Transfer robot and warehousing system

Abstract

The utility model relates to the technical field of intelligent warehousing systems, and discloses a transfer robot warehousing system. The first table top is fixed to the chassis and located at the top of the chassis, and a plurality of jacking pieces distributed at intervals are arranged on the first table top and used for supporting goods; the lifting assembly is provided with a first end and a second end which are opposite in the vertical direction, the first end is fixed to the chassis, and the second end can move in the direction away from the first table top or close to the first table top in the vertical direction; the second table top is used for bearing a tray and / or goods, the second table top is arranged at the second end of the lifting assembly, the second table top is parallel to the first table top, a plurality of first through holes are formed in the second table top, and the first through holes are in one-to-one correspondence with the jacking parts so that the jacking parts can penetrate through the first through holes to support the goods. The equipment cost is reduced, and the operation efficiency of the transfer robot is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of intelligent warehousing systems, and specifically to a transport robot and a warehousing system. Background Art

[0002] The intelligent warehousing system is a system that uses advanced information technology and automated equipment to achieve efficient storage and handling of goods. It can realize the automatic identification, picking, handling and storage of goods. In the intelligent warehousing system, goods are usually placed in pallets and then placed on shelves. The handling robot takes out the pallets and goods from the shelves together and carries them to the target location.

[0003] In some working scenarios of intelligent warehousing systems, it is necessary to separate goods from pallets and take the goods out of pallets. However, the current methods for separating goods from pallets are complex, costly and inefficient. Therefore, how to separate goods from pallets at low cost and high efficiency is an urgent problem to be solved. Utility Model Content

[0004] In view of the above problems, the embodiments of the present application provide a handling robot, a method for picking and placing goods, an electronic device, a computer-readable storage medium and a warehousing system to solve the problems in the prior art of complex design, high cost and low efficiency of separating goods and pallets.

[0005] According to a first aspect of an embodiment of the present application, a handling robot is provided, comprising: a chassis; a lifting assembly, the lifting assembly having a first end, a second end and a third end arranged in sequence along a vertical direction, the first end being fixed to the chassis, the second end being capable of moving along the vertical direction in a direction away from the chassis or approaching the chassis, and the third end being capable of moving along the vertical direction in a direction away from the second end or approaching the second end; a first table top, arranged at the second end of the lifting assembly, a plurality of top holding members distributed at intervals being arranged on the first table top, the plurality of top holding members being used to support goods; a second table top, for carrying pallets and / or goods, the second table top being arranged at the third end of the lifting assembly, the second table top being parallel to the first table top, a plurality of first through holes being opened on the second table top, the plurality of first through holes corresponding one-to-one to the plurality of top holding members, so that the plurality of top holding members can pass through the first through holes to support goods.

[0006] In some embodiments, the transport robot is used to pick up and place pallets from a first docking position on a shelf or workstation, and a first docking device is provided at the first docking position, and the first docking device includes two cantilever beams for carrying the pallet; the size of the second table top along the first direction is smaller than the distance between the two cantilever beams, and the first direction is a direction in a horizontal plane that is perpendicular to the walking direction of the chassis.

[0007] In some embodiments, the highest height of the tops of the plurality of supporting members is less than or equal to the height of the first surfaces of the two cantilever beams, where the first surfaces are surfaces of the cantilever beams facing away from the tray.

[0008] In some embodiments, the transport robot is used to pick up and place goods from a second docking position of a shelf or workstation, and a second docking device is provided at the second docking position, and the second docking device includes a plurality of comb teeth distributed at intervals, and the plurality of comb teeth are used to carry goods; the second end and the third end of the lifting assembly can move along the vertical direction, and the first table top includes a first position, in the first position, the height of the top of the plurality of top holding members of the first table top is greater than the height of the top of the pallet carried on the second table top, and the height of the top of the plurality of top holding members is greater than the height of the second surface, and the second surface is the surface of the plurality of comb teeth supporting the goods, so that the plurality of top holding members separate the pallet and the goods, and can lift the goods into the gaps between the plurality of comb teeth.

[0009] In some embodiments, the second end and the third end of the lifting assembly are capable of moving along the vertical direction, and the first table top includes a second position. In the second position, the height of the tops of the multiple top holding members is less than the height of the second surfaces of the multiple comb teeth, and the goods supported by the multiple top holding members are detached from the multiple top holding members and placed on the multiple comb teeth.

[0010] In some embodiments, the first table top is provided with a second through hole, and the second through hole can allow a moving component in the lifting assembly that moves along the vertical direction to pass through.

[0011] In some embodiments, the shape of the second through hole is adapted to the maximum projection of all projections of a moving component in the lifting assembly that moves along the vertical direction on a first plane, where the first plane is the plane where the first table top is located, and all projections include projections of the moving component in all motion states.

[0012] In some embodiments, the lifting assembly includes a driving mechanism, a first-stage scissors-fork mechanism, and a second-stage scissors-fork mechanism connected in sequence, wherein the first bottom end and the first top end of the first-stage scissors-fork mechanism opposite to each other along the vertical direction are the first end and the second end respectively, and the second-stage scissors-fork mechanism has a second bottom end and a second top end opposite to each other along the vertical direction, the second bottom end of the second-stage scissors-fork mechanism is rotatably connected to the first top end of the first-stage scissors-fork mechanism, and the second top end of the second-stage scissors-fork mechanism is the third end; the driving mechanism is used to drive the first-stage scissors-fork mechanism and the second-stage scissors-fork mechanism to extend simultaneously, so that the second end moves along the vertical direction toward a direction away from the first end, and the third end moves along the vertical direction toward a direction away from the second end; the driving mechanism is also used to drive the first-stage scissors-fork mechanism and the second-stage scissors-fork mechanism to contract simultaneously, so that the second end moves along the vertical direction toward a direction close to the first end, and the third end moves along the vertical direction toward a direction close to the second end.

[0013] In some embodiments, the ejector member includes a combination of one or more of an ejector pin, an ejector plate, and an ejector block.

[0014] According to a second aspect of an embodiment of the present application, a method for picking up and placing goods is provided, which is applied to a handling robot, wherein the handling robot comprises a chassis, a lifting assembly, a first table top and a second table top; the lifting assembly comprises a first end, a second end and a third end arranged in sequence along a vertical direction, the first end is fixed to the chassis, the second end can move along the vertical direction in a direction away from the chassis or close to the chassis, and the third end can move along the vertical direction in a direction away from the second end or close to the second end; the first table top is arranged at the second end of the lifting assembly, and a plurality of top holding members distributed at intervals are arranged on the first table top, and the plurality of top holding members are used to support goods; the second table top is used to carry pallets and / or goods, and the second table top is arranged at the third end of the lifting assembly, and the second table top is parallel to the first table top, The second table top is provided with a plurality of first through holes, and the plurality of first through holes correspond one-to-one with the plurality of top holding members, so that the plurality of top holding members can pass through the first through holes to support the goods; the method comprises: controlling the lifting assembly to descend, so that the first table top is descended to a first position, the plurality of top holding members on the first table top pass through the plurality of first through holes and a plurality of third through holes to support the first goods placed in the pallet, the plurality of third through holes being through holes on the pallet corresponding one-to-one with the plurality of top holding members; controlling the transport robot to walk to a second docking position, the second docking position is provided with a second docking device; controlling the lifting assembly to descend, so that the first table top is descended to a second position, the first goods are transferred to the second docking device and the plurality of top holding members are separated from the first goods, and the second position is lower than the first position.

