Palletizing robot and warehousing system

Abstract

The application provides a stacking robot and a storage system, relates to the technical field of intelligent storage, and aims to solve the technical problem that the position of a material box on a stacking position is easy to deviate. The stacking robot comprises a machine body and a first magnetic part arranged on the machine body. The machine body is provided with a stacking position. When the material box is placed on the stacking position, the first magnetic part generates a magnetic force with the material box at least partially, so as to correct the material box placed on the stacking position. The storage system comprises the stacking robot. The application can improve the accuracy of the placement position of the material box on the stacking position.

Description

Technical Field

[0001] This application relates to the field of intelligent warehousing technology, and in particular to a palletizing robot and warehousing system. Background Technology

[0002] With the rapid development of artificial intelligence, automation, and information technology, the level of intelligence in last-mile logistics will continue to improve. Intelligent logistics terminals are an inevitable trend in the development of last-mile logistics, and palletizing robots are one of the main devices that can realize automated handling at intelligent logistics terminals. Palletizing robots can reduce heavy manual labor, save space, and improve operational efficiency.

[0003] In related technologies, palletizing robots include a mobile chassis, uprights, forks, and a handling mechanism. The uprights are mounted on the mobile chassis, which has palletizing positions. The forks and handling mechanism are respectively mounted on the uprights. The forks are used to remove boxes from the storage rack and place them on the palletizing positions. The handling mechanism can remove the boxes from the palletizing positions; or, the handling mechanism can transport stacked boxes to the palletizing positions, and the forks can then remove the boxes from the stacked boxes one by one and place them on the corresponding storage rack positions, thus completing the destacking of the box groups.

[0004] However, when the forks or handling mechanism release the bin, the bin's position on the stacking station is prone to skew, resulting in low accuracy in the bin's placement on the stacking station. Summary of the Invention

[0005] In view of the above problems, this application provides a palletizing robot and warehousing system, which can solve the problem that the placement position of the material box on the palletizing position is prone to deviation when the material box is released, and can improve the accuracy of the placement position of the material box on the palletizing position.

[0006] To achieve the above objectives, the embodiments of this application provide the following technical solutions:

[0007] In a first aspect, embodiments of this application provide a palletizing robot, comprising: a body and a first magnetic component disposed on the body, the body having a palletizing position, wherein when a tin box is placed on the palletizing position, the first magnetic component generates at least a partial magnetic force with the tin box on the palletizing position to calibrate the tin box placed on the palletizing position.

[0008] In one optional embodiment, the machine body includes a mobile chassis and a column, both the column and the stacking position are disposed on the mobile chassis, and the first magnetic element is located on the column and / or the mobile chassis.

[0009] In one alternative embodiment, the first magnetic element overlaps with or is adjacent to the hopper in the vertical direction at least partially.

[0010] In one alternative embodiment, the first magnetic element surrounds a magnetic field region on the stacking position, the magnetic field region corresponding vertically to the position of the hopper on the stacking position.

[0011] In one alternative embodiment, there are multiple first magnetic elements, which are spaced apart and together form the magnetic region.

[0012] In one alternative embodiment, the first magnetic element is disposed on the column, and the first magnetic element is an electromagnet; and / or, the first magnetic element is disposed on the movable chassis, and the first magnetic element is an electromagnet or a magnet.

[0013] In one alternative embodiment, the palletizing robot further includes a second magnetic component disposed on the hopper. The second magnetic component is located at the same position as or adjacent to the first magnetic component in the vertical direction, and the magnetic poles of the second magnetic component are the same as or opposite to those of the first magnetic component.

[0014] In one alternative embodiment, the first magnetic element is disposed on the movable chassis, and the second magnetic element is disposed on the outer bottom wall of the hopper, with the second magnetic element corresponding to the position of the first magnetic element in the vertical direction.

[0015] In one optional embodiment, a second magnetic element is provided on both the bottom and top walls of the hopper, and the magnetic poles of the second magnetic elements on the bottom and top walls of the hopper are opposite.

