A goods storage and retrieval device for a handling robot and a handling robot system

Abstract

The application relates to the technical field of goods storage and taking devices, and particularly discloses a carrying robot goods storage and taking device and a carrying robot system; wherein the carrying robot goods storage and taking device comprises a base, a supporting plate and a clamping plate; the base is provided with an opening in a first direction in a horizontal direction; the supporting plate is movably arranged on the base along the first direction; and the clamping plate is movably arranged on the supporting plate, so that the clamping plate can be clamped with goods or separated from the goods. In the scheme, the clamping plate can be clamped with the goods, and then the supporting plate is moved to realize the transfer of the goods; the clamping structure has fewer associated components than a push-pull structure or a clamping structure, and is helpful to the compactness and simplification of the overall structure of the carrying robot goods storage and taking device.

Description

[0001] This application claims priority to the patent filed on October 31, 2024, with application number 202422652926.0. Technical Field

[0002] This application relates to the field of cargo storage and retrieval device technology, and in particular to a cargo storage and retrieval device and a cargo handling robot system for a handling robot. Background Technology

[0003] A handling robot is a transportation tool used for handling goods. It has a transportation system with autonomous navigation, autonomous obstacle avoidance and intelligent charging. It can transfer multiple goods at the same time and achieve efficient stacking and storage in the transportation system.

[0004] As a type of handling robot, the container transport unit (CTU) can fully utilize the high-density advantage of container storage through vertical space, and perform real-time scheduling and monitoring with various automated equipment to pick and carry multiple containers from the shelf area, and then deliver the required containers to the operator, achieving fast and efficient inventory turnover.

[0005] Existing material handling robots, such as bin-type CTUs, typically move goods using push-pull or gripper arms. Push-pull arms require moving behind the goods, resulting in a long travel distance and complex overall structure; gripper arms need to hold the goods, further increasing the overall size and complexity of the structure. Utility Model Content

[0006] In view of this, the purpose of this application is to provide a cargo storage and retrieval device and a cargo storage and retrieval system for a handling robot, in order to solve the problems of large size and complex structure of existing cargo storage and retrieval devices for handling robots.

[0007] To achieve the above-mentioned technical objectives, the first aspect of this application provides a cargo storage and retrieval device for a handling robot, comprising: a base, a support plate, and a card plate;

[0008] The base has an opening in a first direction facing the horizontal.

[0009] The support plate is movably disposed on the base along the first direction;

[0010] The pallet can be movably mounted on the support plate so that it can engage or disengage from the goods.

[0011] Furthermore, the card plate can be lifted and lowered on the support plate;

[0012] The goods are material boxes;

[0013] When the pallet engages the goods, the pallet at least abuts against the inner wall of the hopper.

[0014] Furthermore, it also includes electric motors;

[0015] The support plate is provided with a rack;

[0016] The card plate is equipped with rotatable gears;

[0017] The gear meshes with the rack;

[0018] The motor is mounted on the card plate, and the output end of the motor is connected to the gear.

[0019] Furthermore, the card plate is provided with several protrusions;

[0020] When the card plate engages the goods, the protrusion extends into the goods and abuts against the inner wall of the goods.

[0021] Furthermore, the card plate includes: a horizontal plate and a vertical plate;

[0022] The vertical plate can be raised and lowered on the support plate;

[0023] The horizontal plate is connected to the vertical plate on one side along the horizontal direction, and the horizontal plate is perpendicular to the vertical plate;

[0024] The protrusion is located on the other side of the horizontal plate along the horizontal direction.

[0025] Furthermore, the card plate can be flipped onto the support plate;

[0026] The goods are material boxes;

[0027] When the pallet engages the goods, the pallet enters the material box and abuts against the inner wall of the material box.

[0028] Furthermore, the support plate comprises two;

[0029] The card plate is disposed between the two support plates.

