WO2023246513A1

WO2023246513A1 - Transfer robot, sorting system and warehouse system

Info

Publication number: WO2023246513A1
Application number: PCT/CN2023/098924
Authority: WO
Inventors: 邢志伟; 牛星宇; 王海超; 秦智慧
Original assignee: 北京极智嘉科技股份有限公司
Priority date: 2022-06-20
Filing date: 2023-06-07
Publication date: 2023-12-28

Abstract

A transfer robot, a sorting system and a warehouse system. The transfer robot comprises: a chassis assembly (11); a portal assembly (12), which is arranged on the chassis assembly; a first pick-and-place assembly (13); and a second pick-and-place assembly (15), wherein the first pick-and-place assembly and the second pick-and-place assembly are arranged on the portal assembly, each of the first pick-and-place assembly and the second pick-and-place assembly moves in a height direction along the portal assembly, the first pick-and-place assembly is used for picking up and placing down a first container, and the second pick-and-place assembly is used for picking up and placing down a second container. By means of the first pick-and-place assembly and the second pick-and-place assembly, two containers of the same height or different heights on the same carrier or different carriers can be picked up and placed down, so that the working efficiency of the transfer robot during warehouse sorting is improved.

Description

Handling robots, sorting systems and warehousing systems

This application is required to be submitted to the China Patent Office on June 20, 2022, with the application number 2022215488677, and the utility model name is "Handling Robot and Sorting System". It is submitted to the China Patent Office on January 12, 2023, with the application number 2023201189316. The priority of a new Chinese patent application titled "Handling Robot and Warehousing System", the entire content of which is incorporated into this application by reference.

Technical field

The present disclosure relates to the technical field of warehousing and logistics, and in particular to handling robots, sorting systems and warehousing systems.

Background technique

Currently, in warehousing and logistics systems, in scenarios where robots are used to respond to orders, robots are required to take out goods from different locations in the warehouse to the outside of the warehouse. After the staff at the workstation completes picking the goods, the robots then carry them back to the original location. The invalid path of robot movement is increased, and the efficiency of responding to orders is low.

Before or after the robot carries the goods, the containers in the warehouse need to be sorted. The sorting of the containers in the warehouse is mainly done manually. However, due to the wide variety of goods stored in the warehouse, manual sorting is difficult and error-prone. , inconvenient for manual operation.

Contents of the invention

In order to solve the problems existing in the prior art, the present disclosure provides a handling robot, a sorting system and a storage system.

According to a first aspect of the present disclosure, a handling robot is provided, including:

chassis components;

A mast assembly, the mast assembly is arranged on the chassis assembly;

A first pick-and-place component and a second pick-and-place component. The first pick-and-place component and the second pick-and-place component are provided on the door frame assembly. The first pick-and-place component and the second pick-and-place component The components all move in the height direction along the door frame assembly, wherein the first picking and placing component is used to pick and place the first container, and the second picking and placing component is used to pick and place the second container.

According to a second aspect of the present disclosure, a storage system is provided, including a storage area, a workstation and the above-mentioned handling robot; the handling robot is configured to transfer containers between the storage area and the workstation; the workstation is Constructed for handling containers.

According to a third aspect of the present disclosure, a sorting system is provided, including:

A first transport robot, the first transport robot adopts the above-mentioned transport robot;

A carrier is provided with at least two columns and at least one row of storage locations.

One beneficial effect of the present disclosure is that the first picking and placing assembly and the second picking and placing assembly can be used to pick and place two containers on the same carrier or different carriers with the same height or different heights, which improves the performance of the handling robot. Work efficiency when tallying goods in the warehouse.

Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings.

Description of the drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

Figure 1 is a schematic structural diagram of a handling robot provided by an embodiment of the present disclosure;

Figure 2 is a schematic structural diagram of a first lifting platform and a second lifting platform provided by an embodiment of the present disclosure;

Figure 3 is a schematic structural diagram of a first lifting mechanism and a second lifting mechanism provided by an embodiment of the present disclosure;

Figure 4 is a partial enlarged view of A in Figure 1;

Figure 5 is a schematic structural diagram of a support mechanism provided by an embodiment of the present disclosure;

Figure 6 is a schematic diagram of a handling robot working between carriers according to an embodiment of the present disclosure;

Figure 7 is a schematic structural diagram of another handling robot provided by an embodiment of the present disclosure;

Figure 8 is a schematic cross-sectional structural diagram of a handling robot provided by an embodiment of the present disclosure;

Figure 9 is a partially enlarged structural schematic diagram of a door frame assembly provided by an embodiment of the present disclosure;

Figure 10 is a schematic structural diagram of the first pick and place component provided by an embodiment of the present disclosure;

Figure 11 is a top view of the first pick and place assembly provided by an embodiment of the present disclosure;

Figures 12 to 16 are schematic diagrams of container storage locations in tallying scenarios in embodiments of the present disclosure;

Figure 17 is a schematic diagram of a sorting system provided by an embodiment of the present disclosure.

The one-to-one correspondence between the names and reference signs of each component in Figures 1 to 17 is as follows:
11. Chassis assembly; 12. Mast assembly; 21. First mast; 22. Second mast; 3. Third pick-and-place mechanism; 31. First lifting platform; 32. First lifting mechanism; 320. A base plate; 321, the first gear; 322, the chain; 331, the first base; 332, the first telescopic fork; 333, the first finger; 334, the first push finger; 35, support mechanism; 4, the first Four pick-and-place mechanisms; 41. Second lifting platform; 42. The second lifting mechanism; 420, the second base plate; 421, the second gear; 431, the second base; 432, the second telescopic fork; 433, the second finger; 434, the second push finger; 51, the first Cache position; 52. Second cache position; 61. First carrier; 62. Second carrier; 1. First handling robot; 11. Chassis assembly; 12. Gantry assembly; 13. First pick and place assembly; 131. Fixed plate; 132. Fixed frame; 133. First sprocket mechanism; 134. Cross beam; 135. Second sprocket mechanism; 136. Clamp; 14. First lifting component; 141. Lifting plate; 142. Gear; 143. Driven wheel; 144. Auxiliary wheel; 145. Base; 15. Second pick-and-place component; 16. Second lifting component; 2. Second handling robot; 39. Vehicle; 49. Workstation; 501. First Container; 502. Second container.

Detailed ways

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions, and numerical values set forth in these examples do not limit the scope of the disclosure unless otherwise specifically stated.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application or uses.

Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered a part of the specification.

It should be noted that similar reference numerals and letters refer to similar items in the following figures, so that once an item is defined in one figure, it does not need further discussion in subsequent figures.

Specific embodiments of the present disclosure will be described below in conjunction with the accompanying drawings.

In this article, "upper", "lower", "front", "back", "left", "right", etc. are only used to express the relative positional relationship between related parts, but not to limit the absolute position of these related parts. .

In this article, "first", "second", etc. are only used to distinguish each other, but do not indicate the degree of importance, order, or the prerequisite for the existence of each other.

In this article, "equal", "identical", etc. are not limitations in a strict mathematical and/or geometric sense, but also include errors that are understandable by those skilled in the art and allowed in manufacturing or use.

The present disclosure provides a handling robot, which includes a chassis assembly; a gantry assembly, the gantry assembly is provided on the chassis assembly; a first pick-and-place assembly, a second pick-and-place assembly, the first pick-and-place assembly The assembly and the second pick-and-place assembly are arranged on the gantry assembly, and both the first pick-and-place assembly and the second pick-and-place assembly move in the height direction along the gantry assembly, wherein the The first picking and placing component is used to pick and place the first container, and the second picking and placing component is used to pick and place the second container.

Specifically, the handling robot can move to the storage area to perform pick-and-place work. The storage area can include multiple carriers and lanes formed by adjacent carriers. Containers can be stored on the carrier, and the containers can be containers used to load goods in the logistics field, including but not limited to boxes, pallets, packaging boxes, etc., which are not limited in this disclosure.

Further, the mast assembly is disposed on the chassis assembly and is configured to extend in a height direction from the chassis assembly. The extending height of the mast assembly may be consistent with or exceed the height of the carrier. The first pick-and-place component and the second pick-and-place component are provided on the gantry assembly, and can be set on one side of the gantry assembly, or respectively on both sides of the gantry assembly; when the first pick-and-place component and the second pick-and-place component When the placing assembly is arranged on one side of the gantry assembly, the first picking and placing assembly and the second picking and placing assembly can be arranged along the height direction of the gantry assembly. That is to say, in the height direction, the first picking and placing assembly can is arranged above the second pick-and-place component, or the first pick-and-place component is arranged above the second pick-and-place component. The first pick-and-place component and the second pick-and-place component can handle the first container and the second container of different heights. Pick and place separately. When respectively disposed on both sides of the gantry assembly, the first pick-and-place assembly is disposed on one side of the gantry assembly, and the first pick-and-place assembly is configured to move along the height direction of the gantry assembly, so that the first pick-and-place assembly The placing assembly can pick and place the first container at different height positions, the second picking and placing assembly is provided on the other side of the door frame assembly, and the second picking and placing assembly is also configured to move along the height direction of the door frame assembly, so that the second picking and placing assembly can move along the height direction of the door frame assembly. The two pick-and-place components can pick and place second containers of different heights. It should be noted that the “first” and “second” in this disclosure are only defined for the convenience of distinguishing two pick-and-place components, and are not intended to limit the pick-and-place components. In the following, this disclosure refers to the first pick-and-place component. An example is provided above the second pick-and-place component.

Furthermore, the first pick-and-place assembly and the second pick-and-place assembly are configured to move in the height direction along the gantry assembly, and the two pick-and-place assemblies can move synchronously or independently. The first pick-and-place assembly and the second pick-and-place assembly are configured to extend outward respectively to complete the pick-and-place of the first container and the second container. That is to say, the first pick-and-place assembly and the second pick-and-place assembly can respectively move along the extension direction of the door frame assembly to the storage height of their respective corresponding containers according to their respective pick-and-place requirements, and then respectively extend outward to store the corresponding containers. The corresponding containers are taken out from the vehicle, or the corresponding containers are stored on the vehicle.

In an application scenario of the present disclosure, the storage area can have a higher spatial height. Correspondingly, higher carriers can be set up according to the spatial height of the storage area. The carriers include a matrix arrangement in the height direction and the horizontal direction. Multiple storage locations, and in the height direction, all storage locations can be divided into storage locations located at high locations and storage locations located at low locations.

When the handling robot needs to pick up and place containers at different storage heights on the carrier, or needs to pick up and place the same or When two containers of different heights are picked and placed, the handling robot can move to the container and the corresponding position through the chassis assembly. The first pick-and-place assembly can move along the gantry assembly to the corresponding height of the container, and take out the container by extending. Or store it in the corresponding location of the container. Afterwards, the handling robot moves and performs the picking and placing operation of the container through the second picking and placing mechanism, wherein the movement process of picking and placing the container by the second picking and placing assembly is the same as that of the first picking and placing assembly. It should be noted that when the first pick-and-place component and the second pick-and-place component are used on a high-level carrier, the first pick-and-place component is mainly responsible for taking out a container with a higher height on the carrier, or storing the container to a higher height. On the higher storage position; the second pick-and-place component is mainly responsible for placing the lower-height container on the carrier or storing the container on the lower-height storage position. When the containers that the first pick-and-place component and the second pick-and-place component each need to pick and place are located in the same row of carriers at different heights, or the opposite rows of carriers on both sides of the tunnel are at different heights, the first pick-and-place component can compare The second pick-and-place assembly can pick and place lower containers. That is to say, the first pick-and-place component and the second pick-and-place component can move to respective corresponding containers in the height direction at the same time, and pick and place the respective corresponding containers independently. It should be noted that when performing a container picking and placing operation, if the first picking and placing mechanism and the second picking and placing mechanism cannot accurately grasp the container, the handling robot can adjust its posture by moving to ensure that the first picking and placing mechanism and the second picking and placing mechanism can accurately grasp the container. The placing mechanism accurately picks and places the container.

Further, the mast assembly 12 may include a first mast 21 disposed on the chassis assembly 11; a second mast 22 disposed on the chassis assembly 11; on the first mast 21 and configured to move in the height direction along the first mast 21 . The first pick-and-place component 13 and the second pick-and-place component 15 are provided on the second gantry 22 and are configured to move along the second gantry 22 in the height direction.

During specific implementation, the first pick-and-place component 13 and the second pick-and-place component 15 may be configured to be disposed on the second door frame 22 through a first lifting mechanism and a second lifting mechanism respectively. The second door The rack 22 is arranged on the first door frame 21 through a third lifting mechanism. The first pick and place assembly 13, the second pick and place assembly 15 and the second door frame 22 are configured to be controlled by respective driving devices. independent movement in the height direction. That is to say, the first pick-and-place assembly 13 and the second pick-and-place assembly 15 are configured to be disposed on the second gantry 22 through the first lifting mechanism and the second lifting mechanism respectively, and the second gantry 22 can be moved through the third lifting mechanism. The mechanism is arranged on the first mast 21, and the third lifting mechanism can drive the second mast 22 to move in the height direction relative to the first mast 21. The first picking and placing assembly 13 , the second picking and placing assembly 15 and the second gantry 22 are configured to move independently in the height direction controlled by respective driving devices, that is, the first picking and placing assembly 13 , the second picking and placing assembly 15 The movements between the second mast 22 and the second mast 22 are independent and have no correlation with each other. The first lifting mechanism, the second lifting mechanism, and the third lifting mechanism may be common mechanisms in the field such as sprocket transmission mechanisms, rack transmission mechanisms, screw nut mechanisms, etc., which will not be further described here.

