Warehousing system and transfer robot

Abstract

The invention provides a warehousing system and a transfer robot, and relates to the technical field of warehousing, the warehousing system comprises the movable transfer robot, and the transfer robot comprises a pallet fork assembly, a chassis, a stand column, a supporting frame and a first lifting mechanism. The chassis is movably arranged, the stand column extends in the vertical direction, and one end of the stand column is fixed to the chassis. The pallet fork assembly is used for carrying and lifting a target material box, and under the state that the supporting frame is connected with the stand column, the first lifting mechanism can drive the supporting frame to move in the vertical direction relative to the stand column. The supporting frame is detachably connected with the stand column, the pallet fork assembly is detachably connected with the supporting frame, and the assembling error between the supporting frame and the stand column is detachably corrected, so that the vertical reference of all parts in the pallet fork assembly relative to the stand column can be kept, and the accumulative error generated when all the parts of the pallet fork assembly are assembled with the stand column is reduced; the assembling consistency of one or more carrying mechanisms is improved, the risk of taking and placing deviation of the target material box is reduced, and the goods taking and placing accuracy of the carrying robot is improved.

Description

Technical Field

[0001] The present invention belongs to the field of warehousing technology, and more specifically, relates to a warehousing system and a handling robot. Background Art

[0002] With the rapid development of artificial intelligence, automation, and information technology, the intelligence level of terminal logistics is also increasing. Intelligent logistics terminals are the development trend of terminal logistics. Handling robots are one of the main devices that can realize intelligent logistics terminals and perform automated handling operations. Handling robots can reduce heavy manual labor and improve handling efficiency. However, the assembly errors of related handling robots are large, which can easily cause deviation during the cargo placement process, affecting the handling robot's cargo placement accuracy. Summary of the Invention

[0003] In view of this, the present invention provides a transport robot and a warehousing system to solve the technical problem of how to improve the accuracy of cargo picking and placing by the transport robot.

[0004] The technical solution provided by the embodiment of the present invention is implemented as follows:

[0005] An embodiment of the present invention provides a warehousing system and a handling robot, including:

[0006] a chassis, movably arranged;

[0007] A column extending in a vertical direction, with one end fixed to the chassis;

[0008] A support frame is detachably connected to the column, and when the support frame is connected to the column, the support frame can move in a vertical direction relative to the column;

[0009] a fork assembly detachably connected to the support frame, the fork assembly being used to lift a target material box, the target material box including at least one material box;

[0010] The first lifting mechanism is used to drive the support frame to move relative to the column.

[0011] In some embodiments, the support frame comprises:

[0012] a first support member rotatably connected to the fork assembly via a rotary power device, with an axis of rotation along a vertical direction and passing through the center of the fork assembly;

[0013] A second support member is arranged perpendicularly relative to the first support member, the second support member and the column are limited in at least a first direction and a second direction, and the second support member can move in a vertical direction relative to the column, the first direction is perpendicular to the second direction, and the vertical direction is perpendicular to the first direction and the second direction.

[0014] In some embodiments, the maximum radius of the fork assembly is smaller than the minimum distance from the center of the fork assembly to the second support member.

[0015] In some embodiments, the second support member includes:

[0016] A fixing portion, wherein a partially open limiting cavity is formed in the fixing portion, and the column portion is disposed in the limiting cavity;

[0017] The movable part is movably connected to the fixed part, and the movable part abuts between the column and the fixed part.

[0018] In some embodiments, the fork assembly includes:

[0019] A storage chamber is provided inside the storage chamber, and at least one end of the storage chamber is open;

[0020] a first transport mechanism disposed in the storage chamber, the first transport mechanism being retractable in a horizontal direction to transport a group of material boxes above a target material box;

[0021] a second transport mechanism disposed in the storage chamber and below the first transport mechanism, the second transport mechanism being capable of extending and retracting in a horizontal direction to transport a target material box to the storage chamber;

[0022] Wherein, at least one of the first transport mechanism and the second transport mechanism can move in a vertical direction.

[0023] In some embodiments, the top and one side of the warehouse body are provided with openings; the support frame is connected to the end wall of the fork assembly in the vertical direction through the rotary power device.

[0024] In some embodiments, the transport robot further comprises:

[0025] an image acquisition device fixed to the fork assembly, for acquiring an image of a target box to be transported by the fork assembly, the image including a QR code on the target box and / or an outline of the target box;

[0026] A controller is used to adjust the position of the fork assembly relative to the target material box according to the QR code on the target material box and / or the outline of the target material box.

[0027] In some embodiments, the fork assembly is disposed on one side of the column in the first direction, and the column and the chassis together form a cache location for storing the container group on the other side of the first direction.

[0028] An embodiment of the present invention provides a warehousing system, which includes the above-mentioned transport robot, and further includes:

[0029] A shelf, the top surface of which is used to store stacked boxes, the stacked boxes including at least one box, and the height of the shelf is greater than or equal to the chassis height of the transport robot.

[0030] In some embodiments, the shelves are provided as one or more layers. In the case where the shelves are provided as more than one layer, each layer of the shelves can store the stacked boxes.

[0031] Embodiments of the present invention provide a warehousing system and a handling robot. The warehousing system includes a movable handling robot comprising a fork assembly, a chassis, a column, a support frame, and a first lifting mechanism. The chassis is movably arranged, and the column extends vertically with one end fixed to the chassis. Thus, the chassis can drive the column to move horizontally. The fork assembly is used to lift a target material box. The fork assembly is equipped with one or more handling mechanisms capable of lifting the material box. The target material box includes at least one material box. The support frame is detachably connected to the column, and the fork assembly is detachably connected to the support frame, i.e., the fork assembly is connected to the column via the support frame. By simply detachably correcting the assembly error between the support frame and the column, the assembly error of each component of the fork assembly relative to the column can be corrected, thereby maintaining the vertical reference of each component of the fork assembly. This simplifies the operation of separately correcting the one or more handling mechanisms of the fork assembly relative to the column, reduces the cumulative error caused by the separate assembly of the one or more handling mechanisms with the column, and improves the assembly consistency of the one or more handling mechanisms. When the support frame is connected to the column, the first lifting mechanism drives the support frame to move vertically relative to the column, causing the fork assembly to rise or fall relative to the column to the height of the target bin. The one or more handling mechanisms in the fork assembly maintain a high degree of assembly consistency. Even if the first lifting mechanism drives the fork assembly to any height within the column height range, each handling mechanism maintains a high vertical reference, allowing the fork assembly to accurately lift the target bin, reducing the risk of misalignment when picking up and placing the target bin and improving the accuracy of the handling robot when picking up and placing goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A three-dimensional diagram of a storage system in an embodiment of the present application;

[0033] Figure 2This is a schematic diagram of the transport robot in the embodiment of the present application transporting goods in the first embodiment;

[0034] Figure 3 This is a schematic diagram of the transport robot in the embodiment of the present application transporting goods in the second embodiment;

[0035] Figure 4 A perspective view of a transport robot in an embodiment of the present application;

[0036] Figure 5 This is a structural diagram of the first lifting mechanism in an embodiment of the present application;

[0037] Figure 6 This is a top view of the assembly of the support frame in the embodiment of the present application;

[0038] Figure 7 for Figure 6 3D exploded view of

[0039] Figure 8 is a three-dimensional diagram of a fork assembly in an embodiment of the present application;

[0040] Figure 9 for Figure 8 A partial schematic diagram of .

