WO2022237229A1

WO2022237229A1 - Transfer robot and warehousing system

Info

Publication number: WO2022237229A1
Application number: PCT/CN2022/072811
Authority: WO
Inventors: 孔哲
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2021-05-12
Filing date: 2022-01-19
Publication date: 2022-11-17
Also published as: CN215905189U; TWM633315U

Abstract

A transfer robot (100) and a warehousing system. The transfer robot (100) comprises a support frame (10) and at least one pallet device (11) mounted thereon. The pallet device (11) has at least two bearing areas at different horizontal heights. The top of the pallet device (11) is of an opening structure in communication with each bearing area. The at least two bearing areas are sequentially increased from bottom to top. The warehousing system comprises the transfer robot (100).

Description

Handling robot and storage system

This application claims the priority of the Chinese patent application with the application number 202121018674.6 and the application title "handling robot and storage system" submitted to the China Patent Office on May 12, 2021, the entire contents of which are incorporated in this application by reference.

technical field

The present application relates to the technical field of intelligent storage, in particular to a handling robot and a storage system.

Background technique

With the rapid development of artificial intelligence technology, automation technology, and information technology, the intelligence level of terminal logistics has also been continuously improved, and intelligent warehousing is an important link in the logistics process.

In intelligent warehousing, the handling robot can realize the main equipment of the automatic handling operation, and the heavy physical labor of human beings can be relieved through the handling robot. At present, the handling robot includes a mobile base, a support frame, a pallet fork, and a pallet device. The mobile base is used to carry the support frame, the pallet fork, and the pallet device. Used for picking up the cargo box, the pallet device is installed on the support frame and used for carrying the cargo box.

However, the pallet device in the existing handling robot can only carry cargo boxes of the same specification, resulting in a small application range of the handling robot.

Utility model content

In view of the above problems, embodiments of the present application provide a handling robot and a storage system, which can increase the application range of the handling robot.

In order to achieve the above purpose, the embodiment of the present application provides the following technical solutions:

In a first aspect, an embodiment of the present application provides a handling robot, which includes: a support frame and at least one layer of pallet devices installed on the support frame; the pallet device has at least two loading areas at different levels, The top of the carrying device is an opening structure communicating with each of the carrying areas, and at least two of the carrying areas increase sequentially from bottom to top.

As an optional embodiment, the pallet device includes two symmetrically arranged pallets; each of the pallets includes at least two layers of bearing parts connected in sequence, and the two pallets at the same level The carrying portion forms the corresponding carrying area.

As an optional implementation manner, each of the carrying parts includes a carrying surface, and the carrying surface is used for carrying a container.

As an optional implementation, the bearing part further includes a guide surface, the lower end of the guide surface is connected to the side of the bearing surface in the same bearing part, and the upper end of the guide surface is connected to the adjacent Sides of the bearing surfaces in the bearing portion are connected, and an included angle between the guide surface and the bearing surface in the same bearing portion is an obtuse angle.

As an optional implementation manner, the included angle between the guiding surface and the bearing surface in the same bearing portion is 105°-145°.

As an optional implementation manner, a limit plate is provided at the rear end of each bearing area, and each limit plate is located in the same vertical plane.

As an optional implementation manner, each of the limiting plates is one piece.

As an optional implementation manner, the handling robot further includes a fixing frame, and the fixing frame is connected to the limiting plates in the pallet devices of each layer, so as to fix each limiting plate.

As an optional implementation manner, the two pallets are arranged at intervals, so that an avoidance channel for avoiding the forks in the handling machine is formed between the two pallets.

As an optional implementation manner, the bottom of each pallet is provided with at least two avoidance notches communicating with the avoidance channels.

In the second aspect, the embodiment of the present application further provides a storage system, including the handling robot in the first aspect.

Compared with related technologies, the handling robot and storage system provided by the embodiment of the present application have the following advantages:

In the handling robot provided in the embodiment of the present application, by setting the pallet device to have at least two loading areas located at different levels, the top of the pallet device is an opening structure communicating with each loading area, and at least two loading areas It increases sequentially from bottom to top, so that the small-sized cargo box can be placed in the matching smaller load-bearing area through the opening structure, and the large-sized cargo box can be placed in the matching larger load-bearing area through the opening structure. It can be seen that the pallet device can carry cargo boxes of different specifications, thereby increasing the scope of application of the handling robot.