[0015] In some embodiments, in the first position, the height of the tops of the multiple top holding members of the first table surface is greater than the height of the top of the tray carried on the second table surface, and the height of the tops of the multiple top holding members is greater than the height of the second surface, and the second surface is the surface of the multiple comb teeth supporting the goods, so that the multiple top holding members can separate the pallet and the goods, and can lift the goods to move into the gaps between the multiple comb teeth.

[0016] In some embodiments, in the second position, the height of the tops of the plurality of top holders is less than the height of the second surfaces of the plurality of comb teeth, and the goods supported by the plurality of top holders are separated from the plurality of top holders and placed on the plurality of comb teeth.

[0017] In some embodiments, after the first cargo is transferred to the second docking device, the method further includes: controlling the transport robot to walk to a third docking position, wherein the third docking position is provided with a third docking device, and the third docking device includes a plurality of comb teeth arranged at intervals, and the plurality of comb teeth are used to carry the second cargo; controlling the lifting assembly to lift so that the plurality of supporting members on the first table surface rises through the gaps between the plurality of comb teeth to contact the bottom of the second cargo and lift the second cargo out of the third docking device; controlling the transport robot to drive away from the third docking position; controlling the lifting assembly to lift so that the pallet carried by the second table surface contacts the second cargo to place the second cargo in the pallet.

[0018] In some embodiments, after controlling the lifting assembly to lift so that the pallet carried by the second table top contacts the second goods to place the second goods in the pallet, the method further includes: controlling the transport robot to walk to a fourth docking position, where a fourth docking device is provided; controlling the lifting assembly to descend so that the pallet with the second goods is detached from the second table top and placed on the fourth docking device.

[0019] In some embodiments, after the first product is transferred to the second docking device, the method also includes: controlling the transport robot to leave the second docking position; controlling the lifting assembly to lift so that the second table drives the pallet to rise; controlling the transport robot to walk to the fifth docking position, which is provided with a fifth docking device; controlling the lifting assembly to descend so that the pallet leaves the second table and is placed on the fifth docking device.

[0020] In some embodiments, before controlling the lifting assembly to descend so that the first table top descends to a first position and the multiple supporting members on the first table top pass through the multiple first through holes and the multiple third through holes to support the first goods placed in the pallet, the method also includes: controlling the transport robot to walk to a first docking position, the first docking position is provided with a first docking device, and the first docking device carries the pallet and the first goods; controlling the lifting assembly to lift so that the second table top contacts the bottom of the pallet and lifts the pallet off the first docking device; controlling the transport robot to drive away from the first docking position.

[0021] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising: a processor and a memory, wherein executable instructions are stored in the memory, and the processor can execute the executable instructions to implement the above-mentioned method for picking up and releasing goods.

[0022] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, wherein executable instructions are stored in the storage medium. When the executable instructions are executed on an electronic device, the electronic device executes the method for picking up and releasing goods as described above.

[0023] According to a fifth aspect of an embodiment of the present application, a storage system is provided, comprising: a shelf for storing pallets; a workstation for receiving goods to be operated or outputting operated goods; and a handling robot, comprising a chassis, a lifting assembly, a first table top and a second table top; the lifting assembly has a first end, a second end and a third end sequentially arranged in a vertical direction, the first end is fixed to the chassis, the second end can move in the vertical direction away from the chassis or close to the chassis, and the third end can move in the vertical direction away from the second end or close to the second end; the first table top is arranged on the lifting assembly. At the second end of the component, a plurality of top holding members are arranged at intervals on the first table top, and the plurality of top holding members are used to support goods; the second table top is used to carry pallets and / or goods, the second table top is arranged at the third end of the lifting component, the second table top is parallel to the first table top, and the second table top is provided with a plurality of first through holes, and the plurality of first through holes correspond one by one to the plurality of top holding members, so that the plurality of top holding members can support goods through the first through holes; the handling robot is used to take out the pallet with goods stored thereon from the shelf, and separate the goods from the pallet, so as to transfer the separated goods to the workstation.

[0024] In some embodiments, the transport robot performs the following steps: controlling the lifting assembly to descend so that the first table top descends to a first position, the multiple top holding members on the first table top pass through the multiple first through holes and the multiple third through holes to support the first goods placed in the pallet, the multiple third through holes are through holes on the pallet that correspond one-to-one to the multiple top holding members; controlling the transport robot to walk to a second docking position, the second docking position is provided with a second docking device; controlling the lifting assembly to descend so that the first table top descends to a second position, the first goods are transferred to the second docking device and the multiple top holding members are separated from the first goods, and the second position is lower than the first position.

[0025] In the embodiment of the present application, a lifting component is provided on the handling robot, a movable first table top and a second table top are provided on the lifting component, a top holding piece is provided on the first table top, a first through hole for the top holding piece to pass through is provided on the second table top, and the first table top and the second table top are driven to rise and fall by the lifting component. When a pallet with goods is placed on the second table top, the second table top is driven to descend relative to the first table top by the lifting component, and the top holding piece passes through the first through hole of the second table top and the third through hole at the bottom of the pallet to support the goods in the pallet, thereby realizing the separation of the goods in the pallet and the pallet. This method has a simple structure, reduces equipment costs, can simplify the steps of separating goods from the pallet, and improves the operating efficiency of the handling robot.

[0026] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present application. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0028] Figure 1a A schematic diagram of the structure of a storage system provided in an embodiment of the present application is shown;

[0029] Figure 1b A schematic top view of a storage system provided in an embodiment of the present application is shown;

[0030] Figure 2 A schematic diagram of the structure of a tray in an embodiment of the present application is shown;

[0031] Figure 3 A schematic diagram of the structure of the first docking device in an embodiment of the present application is shown;

[0032] Figure 4 A schematic diagram of the structure of the second docking device in an embodiment of the present application is shown;

[0033] Figure 5a A perspective view of a transport robot provided by an embodiment of the present application in a first state is shown;

[0034] Figure 5b A three-dimensional view of the transport robot provided by an embodiment of the present application in a first state from another angle is shown;

[0035] Figure 5cA side view of a transport robot provided by an embodiment of the present application in a first state is shown;

[0036] Figure 5d A perspective view showing a transport robot provided by an embodiment of the present application in a second state;

[0037] Figure 5e It shows a schematic structural diagram of the scissor fork mechanism and the second table in the embodiment of the present application;

[0038] Figure 6a A schematic diagram showing the structure of the transport robot in a first state when transporting a pallet;

[0039] Figure 6b A schematic diagram showing the structure of the transport robot in a second state when transporting a pallet;

[0040] Figure 7a A schematic diagram showing the relationship between the partial structure of the handling robot and the dimensions of the cantilever beam is shown;

[0041] Figure 7b A schematic diagram showing a first table surface of the transport robot is in a first position;

[0042] Figure 7c A schematic diagram showing a first table surface of the transport robot when it is in a second position;

[0043] Figure 8 A schematic diagram of the process of picking up and releasing goods provided in an embodiment of the present application is shown;

[0044] Figure 9a A diagram showing a first position relationship between the handling robot and the first docking device during the process of picking up and placing goods;

[0045] Figure 9b A second position relationship diagram between the handling robot and the first docking device during the process of picking up and placing goods is shown;

[0046] Fig.9c A third position relationship diagram between the handling robot and the first docking device during the process of picking up and placing goods is shown;

[0047] Figure 9d A diagram showing a first position relationship between the handling robot and the pallet and goods during the process of picking up and placing goods;

[0048] Fig.9e A second position relationship diagram of the handling robot, the pallet and the goods during the process of picking up and placing goods is shown;

[0049] Figure 9f A diagram showing a first position relationship between the handling robot and the second docking device during the process of picking up and placing goods;

[0050] Figure 9g A second position relationship diagram between the handling robot and the second docking device during the process of picking up and placing goods is shown;

[0051] Figure 9h A third position relationship diagram between the handling robot and the second docking device during the process of picking up and placing goods is shown;

[0052] Fig.10 A schematic diagram of the process of picking up and releasing goods provided in an embodiment of the present application is shown;

[0053] Fig.11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown.

