Floating device, workbin taking and placing robot and carrying system
By using floating plates and connecting mechanisms in the floating device, the problem of positioning errors of handling equipment in complex environments is solved, achieving precise docking and improving equipment safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-10
- Publication Date
- 2026-04-14
AI Technical Summary
Existing material handling equipment suffers from positioning and motion errors in complex environments, leading to docking failures, impacting efficiency, and potentially causing equipment damage.
A floating device is adopted, including a floating plate, a support plate, a retaining component, and a floating connection mechanism. The floating connection mechanism allows the floating plate to move in a plane parallel to the support plate, providing position error compensation. The movement range of the floating plate is limited by elastic components and limiting members to ensure docking accuracy.
It improves docking accuracy, reduces equipment wear, enhances handling efficiency and safety, and avoids docking failures and equipment damage caused by errors.
Smart Images
Figure CN224116204U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of automated material transportation, specifically to a floating device, a bin picking and placing robot, and a handling system. Background Technology
[0002] In the field of automated material handling equipment, especially when tasks such as docking of material bins are involved, the motion accuracy and positioning error of the equipment have become important factors affecting efficiency and equipment safety.
[0003] Existing handling equipment often suffers from positioning and motion errors when performing object grabbing or handling operations due to complex working environments or structural limitations of the equipment itself. This can lead to docking failures, reduced handling efficiency, and even damage to the equipment. Utility Model Content
[0004] This utility model provides a floating device, a bin loading and unloading robot, and a handling system, which aims to compensate for possible errors in the docking process of material handling equipment through floating compensation design.
[0005] To achieve the above objectives, the embodiments of this utility model adopt the following technical solutions:
[0006] In a first aspect, this application provides a floating device comprising a floating plate, a support plate, a retaining assembly, and a plurality of floating connection mechanisms. The floating plate is located on one side of the support plate in the thickness direction, and a gap exists between the floating plate and the support plate. At least a portion of the retaining assembly is located between the floating plate and the support plate and is configured to maintain the gap between the floating plate and the support plate. The retaining assembly is movably connected to one of the floating plate and the support plate. The floating plate is connected to the support plate via a plurality of floating connection mechanisms, the floating connection mechanisms being configured to allow the floating plate to move in a plane parallel to the support plate.
[0007] This application provides a floating device comprising a floating plate, a support plate, a retaining assembly, and multiple floating connection mechanisms. The floating connection mechanisms enable the floating plate to move in a plane parallel to the support plate, thereby compensating for positional errors. These mechanisms also provide appropriate elasticity to the floating plate under external forces (such as errors), allowing for minor adjustments during docking or operation to compensate for positional deviations caused by errors. The retaining assembly prevents the floating plate from moving in the thickness direction (vertical direction). Maintaining a constant distance between the support plate and the floating plate prevents contact between them during floating due to vertical changes, which could alter the overall height of the floating device, causing the storage bin to press against the bottom of the storage compartment and resulting in significant wear.
[0008] As one possible implementation, the floating connection mechanism includes a first limiting member and an elastic component. The first limiting member is disposed on the surface of the support plate near the floating plate. One end of the elastic component is connected to the edge of the floating plate, and the other end extends away from the edge of the floating plate and abuts against the first limiting member. The elastic component is capable of extending and retracting along its extension direction.
[0009] In one possible implementation, the elastic component includes a floating seat, a floating shaft, a spring, and a cam follower. The floating seat is connected to the support plate, one end of the floating shaft is connected to the floating seat, and the other end is connected to the cam follower. The spring passes through the interior of the floating shaft. The cam follower abuts against the first limiting member.
[0010] In one possible implementation, the first limiting member is disposed perpendicular to the surface of the support plate near the floating plate, and the elastic component abuts against the first surface of the first limiting member. The first surface faces the centerline of the support plate along its thickness direction.