[0016] In one alternative embodiment, the first magnetic element is disposed on the movable chassis, and the second magnetic element is disposed on the side wall of the hopper, with the position of the second magnetic element corresponding to that of the first magnetic element in the vertical direction.

[0017] In one alternative embodiment, the hopper is a magnetically sensitive element, so that the hopper can be attracted by the first magnetic element.

[0018] In one alternative embodiment, the palletizing robot further includes a controller electrically connected to the first magnetic component and / or the second magnetic component, such that the controller can control the first magnetic component and / or the second magnetic component to be energized or de-energized.

[0019] In one optional embodiment, each of the hoppers is provided with a pressure sensor on its top, the pressure sensor being used to detect whether the hopper is tilted.

[0020] Compared with related technologies, the palletizing robot provided in this application has at least the following advantages:

[0021] The palletizing robot provided in this application embodiment has a first magnetic component on its body. When a box is placed on the palletizing position, the first magnetic component and the box generate a magnetic force at least partially. The magnetic force is used to correct the placement position of the box on the palletizing position, thereby improving the accuracy of the placement position of the box on the palletizing position.

[0022] Secondly, embodiments of this application provide a warehousing system, including the palletizing robot provided in the first aspect, the palletizing robot being used to handle material boxes.

[0023] The warehousing system provided in this application has the same beneficial effects as the palletizing robot described above, and will not be repeated here.

[0024] In addition to the technical problems solved by the embodiments of this application, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the palletizing robot and warehousing system provided by the embodiments of this application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further explained in detail in the specific implementation. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the palletizing robot provided in the embodiments of this application;

[0026] Figure 2 A schematic diagram illustrating the palletizing robot picking up and placing boxes on a warehouse shelf, as provided in an embodiment of this application.

[0027] Figure 3 for Figure 2 A diagram from another perspective;

[0028] Figure 4 This is a structural schematic diagram of the palletizing robot provided in an embodiment of this application from another perspective;

[0029] Figure 5 for Figure 4 A magnified view of a section at point A in the middle;

[0030] Figure 6 A structural schematic diagram of the palletizing robot provided in an embodiment of this application from another perspective;

[0031] Figure 7 for Figure 6 A magnified view of a section at point B in the middle.

[0032] Explanation of reference numerals in the attached figures:

[0033] 100 - Palletizing robot; 110 - Body; 111 - Mobile chassis;

[0034] 1110 - Palletizing position; 112 - Column; 120 - Forks;

[0035] 121 - Forklift arm; 130 - Handling mechanism; 140 - First magnetic component;

[0036] 200 - Material bin; 210 - Second magnetic component; 300 - Storage rack;

[0037] 310 - Storage location. Detailed Implementation

[0038] In related technologies, when the forks or handling mechanism of a palletizing robot place a box on the palletizing position, the box may be misaligned, resulting in low positional accuracy between the box and the palletizing position. The main reason for this is that the palletizing robot's forks include a connecting frame and a base plate connected to the bottom of the arms on both sides of the connecting frame. The base plate and the connecting frame together form a receiving space for the box. The top of the base plate is pivotally connected to the bottom of the connecting frame, allowing the base plate to flip relative to the connecting frame, creating an openable and closable opening at the bottom of the receiving space, allowing the base plate to store or release the box. When releasing the box, the base plate of the fork rotates downwards and opens the bottom opening of the fork, allowing the box to be released from the bottom of the fork. Because the base plate requires space to rotate and open, the forks open the base plate at a certain height from the stacking position to release the hopper. The hopper falls directly from the bottom of the forks and collides with the moving chassis. This impact force causes the hopper to be placed at an angle in the stacking position, resulting in a technical problem of low accuracy in the placement of the hopper in the stacking position.

