WO2021208763A1 - 一种仓储物流系统 - Google Patents

一种仓储物流系统 Download PDF

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Publication number
WO2021208763A1
WO2021208763A1 PCT/CN2021/085314 CN2021085314W WO2021208763A1 WO 2021208763 A1 WO2021208763 A1 WO 2021208763A1 CN 2021085314 W CN2021085314 W CN 2021085314W WO 2021208763 A1 WO2021208763 A1 WO 2021208763A1
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WO
WIPO (PCT)
Prior art keywords
claw
storage container
jacking
robot
logistics system
Prior art date
Application number
PCT/CN2021/085314
Other languages
English (en)
French (fr)
Inventor
曲璐
袁媛
Original Assignee
北京京东乾石科技有限公司
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Publication date
Application filed by 北京京东乾石科技有限公司 filed Critical 北京京东乾石科技有限公司
Publication of WO2021208763A1 publication Critical patent/WO2021208763A1/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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions

Definitions

  • the embodiments of the present application relate to the technical field of warehousing logistics, for example, to a warehousing logistics system.
  • the picking of the warehousing logistics system usually adopts the "goods-to-person" picking method, that is, the handling robot moves the inventory container carrying the target goods from the warehouse storage area to the picking point for picking operation, and the handling method of the inventory container can be carried out according to the handling robot.
  • the top-lift handling refers to: after the jacking robot runs to the bottom of the target inventory container, the tray on the top of the jacking robot is raised by the jacking mechanism to dock with the bottom surface of the inventory container, so that the inventory container is lifted and separated from the ground. It is carried by the lifting robot to the designated position, and the tray is lowered to the bottom of the storage container through the lifting mechanism, and the storage container is put down.
  • the pallet is usually a disc-shaped structure, and the top of the pallet is protrudingly provided with positioning posts for docking with the bottom of the storage container, and the bottom of the storage container is a frame structure with crisscross beams.
  • the positioning column extends into the lattice in the frame structure, so that the positioning column and the vertical and horizontal beams cooperate, so as to play the role of connecting the jacking robot and the storage container.
  • the inventor found that with the above docking structure, due to the lack of a fixed connection between the inventory container and the jacking robot, when there is an unbalanced load or emergency parking situation, the inventory container will be relative to the jacking robot due to inertia. Overturning or shaking occurs, resulting in the risk of the goods on the storage container falling during the handling process. That is, the docking structure is difficult to ensure the stability of the storage container during the transportation process and the safety of goods transportation.
  • the purpose of the embodiments of the present application is to provide a warehousing logistics system to improve the reliability, stability, and safety of the lifting robot for handling storage containers.
  • a warehousing logistics system including:
  • a jacking robot where a jacking tray is provided on the top of the jacking robot;
  • a storage container the bottom of the storage container has a space for the jacking robot to enter and exit, and the jacking robot is configured to be able to travel into the space and lift the storage container through the jacking tray Or put down, the bottom of the storage container is pivotally provided with a claw, and the claw is configured such that when the lifting tray lifts the bottom of the storage container, the first end of the claw is lifted by the top. The lifting tray is pressed to make the second end of the claw engage with the lifting tray.
  • FIG. 1 is a schematic structural diagram of the warehouse logistics system provided by an embodiment of the application when the lifting robot is not docked with the inventory container;
  • FIG. 2 is a schematic structural diagram of the warehouse logistics system provided by an embodiment of the application after the jacking robot is docked with the inventory container;
  • FIG. 3 is a schematic diagram of the structure of the bottom of the storage container and the lifting tray provided by an embodiment of the application.
  • 2-lifting robot 21-car body; 22-lifting mechanism; 23-lifting tray; 231-card slot; 232-avoidance through hole; 24-positioning post; 25-driving wheel mechanism;
  • 3-storage container 31-leg; 32-transverse support beam; 33-longitudinal support beam; 34-partition;
  • connection can be fixed connection, detachable connection, or integrated; it can be mechanical connection or It can be an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be a communication between two components or an interaction relationship between two components.
  • the "above” or “below” of the first feature of the second feature may include direct contact between the first feature and the second feature, or may include the first feature and the second feature.
  • Features are not in direct contact but through other features between them.
  • the "above”, “above” and “above” of the first feature on the second feature include the first feature directly above and obliquely above the second feature, or it simply means that the first feature is higher in level than the second feature.
  • the “below”, “below” and “below” of the second feature of the first feature include the first feature directly below and obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.
  • FIG. 1 is a schematic structural diagram of the warehouse logistics system provided by an embodiment of the application when the lifting robot 2 is not docked with the inventory container 3
  • Fig. 2 is the warehouse logistics system provided by an embodiment of the application when the lifting robot 2 is docked with the inventory container 3
  • Fig. 3 is a schematic diagram of the structure of the bottom of the storage container 3 and the lifting tray 23 provided by an embodiment of the application.
