Cargo handling robot and method of controlling the same

Abstract

The present disclosure relates to a goods carrying robot and a control method thereof, the robot comprising a chassis assembly, a portal assembly, a lifting assembly and at least two auxiliary support devices; the portal assembly is arranged on the chassis assembly, the lifting assembly is configured to move along the extension direction of the portal assembly, the at least two auxiliary support devices are controlled by respective driving assemblies and are respectively distributed on both sides of the goods carrying robot pair, and the at least two auxiliary support devices are configured to extend relative to the goods carrying robot to abut or separate from the rack corresponding to the side of the goods carrying robot. The goods carrying robot of the present disclosure can ensure the stability and safety during its work.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and in particular to a cargo handling robot and its control method. Background Technology

[0002] With the development of the logistics industry, more and more large warehouses have appeared on the market, and cargo handling robots have also emerged at the same time. Cargo handling robots can move boxes on the shelves of large warehouses.

[0003] Generally, a cargo handling robot includes a chassis assembly, a gantry assembly vertically mounted on the chassis assembly, and a lifting assembly mounted on the gantry assembly. It also includes a pickup / return box assembly mounted on the lifting assembly and telescopically mounted relative to the gantry.

[0004] To make better use of space, warehouse racks are designed to be very high. Consequently, the mast of the cargo handling robot also needs to be designed to be high so that the pick-and-place assembly can retrieve and place boxes from the upper area of ​​the racks. When the cargo handling robot retrieves boxes from high positions, a cantilever beam effect occurs, causing the mast assembly to shake violently. This shaking can lead to problems such as failed pick-and-place operations, boxes falling, and robot tipping over.

[0005] In view of this, those skilled in the art urgently need to solve the swaying problem of cargo handling robots when picking up and placing material boxes at high positions. Summary of the Invention

[0006] This disclosure provides a cargo handling robot and its control method to address the problems existing in the prior art.

[0007] According to a first aspect of this disclosure, a cargo handling robot is provided, comprising:

[0008] Chassis components;

[0009] A gantry assembly, which is mounted on the chassis assembly;

[0010] A lifting assembly configured to move vertically along a gantry assembly;

[0011] At least two auxiliary support devices, each controlled by a respective drive assembly, are distributed on opposite sides of the cargo handling robot; the at least two auxiliary support devices are configured to extend relative to the cargo handling robot to abut or separate from the rack on the corresponding side of the cargo handling robot.

[0012] In one embodiment of this disclosure, the auxiliary support device includes a fixed base and a support element telescopically connected to the fixed base via a telescopic mechanism; the telescopic mechanism is controlled by a drive assembly and configured to drive the support element to move relative to the fixed base to abut or separate from the rack on the corresponding side.

[0013] In one embodiment of this disclosure, the telescopic mechanism includes at least one scissor unit, the scissor unit including a first linkage mechanism and a second linkage mechanism arranged crosswise and hinged together at the intersection point; one end of the first linkage mechanism is hinged to the fixed base, and the other end is slidably connected to the support element; one end of the second linkage mechanism is hinged to the support element, and the other end is slidably connected to the fixed base.

[0014] In one embodiment of this disclosure, the first linkage mechanism includes two first links arranged in parallel, and the second linkage mechanism includes two second links arranged in parallel. The first links and second links on the same side intersect and are hinged together at the intersection point. The same ends of the two first links are hinged on the same hinge axis, and the same ends of the two second links are hinged on the same hinge axis.

[0015] In one embodiment of this disclosure, the fixed base and the supporting element are respectively provided with elongated holes; the ends of the first linkage mechanism and the second linkage mechanism are hinged to the fixed base and the supporting element by their respective hinge shafts, and the hinge shafts are slidably fitted in the elongated holes of the fixed base and the supporting element.

[0016] In one embodiment of this disclosure, the drive assembly includes a lead screw motor.

[0017] In one embodiment of this disclosure, the telescopic mechanism includes a lead screw and nut drive mechanism controlled by a drive assembly, the lead screw and nut drive mechanism being configured to drive a support element to move relative to the fixed base to abut or separate from the rack on the corresponding side.

[0018] In one embodiment of this disclosure, an abutment plate is hinged to the end of the support element, the abutment plate having a first position and a second position; in the first position, the abutment plate is received and pre-pressed into the guide groove of the fixed base, and the abutment plate rotates to be consistent with the extension direction of the support element; in the second position, the abutment plate disengages from the guide groove of the fixed base, and the abutment plate rotates to a predetermined angle with the support element under elastic restoring force.

[0019] In one embodiment of this disclosure, an inclined pressure plate is further provided on the fixed base at the open end of the guide groove; the inclined pressure plate is configured to contact the abutment plate to push the abutment plate over when the support element retracts into the guide groove of the fixed base.

[0020] In one embodiment of this disclosure, the auxiliary support device is disposed on opposite sides of the gantry assembly.

[0021] In one embodiment of this disclosure, the auxiliary support device is disposed in the upper region, middle region or lower region of the gantry assembly.

