Tray, electronic equipment, storage medium and warehousing system

Abstract

The utility model relates to the technical field of intelligent warehousing systems, and discloses a tray, electronic equipment, a storage medium and a warehousing system. The tray comprises a base plate and a plurality of finger-shaped plates extending from the first side of the base plate in the first direction, the finger-shaped plates are arranged at intervals in the second direction, a plate gap is formed between every two adjacent finger-shaped plates, the first direction and the second direction are the directions in the horizontal plane parallel to the base plate, and the first direction intersects with the second direction; the base plate and the finger-shaped plates are jointly used for bearing 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 pallet, an electronic device, a storage medium, 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 pallet, a method for picking up 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 pallet is provided, comprising: a base plate; and a plurality of finger plates extending from a first side of the base plate along a first direction, the plurality of finger plates being spaced apart along a second direction, with a plate gap between two adjacent finger plates, the first direction and the second direction both being directions within a horizontal plane parallel to the base plate, the first direction intersecting with the second direction; the base plate and the plurality of finger plates being used together for carrying goods.

[0006] In some embodiments, the pallet is used to pick up and place goods from a second docking device, and the second docking device includes a plurality of comb teeth distributed at intervals, with a tooth gap between two adjacent comb teeth, and the plurality of comb teeth are used to carry goods; the finger plate matches the position of the tooth gap, and the plate gap matches the position of the comb teeth. Along the second direction, the width of the finger plate is smaller than the tooth gap matching the finger plate, and the plate gap is larger than the width of the comb teeth matching the plate gap, so that when the pallet picks up and places goods from the second docking device, the finger plate can pass through the tooth gap in the vertical direction, so that the pallet contacts the bottom of the goods placed on the comb teeth to transfer the goods from the second docking device to the pallet, or the goods in the pallet are detached from the pallet to transfer the goods from the pallet to the second docking device.

[0007] In some embodiments, the pallet is used to be placed on a first docking device, which includes a plurality of cantilever beams distributed at intervals, and the plurality of cantilever beams are used to support the pallet; the finger plate matches the position of the cantilever beams, and along the second direction, the width of the finger plate is greater than the width of the cantilever beam matching the finger plate.

[0008] In some embodiments, the base plate and the plurality of finger plates together form a bottom plate of the tray, and a baffle connected to the bottom plate is vertically arranged on the outer periphery of the bottom plate.

[0009] In some embodiments, along the first direction, a size ratio of the finger plate to the base plate is greater than or equal to 2:1.

[0010] In some embodiments, the first direction is perpendicular to a side surface of the first side of the substrate, and the first direction is perpendicular to the second direction.

[0011] In some embodiments, the cross-section of the finger plate is rectangular.

[0012] In some embodiments, bottoms of the plurality of finger plates are used to respectively contact with a plurality of top holders of a transport robot so that the pallet is carried by the plurality of top holders.

[0013] 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 lifting assembly, a load-bearing platform, and a plurality of top holding members arranged at intervals on the load-bearing platform, wherein the plurality of top holding members are used to carry a pallet, and the lifting or lowering of the lifting assembly can drive the load-bearing platform to rise or fall, and is characterized in that the pallet comprises a base plate and a plurality of finger plates extending from a first side of the base plate along a first direction, the plurality of finger plates are arranged at intervals along a second direction, and there is a plate gap between two adjacent finger plates, the first direction and the second direction are both directions in a plane parallel to the base plate, the first direction intersects with the second direction, and the base plate and the plurality of finger plates are used together to carry goods; the method comprises: The transport robot is controlled to move to a second docking position, the multiple top holding members of the transport robot carry the pallet and the pallet is lifted, a first product is placed in the pallet, a second docking device is provided at the second docking position, the second docking device comprises a plurality of comb teeth distributed at intervals, a tooth gap is provided between two adjacent comb teeth, and the multiple top holding members are inserted into the tooth gaps of the multiple comb teeth when the transport robot moves to the second docking position; the lifting assembly is controlled to descend so that the pallet carried by the multiple top holding members descends, the multiple finger plates pass through the tooth gaps in the vertical direction, the bottom of the first product contacts the comb teeth, the first product is transferred to the second docking device and the pallet is separated from the first product.

[0014] 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, the third docking position is provided with a third docking device, the third docking device includes a plurality of comb teeth distributed at intervals, and a tooth gap is provided between two adjacent comb teeth, the plurality of comb teeth are used to carry the second cargo, and when the transport robot walks to the third docking position, the positions of the plurality of finger plates correspond to the positions of the tooth gaps of the plurality of comb teeth; controlling the lifting assembly to lift so that the pallet carried by the plurality of supporting members rises, the plurality of finger plates pass through the tooth gaps along the vertical direction 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.

[0015] In some embodiments, the multiple supporting members of the transport robot carry the pallet and the pallet is lifted, and the second goods are placed in the pallet; the method also includes: controlling the transport robot to walk to a fourth docking position, the fourth docking position is provided with a fourth docking device, the fourth docking device includes a plurality of cantilever beams distributed at intervals, and there is a beam gap between two adjacent cantilever beams, and when the transport robot walks to the fourth docking position, the positions of the multiple supporting members correspond to the positions of the beam gaps of the multiple cantilever beams; controlling the lifting assembly to descend, the multiple supporting members pass through the beam gaps along the vertical direction to allow the pallet to detach from the multiple supporting members and be placed on the multiple cantilever beams.

