Transfer robot, goods picking and placing method, electronic device, medium and warehousing system

Abstract

A transfer robot (40), a goods picking and placing method, an electronic device, a computer readable storage medium and a warehousing system (100). The transfer robot comprises: a chassis (41); a first platform (42) which is fixed to the chassis and located at the top of the chassis, wherein a plurality of jacking and holding members (421) are spaced apart from each other on the first platform, and the plurality of jacking and holding members are configured to support goods; a lifting assembly (43) which has a first end (43a) and a second end (43b) which are opposite to each other in a vertical direction, wherein the first end is fixed to the chassis, and the second end can move in the vertical direction away from or close to the first platform; and a second platform (44) which is configured to bear trays and / or the goods, wherein the second platform is arranged at the second end of the lifting assembly, the second platform is parallel to the first platform, a plurality of first through holes (441) are provided in the second platform, and the plurality of first through holes correspond, on a one-to-one basis, to the plurality of jacking and holding members, such that the plurality of jacking and holding members can pass through the first through holes to support the goods. The apparatus cost is reduced, and the operation efficiency of the transfer robot is improved.

Description

Handling robots, picking and placing methods, electronic equipment, media and warehousing systems

[0001] This application claims priority to Chinese Patent Application No. 202410581484.7, filed on May 10, 2024, entitled "Handling Robot, Picking and Placing Method, Electronic Device, Medium and Warehousing System", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of intelligent warehousing system technology, specifically to a handling robot, a picking and placing method, an electronic device, a computer-readable storage medium, and a warehousing system. Background Technology

[0003] A smart warehousing system is a system that utilizes advanced information technology and automated equipment to achieve efficient storage and handling of goods. It enables automated identification, picking, handling, and storage of goods. In a smart warehousing system, goods are typically placed on pallets, which are then placed on shelves. Handling robots retrieve the pallets and goods from the shelves together and transport them to the target location.

[0004] In some scenarios within intelligent warehousing systems, it's necessary to separate goods from pallets and remove goods from them. However, current methods for separating goods from pallets are complex to design, costly, and inefficient. Therefore, achieving low-cost and highly efficient separation of goods from pallets is a pressing issue that needs to be addressed. Summary of the Invention

[0005] In view of the above problems, embodiments of this application provide a handling robot, a picking and placing method, an electronic device, a computer-readable storage medium, and a warehousing system to solve the problems of complex design, high cost, and low efficiency of the existing technology of separating goods and pallets.

[0006] According to a first aspect of the embodiments of this application, a handling robot is provided, comprising: a chassis; a first platform fixed to the chassis and located on top of the chassis, wherein a plurality of support members are provided on the first platform at intervals, the plurality of support members being used to support goods; a lifting assembly having a first end and a second end opposite to each other in a vertical direction, the first end being fixed to the chassis, and the second end being movable in the vertical direction away from or towards the first platform; and a second platform for carrying a pallet and / or goods, the second platform being disposed at the second end of the lifting assembly, the second platform being parallel to the first platform, and the second platform having a plurality of first through holes, the plurality of first through holes corresponding one-to-one with the plurality of support members, so that the plurality of support members can pass through the first through holes to support goods.

[0007] In some embodiments, the handling robot is used to pick up and place pallets from a first docking position on a shelf or workstation. The first docking position is provided with a first docking device, which includes two cantilever beams for supporting the pallets. The dimension of the second platform along a first direction is smaller than the distance between the two cantilever beams. The first direction is a direction perpendicular to the walking direction of the chassis in a horizontal plane.

[0008] In some embodiments, the height of the top of the top support is less than or equal to the height of the two first surfaces of the cantilever beams, the first surfaces being the surfaces of the cantilever beams facing away from the tray.

[0009] In some embodiments, the second platform can be lifted to a first position by the second end of the lifting assembly, the height of the first position being greater than or equal to the height of the second surfaces of the two cantilever beams, the second surfaces being the surfaces on which the cantilever beams support the tray.

[0010] In some embodiments, the second platform can be lowered to a second position by the second end of the lifting assembly, the height of the second position being less than the height of the top of the top support member.

[0011] In some embodiments, the handling robot is used to pick up and place goods from a second docking position on a shelf or workstation. The second docking position is provided with a second docking device, which includes a plurality of spaced comb teeth for carrying goods. The difference between the height of the top of the top support and the height of the third surface of the first side of the plurality of comb teeth is within a preset difference range. The third surface is the surface on which the plurality of comb teeth support the goods. The first side is located at the entrance of the second docking position.

[0012] In some embodiments, the first platform has a second through hole, through which a moving component in the lifting assembly that moves along the vertical direction can pass.

[0013] In some embodiments, the shape of the second through hole is adapted to the maximum projection of the moving part of the lifting assembly that moves along the vertical direction on a first plane, the first plane being the plane where the first platform is located, and the total projections include the projections of the moving part in all motion states.

[0014] In some embodiments, the lifting assembly includes a drive mechanism and a scissor fork mechanism connected to each other, wherein the bottom end and top end of the scissor fork mechanism opposite to each other along the vertical direction are respectively the first end and the second end; the drive mechanism is used to drive the scissor fork mechanism to extend so that the second end moves away from the first end along the vertical direction, and to drive the scissor fork mechanism to retract so that the second end moves closer to the first end along the vertical direction.

[0015] In some embodiments, the scissor fork mechanism includes two sets of support rods arranged opposite each other in a horizontal direction. Each set of support rods includes at least two support rods, which are arranged crosswise and hinged at the intersection point. The two ends of each support rod are rotatably connected to the two ends of a corresponding support rod in the other set of support rods via a connecting rod. The driving mechanism drives at least one connecting rod to move, causing the two sets of support rods to extend or retract. A vertical plate is also vertically arranged on the first platform. Along a second direction, the top dimension of the vertical plate is larger than the bottom dimension of the vertical plate to provide movement space for the at least one connecting rod. The second direction is perpendicular to the axial direction of the connecting rod.

[0016] In some embodiments, the second tabletop is further provided with a third through hole for the upright plate to pass through, the shape of the third through hole being adapted to the upright plate.

[0017] In some embodiments, the top support includes one or more combinations of a top pin, a top plate, and a top block.

[0018] According to a second aspect of the embodiments of this application, a method for picking up and placing goods is provided, applied to a handling robot. The handling robot includes a chassis, a first platform, a lifting assembly, and a second platform. The first platform is fixed to the chassis and located on top of the chassis. A plurality of support members are spaced apart on the first platform for supporting goods. The lifting assembly has a first end and a second end facing each other in a vertical direction. The first end is fixed to the chassis, and the second end is movable in the vertical direction away from or towards the first platform. The second platform is used to carry a pallet and / or goods, and is located at the second end of the lifting assembly. Two platform surfaces are parallel to the first platform surface. The second platform surface has multiple first through holes, each corresponding to a plurality of top-holding members, so that the top-holding members can pass through the first through holes to support the goods. The method includes: controlling the lifting assembly to lower the second platform surface so that the top-holding members on the first platform surface pass through the through holes at the bottom of the pallet to support the first goods. The second platform surface carries the pallet, and the first goods are placed in the pallet. The method also includes controlling the handling robot to move to a second docking position, where a second docking device is provided. The handling robot docks with the second docking device so that the first goods can be transferred to the second docking device.

[0019] In some embodiments, after controlling the transport robot to dock with the second docking device, the method further includes: controlling the transport robot to walk so that the first item stops on the second docking device by the frictional force of the contact between the bottom of the first item and the top of the second docking device.