  • this embodiment provides a warehouse logistics system, including a lifting robot 2.
  • the inventory container 3 is set to hold goods.
  • the bottom of the inventory container 3 is provided with a space for the jacking robot 2 to enter and exit, and the jacking robot 2 can enter the bottom space of the inventory container 3.
  • the lifting robot 2 is configured to be able to travel into the space and lift or lower the inventory container 3 through the lifting of the lifting tray 23, so as to realize the lifting of the lifting robot 2 to the inventory container 3 Handling.
  • the inventory container 3 can be a container that can be used to carry goods, such as shelves, pallets, etc., that is, the warehouse logistics system provided in this embodiment can be applied to an order picking scenario, and the inventory container 3 is paired by the lifting robot 2
  • the top-lift handling realizes the "goods-to-person" picking of the ordered goods.
  • the warehousing logistics system provided in this embodiment can not only be applied to an order picking scene, but also can be applied to other scenes where the lifting robot 2 is required to carry the inventory container 3 by lifting. It can be seen that the warehousing logistics system provided in this embodiment can not only have the operation of picking goods, but also can have conventional warehousing operations such as loading, sorting, and stacking.
  • the storage container 3 is provided with one or more storage layers, and each storage layer is provided with one or a plurality of storage spaces for placing goods side by side, and the bottom of the storage container 3 is provided with four branches.
  • the legs 31 and the four legs 31 are used to raise the bottom of the storage container 3 so that a space for lifting the robot 2 is formed between the bottom surface of the storage container 3 and the ground.
  • the jacking robot 2 includes a vehicle body 21, a lifting structure 22 and a jacking tray 23.
  • the vehicle body 21 is provided with a driving wheel mechanism 25, which is configured to realize the linear, reversing and turning motions of the vehicle body 21, and the vehicle body 21 is provided with control components and detection components, etc., which are set as the operating environment for the jacking robot 2 And the operation process are monitored and adjusted;
  • the lifting tray 23 is arranged on the top of the car body 21, and is arranged to dock with the bottom of the stock container 3 and support the stock container 3;
  • the lifting mechanism 22 is arranged inside the car body 21, and the lifting mechanism 22 It is connected with the lifting tray 23 to drive the lifting tray 23 to vertically lift to realize lifting or unloading of the storage container 3.
  • the drive wheel mechanism 25 can also realize the rotation of the vehicle body 21 relative to the lifting tray 23, that is, during the handling of the storage container 3, the lifting robot 2 can automatically change direction relative to the ground and the storage container 3 and The lifting tray 23 remains stationary with respect to the ground.
  • the jacking tray 23 is a horizontally arranged disc-shaped structure. In other embodiments, the projection of the jacking tray 23 on the horizontal plane may be elliptical, rectangular or other shapes.
  • the structural design, operation and control of the jacking robot 2 can refer to the design of the jacking robot 2 in the related art, and details are not described in this embodiment.
  • a label is provided at the bottom of the storage container 3, and the label is set at the center of the bottom of the storage container 3, and the label carries the position information of the storage container 3 and the product information on the storage container 3 Wait.
  • the lifting robot 2 is provided with a code scanning device. When the lifting robot 2 runs to the bottom of the inventory container 3 according to the navigation path specified by the control system, the code scanning device scans the tag to identify and align the inventory container 3. To ensure that the jacking robot 2 runs below the correct target inventory container 3 and to ensure the balance and stability of the jacking robot 2 lifting the inventory container 3.
  • the tag is a two-dimensional code or an RFID (Radio Frequency Identification) tag code
  • the code scanning device is a camera or an RFID card reader corresponding to the tag type.
  • the code scanning device is arranged inside the vehicle body 21, and the position corresponding to the scanning device in the center of the lifting tray 23 is provided with an avoiding through hole 232 for light to pass through, so that the scanning device can pass through the avoiding through hole 232. Scan the code on the label.
  • the settings of the label and the code scanning device are conventional settings in the field, and can be set with reference to related technologies, and will not be repeated in this embodiment.
  • a docking assembly is provided between the jacking robot 2 and the inventory container 3.
  • the docking assembly includes a pawl 1 provided at the bottom of the storage container 3, and the pawl 1 is configured such that when the lifting tray 23 lifts the top of the storage container 3, the first end of the pawl 1 is pressed by the lifting tray 23 to make The second end of the claw 1 is clamped with the lifting tray 23.
  • the lifting robot 2 and the storage container 3 produce relative movement, reducing the possibility of the storage container 3 tipping or shaking relative to the lifting robot 2 during the handling process, and improving the stability and reliability of the lifting robot 2 in handling the storage container 3 It reduces the risk of the goods on the storage container 3 falling during the transportation process, and improves the safety of the goods during the transportation process of the storage container 3.
  • the claw 1 is driven to rotate when the lifting tray 23 is raised, so that the second claw portion 12 is clamped with the lifting tray 23, so that the setting of the claw 1 can be reduced.
