WO2024046238A1 - 搬运机器人及其货叉和取货方法 - Google Patents

搬运机器人及其货叉和取货方法 Download PDF

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Publication number
WO2024046238A1
WO2024046238A1 PCT/CN2023/115088 CN2023115088W WO2024046238A1 WO 2024046238 A1 WO2024046238 A1 WO 2024046238A1 CN 2023115088 W CN2023115088 W CN 2023115088W WO 2024046238 A1 WO2024046238 A1 WO 2024046238A1
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WO
WIPO (PCT)
Prior art keywords
fork
cargo
goods
pallet
fork arm
Prior art date
Application number
PCT/CN2023/115088
Other languages
English (en)
French (fr)
Inventor
陈凯
李小龙
覃伯强
陈代荣
Original Assignee
深圳市海柔创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Publication of WO2024046238A1 publication Critical patent/WO2024046238A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/16—Platforms; Forks; Other load supporting or gripping members inclinable relative to mast
    • B66F9/165—Foldable forks, i.e. where only the horizontal section moves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means
    • B66F9/183—Coplanar side clamps

Definitions

  • the invention relates to the technical field of cargo picking and placing, and in particular to a handling robot, its cargo forks and a cargo picking method.
  • the multi-layer picking and placing method mainly uses robot clamping to pick up goods: the robot's fork extends to the cargo attachment, and further extends the fork arm to pick up the top layer of multiple stacked goods and place it on the fork pallet. This completes the pickup.
  • Single-layer pick-and-place is mainly carried out by robot pull-type picking: the robot's fork fork arm is equipped with fingers. The fork fork arm extends through the rear end of the container/goods to be picked up, and the fork arm fingers are lowered and hooked to the rear end of the container/goods. Pull out a container/goods to be picked up to complete the overall pick-up and delivery.
  • suction-type picking methods for single-layer pick-and-place There are also suction-type picking methods for single-layer pick-and-place.
  • the shelves need to be designed with multiple layers.
  • the multi-layer design will increase the cost of beams and laminates.
  • the materials used for the shelves are wasteful and the cost is high.
  • the technical problem to be solved by the present invention is to provide an improved cargo fork of a transport robot, a transport robot having the cargo fork, and a method for picking up goods of the transport robot.
  • the technical solution adopted by the present invention to solve the technical problem is to provide a cargo fork of a handling robot, which includes a cargo fork body, a pallet arranged from bottom to top and arranged on one side of the cargo fork body, and a first fork. arms and second wishbone;
  • the pallet, the first fork arm and the second fork arm are respectively telescopic in the horizontal direction relative to the fork body, and the telescopic direction of the pallet, the first fork arm and the second fork arm is perpendicular to the fork body. height direction.
  • the first fork arm includes two first telescopic arms arranged oppositely;
  • the two first telescopic arms can be horizontally opened and closed in a direction perpendicular to the telescopic direction to clamp cargo.
  • the second fork arm includes two second telescopic arms arranged oppositely;
  • the two second telescopic arms can be horizontally opened and closed in a direction perpendicular to the telescopic direction to clamp cargo.
  • the invention provides a handling robot, which includes a mobile base, a storage shelf and any of the forks described above;
  • the storage shelf is installed vertically on the mobile base, and the fork is installed on one side of the storage shelf and can move up and down along the height of the storage shelf.
  • the pallet includes a first pallet and a second pallet, one end of the first pallet is connected to the fork body, and the second pallet is movably disposed on the first pallet and can be moved Moves in the horizontal direction relative to the first supporting plate.
  • the invention also provides a method for picking up goods by a handling robot, which includes taking out target goods stacked in the middle or lower layer from a fixed shelf; taking out target goods stacked in the middle or lower layer from a fixed shelf includes the following steps:
  • the second fork arm on the cargo fork extends to clamp the cargo stacked above the target cargo and make it rise out of contact with the target cargo;
  • step S1.2 after the second fork arm clamps the goods, the cargo fork moves upward along the height of the storage shelf of the transport robot, driving the goods clamped by the second fork arm.
  • the cargo moves upward away from the target cargo.
  • the upward movement distance of the cargo fork is less than the height of the target cargo, so that after the second fork arm clamps the cargo and breaks away from the target cargo, the target cargo is still clamped by the first fork arm. within the hugging area.
  • step S1.3 when the target cargo is stacked in the middle, the pallet is extended and pressed against another cargo below the target cargo;
  • the pallet When the target goods are stacked on the lower layer, the pallet is extended and pressed against the shelf support surface below the target goods.
  • step S1.5 the cargo fork descends, driving the second fork arm to lower the goods it holds to the original position of the target goods on the fixed shelf, and then the second fork arm is released Clamping and retraction of the cargo.
  • the picking method of the handling robot also includes taking out the target goods stacked on the upper layer from the fixed shelf; taking out the target goods stacked on the upper layer from the fixed shelf includes the following steps:
  • the first fork arm and the pallet on the cargo fork extend respectively.
  • the first fork arm clamps the target cargo, and the pallet extends and presses against the other pallet below the target cargo. on goods;
  • the cargo forks of the handling robot are arranged up and down through two fork arms, and the fork arms can be relatively independently telescopic, so that not only can the topmost layer of multi-layer stacked goods on the shelf be taken out, but also the goods on the top layer can be taken out. Taking out the goods in the middle or lower layer of the shelf can promote the multi-layer stacking of goods on the shelf, make full use of the vertical space of the shelf, and greatly reduce the waste of space and increase in cost when using multi-layer shelves.
  • This application provides a cargo fork of a handling robot, including: a cargo fork body and a cargo fork disposed on the cargo There is a pallet on the fork body, a first fork arm and a second fork arm; wherein the first fork arm is located above the pallet and can be telescopic with respect to the fork body, and the first fork arm is used for transporting goods; The two forks are located above the first fork arm and can telescope relative to the fork body. The second fork arm is used to transport goods; the telescopic directions of the first fork arm and the second fork arm are the same. .
  • the pallet, the first fork arm and the second fork arm are arranged on the fork body in sequence from bottom to top in the vertical direction, and the first fork arm and the second fork arm are The expansion and contraction direction is the first horizontal direction.
  • the first fork arm includes two first telescopic arms arranged oppositely, wherein the two first telescopic arms can open and close along the second horizontal direction to release or clamp the cargo, and the The second horizontal direction is perpendicular to the first horizontal direction; or wherein, one end of the two first telescopic arms away from the fork body is provided with a tie rod assembly, and the tie rod assembly is used to pull the goods to the pallet. superior.
  • the second fork arm includes two second telescopic arms arranged oppositely, wherein the two second telescopic arms can open and close along the second horizontal direction to release or clamp the cargo, and the The second horizontal direction is perpendicular to the first horizontal direction.
  • the second fork arm is used to carry the cargo above the target cargo to separate the cargo from the target cargo; the first fork arm is used to move the cargo above the target cargo to the second fork arm. After the goods are separated from the target goods, the target goods are transported to the pallet.
  • the pallet is telescopically connected to the fork body, and the telescopic direction of the pallet is the same as the telescopic direction of the first fork arm.
  • the pallet includes a first pallet and a second pallet, one end of the first pallet is connected to the fork body, and the second pallet is movably disposed on the first pallet, And can move in the horizontal direction relative to the first supporting plate.
  • This application also provides a handling robot, including a mobile base, a storage shelf and the above-mentioned fork; the storage shelf is vertically arranged on the mobile base, and the fork is arranged on one side of the storage shelf and Can be moved up and down along the height of the storage shelf.
  • the transport robot includes a mobile base, a storage shelf provided on the mobile base, and a cargo fork provided on the storage shelf.
  • the cargo fork includes The fork body, the pallet, the first fork arm and the second fork arm that are arranged on the fork body from bottom to top in the vertical direction;
  • the method of picking up goods includes: transporting machine Before the person moves to the fixed shelf, the cargo fork moves to the height where the first target cargo is located; wherein the first target cargo is on the fixed shelf and stacked in the middle or lower layer; the second fork arm extends and Clamping the cargo stacked above the first target cargo, the second fork arm rises to remove the cargo from contact with the first target cargo; the first fork arm extends and connects with the third target cargo.
