WO2024066836A1 - 转移装置和搬运机器人 - Google Patents

转移装置和搬运机器人 Download PDF

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Publication number
WO2024066836A1
WO2024066836A1 PCT/CN2023/114803 CN2023114803W WO2024066836A1 WO 2024066836 A1 WO2024066836 A1 WO 2024066836A1 CN 2023114803 W CN2023114803 W CN 2023114803W WO 2024066836 A1 WO2024066836 A1 WO 2024066836A1
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WO
WIPO (PCT)
Prior art keywords
transfer
goods
transfer device
storage space
frame
Prior art date
Application number
PCT/CN2023/114803
Other languages
English (en)
French (fr)
Inventor
王诏
Original Assignee
杭州海康机器人股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 杭州海康机器人股份有限公司 filed Critical 杭州海康机器人股份有限公司
Publication of WO2024066836A1 publication Critical patent/WO2024066836A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

Definitions

  • the present application relates to the field of mobile warehousing and logistics technology, and in particular to a transfer device and a handling robot.
  • handling robots As the core equipment of intelligent logistics, have made great progress in recent years.
  • the use of handling robots can improve the efficiency and convenience of warehousing and logistics work.
  • a handling robot When working, a handling robot often has to face a scene where several goods are stacked together. At this time, if it only needs to move the goods at the bottom or middle position, it may not be able to complete it automatically.
  • the purpose of the present application is to provide a transfer device and a transport robot.
  • the transport robot can automatically complete the picking of target goods and then transport the target goods.
  • the transfer device includes: a frame, provided with a storage space and a material port for goods to pass through; a first transfer mechanism installed on the frame, the first transfer mechanism is used to transfer goods between the storage space and the shelf; and a second transfer mechanism installed on the frame, the second transfer mechanism is arranged above the first transfer mechanism, and the second transfer mechanism is used to transfer at least one of the goods stacked in the storage space and located at the top to the shelf.
  • a transport robot which is used for transporting goods, and comprises: a carrying platform; a storage rack disposed on the carrying platform; and the above-mentioned transfer device, which is disposed on the storage rack in a manner that it can be raised and lowered.
  • the handling robot of the present application is handling goods, facing a number of goods stacked together, if only the target goods located at the bottom or the middle need to be handled, the target goods to be handled and other goods stacked on the target goods are first handled to the storage space by the first transfer mechanism, and then the other goods located on the target goods are handled from the storage space to the shelf by the second transfer mechanism, so that only the target goods to be handled are left in the storage space, thereby realizing automatic picking of the target goods. In this way, for a scene where a number of goods are stacked together, the handling robot can still automatically complete the picking of the target goods and then handle the target goods.
  • FIG1 is a perspective schematic diagram of an embodiment of a handling robot of the present application.
  • FIG2 is a perspective schematic diagram of the transfer device shown in FIG1 ;
  • FIG3 is a perspective schematic diagram of the transfer device shown in FIG2 , wherein the first transfer mechanism is extended;
  • FIG4 is a perspective schematic diagram of the transfer device shown in FIG2 , wherein the second transfer mechanism is extended;
  • FIG5 is a perspective schematic diagram of the second transfer mechanism shown in FIG4 ;
  • FIG6 is an exploded perspective view of the second transfer mechanism shown in FIG4 ;
  • FIG7 is a perspective schematic diagram showing the cooperation between the carrier shown in FIG2 and the first transfer mechanism
  • FIG. 8 is a three-dimensional exploded view of the bearing member, elastic member, etc. shown in FIG. 7 .
  • the embodiment of the present application provides a transport robot 500 for transporting goods.
  • the transport robot 500 includes a carrying platform 200 , a storage rack 300 and a transfer device 100 .
  • the carrying platform 200 is a basic component of the handling robot 500, and includes basic functional components of the handling robot 500, such as a moving drive mechanism, etc. Specifically, the carrying platform 200 includes a driving motor that drives the entire handling robot 500 to move.
  • the rack 300 is disposed on the carrying platform 200 , and the rack 300 enables the transport robot 500 to have a stronger ability to store goods.
  • the rack 300 includes a multi-layer storage grid 310 disposed along the height direction, and the storage grid 310 is a space on the rack 300 for placing goods.
  • the transfer device 100 is disposed on the rack 300 so as to be movable and retractable.
  • the transfer device 100 can be movable and retractable in the height direction of the rack 300.
  • the transfer device 100 is used to transport goods, that is, to take and place goods on the shelf.
  • the lifting and lowering movement of the transfer device 100 can take and place goods at different heights on the shelf.
  • the transfer device 100 includes a frame 10, a first transfer mechanism 20 and a second transfer mechanism 30.
  • the frame 10 is the main component of the transfer device 100, which can provide a mounting base for other components of the transfer device 100.
  • the first transfer mechanism 20 and the second transfer mechanism 30 are mounted on the frame 10.
  • the rack 10 is provided with a storage space 11 and a material port 12 for goods to pass through.
  • the storage space 11 can be used to place goods, and during the transportation process, the storage space 11 can be used for temporary storage of goods.
  • the transfer device 100 is mainly used to transfer goods between the storage space 11 and the shelf, or between the storage space 11 and the rack 300, but is not limited thereto.
  • the top of the rack 10 is further provided with an opening 13 connected to the storage space 11, so that the storage space 11 can be used to place a plurality of goods stacked together, and the goods located above can be extended from the opening 13.
  • the top of the rack 10 is not provided with an opening, but the height of the storage space 11 is increased, so that the storage space 11 can be used to place a plurality of goods stacked together.
  • the first transfer mechanism 20 is used to transfer goods between the storage space 11 and the shelf.
