Loading and unloading robot and warehousing system

Abstract

The utility model relates to the technical field of logistics storage, and provides a loading and unloading robot and a storage access system. The loading and unloading robot comprises a base, a vertical frame and a storage unit, the vertical frame is arranged on the base, and the storage unit is installed on the first side of the vertical frame and used for storing goods; the loading and unloading assembly is rotationally installed on the second side of the vertical frame. The loading and unloading assembly comprises a shell, a translation mechanism and a driving mechanism. The shell is provided with a loading and unloading opening. The translation mechanism is slidably connected to the inner wall of the shell; and the driving mechanism is connected with the translation mechanism, and the driving mechanism drives the translation mechanism to move out of the loading and unloading opening along the inner wall of the shell or be stored in the shell, so that the goods in the shell are pushed to the storage unit, or the goods on the storage unit are pulled into the shell. The goods in the shell can be pushed to the storage unit, or the goods on the storage unit can be pulled into the shell, rapid warehousing or ex-warehouse is achieved, rapidness and high efficiency are achieved, and the transfer speed of the goods is increased.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics warehousing, in particular to a loading and unloading robot and a warehouse storage and retrieval system. Background Art

[0002] In the current sample management system, the inbound and outbound processes of samples mainly rely on the traditional manual operation mode. Specifically, when a sample needs to be warehoused, the staff needs to manually place the sample at the designated storage location and record the detailed information and storage location of the sample in the management system by means of keyboard input or barcode scanning. Similarly, when a sample needs to be outbound, the staff first needs to search and locate the storage location of the target sample in the management system by means of manual input or query condition screening. Subsequently, the staff then goes to the corresponding location to take out the sample according to the location information provided by the system and conducts an outbound registration in the system to update the inventory status.

[0003] Since the entire process highly depends on manual operations, including multiple links such as physical handling of samples, location searching, and system entry, the entire inbound and outbound process takes a long time and has low efficiency. Especially in the case of a large number of samples and a wide storage area, the time cost of manually searching for storage locations increases significantly, further slowing down the sample turnover speed. Summary of the Utility Model

[0004] The utility model provides a loading and unloading robot and a warehouse storage and retrieval system to solve the problem of low efficiency in the prior art when using manual operations for inbound and outbound.

[0005] The utility model provides a loading and unloading robot, including: a base; a vertical frame and a storage unit, the vertical frame is arranged on the base, the storage unit is installed on the first side of the vertical frame and is used for storing goods; a loading and unloading component, the loading and unloading component is rotatably installed on the second side of the vertical frame; the loading and unloading component includes a housing, a translation mechanism and a driving mechanism, the housing is provided with a loading and unloading port; the translation mechanism is slidably connected to the inner wall of the housing; the driving mechanism is connected to the translation mechanism, and the driving mechanism drives the translation mechanism to move out of or be received into the housing along the inner wall of the housing from the loading and unloading port, so as to push the goods in the housing to the storage unit or pull the goods on the storage unit into the housing.

[0006] According to a loading and unloading robot provided by the present utility model, the housing includes a bottom plate and side plates respectively disposed on both sides of the bottom plate; the translation mechanism includes a first moving member, a second moving member, a push plate and a pull plate. The first moving member is slidably connected to one of the side plates, the second moving member is slidably connected to the other side plate, both ends of the push plate are respectively connected to the first end of the first moving member and the first end of the second moving member, and the pull plate is rotatably connected to the second end of the first moving member and / or the second end of the second moving member; the driving mechanism includes a first driving member and a second driving member, and the first moving member and the second moving member are respectively connected to the first driving member; the pull plate is connected to the second driving member, and the second driving member drives the pull plate to rotate so that the pull plate is perpendicular or parallel to the inner wall of the housing.

[0007] According to a loading and unloading robot provided by the present utility model, there are a plurality of storage units, and the plurality of storage units are arranged at intervals along the height direction of the vertical frame; the loading and unloading robot further includes a lifting assembly, the lifting assembly is disposed on the vertical frame, the loading and unloading assembly is rotatably connected to the lifting assembly, and the lifting assembly drives the loading and unloading assembly to move along the height direction of the vertical frame.