[0022] In one embodiment of this disclosure, the auxiliary support device is disposed on opposite sides of the lifting assembly and is configured to extend to abut against the corresponding side of the material rack after the lifting assembly is in position.

[0023] In one embodiment of this disclosure, the auxiliary support devices (5, 5') are disposed on opposite sides of the chassis assembly.

[0024] In one embodiment of this disclosure, the cargo handling robot further includes a distance detection sensor configured to detect distance information from the cargo handling robot to the rack; at least two of the auxiliary support devices are configured to extend a corresponding distance based on the distance information detected by the distance detection sensor.

[0025] In one embodiment of this disclosure, the distance detection sensor is disposed on one side of the gantry assembly for detecting the distance between that side of the gantry assembly and the corresponding shelf on that side; the cargo handling robot further includes a calculation unit configured to determine the distance between the other side of the gantry assembly and the corresponding shelf on that side based on the distance between two adjacent shelves and the distance information detected by the distance detection sensor.

[0026] In one embodiment of this disclosure, the cargo handling robot further includes: a detection unit configured to detect current parameters of the drive component; and a control unit that receives the current parameters obtained by the detection unit. When the current parameters are greater than a current threshold, the control unit issues a command to stop the drive component from driving.

[0027] In one embodiment of this disclosure, the auxiliary support device is provided with a detection switch at the position where it contacts the material rack on the corresponding side. The detection switch is configured to be triggered when it contacts the material rack, and to send an electrical signal to control the drive assembly to stop driving.

[0028] The cargo handling robot disclosed herein utilizes two racks to provide relative support for the cargo handling robot, preventing the gantry assembly from swaying or the cargo handling robot from tipping over, thereby improving the operational safety and stability of the cargo handling robot.

[0029] According to a second aspect of this disclosure, a control method for the above-described cargo handling robot is also provided, the control method comprising the following steps:

[0030] S1000: Control the cargo handling robot to move to a predetermined position between two adjacent racks;

[0031] S2000: Control at least two of the auxiliary support devices to extend to abut against the rack corresponding to the side of the auxiliary support device;

[0032] S3000: After the material box is picked up or put down, the auxiliary support device is reset.

[0033] In one embodiment of this disclosure, prior to step S2000, the control method further includes a distance detection step:

[0034] Detect a first distance from the cargo handling robot to one of the racks;

[0035] A second distance from the cargo handling robot to the other cargo rack is calculated based on the distance between the two racks, the width of the cargo handling robot, and the first distance.

[0036] In step S2000, at least two of the auxiliary support devices move by corresponding displacements based on a first distance and a second distance, respectively, and abut against the material rack on the corresponding side.

[0037] It should be noted that the control method for the cargo handling robot provided in this disclosure has all the technical effects of the aforementioned cargo handling robot, which can be understood by those in the art based on the description of the cargo handling robot, and therefore will not be repeated here.

[0038] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0039] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of the present disclosure and, together with their description, serve to explain the principles of the present disclosure.

[0040] Figure 1 This is a three-dimensional structural diagram of a specific embodiment of the cargo handling robot provided in this disclosure in its use state;

[0041] Figure 1ayes Figure 1 A magnified view of a section at point A in the middle;

[0042] Figure 2 yes Figure 1 A front view of the structure shown, in which the auxiliary support device is in the extended state.

[0043] Figure 2a yes Figure 2 A magnified view of a section at point B in the middle;

[0044] Figure 3 yes Figure 1 A schematic diagram of the main structure when the auxiliary support device is in the retracted state;

[0045] Figure 3a yes Figure 3 A magnified view of a section at point C;

[0046] Figure 4 yes Figure 1 A three-dimensional structural schematic diagram of the auxiliary support device shown;

[0047] Figure 5 yes Figure 4 A schematic diagram of the main structure of the auxiliary support device shown;

[0048] Figure 6 This is a three-dimensional structural diagram of the second specific embodiment of the cargo handling robot provided in this disclosure in its use state;

[0049] Figure 7 yes Figure 6 Front view of the structure shown;

[0050] Figure 8 yes Figure 6 A three-dimensional structural diagram of the auxiliary support device;

[0051] Figure 9 Figure 6 A three-dimensional structural diagram of the assembly of the auxiliary support device and the lifting component;

[0052] Figure 10 This is a schematic diagram of the control flow of a control method for a cargo handling robot provided in this disclosure;

[0053] Figure 11 This is a schematic diagram of the control flow of a control method for a cargo handling robot provided in this disclosure.

[0054] Figures 1 to 5 The one-to-one correspondence between the component names and the reference numerals in the figures is as follows:

[0055] 1. Chassis assembly; 2. Mast assembly; 3. Lifting assembly; 4. Pick-up and return box assembly; 6. Material rack.