[0039] To address the aforementioned technical problems, this application provides a palletizing robot. By installing a first magnetic component on the robot body, when a box is placed on the palletizing position, the first magnetic component generates at least a partial magnetic force with the box. This magnetic force is used to correct the placement position of the box on the palletizing position, thereby improving the accuracy of the box's placement position on the palletizing position.

[0040] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0041] Figure 1 This is a schematic diagram of the structure of the palletizing robot provided in an embodiment of this application. Figure 1As shown in the figure, the palletizing robot 100 provided in this application embodiment includes a body 110, forks 120, and a handling mechanism 130. The body 110 includes a movable chassis 111 and a column 112 disposed on the movable chassis 111. The forks 120 are disposed on the column 112 and can move vertically and horizontally relative to the column 112. The handling mechanism 130 is disposed on the column 112 and can move vertically and horizontally relative to the column 112 and horizontally relative to the column 112. It can be understood that the forks 120 and the handling mechanism 130 can be used for picking up goods, placing goods, stacking, destacking, and handling of material bins 200, so that the palletizing robot 100 can realize the functions of outbound, inbound, and inventory management of material bins 200 in the warehousing system.

[0042] The column 112 can be formed into a gantry shape on the mobile chassis 111. The bottom of the mobile chassis 111 can be equipped with drive wheels and driven wheel sets. The drive wheels can be connected to drive motors and other drive components to drive the drive wheels to rotate. The drive wheels then drive the driven wheel sets to rotate, thereby driving the mobile chassis 111 to move on the ground, so as to realize the purpose of the palletizing robot 100 to move the cargo box in warehouses and other places.

[0043] The mobile chassis 111 is provided with a stacking position 1110 for placing the material box 200. The fork 120 and the handling mechanism 130 are respectively mounted on the column 112. The fork 120 can be directly connected to the column 112 or connected through a connector. The fork 120 can move up and down relative to the column 112 in the vertical direction or in the first horizontal direction, so that the fork 120 can move to the same side or different side as the handling mechanism 130. The vertical movement and the horizontal movement of the fork 120 can be performed separately or simultaneously as needed.

[0044] The forks 120 can be used to move the bins 200 relative to the column 112 in the first horizontal direction, or in the vertical direction, or in a combination of the first horizontal and vertical directions, so as to move the bins 200 closer to or further away from the stacking position 1110, thereby realizing the one-to-one handling of the bins 200.

[0045] Figure 2 A schematic diagram illustrating the palletizing robot picking up and placing boxes on a warehouse shelf, as provided in an embodiment of this application. Figure 3 for Figure 2 A diagram from another perspective. For example... Figure 2 and Figure 3As shown, the forks 120 move vertically up and down to retrieve bins 200 from storage locations 310 on different levels of the storage rack 300. After the forks 120 retrieves the bins 200 from storage location 310, the forks 120 can move the bins 200 along the first horizontal direction to approach the stacking location 1110. The bottom opening of the forks 120 opens to place the bins 200 on the stacking location 1110. Afterward, the forks 120 can return to the side facing the storage rack and repeat the above retrieving action to retrieve the bins 200 one by one from each storage location 310 and stack them on the stacking location 1110, forming a stacking process. Alternatively, the forks 120 can destacking the bins 200 that are stacked sequentially on the stacking location 1110, and then use the forks 120 to move the bins 200 on the stacking location 1110 one by one to the corresponding storage location 310, thereby realizing the retrieving and placing of bins 200.

[0046] For example, the fork 120 may include a fork body and a retractable fork arm 121 mounted on the fork body. The fork arm 121 can extend and retract along a first horizontal direction to move toward or away from the palletizing robot 100. For example, the fork arm 121 can move a box on the fork body to the corresponding storage location 310 on the storage rack 300; or, the fork arm 121 can remove a box 200 from the storage location 310 and move it to the fork body. The fork arm 121 may have various shapes and types, such as a push-pull structure or a suction cup structure. Its specific structure can be referred to the fork arm structures commonly used by those skilled in the art, and will not be described in detail here.

