Handling robot and warehousing system
Patent Information
- Application Number
- CN202522397786.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-11
- Publication Date
- 2026-10-16
- Estimated Expiration
- 2035-11-11
Smart Images
Figure CN224857547U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of warehousing and logistics technology, and in particular to a handling robot and a warehousing system. Background Technology
[0002] In automated warehouses, multi-depth racking is often used to increase storage density. Each location on a multi-depth rack can hold at least two boxes in the depth direction. When retrieving boxes from the deepest locations on a multi-depth rack, the handling robot usually needs to extend its picking mechanism into the location. However, as the picking mechanism moves from the handling robot to the location, it may get stuck in the gap between the handling robot and the rack, causing the picking / placing to fail.
[0003] Therefore, in some application scenarios, the picking and placing mechanism of existing handling robots is prone to getting stuck, making them inconvenient to use. Utility Model Content
[0004] This application provides a handling robot and a warehousing system to solve the problem that the picking and placing mechanism of existing handling robots is easily jammed in some scenarios, making them inconvenient to use.
[0005] The handling robot provided in this application includes:
[0006] Base;
[0007] A guiding mechanism, comprising a guiding component and a first driving member, wherein the guiding component is disposed on a base and the first driving member is connected to the guiding component to drive the guiding component to move relative to the base portion to outside the base;
[0008] The box retrieval mechanism is mounted on the base and includes a push-pull assembly and a second driving member. The second driving member is connected to the push-pull assembly to drive the push-pull assembly to move linearly relative to the base.
[0009] The loading and unloading mechanism also includes a guide and limiting component, and the push-pull component is fixedly connected to the guide and limiting component;
[0010] The second driving component is used to drive the guide and limit assembly and the push-pull assembly to move linearly along the guide assembly.
[0011] In one possible implementation, the handling robot provided in this application embodiment further includes:
[0012] The climbing mechanism is located at the end of the base. The climbing mechanism is used to dock with the shelf and drive the base to climb along the shelf.
[0013] The controller is configured to, before the climbing mechanism moves along the shelf to the height corresponding to the target storage location, control the second drive component to drive the push-pull assembly to move between the two ends of the base; when the climbing mechanism moves along the shelf to the height corresponding to the target storage location, control the first drive component to drive the guide assembly to move relative to the base portion to the outside of the base so that the guide assembly docks with the shelf, and control the second drive component to drive the push-pull assembly to move towards the target storage location via the guide assembly, thereby docking with the target bin.
[0014] In one possible implementation, the guiding mechanism of the handling robot provided in this application embodiment further includes:
[0015] A first transmission assembly is mounted on the base and connected to the guide assembly;
[0016] The first driving member is connected to the first transmission assembly to drive the guide assembly to move via the first transmission assembly.
[0017] In one possible implementation, the handling robot provided in this application includes a first transmission component comprising:
[0018] The mounting base is mounted on the base.
[0019] The transmission component is connected to the fixed base and is also connected to the guide assembly;
[0020] The first driving component is connected to the transmission component to drive the transmission component to move relative to the fixed base, and to cause the transmission component to drive the guide assembly to move.
[0021] In one possible implementation, the handling robot provided in this application embodiment has two fixed seats, which are spaced apart along the moving direction of the guide assembly. One of the two fixed seats is provided with a drive wheel, and the other is provided with a driven wheel. The first driving member is connected to the drive wheel.
[0022] The transmission components are wound around the drive wheel and the driven wheel.
[0023] In one possible implementation, the handling robot provided in this application includes a guiding component comprising a first guide member and a second guide member, both of which are connected to a first transmission component.
[0024] The first guide member and the second guide member are slidably disposed on opposite sides of the base at intervals, and the sliding direction of the first guide member and the second guide member is consistent with their own extension direction.
[0025] In one possible implementation, the handling robot provided in this application embodiment includes a linkage component in its guiding assembly. Both the first and second guiding components are connected to the linkage component, and the linkage component is connected to the first transmission assembly.
[0026] In one possible implementation, the handling robot provided in this application embodiment further includes:
[0027] The pallet is fixedly mounted on the base and is used to support the target hopper and to guide and limit the guide and limit components.
[0028] Two trays are provided, with the two trays spaced apart on the outer sides of opposite sides of the guide assembly;
[0029] The extension direction of the two trays is consistent with the movement direction of the guide assembly.
[0030] In one possible implementation, the handling robot provided in this application embodiment has two guide and limit components. The two guide and limit components are respectively connected to both sides of the push-pull component. Each guide and limit component includes a first guide part and a second guide part. The first guide part is used to cooperate with the tray on the same side, and the second guide part cooperates with the first guide member or the second guide member.
