Integrated logistics robot for palletizing and depalletizing

Abstract

An integrated logistics robot for palletizing and depalletizing (1000), comprising: a mobile robot (1), which is movably arranged; a storage space (6) provided in the mobile robot (1), the storage space (6) being provided with a plurality of locations (61), and the locations (61) being each provided with at least an inbound port (611) and an outbound port (612); a transfer platform (3) movably arranged on the mobile robot (1) so as to separately dock with the inbound ports (611) of the locations (61), a second conveying device (31) being provided on the transfer platform (3), and the second conveying device (31) being used for conveying goods between the transfer platform (3) and each location (61); and a grabbing manipulator (2) provided at the position of the mobile robot (1) corresponding to the transfer platform (3).

Description

Logistics depalletizing and palletizing composite robot

[0001] Cross-references

[0002] This application incorporates, in its entirety, Chinese Patent Application No. 202421603414.9, filed on July 8, 2024, entitled “Warehouse Palletizing Device and Logistics Depalletizing and Palletizing Composite Robot”, and Chinese Patent Application No. 202421604706.4, filed on July 8, 2024, entitled “Logistics Gripping Device and Logistics Depalletizing and Palletizing Composite Robot”, which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of logistics robot technology, and in particular to a logistics depalletizing and palletizing composite robot. Background Technology

[0004] Palletizing robots can stack multiple cartons on a mobile base, allowing for the simultaneous handling of multiple cartons and improving the efficiency of handling operations. Therefore, palletizing robots have become a research hotspot in the logistics industry. However, multiple cartons stacked on a mobile base may shift or tip over, causing them to easily fall off the base, resulting in poor stability. Summary of the Invention

[0005] According to various embodiments of this application, a combined depalletizing and palletizing robot for logistics is provided. Details of one or more embodiments of this application are set forth in the following drawings and description. Other features, objects, and advantages of this application will become apparent from the specification, drawings, and claims.

[0006] This application provides a logistics depalletizing and palletizing composite robot, including:

[0007] Mobile robot, movable configuration;

[0008] A storage unit is set up on a mobile robot. The storage unit has multiple storage locations, and each storage location has at least an inlet and an outlet.

[0009] The transit platform, equipped with mobile robots, connects to the inlet of each storage location. A second conveyor system is also installed on the platform to transport goods between the platform and each storage location.

[0010] The gripping robotic arm is positioned on the mobile robot corresponding to the transfer platform.

[0011] In one embodiment, each outlet is provided with a stop structure, which includes a movable stop part, having a clearance position to avoid the outlet and a stop position to stop the goods at the outlet during its travel.

[0012] In one embodiment, a first conveying device is provided at the bottom of each storage location, the first conveying device having a conveying stroke for conveying goods between the inlet and outlet.

[0013] In one embodiment, the stop is used to hold the first item stored in the storage location so that the second item is driven into the storage location by the first conveying device, so that multiple items can be stored in the same storage location.

[0014] In one embodiment, a first conveying device is provided at the bottom of each storage location, the first conveying device having a conveying stroke for conveying goods between the inlet and outlet.

[0015] The first conveying device includes a roller conveyor belt, which includes multiple conveyor wheel sets. Each conveyor wheel set includes a driving wheel, multiple driven wheels, and a driving component. The driving component is drivenly connected to the driving wheel, and the driving wheel and the multiple driven wheels are connected by a transmission structure.

[0016] In one embodiment, the second conveying device includes a roller conveyor belt, which includes multiple conveyor wheel sets. Each conveyor wheel set includes a driving wheel, multiple driven wheels, and a driving member. The driving member is drivenly connected to the driving wheel, and the driving wheel and the multiple driven wheels are connected by a transmission structure.

[0017] In one embodiment, the gripping robot includes a support assembly movably mounted on a mobile robot, a telescopic assembly mounted on the support assembly, and a gripping assembly rotatably mounted on the telescopic assembly, wherein the telescopic assembly is horizontally telescopic to extend the gripping assembly out of the mobile robot.

[0018] In one embodiment, the gripping robot arm is movable up and down on the mobile robot to adjust the gripping height of the goods to be gripped;

[0019] The telescopic assembly is used for horizontal extension and retraction adjustment to adjust the position of the grasped goods in the horizontal direction;

[0020] The gripping component is used to rotate the gripped goods in order to adjust the angle of the gripped goods in the horizontal direction.

[0021] In one embodiment, a lifting device is also included, which is disposed on the mobile robot, and the gripping manipulator adjusts its height via the lifting device.

[0022] In one embodiment, the telescopic assembly includes a plurality of telescopic units, with adjacent telescopic units movable relative to each other in a horizontal direction.

[0023] In one embodiment, the telescopic component is used to extend the gripping component laterally out of the mobile robot.

[0024] In one embodiment, the gripping component includes an adsorption component for adsorbing and gripping the goods from the top.

[0025] In one embodiment, a support component is vertically movable and mounted on the mobile robot; a telescopic component is mounted below the support component; and a gripping component is rotatably mounted below the telescopic component.

