Logistics transfer system and method

Abstract

The logistics transfer system and method are used for transferring materials in a working area, and the working area is provided with a plurality of material connection positions and a plurality of stations. The system comprises a traction robot, a plurality of connection robots and a plurality of devices used for loading materials. The multiple to-be-carried tools are hung by the traction robot to move in the working area, and the multiple to-be-carried tools are sequentially pulled to the target material connection positions corresponding to the to-be-carried tools; and then each transferring robot transfers each to-be-transferred appliance from the corresponding target material transferring position to the target station. Therefore, the traction robot can hang a plurality of to-be-carried appliances at one time, the traction robot only moves in the logistics channel in the working area, and the connection robot only moves between the material connection position and the station, so that the traction robot and the connection robot move in respective channels, and the logistics channel in the working area is prevented from being jammed; therefore, the carrying efficiency of the appliances in the working area is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of logistics and transportation technology, and in particular to a logistics transfer system and method. Background Art

[0002] With the popularization of intelligent manufacturing in today's society, various types of logistics mobile robots are widely used in various occasions in the manufacturing field. For example, latent lifting robots or latent forklift robots are used to transport materials in the work area.

[0003] However, a hidden lifting robot or hidden forklift robot can only carry one tool for loading materials at a time, and the handling efficiency is low. When there is a large amount of material handling demand in the work area, such as the work area in the automotive industry, there are many tools to be handled, and more hidden lifting robots or hidden forklift robots are needed to participate in the handling. However, this can easily lead to congestion in the logistics channel and cannot effectively improve the handling efficiency. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a logistics transfer system and method to improve the efficiency of transporting equipment in a work area. The specific technical solution is as follows:

[0005] In a first aspect, an embodiment of the present invention provides a logistics transfer system for transferring materials in a work area, wherein the work area is provided with a logistics channel, a plurality of material docking positions, and a plurality of work stations; the system comprises: a traction robot, a plurality of docking robots, and a plurality of tools for loading materials;

[0006] A traction robot is used to mount multiple tools to be transported and move in the logistics channel within the work area to sequentially traction the multiple tools to be transported to the target material docking position corresponding to each tool to be transported;

[0007] Each docking robot is used to transport each tool to be transported from its corresponding target material docking position to the target workstation.

[0008] In some embodiments, the plurality of docking robots include multiple types of docking robots; the plurality of tools include multiple types of tools, and each tool corresponds to a docking robot;

[0009] A traction robot is used to mount various types of equipment to be transported and move within the work area to sequentially traction the various types of equipment to be transported to the target material docking position corresponding to the equipment to be transported;

[0010] Each docking robot is used to transport the corresponding type of equipment to be transported by each docking robot from the target material docking position corresponding to each equipment to be transported to the target workstation.

[0011] In some embodiments, the multiple types of docking robots include at least: a lurking lifting robot; the multiple types of equipment include at least: a wheelless equipment; the lurking lifting robot corresponds to the wheelless equipment;

[0012] The logistics transfer system also includes: a traction trolley; a traction trolley for loading wheelless equipment;

[0013] A traction robot that can carry wheelless implements by mounting a traction trolley;

[0014] The latent lifting robot is used to pick up and place the wheelless equipment on the traction trolley at the target material docking position corresponding to the wheelless equipment, and transport it to the target workstation.

[0015] In some embodiments, the multiple types of docking robots further include: a lurking forklift robot; the multiple types of appliances further include: a wheeled appliance; the lurking forklift robot corresponds to the wheeled appliance;

[0016] A traction robot that can directly mount wheeled implements;

[0017] The lurking forklift robot is used to transport the wheeled device from the target material docking position corresponding to the wheeled device to the target workstation.

[0018] In some embodiments, a first traction rod is provided at the front end of the traction trolley along the forward direction, and a first hooking assembly is provided at the end of the traction trolley along the forward direction;

[0019] A second traction rod is provided at the front end of the wheeled device along the forward direction, and a second hooking assembly is provided at the end of the wheeled device along the forward direction;

[0020] The traction trolley is connected to the traction robot, or the second connecting component of the wheeled device, or the first connecting component of another traction trolley through the first traction rod;

[0021] The wheeled device is connected to the traction robot, or the first hanging component of the traction trolley or the second hanging component of another wheeled device through the second traction rod.

[0022] In some embodiments, the traction trolley further includes: a first mobile chassis; the first mobile chassis moves via a first wheel set disposed at the bottom;

[0023] A first traction rod is rotatably disposed at the front end of the first mobile chassis, and a first hook assembly is disposed at the end of the first mobile chassis;

[0024] A transport slot is provided on the side of the first mobile chassis along the forward direction, so that the latent lifting robot can transport the wheelless device carried on the first mobile chassis through the transport slot.

[0025] In some embodiments, the latent lifting robot comprises: a second mobile chassis, a lifting mechanism and a lifting platform; wherein the lifting mechanism and the lifting platform are arranged on the top of the second mobile chassis; the lifting mechanism is used to lift the lifting platform to lift the wheelless device, so that the latent lifting robot moves the wheelless device away from the traction trolley from the transport slot.

[0026] In some embodiments, a forklift robot comprises: a telescopic fork leg and a body,

[0027] The telescopic fork leg is used to extend into the bottom of the wheeled device and lift the wheeled device after the lurking forklift robot moves to one side of the wheeled device to be transported;

[0028] The vehicle body is used to move to the bottom of the wheeled device after the wheeled device is lifted, and to carry the wheeled device to a target workstation.

[0029] In some embodiments, multiple tools to be transported are pre-connected to form a column of tools to be transported; the traction robot includes: a main body and a hanging rack device; the main body of the traction robot is connected to the traction rod of the first tool to be transported in the column of tools to be transported through the hanging rack device to mount multiple tools to be transported.

[0030] In some embodiments, the rack device includes: a traction bearing seat and a traction assembly body; the traction assembly body is installed on the traction bearing seat, and the traction assembly body is used to be hung with the traction rod of the first tool to be transported in the column of tools to be transported.

[0031] In some embodiments, the logistics transfer system further includes: a control device;

[0032] The control device is respectively communicated with the traction robot and multiple docking robots, and is used to instruct the traction robot to mount multiple tools to be transported and move them in the work area, so as to tow the multiple tools to be transported in turn to the target material docking position corresponding to each tool to be transported; and to instruct each docking robot to transport each tool to be transported from its corresponding target material docking position to the target workstation.

[0033] In a second aspect, an embodiment of the present invention further provides a logistics transfer method, which is applied to a control device, wherein the control device is communicatively connected with a traction robot and a plurality of docking robots in the logistics transfer system described in any one of the first aspects;

[0034] The method includes:

[0035] Instruct the traction robot to mount multiple tools to be transported and move within the work area, so as to sequentially traction the multiple tools to be transported to the target material docking positions corresponding to the tools to be transported;

[0036] Instruct each docking robot to transport each tool to be transported from its corresponding target material docking position to the target workstation.

[0037] In some embodiments, the plurality of docking robots include multiple types of docking robots; the plurality of tools include multiple types of tools, and each tool corresponds to a docking robot;

[0038] Instruct the traction robot to mount multiple tools to be transported and move within the work area to sequentially traction the multiple tools to be transported to the target material docking positions corresponding to the tools to be transported, including:

[0039] Sending a first handling instruction to the traction robot, so that the traction robot moves in the work area based on the docking position information of each target material docking position carried in the first handling instruction, so as to sequentially tug the multiple tools to be transported to the target material docking position of each tool to be transported;

[0040] Instruct each docking robot to move each tool to be transported from its corresponding target material docking position to the target workstation, including:

[0041] Obtaining the equipment type information of each equipment to be transported mounted on the traction robot;

[0042] Based on the tool type information of each tool to be transported, a second transport instruction is sent to the docking robots corresponding to each tool to be transported, so that each docking robot transports each tool to be transported from its corresponding target material docking position to the target workstation based on the docking position information of the target docking position and the workstation position information of the target workstation carried in the second transport instruction.