[0011] As one possible implementation, the dimension of the first surface of the first limiting member in a preset direction is greater than or equal to the maximum floating distance of the floating plate in the preset direction. The preset direction is parallel to the edge of the support plate where the first limiting member is located.
[0012] As one possible implementation, the floating plate includes multiple sides, each side having at least two floating connection mechanisms. These multiple floating connection mechanisms are symmetrically arranged with respect to the bisector of the floating plate.
[0013] As one possible implementation, the retaining component includes a bullseye bearing and a bullseye bearing housing. The bullseye bearing housing is disposed on the surface of the support plate near the floating plate, the bullseye bearing is connected to the floating plate, and is movably connected to the bullseye bearing housing through the floating plate.
[0014] As one possible implementation, the number of retaining components is multiple, and the multiple retaining components are symmetrically arranged with respect to the bisector of the floating plate.
[0015] As one possible implementation, the floating device further includes a second limiting member, which comprises a limiting guide rod. A limiting hole is provided on the floating plate, and one end of the limiting guide rod is connected to a support plate, passing through the limiting hole. The diameter of the limiting hole is larger than the radial dimension of the limiting guide rod, and the height of the limiting guide rod is greater than the distance between the floating plate and the support plate.
[0016] As one possible implementation, the second limiting member also includes a limiting plate, which is connected to the end of the limiting guide rod away from the support plate, and the dimension of the limiting plate in the radial direction of the limiting hole is larger than the diameter of the limiting hole.
[0017] As one possible implementation, there are multiple second limiting elements and multiple limiting holes, with the multiple limiting holes evenly distributed on the floating plate.
[0018] Secondly, this application also provides a bin handling robot, which includes a vehicle body, a handling device, and a floating device as described in the first aspect and its possible implementations. The vehicle body is connected to the support plate of the floating device, and the handling device is connected to the floating plate of the floating device.
[0019] As one possible implementation, the bin handling robot also includes a scissor lift device, with the vehicle body connected to the support plate of the floating device via the scissor lift device.
[0020] Thirdly, this application also provides a material handling system, including a rack and a bin-handling robot, wherein the bin-handling robot includes a vehicle body, a picking and delivering device, a scissor lift device, and a floating device as described in the first aspect. The rack includes at least one layer, each layer of the rack including multiple storage locations for storing bins, with intervals between adjacent storage locations. Each storage location includes guide plates located on both sides of the storage location. The vehicle body is connected to the support plate of the floating device via the scissor lift device, and the picking and delivering device is connected to the floating plate of the floating device. The scissor lift device is used to adjust the height of the picking and delivering device. The bin-handling robot is configured to: adjust the direction of the vehicle body and adjust the scissor lift device so that the two sides of the bin carried by the picking and delivering device are aligned with the guide plates on both sides of the target storage location; when the two sides of the bin and the guide plates on both sides of the target storage location are respectively in a straight line, control the extension of the telescopic fork of the picking and delivering device to place the bin into the target storage location. The bin handling robot is also configured to: adjust the direction of the vehicle body and adjust the scissor lift device so that the telescopic fork of the handling device is aligned with the target storage location, control the telescopic fork to extend to below the bottom surface of the bin carried by the target storage location so that the telescopic fork abuts against the bottom surface of the bin, and control the telescopic fork to retract to remove the bin.
[0021] The beneficial effects of the second and third aspects and their specific implementation methods can be referred to the beneficial effects of the first aspect, and will not be repeated here. Attached Figure Description
[0022] Figure 1a A schematic diagram of a warehouse provided for an embodiment of this application;
[0023] Figure 1b A schematic diagram illustrating the transport of goods using a handling device, as provided in an embodiment of this application;
[0024] Figure 2 A schematic diagram of a floating device provided in an embodiment of this application;
[0025] Figure 3 An exploded view of a floating device provided in an embodiment of this application;
[0026] Figure 4 A schematic diagram of a bin-handling robot provided in an embodiment of this application;
[0027] Figure 5 This is a schematic diagram of another bin-handling robot provided in an embodiment of this application. Detailed Implementation
[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0029] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.
