A storage robot and a method of extracting a cargo box

Abstract

The application provides a storage robot and a method for extracting a cargo box. The storage robot comprises a body movable on a top of a vertical shelf, a lifting device connected to the body, a containing cabin arranged in the body and located at one side of the lifting device, and a telescopic device arranged in the containing cabin and capable of transferring the cargo box lifted by the lifting device into the containing cabin. In the above technical solution, the containing cabin and the telescopic device are additionally arranged, so that the target cargo box lifted by the lifting device can be transferred, and the lifting device can be idle for transferring the non-target cargo box.

Description

Technical Field

[0001] The present invention relates to the field of logistics technology, and in particular to a storage robot and a method for extracting cargo boxes. Background Art

[0002] With the development of the logistics industry, warehouse space has increased, leading to higher rents and the emergence of dense storage technology. This involves creating vertical racks, stacking boxes onto them one by one, and then creating a robot path above the racks. The robot moves along the racks to the target box and retrieves it according to the process. However, this commonly used dense storage technology suffers from low accuracy, time-consuming retrieval of boxes from the lower levels, and the need to sequentially move boxes from the upper levels, resulting in low efficiency. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a storage robot and a method for extracting cargo boxes.

[0004] The present invention is achieved through the following technical solutions:

[0005] This application provides a storage robot comprising: a main body capable of moving on top of a vertical shelf; a lifting device connected to the main body; a storage compartment disposed within the main body and located on one side of the lifting device; and a telescopic device disposed within the storage compartment and capable of transferring cargo boxes lifted by the lifting device into the storage compartment. In the above technical solution, the additional storage compartment and telescopic device allow the target cargo boxes retrieved by the lifting device to be transferred to storage, thereby freeing the lifting device for transferring non-target cargo boxes.

[0006] In a specific embodiment, the lifting device includes a clamping mechanism for clamping the at least one cargo box, and a lifting mechanism for driving the clamping mechanism to move in a vertical direction. The lifting mechanism and the clamping mechanism cooperate to improve the handling of the cargo box.

[0007] In a specific embodiment, the lifting mechanism includes two rotating shafts rotatably connected to the body and disposed opposite each other, a lifting belt wrapped around each rotating shaft, and a driving mechanism for driving the two rotating shafts to rotate. One end of the lifting belt is fixed to the rotating shaft, and the other end is provided with the clamping mechanism. The clamping mechanism is driven by the cooperation between the lifting belt and the driving mechanism.

[0008] In a specific embodiment, the drive mechanism includes a drive motor and a gearbox connected to the drive motor, wherein the gearbox has two synchronized output shafts, and the two output shafts are connected to the two rotating shafts in a one-to-one correspondence, thereby ensuring the synchronization of the movement of the clamping mechanism.

[0009] In a specific embodiment, the clamping mechanism includes a lifting plate fixedly connected to the lifting belt, a clamping plate rotatably connected to the lifting plate and lockable in a set position; and a driving assembly that drives the clamping plate to rotate to the set position; wherein,

[0010] When the clamping plate rotates to the first position, one end of the clamping plate protrudes outside the lifting plate and can be clamped into the cargo box, thereby realizing the clamping and unloading of the cargo box.

[0011] In a specific embodiment, the driving assembly includes an electromagnet provided on the lifting plate, and when the electromagnet is energized, the card plate can be adsorbed.

[0012] In a specific embodiment, the card plate is an iron card plate or a magnet capable of being attracted to the electromagnet is provided in the card plate, thereby ensuring reliability.

[0013] In a specific embodiment, the clamping mechanism further includes a torsion spring, one end of which is in contact with the lifting plate and the other end of which is in contact with the clamping plate. The torsion spring, under the elastic force of which, pushes the clamping plate to rotate to the first position, thereby improving the reliability of the container grip.

[0014] In a specific embodiment, the telescopic device includes a bracket fixedly connected to the body and a telescopic fork slidably connected to the bracket to achieve the transfer of the cargo box.

[0015] In a specific embodiment, a four-way shuttle is provided on the main body, and the main body can be moved on the vertical shelf by the four-way shuttle to achieve displacement on the vertical shelf.

