Bin handling robot

Abstract

This utility model discloses a bin-handling robot, which includes a vehicle body, telescopic forks, a distance sensor, and a control device. The telescopic forks include a support base and fork bodies. The support base is connected to the vehicle body and has a load-bearing area. The fork bodies are disposed on the support base and are telescopic. The distance sensor is disposed on the support base and connected to the control device for detecting the distance between the distance sensor and the bin. The control device controls the extension or retraction of the fork bodies based on the distance detected by the distance sensor. This solution can solve the problem in related technologies where bin-handling robots easily tip over or pull down bins located on shelves when picking them up or placing them on shelves.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a bin-picking and placing robot. Background Technology

[0002] In automated warehousing systems, bin-pickup robots are used to retrieve bins from shelves. Existing bin-pickup robots use their telescopic forks to pick up bins from the shelf and place them into the robot's loading area (i.e., the picking process), or to place bins from the loading area onto the shelf (i.e., the placing process). However, during the picking or placing process, due to positioning errors and mechanical execution errors, the telescopic forks may potentially tip over bins from the shelf or pull bins off the shelf. Utility Model Content

[0003] This utility model discloses a bin-picking and placing robot to solve the problem in related technologies that bin-picking and placing robots easily tip over or bring down bins located on shelves when picking them up or placing them on shelves.

[0004] To solve the above-mentioned technical problems, this utility model is implemented as follows:

[0005] This application discloses a bin-handling robot, which includes a vehicle body, telescopic forks, a distance sensor, and a control device. The telescopic forks include a support base and fork bodies. The support base is connected to the vehicle body and has a load-bearing area. The fork bodies are disposed on the support base and are telescopic. The distance sensor is disposed on the support base and connected to the control device for detecting the distance between the distance sensor and the bin. The control device is used to control the fork bodies to extend or stop extending based on the distance detected by the distance sensor.

[0006] The technical solution adopted in this utility model can achieve the following technical effects:

[0007] This embodiment of the application sets the bin-handling robot to a structure including a vehicle body, telescopic forks, a distance sensor, and a control device. The telescopic forks are set to a structure including a support base and fork bodies. The distance sensor is located on the support base and is used to detect the distance between the distance sensor and the bin. This allows the control device to control the extension or cessation of the fork bodies based on the distance detected by the distance sensor between the distance sensor and the bin. When it is confirmed that the bin located on the shelf is being pushed out when the fork bodies extend or when the bin is being moved by the fork bodies retracting, the control device stops the extension or cessation of the fork bodies, thereby preventing the bin from being pushed out or pulled down from the shelf. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of the structure of the first type of bin-handling robot disclosed in this utility model embodiment;

[0009] Figure 2 This is a schematic diagram illustrating the cooperation between the first type of bin-picking and placing robot and / or shelf disclosed in this utility model embodiment;

[0010] Figure 3 This is a schematic diagram of the structure of the second type of bin-handling robot disclosed in this utility model embodiment;

[0011] Figure 4 This is a schematic diagram of the cooperation between a second type of bin-picking robot and / or a shelf, as disclosed in an embodiment of this utility model.

[0012] Explanation of reference numerals in the attached figures:

[0013] A-Bin, B-Shelf

[0014] 100-Telescopic fork, 110-Support base, 111-Limiting guard, 111a-Guide ramp, 120-Fork body, 121-Telescopic side fork, 121a-Front fork, 121b-Middle fork, 121c-Rear fork, 122-Telescopic plate assembly, 122a-Support plate, 122a1-First plate, 122a2-Second plate, 122a3-Third plate, 130-Shift fork, 140-Fixed stop fork.

[0015] 200-distance sensor

[0016] 300 - Vehicle body, 310 - Storage space. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0018] The technical solutions disclosed in the various embodiments of this utility model are described in detail below with reference to the accompanying drawings.

[0019] Please refer to Figures 1 to 4 This utility model discloses a bin-picking and placing robot, which includes a vehicle body 300, a telescopic fork 100, a distance sensor 200, and a control device.