[0031] In one possible implementation, the handling robot provided in this application embodiment further includes a distance detection component, which is used to detect the distance between the guide component and the shelf;
[0032] The controller is further configured to acquire the distance between the guide component and the shelf when the climbing mechanism moves along the shelf to the height corresponding to the target storage location, and control the guide component to move to dock with the shelf based on the distance. The handling robot provided in this application embodiment includes a base, a guide mechanism, and a pick-and-place mechanism, both of which are connected to the base. A first driving component is provided on the guide mechanism, and a second driving component and a guide limiting component are provided on the pick-and-place mechanism. The first and second driving components are independent. The guide component in the guide mechanism can move independently under the drive of the first driving component and partially move outside the base. When there is a gap between the base and the shelf, the guide component moving outside the base can effectively fill the gap. The push-pull component in the pick-and-place mechanism can move relative to the base under the drive of the second driving component. Simultaneously, the push-pull component can also move along the guide component under the action of the guide limiting component. In this way, when the push-pull component moves outside the base, it can still move stably under the guidance of the guide component, avoiding the failure of the push-pull component to get stuck in the gap between the base and the shelf due to the lack of effective guidance and support, thus improving the convenience of using the handling robot.
[0033] This application embodiment also provides a warehousing system, including any of the above-mentioned handling robots, and also includes shelves for storing material boxes, and the handling robot is used to climb on the shelves to pick up and put away the material boxes.
[0034] The technical effects of the warehousing system provided in this application embodiment are similar to those of the aforementioned handling robot, and will not be described again. Attached Figure Description
[0035] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.
[0036] Figure 1 This is a schematic diagram illustrating the state of the handling robot climbing along the shelf, as provided in an embodiment of this application.
[0037] Figure 2 for Figure 1 A schematic diagram of the structure of the medium-sized transport robot;
[0038] Figure 3 for Figure 2 A structural diagram of another state of the transport robot;
[0039] Figure 4 for Figure 2 A partial structural diagram of the transport robot;
[0040] Figure 5 for Figure 4 A schematic diagram of the structure of the guide mechanism and the base;
[0041] Figure 6 for Figure 5 A partial structural diagram of the guide mechanism;
[0042] Figure 7 for Figure 6 A partial structural schematic diagram of the first transmission component;
[0043] Figure 8 This is a schematic diagram of the state of the handling robot retrieving the box provided in the embodiments of this application. Figure 1 ;
[0044] Figure 9 This is a schematic diagram of the state of the handling robot retrieving the box provided in the embodiments of this application. Figure 2 ;
[0045] Figure 10 for Figure 9 Enlarged view of point A in the middle;
[0046] Figure 11 This is a partial structural diagram illustrating the second drive component in a material handling robot.
[0047] Figure 12 This is a control diagram of a transport robot.
[0048] Explanation of reference numerals in the attached figures:
[0049] 100 - Base; 110 - Tray;
[0050] 200 - Guide mechanism; 201 - First driving component; 210 - Guide assembly; 211 - First guide component; 212 - Second guide component; 213 - Linkage component; 2131 - Clamping block; 220 - First transmission assembly; 221 - Fixed base; 2211 - Drive wheel; 2212 - Driven wheel; 222 - Transmission component;
[0051] 300 - Box pick-and-place mechanism; 301 - Second driving component; 302 - Rigid chain; 310 - Guide and limit assembly; 311 - First guide part; 312 - Second guide part; 320 - Push-pull assembly; 330 - Second transmission assembly; 331 - First gear; 332 - Second gear; 333 - Sprocket shaft; 334 - Sprocket;
[0052] 400 - Distance detection component;
[0053] 500-Climbing mechanism;
[0054] 600-Push mechanism;
[0055] 700 - Mobile mechanism;
[0056] 800 - Lifting mechanism; 810 - Scissor lift assembly; 820 - Mounting base;
[0057] 900 - Shelf; 910 - Warehouse location; 911 - Storage location; 912 - Horizontal support; 920 - Material bin.
[0058] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation
[0059] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. 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. In the absence of conflict, the following embodiments and features can be combined with each other.
[0060] In automated warehouses, multi-deep racks are often used to increase storage density. Each storage location of a multi-deep rack can store at least two boxes in the depth direction. When picking up or placing boxes in the deep storage locations of a multi-deep rack, the handling robot usually needs to extend the picking and placing mechanism into the storage location.
[0061] However, there is usually a gap between the handling robot and the shelf. This gap may be an inherent structural gap for the robot to dock with the shelf, or it may be a clearance gap created to avoid collisions between the robot and the shelf where some boxes protrude. When the picking and placing mechanism moves from the handling robot to the storage location, it may get stuck in the gap between the robot and the shelf, causing the picking and placing to fail.
[0062] Therefore, in some application scenarios, the picking and placing mechanism of existing handling robots is prone to getting stuck, making them inconvenient to use.