  • a target cargo is engaged; the first fork arm retracts to take the first target cargo out of the fixed shelf and place it on the pallet; the cargo fork descends, and the second fork arm moves it The clamped goods retract
  • the second fork arm extends and clamps the cargo stacked above the first target cargo, and the second fork arm rises to remove the cargo from contact with the first target cargo.
  • the cargo fork moves upward along the height of the storage shelf of the transport robot, driving the goods clamped by the second fork arm to move upward and escape. The first target cargo.
  • the upward movement distance of the cargo fork is less than the height of the first target cargo, so that after the second fork arm clamps the cargo away from the first target cargo, the first target cargo is still in the Within the clamping area of the first fork arm.
  • the first fork arm is a clamping fork arm. In the step of extending the first fork arm and engaging the first target cargo, the first fork arm clamps the third A target cargo.
  • the step of extending the first fork arm further includes: extending the pallet relative to the fork body.
  • the pallet when the first target cargo is stacked in the middle, the pallet is extended and pressed against another cargo below the first target cargo; when the first target cargo is stacked in the middle, When the pallet is on the lower level, the pallet is extended and pressed against the shelf support surface below the first target cargo.
  • the cargo fork descends and drives the second fork arm to hold the cargo it holds. After descending to the original position of the first target cargo on the fixed shelf, the second fork arm releases the clamping of the cargo and retracts.
  • the picking method further includes: before fixing the shelf, moving the fork to a height where the second target goods are located; wherein the second target goods are on the fixed shelf and stacked On the upper level; the first fork arm extends and clamps the second target cargo; and the first fork arm retracts to take the second target cargo out of the fixed shelf and place it on the pallet superior.
  • Figure 1 is a schematic structural diagram of a handling robot according to an embodiment of the present invention.
  • Figure 2 is a schematic side structural view of a fork in a handling robot according to an embodiment of the present invention
  • Figure 3 is a schematic structural diagram of the first and second fork arms on the fork shown in Figure 2 extending;
  • Figure 4 is a top view of the fork shown in Figure 3;
  • Figure 5 is a schematic diagram of the picking process of the handling robot of the present invention taking out the target goods stacked in the middle or lower layer from the fixed shelf;
  • Figure 6 is a schematic diagram of the picking process of the handling robot of the present invention taking out the target goods stacked on the upper layer from the fixed shelf;
  • FIG. 7 is a schematic flowchart of the cargo picking method of the transport robot of the present invention.
  • a handling robot may include a mobile base 10 , a storage shelf 20 and a fork 30 .
  • the storage shelf 20 is installed vertically on the movable base 10, and the fork 30 is installed on one side of the storage shelf 20 and can move up and down along the height direction of the storage shelf 20 to achieve conversion and positioning at different heights.
  • the mobile base 10 serves as the supporting bottom of the transportation robot to realize the movement, positioning and stability of the entire transportation robot.
  • the storage shelves 20 stand vertically on the movable base 10 relative to the movable base 10 and are used to store goods, where the stored goods include but are not limited to at least one of containers such as boxes and shoe boxes.
  • the storage shelf 20 has a plurality of storage units 40 arranged at intervals from top to bottom, which are respectively used to place containers such as bins and shoe boxes to realize multi-layer placement of goods in the height direction of the storage shelf 20 .
  • the storage shelf 20 has opposite sides, and the storage unit 40 and the fork 30 are respectively located on the opposite sides of the storage shelf 20.
  • the fork 30 can move up and down along the height direction of the storage shelf 30, and can receive goods obtained from the outside (such as a fixed shelf) and place them on storage units 40 of different heights.
  • the handling robot also includes a lifting mechanism (not shown).
  • the lifting mechanism is provided on the storage shelf 20 and the fork 30 to drive the fork 30 along the height direction of the storage shelf 20. Move up and down (i.e. lifting movement).
  • the lifting mechanism may include a lifting power source and a lifting transmission assembly.
  • the lifting power source and the lifting transmission assembly are respectively arranged on the storage shelf 20.
  • the lifting power assembly is transmission connected to the fork 30 and the lifting power source.
  • the lifting power source The output power drives the fork 30 to move up and down through the transmission of the lifting power assembly.
  • the power output form of the lifting power source can be but is not limited to rotation, linear motion, etc.
  • the handling robot may also include a rotation mechanism or a translation mechanism (not shown) to drive the The fork 30 is rotated or translated in the horizontal direction relative to the storage shelf 20 and the container on the fixed shelf to adjust the angle according to the direction of the external goods.
  • the fork 30 in the present invention at least includes a fork body 31, a telescopic pallet 32, a first fork arm 33 and a second fork arm 34 respectively.
  • the fork 30 is arranged on the storage shelf 20 through the fork main body 31.
  • the pallet 32, the first fork arm 33 and the second fork arm 34 are arranged at intervals from bottom to top and are arranged on a side of the fork main body 31 facing away from the storage shelf 20. side.
  • the pallet 32 , the first fork arm 33 and the second fork arm 34 can respectively telescope in the horizontal direction relative to the fork main body 31 , that is, the telescopic direction is perpendicular to the height direction of the fork main body 31 , and the pallet 32 , the first fork arm 33 and the second fork arm 34 are respectively The telescopic direction of the fork arm 34 is consistent with the direction of picking up goods.
  • the pallet 32 serves as a supporting structure below the cargo fork 30, and is used to support other cargo or structures below the cargo when the first fork arm 33 clamps the cargo. In addition, it can also serve as a supporting structure for the cargo.
  • the carrying part of the fork 30 is used to carry the goods entering the fork 30 .
  • the retractable setting of the pallet 32 allows the pallet 32 to be extended into the fixed shelf when the fork 30 picks up goods from the fixed shelf and placed under the target goods to be forked, supporting the target goods while simultaneously lifting the target goods.
  • Other goods or structures below are used to hold up the goods to keep the goods below stable and not to be moved when the goods above are taken away.
  • the tray 32 may include at least two pallets stacked one above the other and relatively movable. Taking two pallets as an example, they are divided into a first pallet and a second pallet.
  • the first pallet is set horizontally and is fixedly connected to the fork body 31 with one end.
  • the second pallet is parallel to the first pallet and is movable.
  • a guide rail structure is provided between the first pallet and the second pallet. The second pallet can move back and forth in the horizontal direction along the guide rail structure relative to the first pallet, away from the fork body 31.
  • Directional movement; through the movement distance of the second pallet relative to the first pallet, the telescopic length of the tray 32 can be adjusted.
  • the first fork arm 33 and the second fork arm 34 are respectively located above the pallet 32 and can be used to hold goods.
  • the first fork arm 33 may include two first telescopic arms 331 arranged oppositely.
  • the two first telescopic arms 331 are parallel and have one end respectively disposed on the fork body 31 and the other end facing away from the fork.
  • the direction of the main body 31 extends.
  • Each first telescopic arm 331 may consist of two or above the joint arms 331a are connected and formed in a movable and foldable manner.
  • the two first telescopic arms 331 can be opened and closed horizontally relative to the fork body 31 to clamp the goods.
  • the two first telescopic arms 331 respectively extend into the fixed shelf to opposite sides of the target goods; after being in place, the two first telescopic arms 331 move toward each other to close and clamp the target goods.
  • the two first telescopic arms 331 can retract simultaneously to take the target goods out of the fixed shelf and into the fork 30; after being in place, the two first telescopic arms 331 move away from each other and open to release the target goods.
  • the target goods can be lowered onto the pallet 32 .
  • the first fork arm 33 may also be a pull-type fork arm, that is, the front ends of the two telescopic arms 331 of the first fork arm 33 are attached with pull rod assemblies, such as finger-shaped pull rod assemblies.
  • pull rod assemblies such as finger-shaped pull rod assemblies.
  • the telescopic arm 331 extends through the rear end of the container/goods to be picked up, and the finger-shaped pull rod assembly is rotated and lowered, hooks the rear end of the container/goods, and pulls out the container/goods to be picked up, thereby completing picking up the goods.
  • This pull-type pickup structure and method is generally suitable for situations where the upper and lower surfaces of stacked containers/goods are relatively flat and there is no buckle between the upper and lower containers/goods.
  • the second fork arm 34 may include two second telescopic arms 341 arranged oppositely.
  • the two second telescopic arms 341 are parallel and have one end respectively disposed on the fork body 31 and the other end facing away from the fork.
