Carrying device, carrying robot and warehousing system

Abstract

The utility model provides a carrying device, a carrying robot and a warehousing system. The carrying device comprises a device body and a mechanical arm assembly. The robot arm assembly has a robot arm and a first abutment arm. The mechanical arm is movably arranged on the device body and is configured to be inserted into a cavity in the to-be-carried piece so as to take the to-be-carried piece. The first abutting arm is rotationally arranged at the end of the mechanical arm. When the mechanical arm retracts to take the to-be-carried piece, the first abutting arm abuts against the to-be-carried piece so as to drive the to-be-carried piece to move to the device body. According to the carrying device, when the to-be-carried pieces are taken, the carrying device cannot interfere with the adjacent to-be-carried pieces, and the storage efficiency of the warehousing system can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of logistics technology, and in particular to a transport device, a transport robot and a warehousing system. Background Art

[0002] With the development of artificial intelligence and automation technology, handling robots have been widely used in warehousing systems.

[0003] As the core component of the handling robot, the handling device can realize the handling of the objects to be handled by the handling robot. The handling device usually has a retractable mechanical arm and an abutment arm. The abutment arm is rotatably arranged at the end of the mechanical arm. When the handling device picks up the objects to be handled, the two mechanical arms will be located on the side of the objects to be handled to pick up the objects to be handled. In addition, when the mechanical arms are retracted to pick up the objects to be handled, the abutment arms will abut against the objects to be handled to move the objects to be handled into the handling device. In order to facilitate the handling device to pick up the objects to be handled, a spacing must be reserved between adjacent objects to be handled so that the mechanical arms can be located within the spacing between adjacent objects to be handled when extended. In order to improve the storage efficiency of the warehousing system, while satisfying the function of the handling device to pick up the objects to be handled, the spacing between the objects to be handled needs to be as small as possible, which may cause the mechanical arms to interfere with adjacent objects to be handled when the handling device picks up the objects to be handled. Utility Model Content

[0004] The present disclosure provides a transport device, a transport robot and a warehousing system. When the transport device takes an object to be transported, it will not interfere with adjacent objects to be transported, and the storage efficiency of the warehousing system can be improved.

[0005] In a first aspect, an embodiment of the present disclosure provides a transport device, the transport device comprising:

[0006] device body;

[0007] A mechanical arm assembly, comprising a mechanical arm and a first abutting arm, wherein the mechanical arm is movably arranged on the device body and is configured to be inserted into a cavity inside the object to be transported so as to pick up the object to be transported;

[0008] The first abutment arm is arranged at the end of the mechanical arm. When the mechanical arm is retracted to take the object to be transported, the first abutment arm abuts against the object to be transported to drive the object to be transported to move to the device body.

[0009] In some optional embodiments, the first abutment arm is disposed on an end surface of an end portion of the mechanical arm;

[0010] When the robot arm is retracted to pick up the object to be transported, the first abutting arm abuts against the first side surface of the object to be transported;

[0011] The first side surface includes a vertical surface or a horizontal surface of the transported object away from the installed body.

[0012] In some optional embodiments, the first side surface is a vertical surface, and the first abutment arm is rotatably disposed on the end surface;

[0013] When the robot arm is retracted to pick up the object to be transported, the plane where the first abutting arm is located is perpendicular to the plane where the robot arm is located, and the length direction of the first abutting arm is perpendicular to the picking and placing direction of the transport device.

[0014] In some optional embodiments, the first abutment arm is a non-telescopic arm, and the first abutment arm is rotatably disposed on one side within the end surface.

[0015] In some optional embodiments, the length of the first abutment arm is less than or equal to the width of the mechanical arm.

[0016] In some optional embodiments, the first abutment arm is a telescopic arm, and the first abutment arm is rotatably disposed on one side or in a middle area of ​​the end surface.

[0017] In some optional embodiments, when the robot arm is retracted to pick up the object to be transported, the first abutment arm is in an extended state;

[0018] When the robot arm is extended and inserted into the cavity, the first abutting arm is in a retracted state.

[0019] In some optional embodiments, the telescopic arm includes a fixed arm and a movable arm, and the fixed arm is rotatably disposed on the end surface;

[0020] The movable arm is arranged on the fixed arm for movement along the length direction of the fixed arm, and the length direction of the fixed arm is parallel to or at an angle to the width direction of the mechanical arm.

[0021] In some optional embodiments, the first side surface is a horizontal plane. When the robotic arm is retracted to pick up the item to be transported, the plane where the first abutment arm is located is parallel to the plane where the robotic arm is located, and the length direction of the first abutment arm is perpendicular to the picking and placing direction of the transport device.

[0022] In some optional embodiments, the first abutment arm is a non-telescopic arm, and the first abutment arm is rotatably disposed on one side of the end surface close to the first side surface.

[0023] In some optional embodiments, the length of the first abutment arm is less than or equal to the width of the mechanical arm.

[0024] In some optional embodiments, the end of the robotic arm has an end surface, and during the process of the robotic arm extending and inserting into the cavity, the projection of the first abutting arm on the end surface is located within the end surface.

[0025] In some optional embodiments, the first abutment arm is vertically arranged on the end surface, and the length direction of the first abutment arm is perpendicular to the thickness direction of the mechanical arm and parallel to the width direction of the mechanical arm.

[0026] In some optional embodiments, the robot arm is inserted into a cavity inside the object to be transported, and an end of the robot arm extends out of the cavity to pick up the object to be transported.

[0027] In some optional embodiments, the robotic arm is a telescopic arm, the robotic arm has a first telescopic end in the telescopic direction, and the first abutment arm is arranged at the first telescopic end.

[0028] In some optional embodiments, the robotic arm further has a second telescopic end in the telescopic direction;

[0029] The mechanical arm assembly also has a second abutment arm, and the second abutment arm is arranged at the second telescopic end.

[0030] In some optional embodiments, the number of the robotic arm assemblies is two; the two robotic arm assemblies are disposed in a middle area of ​​the device body, and the two robotic arm assemblies are spaced apart along the width direction of the device body.

[0031] In some optional embodiments, the device body includes a supporting platform for supporting the workpiece to be transported, and the supporting platform is provided on one side of the edge of the robot arm assembly facing the device body.

[0032] In some optional embodiments, the device body further comprises a mounting platform, and the mounting platform is located between the two mechanical arm assemblies;

[0033] The mechanical arm assembly is installed on the mounting table.

[0034] In a second aspect, an embodiment of the present disclosure provides a transport robot, which includes a storage rack and a transport device as described above, wherein the transport device is installed on the storage rack.

[0035] In a third aspect, an embodiment of the present disclosure provides a warehousing system, which includes a shelf and a transport robot as described above, wherein at least two pieces to be transported are stored on the shelf, and adjacent pieces to be transported are attached to each other, and the transport robot is used to transport the pieces to be transported.

