Inclusion limit type carrying robot and warehouse system

Abstract

The utility model discloses a kind of containment limit type's carrying robot and warehousing system, belong to intelligent warehousing technical field.Meanwhile, carrying robot includes taking and placing device and lifting device, taking and placing device is configured to be able to carry material box;Lifting device is configured to be able to drive taking and placing device up and down movement;Wherein, taking and placing device includes: base, it is suitable for carrying material box;Driving assembly, it is suitable for providing driving force;First limit rod, it is configured to be able to drive material box under the action of driving assembly, and move into base along first direction;And second limit rod, it is configured to be able to drive material box under the action of driving assembly, and move away from base along first direction;Wherein, first limit rod and second limit rod are spaced apart along first direction.The utility model can reduce the requirement to the positioning accuracy of material box, improve the material taking success rate, also improve the stability of material box in carrying process, enhance the adaptability to different sizes of material box.

Description

Technical Field

[0001] This utility model relates to the field of intelligent warehousing technology, and in particular to a containment and limiting handling robot and warehousing system. Background Technology

[0002] In related technologies, the automated handling of bins generally relies on handling robots in warehouse automation systems. Currently, common handling robots typically use mechanical grippers to hold bins or vacuum suction cups to pick them up. However, these methods require precise alignment of the bins to complete the picking operation successfully, resulting in high precision requirements and low error tolerance, thus reducing the success rate of picking. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a containment-type limiting handling robot, which can reduce the requirements for the positioning accuracy of the material bin, thereby improving the success rate of material retrieval.

[0004] This utility model also proposes a warehousing system that includes the above-mentioned containment and limiting type handling robot.

[0005] A containment and limiting handling robot according to a first aspect of the present invention includes: a pick-and-place device and a lifting device, the pick-and-place device being configured to handle a material box; the lifting device being configured to drive the pick-and-place device to move up and down; wherein the pick-and-place device includes: a base adapted to support the material box; a drive assembly adapted to provide a driving force; a first limiting rod configured to drive the material box into the base along a first direction under the action of the drive assembly; and a second limiting rod configured to drive the material box away from the base along the first direction under the action of the drive assembly; wherein the first limiting rod and the second limiting rod are spaced apart along the first direction.

[0006] The containment and limiting transport robot according to the embodiments of the present utility model has at least the following beneficial effects:

[0007] The pick-and-place device of the containment-limiting handling robot of this utility model is equipped with a first limiting rod and a second limiting rod, wherein the first limiting rod and the second limiting rod are arranged laterally at intervals. The drive component can drive the first limiting rod and the second limiting rod to move synchronously until the material box is aligned with the gap between the first limiting rod and the second limiting rod. The pick-and-place device is driven to move through the lifting device, thereby moving the material box between the first limiting rod and the second limiting rod. Then, the drive component drives the first limiting rod and the second limiting rod to move, so that the first limiting rod or the second limiting rod abuts against the material box and pushes the material box to move. Based on this, the material box can follow the frame to move, thereby realizing the handling of the material box. The containment-limiting handling method can not only reduce the requirements for the positioning accuracy of the material box and reduce the dependence on the initial positioning accuracy of the material box, thereby improving the success rate of picking up the material, but also improve the stability of the material box during the handling process and enhance the adaptability to material boxes of different sizes.

[0008] According to some embodiments of the present invention, the picking and placing device further includes two side plates, which are spaced apart along a second direction. The first direction is perpendicular to the second direction, and the two ends of the first limiting rod are connected to the two side plates.

[0009] According to some embodiments of the present invention, the two ends of the second limiting rod are connected to the two side plates, and the first limiting rod, the second limiting rod and the two side plates are arranged to form a frame that can surround the material box.

[0010] According to some embodiments of the present invention, the base is provided with a bottom plate, the bottom plate is located on the lower side of the frame, and the driving component is configured to drive the frame to move relative to the base, so as to drive the material box to move onto or out of the bottom plate.

[0011] According to some embodiments of the present invention, the base further includes two limiting plates spaced apart along the second direction. The two limiting plates are disposed between the two side plates and connected to the bottom plate, and are respectively located on both sides of the bottom plate along the second direction. The two limiting plates are used to restrict the movement of the material box located on the bottom plate.

