Pick-and-place actuators, handling devices, and warehouse systems
Patent Information
- Application Number
- CN202522082207.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-26
- Publication Date
- 2026-10-27
- Estimated Expiration
- 2035-09-26
AI Technical Summary
在相关技术中，搬运机器人的取放执行机构的每一个执行运动的检测都需要相应的配置一个单独的传感器，以便于搬运机器人高效的取放及转运料箱，然而这样的设计则会导致搬运机器人的制造成本较高且增加走线的复杂性
[0022]由上述实施例可知，本公开取放执行机构通过设置轮廓激光传感器，并且轮廓激光传感器的扫描范围至少覆盖底座组件以及伸展至极限状态的展臂组件，以检测展臂组件伸缩、承载等多个执行动作，进而可相应的减少常规传感器的布置数量，降低搬运机器人的制造成本以及走线的复杂性。
Smart Images
Figure CN224899803U_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of robotics, and more particularly to a pick-and-place actuator, a handling device, and a warehousing system. Background Technology
[0002] With the rapid development of industrial technology, the popularity of various robotic devices is increasing, greatly reducing people's labor burden. As an important component of warehousing systems, material handling robots need to move back and forth between shelves to transport containers. In related technologies, the detection of each movement of the handling robot's picking and placing actuators requires a separate sensor to enable efficient picking, placing, and transferring of containers. However, this design leads to higher manufacturing costs and increased wiring complexity for the handling robot. Utility Model Content
[0003] This disclosure provides a pick-and-place actuator, a handling device, and a warehousing system to address the shortcomings of related technologies.
[0004] According to a first aspect of the present disclosure, a pick-and-place actuator is provided, comprising:
[0005] A base assembly, the base assembly including a base plate and a side plate connected to the base plate;
[0006] An extendable arm assembly is disposed between a pair of side plates and slidably connected to the base assembly, and when the extendable arm assembly is extended to its limit, a portion of the extendable arm assembly extends beyond the side plates;
[0007] A contour laser sensor is connected to the side plate, and the scanning range of the contour laser sensor covers at least the base assembly and the extended arm assembly at its extreme state, to detect at least two of the following: whether the extended arm assembly supports a hopper, whether the buffer compartment of the base assembly contains a hopper, and whether the hopper extends beyond the end of the extended arm assembly.
[0008] Optionally, along the height direction of the pick-and-place actuator, at least the laser emission port of the contour laser sensor is located above the extender arm assembly.
[0009] Optionally, the scanning range of the contour laser sensor extends beyond the end of the extended arm assembly at its limit state and covers the compartment located in front of the extended arm assembly in the extension direction, in order to detect whether there is a hopper in the compartment and whether the hopper protrudes from at least one of the compartments.
[0010] Optionally, the side plate includes a first end and a second end disposed opposite to each other;
[0011] The limit states include a positive limit state and a negative limit state. When the arm assembly extends to the positive limit state, the arm assembly extends beyond the first end; when the arm assembly extends to the negative limit state, the arm assembly extends beyond the second end.
[0012] Optionally, it also includes a bracket, which is slidably connected to the side plate, and the contour laser sensor is fixed to the bracket. The sliding direction of the bracket is the same as the sliding direction of the arm assembly.
[0013] Optionally, a bracket is also included, to which the contour laser sensor is fixed, and the bracket is rotatably connected to the side plate to adjust the orientation of the laser emission aperture of the contour laser sensor.
[0014] Optionally, the scanning angle of the contour laser sensor along its circumference is not less than 180 degrees and not more than 290 degrees.
[0015] Optionally, it also includes a hook assembly, which includes a hook bracket and a hook connected to the hook bracket. The hook bracket is slidably connected to the extender arm assembly. The scanning range of the contour laser sensor at least covers the hook to detect whether the hook has detached from the material box.
[0016] According to a second aspect of the present disclosure, a conveying device is provided, comprising:
[0017] A gantry, which is used for sliding connection with a shelf;
[0018] In the pick-and-place actuator described above, the base assembly is slidably connected to the gantry, and the sliding direction of the base assembly is perpendicular to the sliding direction of the gantry.