[0054] The reference numerals in the specific implementation manner are as follows:

[0055] 100. Warehousing system;

[0056] 10. Shelves;

[0057] 20. Workstation; 21. Inbound workstation; 22. Outbound workstation; 23. Picking workstation; 24. Inbound and outbound workstation;

[0058] 30. tray; 31. bottom plate; 32. baffle plate; 33. third through hole;

[0059] 40. Transport robot;

[0060] 41, chassis; 411, housing; 412, running wheels;

[0061] 42, first table; 421, ejector pin; 423, second through hole;

[0062] 43, lifting assembly; 43a, first end; 43b, second end; 43c, third end; 431, first stage scissor fork mechanism; 432, second stage scissor fork mechanism; 4311, support rod; 4311a, first support rod; 4311b, second support rod; 4311c, third support rod; 4311d, fourth support rod; 4312, connecting rod;

[0063] 44, second table; 441, first through hole; 442, first connecting plate; 443, second connecting plate; 4431, sliding hole;

[0064] 50. Control device;

[0065] 61, first docking device; 611, first crossbeam; 612, cantilever beam; 62, second docking device; 621, second crossbeam; 622, comb teeth;

[0066] 70. Goods;

[0067] 300. Electronic device; 302. Processor; 304. Memory; 306. Computer program. DETAILED DESCRIPTION

[0068] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0069] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0070] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0071] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0072] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists, A and B exist at the same time, and B exists. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0073] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0074] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0075] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0076] The smart warehousing system is a system that uses advanced information technology and automated equipment to achieve efficient storage and handling of goods. It can realize the automatic identification, picking, handling and storage of goods. In the smart warehousing system, cartons are usually used to store goods. However, because cartons are easily deformed, they cannot be accurately accessed by automated handling devices such as handling robots. Therefore, cartons are usually placed in pallets made of more durable materials and then placed on shelves to prevent the cartons from being damaged during storage or handling. For some goods, they can also be placed directly in pallets without additional carton packaging. The handling robot can take the pallet and carton from the shelf together and carry them to the target location together, such as the conveyor line of each workstation or another shelf. Pallets usually have identification codes, such as barcodes or QR codes, which makes it easier to quickly identify and track the goods in the carton in the warehouse management system. In addition, the size and shape of pallets are usually standardized, which also makes it easy for handling robots to interact with pallets.

[0077] In some work scenarios of the intelligent warehousing system, it is necessary to separate goods from pallets and take the goods out of the pallets. The goods here can be individual goods, cartons containing goods, or empty cartons. The following uses cartons as an example to introduce several technical solutions for separating cartons from pallets.

[0078] For example, cartons can be taken out of pallets by robots to achieve automatic separation of the cartons and pallets, but the cost of robots is relatively high.

[0079] A through hole can also be set at the bottom of the pallet. When the pallet loaded with cartons reaches the conveyor separation device of the workstation, the ejector plate is lifted from under the conveyor; the ejector passes through the through hole at the bottom of the pallet to lift the carton for a distance, so that a gap is formed between the carton and the pallet; then the arm-type structure of the workstation (hereinafter referred to as the arm) avoids the ejector and moves under the carton, and the ejector plate descends to make the carton fall onto the arm, and the arm subsequently transports the carton to other planes to separate the carton from the pallet. In such a solution, the workstation structure is complex and costly; and because there are many mechanical movements and they cannot be operated in parallel, the efficiency is low.

[0080] For another example, a concave-convex structure is set on the inner side of the bottom of the pallet and the side wall of the pallet, so that after the carton is placed on the pallet, there is a gap between the bottom of the carton and the bottom of the pallet. After the pallet loaded with the carton arrives at the separation device of the workstation, the workstation extends a comb-like structure into the gap between the carton and the pallet, and then the comb-like structure transports the carton to other planes to separate the carton and the pallet. The concave-convex structure inside the pallet increases the material cost of the pallet and reduces the available inner size of the pallet.

[0081] Therefore, how to achieve low-cost and high-efficiency separation of cartons and pallets is an urgent problem to be solved.

[0082] Figure 1a The structure diagram of the storage system provided by the embodiment of the present application is shown. Figure 1b FIG. 2 shows a schematic top view of a storage system provided in an embodiment of the present application. Figure 1a and Figure 1b As shown, the storage system 100 includes a shelf 10 and a workstation 20. The shelf 10 is used to store containers, and the containers are used to hold goods. The goods can be individual goods, cartons containing goods, or empty cartons. The container can be a material box or a pallet. The present application embodiment takes the pallet 30 shown in the figure as an example for description. The workstation 20 is used to receive goods to be operated or output operated goods.

[0083] like Figure 1b As shown, the storage system 100 includes a plurality of shelves 10. The workstation 20 may include an inbound workstation 21, an outbound workstation 22, and a picking workstation 23. Those skilled in the art should understand that the various workstations 20 described above may be workstations 20 having only one function, or may be workstations 20 having two or more functions, such as an inbound and outbound workstation 24. The workstation 20 is usually provided with a conveyor line, and the conveyor line of the workstation 20 may directly convey goods, or may convey a pallet 30 containing goods, or may convey an empty pallet 30.

[0084] Figure 2 The schematic diagram of the structure of the tray in the embodiment of the present application is shown as follows: Figure 2As shown, the tray 30 includes a bottom plate 31 and baffles 32 vertically arranged around the bottom plate 31. The height of the baffles 32 is lower than that of a conventional material box. Goods can be placed on the bottom plate 31, and a plurality of third through holes 33 are opened on the bottom plate 31.

[0085] The storage system 100 further includes a transport robot 40, and one or more transport robots 40 may be provided. The transport robot 40 is responsible for transferring goods between the shelf 10 and the conveyor line of the workstation 20. The transport robot 40 may transport goods to be received from the incoming workstation 21 to the shelf 10, transport goods to be shipped out from the shelf 10 to the outgoing workstation 22, or transport goods to be picked from the shelf 10 to the picking workstation 23. For example, the transport robot 40 takes out a pallet 30 storing goods from the shelf 10, and separates the goods from the pallet 30, so as to transfer the separated goods to the workstation 20. The storage system 100 further includes a control device 50, which is used to schedule the transport robot 40 to perform a transport task.

[0086] Lanes are provided between the shelves 10, between the shelves 10 and the workstations 20, and / or between the workstations 20 for the transport robot 40 or the staff to pass through. The transport robot 40 may be an automatic guided robot, which realizes positioning by identifying a guide line or a graphic code (such as a QR code or a barcode) on the ground, thereby realizing movement within the storage system 100.

[0087] The shelf 10 and the workstation 20 have docking positions, and docking devices are provided at the docking positions. The handling robot 40 docks with the docking devices of the shelf 10 or the workstation 20 to achieve storage and retrieval of the pallet 30 and / or goods. The shelf 10 and the workstation 20 have at least two types of docking devices: a first docking device and a second docking device.

[0088] Figure 3 FIG. 4 shows a schematic diagram of the structure of the first docking device in an embodiment of the present application. Figure 3 As shown, the first docking device 61 can be set at the first docking position of the shelf or workstation. The first docking device 61 includes a first beam 611 and two cantilever beams 612 for carrying pallets. The first beam 611 is fixed to the column of the shelf by bolting or the like, and the two cantilever beams 612 are vertically connected to the first beam 611 in a horizontal plane.