  • the direction of the main body 31 extends.
  • Each second telescopic arm 341 may be formed by connecting two or more joint arms 341a in a movable and foldable manner.
  • the two second telescopic arms 341 can be opened and closed horizontally relative to the fork body 31 to clamp goods.
  • the two second telescopic arms 341 respectively extend into the fixed shelf to opposite sides of the target goods; after being in place, the two second telescopic arms 341 move toward each other to close and clamp the target goods.
  • the two second telescopic arms 341 can retract simultaneously to take the target goods out of the fixed shelf and into the fork 30; after being in place, the two second telescopic arms 341 move away from each other and open to release the target goods.
  • the target goods can be lowered onto the pallet 32 .
  • the target cargo to be clamped may be one or multiple cargoes stacked one above the other.
  • the first fork arm 33 mainly clamps the goods located at the bottom.
  • the target cargo clamped by the second fork arm 34 can be one or multiple cargoes stacked up and down.
  • the second fork arm 34 can mainly clamp the lowest cargo. .
  • the driving mechanism may include a driving motor and a driving motor.
  • the opening and closing of the first telescopic arm 331 and the opening and closing of the second telescopic arm 341 are driven by the cooperation of respective guide rails and driving components.
  • the corresponding positions of the fork body 31 are provided with transverse guide rails.
  • the length direction of the guide rails is parallel to the opening and closing directions of the two first telescopic arms 331.
  • One end can be slidably fitted on the guide rail along the guide rail, and the two first telescopic arms 331 are connected and driven by a motor to move toward or away from each other along the guide rail.
  • the opening and closing of the second telescopic arm 341 is equivalent to the opening and closing of the two first telescopic arms 331 .
  • the handling robot of the present invention When the handling robot of the present invention is used to pick up goods, goods stacked at any position, such as on the top, middle or bottom layer, can be taken out from the fixed shelf.
  • the method for picking up goods by the handling robot of the present invention includes taking out the target goods stacked in the middle or lower layer from the fixed shelf.
  • removing the target goods stacked in the middle or lower layer from the fixed shelf may include the following steps:
  • the fixed shelf 100 is provided with a plurality of partition layers arranged at intervals from top to bottom, and one or more stacked goods can be stacked in a position of each partition layer.
  • the target cargo 200 in this embodiment may be the cargo placed on any partition layer, and may be the cargo in the middle or the cargo on the lower layer among multiple stacked cargoes.
  • For the target cargo 200 in the middle it means that there are cargoes stacked above and below the target cargo 200.
  • the target goods 200 on the lower layer it means that there are goods stacked above the target goods 200, and below it is the shelf support surface of the fixed shelf 100, that is, the load-bearing surface of the separation layer.
  • the above-mentioned target cargo 200 is not limited to one, and may also be a cargo group formed by two or more cargoes stacked one above the other.
  • the movement of the handling robot is mainly controlled by the control system to control its mobile base 10 to travel to the fixed shelf 100 according to a preset path, and then the control system controls the lifting mechanism to drive the fork 30 to move up and down to the required height.
  • the second fork arm 34 on the cargo fork 30 extends to clamp the cargo 300 stacked above the target cargo 200 and lift it up out of contact with the target cargo 200, as shown in (b) to Fig. 5 (c) is shown.
  • step S1.2 are as follows: on the second fork arm After 34 clamps the goods 300, the cargo forks 30 move upward along the height of the storage shelf 10 of the transport robot, driving the goods 300 clamped by the second fork arm 34 to move upward and away from the target goods 200.
  • the upward movement distance of the fork 30 is less than the height of the target cargo 200 , so that after the second fork arm 34 clamps the cargo 300 and breaks away from the target cargo 200 , the target cargo 200 is still within the clamping area of the first fork arm 33 .
  • the first fork arm 33 and the tray 32 can be extended at the same time, or the first fork arm 33 is extended out first and then the tray 32 is extended out, or the pallet 32 is extended out and then the first fork arm 33 is extended out. .
  • the pallet 32 When the target cargo 200 is stacked in the middle, the pallet 32 extends and presses against another cargo 400 below the target cargo 200 . When the target goods 200 are stacked on the lower layer, the pallet 32 is extended and pressed against the shelf support surface below the target goods 200 .
  • three goods are stacked from bottom to top on each partition of the fixed shelf 100 .
  • the second fork arm 34 of the cargo fork 30 clamps the uppermost goods 300 and moves the uppermost goods 300 .
  • Cargo 300 rises away from the target Cargo 200 in the middle.
  • the first fork arm 33 clamps the target cargo 200 in the middle, and the pallet 32 bears above the lowest cargo 400 .
  • the second fork arm 34 of the cargo fork 30 clamps the middle cargo, and the middle cargo is The cargo and the cargo stacked on it rise together and separate from the bottom cargo.
  • the first fork arm 33 holds the lowermost cargo; the pallet 32 bears against the cargo support surface below the lowermost cargo.
  • step S1.5 the cargo fork 30 descends and drives the second fork arm 34 to lower the goods 300 it holds to the original position of the target goods 200 on the fixed shelf 100. 34 releases the clamping of the goods 300 and retracts, so that the goods 300 originally located at the target goods 200 are placed at the original position of the target goods 200 .
  • the second fork arm 34 opens to release the clamping of the goods 300, and then retracts away from the fixed shelf 100.
  • the goods in the middle on the fixed shelf 100 are taken out.
  • the cargo fork 30 then transfers the taken-out target cargo 200 to the storage shelf 10 of the handling robot, and then the next target cargo 200 can be taken out from the fixed shelf 100 or the operation can be completed.
  • the method further includes taking out the target goods stacked on the upper layer from the fixed shelf.
  • taking out the target goods stacked on the upper layer from the fixed shelf may include the following steps:
  • the handling robot mainly controls its mobile base 10 to travel to the fixed shelf 100 according to a preset path through the control system, and then controls the lifting mechanism through the control system to drive the fork 30 to move up and down to the required height.
  • the first fork arm 33 and the pallet 32 on the fork 30 extend respectively.
  • the first fork arm 33 clamps the target cargo 200 on the uppermost layer, and the pallet 32 extends and presses against the other target cargo 200 below.
  • the first fork arm 33 and the tray 32 can be extended at the same time, or the first fork arm 33 is extended out first and then the tray 32 is extended out, or the first fork arm 33 is extended after the tray 32 is extended out.
  • the above-mentioned target cargo 200 is not limited to one, and may also be a cargo group formed by two or more cargoes stacked one above the other.
  • the second fork arm 34 of the cargo fork 30 does not need to move and remains in the initial retracted state.
  • the first fork arm 33 extends to opposite sides of the uppermost target cargo 200 to clamp it.
  • the pallet 32 is extended to bear on the goods 400 in the middle.
  • the first fork arm 33 and the pallet 32 are respectively retracted to take the target goods out of the fixed shelf 100 and place them in the forks 30, as shown in (a) to (b) in Figure 6 .
  • target goods 200 can also be placed on the pallet 32 to form stable support for the target goods 200 .
  • the goods on the upper layer of the fixed shelf 100 are taken out.
  • Fork 30 The taken-out target goods 200 are then transferred to the storage shelf 10 of the handling robot, and then the next target goods 200 can be taken out from the fixed shelf 100 or the operation can be completed.
  • a fork of a handling robot may include a fork body 31 and a pallet 32 disposed on the fork body 31 , a first fork arm 33 and a second fork arm 34 .
  • the first fork arm 33 is located above the pallet 32 and can be telescopic relative to the fork body 31.
  • the first fork arm 33 is used for transporting goods; the second fork arm 34 is located above the first fork arm 33 and can be retracted relative to the cargo.
  • the fork body 31 telescopes, and the second fork arm 34 is used for transporting goods; the telescopic directions of the first fork arm 33 and the second fork arm 34 are the same.
  • the pallet 32 , the first fork arm 33 and the second fork arm 34 are sequentially arranged on the fork body 31 from bottom to top in the vertical direction, and the telescopic direction of the first fork arm 33 and the second fork arm 34 is is the first horizontal direction.
  • the first fork arm 33 includes two first telescopic arms arranged oppositely, wherein the two first telescopic arms can open and close along a second horizontal direction to release or clamp cargo, and the second horizontal direction is vertical. In the first horizontal direction; or wherein, one end of the two first telescopic arms away from the fork body is provided with a pull rod assembly, and the pull rod assembly is used to pull the goods onto the pallet 32 .
