WO2023142951A1 - Robot de transfert, dispositif robotique et système d'entreposage - Google Patents

Robot de transfert, dispositif robotique et système d'entreposage Download PDF

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Publication number
WO2023142951A1
WO2023142951A1 PCT/CN2023/070712 CN2023070712W WO2023142951A1 WO 2023142951 A1 WO2023142951 A1 WO 2023142951A1 CN 2023070712 W CN2023070712 W CN 2023070712W WO 2023142951 A1 WO2023142951 A1 WO 2023142951A1
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WO
WIPO (PCT)
Prior art keywords
stand
robot
moving part
handling robot
buffer
Prior art date
Application number
PCT/CN2023/070712
Other languages
English (en)
Chinese (zh)
Inventor
邢志伟
李泽承
Original Assignee
北京极智嘉科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202210108070.3A external-priority patent/CN114426163A/zh
Priority claimed from CN202220242429.1U external-priority patent/CN217576689U/zh
Application filed by 北京极智嘉科技股份有限公司 filed Critical 北京极智嘉科技股份有限公司
Publication of WO2023142951A1 publication Critical patent/WO2023142951A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47F—SPECIAL FURNITURE, FITTINGS, OR ACCESSORIES FOR SHOPS, STOREHOUSES, BARS, RESTAURANTS OR THE LIKE; PAYING COUNTERS
    • A47F5/00—Show stands, hangers, or shelves characterised by their constructional features
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • 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
    • 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
    • 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
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types