[0041] Description of reference numerals:

[0042] 1. Fork assembly; 11. Warehouse; 111. Storage chamber; 112. End opening; 113. Side opening; 114. First side; 12. First transport mechanism; 13. Second transport mechanism; 131. Second active synchronous pulley; 132. Second driven synchronous pulley; 133. Second synchronous belt; 134. Third motor; 135. Mounting plate; 136. Telescopic arm; 1361. First telescopic arm; 1362. Second telescopic arm; 137. Hook; 138. First slider guide rail; 139. Second slider guide rail; 14. Second lifting mechanism; 141. Slide rail; 142. Lifting assembly; 1421. Fourth motor; 1422. Third active synchronous pulley; 1423. Third driven synchronous pulley; 1424. Third synchronous belt; 2. Chassis ;21. Roller;22. Cache position;23. Rib;3. Column;31. First extension portion;32. Second extension portion;33. Third extension portion;34. Slot;4. Support frame;41. First support member;42. Second support member;421. Fixed portion;422. Movable portion;423. Limiting cavity;5. First lifting mechanism;51. First motor;52. First driving gear;53. First driven gear;54. First driving synchronous wheel;55. First driven synchronous wheel;56. First synchronous belt;6. Rotating power device;61. Second motor;62. Second driving gear;63. Second driven gear;7. Image acquisition device;8. Shelf;81. Shelf top surface;82. Support column;83. First shelf;84. Second shelf. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0044] The various specific technical features described in the specific embodiments may be combined in any suitable manner, unless they are inconsistent. For example, different embodiments and technical solutions may be formed by combining different specific technical features. To avoid unnecessary repetition, the various possible combinations of the specific technical features in the present invention will not be described separately.

[0045] In the following description, the terms "first, second, etc." are used solely to distinguish different objects and do not imply any similarities or connections between the objects. It should be understood that the directions "above," "below," "outside," and "inside" refer to directions during normal use. The directions "left" and "right" refer to the left-right directions shown in the corresponding schematic diagrams, which may or may not be the left-right directions during normal use.

[0046] It should be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element. "A plurality" means greater than or equal to two.

[0047] It should be noted that the stored goods in the embodiment of the present invention can be packed in boxes. For the sake of simplicity, the goods are represented by boxes. The boxes are not limited to parameters such as shape and size. All the boxes in the warehouse can be one or more standard parts. Of course, in other embodiments, the stored goods can also be represented directly by the goods themselves or in other forms without being packed in boxes. Figure 1 This is a three-dimensional diagram of the storage system in the embodiment of the present application, such as Figure 1 As shown, multiple bins are stacked vertically to form a row of bins, and multiple rows of bins can also be stored in a warehouse. The stacking of multiple bins described in the embodiments of the present invention means that the stacking of adjacent bins in each stack does not require the use of shelves for support, and the vertical surfaces of adjacent bins in the same row are at least partially in contact with each other. It is understood that the floor of the warehouse is generally horizontal, that is, the extension direction of each row of bins is perpendicular to the ground; of course, the floor of the warehouse may have uneven areas, that is, the horizontal surface is not required to be absolutely horizontal, and therefore, the corresponding vertical direction is not required to be absolutely vertical, and the existence of errors due to ground levelness and bin processing errors is allowed.

[0048] Reference Figure 1 The warehousing system shown in the embodiment of the present invention includes a handling robot capable of picking up and placing boxes between the warehouse and the storage workstation, and transporting boxes between the warehouse and the storage workstation. The operator sends an outbound instruction to the handling robot, which controls the handling robot to transport the boxes to be shipped from a designated location in the warehouse to the storage workstation. The operator also sends an inbound instruction to the handling robot, which controls the handling robot to transport the boxes to be shipped from the designated location in the storage workstation to the warehouse. For simplicity, the boxes to be shipped and the boxes to be shipped that are grasped by the handling robot are collectively referred to as target boxes.

[0049] The handling robot includes a fork assembly 1, a chassis 2, a column 3, a support frame 4, and a lifting mechanism 5. The fork assembly 1 is used to lift a target bin and is equipped with one or more movable handling mechanisms to facilitate lifting the target bin. It should be noted that the target bin can be a single bin or multiple bins. Figure 2This is a schematic diagram of the transport robot in the embodiment of the present application carrying a target material box in the first embodiment. Figure 3 This is a schematic diagram of the transport robot in the embodiment of the present application carrying the target material box in the second embodiment. Figure 2 In the schematic diagram shown, the handling robot is in the process of grabbing a target box (a1) at a time; Figure 3 In the schematic diagram shown, the handling robot is in the process of grabbing multiple target boxes (a1, a2, a3...an) at one time. This application does not limit the number of target boxes that the fork assembly 1 can lift, as long as the fork assembly 1 can lift the target boxes.

[0050] Figure 4 This is a perspective view of the transport robot in the embodiment of the present application, refer to Figure 4 , the column 3 extends in the vertical direction and one end is connected to the chassis 2, and the fork assembly 1 is connected to the column 3 through the support frame 4. The chassis 2 is movable and can drive the fork assembly 1 to move in the horizontal direction to move the fork assembly 1 to a position close to the target material box or near the position where the target material box is to be stored. The movable chassis 2 means that the chassis 2 can move relative to the ground or other surfaces. In some embodiments, the chassis 2 is provided with a roller 21 on the side close to the ground, and the roller 21 can be driven to drive the chassis 2 to move in the horizontal direction, so that the handling robot drives the target material box to move in the horizontal direction. After responding to the storage instruction or the outbound instruction of the target material box, the roller 21 of the chassis 2 can be driven to move, so that the handling robot moves to a position close to the target material box or near the position where the target material box is to be stored according to the position information in the instruction.

[0051] It should be noted that the aforementioned "horizontal direction" includes the front-back direction where the first direction is located and the left-right direction where the second direction is located. The horizontal direction is the extension direction of the plane where the first direction and the second direction are located. That is to say, the handling robot in the embodiment of the present invention can move in various horizontal directions of front, back, left and right. It should be noted that the aforementioned "front, back, left and right" represent the directions in the paper shown in the schematic diagram of the present invention, wherein the direction where the first direction is located is the direction in which the roller 21 moves forward and backward in a straight line in an actual application scenario. The direction in which the column 3 extends represents the direction of the maximum dimension of the column 3. In the embodiment of the present invention, the direction of the maximum dimension of the column 3 represents the height direction of the column 3. That is to say, under normal working conditions, the height direction of the column 3 is in the vertical direction, and the vertical surface of the column 3 has the maximum outline dimension of the column 3. It can be understood that under normal working conditions, the ground or other surface on which the chassis 2 moves is a horizontal plane, and the surface perpendicular to the horizontal plane of the column 3 is a vertical plane. However, this does not mean that both the horizontal plane and the vertical plane need to be absolutely horizontal and vertical. The horizontal plane allows for the existence of uneven errors in the ground and the existence of ground slopes, and the vertical plane allows for the existence of processing errors between the chassis 2 and the column 3. As long as they are roughly horizontal and vertical under normal working conditions, it will be fine.

[0052] The fork assembly 1 is connected to the column 3 via the support frame 4. By calibrating the various surfaces of the support frame 4 according to the horizontal and height references of the column 3, the height references of the assembled fork assembly 1 and the column 3 can be aligned. It should be noted that the aforementioned "reference alignment" means that the vertical surface of the fork assembly 1 and the vertical surface of the column 3 are roughly flush within the range of the processing error of the fine processing. Compared with the implementation method in which one or more transport mechanisms are respectively arranged on the vertical surface of the column 3, the embodiment of the present invention realizes the assembly of the fork assembly 1 and the column 3 by connecting the support frame 4 and the column 3. It is only necessary to calibrate the assembly error between the support frame 4 and the column 3 to calibrate the assembly error of each component in the fork assembly 1 relative to the column 3, which simplifies the operation process of calibrating the column 3 separately by one or more transport mechanisms, reduces the cumulative error caused by the assembly of one or more transport mechanisms with the column 3 separately, and improves the assembly consistency of one or more transport mechanisms.

