WO2023143406A1 - Carrying robot and warehousing system comprising same - Google Patents

Carrying robot and warehousing system comprising same Download PDF

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Publication number
WO2023143406A1
WO2023143406A1 PCT/CN2023/073263 CN2023073263W WO2023143406A1 WO 2023143406 A1 WO2023143406 A1 WO 2023143406A1 CN 2023073263 W CN2023073263 W CN 2023073263W WO 2023143406 A1 WO2023143406 A1 WO 2023143406A1
Authority
WO
WIPO (PCT)
Prior art keywords
handling robot
storage system
goods
tray
along
Prior art date
Application number
PCT/CN2023/073263
Other languages
French (fr)
Chinese (zh)
Inventor
刘凯
牛星宇
张庭恺
邢志伟
张鹭阳
张东东
李雅南
张斐
任立强
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 CN202210110669.0A external-priority patent/CN114476461A/en
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 WO2023143406A1 publication Critical patent/WO2023143406A1/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00Mechanical conveyors not otherwise provided for

Definitions

  • the utility model relates to the technical field of storage, in particular to a handling robot and a storage system with the same.
  • 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.
  • the unreasonable structural design of the shelf in the related art is not conducive to the handling robot to pick and place the goods on the shelf, resulting in poor flexibility when the handling robot moves, and low sorting efficiency of goods.
  • the size and weight of the handling robot in the related art are relatively large, and the movement and handling are not flexible enough, and the application range is narrow.
  • the utility model aims to solve one of the technical problems in the related art at least to a certain extent.
  • the embodiment of the utility model proposes a handling robot that is beneficial to miniaturization and has good flexibility.
  • the embodiment of the utility model also proposes a storage system.
  • the handling robot of the embodiment of the utility model includes: a chassis, a telescopic assembly, and a cargo pick-and-place assembly for picking and placing goods.
  • the lower end of the chassis has a driving wheel, and the telescopic assembly is arranged on the chassis.
  • the telescopic assembly The upper end of the cargo pick-and-place assembly is connected to support the cargo pick-and-place assembly, and the telescopic assembly is telescopic to adjust the height of the cargo pick-and-place assembly.
  • the handling robot since the telescopic assembly is arranged on the chassis, and the cargo pick-and-place assembly is arranged at the upper end of the telescopic assembly, the handling robot can change the pick-up height of the cargo pick-and-place assembly by adjusting the height of the telescopic assembly itself , which in turn makes the structure of the handling robot more compact and the movement more flexible, and is conducive to the miniaturization design of the handling robot.
  • the cargo pick-and-place assembly includes a tray, a first moving part and a second moving part, the tray is arranged on the upper end of the telescopic assembly, the second moving part is arranged on the tray, The first moving part is arranged on the second moving part, and the first moving part is extendable and retractable relative to the second moving part along the longitudinal direction of the pallet to pick and place goods, and the second moving part is A moving part is movable relative to the tray in a lateral direction of the tray.
  • the transfer robot further includes a first driving member and a second driving member
  • the second moving part includes two side fences, and the two side fences are spaced apart from each other along the transverse direction of the pallet
  • the second driving member is connected to at least one of the two side fences, and is used to drive the at least one side plate relative to the tray along the transverse direction of the tray.
  • the first moving part includes two arms, and the two arms are correspondingly arranged on the two side baffles respectively, and the first driving A piece is connected with the two arms to drive the two arms to move along the longitudinal direction of the tray relative to the corresponding side fences.
  • one of the side fence and the arm is provided with a slide rail, and the other is provided with a slide groove, and the slide rail extends along the longitudinal direction of the tray and is connected with the slide rail. Groove slip fit.
  • the arms are provided on the inner side of the side fence so that two of the arms face each other.
  • At least one end of the arm along the longitudinal direction of the pallet is provided with a hook body, and the hook body can be extended and retracted along the transverse direction to hook and release the goods.
  • At least one of the first driving member and the second driving member is a linear motor, a screw drive mechanism, a rack and pinion drive mechanism, a belt drive mechanism, a chain drive mechanism, an air cylinder or a hydraulic drive One of the cylinders.
  • the handling robot further includes a third drive member, the telescopic assembly is a link mechanism, and the third drive member is connected to the link mechanism to drive the link mechanism to expand and contract in the up and down direction .
  • the linkage mechanism includes a linkage unit, and each linkage unit includes a first rod and a second rod hinged together, and the first rod and the second rod are respectively arranged There are at least two, the bottoms of at least two of the first rods are connected by a first rotating shaft, and the bottoms of at least two of the second rods are connected by a second rotating shaft;
  • the first rotating shaft is configured to be hinged on a first bracket located on the end face of the chassis; first rollers are provided at opposite ends of the second rotating shaft; a first guide block is provided on the chassis, and the The first guide block is provided with a first guide groove for guiding and cooperating with the first roller;
  • the tops of at least two first rods are connected by a third shaft, and the tops of at least two second rods are connected by a fourth shaft;
  • One of the third rotating shaft and the fourth rotating shaft is configured to be hinged on the second bracket located on the end face of the tray; the opposite ends of the other rotating shaft are provided with second rollers; A guide block, the second guide block is provided with a second guide groove for guiding and cooperating with the second roller; or a second guide block is provided at the opposite ends of the other rotating shaft, and the second guide block is provided with A second guide groove; a second roller for cooperating with the second guide groove is arranged on the tray.
  • the linkage mechanism includes a plurality of linkage units, and the linkage units are pivotally connected sequentially along the up and down direction, among the linkage units, the one located at the lowermost end
  • the bottom end of the connecting rod unit is configured to cooperate with the chassis; the top end of the uppermost connecting rod unit is configured to cooperate with the tray; the third driving member is connected to the lowermost connecting rod unit for The first rod and the second rod of the lowermost link unit are driven to rotate relatively so that the link mechanism expands and contracts in the up and down direction.
  • the third driving member is disposed in the chassis and a part of the third driving member protrudes from the chassis to connect with the lowermost link unit.
  • the storage system includes: a plurality of shelves, and there are driving lanes between adjacent shelves, and multi-layer longitudinal rails arranged at intervals along the up and down directions are arranged in the driving lanes;
  • the handling robot is the handling robot described in any one of the embodiments of the present invention, and the handling robot can move along the longitudinal track to take goods from the shelves and put goods on the shelves.
  • the handling robot can change the pick-up height of the cargo pick-and-place assembly by adjusting the height of the telescopic assembly itself , which in turn makes the structure of the handling robot more compact and the movement more flexible, and is conducive to the miniaturization design of the handling robot.
  • the handling robot since there are multiple layers of longitudinal rails arranged at intervals along the vertical direction in the driving roadway, it is convenient for the handling robot to travel along the longitudinal rails of different layers to carry the goods on the shelves, so that the storage rate of the storage system is higher. High, simple in structure and low in production cost.
  • the storage system further includes a lifting device for transporting the handling robot between longitudinal rails on different levels.
  • the storage system further includes a transverse track, which is used to communicate with longitudinal tracks of the same layer in the multiple driving lanes.
  • the transverse tracks are multi-layered, and the layers of the transverse tracks are arranged at intervals along the vertical direction, and the layers of the transverse tracks correspond to the layers of the longitudinal tracks one by one.
  • the transverse track is arranged at one end of the longitudinal track, and the lifting device is connected to the transverse track to transport the transfer robot between the transverse tracks on different floors.
  • the lifting device includes a lifting frame and a lifting plate, the lifting frame extends in the up and down direction, and the lifting plate is movable in the up and down direction relative to the lifting frame, so as to transfer the handling robot to on different layers of lateral tracks.
  • there are at least two lifting devices one of the lifting devices is disposed at one end of the transverse rail, and the other lifting device is disposed at the other end of the transverse rail.
  • the storage system further includes a conveyor frame and a cargo handling device
  • the conveyor frame has a conveyor for transporting goods along the longitudinal direction of the conveyor frame
  • the cargo handling device is used for transporting the goods between the handling robot and the cargo handling device.
  • Cargo is transferred between the conveyor frames
  • the cargo handling device is arranged on at least one end of the conveyor frames along the longitudinal direction of the conveyor frames.
  • the cargo handling devices are respectively arranged at both ends of the conveying frame and arranged in line with the conveying frame.
  • the conveying frame is a picking frame
  • the storage system further includes a picking station arranged on one side of the conveying frame for picking goods manually or by a mechanical arm.
  • the storage system further includes a transportable shelf and a shelf handling device for transporting the transportable shelf.
  • the transportable rack is positioned below at least a portion of the rack.
  • the shelf handling device is a shelf handling robot.
  • Fig. 1 is a schematic diagram of a handling robot in an embodiment of the present invention when lifting and picking up goods.
  • Fig. 2 is a schematic diagram of the transport robot in the embodiment of the present invention when it is descending and unloaded.
  • Fig. 3 is a partial schematic view of the shelves of the storage system according to the embodiment of the present invention.
  • Fig. 4 is a schematic diagram of a storage system according to an embodiment of the present invention.
  • Fig. 5 is a schematic diagram of a storage system according to another embodiment of the present invention.
  • Fig. 6 is a schematic structural diagram of the cargo pick-and-place assembly provided by the present disclosure.
  • Fig. 7 is a schematic diagram of an application scenario of a handling robot provided by the present disclosure.
  • Fig. 8 is a schematic structural diagram of the telescopic assembly provided by the present disclosure. Reference signs:
  • Driving roadway 22. Longitudinal track; 23. Transverse track;
  • Transport frame 50. Cargo handling device; 60. Selection station; 70. Mechanical arm.
  • good should be understood in a broad sense, which means items that can be transported, including the goods themselves that can be transported separately, such as goods with outer packaging, liquid goods contained in containers , also includes various cargo containers used to hold goods, such as pallets, cargo boxes, etc., and various cargo containers filled with goods, such as cargo boxes filled with goods.
  • the handling robot 10 includes a chassis 11, a telescopic assembly 12, and a cargo pick-and-place assembly 13.
  • the placing assembly 13 is connected to support the cargo picking and placing assembly 13
  • the telescopic assembly 12 is telescopic to adjust the height of the cargo picking and placing assembly 13 .
  • the telescopic assembly 12 can be switched between the extended state and the retracted state, that is, the telescopic assembly 12 can be extended to raise the height of the cargo pick-and-place assembly 133, and the telescopic assembly 12 can be folded to lower the height of the cargo pick-and-place assembly 133. height, so that the telescopic assembly 12 of the handling robot 10 in the embodiment of the present utility model can change its own height to adjust the height of the cargo pick-and-place assembly 13 .
  • the handling robot 10 since the telescopic assembly 12 is arranged on the chassis 11, and the cargo pick-and-place assembly 13 is arranged on the upper end of the telescopic assembly 12, the handling robot 10 can change the height of the telescopic assembly 12 itself by adjusting the height of the telescopic assembly 12.
  • the pick-up height of the pick-and-place component 13 further makes the structure of the handling robot 10 more compact and the movement more flexible, and is conducive to the miniaturization design of the handling robot 10 .
  • the traditional handling robot controls the lifting of the cargo pick-and-place component through the stand structure. Since the stand will not shrink with the lowering of the cargo pick-and-place component, the handling robot takes up a large space, which is not conducive to handling
  • the miniaturization design of the robot, and the handling robot 10 of the embodiment of the present invention can make the structure of the handling robot 10 more compact by setting the telescopic assembly 12 between the cargo pick-and-place assembly 13 and the chassis 11, and make the handling robot 10 movement is more flexible.
  • the lower end of the chassis 11 has a driving wheel (not shown).
  • the handling robot 10 of the embodiment of the present invention can realize the translation and rotation of the chassis 11 through the rotation of the driving wheel, thereby improving the flexibility of the chassis 11 when moving.
  • the two driving wheels are arranged at intervals at the lower end of the chassis 11 , and the two driving wheels can move at a differential speed to realize steering and translation of the chassis 11 .
  • driven wheels can be provided at the lower end of the chassis 11 to assist the rotation of the chassis 11 , for example, the driven wheels are universal wheels, so that the movement effect of the chassis 11 can be improved.
  • the cargo pick-and-place assembly 13 includes a tray 131 and a moving assembly 132, the tray 131 is arranged on the upper end of the telescopic assembly 12, and the moving assembly 132 includes a first moving part 1321 and a second moving part 1321.
  • Moving part 1322, the second moving part 1322 is arranged on the pallet 131, and the first moving part 1321 is arranged on the second moving part 1322, and the first moving part 1321 is relative to the first moving part 1321 along the longitudinal direction of the pallet 131 (as shown in the front-back direction of Figure 1).
  • the two moving parts 1322 can be extended and retracted to pick up and place goods.
  • the second moving part 1322 is movable relative to the pallet 131 along the lateral direction of the pallet 131 (as shown in the left-right direction of FIG. 1 ), so as to adjust the width of the pallet 11 to store goods, so that the pallet 11 can store different types of goods, which improves the pick-and-place of the goods. Scope of application of component 13.
  • the telescopic assembly 12 controls the lifting of the pallet 131 to move the pallet 131 to a suitable height, and the second moving part 1322 moves along the lateral direction of the pallet 131.
  • the first moving part 1321 stretches out along the longitudinal direction of the pallet 131 to lock the goods, and then the first moving part 1321 retracts along the longitudinal direction of the pallet 131 to place the goods onto tray 131.
  • the telescopic assembly 12 controls the lifting of the pallet 131 to move the pallet 131 to a suitable height, and the first moving part 1321 moves along the The tray 131 extends longitudinally to place the goods on the shelf 20, and then the second moving part 1322 releases the goods and retracts along the longitudinal direction of the tray 131, thereby completing the action of placing the goods.
  • the handling robot further includes a first driving part and a second driving part (not shown), and the second moving part 1322 includes two side fences 13221, and the two side baffles 13221
  • the baffles 13221 are spaced apart from each other along the transverse direction of the tray 131 and are oppositely arranged on the tray 131.
  • the second driving member is connected to at least one of the two side baffles 13221, and is used to drive at least one of the side baffles 13221 along the transverse direction of the tray 131.
  • the tray 131 moves to change the distance between the two side fences 13221 .
  • the second driving member may be connected to only one side fence 13221, and the second driving member drives a single side fence 13221 to move relative to the tray 131 along the transverse direction of the tray 131 to change the distance between the two side fences 13221. distance.
  • a second driver with two The side fences 13221 are connected, and the second driving member simultaneously drives the two side fences 13221 to move relative to the tray 131 along the transverse direction of the tray 131 to change the distance between the two side fences 13221 .
  • the second driving member is one of a linear motor, a lead screw transmission mechanism, a rack and pinion transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, an air cylinder or a hydraulic cylinder.
  • the second driving part is a lead screw transmission mechanism, one end of the lead screw is connected with one side baffle 13221, and the other end of the lead screw is connected with the other side baffle 13221, and the lead screw can be driven by a motor, so that the two sides The baffles 13221 are close to each other or far away from each other.