[0008] According to a loading and unloading robot provided by the present utility model, the lifting assembly includes a lifting frame and a lifting seat, the lifting frame is slidably connected to the vertical frame, the lifting seat is fixedly connected to the lifting frame, and the housing is rotatably connected to the lifting seat.

[0009] According to a loading and unloading robot provided by the present utility model, it further includes a control assembly, and the loading and unloading assembly and the lifting assembly are respectively communicatively connected to the control assembly.

[0010] According to a loading and unloading robot provided by the present utility model, it further includes a moving assembly, the moving assembly is disposed at the bottom of the base, and the moving assembly is communicatively connected to the control assembly.

[0011] According to a loading and unloading robot provided by the present utility model, it further includes a contour laser sensor, at least two contour laser sensors are provided on the base, and the two contour laser sensors are respectively located on opposite sides of the base.

[0012] The outer periphery of the base of the loading and unloading robot is provided with an anti-collision strip.

[0013] According to a loading and unloading robot provided by the present utility model, it further includes a power source which is arranged inside the base, and a charging port is provided on the base for connecting to a power supply device; and / or, it further includes a display screen which is arranged on the base for displaying the operating parameters of the loading and unloading robot; and / or, it further includes a status indicator light which is arranged on the vertical frame.

[0014] The present utility model further provides a warehouse storage and retrieval system, which includes the loading and unloading robot as described in any one of the above, and further includes a storage shelf for placing goods. The driving mechanism drives the translation mechanism to transfer the goods in the storage shelf to the storage unit through the housing, or to transfer the goods on the storage unit to the storage shelf through the housing.

[0015] For the loading and unloading robot and the warehouse storage and retrieval system provided by the present utility model, by rotatably connecting the loading and unloading assembly to the vertical frame to adjust the position of the loading and unloading port; by connecting the driving mechanism with the translation mechanism, the driving mechanism can drive the translation mechanism to move out of or be received into the housing along the inner wall of the housing from the loading and unloading port, so as to push the goods in the housing to the storage unit, or pull the goods on the storage unit into the housing, realizing rapid warehousing or out-of-warehouse, being fast and efficient, and improving the transfer speed of goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 is one of the structural schematic diagrams of the loading and unloading robot provided by the present utility model;

[0018] Figure 2 is another structural schematic diagram of the loading and unloading robot provided by the present utility model;

[0019] Figure 3 is the right view of the loading and unloading robot provided by the present utility model;

[0020] Figure 4 is the front view of the loading and unloading robot provided by the present utility model;

[0021] Figure 5 is the rear view of the loading and unloading robot provided by the present utility model;

[0022] Figure 6 is the top view of the loading and unloading robot provided by the present utility model;

[0023] Reference numerals:

[0024] 1. Base; 2. Upright frame; 21. First column; 22. Second column; 3. Storage unit; 4. Loading and unloading assembly; 41. Housing; 411. Loading and unloading opening; 421. First moving member; 422. Second moving member; 423. Pushing plate; 424. Pulling plate; 5. Lifting assembly; 6. Moving assembly; 7. Profile laser sensor; 8. Anti-collision strip; 9. Emergency stop control; 10. Reset control; 11. Charging port; 12. Display screen; 13. Status indicator lamp. Detailed implementation manners

[0025] In order to make the objectives, technical solutions and advantages of the present utility model clearer, the technical solutions in the present utility model will be clearly and completely described below in conjunction with the accompanying drawings in the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present utility model without making creative efforts shall fall within the protection scope of the present utility model.

[0026] In the description of the embodiments of the present utility model, it should be noted that unless otherwise clearly specified and limited, the terms "connected" and "connection" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0027] In the description of the embodiments of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the embodiments of the present utility model.

[0028] In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, "a plurality of" means two or more unless otherwise specifically defined.

