Cargo carrying robot and warehousing system
By designing a cargo handling robot that includes track walking and ground walking mechanisms, the problem of unstable routes in the AGV chassis in the cargo storage area is solved, and the safety and efficiency of cargo handling is improved, ensuring the stable movement of goods inside and outside the storage area.
Patent Information
- Application Number
- CN202422560681.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-23
- Publication Date
- 2025-08-08
- Estimated Expiration
- 2034-10-23
AI Technical Summary
The existing AGV chassis cargo handling robots are unstable when moving in the cargo storage area and are prone to collision with stacked goods or shelves, causing the goods to fall and damage.
A cargo handling robot is designed, including a mobile chassis, a track walking mechanism, a ground walking mechanism and a hoisting mechanism, which can move along the track in the cargo storage area and freely move outside the storage area. The relative movement of the track walking mechanism and the ground walking mechanism in the vertical direction is controlled through the hoisting mechanism, and the automatic switching of the track walking mode and the ground walking mode is realized.
It improves the safety and stability of cargo handling, ensures that the goods do not collide with the goods on both sides, the moving route is more flexible and efficient, the handling speed is faster and the efficiency is higher.
Smart Images
Figure CN223200796U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of warehousing and logistics technology, and in particular to a cargo handling robot and a warehousing system. Background Art
[0002] Cargo handling robots are automated equipment used in warehousing systems to transfer goods between the cargo storage area and the cargo entry and exit buffer area.
[0003] In related technologies, cargo handling robots are based on AGV chassis, which can automatically plan routes to reach cargo storage locations for cargo storage and retrieval.
[0004] However, the movement route of the cargo handling robot on the AGV chassis is unstable. When it moves in the cargo storage area, the cargo carried by the cargo handling robot is prone to collide with stacked goods or shelves, causing the goods to fall and be damaged. Utility Model Content
[0005] The embodiments of the present application provide a cargo handling robot and a warehousing system to solve the problem that the current cargo handling robot with an AGV chassis has an unstable movement route and is prone to collision with cargo.
[0006] In a first aspect, an embodiment of the present application provides a cargo handling robot, comprising a mobile chassis, wherein the mobile chassis includes a track running mechanism, a ground running mechanism, and a lifting mechanism;
[0007] The ground traveling mechanism is connected to the lower end of the jacking mechanism, and the track traveling mechanism is connected to the upper end of the jacking mechanism. The jacking mechanism is used to control the relative movement of the track traveling mechanism and the ground traveling mechanism in the vertical direction;
[0008] When the cargo handling robot moves in the cargo storage area, the cargo handling robot moves along the track, the track walking mechanism contacts the track, and the ground walking mechanism separates from the ground;
[0009] When the cargo handling robot moves outside the cargo storage area, the ground walking mechanism contacts the ground, and the track walking mechanism is separated from the track.
[0010] In a feasible implementation, the track travel mechanism includes a first movable base and at least two sets of first drive assemblies;
[0011] The first movable base is fixedly connected to the upper end of the jacking mechanism, at least two groups of the first drive components are respectively connected to the first movable base, and at least two groups of the first drive components are respectively located on opposite sides of the first movable base, and at least two groups of the first drive components drive the first movable base to move along the track.
[0012] In a feasible implementation, the first drive assembly includes a first drive motor and a first drive wheel, the first drive motor is connected to the first mobile base, the first drive wheel is connected to the first drive motor, the first drive wheel is arranged on both sides of the first mobile base along the walking direction, and the first drive motor drives the first drive wheel to move along the track.
[0013] In a feasible implementation, the ground walking mechanism is configured as an AGV chassis, and the AGV chassis includes a second mobile base, at least two sets of second drive assemblies and universal wheels;
[0014] The second movable base is fixedly connected to the lower end of the lifting mechanism, at least two sets of the second drive assemblies are fixedly connected to the second movable base, and the at least two sets of the second drive assemblies are respectively located on opposite sides of the second movable base, and the second drive assemblies drive the second movable base to move;
[0015] The universal wheel is connected to the second movable base, and the universal wheel is located on the side of the connection direction of at least two groups of the second driving components.
[0016] In a feasible implementation, the lifting mechanism is configured as at least one of a scissor lift mechanism, a multi-link lift mechanism, a hydraulic lift mechanism or a screw-nut lift mechanism.
[0017] In a feasible implementation, the method further includes:
[0018] Support frame;
[0019] a telescopic fork, provided on the support frame, and used for carrying goods;
[0020] The supporting frame is arranged on the mobile chassis, and the mobile chassis moves along the track in the cargo storage area and moves freely outside the cargo storage area.
[0021] In a possible implementation, the telescopic fork is selectively raised and lowered and rotated relative to the support frame.
[0022] In a feasible implementation, the telescopic fork includes clamping plates arranged in pairs, and the clamping plates are used to clamp the cargo.