[0030] Furthermore, the card plate is provided with a through-hole groove at the bottom;

[0031] The groove is used for inserting the goods so that the card plate can engage the goods.

[0032] When the pallet engages the goods, the support plate drives the pallet to move along the first direction, and the grooves along both sides of the first direction can push or pull the goods to move.

[0033] A second aspect of this application provides a handling robot system, including the handling robot cargo storage and retrieval device described in any of the preceding claims.

[0034] Furthermore, it also includes a material bin rack;

[0035] The base can be raised and lowered on the material box frame.

[0036] Furthermore, the material box frame is equipped with a liftable support base;

[0037] The base is rotatably mounted on the support in the horizontal direction.

[0038] As can be seen from the above technical solutions, this application provides a cargo storage and retrieval device for a handling robot and a handling robot system; wherein, the cargo storage and retrieval device for the handling robot includes: a base, a support plate and a clamping plate; the base is provided with an opening in a first direction in the horizontal direction; the support plate is movably disposed on the base along the first direction; the clamping plate is movably disposed on the support plate so that the clamping plate can engage or disengage from the cargo.

[0039] In this solution, the movable card can be engaged with the goods, and then the moving support plate can realize the transfer of the goods. The card-engaging structure requires fewer related parts than the push-pull structure or clamping structure, which helps to make the overall structure of the goods storage and retrieval device of the handling robot more compact and simplified. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the structure of a cargo storage and retrieval device for a handling robot provided in an embodiment of this application;

[0042] Figure 2 This is a structural schematic diagram from another perspective of a cargo storage and retrieval device for a handling robot provided in an embodiment of this application;

[0043] Figure 3 An enlarged view of the motor mounting position of a cargo storage and retrieval device for a handling robot provided in this application embodiment;

[0044] Figure 4 An enlarged view of the pallet position of a cargo storage and retrieval device for a handling robot provided in this application embodiment;

[0045] Figure 5 This is a schematic diagram of the structure of a handling robot system provided in an embodiment of this application;

[0046] Figure 6 Another enlarged view of the pallet position of a cargo storage and retrieval device for a handling robot provided in this application embodiment;

[0047] In the diagram: 10. Base; 11. Opening; 20. Support plate; 21. Rack; 30. Clamping plate; 31. Gear; 32. Protrusion; 33. Vertical plate; 34. Horizontal plate; 40. Goods; 50. Motor; 60. Material box rack; 61. Support base;

[0048] x-axis direction: First direction. Detailed Implementation

[0049] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments in this application specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection claimed in this application.

[0050] In the description of the embodiments of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0051] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a replaceable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0052] Please see Figure 1 and Figure 2 The first aspect of this application provides a cargo storage and retrieval device for a handling robot, including: a base 10, a support plate 20 and a card plate 30;

[0053] The base 10 serves as the main support and transport body for goods, and it has an opening 11 in a first horizontal direction. Goods 40 can enter the base 10 through the opening 11 or be removed from the base 10. In this embodiment, the first direction can be... Figure 1 The positive and negative directions of the x-axis. Optionally, the base 10 may be provided with baffles in other directions along the horizontal direction, which can provide support and protection for the cargo 40.

[0054] The support plate 20 is movably disposed on the base 10 along a first direction. In this embodiment, the movable range of the support plate 20 may be limited to the base 10, meaning that no guide or support structure for the movement of the support plate 20 needs to be provided on the outside of the base 10. Optionally, the support plate 20 may be movable by providing a guide structure such as a slide groove on the base 10, and the support plate 20 may be slidably mounted on the slide groove.

[0055] The pallet 30 is movably mounted on the support plate 20 so that it can engage with or disengage from the goods 40. In this embodiment, the pallet 30 can move on the support plate 20 to change the connection state between itself and the goods 40.