  • the first moving part 1321 includes two arms 13211, and the two arms 13211 are respectively arranged on the two side baffles 13221 correspondingly, and the first driving part is connected with the two arms 13211 to drive
  • the two arms 13211 respectively move relative to the corresponding side fences 13221 along the longitudinal direction of the tray 131 . That is, as shown in FIG. 1 , the left arm 13211 can move relative to the left side fence 13221 , and the right arm 13211 can move relative to the right side fence 13221 .
  • the first driving member is one of a linear motor, a lead screw transmission mechanism, a rack and pinion transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, an air cylinder or a hydraulic cylinder.
  • At least one end of the arm 13211 along the longitudinal direction of the tray 131 is provided with a hook body 13212, and the hook body 13212 can extend and retract along the transverse direction of the tray 131 to hook and release the goods.
  • the two arms 13211 are provided with hooks 13212, for example, each arm 13211 is provided with two hooks 13212, and the two hooks 13212 are respectively arranged at both ends of the length direction of the arm 13211, and the hooks The body 13212 can extend and retract along the lateral direction of the tray 131 to hook and release the goods.
  • the first driving member drives the two arms 13211 to stretch out along the longitudinal direction of the pallet 131 and move to the left and right sides of the goods, and the arms on the two arms
  • the hook body 13212 protrudes to hook the goods
  • the first driving member drives the two arms 13211 to retract along the longitudinal direction of the pallet 131 to place the goods on the pallet 131 .
  • the first driving member drives the two arms 13211 to extend out along the longitudinal direction of the pallet 131 to move the goods to the shelf 20, and then the hook body 13212 is retracted, and the first driving member drives the two arms 13211 to retract along the longitudinal direction of the tray 131, thereby completing the action of placing the goods.
  • the cargo pick-and-place assembly 13 may include a base 134 and two telescopic forks 135 arranged at intervals on the base 134 , and at least two sets of fingers 136 are respectively arranged on the telescopic forks 135 both ends.
  • the base 134 is configured to be fixedly or rotatably connected to the tray 131, and has openings towards both ends, and the telescopic fork 135 can extend through the opening along the extending direction of the base 134 to the corresponding position of the container in the first direction or the second direction , and then pull the container through the opening onto the base 134 through the finger 136 provided at the end of the telescopic fork 135 .
  • the telescopic fork 135 is stretched out to the first direction or the second direction, so that the telescopic fork 135 is extended by the finger 136 provided at the opposite end of the extending direction.
  • the container is pushed out until the container is pushed into the corresponding storage position.
  • the movement of the telescopic fork can be realized by common mechanisms in the field such as sprocket drive, rack drive, belt drive, lead screw nut, etc. Those skilled in the art know the specific way it is applied to the movement of the telescopic fork, so it will not be described in detail here.
  • the handling robot 10 further includes a third drive member (not shown), the telescopic assembly 12 is a link mechanism 121, and the third drive member is connected with the link mechanism 121 to The driving link mechanism 121 is extended or retracted in the vertical direction.
  • the transfer robot 10 of the embodiment of the present invention can make the transfer robot 10 simple in structure by setting the telescopic assembly 12 as a connecting rod structure, and has high reliability during use.
  • the lower end of the link mechanism 121 is connected to the chassis 11 through the third driving member, and the upper end of the link mechanism 121 is connected to the cargo pick-and-place assembly 13 .
  • the link mechanism 121 includes a plurality of link units 1211, which are pivotally connected sequentially along the up and down direction, and each link unit 1211 includes a first rod 12111 and a second rod 12112 hinged together, The first rod 12111 and the second rod 12112 are arranged crosswise and pivotably connected, and the third driving member is connected with the lowermost link unit 1211 for driving the first rod 12111 and the second link unit 1211 of the lowermost link unit 1211.
  • the two rods 12112 rotate relatively to make the link mechanism 121 expand and contract in the up and down direction.
  • the bottom and top of the link unit 1211 are respectively connected to the chassis 11 and the tray 131 .
  • the connecting rod unit 1211 is connected with the third driving member, so that the third driving member drives the connecting rod unit 1211 to expand and contract in the vertical direction.
  • the top and bottom ends of the first rod 12111 and the second rod 12112 increase or decrease the dimension of the link unit 1211 in the height direction by approaching or moving away from each other. For example, when the first bar 12111 and the second bar 12112 are close to each other in the horizontal direction, the size of the link unit 1211 in the height direction increases. Since the chassis 11 is always in contact with the working surface, the tray 131 will be between the first bar 12111 and the second bar 12111. Two poles 12112 Driven by it, it rises in the height direction. In the same way, the first rod 12111 and the second rod 12112 are separated from each other in the horizontal direction, the size of the link unit 1211 in the height direction is reduced, and the tray 131 moves downwards driven by the link unit 1211 .
  • first rods 12111 and two second rods 12112 there are two first rods 12111 and two second rods 12112 respectively.
  • first rods 12111 and second rods 12112 are arranged at intervals and in parallel on the chassis 11, and the first rods 12111 and the second rods 12112 are hinged together.
  • the movement relationship and function of the rod 12111 and the second rod 12112 are the same as those of the first rod 12111 and the second rod 12112 in the previous embodiment, so the description will not be repeated here.
  • the bottoms of at least two first rods 12111 are connected by a first rotating shaft 124, and the bottoms of at least two first rods 12111 can move synchronously through the first rotating shaft 124, and the bottoms of at least two second rods 12112 are connected by a second rotating shaft 125 . Similarly, the bottoms of at least two second rods 12112 can move synchronously through the second rotating shaft 125 .
  • the third driving member is disposed between the first rotating shaft 124 and the second rotating shaft 125 and is configured to drive the first rotating shaft 124 and the second rotating shaft 125 to move away from or approach each other.
  • the bottoms of the two first rods 12111 connected to the first rotating shaft 124 are connected to the second rotating shaft 125.
  • the bottoms of the two second rods 12112 will synchronously move away from each other, so that the height dimension of the connecting rod unit 1211 is reduced, so that the bearing part moves in a downward direction.
  • the connecting rod unit 1211 is mainly provided with two first rods 12111 and two second rods 12112, the two first rods 12111 and the two second rods 12112 can share the pressure on the top and the bottom, thereby increasing the connection.
  • first rotating shaft 124 can also be connected to more One first rod
  • the second rotating shaft can also connect more second rods
  • multiple first rods and second rods fit together to share the pressure from the top and bottom of the connecting rod unit 1211, improving the connecting rod unit
  • the carrying capacity of 1211 is not listed here.
  • the first rotating shaft 124 is configured to be hinged on the first bracket 111 located on the end surface of the fixed chassis 11, and the first bracket 111 is provided with a through hole allowing the first rotating shaft 124 to pass through.
  • the first rotating shaft 124 can rotate in the through hole.
  • the opposite ends of the second shaft 125 are provided with first rollers 126
  • the chassis 11 is provided with a first guide block 112
  • the first guide block 112 is provided with a first guide groove 1121 for matching with the first roller 126, and the first guide
  • one end of the first rotating shaft 124 is a rotating end
  • one end of the second rotating shaft 125 is a sliding end, so that the link unit 1211 can move on the chassis 11 along the guidance of the first guiding groove 1121 to increase or decrease Smaller than its own height.
  • the matching relationship and matching position between the first rotating shaft 124 and the second rotating shaft 125 and the chassis 11 can be interchanged, that is, one of the first rotating shaft 124 and the second rotating shaft 125 is compatible with
  • the above-mentioned way is hinged with the chassis 11, and the other is guided and matched with the chassis 11 in the above-mentioned way, so that the above-mentioned movement process and movement effect can be realized, and the specific structure will not be listed here.
  • the tops of at least two first rods 12111 are connected through the third rotating shaft, and the tops of at least two second rods 12112 are connected through the fourth rotating shaft.
  • the third rotating shaft and the fourth rotating shaft may have the same shape as the first rotating shaft 124 and the second rotating shaft 125 .
  • One of the third rotating shaft and the fourth rotating shaft is configured to be hinged on the second support 1311 located at the end surface of the tray 131; the opposite ends of the other rotating shaft are provided with second rollers; the tray 131 is provided with a second guide block 1312, the second guide block 1312 is provided with a second guide groove 1313 for guiding and cooperating with the second roller; The second guide slot 1313 ; the tray 131 is provided with a second roller 137 for matching with the second guide slot 1313 .
  • the fourth shaft 129 is configured to be hinged on the second bracket 1311 located on the end surface of the tray 131 , and the second bracket 1311 is opened to allow the fourth shaft 129 to pass through.
  • the through hole, the fourth rotating shaft 129 can rotate in the through hole.
  • the opposite ends of the third shaft 128 are provided with second rollers 127
  • the tray 131 is provided with a second guide block 1312
  • the second guide block 1312 is provided with a second guide groove 1313 for matching with the second roller 127
  • the second guide Slot 1313 can be provided with two, two guiding
  • the slots are identical in construction and have facing openings.
  • the shape and size of the first guide block 112 and the second guide block 1312 can be set according to the internal structure between the chassis 11 and the tray 131 respectively, and the shapes of the first guide groove 1121 and the second guide groove 1313 can also be set according to the respective guide blocks.
  • the shape and size can be reasonably set, which is not limited in the present disclosure.
  • the third shaft is configured to be hinged on the second bracket located on the end surface of the tray 131, and a through hole is opened on the second bracket to allow the third shaft 128 to pass through.
  • the third shaft 128 can be Rotate in the through hole.
  • the opposite ends of the fourth rotating shaft 129 are provided with second rollers, the tray 131 is provided with a second guide block, and the second guide block is provided with a second guide groove for cooperating with the second roller, and the second guide groove can be provided with two
  • the two guide grooves have the same structure and the openings are facing each other.
  • connecting rod units 1211 there can be one or more connecting rod units 1211, and the handling robot can select different numbers of connecting rod units 1211 according to actual application scenarios, for example, the connecting rod of the handling robot 10 in the embodiment of the present utility model Unit 1211 is three.
  • the bottom end of the lowermost link unit is configured to cooperate with the chassis, and the top end of the uppermost link unit is configured to cooperate with the tray.
  • a plurality of link units 1211 are connected in the same way as a link unit and have the same movement process.
  • one end of the bottom of the lowermost link unit is hinged to the chassis through the first rotating shaft, and the other end is connected to the chassis through the second shaft.
  • the rotating shaft cooperates with the first guide groove and the first roller; the top end of the uppermost link unit cooperates with the third rotating shaft through the second guide groove, the second roller and the other end is hinged with the tray through the fourth rotating shaft.
  • Those skilled in the art can refer to the way a link unit 1211 cooperates with the chassis and the tray, and deduce the specific structure of setting more link units 1211 combined connection, thereby increasing the maximum rise height of the link mechanism, which will not be repeated here Detailed description.
  • the third driving member is provided in the chassis 11 and a part of the third driving member protrudes from the chassis 11 to be connected with the lowermost link unit 1211, so that the utility model embodiment
  • the handling robot 10 can hide the part of the third driving member in the chassis 11, so that the handling robot 10 has higher reliability and a more reasonable structural design.
  • the storage system according to another embodiment of the utility model includes a handling robot 10 and a plurality of shelves 20, and there are driving lanes 21 between adjacent shelves 20, and the driving lanes 21 are provided with upper and lower Direction multilayer longitudinal rails 22 arranged at intervals from each other.
  • the handling robot 10 is the handling robot 10 of the utility model embodiment, and the handling robot 10 can move along the longitudinal track to take goods from the shelf 20 and put the goods on the shelf 20 .
  • the handling robot 10 can adjust the height of the telescopic assembly 12 itself to change the loading and unloading of goods.
  • the pick-up height of the placing component 13 further makes the structure of the handling robot 10 more compact, the movement is more flexible, and is conducive to the miniaturization design of the handling robot 10 .
  • the multi-layer longitudinal rails 22 arranged at intervals along the up and down direction are arranged in the driving roadway 21, it is convenient for the handling robot 10 to travel along the longitudinal rails 22 of different layers to carry the goods on the shelves 20, so that the warehouse The storage rate of the system is higher, and the structure is simple, and the manufacturing cost is lower.
  • the storage system further includes a lifting device 30 for transporting the handling robot 10 between the longitudinal rails 22 of different layers.
  • the lifting device 30 can be a hoist or a crane, so as to facilitate the transfer of the transport robot 10, so that the transport robot 10 can travel in the longitudinal rails 22 of different layers.
  • the storage system further includes a transverse rail 23 for connecting the longitudinal rails 22 of the same layer in the multiple driving lanes 21 .
  • the handling robot 10 can shuttle through the longitudinal rails 22 of the same floor in the multiple driving lanes 21 via the transverse rails 23 .
  • the transverse rail 23 and the longitudinal rail 22 can be formed by overlapping with low-cost partitions, so that the structure of the storage system is simpler and the manufacturing cost is lower.
  • the transverse rails 23 are multi-layered, and the multi-layer transverse rails 23 are spaced apart from each other along the up and down direction, and the multi-layer transverse rails 23 correspond to the multi-layer longitudinal rails 22 one-to-one, so that the handling can be further improved.
  • the flexibility of the movement of the robot 10 enables the handling robot 10 to quickly move to the target position in the shelf 20 .
  • the transverse rail 23 is disposed at one end of the longitudinal rail 22 , and the lifting device 30 is connected to the transverse rail 23 to transport the handling robot 10 between the transverse rails 23 on different floors.
  • the transverse rail 23 is arranged on the outer peripheral side of the shelf 20 and is located at one end of the longitudinal track 22, so that the storage system of the embodiment of the present invention does not need to dismantle the original shelf 20 structure, and build a transverse rail on the outside of the shelf 20.
  • the track 23 is enough, the installation is convenient, and the use effect is better.
  • the lifting device 30 includes a lifting frame 31 and a lifting plate 32, and the lifting frame 31 extends along the vertical direction. Stretching, the lifting plate 32 is movable up and down relative to the lifting frame 31, so as to transfer the handling robot 10 to the transverse rails 23 on different floors. For example, there are multiple lifting plates 32, and the multiple lifting plates 32 lift different transport robots 10, thereby improving the transport efficiency of the storage system.
  • the two lifting devices 30 can serve as backups for each other. When one of the lifting devices 30 is damaged, the other lifting device 30 can be used to transfer the handling robot 10, thereby improving the reliability of the storage system in use.
  • the storage system also includes a conveyor frame 40 and a cargo handling device 50
  • the conveyor frame 40 has a conveyor for transporting goods along the longitudinal direction of the conveyor frame 40
  • the conveyor is, for example, a conveyor roller table , conveyor belt or conveyor chain, of course, the conveyor can also be other forms of conveyor.
  • the cargo handling device 50 is used to transfer cargo between the handling robot 10 and the transport frame 40 , and the cargo handling device 50 is arranged on at least one end of the transport frame 40 along the longitudinal direction of the transport frame 40 (the front-rear direction as shown in FIG. 5 ).
  • the handling robot 10 delivers the goods to the cargo handling device 50 , and the cargo handling device 50 transfers the goods from the handling robot 10 to the transport frame 40 .