[0029] Embodiments of the present utility model will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present utility model, and should not be construed as limiting the present utility model.

[0030] The following disclosure provides many different embodiments or examples for implementing different structures of the present utility model. To simplify the disclosure of the present utility model, components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present utility model. In addition, the present utility model may repeat reference numerals and / or letters in different examples. Such repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between various embodiments and / or settings discussed. In addition, the present utility model provides examples of various specific processes and materials, but those of ordinary skill in the art can be aware of the applicability of other processes and / or the use of other materials.

[0031] The following will be combined with Figures 1 - 6 to describe the loading and unloading robot and the warehouse storage and retrieval system of the present utility model.

[0032] The loading and unloading robot provided by the embodiment of the present utility model includes a base 1, a vertical frame 2, a storage unit 3, and a loading and unloading component 4.

[0033] The vertical frame 2 is provided on the base 1. The storage unit 3 is installed on the first side of the vertical frame 2. The storage unit 3 is used to store one or more goods. The loading and unloading component 4 is installed on the second side of the vertical frame 2. An opening is provided in the middle of the vertical frame 2 in the width direction. The loading and unloading component 4 can move from the opening to the first side of the vertical frame 2 to take out the goods on the storage unit 3 or store goods in the storage unit 3. As Figure 1 and Figure 2 shown, the vertical frame 2 includes a first vertical column 21 and a second vertical column 22. The first vertical column 21 and the second vertical column 22 are oppositely installed on the base 1. Two sides of the storage unit 3 are respectively connected to the first vertical column 21 and the second vertical column 22. The storage unit 3 extends in a direction away from the second side of the vertical frame 2. The loading and unloading component 4 can move from the second side of the vertical frame 2 to the first side, and can also move from the first side of the vertical frame 2 to the second side.

[0034] It should be noted that the loading and unloading component 4 has a loading and unloading opening 411. The loading and unloading component 4 is rotatably connected to the second side of the vertical frame 2 to adjust the position of the loading and unloading opening 411. For example, when the loading and unloading component 4 takes out goods from the storage unit 3, the loading and unloading opening 411 is aligned with the storage unit 3. After taking out, the loading and unloading component 4 is rotated so that the loading and unloading opening 411 of the loading and unloading component 4 is aligned with the storage shelf, and the goods taken out by the loading and unloading component 4 can be stored on the storage shelf.

[0035] In one embodiment, the loading and unloading assembly 4 includes a housing 41, a translation mechanism, and a driving mechanism. The housing 41 is provided with a loading and unloading opening 411. The translation mechanism is slidably connected to the inner wall of the housing 41, and the driving mechanism is connected to the translation mechanism. The driving mechanism drives the translation mechanism to move out of the housing 41 from the loading and unloading opening 411 or be received into the housing 41, that is, the translation mechanism can drive the goods in the housing 41 to move to the storage unit 3, or drive the goods on the storage unit 3 to move into the housing 41. For example, a push plate 423 is provided at one end of the translation mechanism, and a pull plate 424 is rotatably connected to the other end of the translation mechanism. For example, rotation is achieved through gear meshing. When the driving mechanism drives the translation mechanism to move out towards the loading and unloading opening 411, the pull plate 424 rotates to the outside of the loading and unloading opening 411, such as being disposed at the end of the translation mechanism parallel to the inner wall of the housing 41; the goods in the housing 41 can be pushed onto the storage unit 3, or the translation mechanism can be moved to the location of the goods on the storage unit 3. If it is necessary to take out the goods, the translation mechanism is moved to the location of the goods on the storage unit 3, and the rotation of the pull plate 424 is controlled so that the pull plate 424 is located on the back side of the goods (the side away from the housing 41). At this time, the pull plate 424 can restrict the goods perpendicular to the inner wall of the housing 41, and the driving mechanism drives the translation mechanism to drive the goods on the storage unit 3 to move into the housing 41, thereby taking out the goods from the storage unit 3.