[0012] According to some embodiments of the present invention, the ends of the two limiting plates away from the second limiting rod are respectively provided with guiding inclined surfaces. Along the direction in which the material box moves to the bottom plate, the distance between the two guiding inclined surfaces gradually decreases, so as to guide the material box to move to the bottom plate.

[0013] According to some embodiments of the present invention, the limiting plate includes a first guide portion and a second guide portion arranged sequentially along the direction of the second limiting rod toward the first limiting rod. The first guide portion extends along the first direction, and the guide slope is provided on the second guide portion and offset away from the other second guide portion along the direction of the second limiting rod toward the first limiting rod.

[0014] According to some embodiments of the present invention, the handling robot further includes at least one visual inspection device, which is mounted on the base and located on the side of the second limiting rod opposite to the first limiting rod.

[0015] According to some embodiments of the present invention, the handling robot further includes at least one visual inspection device, and at least one of the visual inspection devices is connected to the lower side of the end of the base plate near the first limiting rod.

[0016] According to some embodiments of the present invention, the lifting device includes two vertically arranged columns, which are spaced apart. The handling robot also includes a support frame, with sliders on both sides of the support frame. The sliders are slidably connected to the columns via rollers inside the columns. The picking and placing device is installed on the support frame.

[0017] The warehousing system according to a second aspect of the present invention includes the containment and limiting handling robot described in the first aspect embodiment.

[0018] The warehousing system according to the embodiments of this utility model has at least the following beneficial effects:

[0019] The warehousing system of this utility model adopts the containment and limiting handling robot of the first aspect embodiment. By optimizing the structural design of the handling robot, the containment and limiting bin handling method is realized. This not only reduces the requirements for bin positioning accuracy and the dependence on the initial positioning accuracy of the bin, thereby improving the success rate of picking up materials, but also reduces the time loss of repositioning and picking up materials due to picking failure, thus improving the operating efficiency of the entire warehousing system. It also improves the stability of the bin during the handling process, helps to reduce the cost of cargo damage in the warehousing and logistics process, and enhances the adaptability to bins of different sizes.

[0020] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0022] Figure 1 This is a schematic diagram of the structure of a containment and limiting handling robot according to an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of a pick-and-place device according to an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the state of the handling robot before it picks up the material box according to an embodiment of the present invention;

[0025] Figure 4 for Figure 1 A magnified view of a section at point C;

[0026] Figure 5 This is a top view of the loading and unloading device after it is fitted into the loading box according to an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the structure of a concealed picking and placing device of a containment and limiting handling robot according to an embodiment of the present invention.

[0028] Icon labels:

[0029] 1000 handling robots; 2000 material bins; 3000 storage platforms;

[0030] Picking and placing device 100; driving assembly 110; frame 120; first limiting rod 121; second limiting rod 122; side plate 123; limiting groove 130; base 140; bottom plate 141; limiting plate 142; guide slope 143;

[0031] Lifting device 200; Column 210;

[0032] Visual inspection device 300;

[0033] Bracket 400; Slider 410;

[0034] Storage rack 500; storage platform 510. Detailed Implementation

[0035] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0036] In the description of this utility model, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing this utility model 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 this utility model.

[0037] In the description of this utility model, the use of "first" and "second" is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features or the order of the technical features.

[0038] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0039] Currently, most material handling robots use mechanical grippers or vacuum suction cups to pick up materials from bins. However, when using mechanical grippers, the picking and placing device must be precisely aligned with the gripping point of the bin, which obviously places high demands on the initial positioning accuracy of the bin. Similarly, the use of vacuum suction cups also requires precise alignment, and they have high requirements for the flatness and cleanliness of the top surface of the bin.

[0040] Therefore, both grippers and suction cups require precise alignment between the picking and placing device and the hopper. Deviations in hopper placement or slight errors in robot positioning can easily lead to gripping failures or unstable holding. This increases the complexity and cost of the robot positioning system and reduces the robot's success rate under suboptimal working conditions. Furthermore, both of these handling methods have specific requirements for the hopper's structure, resulting in limited versatility and making them unsuitable for different types of hoppers.