  • Cargo loading and unloading device 50 is located at the left end of conveyor frame 40, or cargo loading and unloading device 50 is located at the right end of conveyor frame 40, or there are two cargo handling devices 50, and two cargo loading and unloading devices 50 are respectively located at the left end and right end of conveyor frame 40 .
  • the goods can be transferred from the handling robot 10 to the conveying frame 40 by using the goods conveying equipment, and multiple goods can be transferred at the same time, thereby improving the efficiency of handling goods, thereby reducing the cost of handling.
  • the labor cost of the goods Therefore, the storage system of the embodiment of the present invention has the advantages of high transport efficiency and low transport cost.
  • cargo handling devices 50 are respectively arranged at both ends of the conveying frame 40 and arranged in line with the conveying frame 40 . It can be understood that the cargo handling devices 50 are arranged at the left end and the right end of the conveying frame 40 respectively, and the two cargo handling devices 50 are arranged in a straight line with the conveying frame 40 to save more storage space.
  • the conveying frame 40 is a picking frame
  • the storage system further includes a picking station arranged on one side of the conveying frame 40 for picking goods manually or by a mechanical arm 70 .
  • the staff can pick the required goods.
  • a robotic arm 70 is provided at the picking station, and the robotic arm 70 can pick specified goods at the picking station, so that the sorting efficiency of the storage system in the embodiment of the present invention is higher.
  • the storage system further includes a transportable rack and a rack handling device (not shown) for handling the transportable rack.
  • the shelf handling device can move the transportable shelf to the target position, so as to improve the flexibility of the storage system when storing goods.
  • a transportable shelf is placed below at least a portion of the shelf 20 .
  • all the transportable shelves can be placed under the shelf 20 , or part of them can be placed under the shelf 20 .
  • the storage system of the embodiment of the utility model can improve the space utilization rate of the storage system through the above configuration, and can make the shelf handling device and the handling robot work together, which is beneficial to improve the handling efficiency of the storage system.
  • the shelf handling device is a shelf handling robot. It can be understood that both the handling robot and the shelf handling device are self-propelled robots, which can improve the intelligence of the storage system and the handling efficiency of the storage system.
  • the storage system can include a tally robot, and the bottom of the shelf 20 is defined as a cache position, and the cache position is used to store incoming or outgoing containers, and other storage containers on the shelf 20 Locations are defined as storage slots, and tally robots are used to transfer containers between storage slots and cache slots.
  • the handling robot is used to transfer the container to the buffer position or transfer the container on the buffer position out.
  • the tally robot will easily transfer from the storage position of the shelf 20 to the buffer position, and the handling robot will move to the corresponding position of the container to be out of the warehouse through the chassis 11, and adjust the picking and placing of the goods through the telescopic assembly 12.
  • the component 13 reaches the height corresponding to the container taken out of the storehouse, and the container is taken out by the cargo pick-and-place component 13. After that, the containers to be shipped out will be sent out according to the scheduled shipping route.
  • the handling robot first takes out the container to be put into the warehouse through the cargo pick-and-place assembly 13, moves to the shelf corresponding to the put-to-be-warehousing container through the chassis 11, and the telescopic assembly 12 adjusts the pick-and-place assembly 13 of the goods to be in line with the buffer. The height corresponding to the position, and then transfer the storage container to the cache position.
  • the telescopic assembly 12 can adjust the cargo pick-and-place assembly 13 to the lowest position, thereby lowering the overall center of gravity of the handling robot and making it more stable during the movement.
  • the container on the 13 will not shake violently, which improves the stability of the transshipment container.
  • 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.
  • connection In this utility model, unless otherwise clearly specified and limited, the terms “installation”, “connection”, “connection”, “fixation” and other terms should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrated; it can be mechanically connected, or electrically connected, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components , unless expressly defined otherwise. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.
  • the first feature may be in direct contact with the first feature or the first feature and the second feature through an intermediary indirect contact.
  • “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 described in connection with the embodiment or example Or features are included in at least one embodiment or example of the invention.
  • the schematic representations of the above terms are not necessarily directed to the same embodiment or example.
  • the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
  • 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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  • Warehouses Or Storage Devices (AREA)

Abstract

A carrying robot and a warehousing system. The carrying robot (10) comprises a moving chassis (11), a telescopic assembly (12), and a goods picking and placing assembly (13) used for picking and placing goods; the telescopic assembly is provided on the moving chassis; the upper end of the telescopic assembly is connected to the goods picking and placing assembly to support the goods picking and placing assembly; and the telescopic assembly is telescopic to adjust the height of the goods picking and placing assembly. The miniaturization design of the carrying robot is facilitated, and the carrying robot is good in flexibility. The warehousing system comprises the carrying robot.

Description

搬运机器人和具有其的仓储系统Handling robot and storage system with same
本申请要求于2022年01月29日提交中国专利局、申请号为202220243780.2、实用新型名称为“搬运机器人和具有其的仓储系统”以及申请号为202210110669.0、发明名称为“搬运机器人和仓储系统”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。This application is required to be submitted to the China Patent Office on January 29, 2022. The application number is 202220243780.2, the name of the utility model is "handling robot and storage system with it" and the application number is 202210110669.0, and the name of the invention is "handling robot and storage system". The priority of the Chinese patent application of , the entire content of which is incorporated in this application by reference.
技术领域technical field
本实用新型涉及仓储技术领域,具体地,涉及搬运机器人和具有其的仓储系统。The utility model relates to the technical field of storage, in particular to a handling robot and a storage system with the same.
背景技术Background technique
智能仓储是物流过程的一个环节,智能仓储的应用,保证了货物仓库管理各个环节的速度和准确性,货物搬运通常由人工或使用简单的机械设备完成。相关技术中的货架的结构设计不合理,不利于搬运机器人对货架上的货物进行取放,致使搬运机器人移动时的灵活性较差,且货物的分选效率较低。另外,相关技术中的搬运机器人的尺寸和重量较大,移动和搬运时不够灵活,应用范围较窄。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. The unreasonable structural design of the shelf in the related art is not conducive to the handling robot to pick and place the goods on the shelf, resulting in poor flexibility when the handling robot moves, and low sorting efficiency of goods. In addition, the size and weight of the handling robot in the related art are relatively large, and the movement and handling are not flexible enough, and the application range is narrow.
实用新型内容Utility model content
本实用新型旨在至少在一定程度上解决相关技术中的技术问题之一。The utility model aims to solve one of the technical problems in the related art at least to a certain extent.
为此,本实用新型的实施例提出一种有利于小型化设计、灵活性好的搬运机器人。For this reason, the embodiment of the utility model proposes a handling robot that is beneficial to miniaturization and has good flexibility.
本实用新型的实施例还提出一种仓储系统。本实用新型实施例的搬运机器人包括:底盘、伸缩组件和用于取放货物的货物取放组件,所述底盘的下端具有驱动轮,所述伸缩组件设于所述底盘上,所述伸缩组件的上端与所述货物取放组件相连以支撑所述货物取放组件,所述伸缩组件可伸缩以调节所述货物取放组件的高度。The embodiment of the utility model also proposes a storage system. The handling robot of the embodiment of the utility model includes: a chassis, a telescopic assembly, and a cargo pick-and-place assembly for picking and placing goods. The lower end of the chassis has a driving wheel, and the telescopic assembly is arranged on the chassis. The telescopic assembly The upper end of the cargo pick-and-place assembly is connected to support the cargo pick-and-place assembly, and the telescopic assembly is telescopic to adjust the height of the cargo pick-and-place assembly.
根据本实用新型实施例的搬运机器人,由于伸缩组件设于底盘上,货物取放组件设在伸缩组件的上端,从而搬运机器人可以通过调整伸缩组件自身的高度以改变货物取放组件的取货高度,进而使得搬运机器人的结构更加紧凑,运动更加灵活,且有利于搬运机器人的小型化设计。According to the handling robot of the embodiment of the utility model, since the telescopic assembly is arranged on the chassis, and the cargo pick-and-place assembly is arranged at the upper end of the telescopic assembly, the handling robot can change the pick-up height of the cargo pick-and-place assembly by adjusting the height of the telescopic assembly itself , which in turn makes the structure of the handling robot more compact and the movement more flexible, and is conducive to the miniaturization design of the handling robot.
在一些实施例中,所述货物取放组件包括托盘、第一运动部件和第二运动部件,所述托盘设在所述伸缩组件的上端,所述第二运动部件设在所述托盘上,所述第一运动部件设在所述第二运动部件上,所述第一运动部件沿托盘的纵向相对于所述第二运动部件可伸出且可缩回以取放货物,所述第二运动部件沿所述托盘的横向相对于所述托盘可移动。In some embodiments, the cargo pick-and-place assembly includes a tray, a first moving part and a second moving part, the tray is arranged on the upper end of the telescopic assembly, the second moving part is arranged on the tray, The first moving part is arranged on the second moving part, and the first moving part is extendable and retractable relative to the second moving part along the longitudinal direction of the pallet to pick and place goods, and the second moving part is A moving part is movable relative to the tray in a lateral direction of the tray.
在一些实施例中,所述搬运机器人还包括第一驱动件和第二驱动件,所述第二运动部件包括两个侧挡板,两个所述侧挡板沿所述托盘的横向彼此间隔且相对地设在所述托盘上,所述第二驱动件与两个所述侧挡板中的至少一者相连,用于驱动所述至少一者沿所述托盘的横向相对于所述托盘移动以改变两个所述侧挡板之间的距离,所述第一运动部件包括两个臂,两个所述臂分别对应地设在两个所述侧挡板上,所述第一驱动件与两个所述臂相连,以驱动两个所述臂沿所述托盘的纵向分别相对于对应的侧挡板移动。In some embodiments, the transfer robot further includes a first driving member and a second driving member, the second moving part includes two side fences, and the two side fences are spaced apart from each other along the transverse direction of the pallet And oppositely arranged on the tray, the second driving member is connected to at least one of the two side fences, and is used to drive the at least one side plate relative to the tray along the transverse direction of the tray. move to change the distance between the two side baffles, the first moving part includes two arms, and the two arms are correspondingly arranged on the two side baffles respectively, and the first driving A piece is connected with the two arms to drive the two arms to move along the longitudinal direction of the tray relative to the corresponding side fences.
在一些实施例中,所述侧挡板和所述臂中的一者上设有滑轨,另一者上设有滑槽,所述滑轨沿所述托盘的纵向延伸且与所述滑槽滑动配合。In some embodiments, one of the side fence and the arm is provided with a slide rail, and the other is provided with a slide groove, and the slide rail extends along the longitudinal direction of the tray and is connected with the slide rail. Groove slip fit.
在一些实施例中,所述臂设在所述侧挡板的内侧以便两个所述臂彼此相对。In some embodiments, the arms are provided on the inner side of the side fence so that two of the arms face each other.
在一些实施例中,所述臂沿所述托盘的纵向的至少一端设有钩体,所述钩体沿所述横向可伸出和缩回以钩住和释放所述货物。 In some embodiments, at least one end of the arm along the longitudinal direction of the pallet is provided with a hook body, and the hook body can be extended and retracted along the transverse direction to hook and release the goods.
在一些实施例中,所述第一驱动件和所述第二驱动件中的至少一者为直线电机、丝杠传动机构、齿轮齿条传动机构、皮带传动机构、链传动机构、气缸或液压缸中的一种。In some embodiments, at least one of the first driving member and the second driving member is a linear motor, a screw drive mechanism, a rack and pinion drive mechanism, a belt drive mechanism, a chain drive mechanism, an air cylinder or a hydraulic drive One of the cylinders.
在一些实施例中,所述搬运机器人还包括第三驱动件,所述伸缩组件为连杆机构,所述第三驱动件与所述连杆机构相连以驱动所述连杆机构沿上下方向伸缩。In some embodiments, the handling robot further includes a third drive member, the telescopic assembly is a link mechanism, and the third drive member is connected to the link mechanism to drive the link mechanism to expand and contract in the up and down direction .
在一些实施例中,所述连杆机构包括所述连杆机构包括连杆单元,连杆单元均包括铰接在一起的第一杆和第二杆,所述第一杆、第二杆分别设置有至少两个,至少两个所述第一杆的底部通过第一转轴连接,至少两个所述第二杆的底部通过第二转轴连接;In some embodiments, the linkage mechanism includes a linkage unit, and each linkage unit includes a first rod and a second rod hinged together, and the first rod and the second rod are respectively arranged There are at least two, the bottoms of at least two of the first rods are connected by a first rotating shaft, and the bottoms of at least two of the second rods are connected by a second rotating shaft;
所述第一转轴被构造为铰接在位于所述底盘端面的第一支架上;所述第二转轴的相对两端设置有第一滚轮;在所述底盘上设置有第一导向块,所述第一导向块开设有用于与所述第一滚轮导向配合的第一导向槽;The first rotating shaft is configured to be hinged on a first bracket located on the end face of the chassis; first rollers are provided at opposite ends of the second rotating shaft; a first guide block is provided on the chassis, and the The first guide block is provided with a first guide groove for guiding and cooperating with the first roller;
在一些实施例中,至少两个所述第一杆的顶部通过第三转轴连接,至少两个所述第二杆的顶部通过第四转轴连接;In some embodiments, the tops of at least two first rods are connected by a third shaft, and the tops of at least two second rods are connected by a fourth shaft;
所述第三转轴、第四转轴中的其中一个转轴被构造为铰接在位于托盘端面的第二支架上;另一个转轴的相对两端设置有第二滚轮;在所述托盘上设置有第二导向块,所述第二导向块开设有用于与所述第二滚轮导向配合的第二导向槽;或者是另一个转轴的相对两端设置有第二导向块,所述第二导向块开设有第二导向槽;在所述托盘上设置有用于与所述第二导向槽配合的第二滚轮。在一些实施例中,所述连杆机构包括多个所述连杆单元,多个所述连杆单元沿上下方向依次可枢转地连接,多个所述连杆单元中,位于最下端的连杆单元的底端被构造为与所述底盘配合;位于最上端的连杆单元的顶端被构造为与所述托盘配合;所述第三驱动件与位于最下面的连杆单元相连,用于驱动最下面的连杆单元的第一杆和第二杆相对转动以使所述连杆机构沿上下方向伸缩。One of the third rotating shaft and the fourth rotating shaft is configured to be hinged on the second bracket located on the end face of the tray; the opposite ends of the other rotating shaft are provided with second rollers; A guide block, the second guide block is provided with a second guide groove for guiding and cooperating with the second roller; or a second guide block is provided at the opposite ends of the other rotating shaft, and the second guide block is provided with A second guide groove; a second roller for cooperating with the second guide groove is arranged on the tray. In some embodiments, the linkage mechanism includes a plurality of linkage units, and the linkage units are pivotally connected sequentially along the up and down direction, among the linkage units, the one located at the lowermost end The bottom end of the connecting rod unit is configured to cooperate with the chassis; the top end of the uppermost connecting rod unit is configured to cooperate with the tray; the third driving member is connected to the lowermost connecting rod unit for The first rod and the second rod of the lowermost link unit are driven to rotate relatively so that the link mechanism expands and contracts in the up and down direction.