[0020] In some embodiments, after the first item is transferred to the second docking device, the method further includes: controlling the transport robot to walk to a third docking position, the third docking position being provided with a third docking device, so that the transport robot docks with the third docking device, wherein the top holding member on the first platform can pass through the gaps of a plurality of comb teeth of the third docking device to contact the bottom of the second item, wherein the third docking device includes the plurality of comb teeth arranged at intervals in a second plane, the plurality of comb teeth being used to carry the second item; controlling the transport robot to drive out of the third docking position to transfer the second item from the third docking device to the transport robot.

[0021] In some embodiments, the height of the tail support member located at the rear of the first platform is higher than that of other support members; when the transport robot leaves the third docking position, it uses the tail support member to move the second cargo from the third docking device to the transport robot.

[0022] In some embodiments, after controlling the transport robot to move out of the third docking position to transfer the second item from the third docking device to the transport robot, the method further includes: controlling the lifting assembly to raise the second platform so that the bottom of the second item contacts the pallet to place the second item on the pallet, and raising the pallet containing the second item; controlling the transport robot to move to a fourth docking position, the fourth docking position being provided with a fourth docking device; and controlling the lifting assembly to lower the second platform so that the pallet containing the second item is placed on the fourth docking device.

[0023] In some embodiments, after the first goods are transferred to the second connecting device, the method further includes: controlling the lifting assembly to raise the second platform, thereby causing the pallet to rise; controlling the handling robot to walk to the fifth connecting position, the fifth connecting position being provided with a fifth connecting device; and controlling the lifting assembly to lower the second platform to place the pallet on the fifth connecting device.

[0024] In some embodiments, before controlling the lifting assembly to lower the second platform so that the top support on the first platform passes through the through hole at the bottom of the pallet to support the first item, the method further includes: controlling the handling robot to walk to a first docking position, the first docking position being provided with a first docking device, the first docking device carrying the pallet and the first item; controlling the lifting assembly to raise the second platform so that the second platform contacts the bottom of the pallet and lifts the pallet and the first item away from the first docking device.

[0025] According to a third aspect of the present application, an electronic device is provided, comprising: a processor and a memory, wherein the memory stores executable instructions, and the processor is capable of executing the executable instructions to implement the picking and placing method described above.

[0026] According to a fourth aspect of the present application, a computer-readable storage medium is provided, the storage medium storing executable instructions that, when executed on an electronic device, cause the electronic device to perform the picking and placing method as described above.

[0027] According to a fifth aspect of the embodiments of this application, a warehousing system is provided, comprising: a rack for storing pallets; a workstation for receiving goods to be processed or outputting processed goods; and a handling robot, including a chassis, a first platform, a lifting assembly, and a second platform; the first platform is fixed to the chassis and located on top of the chassis, and a plurality of support members are provided on the first platform at intervals, the plurality of support members being used to support goods; the lifting assembly has a first end and a second end opposite each other in a vertical direction, the first end being fixed to the chassis, and the second end being capable of moving along the vertical direction. The robot moves in a direction away from or towards the first platform; the second platform is used to support pallets and / or goods, and is located at the second end of the lifting assembly. The second platform is parallel to the first platform, and has multiple first through holes, each corresponding to a plurality of top supports, so that the multiple top supports can pass through the first through holes to support the goods; the handling robot is used to remove pallets containing goods from the shelf and separate the goods from the pallets to transfer the separated goods to the workstation.

[0028] In some embodiments, the handling robot performs the following steps: controlling the lifting assembly to lower the second platform so that the top support on the first platform passes through the through hole at the bottom of the pallet to support the first item, the second platform carrying the pallet containing the first item; controlling the handling robot to move to a second docking position, the second docking position being provided with a second docking device, the handling robot docking with the second docking device so that the first item can be transferred to the second docking device.

[0029] This embodiment of the application establishes a fixed first platform on the chassis of a handling robot, with a top-holding component on the first platform. A movable second platform is also provided, with a first through-hole through which the top-holding component can pass. A lifting assembly raises and lowers the second platform. When a pallet containing goods is placed on the second platform, the lifting assembly lowers the second platform, allowing the top-holding component to pass through the first through-hole in the second platform and a through-hole in the bottom of the pallet to support the goods inside the pallet, thus separating the goods from the pallet. This method has a simple structure, reduces equipment costs, simplifies the separation process of goods and pallets, and improves the operating efficiency of the handling robot.

[0030] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0031] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0032] Figure 1a shows a schematic diagram of the structure of the warehousing system provided in an embodiment of this application;

[0033] Figure 1b shows a top view of the warehousing system provided in an embodiment of this application;

[0034] Figure 2 shows a schematic diagram of the tray structure in an embodiment of this application;

[0035] Figure 3 shows a schematic diagram of the structure of the first connecting device in an embodiment of this application;

[0036] Figure 4 shows a schematic diagram of the structure of the second connecting device in an embodiment of this application;

[0037] Figure 5a shows a perspective view of the handling robot provided in the embodiment of this application in a first state;

[0038] Figure 5b shows a perspective view of the handling robot provided in the embodiment of this application in its first state from another angle;

[0039] Figure 5c shows a side view of the handling robot provided in the embodiment of this application in a first state;

[0040] Figure 5d shows a perspective view of the handling robot provided in the embodiment of this application in its second state;

[0041] Figure 5e shows a schematic diagram of the scissor fork mechanism and the second platform in an embodiment of this application;

[0042] Figure 6a shows a schematic diagram of the first state of the handling robot when it is handling a pallet;

[0043] Figure 6b shows a schematic diagram of the second state of the handling robot when it is handling a pallet;

[0044] Figure 7a shows a schematic diagram of the dimensional relationship between part of the transport robot's structure and the cantilever beam;

[0045] Figure 7b shows a schematic diagram of the second platform of the handling robot in the second position;

[0046] Figure 7c shows a schematic diagram of the dimensional relationship between some structures of the handling robot and the comb teeth;

[0047] Figure 8 shows a flowchart illustrating the picking and placing method provided in an embodiment of this application;

[0048] Figure 9a shows the first positional relationship between the handling robot and the first connecting device during the picking and placing of goods;

[0049] Figure 9b shows a second positional relationship between the handling robot and the first connecting device during the picking and placing of goods;

[0050] Figure 9c shows the third positional relationship between the handling robot and the first connecting device during the picking and placing of goods;

[0051] Figure 9d shows the initial positional relationship between the handling robot and the pallet and goods during the picking and placing process;

[0052] Figure 9e shows a second positional relationship between the handling robot and the pallet and goods during the picking and placing process;

[0053] Figure 9f shows the first positional relationship between the handling robot and the second connecting device during the picking and placing of goods;

[0054] Figure 10 shows a schematic diagram of the cooperation relationship between the first platform with the tail ejector pin and the goods in an embodiment of this application;

[0055] Figure 11 shows a flowchart illustrating the picking and placing method provided in an embodiment of this application;

[0056] Figure 12 shows a schematic diagram of the structure of the electronic device provided in an embodiment of this application.

