Transfer robot and warehousing system

Abstract

The utility model relates to the technical field of intelligent warehousing systems, and discloses a transfer robot and a 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 transport robot is provided, comprising: a chassis; a first table top, fixed to the chassis and located on the top of the chassis, a plurality of top holding members arranged at intervals on the first table top, the plurality of top holding members being used to support goods; a lifting assembly, the lifting assembly having a first end and a second end opposite to each other in a vertical direction, the first end being fixed to the chassis, and the second end being capable of moving in the vertical direction away from the first table top or approaching the first table top; a second table top being used to carry pallets and / or goods, the second table top being arranged at the second end of the lifting assembly, the second table top being parallel to the first table top, the second table top being provided with a plurality of first through holes, 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 height of the top of the supporting member is less than or equal to the height of the first surfaces of the two cantilever beams, and the first surface is the surface of the cantilever beam facing away from the tray.

[0008] In some embodiments, the second table top can be driven by the second end of the lifting assembly to rise to a first position, the height of the first position is greater than or equal to the height of the second surfaces of the two cantilever beams, and the second surface is the surface of the cantilever beam supporting the tray.

[0009] In some embodiments, the second table surface can be driven by the second end of the lifting assembly to descend to a second position, and the height of the second position is less than the height of the top of the supporting member.

[0010] In some embodiments, the transport robot is used to pick up and place goods from a second docking position of a shelf or a workstation, and a second docking device is provided at the second docking position. 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 difference between the height of the top of the top holding member and the height of the third surface of the first side of the plurality of comb teeth is within a preset difference range, the third surface is the surface of the plurality of comb teeth supporting the goods, and the first side is located at the entrance of the second docking position.

[0011] 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.

[0012] 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.

[0013] In some embodiments, the lifting assembly includes a driving mechanism and a scissor fork mechanism that are interconnected, wherein the bottom end and the top end of the scissor fork mechanism opposite to each other along the vertical direction are the first end and the second end, respectively; the driving mechanism is used to drive the scissor fork mechanism to extend so that the second end moves along the vertical direction away from the first end, and to drive the scissor fork mechanism to contract so that the second end moves along the vertical direction toward a direction close to the first end.

[0014] In some embodiments, the scissors fork mechanism includes two groups of support rods arranged opposite to each other in a horizontal direction, each group of support rods includes at least two support rods, the at least two support rods are cross-arranged and hinged at the intersection, both ends of each support rod are rotatably connected to the two ends of the support rods at corresponding positions in the other group of support rods through a connecting rod, and the driving mechanism drives at least one connecting rod to move, driving the two groups of support rods to extend or contract; a vertical plate is also vertically arranged on the first table top, and along the second direction, the size of the top of the vertical plate is larger than the size of the bottom of the vertical plate to provide movement space for the at least one connecting rod, and the second direction is perpendicular to the axial direction of the connecting rod.

[0015] In some embodiments, the second table top is further provided with a third through hole for the vertical plate to pass through, and the shape of the third through hole is adapted to the vertical plate.

[0016] In some embodiments, the ejector member includes a combination of one or more of an ejector pin, an ejector plate, and an ejector block.

[0017] 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 first table top, a lifting assembly and a second table top; the first table top is fixed to the chassis and is located on the top of the chassis, and a plurality of top holding members are arranged on the first table top, and the plurality of top holding members are used to support goods; the lifting assembly has a first end and a second end opposite to each other in a vertical direction, the first end is fixed to the chassis, and the second end can move in the vertical direction away from the first table top or close to the first table top; the second table top is used to carry pallets and / or goods, and the second table top is arranged at the second end of the lifting assembly, and the first end 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 one by 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 the goods; the method comprises: controlling the lifting assembly to drive the second table to descend, so that the top holding members on the first table pass through the through holes at the bottom of the tray to support the first goods, the second table carries a pallet, and the first goods are placed in the pallet; controlling the transport robot to walk to a second docking position, the second docking position is provided with a second docking device, the transport robot docks with the second docking device, so that the first goods can be transferred to the second docking device.

[0018] In some embodiments, after controlling the transport robot to dock with the second docking device, the method further includes: controlling the transport robot to walk so that the first cargo stays on the second docking device through the friction force of the contact between the bottom of the first cargo and the top of the second docking device.