在一些实施例中,所述第三驱动件设在所述底盘内且所述第三驱动件的一部分从所述底盘内伸出以与所述最下面的连杆单元相连。In some embodiments, the third driving member is disposed in the chassis and a part of the third driving member protrudes from the chassis to connect with the lowermost link unit.
根据本实用新型另一实施例的仓储系统,包括:多个货架,相邻所述货架之间具有行驶巷道,所述行驶巷道内设有沿上下方向彼此间隔布置的多层纵向轨道;搬运机器人,所述搬运机器人为本实用新型实施例中任一项所述搬运机器人,所述搬运机器人沿所述纵向轨道可移动,以从所述货架上取货物和将货物放到所述货架上。According to another embodiment of the utility model, the storage system includes: a plurality of shelves, and there are driving lanes between adjacent shelves, and multi-layer longitudinal rails arranged at intervals along the up and down directions are arranged in the driving lanes; , the handling robot is the handling robot described in any one of the embodiments of the present invention, and the handling robot can move along the longitudinal track to take goods from the shelves and put goods on the shelves.
根据本实用新型实施例的仓储系统,由于伸缩组件设于底盘上,货物取放组件设在伸缩组件的上端,从而搬运机器人可以通过调整伸缩组件自身的高度以改变货物取放组件的取货高度,进而使得搬运机器人的结构更加紧凑,运动更加灵活,且有利于搬运机器人的小型化设计。另外,由于行驶巷道内设有沿上下方向彼此间隔布置的多层纵向轨道,从而可以便于搬运机器人沿不同层的纵向轨道行驶,以对货架上的货物进行搬运,从而使得仓储系统的存储率更高,并且结构简单,制作成本较低。According to the storage system of the embodiment of the utility model, since the telescopic assembly is arranged on the chassis, and the cargo pick-and-place assembly is arranged at the upper end of the telescopic assembly, the handling robot can change the pick-up height of the cargo pick-and-place assembly by adjusting the height of the telescopic assembly itself , which in turn makes the structure of the handling robot more compact and the movement more flexible, and is conducive to the miniaturization design of the handling robot. In addition, since there are multiple layers of longitudinal rails arranged at intervals along the vertical direction in the driving roadway, it is convenient for the handling robot to travel along the longitudinal rails of different layers to carry the goods on the shelves, so that the storage rate of the storage system is higher. High, simple in structure and low in production cost.
在一些实施例中,所述仓储系统还包括提升装置,所述提升装置用于在不同层的纵向轨道之间运送所述搬运机器人。In some embodiments, the storage system further includes a lifting device for transporting the handling robot between longitudinal rails on different levels.
在一些实施例中,所述行驶巷道为多个,所述仓储系统还包括横向轨道,所述横向轨道用于连通多个所述行驶巷道中的相同层的纵向轨道。In some embodiments, there are multiple driving lanes, and the storage system further includes a transverse track, which is used to communicate with longitudinal tracks of the same layer in the multiple driving lanes.
在一些实施例中,所述横向轨道为多层,多层所述横向轨道沿上下方向彼此间隔布置,多层所述横向轨道与多层所述纵向轨道一一对应。 In some embodiments, the transverse tracks are multi-layered, and the layers of the transverse tracks are arranged at intervals along the vertical direction, and the layers of the transverse tracks correspond to the layers of the longitudinal tracks one by one.
在一些实施例中,所述横向轨道设于所述纵向轨道的一端,所述提升装置与所述横向轨道相连以在不同层的横向轨道之间运送所述搬运机器人。In some embodiments, the transverse track is arranged at one end of the longitudinal track, and the lifting device is connected to the transverse track to transport the transfer robot between the transverse tracks on different floors.
在一些实施例中,所述提升装置包括提升架和提升板,所述提升架沿上下方向延伸,所述提升板相对于所述提升架沿上下方向可移动,以将所述搬运机器人转送至不同层的横向轨道上。In some embodiments, the lifting device includes a lifting frame and a lifting plate, the lifting frame extends in the up and down direction, and the lifting plate is movable in the up and down direction relative to the lifting frame, so as to transfer the handling robot to on different layers of lateral tracks.
在一些实施例中,所述提升装置至少有两个,其中一个所述提升装置设于所述横向轨道的一端,另一个所述提升装置设于所述横向轨道的另一端。In some embodiments, there are at least two lifting devices, one of the lifting devices is disposed at one end of the transverse rail, and the other lifting device is disposed at the other end of the transverse rail.
在一些实施例中,所述仓储系统还包括输送架和货物装卸装置,所述输送架具有用于沿所述输送架的纵向输送货物的输送器,货物装卸装置用于在所述搬运机器人和所述输送架之间转运货物,所述货物装卸装置沿所述输送架的纵向设在所述输送架的至少一端。In some embodiments, the storage system further includes a conveyor frame and a cargo handling device, the conveyor frame has a conveyor for transporting goods along the longitudinal direction of the conveyor frame, and the cargo handling device is used for transporting the goods between the handling robot and the cargo handling device. Cargo is transferred between the conveyor frames, and the cargo handling device is arranged on at least one end of the conveyor frames along the longitudinal direction of the conveyor frames.
在一些实施例中,所述货物装卸装置分别设在所述输送架的两端且与所述输送架成直线排列。In some embodiments, the cargo handling devices are respectively arranged at both ends of the conveying frame and arranged in line with the conveying frame.
在一些实施例中,所述输送架为拣选架,所述仓储系统还包括设在所述输送架一侧用于通过人工或机械臂拣选货物的拣选工位。In some embodiments, the conveying frame is a picking frame, and the storage system further includes a picking station arranged on one side of the conveying frame for picking goods manually or by a mechanical arm.
在一些实施例中,所述仓储系统还包括可搬运货架和用于搬运所述可搬运货架的货架搬运装置。In some embodiments, the storage system further includes a transportable shelf and a shelf handling device for transporting the transportable shelf.
在一些实施例中,所述可搬运货架放置在至少一部分所述货架下方。In some embodiments, the transportable rack is positioned below at least a portion of the rack.
在一些实施例中,所述货架搬运装置为货架搬运机器人。In some embodiments, the shelf handling device is a shelf handling robot.
附图说明Description of drawings
图1是本实用新型实施例的搬运机器人提升、收取货物时的示意图。Fig. 1 is a schematic diagram of a handling robot in an embodiment of the present invention when lifting and picking up goods.
图2是本实用新型实施例的搬运机器人下降、空载时的示意图。Fig. 2 is a schematic diagram of the transport robot in the embodiment of the present invention when it is descending and unloaded.
图3是本实用新型实施例的仓储系统的货架的局部示意图。Fig. 3 is a partial schematic view of the shelves of the storage system according to the embodiment of the present invention.
图4是本实用新型实施例的仓储系统的示意图。Fig. 4 is a schematic diagram of a storage system according to an embodiment of the present invention.
图5是本实用新型另一实施例的仓储系统的示意图。Fig. 5 is a schematic diagram of a storage system according to another embodiment of the present invention.
图6是本公开提供的货物取放组件结构示意图。Fig. 6 is a schematic structural diagram of the cargo pick-and-place assembly provided by the present disclosure.
图7是本公开提供的搬运机器人一种应用场景示意图。Fig. 7 is a schematic diagram of an application scenario of a handling robot provided by the present disclosure.
图8是本公开提供的伸缩组件的结构示意图。附图标记:Fig. 8 is a schematic structural diagram of the telescopic assembly provided by the present disclosure. Reference signs:
10、搬运机器人;11、底盘;12、伸缩组件;121、连杆机构;1211、连杆单元;12111、第一杆;12112、第二杆;124、第一转轴;125、第二转轴;126、第一滚轮;127、第二滚轮;128、第三转轴;129、第四转轴;13、货物取放组件;131、托盘;132、运动组件;1321、第一运动部件;13211、臂;13212、钩体;1322、第二运动部件;13221、侧挡板;134、基座;135、伸缩叉;136、拨指;10. Handling robot; 11. Chassis; 12. Telescopic assembly; 121. Link mechanism; 1211. Link unit; 12111. First rod; 12112. Second rod; 124. First shaft; 125. Second shaft; 126. The first roller; 127. The second roller; 128. The third shaft; 129. The fourth shaft; 13. Cargo pick and place assembly; 131. Tray; 132. Movement assembly; 1321. The first movement part; ; 13212, the hook body; 1322, the second moving part; 13221, the side baffle; 134, the base; 135, the telescopic fork; 136, the finger;
20、货架;20. Shelves;
21、行驶巷道;22、纵向轨道;23、横向轨道;21. Driving roadway; 22. Longitudinal track; 23. Transverse track;
30、提升装置;30. Lifting device;
31、提升架;32、提升板;31. Lifting frame; 32. Lifting plate;
40、输送架;50、货物装卸装置;60、挑选工位;70、机械臂。40. Transport frame; 50. Cargo handling device; 60. Selection station; 70. Mechanical arm.
具体实施方式Detailed ways
在下面详细描述本实用新型的实施例,所述实施例的示例在附图中示出。下面通过参考附图描述的 实施例是示例性的,旨在用于解释本实用新型,而不能理解为对本实用新型的限制。Embodiments of the invention are described in detail below, examples of which are illustrated in the accompanying drawings. Described below by referring to the accompanying drawings The embodiments are exemplary and are intended to explain the present utility model, but should not be construed as limiting the present utility model.
本实用新型中,需要指出的是,术语“货物”应做广义理解,意指可以搬运的物品,即包括可以单独搬运的货物本身,例如具有外包装的货物,盛放在容器内的液体货物,也包括用于盛放货物的各种货物容器,例如货盘,货箱等,以及盛放有货物的各种货物容器,例如盛放有货物的货箱。In this utility model, it should be pointed out that the term "goods" should be understood in a broad sense, which means items that can be transported, including the goods themselves that can be transported separately, such as goods with outer packaging, liquid goods contained in containers , also includes various cargo containers used to hold goods, such as pallets, cargo boxes, etc., and various cargo containers filled with goods, such as cargo boxes filled with goods.
下面参考附图1至图8描述根据本实用新型实施例的搬运机器人10和仓储系统。The following describes the handling robot 10 and the storage system according to the embodiment of the present utility model with reference to the accompanying drawings 1 to 8 .
如图1和图2所示,根据本实用新型实施例的搬运机器人10包括底盘11、伸缩组件12和货物取放组件13,伸缩组件12设于底盘11上,伸缩组件12的上端与货物取放组件13相连以支撑货物取放组件13,伸缩组件12可伸缩以调节货物取放组件13的高度。As shown in Figures 1 and 2, the handling robot 10 according to the embodiment of the present invention includes a chassis 11, a telescopic assembly 12, and a cargo pick-and-place assembly 13. The placing assembly 13 is connected to support the cargo picking and placing assembly 13 , and the telescopic assembly 12 is telescopic to adjust the height of the cargo picking and placing assembly 13 .
可理解的是,伸缩组件12在伸展状态和收拢状态之间可切换,即,伸缩组件12可伸展开以提升货物取放组件133的高度,伸缩组件12可收拢以下降货物取放组件13的高度,从而本实用新型实施例的搬运机器人10的伸缩组件12可以改变自身高度以调节货物取放组件13的高度。It can be understood that the telescopic assembly 12 can be switched between the extended state and the retracted state, that is, the telescopic assembly 12 can be extended to raise the height of the cargo pick-and-place assembly 133, and the telescopic assembly 12 can be folded to lower the height of the cargo pick-and-place assembly 133. height, so that the telescopic assembly 12 of the handling robot 10 in the embodiment of the present utility model can change its own height to adjust the height of the cargo pick-and-place assembly 13 .
根据本实用新型实施例的搬运机器人10,由于伸缩组件12设于底盘11上,货物取放组件13设在伸缩组件12的上端,从而搬运机器人10可以通过调整伸缩组件12自身的高度以改变货物取放组件13的取货高度,进而使得搬运机器人10的结构更加紧凑,运动更加灵活,且有利于搬运机器人10的小型化设计。According to the handling robot 10 of the embodiment of the present invention, since the telescopic assembly 12 is arranged on the chassis 11, and the cargo pick-and-place assembly 13 is arranged on the upper end of the telescopic assembly 12, the handling robot 10 can change the height of the telescopic assembly 12 itself by adjusting the height of the telescopic assembly 12. The pick-up height of the pick-and-place component 13 further makes the structure of the handling robot 10 more compact and the movement more flexible, and is conducive to the miniaturization design of the handling robot 10 .
可以理解的是,传统的搬运机器人通过立架结构控制货物取放组件的升降,由于立架不会随货物取放组件的降低而缩小,从而使得搬运机器人占用较大的空间,因此不利于搬运机器人的小型化设计,而本实用新型的实施例的搬运机器人10通过将伸缩组件12设置在货物取放组件13和底盘11之间,可以使得搬运机器人10的结构更加紧凑,且使得搬运机器人10的运动更加灵活。It can be understood that the traditional handling robot controls the lifting of the cargo pick-and-place component through the stand structure. Since the stand will not shrink with the lowering of the cargo pick-and-place component, the handling robot takes up a large space, which is not conducive to handling The miniaturization design of the robot, and the handling robot 10 of the embodiment of the present invention can make the structure of the handling robot 10 more compact by setting the telescopic assembly 12 between the cargo pick-and-place assembly 13 and the chassis 11, and make the handling robot 10 movement is more flexible.
底盘11的下端具有驱动轮(未示出),本实用新型实施例的搬运机器人10可以通过驱动轮的转动实现底盘11的平移和旋转,从而可以提高底盘11移动时的灵活性。The lower end of the chassis 11 has a driving wheel (not shown). The handling robot 10 of the embodiment of the present invention can realize the translation and rotation of the chassis 11 through the rotation of the driving wheel, thereby improving the flexibility of the chassis 11 when moving.
例如,驱动轮为两个,两个驱动轮间隔排布在底盘11的下端,两个驱动轮可以差速运动,以实现底盘11的转向和平移。进一步地,底盘11的下端可以设置从动轮,以辅助底盘11转动,例如,从动轮为万向轮,从而可以使得底盘11的移动效果更好。For example, there are two driving wheels, and the two driving wheels are arranged at intervals at the lower end of the chassis 11 , and the two driving wheels can move at a differential speed to realize steering and translation of the chassis 11 . Further, driven wheels can be provided at the lower end of the chassis 11 to assist the rotation of the chassis 11 , for example, the driven wheels are universal wheels, so that the movement effect of the chassis 11 can be improved.