  • the interference of the jacking robot 2 into the bottom space of the storage container 3 improves the stability of the snap connection.
  • the edge of the lifting tray 23 is provided with at least two grooves 231 at intervals.
  • the grooves 231 have side openings penetrating the circumferential side walls of the lifting tray 23.
  • the claws 1 and the grooves 231 are arranged in one-to-one correspondence.
  • the bottom of the storage container 3 The pivot is provided with at least two claws 1. When the tray 23 is lifted to lift the bottom of the storage container 3, the second end of the claws 1 is clamped with the clamping slot 231.
  • the card slot 231 By setting the card slot 231, the card slot 231 is engaged with the jaw 1, so that when the lifting tray 23 lifts the storage container 3, the jaw 231 is limited in the card slot 231, which improves the stability of the card connection and ensures the jaw 1 There is no rotation with the lifting tray 23, so as to ensure that there is no rotation between the storage container 3 and the lifting robot 2 during the transportation process.
  • the state of the pawl 1 when the tray 23 is lifted against the pawl 1 is referred to as the first state, and the state of the pawl 1 when the tray 23 is lifted to lift the bottom surface of the storage container 3 Called the second state.
  • the first end of the claw 1 forms a first claw 11, the second end of the claw 1 forms a second claw 12, and an edge for lifting the tray 23 is formed between the first claw 11 and the second claw 12 Reach into the notch 13.
  • the second claw 12 is located above the lifting tray 23 and at least partly lower than the bottom surface of the storage container 3, and the first claw 11 is located at the lifting
  • the tray 23 is circumferentially outward, and the notch 13 faces the lifting tray 23; when the claw 1 is in the second state, the claw 1 squeezes the end of the first claw 11, and the edge of the lifting tray 23 extends into the groove In the opening 13 and the second claw portion 12 is engaged with the slot 231.
  • the pawl 1 and the bottom of the storage container 3 are rotatably connected by a horizontally arranged rotating shaft 4, and the rotating shaft 4 is higher than the height of the bottom surface of the storage container 3, so as to avoid interference between the setting of the rotating shaft 4 and the lifting tray 23. , Reduce the overall size of the pawl 1.
  • the rotating shaft 4 is arranged at the connecting position of the second claw portion 12 and the first claw portion 11, so that the rotation of the second claw portion 12 can be better controlled by the rotation track of the first claw portion 11, so that the second claw portion 12 It can be accurately inserted into the card slot 231, and the overall structure of the jaw 1 can be simplified.
  • the setting position of the rotating shaft 4 may not be located at the junction of the second claw portion 12 and the first claw portion 11, as long as the rotation of the first claw portion 11 can be achieved to drive the second claw portion 12 to lift the tray. Rotate in the direction of 23.
  • the first pawl 11 includes a connected first part 111 and a second part 112.
  • the first part 111 is arranged horizontally and is not lower than the bottom surface of the storage container 3, and the upper end of the second part 112 Connected to the first part 111, the lower end of the second part 112 extends vertically downward or obliquely downward relative to the vertical direction, so that the lifting tray 23 can contact the lower end of the second part 112 during the ascent process, thereby The first claw 11 is driven to flip upward.
  • the second portion 112 is vertically connected to the first portion 111, so that when the claw 1 is in the first state, the second portion 112 is vertically arranged to enlarge the first claw portion 11 and the lifting tray 23 The initial contact area.
  • the second claw portion 12 includes a clamping portion 121.
  • the clamping portion 121 When the clamping claw 1 is in the first state, the clamping portion 121 is arranged obliquely with respect to the vertical direction, and the upper end of the clamping portion 121 is connected to the first claw portion. 11 is connected, the lower end of the clamping portion 121 extends downwards in the direction away from the lifting tray 23; when the claw 1 is in the second state, the clamping portion 121 is vertically arranged, which can improve the relationship between the lifting tray 23 and the storage container 3 After the bottom is butted, the abutment between the claw 1 and the lifting tray 23 is stable.
  • the second claw portion 12 further includes a limiting portion 122 provided at the lower end of the clamping portion 121.
  • the limiting portion 122 When the clamping jaw 1 is in the second state, the limiting portion 122 is located below the lifting tray 23.
  • the limiting portion 122 it can be ensured that even if the storage container 3 is inclined relative to the lifting tray 23, the limiting portion 122 of the pawl 1 at the corresponding position can lean against the bottom of the lifting tray 23 as the storage container 3 is tilted to prevent The storage container 3 is further tilted relative to the lifting tray 23 to improve the reliability and stability of the lifting robot 2 in moving the storage container 3.
  • the limiting portion 122 is vertically connected to the clamping portion 121.
  • the angle between the limiting portion 122 and the clamping portion 121 may also be less than 90°.
  • the docking assembly further includes a reset member 5.
  • the restoring member 5 is configured such that the first end of the driving pawl 1 protrudes from the bottom of the storage container 3, that is, the driving pawl 1 returns from the second state to the first state.