[0057] The reference numerals in the detailed embodiments are as follows:

[0058] 100. Warehousing system;

[0059] 10. Shelves;

[0060] 20. Workstation; 21. Inbound workstation; 22. Outbound workstation; 23. Picking workstation; 24. Inbound / Outbound workstation;

[0061] 30. Pallet; 31. Base plate; 32. Baffle; 33. Through hole; 34. Vertical plate hole;

[0062] 40. Transport robots;

[0063] 41. Chassis; 411. Shell; 412. Wheels;

[0064] 42. First platform; 421. Ejector pin; 422. Vertical plate; 423. Second through hole; 421a. Tail ejector pin;

[0065] 43. Lifting assembly; 43a. First end; 43b. Second end; 431. Scissor fork mechanism; 4311. Support rod; 4311a. First support rod; 4311b. Second support rod; 4311c. Third support rod; 4311d. Fourth support rod; 4312. Connecting rod;

[0066] 44. Second platform; 441. First through hole; 442. First connecting plate; 443. Second connecting plate; 4431. Sliding hole; 444. Third through hole;

[0067] 50. Control device;

[0068] 61. First connecting device; 611. First crossbeam; 612. Cantilever beam; 62. Second connecting device; 621. Second crossbeam; 622. Comb teeth;

[0069] 70. Goods;

[0070] 300. Electronic device; 302. Processor; 304. Memory; 306. Computer program. Detailed Implementation

[0071] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0072] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0073] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0074] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0075] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A exists, A and B exist simultaneously, and B exists. In addition, the character " / " in this document generally indicates that the related objects before and after it have an "or" relationship.

[0076] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0077] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0078] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0079] Intelligent warehousing systems utilize advanced information technology and automated equipment to achieve efficient storage and handling of goods, enabling automated identification, picking, handling, and storage. Cardboard boxes are typically used for storage in intelligent warehousing systems. However, because cardboard boxes are easily deformed and cannot be accurately retrieved by automated handling devices such as robots, they are usually placed in pallets made of more robust and durable materials before being placed on shelves. This prevents damage to the boxes during storage or handling. For some goods, they can be placed directly in pallets without additional cardboard packaging. Handling robots can remove pallets and boxes from the shelves together and transport them to the target location, such as a conveyor line at a workstation or another shelf. Pallets are usually labeled with tags, such as barcodes or QR codes, making it easier to quickly identify and track goods within the cardboard boxes in the warehouse management system. Furthermore, the size and shape of pallets are usually standardized, which also makes it easy for handling robots to interact with them.

[0080] In some scenarios within intelligent warehousing systems, it's necessary to separate goods from pallets and remove the goods from the pallets. The goods here can be individual items, cartons containing goods, or empty cartons. The following section uses cartons as an example to introduce several technical solutions for separating cartons from pallets.

[0081] For example, a robotic arm can be used to remove cartons from a pallet, achieving automatic separation of cartons and pallets, but the cost of robotic arms is relatively high.

[0082] Alternatively, a through-hole can be installed at the bottom of the pallet. When the pallet loaded with cartons arrives at the separation equipment on the workstation's conveyor line, the ejector plate is lifted from below the conveyor line. The ejector pins pass through the through-hole at the bottom of the pallet, lifting the cartons a short distance to create a gap between the cartons and the pallet. Then, the workstation's arm-like structure (hereinafter referred to as the arm) moves under the cartons, bypassing the ejector pins. The ejector plate then descends, causing the cartons to fall onto the arm, which subsequently transports the cartons to another surface, thus separating the cartons from the pallet. In this solution, the workstation structure is complex and costly; furthermore, due to the numerous and non-parallel mechanical actions, efficiency is low.

[0083] For example, a raised / lower structure can be incorporated into the inner bottom and side walls of the pallet, creating a gap between the bottom of the carton and the bottom of the pallet after the carton is placed on it. Once the pallet loaded with cartons reaches the unloading device at the workstation, the workstation extends a comb-like structure into the gap between the carton and the pallet. The comb-like structure then transports the carton to another surface, separating the carton from the pallet. However, this raised / lower structure increases the pallet's material cost and reduces its usable internal dimensions.

[0084] Therefore, how to achieve low-cost and high-efficiency separation of cartons and pallets is an urgent problem to be solved.

[0085] Figure 1a shows a structural schematic diagram of the warehousing system provided in an embodiment of this application, and Figure 1b shows a top plan view of the warehousing system provided in an embodiment of this application. As shown in Figures 1a and 1b, the warehousing system 100 includes shelves 10 and workstations 20. The shelves 10 are used to store containers, which are used to hold goods. The goods can be individual items, cartons containing goods, or empty cartons. The containers can be bins or pallets. In this embodiment, the pallet 30 shown in the figures is used as an example for illustration. The workstations 20 are used to receive goods to be processed or to output processed goods.

[0086] As shown in Figure 1b, the warehousing system 100 includes multiple shelves 10. Workstations 20 may include inbound workstations 21, outbound workstations 22, and picking workstations 23. Those skilled in the art will understand that the various workstations 20 described above may be workstations with only one function, or workstations 20 with two or three functions, such as inbound / outbound workstation 24. Workstations 20 are typically equipped with conveyor lines, which can directly transport goods, transport pallets 30 containing goods, or transport empty pallets 30.

[0087] Figure 2 shows a schematic diagram of the pallet structure in an embodiment of this application. As shown in Figure 2, the pallet 30 includes a base plate 31 and baffles 32 vertically arranged around the base plate 31. The height of the baffles 32 is lower than that of a conventional material box. Goods are placed on the base plate 31, which has multiple through holes 33.

[0088] The warehousing system 100 also includes a handling robot 40, of which one or more may be installed. The handling robot 40 is responsible for transferring goods between the conveyor lines of the shelves 10 and workstations 20. The handling robot 40 can move goods to be received from the receiving workstation 21 to the shelves 10, goods to be shipped from the shelves 10 to the shipping workstation 22, or goods to be picked from the shelves 10 to the picking workstation 23. For example, the handling robot 40 removes a pallet 30 containing goods from the shelf 10 and separates the goods from the pallet 30 to transfer the separated goods to workstation 20. The warehousing system 100 also includes a control device 50 for scheduling the handling robots 40 to perform handling tasks.

[0089] Aisles are provided between shelves 10, between shelves 10 and workstations 20, and / or between workstations 20, allowing passage for handling robots 40 or personnel. The handling robot 40 may be an automated guided robot that achieves positioning by recognizing guide lines or graphic codes (such as QR codes or barcodes) on the ground, thereby enabling movement within the storage system 100.

[0090] Shelf 10 and workstation 20 have docking positions, and docking devices are provided at each docking position. The handling robot 40 docks with the docking device of shelf 10 or workstation 20 to realize the storage and retrieval of pallets 30 and / or goods. Shelf 10 and workstation 20 have at least two types of docking devices: a first docking device and a second docking device. Figure 3 shows a schematic diagram of the structure of the first docking device in an embodiment of this application. As shown in Figure 3, the first docking device 61 can be set at the first docking position of shelf 10 or workstation 20. The first docking device 61 includes a first crossbeam 611 and two cantilever beams 612 for supporting pallets 30. The first crossbeam 611 is fixed to the upright of shelf 10 by bolting or other means, and the two cantilever beams 612 are vertically connected to the first crossbeam 611 in the horizontal plane. Figure 4 shows a schematic diagram of the structure of the second connecting device in this embodiment. As shown in Figure 4, the second connecting device 62 can be set at the second connecting position of the shelf 10 or the workstation 20. The second connecting device 62 includes a second crossbeam 621 and a plurality of spaced comb teeth 622. The second crossbeam 621 is fixed to the upright of the conveyor line of the workstation 20 by bolting or other means. The plurality of comb teeth 622 are vertically connected to the first crossbeam 611 in the horizontal plane and are used to carry goods. Of course, the second connecting device 62 can also be used to carry the pallet 30.