在一些实施例中,如图1和图2所示,货物取放组件13包括托盘131和运动组件132,托盘131设在伸缩组件12的上端,运动组件132包括第一运动部件1321和第二运动部件1322,第二运动部件1322设在托盘131上,第一运动部件1321设在第二运动部件1322上,第一运动部件1321沿托盘131的纵向(如图1的前后方向)相对于第二运动部件1322可伸出且可缩回以取放货物。第二运动部件1322沿托盘131的横向(如图1的左右方向)相对于托盘131可移动,以调整托盘11存放货物的宽度,从而可以使得托盘11存放不同型号的货物,提高了货物取放组件13的适用范围。In some embodiments, as shown in Figure 1 and Figure 2, the cargo pick-and-place assembly 13 includes a tray 131 and a moving assembly 132, the tray 131 is arranged on the upper end of the telescopic assembly 12, and the moving assembly 132 includes a first moving part 1321 and a second moving part 1321. Moving part 1322, the second moving part 1322 is arranged on the pallet 131, and the first moving part 1321 is arranged on the second moving part 1322, and the first moving part 1321 is relative to the first moving part 1321 along the longitudinal direction of the pallet 131 (as shown in the front-back direction of Figure 1). The two moving parts 1322 can be extended and retracted to pick up and place goods. The second moving part 1322 is movable relative to the pallet 131 along the lateral direction of the pallet 131 (as shown in the left-right direction of FIG. 1 ), so as to adjust the width of the pallet 11 to store goods, so that the pallet 11 can store different types of goods, which improves the pick-and-place of the goods. Scope of application of component 13.
可以理解的是,如图1和图2所示,当搬运机器人10取货时,伸缩组件12控制托盘131的升降,以将托盘131移动至合适高度,第二运动部件1322沿托盘131的横向移动,以将托盘11调整至合适的货物放置宽度,然后第一运动部件1321沿托盘131的纵向伸出,以锁定货物,然后第一运动部件1321沿托盘131的纵向缩回,以将货物放置到托盘131上。It can be understood that, as shown in Figures 1 and 2, when the handling robot 10 picks up the goods, the telescopic assembly 12 controls the lifting of the pallet 131 to move the pallet 131 to a suitable height, and the second moving part 1322 moves along the lateral direction of the pallet 131. Move to adjust the pallet 11 to a suitable width for placing the goods, then the first moving part 1321 stretches out along the longitudinal direction of the pallet 131 to lock the goods, and then the first moving part 1321 retracts along the longitudinal direction of the pallet 131 to place the goods onto tray 131.
同理,如图1和图2所示,当搬运机器人10需要将货物放置到货架20上时,伸缩组件12控制托盘131的升降,以将托盘131移动至合适高度,第一运动部件1321沿托盘131的纵向伸出,以将货物放置到货架20上,然后第二运动部件1322释放货物且沿托盘131的纵向缩回,从而完成货物的放置动作。Similarly, as shown in Figures 1 and 2, when the handling robot 10 needs to place the goods on the shelf 20, the telescopic assembly 12 controls the lifting of the pallet 131 to move the pallet 131 to a suitable height, and the first moving part 1321 moves along the The tray 131 extends longitudinally to place the goods on the shelf 20, and then the second moving part 1322 releases the goods and retracts along the longitudinal direction of the tray 131, thereby completing the action of placing the goods.
在一些实施例中,如图1和图2所示,搬运机器人还包括第一驱动件和第二驱动件(未示出),第二运动部件1322包括两个侧挡板13221,两个侧挡板13221沿托盘131的横向彼此间隔且相对地设在托盘131上,第二驱动件与两个侧挡板13221中的至少一者相连,用于驱动至少一者沿托盘131的横向相对于托盘131移动以改变两个侧挡板13221之间的距离。In some embodiments, as shown in Fig. 1 and Fig. 2, the handling robot further includes a first driving part and a second driving part (not shown), and the second moving part 1322 includes two side fences 13221, and the two side baffles 13221 The baffles 13221 are spaced apart from each other along the transverse direction of the tray 131 and are oppositely arranged on the tray 131. The second driving member is connected to at least one of the two side baffles 13221, and is used to drive at least one of the side baffles 13221 along the transverse direction of the tray 131. The tray 131 moves to change the distance between the two side fences 13221 .
可以理解的是,第二驱动件可以仅与一个侧挡板13221相连,第二驱动件通过驱动单个侧挡板13221沿托盘131的横向相对于托盘131移动以改变两个侧挡板13221之间的距离。或者,第二驱动件与两个 侧挡板13221相连,第二驱动件通过同时驱动两个侧挡板13221沿托盘131的横向相对于托盘131移动以改变两个侧挡板13221之间的距离。It can be understood that the second driving member may be connected to only one side fence 13221, and the second driving member drives a single side fence 13221 to move relative to the tray 131 along the transverse direction of the tray 131 to change the distance between the two side fences 13221. distance. Alternatively, a second driver with two The side fences 13221 are connected, and the second driving member simultaneously drives the two side fences 13221 to move relative to the tray 131 along the transverse direction of the tray 131 to change the distance between the two side fences 13221 .
可选地,第二驱动件为直线电机、丝杠传动机构、齿轮齿条传动机构、皮带传动机构、链传动机构、气缸或液压缸中的一种。例如,第二驱动件为丝杠传动机构,丝杠的一端与一个侧挡板13221相连,丝杠的另一端与另一个侧挡板13221相连,丝杠可以通过电机驱动,以使得两个侧挡板13221相互靠近或相互远离。Optionally, the second driving member is one of a linear motor, a lead screw transmission mechanism, a rack and pinion transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, an air cylinder or a hydraulic cylinder. For example, the second driving part is a lead screw transmission mechanism, one end of the lead screw is connected with one side baffle 13221, and the other end of the lead screw is connected with the other side baffle 13221, and the lead screw can be driven by a motor, so that the two sides The baffles 13221 are close to each other or far away from each other.
如图1和图2所示,第一运动部件1321包括两个臂13211,两个臂13211分别对应地设在两个侧挡板13221上,第一驱动件与两个臂13211相连,以驱动两个臂13211沿托盘131的纵向分别相对于对应的侧挡板13221移动。即,如图1所示,左侧的臂13211可以相对左侧的侧挡板13221移动,右侧的臂13211可以相对右侧的侧挡板13221移动。可选地,第一驱动件为直线电机、丝杠传动机构、齿轮齿条传动机构、皮带传动机构、链传动机构、气缸或液压缸中的一种。As shown in Fig. 1 and Fig. 2, the first moving part 1321 includes two arms 13211, and the two arms 13211 are respectively arranged on the two side baffles 13221 correspondingly, and the first driving part is connected with the two arms 13211 to drive The two arms 13211 respectively move relative to the corresponding side fences 13221 along the longitudinal direction of the tray 131 . That is, as shown in FIG. 1 , the left arm 13211 can move relative to the left side fence 13221 , and the right arm 13211 can move relative to the right side fence 13221 . Optionally, the first driving member is one of a linear motor, a lead screw transmission mechanism, a rack and pinion transmission mechanism, a belt transmission mechanism, a chain transmission mechanism, an air cylinder or a hydraulic cylinder.
可选地,臂13211沿托盘131的纵向的至少一端设有钩体13212,钩体13212沿托盘131的横向可伸出和缩回以钩住和释放货物。可以理解的是,两个臂13211上均设有钩体13212,例如,每个臂13211上设有两个钩体13212,两个钩体13212分别设于臂13211的长度方向的两端,钩体13212可以沿托盘131的横向伸出和缩回,以钩住和释放货物。Optionally, at least one end of the arm 13211 along the longitudinal direction of the tray 131 is provided with a hook body 13212, and the hook body 13212 can extend and retract along the transverse direction of the tray 131 to hook and release the goods. It can be understood that the two arms 13211 are provided with hooks 13212, for example, each arm 13211 is provided with two hooks 13212, and the two hooks 13212 are respectively arranged at both ends of the length direction of the arm 13211, and the hooks The body 13212 can extend and retract along the lateral direction of the tray 131 to hook and release the goods.
可以理解的是,货物取放组件13需要取出货架20上的货物时,然后第一驱动件驱动两个臂13211沿托盘131的纵向伸出并移动至货物的左右两侧,两个臂上的钩体13212伸出以钩住货物,第一驱动件驱动两个臂13211沿托盘131的纵向缩回,以将货物放置到托盘131上。It can be understood that when the goods pick-and-place assembly 13 needs to take out goods on the shelf 20, then the first driving member drives the two arms 13211 to stretch out along the longitudinal direction of the pallet 131 and move to the left and right sides of the goods, and the arms on the two arms The hook body 13212 protrudes to hook the goods, and the first driving member drives the two arms 13211 to retract along the longitudinal direction of the pallet 131 to place the goods on the pallet 131 .
同理,当货物取放组件13需要将托盘上的货物放置到货架20上时,第一驱动件驱动两个臂13211沿托盘131的纵向伸出以将货物移动至货架20上,然后钩体13212缩回,第一驱动件驱动两个臂13211沿托盘131的纵向缩回,从而完成货物的放置动作。Similarly, when the goods pick-and-place assembly 13 needs to place the goods on the pallet on the shelf 20, the first driving member drives the two arms 13211 to extend out along the longitudinal direction of the pallet 131 to move the goods to the shelf 20, and then the hook body 13212 is retracted, and the first driving member drives the two arms 13211 to retract along the longitudinal direction of the tray 131, thereby completing the action of placing the goods.
参考图6,在本公开的一些实施例中,货物取放组件13可以包括基座134和两个间隔设置在基座134上的伸缩叉135,至少两组拨指136分别设置在伸缩叉135的两端。基座134被构造为固定或转动连接在托盘131上,具有朝向两端的开口,伸缩叉135可以沿基座134的延伸方向穿过开口向第一方向或第二方向伸出至容器的对应位置,之后通过伸缩叉135端部设置的拨指136将容器通过开口拉动至基座134上。在放回容器的过程中,伸缩叉135通过拨指136与容器配合之后,在将伸缩叉135向第一方向或第二方向伸出,以通过与伸出方向相反一端设置的拨指136将容器推出,直至将容器推动至对应的存放位置。Referring to FIG. 6 , in some embodiments of the present disclosure, the cargo pick-and-place assembly 13 may include a base 134 and two telescopic forks 135 arranged at intervals on the base 134 , and at least two sets of fingers 136 are respectively arranged on the telescopic forks 135 both ends. The base 134 is configured to be fixedly or rotatably connected to the tray 131, and has openings towards both ends, and the telescopic fork 135 can extend through the opening along the extending direction of the base 134 to the corresponding position of the container in the first direction or the second direction , and then pull the container through the opening onto the base 134 through the finger 136 provided at the end of the telescopic fork 135 . In the process of putting back into the container, after the telescopic fork 135 is matched with the container by the finger 136, the telescopic fork 135 is stretched out to the first direction or the second direction, so that the telescopic fork 135 is extended by the finger 136 provided at the opposite end of the extending direction. The container is pushed out until the container is pushed into the corresponding storage position.
伸缩叉的运动可以通过链轮传动、齿条传动、皮带传动、丝杠螺母等本领域常见的机构实现,本领域技术人员知道其应用到伸缩叉运动的具体方式,在此不再详细说明。The movement of the telescopic fork can be realized by common mechanisms in the field such as sprocket drive, rack drive, belt drive, lead screw nut, etc. Those skilled in the art know the specific way it is applied to the movement of the telescopic fork, so it will not be described in detail here.
在一些实施例中,如图1和图2所示,搬运机器人10还包括第三驱动件(未示出),伸缩组件12为连杆机构121,第三驱动件与连杆机构121相连以驱动连杆机构121沿上下方向伸展或收拢。本实用新型的实施例的搬运机器人10通过将伸缩组件12设置为连杆结构,可以使得搬运机器人10的结构简单,使用时的可靠性较高。In some embodiments, as shown in FIG. 1 and FIG. 2 , the handling robot 10 further includes a third drive member (not shown), the telescopic assembly 12 is a link mechanism 121, and the third drive member is connected with the link mechanism 121 to The driving link mechanism 121 is extended or retracted in the vertical direction. The transfer robot 10 of the embodiment of the present invention can make the transfer robot 10 simple in structure by setting the telescopic assembly 12 as a connecting rod structure, and has high reliability during use.
可选地,如图1所示,连杆机构121的下端通过第三驱动件与底盘11相连,连杆机构121的上端与货物取放组件13相连。连杆机构121包括多个连杆单元1211,多个连杆单元1211沿上下方向依次可枢转地连接,每个连杆单元1211均包括铰接在一起的第一杆12111和第二杆12112,第一杆12111和第二杆12112交叉布置且可枢转地连接,第三驱动件与位于最下面的连杆单元1211相连,用于驱动最下面的连杆单元1211的第一杆12111和第二杆12112相对转动以使连杆机构121沿上下方向伸缩。Optionally, as shown in FIG. 1 , the lower end of the link mechanism 121 is connected to the chassis 11 through the third driving member, and the upper end of the link mechanism 121 is connected to the cargo pick-and-place assembly 13 . The link mechanism 121 includes a plurality of link units 1211, which are pivotally connected sequentially along the up and down direction, and each link unit 1211 includes a first rod 12111 and a second rod 12112 hinged together, The first rod 12111 and the second rod 12112 are arranged crosswise and pivotably connected, and the third driving member is connected with the lowermost link unit 1211 for driving the first rod 12111 and the second link unit 1211 of the lowermost link unit 1211. The two rods 12112 rotate relatively to make the link mechanism 121 expand and contract in the up and down direction.
在本公开的一个实施例中,连杆单元1211的底部和顶部分别与底盘11和托盘131连接。连杆单元1211与第三驱动件相连,以使得第三驱动件驱动连杆单元1211沿上下方向伸缩。In one embodiment of the present disclosure, the bottom and top of the link unit 1211 are respectively connected to the chassis 11 and the tray 131 . The connecting rod unit 1211 is connected with the third driving member, so that the third driving member drives the connecting rod unit 1211 to expand and contract in the vertical direction.
第一杆12111和第二杆12112的顶端和底部通过相互靠近或远离,以增大或减小连杆单元1211的在高度方向上的尺寸。例如当第一杆12111和第二杆12112在水平方向上相互靠近时,连杆单元1211在高度方向上的尺寸增加,由于底盘11始终与工作面接触,托盘131会在第一杆12111和第二杆12112 的带动下沿高度方向上升。同样的道理,第一杆12111和第二杆12112在水平方向相互远离,连杆单元1211在高度方向上的尺寸减小,托盘131在连杆单元1211的带动下往下运动。The top and bottom ends of the first rod 12111 and the second rod 12112 increase or decrease the dimension of the link unit 1211 in the height direction by approaching or moving away from each other. For example, when the first bar 12111 and the second bar 12112 are close to each other in the horizontal direction, the size of the link unit 1211 in the height direction increases. Since the chassis 11 is always in contact with the working surface, the tray 131 will be between the first bar 12111 and the second bar 12111. Two poles 12112 Driven by it, it rises in the height direction. In the same way, the first rod 12111 and the second rod 12112 are separated from each other in the horizontal direction, the size of the link unit 1211 in the height direction is reduced, and the tray 131 moves downwards driven by the link unit 1211 .
在一种实施方式中,第一杆12111、第二杆12112分别设置有两个。In one embodiment, there are two first rods 12111 and two second rods 12112 respectively.