[0030] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Furthermore, when describing pipelines, the terms "connected" and "linked" in this utility model have the meaning of establishing conductivity. The specific meaning needs to be understood in conjunction with the context.
[0031] In this embodiment of the invention, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in this embodiment of the invention should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.
[0032] In warehousing and logistics systems, automated handling equipment needs to precisely pick up containers from warehouse shelves and move them to designated locations. For example, such as... Figure 1a and Figure 1b As shown, Figure 1a and Figure 1b The illustrations are based on two shelves, but in reality, there may be more or fewer shelf layers. Figure 1aThe shelving 10 includes two layers, each layer including multiple storage positions 15, and each storage position 15 can accommodate a material box. Figure 1a The storage space is a U-shaped pallet structure, with a guide plate on each side of each storage space 15 to guide the telescopic forks of the automated handling equipment. Figure 1b The automated handling equipment is preparing to place the bins into the designated storage location 15 on the shelf 10.
[0033] In this process, the alignment accuracy between the automated handling equipment and the rack 10 is crucial, especially during the insertion and docking of the telescopic forks of the automated handling equipment with the storage bins. If the handling equipment fails to align accurately, that is, if the straight lines on both sides of the storage bin intersect the straight lines on the two guide plates of the storage position 15, docking may fail, causing part of the storage bin to collide with the guide plates of the storage position 15.
[0034] Because factors such as uneven ground, shelf vibration, and potential discrepancies between the actual and intended docking positions of the telescopic forks of the handling equipment are unavoidable, especially in confined warehouse environments where robots need to accurately pick up and place toy boxes within limited space, even slight errors can lead to docking failures. Docking failures result in repeated attempts by the robot, extending operation time and increasing equipment wear and energy consumption. More seriously, if the error during docking exceeds the equipment's allowable range, the telescopic forks may collide with shelves or toy boxes, causing equipment damage or toy box tipping over, impacting the overall warehouse system's transportation efficiency and safety.
[0035] In view of this, embodiments of this application provide a floating device, exemplarily, such as... Figure 2 As shown. The floating device includes a floating plate 1, a support plate 2, a retaining assembly 3, and multiple floating connection mechanisms 4. The floating plate 1 is located on the support plate 2 in the thickness direction (vertical direction). Figure 2 The floating plate 1 is positioned on one side in the X direction, and there is a gap between the floating plate 1 and the support plate 2. At least a portion of the retaining assembly 3 is located between the floating plate 1 and the support plate 2 and is configured to maintain the gap between the floating plate 1 and the support plate 2. The retaining assembly 3 is movably connected to one of the floating plate 1 and the support plate 2. The floating plate 1 is connected to the support plate 2 via a plurality of floating connection mechanisms 4, which are configured to allow the floating plate 1 to move in a plane parallel to the support plate 2.
[0036] The floating plate 1 is the core component of the floating device, supporting the actuators or upper structures that require float compensation. The floating plate 1 is connected to the support plate 2 via multiple floating connection mechanisms 4, allowing it to move in a plane parallel to the support plate 2. These floating connection mechanisms provide appropriate elasticity when the floating plate is subjected to external forces (such as errors), enabling the floating plate to make minor adjustments during docking or operation to compensate for positional deviations caused by errors. Simultaneously, the floating connection mechanisms also have a reset function, returning the floating plate 1 to its initial position after the force disappears. The support plate 2 provides a stable foundation for the floating device, supporting the entire device. While the support plate 2 itself does not participate in floating, it provides a stable reference for the floating plate.