[0041] To address the aforementioned problems, some embodiments of this utility model propose a containment and limiting handling robot 1000, suitable for warehousing systems. This robot reduces the positioning accuracy requirements of the material bin 2000, thereby improving the material retrieval success rate. See details below. Figures 1 to 6 The diagram illustrates the containment and limiting type of handling robot 1000.

[0042] For ease of description, the following description will use a warehousing system as an example. (Refer to...) Figure 1As shown in the embodiment of this utility model, the handling robot 1000 includes a picking and placing device 100, a lifting device 200, and a storage rack 500. The picking and placing device 100 is installed on the lifting device 200. The storage rack 500 includes a plurality of placement platforms 510 spaced apart along its height direction. The lifting device 200 is used to drive the picking and placing device 100 to move up and down along the height direction of the storage rack 500, so as to facilitate the picking and placing device 100 to transfer the material box 2000 initially placed in the storage platform 3000 to the target placement platform 510.

[0043] Specifically, refer to Figure 1 and Figure 2 As shown in this embodiment of the invention, the handling robot 1000 includes a pick-and-place device 100 and a lifting device 200. The pick-and-place device 100 includes a base 140, a drive assembly 110, a first limiting rod 121, and a second limiting rod 122. The base 140 is adapted to carry a material box 2000. The drive assembly 110 is connected to the first limiting rod 121 and the second limiting rod 122, thereby driving them to move laterally. Specifically, the lifting device 200 and the drive assembly 110 can cooperate to move the material box 2000 between the first limiting rod 121 and the second limiting rod 122. At this time, the drive assembly 110 drives the first limiting rod 121 and the second limiting rod 122 to move backward, and the first limiting rod 121 can drive the material box 2000 to be moved into the base 140 in a first direction. When the hopper 2000 is located inside the base 140, the drive assembly 110 drives the first limit rod 121 and the second limit rod 122 to move forward. The second limit rod 122 can drive the hopper 2000 to be moved out of the base 140 along the first direction.

[0044] In one example, the pick-and-place device 100 includes a drive assembly 110 and a frame 120. A first limiting rod 121 and a second limiting rod 122 are located at both ends of the frame 120 along a first direction. The drive assembly 110 is connected to the frame 120 and configured to drive the frame 120 to move laterally. In this embodiment, the drive assembly 110 can be implemented using a servo motor or a linear motor in conjunction with a transmission assembly, for precisely controlling the lateral displacement of the frame 120. Specifically, with... Figure 2 Taking the front-to-back direction as an example, the drive component 110 can drive the frame 120 to extend forward, and it can also drive the frame 120 to retract backward. Continuing to refer to... Figure 1 and Figure 2 As shown, in this embodiment of the present invention, the frame 120 is arranged along the circumference of the material box 2000 and defines a limiting groove 130 suitable for accommodating the material box 2000.

[0045] It is understood that the frame 120 is a rigid frame structure used to surround the material box 2000, which can fit around the outer periphery of the material box 2000 to achieve containment and limitation. Based on this, the drive device can complete the material box 2000's material loading and unloading operations by pulling the material box 2000 back or pushing it out. The limiting groove 130 has a vertically oriented opening. In one example, the opening is formed by the lower end of the frame 120 and is configured to allow the material box 2000 to pass through. In this embodiment, since the opening is located vertically in the limiting groove 130, the material box 2000 can naturally enter the limiting groove 130 during the lifting and lowering of the frame 120.

[0046] Therefore, referring to Figure 1 As shown, in this embodiment of the present invention, the lifting device 200 is connected to the picking and placing device 100 and is configured to drive the picking and placing device 100 to move vertically. The driving component 110 and the lifting device 200 cooperate to drive the frame 120 to move, and to move the material box 2000 into the limiting groove 130 through the opening. The driving component 110 can drive at least a portion of the inner wall of the frame 120 to abut against the material box 2000 in the limiting groove 130, thereby pushing the material box 2000 to move.

