Cargo carrying robot and warehousing system
By combining track walking and ground walking mechanisms and using hoisting mechanisms for control, the problem of unstable movement route of AGV chassis cargo handling robots is solved, and accurate and stable movement in the cargo storage area and flexible and efficient handling outside the storage area are achieved. Improve the safety and efficiency of cargo handling.
Patent Information
- Application Number
- CN202411482137.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-23
- Publication Date
- 2025-01-10
AI Technical Summary
The moving route of the AGV chassis cargo handling robot is unstable and is prone to collision with the goods or shelves, causing the goods to fall and damage.
A cargo handling robot is designed, using a combination of track walking mechanism and ground walking mechanism, and the track walking mechanism and ground walking mechanism are controlled in the vertical direction through the lifting mechanism, so that the cargo handling robot is in the cargo storage area. It is more accurate and stable when moving along the track, avoids collisions, and moves freely along the ground outside the cargo storage area, improving flexibility and efficiency.
The cargo handling robot is realized accurately and stably moving in the cargo storage area, avoiding the collision between goods and goods or shelves, improving the safety and stability of cargo handling, and the flexibility and speed of moving routes outside the cargo storage area. , improve handling efficiency.
Smart Images
Figure CN119284399A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of warehousing and logistics technology, and in particular to a cargo handling robot and a warehousing system. Background Art
[0002] The cargo handling robot is an automated device used to transfer cargo between the cargo storage area and the cargo entry and exit buffer area in the warehousing system.
[0003] In the related art, the cargo handling robot is an AGV chassis, which can automatically plan a route to reach the cargo storage location for cargo storage and retrieval.
[0004] However, the moving route of the cargo handling robot on the AGV chassis is unstable. When it moves in the cargo storage area, the cargo carried by the cargo handling robot is prone to collide with stacked cargo or shelves, causing the cargo to fall and be damaged. Summary of the invention
[0005] The embodiments of the present application provide a cargo handling robot and a warehousing system to solve the problem that the current cargo handling robot with an AGV chassis has an unstable moving route and is prone to collision with cargo.
[0006] In a first aspect, an embodiment of the present application provides a cargo handling robot, comprising a mobile chassis, wherein the mobile chassis comprises a track walking mechanism, a ground walking mechanism and a lifting mechanism;
[0007] The ground traveling mechanism is connected to the lower end of the jacking mechanism, the track traveling mechanism is connected to the upper end of the jacking mechanism, and the jacking mechanism is used to control the relative movement of the track traveling mechanism and the ground traveling mechanism in the vertical direction;
[0008] When the cargo handling robot moves in the cargo storage area, the cargo handling robot moves along the track, the track walking mechanism contacts the track, and the ground walking mechanism separates from the ground;
[0009] When the cargo handling robot moves outside the cargo storage area, the ground walking mechanism is in contact with the ground, and the track walking mechanism is separated from the track.
[0010] In a feasible implementation, the track travel mechanism includes a first mobile base and at least two sets of first drive assemblies;
[0011] The first mobile base is fixedly connected to the upper end of the jacking mechanism, at least two groups of the first driving components are respectively connected to the first mobile base, and at least two groups of the first driving components are respectively located on two opposite sides of the first mobile base, and at least two groups of the first driving components drive the first mobile base to move along the track.
[0012] In a feasible implementation, the first driving assembly includes a first driving motor and a first driving wheel, the first driving motor is connected to the first mobile base, the first driving wheel is connected to the first driving motor, the first driving wheel is arranged on both sides of the first mobile base along the walking direction, and the first driving motor drives the first driving wheel to move along the track.
[0013] In a feasible implementation, the ground walking mechanism is configured as an AGV chassis, and the AGV chassis includes a second mobile base, at least two sets of second drive assemblies and universal wheels;
[0014] The second mobile base is fixedly connected to the lower end of the lifting mechanism, at least two groups of the second driving components are fixedly connected to the second mobile base, and at least two groups of the second driving components are respectively located on two opposite sides of the second mobile base, and the second driving components drive the second mobile base to move;
[0015] The universal wheel is connected to the second movable base, and the universal wheel is located on the side of the connection direction of at least two groups of the second driving components.
[0016] In a feasible implementation, the lifting mechanism is configured as at least one of a scissor lift mechanism, a multi-link lift mechanism, a hydraulic lift mechanism or a screw nut lift mechanism.
[0017] In a feasible implementation, the present invention further includes:
[0018] Support frame;
[0019] A telescopic fork is arranged on the supporting frame, and the telescopic fork is used to carry goods;
[0020] The supporting frame is arranged on the mobile chassis, and the mobile chassis moves along the track in the cargo storage area and moves freely outside the cargo storage area.
[0021] In a possible implementation, the telescopic fork is selectively lifted and rotated relative to the support frame.
[0022] In a feasible implementation, the telescopic fork includes clamping plates arranged in pairs, and the clamping plates are used to clamp the cargo.