[0023] In a feasible implementation, a pusher claw is movably provided at the lower portion of the clamping plate, and the pusher claw is used to extend to support the cargo after the clamping plate clamps the cargo.
[0024] In a feasible implementation, there are multiple telescopic forks, which are arranged in sequence along the vertical direction to cooperate with the picking box;
[0025] The distance between two clamping plates of the plurality of telescopic forks decreases from top to bottom.
[0026] In a feasible implementation, the clamping plate on the uppermost telescopic fork is provided with at least two groups of the pusher claws along the vertical direction.
[0027] In a feasible implementation, the telescopic fork also includes a rotating mechanism, which is cooperatively connected to the support frame, and the telescopic fork is arranged on the rotating mechanism. The rotating mechanism drives the telescopic fork to rotate so that the telescopic fork selectively picks up and places the goods on both sides of the cargo handling robot and places the goods in the cache position of the support frame.
[0028] In a feasible implementation, a plurality of cache locations are provided on at least one side of the support frame, and the cache locations are used to temporarily store the goods.
[0029] In a feasible implementation, a lifting mechanism is provided on the support frame, the telescopic fork is connected to the lifting mechanism, and the lifting mechanism drives the telescopic fork to move in a vertical direction.
[0030] In a second aspect, an embodiment of the present application provides a cargo warehousing system, comprising a cargo storage area provided with tracks, inbound and outbound conveying equipment, and a cargo handling robot as described in the first aspect.
[0031] In a first aspect, embodiments of the present application provide a cargo handling robot comprising a mobile chassis, the mobile chassis including a track-based running mechanism, a ground-based running mechanism, and a lifting mechanism. The ground-based running mechanism is connected to the lower end of the lifting mechanism, and the track-based running mechanism is connected to the upper end of the lifting mechanism. The lifting mechanism is configured to control the vertical relative movement of the track-based running mechanism and the ground-based running mechanism. When the cargo handling robot moves along a track, the track-based running mechanism contacts the track, and the ground-based running mechanism separates from the ground. When the cargo handling robot moves outside a cargo storage area, the ground-based running mechanism contacts the ground, and the track-based running mechanism separates from the track. In other words, the cargo handling robot moves in a track-based running mode within a cargo storage area and in a ground-based running mode outside of the cargo storage area, respectively, and can automatically switch between the two modes. When the cargo handling robot moves along the track within the cargo storage area, the track-based running mechanism, constrained by the track, ensures a more accurate and stable movement path, preventing collisions between cargo carried by the robot and cargo on either side, thereby preventing cargo from falling, and improving the safety and stability of cargo handling. In addition, since the cargo handling robot can move freely along the navigation outside the cargo storage area, compared with the method of transporting goods by conveyor line in the prior art, the moving route of the cargo handling robot for transporting goods is more flexible and simple, the transporting speed is faster, and the efficiency is higher.
[0032] In a second aspect, an embodiment of the present application provides a cargo storage system comprising a cargo storage area provided with tracks, an inbound and outbound conveying device, and a cargo handling robot as described in the first aspect, wherein cargo is placed on one side of the tracks, and the inbound and outbound conveying device is used to transport cargo in or out of the warehouse; the cargo handling robot is used to transfer cargo between the cargo storage area and the inbound and outbound conveying device, and the cargo handling robot is configured to: move along the tracks within the cargo storage area and move freely outside the cargo storage area; the cargo storage system has high cargo retrieval efficiency. Because the cargo storage system includes the cargo handling robot described in any of the technical solutions in the above schemes, it has all the beneficial effects of the cargo handling robot in any of the technical solutions described above, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS
[0033] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present application and do not constitute an improper limitation on the present invention.
[0034] In the attached figure:
[0035] Figure 1 This is a first schematic diagram of a cargo handling robot provided by an embodiment of the present application;
[0036] Figure 2 yes Figure 1A second schematic diagram of the cargo handling robot in FIG.
[0037] Figure 3 This is a first schematic diagram of a mobile chassis of a cargo handling robot provided in one embodiment of the present application;
[0038] Figure 4 yes Figure 3 A second schematic diagram of the mobile chassis in FIG.
[0039] Figure 5 yes Figure 3 A third schematic diagram of the mobile chassis in FIG;
[0040] Figure 6 yes Figure 1 A first schematic diagram of a cargo handling robot moving within a cargo storage area;
[0041] Figure 7 yes Figure 1 A second schematic diagram of the cargo handling robot moving within the cargo storage area;
[0042] Figure 8 yes Figure 1 Schematic diagram of the cargo handling robot moving outside the cargo storage area;
[0043] Figure 9 yes Figure 1 Schematic diagram of the cargo handling robot entering orbit;
[0044] Figure 10 yes Figure 9 Schematic diagram of the cargo handling robot in;
[0045] Figure 11 yes Figure 3 The first schematic diagram of the mobile chassis after removing the track travel component;
[0046] Figure 12 yes Figure 3 A second schematic diagram of the mobile chassis after removing the track travel assembly;
[0047] Figure 13 This is a first schematic diagram of a jacking assembly provided in one embodiment of the present application;
[0048] Figure 14 yes Figure 13 A second schematic diagram of the jacking assembly in FIG.