[0063] To overcome the deficiencies in the prior art, the present application provides a handling robot and a warehousing system. The handling robot includes a base, a guiding mechanism, and a box-picking / placing mechanism, both of which are connected to the base. A first driving component is mounted on the guiding mechanism, and a second driving component and a guide limiting component are mounted on the box-picking / placing mechanism. The first and second driving components are independent. The guide component in the guiding mechanism can move independently under the drive of the first driving component, and can partially move outside the base. When there is a gap between the base and the shelf, the guide component moving outside the base can effectively fill the gap. The push-pull component in the box-picking / placing mechanism can move relative to the base under the drive of the second driving component. Simultaneously, the push-pull component can also move along the guiding component under the action of the guide limiting component. Therefore, when the push-pull component moves outside the base, it can still move stably under the guidance of the guiding component, avoiding the situation where the push-pull component gets stuck at the gap between the base and the shelf due to a lack of effective guidance and support, thus preventing box retrieval failure and improving the convenience of using the handling robot.
[0064] The present invention will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can have a clearer and more detailed understanding of the present invention.
[0065] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 8 As shown, the handling robot provided in this application embodiment includes:
[0066] Base 100;
[0067] The guide mechanism 200 includes a guide component 210 and a first drive member 201. The guide component 210 is disposed on the base 100, and the first drive member 201 is connected to the guide component 210 to drive the guide component 210 to move partially relative to the base 100 to outside the base 100.
[0068] The box picking and placing mechanism 300 is mounted on the base 100. The box picking and placing mechanism 300 includes a push-pull assembly 320 and a second driving member 301. The second driving member 301 is connected to the push-pull assembly 320 to drive the push-pull assembly 320 to move linearly relative to the base 100.
[0069] The box picking and placing mechanism 300 also includes a guide and limiting component 310, and the push-pull component 320 is fixedly connected to the guide and limiting component 310;
[0070] The second driving component 301 is used to drive the guide limiting component 310 and the push-pull component 320 to move linearly along the guide component 210.
[0071] Understandably, the base 100 provides stable foundation support for the components on the handling robot that are directly related to the box picking and placing operation, so as to ensure that the handling robot maintains balance and stability during the box picking and placing process.
[0072] The guide mechanism 200 is mounted on the base 100. The guide assembly 210 moves relative to the base 100. The first drive member 201 is mounted on the base 100 and connected to the guide assembly 210 to drive the guide assembly 210 to move partially outside the base 100. This allows the guide assembly 210 to move to the gap between the base 100 and the shelf 900, bridging the gap and enabling the guide assembly 210 to further dock with the shelf 900, thereby effectively supporting the material box 920 and the push-pull assembly 320.
[0073] In the loading and unloading mechanism 300, a push-pull assembly 320 is mounted on the base 100 and moves relative to the base 100 to cooperate with the guide mechanism 200 to complete the loading and unloading operation of the material bin 920. A second driving member 301 is provided on the push-pull assembly 320. The second driving member 301 is independent of the first driving member 201 and can drive the push-pull assembly 320 to move between the two ends of the base 100. The push-pull assembly 320 may include a hook or a suction cup; the second driving member 301 may include a motor.
[0074] Meanwhile, the box picking and placing mechanism 300 is also equipped with a guide and limit component 310, and the push-pull component 320 is fixedly connected to the guide and limit component 310.
[0075] The guide limiting component 310 can further cooperate with the guide component 210 so that the guide limiting component 310 can move together with the push-pull component 320 along the guide component 210, thereby achieving stable movement of the push-pull component 320 within the interval area.
[0076] Therefore, the handling robot provided in this application embodiment includes a base 100, a guide mechanism 200, and a box-picking and placing mechanism 300, both of which are connected to the base 100. A first drive member 201 is provided on the guide mechanism 200, and a second drive member 301 and a guide limiting component 310 are provided on the box-picking and placing mechanism 300. The first drive member 201 and the second drive member 301 are independent of each other.
[0077] In this system, the picking and placing mechanism 300 and the guiding mechanism 200 each have independent drive components. The guiding component 210 in the guiding mechanism 200 can move independently under the drive of the first drive component 201, partially moving outside the base 100. When there is a gap between the base 100 and the shelf 900, the guiding component 210, moving outside the base 100, can effectively fill that gap. Meanwhile, the push-pull component 320 in the picking and placing mechanism 300 can move relative to the base 100 under the drive of the second drive component 301. Simultaneously, the push-pull component 320 can also move along the guiding component 210 under the action of the guiding and limiting component 310. Thus, when the push-pull component 320 moves outside the base 100, it can still move stably under the guidance of the guiding component 210, avoiding the push-pull component 320 getting stuck at the gap between the base 100 and the shelf 900 due to a lack of effective guidance and support, thereby improving the convenience of using the handling robot.