[0047] The fork body may include two side plates and a connecting frame connected between the tops of the two side plates. The connecting frame includes two side arms and a top arm connected between the two side arms. The two side arms and the top arm together form a connecting frame in the shape of an inverted U. The top arm and the two side arms of the connecting frame may be integral parts formed by detachable connection, fixed connection or integral molding. The tops of the two side plates are pivotally connected to the bottoms of the two side arms, so that the two side plates and the connecting frame together define a receiving space for accommodating the hopper 200. The lower part of the side plate can rotate relative to the connecting frame so that the bottom of the receiving space forms an openable and closable opening, so that the hopper 200 contained in the receiving space can be stored or dropped and released by opening and closing the opening.

[0048] The handling mechanism 130 includes a frame, a lifting mechanism, and a clamping mechanism. The frame is mounted on the column 112 and can move relative to the column 112 along a second horizontal direction, wherein the second horizontal direction is perpendicular to the first horizontal direction. The clamping mechanism is connected to the frame, and the lifting mechanism is connected to the clamping mechanism. The clamping mechanism is used to pick up and place the material box 200 on the stacking position 1110, and the lifting mechanism is used to lift or lower the material box 200, so that the handling mechanism 130 can drive the material box 200 along the vertical direction. The conveying mechanism 130 moves vertically; for example, several boxes 200 are stacked in a row, the clamping mechanism clamps the bottom box 200, and the lifting mechanism lifts the box 200 vertically to move the box 200 on the stacking position 1110 to the warehouse workstation; or the box 200 on the warehouse workstation is moved to the stacking position 1110. During unloading, the lifting mechanism descends in the opposite direction to unload the box 200 one by one, thereby achieving the purpose of handling multiple boxes 200 at once and improving work efficiency. The carrying capacity of the conveying mechanism 130 can be adjusted according to different scenarios, that is, the maximum number of boxes 200 stacked is adjustable.

[0049] In one use case, see [link to relevant documentation]. Figure 1 and Figure 2 As shown:

[0050] When the bin 200 in the corresponding storage location of the storage rack 300 needs to be retrieved, the fork arm 121 of the palletizing robot 100 takes out the bin 200 from the corresponding storage location 310 of the storage rack and moves it into the accommodating space of the fork body. The fork body drives the bin 200 to move along the first horizontal direction to the top of the palletizing position 1110, and moves it downward along the direction of the column 112 to a preset height. When the two side plates relative to the connecting frame flip outward and open, the bin 200 falls from the opening at the bottom of the accommodating space onto the palletizing position 1110. The handling mechanism 130 can move the bin 200 on the palletizing position 1110 away from the side of the palletizing robot 100 along the second horizontal direction, thus completing the retrieval of the bin 200. Of course, after the forks 120 and fork arms 121 place a bin 200 on the palletizing position 1110, the action of taking out bins 200 can be repeated to take out the bins from the warehouse location and stack them on the palletizing position 1110 in sequence. Multiple bins 200 on the palletizing position 1110 are stacked in the vertical direction. After multiple bins 200 are stacked, the handling mechanism 130 moves the stacked bin group away from the side of the palletizing robot 100 in the second horizontal direction. Other handling equipment in the warehousing system then moves the stacked bins 200 to other locations.

[0051] It is understandable that the preset height can be greater than the length of the side plate, so as to avoid interference between the side plate and the moving chassis when rotating.

[0052] When multiple bins 200 are stacked to form a bin group that needs to be stored in the warehouse, other handling equipment in the warehousing system first moves the bins 200 to the side of the palletizing robot 100. The handling mechanism 130 moves the bin group along the second direction to the palletizing position 1110. The fork body drives one bin 200 to move upward in the vertical direction to complete the destacking of the bin group. When the fork body moves to the height of the storage position 310 corresponding to the bin 200, the fork arm 121 drives the bin 200 to be placed into the corresponding storage position 310 to complete the storage of the bin 200.