[0053] When the support frame 4 is connected to the column 3, the first lifting mechanism 5 can drive the support frame 4 to move vertically relative to the column 3. That is, the first lifting mechanism 5 can drive the support frame 4 to rise and fall relative to the column 3 to achieve the lifting and lowering of the fork assembly 1. The vertical travel of the fork assembly 1 is related to the height of the column 3. The support frame 4 can move the fork assembly 1 to any position within the height range of the column 3. Therefore, it can be understood that the height of the column 3 is much greater than the height of the support frame 4. The large height of the column 3 is prone to vertical machining errors, which is not conducive to the machining of the column 3. In the embodiment of the present invention, the support frame 4 is detachably connected to the column 3, and the fork assembly 1 is detachably connected to the support frame 4. When there is a small processing error in the vertical surface of the column 3, it is only necessary to detachably adjust the assembly gap between the support frame 4 and the column 3 to compensate for the small processing error in the vertical surface of the column 3; when there is a large processing error in the vertical surface of the column 3, there is no need to rework the column 3 for a second time. It is only necessary to disassemble and adjust the flatness of each surface of the support frame 4 or the verticality between adjacent surfaces to compensate for the large processing error in the vertical surface of the column 3, thereby reducing the processing difficulty of the column 3.

[0054] After the transport robot drives rollers 21 to a position near the target bin or the location where the target bin is to be stored, it activates the first lifting mechanism 5, causing the fork assembly 1 to rise or fall as a whole to the height of the level corresponding to the target bin. One or more transport mechanisms maintain a high degree of assembly consistency. Even if the first lifting mechanism 5 causes the fork assembly 1 to change its relative position with the column 3, each transport mechanism maintains a high vertical reference, facilitating the fork assembly 1's precise lifting of the target bin. This improves the transport robot's accuracy in picking up and placing the target bin, facilitating accurate placement of the target bin.

[0055] It should be noted that the embodiment of the present invention does not limit the specific structure of the first lifting mechanism 5. For example, the first lifting mechanism 5 can adopt a synchronous wheel, synchronous belt, gear rack and roller thick steel rope, etc. to realize the lifting of the fork assembly 1. Regardless of the structure of the first lifting mechanism 5, as long as the first lifting mechanism 5 can realize the lifting of the fork assembly 1, it can be used. Figure 5 This is a schematic diagram of the structure of the first lifting mechanism 5 in the embodiment of the present application. In some embodiments of the present invention, refer to Figure 5 The second lifting mechanism 5 uses a first motor 51 to drive the first driving gear 52 to rotate. The first driving gear 52 is engaged with the first driven gear 53 and rotates synchronously. The first driven gear 53 is coaxially connected to the first driving synchronous wheel 54. The first synchronous belt 56 is sleeved on the first driving synchronous wheel 54 and the first driven synchronous wheel 55. As the first driven gear 53 rotates, the first driving synchronous wheel 54 and the first driven synchronous wheel 55 rotate synchronously. Figure 4The fork assembly 1 is connected to the first synchronous belt 56 and can be raised and lowered in the vertical direction as the first motor 51 rotates.

[0056] In summary, embodiments of the present invention provide a warehousing system and a handling robot. The warehousing system includes a movable handling robot comprising a fork assembly 1, a chassis 2, a column 3, a support frame 4, and a first lifting mechanism 5. The chassis 2 is movably arranged, and the column 3 extends vertically with one end fixed to the chassis 2. The chassis 2 drives the column 3 in horizontal motion. The fork assembly 1 is used to lift target bins, which may include at least one bin. The fork assembly 1 includes one or more handling mechanisms capable of lifting the bins. The support frame 4 is detachably connected to the column 3, and the fork assembly 1 is detachably connected to the support frame 4. That is, the fork assembly 1 is connected to the column 3 via the support frame 4. The assembly errors of various components of the fork assembly 1 relative to the column 3 can be corrected by simply detachably correcting the assembly errors between the support frame 4 and the column 3. This simplifies the process of separately correcting the one or more handling mechanisms in the fork assembly 1 relative to the column 3, reduces the cumulative errors caused by the separate assembly of one or more handling mechanisms with the column 3, and improves the assembly consistency of the one or more handling mechanisms. When support frame 4 is connected to column 3, first lifting mechanism 5 drives support frame 4 to move vertically relative to column 3, causing fork assembly 1 to rise or fall relative to the column to the height of the target bin level. The one or more handling mechanisms in fork assembly 1 maintain a high degree of assembly consistency. After fork assembly 1 moves to any height within the height range of column 3, each handling mechanism maintains a high vertical reference, reducing the risk of misalignment when picking up and placing the target bin and improving the handling robot's accuracy in picking and placing goods.

[0057] In some embodiments, reference Figure 4 The handling robot also includes a rotary power unit 6, which is used to drive the fork assembly 1 to rotate vertically relative to the support frame 4. The support frame 4 includes a first support member 41 and a second support member 42 that are perpendicularly connected to each other. That is, the support frame 4 is generally L-shaped. Of course, in other embodiments, the support frame 4 can also be configured as other shapes, such as a regular U-shape. However, configuring the support frame 4 as an L-shape can increase the open area of the support frame 4 on the side closest to the fork assembly 1, thereby facilitating the movement of the fork assembly 1 into the support frame 4.

[0058] The second support member 42 is movably connected to the column 3 in the vertical direction, that is, the second support member 42 is connected to the first synchronous belt 56, and the first synchronous belt 56 drives the second support member 42 to move relative to the column 3 in the vertical direction. The column 3 can serve as a vertical guide for the second support member 42 to facilitate the stable sliding of the second support member 42 in the vertical direction. Figure 4The second support member 42 is capably connected to the column 3 in at least the first and second directions. As previously mentioned, the horizontal direction includes the first and second directions, and therefore, the vertical direction is perpendicular to the first and second directions. In other words, the second support member 42 is capably connected to the column 3 in the horizontal direction and is movably connected in the vertical direction. During the raising and lowering of the fork assembly 1 relative to the column 3, the fork assembly 1 maintains a stable horizontal connection with the column 3.

[0059] It should be noted that the first direction is Figure 3 In the N1 direction shown, the direction of the N1 arrow is the positive direction of the first direction, which is also the front in the schematic diagram; the direction of N1 away from the arrow is the negative direction of the first direction, which is also the back in the schematic diagram; the first direction includes the direction of the N1 arrow and the direction of the N1 away from the arrow. The second direction is Figure 3 In the direction of N2 shown, the direction indicated by the arrow N2 is the positive direction of the second direction, which is also the right direction in the schematic diagram; the direction N2 points away from the arrow is the negative direction of the second direction, which is also the left direction in the schematic diagram; the second direction includes the direction indicated by the arrow N2 and the direction N2 points away from the arrow. It can be understood that the horizontal direction includes the N1 direction and the N2 direction.

[0060] Figure 6 This is a top view of the assembly of the support frame 4 in the embodiment of the present application. Figure 7 for Figure 6 3D exploded view, refer to Figure 6 and Figure 7 , the first support member 41 is rotatably connected to the fork assembly 1 through the rotary power device 6. It should be noted that the vertical direction is Figure 7 In the direction N3 shown, the direction of the arrow N3 is the positive vertical direction, which is also the upper direction in the diagram; the direction N3 is away from the arrow is the negative vertical direction, which is also the lower direction in the diagram; the vertical direction includes the direction of the arrow N3 and the direction N3 is away from the arrow. The rotary power device 6 drives the fork assembly 1 to rotate relative to the support frame 4 around the vertical direction, so that one or more transport mechanisms in the fork assembly 1 rotate a certain angle in the θ direction. Wherein, the θ direction is Figure 7 In the diagram, the direction in which the fork assembly 1 rotates horizontally around N3 is Figure 7 The dotted line x1 shows the position of the fork assembly 1 before rotation. Figure 7 The dashed line x2 shown indicates the position of the fork assembly 1 after rotating through an angle θ. The rotary power device 6 can adjust the angle of the fork assembly 1 in the θ direction.