[0023] In a feasible implementation, a claw is movably provided at the lower part of the clamping plate, and the claw is used to extend to support the cargo after the clamping plate clamps the cargo.
[0024] In a feasible implementation, there are multiple telescopic forks, and the multiple telescopic forks are arranged in sequence along the vertical direction to cooperate with picking material boxes;
[0025] The distance between two clamping plates of the plurality of telescopic forks decreases from top to bottom.
[0026] In a feasible implementation, the clamping plate on the uppermost telescopic fork is provided with at least two groups of the pusher claws along the vertical direction.
[0027] In a feasible implementation, the telescopic fork also includes a rotating mechanism, which is cooperatively connected with the support frame, and the telescopic fork is arranged on the rotating mechanism. The rotating mechanism drives the telescopic fork to rotate so that the telescopic fork selectively picks up and places the goods on both sides of the cargo handling robot and places the goods in the cache position of the support frame.
[0028] In a feasible implementation, a plurality of cache locations are provided on at least one side of the support frame, and the cache locations are used to temporarily store the goods.
[0029] In a feasible implementation, a lifting mechanism is provided on the support frame, the telescopic fork is connected to the lifting mechanism, and the lifting mechanism drives the telescopic fork to move in a vertical direction.
[0030] In a second aspect, an embodiment of the present application provides a cargo warehousing system, including a cargo storage area provided with tracks, inbound and outbound conveying equipment, and a cargo handling robot as described in the first aspect.
[0031] In the first aspect, the embodiment of the present application provides a cargo handling robot, including a mobile chassis, the mobile chassis including a track walking mechanism, a ground walking mechanism and a lifting mechanism; the ground walking mechanism is connected to the lower end of the lifting mechanism, the track walking mechanism is connected to the upper end of the lifting mechanism, and the lifting mechanism is used to control the track walking mechanism and the ground walking mechanism to move relative to each other in the vertical direction; when the cargo handling robot moves along the track, the track walking mechanism contacts the track, and the ground walking mechanism is separated from the ground; when the cargo handling robot moves outside the cargo storage area, the ground walking mechanism contacts the ground, and the track walking mechanism is separated from the track. In other words, the cargo handling robot moves in the cargo storage area and outside the cargo storage area in a track walking mode and a ground walking mode, respectively, and can automatically switch between the two modes. The cargo handling robot moves along the track in the cargo storage area. Due to the constraint of the track, the moving route of the cargo handling robot is more accurate and the movement is more stable, which can avoid the collision of the cargo carried by the cargo handling robot machine with the cargo on both sides, thereby avoiding the cargo from falling, and improving the safety and stability of cargo handling. In addition, since the cargo handling robot can move freely along the navigation outside the cargo storage area, compared with the method of transporting goods by conveyor lines in the prior art, the moving route of the cargo handling robot for transporting goods is more flexible and simple, the transport speed is faster, and the efficiency is higher.
[0032] In the second aspect, the embodiment of the present application provides a cargo storage system, including a cargo storage area with tracks, an in-and-out warehouse conveying device, and a cargo handling robot as described in the first aspect, wherein goods are placed on one side of the track, and the in-and-out warehouse conveying device is used to transport goods entering or leaving the warehouse; the cargo handling robot is used to transfer goods between the cargo storage area and the in-and-out warehouse conveying device, and the cargo handling robot is configured to: move along the track in the cargo storage area and move freely outside the cargo storage area; the cargo storage system has a high cargo picking and placing efficiency. Since the cargo storage system includes the cargo handling robot described in any of the technical solutions in the above schemes, it has all the beneficial effects of the cargo handling robot in any of the technical solutions, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS
[0033] The drawings described herein are used to provide further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present application and do not constitute improper limitations on the present invention.
[0034] In the attached picture:
[0035] Figure 1 is a first schematic diagram of a cargo handling robot provided by an embodiment of the present application;
[0036] Figure 2 yes Figure 1A second schematic diagram of a cargo handling robot in FIG.
[0037] Figure 3 is a first schematic diagram of a mobile chassis of a cargo handling robot provided by an embodiment of the present application;
[0038] Figure 4 yes Figure 3 A second schematic diagram of a mobile chassis in FIG.
[0039] Figure 5 yes Figure 3 A third schematic diagram of a mobile chassis in FIG.
[0040] Figure 6 yes Figure 1 A first schematic diagram of a cargo handling robot moving within a cargo storage area;
[0041] Figure 7 yes Figure 1 A second schematic diagram of the cargo handling robot moving within the cargo storage area;
[0042] Figure 8 yes Figure 1 Schematic diagram of a cargo handling robot moving outside a cargo storage area;
[0043] Fig. 9 yes Figure 1 Schematic diagram of the cargo handling robot in the figure as it enters orbit;
[0044] Fig.10 yes Fig. 9 Schematic diagram of a cargo handling robot in FIG.