[0036] In another embodiment, a push plate 423 is provided at the end of the translation mechanism, and a telescopic member is provided at the other end, which can telescopically move towards the direction of the loading and unloading opening 411. During the process of the translation mechanism moving out from the loading and unloading opening 411, the telescopic member retracts to the end of the translation mechanism; when the translation mechanism takes out the goods from the storage unit 3, the telescopic member is controlled to extend towards the direction of the loading and unloading opening 411 and placed on the back of the goods to restrict the goods.

[0037] The loading and unloading robot provided by the embodiment of the present utility model rotates and connects the loading and unloading assembly 4 to the vertical frame 2 to adjust the position of the loading and unloading opening 411; by connecting the driving mechanism to the translation mechanism, the driving mechanism can drive the translation mechanism to move out of the housing 41 from the loading and unloading opening 411 or be received into the housing 41, thereby pushing the goods in the housing 41 onto the storage unit 3, or pulling the goods on the storage unit 3 into the housing 41, realizing rapid warehousing or out-of-warehouse, being fast and efficient, and improving the transfer speed of the goods.

[0038] In the embodiment of the present utility model, the housing 41 includes a bottom plate and two side plates. The two side plates are respectively arranged on both sides of the bottom plate. The bottom plate and the two side plates form a receiving space for goods, and the receiving space has a loading and unloading opening 411. The translation mechanism includes a first moving member 421, a second moving member 422, a push plate 423 and a pull plate 424. The first moving member 421 is slidably connected to one of the side plates, and the second moving member 422 is slidably connected to the other side plate. The extending directions of the first moving member 421 and the second moving member 422 are the same as the extending direction of the side plate. The driving mechanism includes a first driving member and a second driving member. In one embodiment, there are two first driving members. The first moving member 421 is connected to the driving end of one of the first driving members, and the second moving member 422 is connected to the driving end of the other first driving member. The first driving member can drive the first moving member 421 and the second moving member 422 to move out of the receiving space from the loading and unloading opening 411 of the side plate at the same time, or to be received and moved from the loading and unloading opening 411 into the receiving space. The two ends of the push plate 423 are respectively connected to the first end of the first moving member 421 and the first end of the second moving member 422. The first moving member 421 and the second moving member 422 can drive the push plate 423 to move.

[0039] A pull plate 424 is rotatably connected to the second end of the first moving member 421 and / or the second end of the second moving member 422. Specifically, the second driving member is a rotary motor with a rotating shaft. The pull plate 424 is fixedly connected to the end of the rotating shaft. The second driving member drives the pull plate to rotate so that the pull plate 424 is in a first state or a second state. As Figure 1 shown, when the pull plate 424 is in the first state, the extending direction of the pull plate 424 is parallel to the inner wall surface of the housing 41. At this time, the pull plate 424 is received at the second end of the first moving member 421 and / or the second end of the second moving member 422. As Figure 6 shown, when the pull plate 424 is in the second state, the extending direction of the pull plate 424 is perpendicular to the inner wall surface of the housing 41 and is used to restrict the goods.

[0040] It should be noted that when the first moving member 421 and the second moving member 422 are received in the receiving space, the first ends of the first moving member 421 and the second moving member 422 are the ends far from the loading and unloading opening 411; the second ends of the first moving member 421 and the second moving member 422 are the ends close to the loading and unloading opening 411.

[0041] In one embodiment, a pull plate 424 is rotatably connected to the second end of the first moving member 421 or the second end of the second moving member 422. When the second driving member drives the pull plate 424 to rotate to the second state, the extending length of the pull plate 424 is greater than or equal to 1 / 2 of the width of the loading and unloading opening 411 and less than the width of the loading and unloading opening 411, with good stability and preventing the goods from rotating during the movement.