Definitions

  • the present application relates to the technical field of warehousing, and more specifically, to a handling robot, robot equipment and a warehousing system.
  • Intelligent warehousing is a link in the logistics process.
  • the application of intelligent warehousing ensures the speed and accuracy of all aspects of cargo warehouse management.
  • Cargo handling is usually done manually or using simple mechanical equipment.
  • This application aims to solve one of the technical problems in the related art at least to a certain extent.
  • the embodiments of the present application propose a handling robot that improves the efficiency of goods handling.
  • Embodiments of the present application also propose a robot device.
  • Embodiments of the present application also provide a storage system.
  • the handling robot in the embodiment of the present application includes: a first mobile chassis, a first stand and a first pick-and-place device, the first stand is arranged on the first mobile chassis, and the first pick-and-place device is arranged on The first stand is used for picking and placing goods, and the first mobile chassis is provided with a channel for passing through the first mobile chassis.
  • the handling robot of the embodiment of the present application since the first mobile chassis is provided with a channel, other devices can pass through the first mobile chassis through the channel, so that the handling robot and other devices can share a driving lane without interfering with each other. Thereby, the handling efficiency of goods can be improved, and the space utilization rate of storage is higher.
  • the first mobile chassis includes a chassis body, a first moving part, and a second moving part, and the first moving part and the second moving part are spaced apart from the lower end of the chassis body, so The channel is arranged in the chassis body and extends between the first moving part and the second moving part.
  • the channel is generally inverted U-shaped.
  • the chassis body is substantially inverted U-shaped, the first moving part is arranged at the lower end of the first side wall of the chassis body, and the second moving part is arranged at the first side wall of the chassis body. the lower ends of the two side walls.
  • the projections of the first moving part and the second moving part on the horizontal plane are both racetrack-shaped, and the projected area of the first moving part on the horizontal plane is larger than the first side of the chassis body
  • the area of the lower end surface of the wall, the projected area of the second moving part on the horizontal plane is larger than the area of the lower end surface of the second side wall of the chassis body.
  • the first stand is a substantially inverted U-shaped frame, the lower end of the first side wall of the first stand is connected to the first moving part, and the second of the first stand The lower end of the side wall is connected to the second moving part, and the first stand is arranged side by side with the chassis body and connected to each other.
  • the first pick-and-place device is movable in an up-and-down direction relative to the first stand.
  • the transfer robot further includes a first lifting device, the first lifting device is provided on the first stand, and is used to move the first stand relative to the first stand in the up and down direction.
  • a pick and place device is provided on the first stand, and is used to move the first stand relative to the first stand in the up and down direction.
  • the handling robot also includes a first buffer device, the first buffer device is connected to the first stand, and the first buffer device has The first cache position of the picked and placed goods.
  • first cache bits there are multiple first cache bits, and the multiple first cache bits are arranged at intervals along the vertical direction.
  • the first buffer device includes a plurality of first buffer boards, and the plurality of first buffer boards are arranged at intervals along the vertical direction on the first stand, and the top of each first buffer board The surface constitutes a first buffer position, the first buffer plate is located on the first side of the first stand, and the first pick-and-place device is located on the first stand opposite to the first side the second side of the .
  • the robot equipment includes: a handling robot, which is the handling robot described in any one of the above embodiments; a latent robot, which can pass through the passage through the passage. Handling robots.
  • the latent robot can pass through the first mobile chassis through the channel, so that the handling robot and the latent robot can share a driving lane without interfering with each other , so that the efficiency of cargo handling can be improved, and the storage space utilization rate is higher.
  • the latent robot includes a second mobile chassis, a second stand and a second pick-and-place device, the second stand is arranged on the second mobile chassis, and the second pick-and-place device It is arranged on the second stand for picking and placing goods.
  • the second pick-and-place device is movable in an up-and-down direction relative to the second stand.
  • the latent robot also includes a second buffer device, the second buffer device is connected to the second stand, and the second buffer device has a The second cache location for picked and placed goods.
  • the storage system includes: a plurality of shelves, with driving lanes between adjacent shelves; a handling robot, the handling robot is the handling robot described in any one of the above embodiments, and the handling robot A robot is used to move along the travel lane to take goods from and/or place goods on the racks.
  • the first mobile chassis is provided with a channel
  • other transport devices can pass through the first mobile chassis through the channel, so that the transport robot and other transport devices can share a driving lane, and Non-interference with each other can improve the efficiency of cargo handling and make the storage space utilization rate higher.
  • the storage system further includes a latent robot, which is used to move along the driving lane and pass through the transfer robot through the passage.
  • the shelf includes a buffer area and a storage area
  • the buffer area is located below the storage area
  • the latent robot is used to pick and place the goods in the buffer area
  • the handling robot is used to take Put the goods in the storage area.
  • both the cache area and the storage area are multi-layered.
  • the latent robot puts goods on it and/or removes goods from it by the handling robot.
  • FIG. 1 is a schematic diagram of a handling robot according to an embodiment of the present application.
  • Fig. 2 is a schematic diagram of a latent robot according to an embodiment of the present application.
  • Fig. 3 is a schematic diagram of a storage system according to an embodiment of the present application.
  • Fig. 4 is a bottom view of the handling robot according to the embodiment of the present application.
  • First mobile chassis 111. Chassis body; 112. Channel; 113. First moving part; 114. Second moving part; 12. First stand; 13. First pick-and-place device; 14. First cache device; 141, the first cache board; 1411, the first cache bit;
  • the second mobile chassis 22. The second stand; 23. The second buffer device; 231. The second buffer position;
  • the following describes a handling robot 10 , a robot device, and a storage system according to an embodiment of the present application with reference to FIGS. 1 to 4 .
  • the handling robot 10 includes a first mobile chassis 11, a first stand 12 and a first pick-and-place device 13, the first stand 12 is arranged on the first mobile chassis 11, The first pick-and-place device 13 is arranged on the first stand 12 for picking and placing goods, and the first mobile chassis 11 is provided with a channel 112 for passing through the first mobile chassis 11 .
  • the channel 112 is used to allow other mobile devices moving on the ground, such as other mobile robots, to pass through, that is, other mobile devices can pass through the transport robot 10 through the channel 112, thereby increasing the number and density of robots, and improving efficiency.