  • the first transfer mechanism 20 can transfer goods from the storage space 11 to the shelf, or from the shelf to the storage space 11.
  • the goods can be stored in the storage space 11 and are constrained by the frame 10 to prevent the goods from falling from the transport robot 500 during the transport process.
  • the second transfer mechanism 30 is disposed above the first transfer mechanism 20.
  • the second transfer mechanism 30 is used to transfer at least one of the goods stacked in the storage space 11 to the shelf.
  • the first transfer mechanism 20 transfers the goods stacked together from the shelf to the storage space 11
  • the second transfer mechanism 30 can transfer the goods located at the top to the shelf.
  • One or more goods at the top are transferred to the shelf, and only the goods at the bottom are temporarily stored in the storage space 11.
  • the handling robot 500 In a specific usage scenario, there are three goods stacked on the shelf, the first one is at the bottom, the second one is on top of the first one, and the third one is on top of the second one. If the handling robot 500 only needs to handle the first one at the bottom, first transfer the first, second and third goods to the storage space 11 through the first transfer mechanism 20, and then transfer the second and third goods from the storage space 11 to the shelf through the second transfer mechanism 30. In this way, the picking of the target goods can be completed, and then the first one in the storage space 11 can be handled.
  • the above is just one usage scenario, and the handling robot 500 of the present application is not limited to this usage scenario.
  • the handling robot 500 When the handling robot 500 is handling goods, facing a number of goods stacked up and down, if only the target goods located at the bottom or the middle need to be handled, the target goods to be handled and other goods stacked on the target goods are first handled to the storage space 11 by the first transfer mechanism 20, and then the other goods located on the target goods are transferred from the storage space 11 to the shelf by the second transfer mechanism 30.
  • the first transfer mechanism 20 and the second transfer mechanism 30 are telescopic devices with substantially parallel telescopic directions, and the first transfer mechanism 20 drives the target goods located on the shelf and other goods stacked on the target goods to be transferred to the storage space along the retracting direction.
  • the second transfer mechanism 30 pushes the other goods stacked on the target goods in the storage space 11 to be transferred from the storage space 11 to the shelf along the extending direction.
  • the height position of the goods can be basically unchanged during the "transfer" process. In this way, only the target goods to be handled are left in the storage space 11, thereby realizing automatic picking of the target goods. In this way, for a scene where a number of goods are stacked together, the handling robot 500 can still automatically complete the picking of the target goods, and then carry the target goods.
  • the second transfer mechanism 30 includes a pusher 31 and a driving device 32.
  • the driving device 32 is used to drive the pusher 31 to extend or retract into the storage space 11. By extending the pusher 31 into the storage space 11, other goods located above the target goods can be pushed from the storage space 11 to the shelf. In other words, the pusher 31 can push unnecessary goods out of the storage space 11.
  • the driving device 32 includes a motor 321 and a transmission assembly 33.
  • the transmission assembly 33 uses any of the following assemblies: a belt drive assembly, a chain drive assembly, a rack and pinion assembly, and a screw assembly, as long as the extension and retraction of the pusher 31 can be achieved.
  • the driving device 32 includes a motor 321 and a transmission assembly 33.
  • the transmission assembly 33 includes a pulley 331 and a belt 332 sleeved on the pulley 331.
  • the motor 321 drives the pulley 331 to rotate, and the pusher 31 extends or retracts into the storage space 11 driven by the belt 332.
  • the transmission assembly 33 adopts a belt transmission assembly, so that the driving of the pusher 31 is more stable and reliable.
  • the second transfer mechanism 30 includes two guide assemblies 34 relatively arranged on both sides of the storage space 11, and the two guide assemblies 34 respectively include a second guide rail 341 fixed to the frame 10 and a second slider 342 that can slide along the second guide rail 341, and the pusher 31 is fixed to the second slider 342.
  • the pusher 31 can be extended or retracted into the storage space 11 more smoothly and stably, and is not prone to deflection.
  • the pusher 31 is fixedly connected to the belt 332 through the connecting plate 36. In other embodiments, the pusher 31 can also be directly fixedly connected to the belt 332.
  • the pusher 31 includes a pusher portion 311 and a first extension portion 312 extending from both ends of the pusher portion 311 in a direction away from the material port 12.
  • the pusher portion 311 is a flat plate structure, and the first extension portion 312 is fixed to the second slider 342. In this way, the flat plate pusher portion 311 can maintain full contact with the goods, so that the pusher 31 exerts a more stable force on the goods during the process of pushing the goods.
  • the pusher portion 311 can also be configured as a rod, but is not limited thereto.
  • the pusher 31 further includes a second extension portion 313 extending obliquely upward from the top of the pusher portion 311 in a direction away from the material port 12. Goods are usually packed in a cargo box, which includes a box cover. By providing the second extension portion 313 extending obliquely upward, the box cover can be well prevented from being stuck on the pusher portion 311, thereby preventing the pusher 31 from bringing the box cover down when it is retracted.
  • the first transfer mechanism 20 is a telescopic arm mechanism.
  • the telescopic arm mechanism can extend from the material port 12 or retract into the storage space 11 to transfer the goods.
  • the telescopic arm mechanism includes a telescopic body 29, a cargo lever 28 and a cargo push plate 27.
  • the cargo lever 28 is rotatably arranged at the end of the telescopic body 29.
  • the cargo lever 28 can rotate toward the goods, and then be in a position where the goods can be moved.
  • the retraction of the telescopic body 29 can enable the cargo lever 28 to drive the goods to move, so that the goods move into the storage space 11, and achieve the purpose of transferring the goods.