[0020] The telescopic fork 100 includes a support base 110 and a fork body 120. The support base 110 is connected to the vehicle body 300 and has a load-bearing area. The fork body 120 is disposed on the support base 110 and is telescopic. The fork body 120 is a component with a telescopic function. It can integrate a power unit to realize the telescopic function. Of course, the fork body 120 can also be driven to telescopically extend and retract by a separately set drive mechanism. This application embodiment does not impose specific limitations on the telescopic method of the fork body 120.

[0021] The bin picking and placing robot can be used to pick up bin A located on shelf B and move it to the carrying area by extending and retracting the fork 120, and can also place bin A located on the carrying area and move it onto shelf B.

[0022] The distance sensor 200 is located on the support base 110 and connected to the control device. It is used to detect the distance between the distance sensor 200 and the material box A. The control device is used to control the fork to extend or stop extending based on the distance detected by the distance sensor 200.

[0023] Specifically, the stopping position of the bin picking and placing machine relative to shelf B is fixed, and the placement position of bin A on shelf B is also fixed. Therefore, when the bin picking and placing robot needs to use the fork 120 to pick up bin A located on shelf B to the carrying area, or to place bin A located on the carrying area to shelf B, the preset length range of the fork 120 extension is also fixed. The preset length range is set based on the premise that the fork 120 can pick up bin A from shelf B or place bin A on shelf B when it extends.

[0024] When the forklift robot needs to retrieve box A from shelf B to the carrying area using forklift 120, forklift 120 needs to extend first, and then retract with box A after retrieving it. Distance sensor 200 can detect the distance between itself and box A on shelf B before forklift 120 extends. During the extension process, if forklift 120 hits box A on shelf B, distance sensor 200 will detect a sudden change in the distance between itself and box A, confirming that forklift 120 hit box A during extension. At this point, the control device can stop forklift 120 from extending, thus preventing box A from being pushed off shelf B and falling. If the distance detected by distance sensor 200 between itself and box A on shelf B remains constant, it indicates that forklift 120 did not hit box A during extension, and forklift 120 continues to extend until the extension length is within a preset range. After the forklift 120 retrieves bin A from shelf B and retracts while carrying bin A, the distance sensor 200 can detect the distance between itself and bin A in real time. When the difference between the distance between itself and bin A and the first preset distance value is within the first preset difference range, it can be confirmed that bin A has been completely placed in the carrying area, and the controller controls the forklift 120 to stop retracting. The first preset distance value and the first preset difference range are values ​​preset by the robot for picking up and placing bins, which can be obtained through calculation or experimentation.

[0025] When the forklift robot needs to place box A, located in the carrying area, onto shelf B using the forklift 120, the forklift 120 extends carrying box A. The distance sensor 200 can detect the distance between itself and box A in real time. If the difference between the distance sensor 200 and box A relative to a second preset distance value is within the second preset difference range, it can be confirmed that box A has reached the placement position on shelf B, and the forklift 120 is controlled to stop extending, thus placing box A onto shelf B. After box A is placed on shelf B, the forklift 120 begins to retract. If the distance sensor 200 detects that the distance difference between itself and box A on shelf B remains constant, the retraction process of the forklift 120 is confirmed to be safe. If the distance sensor 200 detects a change in the distance to box A, it indicates that box A has moved during retraction, and the controller can control the forklift 120 to stop retracting, preventing box A from being pulled off shelf B and falling. The second preset distance value and the second preset difference range are values ​​that are preset by the robot for picking up and placing items from the bin, and can be obtained through calculation or experimentation.

[0026] This embodiment of the application sets the bin-handling robot to a structure including a vehicle body 300, a telescopic fork 100, a distance sensor 200, and a control device. The telescopic fork 100 is set to a structure including a support base 110 and a fork body 120. The distance sensor 200 is located on the support base 110 and is used to detect the distance between the distance sensor 200 and the bin A. This allows the control device to control the extension or cessation of the fork body 120 based on the distance detected by the distance sensor 200 between the distance sensor 200 and the bin A. When it is confirmed, based on the distance detected by the distance sensor 200, that the bin A located on the shelf B is pushed out when the fork body 120 extends or that the bin 120 is moved when the fork body 120 retracts, the control device can stop the extension or cessation of the fork body 120, thereby preventing the bin A from being pushed out or pulled off the shelf B.