  • the length direction of the channel 112 is consistent with the traveling direction of the first mobile chassis 11 .
  • the length direction of the passage 112 is consistent with the front-rear direction, so that other ground devices such as the latent robot 20 can pass through the passage 112 conveniently.
  • the handling robot 10 of the embodiment of the present application since the first mobile chassis 11 is provided with a channel 112, other devices can pass through the first mobile chassis 11 through the channel 112, so that the handling robot 10 and other devices can share a driving lane 31, and do not interfere with each other, so that the efficiency of cargo handling can be improved, and the storage space utilization rate is higher.
  • the lower end of the first mobile chassis 11 has driving wheels (not shown), and the handling robot 10 of the embodiment of the present application can realize the translation and rotation of the first mobile chassis 11 through the rotation of the driving wheels, thereby improving the first Flexibility when the mobile chassis 11 moves.
  • the first mobile chassis 11 includes a chassis body 111, a first moving part 113 and a second moving part 114, and the first moving part 113 and the second moving part 114 are arranged on the chassis body at intervals.
  • the channel 112 is disposed in the chassis body 111 and extends between the first moving part 113 and the second moving part 114 . It can be understood that, as shown in FIG.
  • the first moving part 113 and the second moving part 114 are arranged at intervals along the left-right direction at the lower end of the chassis body 111, and the first moving part 113 and the second moving part 114 can be driving wheels or Driving methods such as crawler belts are used to drive the chassis body 111 to move forward and backward.
  • the channel 112 is provided in the chassis body 111 and extends between the first moving part 113 and the second moving part 114. It can be understood that a part of the channel 112 is formed on the chassis body 111, and another part of the channel 112 is formed on the first moving part 113 and the second moving part 114, so as to facilitate the processing and manufacturing of the channel 112, and make the structure of the handling robot 10 more reasonable, and the use effect is better.
  • the channel 112 is substantially inverted U-shaped, in other words, the cross-section of the channel 112 perpendicular to the front-back direction is generally n-shaped. That is, the lower end of the passage 112 extends downwards to the ground so that other robots pass through the passage 112, and the upper end of the passage 112 is a closed structure to reserve an installation space in the chassis body 111 so that the transmission or control components of the first mobile chassis 11 are installed. In the chassis body 111 , the rationality of the design of the channel 112 is further improved, so that the structural layout of the handling robot 10 is more reasonable.
  • the chassis body 111 is substantially inverted U-shaped, that is, the cross section of the chassis body 111 perpendicular to the front-to-rear direction is substantially inverted U-shaped, and the first moving part 113 is arranged on the first side of the chassis body 111.
  • the second moving part 114 is disposed at the lower end of the second side wall of the chassis body 111 .
  • the outer peripheral profile of the cross section of the chassis body 111 is n-shaped, the left side of the chassis body 111 has a first side wall, and the right side of the chassis body 111 has a second side wall.
  • the left outer wall of the chassis body 111 and the left inner wall of the channel 112 define the first side wall of the chassis body 111
  • the right outer wall of the chassis body 111 and the right inner wall of the channel 112 define the chassis body 111 the second side wall. Because the first moving part 113 is arranged on the lower end of the first side wall of the chassis body 111, and the second moving part 114 is arranged on the lower end of the second side wall of the chassis body 111, thereby the first side wall and the first side wall of the chassis body 111 can be fully utilized.
  • the accommodating space in the second side wall of the chassis body 111 makes the structure and layout of the first mobile chassis 11 of the transport robot 10 compact, reasonable in design, and high in space utilization.
  • the two driving wheels there are two driving wheels, one driving wheel is arranged at the lower end of the first moving part 113, and the other driving wheel is arranged at the lower end of the second moving part 114, and the two driving wheels can move at a differential speed to realize the chassis body 111 turns and pans.
  • the lower end of the first moving part 113 and the lower end of the second moving part 114 can be provided with driven wheels to assist the rotation of the chassis body 111.
  • the driven wheels are universal wheels, so that the moving effect of the first moving chassis 11 better.
  • the projections of the first moving part 113 and the second moving part 114 on the horizontal plane are both runway-shaped, and the projected area of the first moving part 113 on the horizontal plane is larger than that of the chassis body.
  • the area of the lower end surface of the first side wall of 111 and the projected area of the second moving part 114 on the horizontal plane are greater than the area of the lower end surface of the second side wall of the chassis body 111 . It can be understood that, the projected area of the lower end surface of the first moving part 113 towards the ground is larger than the projected area of the lower end surface of the first side wall of the chassis body 111 towards the ground.
  • the projected area of the lower end surface of the second moving part 114 towards the ground is larger than the projected area of the lower end surface of the second side wall of the chassis body 111 towards the ground, so that the operation of the transport robot 10 can be made more stable, and it is not easy to roll over, greatly improving The reliability of the handling robot 10 during operation.
  • the first stand 12 is a substantially inverted U-shaped frame, the lower end of the first side wall of the first stand 12 is connected with the first moving part 113 , and the first stand 12 The lower end of the second side wall is connected to the second moving part 114 , and the first stand 12 and the chassis body 111 are arranged side by side and connected to each other.
  • the first stand 12 and the chassis body 111 are arranged side by side in the front-rear direction, it can be understood that the lower end of the first side wall of the first stand 12 and the lower end of the second side wall of the first stand 12 are respectively connected to the A moving part 113 is connected with the second moving part 114, and one side of the first side wall of the first stand 12 and one side of the second side wall of the first stand 12 are connected with the chassis body 111, so that the first stand 12 can be improved.
  • the reliability of the connection of the first stand 12 makes the strength of the first stand 12 higher.
  • the first pick-and-place device 13 is movable in an up and down direction relative to the first stand 12 .
  • the first pick-and-place device 13 has a first telescopic part (not shown), and the first telescopic part can move away from and approach to the first stand 12 to pick and place goods.
  • the handling robot 10 further includes a first lifting device (not shown), which is provided on the first stand 12 and used to move the first pick-and-place device 13 relative to the first stand 12 in the vertical direction.
  • a first lifting device (not shown), which is provided on the first stand 12 and used to move the first pick-and-place device 13 relative to the first stand 12 in the vertical direction.
  • the first lifting device can be a sprocket drive structure , Ball screw transmission structure, air cylinder or hydraulic cylinder and other transmission structures.
  • the handling robot 10 also includes a first buffer device 14, the first buffer device 14 is connected to the first stand 12, and the first buffer device 14 has a function for buffering the first pick-and-place device 13 The first cache position 1411 of the goods to be picked and placed. It can be understood that when the handling robot 10 needs to carry the goods on the shelf 30, the first telescopic part of the first pick-and-place device 13 can be stretched out in a direction away from the first stand 12 to pick up the goods.