[0037] The retaining component 3 maintains the distance between the floating plate 1 and the support plate 2, preventing the floating plate from moving in the thickness direction (vertical direction). Maintaining a constant distance between the support plate and the floating plate avoids contact between them due to vertical changes during floating, which could cause changes in the overall height of the floating device, resulting in the hopper pressing against the bottom of the storage compartment and causing significant wear. This improves the vertical stability of the floating device and prevents unnecessary vertical fluctuations during operation.
[0038] As one possible implementation, such as Figure 3 As shown, the floating connection mechanism 4 includes a first limiting member 41 and an elastic component 42. The first limiting member 41 is disposed on the surface of the support plate 2 near the floating plate 1. One end of the elastic component 42 is connected to the edge of the floating plate 1, and the other end extends in a direction away from the edge of the floating plate 1 (extending horizontally). Figure 3 (The middle is in the Y direction), and it abuts against the first limiting member 41. The elastic component 42 can extend and retract along the extension direction of the elastic component 42.
[0039] The function of the first limiting member 41 is to limit the movement range of the floating plate 1 and prevent its movement in the two-dimensional plane from exceeding the set range. During the floating compensation process, if the offset of the floating plate 1 is too large, the first limiting member 41 will physically limit it to avoid excessive displacement leading to docking failure or device damage.
[0040] The elastic component 42 provides the floating plate 1 with floating function and restoring force. One end of the elastic component 42 is connected to the edge of the floating plate 1, and the other end abuts against the first limiting member 41, allowing the floating plate 1 to elastically move relative to the support plate 2 within a certain range when the floating plate 1 is subjected to force. When the external force disappears, the elastic component 42 returns to its original shape. This design ensures that the floating device returns to normal after error compensation, avoiding cumulative errors during docking.
[0041] Specifically, the elastic component 42 provides the floating function and restoring force for the floating plate 1 due to its elasticity. The elastic component 42 can extend and retract along its extension direction. That is, when an external force causes the floating plate 1 to deviate from its initial position, the elastic component 42 will extend or compress to accommodate the deviation. When the external force disappears, the elastic component 42 will return to its original position, thereby pulling the floating plate 1 back to its original position. By automatically adjusting the position of the floating plate 1, the docking accuracy is improved, and the docking efficiency is enhanced.
[0042] In some embodiments, such as Figure 3 As shown, the elastic component 42 includes a floating seat 421, a floating shaft 422, a spring 423, and a cam follower 424. The floating seat 421 is connected to the support plate 2. One end of the floating shaft 422 is connected to the floating seat 421, and the other end is connected to the cam follower 424. The spring 423 passes through the interior of the floating shaft 422. The cam follower 424 abuts against the first limiting member 41.
[0043] As one possible implementation, the first limiting member 41 is disposed perpendicular to the surface of the support plate 2 near the floating plate 1, and the elastic component 42 abuts against the first surface of the first limiting member 41. Figure 3 (Shown in shaded area) The first surface faces the center line of the support plate 2 along its thickness direction.
[0044] The floating seat 421 is the main structural component that supports the floating shaft 422 and connects to the support plate 2. It provides a stable fixed point for the floating shaft 422, ensuring that the floating shaft 422 can move along the set route and preventing the floating plate 1 from generating uncontrollable displacement during movement.
[0045] The floating shaft 422 connects the floating seat 421 and the cam follower 424. The spring 423 passes through the interior of the floating shaft 422, providing the floating plate 1 with the freedom of horizontal movement. The spring 423 extends and retracts with the movement of the floating shaft 422, providing elastic support for the movement of the floating plate 1.
[0046] The floating shaft 422, spring 423, and cam follower 424 work closely together in the floating device. The floating shaft 422 provides a moving path for the floating plate 1, the spring 423 provides elastic support for the movement of the floating plate 1, and the cam follower 424 ensures that the movement range of the floating plate 1 is controlled.
[0047] As one possible implementation, the dimension of the first surface of the first limiting member in a preset direction is greater than or equal to the dimension of the floating plate in the preset direction (i.e., Figure 2 The maximum floating distance in the Z direction (within the range). The preset direction is parallel to the edge of the support plate where the first limiting member is located.