[0026] In one embodiment, a gripping robot is used to grip goods and place them on a transfer platform;

[0027] The transit platform is used to deliver the goods it carries to the corresponding storage locations;

[0028] Storage locations are used to allow goods in a storage location to be selectively and independently removed from the storage location through the exit, so that goods with different stacking requirements within the storage location can be stacked to the corresponding positions.

[0029] In one embodiment, each storage location is provided with a first conveying device, which is used to send the goods in the corresponding storage location out of the outlet.

[0030] This application also provides a warehouse palletizing device, including:

[0031] Mobile robot, movable configuration;

[0032] A storage unit, located on a mobile robot, has multiple storage locations, and each storage location has at least a horizontal inlet and an outlet; and,

[0033] The transfer platform is set up by mobile robots to connect to the inlet of each storage location. The transfer platform is also equipped with a second conveyor device to transport goods between the transfer platform and each storage location.

[0034] In one embodiment, each outlet is provided with a stop structure, which includes a movable stop part, having a clearance position to avoid the outlet and a stop position to stop the goods at the outlet during its travel.

[0035] In one embodiment, a first conveying device is provided at the bottom of each storage location, the first conveying device having a conveying stroke for conveying goods between the inlet and outlet.

[0036] In one embodiment, the stop is used to hold the first item stored in the storage location so that the second item is driven into the storage location by the first conveying device, so that multiple items can be stored in the same storage location.

[0037] In one embodiment, the stop includes a stop bar that is movable up and down at the outlet to have a stop position extending upwards from the first conveying device and a clearance position descending downwards below the upper surface of the first conveying device.

[0038] In one embodiment, a first conveying device is provided at the bottom of each storage location, the first conveying device having a conveying stroke for conveying goods between the inlet and outlet.

[0039] The first conveying device and / or the second conveying device includes a roller conveyor belt.

[0040] This application embodiment also provides a logistics depalletizing and palletizing composite robot, which includes:

[0041] The inbound palletizing device is the aforementioned inbound palletizing device; and,

[0042] The gripping robotic arm is positioned on the mobile robot corresponding to the transfer platform to grip goods and place them on the transfer platform.

[0043] This application embodiment also provides a logistics gripping device, including:

[0044] Mobile robot, movable configuration; and,

[0045] The gripping robot includes a support assembly movably mounted on a mobile robot, a telescopic assembly mounted on the support assembly, and a gripping assembly rotatably mounted on the telescopic assembly, wherein the telescopic assembly is horizontally telescopic to extend the gripping assembly out of the mobile robot.

[0046] In one embodiment, the telescopic assembly includes a plurality of telescopic units, with adjacent telescopic units movable relative to each other in a horizontal direction.

[0047] In one embodiment, the telescopic component is used to extend the gripping component laterally out of the mobile robot.

[0048] In one embodiment, the gripping component includes an adsorption component for adsorbing and gripping the goods from the top.

[0049] In one embodiment, a support component is vertically movable and mounted on the mobile robot; a telescopic component is mounted below the support component; and a gripping component is rotatably mounted below the telescopic component.

[0050] This application also provides a logistics depalletizing and palletizing composite robot, including a logistics gripping device, which is the logistics gripping device described above.

[0051] In one embodiment, the logistics depalletizing and palletizing composite robot also includes a storage warehouse;

[0052] The storage facility is set up on a mobile robot. The storage facility has multiple storage locations, and each storage location has at least a first storage location opening and a second storage location opening in the horizontal direction.

[0053] In one embodiment, the gripping robot is positioned corresponding to the first storage location.

[0054] In one embodiment, a first conveying device is provided at the bottom of each storage location, the first conveying device having a conveying stroke for conveying goods between a first storage location opening and a second storage location opening. Attached Figure Description

[0055] To better describe and illustrate embodiments and / or examples of the applications disclosed herein, reference may be made to one or more accompanying drawings. Additional details or examples used to describe the drawings should not be considered as limiting the scope of any of the disclosed applications, the embodiments and / or examples currently described, or the best mode of conduct of these applications as currently understood.

[0056] Figure 1 is a structural schematic diagram of an embodiment of the logistics depalletizing and palletizing composite robot provided in this application;

[0057] Figure 2 is a partial enlarged view of the roller conveyor belt in Figure 1;

[0058] Figure 3 is a structural schematic diagram of an embodiment of the logistics depalletizing and palletizing composite robot provided in this application;

[0059] Figure 4 is a three-dimensional schematic diagram of part of the structure in Figure 3;

[0060] Figure 5 is a schematic diagram of the telescopic component in Figure 3.