  • the cargo lever 28 is usually connected to a drive motor installed on the telescopic body 29, and can rotate under the drive of the drive motor, so that the cargo lever 28 switches between the working position and the avoidance position.
  • the extension and retraction of the telescopic body 29 can drive the cargo lever 28 at its end to move.
  • the working position of the cargo lever 28 refers to the position where the cargo lever 28 rotates to the position where the goods can be moved, and then can drive the goods to move when the telescopic body 29 is retracted.
  • the avoidance position of the cargo shifting rod 28 refers to a position where the cargo shifting rod 28 is rotated to avoid the cargo and does not interfere with the cargo in the telescopic direction of the telescopic body 29 .
  • the cargo push plate 27 is fixed to the telescopic body 29. When the telescopic body 29 is extended, the cargo push plate 27 can drive the cargo in the storage space 11 to move, so that the cargo moves from the storage space 11 to the storage rack 300 or the shelf.
  • the cargo push plate 27 and the push member 31 are similar in shape, and the positions of the cargo push plate 27 and the push member 31 are substantially parallel. There is a certain distance between the cargo push plate 27 and the push member 31 in the height direction, so that the cargo push plate 27 can push the target cargo. Applying a force, the pusher 31 applies a force to other goods on the target goods.
  • the transfer device 100 also includes a carrier 40 disposed on the frame 10.
  • the carrier 40 can move between a first position and a second position.
  • the moving direction of the carrier 40 is the same as the telescopic direction of the telescopic arm mechanism.
  • the carrier 40 When the carrier 40 is at the first position, the carrier 40 is located in the frame 10; when the carrier 40 is at the second position, the carrier 40 partially extends out of the frame 10 to fill the gap between the frame 10 and the shelf.
  • the bearing member 40 is used to carry the goods, and can move relative to the frame 10, that is, the bearing member 40 and the frame 10 form a moving pair, and the two can be matched by setting a guide rail, a ball bearing, etc.
  • a first guide rail 49 and a first slider 48 slidably set on the first guide rail 49 are provided between the bearing member 40 and the frame 10, and the bearing member 40 is fixed to the first slider 48.
  • the carrier 40 can be moved to the first position, and the carrier 40 is located in the rack 10, and will not extend out of the rack 10 to contact the shelf, so as to ensure that the transport robot 500 can move smoothly to the front of the shelf.
  • the transfer device 100 transfers goods, there is a gap between the rack 10 and the shelf.
  • the carrier 40 can be moved to the second position, and the carrier 40 can at least partially extend out of the rack 10.
  • the carrier 40 can fill the gap between the rack 10 and the shelf, so that the goods are always supported during the transfer process. In this way, the goods will not fall at the gap during the transfer process, nor will they be stuck at the gap, and can be smoothly transferred from the shelf to the carrier 40, or smoothly transferred from the carrier 40 to the shelf.
  • the telescopic arm mechanism is provided with a limiting structure 21, which is located on the moving path of the supporting member 40.
  • the limiting structure 21 is configured to press the supporting member 40 when the telescopic arm mechanism is retracted to limit the supporting member 40 to the first position, and to release the supporting member 40 when the telescopic arm mechanism is extended.
  • the limiting structure 21 is arranged on the telescopic arm mechanism, when the telescopic arm mechanism performs a telescopic action, the limiting structure 21 will move along the telescopic direction of the telescopic arm mechanism.
  • the telescopic direction of the telescopic arm mechanism is the same as the moving direction of the supporting member 40, that is, the limiting structure 21 can move in the moving direction of the supporting member 40.
  • the limiting structure 21 When the telescopic arm mechanism retracts, since the limiting structure 21 is located on the moving path of the carrier 40, the limiting structure 21 will move toward the carrier 40 along with the telescopic arm mechanism, and when the limiting structure 21 abuts against the carrier 40, it will push the carrier 40 to move. During the process of the telescopic arm mechanism retracting, the limiting structure 21 will push the carrier 40 to move from the second position to the first position until the carrier 40 stops moving after being located at the first position. In this way, the limiting structure 21 limits the carrier 40 to the first position.
  • the limiting structure 21 moves along with the telescopic arm mechanism in a direction away from the bearing member 40.
  • the limiting structure 21 releases the bearing member 40 from the first position, and the bearing member 40 can move from the first position to the second position to fill the gap between the frame 10 and the shelf to cooperate with the telescopic arm mechanism to transfer the goods.
  • the limiting structure 21 moves with the extension and retraction of the telescopic arm mechanism, thereby switching the carrier 40 between the first position and the second position, so that the carrier 40 can extend to fill the gap between the rack 10 and the shelf, and can be retracted to the storage space 11 to carry the goods.
  • the carrier 40 can respond in time with the extension and retraction of the telescopic arm mechanism.
  • the supporting member 40 is provided with a matching portion 41, which is located at the end of the supporting member 40 away from the material port 12.
  • the limiting structure 21 is located on the moving path of the matching portion 41.
  • the limiting structure 21 is configured to press the matching portion 41 when the telescopic arm mechanism is retracted to limit the supporting member 40 to the first position, and release the matching portion 41 when the telescopic arm mechanism is extended.
  • the matching portion 41 will move with the movement of the carrier 40, and the limiting structure 21 can limit and release the matching portion 41, thereby limiting and releasing the carrier 40. Specifically, when the telescopic arm mechanism retracts, since the limiting structure 21 is located on the moving path of the matching portion 41, the limiting structure 21 will move toward the matching portion 41 along with the telescopic arm mechanism, and when the limiting structure 21 and the matching portion 41 are pressed against each other, the carrier 40 will be pushed to move.
  • the limiting structure 21 will push the matching portion 41 to move the carrier 40 from the second position to the first position, until the carrier 40 stops moving after being located at the first position, so that the carrier 40 can be limited to the first position by the matching of the limiting structure 21 and the matching portion 41.
