Carrying robot and carrying method thereof

Abstract

The invention discloses a carrying robot and a carrying method thereof. The carrying robot comprises a movable chassis, a lifting mechanism arranged on the movable chassis, a vertical base plate and a goods taking and placing mechanism which is arranged on the vertical base plate, the lifting mechanism comprises a lifting frame, two sliding mechanisms arranged on the lifting frame and a lifting driving module which is arranged on the lifting frame and matched with the two sliding mechanisms, a plurality of temporary storage goods shelves which are distributed at intervals are further arranged on the lifting frame, and the vertical base plate is arranged on the two sliding mechanisms. The carrying robot can adapt to to-be-carried objects with various sizes and various packaging forms, the space utilization rate of the goods shelf for storing the objects is increased, and the goods shelf and the storage environment do not need to be transformed; according to the goods taking and placing mechanism, vacuum suction cups are adopted to be matched with bearing trays, and the orientation of the vacuum suction cups can be switched between the horizontal direction and the vertical direction, so that the packaging form of the objects to be taken and placed is not limited to a container, the adjacent objects are placed more compactly, and the adaptability of an object taking and placing device and the space utilization rate of the goods shelf are improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a handling robot and a handling method thereof. Background technique [0002] Existing handling robots that grab objects by clamping and hugging can usually only pick and place objects packed in boxes. However, in actual scenarios, the objects that need to be handled usually vary in size, weight, There are difficulties, and the existing handling robots cannot be adapted one by one. In addition, when using the existing handling robot, the boxes on each shelf cannot be stacked, so as to prevent the upper box from touching the lower box and causing it to shift or even fall. There needs to be a gap between them as the working space for the clamp-type handling device, which leads to low space utilization of the shelves. In addition, the general method of existing robots to solve the precise picking and placing of objects is to use the depth camera to obtain the three-dimensional info...

AI Technical Summary

Problems solved by technology

[0002] Existing handling robots that grab objects by clamping and hugging can usually only pick and place objects packed in boxes. However, in actual scenarios, the objects that need to be handled usually vary in size, weight, It is hard, and the existing handling robots cannot be adapted one by one

In addition, when using the existing handling robot, the boxes on each shelf cannot be stacked, so as to prevent the upper box from touching the lower box and causing it to shift or even fall. There needs to be a gap between them as the working space of the clamp-type handling device, which leads to low space utilization of the shelf

In addition, the general method of existing robots to solve the precise picking and placing of objects is to use the depth camera to obtain the three-dimensional information around the target position and then carry out object picking and placing (such as Chinese patent CN109927012); The success rate of pick and place in practical applications is not high, so industrial applications have not been realized

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