[0091] Figures 5a to 5d show schematic diagrams of the structure of the handling robot provided in the embodiments of this application. Referring to Figures 5a to 5d, the handling robot 40 includes a chassis 41, a first platform 42, a lifting assembly 43, and a second platform 44. Of course, the handling robot 40 typically also includes components not shown in the figures, such as a walking motor, a main control unit, and a battery.

[0092] The chassis 41 includes a housing 411 and a walking mechanism disposed on the housing 411. The walking mechanism includes a drive component (not shown in the figure) and walking wheels 412. The drive component drives the walking wheels 412 to rotate, thereby realizing the movement of the handling robot 40. For example, the drive component drives the walking wheels 412 to rotate forward, thereby realizing the movement of the handling robot 40. The drive component drives the walking wheels 412 to rotate in reverse, thereby realizing the movement of the handling robot 40 in reverse.

[0093] The first platform 42 is fixed to the chassis 41 and located on top of the chassis 41. Multiple support members are spaced apart on the first platform 42 to support goods. The first platform 42 is a flat plate structure, which can be fixed to the top of the housing 411 of the chassis 41, or the first platform 42 can be the top surface of the housing 411 of the chassis 41. The support members include one or more combinations of pins, plates, and blocks, as long as the support members can support the goods and do not interfere with the movement of the lifting assembly 43. The shape and number of through holes 33 on the bottom plate 31 of the pallet 30 are adapted to the shape and number of the support members of the handling robot 40. In the embodiment shown in the figure, the support member is a pin 421, and the through holes 33 on the bottom plate 31 of the pallet 30 are circular holes (see Figure 3).

[0094] The lifting assembly 43 has a first end 43a and a second end 43b that are vertically opposite each other (as shown in Figure 5c). The first end 43a is fixed to the chassis 41, and the second end 43b can move vertically in a direction away from the first platform 42 (the Z direction as shown in the figure) or in a direction close to the first platform 42 (the negative direction of the Z direction as shown in the figure, i.e., the -Z direction). Figure 5a is a perspective view of the handling robot in the first state, Figure 5b is a perspective view of the handling robot in the first state from another angle, Figure 5c is a side view of the handling robot in the first state, in which the second end 43b of the lifting assembly 43 is located away from the first platform 42; Figure 5d is a structural schematic diagram of the handling robot in the second state, in which the second end 43b of the lifting assembly 43 is located close to the first platform 42.

[0095] The second platform 44 is used to support pallets and / or goods. The second platform 44 is located at the second end 43b of the lifting assembly 43, parallel to the first platform 42. The second platform 44 has multiple first through holes 441, each corresponding to a plurality of ejector pins 421, allowing the ejector pins 421 to pass through and support the goods. The second platform 44 is also a flat plate. The shape of the first through holes 441 is adapted to the shape of the ejector pins 421. For example, the shape and size of the first through holes 441 are basically the same as the shape and size of the ejector pins 421, or the size of the first through holes 441 is slightly larger than the size of the ejector pins 421, so that the ejector pins 421 can pass smoothly through the first through holes 441. The number of first through holes 441 is the same as, or can be more than, the number of ejector pins 421 that need to pass through the first through holes 441.

[0096] Please refer to Figures 6a and 6b, which show the structural schematic diagrams of the first and second states of the handling robot when handling a pallet, respectively. As shown in Figure 6a, the pallet 30 is placed on the second platform, and the second end of the lifting assembly 43 is positioned away from the first platform, lifting the pallet 30. As shown in Figure 6b, the second end of the lifting assembly is positioned close to the first platform 42, and the pallet 30 moves downward from the position shown in Figure 6a. The ejector pin 421 passes through the first through hole of the second platform and the through hole 33 at the bottom of the pallet 30, with the top of the ejector pin 421 protruding from the top of the pallet 30. If there are goods placed inside the pallet 30 in the state shown in Figure 6a, when changing from the state shown in Figure 6a to the state shown in Figure 6b, the ejector pin 421 can pass through the first through hole of the second platform and the through hole 33 at the bottom of the pallet 30 to support the goods inside the pallet 30, achieving separation of the goods inside the pallet 30 from the pallet 30.

[0097] The lifting assembly 43 can achieve the movement of its second end 43b relative to its first end 43a through methods such as scissor forks, lifting rods (hydraulic, electric, or pneumatic), screw lifting, chain lifting, gear lifting, and crank lifting. This embodiment uses a scissor fork as an example. The scissor fork mechanism 431 can achieve a large travel distance, has a small retractable size to meet the application scenario's requirement for a small-volume handling robot 40, has a strong load capacity, and provides smooth lifting, ensuring the safe transport of pallets and goods.

[0098] Figure 5e shows a schematic diagram of the scissor fork mechanism and the second platform in an embodiment of this application. As shown in Figure 5e, and referring to Figures 5a and 5b, the lifting assembly 43 includes a drive mechanism (not shown) and a scissor fork mechanism 431 connected to each other. The bottom and top ends of the scissor fork mechanism 431, which are opposite each other in the vertical direction, are the first end 43a and the second end 43b of the lifting assembly 43, respectively. The drive mechanism is used to drive the scissor fork mechanism 431 to extend so that the second end 43b moves in the vertical direction away from the first end 43a, and to drive the scissor fork mechanism 431 to retract so that the second end 43b moves in the vertical direction closer to the first end 43a.

[0099] The driving mechanism of the lifting assembly 43 can be a motor. The motor output shaft rotates, and the rotation is converted into linear motion through a rotary-linear motion conversion mechanism (such as a ball screw mechanism, crank-slider mechanism, gear and rack mechanism, etc.), driving the scissor fork mechanism 431 to move, thereby causing the scissor fork mechanism 431 to extend and retract. The driving mechanism of the lifting assembly 43 can reuse the walking motor of the handling robot 40, that is, the walking motor is used to drive the handling robot 40 to move and also to drive the scissor fork mechanism 431 to lift and lower. In this way, there is no need to set up an additional lifting motor, thereby simplifying the structural design and reducing costs.

[0100] The scissor fork mechanism 431 includes two sets of support rods arranged opposite each other along the horizontal direction (X direction as shown in the figure). Each set of support rods includes at least two support rods 4311, which are arranged crosswise and hinged at the intersection point. The two ends of each support rod 4311 are rotatably connected to the two ends of the corresponding support rod 4311 in the other set of support rods via connecting rods 4312. The driving mechanism drives at least one connecting rod 4312 to move, causing the two sets of support rods to extend or retract. The axial direction of the connecting rod 4312 is along the X direction. The drive mechanism drives the connecting rod 4312 to move in the -Y direction (i.e., the negative direction of Y in the figure), causing the two sets of support rods to extend so that the second end 43b moves vertically away from the first end 43a to lift the pallet; the drive mechanism drives the connecting rod 4312 to move in the Y direction, causing the two sets of support rods to retract so that the second end 43b moves vertically towards the first end 43a to lower the pallet; the ejector pin 421 passes through the first through hole 441 of the second platform 44 and the through hole at the bottom of the pallet to support the goods in the pallet, realizing the separation of the goods in the pallet from the pallet.

[0101] The scissor fork mechanism 431 in this embodiment is a two-stage scissor fork mechanism, meaning that each set of support rods includes two pairs of cross-hinged support rods 4311. The two pairs of support rods 4311 are arranged vertically, and the adjacent ends of each pair of support rods 4311 are rotatably connected to the other pair via the connecting rod 4312. Using a two-stage scissor fork mechanism allows for a greater travel distance to the second end 43b when the chassis 41 of the handling robot 40 has a fixed size. Of course, more stages of the scissor fork mechanism can be used as needed to achieve a greater travel distance to the second end 43b; this application does not limit this.