  • the limiting structure 21 When the telescopic arm mechanism is extended, the limiting structure 21 will move along with the telescopic arm mechanism in the direction away from the matching portion 41, thereby releasing the pressing and limiting effect of the limiting structure 21 on the matching portion 41, thereby releasing the supporting member 40 from the first position, allowing the supporting member 40 to move to the second position to fill the gap between the frame 10 and the shelf to cooperate with the telescopic arm mechanism to transfer the goods.
  • the transfer device further includes an elastic member 50 disposed between the frame 10 and the carrier 40 , and the elastic member 50 is configured to apply an elastic force to the carrier 40 so as to move the carrier 40 from the first position toward the second position.
  • the elastic member 50 can store energy and apply an elastic force to the bearing member 40 when the bearing member 40 is released, so that the elastic member 50 moves from the first position to the second position.
  • the elastic member 50 is a tension spring.
  • the tension spring can be preset to bear an axial tension, so that the tension spring applies an elastic tension to the bearing member 40 in the extension direction. In this way, when the limiting structure 21 releases the bearing member 40, the bearing member 40 can be moved from the first position to the second position under the drive of the elastic tension.
  • the elastic member 50 can also be a compression spring.
  • the elastic member 50 can also be a structural member made of rubber, foam or other materials, which will not be described in detail here.
  • the handling robot 500 of the present application is handling goods, facing a number of goods stacked up and down, if only the goods located at the bottom or the middle need to be handled, the following two steps need to be performed to complete the picking of the target goods: the first step is to transfer the target goods and other goods stacked on the target goods to the storage space 11 through the first transfer mechanism 20; the second step is to transfer other goods stacked on the target goods to the shelf through the second transfer mechanism 30, so that the picking of the target goods can be completed.
  • the handling robot 500 moves to the target shelf, first controls the first transfer mechanism 20 to extend to a suitable position on the shelf through the material opening 12, and the carrier 40 partially extends out of the frame 10 to fill the gap between the frame 10 and the shelf, and then controls the goods lever 28 to rotate to the working position (i.e., the position capable of shifting the target goods), and then controls the first transfer mechanism 20 to retract, so that the goods lever 28 drives the target goods to move to the carrier 40, and other goods located on the target goods move to the carrier 40 together with the target goods.