In addition to the technical problems solved by the embodiments of the present application described above, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, the handling robot and storage system provided by the embodiments of the present application can solve Other technical problems, other technical features contained in the technical solution, and the beneficial effects brought by these technical features will be further described in detail in the specific implementation.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present application. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

FIG. 1 is a schematic structural diagram of a handling robot provided in an embodiment of the present application;

Fig. 2 is a schematic structural diagram of the pallet device in the handling robot provided by the embodiment of the present application;

3 is a schematic diagram of the state of the pallet device and the fork in the handling robot provided by the embodiment of the present application;

FIG. 4 is a diagram of a usage state of the pallet device in the handling robot provided by the embodiment of the present application;

Fig. 5 is another usage state diagram of the pallet device in the handling robot provided by the embodiment of the present application.

Reference signs:

100-handling robot;

10 - support frame;

11-Pallet device;

11a - pallet;

111-carrying part;

1111-bearing surface;

1112 - guide surface;

112-limit plate;

113-avoidance gap;

12 - fixed frame;

13-avoidance channel;

14 - fork;

200-cargo boxes.

Detailed ways

The inventor of the present application found in the actual work process that the main reason for the small scope of application of the handling robot in the related art is that the handling robot includes a mobile base, a support frame and at least one layer of pallet devices installed on the support frame, The pallet device generally includes a horizontally arranged load plate and a baffle plate surrounding the load plate. The load plate and the baffle plate form a load space with an upper end opening, and the cargo box can be placed in the load space. However, the pallet device only It can carry cargo boxes of the same specification and size, and the scope of application is small.

In order to solve the above problems, an embodiment of the present application provides a handling robot and a storage system. In the handling robot, by setting the pallet device to have at least two loading areas at different levels, the top of the pallet device is connected to each loading area. The opening structure of the area is connected, and at least two load-bearing areas increase sequentially from bottom to top, so that small-sized cargo boxes can be placed in the matching smaller load-bearing area through the opening structure of the pallet device, while large Containers of standard sizes can be placed in a larger carrying area that matches them through the opening structure. It can be seen that the pallet device can carry containers of different specifications, thereby increasing the scope of application of the handling robot.

In order to make the above objects, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present application.

Embodiment one

FIG. 1 is a schematic structural diagram of a handling robot provided by an embodiment of the present application.

Referring to Fig. 1, the embodiment of the present application provides a handling robot, which includes: a mobile base, a support frame 10, a fork and at least one layer of pallet device 11 installed on the support frame 10, and the mobile base is used for carrying and supporting Frame 10, pallet fork and pallet device 11, pallet fork is installed on the support frame 10 and can move up and down relative to support frame 10, pallet device 11 is used for carrying container, by setting multilayer pallet device on the handling robot 100 11. In this way, the handling robot 100 can carry multiple cargo boxes at one time, so as to improve the handling efficiency of the handling robot 100. The fork is used to take out the cargo boxes on the storage shelf and other devices and place them on the pallet device 11, or place the The container on the pallet device 11 is taken out and transported to storage racks and other devices.

Wherein, the pallet fork can rotate relative to the support frame 10 in a plane perpendicular to the lifting direction, so as to pick and place cargo boxes in different directions.

Fig. 2 is a schematic structural diagram of the pallet device in the handling robot provided by the embodiment of the present application; Fig. 3 is a schematic diagram of the state of the pallet device and the fork in the handling robot provided by the embodiment of the present application; Fig. 4 is a schematic diagram of the state of the pallet device provided in the embodiment of the present application A diagram of a usage state of the pallet device in the handling robot; FIG. 5 is another diagram of the usage state of the pallet device in the handling robot provided by the embodiment of the present application.

2 to 5, in the embodiment of the present application, the pallet device 11 has at least two loading areas located at different levels. It can be understood that at least two loading areas located at different levels are stepped , in addition, the top of the pallet device 11 is an opening structure communicating with each carrying area, and at least two carrying areas increase sequentially from bottom to top.

When the cargo box 200 is a cargo box 200 of a small specification size, the cargo box 200 can be placed in a small carrying area matched with it, and when the cargo box 200 is a cargo box 200 of a large specification size, the cargo box 200 can be placed in In the corresponding large loading area, in this way, the pallet device 11 provided by the embodiment of the present application can carry cargo boxes 200 of different specifications and sizes, thereby increasing the applicable range of the handling robot.