[0043] In some embodiments, before sending the first handling instruction to the traction robot, the method further includes:

[0044] Obtaining a current transport task, the current transport task includes: equipment information of each equipment to be transported, initial position information of each equipment to be transported, and a mounting order of each equipment to be transported;

[0045] Sending a first movement instruction to the traction robot, the first movement instruction including: initial position information and a hooking sequence of each tool to be transported that needs to be transported in this task, so that the traction robot moves to the initial position of each tool to be transported in sequence, so as to connect the head and tail of each tool to be transported into a column of tools to be transported;

[0046] Obtaining the equipment type information of each equipment to be transported mounted on the traction robot includes: obtaining the equipment type information from the equipment information of each equipment to be transported.

[0047] In some embodiments, the multiple types of docking robots include: a lurking lifting robot and a lurking forklift robot; the multiple types of equipment include: a wheeled equipment and a wheelless equipment, the lurking lifting robot corresponds to the wheelless equipment, and the lurking forklift robot corresponds to the wheeled equipment; the logistics transfer system also includes: a traction trolley; the wheelless equipment is loaded on the traction trolley;

[0048] Sending a first movement instruction to the traction robot, the first movement instruction including: initial position information and a hooking sequence of each tool to be transported that needs to be transported in this task, so that the traction robot moves to the initial position of each tool to be transported in sequence, so as to connect each tool to be transported head to tail into a tool to be transported column, including:

[0049] The wheelless equipment to be transported in this mission is loaded onto the traction trolley, and the traction robot is instructed to connect the traction trolleys loaded with wheelless equipment and the wheeled equipment to be transported in this mission in sequence, based on the initial position information and the attachment sequence of each equipment to be transported, into a column of equipment to be transported.

[0050] In some embodiments, a first handling instruction is sent to a traction robot, so that the traction robot moves in a work area based on docking position information of each target material docking position carried in the first handling instruction, so as to sequentially tug a plurality of different types of equipment to be handled to the target material docking position of each equipment to be handled, including:

[0051] Sending a first handling instruction to the traction robot, so that the traction robot moves in the work area based on the docking position information and the hooking sequence information of each target material docking position carried in the first handling instruction, so as to sequentially trolley each traction trolley loaded with wheelless equipment and the wheeled equipment to be transported in this task to the target material docking position of each equipment to be transported;

[0052] Based on the tool type information of each tool to be transported, a second transport instruction is sent to the docking robot corresponding to each tool to be transported, so that each docking robot transports each tool to be transported from its corresponding target material docking position to the target workstation based on the docking position information of the target docking position and the workstation position information of the target workstation carried in the second transport instruction, including:

[0053] When any equipment to be transported is towed to the corresponding target material docking position, based on the type of the equipment to be transported, a second transport instruction is sent to the latent lifting robot or latent forklift robot corresponding to the equipment to be transported, so that the latent lifting robot or latent forklift robot transports the wheelless equipment or the wheeled equipment to the corresponding target workstation.

[0054] In some embodiments, the method further includes:

[0055] When the wheelless device is taken away from the traction trolley by the latent lifting robot, the traction trolley remains connected to the traction robot or wheeled device or another traction trolley at its front end;

[0056] Before the latent forklift robot forks the wheeled device, if a traction trolley is also connected to the rear end of the wheeled device, after the traction trolley is unhooked, a second handling instruction is sent to the latent forklift robot to make the latent forklift robot fork the wheeled device and move it to the target workstation; after the latent forklift robot takes away the wheeled device, the unhooked traction trolley is connected to the traction robot or the wheeled device or another traction trolley at the front end.

[0057] In some embodiments, the logistics transfer system includes a plurality of traction robots, and the method further includes:

[0058] During the movement of each traction robot in the work area, the number information of the currently mounted traction trolley and / or wheeled device is received after each traction robot reaches the target material docking position each time;

[0059] Based on the number information of the currently mounted traction trolleys and / or wheeled appliances fed back by each traction robot, as well as the pre-recorded length of each appliance to be transported and the total length of the array of appliances to be transported, the remaining length information of the appliances to be transported remaining on each traction robot is calculated respectively;

[0060] Determine the current safety protection length of each traction robot based on the remaining length information;

[0061] The current safety protection length of each traction robot is sent to the corresponding traction robot, so that each traction robot can avoid obstacles based on the safety protection length.

[0062] In a third aspect, an embodiment of the present invention further provides a control device, the control device comprising:

[0063] Memory, used to store computer programs;

[0064] The processor is used to implement any of the logistics transfer methods described in the second aspect when executing the program stored in the memory.

[0065] Beneficial effects of the embodiments of the present application:

[0066] A logistics transfer system and method provided in an embodiment of the present application can be used to transfer materials in a work area, where a plurality of material docking positions and a plurality of workstations are provided; the system comprises: a traction robot, a plurality of docking robots and a plurality of tools for loading materials; the traction robot carries a plurality of tools to be transported and moves them in the work area, and sequentially tows the plurality of tools to be transported to a target material docking position corresponding to each tool to be transported; and then each docking robot transports each tool to be transported from its corresponding target material docking position to a target workstation.

[0067] It can be seen that by using the traction robot in cooperation with the docking robot, the traction robot can carry multiple tools to be transported at a time, which is more efficient than the lurking robot carrying one tool at a time; and the traction robot only moves in the logistics channel within the working area, and the docking robot only moves between the material docking position and the work station, so that the traction robot and the docking robot can go their own ways, and there will be no congestion in the logistics channel within the working area, thereby effectively improving the handling efficiency of tools in the working area.

[0068] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0070] Figure 1a A top view of the system framework of the first embodiment of the logistics transfer system provided in the embodiment of the present application;

[0071] Figure 1b for Figure 1a A side view of the first traction robot carrying multiple handling tools in the illustrated embodiment;

[0072] Figure 1c for Figure 1a A front view of a first traction robot in the illustrated embodiment;

[0073] Figure 1d for Figure 1b A perspective view of the first traction robot shown;

[0074] Figure 1e for Figure 1b A schematic diagram of the structure of the connection between the hanging bracket device and the traction rod of the first traction robot shown;

[0075] Figure 1f for Figure 1a A perspective view of a second traction robot in the illustrated embodiment;

[0076] Figure 1g for Figure 1a A perspective view of the second traction robot from another perspective in the illustrated embodiment;

[0077] Figure 2a A schematic diagram of the mounting of a traction robot and a traction trolley loaded with wheelless equipment in a second embodiment of a logistics transfer system provided in an embodiment of the present application;

[0078] Figure 2b for Figure 2a A three-dimensional structural diagram of the wheelless device in the illustrated embodiment;

[0079] Figure 2c for Figure 2a A schematic diagram of the three-dimensional structure of the traction trolley in the illustrated embodiment;

[0080] Figure 2d for Figure 2a A side view of the traction dolly loaded with wheelless implements in the illustrated embodiment;

[0081] Figure 2e for Figure 2a A side view of a latent lift robot carrying a wheelless implement in the illustrated embodiment;