[0016] The present application provides a method for retrieving a container, using any of the storage robots described above; the method comprising:

[0017] The target cargo box is located on the Nth floor of the vertical cargo shaft; N is greater than or equal to 2;

[0018] Synchronously lifting the target cargo box in the vertical derrick and other cargo boxes on the target cargo box to the outside of the vertical derrick by the lifting device;

[0019] Extending the telescopic device below the lifting device;

[0020] Lowering the target cargo box and the other cargo boxes by the lifting device until the telescopic device supports the target cargo box;

[0021] lifting the other cargo boxes by means of the lifting device;

[0022] Recovering the target cargo box to the storage compartment through the telescopic device;

[0023] The other cargo boxes are placed back into the vertical cargo shaft through the telescopic device.

[0024] In the above technical solution, the target cargo box extracted by the lifting device can be transferred by adding a storage cabin and a telescopic device, so that the lifting device can be freed up to transfer non-target cargo boxes. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of an application scenario of a storage robot provided by an embodiment of the present invention;

[0026] Figure 2 is a schematic structural diagram of a storage robot provided by an embodiment of the present invention;

[0027] Figure 3 1 is a schematic structural diagram of a card-mounting mechanism of a storage robot provided by an embodiment of the present invention;

[0028] Figure 4 and Figure 5 Schematic diagram of the cooperation between the clamping mechanism and the cargo box provided by an embodiment of the present invention;

[0029] Figures 6 to 11 This is a schematic diagram of the process of the storage robot extracting the first layer of cargo boxes provided by an embodiment of the present invention;

[0030] Figures 12 to 14 This is a schematic diagram of the process of the storage robot extracting the second-layer cargo box provided by an embodiment of the present invention;

[0031] Figures 15 to 19 This is a flow chart of the storage robot extracting the fourth-layer cargo box provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0033] To facilitate understanding of the storage robot provided in the embodiment of the present application, its application scenario is first described. Figure 1 As shown, Figure 1The example illustrates the application scenario of the storage robot. The storage robot provided in the embodiment of the present application is applied to a vertical shelf 1. In order to improve the utilization area of ​​space in the logistics warehouse in the prior art, a vertical shelf 1 is often built. A plurality of shafts 2 are provided in the vertical shelf 1. The cargo boxes are placed into the shaft 2 from the top, and a plurality of cargo boxes are stacked in the shaft 2. When it is necessary to take out the cargo boxes, a storage robot is used. A track is provided on the top of the vertical shelf 1, and the storage robot can walk on the track. When the cargo box to be taken out is located at the bottom, it is necessary to take out the cargo box located above it. The storage robot in the prior art only has a grasping device, so it can only take out the cargo boxes one by one, and the work efficiency is very low. For this reason, the embodiment of the present application provides a storage robot. The following is a detailed description with reference to the accompanying drawings and specific embodiments.

[0034] like Figure 2 As shown, Figure 2 The storage robot provided in the embodiment of the present application is illustrated. The robot provided in the embodiment of the present application includes a main body 10, which is a rectangular parallelepiped structure, and one end of the rectangular parallelepiped structure has a notch to form a structure with a "7"-shaped cross-section. A four-way shuttle 40 is provided on the main body 10, and the main body 10 can move on the vertical shelf through the four-way shuttle 40. Among them, the four-way shuttle 40 is a common walking device in the prior art, so it is not described here in detail. The four-way shuttle 40 can walk on the track of the vertical shelf and can walk to the top of different shafts as needed.

[0035] Continue to refer Figure 2 The main body 10 is connected to a lifting device for lifting at least one cargo box in the vertical shelf. Figure 2 As can be seen from the figure, the lifting device includes a clamping mechanism 23 and a lifting mechanism 20 that drives the clamping mechanism 23 to move in the vertical direction. The lifting mechanism 20 includes two rotating shafts that are rotatably connected to the body 10 and are arranged opposite to each other, such as Figure 2 As shown in the figure, two rotating shafts are symmetrically arranged above the notch; each rotating shaft is wrapped with a lifting belt 22, which can be a rigid belt or a synchronous belt. In the case of a rigid belt, one end of the lifting belt 22 is fixed to the corresponding rotating shaft, and the other end is connected to the clamping mechanism 23. When the two rotating shafts are arranged opposite each other, the two lifting belts 22 and the two clamping mechanisms 23 are also arranged accordingly. The clamping mechanisms 23 are used to clamp the cargo box. Therefore, the distance between the two clamping mechanisms 23 should be equal to or greater than the width of the cargo box to ensure that the clamping mechanisms 23 can be clamped to the cargo box.