In addition, in the embodiment of the present application, at least two load-bearing areas are set to increase sequentially from bottom to top, so that when a small-sized container 200 is to be placed in the load-bearing area of the pallet device 11 near the bottom of the pallet device 11 , can avoid the interference between the part of the pallet device 11 forming the loading area above and the cargo box 200, causing the cargo box 200 to be unable to be taken out or put in from the loading area near the bottom.

It should be noted that each load-bearing area in this application is a non-closed space, and each load-bearing area is in a state of communication, and the top of the pallet device is an open structure that communicates with each load-bearing area. It can be understood that different specifications When the container 200 enters or exits the corresponding loading area, it enters or takes out from the opening structure, that is, the opening structure is a common opening of each loading area.

In the embodiment of the present application, the load-bearing surfaces 1111 of each load-bearing area in the pallet device 11 are all horizontal, so that when the cargo box 200 is placed in the load-bearing area, the force on the cargo box 200 is relatively uniform, and the load-bearing surface 1111 of the cargo box 200 can be avoided. The container 200 is partially damaged due to uneven force.

Since the pallet device 11 carried by the handling robot 100 provided in the embodiment of the present application has at least two loading areas located at different levels, and the at least two loading areas increase sequentially from bottom to top, in this way, when the handling robot carries different specifications and sizes When using a cargo box, the cargo box can be selectively placed in the matching carrying area. Therefore, the handling robot 100 provided by the present application can handle at least two cargo boxes 200 of different specifications and sizes, thereby improving the handling capacity of the handling robot 100. scope of application,

To sum up, in the handling robot 100 provided by the embodiment of the present application, the pallet device 11 is configured to have at least two loading areas at different levels, and the top of the pallet device 11 is an opening structure communicating with each loading area, and At least two loading areas increase sequentially from bottom to top, so that the pallet device 11 can carry cargo boxes 200 of different specifications, thereby increasing the application range of the handling robot 100 .

In some embodiments, as shown in FIG. 2, the pallet device 11 includes two pallets 11a, and the two pallets 11a are arranged symmetrically with the center line of symmetry in FIG. The carrying parts 111 connected in sequence, the carrying parts 111 at the same level in the two pallets 11a form a corresponding carrying area.

In one embodiment, the two pallets 11a are arranged symmetrically with the center line of symmetry in FIG. The pallet fork 14 can be a suction cup type pallet fork 14, and the container is taken out by the suction force between the suction cup and one end of the container, or the front end of the pallet fork 14 is provided with a finger assembly, and the container is pushed into the carrying area by the finger assembly or Push out from the carrying area; or, the fork 14 may be a clamping mechanical arm, etc., which is not specifically limited in this embodiment.

It can be understood that the front end of the fork refers to when the fork is picking up a container from a storage shelf or other device, the end of the fork facing the container is the front end of the fork, and the end of the fork opposite to the front end is the front end of the fork. For the rear end of the fork.

In another embodiment, the two pallets 11a are arranged symmetrically with the center line of symmetry in FIG. Passageway 13, the applicable fork of this structure can be lift type fork, such as the fork 14 in Figure 3 and Figure 4, so that the fork is inserted into the bottom of the cargo box 200, and the cargo box 200 is lifted and taken out, And avoidance channel 13 is used for avoiding the cargo fork of lifting type.

In some embodiments, each carrying portion 111 includes a carrying surface 1111 for carrying the container 200 .

Exemplarily, the carrying surface 1111 may be a horizontally placed carrying plate on which the container 200 is placed. By placing the carrying plate horizontally, the force on the bottom of the container 200 is uniform, which can improve the stability of the container 200. support reliability and stability.

Because the pallet fork can rotate relative to the support frame 10 in a plane perpendicular to the lifting direction of the pallet fork to pick and place cargo boxes 200 in different directions, when the cargo fork is a lift-type cargo fork, the cargo box 200 on the cargo fork will move along with it. The rotation of the pallet fork causes deflection. When the cargo box 200 needs to be placed in the corresponding loading area of the pallet device 11 , the cargo box 200 may not be put in due to the deviation of the cargo box 200 .

Therefore, in order to solve this problem, in the embodiment of the present application, the bearing part 111 further includes guide surfaces 1112, and the guide surfaces 1112 are arranged on opposite sides of the bearing surface 1111. , the two guide surfaces 1112 located at the same level and symmetrical to each other in the two pallets 11a can guide the cargo box 200, that is, when the cargo box 200 needs to be placed in the corresponding loading area, the cargo box 200 can be placed along the The guiding directions of the two opposite guiding surfaces 1112 enter into the corresponding carrying area.