[0049] Figure 15 yes Figure 13 A third schematic diagram of the jacking assembly in FIG.
[0050] Figure 16 is a schematic diagram of a cargo handling robot provided by another embodiment of the present application;
[0051] Description of reference numerals:
[0052] 100-Cargo storage area; 200-Cargo handling robot; 300-Track; 400-Cargo;
[0053] 210-mobile chassis; 220-support frame; 230-telescopic fork; 310-guide rail;
[0054] 211 - track travel mechanism; 212 - ground travel mechanism; 213 - lifting mechanism; 221 - cache position; 222 - lifting assembly; 231 - clamping plate; 232 - pusher claw; 233 - fork arm;
[0055] 2111 - First mobile base; 2112 - First drive motor; 2113 - First drive wheel; 2121 - Second mobile base; 2122 - Second drive motor; 2123 - Second drive wheel; 2124 - Universal wheel; 2131 - Lifting motor; 2132 - Connecting rod assembly; 2133 - Scissor lift mechanism;
[0056] 2133a-first scissors member; 2133b-second scissors member; 2133c-connecting plate. DETAILED DESCRIPTION
[0057] In order to enable those skilled in the art to better understand the technical solutions in this application, the following will provide a clear and complete description of the technical solutions in the embodiments of this application in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.
[0058] In the description of the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "plurality" is at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.
[0059] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.
[0060] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it can mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it can mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it can mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.
[0061] Cargo handling robots are automated equipment used in warehousing systems to transfer goods between the cargo storage area and the cargo entry and exit buffer area.
[0062] In related technologies, cargo handling robots are based on AGV chassis, which can automatically plan routes to reach cargo storage locations for cargo storage and retrieval.
[0063] However, the movement route of the cargo handling robot on the AGV chassis is unstable. When it moves in the cargo storage area, the cargo carried by the cargo handling robot is prone to collide with stacked goods or shelves, causing the goods to fall and be damaged.
[0064] In order to solve the above problems, an embodiment of the present application provides a cargo handling robot and a warehousing system. The solution of the embodiment of the present application will be described in detail below in conjunction with the drawings in the specification.
[0065] Figure 1 is a first schematic diagram of a cargo handling robot 200 provided in one embodiment of the present application; Figure 2 yes Figure 1 A second schematic diagram of the cargo handling robot 200 in FIG.
[0066] Reference Figure 1 and Figure 2As shown, the cargo handling robot 200 includes a mobile chassis 210, a support frame 220, and a telescopic fork 230. The support frame 220 is mounted on the mobile chassis 210, and the telescopic fork 230 is connected to and mounted on the support frame 220. The mobile chassis 210 supports the support frame 220 and the telescopic fork 230 and moves them to a designated location. The support frame 220 supports the telescopic fork 230, which is used to handle cargo. For example, the cargo 400 may be a container. The telescopic fork 230 can selectively be raised and lowered and / or rotated relative to the support frame 220 to handle the cargo 400. The mobile chassis 210 moves along a track 300 within the cargo storage area 100 and is free to move outside the cargo storage area 100. The cargo handling robot can operate in a track-based mode or a ground-based mode within and outside the cargo storage area, respectively, and can automatically switch between the two modes.
[0067] When the cargo handling robot 200 moves along the track 300 within the cargo storage area 100, the constraints of the track 300 ensure a more accurate and stable movement. This prevents the cargo 400 being handled by the cargo handling robot 200 from colliding with the cargo 400 on either side, thereby preventing the cargo 400 from falling and improving the safety and stability of the cargo 400. Furthermore, because the cargo handling robot 200 can freely move along the track outside the cargo storage area 100, compared to the conventional method of transporting cargo using a conveyor line, the cargo handling robot 200 can move the cargo 400 in a more flexible and simple manner, resulting in faster and more efficient transport.
[0068] Figure 3 This is a first schematic diagram of a mobile chassis of a cargo handling robot provided in one embodiment of the present application; Figure 4 yes Figure 3 A second schematic diagram of the mobile chassis in FIG. Figure 5 yes Figure 3 A third schematic diagram of the mobile chassis.
[0069] Reference Figures 3 to 5 As shown, the mobile chassis 210 includes a track-based running mechanism 211, a ground-based running mechanism 212, and a lifting mechanism 213. The ground-based running mechanism 212 is connected to the lower end of the lifting mechanism 213, while the track-based running mechanism 211 is connected to the upper end of the lifting mechanism 213. The lifting mechanism 213 is used to control the vertical relative movement of the track-based running mechanism 211 and the ground-based running mechanism 212, thereby controlling the contact and separation of the ground-based running mechanism 212 from the ground.