[0078] In some embodiments, refer to Figure 2 , Figure 3 and Figure 12 As shown, the transport robot also includes:
[0079] The climbing mechanism 500 is located at the end of the base 100. The climbing mechanism 500 is used to dock with the shelf 900 and drive the base 100 to climb along the shelf 900. It should be noted that climbing can mean climbing upwards or climbing downwards, which can be determined by those skilled in the art depending on the specific situation.
[0080] The controller is configured to, before the climbing mechanism 500 moves along the shelf 900 to the height corresponding to the target storage location 910, control the second drive member 301 to drive the push-pull assembly 320 to move between the two ends of the base 100; when the climbing mechanism 500 moves along the shelf 900 to the height corresponding to the target storage location 910, control the first drive member 201 to drive the guide assembly 210 to move partially relative to the base 100 outside the base 100 so that the guide assembly 210 docks with the shelf 900, and control the second drive member 301 to drive the push-pull assembly 320 to move towards the target storage location 910 via the guide assembly 210, thereby docking with the target bin 920.
[0081] The target storage location 910 is the storage location 910 on the shelf 900 where the target material box 920 is stored. The first drive unit 201 and the second drive unit 301 are both electrically connected to the controller.
[0082] Specifically, when the handling robot needs to retrieve a box, before the handling robot climbs to the height corresponding to the target storage location 910, that is, during the climbing process of the handling robot, the controller can control the second drive component 301 to operate, thereby driving the push-pull assembly 320 to move a portion of the distance between the two ends of the base 100 toward the target storage location 910. Alternatively, after the handling robot has finished placing the box, before climbing again, the push-pull assembly 320 can be driven to move from outside the base 100 to between the two ends of the base 100.
[0083] The second driving component 301 drives the push-pull assembly 320 to move between the two ends of the base 100. This can be understood as the push-pull assembly 320 being able to move between the end of the base 100 away from the target storage location 910 and the end of the base close to the target storage location 910, so that the push-pull assembly 320 can be flush with or close to the edge of the base 100 facing the shelf 900, and does not protrude from the base 100. In this way, when the base 100 will not collide with the material box 920 protruding from the shelf 900, the push-pull assembly 320 will not collide with the material box 920 either.
[0084] When the handling robot climbs to the height corresponding to the target storage location 910, the first drive component 201 drives the guide component 210 to move partially outside the base 100 relative to the base 100, so that the guide component 210 docks with the shelf 900. The second drive component 301 drives the push-pull component 320 to move towards the target storage location 910. After the push-pull component 320 moves beyond the base 100, the guide limiting component 310 cooperates with the guide component 210 and moves along the guide component 210 towards the shelf 900. In this way, after the handling robot reaches the height of the target storage location 910, since the push-pull component 320 is located between the two ends of the base 100, rather than at the end away from the shelf 900, the distance that the push-pull component 320 needs to move is shortened, so it can dock with the material box 920 more quickly.
[0085] When the push-pull assembly 320 needs to retract, it can be retracted only to a position where it will not collide with the bin 920, without needing to retract it completely. In this way, the push-pull assembly 320 can be quickly extended when the handling robot needs to retrieve a bin, making the handling robot more efficient.
[0086] Meanwhile, once the handling robot has climbed to its position, for safety reasons, the guide component 210 can be driven to dock with the shelf 900 first, and then the box picking and placing mechanism 300 can be driven to move. Alternatively, the guide mechanism 200 and the box picking and placing mechanism 300 can be driven to move synchronously through the first drive component 201 and the second drive component 301, without the need for sequential actions, thereby completing the box picking operation in a shorter time and improving the box picking efficiency.
[0087] Therefore, in some application scenarios, refer to Figure 1 , Figure 8 As shown, shelf 900 along the height direction ( Figure 1 The Z-direction is configured with multiple layers, each layer having multiple storage locations 910 arranged sequentially, each storage location 910 along the depth direction ( Figure 1 and Figure 8 Two storage positions 911 are provided in the X direction (perpendicular to the Z direction). The material box 920 protrudes a certain distance from the storage position 911 on the shelf 900. At this time, the push-pull component 320 can move to the middle of the base 100 in advance, or move to the end of the base 100 close to the target storage position 910, so as to shorten the subsequent box picking journey. The guide component 210 is always within the range of the base 100 when the handling robot has not climbed to the height of the target storage position 910, and will not collide with the material box 920 protruding from the shelf 900, ensuring the smooth climbing of the handling robot and realizing the efficient box picking of the handling robot.
[0088] In some embodiments, refer to Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the guide mechanism 200 also includes:
[0089] The first transmission component 220 is disposed on the base 100 and connected to the guide component 210.
[0090] The first driving member 201 is connected to the first transmission assembly 220 to drive the guide assembly 210 to move via the first transmission assembly 220.