[0102] In the scissor fork mechanism 431, the uppermost support rod 4311 in the vertical direction is used to set the second platform 44. One end of the bottom of the second platform 44 is hinged to two support rods 4311, and the other end is slidably connected to two other support rods 4311. Specifically, one end of the bottom of the second platform 44 is provided with two first connecting plates 442. The first support rod 4311a and the second support rod 4311b are respectively hinged to the two first connecting plates 442 through connecting rods 4312. The other end of the bottom of the second platform 44 is provided with two second connecting plates 443. The second connecting plates 443 have sliding holes 4431, and the connecting rods 4312 can move within the sliding holes 4431. The third support rod 4311c and the fourth support rod 4311d are respectively slidably connected to the two second connecting plates 443 through connecting rods 4312.

[0103] A vertical support plate 422 is also vertically arranged on the first platform 42. Along the second direction (i.e., the Y direction), the top dimension of the support plate 422 is larger than the bottom dimension (i.e., the length of the top of the support plate 422 along the Y direction is greater than the length of the bottom of the support plate 422 along the Y direction), to provide movement space for at least one connecting rod 4312. The second direction (Y direction) is perpendicular to the axial direction (X direction) of the connecting rod 4312. The number and layout of the support plates 422 can be set according to the size of the connecting rod 4312, as long as it provides movement space for the connecting rod 4312. In the embodiment shown in the figure, three support plates 422 are arranged on the first platform 42.

[0104] Since the first tabletop 42 is provided with a vertical plate 422, the second tabletop 44 is correspondingly provided with a third through hole 444 for the vertical plate 422 to pass through. The shape of the third through hole 444 is adapted to the vertical plate 422, for example, as shown in the figure, the third through hole 444 is a strip hole. For example, the shape and size of the third through hole 444 are basically consistent with the shape and size of the projection of the vertical plate 422 on the second tabletop 44, or the size of the third through hole 444 is slightly larger than the size of the projection of the vertical plate 422 on the second tabletop 44, so that the vertical plate 422 can pass through the third through hole 444 smoothly; the number of third through holes 444 is greater than or equal to the number of vertical plates 422, preferably the same as the number of vertical plates 422. The tray 30 is also provided with a vertical plate hole 34 for the vertical plate 422 to pass through.

[0105] In some embodiments, as shown in Figure 5a, the first platform 42 has a second through hole 423, which allows a vertically moving component of the lifting assembly 43 to pass through, ensuring that the first platform 42 does not interfere with the vertically moving component. The shape of the second through hole 423 is adapted to the maximum projection of the vertically moving component in the lifting assembly 43 onto a first plane, where the first plane is the plane containing the first platform 42, and all projections include the projections of the moving component in all its motion states. This allows the vertically moving component in the lifting assembly 43 to pass smoothly through the second through hole 423 without interference from the first platform 42.

[0106] When the lifting assembly 43 includes the scissor fork mechanism 431 as described above, the second through hole 423 opened on the first platform 42 allows the support rod 4311 and the connecting rod 4312 in the lifting assembly 43 to pass through, so that the first platform 42 does not interfere with the support rod 4311 and the connecting rod 4312.

[0107] Figure 7a shows a schematic diagram of the dimensional relationship between a portion of the transport robot's structure and the cantilever beam. Figure 7b shows a schematic diagram of the transport robot's second platform in the second position. Figure 7c shows a schematic diagram of the dimensional relationship between a portion of the transport robot's structure and the comb teeth.

[0108] The handling robot 40 is used to pick up and place pallets from a first docking position on a shelf or at a workstation. As previously described, the first docking device at the first docking position includes two cantilever beams for supporting the pallets. As shown in Figure 7a, the dimension d1 of the second platform 44 along a first direction (X direction as shown in the figure) is smaller than the distance d2 between the two cantilever beams 612. The first direction is a direction perpendicular to the traveling direction of the chassis 41 (Y direction as shown in the figure) in the horizontal plane. When the handling robot 40 moves to the first docking position, the lifting assembly needs to raise or lower the second platform 44 so that the second platform 44 passes between the two cantilever beams 612, thereby realizing the picking up and placing of pallets. Therefore, the dimension of the second platform 44 along the first direction is smaller than the distance between the two cantilever beams 612, that is, the width of the second platform 44 is smaller than the distance between the cantilever beams 612, so that the second platform 44 can pass through the gap between the cantilever beams 612.

[0109] As shown in Figure 7a, the height h1 of the top of the ejector pin 421 is less than or equal to the height h2 of the first surface S1 of the two cantilever beams 612. The first surface S1 is the surface of the cantilever beam 612 facing away from the pallet, that is, the bottom of the cantilever beam 612. In this way, when the handling robot 40 moves to the first docking position, the ejector pin 421 will not interfere with the cantilever beam 612 or the pallet placed on the cantilever beam 612, thus enabling the handling robot 40 to smoothly move to the first docking position for pallet retrieval and placement. Unless otherwise specified, the heights in the embodiments of this application refer to the dimensions along the Z direction shown in the figure.

[0110] As shown in Figure 7a, the second platform 44 can be lifted to a first position by the second end of the lifting assembly. The height h3 of the first position is greater than or equal to the height h4 of the second surface S2 of the two cantilever beams 612, where the second surface S2 is the surface on which the cantilever beam 612 carries the pallet. Thus, when the handling robot 40 moves to the first docking position to retrieve the pallet, the second platform 44 can rise above the cantilever beam 612, thereby lifting the pallet away from the cantilever beam 612, and the handling robot 40 moves out of the first docking position to retrieve the pallet. When the handling robot 40 needs to move to the first docking position to place the pallet, the second platform 44 can lift the pallet above the cantilever beam 612. When the handling robot 40 moves to the first docking position, the pallet will not interfere with the cantilever beam 612, allowing the handling robot 40 to move smoothly to the first docking position to place the pallet.

[0111] As shown in Figure 7b, the second platform 44 can be driven down to the second position by the second end of the lifting component 43. The height h5 of the second position is less than the height h1 of the top of the ejector pin 421, so as to separate the goods and the pallet.

[0112] The handling robot 40 is used to pick up and place goods from a second docking position on a shelf or at a workstation. As mentioned earlier, the second docking position is equipped with a second docking device, which includes a plurality of spaced-apart comb teeth for carrying goods. As shown in Figure 7c, the difference between the height h1 of the top of the pin 421 and the height h6 of the third surface S3 on the first side of the plurality of comb teeth 622 is within a preset difference range. The third surface S3 is the surface on which the plurality of comb teeth 622 support the goods 70, and the first side is located at the entrance of the second docking position. The preset difference range is a small range, that is, the height h1 of the pin 421 and the height h6 of the third surface S3 of the comb teeth 622 are approximately equal. For example, the height h1 of the pin 421 is equal to the height h6 of the third surface S3 of the comb teeth 622, or the height h1 of the pin 421 is slightly higher or slightly lower than the height h6 of the third surface S3 of the comb teeth 622. In this way, when the handling robot 40 moves to the second docking position to place the goods, the goods held by the ejector pin 421 can move smoothly to the top of the comb tooth 622 without being interfered with by the comb tooth 622 (when the height h1 of the ejector pin 421 is slightly lower than the height h6 of the third surface S3 of the comb tooth 622, the goods can be carried onto the comb tooth 622 by inertia), and then the goods can be stopped at the second docking device by the friction between the goods and the comb tooth 622 or by the power mechanism set on the comb tooth 622.