[0019] According to a third aspect of the present disclosure, a warehousing system is provided, comprising:
[0020] Shelves;
[0021] As described above, the conveying device is used to move goods to and / or remove goods from the shelf, and the mast is slidably connected to the shelf along the length of the shelf.
[0022] As can be seen from the above embodiments, the pick-and-place actuator of this disclosure is equipped with a contour laser sensor, and the scanning range of the contour laser sensor covers at least the base assembly and the extended arm assembly in its extreme state, so as to detect multiple execution actions such as extension and load-bearing of the extended arm assembly. This can reduce the number of conventional sensors, reduce the manufacturing cost of the handling robot and the complexity of the wiring.
[0023] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this specification. Attached Figure Description
[0024] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this specification and, together with the description, serve to explain the principles of this specification.
[0025] Figure 1 This is a perspective view of a pick-and-place actuator according to an exemplary embodiment.
[0026] Figure 2 yes Figure 1 A schematic diagram of the contour laser sensor scanning in the pick-and-place actuator.
[0027] Figure 3 This is a schematic diagram of a conveying device according to an exemplary embodiment.
[0028] Figure 4 This is a perspective view of a storage system according to an exemplary embodiment.
[0029] Figure 5 This is a partial enlarged view of a storage system according to an exemplary embodiment. Detailed Implementation
[0030] The technical solutions in the embodiments (or "implementations") of this disclosure will be clearly and completely described herein with reference to the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements.
[0031] If this disclosure uses terms relating to directional indications or positional relationships (e.g., up, down, left, right, front, back, inside, outside, top, bottom, center, vertical, horizontal, longitudinal, transverse, length, width, counterclockwise, clockwise, axial, radial, circumferential, etc.), such terms are only used to explain the relative positional relationships and movements between components in a specific posture (as shown in the accompanying drawings); if the specific posture changes, the directional indications or positional relationships will also change accordingly. Furthermore, terms such as "first" and "second" in this disclosure are used only for descriptive convenience and should not be construed as indicating or implying relative importance.
[0032] Figure 1 This is a perspective view of a pick-and-place actuator according to an exemplary embodiment. Figure 2 yes Figure 1 A schematic diagram of the contour laser sensor scanning in the pick-and-place actuator. (See diagram below.) Figure 1 and Figure 2As shown, the pick-and-place actuator of this disclosure includes a base assembly 1, an extendable arm assembly 2, and a contour laser sensor 3. The extendable arm assembly 2 is slidably connected to the base assembly 1 and can extend and retract relative to the base assembly 1. When the extendable arm assembly 2 is extended to its limit, it partially extends beyond the base assembly 1. When the extendable arm assembly 2 is retracted to its limit, it is at least partially housed within the base assembly 1. To prevent the extendable arm assembly 2 from being bumped or knocked, when retracted to its limit, it is completely housed within the base assembly 1.
[0033] A contour laser sensor 3 is connected to the base assembly 1, and the scanning range of the contour laser sensor 3 covers at least the base assembly 1 and the extended arm assembly 2 at its maximum extension. It should be noted that when the actuator is handling the transfer of the material box, the extended arm assembly 2 can be used to support the material box. Therefore, based on the scanning results of the contour laser sensor 3, at least two of the following can be detected: whether the extended arm assembly 2 supports the material box, whether the buffer compartment of the base assembly 1 contains the material box, and whether the material box extends beyond the end of the extended arm assembly 2. Furthermore, based on the scanning results of the contour laser sensor 3, it can also be determined whether the extended arm assembly 2 is in a retracted or extended state. When the extended arm assembly 2 supports the material box, it can also be determined whether the extended arm assembly 2 is successfully accommodated in the base assembly 1, i.e., whether the buffer compartment of the base assembly 1 contains the material box.
[0034] To reduce the likelihood of the toy box extending beyond the end of the boom assembly 2 and colliding with the shelf during transport, it is necessary to detect the relative position between the toy box and the boom assembly 2. This detection can be achieved by comparing the toy box dimensions obtained from the scanning range with the actual physical dimensions of the toy box. Furthermore, based on the scanning results from the contour laser sensor 3, it is possible to detect whether the boom assembly 2 supports the toy box, whether the buffer compartment of the base assembly 1 contains the toy box, and whether the toy box extends beyond the end of the boom assembly 2.