[0019] 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 so that the transport robot can dock with the third docking device, and the top holding piece on the first table top can pass through the gaps of the multiple comb teeth of the third docking device to contact the bottom of the second cargo, wherein the third docking device includes the multiple comb teeth arranged at intervals in a second plane, and the multiple comb teeth are used to carry the second cargo; controlling the transport robot to move out of the third docking position to transfer the second cargo from the third docking device to the transport robot.

[0020] In some embodiments, the tail supporting member located at the tail of the first table top is higher than other supporting members; when the transport robot drives out of the third docking position, the tail supporting member drives the second cargo to transfer the second cargo from the third docking device to the transport robot.

[0021] In some embodiments, after controlling the transport robot to move out of the third docking position to transfer the second product from the third docking device to the transport robot, the method further includes: controlling the lifting assembly to lift the second table top so that the bottom of the second product contacts the pallet to place the second product on the pallet, and raising the pallet with the second product placed on it; controlling the transport robot to move to a fourth docking position, where a fourth docking device is provided; and controlling the lifting assembly to drive the second table top to descend, so as to place the pallet with the second product placed on the fourth docking device.

[0022] In some embodiments, after the first product is transferred to the second docking device, the method further includes: controlling the lifting assembly to lift the second table top, thereby driving the pallet to rise; controlling the transport robot to walk to a fifth docking position, where a fifth docking device is provided; controlling the lifting assembly to drive the second table top to descend, so as to place the pallet on the fifth docking device.

[0023] In some embodiments, before controlling the lifting assembly to drive the second table top to descend so that the supporting piece on the first table top passes through the through hole at the bottom of the pallet to support the first product, the method also includes: controlling the transport robot to walk to a first docking position, wherein the first docking position is provided with a first docking device, and the first docking device carries the pallet and the first product; controlling the lifting assembly to lift the second table top so that the second table top contacts the bottom of the pallet and lifts the pallet and the first product out of the first docking device.

[0024] 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.

[0025] 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.

[0026] 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 first table, a lifting assembly, and a second table; the first table is fixed to the chassis and is located on the top of the chassis, and a plurality of top holding members are arranged on the first table to support the goods; the lifting assembly has a first end and a second end opposite to each other in a vertical direction, the first end is fixed to the chassis, and the second end can be lifted along the vertical direction Move in a direction away from or close to the first table top; the second table top is used to carry pallets 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, and the second table top is provided with a plurality of first through holes, 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 the goods through the first through holes; the handling robot is used to take out a 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.

[0027] In some embodiments, the transport robot performs the following steps: controlling the lifting assembly to drive the second table top to descend so that the top supporting piece on the first table top passes through the through hole at the bottom of the tray to support the first product, the second table top carries a pallet, and the first product is placed in the pallet; controlling the transport robot to walk to a second docking position, the second docking position is provided with a second docking device, the transport robot docks with the second docking device so that the first product can be transferred to the second docking device.

[0028] The embodiment of the present application is to set a fixed first table on the chassis of the handling robot, set a top holding piece on the first table, and set a movable second table. The second table has a first through hole through which the top holding piece can pass, and the second table is driven to rise and fall by a lifting assembly. When the second table carries a pallet for placing goods, the second table is driven to descend by the lifting assembly, and the top holding piece passes through the first through hole of the second table and the 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.

[0029] 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

[0030] 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:

[0031] Figure 1a A schematic diagram of the structure of a storage system provided in an embodiment of the present application is shown;

[0032] Figure 1b A schematic top view of a storage system provided in an embodiment of the present application is shown;

[0033] Figure 2 A schematic diagram of the structure of a tray in an embodiment of the present application is shown;

[0034] Figure 3 A schematic diagram of the structure of the first docking device in an embodiment of the present application is shown;

[0035] Figure 4 A schematic diagram of the structure of the second docking device in an embodiment of the present application is shown;

[0036] Figure 5a A perspective view of a transport robot provided by an embodiment of the present application in a first state is shown;

[0037] 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;

[0038] Figure 5c A side view of a transport robot provided by an embodiment of the present application in a first state is shown;

[0039] Figure 5d A perspective view showing a transport robot provided by an embodiment of the present application in a second state;

[0040] Figure 5e It shows a schematic structural diagram of the scissor fork mechanism and the second table in an embodiment of the present application;

[0041] Figure 6a A schematic diagram showing the structure of the transport robot in a first state when transporting a pallet;