[0089] Figure 4 FIG. 4 shows a schematic diagram of the structure of the second docking device in an embodiment of the present application. Figure 4As shown, the second docking device 62 can be set at the second docking position of the shelf 10 or the workstation 20. The second docking device 62 includes a second crossbeam 621 and a plurality of comb teeth 622 distributed at intervals. The second crossbeam 621 is fixed to the column of the conveyor line of the workstation 20 by bolting or the like. The plurality of comb teeth 622 are vertically connected to the first crossbeam 611 in the horizontal plane. The plurality of comb teeth 622 are used to carry goods. Of course, the second docking device 62 can also be used to carry the pallet 30.

[0090] Figure 5a to Figure 5d The schematic diagram of the structure of the handling robot provided in the embodiment of the present application is shown. Figure 5a to Figure 5d The handling robot 40 includes a chassis 41, a lifting assembly 43, a first table 42 and a second table 44. Of course, the handling robot 40 generally also includes components not shown in the figure, such as a walking motor, a main control component, and a battery.

[0091] The chassis 41 includes a shell 411 and a walking mechanism arranged on the shell 411, and the walking mechanism includes a driving component (not shown in the figure) and a walking wheel 412. The driving component drives the walking wheel 412 to rotate so as to realize the movement of the transport robot 40. For example, the driving component drives the walking wheel 412 to rotate forward to realize the forward movement of the transport robot 40, and the driving component drives the walking wheel 412 to rotate reversely to realize the backward movement of the transport robot 40.

[0092] The lifting assembly 43 has a first end 43a, a second end 43b and a third end 43c (such as Figure 5c As shown in the figure, the first end 43a is fixed to the chassis 41, the second end 43b can move in the vertical direction away from the chassis 41 (the Z direction shown in the figure) or towards the chassis 41 (the negative direction of the Z direction shown in the figure, that is, the -Z direction), and the third end 43c can move in the vertical direction away from the second end 43b (Z direction) or towards the second end 43b (-Z direction). Since the first table top 42 is arranged on the second end 43b, the third end 43c also moves in the vertical direction away from the first table top 42 or towards the first table top 42. Figure 5a is a three-dimensional diagram of the transport robot in a first state, Figure 5b is a three-dimensional diagram of the transport robot in the first state from another angle, Figure 5c It is a side view of the transport robot in the first state. When the transport robot 40 is in the first state, the second end 43b and the third end 43c of the lifting assembly 43 are both located away from the chassis 41, and the third end 43c is located away from the second end 43b. Figure 5d 4 is a schematic diagram of the structure of the transport robot in the second state, at which time the second end and the third end of the lifting assembly 43 are both close to the chassis 41, and the third end is close to the second end.

[0093] Please continue reading Figure 5a to Figure 5d The first table 42 is disposed at the second end 43b of the lifting assembly 43. The first table 42 is provided with a plurality of spaced support members for supporting the goods. The first table 42 is a flat plate structure. The support members include a combination of one or more of a push pin, a push plate, and a push block. As long as the support members can support the goods, do not interfere with the movement of the lifting assembly 43, and can pass through the gaps between the comb teeth, it is acceptable. Please also refer to Figure 2 The shape and number of the third through holes 33 opened on the bottom plate 31 of the tray 30 are adapted to the shape and number of the top holding member of the handling robot 40. In the embodiment shown in the figure, the top holding member is a top pin 421, and the third through holes 33 opened on the bottom plate 31 of the tray 30 are round holes.

[0094] The second table 44 is used to carry the tray and / or goods. The second table 44 is arranged at the third end 43c of the lifting assembly 43. The second table 44 is parallel to the first table 42. The second table 44 is provided with a plurality of first through holes 441. The plurality of first through holes 441 correspond to the plurality of ejector pins 421 one by one, so that the plurality of ejector pins 421 can pass through the first through holes 441 to support the goods. The second table 44 is also a flat plate structure. The shape of the first through hole 441 is adapted to the shape of the ejector pin 421, for example, the shape and size of the first through hole 441 are basically consistent with the shape and size of the ejector pin 421, or the size of the first through hole 441 is slightly larger than the size of the ejector pin 421, so that the ejector pin 421 can pass through the first through hole 441 smoothly; the number of the first through holes 441 is the same as the number of the ejector pins 421 that need to pass through the first through holes 441, or the number of the first through holes 441 is more than the number of the ejector pins 421 that need to pass through the first through holes 441.

[0095] Please read further Figure 6a and Figure 6b , respectively show the structural schematic diagrams of the transport robot in the first state and the second state when transporting a pallet. Figure 6a As shown, the tray 30 is placed on the second table, and the third end of the lifting assembly 43 is at a position away from the bottom plate 41 and the first table 42, and the tray 30 is lifted. Figure 6b At this time, the third end of the lifting assembly 43 is close to the first table 42, and the tray 30 is moved from Figure 6a The position shown in FIG. 1 is moved downward, and the ejector pin 421 passes through the first through hole of the second table and the third through hole 33 at the bottom of the tray 30, and the top of the ejector pin 421 protrudes from the top of the tray 30. Figure 6a In the state shown, there are goods placed in the tray 30, then Figure 6a The status shown changes to Figure 6bIn the state shown, the ejector pin 421 can pass through the first through hole of the second table top and the third through hole 33 at the bottom of the tray 30 to support the goods in the tray 30, thereby separating the goods in the tray 30 from the tray 30.

[0096] The lifting assembly 43 can realize the movement of its second end 43b and third end 43c by means of scissor forks, lifting rods (hydraulic, electric or pneumatic), spiral lifting, chain lifting, gear lifting, crank lifting, etc. The embodiment of the present application is described by taking the scissor forks as an example. The scissor fork mechanism can achieve a large moving stroke, and its volume is small when it is retracted to meet the application scenario's demand for a small volume of the handling robot 40, has a strong load capacity, and can be lifted and lowered smoothly, which can ensure the safe transportation of pallets and goods.

[0097] Figure 5e The schematic diagram of the structure of the scissor fork mechanism and the second table in the embodiment of the present application is shown. Figure 5e Please continue to see Figure 5c The lifting assembly 43 includes a driving mechanism (not shown in the figure), a first-stage scissor fork mechanism 431, and a second-stage scissor fork mechanism 432, which are connected in sequence. The "scissor fork mechanism" hereinafter refers to the first-stage scissor fork mechanism 431 and the second-stage scissor fork mechanism 432. The first bottom end and the first top end of the first-stage scissor fork mechanism 431 opposite to each other in the vertical direction are the first end 43a and the second end 43b, respectively. The second-stage scissor fork mechanism 432 has a second bottom end and a second top end opposite to each other in the vertical direction. The second bottom end of the second-stage scissor fork mechanism is rotatably connected to the first top end of the first-stage scissor fork mechanism 431, and the second top end of the second-stage scissor fork mechanism 432 is the third end 43c.

[0098] The driving mechanism is used to drive the first-stage scissor fork mechanism 431 and the second-stage scissor fork mechanism 432 to extend simultaneously, so that the second end 43b moves in a vertical direction away from the first end 43a, and the third end 43c moves in a vertical direction away from the second end 43b. The driving mechanism is also used to drive the first-stage scissor fork mechanism 431 and the second-stage scissor fork mechanism 432 to contract simultaneously, so that the second end 43b moves in a vertical direction toward the direction close to the first end 43a, and the third end 43c moves in a vertical direction toward the direction close to the second end 43b.