[0070] Figure 6 yes Figure 1A first schematic diagram of a cargo handling robot moving within a cargo storage area; Figure 7 yes Figure 1 A second schematic diagram of the cargo handling robot moving within the cargo storage area.
[0071] Reference Figure 6 and Figure 7 As shown, when the cargo handling robot 200 moves along the track 300 within the cargo storage area 100, the track running mechanism 211 contacts the track 300, while the ground running mechanism 212 separates from the ground. At this point, the track running mechanism 211 acts as a drive assembly, driving the support frame 220 and telescopic fork 230 along the track 300 to the target cargo placement location to pick up or place cargo 400.
[0072] Figure 8 yes Figure 1 Schematic diagram of the cargo handling robot moving outside the cargo storage area.
[0073] Reference Figure 8 As shown, when the cargo handling robot 200 is walking on the ground, the lifting mechanism 213 contracts, and the upper and lower ends thereof maintain a minimum distance, so that the distance between the track walking mechanism 211 and the ground walking mechanism 212 is minimized, thereby reducing the height of the support frame 220, avoiding the support frame 220 from shaking during movement, and ensuring that the cargo handling robot 200 is in a more stable moving state during the process of transporting cargo boxes.
[0074] Figure 9 yes Figure 1 Schematic diagram of the cargo handling robot entering orbit; Figure 10 yes Figure 9 Schematic diagram of the cargo handling robot in [1].
[0075] Reference Figure 9 and Figure 10 As shown, when the cargo handling robot 200 is preparing to enter the track 300 from the ground and switches from ground walking mode to track 300 walking mode, the lifting mechanism 213 retracts, the track walking mechanism 211 is raised in height, and the distance between it and the ground walking mechanism 212 increases. At this time, the ground walking mechanism 212 moves into the track 300. When the ground walking mechanism 212 moves into the track 300, the lifting mechanism 213 retracts, and the track walking mechanism 211 is lowered in height. After the track walking mechanism 211 contacts the track 300, the height of the track walking mechanism 211 remains unchanged. As the lifting mechanism 213 continues to retract, the position of the ground walking mechanism 212 begins to rise and gradually lifts off the ground. After the ground walking mechanism 212 lifts off the ground, the lifting mechanism 213 stops retracting, and the track walking mechanism 211 begins to act as a drive component, driving the support frame 220 and the telescopic fork 230 to move along the track 300.
[0076] It is understood that when the cargo handling robot 200 enters the ground from the track 300 and switches from the track 300 walking mode to the ground walking mode, the lifting mechanism 213 expands, the ground walking mechanism 212 moves downward, and the distance between the ground walking mechanism 212 and the track walking mechanism 211 gradually increases. After the ground walking mechanism 212 contacts the ground, the track walking mechanism 211 begins to move upward due to the continued expansion of the lifting mechanism 213, and gradually separates from the track 300. When the track walking mechanism 211 completely separates from the track 300, the ground walking mechanism 212 moves out of the track 300. At this time, the lifting mechanism 213 begins to retract until it retracts to its lowest position, so that the track walking mechanism 211 and the ground walking mechanism 212 maintain a minimum distance, ensuring that the cargo handling robot 200 is more stable in its movement during the process of handling cargo boxes.
[0077] Exemplarily, the track walking mechanism 211 includes a first movable base 2111 and at least two groups of first drive assemblies; the first movable base 2111 is fixedly connected to the upper end of the jacking mechanism 213, the support frame 220 is fixedly connected to the first movable base 2111, at least two groups of first drive assemblies are respectively connected to the first movable base 2111, and at least two groups of first drive assemblies are respectively located on opposite sides of the first movable base 2111, and at least two groups of first drive assemblies drive the first movable base 2111 to move along the track 300.
[0078] Continue to refer to Figures 3 to 5 As shown, in some examples, a group of first drive components includes a first drive motor 2112 and a first drive wheel 2113. The first mobile base 2111 is fixedly connected to the upper end of the lifting mechanism 213, the support frame 220 is fixedly connected to the first mobile base 2111, the first drive motor 2112 is fixedly connected to the first mobile base 2111, the first drive wheel 2113 is connected to the first drive motor 2112, and the first drive wheel 2113 is cooperatively connected to the track 300, and the first drive motor 2112 drives the first drive wheel 2113 to move along the track 300. In these examples, each first drive wheel 2113 is individually controlled by each first drive motor 2112. In order to ensure that the mobile chassis 210 can move stably along the track 300, it is necessary to ensure that all first drive motors 2112 operate synchronously.
[0079] In other examples, a first drive assembly includes a first drive motor 2112 and a plurality of first drive wheels 2113. The first drive motor 2112 is fixedly mounted on the first movable base 2111, and the plurality of first drive wheels 2113 are located on either side of the first movable base 2111. All first drive wheels 2113 are connected to the first drive motor 2112 via a transmission assembly. In other words, the first drive motor 2112 drives all first drive wheels 2113 to move synchronously via the transmission assembly. For example, the first drive motor 2112 can be a servo motor or a DC motor with a reducer.