[0053] When the position of the material box 200 in the storage rack needs to be adjusted, the corresponding material box 200 can be taken out by the fork arm 121 and placed on the palletizing position 1110. Then, another material box 200 can be placed on the vacated storage position 310. After that, the material box 200 on the palletizing position 1110 can be moved to the corresponding storage position 310, thereby realizing the storage position 310 of the material box 200 and realizing the storage management function of the palletizing robot.

[0054] Figure 4 This is a structural schematic diagram of the palletizing robot provided in an embodiment of this application from another perspective; Figure 5 for Figure 4 A magnified view of a section at point A in the middle; Figure 6 A structural schematic diagram of the palletizing robot provided in an embodiment of this application from another perspective; Figure 7 for Figure 6 A magnified view of a portion at point B. As can be seen from the above embodiments, when the forklift 120 or the handling mechanism 130 places the hopper 200 onto the stacking position 1110, the bottom is opened directly at a certain height from the stacking position 1110. The hopper 200 falls from this height onto the stacking position 1110, thus generating an impact force between the hopper 200 and the moving chassis 111. This impact force may cause the hopper 200 to be misaligned on the stacking position 1110. Therefore, to improve the positional accuracy of the hopper 200 on the stacking position 1110, such as... Figures 4 to 7 As shown in the embodiments of this application, a first magnetic element 140 is provided on the column 112 and / or the movable chassis 111, and a second magnetic element 210 may be provided on the material box 200; or a magnetically sensitive element that can be attracted by the first magnetic element 140, such as iron, copper or other metals, may be provided on the material box 200; or the material box 200 itself is a material box 200 made of a magnetically sensitive material that can be attracted by the first magnetic element 140. In this way, the first magnetic element 140 can generate at least a partial magnetic force with the material box 200 on the stacking position 1110, and perform magnetic force correction on the material box 200 placed on the stacking position 1110 through the magnetic force, so as to improve the accuracy of the placement position of the material box 200 on the stacking position 1110.

[0055] In specific implementation, such as Figures 2 to 5As shown, when the bin 200 on the corresponding storage location of the storage rack 300 needs to be retrieved, the fork arm 121 of the palletizing robot 100 takes out the bin 200 from the corresponding storage location 310 of the storage rack 300 and moves it into the accommodating space of the fork body. The fork body drives the bin 200 to move along the first horizontal direction to the top of the palletizing position 1110, and moves it downward along the direction of the column 112 to a preset height. At this time, the bottom opening of the fork 120 opens, and the bin 200 falls and is released from the opening. The first magnetic element 140 on the column 112 and / or the moving chassis 111 and at least part of the bin 200 generate magnetic force. The magnetic force is used to perform magnetic correction on the bin 200 placed on the palletizing position 1110 to improve the accuracy of the bin 200's placement position on the palletizing position 1110.

[0056] It should be noted that when the magnetic force generated between the first magnetic component 140 and the material box 200 is used to correct the material box 200, the correction can be performed when the material box 200 is released from the forward stacking position 1110, or the material box 200 can be placed on the stacking position 1110 and then the placement position of the material box 200 can be corrected by magnetic force.

[0057] It is understood that the magnetic force generated between the first magnetic component 140 and the material box 200 can be either attractive or repulsive, as long as it can correct the placement position of the material box 200 on the stacking position 1110. This embodiment does not impose any specific restrictions on this.

[0058] It is understandable that the first magnetic component 140 can be mounted on the column 112; or, the first magnetic component 140 can be mounted on the movable chassis 111; or, both the column 112 and the movable chassis 111 can have the first magnetic component 140 mounted on them. The first magnetic component 140 can be an electromagnet. When the first magnetic component 140 is energized, the electromagnet generates a magnetic field effect, which is used to correct the placement of the material bin 200 on the stacking position 1110. When the first magnetic component 140 is an electromagnet, the direction of the magnetic field effect can be changed by altering whether the electromagnet is connected to the positive or negative pole, thus adapting to material bins 200 with different magnetic poles or different materials.