[0047] Combination Figure 1 and Figure 3 It can be understood that during material handling, the lifting device 200 first drives the picking and placing device 100 to rise until the frame 120 is higher than the top of the material box 2000. Subsequently, the driving component 110 can drive the frame 120 to extend forward until the opening is aligned with the material box 2000. It should be emphasized that the alignment of the opening with the material box 2000 can be understood as the projection of the material box 2000 being located within the outer contour line of the projection of the opening on the horizontal projection plane. Based on this, in this embodiment, as long as the size of the opening is set to be larger than that of the material box 2000, the difficulty of aligning the opening with the material box 2000 can be significantly reduced, thereby relaxing the requirements for the positioning accuracy of the material box 2000.

[0048] Reference Figure 4 As shown, after the opening is aligned with the material bin 2000, the lifting device 200 drives the picking and placing device 100 to descend, allowing the material bin 2000 to pass through the opening. The frame 120 then fits over the outer periphery of the material bin 2000. Next, the drive assembly 110 drives the frame 120 to retract backward, with the front side of the frame 120 abutting against the front end of the material bin 2000, thus moving the material bin 2000 and enabling material picking. It can be understood that the material placing process is the reverse of the material picking process and can be achieved through reverse operation.

[0049] In one example, the frame 120 has an open structure, specifically including a first limiting rod 121 and a second limiting rod 122. The first limiting rod 121 and the second limiting rod 122 are spaced laterally, thereby achieving circumferential spacing along the material box 2000. When the drive assembly 110 drives the first limiting rod 121 and the second limiting rod 122 to move synchronously along the direction of the first limiting rod 121 toward the second limiting rod 122, the first limiting rod 121 pushes the material box 2000 to move; conversely, when the drive assembly 110 drives the first limiting rod 121 and the second limiting rod 122 to move along the direction of the second limiting rod 122 toward the first limiting rod 121, the second limiting rod 122 pushes the material box 2000 to move.

[0050] Understandably, compared to gripper and suction cup material handling, this embodiment of the invention, through the spatial containment characteristics of the limiting groove 130, allows for a certain positional deviation of the material box 2000 in both the lateral and longitudinal directions, achieving non-contact guided positioning of the material box 2000 and effectively reducing the requirements for initial positional accuracy. The spatial containment characteristics of the frame 120 can automatically correct the positional deviation of the material box 2000, improving the success rate of material handling operations. Furthermore, the passive contact generated by the movement of the frame 120 is used to fix the material box 2000, reducing the complexity of motion control and the need for precision sensors.

[0051] The pick-and-place device 100 of the containment and limiting handling robot 100 of this utility model embodiment is equipped with a frame 120, wherein the frame 120 is arranged along the circumference of the material box 2000 and defines a limiting groove 130 suitable for accommodating the material box 2000; when picking up materials, the drive component 110 can drive the frame 120 to move until the opening is aligned with the material box 2000, and the lifting device 200 drives the pick-and-place device 100 to move so that the frame 120 is fitted around the outer periphery of the material box 2000; then the drive component 110 drives the frame 120 to move. The frame 120 moves so that at least part of its inner wall abuts against the hopper 2000. Based on this, the hopper 2000 can move with the frame 120, thereby realizing the handling of the hopper 2000. The enclosing and limiting handling method not only reduces the requirements for the positioning accuracy of the hopper 2000 and reduces the dependence on the initial positioning accuracy of the hopper 2000, thereby improving the success rate of picking up materials, but also improves the stability of the hopper 2000 during the handling process and enhances the adaptability to hoppers 2000 of different sizes.

[0052] Reference Figure 2As shown in this embodiment of the invention, the frame 120 includes a first limiting rod 121, a second limiting rod 122, and two side plates 123. The first limiting rod 121 and the second limiting rod 122 are spaced apart along a first direction, and the two side plates 123 are spaced apart along a second direction. The first direction and the second direction are perpendicular to each other. In one example, the first direction is the front-back direction, and the second direction is the left-right direction. Based on this, the first limiting rod 121 and the second limiting rod 122 are arranged along the moving direction of the material box 2000 when picking up and putting in materials. Therefore, they can limit the front and back movement of the material box 2000 during the movement.