[0056] When the base 10 is used in a handling robot system, the base 10 is a movable structure that can be raised and lowered to different heights along the handling robot's shelf to connect with goods 40 placed at different heights; at the same time, the base 10 can move horizontally along with the handling robot system to realize the transfer of goods 40. Taking a bin-type CTU handling robot as an example, the shelf can be a bin rack.

[0057] The storage process of the cargo storage and retrieval device of the handling robot can be as follows: after the base 10 is raised and lowered to dock with the cargo 40 to be retrieved, the support plate 20 moves along the first direction to align with the side of the cargo 40; then, the clamping plate 30 moves to engage with the cargo 40; after the clamping plate 30 engages with the cargo 40, the support plate 20 moves to drive the cargo 40 through the opening 11 into the base 10, thus completing the storage process of the cargo 40.

[0058] The retrieval process of the cargo storage and retrieval device of the handling robot can be as follows: after the base 10 is raised and lowered to align with the storage cavity of the material box rack or shelf, the support plate 20 drives the pallet 30 to move along the first direction to push the cargo 40 out of the opening 11 into the storage cavity; after the cargo 40 is completely pushed out, the pallet 30 moves to separate from the cargo 40, and the cargo 40 retrieval process is completed.

[0059] It should be noted that in this embodiment, the way the pallet 30 engages with the goods 40 can be, for example, by setting an engaging structure on the goods 40, or by having the pallet 30 engage with the edge of the goods 40.

[0060] The cargo storage and retrieval device for the handling robot provided in this embodiment can connect cargo by snapping, and then move cargo 40 by moving the support plate 20. Compared with the gripping manipulator, the structure for connecting cargo 40 in this embodiment is simpler. Compared with the push-pull manipulator, the card plate 30 in this embodiment does not need to move to the rear of cargo 40 (the side of cargo 40 away from the base 10) to pull cargo, so the structure is more compact and simplified.

[0061] In one embodiment, the goods 40 stored and retrieved by the handling robot's goods storage and retrieval device is a bin; the bin contains materials, and the top of the bin is provided with a bin edge; wherein, the bin edge at the top of the bin can be formed by the bin opening towards the top.

[0062] In one embodiment, the pallet 30 can be lifted and lowered on the support plate 20; when the pallet 30 engages with the goods 40, the pallet 30 at least abuts against the inner wall of the material box.

[0063] Specifically, in this embodiment, the pallet 30 can be lowered to below the top edge of the hopper; when the support plate 20 moves along the first direction until the pallet 30 is above the hopper, the pallet 30 can be lowered to partially extend into the hopper. Correspondingly, when the pallet 30 rises to be completely above the hopper, the pallet 30 can be separated from the hopper.

[0064] In one embodiment, the pallet 30 is provided with a through-groove 35 at the bottom; the groove 35 is used for inserting goods so that the pallet 30 can engage the goods 40; when the pallet 30 engages the goods 40, during the process of the support plate 20 driving the pallet 30 to move along the first direction, the groove 35 can push or pull the goods 40 along both sides of the first direction.

[0065] As one implementation, the cross-section of the clamping plate 30 along the vertical direction can be an inverted U-shape, that is, the groove 35 is an inverted U-shape, so that when the groove 35 clamps the goods 40, it can simultaneously abut against the inner wall and the outer wall of the material box. At this time, the support plate 20 can pull or push the goods 40 by moving forward or backward along the first direction.

[0066] Specifically, taking the positive direction of the first direction as the direction of pushing the goods 40 and the movement of the clamping plate 30 on the support plate 20 as a lifting movement, when it is necessary to clamp the goods, the support plate 20 can drive the clamping plate 30 to move along the positive direction of the first direction to above the edge of the goods 40. For example, when the goods 40 are a material box, the clamping plate 30 moves to above the edge of the material box, so that the groove 35 is directly opposite the edge of the material box. Then the clamping plate 30 descends, causing the groove 35 to descend so that the edge of the material box can be clamped in, completing the clamping of the clamping plate 30 and the goods 40. After clamping, when the support plate 20 drives the clamping plate 30 to move along the positive direction of the first direction, the outer side of the groove 35 can push the goods 40 to move along the positive direction of the first direction; when the support plate 20 drives the clamping plate 30 to move in the opposite direction of the first direction, the outer side of the groove 35 can pull the goods 40 to move in the opposite direction of the first direction.