[0059] In some embodiments, the first magnetic element 140 is at least partially overlapped with or adjacent to the material bin 200 in the vertical direction. It is understood that the first magnetic element 140 can be disposed on a movable chassis, and the projection of the first magnetic element 140 on the movable chassis completely or partially overlaps with the projection of the material bin 200 on the movable chassis. In this way, the first magnetic element 140 and the material bin 200 can correct the placement position of the material bin 200 through magnetic attraction. Alternatively, the projection of the first magnetic element 140 on the movable chassis may be adjacent to the projection of the material bin 200 on the movable chassis, and the first magnetic element 140 and the material bin 200 can correct the placement position of the material bin 200 through magnetic repulsion. This embodiment does not impose specific limitations on this aspect.

[0060] For example, in Figure 4 and Figure 5 In this configuration, the first magnetic component 140 is mounted on the movable chassis and forms a magnetic field area around the stacking position 1110. The magnetic field area corresponds vertically to the position of the material box 200 on the stacking position 1110. The first magnetic component 140 can be an electromagnet or a magnet. The first magnetic component 140 can correct the placement position of the material box 200 by magnetically attracting the material box 200.

[0061] In one example, the first magnetic element 140 may be arranged to form a magnetic ring on the stacking position 1110. In another example, there may be multiple first magnetic elements 140, which are spaced apart on the stacking position 1110 and together form a magnetic field area. By setting multiple first magnetic elements 140, corresponding second magnetic elements 210 can be arranged on the outer bottom wall of the material box 200 at relative positions to the first magnetic elements 140 and attract each other. When the material box 200 is placed on the stacking position 1110 or has already been placed on the stacking position 1110, each first magnetic element 140 can generate a magnetic force that attracts the corresponding second magnetic element 210, thereby correcting the placement position of the material box 200.

[0062] It is understandable that when the material bin 200 is equipped with a second magnetic component 210, and when the first magnetic component 140 is installed on the column 112, the first magnetic component 140 can be an electromagnet, and the second magnetic component 210 can also be an electromagnet. The magnetic poles generated by the first magnetic component can be the same as those generated by the second magnetic component 210, thereby forming a repulsive magnetic field effect to correct the placement position of the material bin 200 on the stacking position 1110; while when the first magnetic component 140 is installed on the mobile chassis 111, the first... The magnetic component 140 can be an electromagnet or a magnet. A second magnetic component 210 with the same or opposite magnetic poles as the first magnetic component 140 can be provided on the material box 200. For example, when the first magnetic component 140 is located on the moving chassis 111 adjacent to the stacking position 1110, the first magnetic component 140 can generate a repulsive magnetic force with the material box 200. When the first magnetic component 140 is located on the stacking position 1110, the first magnetic component 140 can generate an attractive magnetic force with the material box 200.

[0063] In one embodiment, when the first magnetic element 140 is disposed on the movable chassis 111 and the second magnetic element 210 is disposed on the outer bottom wall of the material box 200 (e.g., Figure 6 and Figure 7 As shown in the figure, the second magnetic element 210 corresponds to the position of the first magnetic element 140 in the vertical direction. It can be understood that the first magnetic element 140 and the second magnetic element 210 can generate a magnetic force that attracts each other. When the material box 200 is placed on the stacking position 1110 or has already been placed on the stacking position 1110, the magnetic force that attracts each other can correct the placement position of the material box 200 on the stacking position 1110.

[0064] In addition, when the forks 120 stack several bins 200 one by one onto the stacking position 1110, or when the conveying mechanism 130 places several bins 200 arranged in a row onto the stacking position 1110 one by one, in order to avoid the positional shift between adjacent bins 200, in this embodiment of the application, as follows: Figure 3 and Figure 5 As shown, a second magnetic element 210 is provided on both the bottom and top walls of the material bin 200, and the magnetic properties of the second magnetic elements 210 on the bottom and top walls of the material bin 200 are opposite. In this way, when the material bins 200 are released one by one onto the stacking position 1110, the second magnetic elements 210 between adjacent material bins 200 can generate a magnetic force that attracts each other to correct the position of each material bin 200, thus preventing the position of adjacent material bins 200 from being skewed.