  • the second fork arm 34 includes two second telescopic arms arranged oppositely, wherein the two second telescopic arms can open and close along a second horizontal direction to release or clamp cargo, and the second horizontal direction is vertical. in the first horizontal direction.
  • the second fork arm 34 is used to carry the cargo 300 above the first target cargo 200 so that the cargo 300 is separated from the target cargo 200 ; the first fork arm 33 is used to move the cargo 300 above the first target cargo 200 ; After the arm 34 separates the cargo 300 above the first target cargo 200 from the first target cargo 200 , the arm 34 transports the first target cargo 200 onto the pallet 32 .
  • the pallet 32 is telescopically connected to the fork body 31 , and the telescopic direction of the pallet 32 is the same as the telescopic direction of the first fork arm 33 .
  • the pallet 32 includes a first pallet and a second pallet. One end of the first pallet is connected to the fork body 31 .
  • the second pallet is movably disposed on the first pallet and can be moved relative to the first pallet. The pallet moves in the horizontal direction.
  • the handling robot includes a mobile base, a storage shelf 10 and the above-mentioned fork 30; the storage shelf 10 is vertically disposed on the mobile base, and the fork 30 is disposed on one side of the storage shelf 10 and can be moved along the side of the storage shelf. The height moves up and down.
  • the method for picking up goods by the above-mentioned handling robot includes:
  • the fork moves to the height of the first target cargo; wherein the first target cargo is on the fixed shelf and stacked in the middle or lower layer.
  • the second fork arm extends and clamps the cargo stacked above the first target cargo, and the second fork arm rises to remove the cargo from contact with the first target cargo.
  • the first fork arm extends and engages with the first target cargo.
  • the first fork arm retracts to take the first target cargo out of the fixed shelf and place it on the pallet.
  • step S101 after the second fork arm clamps the cargo, the cargo fork moves upward along the height of the storage shelf of the handling robot, driving the cargo clamped by the second fork arm to move upward and away from the first target cargo.
  • the upward movement distance of the cargo fork is less than the height of the first target cargo, so that after the second fork arm clamps the cargo away from the first target cargo, the first target cargo is still within the clamping area of the first fork arm.
  • the first fork arm may be the above-mentioned clamping fork arm, that is, the two first telescopic arms may open and close in the second horizontal direction, and the first fork arm extends to clamp the first target cargo.
  • step S102 further includes: extending the pallet relative to the fork body.
  • the pallet when the first target cargo is stacked in the middle, the pallet is stretched out and pressed against another cargo below the first target cargo; when the first target cargo is stacked on the lower layer, the pallet is stretched out and pressed against another cargo. Press on the shelf support surface below the first target cargo.
  • step S104 the cargo fork descends, driving the second fork arm to lower the goods it clamps to the original position of the first target goods on the fixed shelf, and then the second fork arms release the clamping of the goods and retraction.
  • the picking method further includes: before fixing the shelf, moving the fork to a height where the second target goods are located; wherein the second target goods are on the fixed shelf and stacked on the upper level; the first fork arm extends Take out and clamp the second target cargo; and retract the first fork arm to bring the second target cargo Remove from fixed rack and place on pallet.