[0016] In some embodiments, before controlling the transport robot to walk to the second docking position, the method also includes: controlling the transport robot to walk to the first docking position, the first docking position is provided with a first docking device, the first docking device includes a plurality of cantilever beams distributed at intervals, a beam gap is provided between two adjacent cantilever beams, the plurality of cantilever beams carry the pallet, the first goods are placed in the pallet, and when the transport robot walks to the first docking position, the positions of the plurality of supporting members correspond to the positions of the beam gaps of the plurality of cantilever beams; controlling the lifting assembly to lift, the plurality of supporting members to pass through the beam gaps along the vertical direction so that the plurality of supporting members contact the bottom of the pallet and lift the pallet out of the first docking device; controlling the transport robot to drive away from the first docking position.

[0017] 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.

[0018] 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.

[0019] According to the fifth aspect of the embodiment of the present application, a storage system is provided, including: a shelf for storing pallets, wherein the pallets store goods, the pallets include a base plate and a plurality of finger plates extending from a first side of the base plate along a first direction, the plurality of finger plates are arranged at intervals along a second direction, and there is a plate gap between two adjacent finger plates, the first direction and the second direction are both directions in a horizontal plane parallel to the base plate, and the first direction intersects with the second direction; the base plate and the plurality of finger plates are used together to carry goods; a workstation for receiving goods to be operated or outputting goods that have been operated; and a handling robot, the handling robot including a lifting assembly, a load-bearing platform and a plurality of top holding members arranged at intervals on the load-bearing platform, the plurality of top holding members being used to carry the pallet, and the lifting or lowering of the lifting assembly can drive the load-bearing platform to rise or fall; the handling robot is used to take the pallet from the shelf and separate the goods from the pallet to transfer the separated goods to the workstation.

[0020] In some embodiments, the transport robot performs the following steps: controlling the transport robot to walk to a second docking position, the multiple top holding members of the transport robot carry the pallet and the pallet is lifted, a first product is placed in the pallet, and a second docking device is provided at the second docking position, the second docking device comprises a plurality of comb teeth distributed at intervals, a tooth gap exists between two adjacent comb teeth, and when the transport robot walks to the second docking position, the multiple top holding members are inserted into the tooth gaps of the multiple comb teeth; controlling the lifting assembly to descend so that the pallet carried by the multiple top holding members descends, the multiple finger plates pass through the tooth gaps in the vertical direction, the bottom of the first product contacts the comb teeth, the first product is transferred to the second docking device and the pallet is separated from the first product.

[0021] In some embodiments, the first docking device and the fourth docking device of the shelf both have a plurality of cantilever beams arranged at intervals, and a beam gap exists between two adjacent cantilever beams; the second docking device and the third docking device of the workstation both have a plurality of comb teeth arranged at intervals, and a tooth gap exists between two adjacent comb teeth; the plurality of top holding members of the transport robot are a plurality of top plates extending along the first direction, and the plurality of top plates are arranged at intervals along the second direction; when the transport robot docks with the first docking device or the fourth docking device of the shelf, the top plate can pass through the beam gap between the cantilever beams; when the transport robot docks with the second docking device or the third docking device of the workstation, the top plate can pass through the tooth gap between the comb teeth.

[0022] In some embodiments, the number of cantilever beams of the shelf and the number of finger plates of the pallet are both N, the transport robot includes N groups of top plates, each group of top plates includes two top plates, there is a top plate gap between the two top plates in each group of top plates, the positions of the N cantilever beams, the N finger plates and the N groups of top plates are matched; along the second direction, the width of the finger plates is greater than the width of the cantilever beams matching the finger plates, the top plate gap between the two top plates in each group of top plates is greater than the width of the cantilever beams matching them and less than the width of the finger plates matching them.

[0023] In some embodiments, the number of finger plates of the pallet is N, the number of comb teeth of the workstation is N-1, the handling robot includes N groups of top plates, each group of top plates includes two top plates, there is a top plate group gap between two adjacent groups of top plates, the N-1 comb teeth, the plate gaps of the N finger plates and the top plate group gaps of the N groups of top plates are position matched, and the N finger plates and the N groups of top plates are position matched; along the second direction, the width of the finger plate is smaller than the tooth gap matching the finger plate, the plate gap is larger than the width of the comb teeth matching the plate gap, the top plate gap between the two top plates in each group of top plates is smaller than the width of the finger plate matching it, and the top plate group gap between two adjacent groups of top plates is larger than the width of the comb teeth matching it.

[0024] In the embodiment of the present application, a plurality of finger plates are arranged at intervals on one side of the pallet base plate. The base plate and the finger plates carry goods together, and there is a plate gap between the finger plates. The top holding member of the handling robot can hold the finger plates to carry the pallet with goods and lift the pallet. After the handling robot carries the pallet and the goods to the second docking position, the top holding member is driven down by the lifting assembly. Since there is a plate gap between the finger plates, the finger plates can pass through the tooth gap of the comb teeth arranged at the second docking position under the drive of the top holding member, so that the goods in the pallet are left above the comb teeth, so as to achieve 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 operation efficiency of the handling robot.

[0025] 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

[0026] By reading the detailed description of the preferred embodiment below, various other advantages and benefits will become clear to those of ordinary skill in the art. The accompanying drawings are only used for the purpose of illustrating the preferred embodiment and are not considered to be limitations of the present application. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings.