[0036] The present disclosure provides a handling device, a handling robot and a storage system. The handling device includes a mechanical arm and a first abutting arm, and the mechanical arm is configured to be inserted into a cavity inside a workpiece to be handled, and when the mechanical arm is retracted to pick up the workpiece to be handled, the first abutting arm abuts against the workpiece to be handled to drive the workpiece to be handled to move to the device body, so that the handling device can pick up the workpiece to be handled through the abutment between the first abutting arm and the workpiece to be handled. In addition, since the mechanical arm is inserted into the cavity inside the workpiece to be handled when picking up the workpiece to be handled, not only does the mechanical arm not interfere with adjacent workpieces to be handled when picking up the workpiece to be handled, but also the mechanical arm does not need to extend to the side of the workpiece to be handled to pick up the workpiece to be handled, and the distance between the workpieces to be handled can be reduced as much as possible to improve the storage efficiency of the storage system. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0038] Figure 1 A schematic diagram of the structure of a storage system provided by an embodiment of the present disclosure;

[0039] Figure 2 It is a schematic diagram of assembling a handling device on a handling robot in the related art;

[0040] Figure 3 A three-dimensional diagram of a piece to be transported provided in an embodiment of the present disclosure;

[0041] Figure 4 A schematic diagram of the structure of a piece to be transported provided in an embodiment of the present disclosure from another perspective;

[0042] Figure 5 This is a schematic diagram of the structure of a mechanical arm of a handling device provided in the related art, which is located on the side of the object to be handled;

[0043] Figure 6 It is a schematic diagram of the abutment between an abutment arm of a handling device provided in the related art and a workpiece to be handled;

[0044] Figure 7 It is a schematic diagram of the arrangement of parts to be transported on a shelf in the related art;

[0045] Figure 8 It is a structural schematic diagram of a transport device and a plurality of objects to be transported provided in the related art;

[0046] Fig. 9A schematic diagram of the structure of a transport device provided in an embodiment of the present disclosure;

[0047] Fig.10 A schematic diagram of the structure of a mechanical arm of a transport device provided by an embodiment of the present disclosure inserted into an object to be transported;

[0048] Fig.11 for Fig.10 A magnified view at point A;

[0049] Fig.12 A schematic diagram of an abutment between an abutment arm of a handling device provided by an embodiment of the present disclosure and a workpiece to be handled;

[0050] Fig.13 A schematic diagram of the arrangement of parts to be transported on a shelf provided in an embodiment of the present disclosure;

[0051] Fig.14 A schematic diagram of the structure of an abutment arm at the end of a mechanical arm provided by an embodiment of the present disclosure;

[0052] Fig.15 A schematic diagram of another abutment between the abutment arm of the transport device provided by the embodiment of the present disclosure and the object to be transported;

[0053] Fig.16 A schematic diagram of another abutment between the abutment arm of the transport device provided by the embodiment of the present disclosure and the object to be transported;

[0054] Fig.17 A schematic diagram of installing a first abutting arm on a telescopic arm when the telescopic arm is in an extended state provided by an embodiment of the present disclosure;

[0055] Fig.18 A schematic diagram of an abutment between an abutment arm of a handling device provided by an embodiment of the present disclosure and a workpiece to be handled having two cavities;

[0056] Fig.19 A schematic diagram of another abutment between the abutment arm of the transport device provided by the embodiment of the present disclosure and the object to be transported having two cavities;

[0057] Fig. 20 A schematic structural diagram of a transport device provided in an embodiment of the present disclosure from another perspective.

[0058] Reference numerals:

[0059] 100- handling robot;

[0060] 1-storage rack; 11-storage layer;

[0061] 2- Mobile chassis;

[0062] 3- handling device;

[0063] 31-device body; 311-supporting platform; 312-installation platform; 313-side panel;

[0064] 32-mechanical arm; 321-first telescopic end; 322-second telescopic end; 323-fixed arm; 324-movable arm; 325-end face; 3251-first side;

[0065] 33-first abutting arm; 34-second abutting arm;

[0066] 200-part to be transported; 201-first side;

[0067] 210-vertical structural member; 211-vertical surface;

[0068] 220- horizontal structural member; 221- horizontal surface;

[0069] 230-cavity;

[0070] 240-opening;

[0071] 300-Shelves. DETAILED DESCRIPTION

[0072] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0073] See also Figure 1 As shown, an embodiment of the present disclosure provides a storage system, which includes a shelf 300. The shelf 300 is located in the warehouse and can store the parts 200 to be transported. The shelf 300 has a storage layer 11 for storing the parts 200 to be transported. The number of layers of the storage layer 11 in the shelf 300 can be greater than or equal to one. The number of shelves 300 can be one, two, or more. When the parts 200 to be transported are stored on the shelf 300, they can be arranged regularly on the storage layer 11. For example, the parts 200 to be transported can be arranged in sequence on the storage layer 11 (not shown) along the length direction of the shelf 300. The length direction of the shelf 300 can be referred to. Figure 1 It should be noted that the transported object 200 may be the commodity itself or a carrier for carrying the commodity. For example, the carrier may be a steel tray, a material box, etc.

[0074] Continue to see Figure 1The storage system further includes a transport robot 100. The transport robot 100 can be used to transport the items to be transported 200. For example, the transport robot 100 can take the stored items to be transported 200 from the shelf 300, or the transport robot 100 can also transport the temporarily stored items to be transported 200 to the shelf 300. The transport robot 100 includes a storage rack 1, a mobile chassis 2 and a transport device 3. The storage rack 1 can temporarily store the items to be transported 200 to be transported to the shelf 300. The mobile chassis 2 is located at the bottom of the storage rack 1 to facilitate the movement of the transport robot 100.

[0075] The handling device 3, as a core component of the handling robot 100, can realize the handling of the object 200 to be handled by the handling robot 100. The handling device 3 is usually a clamping type handling device. That is, when the handling device 3 handles the object 200 to be handled, it does so by clamping. The clamping type handling device can be a fork device, etc. In the following, the handling of the object 200 to be handled by the handling device 3 will be further described in combination with the structure of the handling device 3.

[0076] The handling device 3 is installed on the storage rack 1. The handling device 3 can be slidably arranged on the storage rack 1 and rotated relative to the storage rack 1 to realize the installation of the handling device 3 on the storage rack 1. By sliding the handling device 3 relative to the storage rack 1, the objects 200 to be handled can be temporarily stored at different heights of the storage rack 1. Alternatively, by sliding the handling device 3 relative to the storage rack 1, the objects 200 to be handled temporarily stored at different heights of the storage rack 1 can be taken.

[0077] Furthermore, by rotating the transport device 3 relative to the storage rack 1, the transport device 3 can pick up the items 200 to be transported from the shelves 300 located on different sides of the storage rack 1, or transport the temporarily stored items 200 to the shelves 300 on different sides of the storage rack 1. It should be noted that the sliding and rotating settings of the transport device 3 relative to the storage rack 1 can be determined according to the existing transport robot, which will not be described in detail here.