  • the second fork arm 34 and the first fork arm 33 are spaced up and down, and each can independently perform telescopic movements, thereby realizing flexible scheduling of the two fork arms and enabling the shelf to be adjusted.
  • Picking and placing goods at any level on the machine is suitable for picking and placing single-layer stacked goods, and is also suitable for picking and placing multi-layer stacked goods.
  • a third fork arm, a fourth fork arm, etc. can be added in the height direction as needed to realize the clamping of multiple goods at a time. etc.

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Abstract

本发明公开了一种搬运机器人及其货叉和取货方法，搬运机器人的货叉包括货叉主体、自下而上排布并设置在所述货叉主体一侧上的托盘、第一叉臂以及第二叉臂；所述托盘、第一叉臂以及第二叉臂分别可相对所述货叉主体在水平方向伸缩，并且所述托盘、第一叉臂和第二叉臂的伸缩方向一致。本发明的搬运机器人的货叉，通过两个叉臂的上下设置，叉臂之间可相对独立进行伸缩，从而不仅能够将货架上多层叠放货物的最上层的货物取出，还能够将货架上处于中间或下层的货物取出，能够促使货架上货物的多层叠置，充分利用货架的垂直空间，极大的减少使用多层货架时的空间的浪费和成本的增加。

Description

搬运机器人及其货叉和取货方法
本申请要求于2022年9月2日提交中国专利局、申请号为202211070015.6、申请名称为“搬运机器人及其货叉和取货方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及货物取放技术领域，尤其涉及一种搬运机器人及其货叉和取货方法。
背景技术
目前，对于货物的取货方式，针对多层取放和单层取放操作有所不同。其中，多层取放方式主要是通过机器人夹抱式取货：机器人的货叉伸出至货物附件，进一步伸出叉臂夹抱多个堆叠货物的最上层的货物并放至货叉托盘，以此完成取货。单层取放主要通过机器人拉取式取货：机器人的货叉叉臂上附带手指，货叉叉臂伸过待取容器/货物后端，叉臂手指打下，钩住容器/货物后端，将一个待取容器/货物拉出，以此完成整体的取放货。单层取放另有吸取式取货方式等。
现有的上述两种货物取放方式存在以下缺陷：
1.无法取放多层堆叠的容器/货物、例如料箱/鞋盒，仅能取放仅有一层料箱/鞋盒或堆叠鞋盒的最上层，无法针对堆叠的料箱/鞋盒的中间层及以下的容器进行随机取放货；
2.由于仅能存取一层或仅能取最上层，将导致整体的料箱/鞋盒无法堆叠或堆叠不高，导致货架垂直空间浪费；
3.为便于取货，货架需要做多层设计，多层设计将增加横梁和层板的成本，货架用料浪费且成本高。
发明内容
本发明要解决的技术问题在于，提供一种改进的搬运机器人的货叉、具有该货叉的搬运机器人以及搬运机器人的取货方法。
本发明解决其技术问题所采用的技术方案是：提供一种搬运机器人的货叉，包括货叉主体、自下而上排布并设置在所述货叉主体一侧上的托盘、第一叉臂以及第二叉臂；
所述托盘、第一叉臂以及第二叉臂分别可相对所述货叉主体在水平方向伸缩，并且所述托盘、第一叉臂和第二叉臂的伸缩方向垂直于所述货叉主体的高度方向。
优选地，所述第一叉臂包括相对设置的两个第一伸缩臂；
两个所述第一伸缩臂可沿垂直于所述伸缩方向的方向水平开合，以夹抱货物。
优选地，所述第二叉臂包括相对设置的两个第二伸缩臂；
两个所述第二伸缩臂可沿垂直于所述伸缩方向的方向水平开合，以夹抱货物。
本发明提供一种搬运机器人，包括移动底座、存储货架以及以上任一项所述的货叉；
所述存储货架竖向设置在所述移动底座上，所述货叉设置在所述存储货架的一侧上并可沿所述存储货架的高度上下移动。
一些实施例中，所述托盘包括第一托板和第二托板，所述第一托板的一端连接于货叉主体，第二托板活动设置于所述第一托板上，并可相对于所述第一托板在水平方向上移动。
本发明还提供一种搬运机器人的取货方法，包括从固定货架上取出叠置在中间或下层的目标货物；从固定货架上取出叠置在中间或下层的目标货物包括以下步骤：
S1.1、搬运机器人移动至固定货架前，所述搬运机器人上的货叉移动至目标货物所在的高度；
S1.2、所述货叉上的第二叉臂伸出，将叠置在所述目标货物上方的货物夹抱并使其上升脱离与所述目标货物的接触；
S1.3、所述货叉上的第一叉臂和托盘分别伸出，所述第一叉臂夹抱所述目标货物，所述托盘伸出至所述目标货物的下方；
S1.4、所述第一叉臂和托盘分别回缩，将目标货物带出所述固定货架并置于所述货叉内；
S1.5、所述货叉下降，所述第二叉臂将其夹抱的货物下放后回缩。
优选地，步骤S1.2中，在所述第二叉臂夹抱所述货物后，所述货叉沿所述搬运机器人的存储货架的高度向上移动，带动所述第二叉臂所夹抱的货物向上移动脱离所述目标货物。
优选地，所述货叉向上移动的距离小于所述目标货物的高度，使所述第二叉臂夹抱货物脱离所述目标货物后，所述目标货物仍处于所述第一叉臂的夹抱区域内。
优选地，步骤S1.3中，对于所述目标货物叠置在中间时，所述托盘伸出后抵压在所述目标货物下方的另一货物上；
对于所述目标货物叠置在下层时，所述托盘伸出后抵压在所述目标货物下方的货架支撑面上。
优选地，步骤S1.5中，所述货叉下降，带动所述第二叉臂将其夹抱的货物下降至所述目标货物在固定货架上的原始位置后，所述第二叉臂解除对所述货物的夹抱并回缩。
优选地，所述搬运机器人的取货方法还包括从固定货架上取出叠置在上层的目标货物；从固定货架上取出叠置在上层的目标货物包括以下步骤：
S2.1、在固定货架前，搬运机器人上的货叉移动至目标货物所在的高度；
S2.2、所述货叉上的第一叉臂和托盘分别伸出，所述第一叉臂夹抱所述目标货物，所述托盘伸出并抵压在所述目标货物下方的另一货物上；
S2.3、所述第一叉臂和托盘分别回缩，将所述目标货物带出所述固定货架并置于所述货叉内。
本发明的有益效果：搬运机器人的货叉通过两个叉臂的上下设置，叉臂之间可相对独立进行伸缩，从而不仅能够将货架上多层叠放货物的最上层的货物取出，还能够将货架上处于中间或下层的货物取出，能够促使货架上货物的多层叠置，充分利用货架的垂直空间，极大的减少使用多层货架时的空间的浪费和成本的增加。
本申请提供了一种搬运机器人的货叉，包括：货叉主体和设置在所述货 叉主体上托盘、第一叉臂和第二叉臂；其中，第一叉臂位于所述托盘上方，并且可相对于所述货叉主体伸缩，所述第一叉臂用于搬运货物；第二叉位于所述第一叉臂上方，并且可相对于所述货叉主体伸缩，所述第二叉臂用于搬运货物；所述第一叉臂和所述第二叉臂的伸缩方向相同。
一些实施例中，所述托盘、第一叉臂和第二叉臂沿竖直方向自下而上依次设置在所述货叉主体上，所述第一叉臂和所述第二叉臂的伸缩方向为第一水平方向。
一些实施例中，所述第一叉臂包括相对设置的两个第一伸缩臂，其中，两个所述第一伸缩臂可沿第二水平方向开合，以释放或夹抱货物，所述第二水平方向垂直于所述第一水平方向；或者其中，两个所述第一伸缩臂远离所述货叉主体的一端设置有拉杆组件，所述拉杆组件用于将货物拉至所述托盘上。
一些实施例中，所述第二叉臂包括相对设置的两个第二伸缩臂，其中，两个所述第二伸缩臂可沿第二水平方向开合，以释放或夹抱货物，所述第二水平方向垂直于所述第一水平方向。
一些实施例中，所述第二叉臂用于搬运目标货物上方的货物，以使该货物脱离所述目标货物；所述第一叉臂用于在所述第二叉臂将目标货物上方的货物脱离所述目标货物之后，将所述目标货物搬运至所述托盘上。
一些实施例中，所述托盘可伸缩地连接在所述货叉主体上，所述托盘的伸缩方向与所述第一叉臂的伸缩方向相同。
一些实施例中，所述托盘包括第一托板和第二托板，所述第一托板的一端连接于所述货叉主体，第二托板活动设置于所述第一托板上，且可以相对于所述第一托板在水平方向上移动。
本申请还提供了一种搬运机器人，包括移动底座、存储货架以及上述货叉；所述存储货架竖向设置在所述移动底座上，所述货叉设置在所述存储货架的一侧上并可沿所述存储货架的高度上下移动。