[0042] Figure 6b A schematic diagram showing the structure of the transport robot in a second state when transporting a pallet;

[0043] 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;

[0044] Figure 7b A schematic diagram showing the second table of the transport robot is in a second position;

[0045] Figure 7c A schematic diagram showing the relationship between the partial structure of the handling robot and the dimensions of the comb teeth;

[0046] Figure 8 A schematic diagram of the process of picking up and releasing goods provided in an embodiment of the present application is shown;

[0047] Figure 9a A first position relationship diagram between the handling robot and the first docking device during the process of picking up and placing goods is shown;

[0048] 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;

[0049] 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;

[0050] Figure 9d A diagram showing the first position relationship between the handling robot and the pallet and goods during the process of picking up and placing goods;

[0051] Fig.9e A diagram showing a second position relationship between the handling robot and the pallet and goods during the process of picking up and placing goods;

[0052] Figure 9f A first position relationship diagram between the handling robot and the second docking device during the process of picking up and placing goods is shown;

[0053] Fig.10A schematic diagram showing the matching relationship between the first table surface provided with the tail ejector and the goods in the embodiment of the present application is shown;

[0054] Fig.11 A schematic diagram of the process of picking up and releasing goods provided in an embodiment of the present application is shown;

[0055] Fig.12 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown.

[0056] The reference numerals in the specific implementation manner are as follows:

[0057] 100. Warehousing system;

[0058] 10. Shelves;

[0059] 20. Workstation; 21. Inbound workstation; 22. Outbound workstation; 23. Picking workstation; 24. Inbound and outbound workstation;

[0060] 30. tray; 31. bottom plate; 32. baffle plate; 33. through hole; 34. vertical plate hole;

[0061] 40. Transport robot;

[0062] 41, chassis; 411, housing; 412, running wheels;

[0063] 42, first table; 421, ejector pin; 422, vertical plate; 423, second through hole; 421a, tail ejector pin;

[0064] 43, lifting assembly; 43a, first end; 43b, second end; 431, 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;

[0065] 44, second table; 441, first through hole; 442, first connecting plate; 443, second connecting plate; 4431, sliding hole; 444, third through hole;

[0066] 50. Control device;

[0067] 61, first docking device; 611, first crossbeam; 612, cantilever beam; 62, second docking device; 621, second crossbeam; 622, comb teeth;

[0068] 70. Goods;

[0069] 300. Electronic device; 302. Processor; 304. Memory; 306. Computer program. DETAILED DESCRIPTION

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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).

[0076] 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.

[0077] 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.

[0078] 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.

[0079] In some work scenarios of intelligent warehousing systems, it is necessary to separate goods from pallets and take the goods out of 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] Therefore, how to achieve low-cost and high-efficiency separation of cartons and pallets is an urgent problem to be solved.

[0084] 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.

[0085] 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 three 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.

[0086] 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 are placed on the bottom plate 31, and a plurality of through holes 33 are opened on the bottom plate 31.

[0087] 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.

[0088] 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.

[0089] 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. 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 10 or the workstation 20. The first docking device 61 includes a first beam 611 and two cantilever beams 612 for carrying the pallet 30. The first beam 611 is fixed to the column of the shelf 10 by bolting or the like, and the two cantilever beams 612 are vertically connected to the first beam 611 in a horizontal plane. Figure 4 FIG. 4 shows a schematic diagram of the structure of the second docking device in an embodiment of the present application. Figure 4 As 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 first table 42, a lifting assembly 43 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 first table top 42 is fixed to the chassis 41 and is located on the top of the chassis 41. A plurality of spaced-apart top holding members are provided on the first table top 42, and the plurality of top holding members are used to support goods. Among them, the first table top 42 is a flat structure, which can be fixed to the top of the shell 411 of the chassis 41, or the first table top 42 is the top surface of the shell 411 of the chassis 41. The top holding members include a combination of one or more of ejector pins, ejector plates, and ejector blocks, as long as the top holding members can support the goods and do not interfere with the movement of the lifting assembly 43. The shape and number of the through holes 33 opened on the bottom plate 31 of the tray 30 are adapted to the shape and number of the top holding members of the handling robot 40. In the embodiment shown in the figure, the top holding member is an ejector pin 421, and the through hole 33 opened on the bottom plate 31 of the tray 30 is a round hole (please refer to Figure 3 ).