[0078] Figure 2 The schematic diagram of assembling an existing transport device 3a on a transport robot 100 is shown schematically. Figure 2As shown, the transport device 3a generally includes a device body 31a, a retractable mechanical arm 32a and a first abutting arm 33a. The device body 31a can be understood as the structure of the transport device 3a except the mechanical arm 32a and the first abutting arm 33a. For example, the device body 31a may include a supporting platform 311a, a mounting platform 312a, etc. The supporting platform 311a is used to support the object 200 to be transported. The mechanical arm 32a is installed on the mounting platform 312a to achieve the fixation of the mechanical arm 32a on the device body 31a. The structure of the device body 31a and the installation method of the mechanical arm 32a on the mounting platform 312a (the connection method of the mechanical arm 32a and the mounting platform 312a) are well known to those skilled in the art and will not be repeated here. The first abutting arm 33a is rotatably disposed at the end of the mechanical arm 32a, so that when the transporting device 3a takes the object 200 to be transported, the first abutting arm 33a rotates relative to the mechanical arm 32a, thereby enabling the transporting device 3a to take the object 200 to be transported.

[0079] Figure 3 and Figure 4 The schematic diagrams show the structure of the same object 200 to be transported at different viewing angles.

[0080] in, Figure 3 and Figure 4 The transported object 200 shown in FIG. 1 is a steel support. Figure 3 As shown, the steel support has a vertical structural member 210 and a horizontal structural member 220. The horizontal structural member 220 has a horizontal surface 221, and the horizontal structural members 220 are arranged on opposite sides of the vertical structural member 210. The vertical structural member 210 and the horizontal structural member 220 enclose a cavity 230 and an opening 240. The opening 240 is connected to the cavity 230. Figure 3 As shown, the horizontal structural member 220 has a horizontal surface 221 on the side of the object 200 to be transported where the opening 240 is provided, and the vertical structural member 210 has a vertical surface 211 on the side of the object 200 to be transported where the opening 240 is provided.

[0081] Figure 3 and Figure 4 2 shows a structure of a steel support having a cavity 230. It should be noted that: Figure 3 and Figure 4 It does not constitute a limitation on the structure of the steel support. For example, the steel support may also have two cavities 230. In the present disclosure, the structure of the steel support is not further limited.

[0082] The following uses an example in which the object 200 to be transported is a steel tray having a cavity 230 to further explain how the transport device 3 picks up the object 200 to be transported.

[0083] Figure 5 and Figure 6The positions of the robot arm 32a and the object 200 to be transported are respectively illustrated when the transport device 3 picks up the object 200 to be transported, from the front and back perspectives of the object 200 to be transported. When the transport device 3a picks up the object 200 to be transported, the back of the object 200 to be transported is adjacent to the device body 31a, and the front of the object 200 to be transported is away from the device body 31a. Figure 5 is the back view of the object 200 to be transported, Figure 6 This is a front view of the object 200 to be transported.

[0084] See also Figure 5 As shown, when the transport device 3a takes the object 200 to be transported, the two mechanical arms 32a extend and are located outside the circumference of the object 200 to be transported, so as to take the object 200 to be transported. Figure 6 As shown, when the robot arm 32a is retracted to take the object 200 to be transported, the first abutting arm 33a will abut against the object 200 to be transported to move the object 200 to be transported into the transport device 3a, so that the transport device 3a can take the object 200 to be transported.

[0085] When the robotic arm 32a is retracted to pick up the workpiece 200 to be transported, the first abutting arm 33a abuts against the workpiece 200 to be transported, so that the first abutting arm 33a can hook the workpiece 200 to be transported and cooperate with the robotic arm 32a to realize the clamping action of the transport device 3a on the workpiece 200 to pick up the workpiece 200 to be transported.

[0086] It should be noted that when the transport device 3 a clamps the object 200 to be transported, the robot arm 32 a may not be in contact with the outer side of the object 200 to be transported in the circumferential direction.

[0087] The mechanical arm 32a is a telescopic arm, and has a greater length when extended than when retracted. Since the mechanical arm 32a is telescopic, the mechanical arm 32a can be located outside the circumference of the object to be transported 200 when extended, or can be retracted when retracted, through its own telescopic movement.

[0088] See also Figure 7 and Figure 8 As shown, a spacing L needs to be reserved between adjacent pieces 200 to be transported stored on the shelf 300 a so that the robot arm 32 a can extend into the spacing L and hook the piece 200 to be transported through the first abutting arm 33 a to take the piece 200 to be transported.

[0089] Storage efficiency per square meter is an important indicator for measuring warehouse operation efficiency. It reflects the proportional relationship between the actual storage capacity of the warehouse and the area where it is located. When the area of ​​the warehouse is fixed, the higher the storage efficiency per square meter, the greater the actual storage capacity of the warehouse, and the more 200 items to be transported can be stored. Correspondingly, when the area of ​​the warehouse is fixed, the lower the storage efficiency per square meter, the smaller the actual storage capacity of the warehouse, and the fewer 200 items to be transported can be stored.

[0090] See also Figure 8 As shown, in order to improve the storage efficiency of the warehouse system, while satisfying the function of the handling device 3a to pick up the items 200 to be transported, the spacing between the items 200 to be transported needs to be as small as possible, which will result in a higher positioning accuracy requirement for the items 200 to be transported when the handling device 3a picks up the items 200. If the positioning accuracy of the items 200 to be transported by the handling device 3a is low, the robot arm 32a may interfere with the adjacent items 200 to be transported when picking up the items 200 and extending into the spacing L between the adjacent items 200 to be transported.

[0091] Therefore, how to improve the storage efficiency of the warehouse system while preventing the handling device 3a from interfering with the adjacent objects 200 to be transported when taking the objects 200 to be transported has become a technical problem to be solved.

[0092] In view of this, an embodiment of the present disclosure provides a transport device 3, which can improve the storage efficiency of the warehouse system while preventing the transport device 3 from interfering with adjacent items 200 to be transported when picking up the items 200 to be transported.

[0093] The structure of the transport device 3 is further described below in conjunction with the drawings and embodiments.

[0094] See also Fig. 9 As shown, the handling device 3 includes a device body 31 and a mechanical arm assembly. The device body 31 can also be understood as the structure of the handling device 3 except the mechanical arm assembly. The structure of the device body 31 will be briefly described below in conjunction with specific drawings.

[0095] See also Figures 9 to 12 As shown, the robot arm assembly has a robot arm 32 and a first abutting arm 33. The robot arm 32 is movably arranged on the device body 31, and is configured to be inserted into the cavity 230 inside the object 200 to be transported, so as to take the object 200 to be transported. The first abutting arm 33 is arranged at the end of the robot arm 32. When the robot arm 32 is retracted to take the object 200 to be transported, the first abutting arm 33 abuts against the object 200 to be transported, so as to drive the object 200 to be transported to move to the device body 31.

[0096] Since the robotic arm 32 is constructed to be inserted into the cavity 230 inside the workpiece 200 to be transported, and when the robotic arm 32 is retracted to pick up the workpiece 200 to be transported, the first abutment arm 33 abuts against the workpiece 200 to be transported to drive the workpiece 200 to be transported to move to the device body 31, therefore, through the abutment between the first abutment arm 33 and the workpiece 200 to be transported, and the cooperation of the robotic arm 32, the transport device 3 can pick up the workpiece 200 to be transported.