  • the working position i.e., the position capable of shifting the target goods
  • the goods lever 28 is still kept in the working position, and the second transfer mechanism 30 is controlled to extend so that the pusher 31 pushes other goods on the target goods onto the shelf. In this way, the picking of the target goods to be transported can be completed.
  • the height of the transfer device 100 relative to the shelf needs to be adjusted so that the bottom surface of the other goods stacked on the target goods is aligned with the bottom surface of the storage grid on the shelf, and then the second step is carried out.

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

Abstract

一种转移装置和搬运机器人，该转移装置包括：机架（10），设有置物空间（11）和供货物通过的料口（12）；第一转移机构（20），安装于机架（10），第一转移机构（20）用于在置物空间（11）和货架之间转移货物；第二转移机构（30），安装于机架（10），第二转移机构（30）设置于第一转移机构（20）上方，第二转移机构（30）用于将堆叠于置物空间（11）的若干货物中位于上方的至少一个货物转移到货架。对于若干货物堆叠在一起的场景，搬运机器人能够自动地完成对目标货物的拣选，进而将目标货物进行搬运。

Description

转移装置和搬运机器人 技术领域
本申请涉及移动仓储物流技术领域，尤其涉及一种转移装置和搬运机器人。
背景技术
随着智能制造在全世界大范围兴起，作为智能物流核心设备的搬运机器人近年来得到了长足发展，通过使用搬运机器人，可以提升仓储物流工作的效率和便捷性。
搬运机器人在工作过程中，时常要面对若干货物堆叠在一起的场景，此时如果只需要搬运位于底部或者中部位置的货物，则存在无法自动完成的情况。
发明内容
本申请的目的在于提供一种转移装置和搬运机器人，对于若干货物堆叠在一起的场景，搬运机器人能够自动地完成对目标货物的拣选，进而将目标货物进行搬运。
本申请的一个方面提供一种转移装置。该转移装置包括：机架，设有置物空间和供货物通过的料口；第一转移机构，安装于所述机架，所述第一转移机构用于在所述置物空间和货架之间转移货物；及第二转移机构，安装于所述机架，所述第二转移机构设置于所述第一转移机构上方，所述第二转移机构用于将堆叠于所述置物空间的若干货物中位于上方的至少一个货物转移到货架。
本申请的另一个方面提供一种搬运机器人。该搬运机器人，用于搬运货物，所述搬运机器人包括：搭载平台；置物架，设置于所述搭载平台；及如上所述的转移装置，可升降移动地设置于所述置物架。
本申请搬运机器人搬运货物时，面对上下堆叠在一起的若干货物，如果只需要对位于底部或中部位置的目标货物进行搬运，先通过第一转移机构将需要搬运的目标货物及堆叠于目标货物之上的其他货物一起搬运到置物空间，然后通过第二转移机构将位于目标货物之上的其他货物从置物空间搬运到货架上，这样置物空间中只剩下需要搬运的目标货物，从而实现对目标货物的自动拣选。如此，对于若干货物堆叠在一起的场景，搬运机器人仍然能够自动地完成对目标货物的拣选，进而将目标货物进行搬运。
附图说明
图1所示为本申请搬运机器人的一个实施例的立体示意图；
图2所示为图1所示的转移装置的立体示意图；
图3所示为图2所示的转移装置的立体示意图，其中第一转移机构伸出；
图4所示为图2所示的转移装置的立体示意图，其中第二转移机构伸出；
图5所示为图4所示的第二转移机构的立体示意图；
图6所示为图4所示的第二转移机构的立体分解图；
图7所示为图2所示的承载件和第一转移机构配合的立体示意图；
图8所示为图7所示的承载件、弹性件等的立体分解图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本申请的一些方面相一致的装置的例子。
在本申请使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。除非另作定义，本申请使用的技术术语或者科学术语应当为本申请所属领域内具有一般技能的人士所理解的通常意义。本申请说明书以及权利要求书中使用的“第一”“第二”以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分不同的组成部分。同样，“一个”或者“一”等类似词语也不表示数量限制，而是表示存在至少一个。若仅指代“一个”时会再单独说明。“多个”或者“若干”表示两个及两个以上。除非另行指出，“前部”、“后部”、“下部”和/或“上部”等类似词语只是为了便于说明，而并非限于一个位置或者一种空间定向。“包括”或者“包含”等类似词语意指出现在“包括”或者“包含”前面的元件或者物件涵盖出现在“包括”或者“包含”后面列举的元件或者物件及其等同，并不排除其他元件或者物件。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接，而且可以包括电性的连接，不管是直接的还是间接的。在本申请说明书和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中 使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
本申请实施例提供一种搬运机器人500，用于搬运货物。请参阅图1，所述搬运机器人500包括搭载平台200、置物架300和转移装置100。
搭载平台200为搬运机器人500的基础构件，搭载平台200包括搬运机器人500的基础功能器件，例如移动驱动机构等。具体地，搭载平台200包括驱动整个搬运机器人500移动的驱动电机等。