[0061] Reference Figures 1 to 7After the transport robot moves to a position close to the target bin or the position where the target bin is to be stored, the first lifting mechanism 5 drives the fork assembly 1 to rise or fall to the height of the layer where the target bin is located. The transport robot drives the fork assembly 1 to rotate by an angle θ in the horizontal direction through the rotary power device 6, so that the fork assembly 1 is aligned according to the position information of the target bin or the position information of the target bin to be stored. It can be understood that alignment means aligning the position, that is, one or more transport mechanisms in the fork assembly 1 are aligned with the position of the corresponding bin. The alignment standard can be that the transport mechanism can accurately grasp and move the corresponding bin. Among them, the deviations in various directions during the alignment process are adjusted separately by various mechanisms and devices. Specifically, the position deviation in the first direction (front and back) is adjusted by the roller 21, the position deviation in the second direction (left and right) is adjusted by the length of the extension of one or more transport mechanisms, the position deviation in the vertical direction (up and down) is adjusted by the first lifting mechanism 5, and the angular deviation in the θ direction is adjusted by the rotary power device 6. The deviation adjustment in each direction is independently controlled and can be performed synchronously, which reduces the alignment time of the target material box, reduces the difficulty of differential speed control of the roller 21 during the alignment process, and improves the handling efficiency of the target material box.

[0062] Reference Figure 7 In some embodiments of the present invention, the rotary power device 6 includes a second motor 61, a second driving gear 62 and a second driven gear 63. The second motor 61 is coaxially connected to the second driving gear 62, and the second driving gear 62 is meshed with the second driven gear 63. The upper end face of the second driven gear 63 is connected to the fork assembly 1, and the lower end face is rotatably connected to the support frame 4. The rotation of the second motor 61 drives the second driving gear 62 to rotate, thereby causing the second driven gear 63 to drive the fork assembly 1 to rotate. Of course, the rotary power device 6 can also adopt a rotation method other than gear meshing. The rotary power device 6 can be set at the upper end of the fork assembly 1, or at the lower end or side of the fork assembly 1. The present application does not limit the specific structure and specific setting position of the rotary power device 6, as long as the rotary power device can realize the angle adjustment of the fork assembly 1 in the θ direction.

[0063] Reference Figure 7 The rotation axis of the first support member 41 extends in the vertical direction and passes through the center of the fork assembly 1. It should be noted that the center of the fork assembly 1 refers to the geometric midpoint of the end face of the fork assembly 1 in the vertical direction, as shown in FIG. Figure 7 o1 shown; the center of rotation of the first support member 41 represents the geometric midpoint of the end surface of the first support member 41 in the vertical direction, as Figure 7 o2 in the figure is also the rotation center of the second driven gear 63. Figure 7A vertical rotation axis z is defined, starting at o2 and passing through the geometric midpoint o1 of the fork assembly 1. The module formed by assembling the fork assembly 1 and the support frame 4 is defined as a rotating fork. The rotation center of the first support member 41 is aligned with the center of the fork assembly 1. This ensures that the rotating fork maintains a stable center of gravity during rotation, reducing the risk of interference between the boundary contour of the fork assembly 1 and the second support member 42. This improves the rotational stability of the fork assembly 1, thereby enhancing the handling stability of the target bin.

[0064] In some embodiments, reference Figure 6 The maximum radius r1 of the fork assembly 1 is less than the minimum distance r2 from the center o1 of the fork assembly 1 to the second support member 42. That is, during adjustment of the angle of the fork assembly 1, the boundary contour of the fork assembly 1 does not interfere with the boundary contour of the second support member 42. The rotary power device 6 can drive the fork assembly 1 to rotate at any angle within a 360° range, thereby improving the compatibility of the fork assembly 1 with respect to angle adjustment. In some embodiments, r2-r1≤50mm, that is, the minimum distance between the boundary contour of the fork assembly 1 and the boundary contour of the second support member 42 is less than or equal to 50mm. This reduces the risk of the fork assembly 1's rotating force arm being too far from the second support member 42 due to the torque, thereby reducing the risk of the rotating fork's rotation center and the center of gravity of the rotating fork being significantly offset and tilting. This can extend the service life of the rotary power device 6 and improve the horizontal reference of the fork assembly 1.

[0065] In some embodiments, reference Figure 7 The second support member 42 includes a fixed portion 421 and a movable portion 422. A partially open limiting cavity 423 is formed in the fixed portion 421. The opening of the limiting cavity 423 extends through at least both ends in the vertical direction to prevent the second support member 42 from sliding in the vertical direction. The movable portion 422 is movably connected to the fixed portion 421. The fixed portion 421 fixes and supports the first support member 41. The movable portion 422 movably connects the fixed portion 421 and the column 3, allowing the column 3 to serve as a guiding support arm during the vertical sliding of the support frame 4, thereby improving the sliding stability of the support frame 4.

[0066] It should be noted that the present application does not limit the form of movable connection between the movable portion 422 and the fixed portion 421. For example, the movable portion 422 can move horizontally relative to the fixed portion 421. In some embodiments, a slider guide rail can be provided on the vertical surface of the column 3, the guide rail in the slider guide rail is connected to the column 3, and the slider in the slider guide rail is connected to the second support member 42. The first lifting mechanism 5 drives the second support member 42 to move, so that the slider slides relative to the guide rail, thereby driving the second support member 42 to move horizontally in the vertical direction relative to the column 3. In this embodiment, the slider in the slider guide rail is equivalent to the movable portion 422, and the guide rail in the slider guide rail is equivalent to part of the fixed portion 421.

[0067] In the embodiments shown in the schematic diagram of this application, refer to Figure 6 The column 3 includes a first extension portion 31, a second extension portion 32, and a third extension portion 33. The first extension portion 31 and the second extension portion 32 are arranged on opposite sides of the first direction. The third extension portion 33 extends along the first direction and connects the first extension portion 31 and the second extension portion 32. The third extension portion 33 is arranged on the outer side of the column 3 in the second direction. A slot 34 is formed between the first extension portion 31, the second extension portion 32, and the third extension portion 33 for vertical insertion of the second support member 42. The movable portion 422 is configured as a plurality of rollers coaxially connected to the fixed portion 421 in the first and second directions, respectively. The movable portion 422 is rotatably connected to the fixed portion 421. After the slot 34 is vertically plugged into the limiting cavity 423, the first extension portion 31 of the column 3 is inserted into the limiting cavity 423; the roller of the rotating axis in the first direction is located between the third extension portion 33 of the column 3 and the fixed portion 421, and radially abuts against the third extension portion 33 in the second direction; the roller of the rotating axis in the second direction is located in the limiting cavity 423, and radially abuts against the second extension portion 32 of the column 3 in the first direction. It can be understood that the column 3 and the second support member 42 are "clamped".

[0068] Reference Figure 7 The height of the fixed portion 421 corresponds to the height of the transport robot for the movable portion 422 to be installed. It is only necessary to install one or more movable portions 422 within the height range of the fixed portion 421. Figure 4 , refer to Figure 4 During assembly, the second support member 42 is inserted into the slot 34 at the top of the column 3. The second support member 42 embraces the column 3 and, driven by the first lifting mechanism 5, pivots against the column 3. The height of the fork assembly 1 is less than that of the column 3, simplifying the height of the structure for movably connecting the second support member 42 to the column 3 and facilitating the movably connecting of the second support member 42 to the column 3.

[0069] Figure 8 is a perspective view of the fork assembly 1 in the embodiment of the present application. In some embodiments, refer to Figure 8 The fork assembly 1 includes a warehouse body 11, a first transport mechanism 12 and a second transport mechanism 13, wherein a storage chamber 111 is provided inside the warehouse body 11, and the space inside the storage chamber 111 is used to install the first transport mechanism 12 and the second transport mechanism 13. The storage chamber 111 is open at least at one end so that one or more target containers can enter the storage chamber 111 through the opening (e.g., Figure 2 and Figure 3 It should be noted that, referring to Figure 4The storage chamber 111 may be open at both ends as shown in the schematic diagram of the present application, specifically, one end and one side of the storage chamber 111 are respectively provided with openings. Figure 2 and Figure 3 , the target material box mainly enters the storage chamber 111 through the side opening 113, and the end opening 112 is used to increase the open area of the storage chamber 111 to facilitate the installation of the first conveying mechanism 12 and the second conveying mechanism 13 in the storage chamber 111; the end opening 112 is also used to avoid the height space of one or more target material boxes to increase the number of target material boxes that can enter the storage chamber 111 through the opening. Of course, in some embodiments, the storage chamber 111 can also be provided with openings only on one or more sides, or on one or more ends, so as to increase the limiting area of the storage chamber 111 for the target material box and improve the stability of the target material box in the cargo handling state. This application does not limit the specific setting and number of openings, but the storage chamber 111 should be provided with an opening on at least one side.