[0048] The movement of the floating shaft 422 is regulated by the spring 423. As the floating plate 1 moves, the spring 423 compresses or extends. The movement of the floating shaft 422 drives the cam follower 424 to move on the first limiting member 41. The cam follower 424 can move along the Z direction on the first limiting member 41, but it will never exceed the first limiting member 41 and will always be in contact with the first limiting member 41. The maximum floating distance of the floating plate 1 in the preset direction is the same as the maximum floating distance of the floating shaft 422 in the preset direction, that is, the maximum distance that the cam follower 424 can move on the first limiting member 41. This setting ensures that the movement of the floating plate 1 is always controllable and restricted.
[0049] One possible implementation involves a floating plate comprising multiple sides, each equipped with at least two floating connection mechanisms. These multiple floating connection mechanisms are symmetrically arranged with respect to the plate's bisector. This arrangement ensures stable support and connection on all sides, maintaining balance throughout the floating process. Furthermore, by incorporating multiple floating connection mechanisms on each side, the floating plate can evenly distribute stress when subjected to external forces, preventing excessive pressure on a single point that could lead to instability or excessive displacement, thus enhancing stability during floating.
[0050] The multi-point symmetrical arrangement of the floating connection mechanism not only improves stability during the floating process but also enhances the floating plate's resistance to interference under external forces. When multiple floating connection mechanisms work together, they can better offset external interference, preventing the floating plate from experiencing significant displacement or tilting due to unexpected pressure during docking, thus improving the floating plate's fault tolerance and self-correction capabilities.
[0051] In some embodiments, such as Figure 3 As shown, the retaining assembly 3 includes a bullseye bearing 31 and a bullseye bearing housing 32. The bullseye bearing housing 32 is disposed on the surface of the support plate 2 near the floating plate 1. The bullseye bearing 31 is connected to the floating plate 1 and is movably connected to the bullseye bearing housing 32 through the floating plate 1.
[0052] Bullseye bearing 31 provides a smooth connection between floating plate 1 and support plate 2. Connected to floating plate 1, the movable nature of bullseye bearing 31 allows floating plate 1 to move freely within a two-dimensional plane. Bullseye bearing 31 is typically a ball bearing, allowing for minute movements in multiple directions, flexibly responding to external forces from various directions, reducing friction, and ensuring smoother floating.
[0053] The bullseye bearing housing 32 serves to support and guide the bullseye bearing 31. The bullseye bearing housing 32 provides a reliable support point for the bullseye bearing 31, enabling it to maintain a stable connection during floating. The bullseye bearing housing 32 ensures that the floating plate 1 can be movably linked on the surface of the support plate 2, thereby achieving controllable floating motion.
[0054] As one possible implementation, the number of retaining components is multiple, and the multiple retaining components are symmetrically arranged with respect to the bisector of the floating plate.
[0055] By incorporating multiple retaining components, the load on the floating plate can be distributed across multiple points, rather than concentrating it at a single point. When the floating plate is subjected to external forces during floating, the retaining components can provide more even support, reducing the load on individual components and preventing damage or failure caused by single-point overload. The presence of multiple retaining components allows the floating plate to maintain better balance during floating, especially when precise docking is required. Multiple retaining components can reduce the offset of the floating plate, ensuring that it does not tilt or sway during movement, thus improving the accuracy and stability of the floating process.
[0056] Maintaining a symmetrical distribution of components means that the forces on each retaining component are more evenly distributed when the floating plate moves. This uniform force distribution reduces tilting and offset of the floating plate caused by uneven force distribution, ensuring that the floating device maintains a stable balance during docking. The symmetrical distribution not only enhances the stability of the device but also extends its service life. Due to the distributed force, the wear and tear on each retaining component is reduced, extending the overall service life of the floating device and reducing the risk of failure due to excessive wear.