[0093] The lifting assembly 43 has a first end 43a and a second end 43b opposite to each other in the vertical direction (eg Figure 5c As shown in the figure), the first end 43a is fixed to the chassis 41, and the second end 43b can move in the vertical direction away from the first table top 42 (the Z direction shown in the figure) or towards the first table top 42 (the negative direction of the Z direction shown in the figure, i.e., the -Z direction). 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 is a side view of the transport robot in a first state, at which the second end 43b of the lifting assembly 43 is located away from the first table 42; Figure 5d 4 is a schematic diagram of the structure of the transport robot in the second state, at which time the second end 43 b of the lifting assembly 43 is located close to the first table 42 .

[0094] The second table 44 is used to carry the tray and / or goods. The second table 44 is arranged at the second end 43b 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 hole 441, or it can be more than the number of the ejector pins 421.

[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 second end of the lifting assembly 43 is at a position away from the first table, and the tray 30 is lifted. Figure 6b As shown, at this time, the second end of the lifting assembly is close to the first table 42, and the tray 30 is 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 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 6b In the state shown, the ejector pin 421 can pass through the first through hole of the second table top and the 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 relative to the first end 43a 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 431 can achieve a large moving stroke, and its volume is small when it is retracted to meet the application scenario's requirement for a small volume of the handling robot 40, has a strong load capacity, and can be lifted and lowered smoothly, thereby ensuring 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 5a and Figure 5bThe lifting assembly 43 includes a driving mechanism (not shown) and a scissor fork mechanism 431 connected to each other, and the bottom end and the top end of the scissor fork mechanism 431 opposite to each other in the vertical direction are respectively the first end 43a and the second end 43b of the lifting assembly 43. The driving mechanism is used to drive the scissor fork mechanism 431 to extend so that the second end 43b moves in the direction away from the first end 43a in the vertical direction, and to drive the scissor fork mechanism 431 to contract so that the second end 43b moves in the direction close to the first end 43a in the vertical direction.

[0098] 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 scissor fork mechanism 431 to move, thereby driving the scissor fork mechanism 431 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 scissor fork mechanism 431 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.

[0099] The scissor fork mechanism 431 includes two groups of support rods arranged relatively in the horizontal direction (X direction as shown in the figure), each group of support rods includes at least two support rods 4311, at least two support rods 4311 are cross-arranged 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 the 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. Among them, the axial direction of the connecting rod 4312 is arranged along the X direction. The driving mechanism drives the connecting rod 4312 to move toward 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 moves in the vertical direction away from the first end 43a to lift the pallet; the driving mechanism drives the connecting rod 4312 to move toward Y, driving the two groups of support rods to contract, so that the second end 43b moves in the vertical direction toward the first end 43a to drive the pallet to descend, and the ejector pin 421 passes through the first through hole 441 of the second table top 44 and the 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.

[0100] The scissor fork mechanism 431 of the embodiment of the present application is a two-stage scissor fork mechanism, that is, each group of support rods includes two pairs of cross-hinged support rods 4311, the two pairs of support rods 4311 are arranged in the vertical direction, and the adjacent ends of each pair of support rods 4311 are rotatably connected with the other pair of support rods 4311 through the above-mentioned connecting rod 4312. The use of a two-stage scissor fork mechanism can provide a larger moving stroke for the second end 43b when the size of the chassis 41 of the handling robot 40 is constant. Of course, more levels of scissor fork mechanisms can also be used as needed to achieve a larger moving stroke for the second end 43b, and this application does not limit this.

[0101] In the scissor fork mechanism 431, the support rod 4311 located at the top in the vertical direction is used to set the second table 44, wherein one end of the bottom of the second table 44 is hinged to the 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 second table 44, 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 second table 44, 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.

[0102] A vertical plate 422 is also vertically arranged on the first table 42. Along the second direction (i.e., the Y direction), the size of the top of the vertical plate 422 is larger than the size of the bottom of the vertical plate 422 (i.e., the length of the top of the vertical plate 422 along the Y direction is larger than the length of the bottom of the vertical plate 422 along the Y direction), so as to provide a movement space for at least one connecting rod 4312. The second direction (Y direction) is perpendicular to the axial direction (X direction) of the connecting rod 4312. The number and layout of the vertical plates 422 can be set according to the size of the connecting rod 4312, as long as the connecting rod 4312 can be provided with a movement space. In the embodiment shown in the figure, three vertical plates 422 are arranged on the first table 42.