[0070] Reference Figure 4 The first transport mechanism 12 and the second transport mechanism 13 can both be extended and retracted in the horizontal direction. It can be understood that the aforementioned "horizontal direction" refers to the direction in which the first transport mechanism 12 and the second transport mechanism 13 retract in the horizontal plane on the inside and outside of the storage cavity 111. Figure 4 In the schematic diagram shown, the first direction (front-back direction) and the second direction (left-right direction) are both in the horizontal direction, and the first conveying mechanism 12 and the second conveying mechanism 13 can be extended and retracted in the first direction, the second direction, or any direction between the first direction and the second direction. The first conveying mechanism 12 and the second conveying mechanism 13 can be extended and retracted in various directions in the horizontal direction, and can conveniently realize the taking and placing of the material box at various angles. It should be noted that, from the perspective shown in the schematic diagram of the present invention, the extension and retraction directions of the first conveying mechanism 12 and the second conveying mechanism 13 are both in the second direction. Figure 8 In the schematic diagram, the first and second transport mechanisms 12 and 13 extend and retract in the N2 direction. That is, both the first and second transport mechanisms 12 and 13 can extend and retract in the N2 direction. The arrows in the N2 direction indicate the direction in which the first and second transport mechanisms 12 and 13 extend out of the storage chamber 111. The other direction in the N2 direction indicates the direction in which the first and second transport mechanisms 12 and 13 retract into the storage chamber 111.

[0071] It should be noted that the two transport mechanisms can be fully extended out of the storage chamber 111 to carry the material box, the two transport mechanisms can be fully retracted in the storage chamber 111 to wait, or one of the two transport mechanisms can be extended out of the storage chamber 111 to carry the material box and the other can be retracted in the storage chamber 111 to wait. Figure 4In the schematic diagram shown, the first transport mechanism 12 and the second transport mechanism 13 are both retracted in the storage chamber 111 and standby; Figure 2 In the schematic diagram shown, both the first transport mechanism 12 and the second transport mechanism 13 extend out of the storage chamber 111 to carry the material box, so as to improve the transport efficiency of the material box. Of course, the fork assembly 1 can also extend only the first transport mechanism 12 or only the second transport mechanism 13, such as Figure 3 As shown, the first transport mechanism 12 is retracted in the storage chamber 111 and waits, and the second transport mechanism 13 extends out of the storage chamber 111 and transports multiple target boxes (a1, a2, a3...an) at a time.

[0072] Reference Figure 8 The second transport mechanism 13 is located below the first transport mechanism 12. The first transport mechanism 12 is used to transport the material box group (b1, b2, b3...bn) above the target material box (a1). The second transport mechanism 13 is used to transport the target material box (a1) to the storage chamber 111. Figure 2 In the embodiment of the present invention, the material boxes in the warehouse are stacked. Before the handling robot approaches the target material box for handling, the handling robot detects that there are material boxes that are not the target material boxes above the target material box, and defines the whole composed of all material boxes above the target material box as a material box group. The material box group above the target material box is not the target material box in the outbound instruction of the handling robot, so the handling robot drives the first handling mechanism 12 to extend to limit the degree of freedom of the material box group above the target material box, so that the target material box can move horizontally relative to the material box group under the action of the second handling mechanism 13.

[0073] The bin group includes at least one bin, that is, the bin group can be one or more bins. In the embodiment of the present invention, when the target bin is located in the middle layer or bottom layer of the entire row of stacked bins, that is, when the target bin is not located at the top layer of the entire row of stacked bins, Figure 2 As shown, the first transport mechanism 12 extends to limit the material box group (b1, b2, b3...bn) above the target material box a1. Figure 2 In the schematic diagram shown, the bin group includes a plurality of bins b1, b2, b3...bn. In the case where the target bin is located at the top layer of the entire row of stacked bins, as shown in FIG. Figure 3 As shown, the first transport mechanism 12 can be retracted in the storage chamber 111, and only the second transport mechanism 13 is extended. Figure 3 In the schematic diagram shown, there is no bin group above the topmost target bin (an) among the target bins (a1, a2, a3, ... an).

[0074] The first transport mechanism 12 and the second transport mechanism 13 in the embodiment of the present invention are integrated into the fork assembly 1. While meeting the transport requirements of the limited material box group and the target material box to be grasped, the first transport mechanism 12 and the second transport mechanism 13 can be modularly connected to the transport robot through the warehouse body 11. Workers can connect the two transport mechanisms to the transport robot at one time through the warehouse body 11 of the fork assembly 1, realizing the modular assembly of the first transport mechanism 12 and the second transport mechanism 13, simplifying the assembly structure of the two transport mechanisms connected to the transport robot, and facilitating the modular layout of parts of the transport robot. The fork assembly 1 in the embodiment of the present invention can not only meet the transport requirements of stacked material boxes, but also realize the modular assembly of the two transport mechanisms, so that the transport robot in the embodiment of the present invention has both structural simplicity and operational efficiency.

[0075] It should be noted that the present application does not limit the structure of the first conveying mechanism 12 and the second conveying mechanism 13, as long as the first conveying mechanism 12 and the second conveying mechanism 13 can realize the conveyance of the material box. The structures of the first conveying mechanism 12 and the second conveying mechanism 13 for realizing telescopic movement are similar, and the telescopic movement of the second conveying mechanism 13 is taken as an example for explanation. Figure 8 The second transport mechanism 13 includes a transmission component, a driving component and a working component. Under the drive of the driving component, the transmission component drives the working component to extend and retract relative to the storage chamber 111, and the working component is used to grab the material box. In the embodiment shown in the schematic diagram of this application, Figure 8 As shown, a group of working components are respectively provided on both sides of the storage chamber 111, and the two groups of working components can symmetrically share a group of driving components. Of course, in other embodiments, the two groups of working components can also be provided with independent driving components.

[0076] Figure 9 for Figure 8 Refer to the local schematic diagram in Figure 9The transmission component of the second conveying mechanism 13 can be driven by an active synchronous wheel, a driven synchronous wheel, and a synchronous belt, or by an active gear, a driven gear, a rack, or a roller and thick steel rope. The drive component of the second conveying mechanism 13 can be driven by a motor or an electric motor. In the embodiment shown in the schematic diagram of the present application, the second conveying mechanism 13 is driven by a third motor 134, and the transmission is achieved by a second active synchronous wheel 131, a second driven synchronous wheel 132, and a second synchronous belt 133. The third motor 134 drives the second active synchronous wheel 131 to rotate, and the second synchronous belt 133 is sleeved on the second active synchronous wheel 131 and the second driven synchronous wheel 132, so that the second driven synchronous wheel 132 rotates synchronously with the second active synchronous wheel 131. The working component is connected to the second synchronous belt 133, and the working component extends and retracts in the N2 direction as the second synchronous belt 133 rotates. The transmission assembly of the second conveying mechanism 13 in the present application adopts the form of synchronous wheels and synchronous belts to improve the telescopic efficiency of the second conveying mechanism 13, thereby improving the conveying efficiency of the second conveying mechanism 13.

[0077] Reference Figure 6 The working assembly includes a mounting plate 135, a telescopic arm 136 connected to the second synchronous belt 133, and a hook 137 movably connected to the telescopic arm 136. The hook 137 can protrude and retract in a first direction relative to the telescopic arm 136 to grab and avoid the material box. It should be noted that this application does not limit the movement of the hook 137 relative to the telescopic arm 136. The hook 137 can rotate relative to the telescopic arm 136, or it can move horizontally or swing relative to the telescopic arm 136. Regardless of the form of movable connection between the hook 137 and the telescopic arm 136, as long as the hook 137 can protrude and retract relative to the telescopic arm 136, it is sufficient.