[0056] 5 Auxiliary support device: 50 Fixed base, 51 Support element, 52 First connecting rod, 53 Second connecting rod, 54 First lower hinge shaft, 55 First upper hinge shaft, 56 Second lower hinge shaft, 57 Second upper hinge shaft, 58 Drive assembly;

[0057] Figures 6 to 9 The one-to-one correspondence between the component names and the reference numerals in the figures is as follows:

[0058] 5' Auxiliary support device: 50' Fixed base, 500' Base plate, 501' Rear upright plate, 502' Left side plate, 503' Right side plate, 504' Guide groove, 505' Inclined pressure plate, 51' Support element, 52' Lead screw, 53' Nut block, 54' Slider, 55' Slide rail, 56' Abutment plate, 57' Drive assembly. Detailed Implementation

[0059] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0060] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0061] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0062] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0063] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0064] To address the issue of gantry assembly swaying when a cargo handling robot picks up and places material boxes at a high position, this disclosure provides a cargo handling robot with anti-sway function. The cargo handling robot includes a chassis assembly, a gantry assembly, a lifting assembly, and at least two auxiliary support devices. The gantry assembly is mounted on the chassis assembly, the lifting assembly is configured to move up and down along the gantry assembly, and the at least two auxiliary support devices are controlled by their respective drive assemblies and are distributed on opposite sides of the cargo handling robot. The at least two auxiliary support devices are configured to extend relative to the cargo handling robot to abut or separate from the material rack on the corresponding side of the cargo handling robot.

[0065] When a material box needs to be picked up or placed, the chassis assembly moves the robot to a predetermined position in the aisle between the two racks. Then, the lifting assembly is controlled to rise along the extension direction of the gantry assembly to the target shelf of the target rack to pick up or place the material box. If the lifting assembly needs to rise to a higher position on the gantry assembly, i.e., in the case of high-level material box picking or placing; or if the gantry assembly is too high and sways, the drive assembly of the auxiliary support device can be controlled to extend relative to the cargo handling machine to abut against the two racks on opposite sides. The two racks provide relative support to the gantry assembly, preventing swaying of the gantry assembly and thus improving the working safety and stability of the cargo handling robot.

[0066] In different application scenarios, auxiliary support devices can be installed on the chassis assembly, gantry assembly, or lifting assembly as needed.

[0067] In one embodiment of this disclosure, auxiliary support devices can be disposed on opposite sides of the lifting assembly, allowing the auxiliary support devices to move along with the lifting assembly on the gantry assembly. When the lifting assembly moves to a suitable position, the auxiliary support devices extend to opposite sides of the lifting assembly and abut against the corresponding material racks on the lifting assembly, ensuring the stability of the cargo handling robot.

[0068] In one embodiment of this disclosure, auxiliary support devices can be disposed on opposite sides of the gantry assembly. For example, they can be disposed in the upper, middle, or lower region of the gantry assembly as needed. The auxiliary support devices can hold the gantry assembly in place between two adjacent rack supports, ensuring the stability of the cargo handling robot when picking up and returning boxes.

[0069] It should be noted that some cargo handling robots incorporate multi-layered temporary storage structures on the gantry assembly to temporarily store cargo boxes or containers. These temporary storage structures can be understood as part of the gantry assembly. That is, in this embodiment, auxiliary support devices can also be connected to the temporary storage mechanism, which will not be specifically described here.

[0070] In one embodiment of this disclosure, auxiliary support devices can be disposed on opposite sides of the chassis assembly. For example, when the walking mechanism in the chassis assembly moves the entire cargo handling robot to the target position, the auxiliary support devices on opposite sides of the chassis assembly extend to abut against the corresponding racks, thereby securing the cargo handling robot chassis assembly firmly between two adjacent racks. Even if the mast assembly sways when retrieving boxes from high positions on the racks, the robot can be prevented from tipping over, improving the safety of the cargo handling robot during operation.

[0071] Based on the above disclosure, the auxiliary support device can also be set at any suitable position on the cargo handling robot, depending on the specific structure of the cargo handling robot, and is not limited to the chassis assembly, gantry assembly, and lifting assembly listed above. The only requirement is that the cargo handling robot can be stably held between two adjacent shelves, preventing the cargo handling robot from shaking or tipping over.

[0072] Furthermore, in the cargo handling robot disclosed herein, the auxiliary support devices on both sides are controlled by their respective drive components. That is, the cargo handling robot can drive the auxiliary support devices to extend to the corresponding positions according to the actual distance between that side and the corresponding rack. Thus, the cargo handling robot can make adaptive adjustments based on factors such as uneven ground and vehicle tilt, avoiding forced twisting of the gantry assembly by the auxiliary support devices.

[0073] To facilitate better understanding by those skilled in the art, the following is combined with... Figures 1 to 9 The specific structure and working principle of the cargo handling robot disclosed herein will be described in detail using two embodiments.

[0074] Example 1

[0075] See Figure 1 The figure is a three-dimensional structural diagram of a specific embodiment of the cargo handling robot provided in this disclosure in its use state.

[0076] In this embodiment, the cargo handling robot typically includes a chassis assembly 1, a gantry assembly 2, a lifting assembly 3, and a retrieval / return box assembly 4. The chassis assembly 1 can specifically be a major component of an AGV or other mobile robot, equipped with functional elements such as a navigation system and a walking system. It includes wheels, suspension, and other components. The chassis assembly 1 serves as the load-bearing base for the other components, enabling the cargo handling robot to perform various movements such as traveling and turning on the ground, allowing it to move within the aisles between the racks 6.