[0061] Reference numerals: 1000, Logistics depalletizing and palletizing composite robot; 100, Warehouse palletizing device; 1, Mobile robot; 101, Base; 102, Support; 2, Gripping manipulator; 21, Support component; 211, Fixed structure; 22, Telescopic component; 221, Telescopic unit; 221a, Movable plate; 221b, First track structure; 23, Gripping component; 230, Adsorption component; 23a, Vacuum adsorption component; 231, Mounting base; 232, Vacuum suction cup; 3, Transfer platform; 31, Second conveying device; 4, Stop structure; 40, Stop part; 41, Stop bar; 42, Connecting rod; 43, Guide rail; 44, Drive device; 5, Roller conveyor belt; 51, Conveying wheel set; 511, Driving wheel; 512, Driven wheel; 514, Transmission structure; 514a, Gear; 514b, Transmission belt; 300. Logistics gripping device; 6. Storage warehouse; 61. Storage location; 611. Inbound port; 612. Outbound port; 613. Sub-storage location; 614. Support rod; 62. First conveying device; 621. Conveying unit; 7. Second track structure; 8. Lifting device; 81. Driving component; 82. Gear; 83. Transmission chain. Detailed Implementation

[0062] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0063] Figure 1 is a structural schematic diagram of an embodiment of the logistics depalletizing and palletizing composite robot provided in this application; Figure 2 is a partial enlarged view of the roller conveyor belt in Figure 1; Figure 3 is a structural schematic diagram of an embodiment of the logistics depalletizing and palletizing composite robot provided in this application; Figure 4 is a three-dimensional schematic diagram of a part of the structure in Figure 3; Figure 5 is a structural schematic diagram of the telescopic component in Figure 3.

[0064] The following describes the logistics depalletizing and palletizing composite robot according to the embodiments of this application with reference to the accompanying drawings. Please refer to Figures 1 to 5, which are embodiments of the logistics depalletizing and palletizing composite robot 1000 proposed in this application. The logistics depalletizing and palletizing composite robot 1000 will be described below with reference to the specific accompanying drawings.

[0065] Please refer to Figures 1 and 2. The logistics depalletizing and palletizing composite robot 1000 includes a mobile robot 1, a storage warehouse 6, and a transfer platform 3. In some embodiments, the logistics depalletizing and palletizing composite robot 1000 also includes a gripping robot 2.

[0066] Mobile robot 1 is movable, and storage storage 6 is disposed on mobile robot 1. Storage storage 6 has multiple storage locations 61, and each storage location 61 has at least an inlet 611 and an outlet 612. In some embodiments, storage location 61 has at least an inlet 611 and an outlet 612 in the horizontal direction. In the following description, the inlet 611 will also be referred to as the first storage location, and the outlet 612 will be referred to as the second storage location.

[0067] The transfer platform 3 is set up on the mobile robot 1 to connect to the inlet 611 of each storage location 61. The transfer platform 3 is also equipped with a second conveying device 31, which is used to transport goods between the transfer platform 3 and each storage location 61.

[0068] In some embodiments, the gripping robot 2 is positioned on the mobile robot 1 at a location corresponding to the transfer platform 3.

[0069] In some embodiments, a first conveying device 62 is provided at the bottom of each storage location 61. The first conveying device 62 is used to deliver goods in the corresponding storage location 61 out of the outlet 612. The first conveying device 62 has a conveying stroke for conveying goods between the inlet 611 and the outlet 612. Further, multiple storage locations 61 are distributed from bottom to top. Additionally, optionally, the transfer platform 3 can be vertically mounted on the mobile robot 1.

[0070] In the technical solution of this application, the mobile robot 1 is movable to move between the goods loading position and the goods stacking position, meeting the need for the goods to be moved to the stacking area after being picked up. The storage warehouse 6 is mainly used to temporarily store the goods to be stacked during the movement of the mobile robot 1. Specifically, the storage warehouse 6 includes multiple storage locations 61 distributed vertically, that is, the goods between the upper and lower layers are stored in separate storage locations 61. When it is necessary to take out the goods for stacking, the first conveying device 62 on the corresponding storage location 61 is driven to send the goods out from the outlet 612 of the storage location 61, thus meeting the stacking requirements. In this way, storing the goods in separate storage locations 61 in the storage warehouse 6 does not affect the transfer and stacking of the goods, but improves the stability of the goods placed vertically during the transfer process, and avoids the goods stacking shifting or tipping over during the transfer process. Moreover, storing the goods in separate storage locations 61 allows for more freedom in stacking, and the goods in the corresponding storage location 61 can be driven out according to the stacking requirements. Based on this, if the storage warehouse 6 is equipped with a transit platform 3, the goods can be received through the transit platform 3 and delivered to the corresponding storage location 61, thus meeting the functional requirements.

[0071] Specifically, each outlet 612 is equipped with a stop structure 4, which includes a movable stop part 40. The stop part 40 has a clearance position to avoid the outlet 612 and a stop position to block goods at the outlet 612. On the one hand, to prevent goods from escaping from the outlet 612 and ensuring stability during goods transfer, and on the other hand, to meet the requirement of horizontally spaced two goods within the same storage location 61, this application provides a stop structure 4 at the outlet 612 to restrict goods from escaping from the outlet 612 during transfer. When a second item is placed in the same storage location 61, the first conveying device 62 is driven to transport it. The first item is held against the stop structure 4 and does not move, while the second item is driven closer to the first item to achieve storage, thus satisfying the storage of multiple items within the same storage location 61 and fulfilling functional requirements.