[0027] In the attached picture:

[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 the first docking device in an embodiment of the present application is shown;

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

[0032] Figure 4a A perspective view of a transport robot provided by an embodiment of the present application in a first state is shown;

[0033] Figure 4b A side view of a transport robot provided by an embodiment of the present application in a first state is shown;

[0034] Figure 4c A perspective view showing a transport robot provided by an embodiment of the present application in a second state;

[0035] Figure 5 A schematic diagram of the structure of the scissor fork mechanism and the supporting platform in an embodiment of the present application is shown;

[0036] Figure 6 A schematic diagram of the structure of a tray in an embodiment of the present application is shown;

[0037] Figure 7a A schematic diagram showing the dimensional relationship between the finger plate of the pallet and the cantilever beam of the first docking device in the embodiment of the present application is shown;

[0038] Figure 7b A schematic diagram showing the size relationship between the finger plate of the tray and the comb teeth of the second docking device in the embodiment of the present application is shown;

[0039] Figure 8 A schematic diagram of the process of picking up and releasing goods provided in an embodiment of the present application is shown;

[0040] 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;

[0041] 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;

[0042] 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;

[0043] Figure 9d 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;

[0044] Fig.9e A top view showing a first positional relationship between the handling robot and the second docking device during a process of picking up and placing goods;

[0045] Figure 9f A side view showing a first positional relationship between the handling robot and the second docking device during the process of picking up and placing goods;

[0046] 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;

[0047] Figure 9h A side view showing a first positional relationship between the handling robot and the third docking device during the process of picking up and placing goods;

[0048] Figure 9i A top view showing a first positional relationship between the handling robot and the third docking device during a process of picking up and placing goods;

[0049] Fig.10 A schematic diagram of the process of picking up and releasing goods provided in an embodiment of the present application is shown;

[0050] Fig.11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown.

[0051] The reference numerals in the specific implementation manner are as follows:

[0052] 100. Warehousing system;

[0053] 10. Shelves;

[0054] 20. Workstation; 21. Inbound workstation; 22. Outbound workstation; 23. Picking workstation; 24. Inbound and outbound workstation;

[0055] 30. tray; 31. base plate; 32. finger plate; 33. plate gap; 34. bottom plate; 35. baffle;

[0056] 40. Transport robot;

[0057] 41, chassis; 411, housing; 412, running wheels;

[0058] 42, bearing platform; 421, first top plate; 422, second top plate; 423, fixing plate; 424, first connecting plate; 425, second connecting plate; 4251, sliding hole;

[0059] 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; 4312a, first connecting rod; 4312b, second connecting rod;

[0060] 50. Control device;

[0061] 61, first docking device; 611, first crossbeam; 612, cantilever beam; 62, second docking device; 621, second crossbeam; 622, comb teeth;

[0062] 70. Goods;

[0063] 300. Electronic device; 302. Processor; 304. Memory; 306. Computer program. DETAILED DESCRIPTION

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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).

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] Therefore, how to achieve low-cost and high-efficiency separation of cartons and pallets is an urgent problem to be solved.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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 2 FIG. 4 shows a schematic diagram of the structure of the first docking device in an embodiment of the present application. Figure 2 As shown, the first docking device 61 can be set at the first docking position of the shelf 10 or the workstation 20, and the first docking device 61 includes a first crossbeam 611 and a plurality of cantilever beams 612 for carrying the pallet 30. The first crossbeam 611 is fixed to the column of the shelf 10 by bolting or the like, and the plurality of cantilever beams 612 are vertically connected to the first crossbeam 611 in a horizontal plane. Of course, the first docking device 61 can also directly carry goods. Figure 3 FIG. 4 shows a schematic diagram of the structure of the second docking device in an embodiment of the present application. Figure 3 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 second crossbeam 621 in a horizontal plane. There is a tooth gap between two adjacent comb teeth 622. 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.

[0083] Figure 4a A perspective view of a transport robot provided by an embodiment of the present application in a first state is shown. Figure 4b FIG. 4 shows a side view of a transport robot provided by an embodiment of the present application in a first state, Figure 4c The transport robot 40 provided in the embodiment of the present application is in a three-dimensional view in the second state. The transport robot 40 includes a chassis 41, a load-bearing platform 42 and a lifting assembly 43. Of course, the transport robot 40 generally also includes components not shown in the figure, such as a walking motor, a main control component, and a battery.

[0084] 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.

[0085] The lifting assembly 43 has a first end 43a and a second end 43b (eg, the Z direction or the negative direction of the Z direction, i.e., the -Z direction) opposite to each other in the vertical direction. Figure 4b 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 end 43a (Z direction as shown in the figure) or in the direction close to the first end 43a (the negative direction of the Z direction as shown in the figure, i.e. -Z direction). When the lifting assembly is raised, the second end 43b moves in the vertical direction away from the first end 43a; when the lifting assembly is lowered, the second end 43b moves in the vertical direction close to the first end 43a. Figure 4a and Figure 4b In the first state shown, the second end 43b of the lifting assembly 43 is at a position away from the first end 43a; Figure 4c In the second state shown, the second end 43b of the lifting assembly 43 is located close to the first end 43a.

[0086] The load-bearing platform 42 is disposed at the second end 43b of the lifting assembly 43. A plurality of top holding members are arranged at intervals on the load-bearing platform 42, and the plurality of top holding members are used to carry the pallet 30 and / or goods. The lifting or lowering of the lifting assembly 43 can drive the load-bearing platform 42 to rise or fall, thereby driving the pallet 30 carried by the top holding member to rise or fall. In the process of docking with the first docking device 61 to pick up and place the pallet 30 or docking with the second docking device 62 to pick up and place the goods, the top holding member passes through the beam gap between the cantilever beams 612 of the first docking device 61, or passes through the tooth gap between the comb teeth 622 of the second docking device 62.