[0042] In another embodiment, as Figure 3 and Figure 6 shown, a pull plate 424 is rotatably connected to the second end of the first moving member 421 and the second end of the second moving member 422. The total length of the two pull plates 424 is less than the width of the loading and unloading opening 411. That is, when the two pull plates 424 are rotated to the second state, there is a gap between them to prevent interference between the two pull plates 424 during rotation. Optionally, the length of each of the two pull plates 424 is 1 / 3 of the width of the loading and unloading opening 411. It should be noted that when a pull plate 424 is rotatably connected to the second end of the first moving member 421 and the second end of the second moving member 422, the two pull plates 424 are driven by two second driving members.

[0043] As Figure 4 and Figure 5 shown, in the embodiment of the present invention, there are multiple storage units 3. The multiple storage units 3 are arranged at intervals along the height direction of the vertical frame 2. Each storage unit 3 is used to store one or more goods. The storage unit 3 has an entrance and exit, and the entrance and exit are arranged towards the second side of the vertical frame 2. Goods can be stored or taken out from the entrance and exit. In one embodiment, the storage unit 3 includes a bottom plate, a first baffle, a second baffle and a third baffle. The first baffle and the second baffle are oppositely arranged on both sides of the bottom plate in the width direction. The third baffle is arranged on the side of the bottom plate away from the vertical frame 2, that is, on the opposite side of the entrance and exit. The two side plates and the baffle can prevent the goods from falling. Further, the bottom plate is an inclined surface. As Figure 1 and Figure 2 shown, the bottom plate is inclined downward from the entrance and exit towards the end plate direction, and the goods can be quickly stored on the bottom plate.

[0044] Further, each storage unit 3 can move along the height direction of the vertical frame 2, which is convenient for the user to adjust the distance between two adjacent storage units 3 according to the height of the goods.

[0045] As Figure 3 shown, the loading and unloading robot further includes a lifting assembly 5. The lifting assembly 5 is arranged on the vertical frame 2. The loading and unloading assembly 4 is rotatably connected to the lifting assembly 5. The lifting assembly 5 drives the loading and unloading assembly 4 to move along the height direction of the vertical frame 2 so that the loading and unloading assembly 4 is flush with the storage unit 3. The loading and unloading assembly 4 can take out goods from storage units 3 at different heights or store goods in storage units 3 at different heights.

[0046] The lifting assembly 5 includes a lifting frame and a lifting seat. The lifting frame is slidably connected to the vertical frame 2. The two sides of the lifting frame are respectively slidably connected to the first column 21 and the second column 22. The lifting frame can move up and down along the height direction of the vertical frame 2, that is, lift relative to the vertical frame 2. The lifting seat is fixedly connected to the lifting frame. The housing 41 is rotatably connected to the lifting seat. The lifting seat can move along the height direction of the lifting frame, that is, lift relative to the lifting frame.

[0047] The embodiment of the utility model realizes secondary lifting through a lifting frame and a lifting seat, with good stability, high adjustment accuracy, which is convenient for taking out goods at a relatively high position or storing goods at a relatively high position.

[0048] The loading and unloading robot provided by the embodiment of the utility model further includes a control component. The loading and unloading component 4 and the lifting component 5 are respectively communicatively connected with the control component, such as wireless connection. The control component can control the lifting component 5 to move along the height direction of the vertical frame 2 based on the height of the target storage unit (the storage unit 3 to be taken out or stored), (including controlling the lifting frame to move along the height direction of the vertical frame 2 and controlling the lifting seat to move along the height direction of the lifting frame.) so that the height of the loading and unloading component 4 is flush with that of the target storage unit. The control component controls the loading and unloading component 4 to rotate so that the loading and unloading port 411 of the loading and unloading component 4 faces the target storage unit 3, which is convenient for the loading and unloading component 4 to take out or store goods. The control component also controls the first driving member to drive the first moving member and the second moving member to move, pushing the goods into the storage unit 3 or taking out the goods from the storage unit 3; and also controls the second driving member to drive the pull plate 424 to rotate to adjust the state of the pull plate 424 to take out the goods from the storage unit 3.