[0045] Fig.11 yes Figure 3 A first schematic diagram of the mobile chassis after removing the track travel assembly;
[0046] Fig.12 yes Figure 3 A second schematic diagram of the mobile chassis after removing the track travel assembly;
[0047] Fig.13 is a first schematic diagram of a jacking assembly provided in one embodiment of the present application;
[0048] Fig.14 yes Fig.13 A second schematic diagram of the jacking assembly in FIG.
[0049] Fig.15 yes Fig.13 A third schematic diagram of the jacking assembly in FIG.
[0050] Fig.16 is a schematic diagram of a cargo handling robot provided by another embodiment of the present application;
[0051] Description of reference numerals:
[0052] 100-Cargo storage area; 200-Cargo handling robot; 300-Track; 400-Cargo;
[0053] 210-mobile chassis; 220-support frame; 230-telescopic fork; 310-guide rail;
[0054] 211-track running mechanism; 212-ground running mechanism; 213-lifting mechanism; 221-cache position; 222-lifting assembly; 231-grip plate; 232-push claw; 233-fork arm;
[0055] 2111-first mobile base; 2112-first drive motor; 2113-first drive wheel; 2121-second mobile base; 2122-second drive motor; 2123-second drive wheel; 2124-universal wheel; 2131-lifting motor; 2132-connecting rod assembly; 2133-scissor lift mechanism;
[0056] 2133a-first scissors member; 2133b-second scissors member; 2133c-connecting plate. DETAILED DESCRIPTION
[0057] In order to enable those skilled in the art to better understand the technical solutions in this application, the following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.
[0058] In the description of the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.
[0059] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0060] In the present application, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.
[0061] The cargo handling robot is an automated device used to transfer cargo between the cargo storage area and the cargo entry and exit buffer area in the warehousing system.
[0062] In the related art, the cargo handling robot is an AGV chassis, which can automatically plan a route to reach the cargo storage location for cargo storage and retrieval.
[0063] However, the moving route of the cargo handling robot on the AGV chassis is unstable. When it moves in the cargo storage area, the cargo carried by the cargo handling robot is prone to collide with stacked cargo or shelves, causing the cargo to fall and be damaged.
[0064] In order to solve the above problems, an embodiment of the present application provides a cargo handling robot and a warehousing system. The solution of the embodiment of the present application will be described in detail below in conjunction with the drawings in the specification.
[0065] Figure 1 is a first schematic diagram of a cargo handling robot 200 provided in an embodiment of the present application; Figure 2 yes Figure 1 A second schematic diagram of the cargo handling robot 200 in FIG.
[0066] Reference Figure 1 and Figure 2As shown, the cargo handling robot 200 includes a mobile chassis 210, a support frame 220 and a telescopic fork 230. Among them, the support frame 220 is arranged on the mobile chassis 210, and the telescopic fork 230 is connected to the support frame 220 and is arranged on the support frame 220. Among them, the mobile chassis 210 is used to support the support frame 220 and the telescopic fork 230, and move the two to a specified position, the support frame 220 is used to support the telescopic fork 230, and the telescopic fork 230 is used to carry the cargo. Exemplarily, the cargo 400 can be a material box. The telescopic fork 230 can selectively rise and fall and / or rotate relative to the support frame 220 to carry the cargo 400. The mobile chassis 210 moves along the track 300 in the cargo storage area 100 and moves freely outside the cargo storage area 100. The cargo handling robot moves in the cargo storage area and outside the cargo storage area in a track walking mode and a ground walking mode, respectively, and can automatically switch between the two modes.
[0067] When the cargo handling robot 200 moves along the track 300 in the cargo storage area 100, due to the constraint of the track 300, the movement route of the cargo handling robot 200 is more accurate and the movement is more stable, which can prevent the cargo 400 carried by the cargo handling robot 200 from colliding with the cargo 400 on both sides, thereby preventing the cargo 400 from falling, thereby improving the safety and stability of the cargo 400. In addition, since the cargo handling robot 200 can move freely along the navigation outside the cargo storage area 100, compared with the method of transporting goods by conveyor lines in the prior art, the movement route of the cargo handling robot 200 to transport the goods 400 is more flexible and simple, and the handling speed is faster and the efficiency is higher.
[0068] Figure 3 is a first schematic diagram of a mobile chassis of a cargo handling robot provided by an embodiment of the present application; Figure 4 yes Figure 3 A second schematic diagram of a mobile chassis in FIG. Figure 5 yes Figure 3 A third schematic diagram of the mobile chassis in FIG.
[0069] Reference Figures 3 to 5 As shown, the mobile chassis 210 includes a track running mechanism 211, a ground running mechanism 212 and a lifting mechanism 213. The ground running mechanism 212 is connected to the lower end of the lifting mechanism 213, and the track running mechanism 211 is connected to the upper end of the lifting mechanism 213. The lifting mechanism 213 is used to control the relative movement of the track running mechanism 211 and the ground running mechanism 212 in the vertical direction, thereby controlling the contact and separation of the ground running mechanism 212 with the ground.
[0070] Figure 6 yes Figure 1A first schematic diagram of a cargo handling robot moving within a cargo storage area; Figure 7 yes Figure 1 A second schematic diagram of the cargo handling robot moving within the cargo storage area.