[0072] In other words, the stop 40 is used to hold the first item stored in the storage location 61 so that the second item is driven by the first conveying device 62 to be stored in the warehouse, so that multiple items can be stored in the same storage location 61.

[0073] Furthermore, the stop part 40 includes a stop bar 41, which is movably disposed vertically at the outlet 612 to have a stop position extending upwards from the first conveying device 62 and a clearance position descending downwards below the upper end face of the first conveying device 62. In some examples, the stop bar 41 can extend horizontally. The stop part 40 can be any structure extending from the storage position 61 into the outlet 612, such as a telescopic rod extending into the outlet 612 from its outer edge, or a rod rotatably mounted on the outer edge of the outlet 612. In this embodiment, the stop part 40 is configured as a vertically movable stop bar 41, and the stop bar 41 extends horizontally so that after the stop bar 41 extends upwards into the outlet 612, it can horizontally intercept goods, thus improving stability.

[0074] Furthermore, the baffles 41 of multiple storage locations 61 are connected by connecting rods 42. For example, the two ends of the multiple baffles 41 corresponding to multiple storage locations 61 are respectively connected by a vertically extending connecting rod 42. When goods located in storage locations 61 need to be moved out, the first conveying device 62 is required for conveying. That is, when the baffle 41 is in the avoidance position, the goods cannot be moved out of the storage location 61 on their own. The main function of the baffle 41 is to protect the goods during the movement of the mobile robot 1. When the mobile robot 1 stops performing the goods outbound and palletizing operation, the function of the baffle 41 is not significant. Therefore, in this application, the baffles 41 of multiple storage locations 61 are connected by connecting rods 42 to synchronize their movement. This reduces the number of drive structures, allowing multiple baffles 41 to move synchronously with a single drive structure, thus reducing costs. In other words, multiple baffles 41 are driven synchronously by the same drive device. On the other hand, it simplifies the outbound control process of goods in multiple storage locations 61. When goods need to be outbound from multiple storage locations 61, the drive structure can be directly controlled to drive the barrier 41 of the outbound port 612 of all storage locations 61 to avoid the outbound goods. There is no need to determine the storage location 61 that needs to be outbound for accurate control, thereby reducing control costs and simplifying the control process.

[0075] Specifically, guide rails 43 extending vertically are provided on both sides of the outlet 612, and a guide part is provided on the connecting rod 42. The guide part is movably mounted on the guide rails 43. The vertical movement of the stop lever 41 can be guided by an additional guide structure or by the aforementioned drive structure, which is not limited here. In this application, an additional guide structure is provided between the connecting rod 42 and the storage tank 6 to guide the vertical movement of the stop lever 41, making the vertical movement of the stop lever 41 more stable. Specifically, the aforementioned guide structure includes guide rails 43 provided on both sides of the outlet 612 and a guide part provided on the connecting rod 42. The guide part is configured to move along the guide rails 43 to guide the vertical movement of the stop lever 41.

[0076] Furthermore, each storage location 61 includes two horizontally spaced sub-locations 613. The first conveying device 62 includes conveying units 621 disposed at the two sub-locations 613. A stop bar 41 spans the two sub-locations 613, and the stop structure 4 also includes a drive device 44 disposed between the two sub-locations 613. The drive device 44 is driven and connected to the stop bar 41, for example, connected to the middle of the stop bar 41. To improve the stability of the drive device 44 driving the stop bar 41 to move up and down, this application drives and connects the drive device 44 to the middle of the stop bar 41. Based on this, this application sets the storage location 61 as two horizontally spaced sub-locations 613, so that the drive device 44 is disposed between the two sub-locations 613 to avoid obstructing the storage location 61. Specifically, considering the size of the goods and the storage capacity, the storage location 61 is divided into three sections, and each storage location 61 is further divided into two partition storage locations 613, as described above. Each partition storage location 613 can store two goods, thus forming a storage storage location 6 with a storage scale of 2X2X3, which meets the actual usage requirements.

[0077] Furthermore, a support rod 614 is provided between the two storage locations 613, and the drive device 44 is located on the support rod 614.

[0078] Furthermore, both the first conveying device 62 and the second conveying device 31 include a roller conveyor belt 5. Alternatively, only the first conveying device 62 may include a roller conveyor belt 5. Alternatively, only the second conveying device 31 may include a roller conveyor belt 5.