[0103] Since the first table 42 is provided with a vertical plate 422, the second table 44 is also provided with a third through hole 444 for the vertical plate 422 to pass through. The shape of the third through hole 444 is adapted to the vertical plate 422. For example, the third through hole 444 shown in the figure is a bar-shaped hole. For example, the shape and size of the third through hole 444 are basically consistent with the shape and size of the projection of the vertical plate 422 on the second table 44, or the size of the third through hole 444 is slightly larger than the size of the projection of the vertical plate 422 on the second table 44, so that the vertical plate 422 can pass through the third through hole 444 smoothly; the number of the third through holes 444 is greater than or equal to the number of the vertical plates 422, preferably the same as the number of the vertical plates 422. The tray 30 is also provided with vertical plate holes 34 for the vertical plates 422 to pass through.

[0104] In some embodiments, Figure 5a As shown in the figure, 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. 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.

[0105] When the lifting assembly 43 includes the scissor fork mechanism 431 as described above, the second through hole 423 opened on the first table 42 can allow the support rod 4311 and the connecting rod 4312 in the lifting assembly 43 to pass through, so that the first table 42 does not interfere with the support rod 4311 and the connecting rod 4312.

[0106] Figure 7a The figure 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 the second table of the transport robot being in the second position, Figure 7c A schematic diagram showing the relationship between the partial structure of the handling robot and the dimensions of the comb teeth.

[0107] The handling robot 40 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 7aAs shown, the dimension d1 of the second table 44 along the first direction (the X direction as 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 (the Y direction as shown in the figure). 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 of the second table 44 along the first direction is smaller than the distance between the two cantilever beams 612, that is, the width of the second table 44 is smaller than the distance between the cantilever beams 612, so that the second table 44 can pass through the gap between the cantilever beams 612.

[0108] like Figure 7a As shown, the 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 facing 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.

[0109] like Figure 7a As shown, the second table 44 can be driven by the second end of the lifting assembly to rise to the first position, and the height h3 of the first position is greater than or equal to the height h4 of the second surface S2 of the two cantilever beams 612, and the second surface S2 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 that exceeds 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 that exceeds 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.

[0110] like Figure 7b As shown, the second table 44 can be driven by the second end of the lifting assembly 43 to descend to the second position, and the height h5 of the second position is less than the height h1 of the top of the ejector pin 421 to achieve separation of the goods and the pallet.

[0111] The handling robot 40 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. Figure 7c As shown, the difference between the height h1 of the top of the ejector pin 421 and the height h6 of the third surface S3 of the first side of the plurality of comb teeth 622 is within a preset difference range, and the third surface S3 is the surface of the plurality of comb teeth 622 supporting the goods 70, and the first side is located at the entrance of the second docking position. The preset difference range is a smaller range, that is, the height h1 of the ejector pin 421 is substantially equal to the height h6 of the third surface S3 of the comb teeth 622, for example, the height h1 of the ejector pin 421 is equal to the height h6 of the third surface S3 of the comb teeth 622, or the height h1 of the ejector pin 421 is slightly higher or slightly lower than the height h6 of the third surface S3 of the comb teeth 622. In this way, when the transport robot 40 moves to the second docking position to place the goods, the goods held by the ejector pin 421 can be smoothly moved to the top of the comb teeth 622 without being interfered by the comb teeth 622 (when the height h1 of the ejector pin 421 is slightly lower than the height h6 of the third surface S3 of the comb teeth 622, the goods can be brought to the comb teeth 622 by inertia), and then the goods can stay on the second docking device through the friction between the goods and the comb teeth 622 or through the power mechanism provided on the comb teeth 622.

[0112] 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. Figures 9a to 9f The diagram shows the position relationship between the handling robot and each docking device during the process of picking up and placing goods, as well as the position relationship between the handling robot and the pallet and goods.

[0113] like Figure 8 As shown, the method for picking up and releasing goods includes the following steps:

[0114] 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.

[0115] Step 102: Control the lifting assembly to lift the second table surface so that the second table surface contacts the bottom of the pallet and lifts the pallet and the first product away from the first docking device.