[0053] In one example, the two ends of the first limiting rod 121 are connected to the two side plates 123. It should be noted that in this embodiment, the second limiting rod 122 can be constructed as a segmented structure or as a crossbar structure.

[0054] Continue to refer to Figure 2 As shown, in another example, the two ends of the first limiting rod 121 and the two ends of the second limiting rod 122 are respectively connected to the two side plates 123 to form a limiting groove 130. It should be noted that in this embodiment, the frame 120 is a closed structure that can surround the material box 2000 circumferentially. The two side plates 123 are vertical plates perpendicular to the moving direction of the material box 2000, and can be fixed to the first limiting rod 121 and the second limiting rod 122 by welding or bolting, used to limit the left and right movement of the material box 2000 during movement.

[0055] Specifically, when the drive assembly 110 drives the frame 120 to move laterally, the first limiting rod 121 and the second limiting rod 122 form front-to-back constraints along the moving direction of the material box 2000, while the two side plates 123 form left-to-right constraints perpendicular to the moving direction. After the material box 2000 enters the limiting groove 130 through the opening of the limiting groove 130 by the vertical movement of the pick-and-place device 100, the rigid frame formed by the first limiting rod 121, the second limiting rod 122 and the two side plates 123 can completely wrap the outer contour of the material box 2000, preventing the material box 2000 from shifting or shaking during transportation.

[0056] Understandably, compared to point-contact fixing of the material box 2000 using grippers or suction cups, which requires precise control of the clamping position and force, this embodiment of the invention, through the fully enclosed structure of the limiting groove 130, ensures that the material box 2000 is always rigidly constrained in four directions during movement, thus reducing the requirements for positioning accuracy. Furthermore, the frame 120 can accommodate material boxes 2000 of different sizes; compatibility can be achieved simply by adjusting the distance between the first limiting rod 121 and the second limiting rod 122, as well as the distance between the two side plates 123.

[0057] Reference Figure 2and Figure 3 As shown, in this embodiment of the invention, the opening is formed at the lower end of the frame 120. Specifically, the lower ends of the first limiting rod 121, the second limiting rod 122, and the two side plates 123 surround and form the opening. Based on this, the pick-and-place device 100 also includes a base 140 movably connected to the frame 120. In one example, the frame 120 and the base 140 achieve relative displacement through a sliding track. Specifically, this can be achieved by using a linear column 210 in conjunction with a slider 410, so that the drive assembly 110 can control the frame 120 to translate back and forth. The base 140 is provided with a bottom plate 141, which is located on the lower side of the frame 120 and vertically opposite to the opening. It can be understood that in the initial state, the frame 120 is located directly above the bottom plate 141. Therefore, when the frame 120 places the picking box 2000 and pulls the box 2000 back, the box 2000 in the limiting groove 130 can fall onto the bottom plate 141.

[0058] The drive assembly 110 is configured to drive the frame 120 to move relative to the base 140, thereby causing the hopper 2000 to move onto or off the base plate 141. Specifically, in conjunction with Figure 4 It is understood that after the frame 120 is fitted around the material box 2000, the drive assembly 110 can drive the frame 120 to reset, thereby pulling the material box 2000 back and transferring it onto the base plate 141. During material feeding, the drive assembly 110 moves the frame 120 in the opposite direction, causing the material box 2000 to move off the base plate 141.

[0059] Reference Figure 2 and Figure 3 As shown, in this embodiment of the present invention, the first limiting rod 121 and the second limiting rod 122 are arranged sequentially along the direction in which the material box 2000 moves onto the base plate 141, so as to... Figure 2 Taking the front-to-back direction as an example, the first limiting rod 121 and the second limiting rod 122 are arranged sequentially from front to back. In this embodiment, the distance between the bottom surface of the first limiting rod 121 and the bottom end of the side plate 123 is D, and the height of the side plate 123 is H, satisfying: D≥H / 2.