  • the first telescopic part of the first pick-and-place device 13 can move along the direction close to the first stand 12, so that the goods on the first pick-and-place device 13 are placed on the first buffer position 1411, so that the handling The robot 10 can carry more goods, which improves the work efficiency of the handling robot 10 .
  • first buffer positions 1411 there are multiple first buffer positions 1411 , and the plurality of first buffer positions 1411 are arranged at intervals along the vertical direction to store more goods.
  • the first buffer device 14 includes a plurality of first buffer plates 141, and the plurality of first buffer plates 141 are arranged on the first stand 12 at intervals along the vertical direction, and each first buffer plate 141
  • the upper surface of the upper surface forms a first buffer position 1411
  • the first buffer plate 141 is located on the first side of the first stand 12
  • the first pick-and-place device 13 is located on the second side of the first stand 12 opposite to the first side.
  • the first pick-and-place device 13 is located at the front side of the first stand 12
  • the first buffer plate 141 is located at the rear side of the first stand 12
  • the first mobile chassis 11 is located at the rear side of the first stand 12
  • the first buffer plate 141 is located above the first mobile chassis 11, so that the structure of the handling robot 10 can be made more compact, and the layout is more reasonable, so that the use effect of the handling robot 10 is good.
  • a robot device includes a handling robot 10 and a latent robot 20 .
  • the handling robot 10 is the handling robot 10 of the embodiment of the present application. Pass the handling robot 10.
  • the latent robot 20 can pass through the first mobile chassis 11 through the channel 112, so that the handling robot 10 and the latent robot 20 can share a driving
  • the lanes 31 do not interfere with each other, so that the efficiency of cargo handling can be improved, and the storage space utilization rate is higher.
  • the latent robot 20 includes a second mobile chassis 21, a second stand 22 and a second pick-and-place device (not shown), and the second stand 22 is arranged on the second mobile chassis 21 , the second pick-and-place device is arranged on the second stand 22 for picking and placing goods.
  • the latent robot 20 can carry goods at a lower position through the second pick-and-place device, and the handling robot 10 can carry goods at a higher position through the first pick-and-place device 13, and the two cooperate with each other to further improve the goods. The efficiency of handling.
  • the second pick-and-place device is movable relative to the second stand 22 in the up and down direction.
  • the second pick-and-place device has a second telescopic part (not shown), and the second telescopic part can move away from and approach to the second stand 22 to pick and place goods.
  • the handling robot 10 further includes a second lifting device (not shown), which is provided on the second stand 22 and used to move the second pick-and-place device relative to the second stand 22 in the vertical direction.
  • a second lifting device (not shown), which is provided on the second stand 22 and used to move the second pick-and-place device relative to the second stand 22 in the vertical direction.
  • the second lifting device can be a sprocket drive structure, a ball Screw transmission structure, cylinder or hydraulic cylinder and other transmission structures.
  • the latent robot 20 also includes a second buffer device 23, the second buffer device 23 is connected to the second stand 22, and the second buffer device 23 has a function for buffering the objects taken by the second pick-and-place device.
  • the second cache position of the placed goods It can be understood that when the latent robot 20 needs to carry the goods on the shelf 30, the second telescopic part of the second pick-and-place device can be stretched out in a direction away from the second stand 22 to pick up the goods.
  • the second telescopic part of the second pick-and-place device can move along the direction close to the second stand 22, so that the goods on the second pick-and-place device are placed on the second buffer position, so that the handling robot 10 can carry More goods improve the work efficiency of the handling robot 10.
  • the plurality of second buffer positions are arranged at intervals along the vertical direction to store more goods.
  • a storage system includes a handling robot 10 and a plurality of shelves 30 , and there are driving lanes 31 between adjacent shelves 30 .
  • the handling robot 10 is the handling robot 10 of the embodiment of the present application, and the handling robot 10 is used to move along the driving lane 31 to take goods from the rack 30 and/or put the goods on the rack 30 .
  • the warehouse system further includes a latent robot 20 for moving along the driving lane 31 and passing through the transport robot 10 through the channel 112 .
  • the latent robot 20 can pass through the first mobile chassis 11 through the channel 112, so that the handling robot 10 and the latent robot 20 can be shared.
  • One driving lane 31 does not interfere with each other, so that the efficiency of cargo handling can be improved, and the space utilization rate of the storage system is higher.
  • the warehousing system of the embodiment of the present application can combine the advantages of the fast operation of the latent robot 20 without modifying the shelf 30, reducing the cost of building the shelf 30, and the handling robot 10 and the latent robot 20 do not need to separately set the driving lane 31, thereby
  • the overall storage efficiency of the storage system is improved, and the handling robot 10 and the latent robot 20 can simultaneously carry multiple boxes of goods, thereby improving the handling efficiency of the handling robot 10 and the latent robot 20 .
  • the shelf 30 includes a buffer area 22 and a storage area 23, the buffer area 22 is located below the storage area 23, the latent robot 20 is used to pick and place the goods in the buffer area 22, and the handling robot 10 is used to pick and place the goods in the storage area 23 .
  • both the cache area 22 and the storage area 23 are multi-layered.
  • the 1-3 floors below the shelf 30 can be the buffer area 22
  • the 3 floors above the shelf 30 can be the storage area 23 .
  • the latent robot 20 can pick and place goods in the buffer area 22, and the handling robot 10 can pick and place goods in the storage area 23.
  • the two robots cooperate with each other to improve the handling efficiency of goods.
  • the latent robot 20 puts the goods on it and/or takes the goods away from it by the handling robot 10 .
  • the handling robot 10 can directly place the goods carried by it on the latent robot 20, or, the handling robot 10 can take away the goods on the latent robot 20, thereby improving the closeness of cooperation between the two robots, and making the goods
  • the handling efficiency is higher.
  • the handling robot 10 and the latent robot 20 are on the same positioning code, they can perform synchronous operations, and the handling robot 10 can directly place one or more boxes of goods on the latent robot 20 .
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features.
  • the features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • a first feature being "on” or “under” a second feature may mean that the first and second features are in direct contact, or that the first and second features are indirect through an intermediary. touch.
  • “above”, “above” and “above” the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
  • “Below”, “beneath” and “beneath” the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.
  • the terms “one embodiment,” “some embodiments,” “example,” “specific examples,” or “some examples” mean specific features, structures, materials, or features described in connection with the embodiment or examples. Features are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed 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. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

