Carrying device of carrying robot and carrying robot system

Abstract

The utility model relates to the technical field of material box storing and taking devices, and particularly discloses a carrying device of a carrying robot and a carrying robot system. The carrying device of the carrying robot comprises a carrying assembly; the carrying assembly comprises a carrying seat; a first opening capable of being opened and closed is formed in the carrying base in the first direction in the horizontal direction. A second opening capable of being opened and closed is formed in the carrying base in the second direction in the horizontal direction. The first direction is perpendicular to the second direction; a manipulator is arranged on the carrying seat; and the manipulator is used for driving goods to enter and exit from the second opening when the second opening is opened. According to the scheme, due to the fact that the carrying base is provided with the first opening and the second opening, the carrying base can be in butt joint with different goods shelves on the premise that the position of the carrying base does not need to be adjusted, goods storing and taking can be more efficiently conducted, and the goods storing and taking efficiency is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of goods storage and retrieval devices, and in particular to a carrying device of a carrying robot and a carrying robot system. BACKGROUND

[0002] The carrying robot is a transport tool for carrying goods, which has a transport system with autonomous navigation, autonomous obstacle avoidance and intelligent charging, and can simultaneously transport multiple goods, achieving efficient stacking and storage in the transport system.

[0003] The container transport unit (CTU) is one of the carrying robots, which can pass through the longitudinal space, fully utilize the high-density advantage of box storage, and realize instant scheduling and monitoring with various automated equipment, pick and carry multiple containers from the shelf area, and then deliver the required container to the operator, achieving fast and efficient inventory turnover.

[0004] During the operation of the carrying robot, shelves are generally present in different directions; therefore, the existing carrying robot needs to adjust its position to adapt to shelves in different directions when storing and retrieving goods, resulting in low efficiency of storing and retrieving goods. CONTENT OF THE INVENTION

[0005] Therefore, the present application aims to provide a carrying device of a carrying robot and a carrying robot system to solve the problem of low efficiency of storing and retrieving goods by the existing carrying robot.

[0006] To achieve the above technical purpose, the first aspect of the present application provides a carrying device of a carrying robot, comprising: a carrying assembly;

[0007] The carrying assembly comprises: a carrying seat;

[0008] The carrying seat is provided with a first opening that can be opened and closed in a first direction in the horizontal direction;

[0009] The carrying seat is provided with a second opening that can be opened and closed in a second direction in the horizontal direction;

[0010] The first direction and the second direction are perpendicular to each other;

[0011] The carrying seat is provided with a mechanical hand;

[0012] The mechanical hand is used to drive the goods to enter and exit from the second opening when the second opening is opened.

[0013] Further, the carrying assembly comprises: a first blocking piece and a second blocking piece;

[0014] The first blocking piece is movably arranged at the first opening to control opening and closing of the first opening.

[0015] The second blocking piece is movably arranged at the second opening to control opening and closing of the second opening.

[0016] Further, the first opening is arranged at one side of the carrying seat along the first direction.

[0017] The second opening is arranged at both sides of the carrying seat along the second direction.

[0018] Further, the first blocking piece is plate-shaped and is arranged on the carrying seat in a lifting manner.

[0019] Further, the second blocking piece is rod-shaped and is arranged on the carrying seat in a rotating manner.

[0020] Further, the base is further provided.

[0021] The base is provided with a vertical sliding wheel.

[0022] The carrying seat is arranged on the base.

[0023] Further, the carrying seat is arranged on the base in a sliding manner along the first direction.

[0024] Further, the carrying seat is provided with a sliding rod arranged in a sliding manner along the second direction.

[0025] The second blocking piece is movably arranged on the sliding rod.

[0026] The second blocking piece and the sliding rod constitute the mechanical hand.

[0027] Further, the carrying seat is provided with the sliding rod at both sides along the first direction.

[0028] The second aspect of the present application provides a carrying robot system, comprising a box rack and the carrying device of the carrying robot according to any one of the above.

[0029] The carrying seat in the carrying device of the carrying robot is arranged on the box rack in a sliding manner along the vertical direction.

[0030] The box rack or the carrying seat is provided with a second mechanical hand.

[0031] The second mechanical hand is used to drive the goods to enter or exit from the first opening when the first opening is opened.

[0032] From the above technical solution can be seen, the application provides a kind of carrying device of carrying robot and carrying robot system;Wherein, the carrying device of carrying robot includes: carrying component;The carrying component includes: carrying seat;The first opening of the carrying seat is provided with openable and closable along the first direction in horizontal direction;The second opening of the carrying seat is provided with openable and closable along the second direction in horizontal direction;The first direction and the second direction are perpendicular to each other;Mechanical hand is provided on the carrying seat;The mechanical hand is used to drive goods from the second opening when the second opening is opened.