[0036] Continue to refer Figure 2The lifting mechanism 20 further includes a driving mechanism 21 for driving the two rotating shafts to rotate; the driving mechanism 21 includes a driving motor and a gear box connected to the driving motor, and the gear box has two synchronous output shafts, and the two output shafts are connected to the two rotating shafts in a one-to-one correspondence, such as Figure 2 As shown in the figure, the two output shafts are connected to the two rotating shafts by a synchronous belt, so that when the drive motor is working, the two clamping mechanisms 23 can be driven to rise or fall at the same time. Of course, the above is only a specific example. In addition to the above synchronous belt, the output shaft can also be connected to the rotating shaft through a gear box to achieve the same effect.

[0037] As a variable solution, when two opposing rotating shafts are provided, the spacing between the two opposing rotating shafts can be made adjustable, such as by connecting the rotating shaft to the main body 10 via a bearing seat, which can be moved relative to the main body 10 and locked in different positions. For example, multiple assembly positions (such as through assembly holes or clamps) are provided on the main body 10 in a direction perpendicular to the length of the rotating shaft, which are fixedly connected to the bearing seat. When the rotating shaft is adjustable, the drive mechanism 21 can ensure a reliable connection with the rotating shaft through synchronous belts of different lengths. When the storage robot needs to transport cargo boxes of different widths, the bearing seat can be fixed in different assembly positions to adjust the spacing between the two clamping mechanisms 23 to ensure that the clamping mechanisms 23 can be clamped to two opposite edges of the cargo box.

[0038] For reference Figure 3 , Figure 3 The specific structure of the clamping mechanism is shown in the example. The clamping mechanism includes a lifting plate 232 fixedly connected to the lifting belt, and a clamping plate 231 rotatably connected to the lifting plate 232 and lockable in a set position; wherein the lifting plate 232 is in an inverted concave shape and has a notch 233 provided on the lifting plate 232. The clamping plate 231 is located in the notch 233 and is rotatably connected to the lifting plate 232 via a rotating shaft provided therethrough. Figure 4 When the lifting plate 232 does not reach the position, the card plate 231 is located in the notch 233, the card plate 231 overlaps with the lifting plate 232 to form a vertical plate, which will not card the container, such as Figure 5As shown, when the card plate 231 rotates to the first position, one end of the card plate 231 protrudes beyond the lifting plate 232, forming a "√"-shaped hook. One end of the card plate 231 (away from the end where the card plate 231 is rotatably connected to the lifting plate 232) can be clipped into the cargo box. Furthermore, the clipping mechanism includes a torsion spring 234, one end of which presses against the lifting plate 232 and the other end presses against the card plate 231. The elastic force of the torsion spring 234 pushes the card plate 231 to rotate to the first position. Furthermore, the clipping mechanism includes a drive assembly that drives the card plate 231 to rotate to a set position. The card plate 231 can be made of iron or have a magnet 2311 disposed therein that can attract an electromagnet 235. The drive assembly includes an electromagnet 235 disposed on the lifting plate 232. When energized, the electromagnet 235 attracts the card plate 231. Alternatively, the driving assembly is arranged on the main body, and when the lifting plate 232 rises to the set position, the electromagnet 235 is opposite to the clamping plate 231 and can adsorb the clamping plate 231 when powered on.

[0039] Continue to refer Figure 2 The storage robot provided in the embodiment of the present application further includes a receiving assembly for receiving the cargo box lifted by the lifting device. Figure 2 As shown in the figure, a storage compartment is provided in the main body on one side of the lifting device, that is, the part of the main body on the side of the notch is a storage compartment. In the horizontal direction, the lifting belt of the lifting mechanism is arranged side by side with the storage compartment. A telescopic device 30 is provided in the storage compartment to transfer the cargo box lifted by the lifting device into the storage compartment. The telescopic device 30 may include a bracket fixedly connected to the main body and a telescopic fork or a telescopic plate slidably connected to the bracket. The telescopic fork or telescopic plate may be driven by a cylinder or other common device that can realize the extension and retraction of a drive component, such as a synchronous motor or a rack and pinion assembly. The above-mentioned drive components are all common drive components and will not be described in detail here.