[0077] The gantry assembly 2 is vertically mounted on the robot chassis assembly 1 and fixedly connected to it. Specifically, the gantry assembly 2 is a cuboid frame structure assembled from multiple rods. The lifting assembly 3 is mounted on the gantry assembly 2 and can move along the extension direction of the gantry assembly 2 under the driving force of its own drive element. The retrieval and return bin assembly 4 is connected to the lifting assembly 3. The retrieval and return bin assembly 4 can drive the fork to extend and retract through its own drive element to complete the bin storage and retrieval actions at different shelf levels. To better understand the structure of this cargo handling robot, please refer to Figure 2 and... Figure 3 ,in, Figure 2 yes Figure 1 The diagram shows the main view of the structure when the auxiliary support device is in the extended state. Figure 3 yes Figure 1 The diagram shows the main view of the structure when the auxiliary support device is in the retracted state.

[0078] See also Figures 1 to 3 The cargo handling robot also includes two auxiliary support devices 5, which are controlled by their respective drive components and are respectively located on opposite sides of the gantry assembly 2. These two auxiliary support devices 5 are configured to either abut or separate from the rack 6 extending from the gantry assembly 2 to the corresponding side of the gantry assembly 2. For a better understanding of the specific structure and working principle of the auxiliary support devices 5, please refer to [reference needed]. Figure 1a , Figure 2 , Figure 2a , Figure 3 and Figure 3a ,in, Figure 1a yes Figure 1 A magnified view of a portion of point A in the middle. Figure 2a yes Figure 2 A magnified view of a section at point B. Figure 3a yes Figure 3 A magnified view of a section at point C.

[0079] For details, see Figure 4 The image is Figure 1 The schematic diagram of the three-dimensional structure of the auxiliary support device 5 shown in this embodiment illustrates that the auxiliary support element 51 includes a fixed base 50 and a support element 51 that is retractably connected to the fixed base 50 via a telescopic mechanism. The telescopic mechanism is controlled by a drive assembly 58 and configured to drive the support element 51 to move relative to the fixed base 50 to abut or separate from the corresponding side of the material rack 6. For a better understanding of the structure of the auxiliary support device 5, please refer to [the diagram]. Figure 5 The image is Figure 4 The schematic diagram of the main structure of the auxiliary support device 5 shown.

[0080] The fixed base 50 is a square plate, which is fixedly connected to the side wall of the gantry assembly 2 by means of threaded connection or adhesive. The support element 51 has the same shape as the fixed base 50. The support element 51 is connected to the fixed base 50 in a telescopic manner through a telescopic mechanism. Under the action of the drive assembly 58, the telescopic mechanism drives the support element 51 to move away from or closer to the support element 51.

[0081] It should be noted that in this embodiment, the fixed base 50 is fixed on the gantry assembly 2, and its fixed position can be the lower region, middle region, or upper region along the extension direction of the gantry assembly 2. Of course, the fixed base 50 can also be set on the lifting assembly 3 or the retrieval box assembly 4, so that it can move with the lifting assembly 3 to any position along the extension direction of the gantry assembly 2.

[0082] The telescopic mechanism includes a scissor lift unit, which comprises a first linkage mechanism and a second linkage mechanism arranged crosswise and hinged together at the intersection point. One end of the first linkage mechanism is hinged to the fixed base 50, and the other end is slidably connected to the support element 51; one end of the second linkage mechanism is hinged to the support element 51, and the other end is slidably connected to the fixed base 50.

[0083] In detail, the first link 52 mechanism includes two parallel first links 52, and the second link 53 mechanism includes two parallel second links 53. The same ends of the two first links 52 are hinged on the same hinge axis, and the same ends of the two second links 53 are hinged on the same hinge axis. The first links 52 and the second links 53 on the same side cross and are hinged together.

[0084] More specifically, the lower ends of the two first connecting rods 52 are hinged to the first lower hinge shaft 54, and the upper ends of the two first connecting rods 52 are respectively hinged to the two coaxially arranged first upper hinge shafts 55. The two first upper hinge shafts 55 are slidably connected to the support element 51. The support element 51 has two elongated holes 5a. The two first upper hinge shafts 55 pass through the two elongated holes 5a and slide up and down relative to the support element 51 along the elongated holes 5a.

[0085] Similarly, the lower ends of the two second connecting rods 53 are respectively hinged to two coaxially arranged second lower hinge shafts 56, and the two second lower hinge shafts 56 are fixedly or rotatably connected to the support element 51; the upper ends of the two second connecting rods 53 are both hinged to the second upper hinge shafts 57, and the second upper hinge shafts 57 are slidably connected to the fixed base 50. Specifically, the fixed base 50 also has two elongated holes 5a, and the second upper hinge shafts 57 pass through the two elongated holes 5a and can slide along the elongated holes 5a under the action of external force.