[0091] It is understandable that by setting up the first transmission component 220 and connecting it with the guide component 210, a reasonable force transmission path is formed. The power generated by the first driving component 201 is transmitted to the guide component 210 through the first transmission component 220. The force distribution is more uniform throughout the process, avoiding structural damage caused by excessive local stress.
[0092] Among them, reference Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the first transmission assembly 220 includes:
[0093] Fixing base 221, which is mounted on base 100;
[0094] Transmission component 222 is connected to fixed base 221 and is also connected to guide assembly 210;
[0095] The first driving member 201 is connected to the transmission member 222 to drive the transmission member 222 to move relative to the fixed base 221, and to cause the transmission member 222 to drive the guide assembly 210 to move.
[0096] The fixed base 221 is set on the base 100 to provide stable support and precise installation position for the transmission component 222, ensuring the accurate movement trajectory of the transmission component 222.
[0097] The transmission component 222 is connected to the fixed base 221, the guide assembly 210, and the first drive component 201. The first drive component 201 drives the transmission component 222 to run, and when the transmission component 222 runs, it drives the guide assembly 210 to run together. Therefore, a suitable transmission component 222 can be selected according to different application scenarios and requirements, such as a chain, belt, rack and pinion, or lead screw connection.
[0098] When the transmission component 222 is a chain or belt, a drive wheel 2211 can be installed on the fixed base 221. The first drive component 201 drives the drive wheel 2211 to rotate, so that the drive wheel 2211 drives the transmission component 222 to move. When the transmission component 222 is a rack, a gear meshing with the rack is installed on the first drive component 201, so that the rack can be driven to move through the gear. When the transmission component 222 is a lead screw, a lead sleeve is installed on the transmission component 222 to cooperate with the lead screw. The drive component drives the lead screw to rotate, and the lead screw drives the lead sleeve to move.
[0099] This allows for easy adjustment of the transmission ratio and motion mode, enabling the guide mechanism 200 to better adapt to different material bins 920 in terms of weight, size, and loading / unloading requirements, thereby enhancing the versatility and adaptability of the handling robot.
[0100] Furthermore, refer to Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, two fixed seats 221 are provided, and the two fixed seats 221 are spaced apart along the moving direction of the guide assembly 210. One of the two fixed seats 221 is provided with a drive wheel 2211, and the other is provided with a driven wheel 2212. The first drive member 201 is connected to the drive wheel 2211.
[0101] The transmission component 222 is wound around the drive wheel 2211 and the driven wheel 2212.
[0102] In this embodiment, the transmission component 222 can be a chain or a belt. Two fixed seats 221 are spaced apart along the moving direction of the guide assembly 210. The transmission component 222 is wound around the drive wheel 2211 and the driven wheel 2212. Under the action of the first drive component 201, the drive wheel 2211 drives the transmission component 222 to operate smoothly through the driven wheel 2212, ensuring that power is continuously and stably transmitted from the first drive component 201 to the guide assembly 210, reducing fluctuations and losses during power transmission. Compared to the transmission structure of a single drive wheel 2211, this design better ensures the stability of the guide assembly 210's movement, avoiding pallet wobbling or jamming caused by unstable transmission, thereby ensuring the safety of the material box 920 during loading and unloading.
[0103] Meanwhile, the drive wheel 2211 and the driven wheel 2212 share the tension and pressure of the transmission component 222, making the force on the transmission component 222 more even during operation. When the first drive component 201 drives the drive wheel 2211 to rotate, the transmission component 222 transmits the force to the other driven wheel 2212, thereby jointly supporting and guiding the movement of the transmission component 222, reducing the load on the drive wheel 2211 and the transmission component 222, reducing wear and damage to components, and extending the service life of the first transmission assembly 220.
[0104] Furthermore, in some embodiments, reference is made to Figure 2 , Figure 4 and Figure 5 As shown, the guide assembly 210 includes a first guide member 211 and a second guide member 212, both of which are connected to the first transmission assembly 220.
[0105] The first guide member 211 and the second guide member 212 are slidably disposed on opposite sides of the base 100 at intervals, and the sliding direction of the first guide member 211 and the second guide member 212 is consistent with their own extension direction.
[0106] The first guide member 211 and the second guide member 212 are slidably disposed on opposite sides of the base 100. This symmetrical layout helps to balance the forces acting on the entire guide assembly 210 during movement. When the first transmission assembly 220 drives the guide assembly 210 to move, the first guide member 211 and the second guide member 212 on both sides counterbalance each other, reducing swaying and offset caused by uneven force on one side. Especially when carrying a heavy material box 920 or moving rapidly, the symmetrical structure can ensure the smooth operation of the guide assembly 210, improving the stability and reliability of the equipment.