[0078] In some embodiments, reference Figure 6 Each working component in the second transport mechanism 13 can be provided with multiple telescopic arms 136 to extend the distance that the hook 137 extends relative to the storage chamber 111 in the N2 direction; each working component can also be provided with multiple hooks 137 to increase the support arm for grabbing the target material box. This application does not limit the number of telescopic arms 136 and hooks 137. Users can set the telescopic arms 136 and hooks 137 according to implementation requirements. In other words, each working component can be provided with two, three, or other multiple telescopic arms 136, and each working component can be provided with two, three, or other multiple hooks 137 along the N2 direction. The specific number of telescopic arms 136 can be designed based on the actual required telescopic distance of the hook 137 in the N2 direction; the specific number of hooks 137 can be designed based on the actual length of the telescopic arm 136 in the N2 direction. In the embodiment shown in the schematic diagram of this application, two hooks 137 are provided and two telescopic arms 136 are provided.

[0079] For ease of explanation, refer to Figure 6 , defining two telescopic arms as a first telescopic arm 1361 and a second telescopic arm 1362. The mounting plate 135 is connected to the chamber body 11. The first telescopic arm 1361 is slidably connected to the mounting plate 135. The second telescopic arm 1362 is slidably connected to the first telescopic arm 1361. The second synchronous belt 133 is connected to the second telescopic arm 1362. The hook 137 is swingably connected to the second telescopic arm 1362. Driven by the third motor 134, the first telescopic arm 1361 and the second telescopic arm 1362 extend and retract in the N2 direction. It should be noted that there are various ways to slide the telescopic arms 136 together. For example, in one embodiment, the first telescopic arm 1361 and the second telescopic arm 1362 can be connected by a coaxial sleeve. When the second transport mechanism 13 is shortened, the second telescopic arm 1362 with a smaller diameter can be accommodated within the first telescopic arm 1361 with a larger diameter. When the second transport mechanism 13 is extended, the second telescopic arm 1362 with a smaller diameter can protrude from the first telescopic arm 1361 with a larger diameter. By driving the second telescopic arm 1362 to move relative to the first telescopic arm 1361, the second transport mechanism 13 can be extended or retracted. In the embodiment shown in the schematic diagram of this application, the first telescopic arm 1361 is connected to the mounting plate 135 via a first slider rail 138, and the second telescopic arm 1362 is connected to the first telescopic arm 1361 via a second slider rail 139. The slider in the second slider rail 139 is connected to the second synchronous belt 133, and the second telescopic arm 1362 drives the first telescopic arm 1361 to extend or retract in the N2 direction.

[0080] Reference Figure 8 At least one of the first conveying mechanism 12 and the second conveying mechanism 13 can move horizontally in the vertical direction. The first conveying mechanism 12 can move horizontally and reciprocatingly in the vertical direction, the second conveying mechanism 13 can move horizontally and reciprocatingly in the vertical direction, or both the first conveying mechanism 12 and the second conveying mechanism 13 can move horizontally and reciprocatingly in the vertical direction. When the first conveying mechanism 12 and the second conveying mechanism 13 extend together and grab the target material box, the first conveying mechanism 12 and / or the second conveying mechanism 13 reciprocate in the vertical direction to release the stacking state of the target material box and the material box group, and separate the target material box and the material box group. Figure 2As shown, "separation of the target bin from the bin group" means that the topmost bin in the target bin group and the bottommost bin in the bin group are not blocked horizontally by each other, allowing the target bin to be moved into the storage chamber 111 under the action of the second transport mechanism 13. Specifically, a1 and b1 are arranged along the direction indicated by arrow N3, and the upper end surface (c1) of a1 is vertically spaced from the lower end surface (c2) of b1 without contact. The first transport mechanism 12 grabs the bottommost bin (b1) in the bin group (b1, b2, b3...bn), and the second transport mechanism 13 grabs the target bin (a1). Subsequently, one or both of the first and second transport mechanisms 12, 13 move vertically away from each other to separate the target bin from the bin group. This not only ensures smooth transport of the target bin into the storage chamber 111, but also maintains the stability of the stacked bin group and the stability of the target bin during transport, thereby improving the handling efficiency and stability of the fork assembly 1.

[0081] Taking the second transport mechanism 13 as an example, which can move horizontally in the vertical direction, refer to Figure 9 The fork assembly 1 also includes a second lifting mechanism 14, which is used to drive the second transport mechanism 13 to move horizontally in the vertical direction relative to the first transport mechanism 12. That is, the first transport mechanism 12 can only extend and retract in the horizontal direction, while the second transport mechanism 13 can not only extend and retract in the horizontal direction but also move back and forth in the vertical direction. It should be noted that this application does not limit the specific structure of the second lifting mechanism 14. The second lifting mechanism 14 can be driven by components such as motors, electric motors, and cylinders, and can be driven by transmission methods such as synchronous wheels, synchronous belts, gear racks, and rollers with thick steel ropes. Regardless of the driving components and transmission methods used by the second lifting mechanism 14, as long as the second lifting mechanism 14 can drive the second transport mechanism 13 to move horizontally in the vertical direction, it will be sufficient.

[0082] In the embodiment shown in the present invention, referring to Figure 9 The second lifting mechanism 14 includes a slide rail 141 and a lifting assembly 142. There are two groups of slide rails 141. One group of slide rails 141 corresponds to a group of working assemblies in the second transport mechanism 13. It can be understood that a group of slide rails 141 should include at least one guide rail and one slider. The number of guide rails and sliders can be adjusted according to actual assembly requirements. For example, in the schematic diagram shown in the present invention, a group of slide rails 141 includes two guide rails, and each guide rail is provided with two sliders. Figure 8, two sets of slide rails 141 are symmetrically arranged on both sides of the target direction inside the warehouse body 11, and the target direction is in the horizontal direction and perpendicular to the extension and retraction direction of the second transport mechanism 13. In the schematic diagram shown in the present invention, the second transport mechanism 13 retracts and retracts along the N2 direction, so the target direction is in the N1 direction. That is, one set of slide rails 141 is arranged on the side of the warehouse body 11 in the positive direction of N1, and the other set of slide rails 141 is arranged on the side of the warehouse body 11 in the negative direction of N1. The slide rails 141 extend in the vertical direction, and the second transport mechanism 13 is movably connected to the slide rails 141, that is, the second transport mechanism 13 is connected to the slider in the slide rails 141.

[0083] The lifting assembly 142 is used to drive the second transport mechanism 13 to move relative to the slide rail 141. The lifting assembly 142 is driven by a fourth motor 1421 and is driven by a third active synchronous pulley 1422, a third driven synchronous pulley 1423, and a third synchronous belt 1424. The mounting plate 135 is connected to the third synchronous belt 1424, and the mounting plate 135 is also connected to the slider in the slide rail 141. Driven by the fourth motor 1421, the third active synchronous pulley 1422 drives the third synchronous belt 1424 to rotate, thereby causing the mounting plate 135 to drive the slider in the slide rail 141 to move in the vertical direction, thereby enabling the telescopic arm 136 to drive the hook 137 to move in the vertical direction.

[0084] The above describes the implementation principle of vertically moving one or more transport mechanisms in the fork assembly 1 to separate a target bin from a stack of bins. It is understood that even if both the first transport mechanism 12 and the second transport mechanism 13 are vertically fixedly connected within the bin body 11, the fork assembly 1 can still separate a target bin from an entire row of stacked bins. In other words, even without the second lifting mechanism 14, driving the first lifting mechanism 5 can still achieve separation of the target bin from the other bins. The following provides an implementable operation process:

[0085] The first transport mechanism 12 Figure 4 As shown, N2 is extended forward, and the second transport mechanism 13 is on standby in the storage chamber 111. After the first transport mechanism 12 grabs the material box group (b1, b2, b3...bn), the first lifting mechanism 5 drives the fork assembly 1 to rise as a whole by at least one adjacent material box nesting height ( Figure 2 The height of the middle limit groove d) is reached, at which point the bin group (b1, b2, b3...bn) is separated from the target bin (a1). Then, the first transport mechanism 13 remains in the extended state, and the second transport mechanism 14 moves along Figure 4N2 is shown extending forward, and after the second transport mechanism 14 grabs the target material box (a1), the first lifting mechanism 5 is driven again, and the fork assembly 1 rises again by at least a nesting height (the height of the limit groove d). At this time, the target material box (a1) is separated from the material box below the target material box (a1), and the second transport mechanism 13 retracts to transport the target material box to the storage chamber 111.