[0099] The driving mechanism of the lifting assembly 43 can be a motor, and the motor output shaft rotates, and the rotation of the motor output shaft is converted into linear motion through a rotary-linear motion conversion mechanism (such as a ball screw mechanism, a crank slider mechanism, a gear rack mechanism, etc.), driving the first-stage scissor fork mechanism 431 and the second-stage scissor fork mechanism 432 to move, thereby driving the first-stage scissor fork mechanism 431 and the second-stage scissor fork mechanism 432 to extend and retract. The driving mechanism of the lifting assembly 43 can reuse the walking motor of the handling robot 40, that is, the walking motor is used to drive the handling robot 40 to walk, and also to drive the first-stage scissor fork mechanism 431 and the second-stage scissor fork mechanism 432 to rise and fall. In this way, there is no need to set up an additional lifting motor, thereby simplifying the structural design and reducing costs.

[0100] The first-stage scissor fork mechanism 431 and the second-stage scissor fork mechanism 432 both include a plurality of scissor forks extending in the horizontal direction (such as Figure 5a In the embodiment, two groups of support rods are arranged opposite to each other (in the X direction as shown in FIG. 1 ), each group of support rods includes at least two support rods 4311, at least two support rods 4311 are arranged crosswise and hinged at the intersection, both ends of each support rod 4311 are rotatably connected with both ends of the support rod 4311 at the corresponding position in the other group of support rods through a connecting rod 4312, and the driving mechanism drives at least one connecting rod 4312 to move, driving the two groups of support rods to extend or contract. The axial direction of the connecting rod 4312 is arranged along the X direction. The driving mechanism drives the connecting rod 4312 to move in the -Y direction (i.e., the negative direction of the Y direction in the figure), driving the two groups of support rods to extend, so that the second end 43b and the third end 43c move in the vertical direction away from the first end 43a to lift the pallet, and in this process, the third end 43c rises faster than the second end 43b, that is, the third end 43c is in a moving state away from the second end 43b in the Z direction, and the third end 43c rises relative to the second end 43b; the driving mechanism drives the connecting rod 4312 to move in the Y direction, driving the two groups of support rods to contract, so that the second end 43b and the third end 43c move in the vertical direction toward the first end 43a to drive the pallet to descend, and in this process, the third end 43c descends faster than the second end 43b, and the third end 43c descends relative to the second end 43b, so that the ejector pin 421 passes through the first through hole 441 of the second table 44 and the third through hole at the bottom of the pallet to support the goods in the pallet, thereby realizing the separation of the goods in the pallet and the pallet.

[0101] The scissor fork mechanism in the embodiment of the present application adopts a two-stage scissor fork mechanism, which can simultaneously drive the lifting and lowering of the first table 42 and the second table 44 by the same driving mechanism. There is no need to set driving mechanisms for the first table 42 and the second table 44 respectively, which improves the utilization rate of components, saves costs, simplifies the design, reduces the occupied space, and is more convenient to control and maintain.

[0102] In order to provide a larger moving stroke for the second end 43b and the third end 43c, each group of support rods of the first-stage scissor fork mechanism 431 and the second-stage scissor fork mechanism 432 may include multiple pairs of cross-hinged support rods 4311, and the multiple pairs of support rods 4311 are arranged in a vertical direction. The adjacent ends of each pair of support rods 4311 are rotatably connected with another pair of support rods 4311 through the above-mentioned connecting rod 4312, that is, a multi-stage scissor fork mechanism with more than two stages is used.

[0103] In the first-stage scissor fork mechanism 431, the support rod 4311 located at the top in the vertical direction is used to set the first table 42, wherein one end of the bottom of the first table 42 is hinged to two support rods 4311, and the other end is slidably connected to the other two support rods 4311. Specifically, two first connecting plates 442 are arranged at one end of the bottom of the first table 42, and the first support rod 4311a and the second support rod 4311b are respectively hinged to the two first connecting plates 442 through the connecting rod 4312; two second connecting plates 443 are arranged at the other end of the bottom of the first table 42, and a sliding hole 4431 is provided on the second connecting plate 443, and the connecting rod 4312 can move in the sliding hole 4431, and the third support rod 4311c and the fourth support rod 4311d are respectively slidably connected to the two second connecting plates 443 through the connecting rod 4312.

[0104] The connection method between the support rod 4311 and the second table top 44 in the second-stage scissor fork mechanism 432 is the same as the connection method between the support rod 4311 and the first table top 42 in the first-stage scissor fork mechanism 431. Please refer to the above description and will not be repeated here.

[0105] In some embodiments, Figure 5a As shown, the first table 42 is provided with a second through hole 423, and the second through hole 423 can allow the moving parts moving in the vertical direction in the lifting assembly 43 to pass through, so that the first table 42 does not interfere with the moving parts moving in the vertical direction in the lifting assembly 43. The shape of the second through hole 423 is adapted to the maximum projection of all projections of the moving parts moving in the vertical direction in the lifting assembly 43 on the first plane, and the first plane is the plane where the first table 42 is located, and all projections include the projections of the moving parts in all motion states. In this way, the moving parts moving in the vertical direction in the lifting assembly 43 can smoothly pass through the second through hole 423 when moving, and will not be interfered by the first table 42.

[0106] When the lifting assembly 43 includes the first-stage scissor fork mechanism 431 and the second-stage scissor fork mechanism 432 as described above, the moving component moving in the vertical direction is the support rod 4311, and the connecting rod 4312 to be moved at the second end 43b is restricted by the sliding hole 4431 opened on the second connecting plate 443 at the bottom of the first table 42, and always moves along the sliding hole 4431, that is, the connecting rod 4312 to be moved at the second end 43b always moves at the bottom of the first table 42. The second through hole 423 opened in the first table 42 can allow the support rod 4311 in the lifting assembly 43 to pass through, so that the first table 42 does not interfere with the support rod 4311.

[0107] Figure 7a The diagram shows the relationship between the partial structure of the handling robot and the size of the cantilever beam. Figure 7b shows a schematic diagram of a first table surface of the transport robot being in a first position, Figure 7c A schematic diagram is shown when the first table surface of the transport robot is in the second position.

[0108] The handling robot is used to pick up and place a pallet from a first docking position of a shelf or a workstation. As mentioned above, the first docking device at the first docking position includes two cantilever beams for carrying the pallet. Figure 7a As shown, the dimension d1 of the second table 44 along the first direction (the X direction shown in the figure) is smaller than the distance d2 between the two cantilever beams 612, and the first direction is a direction in the horizontal plane perpendicular to the walking direction of the chassis 41. When the handling robot 40 moves to the first docking position, the lifting assembly needs to drive the second table 44 to rise or fall so that the second table 44 passes between the two cantilever beams 612, thereby realizing the picking and placing of the pallet. Therefore, the dimension d1 of the second table 44 along the first direction is smaller than the distance d2 between the two cantilever beams 612, that is, the width of the second table 44 is smaller than the distance d2 between the two cantilever beams 612, so that the second table 44 can pass through the gap between the two cantilever beams 612.

[0109] Figure 7a The state shown in the figure is the state where the first table 42 rises to the highest position, that is, the state where the ejector pin 421 rises to the highest position. In this state, the highest height h1 of the top of the ejector pin 421 is less than or equal to the height h2 of the first surface S1 of the two cantilever beams 612. The first surface S1 is the surface of the cantilever beam 612 away from the pallet, that is, the bottom of the cantilever beam 612. In this way, when the transport robot 40 moves to the first docking position, the ejector pin 421 will not interfere with the cantilever beam 612 and the pallet placed on the cantilever beam 612, so that the transport robot 40 can smoothly move to the first docking position to pick up and place the pallet. Unless otherwise specified, the height in the embodiments of the present application refers to the dimension along the Z direction shown in the figure.