[0027] Specifically, the bin-handling robot has a picking mode and a placing mode. In picking mode, the control device can respond to a sudden change in the distance between the fork 120 and bin A detected by the distance sensor 200 when the fork 120 extends, and control the fork 120 to stop abruptly; and the control device can respond to a difference in the distance between the fork 120 and bin A relative to a first preset distance value detected by the distance sensor 200 when the fork 120 retracts, and confirm that bin A is completely placed in the carrying area, and control the fork 120 to stop retracting. In placing mode, the control device can respond to a difference in the distance between the fork 120 and bin A relative to a second preset distance value detected by the distance sensor 200 when the fork 120 extends, and confirm that bin A has reached the placement position on shelf B, and control the fork 120 to stop extending; and the control device can respond to a difference in the distance between the fork 120 and bin A remaining constant detected by the distance sensor 200 when the fork 120 retracts, and confirm that the retraction process of the fork 120 is safe.

[0028] In one optional embodiment, the fork body 120 may include two telescopic side forks 121, which may be disposed on both sides of the support base 110 in a telescopic direction perpendicular to the fork body 120. By providing two telescopic side forks 121, the two telescopic side forks 121 can cooperate with the material box A on both sides, thereby making it more stable when placing or removing the material box A from the shelf B.

[0029] Furthermore, the telescopic side fork 121 can be higher than the load-bearing area, and an accommodating space can be formed between the two telescopic side forks 121. The accommodating space between the two telescopic side forks 121 can limit the material box A, thereby preventing the material box A from falling from both sides of the telescopic side fork 121, which is beneficial to the stability of the material box A during the picking and placing process.

[0030] Optionally, the telescopic fork 100 may also include a dragging part, which may be located at the picking end of the telescopic side fork 121 for dragging the bin A located on the shelf B to the carrying area.

[0031] Specifically, when the two telescopic side forks 121 retrieve the material box A from the shelf B to the carrying area, the two telescopic side forks 121 extend first, and the distance between the two telescopic side forks 121 is greater than the width of the material box A. The two telescopic side forks 121 extend from both sides of the material box A, with a gap between them and the side walls of the material box A. After the two telescopic side forks 121 extend a preset length, they can approach each other to clamp the material box A. After clamping the material box A, the two telescopic side forks 121 can retract and carry the material box A to the carrying area. Then, the two telescopic side forks 121 move away from each other, thereby releasing the material box A. The process of the two telescopic side forks 121 placing the material box A from the carrying area to the shelf B is similar, and will not be described in detail here.

[0032] In another embodiment, the telescopic fork 100 may further include a dragging part, which may be located at the picking end of the telescopic side fork 121. The picking end may be the end of the fork body 120 that is away from the support base 110 after the fork body 120 is extended. The dragging part is used to drag the bin A located on the shelf B to the carrying area.

[0033] Specifically, the material box A may have a groove or hook structure that cooperates with the dragging part. When the fork 120 drags the material box A on the shelf B to the bearing area, the dragging part can hook the groove or hook, so that the material box A can be dragged onto the support base 110 during the retraction of the telescopic side fork 121.

[0034] The bin-handling robot disclosed in this application has a dragging part that allows the bin A to be dragged to the support base 110, making it relatively simple for the telescopic forks 100 to retract the bin A.

[0035] Optionally, the bin-handling robot may further include a first drive mechanism, which may be located on the fork body 120. The dragging part may include a fork 130, which may be movably located at the picking end. The first drive mechanism may be connected to the fork 130 to drive the fork 130 to switch between a first position and a second position. When the fork 130 is in the first position, it hooks the bin A to drag the bin A located on the shelf B to the carrying area. When the fork 130 is in the second position, it can detach from the bin A.