[0097] Furthermore, since the robot arm 32 is inserted into the cavity 230 inside the workpiece 200 to be transported to pick up the workpiece 200, the robot arm 32 will not interfere with the adjacent workpiece 200 when picking up the workpiece 200. Therefore, the spacing between the workpieces 200 can be as small as possible without interfering with other workpieces 200 to be transported, so that more workpieces 200 can be stored on the shelf 300, so as to further improve the storage efficiency of the storage system. In addition, since the robot arm 32 will not interfere with the adjacent workpiece 200 when picking up the workpiece 200, the storage system of the present invention does not need to consider the positioning accuracy of the handling device 3 on the workpiece 200 to be transported, and can reduce the requirements for the positioning accuracy of the handling device 3 on the workpiece 200 to be transported.

[0098] For example, see Fig.13 As shown, in some storage systems, there is no need to reserve spacing between the parts 200 to be transported. In this case, adjacent parts 200 to be transported fit together so that more parts 200 to be transported can be stored on the shelf 300, which can further improve the storage efficiency of the storage system. The storage system can store at least two parts 200 to be transported.

[0099] It should be noted that, by comparison, when the shelf 300 has the same number of cargo spaces and the shelf 300 has the same storage layer 11, for example, when the occupied area of ​​the shelf 300 of the embodiment of the present disclosure is 23 square meters, the occupied area of ​​the existing shelf 300a is approximately 32 square meters. In this case, the storage efficiency per square meter of the warehousing system of the present disclosure is increased by approximately 40%.

[0100] See also Fig. 9 As shown, the mechanical arm 32 is movably arranged on the device body 31, which can be understood as the mechanical arm 32 being able to move relative to the device body 31 when being arranged on the device body 31. For example, the movement of the mechanical arm 32 relative to the device body 31 can include telescopic movement. The mechanical arm 32 can be extended and retracted by the telescopic movement of the mechanical arm 32 relative to the device body 31, so as to enable the transport device 3 to pick up the object 200 to be transported.

[0101] It should be noted that the telescopic movement may include an extension movement and a retraction movement. The mechanical arm 32 can be extended relative to the device body 31 by the extension movement. When the mechanical arm 32 is retracted toward the device body 31 by the retraction movement, the mechanical arm 32 can be retracted relative to the device body 31. The retraction of the mechanical arm 32 relative to the device body 31 can also be understood as the retraction of the mechanical arm 32 relative to the device body 31. In order to simplify the following description, the extension of the mechanical arm 32 relative to the device body 31 is referred to as the extension of the mechanical arm 32, and the retraction of the mechanical arm 32 relative to the device body 31 is referred to as the retraction of the mechanical arm 32.

[0102] It should be noted that when the movement of the mechanical arm 32 relative to the device body 31 is a telescopic movement, the mechanical arm 32 can be a telescopic arm (a telescopic mechanical arm 32) or a non-telescopic arm. When the mechanical arm 32 is a telescopic arm, the mechanical arm 32 can be extended and retracted by its own extension. When the mechanical arm 32 is a non-telescopic arm, it can be set on the device body 31 by sliding or the like, and when the mechanical arm 32 slides relative to the device body 31, the mechanical arm 32 can also be extended and retracted.

[0103] The structure of the handling device 3 is further described below by taking the mechanical arm 32 as a telescopic arm as an example. The structure of the mechanical arm 32 will be further described below in conjunction with the accompanying drawings.

[0104] See also Fig.12 and Fig.14 As shown, the end of the robot arm 32 can be understood as a partial structure of the robot arm 32 having an end surface 325 in the length direction. The length direction of the robot arm 32 can be referred to as the X direction, which is perpendicular to the end surface 325 of the robot arm 32 and is also perpendicular to the width direction and thickness direction of the robot arm 32. The width direction of the robot arm 32 can be referred to as the Y direction, and the thickness direction of the robot arm 32 can be referred to as the Z direction.

[0105] See also Fig.14 As shown, when the first abutting arm 33 is arranged at the end of the robot arm 32, the first abutting arm 33 can be arranged on the end surface 325 of the robot arm 32 at the end. Alternatively, when ensuring that the first abutting arm 33 can abut against the object to be transported 200, the first abutting arm 33 can also be arranged on the side wall of the robot arm 32 and located on one side of the robot arm 32 in the thickness direction (Z direction). In the present disclosure, the setting position of the first abutting arm 33 on the robot arm 32 is not further limited, so that the structure of the transport device 3 can be more diversified.

[0106] The following further describes the structure of the transport device 3 by taking the first abutting arm 33 disposed on the end surface 325 as an example.

[0107] See also Fig.12 , Fig.15 and Fig.16 As shown, the first abutment arm 33 is in the initial position. The initial position of the first abutment arm 33 can be understood as the position when the first abutment arm 33 is not active relative to the mechanical arm 32, or can be understood as the position when the first abutment arm 33 extends into the cavity of the object to be transported 200. The first abutment arm 33 can be active relative to the mechanical arm 32, including but not limited to the rotation and / or extension of the first abutment arm 33 relative to the mechanical arm 32. The first abutment arm 33 does not abut against the object to be transported 200 in the initial position.

[0108] See also Fig.12 , Fig.15 and Fig.16 As shown, when the first abutting arm 33 is in the initial position, the first abutting arm 33 can be arranged in a vertical state on the end surface 325. At this time, the length direction of the first abutting arm 33 is perpendicular to the thickness direction of the mechanical arm 32 and parallel to the width direction of the mechanical arm 32. The length direction of the first abutting arm 33 can refer to the Y direction.

[0109] Alternatively, in other embodiments, when the first abutting arm 33 is in the initial position, the first abutting arm 33 can also be arranged in an inclined state on the end surface 325. At this time, the length direction of the first abutting arm 33 and the width direction (Y direction) of the mechanical arm 32 have an angle.

[0110] It should be noted that, in the present disclosure, when the first abutting arm 33 is in the initial position, the arrangement of the first abutting arm 33 on the end surface 325 is not limited, so as to make the structure of the transport device 3 more diversified.

[0111] The structure of the transport device 3 is further described below by taking the example that the first abutting arm 33 is vertically arranged on the end surface 325 in the initial position.

[0112] During the process of the robot arm 32 extending and inserting into the cavity 230 , the projection of the first abutment arm 33 on the end surface 325 is located inside the end surface 325 to avoid the first abutment arm 33 interfering with the workpiece 200 to be transported during the process of the robot arm 32 inserting into the cavity 230 , thereby affecting the insertion of the robot arm 32 into the cavity 230 .

[0113] See also Fig.12 , Fig.15 and Fig.16 As shown, when the robot arm 32 is retracted to pick up the object 200 to be transported, the first abutting arm 33 abuts against the first side surface 201 of the object 200 to be transported, so as to achieve the abutment between the first abutting arm 33 and the object 200 to be transported. The first side surface 201 includes a vertical surface 211 (such as Fig.12 and Fig.15 as shown) or horizontal plane 221 (as shown Fig.16In this way, the abutting position between the first abutting arm 33 and the object to be transported 200 is more diversified, so as to meet the different designs of the abutting position between different objects to be transported 200 and the first abutting arm 33.