  • the resetting member 5 includes an elastic telescopic member, which is connected between the pawl 1 and the storage container 3, and when the pawl 1 is in the first state, the elastic telescopic member is in the original length state.
  • the elastic telescopic member When the pawl 1 is in the second state, the elastic telescopic member is in an extended or compressed state, so that when the lifting tray 23 is lowered, the pawl 1 can return from the second state to the first state under the action of the elastic restoring force of the elastic telescopic member. state.
  • the lower end of the elastic telescopic element is connected with the first portion 111 of the first claw 11, and the upper end of the elastic telescopic element is connected with the storage container 3.
  • the elastic telescopic member is compressed.
  • the tray 23 is lifted downward, the elastic restoring force of the elastic telescopic member pushes the first pawl portion 11 to extend and retract the bottom of the storage container 3, so that the first pawl portion 11 is elastic.
  • the elastic restoring force of the telescopic member it flips downwards, thereby driving the second claw portion 12 to rotate in a direction away from the lifting tray 23 and disengaging the lifting tray 23 from the clamping claw 1.
  • the elastic telescopic member can also be connected between the second claw portion 12 and the storage container 3. At this time, the elastic telescopic member can pull the second pawl portion 12 to rotate away from the lifting tray 23, so as to make The first end of the claw 1 protrudes from the bottom of the storage container 3.
  • the restoring member 5 may also be a torsion spring.
  • the torsion spring is sleeved on the rotating shaft 4, and the first end of the torsion spring is connected to the second claw portion 12 or the first claw portion 11, and the first end of the torsion spring The two ends are connected with the storage container 3.
  • the reset member 5 may not be provided, and the lifting tray 23 is applied to the limiting part 122 by the contact between the lifting tray 23 and the limiting part 122 during the descending process of the lifting tray 23.
  • the turning moment 23 drives the second pawl 12 to turn away from the jacking tray 23, so that the jacking tray 23 is disengaged from the second pawl 12.
  • each orientation of the lifting tray 23 can be restricted by the claw 1.