[0060] It should be noted that D refers to the vertical distance between the lower edge of the first limiting rod 121 and the bottom of the side plate 123. This dimension controls the clearance space when the material box 2000 enters the limiting groove 130. H refers to the total height of the side plate 123 from bottom to top. This parameter determines the coverage area of ​​the side plate 123 over the material box 2000. In this embodiment, since D is set to at least half the height of the side plate 123, a sufficient gap is always maintained between the top of the material box 2000 and the bottom of the side plate 123 before it contacts the bottom plate 141.

[0061] Reference Figure 1 and Figure 2As shown in this embodiment of the invention, the base 140 further includes two limiting plates 142 spaced apart along the second direction. The two limiting plates 142 are disposed between the two side plates 123 and are used to restrict the movement of the material box 2000 located on the base plate 141. In other words, the limiting plates 142 are used to laterally constrain the material box 2000. The two limiting plates 142 are connected to the base plate 141 and are respectively located on both sides of the base plate 141 along the second direction. They are vertically fixed to the side edges of the base plate 141, and restrict the displacement of the material box 2000 in the second direction by physical blocking.

[0062] Specifically, during the process of transferring the material box 2000 to the base plate 141, the two limiting plates 142 not only serve as guides to ensure that the material box 2000 is moved smoothly onto the base plate 141 and to prevent it from colliding with the side plate 123, but also form a lateral clamping space after the material box 2000 is completely placed on the base plate 141, which significantly enhances the stability of the material box 2000.

[0063] Reference Figure 2 and Figure 5 As shown in this embodiment of the invention, the ends of the two limiting plates 142 away from the second limiting rod 122 are provided with guiding inclined surfaces 143 for guiding the material box 2000 to move onto the base plate 141. Along the direction in which the material box 2000 moves onto the base plate 141, the distance between the two guiding inclined surfaces 143 gradually decreases. Specifically, the guiding inclined surface 143 refers to the inclined surface provided at the end of the limiting plate 142, which can provide a guiding effect when it contacts the material box 2000. The gradually decreasing distance means that the guiding inclined surfaces 143 of the two limiting plates 142 have a symmetrical constricted shape in the direction of movement of the material box 2000, forming a funnel-shaped guiding channel.

[0064] Specifically, when the hopper 2000 is pushed into the area of ​​the base plate 141, the guide ramp 143 contacts the side of the hopper 2000, forcing the hopper 2000 to automatically adjust its lateral position during movement. As the hopper 2000 moves deeper in the direction of movement, the distance between the two guide ramps 143 gradually decreases, so that the hopper 2000 is eventually constrained to the center area of ​​the base plate 141, until it is completely moved onto the base plate 141.

[0065] Specifically, in this embodiment of the invention, the limiting plate 142 includes a first guide portion and a second guide portion arranged sequentially along the direction of the second limiting rod 122 toward the first limiting rod 121, wherein the first guide portion and the second guide portion are integrally formed to form the limiting plate 142. In this embodiment, the first guide portion extends along a first direction, and a guiding inclined surface 143 is provided on the second guide portion and offset away from the other second guide portion along the direction of the second limiting rod 122 toward the first limiting rod 121.

[0066] Based on this, during the process of the first limiting rod 121 driving the material box 2000 to move to the base plate 141, the material box 2000 will first contact the second guide part, and under the guidance of the guide slope 143, it will transition to the first guide part and move along the first guide part, thereby ensuring the accuracy of the direction of movement of the material box 2000.

[0067] Reference Figure 5 As shown, in this embodiment of the present invention, along the second direction, the width of the material box 2000 is W, and the minimum distance between the two limiting plates 142 is A, satisfying: AW≥6cm. It should be noted that the minimum distance between the limiting plates 142 refers to the minimum interval distance between the two limiting plates 142 along the second direction, and the width of the material box 2000 refers to the maximum outer contour dimension of the material box 2000 along the second direction.

[0068] Specifically, in this embodiment of the invention, the width of the channel formed by the two limiting plates 142 is set to be at least 6 cm wider than the width of the material box 2000. In this state, the material box 2000 has sufficient movement margin in the second direction, allowing the frame 120 to push the material box 2000 with a horizontal offset without rigidly contacting the limiting plates 142. This gap design allows the material box 2000 to automatically adjust its position during the pushing process, avoiding jamming due to positioning errors. Simultaneously, it ensures that the limiting plates 142 can still effectively constrain the lateral movement trajectory of the material box 2000, thus enabling the material box 2000 to smoothly enter the limiting area even with positional deviations, completing the pick-and-place operation without relying on a high-precision positioning system.