In addition, the first pick-and-place assembly 13 and the second pick-and-place assembly 15 can also be configured to be disposed on the second gantry 22 through a first lifting mechanism and a second lifting mechanism respectively, and also include a driving device, so The driving device is configured to drive the second mast 22 to move in the height direction along the first mast 21, and the second mast 22 drives the second mast 22 through the first lifting mechanism during the movement. The first pick-and-place component 13 moves synchronously in the height direction relative to the second gantry 22 , or drives the second pick-and-place component 15 in the height direction relative to the second gantry 22 through the second lifting mechanism. synchronous movement in the direction. That is to say, the first pick-and-place assembly 13 and the second pick-and-place assembly 15 are configured to be disposed on the second gantry 22 through the first lifting mechanism and the second lifting mechanism respectively. The handling robot also includes a driving device, and the driving device is It is configured to drive the second door frame 22 to move in the height direction along the first door frame 21. During the movement, the second door frame 22 drives the first pick-and-place assembly 13 relative to the second door frame 22 through the first lifting mechanism. synchronous movement in the height direction, or the second lifting mechanism drives the second pick-and-place assembly 15 to synchronously move in the height direction relative to the second mast 22 .

In this embodiment, one of the first lifting mechanism and the second lifting mechanism is in transmission cooperation with the second gantry 22. When the driving device drives the second gantry 22 to move along the first gantry 21, the second gantry 22 moves along the first gantry 21. The force of the movement of the mast 22 will be transmitted to the first lifting mechanism or the second lifting mechanism, so that the first lifting mechanism or the second lifting mechanism can drive the respective pick-and-place components to move along the second mast 22 in the height direction.

For example, the second mast 22 is arranged on the first mast 21 through a third lifting mechanism. The third lifting mechanism may be one of chain transmission, gear transmission, and roller screw transmission. The driving device is transmission connected with the third lifting mechanism, and the driving device can drive the third lifting mechanism to drive the second mast 22 to move in the height direction relative to the first mast 21 . When the second mast 22 rises in the height direction, the first lifting mechanism drives the first pick and place component 13 to make corresponding movements, while the second lift mechanism is controlled by another driving device to drive the second pick and place. Component 15 moves. Based on this, the second gantry 22 and the first picking and placing assembly 13 can be coupled together, so that a linkage is generated between them, and the second picking and placing assembly 15 and the first picking and placing assembly 13 move independently. In this embodiment, the first pick-and-place assembly 13 and the second gantry 2 are driven by the same power source. Compared with the previous embodiment, the installation of one driving device is reduced, thereby reducing the cost.

Based on the same principle, in another embodiment of the present disclosure, when the second mast 22 rises in the height direction, the second lifting mechanism will drive the second pick-and-place assembly 15 to make corresponding movements, and the first lifting mechanism The mechanism is controlled by another driving device to drive the first pick-and-place component 13 to move. The second pick-and-place assembly 15 and the second gantry 22 move synchronously driven by the same power source. The synchronous movement process of the second pick-and-place assembly 15 and the second gantry 22 is the same as that of the first pick-and-place assembly 13 and the second gantry 22 described above. The process for the two masts 22 is the same and will not be described in detail here.

Furthermore, support mechanisms 35 are respectively provided on opposite sides of the first pick-and-place component 13 and/or the second pick-and-place component 15, so The support mechanism 35 is configured to extend to abut or disengage from the carriers located on opposite sides of the transport robot.

During specific implementation, supporting mechanisms 35 are provided on opposite sides of the first lifting platform 31 of the first pick-and-place assembly 13 respectively. The supporting mechanisms 35 are configured to extend to collide with or disengage from the carriers located on opposite sides of the transport robot. For example, taking a transport robot as a basis, the transport robot has two carriers in a first direction and a second direction. The first lifting platform 31 is provided with two support mechanisms 35 respectively facing the first direction and the second direction. The two support mechanisms 35 respectively extend in the first direction and the second direction to offset the carriers in the respective directions, thereby fixing the first lifting platform 31 between the two carriers and indirectly moving the first pick-and-place assembly. 13 is integrally fixed between the two carriers, thereby improving the stability of the first pick-and-place assembly 13 and thereby improving the stability of the third pick-and-place mechanism 3 when performing the pick-and-place action. In addition, when the first pick-and-place assembly 13 completes the pick-and-place operation, the two support mechanisms 35 can be retracted to their original positions and separated from the two carriers. After the first lifting platform 31 is unfastened, subsequent work can be performed. In one embodiment of the present disclosure, one of the two support mechanisms 35 extends to one side of a single carrier. For example, when a handling robot picks and places a container on a single-sided carrier, the support mechanism 35 is in contact with the carrier. One end of the contact can be provided with a magnetic attraction device, which can be a magnet or an electromagnet, etc. A support mechanism 35 extends toward the direction of the carrier and offsets the carrier, which can also play a role in fixing the pick-and-place assembly. In addition, the end of the support mechanism 35 in contact with the carrier can also be configured as a grabber device. The support mechanism 35 extends to one side and grasps the corresponding position of the carrier, preventing or reducing the need for the first pick-and-place assembly 13 to take the load. The shaking caused by the release action.

The structures of the second pick-and-place assembly 15 and the first pick-and-place assembly 13 are exactly the same. Those skilled in the art can deduce the structure of the support mechanism in the second pick-and-place assembly 15 based on the settings of the support mechanism 35 in the first pick-and-place assembly 13 . The specific structure and movement method will not be repeated here.

In practical applications, the extension direction of the first pick-and-place component 13 and/or the second pick-and-place component 15 is configured to be perpendicular to the walking direction of the handling robot. That is to say, the chassis assembly 11 can move along the extension direction of the tunnel, and the extension direction of the first pick-and-place component 13 and the second pick-and-place component 15 is the direction of the carriers on both sides of the tunnel, or the direction of the carriers on the same side, Therefore, the extension direction of the first pick and place component 13 and/or the second pick and place component 15 is configured to be perpendicular to the walking direction of the handling robot.

In an optional embodiment of this specification, the first pick-and-place assembly 13 includes a first carrying base for carrying the container and a first pick-and-place mechanism provided on the first carrying base; The two pick-and-place components 15 include a second carrying base for carrying the container and a second pick-and-place mechanism provided on the second carrying base.

On this basis, the first pick-and-place mechanism is configured to pick and place the first container by sucking, clamping, pushing, pulling, or hooking; the second pick-and-place mechanism is configured to pick and place the first container by sucking, clamping, or hooking. The second container can be picked up and placed by holding, pushing, pulling or hooking. Moreover, the structures of the first picking and placing mechanism and the second picking and placing mechanism are the same or different.

That is to say, the first pick and place assembly 13 includes a first carrying base for carrying the first container and a first picking and placing mechanism provided on the first carrying base. The first pick-and-place mechanism can transfer the first container on the carrier to the first carrying base, or transfer the first container out of the first carrying base. The first pick-and-place mechanism is configured to pick-and-place the first container by sucking, clamping, pushing, pulling, or hooking. The above-mentioned transfer forms are all conventional transfer forms in the prior art. The present disclosure is specific to the first pick-and-place mechanism. The specific pick-and-place form and structure are not specifically limited, and any structure in the prior art that can realize the pick-and-place operation of the first container can be referred to. This embodiment also includes a second pick-and-place assembly 15. The second pick-and-place assembly 15 includes a second carrying base for carrying the second container and a second pick-and-place mechanism provided on the second carrying base. Both the first pick-and-place mechanism and the second pick-and-place mechanism can adopt the same structure to pick and place the container. In practical applications, the first pick-and-place component 13 and the second pick-and-place component 15 can be provided with pick-and-place mechanisms of the same structure or different structures according to the actual situation, and there is no limit to this.

In practical applications, the first pick-and-place mechanism and the second pick-and-place mechanism can adopt the same structure, which is more suitable for picking and placing containers in adjacent storage locations on the carrier, because the first pick-and-place mechanism and the second pick-and-place mechanism can Driven by their respective lifting components, they move independently, so adjacent containers with the same height or adjacent containers with different heights can be picked and placed to improve the handling efficiency of the same type of containers by the handling robot.

During specific implementation, the structure of the first pick-and-place mechanism includes a fixed plate 131, a first telescopic mechanism, a second telescopic mechanism and a clamping component. The first pick-and-place mechanism is configured to perform two-level telescopicity and clamping. Containers are picked and placed. In detail, the first telescopic mechanism includes a fixed frame 132 and a first sprocket mechanism 133. The fixed frame 132 can be guided and matched on the fixed plate 131. The first sprocket mechanism 133 is provided between the fixed plate 131 and the fixed frame 132, so that The first sprocket mechanism 133 can drive the fixed frame 132 to move relative to the fixed plate 131 to achieve one-level expansion and contraction. Those skilled in the art know how to realize this movement through a sprocket mechanism, and the specific transmission process will not be described again.

The second telescopic mechanism is arranged on the fixed frame 132 and moves synchronously with the fixed frame 132 . The second telescopic mechanism includes a cross beam 134 and a second sprocket mechanism 135. The cross beam 134 is guided and matched on the fixed frame 132. The second sprocket mechanism 135 is disposed between the fixed frame 132 and the cross beam 134. The second sprocket mechanism 135 can drive The cross beam 134 moves relative to the fixed frame 132 to achieve secondary expansion and contraction. Those skilled in the art know how to realize this movement through a sprocket mechanism, and the specific transmission process will not be described again. The clamping mechanism is arranged on the cross beam 134 and moves synchronously with the cross beam 134 . The clamping mechanism includes two oppositely arranged clamping plates 136, and the two clamping plates 136 can move toward or away from each other to achieve Pick and place containers.

In this embodiment, the implementation form of the second pick-and-place component 15 is the same as that of the first pick-and-place component 13. Those skilled in the art can completely implement it based on the foregoing description, and will not be described again here.

In another embodiment of the present disclosure, the first pick-and-place component 13 and the second pick-and-place component 15 can adopt different structures and can be used to pick and place different types of containers. For example, the first pick-and-place component 13 can adopt a suction method. To pick and place the container, the second pick-and-place component 15 adopts a push-pull method to pick and place the container, which will not be described in detail here.

When the handling robot performs a container picking and placing operation, the first picking and placing component 13 and the second picking and placing component 15 are configured to respectively pick up the first container and the second picking and placing component located on the carrier storage position according to instructions. The container is transferred to the target position; or the first container and the second container located at the target position are respectively transferred to the storage position of the carrier. The target location may be a carrier cache location located at the bottom of the carrier.

The following is a detailed description of the tallying process of the handling robot based on several tallying scenarios.

(1) The first container and the second container are located in the storage positions of two adjacent columns on the carrier, or are located in the positions of two adjacent columns of the target position. That is to say, before tallying, the first container 501 and the second container 502 are located in the storage positions of two adjacent columns on the carrier, and the first pick-and-place assembly 13 and the second pick-and-place assembly 15 are respectively arranged on the door frame assembly. In the case of both sides, the handling robot responds to the instruction and moves to positions where the first pick-and-place component 13 and the second pick-and-place component 15 respectively correspond to the rows of the first container 501 and the second container 502 on the storage position. After moving into position, the first lifting component 14 drives the first picking and placing component 13 to lift and lower to a position corresponding to the first container 501. Then the first picking and placing component 13 can pick and place the first container 501 through its own action. At the same time, the second lifting component 16 drives the second picking and placing component 15 to lift and lower to a position corresponding to the second container 502, and then the second picking and placing component 15 can pick and place the second container 502 through its own action. The actions of the first pick and place component 13 and the second pick and place component 15 are independent, and they will not affect each other. For example, the first container 501 and the second container 502 can be simultaneously taken out to their respective carrying seats through the first pick-and-place assembly 13 and the second pick-and-place assembly 15 .

In addition, when the first pick-and-place assembly 13 and the second pick-and-place assembly 15 are disposed on one side of the gantry assembly, the handling robot moves in response to the instruction to align the first pick-and-place assembly 13 with the first container 501 on the storage position. After moving into position, the first lifting component 14 drives the first picking and placing component 13 to lift and lower to the position corresponding to the first container 501. After that, the first picking and placing component 13 can pick and place the first container through its own action. 501. After completing the picking and placing of the first container 501, the handling robot can move again to a position where the second picking and placing assembly 15 corresponds to the row of the second container 502 on the storage position. After being moved into position, the second lifting component 16 drives the second picking and placing component 15 to lift and lower to a position corresponding to the second container 502, and then the second picking and placing component 15 can pick and place the second container 502 through its own action. It should be noted that when moving, the handling robot can move forward and backward, and turn in place, etc.