  • the projection of the locking slot 231 on the horizontal plane is rectangular, and the cross-sectional shape of the locking portion 121 matches the shape of the locking slot 231.
  • the shape of the slot 231 can also be an arc shape with the opening away from the center of the lifting tray 23 or other shapes, as long as the cross-sectional shape of the slot 231 and the clamping portion 121 can be matched.
  • the bottom of the storage container 3 is provided with longitudinal support beams 33 and transverse support beams 32 criss-crossed, and the longitudinal support beams 33 and the transverse support beams A partition 34 is formed between the support beams 32, the pawl 1 is connected to the longitudinal support beam 33 or the transverse support beam 32 at the corresponding position, and the pawl 1 is partially located in the partition 34 at the corresponding position, and the first pawl The portion 11 can be pressed and received into the partition 34 by the lifting tray 23.
  • the upper end surface of the lifting tray 23 is vertically protruding with positioning pillars 24.
  • the upper ends of the positioning pillars 24 are inserted into the partition 34 and are connected to the longitudinal support beam 33 and the transverse support beam 33 forming the partition.
  • the support beam 32 abuts.
  • the lifting tray 23 is provided with two positioning posts 24 symmetrically along its circumference, and each positioning post 24 faces the side wall of the other positioning post 24 and the adjacent longitudinal support beam 33 and horizontal The support beam 32 abuts.
  • the two transverse support beams 32 and the two longitudinal support beams 33 are arranged in the shape of a "well", and the two positioning columns 24 are respectively inserted in In the two opposing compartments at the opposite corners of the central compartment of the "well" shape.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

公开了一种仓储物流系统，其包括顶举机器人（2）：顶举机器人（2）的顶部设置有顶举托盘（23）；库存容器（3），库存容器（3）的底部具有供顶举机器人（2）进入退出的空间，顶举机器人（2）被配置为能够将库存容器（3）顶起，库存容器的底部枢设有卡爪（1），卡爪（1）被配置为当顶举托盘（23）顶举库存容器（3）时，卡爪（1）的第一端被顶举托盘（23）抵压以使卡爪（1）的第二端与顶举托盘（23）卡接。该仓储物流系统能够提高顶举机器人对库存容器搬运的可靠性、稳定性和安全性。

Description

一种仓储物流系统
本公开要求在2020年04月13日提交中国专利局、申请号为202020536811.4的中国专利申请的优先权，以上申请的全部内容通过引用结合在本公开中。
技术领域
本申请实施例涉及仓储物流技术领域，例如涉及一种仓储物流系统。
背景技术
仓储物流系统的拣选通常采用“货到人”的拣选方式，即搬运机器人将承载有目标货物的库存容器从仓库存放区搬运至拣选点进行拣选操作，且根据搬运机器人对库存容器的搬运方式可分为顶举式搬运、潜入式搬运和拖拽式搬运。其中，顶举式搬运是指：顶举机器人运行到目标库存容器的底部后，通过顶升机构将顶举机器人顶部的托盘升高与库存容器底面进行对接，使库存容器举升并脱离地面后被顶举机器人搬运至指定位置，并通过顶升机构使托盘下降至与库存容器底部脱离接触，使库存容器放下。