[0086] The drive assembly 58 that drives the telescopic mechanism includes a lead screw motor. The housing of the lead screw motor is fixedly connected to the fixed base 50, and its drive shaft is fixedly connected to the second upper hinge shaft 57. By controlling the motor to rotate forward or backward, its drive shaft can drive the second upper hinge shaft 57 to slide up and down along the elongated hole 5a.

[0087] Specifically, when the push rod motor rotates forward, the second upper hinge shaft 57 slides upward along the elongated hole 5a. At this time, the first and second linkage mechanisms of the scissor lift unit retract, causing the fixed base 50 and the support element 51 to move towards each other in a direction that gradually brings them closer together. In other words, the entire cargo handling robot is positioned... Figure 3 In the working state, that is, the auxiliary support device 5 is in the retracted state relative to the gantry assembly 2, and its support element 51 does not abut against the corresponding side of the material rack 6. At this time, the auxiliary support device 5 does not provide any support function.

[0088] Conversely, when the push rod and lead screw motor reverses, the second upper hinge shaft 57 slides downward along the corresponding elongated hole 5a. At this time, the first and second linkage mechanisms of the scissor unit expand, causing the fixed base 50 and the support element 51 to move away from each other in a direction, that is, the entire cargo handling robot is located in... Figure 2 In the working state, that is, the auxiliary support device 5 is in the extended state relative to the gantry assembly 2, and its support element 51 extends to abut against the corresponding side material rack 6. At this time, the auxiliary support device 5 uses the two material racks 6 on the opposite side to support the gantry assembly 2 and prevent it from shaking.

[0089] Example 2

[0090] The structure of the cargo handling robot in Example 2 is basically the same as that in Example 1. The main difference lies in the specific structure of the auxiliary support device 5. To keep the text concise, the following will refer to the appendix of the instruction manual. Figures 6 to 9 The specific structure of the auxiliary support device 5 in Embodiment 2 will be described in detail below, with the parts that are the same as in Embodiment 1 not repeated. It should be noted that... Figure 6 In Figure 9, except for the auxiliary support device 5, the reference numerals for the other functional components are the same as those in the figure of Embodiment 1. Figures 1 to 5 The reference numerals in the attached figures are the same.

[0091] See Figures 6 to 8 ,in, Figure 6 This is a three-dimensional structural diagram of the second specific embodiment of the cargo handling robot provided in this disclosure in its use state; Figure 7 yes Figure 6 Front view of the structure shown; Figure 8 yes Figure 6 A three-dimensional structural diagram of the auxiliary support device 5.

[0092] First see Figure 8 In this embodiment, the auxiliary support element 51' includes a fixed base 50' and a support element 51' that is retractably connected to the fixed base 50' via a telescopic mechanism, wherein the telescopic mechanism is controlled by a drive assembly 57' and is configured to drive the support element 51' to move relative to the fixed base 50' to abut or separate from the corresponding side of the rack 6.

[0093] The fixed base 50' includes a base plate 500' and a rear upright plate 501', a left side plate 502', and a right side plate 503' fixedly connected to the lower surface of the base plate 500'. A guide groove 504' is formed between the rear upright plate 501' and the left side plate 502'. The support element 51' is specifically a quadrangular prism rod. Under the action of the drive assembly 57', the support element 51' is driven by a telescopic mechanism to extend from or retract into the guide groove 504', thereby achieving the purpose of the support element 51' moving relative to the fixed base 50' to abut or separate from the corresponding side of the material rack 6.

[0094] In this embodiment, the base plate 500' of the fixed base 50' is fixed to the lower plate surface of the lifting assembly 3, so that the support element 51' is located within the width range of the cargo handling robot in the retracted state. In other embodiments, the fixed base plate 500' may also be fixedly connected to the lower, middle, or upper region of the gantry assembly 2 along its extension direction, as long as the auxiliary support device 5' is located within the width range of the cargo handling robot in the retracted state, and can extend from the width direction of the cargo handling robot when extended. It should be noted that the width of the cargo handling robot refers to the dimension of the vertical distance between the two racks on which it is located.

[0095] In addition, in this embodiment, the auxiliary support device 5' is connected to the lifting assembly 3. It can move along the extension direction of the middle gantry assembly 2 with the lifting assembly 3, thereby providing support by abutting against the corresponding side material rack 6 at any position on the gantry assembly 2. The auxiliary support device 5' has flexible auxiliary functions and can meet the support requirements of different positions. For a better understanding of the position and assembly relationship between the auxiliary support device 5' and the lifting assembly 3, please refer to [reference needed]. Figure 9 , Figure 9 yes Figure 6 A three-dimensional structural diagram of the assembly of the auxiliary support device and the lifting component.

[0096] See also Figure 8 The telescopic mechanism includes a screw and nut transmission mechanism controlled by the drive assembly 57'. The screw and nut transmission mechanism is configured to drive the support element 51' to move relative to the fixed base 50' to abut or separate from the corresponding side of the rack 6' under the action of the drive assembly 57'.