[0071] Reference Figure 6 and Figure 7 As shown, when the cargo handling robot 200 moves along the track 300 in the cargo storage area 100, the track travel mechanism 211 contacts the track 300, and the ground travel mechanism 212 separates from the ground. At this time, the track travel mechanism 211 acts as a driving component to drive the support frame 220 and the telescopic fork 230 to move along the track 300 and reach the placement position of the target cargo to pick up or place the cargo 400.
[0072] Figure 8 yes Figure 1 Schematic diagram of a cargo handling robot moving outside a cargo storage area.
[0073] Reference Figure 8 As shown, when the cargo handling robot 200 walks on the ground, the lifting mechanism 213 contracts and the upper and lower ends thereof maintain a minimum distance, so that the distance between the track walking mechanism 211 and the ground walking mechanism 212 is minimized, thereby reducing the height of the support frame 220, avoiding the support frame 220 from shaking during movement, and ensuring that the cargo handling robot 200 moves more stably during the process of transporting cargo boxes.
[0074] Fig. 9 yes Figure 1 Schematic diagram of the cargo handling robot in the figure as it enters orbit; Fig.10 yes Fig. 9 Schematic diagram of the cargo handling robot in Figure 2.
[0075] Reference Fig. 9 and Fig.10 As shown, when the cargo handling robot 200 is preparing to enter the track 300 from the ground and changes from the ground walking mode to the track 300 walking mode, the lifting mechanism 213 is retracted, the track walking mechanism 211 is raised in height, and the distance between it and the ground walking mechanism 212 is increased. At this time, the ground walking mechanism 212 moves into the track 300. When the ground walking mechanism 212 moves into the track 300, the lifting mechanism 213 is retracted, and the height of the track walking mechanism 211 decreases. When the track walking mechanism 211 contacts the track 300, the height of the track walking mechanism 211 remains unchanged. As the lifting mechanism 213 continues to retract, the position of the ground walking mechanism 212 begins to rise and gradually leaves the ground. When the ground walking mechanism 212 leaves the ground, the lifting mechanism 213 stops retracting, and the track walking mechanism 211 begins to act as a driving component, driving the support frame 220 and the telescopic fork 230 to move along the track 300.
[0076] It is understandable that when the cargo handling robot 200 enters the ground from the track 300 and changes from the track 300 walking mode to the ground walking mode, the lifting mechanism 213 expands, the ground walking mechanism 212 moves downward, and the distance between the ground walking mechanism 212 and the track walking mechanism 211 gradually increases. After the ground walking mechanism 212 contacts the ground, due to the continuous expansion of the lifting mechanism 213, the track walking mechanism 211 begins to move upward and gradually leaves the track 300. When the track walking mechanism 211 completely leaves the track 300, the ground walking mechanism 212 moves out of the track 300, and the lifting mechanism 213 begins to shrink until it shrinks to the lowest position, so that the track walking mechanism 211 and the ground walking mechanism 212 maintain a minimum interval, ensuring that the cargo handling robot 200 moves more stably during the process of handling cargo boxes.
[0077] Exemplarily, the track walking mechanism 211 includes a first mobile base 2111 and at least two groups of first drive components; the first mobile base 2111 is fixedly connected to the upper end of the jacking mechanism 213, the support frame 220 is fixedly connected to the first mobile base 2111, at least two groups of first drive components are respectively connected to the first mobile base 2111, and at least two groups of first drive components are respectively located on two opposite sides of the first mobile base 2111, and at least two groups of first drive components drive the first mobile base 2111 to move along the track 300.
[0078] Continue to refer to Figures 3 to 5 As shown, in some examples, a group of first drive components includes a first drive motor 2112 and a first drive wheel 2113. The first mobile base 2111 is fixedly connected to the upper end of the lifting mechanism 213, the support frame 220 is fixedly connected to the first mobile base 2111, the first drive motor 2112 is fixedly connected to the first mobile base 2111, the first drive wheel 2113 is connected to the first drive motor 2112, and the first drive wheel 2113 is connected to the track 300, and the first drive motor 2112 drives the first drive wheel 2113 to move along the track 300. In these examples, each first drive wheel 2113 is controlled separately by each first drive motor 2112. In order to ensure that the mobile chassis 210 can move stably along the track 300, it is necessary to ensure that all first drive motors 2112 run synchronously.
[0079] In some other examples, a group of first drive components includes a first drive motor 2112 and a plurality of first drive wheels 2113. The first drive motor 2112 is fixedly disposed on the first mobile base 2111, and the plurality of first drive wheels 2113 are respectively located on both sides of the first mobile base 2111, and all the first drive wheels 2113 are connected to the first drive motor 2112 through a transmission assembly. In other words, the first drive motor 2112 drives all the first drive wheels 2113 to move synchronously through the transmission assembly. Exemplarily, the first drive motor 2112 can be a servo motor or a DC motor with a reducer.