置物架300设置于搭载平台200，置物架300使得搬运机器人500具备更强的存放货物的能力。置物架300包括沿高度方向设置的多层置物格310，置物格310是置物架300上放置货物的空间。
转移装置100可升降移动地设置于置物架300。转移装置100能够在置物架300的高度方向上升降移动。转移装置100用于实现对货物的搬运，即实现货物在货架上的取放。转移装置100的升降移动，能够实现对货架上不同高度处的货物进行取放。
请参阅图2、图3和图4，转移装置100包括机架10、第一转移机构20和第二转移机构30。机架10是该转移装置100的主体构件，其能够为转移装置100的其他构件提供安装基础。具体地，第一转移机构20和第二转移机构30即安装于机架10。
机架10设有置物空间11和供货物通过的料口12。置物空间11可以用于放置货物，在搬运过程中，置物空间11能够供货物暂存。转移装置100主要用于在置物空间11和货架之间，或者在置物空间11和置物架300之间进行货物的转移，但不限于此。
在一个实施例中，机架10顶端还设有与置物空间11连通的开口13，使得置物空间11能够放置堆叠在一起的若干货物，位于上方的货物能够从开口13伸出来。在另一个实施例中，机架10顶端不设置开口，而将置物空间11的高度增加，使得置物空间11能够放置堆叠在一起的若干货物。
第一转移机构20用于在置物空间11和货架之间转移货物。当搬运机器人500移动至靠近货架后，第一转移机构20能够从置物空间11内将货物转移至货架上，或者从货架上将货物转移至置物空间11内。货物能够被收纳于置物空间11内，并且被机架10所约束限位，以避免货物在搬运过程中从搬运机器人500上掉落。
第二转移机构30设置于所述第一转移机构20上方，第二转移机构30用于将堆叠于置物空间11的若干货物中位于上方的至少一个货物转移到货架。当第一转移机构20将多个堆叠在一起的若干货物从货架转移至置物空间11时，第二转移机构30能够将位于 上方的1个或多个货物转移至货架上，而只将位于底部的货物暂存在置物空间11内。
在一个具体使用场景中，有3个货物叠置在货架上，第1个货物位于最底部，第2个货物压在第1个货物之上，第3个货物压在第2个货物之上。如果搬运机器人500只需要对最底部的第1个货物进行搬运，先通过第一转移机构20将第1个货物、第2个货物和第3个货物一同转移到置物空间11，然后通过第二转移机构30将第2个货物和第3个货物从置物空间11转移到货架上，如此，即可完成对目标货物的拣选，接下来即可对置物空间11内的第1个货物进行搬运。以上只是列举了一个使用场景，本申请搬运机器人500并不限于这种使用场景。
在搬运机器人500搬运货物时，面对上下堆叠在一起的若干货物，如果只需要对位于底部或中部位置的目标货物进行搬运，先通过第一转移机构20将需要搬运的目标货物及堆叠于目标货物之上的其他货物一起搬运到置物空间11，然后通过第二转移机构30将位于目标货物之上的其他货物从置物空间11转移到货架上。示例性地，第一转移机构20和第二转移机构30为伸缩方向基本平行的伸缩装置，第一转移机构20沿缩回方向带动位于货架的目标货物和堆叠在目标货物上的其他货物转移到置物空间上。第二转移机构30沿伸出方向推动位于置物空间11中堆叠在目标货物上的其他货物从置物空间11向货架转移。在“转移”过程中货物的高度位置可以基本不变。这样置物空间11中只剩下需要搬运的目标货物，从而实现对目标货物的自动拣选。如此，对于若干货物堆叠在一起的场景，搬运机器人500仍然能够自动地完成对目标货物的拣选，进而将目标货物进行搬运。
请参阅图5和图6，在该实施例中，第二转移机构30包括推动件31和驱动装置32，驱动装置32用于驱动推动件31伸出或缩回置物空间11。通过推动件31伸出置物空间11，能够将位于目标货物上面的其他货物从置物空间11推到货架上。也就是说，推动件31可以将不需要的货物推出置物空间11。
在一些实施例中，所述驱动装置32包括电机321和传动组件33，所述传动组件33采用如下任一组件：带传动组件、链传动组件、齿轮齿条组件、丝杆组件，只要能够实现推动件31的伸出和缩回即可。
在图示实施例中，驱动装置32包括电机321和传动组件33，传动组件33包括皮带轮331和套设于皮带轮331的皮带332，电机321驱动皮带轮331转动，推动件31在皮带332的带动下伸出或缩回置物空间11。在该实施例中，传动组件33采用带传动组件，使得对推动件31的驱动更加稳定可靠。
进一步地，所述第二转移机构30包括相对设置于所述置物空间11两侧的2个导向组件34，所述2个导向组件34分别包括固定于所述机架10的第二导轨341和能够沿所述第二导轨341滑动的第二滑块342，所述推动件31固定于所述第二滑块342。通过设置导向组件34，使得推动件31伸出或缩回置物空间11时更加顺畅、稳定，不容易发生偏转。在图示实施例中，推动件31通过连接板36与皮带332固定连接。在其他实施例中，推动件31也可以直接与皮带332固定连接。
在图示实施例中，推动件31包括推动部311和自推动部311两端朝向远离料口12的方向延伸而成的第一延伸部312，推动部311为平板状结构，第一延伸部312固定于第二滑块342。如此，平板状的推动部311能够与货物保持充分接触，使得推动件31在推动货物的过程中对货物的推动力更加平稳。在其他实施例中，推动部311也可以设置为杆状，且不限于此。
进一步地，推动件31还包括自推动部311顶端朝向远离料口12的方向且倾斜向上延伸的第二延伸部313。货物通常包装在货箱之内，货箱包括箱盖，通过设置倾斜朝上延伸的第二延伸部313，能够很好地避免箱盖卡在推动部311上，进而避免推动件31缩回时将箱盖带下来。
请参阅图3，在该实施例中，第一转移机构20为伸缩臂机构，伸缩臂机构能够从料口12伸出或缩回置物空间11，以转移货物。伸缩臂机构包括伸缩主体29、货物拨杆28和货物推板27，货物拨杆28可转动地设置于伸缩主体29的端部，货物拨杆28能够朝向货物转动，进而处于能够拨动货物的位置。当货物拨杆28处于拨动货物的位置，伸缩主体29的缩回能够使得货物拨杆28驱动货物移动，使得货物移动到置物空间11内，达到转移货物的目的。货物拨杆28通常与安装于伸缩主体29的驱动电机相连，能够在驱动电机的驱动下转动，从而使得货物拨杆28在工作位置和避让位置之间切换。在工作过程中，伸缩主体29的伸缩能够带动其端部的货物拨杆28移动。需要说明的是，货物拨杆28的工作位置是指货物拨杆28转动到能够拨动货物的位置，进而能够在伸缩主体29缩回时带动货物移动。货物拨杆28的避让位置是指货物拨杆28转动到避开货物的位置，在伸缩主体29的伸缩方向上与货物不会产生干涉。