[0107] Furthermore, the first guide component 211 and the second guide component 212 are spaced apart on opposite sides of the base 100. While ensuring stable support for the material box 920, this effectively reduces the material used in the guide component 210, improves the space utilization of the warehouse, and makes the pallet structure more compact.
[0108] Among them, reference Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the guide assembly 210 also includes a linkage 213. The first guide 211 and the second guide 212 are both connected to the linkage 213, and the linkage 213 is connected to the first transmission assembly 220.
[0109] The linkage 213 is clamped onto the transmission component 222 via a clamping block 2131 (when the transmission component 222 is a chain or belt), and both ends of the linkage 213 are bolted to the first guide component 211 and the second guide component 212, respectively, ensuring that the first guide component 211 and the second guide component 212 move synchronously. When the first transmission assembly 220 drives the linkage 213 to move, the linkage 213 simultaneously drives the first guide component 211 and the second guide component 212 to move at the same speed and direction. During the loading and unloading of boxes, this allows the two pallets to accurately align with the shelf 900, preventing the bin 920 from being placed unevenly or the box retrieval from failing due to asynchronous movements.
[0110] Meanwhile, through the linkage 213, the first transmission assembly 220 only needs to drive the linkage 213 to simultaneously control the movement of the first guide 211 and the second guide 212, which simplifies the design and operation of the control system and improves the reliability and maintainability of the entire fork structure.
[0111] Furthermore, in some embodiments, reference is made to Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, the transport robot also includes:
[0112] The pallet 110 is mounted on the base 100 and is fixedly mounted on the base 100. It is used to support the target material box 920 and to guide and limit the guide limiting assembly 310.
[0113] Two trays 110 are provided, and the two trays 110 are spaced apart on the outer sides of opposite sides of the guide assembly 210;
[0114] The extension direction of the two trays 110 is consistent with the movement direction of the guide assembly 210.
[0115] The pallet 110 is fixedly mounted on the base 100, which can provide a stable support structure for carrying the target material box 920.
[0116] Meanwhile, the two trays 110 are spaced apart on the outer sides of the guide assembly 210, which can play a role in balancing and guiding the guide limiting assembly 310. When the guide limiting assembly 310 moves on the trays 110, the trays 110 on both sides can provide certain constraints and support, making the movement of the guide limiting assembly 310 more stable, reducing deviation and shaking, and improving the accuracy of guidance.
[0117] The two pallets 110 are positioned opposite each other on both sides of the guide assembly 210, which increases the load-bearing capacity of the entire box-picking and placing mechanism 300 for the box 920. During the box-picking and placing process, it helps to balance the force on the box-picking and placing mechanism 300, ensuring the smooth operation of the pallets 110 and the guide assembly 210, and improving the stability of operation.
[0118] Furthermore, in some embodiments, reference is made to Figure 1 , Figure 4 , Figure 9 and Figure 10 As shown, there are two guide limiting components 310. The two guide limiting components 310 are respectively connected to both sides of the push-pull component 320. Each guide limiting component 310 includes a first guide part 311 and a second guide part 312. The first guide part 311 is used to cooperate with the tray 110 on the same side, and the second guide part 312 is used to cooperate with the first guide member 211 or the second guide member 212.
[0119] The first guide part 311 is a guide post adapted to the tray 110, and the bottom surface and end surface of the guide post abut against the corresponding side surface of the tray 110, respectively. The second guide part 312 is a roller, and the roller abuts against the roller grooves on the first guide member 211 and the second guide member 212 of the guide assembly 210.
[0120] Two guide and limit components 310 are respectively connected to both sides of the push-pull component 320 to keep the push-pull component 320 balanced during movement. The guide and limit components 310 on both sides can jointly constrain the movement trajectory of the push-pull component 320, preventing it from tilting or swaying during movement, and improving the stability and reliability of the entire device.
[0121] The first guide portion 311 is a guide post adapted to the tray 110, which can effectively limit the left and right movement of the guide limiting assembly 310 in the forward direction and ensure its stable movement along the direction of the tray 110. The second guide portion 312 is a roller, which abuts against the roller grooves on the first guide member 211 and the second guide member 212 of the guide assembly 210, reducing the frictional resistance of the guide limiting assembly 310 during movement and making the movement of the push-pull assembly 320 smoother.
[0122] Of course, the first guide part 311 can be set as a roller and the second guide part 312 can be set as a guide post, or both can be set as rollers or guide posts, depending on the need.
[0123] Understandably, when the push-pull assembly 320 needs to move to a deeper storage location 910, under the drive of the second drive member 301, the guide limiting assembly 310 moves until it disengages from the guide assembly 210 and contacts the shelf 900. It then further engages with the horizontal support member 912 on the shelf 900 and moves along the horizontal support member 912 to the corresponding storage location 910 depth. After the push-pull assembly 320 completes its engagement with the material box 920, the second drive member 301 pulls the guide limiting assembly 310 back onto the guide assembly 210, causing the second guide part 312 to engage with the guide assembly 210. Then, under the continued drive of the second drive member 301, the first guide part 311 moves in coordination with the pallet 110.