[0110] Figure 7a The state shown in the figure is also the state where the second table 44 rises to the highest position. The second table 44 can be driven by the third end of the lifting assembly to rise to the position shown in the figure. At this time, the height h3 of the second table 44 is greater than or equal to the height h4 of the third surface S3 of the two cantilever beams 612, and the third surface S3 is the surface of the cantilever beam 612 that carries the pallet. In this way, when the transport robot 40 moves to the first docking position to take the pallet, the second table 44 can rise to a position higher than the cantilever beam 612, thereby lifting the pallet off the cantilever beam 612, and the transport robot 40 moves out from the first docking position to take the pallet; when the transport robot 40 needs to move to the first docking position to place the pallet, the second table 44 can lift the pallet to a position higher than the cantilever beam 612, and when the transport robot 40 moves to the first docking position, the pallet will not interfere with the cantilever beam 612, so that the transport robot 40 can smoothly move to the first docking position to place the pallet.

[0111] The handling robot is used to pick up and place goods from the second docking position of the shelf or workstation. As mentioned above, the second docking position is provided with a second docking device, and the second docking device includes a plurality of comb teeth distributed at intervals, and the plurality of comb teeth are used to carry goods. The second end and the third end of the lifting assembly can move in the vertical direction to move the first table top and the second table top to different positions.

[0112] like Figure 7b As shown, the first table top (not shown in the figure) includes a first position. In the first position, the height h5 of the tops of the multiple ejector pins 421 of the first table top is greater than the height h6 of the top of the tray 30 carried on the second table top 44, and the height h5 of the tops of the multiple ejector pins 421 is greater than the height h7 of the second surface S2. The second surface S2 is the surface of the multiple comb teeth 622 supporting the goods, so that the multiple ejector pins 421 can separate the tray 30 and the goods 70 and lift the goods 70, and the multiple ejector pins 421 move into the gaps between the multiple comb teeth 622. Among them, the height h5 of the tops of the multiple ejectors 421 on the first table is greater than the height h6 of the top of the tray 30 carried on the second table 44, which can achieve the separation of the goods 70 and the tray 30; the height h5 of the tops of the multiple ejectors 421 is greater than the height h7 of the second surface S2 of the multiple comb teeth 622, so that when the transport robot 40 moves to the second docking position to place the goods 70, the goods 70 held by the ejectors 421 can be smoothly moved to the top of the comb teeth 622 without being interfered by the comb teeth 622.

[0113] like Figure 7cAs shown, the first table (not shown in the figure) includes a second position, in which the height h8 of the tops of the plurality of ejector pins 421 is less than the height h7 of the second surfaces S2 of the plurality of comb teeth 622, and the goods 70 supported by the plurality of ejector pins 421 are separated from the plurality of ejector pins 421 and placed on the plurality of comb teeth 622. In this way, when the transport robot 40 moves to the second docking position to place the goods 70, the ejector pins 421 can be driven to drop along the gaps between the plurality of comb teeth 622 to a position lower than the second surfaces S2 of the comb teeth 622 through the contraction of the scissor fork mechanism, and the goods 70 are placed on the comb teeth 622.

[0114] Figure 8 A schematic flow chart of a method for picking up and placing goods provided in an embodiment of the present application is shown, and the method is applied to the aforementioned transport robot. Figure 9a to Figure 9h The diagram shows the positional relationship between the handling robot and each docking device during the process of picking up and placing goods, as well as the positional relationship between the handling robot and the pallet and goods.

[0115] like Figure 8 As shown, the method for picking up and releasing goods includes the following steps:

[0116] Step 101: Control the transport robot to move to a first docking position, where a first docking device is provided, and the first docking device carries a pallet and a first product.

[0117] Step 102: Control the lifting assembly to lift so that the second table surface contacts the bottom of the tray and lifts the tray away from the first docking device.

[0118] Step 103: Control the transport robot to drive away from the first docking position.

[0119] In step 101 to step 103, the first docking position is the docking position of the shelf, and the transport robot takes out the pallet containing the goods from the shelf. First, the transport robot 40 moves to the bottom of the first docking position (such as Figure 9a The second table 44 is lifted by extending the scissor fork mechanism so that the second table 44 contacts the bottom of the tray 30 (as shown in FIG. Figure 9b As shown), and continue to stretch and lift, so that the pallet 30 is separated from the cantilever beam 612 of the shelf by a certain distance (as shown in FIG. Fig.9c The transport robot 40 moves out of the first docking position, which means that the transport robot 40 moves out from under the first docking device or passes under the first docking device. The same is true for moving out of other docking positions in the following text.

[0120] Step 104: Control the lifting assembly to descend so that the first table top descends to the first position, and the plurality of top holding members on the first table top pass through the plurality of first through holes and the plurality of third through holes on the pallet corresponding to the plurality of top holding members to support the first goods placed in the pallet.

[0121] Step 105: Control the transport robot to move to a second docking position, where a second docking device is provided.

[0122] Step 106: Control the lifting assembly to descend so that the first tabletop descends to the second position, the first product is transferred to the second docking device, and the plurality of holding members are separated from the first product, and the second position is lower than the first position.

[0123] In step 104 to step 106, the second docking position is the docking position of the workstation, and the handling robot separates the goods from the pallet and transfers the goods to the docking position of the workstation. First, after the handling robot 40 drives out of the first docking position, the scissor fork mechanism is retracted, and the first table 42 and the second table 44 are lowered at the same time, but the second table 44 is lowered faster, and the ejector pin 421 on the first table 42 supports the goods 70 (such as Figure 9d As shown), the first table 42 and the second table 44 continue to descend. Similarly, the second table 44 descends faster, and the tray 30 continues to descend with the second table 44. When the first table 42 descends to the first position, the goods 70 and the tray 30 are separated (as shown). Fig.9e The transport robot 40 transports the pallet 30 and the goods 70 to the second docking position, and the ejector pin 421 passes through the gap between the comb teeth 622 of the second docking device, so that the goods 70 are moved above the comb teeth 622 (as shown in FIG. Figure 9f As shown in FIG. 1 , the goods 70 continue to descend as the first table 42 descends. When the first table 42 descends to the second position, the goods 70 are placed on the second docking device and are separated from the ejector pin 421 (as shown in FIG. 1 ). Figure 9g shown).

[0124] Step 104 may be performed before step 105 , or may be performed when the transport robot moves to the second docking position.

[0125] After the transport robot transfers the goods to the workstation docking position in step 106, steps 107 to 122 may be executed, or steps 123 to 126 may be executed.

[0126] Step 107: Control the transport robot to move to a third docking position, wherein the third docking position is provided with a third docking device, the third docking device includes a plurality of comb teeth arranged at intervals, and the plurality of comb teeth are used to carry the second goods.

[0127] Step 108: Control the lifting assembly to rise, so that the plurality of supporting members on the first table rise and pass through the gaps between the plurality of comb teeth to contact the bottom of the second product and lift the second product to detach from the third docking device.

[0128] Step 109: Control the transport robot to drive away from the third docking position.

[0129] Step 120: Control the lifting assembly to lift so that the tray carried by the second tabletop contacts the second goods to place the second goods in the tray.