[0065] It is understandable that the second magnetic components on the bottom and top walls of the material box 200 can be magnets, and the magnetic poles of the magnets on the bottom and top walls of the material box 200 are opposite.

[0066] In another optional embodiment, a first magnetic element 140 is disposed on a movable chassis 111, and a second magnetic element 210 is disposed on the side wall of the material box 200, with the second magnetic element 210 corresponding to the position of the first magnetic element 140 in the vertical direction. The magnetic poles of the first magnetic element 140 and the second magnetic element 210 can be opposite. In this way, when the material box 200 is released onto the stacking position 1110, a magnetic force is generated between the first magnetic element 140 and the second magnetic element 210 to attract each other, thereby correcting the placement position of the material box 200.

[0067] It is understandable that when the second magnetic element 210 is set on the side wall of the material box 200, the magnetic poles of the second magnetic elements on each material box 200 are the same. In this way, when the material boxes 200 are stacked in sequence, the second magnetic elements 210 on each material box 200 can form an integral magnetic pole, which is magnetically attracted to the first magnetic element 140 on the moving chassis 111. This can correct the entire stack of material boxes and prevent the entire stack of material boxes from being tilted.

[0068] Optionally, when the first magnetic component 140 and the second magnetic component 210 are electromagnets, the palletizing robot 100 also includes a controller. The controller can be electrically connected to the first magnetic component 140 and the second magnetic component 210 respectively. When the hopper 200 is released onto the palletizing position 1110, the controller can control the first magnetic component 140 and the second magnetic component 210 to be energized to form an attractive or repulsive magnetic field effect, thereby achieving the correction of the hopper 200 on the palletizing position 1110. After the hopper 200 is corrected, the controller can control the first magnetic component 140 and the second magnetic component 210 to be de-energized. In this way, the user can activate the magnetic effect of the first magnetic component 140 and the second magnetic component 210 to correct the hopper 200 according to specific needs, thereby improving the automation level of the palletizing robot 100 and enhancing the user experience.

[0069] In addition, the palletizing robot 100 may also include pressure sensors. The pressure sensors are set on the top of each bin 200. When each bin 200 is released onto the palletizing position 1110 one by one, the pressure sensors can detect the magnitude of the pressure on each position of the bin 200. Based on the magnitude of the pressure on each part of the bin 200, the sensors analyze whether the position of the upper bin 200 is tilted relative to the lower bin 200. When it is determined that the bin 200 is tilted, the pressure sensors can send a signal to the controller. The controller activates the first magnetic component 140 and the second magnetic component 210 according to the signal, so that a magnetic field effect is generated between the first magnetic component 140 and the second magnetic component 210. The placement position of the bin 200 is corrected by the magnetic field effect, thereby improving the accuracy of the bin 200 on the palletizing position 1110 and the relative position between bins 200.

[0070] In another application scenario, when the forks 120 remove the bins 200 from the warehouse location and stack them sequentially on the stacking position 1110, the mobile chassis 111 is equipped with a first magnetic component, which can be an electromagnet or a magnet, and the bins 200 are equipped with a second magnetic component 210, which is also an electromagnet or a magnet. When the bins 200 on the forks 120 are placed on the stacking position 1110, the first and second magnetic components are energized to generate a magnetic force. This magnetic force is used to correct the placement position of the bins 200 to be placed on the stacking position, thereby improving the positional accuracy between the bins 200 and the stacking position 1110. Alternatively, when the conveying mechanism 130 moves several stacked bins 200 to above the stacking position 1110, the conveying mechanism 130 releases the bins 200 one by one. During the release of the bins, a magnetic force is generated between the first magnetic element 140 on the moving chassis 111 and the second magnetic element 210 on the bin 200 to correct the bins 200. When each bin 200 is stacked onto the stacking position 1110 one by one, the second magnetic element on the top wall of each bin and the second magnetic element on the bottom wall of the bin above it attract each other to correct the bins and prevent the bins stacked on the stacking position 1110 from tilting.