例如,在底盘11上间隔且平行设置有两个第一杆12111和第二杆12112,第一杆12111和第二杆12112铰接在一起,也就说是,共有两套铰接在一起的第一杆12111和第二杆12112,其与上一个实施例中第一杆12111和第二杆12112的运动关系和作用相同,在此不再重复描述。For example, two first rods 12111 and second rods 12112 are arranged at intervals and in parallel on the chassis 11, and the first rods 12111 and the second rods 12112 are hinged together. The movement relationship and function of the rod 12111 and the second rod 12112 are the same as those of the first rod 12111 and the second rod 12112 in the previous embodiment, so the description will not be repeated here.
至少两个第一杆12111的底部通过第一转轴124连接,通过第一转轴124可以使至少两个第一杆12111的底部同步运动,至少两个第二杆12112的底部通过第二转轴125连接。同理,通过第二转轴125可以使至少两个第二杆12112的底部同步运动。第三驱动件设置在第一转轴124和第二转轴125之间,且被构造为带动第一转轴124和第二转轴125以相互远离或靠近的方式运动。The bottoms of at least two first rods 12111 are connected by a first rotating shaft 124, and the bottoms of at least two first rods 12111 can move synchronously through the first rotating shaft 124, and the bottoms of at least two second rods 12112 are connected by a second rotating shaft 125 . Similarly, the bottoms of at least two second rods 12112 can move synchronously through the second rotating shaft 125 . The third driving member is disposed between the first rotating shaft 124 and the second rotating shaft 125 and is configured to drive the first rotating shaft 124 and the second rotating shaft 125 to move away from or approach each other.
例如,当第三驱动件的输出端驱动第一转轴124和第二转轴125以相互远离的方式运动时,与第一转轴124连接的两个第一杆12111的底部和与第二转轴125连接的两个第二杆12112的底部会同步以相互远离的方式运动,使得连杆单元1211的高度尺寸减少,使得承载部向下降的方向运动。For example, when the output end of the third driving member drives the first rotating shaft 124 and the second rotating shaft 125 to move away from each other, the bottoms of the two first rods 12111 connected to the first rotating shaft 124 are connected to the second rotating shaft 125. The bottoms of the two second rods 12112 will synchronously move away from each other, so that the height dimension of the connecting rod unit 1211 is reduced, so that the bearing part moves in a downward direction.
当第三驱动件的输出端驱动第一转轴124和第二转轴125以相互靠近的方式运动时,与第一转轴124连接的两个第一杆12111的底部和与第二转轴125连接的两个第二杆12112的底部会同步以相互靠近的方式运动,使得连杆单元1211的高度尺寸增加,使得承载部向上升的方向运动。When the output end of the third driving member drives the first rotating shaft 124 and the second rotating shaft 125 to move in a manner close to each other, the bottoms of the two first rods 12111 connected with the first rotating shaft 124 and the two bottoms connected with the second rotating shaft 125 The bottoms of the two second rods 12112 will synchronously move towards each other, so that the height dimension of the connecting rod unit 1211 increases, so that the bearing part moves in the upward direction.
由于连杆单元1211是主要的设置两个第一杆12111、两个第二杆12112,可以让两个第一杆12111、两个第二杆12112共同分担顶部和底部的压力,由此增加连杆单元1211的承载能力。Since the connecting rod unit 1211 is mainly provided with two first rods 12111 and two second rods 12112, the two first rods 12111 and the two second rods 12112 can share the pressure on the top and the bottom, thereby increasing the connection. The load capacity of the rod unit 1211.
本实施例以两个第一杆12111与第一转轴124配合,以及两个第二杆12112与第二转轴125配合为例进行了举例说明,实际应用中,第一转轴124还可以连接更多个第一杆,第二转轴还可以连接更多个第二杆,多个第一杆和第二杆两两配合在一起,共同分担来自连杆单元1211顶部和底部的压力,提高连杆单元1211的承载能力,在此不在一一列举。In this embodiment, the cooperation between two first rods 12111 and the first rotating shaft 124 and the cooperation between the two second rods 12112 and the second rotating shaft 125 are used as examples for illustration. In practical applications, the first rotating shaft 124 can also be connected to more One first rod, the second rotating shaft can also connect more second rods, multiple first rods and second rods fit together to share the pressure from the top and bottom of the connecting rod unit 1211, improving the connecting rod unit The carrying capacity of 1211 is not listed here.
在本公开的一个实施方式中,第一转轴124被构造为铰接在位于固定底盘11端面的第一支架111上,第一支架111上开设允许第一转轴124穿过的通孔,第一转轴124可以在通孔内转动。第二转轴125的相对两端设置有第一滚轮126,底盘11上设置有第一导向块112,第一导向块112开设有用于与第一滚轮126配合的第一导向槽1121,第一导向块112可设置有两个,相应地,第一导向槽1121可以设置有两个,两个第一导向槽1121的构造完全相同且开口正对。在此构造下,第一转轴124的一端为转动端,第二转轴125的一端为滑动端,使得连杆单元1211可以沿着第一导向槽1121的导向在底盘11上运动,以增加或减小自身的高度。In one embodiment of the present disclosure, the first rotating shaft 124 is configured to be hinged on the first bracket 111 located on the end surface of the fixed chassis 11, and the first bracket 111 is provided with a through hole allowing the first rotating shaft 124 to pass through. The first rotating shaft 124 can rotate in the through hole. The opposite ends of the second shaft 125 are provided with first rollers 126, the chassis 11 is provided with a first guide block 112, and the first guide block 112 is provided with a first guide groove 1121 for matching with the first roller 126, and the first guide There may be two blocks 112, and correspondingly, two first guide grooves 1121 may be provided, and the two first guide grooves 1121 have identical structures and their openings are facing each other. Under this configuration, one end of the first rotating shaft 124 is a rotating end, and one end of the second rotating shaft 125 is a sliding end, so that the link unit 1211 can move on the chassis 11 along the guidance of the first guiding groove 1121 to increase or decrease Smaller than its own height.
需要说明的是,本实施例中第一转轴124和第二转轴125各自与底盘11的配合关系以及配合位置均可以互换,也即是,第一转轴124和第二转轴125中其中一个与采用上述的方式与底盘11铰接,另一个采用上述的方式与底盘11导向配合,就可以实现上述的运动过程以及运动效果,具体的构造在此不再一一列举。It should be noted that, in this embodiment, the matching relationship and matching position between the first rotating shaft 124 and the second rotating shaft 125 and the chassis 11 can be interchanged, that is, one of the first rotating shaft 124 and the second rotating shaft 125 is compatible with The above-mentioned way is hinged with the chassis 11, and the other is guided and matched with the chassis 11 in the above-mentioned way, so that the above-mentioned movement process and movement effect can be realized, and the specific structure will not be listed here.
同样的道理,至少两个第一杆12111的顶部通过第三转轴连接,至少两个第二杆12112的顶部通过第四转轴连接。第三转轴和第四转轴与第一转轴124和第二转轴125的形状可以相同。In the same way, the tops of at least two first rods 12111 are connected through the third rotating shaft, and the tops of at least two second rods 12112 are connected through the fourth rotating shaft. The third rotating shaft and the fourth rotating shaft may have the same shape as the first rotating shaft 124 and the second rotating shaft 125 .
第三转轴、第四转轴中的其中一个转轴被构造为铰接在位于托盘131端面的第二支架1311上;另一个转轴的相对两端设置有第二滚轮;在托盘131上设置有第二导向块1312,第二导向块1312开设有用于与第二滚轮导向配合的第二导向槽1313;或者是另一个转轴的相对两端设置有第二导向块1312,所述第二导向块1312开设有第二导向槽1313;在托盘131上设置有用于与第二导向槽1313配合的第二滚轮137。One of the third rotating shaft and the fourth rotating shaft is configured to be hinged on the second support 1311 located at the end surface of the tray 131; the opposite ends of the other rotating shaft are provided with second rollers; the tray 131 is provided with a second guide block 1312, the second guide block 1312 is provided with a second guide groove 1313 for guiding and cooperating with the second roller; The second guide slot 1313 ; the tray 131 is provided with a second roller 137 for matching with the second guide slot 1313 .
详细地,参考图8,在本公开的一个实施方式中,第四转轴129被构造为铰接在位于托盘131端面的第二支架1311上,第二支架1311上开设允许第四转轴129穿过的通孔,第四转轴129可以在通孔内转动。第三转轴128的相对两端设置有第二滚轮127,托盘131上设置有第二导向块1312,第二导向块1312开设有用于与第二滚轮127配合的第二导向槽1313,第二导向槽1313可以设置有两个,两个导向 槽的构造完全相同且开口正对。第一导向块112、第二导向块1312形状和尺寸可以分别根据底盘11和托盘131之间的内部结构进行设置,第一导向槽1121和第二导向槽1313的形状也可以根据各自导向块的形状和尺寸进行合理设置,本公开对此不做限制。In detail, referring to FIG. 8 , in one embodiment of the present disclosure, the fourth shaft 129 is configured to be hinged on the second bracket 1311 located on the end surface of the tray 131 , and the second bracket 1311 is opened to allow the fourth shaft 129 to pass through. The through hole, the fourth rotating shaft 129 can rotate in the through hole. The opposite ends of the third shaft 128 are provided with second rollers 127, the tray 131 is provided with a second guide block 1312, the second guide block 1312 is provided with a second guide groove 1313 for matching with the second roller 127, the second guide Slot 1313 can be provided with two, two guiding The slots are identical in construction and have facing openings. The shape and size of the first guide block 112 and the second guide block 1312 can be set according to the internal structure between the chassis 11 and the tray 131 respectively, and the shapes of the first guide groove 1121 and the second guide groove 1313 can also be set according to the respective guide blocks. The shape and size can be reasonably set, which is not limited in the present disclosure.
在本公开的另一个实施方式中,第三转轴被构造为铰接在位于托盘131端面的第二支架上,第二支架上开设允许第三转轴128穿过的通孔,第三转轴128可以在通孔内转动。第四转轴129的相对两端设置有第二滚轮,托盘131上设置有第二导向块,第二导向块开设有用于与第二滚轮配合的第二导向槽,第二导向槽可以设置有两个,两个导向槽的构造完全相同且开口正对。In another embodiment of the present disclosure, the third shaft is configured to be hinged on the second bracket located on the end surface of the tray 131, and a through hole is opened on the second bracket to allow the third shaft 128 to pass through. The third shaft 128 can be Rotate in the through hole. The opposite ends of the fourth rotating shaft 129 are provided with second rollers, the tray 131 is provided with a second guide block, and the second guide block is provided with a second guide groove for cooperating with the second roller, and the second guide groove can be provided with two The two guide grooves have the same structure and the openings are facing each other.
可以理解的是,连杆单元1211可以一个也可以为多个,搬运机器人可以根据实际的应用场景,选择不同数量的连杆单元1211,例如,本实用新型的实施例的搬运机器人10的连杆单元1211为三个。多个所述连杆单元中,位于最下端的连杆单元的底端被构造为与所述底盘配合,位于最上端的连杆单元的顶端被构造为与所述托盘配合。多个连杆单元1211与一个连杆单元的连接方式和运动过程相同,例如多级连杆单元1211中,最下端的连杆单元的底部一端通过第一转轴与底盘铰接,另一端通过第二转轴与第一导向槽、第一滚轮配合;最上端的连杆单元的顶部一端通过第二导向槽、第二滚轮与第三转轴配合,另一端通过第四转轴与托盘铰接。本领域技术人员可以参考一个连杆单元1211与底盘和托盘的配合方式,推导出设置更多个连杆单元1211组合连接的具体结构,由此增加连杆机构的最大上升高度,在此不再详细说明。It can be understood that there can be one or more connecting rod units 1211, and the handling robot can select different numbers of connecting rod units 1211 according to actual application scenarios, for example, the connecting rod of the handling robot 10 in the embodiment of the present utility model Unit 1211 is three. Among the plurality of link units, the bottom end of the lowermost link unit is configured to cooperate with the chassis, and the top end of the uppermost link unit is configured to cooperate with the tray. A plurality of link units 1211 are connected in the same way as a link unit and have the same movement process. For example, in the multi-stage link unit 1211, one end of the bottom of the lowermost link unit is hinged to the chassis through the first rotating shaft, and the other end is connected to the chassis through the second shaft. The rotating shaft cooperates with the first guide groove and the first roller; the top end of the uppermost link unit cooperates with the third rotating shaft through the second guide groove, the second roller and the other end is hinged with the tray through the fourth rotating shaft. Those skilled in the art can refer to the way a link unit 1211 cooperates with the chassis and the tray, and deduce the specific structure of setting more link units 1211 combined connection, thereby increasing the maximum rise height of the link mechanism, which will not be repeated here Detailed description.
例如,在本公开的一个实施方式中,第三驱动件设在底盘11内且第三驱动件的一部分从底盘11内伸出以与最下面的连杆单元1211相连,从而本实用新型实施例的搬运机器人10可以将第三驱动件的部分隐藏在底盘11内,使得搬运机器人10使用时的可靠性较高,且结构设计更加合理。如图3和图4所示,根据本实用新型另一实施例的仓储系统,包括搬运机器人10和多个货架20,相邻货架20之间具有行驶巷道21,行驶巷道21内设有沿上下方向彼此间隔布置的多层纵向轨道22。搬运机器人10为本实用新型实施例的搬运机器人10,搬运机器人10沿纵向轨道可移动,以从货架20上取货物和将货物放到货架20上。For example, in one embodiment of the present disclosure, the third driving member is provided in the chassis 11 and a part of the third driving member protrudes from the chassis 11 to be connected with the lowermost link unit 1211, so that the utility model embodiment The handling robot 10 can hide the part of the third driving member in the chassis 11, so that the handling robot 10 has higher reliability and a more reasonable structural design. As shown in Fig. 3 and Fig. 4, the storage system according to another embodiment of the utility model includes a handling robot 10 and a plurality of shelves 20, and there are driving lanes 21 between adjacent shelves 20, and the driving lanes 21 are provided with upper and lower Direction multilayer longitudinal rails 22 arranged at intervals from each other. The handling robot 10 is the handling robot 10 of the utility model embodiment, and the handling robot 10 can move along the longitudinal track to take goods from the shelf 20 and put the goods on the shelf 20 .
根据本实用新型实施例的仓储系统,由于伸缩组件12设于底盘11上,货物取放组件13设在伸缩组件12的上端,从而搬运机器人10可以通过调整伸缩组件12自身的高度以改变货物取放组件13的取货高度,进而使得搬运机器人10的结构更加紧凑,运动更加灵活,且有利于搬运机器人10的小型化设计。另外,由于行驶巷道21内设有沿上下方向彼此间隔布置的多层纵向轨道22,从而可以便于搬运机器人10沿不同层的纵向轨道22行驶,以对货架20上的货物进行搬运,从而使得仓储系统的存储率更高,并且结构简单,制作成本较低。According to the warehousing system of the embodiment of the utility model, since the telescopic assembly 12 is arranged on the chassis 11, and the goods pick-and-place assembly 13 is arranged on the upper end of the telescopic assembly 12, the handling robot 10 can adjust the height of the telescopic assembly 12 itself to change the loading and unloading of goods. The pick-up height of the placing component 13 further makes the structure of the handling robot 10 more compact, the movement is more flexible, and is conducive to the miniaturization design of the handling robot 10 . In addition, since the multi-layer longitudinal rails 22 arranged at intervals along the up and down direction are arranged in the driving roadway 21, it is convenient for the handling robot 10 to travel along the longitudinal rails 22 of different layers to carry the goods on the shelves 20, so that the warehouse The storage rate of the system is higher, and the structure is simple, and the manufacturing cost is lower.