[0033] In the scheme, since the first opening and the second opening are provided on the carrying seat, the carrying seat can be docked with different shelves without adjusting the position of the carrying seat, the goods storage and retrieval can be more efficient, and the efficiency of storing and retrieving goods can be effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the description of the embodiments or the prior art will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0035] Figure 1 A structural schematic diagram of a carrying device of a carrying robot is provided for an embodiment of the present application.

[0036] Figure 2 A structural schematic diagram of a carrying device of a carrying robot is provided for another embodiment of the present application.

[0037] Figure 3 A structural schematic diagram of a carrying robot system is provided for an embodiment of the present application.

[0038] In the drawings:

[0039] 100, carrying component; 110, first blocking piece; 120, second blocking piece; 130, carrying seat; 131, first opening; 132, second opening; 133, sliding rod; 141, first driver; 142, second driver; 143, third driver; 144, fourth driver;

[0040] 200, base; 210, vertical sliding wheel;

[0041] 300, box rack;

[0042] Positive and negative directions of X axis: first direction; Positive and negative directions of Y axis: second direction; Positive and negative directions of Z axis: vertical direction. DETAILED DESCRIPTION

[0043] The technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work belong to the scope of the present application.

[0044] In the description of the embodiments of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0045] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood in a broad sense, for example, it can be fixedly connected, or it can be replaceably connected, or it can be integrally connected, it can be mechanically connected, or it can be electrically connected, it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0046] Please refer to Figures 1 to 3 The first aspect of the embodiments of the present application provides a carrying device of a carrying robot, which comprises a carrying assembly 100.

[0047] The carrying assembly 100 comprises a carrying seat 130. The carrying seat 130 is a transfer structure for goods, and can place goods; specifically, the goods on the shelf can be transferred to the carrying seat 130; the goods on the carrying seat 130 can also be transferred to the shelf.

[0048] The carrying seat 130 is provided with a first opening 131 which can be opened and closed in a first direction in the horizontal direction; the carrying seat 130 is provided with a second opening 132 which can be opened and closed in a second direction in the horizontal direction; the first direction and the second direction are perpendicular to each other; the carrying seat 130 is provided with a mechanical hand; the mechanical hand is used to drive the goods to enter and exit from the second opening 132 when the second opening 132 is opened. In the present embodiment, the first direction can be the positive and negative directions of the Y axis in Figure 1 the second direction can be the positive and negative directions of the X axis in Figure 1 . Figure 1The positive and negative directions of the Z-axis are vertical directions.

[0049] It should be noted that, when the first opening 131 is in an open state, the goods can pass through the first opening 131; when the first opening 131 is in a closed state, the goods cannot pass through the first opening 131. When the second opening 132 is in an open state, the goods can pass through the second opening 132; when the second opening 132 is in a closed state, the goods cannot pass through the second opening 132.

[0050] When the carrying seat 130 is loaded with goods, taking the case of taking goods through the first opening 131 as an example, the first opening 131 is opened, and the second opening 132 can be in a closed state at this time. At this time, the goods can enter the carrying seat 130 through the first opening 131; after the goods enter, the first opening 131 is closed, so as to realize loading the goods in the carrying seat 130. Moreover, after the first opening 131 and the second opening 132 are both closed, the risk of the goods falling off the carrying seat 130 can be avoided.

[0051] In the embodiment, the first opening 131 and the second opening 132 of the carrying seat 130 can be connected to different goods shelves, that is, the carrying seat 130 can access goods in the first direction and can also access goods in the second direction, so that the goods access efficiency of the carrying device can be improved.

[0052] In actual application, the manipulator can drive the goods to pass through the second opening 132 in the second direction in a pushing or pulling manner.

[0053] For convenience of description, in the scheme, the goods shelf in the carrying robot system is referred to as a box shelf 300; the goods shelves located on both sides of the carrying robot system are referred to as storage shelves. Please refer to Figure 3 The carrying seat 130 can be arranged on the box shelf 300 and moves with the box shelf 300 between the plurality of storage shelves.

[0054] In the embodiment, the first opening 131 of the carrying seat 130 can be one, the first opening 131 is arranged on one side of the carrying seat 130 in the first direction, and the first opening 131 faces the box shelf 300. The second opening 132 of the carrying seat 130 can be two, the second opening 132 is arranged on both sides of the carrying seat 130 in the second direction and faces the storage shelves on both sides of the box shelf 300.