(2) The first container and the second container are respectively located on storage positions at least one row apart on the carrier; the first pick-and-place component 13 is configured to move the first container on the storage position according to instructions. After taking out or putting back, the robot moves to a position where the second pick-and-place component 15 corresponds to the row of the second container on the storage position. The second pick-and-place component 15 is configured to move the second container to the storage position according to instructions. The second container is taken out or put back; or, the second pick and place component 15 is configured to take out or put back the second container on the storage position according to the instruction, and the robot moves to make the first The position of the pick-and-place component 13 corresponds to the column of the first container on the storage position, and the first pick-and-place component 13 is configured to take out or put back the first container on the storage position according to instructions.

That is to say, before tallying, the first container 501 and the second container 502 are located on the storage position at least one row apart on the carrier, and the handling robot moves in response to the instruction to align the first pick-and-place assembly 13 with the first container 501 on the storage position. At the position corresponding to the row, after the first container 501 is taken out through the cooperation of the first lifting component 14 and the first pick-and-place component 13, the handling robot moves to align the second pick-and-place component 15 with the row of the second container 502 on the storage position. At the corresponding position, the second container 502 on the storage position is taken out through the cooperation of the second lifting component 16 and the second pick-and-place component 15 . Of course, based on the above disclosure, the second container 502 can also be taken out first, and then the first container 501, which will not be described in detail here. It should be noted that when moving, the handling robot can move forward and backward, and turn in place, etc.

(3) The first container and the second container are respectively located on the carrier cache position at least one column apart; the first pick and place component 13 is configured to move the third container on the carrier cache position according to the instruction. After a container is taken out or put back, the robot moves to a position where the second pick-and-place component 15 corresponds to the column of the second container on the carrier buffer position. The second pick-and-place component 15 is configured to operate according to instructions. Take out or put back the second container on the carrier cache position; or, the second pick and place component 15 is configured to take out or put back the second container on the carrier cache position according to the instruction, the robot Move to a position where the first pick and place component 13 corresponds to the column of the first container on the carrier cache position, and the first pick and place component 13 is configured to move the first container on the carrier cache position according to the instruction. Take it out or put it back.

That is to say, before tallying, the first container 501 and the second container 502 are located on the carrier cache position at least one row apart on the carrier, and the handling robot moves in response to the instruction to align the first pick and place assembly 13 with the carrier cache position. The position corresponding to the row where the first container 501 is located. After the first pick-and-place assembly 13 takes out the first container 501, the handling robot moves to align the second pick-and-place assembly 15 with the second container 502 at the carrier buffer position. At the position corresponding to the column, the second pick-and-place component takes out the second container 502 from the carrier cache position according to the instruction.

Alternatively, the handling robot responds to the instruction and moves to a position corresponding to the column of the second container 502 on the carrier buffer position. After the second picking and placing assembly 15 takes out the second container 502, the handling robot moves When the position of the first pick-and-place component 13 corresponds to the column of the first container 501 in the carrier cache position, the first pick-and-place component 13 takes out the first container 501 in the carrier cache position according to the instruction. It should be noted that when moving, the handling robot can move forward and backward, and turn in place, etc.

(4) The storage position on the carrier has at least two deep positions, including a first deep position for storing the first container and a second deep position for storing the second container; the first pick-and-place assembly 13 After being configured to take out the first container located at the first deep position according to the instruction, the robot moves to a position where the second pick-and-place component 15 corresponds to the row where the second container is located. The second pick-and-place component 15 Configured to remove the second container located at the second deep position according to instructions.

When the first container is not the target container, after the second pick-and-place component 15 takes out the second container, the robot moves to align the first pick-and-place component 13 with the first deep position. Correspondingly, the first pick-and-place component 13 is configured to return the first container to the first deep position or the second deep position for storage according to instructions.

That is to say, the storage position on the carrier has at least two deep positions, including a first deep position for storing the first container 501 and a second deep position for storing the second container 502 respectively. According to the instruction, the transport robot moves to a position corresponding to the row where the first pick-and-place component 13 is located. After the first pick-and-place component 13 takes out the first container 501 at the first deep position, the transport robot moves to a position where the first pick-and-place component 13 takes out the first container 501 at the first deep position. The second pick-and-place component 15 is at a position corresponding to the row where the second container 502 is located. The second pick-and-place component 15 takes out the second container 502 located at the second deep position according to the instruction. In addition, in this tally scenario, when the first container 501 is not the target container, after the second pick-and-place assembly 15 takes out the second container 502, the robot moves to make the first pick-and-place assembly 13 and the first deep At the position corresponding to the column, the first pick-and-place component 13 returns the first container to the first deep position or the second deep position of the column for storage according to the instruction. It should be noted that when moving, the handling robot can move forward and backward, and turn in place, etc.

The present disclosure also provides another kind of handling robot; in practical applications, a warehousing system usually consists of a storage area and a handling robot. The storage area includes multiple carriers, and containers for loading goods can be stored on the carriers. The handling robot walks on the carrier. in the lane between them, and move to the corresponding position of the designated container to pick and place it. In order to increase the storage density of the storage area, in the existing technology, height-adaptive vehicles are generally installed according to the spatial height of the storage area. When the space height of the storage area is relatively high, high-level vehicles can be set up in the storage area. Correspondingly, the handling robot also needs to set up corresponding structures to increase its limit picking and placing height. Through high-level carriers and handling robots capable of high-level access, the storage density of the storage area is increased, and the space utilization of the storage area is improved. However, robots with high-level handling usually also need to take into account the work of handling low-level containers. The low-level containers are stored below a certain height of the carrier. This requires the pick-and-place mechanism of the handling robot to lower to a corresponding lower height. The pick-and-place mechanism The movement between the high position and the low position takes too long, seriously affecting the working efficiency of the handling robot.

In view of this, the handling robot provided in this embodiment includes a chassis assembly, a mast assembly, a first picking and placing assembly and a second picking and placing assembly. The handling robot can move to the storage area to perform pick-and-place work. The storage area can include multiple carriers and lanes formed by adjacent carriers. Containers can be stored on the carrier, and the containers can be containers used to load goods in the logistics field, including but not limited to boxes, pallets, packaging boxes, etc., which are not limited in this disclosure.

The chassis assembly may be configured to support the handling robot on a work surface, which may include the aforementioned lanes between carriers and the ground outside of the storage area. The chassis assembly can be provided with driving wheels and/or universal wheels that cooperate with the driving wheels. The driving wheels and universal wheels cooperate together to drive the handling robot to walk and turn on the working surface to facilitate subsequent picking and placing of containers. .

The mast assembly is disposed on the chassis assembly and is configured to extend in a height direction from the chassis assembly. The height at which the mast assembly extends may be consistent with the height of the carrier or exceed the height of the carrier. The first pick-and-place component and the second pick-and-place component are disposed on one side of the gantry assembly and are arranged along the height direction of the gantry assembly. That is to say, in the height direction, the first pick-and-place component can be disposed on the third Above the two pick-and-place components, or the first pick-and-place component is arranged above the second pick-and-place component. It should be noted that the “first” and “second” in this disclosure are only defined for the convenience of distinguishing two pick-and-place components, and are not intended to limit the pick-and-place components. In the following, this disclosure refers to the first pick-and-place component. An example is provided above the second pick-and-place component.

The first pick-and-place assembly and the second pick-and-place assembly may be configured to move in a height direction along the gantry assembly, and the two pick-and-place assemblies may move synchronously or independently. The first pick-and-place assembly and the second pick-and-place assembly are configured to extend outward respectively to complete the pick-and-place of the first container and the second container. That is to say, the first pick-and-place assembly and the second pick-and-place assembly can respectively move along the extension direction of the door frame assembly to the storage height of their respective corresponding containers according to their respective pick-and-place requirements, and then respectively extend outward to store the corresponding containers. The corresponding containers are taken out from the vehicle, or the corresponding containers are stored on the vehicle.

In an application scenario of the present disclosure, the storage area can have a higher spatial height. Correspondingly, higher carriers can be set up according to the spatial height of the storage area. The carriers include a matrix arrangement in the height direction and the horizontal direction. multiple storage locations, and in the height direction, All storage bits can be divided into storage bits located at the upper level and storage bits located at the lower level.

When the handling robot needs to pick and place containers located at different storage heights on the carrier, the handling robot can move to the container and the corresponding position through the chassis assembly, and the first picking and placing assembly can move along the gantry assembly to the corresponding height of the container. And take out the container by extending it, or store it in the corresponding position of the container. The second pick-and-place assembly and the first pick-and-place assembly have the same movement process for picking up and placing containers. It should be noted that when the first pick-and-place component and the second pick-and-place component are used on a high-level carrier, the first pick-and-place component is mainly responsible for taking out a container with a higher height on the carrier, or storing the container to a higher height. On the higher storage position; the second pick-and-place component is mainly responsible for placing the lower-height container on the carrier or storing the container on the lower-height storage position. When the containers that the first pick-and-place component and the second pick-and-place component each need to pick and place are located in the same row of carriers at different heights, or the opposite rows of carriers on both sides of the tunnel are at different heights, the first pick-and-place component can compare The second pick-and-place assembly can pick and place lower containers. That is to say, the first pick-and-place component and the second pick-and-place component can move to respective corresponding containers in the height direction at the same time, and pick and place the respective corresponding containers independently.

It can be seen from this that compared with the existing technology, the handling robot needs to move back and forth between the high position and the low position using a single pick-and-place component to complete the pick-and-place of two containers with a large height difference. The handling robot of the present disclosure adopts The first pick-and-place component and the second pick-and-place component move independently to the corresponding heights of their respective containers, so that containers of different heights can be picked and placed at the same time, which saves time and improves the handling efficiency of the handling robot.

In order to facilitate better understanding, the specific structure and working principle of the handling robot of the present disclosure will be described in detail below with reference to FIGS. 1 to 6 in conjunction with an embodiment.

It should be noted that this disclosure also provides a warehousing system. In order to keep the text concise, this article introduces the warehousing system together with the specific structure of the handling robot, and will not describe it separately.

Referring to FIG. 1 , the present disclosure provides a handling robot, which includes a chassis assembly 11 , a mast assembly 12 , a first pick-and-place assembly 13 and a second pick-and-place assembly 15 . The chassis assembly 11 is configured to support the handling robot on the working surface. The chassis assembly 11 may be provided with driving wheels and/or universal wheels that cooperate with the driving wheels to drive the handling robot to move and turn on the working surface.

The mast assembly 12 is disposed on the chassis assembly 11 and extends along the height direction, and its extension height may be the same as the height of the carrier in the storage area or exceed the height of the carrier. The door frame assembly may include two uprights spaced apart and arranged in parallel. The bottoms of the two uprights are connected to the chassis assembly 11. It also includes cross beams with two ends respectively connected to the tops of the two uprights. The two uprights are fixed through the cross beams to ensure that the door frame Component 12 stability.

The first pick-and-place assembly 13 and the second pick-and-place assembly 15 may be sequentially distributed on one side of the mast assembly 12 along the height direction, and the first pick-and-place assembly 13 and the second pick-and-place assembly 15 may be configured along the mast assembly 12 Movement in the height direction to move to the corresponding height of the respective pick-and-place container. In addition, the movements between the two pick-and-place assemblies can be independent of each other, so that the two pick-and-place assemblies can move to the height corresponding to their respective containers even when the height difference between the two containers is large. . In detail, referring to Figures 1 and 2, the first pick-and-place assembly 13 includes a third pick-and-place mechanism 3 and a first lifting platform 31. The third pick-and-place mechanism 3 can be disposed on the first lifting platform 31. The first lifting platform 31 can be connected to the gantry assembly 12 through the first lifting mechanism 32, and can drive the first pick-and-place assembly 13 to move in the height direction along the gantry assembly 12 through the first lifting platform 31.

In more detail, the first lifting mechanism 32 may be a sprocket transmission, a rack transmission, a screw nut mechanism, or other common lifting mechanisms in this field, taking sprocket transmission as an example.

Referring to FIG. 3 , the first lifting mechanism 32 includes a first base plate 320 and two first gears 321 rotatably connected to the first base plate 320 . The first base plate 320 may be configured to guide and cooperate with the mast assembly 12 , and the first lifting platform 31 and the first base plate 320 are fixedly connected together. The gear teeth of the two first gears 321 are respectively meshed with the chain 322 extending from the top to the bottom of the mast assembly 12. One end of the chain 322 is fixedly connected to the mast assembly 12. At least one of the two first gears 321 One is connected with the output end of the first driving device, or is connected with the output end of the first driving device through a transmission mechanism. When the first driving device is working, the first gear 321 rotates and drives the first lifting platform 31 to move along the extension direction of the gantry assembly 12 through the first base plate 320, thereby driving the third pick-and-place mechanism 3 along the extension of the gantry assembly 12. direction movement. In addition, the same movement effect can also be achieved through other above-mentioned lifting mechanisms, which will not be described one by one here.

The first pick-and-place assembly 13 and the second pick-and-place assembly 15 of the present disclosure may be configured to have exactly the same structure. Therefore, based on the same principle, with reference to FIGS. 1 and 2 , the second pick-and-place assembly 15 includes a fourth pick-and-place assembly. mechanism 4 and the second lifting platform 41. The fourth pick-and-place mechanism 4 can be arranged on the second lifting platform 41. The second lifting platform 41 can be connected to the mast assembly 12 through the second lifting mechanism 42. The second lifting mechanism 42 It cooperates with the guide of the mast assembly 12 and can drive the fourth pick-and-place mechanism 4 to move in the height direction along the mast assembly 12 through the second lifting platform 41 .