[0097] In detail, the lead screw 52' of the lead screw and nut transmission mechanism is rotatably connected to the left side plate 502' and right side plate 503' of the fixed base 50' via bearings or other structures. Its nut portion includes a nut block 53' and a slider 54' fixedly connected to each other. The nut block 53' is located between the left side plate 502' and the right side plate 503' and is threadedly connected to the lead screw 52'. The slider 54' has a groove, and a slide rail 55' extending axially along the lead screw 52' is fixedly connected to the base plate 500'. The slider 54' is slidably connected to the slide rail 55' via the groove, and is also fixedly connected to the support element 51'. Alternatively, the support element 51' can be guided and engaged with the base plate 500' via a guide rail assembly, and the nut block 53' threadedly connected to the lead screw 52' can be directly connected to the support element 51'.

[0098] The drive assembly 57' includes a motor, the motor housing of which is fixedly connected to the right side plate 503'. Its armature shaft is used to drive the lead screw 52' to rotate. Controlling the direction of the motor's armature shaft can realize the sliding of the nut block 53' relative to the lead screw 52' in the left or right direction, thereby causing the slider 54' to drive the support element 51' to extend or retract from the guide groove 504' of the fixed base 50' into the guide groove 504' of the fixed base 50'.

[0099] In one embodiment of this disclosure, in order to improve the stability of the auxiliary support device 5' supporting the material rack 6, an abutment plate 56' is hinged to the end of the support element 51'. Specifically, the support element 51' has an installation groove, and one end of the abutment plate 56' is inserted into the installation groove and hinged to the support element 51' through a hinge shaft. The abutment surface of the abutment plate 56' has a T-shaped structure, and its vertical part is inserted into the installation groove.

[0100] The abutment plate 56' has a first position and a second position: in the first position, the abutment plate 56' is housed and pre-pressed in the guide groove 504' of the fixed base 50', and the abutment plate 56' is aligned with the extension direction of the support element 51'; in the second position, the abutment plate 56' disengages from the guide groove 504' of the fixed base 50', and the abutment plate 56' rotates under the elastic restoring force to form a predetermined angle with the support element 51'.

[0101] In one embodiment of this disclosure, the abutment plate 56' can be elastically connected to the support element 51' via a torsion spring, and in the second position, the abutment plate 56' and the support element 51' are set at a 90° angle under the elastic force of the torsion spring.

[0102] To simplify the overall structure of the auxiliary support device 5', an inclined pressure plate 505' is also provided on the fixed base 50' at the open end of the guide groove 504'. The inclined pressure plate 505' is configured to contact the abutment plate 56' to push the abutment plate 56' when the support element 51' retracts into the guide groove 504' of the fixed base 50'. The inclined pressure plate 505' extends outward relative to the open end of the guide groove 504'.

[0103] The preceding text, with reference to the accompanying drawings, has described in detail the specific structure and working principle of the auxiliary support devices in the two embodiments. Specifically, when the cargo handling robot reaches the aisle of the two target racks 6, if it needs to retrieve or place a material box at a higher position, the two auxiliary support devices are controlled to extend and abut against the corresponding racks 6. Then, the lifting assembly 3 is controlled to drive the retrieval and return assembly 4 to the target position to retrieve or place the material box, preventing the gantry assembly 2 from swaying. During this process, how to precisely control the extension distance of the support elements of the auxiliary support devices so that the auxiliary support elements abut against the corresponding racks 6 when extended is a technical problem that those skilled in the art need to consider.

[0104] Therefore, at least one of the cargo handling robots provided in the above two embodiments also includes a distance detection sensor, which is configured to detect the distance information between the cargo handling robot and the rack 6, and the two auxiliary support devices are configured to extend a corresponding distance according to the distance information detected by the distance detection sensor.

[0105] For example, the distance detection sensor is specifically an infrared distance sensor or other ranging element. In some embodiments, distance detection sensors are provided on both sides of the gantry assembly 2. These distance detection sensors detect the distance information between each auxiliary support device and the corresponding side of the material rack 6. The two auxiliary support elements extend out a corresponding distance according to the detected distance information with the corresponding side of the material rack 6, and abut against the material rack 6.

[0106] In other embodiments, the distance detection sensor is located on one side of the gantry assembly 2, and is used to detect the distance between that side of the gantry assembly 2 and the corresponding shelf 6 on that side, i.e., to detect the distance between that side of the gantry assembly 2 and the corresponding shelf 6 on that side. Furthermore, the cargo handling robot also includes a calculation unit configured to determine the distance between the other side of the gantry assembly 2 and its corresponding shelf 6 based on the distance between two adjacent shelves 6, the width of the cargo handling robot, and the distance information detected by the distance detection sensor. In this embodiment, the distance between two adjacent shelves and the width of the cargo handling robot are fixed values ​​that can be pre-stored in corresponding storage units. The width of the cargo handling robot is a relative concept; it can be the width of the widest point of the cargo handling robot, the width of the gantry assembly, or the width of other reference positions on the cargo handling robot, which will not be specifically described here.