[0055] As an implementation manner, in the first direction, a second manipulator can be arranged on the carrying seat 130, and the second manipulator can also drive the goods to pass through the first opening 131 in the first direction in a pushing or pulling manner.

[0056] In another embodiment, a second robot can be arranged on the magazine rack 300. That is, the goods access between the carrying seat 130 and the magazine rack 300 is completed by the second robot on the magazine rack 300.

[0057] In the embodiment, the second robot and the first robot can adopt the magazine robot in the prior art, and thus no further description is given herein.

[0058] Optionally, the other side of the carrying seat 130 along the first direction can be closed by arranging a baffle or the like.

[0059] In one embodiment, the carrying assembly 100 comprises a first blocking member 110 and a second blocking member 120. The first blocking member 110 is movably arranged at the first opening 131 for controlling the opening and closing of the first opening 131. The second blocking member 120 is movably arranged at the second opening 132 for controlling the opening and closing of the second opening 132.

[0060] That is, in the embodiment, the opening and closing of the first opening 131 is controlled by the first blocking member 110, and the opening and closing of the second opening 132 is controlled by the second blocking member 120.

[0061] In the closed state of the first opening 131, the first blocking member 110 can completely block the first opening 131 or partially block the first opening 131, and specifically, the goods cannot pass through the first opening 131 in the closed state.

[0062] Similarly, in the closed state of the second opening 132, the second blocking member 120 can completely block the first opening 131 or partially block the first opening 131.

[0063] In a more specific embodiment, the first blocking member 110 is plate-shaped and is movably arranged on the carrying seat 130.

[0064] In the embodiment, the carrying seat 130 can be provided with a first driver 141. The first driver 141 can be a rotating motor or a cylinder. When the first driver 141 is started, the first blocking member 110 can be lifted. When the first blocking member 110 is lowered below the plane of the carrying seat 130, the goods can pass above the first blocking member 110 and enter or exit from the first opening 131. When the first blocking member 110 is raised above the plane of the carrying seat 130, the first blocking member 110 can prevent the goods from passing through the first opening 131.

[0065] On the basis of the above embodiment, in one embodiment, the second blocking member 120 is rod-shaped and is rotatably arranged on the carrying seat 130. Correspondingly, the second blocking member 120 is connected with a second driving member 142 for controlling the rotation of the second blocking member 120.

[0066] Specifically, the second blocking piece 120 can rotate to a horizontal state and a vertical state. When the second blocking piece 120 is in the vertical state, the second blocking piece 120 opens the second opening 132, and at this time, the goods can be taken in and out from the second opening 132. When the second blocking piece 120 is in the horizontal state, the second blocking piece 120 partially extends into the second opening 132, and at this time, the goods are blocked by the second blocking piece 120 and cannot be taken in and out from the second opening 132, so at this time, the second opening 132 is in a closed state. In the process of switching the second blocking piece 120 from the vertical state to the horizontal state, the second blocking piece 120 rotates in the direction of entering the second opening 132.

[0067] In an embodiment, the base 200 is further included; the vertical sliding wheel 210 is arranged on the base 200; and the carrying seat 130 is arranged on the base 200.

[0068] In the embodiment, the base 200 can vertically slide on the material box frame 300 through the vertical sliding wheel 210, thereby driving the carrying seat 130 to ascend and descend.

[0069] Optionally, the carrying seat 130 is slidably arranged on the base 200 in the first direction.

[0070] Specifically, the third driver 143 can be arranged on the carrying seat 130; when the third driver 143 is started, the carrying seat 130 can slide in the first direction.

[0071] The base 200 can be provided with a sliding channel for the carrying seat 130 to provide a guiding effect for the sliding of the carrying seat 130.

[0072] In an embodiment, referring to Figure 1 , the sliding rod 133 slidably arranged in the second direction is arranged on the carrying seat 130; and the second blocking piece 120 is movably arranged on the sliding rod 133; the second blocking piece 120 and the sliding rod 133 form a mechanical hand.

[0073] Specifically, in the embodiment, the second blocking piece 120 is used not only to control the opening and closing of the second opening 132, but also to transfer the goods.

[0074] Taking the second blocking piece 120 as the above-mentioned rotatable rod as an example. When the carrying seat 130 is ready to take the goods from the storage rack in the second direction, the second blocking piece 120 can be first rotated to the vertical state, and then the sliding rod 133 drives the second blocking piece 120 to extend to the rear of the goods (in the embodiment, the side far away from the carrying seat 130 is regarded as the rear); then, the second blocking piece 120 is rotated to the horizontal state, so that the second blocking piece 120 can abut against the rear of the goods; and then, the sliding rod 133 slides towards the carrying seat 130, thereby pulling the goods to pass through the second opening 132 and enter the carrying seat 130.