[0079] In this application, both the first conveying device 62 and the second conveying device 31 are configured as roller conveyor belts 5, which have mature and stable structures and low costs. Specifically, the roller conveyor belt 5 includes multiple conveyor wheel sets 51, each conveyor wheel set 51 including a driving wheel 511, multiple driven wheels 512 and a driving component. The driving component is drivenly connected to the driving wheel 511, and the driving wheel 511 and the multiple driven wheels 512 are connected by a transmission structure 514. It is understandable that the roller conveyor belt 5 consists of multiple rollers spaced apart. During the stable transmission of goods, each roller needs to have driving force. Therefore, a driving component can be set for each roller, but this is obviously costly and it is difficult to ensure the synchronization of each roller. Therefore, this application sets multiple rollers into a conveyor wheel group 51, and the rollers in the conveyor wheel group 51 are divided into driving wheels 511 and driven wheels 512. The driving wheels 511 and driven wheels 512 are transmitted through a transmission structure 514. The driving wheels 511 are driven by the driving component, which can drive multiple driven wheels 512 to rotate synchronously. On the one hand, the number of driving components is reduced, and on the other hand, the synchronization of the driving wheels 511 and driven wheels 512 is ensured.

[0080] Specifically, the transmission structure 514 includes a gear 514a and a transmission belt 514b meshing with the gear 514a. The transmission structure 514 can be configured in various ways, including but not limited to transmission through a meshing gear set, as long as it can realize power transmission between the driving wheel 511 and the driven wheel 512. It is not limited here. In this application, the transmission structure 514 includes a gear 514a and a transmission belt 514b. The transmission belt 514b is a flexible structure, which is easy to process and shape and easy to lay out.

[0081] In this embodiment of the application, referring to Figures 3 and 4, the gripping robot 2 includes a support component 21 movably mounted on the mobile robot 1, a telescopic component 22 mounted on the support component 21, and a gripping component 23 mounted on the telescopic component 22. The telescopic component 22 can be horizontally telescopic to extend the gripping component 23 out of the mobile robot 1.

[0082] In the technical solution of this application, as described above, the mobile robot 1 is movable to move between the goods loading position and the goods stacking position, meeting the requirement of moving the goods to the stacking area for stacking after they are picked up. Specifically, the gripping manipulator 2, which is movable on the mobile robot 1, can adjust its gripping height according to the height of the goods to ensure gripping stability. The gripping robot 2 includes a telescopic component 22 and a gripping component 23 rotatably mounted on the telescopic component 22. The telescopic component 22 can extend and retract horizontally to extend the gripping component 23 out of the mobile robot 1. This allows the mobile robot 1 to move to the side of the goods and adjust the gripping component 23 to align with the goods, thus adjusting the gripping accuracy in one horizontal direction. The telescopic component 22 then extends the gripping component 23 to grip the goods. After gripping the goods, the telescopic component 22's horizontal extension and retraction adjusts the gripping accuracy in another horizontal direction. Furthermore, the gripping component 23, rotatably mounted on the telescopic component 22, causes the gripping component 23 to rotate the goods, adjusting their angle in the horizontal direction. In other words, the gripping component 23 is used to rotate the gripped goods to adjust their angle in the horizontal direction. Thus, based on the movement of the mobile robot 1, the extension and retraction of the telescopic component 22, and the rotation of the gripping component 23 on the telescopic component 22, the accuracy of goods palletizing and storage is improved, meeting functional requirements.

[0083] In some embodiments, the support component 21 is vertically movably mounted on the mobile robot 1. Further, the telescopic component 22 is mounted below the support component 21. Optionally, the telescopic component 22 can be horizontally telescopic to extend the gripping component 23 laterally out of the mobile robot 1; in other words, the telescopic component 22 can adjust the horizontal position of the gripped goods by extending and retracting in the horizontal direction. Further, the gripping component 23 is rotatably mounted below the telescopic component 22.

[0084] Specifically, referring to Figure 5, the telescopic component 22 includes multiple telescopic units 221, and adjacent telescopic units 221 can move relative to each other in the horizontal direction. On the one hand, to ensure that the gripping component 23 of the extended mobile robot 1 can be stably supported by the telescopic component 22 after gripping the goods, the telescopic component 22 is configured as multiple telescopic units 221 that can move relative to each other. In some embodiments, there is a certain overlap of support parts between adjacent telescopic units 221 to ensure the stability of the telescopic component 22 after extension, so as to ensure stable support for the gripping component 23. Moreover, the gripping component 23 can cover the end face of the telescopic unit 221 installed at the bottom, with a large installation area and strong stability. On the other hand, to meet the requirements of adjusting the position of the goods in the horizontal direction by the telescopic component 22, and to allow the gripping component 23 to extend on both sides of the mobile robot 1 to grip the goods on both sides of the mobile robot 1, the telescopic component 22 is configured as multiple telescopic units 221, so that adjacent telescopic units 221 can move relative to each other in two directions to meet the above requirements.

[0085] Specifically, the telescopic unit 221 includes a movable plate 221a extending horizontally, and a first track structure 221b is provided between two adjacent movable plates 221a. The telescopic unit 221 could be configured as a frame structure to achieve relative movement via connecting rods or hydraulic rods between adjacent frames, but this would obviously be complex and inconvenient for the stable installation of the gripping component 23. Therefore, in this embodiment, the telescopic unit 221 is configured as a movable plate 221a, and a first track structure 221b is provided between the movable plates 221a to drive the two movable plates 221a to move relative to each other via the first track structure 221b. This design is simple and facilitates the installation of the gripping component 23.