By the same token, referring to FIG. 3 , the second lifting mechanism includes a second base plate 420 and two second gears 421 rotatably connected to the second base plate 420 . The second base plate 420 may be configured to guide and cooperate with the gantry assembly 12, and the first lifting platform 31 and the second base plate 420 are fixed. must be connected together. The gear teeth of the two second gears 421 are respectively matched with the chain 322 extending from the top to the bottom of the mast assembly 12, and at least one of the two second gears 421 is connected to the output end of the second driving device, or It is connected with the output end of the second driving device through the transmission mechanism. When the second driving device is working, the second gear 421 rotates and drives the first lifting platform 31 through the second base plate 420 to move along the extension direction of the gantry assembly 12, thereby driving the fourth pick-and-place mechanism 4 along the extension direction of the gantry assembly 12. Movement in extension direction.

Through the above-mentioned structure, the handling robot of the present disclosure realizes independent movement of the first picking and placing assembly 13 and the second picking and placing assembly 15 along the gantry assembly 12 .

After the first pick-and-place assembly 13 and the second pick-and-place assembly 15 move into place, the first pick-and-place assembly 13 and the second pick-and-place assembly 15 can respectively extend outward to complete the picking of the first container and the second container. put.

In detail, referring to Figures 3 and 4, the third pick-and-place mechanism 3 includes a first base 331 and two first telescopic forks 332 spaced apart on the first base 331. The first base 331 is configured to have Towards the opening at one end, the first telescopic fork 332 can be extended through the opening along the extension direction of the first base 331 to a corresponding position of the container, and then the container can be passed through the first finger 333 provided at the end of the first telescopic fork 332 The opening is pulled onto the first base 331 . The end of the first telescopic fork 332 opposite to the first finger 333 is also provided with a first pushing finger 334. When the container is located on the first base 331, the first telescopic fork 332 extends in the corresponding direction. Pushing the finger 334 can push the container outward to the storage position corresponding to the container. In this way, the third picking and placing mechanism 3 can complete the picking and placing process of the first container.

The movement of the telescopic fork can be realized through common mechanisms in the field such as sprocket drive, rack drive, belt drive, screw nut, etc. Those skilled in the art know the specific ways of applying them to the movement of the telescopic fork, and will not be described in detail here.

The third pick-and-place mechanism 3 and the fourth pick-and-place mechanism 4 of the present disclosure may be configured identically. Based on the same principle, with reference to Figures 3 and 4, the fourth pick-and-place mechanism 4 includes a second base 431 and two second telescopic forks 432 spaced apart on the second base 431. The second base 431 is configured In order to have an opening toward one end, the second telescopic fork 432 can be extended through the opening along the extension direction of the second base 431 to a corresponding position of the container, and then the second telescopic fork 432 can be moved by the second finger 433 provided at the end of the second base 431 . The container is pulled through the opening onto the second base 431. The end of the second telescopic fork 432 opposite to the second finger 433 is also provided with a second pushing finger 434. When the container is located on the second base 431, the second telescopic fork 432 extends in the corresponding direction. Pushing the finger 434 can push the container outward to the storage position corresponding to the container. Therefore, the second pick-and-place assembly 15 can complete the pick-and-place process of the second container.

It should be noted that the third pick-and-place mechanism and the fourth pick-and-place mechanism, in addition to picking up and placing containers through telescopic forks, can also be implemented through clamping, sucking and other methods common in the field, and the present disclosure is not limited here. .

Based on this, the handling robot of the present disclosure can pick and place the container located at the high position while the first picking and placing component 13 can pick and place the container located at the lower position while the second picking and placing component 15 can pick and place the container located at the lower position. The first picking and placing component 13 The movement of the second pick-and-place component 15 along the gantry assembly 12 and the pick-and-place action are independent of each other, thereby improving the working efficiency of the handling robot.

In addition, the first pick-and-place assembly may also be configured to include a first carrying base for carrying the container and a first picking-and-place mechanism provided on the first carrying base; at the same time, the second pick-and-place assembly 15 includes a second carrying base for carrying the container and a second pick-and-place mechanism provided on the second carrying base.

That is to say, the first pick and place assembly 13 includes a first carrying base for carrying the first container and a first picking and placing mechanism provided on the first carrying base. The first pick-and-place mechanism can transfer the first container on the carrier to the first carrying base, or transfer the first container out of the first carrying base. The first pick-and-place mechanism is configured to pick-and-place the first container by means of sucking, clamping, pushing, pulling, or hooking. The above-mentioned transfer forms are all conventional transfer forms in the prior art. The present disclosure focuses on the first pick-and-place mechanism. The specific pick-and-place form and structure are not specifically limited, and any structure in the prior art that can realize the pick-and-place operation of the first container can be referred to. This embodiment also includes a second pick-and-place assembly 15. The second pick-and-place assembly 15 includes a second carrying base for carrying the second container and a second pick-and-place mechanism provided on the second carrying base. Both the first pick-and-place mechanism and the second pick-and-place mechanism can adopt the same structure to pick and place the container. In practical applications, the first pick-and-place component 13 and the second pick-and-place component 15 can be provided with pick-and-place mechanisms of the same structure or different structures according to the actual situation, and there is no limit to this.

During specific implementation, the structure of the first pick-and-place mechanism includes a fixed plate 131, a first telescopic mechanism, a second telescopic mechanism and a clamping component. The first pick-and-place mechanism is configured to perform two-level telescopicity and clamping. Containers are picked and placed. In detail, the first telescopic mechanism package It includes a fixed frame 132 and a first sprocket mechanism 133. The fixed frame 132 can be guided and matched on the fixed plate 131. The first sprocket mechanism 133 is arranged between the fixed plate 131 and the fixed frame 132, so that the first sprocket mechanism 133 can The fixed frame 132 is driven to move relative to the fixed plate 131 to achieve one-level expansion and contraction. Those skilled in the art know how to realize this movement through a sprocket mechanism, and the specific transmission process will not be described again.

The second telescopic mechanism is arranged on the fixed frame 132 and moves synchronously with the fixed frame 132 . The second telescopic mechanism includes a cross beam 134 and a second sprocket mechanism 135. The cross beam 134 is guided and matched on the fixed frame 132. The second sprocket mechanism 135 is disposed between the fixed frame 132 and the cross beam 134. The second sprocket mechanism 135 can drive The cross beam 134 moves relative to the fixed frame 132 to achieve secondary expansion and contraction. Those skilled in the art know how to realize this movement through a sprocket mechanism, and the specific transmission process will not be described again. The clamping mechanism is arranged on the cross beam 134 and moves synchronously with the cross beam 134 . The clamping mechanism includes two oppositely disposed clamping plates 136, and the two clamping plates 136 can move toward or away from each other to achieve picking and placing of the container.

In one embodiment of the present disclosure, the handling robot of the present disclosure can complete the picking and placing of containers in the first direction and the second direction. As shown in Figure 1, the arrow at one end of the dotted line segment points to the first direction, and the arrow at the other end points to the second direction opposite to the first direction. The first direction and the second direction are for the convenience of explaining the directions in which the two pick-and-place components extend. rather defined.

When the handling robot needs to access containers with different heights in two directions, the first pick-and-place component 13 can move along the gantry assembly 12 to a height corresponding to the container in the first direction, and the first pick-and-place component 13 moves toward the first direction. direction to pick and place the first container in the first direction. At the same time, the second pick-and-place component 15 can move along the gantry assembly 12 to a height corresponding to the container in the second direction, and the second pick-and-place component 15 extends toward the second direction opposite to the first direction to provide the second pick-and-place component. The second container in the direction is picked and placed. This allows the first picking and placing component 13 and the second picking and placing component 15 to pick and place containers of two opposite directions and different heights.

Considering that the first pick-and-place assembly 13 and the second pick-and-place assembly 15 are arranged at different heights of the door frame assembly 12, the first pick-and-place assembly 13 cannot pick up and place containers at the lowest height of the second pick-and-place assembly 15. Similarly, the second pick-and-place assembly 13 cannot pick up and place containers at the lowest height of the second pick-and-place assembly 15. The pick-and-place assembly 15 is also unable to pick up and place containers at the highest height of the first pick-and-place assembly 13 . Therefore, the first pick-and-place assembly 13 and the second pick-and-place assembly 15 of the present disclosure can also be configured to be capable of steering movement between the first direction and the second direction, so that the first pick-and-place assembly 13 can pick up both sides of the upper area. Containers in two directions, similarly, the second pick-and-place component 15 can pick up containers in two directions in the lower area.

In detail, referring to FIGS. 1 and 2 , the third pick-and-place mechanism 3 of the first pick-and-place assembly 13 can be rotatably connected to the first lifting platform 31 , so that the third pick-and-place mechanism 3 can move in the first direction and the second direction. Turn between to access containers in both directions. In the same way, the fourth pick-and-place mechanism 4 of the second pick-and-place assembly 15 can be rotatably connected to the second lifting platform 41, so that the fourth pick-and-place mechanism 4 can rotate between the first direction and the second direction to adjust the two sides. Pick and place containers in each direction.

Following the above example, in the view direction of Figure 1, the first pick-and-place component 13 faces the first direction. In this state, the first pick-and-place component 13 can directly pick and place the first container in the first direction. When a pick-and-place component 13 needs to pick and place a container in a second direction, the first pick-and-place component 13 can rotate to the second direction to pick and place a second container in the second direction.

By the same token, in the view direction of Figure 1, the second pick-and-place component 15 faces the second direction. In this state, the second pick-and-place component 15 can directly pick and place the second container in the second direction. When the second pick-and-place assembly 15 needs to pick and place the first container in the first direction, the second pick-and-place assembly 15 can rotate to the first direction to pick and place the container in the first direction.

Through the above method, the handling robot of the present disclosure can flexibly switch the picking and placing directions of the first picking and placing assembly 13 and the second picking and placing assembly 15, thereby achieving arbitrary height control of the handling robot in the first direction and the second direction. Containers are picked and placed, which improves the working ability of the handling robot.

Furthermore, in order to improve the working efficiency of the handling robot, the handling robot can also be provided with a cache position for temporarily storing containers. At least one cache position is provided on the gantry assembly together with the first pick-and-place component 13 and the second pick-and-place component 15 On the opposite side, the containers taken out by the first pick-and-place assembly 13 and the second pick-and-place assembly 15 can be stored in the cache position, and then the first pick-and-place assembly 13 and the second pick-and-place assembly 15 can continue to take out the containers. Let go of work.

For example, referring to FIG. 1 , eight cache positions are arranged vertically and sequentially at intervals on one side of the door frame assembly 12 . The cache positions may be configured as rectangles with a certain length and width to carry containers. The containers taken out from the first direction or the second direction by the third pick-and-place mechanism 3 and the fourth pick-and-place mechanism 4 can be temporarily stored in the cache position. For example, after the third pick-and-place mechanism 3 takes out the container in the first direction or the second direction, it rotates toward any cache position, and extends toward the cache position to place the container on the cache position, thereby realizing the transfer of the container. to the cache position, and then the third pick-and-place mechanism 3 can perform other tasks. Alternatively, the third pick-and-place mechanism 3 can be rotated toward the cache corresponding to the container. position, the container is taken out from the cache position, and then can be rotated to the first direction or the second direction, and then the container is transferred to the corresponding position of the container in the first direction or the second direction to transfer the container out of the cache position. In the same way, the fourth pick-and-place mechanism 4 can also work through the above steps, and the description will not be repeated here.

The handling robot of the present disclosure can pick and place containers on high-level carriers. In order to adapt to the height of the high-level carrier, the mast assembly 12 is configured to be able to rise and fall in the height direction relative to the chassis assembly 11 to adapt to the height of carriers of different heights. height, thereby increasing the pick-and-place height of the two pick-and-place components.

In detail, the mast assembly 12 includes a first mast 21 and a second mast 22. The first mast 21 is provided on the chassis assembly 11. The second mast 22 is arranged on the first mast 21 and is configured as Move along the first gantry 21 in the height direction.

For example, the first pick-and-place assembly 13 and the second pick-and-place assembly 15 are configured to be disposed on the second gantry 22 through a first lifting mechanism and a second lifting mechanism respectively, and the second gantry 22 may be disposed through a third lifting mechanism. On the first mast 21 , the third lifting mechanism can drive the second mast 22 to move in the height direction relative to the first mast 21 . The first picking and placing assembly 13 , the second picking and placing assembly 15 and the second gantry 22 are configured to move independently in the height direction controlled by respective driving devices, that is, the first picking and placing assembly 13 , the second picking and placing assembly 15 The movements between the second mast 22 and the second mast 22 are independent and have no correlation with each other. The first lifting mechanism, the second lifting mechanism, and the third lifting mechanism may be common mechanisms in the field such as sprocket transmission mechanisms, rack transmission mechanisms, screw nut mechanisms, etc., which will not be further described here. In another embodiment of the present disclosure, the first pick-and-place assembly 13 and the second pick-and-place assembly 15 are configured to be disposed on the second gantry 22 through the first lifting mechanism and the second lifting mechanism respectively, and the handling robot further includes The driving device is configured to drive the second door frame 22 to move in the height direction along the first door frame 21. During the movement, the second door frame 22 drives the first pick and place assembly 13 relative to the first lifting mechanism. The second door frame 22 moves synchronously in the height direction, or the second lifting mechanism drives the second pick-and-place component 15 to move synchronously in the height direction relative to the second door frame 22 .