[0036] Specifically, when the shift fork 130 is in the first position, it can move between the two telescopic side forks 121. When the shift fork 130 is in the second position, it can move outside the area enclosed by the two telescopic side forks 121. Of course, when the shift fork 130 is in the first position, it can also be outside the area enclosed by the two telescopic side forks 121, and when the shift fork 130 is in the second position, it can move between the two telescopic side forks 121. The specific position of the shift fork 130 is not limited in this embodiment.

[0037] The bin picking and placing robot disclosed in this application movably sets the fork 130 at the picking end, so that the first drive mechanism can drive the fork 130 to switch between a first position and a second position. In the first position, the fork 130 can hook the bin A to drag the bin A located on the shelf B to the carrying area. In the second position, the fork 130 can separate from the bin A, thereby avoiding interference with the bin A.

[0038] Optionally, the telescopic fork 100 may further include a fixed stop fork 140, which is disposed on the telescopic side fork 121 and spaced apart from the picking end in the telescopic direction of the fork body 120. The fixed stop fork 140 can be used to push the bin A located in the carrying area onto the shelf B. When it is necessary to place the bin A located in the carrying area onto the shelf B, the fixed stop fork 140 can push the bin A to move onto the shelf B during the extension of the fork body 120.

[0039] Optionally, when the bin picking robot picks up bin A located on shelf B and moves it to the carrying area via fork 120, or places bin A located on the carrying area onto shelf B, in order to make the movement of bin A more stable, the support base 110 may optionally have two limiting edges 111. The limiting edges 111 may extend along the extension direction of fork 120. The two limiting edges 111 may be spaced between the two telescopic side forks 121. The two limiting edges 111 may be used to confine bin A within the area enclosed by the two limiting edges 111.

[0040] The bin-handling robot disclosed in this application provides two limiting edges 111 on the support base 110, which allows the bin A to be confined between the two limiting edges 111 during movement, thereby making the bin A more stable during movement.

[0041] Furthermore, the side of the two limiting edges 111 facing the picking end can have a guide slope 111a. In the extension direction of the fork body 120, the guide slope 111a can be inclined to the outside of the area enclosed by the two limiting edges 111. Thus, during the process of picking up the box A located on the shelf B to the carrying area, the box A can slide into the area enclosed by the two limiting edges 111 under the guidance of the guide slope 111a, thereby making the picking process of the box A smoother and also improving the accuracy of moving the box A to the support base 110.

[0042] Specifically, the telescopic side fork 121 may include a front fork 121a, a middle fork 121b, and a rear fork 121c. The rear fork 121c may be connected to the support base 110, the middle fork 121b may be slidably connected to the rear fork 121c, and the front fork 121a may be slidably connected to the middle fork 121b. The front fork 121a may have a pickup end. The front fork 121a, middle fork 121b, and rear fork 121c may slide relative to each other in the horizontal direction to achieve the telescopic extension and retraction of the telescopic side fork 121.

[0043] In another embodiment, the fork 120 may include a telescopic plate assembly 122, which may include a plurality of stacked support plates 122a, and the plurality of support plates 122a may extend and retract horizontally. The bin handling robot may also include a second drive mechanism, which may be located on the vehicle body 300 and may be connected to the support base 110, for driving the telescopic plate assembly 122 to move vertically through the support base 110.

[0044] In the picking mode, the second drive mechanism can be used to drive the telescopic plate assembly 122 to descend vertically to a third position before it extends, and to rise vertically to a fourth position before it retracts. In the unloading mode, the second drive mechanism can be used to drive the telescopic plate assembly 122 to rise vertically to a fourth position before it extends, and to descend vertically to a third position before it retracts.

[0045] Specifically, in the picking mode, before the telescopic plate assembly 122 extends, the second drive mechanism can drive the telescopic plate assembly 122 to descend vertically to the third position. Then, during the extension process, the telescopic plate assembly 122 can extend below the material box A, thereby preventing it from being tipped over. After the telescopic plate assembly 122 extends a preset length, the second drive mechanism can drive it to rise vertically to the fourth position, thereby lifting the material box A. After the material box A is lifted, the telescopic plate assembly 122 retracts, carrying the material box A to the carrying area.