[0116] In step 101 to step 102, 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 431 so that the second table 44 contacts the bottom of the tray 30 (as shown in FIG. Figure 9b As shown), and the pallet 30 is separated from the cantilever beam 612 of the shelf by a certain distance (as shown Fig.9cThe 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.

[0117] Step 103: Control the lifting assembly to drive the second table to descend, so that the top support on the first table passes through the through hole at the bottom of the tray to support the first product. The second table carries a tray, and the first product is placed in the tray.

[0118] Step 104: Control the transport robot to move to a second docking position, where a second docking device is provided, and the transport robot docks with the second docking device so that the first product can be transferred to the second docking device.

[0119] Step 105: Control the transport robot to move, so that the first product stays on the second docking device through the friction between the bottom of the first product and the top of the second docking device.

[0120] In step 103 to step 105, 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 431 contracts to make the second table 44 descend, and the ejector pin 421 on the first table 42 supports the goods 70 (such as Figure 9d As shown), the tray 30 then continues to descend along with the second table 44, separating the goods 70 from the tray 30 (as shown). Fig.9e The transport robot 40 transports the pallet 30 and the goods 70 to the second docking position, and the transport robot 40 docks with the comb teeth 622 of the second docking device so that the goods 70 can be placed on the second docking device (as shown in FIG. Figure 9f When the transport robot 40 passes through the second docking position, the friction between the goods 70 and the comb teeth 622 keeps the goods 70 on the second docking device.

[0121] The transfer of goods from the handling robot to the workstation / conveying line can also be achieved in the following manner: the bottom of the goods contacts the top of the second docking device, and the goods are transferred from the second docking position to the conveying line or workstation to which the second docking device belongs through the transmission member of the second docking device. Alternatively, the goods can be grabbed to the conveying line or workstation to which the second docking device belongs by a power grabbing component provided on the second docking device.

[0122] Step 103 may be performed before step 104, or may be performed when the transport robot moves to the second docking position.

[0123] After the transport robot transfers the goods to the workstation docking position in step 105, steps 106 to 120 may be executed, or steps 121 to 123 may be executed.

[0124] Step 106: Control the transport robot to walk to the third docking position, where a third docking device is provided, so that the transport robot docks with the third docking device, and the top holding member on the first table can pass through the gaps between the multiple comb teeth of the third docking device to contact the bottom of the second product, wherein the third docking device includes multiple comb teeth arranged at intervals in the second plane, and the multiple comb teeth are used to carry the second product. The second plane is parallel to the ground where the transport robot walks.

[0125] Step 107: Control the transport robot to move out of the third docking position to transfer the second product from the third docking device to the transport robot.

[0126] In step 106 to step 107, 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. The handling robot 40 moves to the third docking position and docks with the comb teeth 622 of the third docking device, so that the goods 70 are transferred to the ejector pin 421 of the handling robot 40 (please refer to the docking status). Figure 9f shown).

[0127] The goods are transferred to the top holding member by the friction between the goods and the top holding member when the handling robot passes through the third docking position, and the goods are transferred from the third docking device to the handling robot after the handling robot leaves the third docking position. The handling robot leaves the third docking position by walking from the first side of the third docking position to the second side to leave the third docking position.

[0128] In other embodiments, the transfer of goods from the docking position to the transport robot can be achieved by providing a goods driving component. Fig.10 The schematic diagram shows the matching relationship between the first table with the tail ejector and the goods in the embodiment of the present application, please refer to Fig.10 As shown, a tail ejector pin 421a is provided at the tail of the first table 42, and the height of the tail ejector pin 421a is higher than that of other ejectors 421. When the transport robot is located at the third docking position, the tail ejector pin 421a passes through the gaps between the plurality of comb teeth of the third docking device to protrude from the comb teeth in the vertical direction. When the transport robot moves out of the third docking position, the tail ejector pin 421a drives the goods 70 (for example, the second goods) to transfer the goods 70 from the third docking device to the transport robot.

[0129] Step 108: Control the lifting assembly to lift the second table surface so that the bottom of the second product contacts the pallet to place the second product on the pallet, and lift the pallet with the second product.

[0130] Step 109: Control the transport robot to move to a fourth docking position, where a fourth docking device is provided;

[0131] Step 120: Control the lifting assembly to drive the second table to descend, so as to place the pallet with the second goods on the fourth docking device.