[0080] The lifting mechanism 213 is fixedly mounted on the ground traveling mechanism 212. In some examples, the ground traveling mechanism 212 is configured as an AGV chassis with autonomous navigation capabilities. The AGV chassis includes a second mobile base 2121, at least two sets of second drive assemblies, and universal wheels 2124. The second mobile base 2121 is fixedly connected to the lower end of the lifting mechanism 213. The at least two sets of second drive assemblies are fixedly connected to the second mobile base 2121, and the at least two sets of second drive assemblies are respectively located on opposite sides of the second mobile base 2121. The universal wheels 2124 are connected to the second mobile base 2121 and are located to the side of the direction connecting the at least two sets of second drive assemblies.
[0081] Exemplarily, the second drive assembly includes a second drive motor 2122 and second drive wheels 2123. The second drive motor 2122 is fixedly mounted on the second movable base 2121. The second drive wheels 2123 are fixedly connected to the output end of the second drive motor 2122 and are disposed on either side of the second movable base 2121 along the travel direction. Universal wheels 2124 are disposed in the fore-and-aft directions of the two opposing second drive wheels 2123, respectively, perpendicular to the line connecting the two drive assembly groups. Universal wheels 2124 are connected to the second movable base 2121.
[0082] Figure 11 yes Figure 3 The first schematic diagram of the mobile chassis after removing the track travel component; Figure 12 yes Figure 3 The second schematic diagram shows the mobile chassis with the track travel components removed.
[0083] Reference Figure 11 and Figure 12As shown, in the embodiment of the present application, the ground walking mechanism 212 includes a second mobile base 2121, two second drive motors 2122, two second drive wheels 2123 and four universal wheels 2124. Among them, the two second drive wheels 2123 are arranged on the second mobile base 2121 in opposite directions and are located on the center line of the second mobile base 2121. The two second drive motors 2122 are both fixed to the second mobile base 2121, and the two second drive motors 2122 are respectively connected to the two second drive wheels 2123. The two second drive motors 2122 are used to drive the second mobile base 2121 to move. It can be understood that by changing the rotation speed of the two second drive motors 2122, the movement direction of the second mobile base 2121 can be controlled. This is a prior art and will not be described in detail here.
[0084] With the direction perpendicular to the line connecting the two second driving wheels 2123 as the front-to-back direction, two universal wheels 2124 are provided in the front-to-back directions of the two second driving wheels 2123 to support the second movable base 2121 and adjust the moving direction of the second movable base 2121 .
[0085] Continue to refer to Figure 11 and Figure 12 As shown, in some examples, the jacking mechanism 213 is configured as a multi-link lifting mechanism, specifically including a jacking motor 2131 and a connecting rod assembly 2132. The jacking motor 2131 is fixedly arranged on the second movable base 2121, and the output end of the jacking motor 2131 is connected to the connecting rod assembly 2132. When the output end of the jacking motor 2131 rotates, it can control the movement of the upper end of the connecting rod assembly 2132, even if the distance between the upper end and the lower end changes, thereby changing the distance between the first movable base 2111 connected to the upper end and the second movable base 2121 connected to the lower end.
[0086] Figure 13 This is a first schematic diagram of a jacking assembly provided in one embodiment of the present application; Figure 14 yes Figure 13 A second schematic diagram of the jacking assembly in FIG. Figure 15 yes Figure 13 A third schematic diagram of the jacking assembly in FIG.
[0087] Reference Figures 13 to 15As shown, in some other examples, the lifting mechanism 213 is configured as a scissor lift mechanism 2133. The scissor lift mechanism 2133 includes a first scissor member 2133a, a second scissor member 2133b, and a connecting plate 2133c that are cross-connected. The lower ends of the first scissor member 2133a and the lower ends of the second scissor member 2133b are both connected to the first movable base 2111, and the upper ends of the first scissor member 2133a and the upper ends of the second scissor member 2133b are both connected to the connecting plate 2133c, which is used to connect to the first movable base 2111. When a driving member drives the first scissor member 2133a or the second scissor member 2133b to operate, the two move synchronously, causing the connecting plate 2133c to move up and down, thereby changing the distance between the first movable base 2111 and the second movable base 2121. For example, the driving member can be a servo motor.
[0088] In addition, the lifting mechanism 213 can also be configured as a hydraulic lifting mechanism or a screw nut lifting mechanism, as long as it can make the first movable base 2111 and the second movable base 2121 move relative to each other, and the details will not be described in detail.