Referring to Figure 3, correspondingly, since the first pick-and-place assembly 13 and the second pick-and-place assembly 15 need to move in the height direction, the first lifting platform 31 and the second lifting platform 41 can be sequentially arranged on a side of the second mast 22. On the other hand, the specific connection structures between the first lifting platform 31 and the second lifting platform 41 and the second mast 22 have been described in detail above. The connection structure is the same and will not be repeated here. In addition to the movement of the first lifting platform 31 and the second lifting platform 41 in the height direction through the respective connected lifting mechanisms, the movement of the second mast 22 relative to the first mast 21 can also drive the first lifting platform 31 and the second lifting platform 31 . The two lifting platforms 41 move in the height direction relative to the container. Such an arrangement improves the movement efficiency of the first lifting platform 31 and the second lifting platform 41, thereby improving the working efficiency of the handling robot. In addition, the buffer position can be set on the side of the first gantry 21 opposite to the two pick-and-place components. The second gantry 22 does not need to bear additional gravity load, so that the center of gravity of the first gantry 21 is located at the center and can be lowered. The risk of the first mast 21 tilting ensures the stability of the overall structure of the handling robot.

Based on this, the two pick-and-place assemblies of the present disclosure can move to the height of the corresponding cache position by cooperating with the lifting and lowering of the gantry assembly 12 after picking and placing their respective containers, and transfer the containers to the cache position, or , after the containers on the cache position are transferred out, they move to the corresponding storage height with the lifting and lowering movement of the mast assembly 12 .

In addition to being able to pick and place containers through two pick-and-place mechanisms and transfer them to the cache position, the handling robot of the present disclosure can also be used to pick and place only containers located at high positions.

Referring to FIG. 1 , in one embodiment of the present disclosure, the cache bits include at least one first cache bit 51 , and below the first cache bit At least one second cache bit 52 of 51, for example, as shown in Figure 1, the first cache bit 51 is the cache bit located at the top of the first gantry 21, and the other cache bits below the first cache bit 51 are all second cache bits. Bit 52. Of course, those skilled in the art should understand that multiple first cache bits 51 can also be provided, and this disclosure does not limit this. The following description takes setting one first cache bit 51 as an example.

The third pick-and-place mechanism 3 and the fourth pick-and-place mechanism 4 are configured to transfer the first container and the second container to the first cache position 51 and the second cache position 52 respectively, or to transfer the first container and the second container located in the first cache position 51 and the second cache position 52 . The first container and the second container on the second cache position 52 are transferred out. For example, the third pick-and-place mechanism 3 can transfer the containers on the carrier to the first cache position 51 or the second cache position 52; the fourth pick-and-place mechanism 4 can transfer the containers on the carrier to the third cache position. On the first cache bit 51, it can also be transferred to the second cache bit 52.

In a specific embodiment of the present disclosure, the third pick-and-place mechanism 3 may be configured to take the first container stored in the high position to the first cache position 51 for caching. After that, the third pick-and-place mechanism 3 can move to the corresponding height of the next container. During the movement of the third pick-and-place mechanism 3, the fourth pick-and-place mechanism can move to the corresponding height of the first cache position 51, and move The first container on the first cache position 51 is transferred to the lowermost second cache position 52 for cache. The third pick-and-place mechanism 3 repeats the above process, and the fourth pick-and-place mechanism 4 also repeats the above process, and synchronously transfers the containers on the first cache position 51 to the second cache position 52 for cache, and arranges them in sequence from bottom to top. The fourth pick-and-place mechanism 4 is configured to take the container located on the first cache position 51 to the second cache position 52 for cache.

Obviously, in this embodiment, the third pick-and-place mechanism 3 can be used to transfer external containers to the first cache position 51 for caching, and the fourth pick-and-place mechanism 4 cooperates with the third pick-and-place mechanism 3 to transfer external containers to the first cache position 51 . The container on 51 is transferred to the second cache position 52 for caching. Then the third pick-and-place mechanism 3 no longer needs to descend to a height lower than the first cache position 51, and only moves in the first cache position 51 and the height area above the first cache position 51. Compared with the prior art, Containers of different heights are transferred to corresponding cache positions through a pick-and-place mechanism. The handling robot of the present disclosure improves work efficiency through the cooperation of two pick-and-place mechanisms.

During the process of returning the box, the fourth pick-and-place mechanism 4 is configured to take the first container on the second cache position 52 to the first cache position 51 for cache, and the third pick-and-place mechanism 3 is configured to take the first container located in the first cache position 52 for cache. The first container on the cache position 51 is transferred to the high position for caching.

The above is only a special application scenario of the disclosed handling robot. In the actual application process, the busyness of the fourth picking and placing mechanism 4 needs to be considered. For example, when the third picking and placing mechanism 3 picks and places a high-level container, the fourth picking and placing mechanism 3 picks and places a high-level container. The pick-and-place mechanism 4 needs to pick and place low-level containers, for example, to transfer the low-level containers to the second cache position 52. Then the third pick-and-place mechanism 3 can directly place the acquired containers on the second cache position 52. This method Disclosure will not be specified here.

In addition, when the first pick-and-place assembly 13 and the second pick-and-place assembly 15 are transferring containers exceeding a certain height, the mast assembly 12, the first pick-and-place assembly 13, and the second pick-and-place assembly 15 may shake. As a result, the two pick-and-place components cannot be aligned with the corresponding containers, hindering the handling process, and may also cause the containers to fall and the handling robot to topple.

In order to prevent the above situation from happening, support mechanisms are provided on opposite sides of the first pick-and-place component 13 and/or the second pick-and-place component respectively. The support mechanisms are configured to extend to offset the carriers located on opposite sides of the handling robot. Connect or disconnect. Since the first pick-and-place component 13 and the second pick-and-place component 15 have the same structure, in order to keep the text concise, only the first pick-and-place component 13 will be used as an example for description below.

Referring to FIGS. 1 and 5 , supporting mechanisms 35 are respectively provided on opposite sides of the first lifting platform 31 of the first pick-and-place assembly 13 . The supporting mechanisms 35 are configured to extend to offset or offset the carriers located on opposite sides of the handling robot. Detach. For example, taking a transport robot as a basis, the transport robot has two carriers in a first direction and a second direction. The first lifting platform 31 is provided with two support mechanisms 35 respectively facing the first direction and the second direction. The two support mechanisms 35 respectively extend in the first direction and the second direction to offset the carriers in the respective directions, thereby fixing the first lifting platform 31 between the two carriers and indirectly moving the first pick-and-place assembly. 13 is integrally fixed between the two carriers, thereby improving the stability of the first pick-and-place assembly 13 and thereby improving the stability of the third pick-and-place mechanism 3 when performing the pick-and-place action.

In addition, referring to Figure 2, when the third pick-and-place mechanism 3 completes the pick-and-place operation, the two support mechanisms 35 can be retracted to their original positions and separated from the two carriers. After the first lifting platform 31 is unfixed, subsequent operations can be performed. work.

In one embodiment of the present disclosure, one of the two support mechanisms 35 extends to one side of a single carrier. For example, when a handling robot picks and places a container on a single-sided carrier, the support mechanism 35 is in contact with the carrier. One end of the contact can be provided with a magnetic attraction device, which can be a magnet or an electromagnet, etc. A support mechanism 35 extends toward the direction of the carrier and offsets the carrier, which can also play a role in fixing the pick-and-place assembly. In addition, the end of the support mechanism 35 that is in contact with the carrier can also be configured as a grabber device. The support mechanism 35 extends to one side and grasps the corresponding position of the carrier, preventing or reducing the need for the third pick-and-place mechanism 3 to pick up the carrier. The shaking caused by the release action.

Referring to Figures 1 and 6, in an application scenario of the present disclosure, the handling robot can be applied in a storage system that at least includes a storage area. The storage area includes a plurality of carriers arranged in a matrix, forming a matrix between the carriers. The lane allows the movement of the handling robot. The warehousing system can also include a control server that sends pick-and-place instructions to the handling robot. Based on the pick-and-place instructions, the handling robot communicates with the chassis group. The container 11 is driven down the tunnel, and the containers corresponding to the pick-and-place instructions are picked and placed through the first pick-and-place component 13 and the second pick-and-place component 15 respectively.

In detail, referring to Figure 5, when the handling robot is located in the lane between two adjacent rows of carriers, based on the pick-and-place direction of the handling robot, the carriers on both sides can be defined as the first vehicles located in the first direction. The carrier 61 and the second carrier 62 located in the second direction. The third pick-and-place mechanism 3 may be configured to extend in the first direction or the second direction to pick and place containers on the first carrier 61 or the second carrier 62 . By the same token, the fourth pick-and-place mechanism 4 can be configured to extend in the first direction or the second direction to pick and place containers on the first carrier 61 or the second carrier 62 . In addition, the chassis assembly 11 can move along the extension direction of the tunnel, and the extension direction of the first pick-and-place assembly 13 and the second pick-and-place assembly 15 is the direction of the carriers on both sides of the tunnel, so the first pick-and-place assembly 13 and/or The extending direction of the second pick-and-place assembly 15 is configured to be perpendicular to the traveling direction of the transport robot.

Those skilled in the art should understand that the specific movement modes of the handling robot mentioned above can be applied to this application scenario, and the parts that have been described in detail above will not be described again here.

The warehousing system of the present disclosure may also include a workstation, and the workstation may be used for centralized processing of outgoing containers or containers to be put into storage. In addition to working in the storage area, the handling robot of the present disclosure can also transfer containers in the storage area to the workstation to realize goods arriving at people. Containers at the workstation can also be transferred to the storage area to realize storage of the containers.

In practical applications, when the handling robot performs a container pick-and-place operation, the first pick-and-place component 13 and the second pick-and-place component 15 are actually configured to respectively move the first pick-and-place component located on the carrier storage position according to instructions. The container and the second container are transferred to the target position; or the first container and the second container located at the target position are respectively transferred to the storage position of the carrier. The target location may be a carrier cache location located at the bottom of the carrier.

(1) The first container and the second container are located in the storage positions of two adjacent columns on the carrier, or are located in the positions of two adjacent columns of the target position. That is to say, the handling robot responds to the instruction and moves to a position where the first pick-and-place component 13 corresponds to the row of the first container 501 on the storage position. After the movement is in place, the first lifting component 14 drives the first pick-and-place component 13 to rise and fall. Afterwards, the first picking and placing component 13 can pick and place the first container 501 through its own action. After completing the picking and placing of the first container 501, the handling robot can move again to a position where the second picking and placing assembly 15 corresponds to the row of the second container 502 on the storage position. After being moved into position, the second lifting component 16 drives the second picking and placing component 15 to lift and lower to a position corresponding to the second container 502, and then the second picking and placing component 15 can pick and place the second container 502 through its own action. It should be noted that when moving, the handling robot can move forward and backward, and turn in place, etc.

The present disclosure also provides a third type of handling robot. In this embodiment, the in-warehouse tally task of the warehousing system refers to categorizing and sorting the containers in the warehouse on a regular basis, including "empty containers are removed from the shelves" and "full containers are put on the shelves" And containers with high hit rates are placed on one carrier to improve the efficiency of subsequent handling robots that respond to order tasks. The present disclosure provides a handling robot that can further improve the efficiency of handling. The handling robot includes a chassis component, a door frame component, a first pick-and-place component, and a second pick-and-place component. Wherein, the mast assembly is arranged on the chassis assembly, the first pick-and-place assembly is arranged on one side of the mast assembly through the first lifting assembly, and the first lifting assembly is configured to drive the first pick-and-place assembly along the mast assembly. Movement in the height direction, so that the first pick-and-place assembly can pick and place the first container at different height positions, the second pick-and-place assembly is provided on the other side of the gantry assembly through the second lifting assembly, and the second lifting assembly is configured to drive The second pick-and-place assembly moves along the height direction of the door frame assembly, so that the second pick-and-place assembly can pick and place second containers of different heights.

When the handling robot performs tallying or transportation in the warehouse, the first pick-and-place component and the second pick-and-place component can pick and place two containers from the same carrier or different carriers at the same time, thus improving the efficiency of handling.

In order to facilitate understanding, the specific structure and working principle of the handling robot of the present disclosure will be described in detail with reference to FIGS. 7 to 17 in conjunction with several embodiments.

First of all, it should be noted that the handling robot of the present disclosure can be used for tallying in a warehouse. Specifically, the handling robot transfers a container on a carrier in the warehouse from the current storage location to another storage location on the same carrier or a different carrier. Position. Of course, for those skilled in the art, the handling robot of the present disclosure can be applied to other scenarios, which will not be listed here. This disclosure mainly takes the tally scene as an example to describe in detail the structure and principle of the handling robot of the disclosure.