[0086] It should be noted that the implementation method of separating the target material box from the entire column of stacked material boxes only by the first lifting mechanism 5 without deploying the second lifting mechanism 14 is not limited to the above-mentioned operation process. However, no matter which operation process is used to drive the various components, the handling robot can separate the target material box from the entire column of stacked material boxes and realize the handling of the target material box, which can meet the user's various purchasing needs.

[0087] In some embodiments, reference Figure 5 One end and one side of the fork assembly 1 are provided with openings, and the support frame 4 is connected to the end wall of the fork assembly 1 in the vertical direction through the rotating power device 6. It should be noted that the aforementioned "end wall of the fork assembly 1 in the vertical direction" refers to an end parallel to and spaced from the end opening 112 in the vertical direction, that is, the end wall refers to the top wall or bottom wall of the fork assembly 1.

[0088] It should be noted that in some embodiments, the end opening 112 can be provided at the bottom of the fork assembly 1, the warehouse body 11 is in an inverted U shape, the rotary power device 6 is connected to the inner top wall of the warehouse body 11, and the support frame 4 is provided on the outer top wall of the warehouse body 11. In the embodiment shown in the schematic diagram of the present invention, referring to Figure 1 The end opening 112 of the fork assembly 1 is located at the top of the fork assembly 1. The warehouse body 11 is in a regular U-shape. The rotary power unit 6 is connected to the inner bottom wall of the warehouse body 11, and the support frame 4 is located on the outer bottom wall of the warehouse body 11. The bottom wall of the warehouse body 11 blocks the target container in the direction of gravity, thereby reducing the risk of the target container accidentally falling when the claws 137 of the first and second transport mechanisms 12 and 13 are accidentally retracted. This can improve the stability of the target container during the movement of the transport robot. The driving source (second motor 61) of the rotary power unit 6 is located within the storage chamber 111 to reduce the vertical distance between the fork assembly 1 and the support frame 4, thereby improving the rotational stability of the fork assembly 1.

[0089] Of course, in some embodiments, the end opening 112 may also be provided at the bottom of the fork assembly 1. In this embodiment, the housing 11 is in an inverted U-shape, the rotary power device 6 is connected to the top wall of the housing 11, and the support frame 4 is provided on the top wall of the housing 11 and outside the storage chamber 111. The present application does not limit the specific location of the rotary power device 5, as long as the rotary power device 5 can achieve horizontal rotation of the fork assembly 1 through the support frame 4.

[0090] In some embodiments, the handling robot further includes an image acquisition device 7 and a controller (not shown). The image acquisition device 7 is fixed to the fork assembly 1 and is used to capture images of the target bin to be handled. The controller is capable of recognizing the image information and adjusting the position of the fork assembly 1 based on the image information to achieve alignment between the fork assembly 1 and the corresponding bin, i.e., alignment between the first handling mechanism 12 and the bin group, and alignment between the second handling mechanism 13 and the target bin. When the handling robot moves to an area near the target bin, using the image acquisition device 7 to align the fork assembly 1 enables the handling mechanism to more accurately handle the corresponding bin.

[0091] It should be noted that, referring to Figure 8 A side portion of the hopper body 11 in the second direction is defined as the first side portion 114. It is understood that the target container enters the storage chamber 111 on the side of the hopper body 11 opposite the first side portion 114 in the second direction. That is, the side opening 113 is located on the side of the hopper body 11 opposite the first side portion 114 in the second direction. The image capture device 7 can be positioned on the side of the first side portion 114 facing the direction of the arrow N2 (in front of the first side portion 114) to fully utilize the space within the storage chamber 111. Alternatively, the image capture device 7 can be positioned on the side of the first side portion 114 facing away from the direction of the arrow N2 (behind the first side portion 114) to increase the distance between the image capture device and the target container, thereby improving the field of view and wide angle of the image capture device 7. Of course, the placement of the image capture device 7 is not limited to the two embodiments described above. As long as the image capture device 7 can capture image information of the container, the image capture device 7 can be positioned anywhere within the hopper body 11.

[0092] In some embodiments, the image information may be a two-dimensional plane image. For example, each material box is provided with a positioning mark, the image acquisition device 7 scans the positioning mark, and the controller adjusts the position of the fork assembly 1 according to the position information obtained by scanning the positioning mark, thereby achieving the accuracy of the material box grabbing position and improving the reliability of the material box grabbing. It should be noted that the positioning mark may be a mark with position information such as a QR code or a barcode, and the positioning mark may also be a pattern in the shape of a triangle or a right angle. The embodiment of the present invention does not limit the shape and pattern of the above-mentioned positioning mark. As long as the positioning mark is set at a fixed position on the material box, the handling mechanism can quickly align with the corresponding material box through the positioning mark.

[0093] In some embodiments, the image information can also be a three-dimensional stereo image. For example, the alignment of the conveying mechanism and the material box can be achieved by using an image to identify the outer contour of the material box instead of an identifier. The image acquisition device 7 can shoot the corresponding material box, and the controller drives the conveying mechanism to align with the corresponding material box based on the area where the outer contour of the material box obtained by shooting is located. That is to say, in the process of precise alignment of the conveying mechanism and the material box, in addition to the alignment method of the positioning identifier described in the previous embodiment, the alignment can also be achieved by directly performing image recognition and positioning on the material box. It should be noted that the method of aligning the conveying mechanism and the corresponding material box in the embodiments of the present invention includes but is not limited to the above-mentioned embodiments, but no matter whether the image information is two-dimensional plane information or three-dimensional stereo information, as long as the positioning of the conveying mechanism and the corresponding material box can be achieved, it is sufficient.

[0094] In some embodiments, reference Figure 4 , the fork assembly 1 is arranged on one side of the column 3 in the first direction ( Figure 4 N1 arrow points to the direction), column 3 is on the other side of the first direction ( Figure 4 The fork assembly 1 and the chassis 2 form a buffer position 22 together, and the buffer position 22 is used to store the target material box carried by the fork assembly 1. That is to say, after the fork assembly 1 carries out a target material box from multiple stacked material boxes, the fork assembly 1 can place one or more target material boxes in the buffer position 22, so that the fork assembly 1 does not need to immediately carry the target material box to the specified position and can start carrying the next target material box, which can improve the efficiency of material box transportation.

[0095] It should be noted that the cache position 22 represents a virtual space. The cache position 22 is roughly on the negative side of the column in the N1 direction. The vertical space where the cache position 22 is located can be used to set up a cabinet, multiple layers of brackets with horizontal support surfaces, or multiple layers of hollow brackets as shown in the figure. Therefore, the vertical space where the cache position 22 is located can be used to place a whole stack of boxes, or multiple layers of boxes can be placed in layers. No matter what structure is set in the vertical space where the cache position 22 is located, as long as the target box can be placed. In the embodiment of the present invention, refer to Figure 4 In order to increase the number of target boxes that the handling robot can accommodate, the vertical space where the buffer position 22 is located is provided with multiple hollow brackets, and the target boxes are placed in a stack in the buffer position 22. In addition, the storage chamber 111 can also be stacked to store the entire stack of boxes. The internal space of the storage chamber 111 stores and limits the entire stack of boxes, thereby improving the handling efficiency of the handling robot. Figure 4 It can be understood that in some embodiments, a plurality of ribs 23 can be provided at the buffer position 22, and the plurality of ribs 23 abut against one or more side walls of the material box to improve the placement stability of the entire stack of material boxes in the vertical direction.