[0113] Figure 8 shows a flowchart of the picking and placing method provided in an embodiment of this application, which is applied to the aforementioned handling robot. Figures 9a to 9f show the positional relationship between the handling robot and each connecting device, as well as its positional relationship with the pallet and goods, during the picking and placing process.

[0114] As shown in Figure 8, the method for picking up and placing goods includes the following steps:

[0115] Step 101: Control the handling robot to walk to the first docking position. The first docking position is equipped with a first docking device, which carries a pallet and the first goods.

[0116] Step 102: Control the lifting assembly to raise the second platform so that the second platform contacts the bottom of the pallet and lifts the pallet and the first goods away from the first connecting device.

[0117] In steps 101 and 102, the first docking position is the docking position of the shelf, where the handling robot retrieves the pallet containing the goods from the shelf. First, the handling robot 40 moves below the first docking position (as shown in Figure 9a), extends and lifts the second platform 44 via the scissor fork mechanism 431, so that the second platform 44 contacts the bottom of the pallet 30 (as shown in Figure 9b), and moves the pallet 30 away from the cantilever beam 612 of the shelf by a certain distance (as shown in Figure 9c), and then moves out of the first docking position. The handling robot 40 moving out of the first docking position means that the handling robot 40 moves out from under the first docking device or passes under the first docking device. The same principle applies to moving out of other docking positions in the following text.

[0118] Step 103: Control the lifting assembly to lower the second platform so that the top support on the first platform passes through the through hole at the bottom of the pallet to support the first item. The second platform carries the pallet, and the first item is placed inside the pallet.

[0119] Step 104: Control the transport robot to walk to the second docking position. The second docking position is equipped with a second docking device. The transport robot docks with the second docking device so that the first goods can be transferred to the second docking device.

[0120] Step 105: Control the transport robot to move so that the first item stops on the second docking device through the friction between the bottom of the first item and the top of the second docking device.

[0121] In steps 103 to 105, the second docking position is the docking position of the workstation. The transport robot separates the goods from the pallet and transfers the goods to the workstation docking position. First, after the transport robot 40 moves out of the first docking position, the second platform 44 is lowered by the retraction of the scissor fork mechanism 431. The pins 421 on the first platform 42 support the goods 70 through the through holes at the bottom of the pallet 30 (as shown in Figure 9d). Then, the pallet 30 continues to descend with the second platform 44, separating the goods 70 from the pallet 30 (as shown in Figure 9e). The transport robot 40 transports the pallet 30 and the goods 70 to the second docking position. The transport robot 40 engages with the comb teeth 622 of the second docking device so that the goods 70 can be placed on the second docking device (as shown in Figure 9f). During the passage of the transport robot 40 through the second docking position, the friction between the goods 70 and the comb teeth 622 keeps the goods 70 on the second docking device.

[0122] The transfer of goods from the handling robot to the workstation / conveyor line can also be achieved by the following method: the bottom of the goods contacts the top of the second connecting device, and the goods are conveyed from the second connecting position to the conveyor line or workstation to which the second connecting device belongs through the transmission component of the second connecting device. Alternatively, the goods can be gripped to the conveyor line or workstation to which the second connecting device belongs by a power gripping component installed on the second connecting device.

[0123] Step 103 can be performed before step 104, or it can be performed during the process of the transport robot moving to the second docking position.

[0124] After the handling robot transfers the goods to the workstation docking position in step 105, steps 106 to 120 can be executed, or steps 121 to 123 can be executed.

[0125] Step 106: Control the transport robot to move to the third docking position. The third docking position is equipped with a third docking device to allow the transport robot to dock with the third docking device. The top holding member on the first platform can pass through the gaps of multiple comb teeth of the third docking device to contact the bottom of the second item. The third docking device includes multiple comb teeth arranged at intervals in a second plane, which are used to carry the second item. The second plane is parallel to the ground on which the transport robot moves.

[0126] Step 107: Control the transport robot to move out of the third docking position to transfer the second item from the third docking device to the transport robot.

[0127] In steps 106 and 107, the third docking position is also a docking position of the workstation. After transferring the goods in the pallet to the second docking device, the handling robot goes to the third docking position of the current workstation or another workstation to retrieve the goods. The third docking device at the third docking position has the second goods placed on it. The handling robot 40 moves to the third docking position and docks with the comb teeth 622 of the third docking device, so that the goods 70 are transferred to the pins 421 of the handling robot 40 (please refer to Figure 9f for the docking state).

[0128] The goods are transferred to the top holder by means of friction between the goods and the top holder as the transport robot travels through the third docking position. Once the transport robot leaves the third docking position, the goods are transferred from the third docking device to the transport robot. The transport robot typically leaves the third docking position by moving from the first side to the second side.

[0129] In other embodiments, the transfer of goods from the docking position to the transport robot can also be achieved by setting a goods-driving component. Figure 10 shows a schematic diagram of the cooperation relationship between the first platform with a tail pin and the goods in an embodiment of this application. As shown in Figure 10, a tail pin 421a is set at the tail of the first platform 42. The height of the tail pin 421a is higher than that of the other pins 421. When the transport robot is in the third docking position, the tail pin 421a passes through the gap of multiple comb teeth of the third docking device to protrude from the comb teeth in the vertical direction. When the transport robot moves out of the third docking position, the tail pin 421a drives the goods 70 (e.g., the second goods) to transfer the goods 70 from the third docking device to the transport robot.

[0130] Step 108: Control the lifting assembly to raise the second platform so that the bottom of the second item contacts the pallet to place the second item on the pallet, and raise the pallet containing the second item.

[0131] Step 109: Control the transport robot to move to the fourth docking position, where a fourth docking device is installed;

[0132] Step 120: Control the lifting assembly to lower the second platform so as to place the pallet containing the second goods onto the fourth connecting device.

[0133] In steps 108 to 120, the fourth docking position is the shelf docking position. After the handling robot picks up the goods, it places the pallet containing the goods at the shelf docking position. First, the handling robot 40 raises the second platform 44 so that the bottom of the pallet 30 contacts the goods 70 (see Figure 9d), and continues to raise the second platform 44 so that the bottom of the pallet 30 is higher than the top of the cantilever beam 612 (i.e., the second surface) (see Figure 9c). Then, after the handling robot 40 reaches the fourth docking position, it lowers the second platform 44 and places the pallet 30 on the cantilever beam 612 of the fourth docking device (see Figure 9b). The second platform 44 continues to lower until it is lower than the bottom of the cantilever beam 612 (i.e., the first surface) (as shown in Figure 9a), and the handling robot 40 moves out of the fourth docking position.

[0134] Step 108 can be performed before step 109, or it can be performed during the process of the transport robot moving to the fourth docking position.

[0135] Step 121: Control the lifting assembly to raise the second platform, thereby causing the tray to rise.

[0136] Step 122: Control the transport robot to move to the fifth docking position, where a fifth docking device is installed.

[0137] Step 123: Control the lifting assembly to lower the second platform to place the tray on the fifth connecting device.

[0138] In steps 121 to 123, the fifth docking position is the docking position of the shelf or workstation. After the handling robot transfers the goods to the docking position of the workstation, it puts the empty pallet back to the docking position of the shelf or places it in the docking position of the workstation. The handling robot 40 lifts the pallet 30 by the second platform 44, moves it to the fifth docking position, and then lowers the second platform 44 to lower the pallet, placing the pallet 30 on the cantilever beam 612 of the fifth docking device of the shelf or workstation (see Figures 9c-9b-9a for the changing states of the handling robot).