本申请还提供了一种搬运机器人的取货方法，所述搬运机器人包括移动底座、设置在所述以移动底座上的存储货架以及设置在所述存储货架上的货叉，所述货叉包括货叉主体以及沿竖直方向自下而上依次设置在所述货叉主体上的托盘、第一叉臂和第二叉臂；所述取货方法包括：搬运机器 人移动至固定货架前，所述货叉移动至第一目标货物所在的高度；其中，所述第一目标货物在固定货架上并叠置在中间或下层；所述第二叉臂伸出并夹抱叠置在所述第一目标货物上方的货物，所述第二叉臂上升以使该货物脱离与所述第一目标货物的接触；所述第一叉臂伸出并与所述第一目标货物接合；所述第一叉臂回缩，以将所述第一目标货物带出所述固定货架并置于所述托盘上；所述货叉下降，所述第二叉臂将其夹抱的货物下放后回缩。
一些实施例中，所述第二叉臂伸出并夹抱叠置在所述第一目标货物上方的货物，所述第二叉臂上升以使该货物脱离与所述第一目标货物的接触的步骤中，在所述第二叉臂夹抱所述货物后，所述货叉沿所述搬运机器人的存储货架的高度向上移动，带动所述第二叉臂所夹抱的货物向上移动脱离所述第一目标货物。
一些实施例中，所述货叉向上移动的距离小于所述第一目标货物的高度，使所述第二叉臂夹抱货物脱离所述第一目标货物后，所述第一目标货物仍处于所述第一叉臂的夹抱区域内。
一些实施例中，所述第一叉臂为夹抱式叉臂，所述第一叉臂伸出并与所述第一目标货物接合的步骤中，所述第一叉臂夹抱所述第一目标货物。
一些实施例中，所述第一叉臂伸出的步骤，还包括：所述托盘相对于所述货叉主体伸出。
一些实施例中，当所述第一目标货物叠置在中间时，所述托盘伸出后抵压在所述第一目标货物下方的另一货物上；当所述第一目标货物叠置在下层时，所述托盘伸出后抵压在所述第一目标货物下方的货架支撑面上。
一些实施例中，所述货叉下降，所述第二叉臂将其夹抱的货物下放后回缩的步骤中，所述货叉下降，带动所述第二叉臂将其夹抱的货物下降至所述第一目标货物在固定货架上的原始位置后，所述第二叉臂解除对所述货物的夹抱并回缩。
一些实施例中，所述取货方法还包括：在固定货架前，所述货叉移动至第二目标货物所在的高度；其中，所述第二目标货物在所述固定货架上，并叠置在上层；所述第一叉臂伸出并夹抱所述第二目标货物；和所述第一叉臂回缩，将所述第二目标货物带出所述固定货架并置于所述托盘上。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本发明一实施例的搬运机器人的结构示意图；
图2是本发明一实施例的搬运机器人中货叉的侧面结构示意图；
图3是图2所示货叉上第一、第二叉臂伸出的结构示意图；
图4是图3所示货叉的俯视图；
图5是本发明的搬运机器人从固定货架上取出叠置在中间或下层的目标货物的取货流程示意图；
图6是本发明的搬运机器人从固定货架上取出叠置在上层的目标货物的取货流程示意图；
图7是本发明的搬运机器人的取货方法的流程示意图。
具体实施方式
下面结合具体实施例对本申请进行详细说明。以下实施例将有助于本领域的技术人员进一步理解本申请，但不以任何形式限制本申请。应当指出的是，对本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进。这些都属于本申请的保护范围。
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本申请，并不用于限定本申请。
需要说明的是，如果不冲突，本申请实施例中的各个特征可以相互结合，均在本申请的保护范围之内。另外，虽然在装置示意图中进行了功能模块划分，在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于装置中的模块划分，或流程图中的顺序执行所示出或描述的步骤。此外，本文所采用的“第一”、“第二”、“第三”等字样并不对数据和执行次 序进行限定，仅是对功能和作用基本相同的相同项或相似项进行区分。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本说明书中在本申请的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是用于限制本申请。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本申请各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。
如图1、2所示，本发明一实施例的搬运机器人，可包括移动底座10、存储货架20以及货叉30。存储货架20竖向设置在移动底座10上，货叉30设置在存储货架20的一侧上并可沿存储货架20的高度方向上下移动，实现在不同高度的转换及定位。
其中，移动底座10作为搬运机器人的支撑底部，实现整个搬运机器人的移动定位以及稳定。存储货架20相对移动底座10垂直立置在移动底座10上，用于存储货物，其中存储的货物包括但不限于料箱、鞋盒等容器中至少一种。存储货架20上具有自上而下间隔排布的多个存储单元40，分别用于放置料箱、鞋盒等容器，实现货物在存储货架20高度方向上的多层放置。
在存储货架20的高度方向上，存储货架20具有相对的两侧，存储单元40和货叉30分别位于存储货架20的该相对两侧上。货叉30可沿着存储货架30的高度方向上下移动，能够将从外部获取(如固定货架)的货物接收并分置于不同高度的存储单元40上。
可以理解地，对应货叉30的可上下移动，搬运机器人还包括升降机构(未图示)，升降机构设置在存储货架20和货叉30上，驱使货叉30沿着存储货架20的高度方向上下移动(即升降运动)。在一选择性实施方式中，升降机构可包括升降动力源和升降传动组件，升降动力源和升降传动组件分别设置于存储货架20，升降动力组件传动连接货叉30和升降动力源，升降动力源输出动力，通过升降动力组件的传动驱使货叉30上下移动。升降动力源的动力输出形式可为但不限于转动、直线运动等。
进一步地，搬运机器人还可包括旋转机构或平移机构(未图示)，驱 使货叉30在水平方向上相对存储货架20以及固定货架上容器转动或者平移，以根据外部货物的方向调整角度。
本发明的搬运机器人中的移动底座10、存储货架20、升降机构和旋转机构的具体设置分别可参考专利CN212244811U中对应结构，在此不再赘述。
特别地，本发明中的货叉30至少包括货叉主体31、分别可伸缩的托盘32、第一叉臂33以及第二叉臂34。货叉30通过货叉主体31设置在存储货架20上，托盘32、第一叉臂33以及第二叉臂34自下而上间隔排布并设置在货叉主体31背向存储货架20的一侧上。托盘32、第一叉臂33以及第二叉臂34分别可相对货叉主体31在水平方向伸缩，即伸缩方向垂直于货叉主体31的高度方向，并且托盘32、第一叉臂33和第二叉臂34的伸缩方向与取货方向一致。
具体地，如图2-4所示，托盘32作为货叉30下方的顶托结构，用于在第一叉臂33夹抱货物时顶住货物下方的其他货物或结构，此外还可作为货叉30的承载部分，用于承载进入货叉30的货物。托盘32的可伸缩设置，使得在货叉30从固定货架上叉取货物时，托盘32可伸入固定货架中并置于所要叉取的目标货物的下方，承托目标货物的同时将目标货物下方的其他货物或结构顶住，以在取走上方货物时使下方货物保持稳定，不被带动。
结合托盘32的作用及可伸缩设置，其可包括至少两个上下叠置并可相对移动的托板。以两个托板为例，分为第一托板和第二托板，第一托板水平设置并以一端固定连接在货叉主体31上，第二托板平行第一托板并活动置于第一托板上方，第一托板和第二托板之间设有导轨结构，第二托板可沿导轨结构相对第一托板在水平方向上来回移动，向远离货叉主体31的方向移动；通过第二托板相对第一托板的移动距离，可以调节托盘32的伸缩长度。
第一叉臂33和第二叉臂34依次位于托盘32的上方，分别可用于夹抱货物。作为选择，第一叉臂33可包括相对设置的两个第一伸缩臂331，两个第一伸缩臂331相平行，并且分别以一端设置在货叉主体31上，相对另一端向远离货叉主体31的方向延伸。每一第一伸缩臂331可由两个 或以上的节臂331a以可移动折叠方式连接形成。
进一步地，两个第一伸缩臂331相对货叉主体31可水平开合，以夹抱货物。从固定货架上夹抱货物时，两个第一伸缩臂331分别伸入固定货架至目标货物的相对两侧；到位后两个第一伸缩臂331相向移动以闭合夹持目标货物。夹持目标货物后两个第一伸缩臂331可同时回缩将目标货物带出固定货架并带入货叉30内；到位后两个第一伸缩臂331相背移动打开，解除对目标货物的夹持，即可将目标货物下放至托盘32上。
作为选择，第一叉臂33也可以是拉取式叉臂，即第一叉臂33的两个伸缩臂331的前端附带拉杆组件例如手指状拉杆组件。当取货时，伸缩臂331伸过待取容器/货物后端，手指状拉杆组件旋转打下，钩住容器/货物后端，将待取容器/货物拉出，以此完成取货。这种拉取式取货结构及方法，一般适用于堆叠放置的容器/货物的上下表面较平整，上下两容器/货物之间没有卡扣的情况。
作为选择，第二叉臂34可包括相对设置的两个第二伸缩臂341，两个第二伸缩臂341相平行，并且分别以一端设置在货叉主体31上，相对另一端向远离货叉主体31的方向延伸。每一第二伸缩臂341可由两个或以上的节臂341a以可移动折叠方式连接形成。