[0057] In some embodiments, such as Figure 3 As shown, the floating device also includes a second limiting member 5, which includes a limiting guide rod 51. A limiting hole 11 is provided on the floating plate 1, and one end of the limiting guide rod 51 is connected to the support plate 2, passing through the limiting hole 11. The diameter of the limiting hole 11 is larger than the radial dimension of the limiting guide rod 51, and the height of the limiting guide rod 51 is greater than the distance between the floating plate 1 and the support plate 2.
[0058] The second limiting member 5 provides further restriction on the floating plate 1. Through the cooperation of the limiting guide rod 51 and the limiting hole 11, the second limiting member 5 can limit the movement range of the floating plate 1 in a plane parallel to the support plate 2. This ensures that the floating plate does not exceed the design range. In particular, when the external force is large, the limiting guide rod 51 can effectively control the movement of the floating plate 1, thereby preventing damage to the floating device.
[0059] The setting that the diameter of the limiting hole 11 is larger than the radial dimension of the limiting guide rod 51 in the limiting hole 11 allows the floating plate 1 to have a certain degree of freedom within the limiting hole 11, thus enabling limited floating. This ensures that the floating plate can flexibly adjust its position within a limited range, but without causing uncontrolled movement due to excessive freedom.
[0060] The height of the limiting guide rod 51 is greater than the distance between the floating plate 1 and the support plate 2, ensuring that the limiting guide rod 51 can still provide effective constraint even when the floating plate reaches its maximum floating range during movement. Through the dimensional difference between the limiting hole 11 and the limiting guide rod 51, the floating plate 1 can have a certain degree of freedom in the radial direction. This degree of freedom allows the floating plate 1 to be flexibly adjusted according to actual conditions, without completely restricting its movement, thus maintaining the floating compensation capability of the floating device.
[0061] In some embodiments, such as Figure 3 As shown, the second limiting member 5 also includes a limiting plate 52, which is connected to the end of the limiting guide rod 51 away from the support plate 2, and the dimension of the limiting plate 52 in the radial direction of the limiting hole 11 is larger than the diameter of the limiting hole 11.
[0062] The limiting plate 52, as part of the second limiting member 5, is mainly used to prevent excessive radial displacement of the floating plate 1. By positioning the limiting plate 52 at the distal end of the limiting guide rod 51 and setting the radial dimension of the limiting plate 52 in the limiting hole 11 to be larger than the diameter of the limiting hole 11, the floating plate is ensured to be confined within a predetermined range during movement. The engagement between the limiting plate 52 and the limiting hole 11 prevents the floating plate 1 from moving excessively beyond the limiting hole 11 through physical blocking. During docking, the floating plate 1 is allowed to make minor adjustments to adapt to the actual docking position. However, when the displacement of the floating plate reaches the set limit, the floating plate 1 will be fixed within a suitable range by contacting the edge of the limiting hole 11.
[0063] One possible implementation involves multiple second limiting components and limiting holes, with the holes evenly distributed on the floating plate. By using multiple second limiting components and limiting holes, the movement of the floating plate during floating is more controlled. Compared to a single limiting structure, multiple limiting points can more evenly distribute the force, improving the stability of the floating plate.
[0064] This application also provides a bin-handling robot, for example, such as... Figure 4 As shown. The bin handling robot 100 includes a vehicle body 20, a picking and delivering device 30, and a floating device 40 as described above. The vehicle body 20 is connected to the support plate 2 of the floating device 40, and the picking and delivering device 30 is connected to the floating plate 1 of the floating device 40.
[0065] The picking and delivering device 30 can remove the bin from the target area of the storage and place the bin into the designated area of the storage. When the picking and delivering device 30 docks with the storage location in the storage, the telescopic fork of the picking and delivering device may shift in position. Due to the tilting and shifting of the telescopic fork, the telescopic fork of the picking and delivering device 30 will come into contact with the storage location. The impact is transmitted to the floating device 40, and the floating plate of the floating device 40 performs position compensation to achieve adaptive position correction.