[0087] The support platform 42 is a flat plate structure. The support member includes a combination of one or more of a push pin, a push plate, and a push block. As long as the support member can support the goods and pass through the beam gap between the cantilever beam or the tooth gap between the comb teeth, for example, the shape, size, and number of the support member are adapted to the beam gap between the cantilever beam and the shape, size, and number of the tooth gap between the comb teeth. In the embodiment shown in the figure, the support member is a top plate structure, such as Figures 4a to 4c As shown, the supporting member is a plurality of first top plates 421 , each of the first top plates 421 extends along a first direction (Y direction), and the plurality of first top plates 421 are spaced apart along a second direction (X direction).

[0088] The handling robot 40 is also provided with a fixed plate 423, which is fixed to the top of the shell 411 of the chassis 41, and a plurality of second top plates 422 are arranged at intervals on the fixed plate 423. The first top plate 421 and the second top plate 422 are used together to carry the tray 30 / or goods. The first top plate 421 is arranged on the carrying platform 42, so it can be raised and lowered along with the lifting assembly 43, so it can pass through the beam gap of the cantilever beam 612 or the tooth gap of the comb teeth 622 in the process of picking up and placing the tray 30 or picking up and placing the goods. The second top plate 422 is arranged on the fixed plate 423, and the fixed plate 423 does not move along with the rising or falling of the lifting assembly 43, so the second top plate 422 will not pass through the beam gap of the cantilever beam 612 or the tooth gap of the comb teeth 622.

[0089] 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 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.

[0090] Figure 5 The schematic diagram of the structure of the scissor fork mechanism and the supporting platform in the embodiment of the present application is shown. Figure 5 Please continue to see Figure 4a and Figure 4b The 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.

[0091] 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.

[0092] The scissor fork mechanism 431 includes two groups of support rods relatively arranged along the horizontal direction (as shown in the X direction 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 to the two ends of the support rods 4311 at the corresponding position in the other group of support rods through connecting rods 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 at least one of the two connecting rods 4312 relatively arranged along the Y direction to move toward the other, 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 tray 30; the driving mechanism drives at least one of the two connecting rods 4312 relatively arranged along the Y direction to move away from the other, 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 tray 30 to descend. For example, Figure 5 As shown, the first connecting rod 4312a is slidably connected to the chassis 41, and the second connecting rod 4312b is fixedly connected to the chassis 41. The driving mechanism drives the first connecting rod 4312a to move toward the second connecting rod 4312b, so that the angle between the two cross-hinged supporting rods 4311 in each group of supporting rods becomes smaller, and the second end 43b moves in the vertical direction away from the first end 43a to lift the tray 30; the driving mechanism drives the first connecting rod 4312a to move away from the second connecting rod 4312b, so that the angle between the two cross-hinged supporting rods 4311 in each group of supporting rods becomes larger, and the second end 43b moves in the vertical direction toward the first end 43a to drive the tray 30 to descend. Of course, the driving mechanism can also drive the first connecting rod 4312a and the second connecting rod 4312b to move toward or away from each other at the same time, so that the scissor fork mechanism 431 extends or contracts. 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.

[0093] In the scissor fork mechanism 431, the support rod 4311 located at the top in the vertical direction is used to set the bearing platform 42, wherein one end of the bottom of the bearing platform 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 424 are arranged at one end of the bottom of the bearing platform 42, and the first support rod 4311a and the second support rod 4311b are respectively hinged to the two first connecting plates 424 through the connecting rod 4312; two second connecting plates 425 are arranged at the other end of the bottom of the bearing platform 42, and a sliding hole 4251 is provided on the second connecting plate 425, and the connecting rod 4312 can move in the sliding hole 4251, and the third support rod 4311c and the fourth support rod 4311d are respectively slidably connected to the two second connecting plates 425 through the connecting rod 4312.

[0094] Figure 6 The schematic diagram of the structure of the tray in the embodiment of the present application is shown as follows: Figure 6 As shown, the pallet 30 includes a base plate 31 and a plurality of finger plates 32 extending from a first side of the base plate 31 along a first direction (Y direction), and the plurality of finger plates 32 are arranged at intervals along a second direction (X direction). There is a plate gap between two adjacent finger plates 32, and the first direction and the second direction are both directions in a horizontal plane parallel to the base plate 31, and the first direction intersects with the second direction, that is, there is an angle between the first direction and the second direction. The base plate 31 and the plurality of finger plates 32 are used together to carry goods.

[0095] In the embodiment shown in the figure, the first direction (Y direction) is perpendicular to the side of the first side of the base plate 31, and the first direction (Y direction) is perpendicular to the second direction (X direction). In this way, the finger plate 32 extends vertically from the side of the first side of the base plate 31, which is not only convenient for processing, but also makes the outer periphery of the tray 30 regular, thereby improving the utilization rate of the storage space of the shelf 10.

[0096] The cross section of the finger plate 32 is rectangular. The rectangular cross section is not only convenient for processing, but also can increase the lateral dimension of the finger plate 32 in the horizontal plane, thereby supporting the goods more stably.