[0069] Continue to refer to Figure 5 As shown in this embodiment of the present invention, along the first direction, the length of the material box 2000 is L, and the distance between the first limiting rod 121 and the second limiting rod 122 is B, satisfying: BL≥3cm. It should be noted that the distance B between the first limiting rod 121 and the second limiting rod 122 refers to the center distance between the two along the first direction. This distance is configured to be greater than the length L of the material box 2000, thereby providing space to accommodate deviations when the material box 2000 moves into the limiting groove 130.

[0070] Specifically, the difference between the length L of the material box 2000 along the first direction and the distance B between the first limiting rod 121 and the second limiting rod 122 is set to at least 3 cm. This allows for a certain positional deviation of the material box 2000 during the insertion process. For example, if the material box 2000 is not completely aligned with the center of the limiting groove 130, it can still smoothly enter the limiting groove 130. Furthermore, when the frame 120 pushes the material box 2000, the gap between the limiting rod and the material box 2000 can avoid friction or jamming caused by excessive tightness, thereby reducing the dependence on positioning accuracy. This allows the material box 2000 to be effectively accommodated and positioned by the limiting groove 130 even if there is a certain offset during the insertion process, significantly reducing the requirement for initial positioning accuracy.

[0071] Reference Figure 2 and Figure 3 As shown in this embodiment of the invention, the handling robot 1000 further includes at least one visual inspection device 300, which is disposed on the side of the second limiting rod 122 facing away from the first limiting rod 121; and / or, at least one visual inspection device 300 is connected to the lower side of the end of the base plate 141 near the first limiting rod 121. It should be noted that the visual inspection device 300 refers to an image acquisition device used to obtain spatial position information of the target object. Specifically, it can be implemented using an industrial camera combined with image processing algorithms, achieving positioning by capturing the edge features of the material bin 2000.

[0072] In one example, the visual inspection device 300 located on the side of the second limiting rod 122 facing away from the first limiting rod 121 can be used to detect the height of the material box 2000, and the visual inspection device 300 connected to the lower side of the bottom plate 141 near the end of the first limiting rod 121 can be used to identify the QR code information of the material box 2000 to read its information data.

[0073] Reference Figure 6 As shown, in this embodiment of the present invention, the lifting device 200 includes two vertically arranged columns 210, spaced apart. Each column 210 is a vertically arranged track structure, serving to provide guiding constraints for the lifting motion. In this embodiment, each column 210 has a groove inside, in which a roller is provided for rolling connection with the groove. The handling robot 1000 also includes a support 400, with sliders 410 on both sides of the support 400 that slide in cooperation with the columns 210. The sliders 410 are connected to the rollers, thus enabling sliding cooperation between the rollers and the columns 210. The pick-and-place device 100 is mounted on the support 400; specifically, the base 140 is fixedly connected to the support 400.

[0074] Specifically, the bracket 400 is slidably connected to the two columns 210 via sliders 410 on both sides. When the lifting device 200 drives the bracket 400 to move, the sliders 410 slide vertically along the guide surface of the columns 210, so that the pick-up and put-down device 100 can maintain a stable lifting trajectory, thereby enhancing the rigidity and smoothness of the lifting system.

[0075] An embodiment of this utility model also proposes a warehousing system, including the containment and limiting handling robot 1000 described in the above embodiment.

[0076] The warehousing system of this utility model adopts the containment and limiting handling robot 1000 of the above embodiment. By optimizing the structural design of the handling robot 1000, the containment and limiting material box 2000 handling method is realized. This not only reduces the requirements for the positioning accuracy of the material box 2000 and reduces the dependence on the initial positioning accuracy of the material box 2000, thereby improving the success rate of picking up materials, reducing the time loss of repositioning and picking up materials due to material picking failure, and improving the operating efficiency of the entire warehousing system, but also improves the stability of the material box 2000 during the handling process, which helps to reduce the cost of cargo damage in the warehousing and logistics process, and enhances the adaptability to material boxes 2000 of different sizes.