可选地,如图4所示,仓储系统还包括提升装置30,提升装置30用于在不同层的纵向轨道22之间运送搬运机器人10。例如,提升装置30可以为提升机或吊车,从而可以便于对搬运机器人10进行转运,以使得搬运机器人10可以在不同层的纵向轨道22内行驶。Optionally, as shown in FIG. 4 , the storage system further includes a lifting device 30 for transporting the handling robot 10 between the longitudinal rails 22 of different layers. For example, the lifting device 30 can be a hoist or a crane, so as to facilitate the transfer of the transport robot 10, so that the transport robot 10 can travel in the longitudinal rails 22 of different layers.
在一些实施中,如图3和图4所示,行驶巷道21为多个,仓储系统还包括横向轨道23,横向轨道23用于连通多个行驶巷道21中的相同层的纵向轨道22。搬运机器人10可以通过横向轨道23在多个行驶巷道21中的相同层的纵向轨道22中穿梭。例如,横向轨道23和纵向轨道22可以通过低成本的隔板搭接而成,使得仓储系统的结构更加简单,制作成本更低。In some implementations, as shown in FIG. 3 and FIG. 4 , there are multiple driving lanes 21 , and the storage system further includes a transverse rail 23 for connecting the longitudinal rails 22 of the same layer in the multiple driving lanes 21 . The handling robot 10 can shuttle through the longitudinal rails 22 of the same floor in the multiple driving lanes 21 via the transverse rails 23 . For example, the transverse rail 23 and the longitudinal rail 22 can be formed by overlapping with low-cost partitions, so that the structure of the storage system is simpler and the manufacturing cost is lower.
可选地,如图4所示,横向轨道23为多层,多层横向轨道23沿上下方向彼此间隔布置,多层横向轨道23与多层纵向轨道22一一对应,从而可以进一步地提高搬运机器人10运动时的灵活性,以使得搬运机器人10可以快速地移动至货架20中的目标位置。Optionally, as shown in Figure 4, the transverse rails 23 are multi-layered, and the multi-layer transverse rails 23 are spaced apart from each other along the up and down direction, and the multi-layer transverse rails 23 correspond to the multi-layer longitudinal rails 22 one-to-one, so that the handling can be further improved. The flexibility of the movement of the robot 10 enables the handling robot 10 to quickly move to the target position in the shelf 20 .
可选地,如图4所示,横向轨道23设于纵向轨道22的一端,提升装置30与横向轨道23相连以在不同层的横向轨道23之间运送搬运机器人10。可以理解的是,横向轨道23设于货架20的外周侧且位于纵向轨道22的一端,从而本实用新型的实施例的仓储系统可以不必拆除原有的货架20结构,在货架20的外侧搭建横向轨道23即可,安装方便,使用效果较好。Optionally, as shown in FIG. 4 , the transverse rail 23 is disposed at one end of the longitudinal rail 22 , and the lifting device 30 is connected to the transverse rail 23 to transport the handling robot 10 between the transverse rails 23 on different floors. It can be understood that the transverse rail 23 is arranged on the outer peripheral side of the shelf 20 and is located at one end of the longitudinal track 22, so that the storage system of the embodiment of the present invention does not need to dismantle the original shelf 20 structure, and build a transverse rail on the outside of the shelf 20. The track 23 is enough, the installation is convenient, and the use effect is better.
在一些实施例中,如图4所示,提升装置30包括提升架31和提升板32,提升架31沿上下方向延 伸,提升板32相对于提升架31沿上下方向可移动,以将搬运机器人10转送至不同层的横向轨道23上。例如,提升板32为多个,多个提升板32提升不同的搬运机器人10,从而提高了仓储系统的搬运效率。In some embodiments, as shown in FIG. 4, the lifting device 30 includes a lifting frame 31 and a lifting plate 32, and the lifting frame 31 extends along the vertical direction. Stretching, the lifting plate 32 is movable up and down relative to the lifting frame 31, so as to transfer the handling robot 10 to the transverse rails 23 on different floors. For example, there are multiple lifting plates 32, and the multiple lifting plates 32 lift different transport robots 10, thereby improving the transport efficiency of the storage system.
可选地,如图4所示,提升装置30为多个。例如,提升装置30为两个,其中一个提升装置30设于横向轨道23的一端,另一个提升装置30设于横向轨道23的另一端,从而两个提升装置30可以同时运行,以提高仓储系统的搬运效率。另外,两个提升装置30可以互为备用,当其中一个提升装置30发生损坏时,可以使用另外一个提升装置30对搬运机器人10进行转运,从而提高了仓储系统使用时的可靠性。Optionally, as shown in FIG. 4 , there are multiple lifting devices 30 . For example, there are two hoisting devices 30, wherein one hoisting device 30 is located at one end of the transverse rail 23, and the other hoisting device 30 is located at the other end of the transverse rail 23, so that the two hoisting devices 30 can operate simultaneously to improve the warehouse system. handling efficiency. In addition, the two lifting devices 30 can serve as backups for each other. When one of the lifting devices 30 is damaged, the other lifting device 30 can be used to transfer the handling robot 10, thereby improving the reliability of the storage system in use.
在一些实施例中,如图5所示,仓储系统还包括输送架40和货物装卸装置50,输送架40具有用于沿输送架40的纵向输送货物的输送器,输送器例如为输送辊道、输送带或输送链条,当然,输送器也可以为其他形式的输送装置。In some embodiments, as shown in FIG. 5 , the storage system also includes a conveyor frame 40 and a cargo handling device 50, the conveyor frame 40 has a conveyor for transporting goods along the longitudinal direction of the conveyor frame 40, and the conveyor is, for example, a conveyor roller table , conveyor belt or conveyor chain, of course, the conveyor can also be other forms of conveyor.
货物装卸装置50用于在搬运机器人10和输送架40之间转运货物,货物装卸装置50沿输送架40的纵向(如图5所示的前后方向)设在输送架40的至少一端。The cargo handling device 50 is used to transfer cargo between the handling robot 10 and the transport frame 40 , and the cargo handling device 50 is arranged on at least one end of the transport frame 40 along the longitudinal direction of the transport frame 40 (the front-rear direction as shown in FIG. 5 ).
如图5所示,搬运机器人10将货物送至货物装卸装置50处,货物装卸装置50将货物从搬运机器人10上转运至输送架40上。货物装卸装置50设在输送架40的左端,或者货物装卸装置50设在输送架40的右端,或者货物装卸装置50有两个,两个货物装卸装置50分别设在输送架40的左端和右端。As shown in FIG. 5 , the handling robot 10 delivers the goods to the cargo handling device 50 , and the cargo handling device 50 transfers the goods from the handling robot 10 to the transport frame 40 . Cargo loading and unloading device 50 is located at the left end of conveyor frame 40, or cargo loading and unloading device 50 is located at the right end of conveyor frame 40, or there are two cargo handling devices 50, and two cargo loading and unloading devices 50 are respectively located at the left end and right end of conveyor frame 40 .
本实用新型的实施例的仓储系统在工作时,利用货物输送设备可以将货物从搬运机器人10上转移至输送架40上,而且可以同时转运多个货物,从而提高搬运货物的效率,进而降低搬运货物的人工成本。因此,本实用新型的实施例的仓储系统具有搬运效率高、搬运成本低等优点。When the storage system of the embodiment of the utility model is working, the goods can be transferred from the handling robot 10 to the conveying frame 40 by using the goods conveying equipment, and multiple goods can be transferred at the same time, thereby improving the efficiency of handling goods, thereby reducing the cost of handling. The labor cost of the goods. Therefore, the storage system of the embodiment of the present invention has the advantages of high transport efficiency and low transport cost.
可选地,如图5所示,货物装卸装置50分别设在输送架40的两端且与输送架40成直线排列。可以理解的是,货物装卸装置50分别设在输送架40的左端和右端,两个货物装卸装置50与输送架40成直线排列,以节省更多的仓储空间。Optionally, as shown in FIG. 5 , cargo handling devices 50 are respectively arranged at both ends of the conveying frame 40 and arranged in line with the conveying frame 40 . It can be understood that the cargo handling devices 50 are arranged at the left end and the right end of the conveying frame 40 respectively, and the two cargo handling devices 50 are arranged in a straight line with the conveying frame 40 to save more storage space.
可选地,如图5所示,输送架40为拣选架,仓储系统还包括设在输送架40一侧用于通过人工或机械臂70拣选货物的拣选工位。货物移动至拣选工位时,工作人员可以拣选需要的货物。或者,在拣选工位设有机械臂70,机械臂70能够在拣选工位拣选指定的货物,从而使得本实用新型的实施例的仓储系统的分拣效率更高。Optionally, as shown in FIG. 5 , the conveying frame 40 is a picking frame, and the storage system further includes a picking station arranged on one side of the conveying frame 40 for picking goods manually or by a mechanical arm 70 . When the goods are moved to the picking station, the staff can pick the required goods. Alternatively, a robotic arm 70 is provided at the picking station, and the robotic arm 70 can pick specified goods at the picking station, so that the sorting efficiency of the storage system in the embodiment of the present invention is higher.
在一些实施例中,仓储系统还包括可搬运货架和用于搬运可搬运货架的货架搬运装置(未示出)。可以理解的是,货架搬运装置可以将可搬运货架移动至目标位置,以提高仓储系统存储货物时的灵活性。In some embodiments, the storage system further includes a transportable rack and a rack handling device (not shown) for handling the transportable rack. It can be understood that the shelf handling device can move the transportable shelf to the target position, so as to improve the flexibility of the storage system when storing goods.
可选地,可搬运货架放置在至少一部分货架20下方。换言之,货架的下方设有容纳空间,以用于放置可搬运货架。例如,可搬运货架可以全部放置在货架20的下方,也可以是一部分放置在货架20的下方。本实用新型的实施例的仓储系统通过上述设置可以提高仓储系统的空间利用率,且可以使得货架搬运装置和搬运机器人协同作业,有利于提高仓储系统的搬运效率。Optionally, a transportable shelf is placed below at least a portion of the shelf 20 . In other words, there is a receiving space under the shelf for placing the transportable shelf. For example, all the transportable shelves can be placed under the shelf 20 , or part of them can be placed under the shelf 20 . The storage system of the embodiment of the utility model can improve the space utilization rate of the storage system through the above configuration, and can make the shelf handling device and the handling robot work together, which is beneficial to improve the handling efficiency of the storage system.
例如,货架搬运装置为货架搬运机器人。可以理解的是,搬运机器人和货架搬运装置均为自驱机器人,从而可以提高仓储系统的智能化程度和仓储系统的搬运效率。For example, the shelf handling device is a shelf handling robot. It can be understood that both the handling robot and the shelf handling device are self-propelled robots, which can improve the intelligence of the storage system and the handling efficiency of the storage system.
参考图7,在一些实施例中,仓储系统可以包括理货机器人,将货架20的底部定义为缓存位,缓存位用于存放入库或出库的容器,将货架20上的其他存放容器的位置定义为储存位,理货机器人用于在储存位和缓存位之间转移容器。搬运机器人用于将容器转移至缓存位或者是将缓存位上的容器转移出去。With reference to Fig. 7, in some embodiments, the storage system can include a tally robot, and the bottom of the shelf 20 is defined as a cache position, and the cache position is used to store incoming or outgoing containers, and other storage containers on the shelf 20 Locations are defined as storage slots, and tally robots are used to transfer containers between storage slots and cache slots. The handling robot is used to transfer the container to the buffer position or transfer the container on the buffer position out.
例如,在容器出库时,理货机器人将待出库容易从货架20的储存位转移至缓存位,搬运机器人通过底盘11运动至待出库容器的对应位置,通过伸缩组件12调节货物取放组件13至与带出库容器对应的高度,通过货物取放组件13将容器取出。之后将待出库容器按照预定的出库路线送出。或者是,在容器入库时,搬运机器人先通过货物取放组件13将待入库容器取出,通过底盘11运动至待入库容器对应的货架,伸缩组件12调节货物取放组件13至与缓存位对应的高度,之后将待入库容器转移到缓存位。For example, when the container is out of the warehouse, the tally robot will easily transfer from the storage position of the shelf 20 to the buffer position, and the handling robot will move to the corresponding position of the container to be out of the warehouse through the chassis 11, and adjust the picking and placing of the goods through the telescopic assembly 12. The component 13 reaches the height corresponding to the container taken out of the storehouse, and the container is taken out by the cargo pick-and-place component 13. After that, the containers to be shipped out will be sent out according to the scheduled shipping route. Or, when the container is put into the warehouse, the handling robot first takes out the container to be put into the warehouse through the cargo pick-and-place assembly 13, moves to the shelf corresponding to the put-to-be-warehousing container through the chassis 11, and the telescopic assembly 12 adjusts the pick-and-place assembly 13 of the goods to be in line with the buffer. The height corresponding to the position, and then transfer the storage container to the cache position.
另外,在搬运机器人通过底盘11运动之前,伸缩组件12可以将货物取放组件13调节至最低位置,由此来降低搬运机器人整体的重心,使其运动的过程中更加平稳,在货物取放组件13上的容器也不会发生剧烈的晃动,提高了转运容器的稳定性。在本实用新型的描述中,需要理解的是,术语“中心”、 “纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本实用新型和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本实用新型的限制。In addition, before the handling robot moves through the chassis 11, the telescopic assembly 12 can adjust the cargo pick-and-place assembly 13 to the lowest position, thereby lowering the overall center of gravity of the handling robot and making it more stable during the movement. The container on the 13 will not shake violently, which improves the stability of the transshipment container. In the description of the present utility model, it should be understood that the term "center", "Portrait", "Landscape", "Length", "Width", "Thickness", "Top", "Down", "Front", "Back", "Left", "Right", "Vertical", " The orientation or positional relationship indicated by "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial" and "circumferential" are Based on the orientation or positional relationship shown in the drawings, it is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot It should be understood as a limitation of the present utility model.
此外,术语“第一”、“第二”仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本实用新型的描述中,“多个”的含义是至少两个,例如两个,三个等,除非另有明确具体的限定。In addition, the terms "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. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present utility model, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.
在本实用新型中,除非另有明确的规定和限定,术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或成一体;可以是机械连接,也可以是电连接或彼此可通讯;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,除非另有明确的限定。对于本领域的普通技术人员而言,可以根据具体情况理解上述术语在本实用新型中的具体含义。In this utility model, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection", "fixation" and other terms should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrated; it can be mechanically connected, or electrically connected, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components , unless expressly defined otherwise. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.