[0097] The base plate 31 and the finger plates 32 may both be in the shape of a flat plate. The base plate 31 and the plurality of finger plates 32 together form the bottom plate 34 of the pallet 30, and a baffle 35 connected to the bottom plate 34 is vertically arranged on the outer periphery of the bottom plate 34. The baffle 35 is used to prevent the goods from being removed from the pallet 30, and its height may be lower than that of a conventional material box. The goods are placed on the bottom plate 34 formed by the base plate 31 and the plurality of finger plates 32. The bottoms of the plurality of finger plates 32 are used to contact the plurality of top holding members of the transport robot 40 respectively so that the pallet 30 is carried by the plurality of top holding members. For example, the first top plate 421 of the transport robot 40 contacts the finger plates 32, and the second top plate 422 contacts the base plate 31, thereby jointly carrying the pallet 30.

[0098] Along the first direction (Y direction), the size ratio of the finger plate 32 to the base plate 31 is greater than or equal to 2: 1. In this way, the size of the base plate 31 can be reduced when the size of the bottom plate 34 is constant, thereby saving materials and reducing costs.

[0099] The tray 30 is used to be placed on the first docking device 61. When the tray 30 is placed on the first docking device 61, the base plate 31 and the finger plate 32 of the tray 30 can both contact the cantilever beam 612 of the first docking device 61. The finger plate 32 matches the cantilever beam 612 in position, so that the finger plate 32 can contact the cantilever beam 612.

[0100] The number of finger plates 32 may be the same as the number of cantilever beams 612 of the first docking device 61, for example, Figure 2 and Figure 6 As shown, the number of cantilever beams 612 and finger plates 32 are both five, and the positions of the five finger plates 32 match one by one with the positions of the five cantilever beams 612. Of course, the number of finger plates 32 may also be less than the number of cantilever beams 612, so that when the pallet 30 is placed on the first docking device 61, the finger plates 32 only contact with some of the cantilever beams 612, and the positions of the cantilever beams 612 match only with the finger plates 32 that contact with the cantilever beams 612. The number of finger plates 32 may also be more than the number of cantilever beams 612, so that when the pallet 30 is placed on the first docking device 61, some of the finger plates 32 do not contact with the cantilever beams 612 but are in a suspended state, and the positions of the cantilever beams 612 match only with the finger plates 32 that contact with the cantilever beams 612.

[0101] The transport robot 40 can drive the first top plate 421 to move up and down through the lifting assembly 43 to take and place the tray 30 from the first docking device 61 . Figure 7a FIG. 1 is a schematic diagram showing the relationship between the size of the finger plate of the tray and the cantilever beam of the first docking device in the embodiment of the present application. Figure 7a As shown, along the second direction (X direction), the width w1 of the finger plate 32 is greater than the width w2 of the cantilever beam 612 matched with the finger plate 32. In this way, when the handling robot 40 takes the pallet 30 from the first docking position, after the first top plate 421 passes through the beam gaps of the multiple cantilever beams 612 from the bottom of the cantilever beam 612 upward in the vertical direction, the two first top plates 421 located on both sides of each cantilever beam 612 can contact the finger plate 32 carried by the cantilever beam 612 to lift the pallet 30, thereby stably carrying and lifting the pallet 30.

[0102] In some embodiments, the number of cantilever beams 612 of the shelf 10 and the number of finger plates 32 of the pallet 30 are both N, the handling robot 40 includes N groups of first top plates, each group of first top plates includes two first top plates 421, and there is a top plate gap between the two first top plates 421 in each group of first top plates, and the N cantilever beams 612, N finger plates 32 and N groups of first top plates are matched in position (that is, each group of first top plates is used to support one finger plate 32), where N is an integer, and N≥2. Figure 2 and Figure 6 As shown, the number of the cantilever beams 612 of the shelf 10 and the finger plates 32 of the pallet 30 are both five, the handling robot 40 includes five groups of first top plates, each group of first top plates includes two first top plates 421, and there is a top plate gap between the two first top plates 421 in each group of first top plates. The five cantilever beams 612, the five finger plates 32 and the five groups of first top plates are matched in position. Please continue to refer to Figure 7a , along the second direction (X direction), the width w1 of the finger plate 32 is greater than the width w2 of the cantilever beam 612 matching the finger plate 32, and the top plate gap (size w3 as shown in the figure) between the two first top plates 421 in each group of first top plates is greater than the width w2 of the cantilever beam 612 matching it and smaller than the width w1 of the finger plate 32 matching it.

[0103] The transport robot 40 can use the pallet 30 to pick up and place goods from the second docking device 62 . Figure 7b FIG. 1 is a schematic diagram showing the size relationship between the finger plate of the tray and the comb teeth of the second docking device in an embodiment of the present application. Figure 7b As shown, the finger plate 32 matches the tooth gap position of the comb teeth 622, and the plate gap matches the position of the comb teeth 622. Along the second direction (X direction), the width w1 of the finger plate 32 is smaller than the tooth gap (size w4 as shown in the figure) matching the finger plate 32, and the plate gap (size w5 as shown in the figure) is larger than the width w6 of the comb teeth 622 matching the plate gap, so that when the pallet 30 takes or places goods from the second docking device 62, the finger plate 32 can pass through the tooth gap in the vertical direction, so that the pallet 30 contacts the bottom of the goods placed on the comb teeth 622 to transfer the goods from the second docking device 62 to the pallet 30, or the goods in the pallet 30 are detached from the pallet 30 to transfer the goods from the pallet 30 to the second docking device 62.