[0082] Figure 2f for Figure 2e A schematic diagram of the structure of the latent lifting robot in the illustrated embodiment;

[0083] Figure 3a A schematic diagram of mounting a traction robot and a wheeled device in a third embodiment of a logistics transfer system provided in an embodiment of the present application;

[0084] Figure 3b for Figure 3a A front view of the wheeled device in the illustrated embodiment;

[0085] Figure 3c for Figure 3a a perspective view of the wheeled appliance shown;

[0086] Figure 3d for Figure 3a A side view of a lurking forklift robot carrying a wheeled appliance in the illustrated embodiment;

[0087] Figure 3e for Figure 3d A schematic structural diagram of a lurking forklift robot in the illustrated embodiment;

[0088] Figure 3f for Figure 3eThe state diagram of the telescopic fork legs of the lurking forklift robot is shown as extending out of the vehicle body;

[0089] Figure 4 This is a flow chart of a first implementation method of a logistics transfer method according to an embodiment of the present application;

[0090] Figure 5 This is a flow chart of a second implementation method of a logistics transfer method according to an embodiment of the present application;

[0091] Figure 6 An interactive schematic diagram of a logistics transfer method according to an embodiment of the present application;

[0092] Figure 7 A schematic diagram of the structure of a control device according to an embodiment of the present application;

[0093] Reference numerals:

[0094] Work area 10; material docking position 11; work station 12; material use point 121; production line 13; production line A 131; production line B 132; docking robot temporary storage position 14; logistics channel 15; traction robot 20; docking robot 30; tool to be transported 40; main body 21; rack device 22; traction bearing seat 221; traction component body 222; traction shaft 2221; docking guide port 2222; trigger plate 2223; in-position sensor 2224;

[0095] A latent lifting robot 31; a second mobile chassis 311; a lifting mechanism 312; a lifting platform 313;

[0096] Lurking forklift robot 32; telescopic fork leg 321; vehicle body 322; bottom plate 3211; telescopic drive assembly 3212, driven caster 3213; lifting assembly 3214;

[0097] Wheelless device 41; wheeled device 42; second traction rod 421; second hitch assembly 422;

[0098] Towing trolley 50 ; first towing rod 51 ; first hook assembly 52 ; first mobile chassis 53 ; first wheel set 54 ; and transport slot 55 . DETAILED DESCRIPTION

[0099] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0100] In order to solve the problems existing in the prior art, an embodiment of the present invention provides a logistics transfer system and method to improve the efficiency of transporting tools in a work area.

[0101] Below, first, the logistics transfer system provided by the embodiment of the present invention is described.

[0102] Figure 1a~Figure 1g The first embodiment of the logistics transfer system provided by the embodiment of the present application is shown. Figure 1a A top view of the system framework of the first embodiment of the logistics transfer system provided in the embodiment of the present application; Figure 1b for Figure 1a A side view of the first traction robot carrying multiple handling tools in the illustrated embodiment; Figure 1c for Figure 1a A front view of a first traction robot in the illustrated embodiment; Figure 1d for Figure 1b A perspective view of the first traction robot shown; Figure 1e for Figure 1b A schematic diagram of the structure of the connection between the hanging bracket device and the traction rod of the first traction robot shown; Figure 1f for Figure 1a A perspective view of a second traction robot in the illustrated embodiment; Figure 1g for Figure 1a A perspective view of the second traction robot from another perspective in the illustrated embodiment.

[0103] like Figure 1a As shown, the logistics transfer system provided in the embodiment of the present application is used to transfer materials in a work area 10, and the work area 10 is provided with a logistics channel 15, a plurality of material connection positions 11 and a plurality of work stations 12. Figure 1a As shown, the system includes: a traction robot 20, a plurality of docking robots 30 and a plurality of tools for loading materials; the traction robot 20 is used to mount a plurality of tools to be transported 40 and move in a logistics channel 15 within a work area 10, so as to sequentially traction the plurality of tools to be transported 40 to a target material docking position 11 corresponding to each tool to be transported 40; each docking robot 30 is used to transport each tool to be transported 40 from its corresponding target material docking position 11 to a target workstation 12.

[0104] Depend on Figure 1aIt can be seen from the illustrated embodiment that the logistics transfer system provided by the embodiment of the present application, by using the traction robot 20 in cooperation with the docking robot 30, the traction robot 20 can mount multiple tools 40 to be transported at a time, which is more efficient than the lurking robot transporting one tool at a time; and the traction robot 20 only moves in the logistics channel 15 within the working area 10, and the docking robot 30 only moves between the material docking position 11 and the work station 12, so that the traction robot 20 and the docking robot 30 each go their own way, and there will be no congestion in the logistics channel 15 within the working area 10, thereby effectively improving the transportation efficiency of the tools in the working area 10.

[0105] Specifically, Figure 1a As shown, the work area 10 may be provided with a plurality of production lines 13, for example, two production lines 13 may be provided: production line A 131 and production line B 132. The area between the two production lines 13 is a material channel for the traction robot 20 to move, and each production line 13 may have a plurality of workstations 12, for example, production line A 131 may be provided with the first workstation of line A to the sixth workstation of line A, and production line B 132 may be provided with the first workstation of line B to the sixth workstation of line B.

[0106] like Figure 1a As shown, the work area 10 may also be provided with a plurality of material docking positions 11 and docking robot temporary storage positions 14; for example, a material docking position 11 may be provided near each work station 12, or a material docking position 11 may be provided near every two adjacent work stations 12. Each docking robot 30 may be temporarily stored in the docking robot temporary storage position 14.

[0107] like Figure 1a As shown, in this embodiment, the multiple docking robots 30 in the logistics transfer system may include multiple types of docking robots 30, for example: Figure 1a The hidden lifting robot 31 and the hidden forklift robot 32 shown in the figure. The multiple tools may include multiple types of tools, for example: Figure 1b The wheelless device 41 and the wheeled device 42 shown in FIG. Each transport device 40 corresponds to a docking robot 30, for example: Figure 1b The wheelless implement 41 shown in FIG. Figure 1a The latent lifting robot 31 shown in corresponds to, Figure 1b The pulley device 42 shown in FIG. Figure 1a The latent forklift robot 32 shown in FIG.

[0108] like Figure 1aAs shown, in this embodiment, the traction robot 20 can be used to mount various types of tools 40 to be transported and move in the work area 10, so as to sequentially traction various types of tools 40 to be transported to the target material docking position 11 corresponding to the tools 40 to be transported. Each docking robot 30 can be used to transport tools 40 of the corresponding type of each docking robot 30 from the target material docking position 11 corresponding to each tool 40 to be transported to the target workstation 12. For example: Figure 1a In the illustrated embodiment, the lurking lifting robot 31 carries the wheelless tool 41 from its corresponding target material docking position 11 to the target workstation 12; the lurking forklift robot 32 carries the wheeled tool 42 from its corresponding target material docking position 11 to the target workstation 12. Specifically, it can be carried to the material use point 121 on the target workstation 12.

[0109] In this embodiment, the traction robot 20 can mount various types of equipment 40 to be transported and move within the working area 10. That is to say, by performing a transport task, different types of equipment 40 to be transported can be moved to the corresponding target material docking position 11, further improving the transport efficiency of the equipment in the working area 10.

[0110] like Figure 1b As shown, the traction robot 20 can mount a column of equipment to be transported formed by connecting multiple equipment to be transported 40. The column of equipment to be transported can be formed by connecting one or more wheelless equipment 41 and one or more wheeled equipment 42 end to end and hanging each other.