[0040] After the lifting device removes the cargo box from the shaft, the telescopic device 30 can be extended from the storage compartment. The telescopic device 30 is located below the cargo box. The lifting belt 22 is then lowered so that the cargo box falls onto the telescopic device 30. The electromagnet 235 then attracts the clamping plate 234, releasing the clamping mechanism 23 from the cargo box. The telescopic device 30 is then retracted, driving the cargo box into the storage compartment. To facilitate understanding of the storage robot provided in the embodiments of the present application, a detailed description is provided below in conjunction with specific application scenarios.

[0041] First reference Figures 6 to 11 , Figures 6 to 11 FIG. 2 shows a flow chart of the storage robot 200 extracting the first layer of cargo boxes provided by an embodiment of the present invention. Figure 6As shown, the storage robot 200 arrives above the target pickup shaft 100. The specific walking and positioning methods are the same as those of the existing storage robot 200 and will not be described in detail here. Figure 7 As shown, after the clamping mechanism 23 passes the target container 300, the clamping plate clamps the edge of the target container 300 under the action of the torsion spring; Figure 8 As shown, the lifting mechanism then lifts the target cargo box 300 up through the transmission action of the lifting belt; Figure 9 As shown, the height of the target cargo box 300 is slightly higher than the height of the telescopic mechanism 30 inside the storage robot 200, and then the telescopic mechanism 30 is extended, and the lifting mechanism lowers the target cargo box 300 and places the target cargo box 300 above the telescopic fork; Figure 10 As shown, the lifting mechanism is slightly lowered at this time, and the electromagnets on both sides of the lifting plate start to work, turning the iron or magnet-equipped card into a retracted state; Figure 11 As shown, at the same time, the telescopic fork is retracted with the target cargo box 300, stored in the storage robot 200, and transportation begins.

[0042] When a target cargo box is located on the Nth floor of a vertical cargo shaft, and N is greater than or equal to 2, a detailed description of a method for transporting the target cargo box is provided. Any of the aforementioned storage robots is employed during transport; the method comprises: using a lifting device to simultaneously lift the target cargo box and other cargo boxes on the target cargo box outside the vertical shaft; extending a telescopic device below the lifting device; lowering the target cargo box and other cargo boxes until the telescopic device supports the target cargo box; using the lifting device to lift the other cargo boxes; using the telescopic device to retract the target cargo box into the storage compartment; and using the telescopic device to reposition the other cargo boxes back into the vertical cargo shaft.

[0043] like Figures 12 to 14 As shown, Figures 12 to 14 The figure is a flow chart of the storage robot 200 extracting the second-layer cargo box according to an embodiment of the present invention. The storage robot 200 reaches the top of the designated shaft 100, releases the clamping mechanism 23 downward, and after the lifting plate passes the target cargo box 300, the clamping plate clamps the edge of the target cargo box 300 under the action of the torsion spring. Figure 12 As shown. Then the lifting mechanism lifts up the first layer of cargo boxes and the target cargo box 300 (the second layer of cargo boxes) through the transmission action of the lifting belt; the height of the two cargo boxes is lifted slightly higher than the height of the telescopic device 30 inside the storage robot 200, and then the telescopic device 30 is extended, and the lifting mechanism lowers the cargo boxes and places the target cargo box 300 above the telescopic mechanism 30; at this time, the lifting mechanism drops slightly, and the electromagnets on both sides of the lifting plate start to work, turning the iron or magnet-equipped card board into a retracted state; then the lifting mechanism rises, so that the card board clamps the first layer of cargo boxes, and drives the first layer of cargo boxes to move upward, so that the upper and lower cargo boxes maintain a certain distance; as shown Figure 13 As shown, the telescopic device 30 is retracted with the target cargo box 300 and stored in the body of the storage robot 200; then the storage robot 200 moves the upper non-target cargo box (the first layer cargo box) on the clamping mechanism 20 and places it on the vertical shaft 100 next to it for temporary storage; during temporary storage, the lifting mechanism is slightly lowered, and after the pallet is separated from the lower edge of the cargo box, the storage robot 200 moves away from here as a whole and starts transportation.

[0044] When the target cargo box is the third-layer cargo box, the extraction method is similar to that of extracting the second-layer cargo box, so it will not be repeated here.