[0104] Figure 7bIn the illustrated embodiment, there are four comb teeth 622, three tooth gaps, five finger plates 32, and four plate gaps. The three finger plates 32 in the middle of the five finger plates 32 match the positions of the three tooth gaps of the comb teeth 622, and the two finger plates 32 located on the outer sides are not located in the tooth gaps of the comb teeth 622. The four plate gaps match the positions of the four comb teeth 622, and the four comb teeth 622 are located in the four plate gaps. That is, when the pallet 30 takes or places goods from the second docking device 62, the three finger plates 32 pass through the three tooth gaps in the vertical direction, and the existence of the four plate gaps prevents the movement of the pallet 30 from being blocked by the comb teeth 622.

[0105] In some embodiments, the number of finger plates 32 of the tray 30 is N, the number of comb teeth 622 of the workstation 20 is N-1, the handling robot 40 includes N groups of first top plates, each group of first top plates includes two first top plates 421, there is a top plate group gap between two adjacent groups of first top plates, the plate gaps of N-1 comb teeth 622, the N finger plates 32 and the top plate group gaps of the N groups of first top plates match in position, the N finger plates 32 and the N groups of first top plates match in position (that is, each group of first top plates is used to hold a finger plate 32), wherein N is an integer, N≥2. Figure 7b As shown, along the second direction (X direction), the width w1 of the finger plate 32 is smaller than the tooth gap (size as w4 shown in the figure) matching the finger plate 32, the plate gap (size as w5 shown in the figure) is larger than the width w6 of the comb teeth 622 matching the plate gap, the top plate gap (size as w3 shown in the figure) between the two first top plates 421 in each group of first top plates is smaller than the width w1 of the finger plate 32 matching it, and the top plate group gap (size as w7 shown in the figure) between two adjacent groups of first top plates is larger than the width w6 of the comb teeth 622 matching it.

[0106] The following is an explanation of the method for picking up and placing goods using the pallet 30 in the above embodiment.

[0107] 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.

[0108] like Figure 8 As shown, the method for picking up and releasing goods includes the following steps:

[0109] 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.

[0110] Step 102: Control the lifting assembly to lift, and allow the plurality of supporting members to pass through the beam gaps in the vertical direction so that the plurality of supporting members contact the bottom of the pallet and lift the pallet to detach from the first docking device.

[0111] Step 103: Control the transport robot to drive away from the first docking position.

[0112] 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 walks to the first docking position (such as Figure 9a As shown in FIG. 1 , the positions of the plurality of first top plates 421 correspond to the positions of the beam gaps of the plurality of cantilever beams 612. The scissor fork mechanism 431 is extended to lift the support platform 42, so that the first top plate 421 rises and contacts the bottom of the pallet 30, specifically, the bottom of the finger plate 32 of the pallet 30 (as shown in FIG. 1 ). 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.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.

[0113] Step 104: Control the transport robot to move to a second docking position, where a second docking device is provided.

[0114] Step 105: Control the lifting assembly to descend so that the tray carried by the multiple top holding members descends, the multiple finger plates pass through the tooth gaps in the vertical direction, the bottom of the first product contacts the comb teeth, the first product is transferred to the second docking device, and the tray is separated from the first product.

[0115] In step 104 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. When the handling robot 40 walks to the second docking position, the base plate 31 of the pallet 30 is located on the outer side above the comb teeth 622, that is, the base plate 31 of the pallet 30 will not be blocked by the comb teeth 622 when it descends with the scissor fork mechanism 431; and the finger plate 32 of the pallet 30 is located above the comb teeth 622 as a whole and its position corresponds to the tooth gap of the comb teeth 622. At this time, the plurality of first top plates 421 are inserted into the tooth gaps of the plurality of comb teeth 622 (such as Figure 9d , Fig.9e and Figure 9f As shown, Figure 9fThe dotted line in the middle is the position of the end of the comb teeth 622. The scissor fork mechanism 431 is contracted to make the carrier 42 descend, driving the tray 30 to descend together. The first top plate 421 and the finger plate 32 of the tray 30 pass through the tooth gaps of the comb teeth 622. After the goods 70 in the tray 30 come into contact with the comb teeth 622, they are blocked by the comb teeth 622 and no longer descend. Thus, the goods 70 are transferred to the second docking device 62, and the tray 30 is separated from the goods 70 (as shown in FIG. Figure 9g shown).

[0116] Step 106: Control the transport robot to move to a third docking position, where a third docking device is provided, and the third docking device carries the second product.

[0117] Step 107: Control the lifting assembly to lift, so that the pallet carried by the plurality of supporting members rises, and the plurality of finger plates pass through the tooth gaps in the vertical direction to contact the bottom of the second product and lift the second product to detach from the third docking device.

[0118] Step 108: Control the transport robot to drive away from the third docking position.

[0119] In step 106 to step 108, 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 same or similar structure as the second docking device, and also includes a plurality of comb teeth distributed at intervals, with a tooth gap between two adjacent comb teeth, and the plurality of comb teeth are used to carry goods.

[0120] When the transport robot 40 moves to the third docking position, the base plate 31 of the tray 30 is located on the outer side below the comb teeth 622, that is, the base plate 31 of the tray 30 will not be blocked by the comb teeth 622 when it rises with the lifting assembly 43; and the finger plates 32 of the tray 30 are located below the comb teeth 622 as a whole, and the positions of the plurality of finger plates 32 correspond to the positions of the tooth gaps of the plurality of comb teeth 622 (such as Figure 9h and Figure 9i As shown, please refer to Figure 9g , Figure 9i The dotted line in the middle is the position of the end of the comb teeth 622. The scissor fork mechanism 431 is extended to raise the carrier 42, driving the tray 30 to rise together. The first top plate 421 and the finger plate 32 of the tray 30 pass through the tooth gap of the comb teeth 622 together. The tray 30 (specifically, the finger plate 32) contacts the bottom of the goods 70. The scissor fork mechanism 431 continues to extend, lifting the tray 30 and the goods 70, so that the goods 70 are separated from the comb teeth 622 (please refer to Figure 9d and then drive out of the third docking position.