货物推板27固定于伸缩主体29，伸缩主体29的伸出能够使得货物推板27驱动置物空间11内的货物移动，使得货物从置物空间11移动到置物架300或者货架上。货物推板27和推动件31的形状近似，且货物推板27和推动件31的位置基本平行。货物推板27和推动件31在高度方向上具有一定的距离，以使得货物推板27可以向目标货物 施加作用力，推动件31向目标货物之上的其他货物施加作用力。
请参阅图2和图3，转移装置100还包括设置于机架10的承载件40，承载件40能够在第一位置和第二位置之间移动，承载件40的移动方向与伸缩臂机构的伸缩方向相同，当承载件40在第一位置时，承载件40位于机架10内；当承载件40在第二位置时，承载件40部分伸出机架10，以填充机架10与货架之间的间隙。
具体而言，承载件40用于对货物起到承载作用，其能够与机架10之间产生相对移动，也即承载件40与机架10构成移动副，二者之间具体可以通过设置导轨、滚珠等结构来实现配合。请参阅图8，承载件40与机架10之间设有第一导轨49和可滑动地设置于第一导轨49的第一滑块48，承载件40固定于第一滑块48。
在搬运机器人500处于移动过程时，为避免搬运机器人500与货架产生接触，需要与货架之间预留移动间距，此时可将承载件40移动到第一位置，承载件40位于机架10内，而不会伸出机架10与货架接触，以确保搬运机器人500能够顺利移动到货架前。在转移装置100转移货物时，机架10与货架之间存在间隙，此时可将承载件40移动到第二位置，承载件40可以至少部分伸出机架10，承载件40能够填充机架10与货架之间的间隙，使得货物在转移过程中始终得到支撑，如此，货物在转移过程中不会在间隙处掉落，也不会在间隙处被卡住，进而能够顺利地从货架转移到承载件40上，或者顺利地从承载件40转移到货架上。
请参阅图7，伸缩臂机构设有限位结构21，限位结构21位于承载件40的移动路径上，限位结构21被配置为在伸缩臂机构缩回时抵压承载件40，以将承载件40限位于第一位置，以及在伸缩臂机构伸出时释放承载件40。
具体而言，由于限位结构21设置于伸缩臂机构，当伸缩臂机构进行伸缩动作时，限位结构21会沿着伸缩臂机构的伸缩方向移动，同时，伸缩臂机构的伸缩方向与承载件40的移动方向相同，即限位结构21可以在承载件40的移动方向上移动。
在伸缩臂机构缩回时，由于限位结构21位于承载件40的移动路径上，限位结构21会随着伸缩臂机构朝向承载件40移动，在限位结构21与承载件40相抵时就会推动承载件40移动。在伸缩臂机构缩回的过程中，限位结构21会推动承载件40由第二位置向第一位置移动，直到承载件40位于第一位置后停止移动。这样限位结构21就将承载件40限定在第一位置。
在伸缩臂机构伸出时，限位结构21随着伸缩臂机构朝背离承载件40的方向移动， 从而解除限位结构21对承载件40的抵压限位作用。限位结构21将承载件40从第一位置释放，承载件40能够从第一位置移动到第二位置，对机架10与货架之间的间隙进行填充，以配合伸缩臂机构对货物的转移。
由此可见，限位结构21随着伸缩臂机构的伸缩而移动，进而使得承载件40在第一位置和第二位置之间切换，使得承载件40能够伸出而填充机架10与货架之间的间隙，以及能够缩回至置物空间11以对货物进行承载。承载件40能够随着伸缩臂机构的伸缩进行及时响应。
请参阅图7和图8，在该实施例中，承载件40设有配合部41，配合部41位于承载件40背离料口12的一端，限位结构21位于配合部41的移动路径上，限位结构21被配置为在伸缩臂机构缩回时抵压配合部41，以将承载件40限位于第一位置，以及在伸缩臂机构伸出时释放配合部41。
配合部41会随着承载件40的移动而移动，限位结构21可以通过对配合部41进行限位和释放，从而实现对承载件40的限位和释放。具体而言，在伸缩臂机构缩回时，由于限位结构21位于配合部41的移动路径上，限位结构21会随着伸缩臂机构向配合部41移动，在限位结构21与配合部41相抵压时就会推动承载件40移动。在伸缩臂机构缩回的过程中，限位结构21会推动配合部41而使得承载件40由第二位置向第一位置移动，直到承载件40位于第一位置后停止移动，这样通过限位结构21与配合部41相配合，能够将承载件40限位在第一位置。
在伸缩臂机构伸出时，限位结构21会随着伸缩臂机构朝背离配合部41的方向移动，这样就解除了限位结构21对配合部41的抵压限位作用，从而将承载件40从第一位置释放，使得承载件40能够移动到第二位置，对机架10和货架之间的间隙进行填充，以配合伸缩臂机构对货物的转移。
转移装置还包括设置于机架10和承载件40之间的弹性件50，弹性件50被配置为对承载件40施以弹性力，以使承载件40从所述第一位置朝第二位置移动。
具体而言，基于弹性件50自身的弹性特征，其可以进行储能而在承载件40被释放的时候对承载件40施加弹性力，使得弹性件50从第一位置向第二位置移动。在图示实施例中，弹性件50为拉伸弹簧，在安装时可以预设拉伸弹簧承受轴向拉力，从而使得拉伸弹簧对承载件40施加朝向伸出方向的弹性拉力，如此，当限位结构21释放承载件40时，承载件40即可在弹性拉力的驱动下由第一位置移动到第二位置。在另一个实施 例中，弹性件50还可以为压缩弹簧。在其他实施例中，弹性件50还可以为橡胶、泡沫等材质的结构件，在此不再赘述。
本申请搬运机器人500搬运货物时，面对上下堆叠在一起的若干货物，如果只需要对位于底部或中部位置的货物进行搬运，需要先通过以下2个步骤来完成对目标货物的拣选：第一步，通过第一转移机构20将目标货物及堆叠于目标货物之上的其他货物一起转移到置物空间11；第二步，通过第二转移机构30将堆叠于目标货物之上的其他货物转移到货架上，如此，即可完成目标货物的拣选。具体而言，在第一步中，请参阅图3，搬运机器人500移动到目标货架处，先控制第一转移机构20通过料口12伸到货架上的合适位置，承载件40随之部分伸出机架10，以填充机架10与货架之间的间隙，然后控制货物拨杆28转动到工作位置(即能够拨动目标货物的位置)，再控制第一转移机构20缩回，使得货物拨杆28驱动目标货物移动到承载件40上，位于目标货物之上的其他货物随同目标货物一起移动到承载件40上。在第二步中，请参阅图4，仍然保持货物拨杆28处于工作位置，并控制第二转移机构30伸出，使得推动件31将位于目标货物之上的其他货物推到货架上。如此，即可完成对需要搬运的目标货物的拣选。需要注意的是，在第一步结束之后，需要调整转移装置100相对货架的高度，使得堆叠于目标货物之上的其他货物底面与货架上置物格的底面对齐，然后再进行第二步。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本申请保护的范围之内。