[0089] like Figure 1 and Figure 2 As shown, in some examples, there are multiple telescopic forks 230, which are arranged in sequence along the vertical direction, and each telescopic fork 230 is connected to the support frame 220. When moving the target cargo 400, when the target cargo 400 is located below, the telescopic fork 230 located above the target cargo 400 can clamp the cargo 400 above the target cargo 400, separating it from the target cargo 400. The telescopic fork 230 located below then moves the target cargo 400 away. Finally, the telescopic fork 230 located above the target cargo 400 places the non-target cargo 400 in the original location of the target cargo 400. It will be understood that the operation process for placing the cargo 400 at the target location is the opposite of the process for moving the target cargo 400 described above, and will not be repeated here.
[0090] It is understood that by providing multiple telescopic forks 230 in the support frame 220, it is possible to facilitate the handling of target cargo 400 located below the stack of cargo 400, thereby improving handling efficiency. For example, a handling robot having two telescopic forks 230 is used. When handling target cargo 400 located at the bottom of the stack of cargo 400, the upper telescopic fork 230 can first raise the position of cargo 400 located above the target cargo 400, and the lower telescopic fork 230 can then handle the target cargo 400. Finally, the upper telescopic fork 230 can place the non-target cargo 400 back to the original position of the target cargo 400.
[0091] Reference Figure 1 and Figure 2As shown, the telescopic fork includes fork arms 233 arranged in pairs, and the fork arms 233 are used to clamp the cargo 400. In addition, the telescopic fork 231 can be configured as a bidirectional telescopic fork 231, so as to facilitate the picking and placing of cargo 400 on both sides of the track 300.
[0092] Exemplarily, the fork arm 233 includes a multi-stage fork arm and a telescopic drive assembly. The multi-stage fork arms are connected in sequence. The telescopic drive assembly is connected to the multi-stage fork arms. The telescopic drive assembly is used to drive the multi-stage fork arms to extend or retract to pick up and place the cargo 400. Exemplarily, the fork arm 233 includes a two-stage fork arm for illustration. The fork arm 233 includes a primary fork arm and a secondary fork arm. The primary fork arm is connected to the support frame 220. The secondary fork arm is slidably connected to the primary fork arm. The telescopic drive assembly is fixedly disposed on the primary fork arm. The telescopic drive assembly drives the secondary fork arm to move along the primary fork arm, thereby completing the forking and retraction of the cargo 400.
[0093] In addition, illustratively, the telescopic driving member can be a combination structure of a motor and a synchronous belt transmission assembly, or a combination structure of a motor and a gear rack.
[0094] Continue to refer to Figure 1 and Figure 2 As shown, the telescopic fork 231 also includes a clamping plate 231, and each fork arm 233 is provided with a clamping plate 231. Since the clamping plate 231 has a large surface area, it can ensure a large clamping area with the side of the cargo 400, increase the clamping force, and prevent the cargo 400 from slipping during the clamping movement.
[0095] When the support frame 220 is provided with multiple telescopic forks 231 in the vertical direction, in order to facilitate the placement of the non-target cargo 400 that has been clamped and lifted to the position where the target cargo 400 was originally placed, the distance between the two clamping plates 231 on the upper telescopic fork 230 is smaller than the distance between the two clamping plates 231 on the lower telescopic fork 230, ensuring that the clamping plates 231 on the upper telescopic fork 230 do not interfere with the clamping plates 231 on the lower telescopic fork 230. In addition, the two clamping plates 231 on the upper telescopic fork 230 are larger in size and can extend between the two clamping plates 231 on the lower telescopic fork 230 to place the cargo 400.
[0096] Specifically, when the target cargo is located at the bottom layer of the stack, the lower portion of the gripping plates 231 of the upper telescopic fork 231 grips and lifts the cargo above it, while the lower telescopic fork 231 grips and retracts the target cargo. At this point, the upper telescopic fork 231 moves downward, placing the non-target cargo in the original target cargo location. Because the two gripping plates 231 on the upper telescopic fork 231 are larger and the distance between them is smaller than the distance between the two gripping plates 231 on the lower telescopic fork 231, when placing the non-target cargo in the original target cargo location, it interferes with the lower telescopic fork 231 and gripping plates 231.
[0097] To ensure the stability of the cargo 400 and prevent it from sliding off the telescopic fork 231 due to excessive weight, in some examples, a plurality of pushers 232 are rotatably provided at the lower portion of the clamping plate 231. The pushers 232 are used to extend to support the cargo 400 after the clamping plate 231 clamps the cargo 400. Specifically, the pushers 232 can switch between rotating in directions parallel to and perpendicular to the clamping plate 231, thereby supporting the cargo 400 and preventing it from falling.
[0098] In addition, in some examples, two sets of pusher claws 232 are vertically spaced apart on the two clamping plates 231 of the upper telescopic fork 230 to ensure that they can clamp non-target cargo 400 located at a higher position. Exemplarily, the pusher claws 232 include a lever and a lever motor. The lever motor is fixedly mounted on the clamping plates 231. The end of the pusher claw 232 is connected to the output end of the lever motor. The output end of the lever motor rotates to drive the pusher claw 232 to rotate.