[0066] In some embodiments, exemplarily, such as Figure 5 As shown, the bin handling robot 100 also includes a scissor lift device 50, and the vehicle body 20 is connected to the support plate 2 of the floating device 40 through the scissor lift device 50. The scissor lift device 50 can lift the handling device 30, realizing the vertical rise or fall of the handling device 30.
[0067] This application also provides a handling system, exemplary, in conjunction with Figure 1a and Figure 1b As shown. The material handling system includes a rack 10 and a bin-picking robot 100, wherein the bin-picking robot includes a vehicle body, a picking and delivering device, a scissor lift device, and a floating device as described above. The rack includes at least one layer. Figure 1a and Figure 1b Two shelves are shown. Each shelf 10 includes multiple storage locations 15 for storing bins, with gaps between adjacent storage locations 15. Each storage location 15 includes guide plates 151 located on both sides of the storage location 15. The vehicle body is connected to the support plate of the floating device via a scissor lift device, and the picking and delivering device is connected to the floating plate of the floating device. The scissor lift device is used to adjust the height of the picking and delivering device. The bin picking and placing robot 100 is configured to: adjust the direction of the vehicle body and adjust the scissor lift device so that the two sides of the bin carried by the picking and delivering device are aligned with the guide plates 151 on both sides of the target storage location; and, with the two sides of the bin and the guide plates 151 on both sides of the target storage location aligned in a straight line, control the extension of the telescopic forks of the picking and delivering device to place the bin into the target storage location.
[0068] The bin handling robot 100 is also configured to: adjust the direction of the vehicle body and adjust the scissor lift device so that the telescopic fork of the handling device is aligned with the target storage location. That is, when the bottom surface of the bin carried at the target storage location and the upper surface of the telescopic fork are on the same plane, the telescopic fork is controlled to extend to below the bottom surface of the bin carried at the target storage location so that the telescopic fork abuts against the bottom surface of the bin. The telescopic fork is then controlled to retract to remove the bin, thereby achieving the purpose of moving the bins in the target area out by the bin handling robot 100.
[0069] Since the material box picking and placing robot 100 in the handling system provided in this application includes the floating device as described above, during the process of placing the material box into the target storage position, the telescopic fork docks with the guide plate 151. The floating connection mechanism in the floating device can provide appropriate elasticity when the floating plate is subjected to external force, so that the floating plate can make fine adjustments during docking or operation to compensate for the position deviation caused by error, and realize the function of accurately placing the material box into the target storage position.
[0070] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the utility model disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.
[0071] Finally, it should be noted that the above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A floating device, characterized in that, Includes a floating plate, a support plate, a retaining assembly, and multiple floating connection mechanisms; The floating plate is located on one side of the support plate in the thickness direction, and there is a gap between the floating plate and the support plate; At least a portion of the retaining component is located between the floating plate and the support plate, and is configured to retain the distance between the floating plate and the support plate; the retaining component is movably connected to one of the floating plate and the support plate; The floating plate is connected to the support plate via the plurality of floating connection mechanisms, which are configured to allow the floating plate to move in a plane parallel to the support plate.
2. The floating device according to claim 1, characterized in that, The floating connection mechanism includes a first limiting member and an elastic component; The first limiting member is disposed on the surface of the support plate near the floating plate; One end of the elastic component is connected to the edge of the floating plate, and the other end extends away from the edge of the floating plate and abuts against the first limiting member; The elastic component is capable of stretching and contracting along its extension direction.
3. The floating device according to claim 2, characterized in that, The elastic component includes a floating seat, a floating shaft, a spring, and a cam follower; The floating seat is connected to the support plate, one end of the floating shaft is connected to the floating seat, and the other end is connected to the cam follower. The spring passes through the inside of the floating shaft. The cam follower abuts against the first limiting member.