[0080] The lifting mechanism 213 is fixedly mounted on the ground walking mechanism 212. In some examples, the ground walking mechanism 212 is configured as an AGV base with an autonomous navigation function. The AGV chassis includes a second mobile base 2121, at least two sets of second drive assemblies and a universal wheel 2124; the second mobile base 2121 is fixedly connected to the lower end of the lifting mechanism 213, at least two sets of second drive assemblies are fixedly connected to the second mobile base 2121, and at least two sets of second drive assemblies are respectively located on opposite sides of the second mobile base 2121; the universal wheel 2124 is connected to the second mobile base 2121, and the universal wheel 2124 is located on the side of the connection direction of the at least two sets of second drive assemblies.
[0081] Exemplarily, the second drive assembly includes a second drive motor 2122 and a second drive wheel 2123. The second drive motor 2122 is fixedly mounted on the second mobile base 2121, the second drive wheel 2123 is fixedly connected to the output end of the second drive motor 2122, and the second drive wheel 2123 is arranged on both sides of the second mobile base 2121 along the walking direction. With the direction perpendicular to the connecting line of the two sets of drive assemblies as the front-to-back direction, universal wheels 2124 are respectively arranged in the front-to-back directions of the two oppositely arranged second drive wheels 2123, and the universal wheels 2124 are connected to the second mobile base 2121.
[0082] Fig.11 yes Figure 3 A first schematic diagram of the mobile chassis after removing the track travel assembly; Fig.12 yes Figure 3 A second schematic diagram of the mobile chassis after removing the track travel components.
[0083] Reference Fig.11 and Fig.12As shown, in the embodiment of the present application, the ground walking mechanism 212 includes a second mobile base 2121, two second drive motors 2122, two second drive wheels 2123 and four universal wheels 2124. Among them, the two second drive wheels 2123 are arranged on the second mobile base 2121 in opposite directions and are located on the center line of the second mobile base 2121. The two second drive motors 2122 are fixed on the second mobile base 2121, and the two second drive motors 2122 are respectively connected to the two second drive wheels 2123. The two second drive motors 2122 are used to drive the second mobile base 2121 to move. It can be understood that by changing the rotation speed of the two second drive motors 2122, the moving direction of the second mobile base 2121 can be controlled. This is a prior art and will not be repeated here.
[0084] With the direction perpendicular to the line connecting the two second driving wheels 2123 as the front-to-back direction, two universal wheels 2124 are provided in the front-to-back directions of the two second driving wheels 2123 to support the second movable base 2121 and adjust the moving direction of the second movable base 2121 .
[0085] Continue to refer to Fig.11 and Fig.12 As shown, in some examples, the lifting mechanism 213 is configured as a multi-link lifting mechanism, specifically including a lifting motor 2131 and a connecting rod assembly 2132. The lifting motor 2131 is fixedly arranged on the second movable base 2121, and the output end of the lifting motor 2131 is connected to the connecting rod assembly 2132. When the output end of the lifting motor 2131 rotates, it can control the movement of the upper end of the connecting rod assembly 2132, that is, the distance between the upper end and the lower end changes, thereby changing the distance between the first movable base 2111 connected to the upper end and the second movable base 2121 connected to the lower end.
[0086] Fig.13 is a first schematic diagram of a jacking assembly provided in one embodiment of the present application; Fig.14 yes Fig.13 A second schematic diagram of the jacking assembly in FIG. Fig.15 yes Fig.13 A third schematic diagram of the jacking assembly in FIG.
[0087] Reference Figures 13 to 15As shown, in some other examples, the lifting mechanism 213 is configured as a scissor lift mechanism 2133. The scissor lift mechanism 2133 includes a first scissor member 2133a, a second scissor member 2133b and a connecting plate 2133c which are cross-connected. The lower end of the first scissor member 2133a and the lower end of the second scissor member 2133b are both connected to the first movable base 2111, and the upper end of the first scissor member 2133a and the upper end of the second scissor member 2133b are both connected to the connecting plate 2133c, and the connecting plate 2133c is used to connect to the first movable base 2111. When the driving member drives the first scissor member 2133a or the second scissor member 2133b to move, the two move synchronously, so that the connecting plate 2133c moves up and down, thereby changing the distance between the first movable base 2111 and the second movable base 2121. Exemplarily, the driving member can be a servo motor.
[0088] In addition, the lifting mechanism 213 can also be configured as a hydraulic lifting mechanism or a screw nut lifting mechanism, as long as it can make the first movable base 2111 and the second movable base 2121 move relative to each other, and the details will not be described in detail.
[0089] like Figure 1 and Figure 2 As shown, in some examples, there are multiple telescopic forks 230, and the multiple telescopic forks 230 are sequentially arranged in the vertical direction, and each telescopic fork 230 is connected to the support frame 220. When carrying the target cargo 400, when the target cargo 400 is located at the bottom, the telescopic fork 230 located at the top can clamp the cargo 400 above the target cargo 400 to separate it from the target cargo 400, and the telescopic fork 230 located at the bottom will then move the target cargo 400 away, and finally, the telescopic fork 230 located at the top will place the non-target cargo 400 at the original target cargo 400 position. It can be understood that when placing the cargo 400 at the target position, the operation process is opposite to the above-mentioned process of carrying the target cargo 400, and it will not be repeated here.