[0075] Optionally, the sliding rod 133 can be arranged on the first stopper 110.

[0076] Optionally, the carrying seat 130 can be provided with a fourth driver 144; the fourth driver 144 is used to drive the sliding rod 133 to slide.

[0077] Optionally, the carrying seat 130 is provided with a sliding rod 133 on both sides in the first direction. As described above, one sliding rod 133 can be arranged on the first stopper 110 to avoid the sliding rod 133 interfering with the goods entering and exiting from the first opening 131. Another sliding rod 133 can be arranged on the stopper on the other side of the carrying seat 130 in the first direction.

[0078] Optionally, the carrying seat 130 is provided with a sliding rod 133 on both sides in the first direction. As described above, one sliding rod 133 can be arranged on the first stopper 110 to avoid the sliding rod 133 interfering with the goods entering and exiting from the first opening 131. Another sliding rod 133 can be arranged on the stopper on the other side of the carrying seat 130 in the first direction. Figure 3 The second aspect of the present application provides a carrying robot system, comprising: a magazine rack 300 and the carrying device of any one of the carrying robots.

[0079] In the embodiment, the carrying seat 130 in the carrying device of the carrying robot is arranged on the magazine rack 300 in a vertical direction and can slide; specifically, the carrying seat 130 can be directly connected to the magazine rack 300 through a sliding wheel or other sliding structure, or can be arranged on the base 200 and connected to the magazine rack 300 through the base 200.

[0080] The magazine rack 300 or the carrying seat 130 is provided with a second mechanical arm; the second mechanical arm is used to drive the goods to enter and exit from the first opening 131 when the first opening 131 is opened.

[0081] The above is only a preferred embodiment of the present application and is not used to limit the present application, although the present application has been described in detail with reference to the examples, for those skilled in the art, the technical solutions recorded in the foregoing examples can be modified or some technical features can be replaced, but any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A carrying device of a carrying robot, characterized by Comprising: a carrying assembly (100); the carrying assembly (100) comprises a carrying seat (130); the carrying seat (130) is provided with a first opening (131) which is openable and closable along a first direction in a horizontal direction; the carrying seat (130) is provided with a second opening (132) which is openable and closable along a second direction in a horizontal direction; the first direction and the second direction are perpendicular to each other; the carrying seat (130) is provided with a mechanical arm; the mechanical arm is used to drive the goods in and out of the second opening (132) when the second opening (132) is opened.

2. The carrying robot according to claim 1, characterized in that, the carrying assembly (100) comprises a first blocking piece (110) and a second blocking piece (120); the first blocking piece (110) is movably arranged at the first opening (131) and is used to control the opening and closing of the first opening (131); the second blocking piece (120) is movably arranged at the second opening (132) and is used to control the opening and closing of the second opening (132).

3. The carrying robot according to claim 2, characterized in that the first opening (131) is arranged on one side of the carrying seat (130) along the first direction; the second opening (132) is arranged on both sides of the carrying seat (130) along the second direction.

4. The carrying robot according to claim 2, characterized in that, the first blocking piece (110) is plate-shaped and is arranged on the carrying seat (130) in a lifting manner.

5. The carrying robot according to claim 2, characterized in that, the second blocking piece (120) is rod-shaped and is arranged on the carrying seat (130) in a rotating manner.

6. The carrying robot of claim 1, wherein further comprising a base (200); the base (200) is provided with a vertical sliding wheel (210); the carrying seat (130) is arranged on the base (200).

7. The transport robot according to claim 6, characterized in that the carrying seat (130) is slidably arranged on the base (200) along the first direction.

8. The handling robot according to any one of claims 2 to 5, characterized in that the carrying seat (130) is provided with a sliding rod (133) which is slidable along the second direction; the second blocking piece (120) is movably arranged on the sliding rod (133); the second blocking piece (120) and the sliding rod (133) constitute the mechanical arm.

9. The transport robot according to claim 8, characterized in that both sides of the carrying seat (130) along the first direction are provided with the sliding rod (133).

10. A transport robot system, characterized in that Comprising: a material box rack (300) and the carrying device of the carrying robot according to any one of claims 1 to 9; the carrying seat (130) in the carrying device of the carrying robot is slidably arranged on the material box rack (300) along a vertical direction; the material box rack (300) or the carrying seat (130) is provided with a second mechanical arm; the second mechanical arm is used to drive the goods in and out of the first opening (131) when the first opening (131) is opened.

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