[0114] The structure of the transport device 3 when the first side surface 201 is a vertical surface 211 or a horizontal surface 221 will be further described below.

[0115] See also Fig.12 As shown, when the first side surface 201 is a vertical surface 211, the first abutting arm 33 can be rotatably disposed on the end surface 325 of the mechanical arm 32, so that the first abutting arm 33 is disposed at the end of the mechanical arm 32. For example, the first abutting arm 33 can be rotatably disposed on the end surface 325 of the mechanical arm 32 by a rotating shaft or the like. When the mechanical arm 32 is retracted to take the object 200 to be transported, the plane where the first abutting arm 33 is located is perpendicular to the plane where the mechanical arm 32 is located, and the length direction of the first abutting arm 33 is perpendicular to the direction of picking up and placing goods of the transport device 3.

[0116] It should be noted that the plane where the robot arm 32 is located can be understood as the plane formed by the length direction and the width direction of the robot arm 32, that is, the XY plane. The direction of picking up and placing goods by the handling device 3 can refer to the X direction. At this time, the length direction of the first abutting arm 33 can refer to the Z direction, and the width direction of the first abutting arm 33 can refer to the Y direction. The plane where the first abutting arm 33 is located can also be understood as the plane formed by the length direction and the width direction of the first abutting arm 33. At this time, the plane where the first abutting arm 33 is located can be understood as the ZY plane.

[0117] For the convenience of description, when the robot arm 32 is retracted to pick up the object 200 to be transported, and the first abutting arm 33 abuts against the first side surface 201, the position of the first abutting arm 33 relative to the robot arm 32 is called the abutting position. Since when the first side surface 201 is a vertical surface 211, when the first abutting arm 33 is in the abutting position, the plane where the first abutting arm 33 is located is perpendicular to the plane where the robot arm 32 is located, and the length direction of the first abutting arm 33 is perpendicular to the direction of picking and placing goods of the transport device 3, so that the first abutting arm 33 is partially located in the direction of the robot arm 32 toward the first side surface 201 when in the abutting position. In this way, when the robot arm 32 is retracted to pick up the object 200 to be transported, the first abutting arm 33 can abut against the first side surface 201.

[0118] In some embodiments, the first abutment arm 33 may be a non-telescopic arm, and the first abutment arm 33 is rotatably disposed on one side of the end surface 325, so that when the robot arm 32 is retracted to take the object 200 to be transported, the first abutment arm 33 can abut against the object 200 to be transported. In addition, since the first abutment arm 33 is rotatably disposed on one side of the end surface 325, the first abutment arm 33 can have a greater length, so as to ensure that the first abutment arm 33 can have a larger abutment area with the first side surface 201 when in the abutment position, thereby enhancing the abutment effect. At the same time, in the process of the robot arm 32 extending and inserting into the cavity 230, the projection of the first abutment arm 33 on the end surface 325 can also be located within the end surface 325, so as to avoid the first abutment arm 33 interfering with the object 200 to be transported during the process of the robot arm 32 inserting into the cavity 230, thereby affecting the insertion of the robot arm 32 into the cavity 230.

[0119] It should be noted that see Fig.12 As shown, when the first abutting arm 33 is rotated and set at one side in the end surface 325, the first abutting arm 33 can be set at the first side 3251 of the end surface 325 of the mechanical arm 32 in the Y direction. At this time, the first abutting arm 33 can be rotated from the initial position along the v direction, and the rotation angle can be 90 degrees. Alternatively, when the first abutting arm 33 is rotated and set at one side in the end surface 325, the first abutting arm 33 can also be set at the second side of the end surface 325 of the mechanical arm 32 in the Y direction. At this time, the first abutting arm 33 can be rotated from the initial position in the direction opposite to the v direction, and the rotation angle can also be 90 degrees.

[0120] The length of the first abutment arm 33 can be less than or equal to the width of the robot arm 32 to ensure that when the robot arm 32 is extended and inserted into the cavity 230, the projection of the first abutment arm 33 on the end surface 325 is located inside the end surface 325, thereby avoiding interference between the first abutment arm 33 and the workpiece 200 to be transported during the process of inserting the robot arm 32 into the cavity 230, thereby affecting the insertion of the robot arm 32 into the cavity 230 inside the workpiece 200 to be transported.

[0121] See also Fig.15 As shown, Fig.12The difference is that the first abutment arm 33 is a telescopic arm. That is, when the first side surface 201 is a vertical surface 211, the first abutment arm 33 can also be a telescopic arm. When the mechanical arm 32 is retracted to pick up the object 200 to be transported, since the first abutment arm 33 is a telescopic arm, the first abutment arm 33 can be retracted during the process of inserting the mechanical arm 32 into the cavity 230, so as to ensure that the projection of the first abutment arm 33 on the end surface 325 is located inside the end surface 325 during the process of extending and inserting the mechanical arm 32 into the cavity 230. In addition, the first abutment arm 33 can be extended to adjust its own length, so as to ensure that the first abutment arm 33 can abut against the first side surface 201 at the abutment position, and also make the setting position of the first abutment arm 33 in the end surface 325 more diversified. For example, the first abutment arm 33 is set on one side or the middle area of ​​the end surface 325 by rotation. It should be noted that the middle area can be understood as the area of ​​the end surface 325 located between the first side 3251 and the second side in the Y direction.

[0122] Specifically, when the robot arm 32 is retracted to pick up the object 200 to be transported, the first abutting arm 33 is in an extended state to ensure that the first abutting arm 33 can abut against the first side surface 201 and is located at the abutting position. Accordingly, when the robot arm 32 is extended and inserted into the cavity 230, the first abutting arm 33 is in a retracted state to avoid interference with the object 200 to be transported during the process of inserting the robot arm 32 into the cavity 230, thereby affecting the insertion of the robot arm 32 into the cavity 230.

[0123] See also Fig.17 As shown, the telescopic arm includes a fixed arm 323 and a movable arm 324, and the movable arm 324 is movably arranged on the fixed arm 323 along the length direction of the fixed arm 323, so that the telescopic movement of the telescopic arm is realized by the movement of the movable arm 324 relative to the fixed arm 323. For example, the movable arm 324 is slidably arranged on the fixed arm 323 along the length direction of the fixed arm 323, so that the movable arm 324 is movably arranged on the fixed arm 323. The length direction of the fixed arm 323 can be referred to as direction b.

[0124] It should be noted that see Fig.17 As shown, when the movable arm 324 moves along the length direction of the fixed arm 323 and extends out of the outside of the fixed arm 323, the telescopic arm extends and is in an extended state; correspondingly, when it moves in the opposite direction along the length direction of the fixed arm 323 and retracts to the outside of the telescopic arm, the telescopic arm is retracted and is in a retracted state.