[0046] In the loading mode, the telescopic plate assembly 122 carries the material box A and is located in the fourth position in the vertical direction. During the extension process, the telescopic plate assembly 122 carries the material box A out and transports the material box A to the position of shelf B. After the material box A reaches the position of shelf B, the second drive mechanism drives the telescopic plate assembly 122 to descend in the vertical direction to the third position. After the telescopic plate assembly 122 descends to the third position, it can retract, thereby preventing the material box A from falling off the shelf B during the retraction process.

[0047] Specifically, the telescopic plate assembly 122 may include a first plate 122a1, a second plate 122a2, and a third plate 122a3. The third plate 122a3 may be disposed on the support base 110. The second plate 122a2 may be slidably disposed on the third plate 122a3 in the horizontal direction. The first plate 122a1 may be slidably disposed on the second plate 122a2 in the horizontal direction. The telescopic plate assembly 122 can be telescopically extended by sliding the first plate 122a1, the second plate 122a2, and the third plate 122a3 in the horizontal direction.

[0048] Optionally, the vehicle body 300 may have a storage position 310, and the support base 110 is rotatably disposed on the vehicle body 300. The bin-handling robot may also include a third drive mechanism, which may be connected to the support base 110. The third drive mechanism may be used to drive the support base 110 to rotate to a fifth position or a sixth position. When the support base 110 is rotated to the fifth position, the fork 120 may be used to pick up the bin A located on the shelf B and place it into the carrying area, or to place the bin A located in the carrying area onto the shelf B. When the support base 110 is rotated to the sixth position, the fork 120 may be used to pick up the bin A located in the storage position 310 and place it into the carrying area, or to place the bin A located in the carrying area onto the storage position 310.

[0049] It should be noted that the process of the forklift 120 taking the bin A located in the storage position 310 to the carrying area, or taking the bin A located in the carrying area to the storage position 310, is similar to the process of the forklift 120 taking the bin A located on the shelf B to the carrying area, or taking the bin A located in the carrying area to the shelf B. They can be referred to each other, and will not be described in detail here.

[0050] The bin handling robot disclosed in this application provides a storage position 310 on the vehicle body 300 and a third drive mechanism, which drives the support base 110 to rotate to the fifth or sixth position. Thus, the telescopic fork 100 can be used to move the bin A between the shelf B and the storage position 310.

[0051] Optionally, the vehicle body 300 may have multiple storage positions 310 in the vertical direction, and the bin loading and unloading robot may also include a fourth drive mechanism, which can drive the third drive mechanism and the telescopic fork 100 to lift and lower as a whole, thereby enabling the telescopic fork 100 to switch between the positions of the multiple storage positions 310 in the vertical direction.

[0052] The above embodiments of this utility model mainly describe the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. For the sake of brevity, they will not be described in detail here.

[0053] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

Claims

1. A magazine taking-out robot characterized by comprising: The device includes a vehicle body (300), a telescopic fork (100), a distance sensor (200), and a control device. The telescopic fork (100) includes a support base (110) and a fork body (120). The support base (110) is connected to the vehicle body (300) and has a load-bearing area. The fork body (120) is located on the support base (110) and is telescopic. The distance sensor (200) is located on the support base (110) and connected to the control device. It is used to detect the distance between the distance sensor (200) and the hopper (A). The control device is used to control the fork body to extend or stop extending based on the distance detected by the distance sensor (200).

2. The magazine handling robot of claim 1, wherein, The bin-handling robot has a picking mode and a placing mode; In the picking mode, the control device controls the fork (120) to stop abruptly when the distance sensor (200) detects a sudden change in the distance to the bin (A) when the fork (120) extends; and when the distance sensor (200) detects that the difference between the distance to the bin (A) and the fork (120) is within a first preset distance value when the fork (120) retracts, confirms that the bin (A) is completely placed in the carrying area and controls the fork (120) to stop retracting. In the loading mode, when the distance sensor (200) detects that the distance between the fork (120) and the bin (A) is within the second preset distance value range when the fork (120) extends, the control device confirms that the bin (A) has reached the placement position of the shelf (B) and controls the fork (120) to stop extending; and when the distance sensor (200) detects that the distance between the fork (120) and the bin (A) remains unchanged when the fork (120) retracts, the control device confirms that the retraction process of the fork (120) is safe.