[0111] like Figure 1c and Figure 1d As shown, the traction robot 20 includes: a main body 21 and a hanging device 22; the main body 21 of the traction robot 20 is hung with the traction rod of the first tool 40 to be transported in the tool column through the hanging device 22 to hang multiple tools 40 to be transported.

[0112] Among them, Figure 1e As shown, the hanger device 22 includes: a traction bearing seat 221 and a traction component body 222; the traction component body 222 is installed on the traction bearing seat 221, and the traction component body 222 is used to be hung with the traction rod of the first device to be transported 40.

[0113] The traction component body 222 may include: a traction shaft 2221 , a docking guide port 2222 , a trigger plate 2223 , and an in-position sensor 2224 ; the traction bearing seat 221 may fix the traction component body 222 on the main body 21 of the traction robot 20 .

[0114] The traction rod of the tool 40 to be transported can be guided by the docking guide port 2222 to partially enter the traction assembly body 222, and then push the trigger plate 2223 to contact the in-position sensor 2224, so that the in-position sensor 2224 generates a signal, and then the in-position sensor 2224 transmits the signal to the main body 21 of the traction robot 20, and the main body 21 controls the traction shaft 2221 to pass through the traction hole on the traction rod, thereby achieving the connection with the tool 40 to be transported. For example, Figure 1e As shown, when the first device 40 to be transported in the array of devices to be transported is a wheeled device 42, the second traction rod 421 of the wheeled device 42 can enter the traction assembly body 222 through the guide portion of the docking guide opening 2222. It should be understood that Figure 1e This is merely an exemplary description. When the first tool 40 in the tool train is a wheelless tool 41, the first traction rod 51 of the traction trolley 50 carrying the wheelless tool 41 may also enter the traction assembly body 222 through the guide portion of the docking guide port 2222. This is also possible.

[0115] In some examples, Figure 1b~Figure 1d The traction robot 20 shown in the figure is merely an exemplary description, and any traction robot 20 that can carry the transport tool 40 is acceptable. For example, the traction robot 20 may also be Figure 1f and Figure 1g The traction robot shown.

[0116] The traction robot 20 in this embodiment can mount the wheelless device 41 by mounting the traction trolley 50; it can also directly mount the wheeled device 42, which will be described in detail below.

[0117] It should be noted that which type of docking robot 30 is used to transport which type of transporting tool 40 is determined based on the height of the bottom space of the transporting tool 40. After the wheelless tool 41 is placed on the traction trolley 50, the height of the bottom space of the wheelless tool 41 is relatively high, and the bottom space can accommodate the entry of the latent lifting robot 31; therefore, the latent lifting robot 31 can be used to transport the wheelless tool 41.

[0118] The height of the bottom space of the wheeled device 42 is low and cannot accommodate the latent lifting robot 31, while the latent forklift robot 32 is low and can enter the bottom space of the wheeled device 42, so the latent forklift robot 32 can be used to carry the wheeled device 42. Of course, the latent forklift robot 32 can also be used to carry the wheelless device 41, which is also possible.

[0119] See also Figure 2a~Figure 2f , Figure 2a~Figure 2f A second embodiment of the logistics transfer system provided in the embodiments of the present application is shown.

[0120] Figure 2a A schematic diagram of the mounting of a traction robot and a traction trolley loaded with wheelless equipment in a second embodiment of a logistics transfer system provided in an embodiment of the present application; Figure 2b for Figure 2a A structural diagram of a wheelless appliance in the illustrated embodiment; Figure 2c for Figure 2a A schematic diagram of the three-dimensional structure of the traction trolley in the illustrated embodiment; Figure 2d for Figure 2a A side view of the traction dolly loaded with wheelless implements in the illustrated embodiment; Figure 2e for Figure 2a A side view of a latent lift robot carrying a wheelless implement in the illustrated embodiment; Figure 2f for Figure 2e A schematic diagram of the structure of the latent lifting robot in the illustrated embodiment.

[0121] In this embodiment, the traction robot 20 mounts a plurality of wheelless devices 41 on the traction trolley 50, for example: Figure 2a As shown, two wheelless implements 41 are mounted by two traction trolleys 50 carrying the wheelless implements 41 .

[0122] like Figure 2a and Figure 2b As shown, the wheelless appliance 41 may be a single-layer shelf.

[0123] like Figure 2c As shown, the traction trolley 50 used in this embodiment has a first traction rod 51 disposed at the front end of the traction trolley 50 along the forward direction, and a first hanging assembly 52 disposed at the end of the traction trolley 50 along the forward direction.

[0124] Specifically, Figure 2c As shown, the traction trolley 50 may also include: a first mobile chassis 53; the first mobile chassis 53 is moved by a first wheel set 54 arranged at the bottom; wherein, the first traction rod 51 is rotatably arranged at the front end of the first mobile chassis 53, and the first hanging assembly 52 is arranged at the end of the first mobile chassis 53.

[0125] A transport slot 55 is provided on the side of the first mobile chassis 53 along the forward direction, so that the latent lift robot 31 can transport the wheelless device 41 carried on the first mobile chassis 53 through the transport slot 55 .

[0126] like Figure 2aAs shown, the traction trolley 50 can be connected to the traction robot 20 through the first traction rod 51, or connected to the first connection component 52 of another traction trolley 50. In addition, in other embodiments, the traction trolley 50 can also be connected to the second connection component 422 of the wheeled device 43, so that the traction robot 20 can only tow the wheeled device 42, or only tow the traction trolley 50 loaded with the wheelless device 41, or can sequentially tow the wheeled device 42 and the traction trolley 50 loaded with the wheelless device 41.

[0127] like Figure 2d As shown, the single-layer rack is placed directly on the traction trolley 50.

[0128] In this embodiment, the lurking lifting robot 31 picks up and places the wheelless tool 41 on the traction trolley 50 at the target material docking position 11 corresponding to the wheelless tool 41 , and transports it to the target workstation 12 .

[0129] like Figure 2e and 2f As shown, the latent lifting robot 31 may include: a second mobile chassis 311, a lifting mechanism 312 and a lifting platform 313; wherein the lifting mechanism 312 and the lifting platform 313 are arranged on the top of the second mobile chassis 311; the lifting mechanism 312 is used to lift the lifting platform 313 to lift the wheelless device 41, so that the latent lifting robot 31 moves the wheelless device 41 away from the traction trolley 50 from the conveying slot 55.

[0130] See also Figure 3a~Figure 3f , Figure 3a~Figure 3f The third embodiment of the logistics transfer system provided by the embodiment of the present application is shown. Figure 3a A schematic diagram of mounting a traction robot and a wheeled device in a third embodiment of a logistics transfer system provided in an embodiment of the present application; Figure 3b for Figure 3a A front view of the wheeled device in the illustrated embodiment; Figure 3c for Figure 3a a perspective view of the wheeled appliance shown; Figure 3d for Figure 3a A side view of a lurking forklift robot carrying a wheeled appliance in the illustrated embodiment; Figure 3e for Figure 3d A schematic structural diagram of a lurking forklift robot in the illustrated embodiment; Figure 3f for Figure 3e The state diagram shown is when the telescopic fork legs of the latent forklift robot are extended out of the vehicle body.

[0131] In this embodiment, the traction robot 20 directly mounts a plurality of wheeled devices 42, for example: Figure 3a As shown, two pulley devices 42 are mounted. Figure 3b and 3cAs shown, the wheeled device 42 may be a multi-layer shelf, for example, a double-layer shelf.

[0132] like Figure 3a As shown, the traction robot 20 can directly mount the pulley device 42 .