[0067] As another implementation, a fixed push plate can be provided on the support plate 20; during the picking process, the support plate 20 moves in the first direction, which can drive the push plate to abut against the outer wall of the goods 40 and push the goods 40.

[0068] In a more specific embodiment, please refer to Figure 3 The cargo handling robot storage and retrieval device also includes a motor 50; a rack 21 is provided on the support plate 20; a rotatable gear 31 is provided on the pallet 30; the gear 31 meshes with the rack 21; the motor 50 is provided on the pallet 30, and the output end of the motor 50 is connected to the gear 31.

[0069] The output end of the motor 50 can be connected to the gear 31 by fixing the output end of the motor 50 to the gear 31, or by connecting the gear 31 through other transmission components, so that the motor 50 can drive the gear 31 to rotate when it starts.

[0070] In one embodiment, see Figure 2 and Figure 4 The pallet 30 is provided with several protrusions 32; when the pallet 30 engages with the goods 40, the protrusions 32 extend into the goods 40 and abut against the inner wall of the goods 40.

[0071] exist Figure 4 In the illustrated embodiment, there are two protrusions 32, spaced apart. The protrusions 31 extend vertically downward relative to the main body of the pallet 30. By providing the protrusions 32, it is easier for the pallet 30 to extend into the cargo 40, thereby facilitating the engagement of the pallet 30 and the cargo 40.

[0072] As one implementation method, please refer to Figure 4The card plate 30 includes a horizontal plate 34 and a vertical plate 33; the vertical plate 33 is vertically mounted on the support plate 20; the horizontal plate 34 is connected to the vertical plate 33 on one side along the horizontal direction, and the horizontal plate 34 is perpendicular to the vertical plate 33; the protrusion 32 is provided on the other side of the horizontal plate 34 along the horizontal direction.

[0073] In this embodiment, when the protrusion 32 extends into the cargo 40, the horizontal plate 34 can press against the upper edge of the cargo 40, thereby improving the stability of the engagement between the clamping plate 30 and the cargo 40, and helping the support plate 20 to smoothly pull the cargo 40 when it moves. Furthermore, during the cargo retrieval process, the vertical plate 33 can abut against the outer wall of the cargo 40 to achieve a smooth cargo pushing process.

[0074] In another embodiment provided in this application, the pallet 30 is flipped and disposed on the support plate 20; when the pallet 30 engages with the goods 40, the pallet 30 enters the material box and abuts against the inner wall of the material box.

[0075] In this embodiment, the pallet 30 adjusts its distance from the goods 40 by flipping. When the pallet 30 flips into the interior of the goods 40 and abuts against the inner wall of the goods 40, the support plate 20 moves in the opposite direction to the first direction to store the goods 40. When the pallet 30 flips out of the interior of the goods 40 and further flips to abut against the outer wall of the goods 40, the support plate 20 moves in the first direction to push the goods 40 out.

[0076] In other embodiments, the pallet 30 may include a main plate and a flip plate; the flip plate may be flipped onto the main plate; during the storage process, the flip plate flips to abut against the inner wall of the goods 40, and the support plate 20 can pull the goods 40 to move; during the retrieval process, the main plate abuts against the outer wall of the goods 40, so the support plate 20 can push the goods 40 to move.

[0077] In the application, the support plate 20 includes two; the clamping plate 30 is disposed between the two support plates 20.

[0078] A second aspect of this application provides a handling robot system, including the handling robot cargo storage and retrieval device of any of the above claims.