[0125] See also Fig.17As shown, when the mechanical arm 32 is a telescopic arm, the mechanical arm 32 includes a fixed arm 323 and a movable arm 324, and the first abutting arm 33 can be arranged on the movable arm 324, so that when the movable arm 324 moves relative to the fixed arm 323, the first abutting arm 33 can be driven to move simultaneously. The specific arrangement position of the first abutting arm 33 on the telescopic arm will be further described below.

[0126] Since the first abutting arm 33 can also be a telescopic arm, when the first abutting arm 33 is a telescopic arm, the first abutting arm 33 can include a fixed arm 323 and a movable arm 324, so as to realize the telescopic movement of the first abutting arm 33, so that the first abutting arm 33 can be in an extended state or a retracted state. The fixed arm 323 in the first abutting arm 33 is rotatably set on the end surface 325, so as to realize the rotation setting of the first abutting arm 33 on the end surface 325, and the length direction (b direction) of the fixed arm 323 can be regarded as the length direction of the first abutting arm 33. In the initial position, the length direction of the fixed arm 323 in the first abutting arm 33 is parallel to or at an angle to the width direction (Y direction) of the mechanical arm 32, so as to adapt to the different setting modes of the first abutting arm 33 on the end surface 325 of the mechanical arm 32 in the initial position. For example, when the length direction of the fixed arm 323 in the first abutting arm 33 is parallel to the width direction of the mechanical arm 32, the first abutting arm 33 can be set in a vertical state on the end surface 325 in the initial position. For another example, when the length direction of the fixed arm 323 in the first abutting arm 33 is set at an angle to the width direction of the mechanical arm 32, the first abutting arm 33 can be set in an inclined state on the end surface 325 in the initial position, and the end of the first abutting arm 33 abutting against the mechanical arm 32 can be located in the cavity 230 to prevent the first abutting arm 33 from affecting the insertion of the mechanical arm 32 into the cavity 230.

[0127] The following further describes the structure of the first abutting arm 33 and the transport device 3 when the first side surface 201 is a horizontal surface 221 in conjunction with the accompanying drawings.

[0128] See also Fig.16 As shown, the difference from the first side surface 201 being a vertical surface 211 is that when the first side surface 201 is a horizontal surface 221, when the robot arm 32 is retracted to pick up the object 200 to be transported, the plane where the first abutting arm 33 is located is parallel to the plane where the robot arm 32 is located, and the length direction of the first abutting arm 33 is perpendicular to the direction of picking up and placing goods of the transport device 3. In other words, when the first abutting arm 33 is in the abutting position, the plane where the first abutting arm 33 is located is parallel to the plane where the robot arm 32 is located, and the length direction of the first abutting arm 33 is perpendicular to the direction of picking up and placing goods of the transport device 3, and the first abutting arm 33 can also be partially located in the direction of the robot arm 32 toward the first side surface 201 when in the abutting position. In this way, when the robot arm 32 is retracted to pick up the object 200 to be transported, the first abutting arm 33 can abut against the first side surface 201.

[0129] At this time, the first abutment arm 33 can be a non-telescopic arm, and the first abutment arm 33 can be rotatably arranged on a side of the end surface 325 close to the first side surface 201, so that when the robot arm 32 is retracted to pick up the object 200 to be transported, the first abutment arm 33 can be rotated from the initial position to the abutment position. In addition, since the first abutment arm 33 is rotatably arranged on a side of the end surface 325 close to the first side surface 201, the first abutment arm 33 can have a larger length to ensure that the first abutment arm 33 can have a larger abutment area with the first side surface 201 when in the abutment position, and enhance the abutment effect. While the robot arm 32 is extended and inserted into the cavity 230, the projection of the first abutment arm 33 on the end surface 325 can also be located inside the end surface 325, so as to avoid the first abutment arm 33 from interfering with the object 200 to be transported during the insertion into the cavity 230, thereby affecting the insertion of the robot arm 32 into the cavity 230. At this time, the first abutting arm 33 can rotate from the initial position to the abutting position along the w direction or the direction opposite to the w direction, and the rotation angle can be 180 degrees.

[0130] The length of the first abutting arm 33 can refer to the description of the length of the first abutting arm 33 when the first side surface 201 is a vertical surface 211 and the first abutting arm 33 is a non-telescopic arm, which will not be repeated here.

[0131] It should be noted that the first abutting arm 33 can also be a telescopic arm. However, the difference from the first side surface 201 being a vertical surface 211 is that the first abutting arm 33 can be fixedly set in the middle area of ​​the end surface 325 or on the side away from the first side surface 201, and does not need to be rotated on the end surface 325. At this time, the first abutting arm 33 can be telescopic to adjust its own length to ensure that the first abutting arm 33 can abut against the first side surface 201 at the abutting position. At the same time, when the robot arm 32 is extended and inserted into the cavity 230, the projection of the first abutting arm 33 on the end surface 325 is located inside the end surface 325, so as to avoid the first abutting arm 33 from interfering with the object 200 to be transported during the process of inserting the robot arm 32 into the cavity 230, thereby affecting the insertion of the robot arm 32 into the cavity 230. For example, when the robot arm 32 is retracted to pick up the object 200 to be transported, the first abutting arm 33 can be in an extended state and abut against the first side surface 201. When the robot arm 32 is extended and inserted into the cavity 230 , the first abutting arm 33 may be in a retracted state.

[0132] When the robot arm 32 is inserted into the cavity 230 inside the object 200 to be transported, the end of the robot arm 32 can extend to the outside of the cavity 230 to take the object 200 to be transported. At this time, the first abutting arm 33 is located outside the cavity 230, and the first side surface 201 is also located on the outer surface of the object 200 to be transported. For example, the vertical surface 211 of the vertical structural member 210 or the horizontal surface 221 of the horizontal structural member 220 in the object 200 to be transported can form the first side surface 201.

[0133] It should be noted that when the robot arm 32 is inserted into the cavity 230 inside the object 200 to be transported, the end of the robot arm 32 may not extend to the outside of the cavity 230, and the object 200 to be transported can also be taken. For example, if there is a reinforcing rib (not shown) that can abut against the first abutting arm 33 in the cavity 230 of the object 200 to be transported, the end of the robot arm 32 can extend to the reinforcing rib and abut against the side of the reinforcing rib away from the device body 31. The reinforcing rib can be a vertical rib or a horizontal rib, and the vertical surface 211 of the vertical rib away from the device body 31 can constitute the first side surface 201, and the horizontal surface 221 of the horizontal rib away from the device body 31 can constitute the first side surface 201.

[0134] See also Fig.17 As shown, the robot arm 32 has a first telescopic end 321 in the telescopic direction. The first abutment arm 33 can be arranged at the first telescopic end 321, so that when the first telescopic end 321 performs a telescopic movement in the telescopic direction of the robot arm 32, it can drive the first abutment arm 33 to move simultaneously, so that the first abutment arm 33 can also be inserted into the cavity 230 and can abut against the workpiece 200 to be transported when the robot arm 32 is retracted.