[0124] In some embodiments, refer to Figure 9 , Figure 10 and Figure 11 As shown, the second driving member 301 can drive the push-pull assembly 320 to move via the rigid chain 302. One end of the rigid chain 302 is connected to the guide and limiting assembly 310. The rigid chain 302 can only bend in one direction. When the rigid chain 302 extends, it can drive the push-pull assembly 320 to move. When the rigid chain 302 retracts, it can form a loop, thereby occupying less space and allowing the push-pull assembly 320 to have a longer stroke.
[0125] Specifically, refer to Figure 11As shown, the second driving member 301 can drive the rigid chain 302 through the second transmission assembly 330. The second transmission assembly 330 includes a first gear 331 and a second gear 332 that mesh with each other. The first gear 331 is connected to the second driving member 301. It also includes a sprocket shaft 333 and a sprocket 334. The second gear 332 is connected to the sprocket shaft 333. The sprocket shaft 333 is also connected to the sprocket 334. The sprocket 334 meshes with the rigid chain 302, thereby driving the rigid chain 302 to extend and retract.
[0126] In addition, refer to Figure 5 and Figure 12 As shown, the handling robot also includes a distance detection component 400, which is used to detect the distance between the guide assembly 210 and the shelf 900;
[0127] The controller is also configured to acquire the distance between the guide component 210 and the shelf 900 when the climbing mechanism 500 moves along the shelf 900 to the height corresponding to the target storage location 910, and control the guide component 210 to move to dock with the shelf 900 based on the distance.
[0128] The distance detection component 400 can be specifically set on the pallet 110, the guide component 210, the push-pull component 320, or the base 100, depending on the structural layout of the handling robot, and at least detects the distance between the guide component 210 and the shelf 900. If the guide component 210 collides with the shelf 900 during its movement relative to the base 100, it may cause damage to the guide component 210 itself, the shelf 900, and the shelf 900's loading box 920. It may also cause the guide component 210 to fail to dock with the shelf. If the guide component 210 does not move into place, it may cause the subsequent push-pull component 320 to get stuck between the base 100 and the shelf 900. The distance detection component 400 is used to detect the distance between the guide component 210 and the shelf 900. When the climbing mechanism 500 moves along the shelf 900 to the height corresponding to the target storage location 910, the distance detection component 400 detects the distance between the guide component 210 and the shelf 900. Based on the detected distance, the extension distance of the guide component 210 is controlled, so that the guide component 210 and the shelf 900 are precisely aligned. The push-pull component 320 can move stably between the base 100 and the shelf 900 under the support and guidance of the guide component 210, thereby effectively avoiding collisions and jamming accidents and protecting the safety of the handling robot and the material box 920.
[0129] Furthermore, referring to Figure 2 As shown, the handling robot also includes a horizontal pushing mechanism 600, which is disposed between the climbing mechanism 500 and the base 100 to drive the climbing mechanism 500 to move horizontally relative to the base 100.
[0130] The horizontal pushing mechanism 600 allows the climbing mechanism 500 to move horizontally relative to the handling robot, thus better adapting to the shelf 900.
[0131] Reference Figure 2 and Figure 3 As shown, the handling robot also includes a moving mechanism 700, which is located below the base 100 to move the base 100.
[0132] The mobile mechanism 700 enables the handling robot to move freely within the warehouse area, freeing it from being confined to a fixed work area and expanding its operational range. It also enables efficient management of the 920 bins throughout the entire warehouse space.
[0133] And, refer to Figure 2 and Figure 3 As shown, the handling robot also includes a lifting mechanism 800, which is disposed between the base 100 and the moving mechanism 700 to drive the base 100 to rise and fall relative to the moving mechanism 700.
[0134] The lifting mechanism 800 may specifically include a scissor lift assembly 810 disposed on the moving mechanism 700, and a mounting base 820 disposed on the scissor lift assembly 810, with the base 100 specifically disposed on the mounting base 820. Thus, when the scissor lift rod on the scissor lift assembly 810 rotates, the mounting base 820 can drive the base 100 to rise or fall relative to the moving mechanism 700.
[0135] This application also provides a warehousing system, please refer to... Figure 1 , Figure 8 As shown, the warehousing system includes any of the handling robots in the aforementioned embodiments, and also includes a shelf 900, which is used to store material boxes 920. The handling robot is used to climb on the shelf 900 to pick up and put away the material boxes 920.
[0136] The technical effects of the warehousing system provided in this application embodiment are similar to those of the aforementioned handling robot, and will not be described again.