[0090] It is understandable that by providing a plurality of telescopic forks 230 in the support frame 220, it is possible to facilitate the handling of the target cargo 400 located below the cargo stack 400, and the handling efficiency is high. Take the handling robot having two telescopic forks 230 as an example. When handling the target cargo 400 located at the lower layer of the cargo stack 400, the telescopic fork 230 located at the upper side can first raise the position of the cargo 400 located above the target cargo 400, and the telescopic fork 230 located at the lower side can then handle the target cargo 400, and finally, the telescopic fork 230 located at the upper side can place the non-target cargo 400 to the original target cargo 400 position.
[0091] Reference Figure 1 and Figure 2As shown, the telescopic fork includes fork arms 233 arranged in pairs, and the fork arms 233 are used to clamp the goods 400. In addition, the telescopic fork 231 can be configured as a bidirectional telescopic fork 231, so as to facilitate the picking and placing of the goods 400 on both sides of the track 300.
[0092] Exemplarily, the fork arm 233 includes a multi-stage fork arm and a telescopic drive assembly, the multi-stage fork arms are connected in sequence, the telescopic drive assembly is connected to the multi-stage fork arm, and the telescopic drive assembly is used to drive the multi-stage fork arm to extend or retract to pick up and place the cargo 400. Exemplarily, the fork arm 233 includes a two-stage fork arm for illustration, the fork arm 233 includes a primary fork arm and a secondary fork arm, the primary fork arm is connected to the support frame 220, the secondary fork arm is slidably connected to the primary fork arm, the telescopic drive assembly is fixedly arranged on the primary fork arm, and the telescopic drive assembly drives the secondary fork arm to move along the primary fork arm, thereby completing the forking of the cargo 400 and the retraction after forking.
[0093] In addition, illustratively, the telescopic driving member may be a combination structure of a motor and a synchronous belt transmission assembly, or a combination structure of a motor and a gear rack.
[0094] Continue to refer to Figure 1 and Figure 2 As shown, the telescopic fork 231 also includes a clamping plate 231, and each fork arm 233 is provided with a clamping plate 231. Since the clamping plate 231 has a large surface area, it can ensure a large clamping area with the side of the cargo 400, increase the clamping force, and prevent the cargo 400 from slipping during the clamping movement.
[0095] When the support frame 220 is provided with a plurality of telescopic forks 231 in the vertical direction, in order to conveniently place the non-target cargo 400 that has been clamped and lifted to the position where the original target cargo 400 was placed, the distance between the two clamping plates 231 on the upper telescopic fork 230 is smaller than the distance between the two clamping plates 231 on the lower telescopic fork 230, so as to ensure that the clamping plates 231 on the upper telescopic fork 230 will not interfere with the clamping plates 231 on the lower telescopic fork 230. In addition, the two clamping plates 231 on the upper telescopic fork 230 are larger in size and can be extended between the two clamping plates 231 on the lower telescopic fork 230 to place the cargo 400.
[0096] Specifically, when the target cargo is located at the bottom layer of the cargo stack, the lower part of the clamping plate 231 of the telescopic fork 231 located at the top clamps and lifts the cargo on the layer above the target cargo, and the telescopic fork 231 located at the bottom clamps the target cargo and retracts. At this time, the telescopic fork 231 located at the top moves down and places the non-target cargo at the position of the original target cargo. Since the two clamping plates 231 on the telescopic fork 231 located at the top are larger, and the distance between the two clamping plates 231 is smaller than the distance between the two clamping plates 231 on the telescopic fork 231 located at the bottom, when it places the non-target cargo at the original target cargo placement position, it interferes with the telescopic fork 231 and the clamping plate 231 at the bottom.
[0097] In order to ensure that the cargo 400 is stable and does not slip off the telescopic fork 231 due to excessive weight, in some examples, a plurality of claws 232 are rotatably provided at the lower portion of the clamping plate 231, and the claws 232 are used to extend to support the cargo after the clamping plate 231 clamps the cargo 400. Specifically, the claws 232 can switch and rotate in a direction parallel to and perpendicular to the clamping plate 231, so as to support the cargo 400 and prevent it from falling.
[0098] In addition, in some examples, two groups of pusher claws 232 are arranged at intervals along the vertical direction on the two clamping plates 231 on the upper telescopic fork 230 to ensure that they can clamp non-target goods 400 located at a higher position. Exemplarily, the pusher claw 232 includes a lever and a lever motor, the lever motor is fixedly installed on the clamping plate 231, the end of the pusher claw 232 is connected to the output end of the lever motor, and the output end of the lever motor rotates to drive the pusher claw 232 to rotate.