[0130] In step 107 to step 120, the third docking position is also the docking position of the workstation. After the handling robot transfers the goods in the tray to the second docking device, it goes to the third docking position of the current workstation or another workstation to pick up the goods. The third docking device at the third docking position has the second goods placed on it (hereinafter, the description will continue with the goods 70 as an example). The handling robot 40 moves to the third docking position, extends through the scissor fork mechanism, the first table 42 rises, the ejector pin 421 passes through the gap between the comb teeth 622 of the third docking device and holds the goods 70, so that the goods 70 are transferred to the ejector pin 421 of the handling robot 40 (such as Figure 9h The transport robot 40 can continue to extend and lift the goods 70 through the scissor fork mechanism, so that the goods 70 are separated from the comb teeth 622 (see Figure 9f As shown in FIG. 1 , after the transport robot 40 takes away the goods 70 and leaves the third docking position, the scissor fork mechanism is extended, and the first table 42 and the second table 44 rise simultaneously, and the second table 44 rises faster, and the pallet 30 rises along with the second table 44 until it contacts the goods 70, so that the goods 70 are placed in the pallet 30 (see FIG. 1 ). Figure 9d shown).

[0131] Step 121: Control the transport robot to move to a fourth docking position, where a fourth docking device is provided.

[0132] Step 122: Control the lifting assembly to descend, so that the pallet with the second goods is separated from the second table and placed on the fourth docking device.

[0133] In step 121 to step 122, the fourth docking position is the shelf docking position. After the handling robot takes the goods, it places the pallet containing the goods at the shelf docking position. First, in the current state, the bottom of the second table 44 of the handling robot 40 is higher than the top of the cantilever beam 612 (see Fig.9c Then, after the transport robot 40 reaches the fourth docking position, the second platform 44 is lowered to place the tray 30 on the cantilever beam 612 of the fourth docking device (see Figure 9b As shown), the second table 44 continues to drop below the bottom of the cantilever beam 612 (as shown Figure 9a As shown), the transfer robot 40 moves out from the fourth docking position.

[0134] Step 123: Control the transport robot to drive away from the second docking position.

[0135] Step 124: Control the lifting assembly to lift so that the second tabletop drives the tray to rise.

[0136] Step 125: Control the transport robot to move to a fifth docking position, where a fifth docking device is provided.

[0137] Step 126: Control the lifting assembly to descend, so that the tray is separated from the second table and placed on the fifth docking device.

[0138] In steps 123 to 126, the fifth docking position is the docking position of the shelf or workstation. After the handling robot transfers the goods to the docking position of the workstation, it puts the empty pallet back to the docking position of the shelf or places it at the docking position of the workstation. The handling robot 40 lifts the pallet 30 by lifting the second table 44. After moving to the fifth docking position, the second table 44 descends to lower the pallet 30 and places the pallet 30 on the cantilever beam 612 of the fifth docking device of the shelf or workstation. Afterwards, the second table 44 can continue to descend to below the bottom of the cantilever beam 612, and the handling robot 40 moves out of the fifth docking position (please refer to the changing state of the handling robot for details). Figure 9c-9b - Figure 9a As shown, there are no goods 70 in the tray 30 at this time).

[0139] Step 124 may be performed before step 125, or may be performed when the transport robot moves to the fifth docking position.

[0140] In the embodiment of the present application, a lifting assembly 43 is provided on the handling robot 40, a movable first table 42 and a second table 44 are provided on the lifting assembly 43, a top holding piece is provided on the first table 42, and a first through hole 441 for the top holding piece to pass through is provided on the second table 44, and the first table 42 and the second table 44 are driven to rise and fall by the lifting assembly 43. When the second table 44 carries the tray 30 on which the goods 70 are placed, the lifting assembly 43 drives the second table 44 to descend relative to the first table 42, and the top holding piece passes through the first through hole 441 of the second table 44 and the third through hole 331 at the bottom of the tray 30 to support the goods 70 in the tray 30, thereby realizing the separation of the goods 70 in the tray 30 and the tray 30. This method has a simple structure, does not require the addition of complex structural coordination at the shelf 10 or the workstation 20, and reduces the overall equipment cost.

[0141] When using some existing handling robots to separate goods from pallets, the handling robot needs to first put down the pallet at the workstation, and then the equipment at the workstation separates the goods from the pallet, and finally the handling robot takes the pallet away from the workstation. Using the handling robot 40 of the embodiment of the present application, the handling robot 40 can directly separate the goods 70 from the pallet 30 at the workstation 20 and place the goods 70 at the workstation 20. The handling robot 40 does not need to perform an additional step of taking the pallet 30 from the workstation 20, which simplifies the separation step of the goods 70 and the pallet 30 and improves the operating efficiency of the handling robot 40. Since the efficiency of separating the goods 70 and the pallet 30 at the workstation 20 is improved, the number of workstations 20 can also be reduced, saving the use area.

[0142] Fig.10 FIG. 1 is a flow chart of a method for picking up and placing goods provided in an embodiment of the present application, and the method is applied to the above-mentioned transport robot. Fig.10 As shown, the method comprises the following steps:

[0143] Step 201: Control the lifting assembly to descend so that the first table top descends to a first position. The plurality of top supports on the first table top pass through the plurality of first through holes and the plurality of third through holes to support the first goods placed in the tray. The plurality of third through holes are through holes on the tray that correspond one-to-one to the plurality of top supports.

[0144] Step 202: Control the transport robot to move to a second docking position, where a second docking device is provided.

[0145] Step 203: Control the lifting assembly to descend so that the first tabletop descends to the second position, the first product is transferred to the second docking device, and the plurality of holding members are separated from the first product, and the second position is lower than the first position.

[0146] In some embodiments, in the first position, the height of the tops of the multiple top supports of the first table surface is greater than the height of the top of the tray carried on the second table surface, and the height of the tops of the multiple top supports is greater than the height of the second surface, and the second surface is a surface of multiple comb teeth supporting the goods, so that the multiple top supports separate the pallets and the goods, and can lift the goods to move into the gaps between the multiple comb teeth.

[0147] In some embodiments, at the second position, the height of the tops of the plurality of top holders is less than the height of the second surfaces of the plurality of comb teeth, and the goods supported by the plurality of top holders are separated from the plurality of top holders and placed on the plurality of comb teeth.

[0148] In some embodiments, after the first product is transferred to the second docking device, the method further comprises:

[0149] Controlling the transport robot to walk to a third docking position, wherein the third docking position is provided with a third docking device, the third docking device includes a plurality of comb teeth arranged at intervals, and the plurality of comb teeth are used to carry the second goods;

[0150] Control the lifting assembly to lift, so that the plurality of supporting members on the first table surface rise and pass through the gaps between the plurality of comb teeth to contact the bottom of the second product and lift the second product to separate from the third docking device;

[0151] Controlling the transport robot to drive away from the third docking position;

[0152] The lifting assembly is controlled to rise, so that the tray carried by the second tabletop contacts the second goods and the second goods are placed in the tray.

[0153] In some embodiments, after controlling the lifting assembly to lift so that the pallet carried by the second table top contacts the second goods to place the second goods in the pallet, the method further includes:

[0154] Controlling the transport robot to move to a fourth docking position, where a fourth docking device is provided;

[0155] The lifting assembly is controlled to descend so that the pallet with the second goods is separated from the second table and placed on the fourth docking device.

[0156] In some embodiments, after the first product is transferred to the second docking device, the method further comprises:

[0157] Controlling the transport robot to drive away from the second docking position;

[0158] Control the lifting assembly to lift up so that the second tabletop drives the tray to rise;

[0159] Controlling the transport robot to move to a fifth docking position, where a fifth docking device is provided;

[0160] The lifting assembly is controlled to descend so that the tray is separated from the second table and placed on the fifth docking device.