[0132] In step 108 to step 120, 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, the handling robot 40 lifts the second table 44 so that the bottom of the pallet 30 contacts the goods 70 (see Figure 9d ), and continue to lift the second table 44 so that the bottom of the tray 30 is higher than the top of the cantilever beam 612 (ie, the second surface) (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 (ie, the first surface) (as shown Figure 9a As shown), the transfer robot 40 moves out from the fourth docking position.

[0133] Step 108 may be performed before step 109, or may be performed when the transport robot moves to the fourth docking position.

[0134] Step 121: Control the lifting assembly to lift the second table top, thereby driving the tray to rise.

[0135] Step 122: Control the transport robot to move to a fifth docking position, where a fifth docking device is provided.

[0136] Step 123: Control the lifting assembly to drive the second table to descend, so as to place the tray on the fifth docking device.

[0137] In step 121 to step 123, 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, and after moving to the fifth docking position, the second table 44 descends to lower the pallet, and places the pallet 30 on the cantilever beam 612 of the fifth docking device of the shelf or workstation (please refer to the changing state of the handling robot for details). Figure 9c-9b - Figure 9ashown).

[0138] Step 121 may be performed before step 122, or may be performed when the transport robot moves to the fifth docking position.

[0139] In the embodiment of the present application, a fixed first table 42 is arranged on the chassis 41 of the transport robot 40, a top holding piece is arranged on the first table 42, and a movable second table 44 is arranged. The second table 44 has a first through hole 441 through which the top holding piece can pass, and the second table 44 is driven to rise and fall by the lifting assembly 43. When the second table 44 carries a tray 30 with goods 70 placed on it, the second table 44 is driven to descend by the lifting assembly 43, and the top holding piece passes through the first through hole 441 of the second table 44 and the through hole 33 at the bottom of the tray 30 to support the goods 70 in the tray 30, so as to separate the goods 70 in the tray 30 from 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.

[0140] 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.

[0141] Fig.11 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.11 As shown, the method comprises the following steps:

[0142] Step 201: Control the lifting assembly to drive the second table to descend, so that the top holding piece on the first table passes through the through hole at the bottom of the tray to support the first goods, and the second table carries a tray, and the first goods are placed in the tray;

[0143] Step 202: Control the transport robot to move to a second docking position, where a second docking device is provided, and the transport robot docks with the second docking device so that the first product can be transferred to the second docking device.

[0144] In some embodiments, after controlling the transport robot to dock with the second docking device, the method further includes:

[0145] The transport robot is controlled to move so that the first product stays on the second docking device through the friction between the bottom of the first product and the top of the second docking device.

[0146] In some embodiments, after the first product is transferred to the second docking device, the method further comprises:

[0147] Control the transport robot to walk to a third docking position, where a third docking device is provided, so that the transport robot docks with the third docking device, and the top holding member on the first table can pass through the gaps between the plurality of comb teeth of the third docking device to contact the bottom of the second product, wherein the third docking device includes a plurality of comb teeth arranged at intervals in the second plane, and the plurality of comb teeth are used to carry the second product;

[0148] The transport robot is controlled to move out of the third docking position to transfer the second goods from the third docking device to the transport robot.

[0149] In some embodiments, the tail supporting member at the tail of the first table top is higher than other supporting members; when the transport robot drives out of the third docking position, the tail supporting member drives the second cargo to transfer the second cargo from the third docking device to the transport robot.

[0150] In some embodiments, after controlling the transport robot to move out of the third docking position to transfer the second item from the third docking device to the transport robot, the method further includes:

[0151] Control the lifting assembly to lift the second tabletop so that the bottom of the second product contacts the pallet to place the second product on the pallet, and the pallet on which the second product is placed rises;

[0152] Controlling the transport robot to move to a fourth docking position, where a fourth docking device is provided;

[0153] The lifting assembly is controlled to drive the second table top to descend, so as to place the pallet with the second goods on the fourth docking device.

[0154] In some embodiments, after the first product is transferred to the second docking device, the method further comprises:

[0155] Control the lifting assembly to lift the second tabletop, thereby driving the tray to rise;

[0156] Controlling the transport robot to move to a fifth docking position, where a fifth docking device is provided;

[0157] The lifting assembly is controlled to drive the second table top to descend, so as to place the tray on the fifth docking device.