就相关技术提供的顶举机器人和库存容器而言，托盘通常为圆盘状结构，托盘顶部凸设有用于与库存容器底部对接的定位柱，库存容器的底部呈纵横梁交错的框架式结构。当顶举机器人与库存容器对接时，定位柱伸入框架式结构中的格口中，使定位柱和纵横梁配合，从而起到顶举机器人与库存容器的连接作用。
但本发明人在实施上述结构的时候发现，采用上述对接结构，由于库存容器和顶举机器人之间缺乏固定连接，当出现偏载或者紧急停车情况时，因为惯性，库存容器会相对顶举机器人发生倾翻或晃动，从而导致库存容器上的货品在搬运过程中存在掉落的风险。即，对接结构，难以保证库存容器在搬运过程中的稳定性和货品搬运安全性。
发明内容
本申请实施例的目的在于提供一种仓储物流系统，提高顶举机器人对库存容器搬运的可靠性、稳定性和安全性。
为实现上述目的，本申请采用下述技术方案：
一种仓储物流系统，包括：
顶举机器人，所述顶举机器人的顶部设置有顶举托盘；
库存容器，所述库存容器的底部具有供所述顶举机器人进入退出的空间，所述顶举机器人被配置为能够行驶至所述空间中并通过所述顶举托盘将所述库存容器顶起或放下，所述库存容器的底部枢设有卡爪，所述卡爪被配置为当所述顶举托盘顶举所述库存容器的底部时，所述卡爪的第一端被所述顶举托盘抵压以使所述卡爪的第二端与所述顶举托盘卡接。
附图说明
图1为本申请实施例提供的仓储物流系统在顶举机器人与库存容器未对接时的结构示意图；
图2为本申请实施例提供的仓储物流系统在顶举机器人与库存容器对接后的结构示意图；
图3为本申请实施例提供的库存容器底部与顶举托盘的结构示意图。
图标标记如下：
1-卡爪；11-第一爪部；111-第一部；112-第二部；12-第二爪部；121-卡接部；122-限位部；13-槽口；
2-顶举机器人；21-车体；22-举升机构；23-顶举托盘；231-卡槽；232-避让通孔；24-定位柱；25-驱动轮机构；
3-库存容器；31-支腿；32-横支撑梁；33-纵支撑梁；34-隔口；
4-转轴；5-复位件。
具体实施方式
下面结合附图和实施例对本申请进行说明。
在本申请的描述中，除非另有明确的规定和限定，术语“相连”、“连接”、“固定”可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。
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”可以包括第一特征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特征进行接触。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。
在本实施例的描述中，术语“上”、“下”、“右”、等方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述和简化操作，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。此外，术语“第一”、“第二”仅用于在描述上加以区分。
图1为本申请实施例提供的仓储物流系统在顶举机器人2与库存容器3未对接时的结构示意图，图2为本申请实施例提供的仓储物流系统在顶举机器人2与库存容器3对接后的结构示意图，图3为本申请实施例提供的库存容器3底部与顶举托盘23的结构示意图，如图1-3所示，本实施例提供了一种仓储物流系统，包括顶举机器人2、库存容器3和对接组件，库存容器3设置为盛放货品，库存容器3的底部具备用于顶举机器人2进入和退出的空间，顶举机器人2能够进入到库存容器3的底部空间中并通过对接组件与库存容器3对接，且顶举机器人2被配置为能够行驶至空间中并通过顶举托盘23的升降将库存容器3顶起或放下，实现顶举机器人2对库存容器3的搬运。
在本实施例中，库存容器3可为货架、托盘等能够用于承载货物的容器，即，本实施例提供的仓储物流系统可应用于订单拣选场景中，通过顶举机器人2对库存容器3的顶举式搬运，实现对订单货物的“货到人”拣选。但可以理解的是，本实施例提供的仓储物流系统，不仅可以应用到订单拣选场景中，还可以应用到其他需要顶举机器人2对库存容器3进行顶举式搬运的场景中。可见，本实施例提供的仓储物流系统，不仅可具备货品拣选的操作，还可具备上货、分拣、堆垛等常规仓储操作。
在一实施例中，库存容器3上设置有一层或多层置物层，每层置物层设置有一个或并排设置有多个用于放置货物的置物空间，库存容器3的底部设置有四个支腿31，四个支腿31用于抬高库存容器3的底部，使库存容器3的底面与地面之间形成用于顶举机器人2活动的空间。
顶举机器人2包括车体21、举升结构22及顶举托盘23。车体21上设置有驱动轮机构25，设置为实现车体21的直线、换向及转弯运动，且车体21上设置有控制组件和检测组件等，设置为对顶举机器人2的运行环境和运行过程进行监控和调节；顶举托盘23设置在车体21的顶部，设置为与库存容器3底部对接并支承库存容器3；举升机构22设置在车体21内部，且举升机构22与顶举托盘23连接，以带动顶举托盘23进行竖直升降实现对库存容器3的顶举或 卸载。且在本实施例中，驱动轮机构25还能实现车体21相对顶举托盘23的转动，即可实现在库存容器3搬运过程中，顶举机器人2相对地面自转换向而库存容器3和顶举托盘23相对地面保持静止。
在一实施例中，顶举托盘23为呈水平设置的圆盘状结构，在其他实施例中，顶举托盘23在水平面上的投影可以呈椭圆形、矩形或其他形状。且在本申请中，顶举机器人2的结构设计、运行及控制等均可参考相关技术中顶举机器人2的设计，本实施例不再进行赘述。
为实现顶举托盘23与库存容器3的对接定位，库存容器3的底部设置有标签，标签设置在库存容器3底部中心位置，且标签上携带有库存容器3位置信息、库存容器3上货品信息等。顶举机器人2上设置有扫码装置，当顶举机器人2根据控制系统规定的导航路径运行至库存容器3底部后，扫码装置对标签进行扫码，对库存容器3进行识别与对位，以确保顶举机器人2运行到正确的目标库存容器3下方并保证顶举机器人2对库存容器3托举的平衡性和稳定性。