[0077] Since the warehousing system adopts all the technical solutions of the inclusive and limiting handling robot 1000 of the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0078] Of course, this utility model is not limited to the above-described embodiments. Those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of this utility model. All such equivalent modifications or substitutions are included within the scope defined by the claims of this application.

Claims

1. A containment and limit type handling robot (1000) characterized by, include: A pick-and-place device (100) configured to transport a material box (2000). as well as A lifting device (200) is configured to drive the picking and placing device (100) to move up and down; The pick-and-place device (100) includes: A base (140) adapted to support the hopper (2000); Drive assembly (110), which is adapted to provide driving force; A first limiting rod (121) is configured to drive the hopper (2000) into the base (140) along a first direction under the action of the drive assembly (110); and The second limiting rod (122) is configured to drive the hopper (2000) away from the base (140) in a first direction under the action of the drive assembly (110). The first limiting rod (121) and the second limiting rod (122) are spaced apart along the first direction.

2. The containment and limit type handling robot (1000) according to claim 1, characterized in that, The pick-and-place device (100) also includes two side plates (123), which are spaced apart along a second direction. The first direction is perpendicular to the second direction. The two ends of the first limiting rod (121) are connected to the two side plates (123).

3. The containment and limit type handling robot (1000) according to claim 2, characterized in that, The two ends of the second limiting rod (122) are connected to the two side plates (123), and the first limiting rod (121), the second limiting rod (122) and the two side plates (123) are arranged to form a frame (120) that can surround the material box (2000).

4. The containment and limit type handling robot (1000) according to claim 3, characterized in that, The base (140) is provided with a base plate (141) located on the lower side of the frame (120). The drive assembly (110) is configured to drive the frame (120) to move relative to the base (140) to move the hopper (2000) onto or off the base plate (141).

5. The containment and limit type handling robot (1000) according to claim 4, characterized in that, The base (140) further includes two limiting plates (142) spaced apart along the second direction. The two limiting plates (142) are located between the two side plates (123). The two limiting plates (142) are connected to the bottom plate (141) and are respectively located on both sides of the bottom plate (141) along the second direction. The two limiting plates (142) are used to restrict the movement of the material box (2000) located on the bottom plate (141).

6. The containment and limit type handling robot (1000) according to claim 5, characterized in that, The ends of the two limiting plates (142) away from the second limiting rod (122) are respectively provided with guide slopes (143). Along the direction in which the material box (2000) moves to the bottom plate (141), the distance between the two guide slopes (143) gradually decreases to guide the material box (2000) to move to the bottom plate (141).

7. The containment and limit type handling robot (1000) according to claim 6, characterized in that, The limiting plate (142) includes a first guide portion and a second guide portion arranged sequentially along the direction of the second limiting rod (122) toward the first limiting rod (121). The first guide portion extends along the first direction, and the guide slope (143) is provided on the second guide portion and offset away from the other second guide portion along the direction of the second limiting rod (122) toward the first limiting rod (121).

8. The containment and limit type handling robot (1000) according to claim 4, characterized in that, The transport robot (1000) also includes at least one vision inspection device (300), which is mounted on the base (140) and located on the side of the second limiting rod (122) facing away from the first limiting rod (121).

9. The containment and limit type handling robot (1000) according to claim 4, characterized in that, The transport robot (1000) also includes at least one vision inspection device (300), at least one of the vision inspection devices (300) being connected to the lower side of the end of the base plate (141) near the end of the first limiting rod (121).

10. The containment and limit type handling robot (1000) according to claim 1, characterized in that, The lifting device (200) includes two vertically arranged columns (210) spaced apart. The handling robot (1000) also includes a bracket (400). Column sliders (410) are provided on both sides of the bracket (400). The sliders (410) slide in cooperation with the column through rollers that are rolled inside the column (210). The picking and placing device (100) is installed on the bracket (400).

11. A warehousing system characterised in that, Including the containment and limiting handling robot (1000) as described in any one of claims 1 to 10.

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