[0158] In some embodiments, before controlling the lifting assembly to drive the second table to descend so that the top holding member on the first table passes through the through hole at the bottom of the tray to support the first product, the method further includes:

[0159] 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;

[0160] The lifting assembly is controlled to lift the second table surface so that the second table surface contacts the bottom of the pallet and lifts the pallet and the first product to separate from the first docking device.

[0161] Fig.12 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.

[0162] like Fig.12 As shown, the electronic device 300 may include: a processor (processor) 302 and a memory (memory) 304.

[0163] 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.

[0164] Specifically, computer program 306 may include computer executable instructions.

[0165] 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.

[0166] 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.

[0167] 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.

[0168] 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.

[0169] 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.

[0170] 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.

[0171] 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.

[0172] 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.

[0173] 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.

[0174] 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 handling robot, It is characterized in that include: Chassis; A first table top is fixed to the chassis and is located on the top of the chassis, and a plurality of top holding members are arranged on the first table top and are spaced apart from each other, and the plurality of top holding members are used to support goods; A lifting assembly, the lifting assembly having a first end and a second end opposite to each other in a vertical direction, the first end being fixed to the chassis, and the second end being able to move in a direction away from the first table top or close to the first table top in the vertical direction; The second table top is used to carry the 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. 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 transport robot according to claim 1, It is 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 transport robot according to claim 2, It is characterized in that The height of the top of the supporting member is less than or equal to the height of the first surfaces of the two cantilever beams, and the first surface is the surface of the cantilever beam facing away from the tray.

4. The transport robot according to claim 3, It is characterized in that The second table top can be driven by the second end of the lifting assembly to rise to a first position, the height of the first position is greater than or equal to the height of the second surfaces of the two cantilever beams, and the second surface is the surface of the cantilever beam supporting the tray.

5. The transport robot according to claim 1, It is characterized in that The second table surface can be driven by the second end of the lifting assembly to descend to a second position, and the height of the second position is less than the height of the top of the supporting member.

6. The transport robot according to claim 1, It is 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 difference between the height of the top of the supporting member and the height of the third surface of the first side of the plurality of comb teeth is within a preset difference range, the third surface is the surface of the plurality of comb teeth supporting the goods, and the first side is located at the entrance of the second docking position.

7. The transport robot according to any one of claims 1 to 6, It is 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.

8. The transport robot according to claim 7, It is 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.

9. The transport robot according to claim 1, It is characterized in that The lifting assembly comprises a driving mechanism and a scissor-fork mechanism connected to each other, wherein the bottom end and the top end of the scissor-fork mechanism opposite to each other in the vertical direction are the first end and the second end respectively; The driving mechanism is used to drive the scissor-fork mechanism to extend so that the second end moves along the vertical direction away from the first end, and to drive the scissor-fork mechanism to contract so that the second end moves along the vertical direction toward the first end.

10. The transport robot according to claim 9, It is characterized in that The scissor fork mechanism comprises two groups of support rods arranged opposite to each other in the horizontal direction, each group of support rods comprises at least two support rods, the at least two support rods are arranged crosswise and hinged at the intersection, both ends of each support rod are rotatably connected with both ends of the support rods at corresponding positions in the other group of support rods through a connecting rod, and the driving mechanism drives at least one connecting rod to move, driving the two groups of support rods to extend or contract; A vertical plate is also vertically arranged on the first table top. Along the second direction, the size of the top of the vertical plate is larger than the size of the bottom of the vertical plate to provide movement space for the at least one connecting rod. The second direction is perpendicular to the axial direction of the connecting rod.

11. The transport robot according to claim 10, It is characterized in that The second table top is also provided with a third through hole for the vertical plate to pass through, and the shape of the third through hole is adapted to the vertical plate.

12. The transport robot according to claim 1, It is 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.

13. A storage system, It is 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 first table, a lifting assembly and a second table; the first table is fixed to the chassis and located on the top of the chassis, a plurality of top holding members are arranged on the first table, and the plurality of top holding members are used to support goods; the lifting assembly has a first end and a second end opposite to each other in a vertical direction, the first end is fixed to the chassis, and the second end can move in the vertical direction away from the first table or close to the first table; the second table is used to carry a tray and / or goods, the second table is arranged at the second end of the lifting assembly, the second table is parallel to the first table, and a plurality of first through holes are opened on the second table, 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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