Generally, the carrier includes a bracket and a plurality of vertically spaced compartment members supported by the bracket. Each compartment member is configured to store multiple containers flatly. The same compartment member can store the same type of goods. Different types of goods can also be stored.

When different types of goods are stored on the same compartment component, each type of goods has different order hit rates. In order to facilitate the storage of containers with high order hit rates, the compartment components on the vehicle are usually divided into different functional areas. , for example, at least one of the multiple compartment components is set as the cache layer, and the remaining compartment components are set as the storage layer.

The warehousing system adjusts the storage location of relevant containers on the carrier in real time based on the order hit rate. For example, it uses a handling robot to perform inventory in the warehouse in advance and transfers containers with an order hit rate higher than the preset threshold from the storage layer to the temporary storage layer. , when performing a sorting task, the sorting robot can transport multiple containers from the temporary storage layer to the sorting table for sorting processing, without taking out related containers one by one from the same carrier or different compartment components of different carriers. .

It can be understood that the handling robot of the present disclosure can tally goods between the storage layer and the cache layer of the same carrier, or it can select one carrier from multiple carriers as the target carrier and move the objects on the storage layers of other carriers. The containers are transferred to the cache layer of the target carrier to further improve sorting efficiency.

As shown in Figure 7, in this embodiment, the handling robot of the present disclosure includes a chassis assembly 11, a mast assembly 12, a first pick-and-place assembly 13 and The second pick and place component 15.

Among them, the mast assembly 12 is installed on the chassis assembly 11, and the chassis assembly 11 is configured to drive the handling robot to move, so that the handling robot can move to the carrier where the target container is located according to the instructions, so that the handling robot can move to the target from the carrier. Containers are picked and placed.

For example, the handling robot controls the chassis assembly 11 to move to the current pick-and-place position corresponding to the target container in response to the tallying instruction, or after the handling robot takes out the target container, controls the chassis assembly 11 to move to the to-be-picked-and-place position corresponding to the target container.

Specifically, the chassis assembly 11 may be an AGV trolley. An AGV trolley refers to a transport vehicle equipped with an electromagnetic or optical automatic navigation device and capable of traveling along a prescribed navigation path. The AGV car uses rechargeable batteries as its power source. Generally, its traveling path and behavior can be controlled through a computer, or an electromagnetic track can be used to set up a traveling path. The electromagnetic track can be pasted on the floor, and the unmanned guided vehicle relies on the information brought by the electromagnetic track to move and act. The chassis assembly 11 can also be other devices that can drive the robot to walk, and there is no limit to this.

Referring to Figure 8, the mast assembly 12 is disposed vertically on the chassis assembly 11, and the mast assembly 12 can be set in a rectangular structure. The limit height of the mast assembly 12 can be higher than the highest container picking and placing position on the carrier, so that The first pick-and-place assembly 13 and the second pick-and-place assembly 15 can pick and place containers on the highest compartment member of the carrier.

The door frame assembly 12 includes two support columns spaced horizontally on the chassis assembly 11. Each support column extends in the vertical direction, and the tops of the two support columns are fixedly connected by horizontal beams to form a door frame structure.

The first pick-and-place component 13 and the second pick-and-place component 15 are respectively provided on both sides of the two support columns, and the first pick-and-place component 13 is elevatingly disposed on one side of the two support columns through the first lifting component 14 ; The second pick-and-place component 15 is elevatingly disposed on the other side of the two support columns through the second lifting component 16 .

It can be understood that the two pick-and-place assemblies are respectively arranged on both sides of the gantry assembly 12, which can effectively avoid interference during the pick-and-place and lifting processes. The first pick-and-place component 13 and the second pick-and-place component 15 can simultaneously pick and place the first pick-and-place component. The container and the second container improve the working efficiency and motion stability of the handling robot.

In one embodiment, the first lifting component 14 includes a drive motor and a power transmission mechanism that converts the rotational motion of the drive motor into the lifting motion of the first pick and place component 13. The power transmission mechanism can be a screw nut mechanism, a gear tooth Bar mechanism, pulley sprocket or other structures well known to those skilled in the art. Specifically, for example, when the first lifting assembly 14 adopts a screw nut mechanism, the screw extends in the vertical direction and is arranged on the support column, and the driving motor is arranged on the mast assembly 12 for driving the screw to rotate, and the screw nut The block is fixedly connected to the first pick-and-place assembly 13, and the first pick-and-place assembly 13 can move up and down along the screw through the cooperation of the screw and the screw nut.

Figure 9 is a schematic structural diagram of a transmission mode implemented by a rack and pinion mechanism provided by the present disclosure. The first lifting assembly 14 includes a lifting plate 141 and a gear 142 provided on the lifting plate 121. The mast assembly 12 is also provided with There is a rack 121. The gear 142 cooperates with the rack 121. The clockwise rotation or counterclockwise rotation of the gear 142 drives the lifting plate 121 to rise and fall. The lifting plate 121 is fixedly connected to the base 145. The base 145 is provided with a first pick-and-place device. assembly 13, thereby realizing the first lifting assembly 14 driving the first pick-and-place assembly 13 to lift.

In practical applications, a transmission wheel 143 and an auxiliary wheel 144 can also be provided on the lifting plate 121. The transmission wheel 143 rotates in conjunction with the rack 121, and the auxiliary wheel 144 rotates in conjunction with the support column of the mast assembly to prevent the lifting during the lifting process. , the first lifting component 14 vibrates.

The implementation form of the second lifting component 16 is the same as that of the first lifting component 14. Those skilled in the art can completely implement it based on the foregoing description, and will not be described again here.

In practical applications, the mast assembly can also be configured to include a first mast 21, which is arranged on the chassis assembly 11; and a second mast 22, which is arranged on the chassis assembly 11. on the first mast 21 and configured to move along the first mast 21 in the height direction. The first pick-and-place component 13 and the second pick-and-place component 15 are provided on the second gantry 22 and are configured to move along the second gantry 22 in the height direction.

In addition, the first pick-and-place assembly 13 and the second pick-and-place assembly 15 can also be configured to be disposed on the second gantry 22 through a first lifting mechanism and a second lifting mechanism respectively, and also include a driving device, so The driving device is configured to drive the second mast 22 along the The first mast 21 moves in the height direction. During the movement, the second mast 22 drives the first pick-and-place assembly 13 at a height relative to the second mast 22 through the first lifting mechanism. or the second lifting mechanism drives the second pick-and-place assembly 15 to move synchronously in the height direction relative to the second mast 22 . That is to say, the first pick-and-place assembly 13 and the second pick-and-place assembly 15 are configured to be disposed on the second gantry 22 through the first lifting mechanism and the second lifting mechanism respectively. The handling robot also includes a driving device, and the driving device is It is configured to drive the second door frame 22 to move in the height direction along the first door frame 21. During the movement, the second door frame 22 drives the first pick-and-place assembly 13 relative to the second door frame 22 through the first lifting mechanism. synchronous movement in the height direction, or the second lifting mechanism drives the second pick-and-place assembly 15 to synchronously move in the height direction relative to the second mast 22 .

Furthermore, support mechanisms 35 are respectively provided on opposite sides of the first pick-and-place component 13 and/or the second pick-and-place component 15 , and the support mechanisms 35 are configured to extend to the position of the transport robot. Vehicles on opposite sides come into contact or disengage.

In practical applications, the handling robot responds to the tally instruction, walks to a position corresponding to the first container, controls the first lifting component 14 to drive the first pick-and-place component 13 to rise or fall to a position corresponding to the first container, and then controls The first picking and placing assembly 13 picks and places the first container.

Continuing to refer to FIG. 7 , the first pick and place assembly 13 includes a first carrying base for carrying the first container and a first picking and placing mechanism provided on the first carrying base. The first pick-and-place mechanism can transfer the first container on the carrier to the first carrying base, or transfer the third container on the first carrying base. One container is transferred out.

The first pick-and-place mechanism is configured to pick-and-place the first container by sucking, clamping, pushing, pulling, or hooking. The above-mentioned transfer forms are all conventional transfer forms in the prior art. The present disclosure is specific to the first pick-and-place mechanism. The specific pick-and-place form and structure are not specifically limited, and any structure in the prior art that can realize the pick-and-place operation of the first container can be referred to.

In this embodiment, a second pick-and-place assembly 15 is also included. The second pick-and-place assembly 15 includes a second carrier base for carrying the second container and a second pick-and-place mechanism provided on the second carrier base.

Both the first pick-and-place mechanism and the second pick-and-place mechanism can adopt the same structure to pick and place the container. In practical applications, the first pick-and-place component 13 and the second pick-and-place component 15 can be provided with pick-and-place mechanisms of the same structure or different structures according to the actual situation, and there is no limit to this.

The first pick-and-place mechanism and the second pick-and-place mechanism can adopt the same structure, which is more suitable for picking and placing containers in adjacent storage locations on the carrier, because the first pick-and-place mechanism and the second pick-and-place mechanism can move up and down in their respective positions. The components move independently, so adjacent containers with the same height or adjacent containers with different heights can be picked and placed to improve the handling efficiency of the same type of containers.

Figure 10 is a schematic structural diagram of a first pick-and-place mechanism provided by the present disclosure. The first pick-and-place mechanism includes a fixed plate 131, a first telescopic mechanism, a second telescopic mechanism and a clamping component. The first pick-and-place mechanism is configured as It can carry out two-level expansion and contraction and the container can be picked up and placed by clamping.

In detail, referring to Figures 10 and 11, the first telescopic mechanism includes a fixed frame 132 and a first sprocket mechanism 133. The fixed frame 132 can be guided and matched on the fixed plate 131. The first sprocket mechanism 133 is arranged between the fixed plate 131 and the fixed plate 131. between the fixed brackets 132, so that the first sprocket mechanism 133 can drive the fixed bracket 132 to move relative to the fixed plate 131 to achieve one-level expansion and contraction. Those skilled in the art know how to realize this movement through a sprocket mechanism, and the specific transmission process will not be described again.

The second telescopic mechanism is arranged on the fixed frame 132 and moves synchronously with the fixed frame 132 . The second telescopic mechanism includes a cross beam 134 and a second sprocket mechanism 135. The cross beam 134 is guided and matched on the fixed frame 132. The second sprocket mechanism 135 is disposed between the fixed frame 132 and the cross beam 134. The second sprocket mechanism 135 can drive The cross beam 134 moves relative to the fixed frame 132 to achieve secondary expansion and contraction. Those skilled in the art know how to realize this movement through a sprocket mechanism, and the specific transmission process will not be described again.

The clamping mechanism is arranged on the cross beam 134 and moves synchronously with the cross beam 134 . The clamping mechanism includes two oppositely disposed clamping plates 136, and the two clamping plates 136 can move toward or away from each other to achieve picking and placing of the container.

In one embodiment of the present disclosure, the first pick-and-place assembly 13 and the second pick-and-place assembly 15 are configured to respectively transfer the first container and the second container located on the carrier storage position to the target location according to instructions, as described below. Several tallying scenarios are used to describe the tallying process of the handling robot in detail.

Tallying scene one

Referring to Figure 12, before tallying, the first container 501 and the second container 502 are located in the storage positions of two adjacent columns on the carrier, and the handling robot moves in response to the instruction to move the first pick-and-place assembly 13 and the second pick-and-place assembly 15 The positions corresponding to the columns of the first container 501 and the second container 502 on the storage position respectively. After moving into position, the first lifting component 14 drives the first picking and placing component 13 to lift and lower to a position corresponding to the first container 501. Then the first picking and placing component 13 can pick and place the first container 501 through its own action. At the same time, the second lifting component 16 drives the second picking and placing component 15 to lift and lower to a position corresponding to the second container 502, and then the second picking and placing component 15 can pick and place the second container 502 through its own action. The actions of the first pick and place component 13 and the second pick and place component 15 are independent, and they will not affect each other. For example, the first container 501 and the second container 502 can be simultaneously taken out to their respective carrying seats through the first pick-and-place assembly 13 and the second pick-and-place assembly 15 .

Tallying scene two

Referring to Figure 13, before tallying, the first container 501 and the second container 502 are located on the storage position at least one row apart on the carrier. The handling robot moves in response to the instruction to align the first pick-and-place assembly 13 with the first container 501 on the storage position. At the position corresponding to the row, after the first container 501 is taken out through the cooperation of the first lifting component 14 and the first pick-and-place component 13, the handling robot moves to align the second pick-and-place component 15 with the row of the second container 502 on the storage position. At the corresponding position, the second container 502 on the storage position is taken out through the cooperation of the second lifting component 16 and the second pick-and-place component 15 .

Of course, based on the above disclosure, the second container 502 can also be taken out first, and then the first container 501 is taken out. body description.

Tallying scene three

Referring to Figure 14, before tallying, the first container 501 and the second container 502 are located in the carrier cache positions of two adjacent columns on the carrier. The handling robot responds to the instruction and moves to move the first pick and place assembly 13 and the second pick and place assembly. The components 15 are respectively at positions corresponding to the rows of the first container 501 and the second container 502 on the carrier cache position. The first pick-and-place component 13 and the second pick-and-place component 15 take out the first container 501 and the second container 502 respectively.