[0099] In some embodiments, a cache position 221 is provided at the bottom of the support frame 220. When the cargo handling robot 200 needs to carry multiple cargoes 400, the telescopic fork 230 can temporarily store the cargoes 400 in the cache position 221, and after all target cargoes are carried, all cargoes 400 are moved together to the in-and-out conveying equipment.
[0100] Fig.16 2 is a schematic diagram of a cargo handling robot 200 provided in another embodiment of the present application.
[0101] Reference Fig.16As shown, in some examples, at least one side of the support frame 220 is provided with a plurality of cache positions 221, in which the cargo handling robot 200 further includes a rotating assembly, the rotating assembly is connected to the support frame 220, and the telescopic fork 230 is arranged on the rotating assembly. The rotating assembly is used to rotate the telescopic fork 230 by 90° and temporarily store the target cargo 400 or the non-target cargo 400 in the cache position 221. It can be understood that by providing the cache position 221 on the support frame 220, the single handling capacity of the cargo handling robot 200 can be greatly improved, and the handling efficiency can be improved. Exemplarily, cache racks are provided on both sides of the support frame 220, and the cache racks have a plurality of cache cargo positions, and the cache cargo positions are configured as cache positions 221. In addition, the number and space size of the cache cargo positions in the cache racks on both sides of the support frame 220 can be set according to actual needs, and are not limited here.
[0102] Exemplarily, the rotating assembly includes a rotating bracket, a rotating pallet and a rotating drive motor. Among them, the rotating bracket is arranged on the inner side of the support frame 220, its shape is adapted to the support frame 220 and the rotating bracket can move in the vertical direction along the support frame 220. The rotating pallet is rotatably arranged on the rotating bracket, the rotating drive motor is fixedly arranged on the rotating bracket, and the output end of the rotating drive motor is connected to the rotating pallet, and the rotating drive motor drives the rotating pallet to rotate. The telescopic fork 230 is arranged on the rotating pallet, that is, the rotating drive motor drives the telescopic fork 230 to rotate through the rotating pallet. The rotating drive motor can realize forward and reverse rotation, thereby realizing the bidirectional rotation of the rotating pallet, so as to correspond to the pick-up and placement openings on both sides of the support frame 220, so that the telescopic fork 230 can pick up and place the goods 400 to the cache positions 221 on both sides of the support frame 220.
[0103] Continue to refer to Figure 1 and Figure 2 As shown, the support frame 220 in the present application is a rectangular parallelepiped frame structure formed by connecting a plurality of cross beams and longitudinal beams in sequence. Linear guide rails 310 are arranged on both sides of the support frame 220 in the vertical direction, and sliders are arranged on the linear guide rails 310. The telescopic fork 230 is fixedly connected to the slider.
[0104] In addition, the cargo handling robot 200 further includes a lifting assembly 222. Exemplarily, the lifting assembly 222 includes a lifting motor and a transmission assembly, the lifting motor is fixed on the support frame 220, and the transmission assembly is arranged on the support frame 220, the lifting motor is connected to the transmission assembly, and the transmission assembly is connected to the telescopic fork 230, and the lifting motor drives the telescopic fork 230 to move in the vertical direction through the transmission assembly, so that the telescopic fork 230 can reach the specified position of the target cargo 400.
[0105] In a second aspect, the embodiment of the present application provides a cargo storage system, including a cargo storage area 100, an in-and-out conveying device, and a cargo handling robot 200 as described in the first aspect. The cargo storage area 100 is used to place and store cargo.
[0106] In the related art, the cargo storage area 100 is an area for storing cargo, and the cargo storage area 100 may include a variety of cargo storage facilities, such as pallets, shelves, or cargo bases. Exemplarily, the cargo storage area 100 is used to store cargo 400, and the cargo 400 may be empty cargo 400 or cargo 400 filled with cargo. The cargo 400 may be stacked and placed on a pallet, a cargo 400 base, or may be placed on the shelves of the cargo storage area 100. For example, cargo may be placed in cargo 400, and the cargo 400 may be stacked and stored in the cargo storage area 100. When the specified cargo is needed, the staff takes out the cargo 400 containing the target cargo from the cargo storage area 100.
[0107] The in-and-out conveying equipment is used to convey goods entering and leaving the warehouse, and can be logistics equipment such as a cargo conveying line, a depackaging machine, or a cargo sorting device. When the goods enter the warehouse, the in-and-out conveying equipment conveys the goods 400 to the buffer area, and the cargo handling robot 200 then transfers the goods 400 in the buffer area to the designated location of the cargo storage area 100. Correspondingly, when the goods leave the warehouse, the cargo handling robot 200 transfers the goods in the cargo storage area 100 to the in-and-out conveying equipment, and then the in-and-out conveying equipment transfers the goods to the designated location.