[0049] In order to facilitate the movement of the loading and unloading robot, the embodiment of the utility model is provided with a moving component 6 at the bottom of the base 1, and the moving component 6 includes universal wheels. Further, the moving component 6 is communicatively connected with the control component, such as wireless connection; the control component can control the moving component 6 to move to adjust the position of the loading and unloading robot.

[0050] The loading and unloading robot in the embodiment of the utility model further includes a contour laser sensor 7. The contour laser sensor 7 calculates the distance and position coordinates of the object surface from the sensor by measuring the time difference between the beam leaving and reaching the object and combining the reflection characteristics of the object surface. Then, by connecting the coordinates of multiple points, a three-dimensional geometric shape of an object is formed, and the dimensions such as the length, width, and height of the object are measured. At least two contour laser sensors 7 are provided on the base 1, and the two contour laser sensors 7 are respectively located on the opposite sides of the base 1. Optionally, the two contour laser sensors 7 are arranged diagonally, which helps to detect obstacles. Further, the embodiment of the utility model is provided with a bumper strip 8 on the outer periphery of the base 1 to reduce damage.

[0051] The loading and unloading robot according to the embodiment of the present utility model further includes a switch member, which is arranged on the base 1, and one-key start can be realized by controlling the switch member. In addition, the start and operation of the loading and unloading robot can also be controlled by the control component. An emergency stop control member 9 is also arranged on the base 1. In case of an emergency or accident, rapid stop can be achieved through the emergency stop control member 9 to reduce risks. A reset control member 10 is also arranged on the base 1. The user can use the reset control member 10 to return the loading and unloading robot to the initial position with one key to maintain the initial state. It should be noted that the initial state is a pre-set position and state. For example, the user can set the position of the charging pile as the initial position, click the reset control member 10, and the loading and unloading robot can automatically return to the charging pile for charging.

[0052] The loading and unloading robot provided by the embodiment of the present utility model further includes a power supply, which is arranged in the base 1. The loading and unloading component 4, the lifting component 5 and the moving component 6 are all electrically connected to the power supply. Further, a charging port 11 is arranged on the base 1 for connecting with a power supply device to supply power to the power supply. In one embodiment, the charging port 11 includes a first charging port and a second charging port. The first charging port is used for electrically connecting with a charging pile, and the second charging port is an emergency charging port and also a spare charging port. A display screen 12 is also arranged on the base 1. The display screen 12 is communicatively connected with the control component and is used for displaying the operation parameters of the loading and unloading robot, such as the operation parameters of the loading and unloading component 4, the operation parameters of the lifting component 5, the moving speed of the moving component 6, etc. In addition, a status indicator light 13 is also arranged on the vertical frame 2. The status indicator light 13 is communicatively connected with the control component, and different colors can be displayed for different operation states. For example, when the moving component 6 controls the loading and unloading robot to walk, the status indicator light 13 can show red; when the loading and unloading component 4 takes out goods, it can show yellow, and when the goods are stored in the storage unit 3, it shows green. In one embodiment, the status indicator light 13 can be arranged at the top of the vertical frame 2 for the convenience of the user to view.

[0053] The embodiment of the present utility model further provides a warehouse storage and retrieval system, which includes the loading and unloading robot in any of the above embodiments, and further includes a storage rack for placing goods. The loading and unloading robot is used to store or retrieve goods from the storage rack. That is, control the rotation of the loading and unloading component 4 to make the loading and unloading port 411 of the housing 41 face the storage rack and be flush with the goods to be retrieved, and the driving mechanism drives the translation mechanism to move the goods on the storage rack into the housing 41; control the rotation of the loading and unloading component 4 to make the loading and unloading port 411 face the storage unit 3 and be flush with the target storage unit, and the driving mechanism drives the translation mechanism to move the goods in the housing 41 to the storage unit, so as to realize the transfer of goods from the storage rack to the storage unit 3. Or, control the rotation of the loading and unloading component 4 to make the loading and unloading port of the housing 41 face the storage unit 3 and be flush with the target storage unit, and the driving mechanism drives the translation mechanism to move the goods on the storage unit 3 into the housing 41; control the rotation of the loading and unloading component 4 to make the loading and unloading port 411 of the housing 41 face the storage rack and be flush with the target rack position, and the driving mechanism drives the translation mechanism to move the goods in the housing 41 to the storage rack, so as to realize the transfer of goods from the storage unit 3 to the storage rack 41.