在本实用新型中,除非另有明确的规定和限定,第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触,或第一和第二特征通过中间媒介间接接触。而且,第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方,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”可以是第一特征在第二特征正下方或斜下方,或仅仅表示第一特征水平高度小于第二特征。In the present invention, unless otherwise clearly specified and limited, the first feature may be in direct contact with the first feature or the first feature and the second feature through an intermediary indirect contact. Moreover, "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.
在本实用新型中,术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本实用新型的至少一个实施例或示例中。在本说明书中,对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且,描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外,在不相互矛盾的情况下,本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。In this disclosure, the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean specific features, structures, materials described in connection with the embodiment or example Or features are included in at least one embodiment or example of the invention. 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.
尽管上面已经示出和描述了本实用新型的实施例,可以理解的是,上述实施例是示例性的,不能理解为对本实用新型的限制,本领域的普通技术人员在本实用新型的范围内可以对上述实施例进行变化、修改、替换和变型。 Although the embodiments of the present invention have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary and should not be construed as limitations of the present invention, and those skilled in the art are within the scope of the present invention. Variations, modifications, substitutions and variations can be made to the above-described embodiments.

Claims (25)

  1. 一种搬运机器人,其特征在于,包括:底盘、伸缩组件和用于取放货物的货物取放组件,所述底盘的下端具有驱动轮,所述伸缩组件设于所述底盘上,所述伸缩组件的上端与所述货物取放组件相连以支撑所述货物取放组件,所述伸缩组件可伸缩以调节所述货物取放组件的高度。A handling robot, characterized in that it includes: a chassis, a telescopic assembly and a cargo pick-and-place assembly for picking and placing goods, the lower end of the chassis has driving wheels, the telescopic assembly is arranged on the chassis, and the telescopic The upper end of the assembly is connected with the cargo pick-and-place assembly to support the cargo pick-and-place assembly, and the telescopic assembly is telescopic to adjust the height of the cargo pick-and-place assembly.
  2. 根据权利要求1所述的搬运机器人,其特征在于,所述货物取放组件包括托盘、第一运动部件和第二运动部件,所述托盘设在所述伸缩组件的上端,所述第二运动部件设在所述托盘上,所述第一运动部件设在所述第二运动部件上,所述第一运动部件沿托盘的纵向相对于所述第二运动部件可伸出且可缩回以取放货物,所述第二运动部件沿所述托盘的横向相对于所述托盘可移动。The handling robot according to claim 1, wherein the cargo pick-and-place assembly includes a tray, a first moving part and a second moving part, the tray is arranged at the upper end of the telescopic assembly, and the second moving part The parts are arranged on the tray, the first moving part is arranged on the second moving part, and the first moving part is extendable and retractable relative to the second moving part along the longitudinal direction of the tray. For picking and placing goods, the second moving part is movable relative to the pallet along the transverse direction of the pallet.
  3. 根据权利要求2所述的搬运机器人,其特征在于,还包括第一驱动件和第二驱动件,所述第二运动部件包括两个侧挡板,两个所述侧挡板沿所述托盘的横向彼此间隔且相对地设在所述托盘上,所述第二驱动件与两个所述侧挡板中的至少一者相连,用于驱动所述至少一者沿所述托盘的横向相对于所述托盘移动以改变两个所述侧挡板之间的距离,The handling robot according to claim 2, further comprising a first driving member and a second driving member, the second moving part includes two side fences, and the two side fences move along the pallet The transverse direction of each other is spaced apart from each other and arranged on the tray oppositely, and the second driving member is connected with at least one of the two side baffles, and is used to drive the at least one side plate to face each other along the transverse direction of the tray. when said pallet is moved to change the distance between two said side fences,
    所述第一运动部件包括两个臂,两个所述臂分别对应地设在两个所述侧挡板上,所述第一驱动件与两个所述臂相连,以驱动两个所述臂沿所述托盘的纵向分别相对于对应的侧挡板移动。The first moving part includes two arms, and the two arms are correspondingly arranged on the two side baffles, and the first driving member is connected with the two arms to drive the two arms. The arms respectively move relative to the corresponding side fences along the longitudinal direction of the tray.
  4. 根据权利要求3所述的搬运机器人,其特征在于,所述侧挡板和所述臂中的一者上设有滑轨,另一者上设有滑槽,所述滑轨沿所述托盘的纵向延伸且与所述滑槽滑动配合。The handling robot according to claim 3, wherein one of the side fence and the arm is provided with a slide rail, and the other is provided with a slide groove, and the slide rail is provided along the pallet The longitudinal extension and sliding fit with the sliding groove.
  5. 根据权利要求3所述的搬运机器人,其特征在于,所述臂设在所述侧挡板的内侧以便两个所述臂彼此相对。3. The transfer robot according to claim 3, wherein said arms are provided inside said side fences so that two of said arms are opposed to each other.
  6. 根据权利要求3所述的搬运机器人,其特征在于,所述臂沿所述托盘的纵向的至少一端设有钩体,所述钩体沿所述横向可伸出和缩回以钩住和释放所述货物。The transfer robot according to claim 3, wherein at least one end of the arm along the longitudinal direction of the pallet is provided with a hook body, and the hook body can be extended and retracted along the transverse direction to hook and release said goods.
  7. 根据权利要求3所述的搬运机器人,其特征在于,所述第一驱动件和所述第二驱动件中的至少一者为直线电机、丝杠传动机构、齿轮齿条传动机构、皮带传动机构、链传动机构、气缸或液压缸中的一种。The handling robot according to claim 3, wherein at least one of the first driving member and the second driving member is a linear motor, a screw drive mechanism, a rack and pinion drive mechanism, or a belt drive mechanism , chain transmission mechanism, air cylinder or hydraulic cylinder.
  8. 根据权利要求1-7中任一项所述的搬运机器人,其特征在于,还包括第三驱动件,所述伸缩组件为连杆机构,所述第三驱动件与所述连杆机构相连以驱动所述连杆机构沿上下方向伸缩。The handling robot according to any one of claims 1-7, further comprising a third drive member, the telescopic assembly is a link mechanism, the third drive member is connected to the link mechanism to Drive the link mechanism to expand and contract in the up and down direction.
  9. 根据权利要求8所述的搬运机器人,其特征在于,所述连杆机构包括连杆单元,连杆单元包括铰接在一起的第一杆和第二杆,所述第一杆、第二杆分别设置有至少两个,至少两个所述第一杆的底部通过第一转轴连接,至少两个所述第二杆的底部通过第二转轴连接;The handling robot according to claim 8, wherein the linkage mechanism comprises a linkage unit, the linkage unit comprises a first rod and a second rod hinged together, and the first rod and the second rod are respectively There are at least two, the bottoms of at least two of the first rods are connected by a first rotating shaft, and the bottoms of at least two of the second rods are connected by a second rotating shaft;
    所述第一转轴被构造为铰接在位于所述底盘端面的第一支架上;所述第二转轴的相对两端设置有第一滚轮;在所述底盘上设置有第一导向块,所述第一导向块开设有用于与所述第一滚轮导向配合的第一导向槽。The first rotating shaft is configured to be hinged on a first bracket located on the end face of the chassis; first rollers are provided at opposite ends of the second rotating shaft; a first guide block is provided on the chassis, and the The first guide block is provided with a first guide groove for guiding cooperation with the first roller.
  10. 根据权利要求9所述的搬运机器人,其特征在于,至少两个所述第一杆的顶部通过第三转轴连接,至少两个所述第二杆的顶部通过第四转轴连接;The handling robot according to claim 9, wherein the tops of at least two of the first rods are connected by a third shaft, and the tops of at least two of the second rods are connected by a fourth shaft;
    所述第三转轴、第四转轴中的其中一个转轴被构造为铰接在位于托盘端面的第二支架上;另一个转轴的相对两端设置有第二滚轮;在所述托盘上设置有第二导向块,所述第二导向块开设有用于与所述第二滚轮导向配合的第二导向槽;或者是另一个转轴的相对两端设置有第二导向块,所述第二导向块开设 有第二导向槽;在所述托盘上设置有用于与所述第二导向槽配合的第二滚轮。One of the third rotating shaft and the fourth rotating shaft is configured to be hinged on the second bracket located on the end face of the tray; the opposite ends of the other rotating shaft are provided with second rollers; A guide block, the second guide block is provided with a second guide groove for guiding and cooperating with the second roller; or the opposite ends of the other rotating shaft are provided with a second guide block, and the second guide block is provided with There is a second guide groove; the tray is provided with a second roller for cooperating with the second guide groove.
  11. 根据权利要求9所述的搬运机器人,其特征在于,所述连杆机构包括多个所述连杆单元,多个所述连杆单元沿上下方向依次可枢转地连接,多个所述连杆单元中,位于最下端的连杆单元的底端被构造为与所述底盘配合;位于最上端的连杆单元的顶端被构造为与所述托盘配合;所述第三驱动件与位于最下面的连杆单元相连,用于驱动最下面的连杆单元的第一杆和第二杆相对转动以使所述连杆机构沿上下方向伸缩。The handling robot according to claim 9, wherein the link mechanism includes a plurality of link units, and the plurality of link units are pivotably connected in turn along the up and down direction, and the plurality of link units Among the rod units, the bottom end of the lowermost link unit is configured to cooperate with the chassis; the top end of the uppermost link unit is configured to cooperate with the tray; The connecting rod unit is connected to each other, and is used to drive the first rod and the second rod of the lowermost connecting rod unit to rotate relatively so that the connecting rod mechanism expands and contracts in the up and down direction.
  12. 根据权利要求11所述的搬运机器人,其特征在于,所述第三驱动件设在所述底盘内且所述第三驱动件的一部分从所述底盘内伸出以与所述最下面的连杆单元相连。The handling robot according to claim 11, wherein the third driving member is arranged in the chassis and a part of the third driving member protrudes from the chassis to connect with the bottommost connection. The rod unit is connected.
  13. 一种仓储系统,其特征在于,包括:A storage system, characterized in that it comprises:
    多个货架,相邻所述货架之间具有行驶巷道,所述行驶巷道内设有沿上下方向彼此间隔布置的多层纵向轨道;There are a plurality of shelves, and there are driving lanes between the adjacent shelves, and the driving lanes are provided with multi-layer longitudinal rails arranged at intervals along the up and down direction;
    搬运机器人,所述搬运机器人为根据权利要求1-12中任一项所述搬运机器人,所述搬运机器人沿所述纵向轨道可移动,以从所述货架上取货物和将货物放到所述货架上。A handling robot, the handling robot is the handling robot according to any one of claims 1-12, and the handling robot is movable along the longitudinal track to take goods from the shelves and place goods on the shelf.
  14. 根据权利要求13所述的仓储系统,其特征在于,还包括提升装置,所述提升装置用于在不同层的纵向轨道之间运送所述搬运机器人。The storage system according to claim 13, further comprising a lifting device, the lifting device is used for transporting the transfer robot between the longitudinal rails of different layers.
  15. 根据权利要求14所述的仓储系统,其特征在于,所述行驶巷道为多个,所述仓储系统还包括横向轨道,所述横向轨道用于连通多个所述行驶巷道中的相同层的纵向轨道。The storage system according to claim 14, wherein there are a plurality of driving lanes, and the storage system further comprises a transverse track, and the transverse track is used to communicate with the longitudinal direction of the same layer in the plurality of driving lanes. track.
  16. 根据权利要求15所述的仓储系统,其特征在于,所述横向轨道为多层,多层所述横向轨道沿上下方向彼此间隔布置,多层所述横向轨道与多层所述纵向轨道一一对应。The storage system according to claim 15, wherein the transverse rails are multi-layered, and the multi-layered transverse rails are arranged at intervals along the vertical direction, and the multi-layered transverse rails and the multi-layered longitudinal rails are one by one. correspond.
  17. 根据权利要求16所述的仓储系统,其特征在于,所述横向轨道设于所述纵向轨道的一端,所述提升装置与所述横向轨道相连以在不同层的横向轨道之间运送所述搬运机器人。The storage system according to claim 16, wherein the transverse track is arranged at one end of the longitudinal track, and the lifting device is connected with the transverse track to transport the conveyance between transverse tracks of different layers. robot.
  18. 根据权利要求16所述的仓储系统,其特征在于,所述提升装置包括提升架和提升板,所述提升架沿上下方向延伸,所述提升板相对于所述提升架沿上下方向可移动,以将所述搬运机器人转送至不同层的横向轨道上。The storage system according to claim 16, wherein the lifting device comprises a lifting frame and a lifting plate, the lifting frame extends in the up and down direction, and the lifting plate is movable in the up and down direction relative to the lifting frame, To transfer the transfer robot to the transverse rails on different floors.
  19. 根据权利要求16所述的仓储系统,其特征在于,所述提升装置至少有两个,其中一个所述提升装置设于所述横向轨道的一端,另一个所述提升装置设于所述横向轨道的另一端。The storage system according to claim 16, wherein there are at least two lifting devices, one of which is set at one end of the transverse rail, and the other lifting device is set at the transverse track the other end.
  20. 根据权利要求13所述的仓储系统,其特征在于,还包括输送架和货物装卸装置,所述输送架具有用于沿所述输送架的纵向输送货物的输送器,货物装卸装置用于在所述搬运机器人和所述输送架之间转运货物,所述货物装卸装置沿所述输送架的纵向设在所述输送架的至少一端。The storage system according to claim 13, further comprising a conveyor frame and a cargo handling device, the conveyor frame has a conveyor for conveying goods along the longitudinal direction of the conveyor frame, and the cargo handling device is used for The goods are transferred between the handling robot and the conveying frame, and the cargo handling device is arranged on at least one end of the conveying frame along the longitudinal direction of the conveying frame.
  21. 根据权利要求20所述的仓储系统,其特征在于,所述货物装卸装置分别设在所述输送架的两端且与所述输送架成直线排列。The storage system according to claim 20, wherein the cargo handling devices are respectively arranged at both ends of the conveying frame and arranged in line with the conveying frame.
  22. 根据权利要求20所述的仓储系统,其特征在于,所述输送架为拣选架,所述仓储系统还包括设在所述输送架一侧用于通过人工或机械臂拣选货物的拣选工位。The storage system according to claim 20, wherein the conveying frame is a picking frame, and the storage system further comprises a picking station arranged on one side of the conveying frame for picking goods manually or by a mechanical arm.
  23. 根据权利要求13-20中任一项所述的仓储系统,其特征在于,还包括可搬运货架和用于搬运所述可搬运货架的货架搬运装置。The storage system according to any one of claims 13-20, further comprising a transportable shelf and a shelf transporting device for transporting the transportable shelf.
  24. 根据权利要求23所述的仓储系统,其特征在于,所述可搬运货架放置在至少一部分所述货架下方。The storage system according to claim 23, wherein the transportable rack is placed under at least a part of the rack.
  25. 根据权利要求23所述的仓储系统,其特征在于,所述货架搬运装置为货架搬运机器人。 The storage system according to claim 23, characterized in that, the shelf handling device is a shelf handling robot.
PCT/CN2023/073263 2022-01-29 2023-01-19 Carrying robot and warehousing system comprising same WO2023143406A1 (en)

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