Claims (20)

  1. 一种转移装置，其特征在于，所述转移装置包括：
    机架(10)，设有置物空间(11)和供货物通过的料口(12)；
    第一转移机构(20)，安装于所述机架(10)，所述第一转移机构(20)用于在所述置物空间(11)和货架之间转移货物；及
    第二转移机构(30)，安装于所述机架(10)，所述第二转移机构(30)设置于所述第一转移机构(20)上方，所述第二转移机构(30)用于将堆叠于所述置物空间(11)的若干货物中位于上方的至少一个货物转移到所述货架。
  2. 如权利要求1所述的转移装置，其特征在于，所述第一转移机构(20)和所述第二转移机构(30)分别为伸缩方向基本平行的伸缩装置，所述第一转移机构(20)能够沿缩回方向将位于所述货架的目标货物和堆叠在所述目标货物上的其他货物转移到所述置物空间(11)，所述第二转移机构(30)能够沿伸出方向推动位于所述置物空间(11)中堆叠在所述目标货物上的所述其他货物从所述置物空间(11)向所述货架转移。
  3. 如权利要求1所述的转移装置，其特征在于，所述第二转移机构(30)包括推动件(31)和驱动装置(32)，所述驱动装置(32)用于驱动所述推动件(31)伸出或缩回所述置物空间(11)。
  4. 如权利要求3所述的转移装置，其特征在于，所述驱动装置(32)包括电机(321)和传动组件(33)，所述传动组件(33)采用如下任一组件：带传动组件、链传动组件、齿轮齿条组件、丝杆组件。
  5. 如权利要求3所述的转移装置，其特征在于，所述驱动装置(32)包括电机(321)和传动组件(33)，所述传动组件(33)包括皮带轮(331)和套设于所述皮带轮(331)的皮带(332)，所述电机(321)驱动所述皮带轮(331)转动，所述推动件(31)在所述皮带(332)的带动下伸出或缩回所述置物空间(11)。
  6. 如权利要求3所述的转移装置，其特征在于，所述第二转移机构(30)进一步包括相对设置于所述置物空间(11)两侧的2个导向组件(34)，所述2个导向组件(34)分别包括固定于所述机架(10)的第二导轨(341)和能够沿所述第二导轨(341)滑动的第二滑块(342)，所述推动件(31)固定于所述第二滑块(342)。
  7. 如权利要求6所述的转移装置，其特征在于，所述推动件(31)包括推动部(311)和自所述推动部(311)的靠近所述第二导轨(341)的两端朝向远离所述料口(12)的方向延伸而成的第一延伸部(312)，所述推动部(311)为平板状结构或者杆状，所述第一延伸部(312)固定于所述第二滑块(342)。
  8. 如权利要求7所述的转移装置，其特征在于，所述推动件(31)还包括自所述推动部(311)顶端朝向远离所述料口(12)的方向且倾斜向上延伸的第二延伸部(313)。
  9. 如权利要求1所述的转移装置，其特征在于，所述第一转移机构(20)为伸缩臂机构，所述伸缩臂机构能够从所述料口(12)伸出或缩回所述置物空间(11)，以转移货物。
  10. 如权利要求9所述的转移装置，其特征在于，所述第一转移机构(20)包括：伸缩主体(29)、货物拨杆(28)和货物推板(27)；所述货物推板(27)固定于所述伸缩主体(29)，所述货物拨杆(28)可转动地设置于所述伸缩主体(29)的端部，所述货物拨杆(28)与所述伸缩主体(29)的驱动电机相连，在所述驱动电机的驱动下所述货物拨杆(28)在工作位置和避让位置之间切换，所述工作位置是指所述货物拨杆(28)转动到能够拨动所述货物的位置，所述避让位置是指所述货物拨杆(28)转动到避开所述货物的位置。
  11. 如权利要求9所述的转移装置，其特征在于，所述转移装置还包括设置于所述机架(10)的承载件(40)，所述承载件(40)能够在第一位置和第二位置之间移动，所述承载件(40)的移动方向与所述伸缩臂机构的伸缩方向相同，当所述承载件(40)在所述第一位置时，所述承载件(40)位于所述机架(10)内；当所述承载件(40)在所述第二位置时，所述承载件(40)部分伸出所述机架(10)，以填充所述机架(10)与所述货架之间的间隙。
  12. 如权利要求11所述的转移装置，其特征在于，所述承载件(40)与所述机架(10)之间设有沿所述伸缩臂机构的伸缩方向的第一导轨(49)和可滑动地设置于所述第一导轨(49)的第一滑块(48)，所述承载件(40)固定于所述第一滑块(48)。
  13. 如权利要求11所述的转移装置，其特征在于，所述伸缩臂机构设有限位结构(21)，所述限位结构(21)位于所述承载件(40)的移动路径上，所述限位结构(21)被配置为在所述伸缩臂机构缩回时抵压所述承载件(40)，以将所述承载件(40)限位于所述第一位置，以及在所述伸缩臂机构伸出时释放所述承载件(40)。
  14. 如权利要求13所述的转移装置，其特征在于，所述承载件(40)设有配合部(41)，所述配合部(41)位于所述承载件(40)背离所述料口(12)的一端，所述限位结构(21)位于所述配合部(41)的移动路径上，所述限位结构(21)被配置为在所述伸缩臂机构缩回时抵压所述配合部(41)，以将所述承载件(40)限位于所述第一位置，以及在所述伸缩臂机构伸出时释放所述配合部(41)。
  15. 如权利要求11所述的转移装置，其特征在于，所述转移装置还包括设置于所述 机架(10)和所述承载件(40)之间的弹性件(50)，所述弹性件(50)被配置为对所述承载件(40)施以弹性力，以使所述承载件(40)从所述第一位置朝所述第二位置移动。
  16. 如权利要求15所述的转移装置，其特征在于，所述弹性件(50)为拉伸弹簧、压缩弹簧、橡胶结构件或泡沫结构件。
  17. 如权利要求1所述的转移装置，其特征在于，所述机架(10)顶端设有与所述置物空间(11)连通的开口(13)。
  18. 一种搬运机器人，用于搬运货物，其特征在于，所述搬运机器人包括：
    搭载平台(200)；
    置物架(300)，设置于所述搭载平台(200)；及
    如权利要求1至12任一项所述的转移装置，可升降移动地设置于所述置物架(300)。
  19. 如权利要求18所述的搬运机器人，其特征在于，所述搭载平台(200)包括驱动所述搬运机器人的驱动机构。
  20. 如权利要求18所述的搬运机器人，其特征在于，置物架(300)包括沿高度方向设置的用于放置货物的多层置物格(310)。
PCT/CN2023/114803 2022-09-29 2023-08-24 转移装置和搬运机器人 WO2024066836A1 (zh)

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