[0135] As described above, when the robot arm 32 is a telescopic arm, the robot arm 32 also has a fixed arm 323 and a movable arm 324, and the moving direction of the movable arm 324 can be regarded as the telescopic direction of the robot arm 32, specifically refer to direction b.

[0136] Specifically, when the first abutment arm 33 is arranged on the end face 325 of the robot arm 32, the first abutment arm 33 can be arranged on the end face of the movable arm 324, so that when the first abutment arm 33 is arranged on the end face 325 of the robot arm 32, the first abutment arm 33 can be arranged on the first telescopic end 321, so that the movable arm 324 in the robot arm 32 can move relative to the fixed arm 323, so that when the robot arm 32 is extended and inserted into the cavity 230, it can drive the first abutment arm 33 to move at the same time and insert into the cavity 230, or when the robot arm 32 is retracted, it can drive the first abutment arm 33 to move at the same time and abut against the object 200 to be transported.

[0137] It should be noted that the robot 32 may have one or more moving arms 324 so that the robot 32 can realize the transportation of the to-be-carried parts 200 stored on the shelves 300 with different cargo depths. For example, when the depth of the cargo position on the shelf 300 is deep, the robot 32 may be designed with multiple moving arms 324, and the multiple moving arms 324 may be extended in sequence along the X direction, so that the robot 32 has a larger picking stroke, so as to pick up the to-be-carried parts 200 stored on the deeper cargo position. At this time, the first abutting arm 33 may be arranged on the end face of one of the moving arms 324, so that the first abutting arm 33 may be arranged on one side or the middle area of ​​the end face 325.

[0138] See also Fig.18 As shown, the robot arm 32 may also have a second telescopic end 322 in the telescopic direction. At this time, the robot arm 32 may telescope in two opposite directions in the telescopic direction. The robot arm assembly may also have a second abutment arm 34, which is arranged at the second telescopic end 322, so that when the second telescopic end 322 performs a telescopic movement in the telescopic direction of the robot arm 32, it can drive the second abutment arm 34 to move at the same time, and the robot arm 32 can also carry the object 200 to be transported. The second abutment arm 34 and the first abutment arm 33 may be arranged on different end surfaces of the same movable arm 324 on the robot arm 32. The description of the second abutment arm 34 on the second telescopic end 322 can refer to the above description of the first abutment arm 33 and the first abutment arm 33 at the first telescopic end 321, which will not be repeated here.

[0139] Furthermore, since the first abutting arm 33 and the second abutting arm 34 are located on both sides of the mechanical arm 32 in the telescopic direction, the mechanical arm 32, the first abutting arm 33, and the second abutting arm 34 are arranged so that the mechanical arm 32 can pick up the object 200 to be transported on both sides of the telescopic direction. For example, when the first telescopic end 321 of the mechanical arm 32 is telescoped, the first abutting arm 33 can cooperate with the mechanical arm 32 to pick up the object 200 to be transported from one side of the first telescopic end 321. For another example, when the second telescopic end 322 of the mechanical arm 32 is telescoped, the second abutting arm 34 can cooperate with the mechanical arm 32 to pick up the object 200 to be transported from one side of the second telescopic end 322.

[0140] See also Fig.18 As shown, the number of the mechanical arm assemblies can be two. The two mechanical arm assemblies are arranged in the middle area of ​​the device body 31, and the two mechanical arm assemblies are spaced apart along the width direction of the device body 31, so that when the transport device 3 takes the object 200 to be transported through the two mechanical arm assemblies, the first abutting arms 33 in the two mechanical arm assemblies abut against the object 200 to be transported at the same time, which can enhance the abutting effect between the first abutting arms 33 and the object 200 to be transported, and enhance the stability of the transport device 3 in the process of transporting the object 200 to be transported.

[0141] It should be noted that when the first side surface 201 is a vertical surface 211, the transported object 200 may have two first side surfaces 201, and the two first abutting arms 33 may respectively abut against one first side surface 201. When the first side surface 201 is a horizontal surface 221, the two first abutting arms 33 may abut against different positions of the same first side surface 201, or the two first abutting arms 33 may respectively abut against one first side surface 201. The width direction of the first device body 31 is parallel to the thickness direction of the mechanical arm 32, which can be referred to as the Z direction.

[0142] It should be noted that the robotic arms 32 of the two robotic arm assemblies can be simultaneously inserted into the same cavity 230 to pick up the object 200 to be transported. Alternatively, when the object 200 to be transported has more than two cavities 230, the robotic arms 32 of the two robotic arm assemblies can also be respectively inserted into different cavities 230 to pick up the object 200 to be transported.

[0143] The following takes the case where the object 200 to be transported has more than two cavities 230 as an example to further explain the rotation direction of the robot arm 32 and the abutment of the object 200 to be transported when the transport device 3 picks up the object.

[0144] See also Fig.18 As shown, the transported object 200 has three vertical structural members 210 in the Z direction. There is a cavity 230 between two adjacent vertical structural members 210. For ease of description, the three vertical structural members 210 are defined as a first vertical structural member 210a, a second vertical structural member 210b, and a third vertical structural member 210c. The first vertical structural member 210a and the third vertical structural member 210c are located on both sides of the transported object 200, and the second vertical structural member 210b is located in the middle of the transported object 200. The second vertical structural member 210b may be a partition plate for separating the two cavities 230, or the second vertical structural member 210b may be only a vertical rib arranged between the two cavities 230.

[0145] See also Fig.18 As shown, when the mechanical arms 32 of the two mechanical arm assemblies are respectively inserted into the two cavities 230, and the two mechanical arms 32 are retracted to take the to-be-carried object 200, one of the first abutting arms 33 can rotate from the initial position along the v direction and abut against the first side surface 201 of the first vertical structural member 210a. The other first abutting arm 33 can rotate from the initial position along the direction opposite to the v direction and abut against the first side surface 201 of the third vertical structural member 210c.

[0146] Alternatively, see Fig.19As shown, when the mechanical arms 32 of the two mechanical arm assemblies are respectively inserted into the two cavities 230, and the two mechanical arms 32 are retracted to take the object 200 to be transported, one of the first abutting arms 33 can rotate from the initial position along the u direction and abut against the first side surface 201 of the second vertical structural member 210b. The other first abutting arm 33 can rotate from the initial position along the direction opposite to the u direction and abut against the first side surface 201 of the second vertical structural member 210b. Fig. 20 As shown, as described above, the device body 31 also includes a supporting platform 311 for supporting the workpiece 200 to be transported. The supporting platform 311 is provided on one side of the edge of the mechanical arm assembly facing the device body 31. When there are two mechanical arm assemblies, the two mechanical arm assemblies are provided with a supporting platform 311 on one side of the edge of the device body 31, and the two supporting platforms 311 are independent of each other and not connected to each other. By limiting the position of the supporting platform 311, when the mechanical arm 32 is retracted to pick up the workpiece 200 to be transported, the first abutting arm 33 abuts against the workpiece 200 to be transported, and the workpiece 200 to be transported can be driven to move to the supporting platform 311, so that the transport device 3 temporarily stores the workpiece 200 on the storage rack 1 of the transport robot 100, and the temporary storage of the workpiece 200 on the transport device 3 is realized through the supporting platform 311.