Tally scene four

Referring to Figure 15, before tallying, the first container 501 and the second container 502 are located on the carrier cache position at least one row apart on the carrier. The handling robot responds to the instruction and moves to align the first pick and place assembly 13 with the carrier cache position. The position corresponding to the column where the first container 501 is located. After the first pick-and-place assembly 13 takes out the first container 501, the handling robot moves to the position corresponding to the column where the second container 502 is located on the carrier buffer position. position, the second pick-and-place component takes out the second container 502 from the carrier cache position according to the instruction.

Alternatively, the handling robot responds to the instruction and moves to a position corresponding to the column of the second container 502 on the carrier buffer position. After the second picking and placing assembly 15 takes out the second container 502, the handling robot moves When the position of the first pick-and-place component 13 corresponds to the column of the first container 501 in the carrier cache position, the first pick-and-place component 13 takes out the first container 501 in the carrier cache position according to the instruction.

Tallying scene five

Figure 16 is a top view of the carrier storage position. As shown in the figure, the storage position on the carrier has at least two deep positions, including a first deep position for storing the first container 501 and a second deep position for storing the second container 502. The second deepest position.

According to the instruction, the transport robot moves to a position corresponding to the row where the first pick-and-place component 13 is located. After the first pick-and-place component 13 takes out the first container 501 at the first deep position, the transport robot moves to a position where the first pick-and-place component 13 takes out the first container 501 at the first deep position. The second pick-and-place component 15 is at a position corresponding to the row where the second container 502 is located. The second pick-and-place component 15 takes out the second container 502 located at the second deep position according to the instruction.

In this tally scenario, when the first container 501 is not the target container, after the second pick-and-place component 15 takes out the second container 502, the robot moves to the position where the first pick-and-place component 13 is in contact with the first deep position. At the position corresponding to the column, the first pick-and-place component 13 returns the first container to the first deep position or the second deep position of the column for storage according to the instruction.

Tallying scene six

Continuing to refer to Figure 16, the storage position on the carrier has at least two deep positions, including a first deep position for storing the first container 501 and a second deep position for storing the second container 502. The second container 502 The first container 501 is a target container to be taken out, and the first container 501 is a blocking container.

According to the instruction, the transport robot moves to a position corresponding to the row where the first pick-and-place component 13 is located. After the first pick-and-place component 13 takes out the first container 501 at the first deep position, the transport robot moves to the position where the first container 501 is located. The first container 501 is placed on other empty storage locations for storage. Thereafter, the handling robot moves to the corresponding position of the row where the first pick-and-place assembly 13 and the second container 502 are located, and the first pick-and-place assembly 13 takes out the second container 502 located at the second deep position.

In this application scenario, the first pick-and-place component 13 can independently complete the transfer of the blocking container and take out the target container according to the instructions. The second pick-and-place component 15 can also independently complete the transfer of the blocking container and take out the target container. The process of transferring and taking out containers by the second pick-and-place assembly 15 is the same as that of the first pick-and-place assembly 13, and will not be described again.

The above tally scenario only illustrates the situation where the handling robot takes out the first container or the second container during the tallying process. The handling robot can also take out the first container or the second container to the corresponding storage in the above manner. Bits, vehicle cache bits or storage bits of different depths will not be described again here.

As shown in Figure 17, according to the second aspect of the present disclosure, a sorting system is provided, including a first handling robot 1 and a carrier 39. The first handling robot 1 is the handling robot in the above embodiment, and the carrier 39 There are at least two columns and at least one row of storage spaces provided on the carrier. The handling robot 1 can tally goods between the storage spaces of the same carrier 39 , or it can select one vehicle from multiple carriers 39 as the target vehicle, and move other vehicles 39 . The containers on the storage position of the carrier 39 are transferred to the storage position of the target carrier to further improve the sorting efficiency. The specific tallying process of the first transport robot is the same as the tallying process of the transport robot in any of the above embodiments. are the same and will not be repeated here.

Obviously, in the sorting system, the first handling robot 1 is mainly used to organize and classify containers between the same carrier or different carriers, improve the utilization of storage spaces in the warehouse, and facilitate subsequent sorting work.

In order to facilitate the sorting and classification of containers, in one embodiment of the present disclosure, the carrier is also provided with at least two columns and at least one row of carrier cache bits. The carrier cache bit is set on the bottom layer of the carrier, and the storage bit is set on Above the carrier cache position, the first handling robot 1 can transport containers of high-order hit goods from the storage position to the carrier cache position, thereby categorizing containers of high-order hit goods.

In practical applications, the first handling robot 1 completes the transfer of the first container and the second container between the storage position and the carrier cache position through the first pick-and-place component 13 and the second pick-and-place component 14 respectively. The specific transfer process The transfer process of the first container and the second container by the transport robot in any of the above embodiments is the same and will not be described again.

After the first handling robot 1 sorts and sorts the containers, the subsequent sorting work can be completed by staff. In order to improve the sorting efficiency, the sorting system also includes a second handling robot 2 and a workstation 49. The second handling robot 2 is configured to complete the transfer of containers between the carrier cache position and the workstation 49.

It can be seen from this that in the sorting system, there is a first handling robot 1 to sort the containers, and a second handling robot to realize the transfer of containers between the carrier buffer position and the workstation. Through the two handling robots, In addition to improving the efficiency of sorting in the warehouse, the second handling robot only needs to carry the classified containers from the carrier buffer position to the workstation. It can also effectively reduce the time spent by the second handling robot in sorting containers. Invalid path.

Corresponding to the above-mentioned handling robot, this embodiment also provides the following items:

Item A1. Provides a handling robot, which includes: a chassis component; a gantry component, the gantry component is arranged on the chassis component; a first pick-and-place component, a second pick-and-place component, the first pick-and-place component The components and the second pick-and-place assembly are sequentially distributed on one side of the gantry assembly along the height direction, and are configured to move in the height direction along the gantry assembly; the first pick-and-place assembly, the second pick-and-place assembly The components are configured to respectively extend outward to complete access to the container.

Item A2 is used to determine the pick-and-place direction of the pick-and-place component. Specifically, the first pick-and-place component is configured to extend in the first direction to pick and place the container in the first direction; the second pick-and-place component The pick-and-place component is configured to extend in a second direction opposite to the first direction to pick and place the container in the second direction.

Item A3 is used to determine the pick-and-place mechanism to perform the pick-and-place operation of the container. Specifically, at least one buffer position is provided on the other side of the door frame assembly; the first pick-and-place assembly includes a first lifting platform and a rotating A first pick-and-place mechanism connected to the first lifting platform, the first pick-and-place mechanism is configured to rotate to face the cache position to place the container in the cache position, or to place the container in the cache position. Container removal; the second pick-and-place assembly includes a second lifting platform and a second pick-and-place mechanism rotatably connected to the second lifting platform, and the second pick-and-place mechanism is configured to rotate to face the cache position , to place the container in the cache position, or to take out the container located in the cache position.

Item A4 is used to determine the structure of the door frame assembly. Specifically, the door frame assembly includes: a first door frame, the first door frame is provided on the chassis assembly; the cache position is provided on the first door frame. on the frame; a second gantry, the second gantry is provided on the first gantry and is configured to move in the height direction along the first gantry; the first pick-and-place assembly, The second pick-and-place assembly is disposed on one side of the second gantry and is configured to move along the second gantry in the height direction.

Item A5 is used to determine the picking and placing operation of the container by the picking and placing mechanism. Specifically, the first picking and placing assembly is located above the second picking and placing assembly, and the first picking and placing mechanism is configured to The containers stored on the high position of the carrier are taken to the cache position; the second pick-and-place mechanism is configured to take the containers stored on the low position of the carrier to the cache position.

Item A6 is used to determine the cache bit type. Specifically, the cache bit includes at least one first cache bit, and at least one second cache bit lower than the first cache bit. The first pick-and-place mechanism, The second pick-and-place mechanism is respectively configured to transfer containers to the first cache position and the second cache position, or to transfer containers located on the first cache position and the second cache position.

Item A7 is used to determine the caching mode. Specifically, the first pick-and-place mechanism is configured to take the container stored in the high position to the first cache position for caching; the second pick-and-place mechanism is configured to take the container located at the third cache position. The container on one cache position is taken to the second cache position for caching; and/or the second pick-and-place mechanism is configured to take the container on the second cache position to the first cache position for caching, and the first The pick-and-place mechanism is configured to transfer the container located at the first buffering position to a higher position for buffering.

Item A8 is used to determine another caching method. Specifically, the first cache bit is the cache bit located at the top of the first gantry; other cache bits lower than the first cache bit are all cache bits. Two cache bits.

Item A9 is used to determine that the pick-and-place component has a support structure. Specifically, support mechanisms are provided on opposite sides of the first pick-and-place component and/or the second pick-and-place component, and the support mechanisms are configured to extend to abut or disengage from the carriers located on opposite sides of the transport robot.

Item A10 is used to determine that the pick-and-place mechanism can rotate. Specifically, the first pick-and-place mechanism is configured to rotate to face the second direction to pick and place the container in the second direction; the first pick-and-place mechanism The mechanism is configured to rotate to face the first direction to pick up and place the container in the first direction.

Item A11 is used to determine the moving mode of the robot. Specifically, the handling robot is configured to walk in the tunnel between the first carrier and the second carrier; the first pick-and-place mechanism is configured to move toward the first carrier. The second pick-and-place mechanism is configured to extend in the first direction or the second direction to pick and place the container on the first carrier or the second carrier. On one vehicle or on a second vehicle Containers are picked and placed.

Item A12 is used to determine the relative movement mode. Specifically, the first pick-and-place component and the second pick-and-place component are configured to be disposed on the second gantry through a first lifting mechanism and a second lifting mechanism respectively, The second door frame is arranged on the first door frame through a third lifting mechanism, and the first pick and place assembly, the second pick and place assembly and the second door frame are configured to be controlled by respective driving devices. independent movement in the height direction; or, the first pick-and-place component and the second pick-and-place component are configured to be respectively arranged on the second gantry through a first lifting mechanism and a second lifting mechanism, and further include a driving device, The driving device is configured to drive the second gantry to move in the height direction along the first gantry, and the second gantry drives the first gantry through the first lifting mechanism during movement. The pick-and-place assembly moves synchronously in the height direction relative to the second gantry, or the second lifting mechanism drives the second pick-and-place assembly to move synchronously in the height direction relative to the second gantry.

Item A13: The extension direction of the first pick and place component and/or the second pick and place component is configured to be perpendicular to the walking direction of the transport robot.

On the basis of the above items A1 to A13, this embodiment also provides item A14, a storage system, including a storage area, a workstation and a transport robot of the above items A1 to A13; the transport robot is configured to operate in the storage area Containers are transferred to and from the workstation; the workstation is configured for processing the containers.

In addition, item B is also provided, wherein item B1 provides a handling robot, including: a chassis component; a mast component, the mast component is arranged on the chassis component; a first pick-and-place component, the first The pick-and-place assembly is arranged on one side of the gantry assembly through a first lifting assembly, and the first lifting assembly is configured to drive the first pick-and-place assembly to move along the height direction of the gantry assembly, so The first pick-and-place assembly is configured to pick and place the first container; the second pick-and-place assembly is provided on the other side of the door frame assembly through a second lifting assembly, and the third pick-and-place assembly is The two lifting assemblies are configured to drive the second pick-and-place assembly to move along the height direction of the mast assembly, and the second pick-and-place assembly is configured to pick and place the second container.

Item B2 is used to determine the specific structure of the pick-and-place assembly. Specifically, the first pick-and-place assembly includes a first bearing base for carrying the container and a first pick-and-place assembly disposed on the first bearing base. Mechanism; the second pick-and-place assembly includes a second carrying base for carrying the container and a second pick-and-place mechanism provided on the second carrying base.

Item B3 is used to determine the picking and placing method of the picking and placing mechanism. Specifically, the first picking and placing mechanism is configured to pick and place the first container by sucking, clamping, pushing and pulling, or hooking; The second pick-and-place mechanism is configured to pick and place the second container by sucking, clamping, pushing, pulling, or hooking.

Item B4 is used to determine the structures of the first pick-and-place mechanism and the second pick-and-place structure. Specifically, it also includes: the structures of the first pick-and-place mechanism and the second pick-and-place mechanism are the same or different.

Item B5 is used to determine how the robot picks and places containers. Specifically, the first pick-and-place component and the second pick-and-place component are configured to respectively pick and place the first container and the third container located on the carrier storage position according to instructions. Transfer the two containers to the target position; or transfer the first container and the second container located at the target position to the storage positions of the carrier respectively.

Project B6 is used to determine the vehicle structure. Specifically, the target location is the cache location located at the bottom of the vehicle.

Item B7 is used to determine the target position. Specifically, the first container and the second container are located on the storage positions of two adjacent columns on the carrier, or at the positions of two adjacent columns of the target position.

Item B8. Container pick-up and placement for determining spaced storage locations. Specifically, the first container and the second container are respectively located on storage locations at least one column apart on the carrier;

After the first pick-and-place component is configured to take out or put back the first container on the storage location according to instructions, the robot moves to align the second pick-and-place component with the second container on the storage location. Corresponding position, the second pick-and-place component is configured to take out or put back the second container on the storage position according to instructions; or,

After the second pick-and-place component is configured to take out or put back the second container on the storage location according to instructions, the robot moves to align the first pick-and-place component with the first container on the storage location. At the corresponding position, the first pick-and-place component is configured to take out or put back the first container on the storage position according to instructions.