In some embodiments, the lower end of the guide surface 1112 is connected to the side of the bearing surface 1111 in the same bearing portion 111. It can be understood that the lower end of the guide surface 1112 refers to the end of the guide surface 1112 that is close to the bottom of the pallet device 11 , while the upper end of the guide surface 1112 is the end opposite to the lower end of the guide surface 1112, the upper end of the guide surface 1112 is connected to the side of the bearing surface 1111 in the adjacent bearing portion 111, and the guide surface 1112 is connected to the side of the bearing surface 1111 in the same bearing portion 111. The included angle between the bearing surfaces 1111 is an obtuse angle.

By connecting the lower end of the guide surface 1112 with the side of the bearing surface 1111 in the same bearing part 111, the upper end of the guide surface 1112 is connected with the side of the bearing surface 1111 in the adjacent bearing part 111, and can be connected by the guide surface 1112. Adjacent to two bearing parts 111, in addition, by setting the included angle between the guide surface 1112 and the bearing surface 1111 in the same bearing part 111 as an obtuse angle, it can be understood that the guide surface 1112 is an outwardly inclined slope, like this, At least two carrying areas can be increased sequentially from bottom to top, so that at least two carrying parts 111 in each pallet 11a are in a stepped shape, thereby forming a stepped pallet device 11 to adapt to cargo boxes of different specifications and sizes 200, thereby increasing the scope of application of the handling robot 100.

It can be understood that at least two carrying areas increase sequentially from bottom to top, so that a small cargo box 200 can be placed in the lower bearing area, and a large cargo box 200 can be placed in the upper bearing area.

When the lift-type cargo fork places the cargo box 200 in the corresponding load-bearing area, the guide surface 1112 can guide the cargo box 200, that is, the cargo box 200 can slide into the corresponding load-bearing area along the guide surface 1112. The guide surface 1112 corrects the posture of the container 200 , which can reduce the accumulation of errors caused by the fork when picking and placing the container 200 multiple times, and improve the accuracy of picking and placing the container 200 .

In order to improve the smoothness of the cargo box 200 sliding into the corresponding carrying area along the guiding surface 1112, in this embodiment, the included angle between the guiding surface 1112 and the carrying surface 1111 in the same carrying portion 111 is between 105° and 145° For example, the included angle between the guide surface 1112 and the bearing surface 1111 in the same bearing portion 111 can be 105°, 120°, 135° or 145°, etc., as long as the container 200 can slide smoothly into the bearing along the guide surface 1112 area.

In addition, the guide surface 1112 can be a guide plate made of a material with a small friction coefficient to reduce the friction between the guide surface 1112 and the cargo box 200, thereby improving the smoothness of the cargo box 200 sliding into the loading area along the guide surface 1112 sex.

In order to prevent the container 200 from falling from the rear end of the carrying area or the position is deflected, causing the fork to be unable to pick up the container 200, in the embodiment of the present application, the rear end of each carrying area is provided with a limit plate 112, and each limit Bit plates 112 lie in the same vertical plane.

In order to further reduce processing and installation procedures, in this embodiment, each limiting plate 112 can be integrally formed by injection molding or casting, so that each limiting plate 112 is integrated, thereby reducing processing and installation procedures and reducing costs.

Further, in order to improve the reliability of each limit plate 112, in this embodiment, the handling robot 100 also includes a fixed frame 12, and the fixed frame 12 is connected with the limit plate 112 in each pallet device 11 for Fix the limit plate 112 .

Exemplarily, the fixing frame 12 may be two parallel fixing rods, and the two fixing rods are vertically fixed on the side of each limiting plate 112 away from the bearing area, so as to improve the strength of each limiting plate 112, Wherein, the bottom end of the fixed rod can be fixed on the mobile base.

In some embodiments, as shown in Fig. 3 and Fig. 4, when the fork is a lifting fork 14, the bottom of the pallet device 11 will be provided with an avoidance channel 13 for avoiding the fork. When the both sides of 14 are provided with the support plate that improves the stability of container 200 on the pallet fork 14, the bottom of pallet device 11 is also provided with the avoidance gap 113 corresponding and matching with support plate, for example, when cargo When the board device 11 includes two opposite pallets 11a, the two pallets 11a can be arranged symmetrically and spaced apart. The supporting surface 1111 and the guiding surface 1112 near the bottom of the pallet 11a are provided with avoidance gaps 113 communicating with the avoidance channel 13 so that the forks 14 can lift the container 200 from the bottom of the pallet device 11 .