[0133] like Figure 3b and 3c As shown, a second traction rod 421 is provided at the front end of the wheeled device 42 along the forward direction, and a second hooking assembly 422 is provided at the end of the wheeled device 42 along the forward direction.

[0134] In this way, Figure 3a As shown, the wheeled device 42 can be connected to the traction robot 20 or the second connecting component 422 of another wheeled device 42 through the second traction rod 421. In addition, in other embodiments, the wheeled device 42 can also be connected to the traction trolley 50 in the second embodiment through the second traction rod 421.

[0135] In this way, the traction robot 20 can traction only the wheeled device 42, or only the traction cart 50 loaded with the wheelless device 41, or can traction the wheeled device 42 and the traction cart 50 loaded with the wheelless device 41 in sequence.

[0136] like Figure 3e and 3f As shown, the latent forklift robot 32 includes: a telescopic fork leg 321 and a body 322, the telescopic fork leg 321 may include: a base plate 3211, a telescopic drive assembly 3212, a driven caster 3213 and a lifting assembly 3214; the telescopic drive assembly 3212, the lifting assembly 3214 and the driven caster 3213 are sequentially arranged on the base plate 3211 along the length direction of the base plate 3211; the base plate 3211 is slidably connected to the body 322; the telescopic drive assembly 3212 includes a power mechanism (not shown in the figure) and two driving wheels (not shown in the figure), the power mechanism is provided with a bidirectional output shaft (not shown in the figure), both ends of the bidirectional output shaft are respectively connected to the corresponding driving wheels, and the bidirectional output shaft is used to drive the two driving wheels to rotate; the lifting assembly 3214 is used to lift goods, and the driven caster 3213 is used to rotate synchronously with the two driving wheels 230.

[0137] The telescopic fork leg 321 can extend into the bottom of the wheeled device 42 (such as Figure 3d then the vehicle body 322, after the pulley device 42 is lifted, moves to the bottom of the pulley device 42, and transports the pulley device 42 to the target station 12.

[0138] In some other examples, the above-mentioned logistics transfer system also includes: a control device (not shown in the figure).

[0139] The control device is respectively communicated with the traction robot 20 and multiple docking robots 30, and is used to instruct the traction robot 20 to mount multiple utensils to be transported 40 and move within the working area 10, so as to tow the multiple utensils to be transported 40 in turn to the target material docking position 11 corresponding to each utensils to be transported 40; and to instruct each docking robot 30 to transport each utensils to be transported 40 from its corresponding target material docking position 11 to the target workstation 12.

[0140] In this way, the control device can be used to control the traction robot 20 and the docking robot 30, so that the traction robot 20 and the docking robot 30 can be dispatched through the control device.

[0141] Corresponding to the above-mentioned system embodiment, the embodiment of the present invention further provides a logistics transfer method, which can be applied to a control device, and the control device can be used with Figure 1a~Figure 3f The traction robot 20 and the multiple docking robots 30 in any of the logistics transfer systems shown are communicatively connected; Figure 4 FIG. 1 is a flow chart of a first implementation of a logistics transfer method according to an embodiment of the present invention. The method may include:

[0142] S410, instructing the traction robot to mount a plurality of tools to be transported and move within the work area, so as to sequentially traction the plurality of tools to be transported to a target material docking position corresponding to each tool to be transported;

[0143] S420, instructing each docking robot to transport each tool to be transported from its corresponding target material docking position to the target workstation.

[0144] The logistics transfer method provided in the embodiment of the present application uses a traction robot in cooperation with a docking robot. The traction robot can carry multiple tools to be transported at a time, which significantly improves efficiency compared to a lurking robot transporting one tool at a time. The traction robot only moves in the logistics channel within the working area, and the docking robot only moves between the material docking position and the work station, so that the traction robot and the docking robot go their own ways, and there will be no congestion in the logistics channel within the working area, thereby effectively improving the transportation efficiency of tools in the working area.

[0145] exist Figure 4 Based on the logistics transfer method shown in FIG. 1 , the embodiment of the present invention also provides another implementation method, such as Figure 5 FIG. 1 is a flow chart of a second implementation of a logistics transfer method according to an embodiment of the present invention. The method may include:

[0146] S510, obtaining the current transport task, which includes: the tool information of each tool to be transported, the initial position information of each tool to be transported, the target docking position and target workstation of each tool to be transported, and the hanging order of each tool to be transported.

[0147] In some examples, the current transport task can be input by the user into the control device, or it can be transmitted to the control device through other devices. For example, the control device can be a desktop computer, a laptop computer, or a tablet computer, in which a software system for controlling and managing transport tasks is installed. The user can input or select various information such as the equipment information of each equipment to be transported, the initial position information of each equipment to be transported, the target docking position and target workstation of each equipment to be transported, and the hanging order of each equipment to be transported through the input interface provided by the system.

[0148] The current transport task may be a transport task for various types of transport tools, for example, a transport task for a wheeled tool and a wheelless tool.

[0149] S520, sending a first movement instruction to the traction robot, the first movement instruction including: initial position information and a hooking sequence of each appliance to be transported that needs to be transported in this task, so that the traction robot moves to the initial position of each appliance to be transported in turn, so as to connect the head and tail of each appliance to be transported into a column of appliances to be transported.

[0150] Specifically, in this embodiment, the docking robot may include: a lurking lifting robot and a lurking forklift robot; the equipment may include: a wheeled equipment and a wheelless equipment, the wheelless equipment is loaded on a traction trolley, and is connected to a traction robot or other equipment through the traction trolley. In this step, the wheelless equipment to be transported in this task may be loaded on the traction trolley in advance at the initial position of the wheelless equipment.

[0151] In practical applications, the initial positions of various tools to be transported may be at different positions or may be at the same position.

[0152] When the initial positions of each equipment to be transported are in different positions, the traction robot can be moved to the initial positions of each equipment to be transported in sequence according to the hanging order, so as to connect the traction trolleys loaded with wheelless equipment and the wheeled equipment that needs to be transported in this task in sequence head to tail to form a row of equipment to be transported.

[0153] When the initial positions of the various tools to be transported are at the same position, the traction robot can move directly to an initial position, and then connect multiple tools to be transported into a column of tools to be transported; in another possible implementation method, when the initial positions of the various tools to be transported are at the same position, the various tools to be transported can be pre-hooked into a column of tools to be transported.

[0154] When the traction robot has mounted all the equipment to be transported, the control device may execute step S530.

[0155] S530, sending a first transport instruction to the traction robot, so that the traction robot moves in the work area based on the docking position information and hanging sequence information of each target material docking position carried in the first transport instruction, so as to sequentially tow the multiple tools to be transported to the target material docking position of each tool to be transported.

[0156] In this step, the target material docking position information and the hooking sequence information of each tool to be transported can be obtained from the current transport task.

[0157] Specifically, in this step, each wheelless device to be transported and each wheeled device to be transported loaded on the traction trolley can be sequentially towed to the target material docking position of each device to be transported.

[0158] S540: Obtaining the tool type information of each tool to be transported mounted on the traction robot.

[0159] Specifically, the tool type information of each tool to be transported can be obtained from the current transport task.

[0160] S550, based on the tool type information of each tool to be transported, send a second transport instruction to the docking robots corresponding to each tool to be transported, so that each docking robot transports each tool to be transported from its corresponding target material docking position to the target workstation based on the docking position information of the target docking position and the workstation position information of the target workstation carried in the second transport instruction.

[0161] Specifically, the target workstation information of each tool to be transported can be obtained from the current transport task.