[0035] With this configuration, the pick-and-place actuator of this disclosure can detect multiple execution actions such as the extension and retraction of the arm assembly 2 and its process through the contour laser sensor, thereby reducing the number of conventional sensors required, thus reducing the manufacturing cost of the handling robot and the complexity of the wiring.
[0036] It should be noted that the contour laser sensor 3 in this disclosure emits a line laser through its internal laser diode, which is then focused and collimated by a emitting mirror group and projected onto the target, thus forming a distinct contour line on the target surface. This contour line is then projected onto a planar array photodetector after passing through an imaging mirror group. A complex algorithm is then used to process the image data to generate two-dimensional or three-dimensional contour information of the target. Furthermore, as the target moves relative to the contour laser sensor 3 in a certain direction, the contour of the target at different locations can be continuously acquired. These contour data can then be combined to generate a three-dimensional point cloud model.
[0037] In some embodiments, the scanning range of the contour laser sensor 3 extends beyond the end of the extended arm assembly 2 at its maximum extension state, and the scanning range of the contour laser sensor 3 can also cover the compartments located in front of the extended arm assembly 2 in the extension direction of the extended arm assembly 2, to detect whether there are material boxes in the compartments and whether the material boxes protrude from at least one of the compartments. This configuration allows for detection of whether there are material boxes on the shelf compartments before the extended arm assembly 2 picks up the material boxes, detection of whether the material boxes are placed in the correct position after the material boxes are placed, and detection of whether the material boxes obstruct the movement of the pick-and-place actuator. Specifically, if the material box protrudes from the compartment, it may cause a collision between the pick-and-place actuator and the material box. Simultaneously, the contour laser sensor 3 can also detect the situation where the extended arm assembly 2 supports the material box, such as detecting the process of the material box moving to or out of the extended arm assembly 2.
[0038] In some embodiments, the scanning angle of the contour laser sensor 3 along its circumference is not less than 180 degrees and not more than 290 degrees, as detailed in the following reference. Figure 2 The dashed line in the diagram represents the scanning range of the contour laser sensor 3. This ensures that the scanning range of the contour laser sensor 3 meets the requirements, while also avoiding the use of a higher-specification contour laser sensor, thus reducing its cost.
[0039] In the above embodiments, a single contour laser sensor 3 can be provided. This means that the scanning range of one contour laser sensor 3 can cover the base assembly 1 and extend beyond the end of the extended arm assembly 2 at its maximum extension, thereby significantly reducing cost and wiring complexity. Alternatively, multiple contour laser sensors 3 can be provided, and the scanning ranges of multiple contour laser sensors 3 can partially overlap. This configuration allows the use of lower-specification contour laser sensors, further reducing costs.
[0040] In some embodiments, the base assembly 1 includes a base plate 10 and side plates 11, which are connected. An extension arm assembly 2 is disposed between the pair of side plates 11, and when extended to its limit, a portion of the extension arm assembly 2 extends beyond the side plates 11. A contour laser sensor 3 is connected to the side plates 11.
[0041] The side plate 11 includes a first end 12 and a second end 13 disposed opposite to each other. The limit states include a forward limit state and a reverse limit state. When the arm assembly 2 extends to the forward limit state, the arm assembly 2 extends beyond the first end 12. When the arm assembly 2 extends to the reverse limit state, the arm assembly 2 extends beyond the second end 13. That is, the arm assembly 2 can extend bidirectionally relative to the base assembly 1; that is, the arm assembly 2 can slide along the direction from the first end 12 to the second end 13 to extend beyond the second end 13; and the arm assembly 2 can slide along the direction from the second end 13 to the first end 12 to extend beyond the first end 12.