在本实施例中，标签为二维码或RFID(Radio Frequency Identification，射频识别)标签码，扫码装置为与标签类型对应的摄像头或RFID读卡器。在一实施例中，扫码装置设置在车体21内部，顶举托盘23中心对应扫码装置的位置开设有供光线通过的避让通孔232，以使扫码装置能够通过避让通孔232对标签进行扫码。标签和扫码装置的设置为本领域的常规设置，可参考相关技术进行设置，本实施例不再进行赘述。
在本实施例中，为实现顶举机器人2与库存容器3的对接，顶举机器人2与库存容器3之间设置有对接组件。对接组件包括设置在库存容器3底部的卡爪1，卡爪1被配置为当顶举托盘23顶举库存容器3的顶部时，卡爪1的第一端被顶举托盘23抵压以使卡爪1的第二端与顶举托盘23卡接。
通过在库存容器3底部枢接卡爪1，在顶举机器人2的顶举托盘23升高顶举库存容器3的底部时，卡爪1的第一端被顶举托盘23抵压，带动卡爪1相对库存容器3转动，从而使卡爪1的第二端与顶举托盘23卡接，能够实现顶举机器人2与库存容器3对接后的稳固连接，避免顶举机器人2搬运库存容器3过程中，顶举机器人2与库存容器3产生相对运动，减小库存容器3在搬运过程中相对顶举机器人2倾翻或晃动的可能，提高顶举机器人2搬运库存容器3的平稳性和可靠性，降低库存容器3上货品在搬运过程中掉落的风险，提高库存容器3搬运过程中的货品安全性。且通过设置卡爪1与库存容器3转动连接，使顶举托盘23升高的过程中带动卡爪1转动使第二爪部12与顶举托盘23卡接， 能够减小卡爪1的设置对顶举机器人2进入库存容器3底部空间的干涉，提高卡接连接的稳定性。
顶举托盘23的边缘间隔设置有至少两个卡槽231，卡槽231具有贯通顶举托盘23周向侧壁的侧开口，卡爪1与卡槽231一一对应设置，库存容器3的底部枢设有至少两个卡爪1，当顶举托盘23顶举库存容器3的底部时，卡爪1的第二端与卡槽231卡接。通过设置卡槽231，使卡槽231与卡爪1卡接，能够使顶举托盘23顶举库存容器3时，卡爪231限位于卡槽231中，提高卡接稳定性，保证卡爪1与顶举托盘23之间无转动，从而保证库存容器3与顶举机器人2之间在搬运过程中无转动。
在一实施例中，将顶举托盘23抵压卡爪1时卡爪1所处的状态称为第一状态，将顶举托盘23顶举库存容器3的底面时卡爪1所处的状态称为第二状态。
卡爪1的第一端形成第一爪部11，卡爪1的第二端形成第二爪部12，第一爪部11和第二爪部12之间形成有供顶举托盘23的边缘伸入的槽口13。当卡爪1处于第一状态且顶举托盘23位于槽口13空间中时，第二爪部12位于顶举托盘23上方且至少部分低于库存容器3底面，第一爪部11位于顶举托盘23周向外侧，且槽口13朝向顶举托盘23；当卡爪1处于第二状态时，卡爪1挤压第一爪部11的端部，且顶举托盘23的边缘伸入槽口13中且第二爪部12与卡槽231卡接。
在一实施例中，卡爪1与库存容器3底部通过水平设置的转轴4转动连接，转轴4高于库存容器3底面高度，以在避免转轴4的设置与顶举托盘23相干涉的基础上，减小卡爪1的整体尺寸。
转轴4设置在第二爪部12和第一爪部11的连接位置，由此能够更好地通过第一爪部11的转动轨迹控制第二爪部12的转动运行，使第二爪部12准确卡入卡槽231中，且能够简化卡爪1的整体结构。在其他实施例中，转轴4的设置位置也可以不位于第二爪部12和第一爪部11的连接处，只要能实现第一爪部11的转动带动第二爪部12朝向顶举托盘23的方向转动即可。
第一卡爪11包括相连的第一部111和第二部112，当卡爪1处于第一状态时，第一部111呈水平设置且不低于库存容器3底面，第二部112的上端与第一部111连接，第二部112的下端竖直向下或相对竖直方向倾斜向下延伸，以使顶举托盘23在上升的过程中，能够与第二部112的下端接触，从而带动第一爪部11向上翻转。且在一实施例中，第二部112与第一部111垂直连接，使当卡爪1处于第一状态时，第二部112垂直设置，以增大第一爪部11与顶举托盘23的 初始接触面积。
在一实施例中，第二爪部12包括卡接部121，当卡爪1处于第一状态时，卡接部121相对竖直方向倾斜设置，且卡接部121的上端与第一爪部11连接，卡接部121的下端沿远离顶举托盘23的方向向下延伸；当卡爪1处于第二状态时，卡接部121竖直设置，可提高当顶举托盘23与库存容器3底部对接后，卡爪1与顶举托盘23之间的抵靠稳定性。
在一实施例中，第二爪部12还包括设置在卡接部121下端的限位部122，当卡爪1处于第二状态时，限位部122位于顶举托盘23的下方。通过设置限位部122，能够保证即使库存容器3相对顶举托盘23发生倾斜，对应位置处的卡爪1的限位部122能够随库存容器3倾斜后抵靠在顶举托盘23底部，防止库存容器3相对顶举托盘23进一步地倾翻，提高顶举机器人2搬动库存容器3的可靠性和稳定性。在本实施例中，限位部122与卡接部121垂直连接。在其他实施例中，限位部122与卡接部121之间的夹角也可以小于90°。
在一实施例中，对接组件还包括复位件5。复位件5被配置为，驱动卡爪1的第一端伸出库存容器3的底部，即驱动卡爪1由第二状态回复至第一状态。在一实施例中，复位件5包括弹性伸缩件，弹性伸缩件连接于卡爪1和库存容器3之间，且当卡爪1处于第一状态时，弹性伸缩件处于原长状态，当卡爪1处于第二状态时，弹性伸缩件处于伸长或压缩状态，从而当顶举托盘23下降过程中，卡爪1能够在弹性伸缩件的弹性恢复力作用下由第二状态回复至第一状态。
在本实施例中，弹性伸缩件的下端与第一爪部11的第一部111连接，弹性伸缩件的上端与库存容器3连接，当第一爪部11被顶举托盘23抵压而带动向上翻转过程中，弹性伸缩件压缩，当顶举托盘23向下回降过程中，弹性伸缩件的弹性恢复力推动第一爪部11伸缩库存容器3的底部，使第一爪部11在弹性伸缩件的弹性恢复力的作用下向下翻转，从而带动第二爪部12向远离顶举托盘23的方向转动，使顶举托盘23与卡爪1脱离卡合。