[0121] Step 109: Control the transport robot to move to a fourth docking position, where a fourth docking device is provided.

[0122] Step 110: Control the lifting assembly to descend, and allow the plurality of top holders to pass through the beam gaps in the vertical direction so that the pallet is separated from the plurality of top holders and placed on the plurality of cantilever beams.

[0123] In step 109 to step 110, the fourth docking position is a shelf docking position, and the handling robot deposits the pallet containing the goods at the shelf docking position after taking the goods. The fourth docking device has the same or similar structure as the first docking device, and also includes a plurality of cantilever beams distributed at intervals, with a beam gap between two adjacent cantilever beams, and the plurality of cantilever beams are used to carry the pallet and the goods.

[0124] When the transport robot 40 moves to the fourth docking position, the tray 30 and the goods 70 are located above the cantilever beam 612 as a whole, and the positions of the plurality of first top plates 421 correspond to the positions of the beam gaps of the plurality of cantilever beams 612. At this time, the plurality of first top plates 421 are inserted into the beam gaps of the plurality of cantilever beams 612 (see Fig.9c The scissor fork mechanism 431 is retracted to cause the support platform 42 to descend, driving the pallet 30 and the goods 70 to descend to the bottom of the pallet 30 and contact the cantilever beam 612 (see Figure 9b As shown in FIG. 1 , the scissor fork mechanism 431 continues to contract to make the first top plate 421 drop below the bottom of the cantilever beam 612, so that the first top plate 421 is separated from the bottom of the pallet 30, and the pallet 30 and the goods 70 therein are transferred to the fourth docking device (please refer to FIG. 1 ). Figure 9a shown).

[0125] In the embodiment of the present application, a plurality of finger plates 32 are arranged at intervals on one side of the base plate 31 of the tray 30. The base plate 31 and the finger plates 32 carry the goods 70 together, and there is a plate gap between the finger plates 32. The top holding member of the handling robot 40 can hold the finger plates 32 to carry the tray 30 with the goods 70 placed thereon and lift the tray 30. After the handling robot 40 carries the tray 30 and the goods 70 to the second docking position, the top holding member is driven down by the lifting assembly 43. Since there is a plate gap between the finger plates 32, the finger plates 32 can pass through the tooth gap of the comb teeth 622 arranged at the second docking position under the drive of the top holding member, so that the goods 70 in the tray 30 are left above the comb teeth 622, so as to realize the separation of the goods 70 in the tray 30 and the tray 30. This method has a simple structure, reduces equipment cost, can simplify the steps of separating the goods 70 from the tray 30, and improves the operation efficiency of the handling robot 40.

[0126] 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 and the pallet 30 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.

[0127] Fig.10 The flowchart of the method for picking up and placing goods provided by the embodiment of the present application is shown. The method is applied to the above-mentioned handling robot 40. For example, the handling robot 40 includes a lifting component 43, a carrying platform 42, and a plurality of top holding members arranged at intervals on the carrying platform 42. The plurality of top holding members are used to carry the tray 30. The lifting or lowering of the lifting component 43 can drive the carrying platform 42 to rise or fall. Fig.10 As shown, the method comprises the following steps:

[0128] Step 201: Control the transport robot to move to a second docking position, wherein a plurality of top holding members of the transport robot carry a pallet and the pallet is lifted, wherein a first product is placed in the pallet, and a second docking device is provided at the second docking position, wherein the second docking device comprises a plurality of comb teeth distributed at intervals, wherein a tooth gap is provided between two adjacent comb teeth, and when the transport robot moves to the second docking position, the plurality of top holding members are inserted into the tooth gaps of the plurality of comb teeth;

[0129] Step 202: Control the lifting assembly to descend so that the tray carried by the multiple top holding members descends, the multiple finger plates pass through the tooth gaps in the vertical direction, the bottom of the first product contacts the comb teeth, the first product is transferred to the second docking device, and the tray is separated from the first product.

[0130] In some embodiments, after the first product is transferred to the second docking device, the method further comprises:

[0131] Control the transport robot to walk to a third docking position, where a third docking device is provided, the third docking device includes a plurality of comb teeth distributed at intervals, a tooth gap is provided between two adjacent comb teeth, the plurality of comb teeth are used to carry the second goods, and when the transport robot walks to the third docking position, the positions of the plurality of finger plates correspond to the positions of the tooth gaps of the plurality of comb teeth;

[0132] Control the lifting assembly to lift up, so that the trays carried by the plurality of top holding members are lifted, and the plurality of finger plates pass through the tooth gaps in the vertical direction to contact the bottom of the second cargo and lift the second cargo to separate from the third docking device;

[0133] Control the transport robot to drive away from the third docking position.