[0042] Since the scanning range of the contour laser sensor 3 at least covers the extended arm assembly 2 at its extended limit state, the contour laser sensor 3 can be fixed to the side plate 11 to improve the ease of installation. Indeed, in this embodiment, regardless of whether the extended arm assembly 2 can slide unidirectionally or bidirectionally, the scanning range of the contour laser sensor 3 can cover the extended arm assembly 2 at its extended limit state, and the scanning range of the contour laser sensor 3 can also cover the compartment located in front of the end of the extended arm assembly 2 at its forward extended limit state, and the compartment located in front of the end of the extended arm assembly 2 at its reverse extended limit state.
[0043] In some other embodiments, the contour laser sensor 3 can also be movable. Specifically, the pick-and-place actuator may further include a bracket 14, wherein the contour laser sensor 3 is fixed to the bracket 14, and the bracket 14 is slidably connected to the side plate 11, so that the contour laser sensor 3 can also slide relative to the side plate 11. To enable the contour laser sensor 3 to better detect the movement of the arm assembly 2 and the support of the material box, the sliding direction of the bracket 14 is the same as the sliding direction of the arm assembly 2. With this configuration, the bracket 14 can be driven to link with the arm assembly 2, so that the arm assembly 2 is always within the scanning range of the contour laser sensor 3, which helps to reduce the scanning requirements of the contour laser sensor 3.
[0044] Admittedly, the bracket 14 can also be rotatably connected to the side plate 11 to adjust the orientation of the laser emission aperture of the contour laser sensor 3. With this configuration, the bracket 14 can be driven to work in conjunction with the arm assembly 2, ensuring that the arm assembly 2 is always within the scanning range of the contour laser sensor 3, which helps to reduce the scanning requirements of the contour laser sensor 3.
[0045] To enable the bracket 14 to move or rotate relative to the side plate 11, the pick-and-place actuator may also include a drive element (not shown) for driving the bracket 14. When the bracket 14 moves or rotates relative to the side plate 11, the scanning range of the contour laser sensor 3 can be increased, allowing the contour laser sensor 3 to detect the action of the pick-and-place actuator and its surrounding environment over a wider range.
[0046] In some embodiments, along the height direction of the pick-and-place actuator, at least the laser emission aperture of the contour laser sensor 3 is located above the arm assembly 2. This arrangement ensures that the light emitted from the laser emission aperture of the contour laser sensor 3 can cover the arm assembly 2, reducing obstruction caused by the arm assembly 2. However, to prevent the light emitted by the contour laser sensor 3 from being blocked, the contour laser sensor 3 is located above the side plate 11, meaning the contour laser sensor 3 is entirely located above the base assembly 1 and the arm assembly 2.
[0047] Regardless of whether the bracket 14 can move or rotate relative to the side plate 11, and whether the arm assembly 2 can slide in one or two directions, the scanning range of the contour laser sensor 3 can cover the compartment located in front of the end of the arm assembly 2 when it is extended to its limit.
[0048] The lifting and placing mechanism disclosed herein may further include a hook assembly 4, which includes a hook bracket 41 and a claw 42 connected to the hook bracket 41. The hook bracket 41 is slidably connected to the extending arm assembly 2, and the claw 42 is used to hook and grasp the material box and is slidably connected to the hook bracket 41. The sliding direction of the claw 42 is approximately perpendicular to the sliding direction of the extending arm assembly 2. The scanning range of the contour laser sensor 3 at least covers the claw 42 to detect whether the claw 42 is gripping the material box, such as detecting whether the claw has disengaged. It is worth noting that even when the extending arm assembly 2 is extended to its limit and the hook bracket 41 moves to the end of the extending arm assembly 2 away from the base assembly 1, the scanning range of the contour laser sensor 3 can still cover the claw 42.
[0049] Accordingly, this disclosure also provides a conveying device. Figure 3 This is a schematic diagram illustrating a conveying device according to an exemplary embodiment. Figure 3 As shown, the handling device includes a gantry 5 and the pick-and-place mechanism described above. The gantry 5 is slidably connected to the shelving 6 of the storage system, and the base assembly 1 is slidably connected to the gantry 5, with the sliding direction of the base assembly 1 perpendicular to the sliding direction of the gantry 5. For example... Figure 3 As shown, the base assembly 1 can slide vertically relative to the gantry 5, allowing the gantry 5 to move horizontally along the shelf 6, thus maximizing the coverage of the storage compartments on the shelf 6. The connection between the gantry 5 and the shelf 6 facilitates the suspended movement of the handling device relative to the ground, freeing up ground space and allowing for the placement of other types of robots within that space.