同理于第一叉臂33，两个第二伸缩臂341相对货叉主体31可水平开合，以夹抱货物。从固定货架上夹抱货物时，两个第二伸缩臂341分别伸入固定货架至目标货物的相对两侧；到位后两个第二伸缩臂341相向移动以闭合夹持目标货物。夹持目标货物后两个第二伸缩臂341可同时回缩将目标货物带出固定货架并带入货叉30内；到位后两个第二伸缩臂341相背移动打开，解除对目标货物的夹持，即可将目标货物下放至托盘32上。
根据第一叉臂33和第二叉臂34的尺寸及夹持力的设置，第一叉臂33夹抱货物时，所夹抱的目标货物可以是一个或上下叠置的多个货物，对于上下叠置的多个货物，第一叉臂33主要夹抱位于最下方的货物即可。同理，第二叉臂34所夹抱的目标货物可以是一个或上下叠置的多个货物，对于上下叠置的多个货物，第二叉臂34主要夹抱位于最下方的货物即可。
对于上述托盘32、第一叉臂33和第二叉臂34的可伸缩，分别通过各自的驱动机构驱使进行伸展或回缩。驱动机构可包括驱动电机、与驱动电 机配合的链轮组件或带轮组件等；或者包括气缸等，可通过现有的驱动技术实现。
对于第一伸缩臂331的可开合以及第二伸缩臂341的可开合，分别通过各自的导轨及驱动组件等配合进行驱动。例如，对于两个第一伸缩臂331，货叉主体31的对应位置设有横向设置的导轨，导轨的长度方向平行两个第一伸缩臂331的开合方向，两个第一伸缩臂331的一端可沿导轨滑动配合在导轨上，通过电机连接并驱动两个第一伸缩臂331沿导轨相向或相背移动。第二伸缩臂341的开合同理于两个第一伸缩臂331的开合。
应用本发明的搬运机器人进行取货时，可以从固定货架上取出叠置在任何位置上的货物，例如位于最上层、中间或者最下层。
对应地，本发明的搬运机器人的取货方法，在一实施例中，包括从固定货架上取出叠置在中间或下层的目标货物。参考图5，从固定货架上取出叠置在中间或下层的目标货物可包括以下步骤：
S1.1、搬运机器人移动至固定货架100前，搬运机器人上的货叉30移动至目标货物200所在的高度，如图5中(a)所示。
通常，固定货架100设有从上至下间隔排布的多个分隔层，每一分隔层的一放置位可叠置一个或多个上下叠放的货物。本实施例的目标货物200可为任一分隔层上放置的货物，并且为多个上下叠放的货物中处于中间的货物或处于下层的货物。对于中间的目标货物200，指该目标货物200的上方和下方均叠置有货物，上方的货物不限一个，下方的货物也不限一个。对于下层的目标货物200，指该目标货物200的上方叠置有货物，下方为固定货架100的货架支撑面，也即为分隔层的承载面。上述的目标货物200均不限一个，也可以是由两个或以上的货物上下叠置形成的货物组。
搬运机器人的移动主要通过控制系统控制其移动底座10按照预设路径行进至固定货架100前，再通过控制系统控制升降机构驱使货叉30上下移动至所需高度。
S1.2、货叉30上的第二叉臂34伸出，将叠置在目标货物200上方的货物300夹抱并使其上升脱离与目标货物200的接触，如图5中(b)至(c)所示。
结合图1及图5中(b)至(c)，该步骤S1.2具体如下：在第二叉臂 34夹抱货物300后，货叉30沿搬运机器人的存储货架10的高度向上移动，带动第二叉臂34所夹抱的货物300向上移动脱离目标货物200。
货叉30向上移动的距离小于目标货物200的高度，使第二叉臂34夹抱货物300脱离目标货物200后，目标货物200仍处于第一叉臂33的夹抱区域内。优选地，夹抱货物300向上移动，只需使该货物300的接触面与目标货物200的接触面相分离即可，货物300不再支撑于目标货物300上。
S1.3、货叉30上的第一叉臂33和托盘32分别伸出，第一叉臂33夹抱目标货物200，托盘32伸出至目标货物200的下方，如图5中(d)所示。
其中，根据实际操作，第一叉臂33和托盘32可以同时伸出，或者第一叉臂33先伸出后托盘32再伸出，又或者托盘32伸出后第一叉臂33再伸出。
对于目标货物200叠置在中间时，托盘32伸出后抵压在目标货物200下方的另一货物400上。对于目标货物200叠置在下层时，托盘32伸出后抵压在目标货物200下方的货架支撑面上。
在图5所示实施例中，固定货架100的每一分隔层上自下而上叠放有三个货物，货叉30中第二叉臂34夹抱最上方的货物300，将该最上方的货物300上升脱离中间的目标货物200。第一叉臂33夹抱中间的目标货物200，托盘32顶住在最下方的货物400上方。
可以理解地，当目标货物200为最下方的货物时，对于一分隔层上自下而上叠放有三个货物的情况，货叉30中第二叉臂34夹抱中间的货物，将该中间的货物及其上叠置的货物一同上升脱离最下方的货物。第一叉臂33夹抱最下方的货物；托盘32则顶住在最下方的货物下方的货物支撑面。
S1.4、第一叉臂33和托盘32分别回缩，将目标货物200带出固定货架100并置于货叉30内，如图5中(e)所示。
S1.5、货叉30下降，第二叉臂34将其夹抱的货物300下放后回缩，如图5中(f)至(g)所示。
具体地，该步骤S1.5中，货叉30下降，带动第二叉臂34将其夹抱的货物300下降至目标货物200在固定货架100上的原始位置后，第二叉臂 34解除对货物300的夹抱并回缩，从而原处于目标货物200的货物300被置于目标货物200的原始位置上。完成后第二叉臂34打开解除对货物300的夹抱后，回缩脱离固定货架100。
通过上述步骤完成了固定货架100上处于中间的货物的取出。货叉30再将取出的目标货物200转移至搬运机器人的存储货架10上，后续可再进行下一个目标货物200从固定货架100上取出或者结束作业。
本发明的搬运机器人的取货方法在另一实施例中，还包括从固定货架上取出叠置在上层的目标货物。参考图6，从固定货架上取出叠置在上层的目标货物可包括以下步骤：
S2.1、在固定货架100前，搬运机器人上的货叉30移动至目标货物200所在的高度，如图6中(a)所示。
搬运机器人主要通过控制系统控制其移动底座10按照预设路径行进至固定货架100前，再通过控制系统控制升降机构驱使货叉30上下移动至所需高度。
S2.2、货叉30上的第一叉臂33和托盘32分别伸出，第一叉臂33夹抱位于最上层的目标货物200，托盘32伸出并抵压在目标货物200下方的另一货物400上，如图6中(a)所示。
根据实际操作，第一叉臂33和托盘32可以同时伸出，或者第一叉臂33先伸出后托盘32再伸出，又或者托盘32伸出后第一叉臂33再伸出。
上述的目标货物200不限一个，还可以是由两个或以上的货物上下叠置形成的货物组。
在图6所示实施例中，固定货架100的每一分隔层上自下而上叠放有三个货物，货叉30的第二叉臂34无需动作，保持初始的回缩状态。第一叉臂33伸出至最上方的目标货物200的相对两侧，对其进行夹抱。托盘32伸出后顶住在中间的货物400上方。
S2.3、第一叉臂33和托盘32分别回缩，将目标货物带出固定货架100并置于货叉30内，如图6中(a)至(b)所示。
进一步地，还可将目标货物200置于托盘32上，对目标货物200形成稳定支撑。
通过上述步骤完成了固定货架100上处于上层的货物的取出。货叉30 再将取出的目标货物200转移至搬运机器人的存储货架10上，后续可再进行下一个目标货物200从固定货架100上取出或者结束作业。
在整个取货流程中，可以进行上述图5及图6所示的两个实施例的取货方法，或者只需要按照其中任一实施例进行即可，具体根据实际所需取货的数量及位置进行灵活操作。
一些实施例中，如图2和图3所示，一种搬运机器人的货叉可以包括货叉主体31和设置在货叉主体31上的托盘32、第一叉臂33和第二叉臂34。其中，第一叉臂33位于托盘32上方，并且可相对于货叉主体31伸缩，第一叉臂33用于搬运货物；第二叉臂34位于第一叉臂33上方，并且可相对于货叉主体31伸缩，第二叉臂34用于搬运货物；第一叉臂33和第二叉臂34的伸缩方向相同。
一些实施例中，托盘32、第一叉臂33和第二叉臂34沿竖直方向自下而上依次设置在货叉主体31上，第一叉臂33和第二叉臂34的伸缩方向为第一水平方向。
一些实施例中，第一叉臂33包括相对设置的两个第一伸缩臂，其中，两个第一伸缩臂可沿第二水平方向开合，以释放或夹抱货物，第二水平方向垂直于第一水平方向；或者其中，两个第一伸缩臂远离货叉主体的一端设置有拉杆组件，拉杆组件用于将货物拉至托盘32上。
一些实施例中，第二叉臂34包括相对设置的两个第二伸缩臂，其中，两个第二伸缩臂可沿第二水平方向开合，以释放或夹抱货物，第二水平方向垂直于第一水平方向。
一些实施例中，如图5所示，第二叉臂34用于搬运第一目标货物200上方的货物300，以使该货物300脱离目标货物200；第一叉臂33用于在第二叉臂34将第一目标货物200上方的货物300脱离第一目标货物200之后，将第一目标货物200搬运至托盘32上。
一些实施例中，托盘32可伸缩地连接在货叉主体31上，托盘32的伸缩方向与第一叉臂33的伸缩方向相同。
一些实施例中，托盘32包括第一托板和第二托板，第一托板的一端连接于货叉主体31，第二托板活动设置于第一托板上，且可以相对于第一托板在水平方向上移动。
一些实施例中，种搬运机器人包括移动底座、存储货架10以及上述货叉30；存储货架10竖向设置在移动底座上，货叉30设置在存储货架10的一侧上并可沿存储货架的高度上下移动。