[0054] The goods in the embodiment of the present utility model include a bin, and the bin is used to store dairy products.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model and are not intended to limit them; although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present utility model.

Claims

1. A loading and unloading robot, characterized in that: include: Base; A stand and a storage unit, wherein the stand is disposed on the base, and the storage unit is mounted on a first side of the stand for storing goods; A loading and unloading assembly, the loading and unloading assembly is rotatably mounted on the second side of the stand; the loading and unloading assembly comprises a shell, a translation mechanism and a driving mechanism, the shell is provided with a loading and unloading port; the translation mechanism is slidably connected to the inner wall of the shell; The driving mechanism is connected to the translation mechanism, and the driving mechanism drives the translation mechanism to move out of the loading and unloading port or be stored in the shell along the inner wall of the shell, so as to push the goods in the shell toward the storage unit, or pull the goods on the storage unit into the shell.

2. The loading and unloading robot according to claim 1, characterized in that: The shell comprises a bottom plate and side plates respectively arranged on both sides of the bottom plate; the translation mechanism comprises a first moving member, a second moving member, a push plate and a pull plate, the first moving member is slidably connected to one of the side plates, the second moving member is slidably connected to the other side plate, the two ends of the push plate are respectively connected to the first end of the first moving member and the first end of the second moving member, and the second end of the first moving member and / or the second end of the second moving member are rotatably connected to the pull plate; The driving mechanism comprises a first driving member and a second driving member, wherein the first moving member and the second moving member are respectively connected to the first driving member; The pulling plate is connected to the second driving member, and the second driving member drives the pulling plate to rotate so that the pulling plate is perpendicular or parallel to the inner wall of the shell.

3. The loading and unloading robot according to claim 1, characterized in that: There are a plurality of storage units, and the plurality of storage units are arranged at intervals along the height direction of the stand; The loading and unloading robot further comprises a lifting assembly, wherein the lifting assembly is arranged on the stand, the loading and unloading assembly is rotatably connected to the lifting assembly, and the lifting assembly drives the loading and unloading assembly to move along the height direction of the stand.

4. The loading and unloading robot according to claim 3, characterized in that: The lifting assembly comprises a lifting frame and a lifting seat, the lifting frame is slidably connected to the vertical frame, the lifting seat is fixedly connected to the lifting frame, and the shell is rotatably connected to the lifting seat.

5. The loading and unloading robot according to claim 3, characterized in that: It also includes a control component, and the loading and unloading component and the lifting component are respectively connected to the control component for communication.

6. The loading and unloading robot according to claim 5, characterized in that: It also includes a moving component, which is arranged at the bottom of the base and is communicatively connected with the control component.

7. The loading and unloading robot according to claim 1, characterized in that: It also includes a contour laser sensor. The base is provided with at least two contour laser sensors, and the two contour laser sensors are respectively located on two opposite sides of the base.

8. The loading and unloading robot according to claim 1, characterized in that: An anti-collision strip is arranged on the periphery of the base.

9. The loading and unloading robot according to claim 1, characterized in that: It also includes a power supply, which is arranged inside the base, and the base is provided with a charging port for connecting to a power supply device; And / or, further comprising a display screen, the display screen being arranged on the base and being used to display operating parameters of the loading and unloading robot; And / or, it also includes a status indicator light, which is arranged on the stand.

10. A warehouse storage and retrieval system, characterized in that: It includes a loading and unloading robot as described in any one of claims 1 to 9, and also includes a storage shelf, wherein the storage shelf is used to place goods, and the driving mechanism drives the translation mechanism to transfer the goods in the storage shelf to the storage unit through the shell, or transfers the goods on the storage unit to the storage shelf through the shell.

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