La présente demande divulgue un robot de transfert (10), un dispositif robotique et un système d'entreposage. Le robot de transfert (10) comprend : un premier châssis mobile (11), un premier cadre vertical (12) et un premier appareil de placement/retrait (13) ; le premier cadre vertical (12) est disposé sur le premier châssis mobile (11) ; le premier appareil de placement/retrait (13) est disposé sur le premier cadre vertical (12) pour placer et retirer une cargaison ; et le premier châssis mobile (11) est pourvu d'un canal (112) permettant au premier châssis mobile (11) de pénétrer à travers. Le robot de transfert (10) de la présente demande présente une efficacité de transfert élevée.
PCT/CN2023/070712 2022-01-28 2023-01-05 Robot de transfert, dispositif robotique et système d'entreposage WO2023142951A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN202210108070.3A CN114426163A (zh) 2022-01-28 2022-01-28 搬运机器人、机器人设备和仓储系统
CN202210108070.3 2022-01-28
CN202220242429.1U CN217576689U (zh) 2022-01-28 2022-01-28 搬运机器人、机器人设备和具有其的仓储系统
CN202220242429.1 2022-01-28

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WO2023142951A1 true WO2023142951A1 (fr) 2023-08-03

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PCT/CN2023/070712 WO2023142951A1 (fr) 2022-01-28 2023-01-05 Robot de transfert, dispositif robotique et système d'entreposage

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TW (1) TW202330371A (fr)
WO (1) WO2023142951A1 (fr)

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