一些实施例中，上述搬运机器人的取货方法包括：
S100、搬运机器人移动至固定货架前，货叉移动至第一目标货物所在的高度；其中，第一目标货物在固定货架上并叠置在中间或下层。
S101、第二叉臂伸出并夹抱叠置在第一目标货物上方的货物，第二叉臂上升以使该货物脱离与第一目标货物的接触。
S102、第一叉臂伸出并与第一目标货物接合。
S103、第一叉臂回缩，以将第一目标货物带出固定货架并置于托盘上。
S104、货叉下降，第二叉臂将其夹抱的货物下放后回缩。
一些实施例中，步骤S101中，在第二叉臂夹抱货物后，货叉沿搬运机器人的存储货架的高度向上移动，带动第二叉臂所夹抱的货物向上移动脱离第一目标货物。
一些实施例中，货叉向上移动的距离小于第一目标货物的高度，使第二叉臂夹抱货物脱离第一目标货物后，第一目标货物仍处于第一叉臂的夹抱区域内。
一些实施例中，步骤S102中，第一叉臂可以是上述夹抱式叉臂，即，两个第一伸缩臂可在第二水平方向开合，第一叉臂伸出后夹抱第一目标货物。
一些实施例中，步骤S102还包括：托盘相对于货叉主体伸出。
一些实施例中，当第一目标货物叠置在中间时，托盘伸出后抵压在第一目标货物下方的另一货物上；当第一目标货物叠置在下层时，托盘伸出后抵压在第一目标货物下方的货架支撑面上。
一些实施例中，步骤S104中，货叉下降，带动第二叉臂将其夹抱的货物下降至第一目标货物在固定货架上的原始位置后，第二叉臂解除对货物的夹抱并回缩。
一些实施例中，取货方法还包括：在固定货架前，货叉移动至第二目标货物所在的高度；其中，第二目标货物在固定货架上，并叠置在上层；第一叉臂伸出并夹抱第二目标货物；和第一叉臂回缩，将第二目标货物带 出固定货架并置于托盘上。
可以理解地，对于本发明中的货叉30，通过第二叉臂34和第一叉臂33的上下间隔设置，并且分别可独立进行伸缩动作，实现两个叉臂的灵活调度，能够对货架上任意层位的货物进行取放，适用于单层叠放货物的取放，也适用于多层叠放货物的取放。
结合上述的叉臂在货叉30上的设置以及取货方法，货叉30上还可以根据需要在高度方向上增加第三叉臂、第四叉臂等等，实现一次多个货物的夹抱等等。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；在本申请的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本申请的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (20)

  1. 一种搬运机器人的货叉，其特征在于，包括货叉主体、自下而上排布并设置在所述货叉主体的一侧上的托盘、第一叉臂以及第二叉臂；
    所述托盘、第一叉臂以及第二叉臂分别可相对所述货叉主体在水平方向伸缩，并且所述托盘、第一叉臂和第二叉臂的伸缩方向垂直于所述货叉主体的高度方向。
  2. 根据权利要求1所述的搬运机器人的货叉，其特征在于，所述第一叉臂包括相对设置的两个第一伸缩臂；
    两个所述第一伸缩臂可沿垂直于所述伸缩方向的方向水平开合，以夹抱货物。
  3. 根据权利要求1所述的搬运机器人的货叉，其特征在于，所述第二叉臂包括相对设置的两个第二伸缩臂；
    两个所述第二伸缩臂可沿垂直于所述伸缩方向的方向水平开合，以夹抱货物。
  4. 根据权利要求1所述的搬运机器人的货叉，其特征在于，所述托盘包括第一托板和第二托板，所述第一托板的一端连接于货叉主体，第二托板活动设置于所述第一托板上，并可相对于所述第一托板在水平方向上移动。
  5. 一种搬运机器人的货叉，其特征在于，包括：
    货叉主体，
    托盘，设置在所述货叉主体上；
    第一叉臂，设置在所述货叉主体上，并位于所述托盘上方，并且可相对于所述货叉主体伸缩，所述第一叉臂用于搬运货物；和
    第二叉臂，设置在所述货叉主体上，并位于所述第一叉臂上方，并且可相对于所述货叉主体伸缩，所述第二叉臂用于搬运货物；
    其中，所述第一叉臂和所述第二叉臂的伸缩方向相同。
  6. 根据权利要求5所述的搬运机器人的货叉，其特征在于，所述托盘、第一叉臂和第二叉臂沿竖直方向自下而上依次设置在所述货叉主体上，所述第一叉臂和所述第二叉臂的伸缩方向为第一水平方向。
  7. 根据权利要求6所述的搬运机器人的货叉，其特征在于，所述第一叉臂包括相对设置的两个第一伸缩臂，
    其中，两个所述第一伸缩臂可沿第二水平方向开合，以释放或夹抱货物，所述第二水平方向垂直于所述第一水平方向；或者
    其中，两个所述第一伸缩臂远离所述货叉主体的一端设置有拉杆组件，所述拉杆组件用于将货物拉至所述托盘上。
  8. 根据权利要求6所述的搬运机器人的货叉，其特征在于，所述第二叉臂包括相对设置的两个第二伸缩臂，其中，两个所述第二伸缩臂可沿第二水平方向开合，以释放或夹抱货物，所述第二水平方向垂直于所述第一水平方向。
  9. 根据权利要求5所述的搬运机器人的货叉，其特征在于，所述第二叉臂用于搬运目标货物上方的货物，以使该货物脱离所述目标货物；
    所述第一叉臂用于在所述第二叉臂将目标货物上方的货物脱离所述目标货物之后，将所述目标货物搬运至所述托盘上。
  10. 根据权利要求5所述的搬运机器人的货叉，其特征在于，所述托盘可伸缩地连接在所述货叉主体上，所述托盘的伸缩方向与所述第一叉臂的伸缩方向相同。
  11. 根据权利要求10所述的搬运机器人的货叉，其特征在于，所述托盘包括第一托板和第二托板，所述第一托板的一端连接于所述货叉主体，第二托板活动设置于所述第一托板上，且可以相对于所述第一托板在水平方向上移动。
  12. 一种搬运机器人，其特征在于，包括移动底座、存储货架以及权利要求1-11任一项所述的货叉；
    所述存储货架竖向设置在所述移动底座上，所述货叉设置在所述存储货架的一侧上并可沿所述存储货架的高度上下移动。
  13. 一种搬运机器人的取货方法，其特征在于，所述搬运机器人包括移动底座、设置在所述以移动底座上的存储货架以及设置在所述存储货架上的货叉，所述货叉包括货叉主体以及沿竖直方向自下而上依次设置在所述货叉主体上的托盘、第一叉臂和第二叉臂；
    所述取货方法包括：
    搬运机器人移动至固定货架前，所述货叉移动至第一目标货物所在的高度；其中，所述第一目标货物在固定货架上并叠置在中间或下层；
    所述第二叉臂伸出并夹抱叠置在所述第一目标货物上方的货物，所述第二叉臂上升以使该货物脱离与所述第一目标货物的接触；
    所述第一叉臂伸出并与所述第一目标货物接合；
    所述第一叉臂回缩，以将所述第一目标货物带出所述固定货架并置于所述托盘上；
    所述货叉下降，所述第二叉臂将其夹抱的货物下放后回缩。
  14. 根据权利要求13所述的搬运机器人的取货方法，其特征在于，所述第二叉臂伸出并夹抱叠置在所述第一目标货物上方的货物，所述第二叉臂上升以使该货物脱离与所述第一目标货物的接触的步骤中，在所述第二叉臂夹抱所述货物后，所述货叉沿所述搬运机器人的存储货架的高度向上移动，带动所述第二叉臂所夹抱的货物向上移动脱离所述第一目标货物。
  15. 根据权利要求14所述的搬运机器人的取货方法，其特征在于，所述货叉向上移动的距离小于所述第一目标货物的高度，使所述第二叉臂夹抱货物脱离所述第一目标货物后，所述第一目标货物仍处于所述第一叉臂的夹抱区域内。
  16. 根据权利要求13-15任一项所述的搬运机器人的取货方法，其特征在于，所述第一叉臂为夹抱式叉臂，所述第一叉臂伸出并与所述第一目标货物接合的步骤中，所述第一叉臂夹抱所述第一目标货物。
  17. 根据权利要求13-16任一项所述的搬运机器人的取货方法，其特征在于，所述第一叉臂伸出的步骤，还包括：所述托盘相对于所述货叉主体伸出。
  18. 根据权利要求17所述的搬运机器人的取货方法，其特征在于，当所述第一目标货物叠置在中间时，所述托盘伸出后抵压在所述第一目标货物下方的另一货物上；
    当所述第一目标货物叠置在下层时，所述托盘伸出后抵压在所述第一目标货物下方的货架支撑面上。
  19. 根据权利要求13-18任一项所述的搬运机器人的取货方法，其特征在于，所述货叉下降，所述第二叉臂将其夹抱的货物下放后回缩的步骤中， 所述货叉下降，带动所述第二叉臂将其夹抱的货物下降至所述第一目标货物在固定货架上的原始位置后，所述第二叉臂解除对所述货物的夹抱并回缩。
  20. 根据权利要求13-19任一项所述的搬运机器人的取货方法，其特征在于，还包括：
    在固定货架前，所述货叉移动至第二目标货物所在的高度；其中，所述第二目标货物在所述固定货架上，并叠置在上层；
    所述第一叉臂伸出并夹抱所述第二目标货物；和
    所述第一叉臂回缩，将所述第二目标货物带出所述固定货架并置于所述托盘上。
PCT/CN2023/115088 2022-09-02 2023-08-25 搬运机器人及其货叉和取货方法 WO2024046238A1 (zh)

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