[0161] In some embodiments, before controlling the lifting assembly to descend so that the first tabletop descends to the first position and the plurality of top holding members on the first tabletop pass through the plurality of first through holes and the plurality of third through holes to support the first goods placed in the tray, the method further includes:

[0162] Control the transport robot to move to a first docking position, where a first docking device is provided, and the first docking device carries a pallet and a first product;

[0163] Control the lifting assembly to lift so that the second tabletop contacts the bottom of the pallet and lifts the pallet away from the first docking device;

[0164] Control the transport robot to drive away from the first docking position.

[0165] Fig.11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown, and the specific embodiment of the present application does not limit the specific implementation of the electronic device.

[0166] like Fig.11 As shown, the electronic device 300 may include: a processor (processor) 302 and a memory (memory) 304.

[0167] The processor 302 is used to execute the computer program 306, and specifically can execute the relevant steps in the above-mentioned embodiment of the method for picking up and releasing goods.

[0168] Specifically, computer program 306 may include computer executable instructions.

[0169] The processor 302 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the electronic device may be processors of the same type, such as one or more CPUs; or may be processors of different types, such as one or more CPUs and one or more ASICs.

[0170] The memory 304 is used to store the computer program 306. The memory 304 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0171] An embodiment of the present application provides a computer-readable storage medium, in which at least one executable instruction is stored. When the executable instruction is executed on an electronic device, the electronic device executes the operation of the method for picking up and releasing goods as described in the above embodiment.

[0172] An embodiment of the present application provides a computer program product, including a computer program, which implements the operations of the method for picking up and releasing goods in the above embodiment when the computer program is executed by a processor.

[0173] An embodiment of the present application provides a computer program, which can be called by a processor to enable an electronic device to perform the operations of the method for picking up and placing goods in the above embodiment.

[0174] The algorithm or display provided here are not inherently related to any specific computer, virtual system or other equipment. Various general systems can also be used together with the teaching based on this. According to the above description, it is obvious to construct the structure required for this type of system. In addition, the present application embodiment is not directed to any specific programming language yet. It should be understood that various programming languages ​​can be utilized to realize the content of the present application described here, and the above description of specific languages ​​is to disclose the best mode of implementation of the present application.

[0175] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0176] Similarly, it should be understood that in order to streamline the present application and aid in understanding one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present application, the various features of the embodiments of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, this disclosed method should not be interpreted as reflecting the following intention: that the claimed application requires more features than those explicitly recited in each claim.

[0177] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this manner may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.

[0178] It should be noted that the above embodiments illustrate the present application rather than limit the present application, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be constructed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of multiple such elements. The present application may be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.

Claims

1. A transport robot, characterized in that: include: Chassis; A lifting assembly, the lifting assembly having a first end, a second end and a third end sequentially arranged in a vertical direction, the first end being fixed to the chassis, the second end being able to move in a direction away from the chassis or close to the chassis along the vertical direction, and the third end being able to move in a direction away from the second end or close to the second end along the vertical direction; A first table top is arranged at the second end of the lifting assembly, and a plurality of top holding members are arranged on the first table top at intervals, and the plurality of top holding members are used to support goods; The second table top is used to carry the tray and / or goods. The second table top is arranged at the third end of the lifting assembly. The second table top is parallel to the first table top. The second table top is provided with a plurality of first through holes. The plurality of first through holes correspond one-to-one with the plurality of top holding members so that the plurality of top holding members can support the goods through the first through holes.

2. The handling robot according to claim 1, characterized in that: The transport robot is used to pick up and place a pallet from a first docking position of a shelf or a workstation, the first docking position is provided with a first docking device, and the first docking device includes two cantilever beams for carrying the pallet; The dimension of the second platform along a first direction is smaller than the distance between the two cantilever beams, and the first direction is a direction in a horizontal plane perpendicular to the moving direction of the chassis.

3. The handling robot according to claim 2, characterized in that: The highest height of the tops of the plurality of supporting members is less than or equal to the height of the first surfaces of the two cantilever beams, where the first surfaces are surfaces of the cantilever beams facing away from the tray.

4. The handling robot according to claim 1, characterized in that: The transport robot is used to pick up and place goods from a second docking position of a shelf or a workstation, the second docking position is provided with a second docking device, the second docking device includes a plurality of comb teeth distributed at intervals, and the plurality of comb teeth are used to carry goods; The second end and the third end of the lifting assembly are capable of moving in the vertical direction, and the first table top includes a first position. In the first position, the height of the tops of the multiple top holding members of the first table top is greater than the height of the top of the tray carried on the second table top, and the height of the tops of the multiple top holding members is greater than the height of the second surface, and the second surface is the surface of the multiple comb teeth supporting the goods, so that the multiple top holding members can separate the pallet and the goods, and can lift the goods to move into the gaps between the multiple comb teeth.

5. The handling robot according to claim 4, characterized in that: The second end and the third end of the lifting assembly are capable of moving in the vertical direction, and the first table top includes a second position. In the second position, the height of the tops of the multiple top holding members is less than the height of the second surfaces of the multiple comb teeth, and the goods supported by the multiple top holding members are detached from the multiple top holding members and placed on the multiple comb teeth.

6. The transport robot according to any one of claims 1 to 5, characterized in that: The first table top is provided with a second through hole, and the second through hole can allow a moving component in the lifting assembly that moves along the vertical direction to pass through.

7. The handling robot according to claim 6, characterized in that: The shape of the second through hole is adapted to the maximum projection of all projections of the moving component in the lifting assembly that moves along the vertical direction on the first plane, the first plane is the plane where the first table is located, and the all projections include the projections of the moving component in all movement states.

8. The handling robot according to claim 1, characterized in that: The lifting assembly includes a driving mechanism, a first-stage scissor fork mechanism and a second-stage scissor fork mechanism connected in sequence, wherein a first bottom end and a first top end of the first-stage scissor fork mechanism opposite to each other along the vertical direction are the first end and the second end respectively, and the second-stage scissor fork mechanism has a second bottom end and a second top end opposite to each other along the vertical direction, the second bottom end of the second-stage scissor fork mechanism is rotatably connected to the first top end of the first-stage scissor fork mechanism, and the second top end of the second-stage scissor fork mechanism is the third end; The driving mechanism is used to drive the first-stage scissor fork mechanism and the second-stage scissor fork mechanism to extend simultaneously, so that the second end moves along the vertical direction toward a direction away from the first end, and the third end moves along the vertical direction toward a direction away from the second end; The driving mechanism is also used to drive the first-stage scissors-fork mechanism and the second-stage scissors-fork mechanism to contract simultaneously, so that the second end moves along the vertical direction toward the first end, and the third end moves along the vertical direction toward the second end.

9. The handling robot according to claim 1, characterized in that: The ejector member includes an ejector pin, an ejector plate, an ejector block, or a combination of one or more of the above.

10. A storage system, characterized in that: include: Shelves for storing pallets; Workstations, used to receive goods to be processed or output processed goods; as well as A handling robot, comprising a chassis, a lifting assembly, a first table and a second table; the lifting assembly has a first end, a second end and a third end arranged in sequence along the vertical direction, the first end is fixed to the chassis, the second end can move in the vertical direction away from the chassis or close to the chassis, and the third end can move in the vertical direction away from the second end or close to the second end; the first table is arranged at the second end of the lifting assembly, and a plurality of top holding members distributed at intervals are arranged on the first table, and the plurality of top holding members are used to support goods; the second table is used to carry trays and / or goods, the second table is arranged at the third end of the lifting assembly, the second table is parallel to the first table, and the second table is provided with a plurality of first through holes, and the plurality of first through holes correspond to the plurality of top holding members one by one, so that the plurality of top holding members can pass through the first through holes to support goods; The transport robot is used to take out a pallet storing goods from the shelf and separate the goods from the pallet, so as to transfer the separated goods to the workstation.

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