[0107] In some embodiments, the cargo handling robot also includes a detection unit and a control unit, wherein the detection unit is configured to detect the current parameters of the drive components of the auxiliary support device, and the control unit receives the current parameters obtained by the detection unit. When the current parameters are greater than a threshold, the control unit issues a command to control the drive components to stop driving.

[0108] In other words, the current threshold preset in the control unit is the current value that ensures the drive component (motor, etc.) of the auxiliary support device is not subject to external resistance when it is working normally. If the actual current of the drive component is greater than this current value, it means that the drive component is subjected to external force, that is, the auxiliary support element and the corresponding side material rack 6 are in contact. At this time, the control drive component stops driving.

[0109] In some embodiments, the cargo handling robot includes a detection switch such as a proximity switch or a pressure switch, which is set on the auxiliary device at a position for contact with the corresponding rack 6, such as the contact surface of the support element 51 in Embodiment 1 or the contact surface of the contact plate 56' in Embodiment 2. The detection switch is configured to be triggered when the auxiliary support element extends to contact the corresponding side rack 6, and to send an electrical signal to control the drive assembly to stop driving.

[0110] To ensure that the auxiliary support device can accurately abut against the material rack 6, one or a combination of the technical solutions of the above embodiments can be used. Those skilled in the art can select according to actual needs, and this article will not elaborate further.

[0111] Additionally, it should be noted that the cargo handling robot in both Embodiment 1 and Embodiment 2 described above includes two auxiliary support devices. These two auxiliary support devices extend in opposite directions relative to the gantry assembly 2, such that one abuts against the rack 6 on the right side of the gantry assembly 2, and the other abuts against the rack 6 on the left side of the gantry assembly 2. It is understood that in other embodiments, the cargo handling robot may include more than two auxiliary support devices, i.e., the number of auxiliary support devices may be an integer greater than two.

[0112] In addition to the aforementioned cargo handling robot, this disclosure also provides a control method applied to the aforementioned cargo handling robot.

[0113] See Figure 10 The figure is a schematic diagram of the control flow of a control method for a cargo handling robot provided in this disclosure. The control method includes the following main steps:

[0114] Step S1000: Control the cargo handling robot to move to the predetermined position between two adjacent racks 6;

[0115] Step S2000: Control the auxiliary support device to move to abut against the material rack 6 on the corresponding side of the auxiliary support device;

[0116] Step S3000: After the material box is picked up or put down, control the auxiliary support device to reset.

[0117] The auxiliary support device abuts against the two adjacent material racks 6, and uses the material racks 6 to support the gantry assembly 2, which solves the problem of the gantry assembly 2 shaking when picking up and placing the material box at a high position, thereby ensuring the working stability and safety of the cargo handling robot.

[0118] Furthermore, in order to ensure that the extension distance of the auxiliary support device is exactly aligned with its corresponding side material rack 6, the control method in another embodiment also includes a distance detection step.

[0119] See Figure 11 The figure is a schematic diagram of the control flow of another control method for a cargo handling robot provided in this disclosure. The control method includes the following steps:

[0120] Step S1000': Control the cargo handling robot to move to the predetermined position between two adjacent racks 6;

[0121] Step S2000': Detect the first distance from the cargo handling robot to one of the racks 6;

[0122] Step S3000': Calculate the second distance from the cargo handling robot to the other cargo rack 6 based on the distance between the two racks 6, the width of the detected cargo handling robot, and the first distance;

[0123] Step S4000': At least two of the auxiliary support devices move corresponding displacements based on the first distance and the second distance respectively and abut against the material rack 6 on the corresponding side;

[0124] Step S5000': After the material box is picked up or put down, the auxiliary support device is reset.

[0125] The various embodiments of this disclosure have been described above. These descriptions are exemplary and not exhaustive, and are not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein. The scope of this disclosure is defined by the appended claims.

Claims

1. A cargo handling robot, characterized in that, include: Chassis components (1); A gantry assembly (2) is mounted on the chassis assembly (1); A lifting assembly (3) is configured to move up and down along the gantry assembly (2); At least two auxiliary support devices (5, 5'), each controlled by a respective drive assembly, are distributed on opposite sides of the cargo handling robot; the at least two auxiliary support devices (5, 5') are configured to extend relative to the cargo handling robot to abut against the racks (6) on both sides of the cargo handling robot or retract to separate from the racks (6) on both sides of the cargo handling robot, so that the two racks (6) form opposing support forces on the gantry assembly (2); The auxiliary support device (5, 5') includes a fixed base (50, 50') and a support element (51, 51') telescopically connected to the fixed base (50, 50') via a telescopic mechanism; the telescopic mechanism is controlled by a drive assembly and configured to drive the support element (51, 51') to move relative to the fixed base (50, 50') to abut or separate from the rack (6) on the corresponding side.

2. The cargo handling robot according to claim 1, characterized in that, The telescopic mechanism includes at least one scissor unit, and the scissor unit includes a first linkage mechanism and a second linkage mechanism that are arranged in a cross manner and hinged together at the intersection point. One end of the first linkage mechanism is hinged to the fixed base (50), and the other end is slidably connected to the support element (51); One end of the second linkage is hinged to the support element (51), and the other end is slidably connected to the fixed base (50).