Item B9 is used to determine the access and placement of containers on the cache position. Specifically, the first container and the second container are respectively located on the cache position at least one column apart on the carrier;

After the first pick-and-place component is configured to take out or put back the first container on the cache position according to instructions, the robot moves to align the second pick-and-place component with the row of the second container on the cache position. At the corresponding position, the second pick-and-place component is configured to take out or put back the second container in the cache position according to the instruction; or,

After the second pick-and-place component is configured to take out or put back the second container on the cache position according to the instruction, the robot moves to make the first pick-and-place component correspond to the column of the first container on the cache position. position, the first pick-and-place component is configured to cache the The first container on the position is removed or put back.

Item B10 is used to determine the access and placement of containers at different depths. Specifically, the storage position on the carrier has at least two deep positions, including a first deep position for storing the first container and a first deep position for storing the second container. the second deepest position;

After the first pick-and-place component is configured to take out the first container located at the first deep position according to the instruction, the robot moves to a position corresponding to the second pick-and-place component and the row where the second container is located, and the The second pick-and-place component is configured to take out the second container located at the second deep position according to the instruction.

Item B11 is used to determine deep position switching. Specifically, when the first container is not the target container, after the second pick-and-place assembly takes out the second container, the robot moves to make the third container A pick-and-place component is located at a position corresponding to the row of the first deep position, and the first pick-and-place component is configured to return the first container to the first deep position or the second deep position for storage according to instructions.

Corresponding to the above items B1 to B11, this embodiment also provides item B12, a sorting system, including: a first transport robot, the first transport robot adopts the transport robot described in items B1 to B11; a carrier, The carrier is provided with at least two columns and at least one row of storage locations.

Item B13: The carrier is also provided with at least two columns and at least one row of cache bits, the cache bits are set on the bottom layer of the carrier, and the storage bits are set above the cache bits; the third A handling robot is configured to complete the transfer of the first container and the second container between the storage position and the cache position through the first pick-and-place component and the second pick-and-place component respectively.

Item B14 also includes a second handling robot and a workstation. The second handling robot is configured to complete the transfer of containers between the carrier buffer position and the workstation.

The embodiments of the present disclosure have been described above. The above description is illustrative, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technical improvements in the market of the embodiments, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the disclosure is defined by the appended claims.

Claims

A handling robot is characterized by including:

Chassis components(11);

Mast assembly (12), the mast assembly (12) is arranged on the chassis assembly (11);

A first pick-and-place assembly (13) and a second pick-and-place assembly (15). The first pick-and-place assembly (13) and the second pick-and-place assembly (15) are arranged on the door frame assembly (12). , the first pick-and-place component (13) and the second pick-and-place component (15) both move in the height direction along the gantry assembly (12), wherein the first pick-and-place component (13) It is used to pick and place the first container, and the second pick and place component (15) is used to pick and place the second container.
The handling robot according to claim 1, characterized in that the mast assembly (12) includes:

A first mast (21), the first mast (21) is provided on the chassis assembly (11);

A second gantry (22) is provided on the first gantry (21) and is configured to move in the height direction along the first gantry (21). ; The first pick-and-place component (13) and the second pick-and-place component (15) are provided on the second gantry (22), and are configured to move in the height direction along the second gantry (22) sports.
The handling robot according to claim 1, characterized in that support mechanisms (35) are respectively provided on opposite sides of the first pick-and-place component (13) and/or the second pick-and-place component, and the support mechanism (35) is configured to extend to abut or disengage from the carriers located on opposite sides of the transport robot.
The handling robot according to claim 2, characterized in that the first pick-and-place component (13) and the second pick-and-place component (15) are configured to be disposed at the location through a first lifting mechanism and a second lifting mechanism respectively. On the second door frame (22), the second door frame (22) is arranged on the first door frame (21) through a third lifting mechanism. The first pick-and-place assembly (13), the second The pick-and-place assembly (15) and the second mast (22) are configured to move independently in the height direction controlled by respective driving devices;

or,

The first pick-and-place assembly (13) and the second pick-and-place assembly (15) are configured to be disposed on the second gantry (22) through a first lifting mechanism and a second lifting mechanism respectively, and further include a driving device , the driving device is configured to drive the second gantry (22) to move in the height direction along the first gantry (21), and the second gantry (22) passes through the The first lifting mechanism drives the first picking and placing component (13) to move synchronously in the height direction relative to the second mast (22), or drives the second picking and placing component through the second lifting mechanism. (15) moves synchronously in the height direction relative to the second mast (22).
The transport robot according to claim 1, characterized in that the extension direction of the first pick and place component (13) and/or the second pick and place component (15) is configured to be consistent with the walking direction of the transport robot. vertical.
The handling robot according to claim 1, characterized in that the first picking and placing assembly (13) includes a first carrying base for carrying the container and a first picking and placing assembly arranged on the first carrying base. The second pick-and-place assembly (15) includes a second bearing base for carrying the container and a second pick-and-place mechanism provided on the second bearing base.
The handling robot according to claim 6, wherein the first picking and placing mechanism is configured to pick and place the first container by sucking, clamping, pushing and pulling, or hooking; and the second picking and placing mechanism realizes picking and placing of the first container. The placement mechanism is configured to achieve placement of the second container by sucking, clamping, pushing, pulling or hooking.
The transport robot according to claim 7, further comprising: the first picking and placing mechanism and the second picking and placing mechanism have the same or different structures.
The handling robot according to claim 1, characterized in that the first pick-and-place component (13) and the second pick-and-place component (15) are configured to respectively move the third pick-and-place component located on the carrier storage position according to instructions. Transfer a container and a second container to a target position; or transfer the first container and the second container located at the target position to the storage position of the carrier respectively.
The handling robot according to claim 9, wherein the first container and the second container are located in two adjacent rows of storage positions on the carrier, or are located in two adjacent rows of the target position.
The handling robot according to claim 9, characterized in that the first container and the second container are respectively located on storage positions at least one row apart on the carrier;

After the first pick-and-place component (13) is configured to take out or put back the first container on the storage position according to instructions, the robot moves to make the second pick-and-place component (15) contact the storage position. The second pick-and-place component (15) is configured to take out or put back the second container in the storage position according to the instruction; or,

After the second pick-and-place component (15) is configured to take out or put back the second container on the storage position according to instructions, the robot moves to make the first pick-and-place component (13) and the storage position At the position corresponding to the column where the first container is located, the first pick-and-place component (13) is Configured to remove or replace the first container on the storage location according to instructions.
The handling robot according to claim 9, wherein the target position is a carrier cache position located at the bottom of the carrier.
The handling robot according to claim 12, characterized in that the first container and the second container are respectively located on the carrier buffer position at least one row apart on the carrier;

After the first pick-and-place component (13) is configured to take out or put back the first container on the carrier cache position according to instructions, the robot moves to make the second pick-and-place component (15) and The second pick-and-place component (15) is configured to take out or put back the second container on the carrier cache position according to instructions; or,

After the second pick-and-place component (15) is configured to take out or put back the second container on the carrier cache position according to the instruction, the robot moves to make the first pick-and-place component (13) and the carrier The first pick-and-place component (13) is configured to take out or put back the first container on the carrier cache position according to the instruction.
The handling robot according to claim 1, wherein the storage position on the carrier has at least two deep positions, including a first deep position for storing the first container and a second deep position for storing the second container. deep position;

After the first pick-and-place component (13) is configured to take out the first container located at the first deep position according to the instruction, the robot moves to align the second pick-and-place component (15) with the second container. At the corresponding position, the second pick-and-place component (15) is configured to take out the second container located at the second deep position according to instructions.
The handling robot according to claim 14, characterized in that, when the first container is not the target container, after the second pick-and-place assembly (15) takes out the second container, the robot moves to The first pick-and-place component (13) is positioned corresponding to the column where the first deep position is located, and the first pick-and-place component (13) is configured to return the first container to the first deep position according to the instruction. bit or the second deepest bit to store.
The handling robot according to claim 1, characterized in that the first picking and placing assembly (13) and the second picking and placing assembly (15) are sequentially distributed along the height direction on the side of the gantry assembly (12). On one side, the first pick-and-place component (13) and the second pick-and-place component (15) are configured to extend outward respectively to complete the pick-and-place of the first container and the second container. put.
The handling robot according to claim 16, wherein the first picking and placing component (13) is configured to extend in a first direction to pick and place the first container in the first direction; The second pick-and-place component (15) is configured to extend in a second direction opposite to the first direction to pick and place the second container in the second direction.
The handling robot according to claim 17, characterized in that at least one buffer position is provided on the other side of the gantry assembly (12);

The first picking and placing assembly (13) includes a first lifting platform (31) and a third picking and placing mechanism (3) rotatably connected to the first lifting platform (31). The third picking and placing mechanism (3) 3) is configured to be rotated to face the cache position to place the first container in the cache position or to take out the container located in the cache position;

The second picking and placing assembly (15) includes a second lifting platform (41) and a fourth picking and placing mechanism (4) rotatably connected to the second lifting platform (41). The fourth picking and placing mechanism (4) 4) It is configured to be rotated to face the cache position to place the second container in the cache position or to take out the container located in the cache position.
The handling robot according to claim 18, characterized in that the first pick-and-place component (13) is located above the second pick-and-place component (15), and the third pick-and-place mechanism (3) is configured It is used to take the first container stored on the high position of the carrier to the cache position; the fourth pick-and-place mechanism (4) is configured to take the second container stored on the low position of the carrier to the cache position.
The handling robot according to claim 19, characterized in that the cache bits include at least one first cache bit (51), and at least one second cache bit (52) lower than the first cache bit (51). ), the third pick-and-place mechanism (3) and the fourth pick-and-place mechanism (4) are configured to transfer the first container and the second container to the first cache position (51) and the second cache position ( 52), or transfer the first container and the second container located on the first cache position (51) and the second cache position (52).
The handling robot according to claim 20, characterized in that the third pick-and-place mechanism (3) is configured to take the first container stored in the high position to the first cache position (51) for caching; The four pick-and-place mechanisms (4) are configured to take the first container located on the first cache position (51) to the second cache position (52) for cache;

and / or,

The fourth pick-and-place mechanism (4) is configured to take the first container on the second cache position (52) to the first cache position (51) for caching, and the third pick-and-place mechanism (3) is configured to In order to transfer the first container located on the first cache position (51) to a high position for caching.
The handling robot according to claim 21, characterized in that the gantry assembly (12) includes a first gantry (21), and the first gantry (21) is arranged on the chassis assembly (11) ; A second gantry (22), the second gantry (22) is provided on the first gantry (21) and is configured to be in a height direction along the first gantry (21) Movement; wherein, the first cache bit (51) is the cache position located at the top of the first gantry (21); other cache positions below the first cache position (51) are all second cache positions (52).
The transport robot according to claim 18, wherein the third pick-and-place mechanism (3) is configured to rotate to face the second direction to pick and place the second container in the second direction; The third pick-and-place mechanism (3) is configured to rotate to face the first direction to pick and place the first container in the first direction.
The handling robot according to claim 18, characterized in that the handling robot is configured to walk in the lane between the first carrier (61) and the second carrier (62);

The third pick-and-place mechanism (3) is configured to extend in the first direction or the second direction to pick and place containers on the first carrier (61) or the second carrier (62); The fourth pick-and-place mechanism (4) is configured to extend in the first direction or the second direction to pick and place containers on the first carrier (61) or the second carrier (62).
The handling robot according to claim 1, characterized in that the first pick-and-place assembly (13) is arranged on one side of the gantry assembly (12) through a first lifting assembly (14), and the A lifting assembly (14) is configured to drive the first pick-and-place assembly (13) to move along the height direction of the mast assembly (12);

The second pick-and-place assembly (15) is provided on the other side of the mast assembly (12) through a second lifting assembly (16), which is configured to drive the second lifting assembly (16). The pick-and-place assembly (15) moves along the height direction of the mast assembly (12).
A storage system, characterized by comprising a storage area, a workstation and the transport robot according to any one of claims 1 to 25; the transport robot is configured to transfer between the storage area and the workstation Container; the workstation is configured for processing the container.
A sorting system, characterized by including:

A first transport robot (1), the first transport robot (1) adopts the transport robot according to any one of claims 1 to 25;

Carrier (3), the carrier is provided with at least two columns and at least one row of storage locations.
The sorting system according to claim 27, characterized in that the carrier (3) is also provided with at least two columns and at least one row of carrier cache positions, and the carrier cache positions are provided on the carrier. (3), the storage position is arranged above the carrier cache position; the first handling robot (1) is configured to pass through the first pick-and-place assembly (13) and the second pick-and-place assembly (13) respectively. 15) Complete the transfer of the first container and the second container between the storage position and the carrier cache position.
The sorting system according to claim 28, further comprising a second handling robot (2) and a workstation (4), the second handling robot (2) is configured to complete the transportation of containers on the carrier (4) 3) Transfer between the vehicle cache position and the workstation (4).