征在于，所述支架包括两个竖梁以及至少一个横梁；
    所述两个竖梁相对设置，所述至少一个横梁中任意的一个连接于所述两个竖梁之间；
    所述至少一个隔板中任意的一个由所述至少一个横梁中对应的一个支承。
PCT/CN2020/130150 2019-11-19 2020-11-19 搬运装置及搬运机器人 WO2021098782A1 (zh)

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