[0050] Figure 4 This is a perspective view of a storage system according to an exemplary embodiment. Figure 5This is a partially enlarged view illustrating a storage system according to an exemplary embodiment. Accordingly, this disclosure also provides a storage system including a rack 6 and a handling device as described above, the handling device being used to move goods to and / or remove goods from the rack 6. Along the length of the rack 6, a mast 5 is slidably connected to the rack 6, thereby allowing the handling device to move along the length of the rack 6. Furthermore, through the sliding of the base assembly 1 relative to the mast 5, the handling device can translate along the height of the rack 6, facilitating the handling device to grasp materials in each compartment on the rack 6. The length direction of the rack 6, the height direction of the rack 6, and the depth direction of the compartments are all perpendicular to each other.
[0051] It should be noted that the technical solutions or features described in the above embodiments can be combined or complemented by each other without conflict. The scope of protection of this disclosure is not limited to the precise structures described in the above embodiments and shown in the accompanying drawings; all modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.
Claims
1. A pick-and-place actuator, characterized in that, include: A base assembly, the base assembly including a base plate and a side plate connected to the base plate; An extendable arm assembly is disposed between a pair of side plates and slidably connected to the base assembly, and when the extendable arm assembly is extended to its limit, a portion of the extendable arm assembly extends beyond the side plates; A contour laser sensor is connected to the side plate, and the scanning range of the contour laser sensor covers at least the base assembly and the extended arm assembly at its extreme state, to detect at least two of the following: whether the extended arm assembly supports a hopper, whether the buffer compartment of the base assembly contains a hopper, and whether the hopper extends beyond the end of the extended arm assembly.
2. The pick-and-place actuator according to claim 1, characterized in that, Along the height direction of the pick-and-place actuator, the laser emission port of the contour laser sensor is located above the extender arm assembly.
3. The pick-and-place actuator according to claim 1, characterized in that, The scanning range of the contour laser sensor extends beyond the end of the extended arm assembly at its limit state and covers the compartment located in front of the extended arm assembly in the extension direction, in order to detect whether there is a hopper in the compartment and whether the hopper protrudes from at least one of the compartments.
4. The pick-and-place actuator according to claim 1, characterized in that, The side plate includes a first end and a second end that are disposed opposite to each other; The limit states include a positive limit state and a negative limit state. When the arm assembly extends to the positive limit state, the arm assembly extends beyond the first end; when the arm assembly extends to the negative limit state, the arm assembly extends beyond the second end.
5. The pick-and-place actuator according to claim 4, characterized in that, It also includes a bracket, which is slidably connected to the side plate, and the contour laser sensor is fixed to the bracket. The sliding direction of the bracket is the same as the sliding direction of the arm assembly.
6. The pick-and-place actuator according to claim 4, characterized in that, It also includes a bracket, to which the contour laser sensor is fixed, and the bracket is rotatably connected to the side plate to adjust the orientation of the laser emission aperture of the contour laser sensor.
7. The pick-and-place actuator according to claim 1, characterized in that, The scanning angle of the contour laser sensor along its circumference is not less than 180 degrees and not more than 290 degrees.
8. The pick-and-place actuator according to claim 1, characterized in that, It also includes a hook assembly, which includes a hook bracket and a hook connected to the hook bracket. The hook bracket is slidably connected to the extender arm assembly. The scanning range of the contour laser sensor at least covers the hook to detect whether the hook has detached from the material box.
9. A conveying device, characterized in that, include: A gantry, which is used for sliding connection with a shelf; The pick-and-place actuator as described in any one of claims 1 to 8, wherein the base assembly is slidably connected to the gantry, and the sliding direction of the base assembly is perpendicular to the sliding direction of the gantry.
10. A warehousing system, characterized in that, include: Shelves; The handling device as described in claim 9 is used to handle goods to and / or remove goods from the shelf, wherein the mast is slidably connected to the shelf along the length of the shelf.