[0162] In this embodiment, after each tool to be transported is transported to the target docking position, based on the type of the tool to be transported, a second transport instruction can be sent to the corresponding latent lifting robot or latent forklift robot of the tool to be transported. Alternatively, after any tool to be transported is towed to the corresponding target material docking position, based on the type of the tool to be transported, a second transport instruction can be sent to the corresponding latent lifting robot or latent forklift robot of the tool to be transported, so that the latent lifting robot or latent forklift robot transports the wheelless tool or wheeled tool to the corresponding target workstation.

[0163] Specifically, when the equipment type information indicates that the equipment to be transported is a wheelless equipment, a second transport instruction can be sent to the latent lifting robot so that the latent lifting robot can transport the wheelless equipment from the target material docking position corresponding to the wheelless equipment to the target workstation.

[0164] When the equipment type information indicates that the equipment to be transported is a wheeled equipment, a second transport instruction can be sent to the latent forklift robot so that the latent forklift robot transports the wheeled equipment from the target material docking position corresponding to the wheeled equipment to the target workstation.

[0165] Generally, the bottom space of the wheeled device is low, while the bottom space of the traction trolley carrying the wheelless device is high; while the height of the latent lifting robot is high, while the height of the fork arm of the latent forklift robot is low. Therefore, due to the limitation of the bottom space height, the latent lifting robot can enter the bottom of the traction trolley, but cannot enter the bottom of the wheeled device; while the fork arm of the latent forklift robot can enter the bottom of the wheeled device. At this time, the corresponding relationship between the wheeled device and the latent forklift robot and the corresponding relationship between the wheelless device and the latent lifting robot can be established.

[0166] In some other embodiments, a lurking forklift robot may also be used to carry the wheelless implements on the traction trolley.

[0167] In some other cases, when the bottom space of some wheeled equipment is higher than the height of the latent lifting robot, the latent lifting robot can also be used to carry the wheeled equipment, which is also possible.

[0168] In addition, in this embodiment, when the control device sends the second handling instruction to the latent lift robot, the latent lift robot can carry the wheelless device from the traction trolley, while the traction trolley remains connected to the traction robot or the wheeled device or another traction trolley at its front end. When the control device sends the second handling instruction to the latent forklift robot, the wheeled device can be unhooked from the above-mentioned list of devices to be carried, and the latent forklift robot can carry the wheeled device.

[0169] If a traction trolley is also connected to the rear end of the wheeled device, the traction trolley can be unhooked first, and then the wheeled device can be moved by the hidden forklift; after the hidden forklift robot takes away the wheeled device, the unhooked traction trolley is connected to the traction robot or the wheeled device or another traction trolley at the front end of the wheeled device.

[0170] In this way, only the wheelless device can be transported without moving the traction trolley away from the array of devices to be transported, so that the traction robot continues to tow the empty traction trolley, so that when the traction trolley is needed in other occasions, the empty traction trolley can be used to avoid the situation where there are not enough traction trolleys.

[0171] The logistics transfer system shown in FIG1 only shows one traction robot. In other logistics transfer systems, multiple traction robots may be included. When multiple traction robots work in the same work area, in order to avoid collision between the traction robots and the equipment to be transported mounted behind them, the traction robots need to avoid each other.

[0172] Specifically, in the process of each traction robot moving in the work area, when the traction robot reaches a target material docking position each time, and after a latent lifting robot or a latent forklift robot moves away a tool to be transported, the traction robot can feedback the number information of the currently mounted traction trolleys and / or wheeled tools to the above-mentioned control device.

[0173] Then, when the control device receives the information on the number of currently mounted traction trolleys and / or wheeled equipment fed back by each traction robot after each traction robot arrives at the material docking position, it can calculate the remaining length information of the remaining equipment to be transported on each traction robot based on the information on the number of currently mounted traction trolleys and wheeled equipment fed back by each traction robot, as well as the pre-recorded length of each equipment to be transported and the total length of the equipment column to be transported, determine the current safety protection length of each traction robot based on the remaining length information, and send the current safety protection length of each traction robot to the corresponding traction robot, so that each traction robot can avoid obstacles based on the safety protection length.

[0174] Specifically, for each traction robot, the control device can calculate the remaining length information of the equipment to be transported on the traction robot based on the number information of the traction trolleys and / or wheeled equipment currently mounted on the traction robot and the length of the currently mounted traction trolleys and / or wheeled equipment; it can also use the total length of the pre-recorded column of equipment to be transported minus the length of the wheeled equipment that has been unhooked to calculate the remaining length information of the equipment to be transported on the traction robot.

[0175] In some examples, the safety protection length may be the distance from the head of the traction robot to the tail of the last of the remaining equipment to be transported. Therefore, the safety protection length may be the sum of the length of the traction robot and the remaining length information of the equipment to be transported.

[0176] In some examples, after obtaining the safety protection length, each traction robot can not only avoid obstacles based on the safety protection length, but also adjust its own turning radius based on its own safety protection length.

[0177] In order to more clearly illustrate a logistics transfer method according to an embodiment of the present invention, Figure 6 The interactive schematic diagram shown in FIG. 1 is used to illustrate that in this embodiment, the docking robot is selected based on the height of the bottom space of the device, such as Figure 6 As shown, the interaction process includes:

[0178] S610, the robot system obtains the task and sends the task to the traction robot;

[0179] In this embodiment, the robot system may be a software system installed in the control device.

[0180] S620, the traction robot arrives at the designated point of the system to hang the reception and handling equipment, and transports the equipment to the docking area;

[0181] S630, the robot system dispatches a latent lifting robot or a latent forklift robot to connect to the tool to be transported according to the bottom space of the tool; if the bottom space is high, the latent lifting robot is dispatched to execute step S640; if the bottom space is low, the latent forklift robot is dispatched to execute step S650;

[0182] Among them, the tasks acquired by the robot system may include the height information of the equipment, the bottom space height information of the latent lifting robot and the latent forklift robot.

[0183] S640, the lurking lifting robot goes to the bottom of the wheelless device in the docking area, lifts the wheelless device, and carries the wheelless device to the final position (work station);

[0184] S650, the lurking forklift robot goes to the docking area to pick up the wheeled equipment and transports the wheeled equipment to the final point (workstation);

[0185] After dispatching the latent lifting robot or the latent forklift robot, the robot system may execute S660;

[0186] S660, the robot system determines whether it is the last docking area according to the number of remaining equipment to be transported; if yes, the task is terminated; if not, step S670 is executed;

[0187] S670, the robot system adjusts the tractor space protection distance according to the quantity information and length of the remaining equipment to be transported; then a command may be sent to the traction robot, and the traction robot executes step S680;

[0188] S680: The traction robot tractions the remaining equipment to be transported to the next docking area.

[0189] For example, when a logistics transfer method according to an embodiment of the present invention is applied in the automotive industry, a worker can manually issue a task to a robot system, and the robot system can be installed on the above-mentioned control device. Figure 5 The current handling task in the logistics transfer method shown.

[0190] After receiving the task, the robot system can send the task to the traction robot, and the traction robot can reach the point specified by the robot system according to the task and automatically hang the traction structure of the transport tool to be received. The specified point here is Figure 5 The initial position information of each device to be transported in the logistics transfer method shown.

[0191] Then the traction robot tractions the equipment to be transported to the docking area. Figure 5 The area where the target material docking point in the logistics transfer method shown is located.

[0192] When the traction robot arrives at the docking area, it can report to the robot system, and then the robot system can dispatch a latent lifting robot or a latent forklift robot to dock the equipment to be transported according to the space at the bottom of the equipment.