[0079] Please see Figure 5 The handling robot system provided in this embodiment also includes a material box frame 60; the base 10 is liftably mounted on the material box frame 60.

[0080] Goods 40 can be temporarily stored on the bin rack 60. The goods can be transferred between the bin rack 60 and the shelf via the liftable base 10.

[0081] In one embodiment, the bin rack 60 is provided with a liftable support base 61; when the support base 61 is raised or lowered, it can drive the base 10 to be raised or lowered. The base 10 is rotatably mounted on the support base 61 in the horizontal direction, so that the base 10 can rotate to change the orientation of the opening 11 toward the shelf or bin rack 60.

[0082] The above are merely preferred embodiments of this application and are not intended to limit the present invention. Although the present application has been described in detail with reference to examples, those skilled in the art can still modify the technical solutions described in the foregoing examples or make equivalent substitutions for some of the technical features. However, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A cargo storage and retrieval device for a handling robot, characterized in that, include: Base (10), support plate (20) and clamping plate (30); The base (10) has an opening (11) in a first direction facing the horizontal direction. The support plate (20) is movably disposed on the base (10) along the first direction; The pallet (30) is movably mounted on the support plate (20) so that the pallet (30) can engage with the goods (40) or separate from the goods (40).

2. The cargo storage and retrieval device for a handling robot according to claim 1, characterized in that, The card plate (30) can be raised and lowered on the support plate (20); The goods (40) are a container; When the pallet (30) engages the goods (40), the pallet (30) at least abuts against the inner wall of the hopper.

3. The cargo storage and retrieval device for a handling robot according to claim 2, characterized in that, It also includes the motor (50); A rack (21) is provided on the support plate (20); The card plate (30) is provided with a rotatable gear (31); The gear (31) meshes with the rack (21); The motor (50) is mounted on the card plate (30), and the output end of the motor (50) is connected to the gear (31).

4. The cargo storage and retrieval device for a handling robot according to claim 2 or 3, characterized in that, The card plate (30) is provided with a plurality of protrusions (32); When the pallet (30) engages the goods (40), the protrusion (32) extends into the bin and abuts against the inner wall of the bin.

5. The cargo storage and retrieval device for a handling robot according to claim 4, characterized in that, The card plate (30) includes: a horizontal plate (34) and a vertical plate (33); The vertical plate (33) can be raised and lowered on the support plate (20); The horizontal plate (34) is connected to the vertical plate (33) on one side in the horizontal direction, and the horizontal plate (34) is perpendicular to the vertical plate (33); The protrusion (32) is located on the other side of the horizontal plate (34) in the horizontal direction.

6. The cargo storage and retrieval device for a handling robot according to claim 1, characterized in that, The card plate (30) can be flipped and mounted on the support plate (20); The goods (40) are a container; When the pallet (30) engages the goods (40), the pallet (30) enters the bin and abuts against the inner wall of the bin.

7. The cargo storage and retrieval device for a handling robot according to claim 1, characterized in that, The support plate (20) comprises two; The card plate (30) is disposed between the two support plates (20).

8. The cargo storage and retrieval device for a handling robot according to claim 1 or 2, characterized in that, The card plate (30) is provided with a bottom through groove (35); The groove (35) is used for inserting the goods so that the card plate (30) engages the goods (40). When the card plate (30) engages the goods (40), the support plate (20) drives the card plate (30) to move along the first direction, and the groove (35) along both sides of the first direction can push or pull the goods (40) to move.

9. A handling robot system, characterized in that, Includes the cargo storage and retrieval device for a handling robot as described in any one of claims 1 to 8.

10. The handling robot system according to claim 9, characterized in that, It also includes a bin rack (60); The base (10) can be raised and lowered on the material box frame (60).

11. The handling robot system according to claim 10, characterized in that, The material box frame (60) is provided with a liftable support base (61). The base (10) is rotatably mounted on the support (61) in the horizontal direction.

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