[0139] Step 121 can be performed before step 122, or it can be performed during the process of the transport robot moving to the fifth docking position.

[0140] This embodiment of the application provides a fixed first platform 42 on the chassis 41 of the handling robot 40, with a top-holding component on the first platform 42. A movable second platform 44 is also provided, with a first through-hole 441 through which the top-holding component passes. A lifting assembly 43 moves the second platform 44 up and down. When the second platform 44 carries a pallet 30 containing goods 70, the lifting assembly 43 lowers the second platform 44. The top-holding component passes through the first through-hole 441 of the second platform 44 and the through-hole 33 at the bottom of the pallet 30 to support the goods 70 within the pallet 30, thus separating the goods 70 from the pallet 30. This method has a simple structure, eliminating the need for complex structural adjustments at the shelf 10 or workstation 20, thereby reducing overall equipment costs.

[0141] When using existing handling robots to separate goods and pallets, the handling robot first places the pallet at the workstation, then the workstation's equipment separates the goods and pallet, and finally the handling robot retrieves the pallet from the workstation. Using the handling robot 40 of this embodiment, the goods 70 and pallet 30 can be separated directly at workstation 20, and the goods 70 can be placed at workstation 20. The handling robot 40 does not need to perform the additional step of retrieving the pallet 30 from workstation 20, simplifying the separation process and improving the operating efficiency of the handling robot 40. Because the efficiency of separating goods 70 and pallet 30 at workstation 20 is improved, the number of workstations 20 can be reduced, saving usable space.

[0142] Figure 11 shows a flowchart of the picking and placing method provided in an embodiment of this application, which is applied to the aforementioned handling robot. As shown in Figure 11, the method includes the following steps:

[0143] Step 201: Control the lifting assembly to lower the second platform so that the top support on the first platform passes through the through hole at the bottom of the pallet to support the first item. The second platform carries the pallet, and the first item is placed inside the pallet.

[0144] Step 202: Control the transport robot to walk to the second docking position. The second docking position is equipped with a second docking device. The transport robot docks with the second docking device so that the first goods can be transferred to the second docking device.

[0145] In some embodiments, after controlling the handling robot to dock with the second docking device, the method further includes:

[0146] The handling robot is controlled to move so that the first item is stopped on the second docking device by the friction between the bottom of the first item and the top of the second docking device.

[0147] In some embodiments, after the first goods are transferred to the second receiving device, the method further includes:

[0148] Control the transport robot to walk to the third docking position. The third docking position is equipped with a third docking device so that the transport robot can dock with the third docking device. The top holding member on the first platform can pass through the gaps of multiple comb teeth of the third docking device to contact the bottom of the second goods. The third docking device includes multiple comb teeth arranged at intervals in the second plane. The multiple comb teeth are used to carry the second goods.

[0149] Control the transport robot to move out of the third docking position to transfer the second item from the third docking device to the transport robot.

[0150] In some embodiments, the height of the tail support member located at the rear of the first platform is higher than that of other support members; when the transport robot moves out of the third docking position, it uses the tail support member to move the second cargo from the third docking device to the transport robot.

[0151] In some embodiments, after controlling the transport robot to move out of the third docking position to transfer the second item from the third docking device to the transport robot, the method further includes:

[0152] The control lifting component raises the second platform so that the bottom of the second item contacts the pallet to place the second item on the pallet, and the pallet containing the second item rises.

[0153] Control the transport robot to move to the fourth docking position, where a fourth docking device is installed;

[0154] The control lifting assembly lowers the second platform to place the pallet containing the second goods onto the fourth connecting device.

[0155] In some embodiments, after the first goods are transferred to the second receiving device, the method further includes:

[0156] The lifting assembly is controlled to raise the second platform, thereby causing the tray to rise.

[0157] Control the transport robot to move to the fifth docking position, where a fifth docking device is installed;

[0158] The control lifting assembly lowers the second platform to place the tray onto the fifth connecting device.

[0159] In some embodiments, before the lifting assembly lowers the second platform to allow the top support on the first platform to pass through a through-hole in the bottom of the pallet to support the first item, the method further includes:

[0160] Control the transport robot to walk to the first docking position, the first docking position is equipped with a first docking device, the first docking device carries a pallet and a first item;

[0161] The control lifting assembly raises the second platform so that the second platform contacts the bottom of the pallet and lifts the pallet and the first goods away from the first connecting device.

[0162] Figure 12 shows a schematic diagram of the structure of the electronic device provided in the embodiment of this application. The specific embodiments of this application do not limit the specific implementation of the electronic device.

[0163] As shown in Figure 12, the electronic device 300 may include a processor 302 and a memory 304.

[0164] The processor 302 is used to execute the computer program 306, which can specifically execute the relevant steps in the above-described embodiment of the method for picking up and placing goods.

[0165] Specifically, computer program 306 may include computer-executable instructions.

[0166] Processor 302 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The electronic device includes one or more processors, which may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0167] Memory 304 is used to store computer program 306. Memory 304 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0168] This application provides a computer-readable storage medium storing at least one executable instruction. When the executable instruction is executed on an electronic device, it causes the electronic device to perform the operation of the picking and placing method as described in the above embodiment.

[0169] This application provides a computer program product, including a computer program that, when executed by a processor, implements the picking and placing method of the above embodiment.

[0170] This application provides a computer program that can be called by a processor to cause an electronic device to perform the picking and placing method as described above.

[0171] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, the embodiments of this application are not directed to any particular programming language. It should be understood that the content of this application described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of this application.

[0172] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0173] Similarly, it should be understood that, in order to simplify this application and aid in understanding one or more of the various aspects of the invention, features of the embodiments of this application are sometimes grouped together in a single embodiment, figure, or description thereof in the above description of exemplary embodiments of this application. However, this method of disclosure should not be construed as reflecting an intention that the claimed application requires more features than are expressly recited in each claim.

[0174] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0175] It should be noted that the above embodiments are illustrative of this application and not restrictive, and those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. This application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A transport robot, characterized in that, include: Chassis; The first platform is fixed to the chassis and located on top of the chassis. The first platform is provided with a plurality of support members distributed at intervals, which are used to support the goods. A lifting assembly having a first end and a second end opposite each other in a vertical direction, the first end being fixed to the chassis, and the second end being capable of moving in a direction away from or close to the first platform in the vertical direction. The second platform is used to support pallets and / or goods. The second platform is disposed at the second end of the lifting assembly. The second platform is parallel to the first platform. The second platform has a plurality of first through holes, and the plurality of first through holes correspond one-to-one with the plurality of top supports, so that the plurality of top supports can pass through the first through holes to support the goods.

2. The handling robot according to claim 1, characterized in that, The handling robot is used to pick up and place pallets from a first docking position on a shelf or at a workstation. The first docking position is equipped with a first docking device, which includes two cantilever beams for supporting the pallets. The dimension of the second platform along the first direction is less than the distance between the two cantilever beams, and the first direction is a direction perpendicular to the chassis travel direction in the horizontal plane.

3. The handling robot according to claim 2, characterized in that, The height of the top of the top support is less than or equal to the height of the two first surfaces of the cantilever beams, where the first surface is the surface of the cantilever beams facing away from the tray.

4. The handling robot according to claim 3, characterized in that, The second platform can be lifted to a first position by the second end of the lifting assembly. The height of the first position is greater than or equal to the height of the second surfaces of the two cantilever beams. The second surface is the surface on which the cantilever beams support the tray.