[0045] When the target container exceeds the lifting limit of the lifting device, such as Figures 15 to 19 As shown, Figures 15 to 19 FIG. 2 is a flow chart of the storage robot 200 extracting the fourth layer of cargo boxes provided by an embodiment of the present invention. Figures 15 to 17 As shown, based on the previous mode of taking the first layer of cargo boxes, the three layers of obstructing cargo boxes above the fourth layer of cargo boxes are first lifted and then moved to the adjacent shaft 100 for temporary storage. The specific temporary storage method can refer to the method of temporarily storing the first layer of cargo boxes when taking two layers of cargo boxes. Figure 18 and Figure 19 As shown, then take the fourth layer of cargo boxes according to the pattern of taking the first layer of cargo boxes.

[0046] From the above description, it can be seen that the storage robot provided in the embodiment of the present application can transfer the target cargo box 300 extracted by the lifting device through the additional storage cabin and telescopic device, so that the lifting device can be freed up to transfer non-target cargo boxes, thereby improving work efficiency.

[0047] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A storage robot, characterized in that: include: a body movable on top of a vertical shelf, and a lifting device connected to said body; The body is provided with a storage compartment located on one side of the lifting device, and a telescopic device is provided in the storage compartment and can transfer the cargo box lifted by the lifting device into the storage compartment; the lifting device includes a clamping mechanism for clamping at least one cargo box, and a lifting mechanism for driving the clamping mechanism to move in a vertical direction, and the distance between two clamping mechanisms provided on opposite sides of the lifting device is equal to or greater than the width of the cargo box; The telescopic device comprises a bracket fixedly connected to the body, and a telescopic fork or a telescopic plate slidably connected to the bracket; the telescopic device is used to support the target cargo box; When the storage robot retrieves a cargo box, the lifting device synchronously lifts the target cargo box in the vertical derrick and other cargo boxes on the target cargo box to the outside of the vertical derrick; Extending the telescopic device below the lifting device; Lowering the target cargo box and the other cargo boxes by the lifting device until the telescopic device supports the target cargo box; lifting the other cargo boxes by means of the lifting device; Recovering the target cargo box to the storage compartment through the telescopic device; The other cargo boxes are placed back into the vertical cargo shaft through the telescopic device.

2. The storage robot according to claim 1, characterized in that: The lifting mechanism includes two rotating shafts rotatably connected to the body and arranged opposite to each other, a lifting belt wound around each rotating shaft; and a driving mechanism for driving the two rotating shafts to rotate; wherein, One end of the lifting belt is fixed to the rotating shaft, and the other end is provided with the clamping mechanism.

3. The storage robot according to claim 2, characterized in that: The driving mechanism includes a driving motor and a gear box connected to the driving motor, and the gear box has two synchronous output shafts, and the two output shafts are connected to the two rotating shafts in a one-to-one correspondence.

4. The storage robot according to any one of claims 1 to 3, characterized in that: The clamping mechanism includes a lifting plate fixedly connected to the lifting belt, a clamping plate rotatably connected to the lifting plate and lockable in a set position; and a driving assembly that drives the clamping plate to rotate to the set position; wherein, When the card plate is rotated to the first position, one end of the card plate protrudes out of the lifting plate and can be clamped into the cargo box.

5. The storage robot according to claim 4, characterized in that: The driving assembly includes an electromagnet arranged on the lifting plate, and when the electromagnet is energized, it can adsorb the card plate.

6. The storage robot according to claim 5, characterized in that: The card plate is an iron card plate or a magnet capable of being attracted by the electromagnet is arranged in the card plate.

7. The storage robot according to claim 4, characterized in that: The clamping mechanism further includes a torsion spring, one end of which is in contact with the lifting plate and the other end of which is in contact with the clamping plate; and under the elastic force of the torsion spring, the clamping plate is pushed to rotate to the first position.

8. The storage robot according to claim 1, characterized in that: The main body is provided with a four-way shuttle, and the main body can move on the vertical shelf through the four-way shuttle.

9. A method for extracting a cargo box, characterized in that: Using the storage robot according to any one of claims 1 to 8; the method comprising: The target cargo box is located on the Nth floor of the vertical cargo shaft; N is greater than or equal to 2; Synchronously lifting the target cargo box in the vertical derrick and other cargo boxes on the target cargo box to the outside of the vertical derrick by the lifting device; Extending the telescopic device below the lifting device; Lowering the target cargo box and the other cargo boxes by the lifting device until the telescopic device supports the target cargo box; lifting the other cargo boxes by means of the lifting device; Recovering the target cargo box to the storage compartment through the telescopic device; The other cargo boxes are placed back into the vertical cargo shaft through the telescopic device.

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