[0071] Example 2

[0072] This application also provides a warehousing system, including the palletizing robot provided in Embodiment 1 above. The structure and working principle of the palletizing robot have been described in detail in the above embodiments, and will not be repeated here.

[0073] The warehousing system provided in this application includes a palletizing robot. The palletizing robot includes a body and a first magnetic component disposed on the body. The body has palletizing positions. When a box is placed on a palletizing position, the first magnetic component generates a magnetic force with at least a portion of the box to correct the position of the box. By providing the first magnetic component on the body, when a box is placed on a palletizing position, the first magnetic component generates a magnetic force with at least a portion of the box to correct the placement position of the box on the palletizing position, thereby improving the accuracy of the box's placement position on the palletizing position.

[0074] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0075] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0076] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein.

[0077] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or apparatus.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A palletizing robot, characterized in that, Includes: a machine body and a first magnetic component disposed on the machine body, the machine body having a stacking position, when a material box is placed on the stacking position, the first magnetic component generates at least a partial magnetic force with the material box, so as to correct the placement position of the material box placed on the stacking position through the magnetic force; The machine body includes a mobile chassis and a column, both of which are mounted on the mobile chassis. The first magnetic component is located on the column and / or the mobile chassis. The material box has a second magnetic element, which is located in the same position as or adjacent to the first magnetic element in the vertical direction, and the magnetic poles of the second magnetic element are the same as or opposite to those of the first magnetic element. The first magnetic component is disposed on the movable chassis, and the second magnetic component is disposed on the outer bottom wall of the material box, and the position of the second magnetic component corresponds to that of the first magnetic component in the vertical direction; The bottom and top walls of the material box are each provided with a second magnetic element, and the magnetic poles of the second magnetic elements on the bottom and top walls of the material box are opposite.

2. The palletizing robot according to claim 1, characterized in that, The first magnetic element overlaps with or is adjacent to the hopper in the vertical direction at least partially.

3. The palletizing robot according to claim 2, characterized in that, The first magnetic component forms a magnetic field area on the stacking position, and the magnetic field area corresponds vertically to the position of the material box on the stacking position.

4. The palletizing robot according to claim 3, characterized in that, There are multiple first magnetic elements, which are spaced apart and together form the magnetic field region.

5. The palletizing robot according to any one of claims 1-4, characterized in that, The first magnetic element is disposed on the column, and the first magnetic element is an electromagnet; and / or, the first magnetic element is disposed on the movable chassis, and the first magnetic element is an electromagnet or a magnet.

6. The palletizing robot according to any one of claims 1-4, characterized in that, The first magnetic component is disposed on the movable chassis, and the second magnetic component is disposed on the side wall of the material box, with the position of the second magnetic component corresponding to that of the first magnetic component in the vertical direction.

7. The palletizing robot according to any one of claims 1-4, characterized in that, The material bin is a magnetically sensitive element, so that the material bin can be attracted by the first magnetic element.

8. The palletizing robot according to any one of claims 1-4, characterized in that, The palletizing robot also includes a controller, which is electrically connected to the first magnetic component and / or the second magnetic component, so that the controller can control the first magnetic component and / or the second magnetic component to be energized or de-energized.

9. The palletizing robot according to any one of claims 1-4, characterized in that, Each of the material bins is equipped with a pressure sensor on its top, which is used to detect whether the material bin is tilted.

10. A warehousing system, characterized in that, include: The palletizing robot according to any one of claims 1-9, wherein the palletizing robot is used for handling material boxes.

Images