The handling robot provided by the embodiment of the present application includes a support frame and at least one layer of pallet devices installed on the support frame; the pallet device has at least two loading areas at different levels, and the top of the pallet device is connected to each loading area. A connected opening structure, and at least two carrying areas increase sequentially from bottom to top. By arranging the pallet device to have at least two load-bearing areas at different levels, the top of the pallet device is an open structure communicating with each load-bearing area, and at least two load-bearing areas increase sequentially from bottom to top, so that the cargo The board device can carry cargo boxes of different specifications, which can increase the application range of the handling robot.

Embodiment two

The present application also provides a storage system, which includes the handling robot provided in Embodiment 1 above.

Wherein, the structure of the carrier in this embodiment is the same as the structure of the carrier robot in Embodiment 1, which will not be repeated in this embodiment.

In addition, the storage system also includes a scheduling system for planning the movement of each handling robot. In the storage system, containers of different sizes are placed on storage shelves of different sizes. For containers of multiple sizes, the storage system needs Equipped with multiple handling robots that match the cargo boxes of various specifications, it is also necessary to plan a variety of avoidance routes between the handling robots, so that the handling robot corresponding to the pallet device can pick up the cargo boxes of the corresponding specifications .

However, in the storage system provided by the embodiment of the present application, the pallet device in the handling robot is set to a structure that can carry multiple cargo boxes of different specifications and sizes, which increases the scope of application of the handling robot. Therefore, the scheduling system in the storage system does not need to plan too many avoidance routes between the handling robots, so that the handling robot corresponding to the pallet device can pick up the corresponding size of the box, Therefore, the number of handling robots can be reduced, and the burden on the scheduling system can be reduced.

The storage system provided by the embodiment of the present application includes a handling robot, wherein the handling robot includes a support frame and at least one layer of pallet devices installed on the support frame; the pallet device has at least two bearing areas at different levels, and the pallet The top of the device is an opening structure communicating with each carrying area, and at least two carrying areas increase sequentially from bottom to top. By arranging the pallet device to have at least two load-bearing areas at different levels, the top of the pallet device is an open structure communicating with each load-bearing area, and at least two load-bearing areas increase sequentially from bottom to top, so that the cargo The board device can carry cargo boxes of different specifications, which can increase the application range of the handling robot.

Each embodiment or implementation manner in this specification is described in a progressive manner, each embodiment focuses on the differences from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples", or "some examples" etc. mean that the embodiments are combined Specific features, structures, materials, or characteristics described in or examples are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit it; although the application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present application. scope.

Claims

A handling robot is characterized in that it comprises: a support frame and at least one layer of pallet devices installed on the support frame; the pallet device has at least two loading areas located at different levels, and the pallet device has The top is an opening structure communicating with each of the carrying areas, and at least two of the carrying areas increase sequentially from bottom to top.
The handling robot according to claim 1, wherein the pallet device comprises two symmetrically arranged pallets; each of the pallets includes at least two successively connected bearing parts, and the pallets of the two pallets are The carrying parts at the same level form the corresponding carrying areas.
The handling robot according to claim 2, wherein each of the carrying parts includes a carrying surface, and the carrying surface is used for carrying a container.
The handling robot according to claim 3, wherein the carrying part further comprises a guiding surface, the lower end of the guiding surface is connected to the side of the carrying surface in the same carrying part, and the guiding surface The upper end of the upper end is connected to the side of the bearing surface in the adjacent bearing part, and the included angle between the guide surface and the bearing surface in the same bearing part is an obtuse angle.
The transfer robot according to claim 4, wherein the included angle between the guiding surface and the carrying surface in the same carrying portion is 105°-145°.
The handling robot according to any one of claims 1 to 5, characterized in that, a limit plate is provided at the rear end of each bearing area, and each limit plate is located in the same vertical plane.
The transfer robot according to claim 6, characterized in that each of the limiting plates is one piece.
The handling robot according to claim 7, characterized in that, the handling robot further comprises a fixing frame, and the fixing frame is connected with the limit plate in the pallet device of each layer, so as to fix each limit plate.
The handling robot according to claim 2, characterized in that, the two pallets are arranged at intervals so that an avoidance channel for avoiding the forks in the handling machine is formed between the two pallets.
The handling robot according to claim 9, characterized in that, at least two avoidance gaps communicating with the avoidance channels are provided on the bottom of each pallet.
A storage system, characterized by comprising the handling robot according to any one of claims 1-10.