[0086] Furthermore, referring to Figure 4, the gripping component 23 includes an adsorption component 230, which is used to adsorb and grip the goods from the top. The gripping component 23 can be configured as a clamping structure, a fork structure, etc., as long as it can stably grip the goods; no limitation is made here. In this embodiment, the gripping component 23 is configured as an adsorption component 230, so that the goods are gripped by adsorbing them from the top. This minimizes the impact of the gripping component 23 on the horizontal angle and position of the goods when gripping or placing them, improving the accuracy of goods stacking and storage. In addition, the adsorption component 230 is configured according to the type of goods. For example, when the goods are mostly metal, they can be gripped by magnetic adsorption. However, conventionally, the adsorption component 230 includes a vacuum adsorption component 23a, which is more versatile.

[0087] Specifically, the vacuum adsorption assembly 23a includes a mounting base 231 and a plurality of vacuum suction cups 232 disposed on the mounting base 231. The mounting base 231 is rotatably mounted below the telescopic assembly 22.

[0088] Alternatively, the vacuum adsorption component 23a may consist of only one vacuum suction cup, which is rotatably mounted on the telescopic component 22. That is, the vacuum adsorption component 23a can be configured as a single vacuum suction cup 232, rotatably mounted on the telescopic component 22, ensuring stable adsorption of goods. However, for goods with large weight, a single vacuum suction cup 232 may not provide stable adsorption. Therefore, in this embodiment, a mounting base 231 is provided to mount multiple vacuum suction cups 232, ensuring the stability of goods gripping. Simultaneously, the mounting base 231 is rotatably mounted on the telescopic component 22, satisfying the rotatable configuration of the gripping component 23.

[0089] In addition, a second track structure 7 extending vertically is provided between the support component 21 and the mobile robot 1. The support component 21 drives the telescopic component 22 and the gripping component 23 to move vertically. To avoid affecting the position and angle of the goods in the horizontal direction, the support component 21 needs to move stably on the mobile robot 1. Therefore, in this embodiment, a second track structure 7 is provided between the support component 21 and the mobile robot 1 to guide the vertical movement of the support component 21 and meet its movement accuracy requirements.

[0090] In some embodiments, the mobile robot 1 includes a base 101 and a support 102 disposed on the base 101, and a second track structure 7 is connected to the support 102.

[0091] Specifically, referring to Figures 3 and 4, a lifting device 8 is also provided between the support component 21 and the mobile robot 1. The lifting device 8 is used to drive the support component 21 to move along the second track structure 7. In other words, the lifting device 8 is provided on the mobile robot 1, and the gripping manipulator 2 adjusts its height through the lifting device 8.

[0092] The driving structure for the support component 21 to move on the mobile robot 1 can be configured in various ways. For example, the second track structure 7 can be configured as the driving structure to drive the support component 21 to move on the mobile robot 1. As long as the stable movement of the support component 21 can be achieved, there is no limitation here. In this embodiment, a lifting device 8 is set between the support component 21 and the mobile robot 1. The lifting device 8 is used to pull the support component 21 to move. The lifting device 8 has less requirement for the installation position. It only needs to be able to pull the support component 21 to move through the traction structure. The structure installation is relatively simple. Specifically, the lifting device 8 includes a driving component 81 set on the mobile robot 1, two gears 82 set vertically and vertically on the mobile robot 1, a transmission chain 83 wound between the two gears 82, and a fixed structure 211 set on the support component 21. The driving component 81 is driven to connect with the gears 82. The transmission chain 83 passes through and is fixed to the fixed structure 211 so that the support component 21 can move vertically when the transmission chain 83 moves.

[0093] Further, referring to Figure 3, as previously described, the storage unit 6 included in the logistics depalletizing and palletizing composite robot 1000 is located on the mobile robot 1. The storage unit 6 has multiple storage locations 61, and each storage location 61 has at least a first storage location opening and a second storage location opening in the horizontal direction. Exemplarily, the multiple storage locations 61 are distributed from bottom to top. In addition, each storage location 61 includes two horizontally spaced sub-storage locations 613.

[0094] In some embodiments, the gripping robot 2 is positioned at a location corresponding to the first storage location.

[0095] In some embodiments, a first conveying device 62 is provided at the bottom of each storage location 61, the first conveying device 62 having a conveying stroke for conveying goods between a first storage location opening and a second storage location opening.

[0096] In summary, in this application, the mobile robot 1 moves under the dual effects of vision and lidar. It can automatically reconstruct the surrounding environment, further plan the driving route, and achieve the ability to walk freely. This allows it to move freely between the cargo loading position and the cargo stacking position, meeting the need for the cargo to move to the next picking area after picking up the cargo, and also meeting the need for cargo selection which is lacking in the market.