[0099] In some embodiments, a buffering position 221 is provided at the bottom of the support frame 220. When the cargo handling robot 200 needs to carry multiple cargoes 400, the telescopic fork 230 can temporarily store the cargoes 400 in the buffering position 221. After all target cargoes are moved, all cargoes 400 are moved together to the inbound and outbound conveying equipment.
[0100] Figure 16 2 is a schematic diagram of a cargo handling robot 200 provided in another embodiment of the present application.
[0101] Reference Figure 16As shown, in some examples, at least one side of the support frame 220 is provided with a plurality of cache positions 221. In these examples, the cargo handling robot 200 further includes a rotating assembly, which is connected to the support frame 220, and a telescopic fork 230 is provided on the rotating assembly. The rotating assembly is used to rotate the telescopic fork 230 90° and temporarily store the target cargo 400 or the non-target cargo 400 in the cache position 221. It can be understood that by providing the cache position 221 on the support frame 220, the single handling capacity of the cargo handling robot 200 can be greatly improved, and the handling efficiency can be improved. Exemplarily, cache racks are provided on both sides of the support frame 220, and the cache racks have a plurality of cache cargo positions, which are configured as cache positions 221. In addition, the number and space size of the cache cargo positions in the cache racks on both sides of the support frame 220 can be set according to actual needs and are not limited here.
[0102] Exemplarily, the rotating assembly includes a rotating bracket, a rotating pallet and a rotating drive motor. The rotating bracket is arranged on the inner side of the support frame 220, and its shape is adapted to the support frame 220 and the rotating bracket can move in the vertical direction along the support frame 220. The rotating pallet is rotatably arranged on the rotating bracket, the rotating drive motor is fixedly arranged on the rotating bracket, and the output end of the rotating drive motor is connected to the rotating pallet, and the rotating drive motor drives the rotating pallet to rotate. The telescopic fork 230 is arranged on the rotating pallet, that is, the rotating drive motor drives the telescopic fork 230 to rotate through the rotating pallet. The rotating drive motor can realize forward and reverse rotation, thereby realizing bidirectional rotation of the rotating pallet, to correspond to the pick-up and placement openings on both sides of the support frame 220, so that the telescopic fork 230 can pick up and place goods 400 to the cache positions 221 on both sides of the support frame 220.
[0103] Continue to refer to Figure 1 and Figure 2 As shown, the support frame 220 in this application is a rectangular parallelepiped frame structure formed by a plurality of crossbeams and longitudinal beams connected in sequence. Linear guide rails 310 are provided along the vertical direction on both sides of the support frame 220, and sliders are provided on the linear guide rails 310. The telescopic forks 230 are fixedly connected to the sliders.
[0104] In addition, the cargo handling robot 200 further includes a lifting assembly 222. Exemplarily, the lifting assembly 222 includes a lifting motor and a transmission assembly. The lifting motor is fixed to the support frame 220, and the transmission assembly is disposed on the support frame 220. The lifting motor is connected to the transmission assembly, which is connected to the telescopic fork 230. The lifting motor drives the telescopic fork 230 to move vertically through the transmission assembly, so that the telescopic fork 230 can reach the designated position of the target cargo 400.
[0105] In a second aspect, an embodiment of the present application provides a cargo storage system, comprising a cargo storage area 100, an inbound and outbound conveying device, and the cargo handling robot 200 as described in the first aspect. The cargo storage area 100 is used to place and store cargo.
[0106] In the related art, cargo storage area 100 is an area for storing cargo, and its interior may include various cargo storage facilities, such as pallets, shelves, or cargo bases. For example, cargo storage area 100 is used to store cargo 400, which can be empty or filled. Cargo 400 can be stacked on pallets, cargo bases, or individually placed on shelves within cargo storage area 100. For example, cargo can be placed within cargo 400, which is then stacked and stored within cargo storage area 100. When specific cargo is needed, staff can retrieve the cargo 400 from the cargo storage area 100.
[0107] The inbound and outbound conveyor system is used to transport goods in and out of the warehouse. It can be logistics equipment such as a cargo conveyor line, a depackaging machine, or a cargo sorting device. When goods enter the warehouse, the inbound and outbound conveyor system transports the goods 400 to a buffer area. The cargo handling robot 200 then transfers the goods 400 from the buffer area to a designated location in the cargo storage area 100. Correspondingly, when goods leave the warehouse, the cargo handling robot 200 transfers the goods from the cargo storage area 100 to the inbound and outbound conveyor system, which then transfers them to a designated location.
[0108] In the solution of the present application, a track 300 is provided within the cargo storage area 100, with cargo (e.g., a container 400) placed on at least one side of the track 300. A cargo handling robot 200 is placed on the ground outside the cargo storage area 100 and is capable of moving between the cargo storage area 100 and the inbound and outbound conveyor equipment, thereby transferring cargo between the two. This cargo storage system has a high cargo retrieval efficiency. Since this cargo storage system includes the cargo handling robot 200 described in any of the technical solutions described above, it has all the beneficial effects of the cargo handling robot 200 described in any of the technical solutions described above, and no further details are given here.