3. The cargo handling robot according to claim 2, characterized in that, The first linkage mechanism includes two parallel first links (52), and the second linkage mechanism includes two parallel second links (53). The first links (52) and the second links (53) on the same side intersect and are hinged together at the intersection point. The same ends of the two first links (52) are hinged on the same hinge axis, and the same ends of the two second links (53) are hinged on the same hinge axis.

4. The cargo handling robot according to claim 3, characterized in that, The fixed base (50) and the support element (51) are respectively provided with elongated holes (5a); the ends of the first linkage mechanism and the second linkage mechanism are hinged to the fixed base (50) and the support element (51) by their respective hinge shafts, and the hinge shafts are slidably fitted in the elongated holes (5a) of the fixed base (50) and the support element (51).

5. The cargo handling robot according to claim 4, characterized in that, The drive assembly includes a lead screw motor.

6. The cargo handling robot according to claim 1, characterized in that, The telescopic mechanism includes a screw and nut drive mechanism controlled by a drive assembly (57'), which is configured to drive the support element (51') to move relative to the fixed base (50') to abut or separate from the rack (6) on the corresponding side.

7. The cargo handling robot according to claim 6, characterized in that, The end of the support element (51') is hinged to an abutment plate (56'), the abutment plate (56') having a first position and a second position; In the first position, the abutment plate (56') is received and pre-pressed into the guide groove (504') of the fixed base (50'), and the abutment plate (56') is rotated to be aligned with the extension direction of the support element (51'); In the second position, the abutment plate (56') disengages from the guide groove (504') of the fixed base (50'), and the abutment plate (56') rotates under the elastic restoring force to form a predetermined angle with the support element (51').

8. The cargo handling robot according to claim 7, characterized in that, An inclined pressure plate (505') is also provided on the fixed base (50') at the opening end of the guide groove (504'). The inclined pressure plate (505') is configured to contact the abutment plate (56') to push the abutment plate (56') over when the support element (51') retracts into the guide groove (504') of the fixed base (50').

9. The cargo handling robot according to claim 1, characterized in that, The auxiliary support devices (5, 5') are located on opposite sides of the gantry assembly.

10. The cargo handling robot according to claim 9, characterized in that, The auxiliary support device (5, 5') is disposed in the upper region, middle region or lower region of the gantry assembly (2).

11. The cargo handling robot according to claim 1, characterized in that, The auxiliary support devices (5, 5') are located on opposite sides of the lifting assembly (3) and are configured to extend to abut against the corresponding side of the material rack (6) after the lifting assembly (3) is in position.

12. The cargo handling robot according to claim 1, characterized in that, The auxiliary support devices (5, 5') are located on opposite sides of the chassis assembly.

13. The cargo handling robot according to any one of claims 1 to 12, characterized in that, The cargo handling robot also includes a distance detection sensor, which is configured to detect the distance information between the cargo handling robot and the rack (6); At least two of the auxiliary support devices (5, 5') are configured to extend a corresponding distance based on the distance information detected by the distance detection sensor.

14. The cargo handling robot according to claim 13, characterized in that, The distance detection sensor is disposed on one side of the gantry assembly (2) and is used to detect the distance between that side of the gantry assembly (2) and the corresponding side rack (6); The cargo handling robot also includes a computing unit configured to determine the distance between the other side of the gantry assembly (2) and its corresponding side of the cargo rack (6) based on the distance between two adjacent racks (6), the width of the cargo handling robot, and the distance information detected by the distance detection sensor.

15. The cargo handling robot according to any one of claims 1 to 12, characterized in that, The cargo handling robot also includes: A detection unit configured to detect current parameters of the drive component; The control unit receives current parameters obtained by the detection unit; when the current parameters are greater than a current threshold, the control unit controls the drive component to stop driving.

16. The cargo handling robot according to any one of claims 1 to 12, characterized in that, The auxiliary support device (5, 5') is provided with a detection switch at the position where it contacts the corresponding side of the material rack (6). The detection switch is configured to be triggered when it contacts the material rack (6) and to send an electrical signal to control the drive assembly to stop driving.

17. A control method for a cargo handling robot according to any one of claims 1 to 12, the control method comprising the following steps: S1000: Control the cargo handling robot to move to a predetermined position between two adjacent racks (6); S2000: Control at least two of the auxiliary support devices (5, 5') to extend to abut against the rack (6) on the side corresponding to the auxiliary support device (5, 5'); S3000: After the material box is picked up or put down, at least two of the auxiliary support devices (5, 5') are reset respectively.

18. The control method according to claim 17, characterized in that, Prior to step S2000, the control method further includes a distance detection step: Detect the first distance from the cargo handling robot to one of the racks (6); A second distance from the cargo handling robot to the other shelf (6) is calculated based on the distance between the two shelves (6), the width of the cargo handling robot, and the first distance. In step S2000, at least two of the auxiliary support devices (5, 5') move corresponding displacements based on a first distance and a second distance respectively and abut against the material rack (6) on the corresponding side.

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