[0097] In addition, the lifting device 8 is set on the upper surface of the mobile robot 1 to meet the height adjustment needs of the gripping robot 2. The gripping robot 2 adjusts its gripping height according to the height of the goods to be picked up to ensure gripping accuracy.

[0098] Specifically, the gripping robot 2 includes a telescopic component 22 and a rotating component. The gripping component 23 is installed below the telescopic component 22, and a rotating component is provided between the telescopic component 22 and the gripping component 23. The telescopic component 22 can be extended and retracted in the horizontal direction to extend the gripping component 23 laterally to one side of the mobile robot 1. In this way, after the mobile robot 1 moves to the side of the goods, it moves and fine-tunes to align the gripping component 23 with the goods to adjust the gripping accuracy of the goods in one horizontal direction. Then, the telescopic component 22 extends the gripping component 23 to grip the goods. After gripping the goods, the telescopic component 22 can adjust the gripping accuracy of the goods in another horizontal direction by extending and retracting in the horizontal direction. On this basis, the gripping component 23 is rotated and installed below the telescopic component 22 through the rotating component, so that the rotating component can drive the gripping component 23 to rotate the goods to adjust the angle of the goods in the horizontal direction and the storage form of the goods.

[0099] Thus, based on the movement of the mobile robot 1, the extension and retraction of the telescopic component 22, and the rotation of the gripping component 23 on the telescopic component 22, the accuracy of palletizing and storing goods is improved, thus meeting functional requirements.

[0100] Please refer to Figures 1 and 2. This application also provides a palletizing device 100 for inbound storage, including a mobile robot 1, a storage warehouse 6, and a transfer platform 3. The mobile robot 1, storage warehouse 6, and transfer platform 3 are respectively adopted from the above embodiments, and the mobile robot 1 is movable. Storage unit 6 is located on mobile robot 1. Storage unit 6 has multiple storage locations 61 distributed from bottom to top, and each storage location 61 has at least an inlet 611 and an outlet 612 in the horizontal direction. A first conveying device 62 is provided at the bottom of each storage location 61. The first conveying device 62 has a conveying stroke for conveying goods between the inlet 611 and the outlet 612. Transfer platform 3 is movably mounted on mobile robot 1 to connect to the inlet 611 of each storage location 61. A second conveying device 31 is provided on transfer platform 3 for conveying goods between transfer platform 3 and each storage location 61. Grabbing robot 2 is located on mobile robot 1 at the position corresponding to transfer platform 3 for grabbing goods and placing them on transfer platform 3.

[0101] The specific structures of the mobile robot 1, the storage warehouse 6, and the transfer platform 3 are as described in the above embodiments. Since the mobile robot 1, the storage warehouse 6, and the transfer platform 3 adopt all the technical solutions of all the above embodiments, they have at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0102] Based on this, this application also proposes a logistics depalletizing and palletizing composite robot 1000. The logistics depalletizing and palletizing composite robot 1000 includes an inbound palletizing device 100 and a gripping robot 2. The gripping robot 2 is positioned on the mobile robot 1 corresponding to the transfer platform 3, and is used to grip goods and place them on the transfer platform 3. Furthermore, the specific structure of the logistics depalletizing and palletizing composite robot 1000 and the gripping robot 2 is as described in the above embodiments. Since the logistics depalletizing and palletizing composite robot 1000 adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated upon here. The gripping robot 2 is positioned on the mobile robot 1 corresponding to the transfer platform 3, and is used to grip goods and place them on the transfer platform 3.

[0103] It is understood that the gripping robot 2, the transfer platform 3, and the storage warehouse 6 are mounted on the mobile robot 1. With the dual functions of vision and lidar, the mobile robot 1 can automatically reconstruct the surrounding environment, further plan its travel route, and achieve free walking capability. Unlike logistics transfer devices that move along fixed routes, the logistics depalletizing and palletizing composite robot 1000 proposed in this application can move freely between the logistics depalletizing area and the palletizing area. The gripping robot 2 picks up the depalletized single goods and places them on the transfer platform 3 for classified storage. Different storage locations 61 in the storage warehouse 6 are equipped with independent outbound ports 612, allowing goods with different palletizing needs to be selectively and independently outbound. When the logistics depalletizing and palletizing composite robot 1000 moves to the palletizing area, it stacks the goods with different palletizing needs in the storage location 61 to the corresponding positions, thereby realizing the repackaging and palletizing of the whole stack of split goods. In other words, the gripping robot 2 is used to pick up goods and place them on the transfer platform 3; the transfer platform 3 is used to deliver the carried goods to the corresponding storage location 61. Storage location 61 is used to allow goods in storage location 61 to be selectively and independently removed from storage location 61 through exit outlet 612, so as to stack goods with different stacking requirements in storage location 61 to the corresponding positions.

[0104] Compared to traditional logistics transfer devices that can only transfer whole stacks of goods, the logistics depalletizing and palletizing composite robot 1000 proposed in this application can plan storage and retrieval paths, drive automatically, and store goods. It has a higher degree of automation and can realize the classification and palletizing of whole stacks of goods, making it more practical.