3. The magazine handling robot of claim 1, wherein, The fork body (120) includes two telescopic side forks (121), which are located on both sides of the support base (110) in a telescopic direction perpendicular to the fork body (120).

4. The magazine handling robot of claim 3, wherein, The telescopic side fork (121) is higher than the load-bearing area.

5. The bin-handling robot according to claim 3, characterized in that, The telescopic fork (100) also includes a dragging part, which is located at the picking end of the telescopic side fork (121) and is used to drag the bin (A) located on the shelf (B) to the carrying area.

6. The bin-handling robot according to claim 5, characterized in that, The bin picking and placing robot also includes a first drive mechanism, which is disposed on the fork body (120). The dragging part includes a fork (130), which is movably disposed on the picking end. The first drive mechanism is connected to the fork (130) and is used to drive the fork (130) to switch between a first position and a second position. When the fork (130) is in the first position, the fork (130) is used to hook the bin (A) to drag the bin (A) located on the shelf (B) to the carrying area; When the shift fork (130) is in the second position, the shift fork (130) is separated from the hopper (A).

7. The bin handling robot according to claim 3, characterized in that, The telescopic fork (100) also includes a fixed stop fork (140), which is disposed on the telescopic side fork (121) and spaced apart from the picking end of the telescopic side fork (121) in the telescopic direction of the fork body (120). The fixed stop fork (140) is used to push the bin (A) located in the carrying area onto the shelf (B).

8. The bin handling robot according to claim 3, characterized in that, The support base (110) has two limiting edges (111), which extend along the telescopic direction of the fork (120). The two limiting edges (111) are spaced apart between the two telescopic side forks (121). The two limiting edges (111) are used to limit the material box (A) within the area enclosed by the two limiting edges (111).

9. The bin handling robot according to claim 8, characterized in that, The two limiting edges (111) have a guide slope (111a) on the side facing the picking end of the telescopic side fork (121), and the guide slope (111a) is inclined to the outside of the area enclosed by the two limiting edges (111) in the extension direction of the fork body (120).

10. The bin handling robot according to claim 1, characterized in that, The fork (120) includes a telescopic plate assembly (122), which includes a plurality of stacked support plates (122a), and the plurality of support plates (122a) are telescopically extendable in the horizontal direction. The bin loading and unloading robot also includes a second drive mechanism, which is located on the vehicle body (300) and connected to the support base (110), for driving the telescopic plate assembly (122) to rise and fall in the vertical direction through the support base (110); In the pickup mode, the second drive mechanism is used to drive the telescopic plate assembly (122) to descend to a third position in the vertical direction before the telescopic plate assembly (122) extends, and to drive the telescopic plate assembly (122) to rise to a fourth position in the vertical direction before the telescopic plate assembly (122) retracts. In the loading mode, the second drive mechanism is used to drive the telescopic plate assembly (122) to rise in the vertical direction to the fourth position before the telescopic plate assembly (122) extends, and to drive the telescopic plate assembly (122) to descend in the vertical direction to the third position before the telescopic plate assembly (122) retracts.

11. The bin handling robot according to claim 1, characterized in that, The vehicle body (300) has a storage position (310), and the support base (110) is rotatably disposed on the vehicle body (300). The bin loading and unloading robot also includes a third drive mechanism, which is connected to the support base (110) and is used to drive the support base (110) to rotate to the fifth position or the sixth position. When the support base (110) is rotated to the fifth position, the fork (120) is used to pick up and place the bin (A) located on the shelf (B) into the carrying area, or to place the bin (A) located in the carrying area onto the shelf (B). When the support base (110) is rotated to the sixth position, the fork (120) is used to pick up and place the hopper (A) located on the storage position (310) into the bearing area, or to place the hopper (A) located in the bearing area into the storage position (310).

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