[0193] Among them, the spatial height of the bottom of the device here refers to the distance between the bottom of the wheeled device and the ground, the distance between the bottom of the traction trolley loaded with the wheelless device and the ground, or the distance between the bottom of the wheelless device and the ground after the wheelless device is loaded on the traction trolley.

[0194] Then, when the bottom space is higher, that is, the distance between the bottom of the traction trolley loaded with the wheelless equipment and the ground is higher than the height of the latent lifting robot, the latent lifting robot can be dispatched to the bottom of the wheelless equipment in the docking area to lift the wheelless equipment and transport it to the final point (that is, the target workstation).

[0195] When the bottom space is low, that is, the distance between the bottom of the wheeled device and the ground is less than the height of the lurking lifting robot and greater than the height of the telescopic fork legs of the lurking forklift robot, the lurking forklift robot can be dispatched to the bottom of the wheeled device in the docking area to lift the wheeled device and move the wheeled device to the final point (that is, the target workstation).

[0196] In some examples, after any equipment to be transported is detached from the list of equipment to be transported mounted on the traction robot, the robot system can also determine whether it is the last docking area based on the quantity information of the remaining equipment to be transported towed by the robot system; for example, when the quantity is zero, it means that the docking area where the equipment to be transported is located is the last docking area, otherwise, it is not the last docking area.

[0197] If it is not zero, the robot system can also first adjust the spatial protection distance of the traction robot according to the quantity information and length of the remaining equipment to be transported, and then instruct the traction robot to continue moving to the target material docking position corresponding to the next equipment to be transported. After the traction robot reaches the target material docking position corresponding to the next equipment to be transported, it can continue to obtain the equipment type information of the equipment to be transported, and then based on the type of the equipment to be transported, send a second transport instruction to the latent lifting robot or latent forklift robot corresponding to the equipment to be transported, so that the latent lifting robot or latent forklift robot can transport the wheelless equipment or wheeled equipment to the corresponding target workstation.

[0198] In some examples, such as Figure 7 As shown, an embodiment of the present invention further provides a control device, the control device comprising:

[0199] Memory 710, for storing computer programs;

[0200] The processor 720 is used to implement any of the steps of the logistics transfer method described above when executing the program stored in the memory 710. For example, the following steps can be implemented:

[0201] Instruct the traction robot to mount multiple tools to be transported and move within the work area, so as to sequentially traction the multiple tools to be transported to the target material docking positions corresponding to the tools to be transported;

[0202] Instruct each docking robot to transport each tool to be transported from its corresponding target material docking position to the target workstation.

[0203] The control device provided in the embodiment of the present application, by using a traction robot in cooperation with a docking robot, the traction robot can mount multiple tools to be transported at a time, which significantly improves the efficiency compared to the lurking robot transporting one tool at a time; and the traction robot only moves in the logistics channel within the working area, and the docking robot only moves between the material docking position and the work station, so that the traction robot and the docking robot go their own ways, and there will be no congestion in the logistics channel within the working area, thereby effectively improving the transportation efficiency of the tools in the working area.

[0204] The communication bus mentioned in the above control device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0205] The communication interface is used for communication between the above electronic device and other devices.

[0206] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0207] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0208] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0209] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0210] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the method embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0211] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A logistics transfer system, characterized in that: Used for transferring materials in a work area (10), the work area (10) being provided with a logistics channel (15), a plurality of material docking positions (11) and a plurality of work positions (12); the system comprises: a traction robot (20), a plurality of docking robots (30) and a plurality of tools for loading materials; The traction robot (20) is used to mount a plurality of utensils to be transported (40) and move in the logistics channel (15) in the working area (10) to sequentially tug the plurality of utensils to be transported (40) to a target material docking position (11) corresponding to each of the utensils to be transported (40); Each of the docking robots (30) is used to transport each of the tools to be transported (40) from its corresponding target material docking position (11) to a target workstation (12).

2. The logistics transfer system according to claim 1, characterized in that: The plurality of docking robots (30) include docking robots (30) of multiple types; the plurality of tools include tools of multiple types, each tool corresponding to a docking robot (30); The traction robot (20) is used to mount multiple types of equipment to be transported (40) and move within the working area (10) to sequentially tug the multiple types of equipment to be transported (40) to target material docking positions (11) corresponding to the equipment to be transported (40); Each docking robot (30) is used to transport a to-be-carried tool (40) of a type corresponding to each docking robot (30) from a target material docking position (11) corresponding to each to-be-carried tool (40) to a target workstation (12).

3. The logistics transfer system according to claim 2, characterized in that: The plurality of types of docking robots (30) at least include: a lurking lifting robot (31); the plurality of types of tools at least include: a wheelless tool (41); the lurking lifting robot (31) corresponds to the wheelless tool (41); The logistics transfer system further comprises: a traction trolley (50); the traction trolley (50) is used to load the wheelless device (41); The traction robot (20) is capable of mounting the wheelless device (41) by mounting the traction trolley (50); The latent lifting robot (31) is used to pick up and place the wheelless device (41) on the traction trolley (50) at a target material docking position (11) corresponding to the wheelless device (41), and transport it to a target workstation (12).

4. The logistics transfer system according to claim 3, characterized in that: The plurality of types of docking robots (30) further include: a lurking forklift robot (32); the plurality of types of tools further include: a wheeled tool (42); the lurking forklift robot (32) corresponds to the wheeled tool (42); The traction robot (20) is capable of directly mounting the wheeled device (42); The lurking forklift robot (32) is used to transport the wheeled device (42) from a target material connection position (11) corresponding to the wheeled device (42) to a target workstation (12).

5. The logistics transfer system according to claim 4, characterized in that: A first traction rod (51) is provided at the front end of the traction trolley (50) in the forward direction, and a first hooking assembly (52) is provided at the end of the traction trolley (50) in the forward direction; A second traction rod (421) is provided at the front end of the pulley device (42) in the forward direction, and a second hooking assembly (422) is provided at the end of the pulley device (42) in the forward direction; The traction trolley (50) is connected to the traction robot (20), or the second connecting component (422) of the wheeled device (42), or the first connecting component (52) of another traction trolley (50) via the first traction rod (51); The wheeled device (42) is connected to the traction robot (20), or the first connecting component (52) of the traction trolley (50), or the second connecting component (422) of another wheeled device (42) via the second traction rod (421).

6. The logistics transfer system according to claim 5, characterized in that: The traction trolley (50) further comprises: a first movable chassis (53); the first movable chassis (53) is moved by a first wheel set (54) arranged at the bottom; The first traction rod (51) is rotatably arranged at the front end of the first mobile chassis (53), and the first hanging assembly (52) is arranged at the end of the first mobile chassis (53); A transport slot (55) is provided on the side of the first mobile chassis (53) along the forward direction, so that the latent lifting robot (31) can transport the wheelless device (41) carried on the first mobile chassis (53) through the transport slot (55).

7. The logistics transfer system according to claim 6, characterized in that: The latent lifting robot (31) comprises: a second mobile chassis (311), a lifting mechanism (312) and a lifting platform (313); wherein the lifting mechanism (312) and the lifting platform (313) are arranged on the top of the second mobile chassis (311); the lifting mechanism (312) is used to lift the lifting platform (313) to lift the wheelless device (41), so that the latent lifting robot (31) moves the wheelless device (41) away from the traction trolley (50) from the transport slot (55).