[0134] In some embodiments, the plurality of top holders of the transport robot carry a pallet and the pallet is lifted, and the second goods are placed in the pallet; the method further comprises:

[0135] Control the transport robot to walk to a fourth docking position, where a fourth docking device is provided, the fourth docking device includes a plurality of cantilever beams distributed at intervals, and a beam gap is provided between two adjacent cantilever beams, and when the transport robot walks to the fourth docking position, the positions of the plurality of top holding members correspond to the positions of the beam gaps of the plurality of cantilever beams;

[0136] The lifting assembly is controlled to descend, and a plurality of top holding members pass through the beam gaps in a vertical direction so that the pallet is separated from the plurality of top holding members and is placed on a plurality of cantilever beams.

[0137] In some embodiments, before controlling the transport robot to walk to the second docking position, the method further includes:

[0138] Control the transport robot to walk to a first docking position, where a first docking device is provided, the first docking device includes a plurality of cantilever beams distributed at intervals, a beam gap is provided between two adjacent cantilever beams, the plurality of cantilever beams carry a pallet, and the pallet contains a first product, and when the transport robot walks to the first docking position, the positions of the plurality of top holding members correspond to the positions of the beam gaps between the plurality of cantilever beams;

[0139] Control the lifting assembly to lift, and the plurality of supporting members pass through the beam gap in the vertical direction so that the plurality of supporting members contact the bottom of the pallet and lift the pallet to separate from the first docking device;

[0140] Control the transport robot to drive away from the first docking position. 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.

[0141] like Fig.11 As shown, the electronic device 300 may include: a processor (processor) 302 and a memory (memory) 304.

[0142] 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.

[0143] Specifically, computer program 306 may include computer executable instructions.

[0144] 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.

[0145] 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.

[0146] 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.

[0147] 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.

[0148] 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.

[0149] 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.

[0150] 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.

[0151] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various aspects of the present application, 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.

[0152] 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.

[0153] 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 pallet, characterized in that: The tray comprises: substrate; and A plurality of finger plates extending from a first side of the substrate along a first direction, the plurality of finger plates being spaced apart along a second direction, with a plate gap between two adjacent finger plates, the first direction and the second direction both being directions in a horizontal plane parallel to the substrate, and the first direction intersecting the second direction; The base plate and the plurality of finger plates are used together to carry goods.

2. The pallet according to claim 1, characterized in that: The tray is used to take and place goods from the second docking device, the second docking device includes a plurality of comb teeth distributed at intervals, there is a tooth gap between two adjacent comb teeth, and the plurality of comb teeth are used to carry goods; The finger plate matches the tooth gap position, and the plate gap matches the comb teeth position. Along the second direction, the width of the finger plate is smaller than the tooth gap matching the finger plate, and the plate gap is larger than the width of the comb teeth matching the plate gap, so that when the pallet takes or places goods from the second docking device, the finger plate can pass through the tooth gap in the vertical direction, so that the pallet contacts the bottom of the goods placed on the comb teeth to transfer the goods from the second docking device to the pallet, or the goods in the pallet are detached from the pallet to transfer the goods from the pallet to the second docking device.

3. The pallet according to claim 1 or 2, characterized in that: The pallet is used to be placed on a first docking device, the first docking device includes a plurality of cantilever beams distributed at intervals, and the plurality of cantilever beams are used to carry the pallet; The finger plate matches the cantilever beam in position, and along the second direction, the width of the finger plate is greater than the width of the cantilever beam matching the finger plate.

4. The pallet according to claim 1, characterized in that: The base plate and the plurality of finger plates together form a bottom plate of the tray, and a baffle connected to the bottom plate is vertically arranged on the outer periphery of the bottom plate.

5. The pallet according to claim 1, characterized in that: Along the first direction, a size ratio of the finger plate to the base plate is greater than or equal to 2:

1.

6. The pallet according to claim 1, characterized in that: The first direction is perpendicular to a side surface of a first side of the substrate, and the first direction is perpendicular to the second direction.

7. The pallet according to claim 6, characterized in that: The cross section of the finger plate is rectangular.

8. The pallet according to claim 1, characterized in that: The bottoms of the plurality of finger plates are used to respectively contact with a plurality of top holding members of the transport robot so that the pallet is carried by the plurality of top holding members.

9. A storage system, characterized in that: include: A shelf, for storing a pallet, wherein the pallet stores goods, the pallet comprises a base plate and a plurality of finger plates extending from a first side of the base plate along a first direction, the plurality of finger plates are arranged at intervals along a second direction, and there is a plate gap between two adjacent finger plates, the first direction and the second direction are both directions in a horizontal plane parallel to the base plate, and the first direction intersects with the second direction; The base plate and the plurality of finger plates are used together to carry goods; Workstations, used to receive goods to be processed or output processed goods; as well as A handling robot, comprising a lifting assembly, a load-bearing platform and a plurality of top-holding members spaced apart on the load-bearing platform, wherein the plurality of top-holding members are used to carry pallets, and the lifting or lowering of the lifting assembly can drive the load-bearing platform to rise or fall; the handling robot is used to take the pallet from the shelf and separate the goods from the pallet so as to transfer the separated goods to the workstation.

10. The storage system according to claim 9, characterized in that: The number of the cantilever beams of the shelf and the finger plates of the pallet are both N, the handling robot comprises N groups of top plates, each group of top plates comprises two top plates, a top plate gap is provided between the two top plates in each group of top plates, and the positions of the N cantilever beams, the N finger plates and the N groups of top plates are matched; Along the second direction, the width of the finger plate is greater than the width of the cantilever beam matched with the finger plate, and the top plate gap between the two top plates in each group of top plates is greater than the width of the cantilever beam matched with it and smaller than the width of the finger plate matched with it.

Images