[0109] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application based on the several embodiments provided in the present application to obtain other embodiments, and these embodiments do not exceed the scope of protection of the present application.
[0110] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not intended to limit the scope of protection of the embodiments of the present application. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the scope of protection of the embodiments of the present application.
Claims
1. A cargo handling robot, characterized in that: It includes a mobile chassis, which includes a track running mechanism, a ground running mechanism and a jacking mechanism; The ground traveling mechanism is connected to the lower end of the jacking mechanism, and the track traveling mechanism is connected to the upper end of the jacking mechanism. The jacking mechanism is used to control the relative movement of the track traveling mechanism and the ground traveling mechanism in the vertical direction; When the cargo handling robot moves in the cargo storage area, the cargo handling robot moves along the track, the track walking mechanism contacts the track, and the ground walking mechanism separates from the ground; When the cargo handling robot moves outside the cargo storage area, the ground walking mechanism contacts the ground, and the track walking mechanism is separated from the track.
2. The cargo handling robot according to claim 1, characterized in that: The track travel mechanism includes a first movable base and at least two sets of first drive assemblies; The first movable base is fixedly connected to the upper end of the jacking mechanism, at least two groups of the first drive components are respectively connected to the first movable base, and at least two groups of the first drive components are respectively located on opposite sides of the first movable base, and at least two groups of the first drive components drive the first movable base to move along the track.
3. The cargo handling robot according to claim 2, characterized in that: The first drive assembly includes a first drive motor and a first drive wheel. The first drive motor is connected to the first mobile base, and the first drive wheel is connected to the first drive motor. The first drive wheels are arranged on both sides of the first mobile base along the walking direction. The first drive motor drives the first drive wheel to move along the track.
4. The cargo handling robot according to claim 1, characterized in that: The ground walking mechanism is configured as an AGV chassis, and the AGV chassis includes a second mobile base, at least two sets of second drive assemblies and universal wheels; The second movable base is fixedly connected to the lower end of the lifting mechanism, at least two sets of the second drive assemblies are fixedly connected to the second movable base, and the at least two sets of the second drive assemblies are respectively located on opposite sides of the second movable base, and the second drive assemblies drive the second movable base to move; The universal wheel is connected to the second movable base, and the universal wheel is located on the side of the connection direction of at least two groups of the second driving components.
5. The cargo handling robot according to claim 1, characterized in that: The lifting mechanism is configured as at least one of a scissor lift mechanism, a multi-link lift mechanism, a hydraulic lift mechanism or a screw-nut lift mechanism.
6. The cargo handling robot according to claim 1, characterized in that: Also includes: Support frame; a telescopic fork, provided on the support frame, and used for carrying goods; The supporting frame is arranged on the mobile chassis, and the mobile chassis moves along the track in the cargo storage area and moves freely outside the cargo storage area.
7. The cargo handling robot according to claim 6, characterized in that: The telescopic fork is selectively raised, lowered, and rotated relative to the support frame.
8. The cargo handling robot according to claim 6, characterized in that: The telescopic fork includes a pair of clamping plates, and the clamping plates are used to clamp the cargo.
9. The cargo handling robot according to claim 8, characterized in that: A pusher claw is movably provided at the lower part of the clamping plate, and the pusher claw is used to extend to support the cargo after the clamping plate clamps the cargo.
10. The cargo handling robot according to claim 8, characterized in that: There are multiple telescopic forks, which are arranged in sequence along the vertical direction and are used to cooperate with the picking box; The distance between the two clamping plates of the plurality of telescopic forks decreases from top to bottom.
11. The cargo handling robot according to claim 9, characterized in that: The clamping plate on the uppermost telescopic fork is provided with at least two groups of the pusher claws along the vertical direction.
12. The cargo handling robot according to claim 6, characterized in that: The telescopic fork also includes a rotating mechanism, which is cooperatively connected to the support frame. The telescopic fork is arranged on the rotating mechanism, and the rotating mechanism drives the telescopic fork to rotate so that the telescopic fork selectively picks up and places the goods on both sides of the cargo handling robot and places the goods in the cache position of the support frame.
13. The cargo handling robot according to claim 6, characterized in that: At least one side of the support frame is provided with a plurality of cache locations, and the cache locations are used to temporarily store the goods.
14. The cargo handling robot according to claim 6, characterized in that: The support frame is provided with a lifting mechanism, the telescopic fork is connected to the lifting mechanism, and the lifting mechanism drives the telescopic fork to move in a vertical direction.
15. A cargo storage system, characterized in that: It comprises a cargo storage area provided with tracks, in-and-out conveying equipment and a cargo handling robot as described in any one of claims 6 to 14.