[0137] It should be noted that the terms "one embodiment," "embodiment," "exemplary embodiment," "some embodiments," etc., mentioned in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.
[0138] Generally speaking, terms should be understood at least in part by their use in context. For example, at least in part by context, the term "one or more" as used in the text can be used to describe any feature, structure, or characteristic of the singular meaning, or a combination of features, structures, or characteristics of the plural meaning. Similarly, at least in part by context, terms such as "a" or "the" can also be understood to convey either singular or plural usage.
[0139] It should be readily understood that the terms “on,” “above,” and “on top of” in this application should be interpreted in the broadest possible sense, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on something” but also “on something” without an intermediate feature or layer therebetween (i.e., directly on something).
[0140] Furthermore, for ease of explanation, spatially relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation other than those shown in the figures. The device may have other orientations (rotated 90° or in other orientations), and the spatially relative descriptive terms used herein may be interpreted accordingly.
[0141] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.
Claims
1. A transport robot, characterized in that, include: Base; A guiding mechanism, comprising a guiding component and a first driving member, wherein the guiding component is disposed on the base, and the first driving member is connected to the guiding component to drive the guiding component to move relative to the base portion to outside the base; A box retrieval mechanism is disposed on the base. The box retrieval mechanism includes a push-pull assembly and a second driving member. The second driving member is connected to the push-pull assembly to drive the push-pull assembly to move linearly relative to the base. The box retrieval mechanism further includes a guide and limiting component, and the push-pull component is fixedly connected to the guide and limiting component; The second driving member is used to drive the guide limiting component and the push-pull component to move linearly along the guide component.
2. The handling robot according to claim 1, characterized in that, Also includes: A climbing mechanism is provided at the end of the base, the climbing mechanism is used to dock with the shelf and drive the base to climb along the shelf; The controller is configured to, before the climbing mechanism moves along the shelf to the height corresponding to the target storage location, control the second drive member to drive the push-pull assembly to move between the two ends of the base; when the climbing mechanism moves along the shelf to the height corresponding to the target storage location, control the first drive member to drive the guide assembly to move relative to the base portion to outside the base so that the guide assembly docks with the shelf, and control the second drive member to drive the push-pull assembly to move towards the target storage location via the guide assembly, thereby docking with the target bin.
3. The handling robot according to claim 1, characterized in that, The guiding mechanism also includes: A first transmission assembly is disposed on the base and connected to the guide assembly; The first drive member is connected to the first transmission assembly to drive the guide assembly to move via the first transmission assembly.
4. The handling robot according to claim 3, characterized in that, The first transmission assembly includes: A fixing seat is disposed on the base; A transmission component, which is connected to the fixed base and is also connected to the guide assembly; The first driving member is connected to the transmission member to drive the transmission member to move relative to the fixed base, and to cause the transmission member to drive the guide assembly to move.
5. The handling robot according to claim 4, characterized in that, Two fixed seats are provided, and the two fixed seats are spaced apart along the moving direction of the guide assembly. One of the two fixed seats is provided with a drive wheel and the other is provided with a driven wheel. The first driving member is connected to the drive wheel. The transmission component is wound around the drive wheel and the driven wheel.
6. The handling robot according to claim 3, characterized in that, The guiding assembly includes a first guide member and a second guide member, both of which are connected to the first transmission assembly. The first guide and the second guide are slidably disposed on opposite sides of the base at intervals, and the sliding direction of the first guide and the second guide is consistent with their own extension direction.
7. The handling robot according to claim 6, characterized in that, The guide assembly further includes a linkage component, wherein both the first guide component and the second guide component are connected to the linkage component, and the linkage component is connected to the first transmission assembly.
8. The handling robot according to claim 6, characterized in that, Also includes: The pallet is fixedly mounted on the base and is used to support the target hopper and to guide and limit the guide and limiting components. Two trays are provided, and the two trays are spaced apart on the outer sides of opposite sides of the guide assembly; The extension direction of the two trays is consistent with the movement direction of the guide assembly.
9. The handling robot according to claim 8, characterized in that, Two guide limiting components are provided, and the two guide limiting components are respectively connected to both sides of the push-pull component. Each guide limiting component includes a first guide part and a second guide part. The first guide part is used to cooperate with the tray on the same side, and the second guide part is used to cooperate with the first guide member or the second guide member.
10. The handling robot according to claim 2, characterized in that, It also includes a distance detection device for detecting the distance between the guide assembly and the shelf; The controller is also configured to, when the climbing mechanism moves along the shelf to the height corresponding to the target storage location, obtain the distance between the guide component and the shelf, and control the guide component to move to dock with the shelf based on the distance.
11. A warehousing system, characterized in that, The device includes the handling robot according to any one of claims 1-10, and further includes a shelf for storing bins, the handling robot being used to climb on the shelf to pick up and place the bins.