[0147] It should be noted that, in some embodiments, the two supporting platforms 311 may also be connected to each other to form an integrated structure. In the following, whether the two supporting platforms 311 are connected is not particularly limited.

[0148] See also Fig.18 As shown, the device body 31 further includes a side plate 313, and the side plate 313 is located on a side of the support platform 311 away from the mechanical arm 32. The location of the side plate 313 can be understood as the edge of the device body 31.

[0149] See also Fig.18 As shown, the device body 31 also includes a mounting platform 312. The mounting platform 312 is located between the two mechanical arm assemblies. The mechanical arm assembly is mounted on the mounting platform 312, so that the mechanical arm assembly can be installed on the device body 31 through the mounting platform 312. Among them, the mechanical arm 32 can be mounted on the mounting platform 312, so that the mechanical arm assembly can be installed on the mounting platform 312. The installation method of the mechanical arm 32 on the mounting platform 312 can refer to the relevant settings on the existing handling robot 100, which will not be repeated here.

[0150] It should be noted that, in order to avoid interference between the object 200 to be transported and the mounting platform 312 during the process of moving to the support platform 311, the robot arm 32 may have a larger picking stroke, or the mounting platform 312 may be arranged on the side of the support platform 311 away from the first abutting arm 33 in the length direction of the robot arm 32, or the mounting platform 312 may be perpendicular to the support platform 311. For the robot arm 32, the length of a single moving arm 324 may be increased, or a plurality of moving arms 324 may be arranged, so that the robot arm 32 has a larger picking stroke, so as to ensure that the object 200 to be transported does not interfere with the mounting platform 312 during the process of moving to the support platform 311.

[0151] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure 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 present disclosure.

[0152] In the description of the present disclosure, it should be understood that the terms "including" and "having" and any variations thereof used herein are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0153] Unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense, for example, it can be a fixed connection, it can also be a detachable connection, or it can be integrated; it can be directly connected, or it can be indirectly connected through an intermediate medium, it can make the internal connection of two elements or the interaction relationship between the two elements. For ordinary technicians in this field, the specific meanings of the above terms in this disclosure can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

[0154] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A transport device, characterized in that: include: device body; A mechanical arm assembly, comprising a mechanical arm and a first abutting arm, wherein the mechanical arm is movably arranged on the device body and is configured to be inserted into a cavity inside a workpiece to be transported so as to take the workpiece to be transported; The first abutment arm is arranged at the end of the mechanical arm. When the mechanical arm is retracted to take the object to be transported, the first abutment arm abuts against the object to be transported to drive the object to be transported to move to the device body.

2. The transport device according to claim 1, characterized in that: The first abutment arm is arranged on an end surface of an end portion of the mechanical arm; When the robot arm is retracted to pick up the object to be transported, the first abutting arm abuts against the first side surface of the object to be transported; The first side surface includes a vertical surface or a horizontal surface of the object to be transported which is away from the device body.

3. The transport device according to claim 2, characterized in that: The first side surface is a vertical surface, and the first abutment arm is rotatably disposed on the end surface; When the robotic arm is retracted to pick up the object to be transported, the plane where the first abutting arm is located is perpendicular to the plane where the robotic arm is located, and the length direction of the first abutting arm is perpendicular to the picking and placing direction of the transport device.

4. The transport device according to claim 3, characterized in that: The first abutment arm is a non-telescopic arm, and the first abutment arm is rotatably disposed at one side inside the end surface.

5. The transport device according to claim 4, characterized in that: The length of the first abutting arm is less than or equal to the width of the mechanical arm.

6. The transport device according to claim 3, characterized in that: The first abutment arm is a telescopic arm, and the first abutment arm is rotatably disposed at one side or a middle area within the end surface.

7. The transport device according to claim 6, characterized in that: When the robot arm is retracted to pick up the object to be transported, the first abutment arm is in an extended state; During the process of the mechanical arm extending out and inserting into the cavity, the first abutment arm is in a retracted state.

8. The transport device according to claim 6, characterized in that: The telescopic arm comprises a fixed arm and a movable arm, and the fixed arm is rotatably arranged on the end surface; The movable arm is movably arranged on the fixed arm along the length direction of the fixed arm, and the length direction of the fixed arm is parallel to or at an angle to the width direction of the mechanical arm.

9. The transport device according to claim 2, characterized in that: The first side surface is a horizontal plane. When the robotic arm is retracted to pick up the object to be transported, the plane where the first abutment arm is located is parallel to the plane where the robotic arm is located, and the length direction of the first abutment arm is perpendicular to the picking and placing direction of the transport device.

10. The transport device according to claim 9, characterized in that: The first abutment arm is a non-telescopic arm, and the first abutment arm is rotatably arranged on one side of the end surface close to the first side surface.

11. The transport device according to claim 10, characterized in that: The length of the first abutment arm is less than or equal to the width of the mechanical arm.

12. The transport device according to any one of claims 1 to 11, characterized in that: The end of the robot arm has an end surface, and when the robot arm is extended and inserted into the cavity, the projection of the first abutting arm on the end surface is located within the end surface.

13. The transport device according to claim 12, characterized in that: The first abutment arm is vertically arranged on the end surface, and the length direction of the first abutment arm is perpendicular to the thickness direction of the mechanical arm and parallel to the width direction of the mechanical arm.

14. The transport device according to any one of claims 1 to 11, characterized in that: The robot arm is inserted into the cavity inside the object to be transported, and the end of the robot arm extends out of the cavity to take the object to be transported.

15. The handling device according to any one of claims 1 to 11, characterized in that: The mechanical arm is a telescopic arm, and the mechanical arm has a first telescopic end in the telescopic direction, and the first abutting arm is arranged at the first telescopic end.

16. The transport device according to claim 15, characterized in that: The mechanical arm also has a second telescopic end in the telescopic direction; The mechanical arm assembly further comprises a second abutting arm, and the second abutting arm is arranged at the second telescopic end.

17. The transport device according to any one of claims 1 to 11, characterized in that: The number of the mechanical arm assemblies is two; the two mechanical arm assemblies are arranged in the middle area of ​​the device body, and the two mechanical arm assemblies are spaced apart along the width direction of the device body.

18. The transport device according to claim 17, characterized in that: The device body comprises a supporting platform for supporting the workpiece to be transported, and the supporting platform is arranged on one side of the edge of the mechanical arm assembly facing the device body.

19. The transport device according to claim 17, characterized in that: The device body also includes a mounting platform, and the mounting platform is located between the two mechanical arm assemblies; The mechanical arm assembly is mounted on the mounting platform.

20. A transport robot, characterized in that: It comprises a storage rack and a handling device as described in any one of claims 1 to 19, wherein the handling device is installed on the storage rack.

21. A storage system, characterized in that: It comprises a shelf and a transport robot as claimed in claim 20, wherein at least two pieces to be transported are stored on the shelf, and adjacent pieces to be transported are in contact with each other, and the transport robot is used to transport the pieces to be transported.

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