4. The floating device according to claim 2, characterized in that, The first limiting member is disposed perpendicular to the surface of the support plate near the floating plate, and the elastic component abuts against the first surface of the first limiting member; the first surface faces the center line of the support plate along the thickness direction.
5. The floating device according to claim 4, characterized in that, The dimension of the first surface of the first limiting member in the preset direction is greater than or equal to the maximum floating distance of the floating plate in the preset direction; The preset direction is parallel to the edge of the support plate where the first limiting member is located.
6. The floating device according to claim 1, characterized in that, The floating plate includes multiple sides, and each side is provided with at least two of the floating connection mechanisms; The plurality of floating connection mechanisms are arranged symmetrically with respect to the bisector of the floating plate.
7. The floating device according to any one of claims 1 to 6, characterized in that, The retaining assembly includes a bullseye bearing and a bullseye bearing housing; The bullseye bearing seat is disposed on the surface of the support plate near the floating plate. The bullseye bearing is connected to the floating plate and is movably connected to the bullseye bearing seat through the floating plate.
8. The floating device according to claim 1, characterized in that, The number of retaining components is multiple, and the multiple retaining components are symmetrically arranged with respect to the bisector of the floating plate.
9. The floating device according to any one of claims 1 to 6, characterized in that, The floating device further includes a second limiting member, which includes a limiting guide rod; The floating plate is provided with a limiting hole, one end of the limiting guide rod is connected to the support plate, and the limiting guide rod passes through the limiting hole; The diameter of the limiting hole is larger than the size of the limiting guide rod in the radial direction of the limiting hole, and the height of the limiting guide rod is greater than the distance between the floating plate and the support plate.
10. The floating device according to claim 9, characterized in that, The second limiting member further includes a limiting plate, which is connected to the end of the limiting guide rod away from the support plate, and the dimension of the limiting plate in the radial direction of the limiting hole is larger than the diameter of the limiting hole.
11. The floating device according to claim 9, characterized in that, The second limiting member and the limiting hole are both multiple, and the multiple limiting holes are evenly distributed on the floating plate.
12. A bin-handling robot, characterized in that, It includes a vehicle body, a pickup and delivery device, and a floating device as described in any one of claims 1 to 11, wherein the vehicle body is connected to the support plate of the floating device, and the pickup and delivery device is connected to the floating plate of the floating device.
13. The bin-handling robot according to claim 12, characterized in that, The bin handling robot also includes a scissor lift device, and the vehicle body is connected to the support plate of the floating device through the scissor lift device.
14. A handling system, characterized in that, The system includes a shelf and bin picking and placing robot, wherein the bin picking and placing robot includes a vehicle body, a picking and delivering device, a scissor lift device, and a floating device as described in any one of claims 1 to 11; The shelf includes at least one layer, each layer including multiple storage positions for storing bins, with gaps between adjacent storage positions; each storage position includes guide plates located on both sides of the storage position; The vehicle body is connected to the support plate of the floating device via the scissor lift device, and the pick-up and delivery device is connected to the floating plate of the floating device; the scissor lift device is used to adjust the height of the pick-up and delivery device. The bin picking and placing robot is configured to: adjust the direction of the vehicle body and adjust the scissor lift device so that the two sides of the bin carried by the picking and placing device are aligned with the guide plates on both sides of the target storage position. When the two sides of the bin and the guide plates on both sides of the target storage position are respectively in the same straight line, the telescopic fork of the picking and placing device is controlled to extend to place the bin into the target storage position. The box retrieval robot is further configured to: adjust the direction of the vehicle body and adjust the scissor lift device so that the telescopic fork of the retrieval device is aligned with the target storage location; control the telescopic fork to extend to below the bottom surface of the box carried by the target storage location so that the telescopic fork abuts against the bottom surface of the box; and control the telescopic fork to retract to remove the box.