[0096] Above, combined Figures 1 to 9 The implementation principle of the handling robot in the embodiment of the present invention handling the boxes to be shipped out in a specific scenario is explained. It should be noted that the aforementioned "specific scenario" means that the handling robot without carrying any boxes receives an outbound instruction, which instructs the handling robot to transport two target boxes placed at intervals in the middle layer of the entire row of boxes from the designated position of the warehouse to the designated position of the storage workstation. For example, the entire row of stacked boxes has ten layers, and the outbound instruction requires the handling of the target boxes on the third and sixth layers.

[0097] After the handling robot receives the outbound instruction, it drives the roller 21 to rotate, and the handling robot moves to a position near the target box in the warehouse. The handling robot drives the first lifting mechanism 5 to move according to the height position information of the target box, so that the fork assembly 1 rises to the height of the first target box (such as the third-layer target box). The handling robot scans the image information of the target box and obtains the position information of the target box to realize the alignment of the two handling mechanisms and the target box: the angular deviation of the fork assembly 1 in the θ direction is adjusted by the rotating power device 6. (Note: At this time, if there is a position deviation in the first direction, it is adjusted by the roller 21; if there is a position deviation in the second direction, a signal is fed back to the third motor 134 to control the extension length of the first handling mechanism 12 and the second handling mechanism 13; if there is a position deviation in the vertical direction, a signal is fed back to the first lifting mechanism 5 to adjust the height of the first handling mechanism 12 and the second handling mechanism 13).

[0098] After alignment is complete, the first conveying mechanism 12 and the second conveying mechanism 13 extend together in the N2 direction, and the hooks 137 in the first conveying mechanism 12 and the second conveying mechanism 13 protrude relative to each other in the N1 direction. The first conveying mechanism 12 carries the bin group above the target bin, while the second conveying mechanism 13 carries the target bin.

[0099] Thereafter, the second lifting mechanism 14 drives the fork assembly 1 to descend at least one limit slot d (e.g. Figure 2As shown in the figure, the target material box is separated from the material box group above the target material box. Thereafter, the first conveying mechanism 12 remains extended, and the second conveying mechanism 13 retracts into the storage chamber 111. Thereafter, the first lifting mechanism 5 drives the fork assembly 1 to descend a certain distance (the height of one material box minus the height of one limit slot d), and the material box group above the original target material box and the material box group below the original target material box are re-stacked. Thereafter, the first conveying mechanism 12 retracts into the storage chamber 111, and the rotary power device 6 drives the fork assembly 1 to rotate 90 degrees. The second conveying mechanism 13 extends in the first direction to place a target material box in the storage chamber 111 on the cache position 22. Thereafter, the first conveying mechanism 12 and the second conveying mechanism 13 retract into the storage chamber 111 along the first direction, and the rotary power device 6 drives the fork assembly 1 to rotate and reset, and the grabbing of the next target material box (such as the sixth-layer target material box) can continue. Finally, the roller 21 is driven, and the handling robot drives the two target material boxes in the buffer position 22 to navigate to the storage workstation.

[0100] In some embodiments, reference Figure 1 The storage system includes the above-mentioned operating robot and a shelf 8. The top surface 81 of the shelf is used to store stacked boxes. The stacked boxes include at least one box. That is, the bottom box in the stacked boxes is placed against the top surface 81 of the shelf. The height of the shelf 8 is greater than or equal to the height of the chassis 2. The fork assembly 1 can at least grab the bottom end of the bottom box in the entire row of stacked boxes. That is, even if the gripper position in the box (such as Figure 2 Regardless of the height of the slot e) in the rack, the fork assembly 1 can grab any box in the entire row of stacked boxes. If the floor has a certain slope or unevenness, the multiple support columns 82 of the shelf 8 can be set at different heights, or the shelf bottom surface can be set at a certain slope to maintain the flatness of the shelf top surface 81. This allows the stacked boxes to be stacked stably in the vertical direction and not easily tip over, thereby improving the problem of insufficient flatness of the warehouse floor.

[0101] In some embodiments, reference Figure 1 As the height of the stacked material boxes increases (such as more than ten layers), the stability of the material boxes in the middle and top layers of the entire row of stacked material boxes becomes worse and easier to tip over. The shelf 8 can be set to one or more layers. When the shelf 8 is set to more than one layer, each layer of shelf 8 can store stacked material boxes. For example, if the warehouse needs to store twenty layers of material boxes, the shelf 8 can be set to two layers, which are the first shelf 83 and the second shelf 84 from bottom to top. The twenty layers of material boxes are divided into two piles. A pile of stacked material boxes with one to ten layers can be stored between the first shelf 83 and the second shelf 84, and another pile of stacked material boxes with eleven to twenty layers can be stored on the top surface of the second shelf 84. The shelf 8 can be set to multiple layers, which can improve the problem of stacked material boxes with more than ten layers being easy to tip over, and the multi-layer shelf 8 makes full use of the height space in the vertical direction of the warehouse, thereby increasing the storage capacity of the warehouse.

[0102] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention.

Claims

1. A transport robot, characterized in that: include: a chassis, movably arranged; A column extending in a vertical direction, with one end fixed to the chassis; A support frame is detachably connected to the column, and when the support frame is connected to the column, the support frame can move in a vertical direction relative to the column; a fork assembly detachably connected to the support frame, the fork assembly being used to lift a target material box, the target material box including at least one material box; The first lifting mechanism is used to drive the support frame to move relative to the column.

2. The transport robot according to claim 1, characterized in that: The support frame comprises: a first support member rotatably connected to the fork assembly via a rotary power device, with an axis of rotation along a vertical direction and passing through the center of the fork assembly; A second support member is arranged perpendicularly relative to the first support member, the second support member and the column are limited in at least a first direction and a second direction, and the second support member can move in a vertical direction relative to the column, the first direction is perpendicular to the second direction, and the vertical direction is perpendicular to the first direction and the second direction.

3. The transport robot according to claim 2, characterized in that: The maximum radius of the fork assembly is smaller than the minimum distance from the center of the fork assembly to the second support member.

4. The transport robot according to claim 2, characterized in that: The second support member comprises: A fixing portion, wherein a partially open limiting cavity is formed in the fixing portion, and the column portion is disposed in the limiting cavity; The movable part is movably connected to the fixed part, and the movable part abuts between the column and the fixed part.

5. The transport robot according to claim 2, characterized in that: The fork assembly comprises: A storage chamber is provided inside the storage chamber, and at least one end of the storage chamber is open; a first transport mechanism disposed in the storage chamber, the first transport mechanism being retractable in a horizontal direction to transport a group of material boxes above a target material box; a second transport mechanism disposed in the storage chamber and below the first transport mechanism, the second transport mechanism being capable of extending and retracting in a horizontal direction to transport a target material box to the storage chamber; Wherein, at least one of the first transport mechanism and the second transport mechanism can move in a vertical direction.

6. The transport robot according to claim 5, characterized in that: The top and one side of the warehouse body are provided with openings; the support frame is connected to the end wall of the fork assembly in the vertical direction through the rotary power device.

7. The handling robot according to any one of claims 1 to 6, characterized in that: Also includes: an image acquisition device fixed to the fork assembly, for acquiring an image of a target box to be transported by the fork assembly, the image including a QR code on the target box and / or an outline of the target box; A controller is used to adjust the position of the fork assembly relative to the target material box according to the QR code on the target material box and / or the outline of the target material box.

8. The handling robot according to any one of claims 1 to 6, characterized in that: The fork assembly is arranged on one side of the column in the first direction, and the column and the chassis together form a buffer position for storing the material box group on the other side of the first direction.

9. A warehousing system, characterized in that: include: The handling robot according to any one of claims 1 to 8; A shelf, the top surface of which is used to store stacked boxes, the stacked boxes including at least one box, and the height of the shelf is greater than or equal to the chassis height of the transport machine.

10. The storage system according to claim 9, characterized in that: The shelves are arranged to have one or more layers. When the shelves are arranged to have more than one layer, each layer of the shelves can store the stacked boxes.

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