[0108] In the solution of the present application, a track 300 is provided in the cargo storage area 100, and cargo (e.g., a material box 400) is placed on at least one side of the track 300. The cargo handling robot 200 is placed on the ground outside the cargo storage area 100, and can move between the cargo storage area 100 and the in-and-out storage conveying equipment, thereby transferring cargo between the two. The cargo storage system has a high cargo picking and placing efficiency. Since the cargo storage system includes the cargo handling robot 200 described in any of the technical solutions in the above solutions, it has all the beneficial effects of the cargo handling robot 200 in any of the technical solutions, which will not be repeated here.
[0109] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments based on the several embodiments provided in the present application, and these embodiments do not exceed the protection scope of the present application.
[0110] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not used to limit the protection scope of the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.
Claims
1. A cargo handling robot, characterized in that: It includes a mobile chassis, which includes a track running mechanism, a ground running mechanism and a lifting mechanism; The ground traveling mechanism is connected to the lower end of the jacking mechanism, the track traveling mechanism is connected to the upper end of the jacking mechanism, and the jacking mechanism is used to control the relative movement of the track traveling mechanism and the ground traveling mechanism in the vertical direction; When the cargo handling robot moves in the cargo storage area, the cargo handling robot moves along the track, the track walking mechanism contacts the track, and the ground walking mechanism separates from the ground; When the cargo handling robot moves outside the cargo storage area, the ground walking mechanism is in contact with the ground, and the track walking mechanism is separated from the track.
2. The cargo handling robot according to claim 1, characterized in that: The track travel mechanism comprises a first movable base and at least two sets of first drive assemblies; The first mobile base is fixedly connected to the upper end of the jacking mechanism, at least two groups of the first driving components are respectively connected to the first mobile base, and at least two groups of the first driving components are respectively located on two opposite sides of the first mobile base, and at least two groups of the first driving components drive the first mobile base to move along the track.
3. The cargo handling robot according to claim 2, characterized in that: The first driving assembly includes a first driving motor and a first driving wheel. The first driving motor is connected to the first mobile base. The first driving wheel is connected to the first driving motor. The first driving wheel is arranged on both sides of the first mobile base along the walking direction. The first driving motor drives the first driving wheel to move along the track.
4. The cargo handling robot according to claim 1, characterized in that: The ground walking mechanism is configured as an AGV chassis, and the AGV chassis includes a second mobile base, at least two sets of second drive assemblies and universal wheels; The second mobile base is fixedly connected to the lower end of the lifting mechanism, at least two groups of the second driving assemblies are fixedly connected to the second mobile base, and at least two groups of the second driving assemblies are respectively located on two opposite sides of the second mobile base, and the second driving assemblies drive the second mobile base to move; The universal wheel is connected to the second movable base, and the universal wheel is located on the side of the connection direction of at least two groups of the second driving components.
5. The cargo handling robot according to claim 1, characterized in that: The lifting mechanism is configured as at least one of a scissor lift mechanism, a multi-link lift mechanism, a hydraulic lift mechanism or a screw nut lift mechanism.
6. The cargo handling robot according to claim 1, characterized in that: Also includes: Support frame; A telescopic fork is arranged on the supporting frame, and the telescopic fork is used to carry goods; The supporting frame is arranged on the mobile chassis, and the mobile chassis moves along the track in the cargo storage area and moves freely outside the cargo storage area.
7. The cargo handling robot according to claim 6, characterized in that: The telescopic fork is selectively raised, lowered and rotated relative to the support frame.
8. The cargo handling robot according to claim 6, characterized in that: The telescopic fork comprises clamping plates arranged in pairs, and the clamping plates are used for clamping the cargo.
9. The cargo handling robot according to claim 8, characterized in that: A pusher claw is movably provided at the lower part of the clamping plate, and the pusher claw is used to extend to support the cargo after the clamping plate clamps the cargo.
10. The cargo handling robot according to claim 8, characterized in that: There are multiple telescopic forks, which are arranged in sequence along the vertical direction and are used to cooperate with picking material boxes; The distance between two clamping plates of the plurality of telescopic forks decreases from top to bottom.
11. The cargo handling robot according to claim 9, characterized in that: The clamping plate on the uppermost telescopic fork is provided with at least two groups of the pusher claws along the vertical direction.
12. The cargo handling robot according to claim 6, characterized in that: The telescopic fork also includes a rotating mechanism, which is cooperatively connected with the support frame, and the telescopic fork is arranged on the rotating mechanism. The rotating mechanism drives the telescopic fork to rotate so that the telescopic fork selectively picks up and places the goods on both sides of the cargo handling robot and places the goods in the cache position of the support frame.
13. The cargo handling robot according to claim 6, characterized in that: At least one side of the support frame is provided with a plurality of cache locations, and the cache locations are used to temporarily store the goods.
14. The cargo handling robot according to claim 6, characterized in that: The support frame is provided with a lifting mechanism, the telescopic fork is connected to the lifting mechanism, and the lifting mechanism drives the telescopic fork to move in a vertical direction.
15. A cargo storage system, characterized in that: It comprises a cargo storage area provided with tracks, in-and-out conveying equipment and a cargo handling robot as described in any one of claims 6-14.