5. The handling robot according to claim 1, characterized in that, The second platform can be lowered to a second position by the second end of the lifting assembly, and the height of the second position is less than the height of the top of the top support member.

6. The handling robot according to claim 1, characterized in that, The handling robot is used to pick up and place goods from a second docking position on a shelf or at a workstation. The second docking position is equipped with a second docking device, which includes a plurality of comb teeth spaced apart, the plurality of comb teeth being used to carry goods. The difference between the height of the top of the top support and the height of the third surface of the first side of the plurality of comb teeth is within a preset difference range. The third surface is the surface on which the plurality of comb teeth support the goods. The first side is located at the entrance of the second docking position.

7. The handling robot according to any one of claims 1 to 6, characterized in that, The first platform has a second through hole, which allows the moving parts of the lifting assembly that move along the vertical direction to pass through.

8. The handling robot according to claim 7, characterized in that, The shape of the second through hole is adapted to the maximum projection of the moving part in the lifting assembly that moves along the vertical direction on the first plane. The first plane is the plane where the first platform is located. The total projection includes the projection of the moving part in all motion states.

9. The handling robot according to claim 1, characterized in that, The lifting assembly includes a drive mechanism and a scissor fork mechanism connected to each other, wherein the bottom end and the top end of the scissor fork mechanism, which are opposite each other along the vertical direction, are the first end and the second end, respectively. The drive mechanism is used to drive the scissor fork mechanism to extend so that the second end moves away from the first end along the vertical direction, and to drive the scissor fork mechanism to retract so that the second end moves closer to the first end along the vertical direction.

10. The handling robot according to claim 9, characterized in that, The scissor fork mechanism includes two sets of support rods arranged opposite each other in the horizontal direction. Each set of support rods includes at least two support rods. The at least two support rods are arranged crosswise and hinged at the intersection point. The two ends of each support rod are rotatably connected to the two ends of the corresponding support rod in the other set of support rods through a connecting rod. The driving mechanism drives at least one connecting rod to move, causing the two sets of support rods to extend or retract. A vertical plate is also vertically arranged on the first platform. Along the second direction, the top dimension of the vertical plate is larger than the bottom dimension of the vertical plate to provide movement space for the at least one connecting rod. The second direction is perpendicular to the axis of the connecting rod.

11. The handling robot according to claim 10, characterized in that, The second platform is also provided with a third through hole for the upright plate to pass through, and the shape of the third through hole is adapted to the upright plate.

12. The handling robot according to claim 1, characterized in that, The top support includes one or more combinations of a top pin, a top plate, and a top block.

13. A method for picking up and placing goods, applied to a handling robot, characterized in that, The handling robot includes a chassis, a first platform, a lifting assembly, and a second platform. The first platform is fixed to the chassis and located on top of the chassis. Multiple support members are spaced apart on the first platform for supporting goods. The lifting assembly has a first end and a second end facing each other in a vertical direction. The first end is fixed to the chassis, and the second end can move in the vertical direction away from or towards the first platform. The second platform is used to carry pallets and / or goods. The second platform is located at the second end of the lifting assembly and is parallel to the first platform. The second platform has multiple first through holes, each corresponding to one of the multiple support members, allowing the support members to pass through the first through holes to support the goods. The method includes: The lifting assembly is controlled to lower the second platform so that the top support on the first platform passes through the through hole at the bottom of the tray to support the first item. The second platform carries the tray, and the first item is placed inside the tray. The transport robot is controlled to walk to the second docking position, where a second docking device is provided. The transport robot docks with the second docking device so that the first goods can be transferred to the second docking device.

14. The method for picking up and placing goods according to claim 13, characterized in that, After controlling the transport robot to dock with the second docking device, the method further includes: The transport robot is controlled to move so that the first item stops on the second docking device due to the friction between the bottom of the first item and the top of the second docking device.

15. The method for picking up and placing goods according to claim 13, characterized in that, After the first item is transferred to the second receiving device, the method further includes: The handling robot is controlled to walk to the third docking position, which is provided with a third docking device so that the handling robot docks with the third docking device. The top holding member on the first platform can pass through the gaps of multiple comb teeth of the third docking device to contact the bottom of the second goods. The third docking device includes multiple comb teeth arranged at intervals in the second plane, which are used to carry the second goods. Control the transport robot to drive out of the third docking position to transfer the second goods from the third docking device to the transport robot.

16. The method for picking up and placing goods according to claim 15, characterized in that, The height of the tail support at the rear of the first platform is higher than that of the other support components; when the transport robot leaves the third docking position, it uses the tail support to move the second cargo from the third docking device to the transport robot.

17. The method for picking up and placing goods according to claim 15, characterized in that, After controlling the transport robot to move out of the third docking position to transfer the second goods from the third docking device to the transport robot, the method further includes: The lifting assembly is controlled to raise the second platform so that the bottom of the second item contacts the tray to place the second item on the tray, and the tray containing the second item is raised. The transport robot is controlled to move to the fourth docking position, where a fourth docking device is provided. The lifting assembly is controlled to lower the second platform so that the pallet containing the second goods is placed on the fourth connecting device.

18. The method for picking up and placing goods according to claim 13, characterized in that, After the first item is transferred to the second receiving device, the method further includes: The lifting assembly is controlled to raise the second platform, thereby causing the tray to rise. The transport robot is controlled to move to the fifth docking position, where a fifth docking device is provided. The lifting assembly is controlled to lower the second platform so as to place the tray on the fifth connecting device.

19. The method for picking up and placing goods according to claim 13, characterized in that, Before controlling the lifting assembly to lower the second platform so that the top support on the first platform passes through the through hole at the bottom of the tray to support the first item, the method further includes: The transport robot is controlled to walk to the first docking position, where a first docking device is provided, and the first docking device carries the pallet and the first goods; The lifting assembly is controlled to raise the second platform so that the second platform contacts the bottom of the pallet and lifts the pallet and the first goods away from the first connecting device.

20. An electronic device, characterized in that, include: A processor and a memory, wherein the memory stores executable instructions, and the processor is capable of executing the executable instructions to implement the picking and placing method as described in any one of claims 13 to 19.

21. A computer-readable storage medium, characterized in that, The storage medium stores executable instructions that, when executed on the electronic device, cause the electronic device to perform the picking and placing method as described in any one of claims 13 to 19.

22. A warehousing system, comprising: Shelves are used to store pallets; A workstation is used to receive goods to be processed or to output processed goods. as well as A handling robot includes a chassis, a first platform, a lifting assembly, and a second platform. The first platform is fixed to the chassis and located on top of the chassis. Multiple support members are spaced apart on the first platform for supporting goods. The lifting assembly has a first end and a second end facing each other in a vertical direction. The first end is fixed to the chassis, and the second end is movable in the vertical direction away from or towards the first platform. The second platform is used to carry pallets and / or goods. The second platform is located at the second end of the lifting assembly and is parallel to the first platform. The second platform has multiple first through holes, each corresponding to one of the multiple support members, allowing the support members to pass through the first through holes to support the goods. The handling robot is used to remove a pallet containing goods from the shelf and separate the goods from the pallet to transfer the separated goods to the workstation.

23. The warehousing system according to claim 22, characterized in that, The transport robot performs the following steps: The lifting assembly is controlled to lower the second platform so that the top support on the first platform passes through the through hole at the bottom of the tray to support the first item. The second platform carries the tray, and the first item is placed inside the tray. The transport robot is controlled to walk to the second docking position, where a second docking device is provided. The transport robot docks with the second docking device so that the first goods can be transferred to the second docking device.

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