8. The logistics transfer system according to claim 4, characterized in that: The lurking forklift robot (32) comprises: a telescopic fork leg (321) and a vehicle body (322). The telescopic fork leg (321) is used to extend into the bottom of the wheeled device (42) and lift the wheeled device (42) after the lurking forklift robot (32) moves to one side of the wheeled device (42) to be transported; The vehicle body (322) is used to move to the bottom of the wheeled device (42) after the wheeled device (42) is lifted, and to transport the wheeled device (42) to the target workstation (12).

9. The logistics transfer system according to claim 1, characterized in that: The plurality of utensils to be transported (40) are pre-connected to each other to form a column of utensils to be transported; the traction robot (20) comprises: a main body (21) and a hanging rack device (22); the main body (21) of the traction robot (20) is hung with the traction rod of the first utensils to be transported (40) in the column of utensils to be transported via the hanging rack device (22) so as to hang the plurality of utensils to be transported (40).

10. The logistics transfer system according to claim 9, characterized in that: The hanger device (22) comprises: a traction bearing seat (221) and a traction assembly body (222); the traction assembly body (222) is mounted on the traction bearing seat (221), and the traction assembly body (222) is used to be hung with the traction rod of the first tool to be transported (40) in the column of tools to be transported.

11. The logistics transfer system according to any one of claims 1 to 10, characterized in that: The logistics transfer system also includes: a control device; The control device is respectively connected to the traction robot (20) and the plurality of docking robots (30) for communication, and is used to instruct the traction robot (20) to mount the plurality of utensils to be transported (40) and move within the working area (10), so as to sequentially tow the plurality of utensils to be transported (40) to a target material docking position (11) corresponding to each of the utensils to be transported (40); and to instruct each of the docking robots (30) to transport each of the utensils to be transported (40) from its corresponding target material docking position (11) to a target workstation (12).

12. A logistics transfer method, characterized in that: Applied to a control device, the control device is communicatively connected with the traction robot and the plurality of docking robots in the logistics transfer system according to any one of claims 1 to 11; The method comprises: Instructing the traction robot to mount a plurality of tools to be transported and move within the work area, so as to sequentially traction the plurality of tools to be transported to target material docking positions corresponding to the tools to be transported; Instruct each of the docking robots to transport each of the tools to be transported from its corresponding target material docking position to the target workstation.

13. The method according to claim 12, characterized in that The plurality of docking robots include multiple types of docking robots; the plurality of tools include multiple types of tools, and each tool corresponds to a docking robot; The command traction robot is mounted with a plurality of tools to be transported and moves in the work area to sequentially traction the plurality of tools to be transported to target material docking positions corresponding to the tools to be transported, including: Sending a first transport instruction to the traction robot, so that the traction robot moves in the work area based on the docking position information of each target material docking position carried in the first transport instruction, so as to sequentially tug the multiple appliances to be transported to the target material docking position of each of the appliances to be transported; The instructing each docking robot to transport each of the to-be-carried tools from its corresponding target material docking position to a target workstation includes: Obtaining tool type information of each tool to be transported mounted on the traction robot; Based on the tool type information of each tool to be transported, a second transport instruction is sent to the docking robots corresponding to each tool to be transported, so that each docking robot transports each tool to be transported from its corresponding target material docking position to the target workstation based on the docking position information of the target docking position and the workstation position information of the target workstation carried in the second transport instruction.

14. The method according to claim 13, characterized in that Before sending the first handling instruction to the traction robot, the method further includes: Obtaining a current transport task, wherein the current transport task includes: equipment information of each equipment to be transported, initial position information of each equipment to be transported, and a mounting order of each equipment to be transported; Sending a first movement instruction to the traction robot, wherein the first movement instruction includes: initial position information and a hooking sequence of each appliance to be transported that needs to be transported in this task, so that the traction robot moves to the initial positions of each appliance to be transported in sequence, so as to connect the end portions of each appliance to be transported into a row of appliances to be transported; The obtaining of the equipment type information of each equipment to be transported mounted on the traction robot includes: obtaining the equipment type information from the equipment information of each equipment to be transported.

15. The method according to claim 14, characterized in that The multiple types of docking robots include: a lurking lifting robot and a lurking forklift robot; the multiple types of tools include: a wheeled tool and a wheelless tool, the lurking lifting robot corresponds to the wheelless tool, and the lurking forklift robot corresponds to the wheeled tool; the logistics transfer system also includes: a traction trolley; the wheelless tool is loaded on the traction trolley; The first movement instruction is sent to the traction robot, wherein the first movement instruction includes: initial position information and a hooking sequence of each of the tools to be transported that need to be transported in this task, so that the traction robot moves to the initial positions of each of the tools to be transported in sequence, so as to connect the heads and tails of each of the tools to be transported into a column of tools to be transported, including: The wheelless equipment to be transported in this mission is loaded onto the traction trolley, and the traction robot is instructed to connect the traction trolleys loaded with wheelless equipment and the wheeled equipment to be transported in this mission in sequence, head to tail, into a column of equipment to be transported based on the initial position information and the hooking sequence of each equipment to be transported.

16. The method according to claim 15, characterized in that The sending of the first transport instruction to the traction robot so that the traction robot moves in the work area based on the docking position information of each target material docking position carried in the first transport instruction, so as to sequentially tug the plurality of different types of equipment to be transported to the target material docking position of each equipment to be transported, comprises: Sending a first handling instruction to the traction robot, so that the traction robot moves in the work area based on the docking position information and the hooking sequence information of each target material docking position carried in the first handling instruction, so as to sequentially trolleys loaded with wheelless equipment and wheeled equipment to be transported in this task to the target material docking positions of each of the equipment to be transported; The method of sending a second transport instruction to a docking robot corresponding to each of the tools to be transported based on the tool type information of each tool to be transported, so that each of the docking robots transports each of the tools to be transported from its corresponding target material docking position to the target workstation based on the docking position information of the target docking position and the workstation position information of the target workstation carried in the second transport instruction, comprises: When any equipment to be transported is towed to the corresponding target material docking position, based on the type of the equipment to be transported, a second transport instruction is sent to the latent lifting robot or latent forklift robot corresponding to the equipment to be transported, so that the latent lifting robot or latent forklift robot transports the wheelless equipment or the wheeled equipment to the corresponding target workstation.

17. The method according to claim 16, characterized in that The method further comprises: When the wheelless device is taken away from the traction trolley by the latent lifting robot, the traction trolley remains connected to the traction robot or the wheeled device or another traction trolley at its front end; Before the latent forklift robot forks the wheeled device, if a traction trolley is also connected to the rear end of the wheeled device, the second handling instruction is sent to the latent forklift robot after the traction trolley is unhooked, so that the latent forklift robot forks the wheeled device and moves to the target workstation; after the latent forklift robot takes away the wheeled device, the unhooked traction trolley is connected to the traction robot or the wheeled device or another traction trolley at the front end.

18. The method according to claim 15, characterized in that The logistics transfer system includes a plurality of traction robots, and the method further includes: During the movement of each traction robot in the work area, the number information of the currently mounted traction trolley and / or wheeled device is received after each traction robot reaches the target material docking position each time; Based on the number information of the currently mounted traction trolleys and / or wheeled appliances fed back by each traction robot, as well as the pre-recorded length of each appliance to be transported and the total length of the array of appliances to be transported, the remaining length information of the appliances to be transported remaining on each traction robot is calculated respectively; Determine the current safety protection length of each traction robot based on the remaining length information; The current safety protection length of each traction robot is sent to the corresponding traction robot, so that each traction robot can avoid obstacles based on the safety protection length.

19. A control device, characterized in that: The control device includes: Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 12-18 when executing a program stored in a memory.

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