在其他实施例中，弹性伸缩件还可以连接在第二爪部12和库存容器3之间，此时，弹性伸缩件能够拉动第二爪部12向远离顶举托盘23的方向转动，以使卡爪1的第一端伸出库存容器3的底部。
在其他一个实施例中，复位件5还可以为扭簧，扭簧套设在转轴4上，且扭簧的第一端与第二爪部12或第一爪部11连接，扭簧的第二端与库存容器3连接。在其他另一个实施例中，也可以不设置复位件5，通过顶举托盘23下降 过程中与限位部122之间的接触，使顶举托盘23向限位部122施加向远离顶举托盘23翻转的力矩，从而带动第二爪部12向远离顶举托盘23的方向翻转，以使顶举托盘23与第二爪部12脱离卡合。在此种设置下，可以通过在限位部122朝向顶举托盘23的一面设置沿远离卡接部121倾斜向下的导向斜面，达到限位部122翻转的目的。
在本实施例中，卡槽231沿顶举托盘23的周向均匀间隔设置有四个，卡爪1与卡槽231的个数和位置一一对应设置，以使顶举托盘23与库存容器3对接后，顶举托盘23的各个方位均能够被卡爪1限定。且在其他实施例中，卡槽231在水平面上的投影为矩形，卡接部121横截面形状与卡槽231的形状相适配。在其他实施例中，卡槽231的形状也可以为开口背离顶举托盘23中心的圆弧形或其他形状，只要能满足卡槽231与卡接部121的横截面形状相适配即可。
为提高顶举托盘23和库存容器3之间的对接稳定性，在一实施例中，库存容器3的底部设置有纵横交错的纵支撑梁33和横支撑梁32，且纵支撑梁33与横支撑梁32之间形成有隔口34，卡爪1连接在对应位置处的纵支撑梁33或横支撑梁32上，且卡爪1部分位于对应位置处的隔口34中，且第一爪部11能被顶举托盘23抵压收容至隔口34中。
顶举托盘23的上端面垂直凸设有定位柱24，当顶举托盘23与库存容器3底面接触时，定位柱24上端插入隔口34中并与形成该隔口的纵支撑梁33和横支撑梁32抵接。且在另一实施例中，顶举托盘23上沿其周向对称设置有两个定位柱24，每个定位柱24朝向另一定位柱24的侧壁与相邻的纵支撑梁33和横支撑梁32抵接。且在本实施例中，纵支撑梁33和横支撑梁32均设置有两个，两个横支撑梁32和两个纵支撑梁33呈“井”字形设置，两个定位柱24分别插入在“井”字型中心隔口对角处的两个相对隔口中。

Claims (10)

  1. 一种仓储物流系统，其中，包括：
    顶举机器人(2)，所述顶举机器人(2)的顶部设置有顶举托盘(23)；
    库存容器(3)，所述库存容器(3)的底部具有供所述顶举机器人(2)进入退出的空间，所述顶举机器人(2)被配置为能够行驶至所述空间中并通过所述顶举托盘(23)将所述库存容器(3)顶起或放下，所述库存容器(3)的底部枢设有卡爪(1)，所述卡爪(1)被配置为当所述顶举托盘(23)顶举所述库存容器(3)的底部时，所述卡爪(1)的第一端被所述顶举托盘(23)抵压以使所述卡爪(1)的第二端与所述顶举托盘(23)卡接。
  2. 根据权利要求1所述的仓储物流系统，其中，所述顶举托盘(23)的边缘间隔开设有至少两个卡槽(231)，所述库存容器(3)的底部枢设有至少两个所述卡爪(1)，所述卡爪(1)与所述卡槽(231)一一对应设置，所述卡爪(1)的第二端与所述卡槽(231)卡接。
  3. 根据权利要求1或2所述的仓储物流系统，其中，所述卡爪(1)的第一端形成第一爪部(11)，所述卡爪(1)的第二端形成第二爪部(12)，所述第一爪部(11)和所述第二爪部(12)之间形成有供顶举托盘(23)的边缘伸入的槽口(13)。
  4. 根据权利要求3所述的仓储物流系统，其中，所述卡爪(1)与所述库存容器(3)通过转轴(4)枢接，所述转轴(4)设置在所述第一爪部(11)与所述第二爪部(12)的连接位置处。
  5. 根据权利要求3所述的仓储物流系统，其中，所述库存容器(3)与所述卡爪(1)之间连接有复位件(5)，所述复位件(5)被配置为驱动所述卡爪(1)的第一端伸出所述库存容器(3)的底部。
  6. 根据权利要求5所述的仓储物流系统，其中，所述复位件(5)包括弹性伸缩件，所述弹性伸缩件的第一端与所述卡爪(1)连接，所述弹性伸缩件的第二端与所述库存容器(3)连接。
  7. 根据权利要求6所述的仓储物流系统，其中，所述弹性伸缩件的第一端与所述第一爪部(11)连接，所述弹性伸缩件的第二端与所述库存容器(3)连接，所述弹性伸缩件被配置为推动所述第一爪部(11)伸出所述库存容器(3)的底部；
    或，
    所述弹性伸缩件的第一端与所述第二爪部(12)连接，所述弹性伸缩件的第二端与所述库存容器(3)连接，所述弹性伸缩件被配置为拉动所述第二爪部 (12)以带动所述卡爪(1)的第一端伸出所述库存容器(3)的底部。
  8. 根据权利要求5所述的仓储物流系统，其中，所述复位件(5)包括扭簧，所述扭簧套设在所述卡爪(1)的转轴(4)上，且所述扭簧的第一端与所述库存容器(3)连接，所述扭簧的第二端与所述卡爪(1)连接。
  9. 根据权利要求1或2所述的仓储物流系统，其中，所述库存容器(3)的底部设置有纵横交错的纵支撑梁(33)和横支撑梁(32)，所述纵支撑梁(33)和所述横支撑梁(32)之间形成有隔口(34)，所述卡爪(1)枢接于所述纵支撑梁(33)或所述横支撑梁(32)上，且所述卡爪(1)的第一端能被所述顶举托盘(23)挤压收容于所述隔口(34)中。
  10. 根据权利要求9所述的仓储物流系统，其中，所述顶举托盘(23)的顶部凸设有定位柱(24)，所述定位柱(24)的上端插入所述隔口(34)中，且所述定位柱(24)与形成对应所述隔口(34)的所述横支撑梁(32)和所述纵支撑梁(33)抵接。
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