[0105] Please refer to Figures 3-5. This application embodiment also provides a logistics gripping device 300, which includes a mobile robot 1 and a gripping manipulator 2. The mobile robot 1 is movably configured. The specific structures of the mobile robot 1 and the gripping manipulator 2 are as described in the above embodiments. Since the logistics gripping device 300 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described in detail here.

[0106] Based on this, this application also proposes a logistics depalletizing and palletizing composite robot 1000. The logistics depalletizing and palletizing composite robot 1000 includes a logistics gripping device 300. The specific structure of the logistics gripping device 300 is as described in the above embodiments. Since the logistics depalletizing and palletizing composite robot 1000 adopts all the technical solutions of all the above embodiments, it possesses at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated further here. Compared with traditional logistics transfer devices that can only transfer entire stacks of goods, the logistics depalletizing and palletizing composite robot 1000 proposed in this application, based on the free walking function of the mobile robot 1, can plan storage and retrieval paths, can drive automatically, and can store goods, resulting in a higher degree of automation. It can realize the classification and palletizing of entire stacks of goods, making it more practical.

[0107] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0108] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A combined depalletizing and palletizing robot for logistics, wherein, include: Mobile robot, movable configuration; A storage unit is provided on the mobile robot, the storage unit having multiple storage locations, and each storage location having at least an inlet and an outlet. A transfer platform is set up on the mobile robot to connect to the inlet of each of the storage locations, and a second conveying device is provided on the transfer platform for transporting goods between the transfer platform and each of the storage locations. as well as A gripping robotic arm is positioned on the mobile robot at a location corresponding to the transfer platform.

2. The logistics depalletizing and palletizing composite robot as described in claim 1, wherein, Each of the aforementioned outlets is provided with a stop structure, the stop structure including a movable stop part, which has a avoidance position to avoid the outlet and a stop position to stop the goods at the outlet during its movement stroke.

3. The logistics depalletizing and palletizing composite robot as described in claim 2, wherein, Each of the storage locations is provided with a first conveying device at its bottom, the first conveying device having a conveying stroke for conveying goods between the inlet and the outlet.

4. The logistics depalletizing and palletizing composite robot as described in claim 3, wherein, The stop is used to hold the first item of goods stored in the storage location so that the second item of goods is driven into the storage location by the first conveying device, so that multiple items of goods can be stored in the same storage location.

5. The logistics depalletizing and palletizing composite robot as described in claim 1, wherein, Each of the storage locations is provided with a first conveying device at its bottom, the first conveying device having a conveying stroke for conveying goods between the inlet and the outlet. The first conveying device includes a roller conveyor belt, which includes multiple conveyor wheel sets. Each conveyor wheel set includes a driving wheel, multiple driven wheels, and a driving component. The driving component is drivenly connected to the driving wheel, and the driving wheel and the multiple driven wheels are connected by a transmission structure.

6. The logistics depalletizing and palletizing composite robot as described in claim 1, wherein, The second conveying device includes a roller conveyor belt, which includes multiple conveyor wheel sets. Each conveyor wheel set includes a driving wheel, multiple driven wheels, and a driving component. The driving component is drivenly connected to the driving wheel, and the driving wheel and the multiple driven wheels are connected by a transmission structure.

7. The logistics depalletizing and palletizing composite robot as described in claim 1, wherein, The gripping robot includes a support assembly movably mounted on the mobile robot, a telescopic assembly mounted on the support assembly, and a gripping assembly rotatably mounted on the telescopic assembly, wherein the telescopic assembly is horizontally telescopic to extend the gripping assembly out of the mobile robot.

8. The logistics depalletizing and palletizing composite robot as described in claim 7, wherein, The gripping robotic arm is movable up and down on the mobile robot to adjust the gripping height of the goods to be gripped; The telescopic component is used to extend and retract in the horizontal direction to adjust the position of the grasped goods in the horizontal direction; The gripping component is used to rotate the gripped goods to adjust the angle of the gripped goods in the horizontal direction.

9. The logistics depalletizing and palletizing composite robot as described in claim 8, wherein, It also includes a lifting device, which is installed on the mobile robot, and the gripping manipulator adjusts its height through the lifting device.

10. The logistics depalletizing and palletizing composite robot as described in claim 7, wherein, The telescopic assembly includes multiple telescopic units, and two adjacent telescopic units can move relative to each other in the horizontal direction.

11. The logistics depalletizing and palletizing composite robot as described in claim 7, wherein, The telescopic component is used to extend the gripping component laterally out of the mobile robot.

12. The logistics depalletizing and palletizing composite robot as described in claim 7, wherein, The gripping component includes an adsorption component, which is used to adsorb onto the top of the goods and grip them.

13. The logistics depalletizing and palletizing composite robot as described in claim 7, wherein, The support component is movable vertically mounted on the mobile robot; the telescopic component is mounted below the support component; and the gripping component is rotatably mounted below the telescopic component.

14. The logistics depalletizing and palletizing composite robot as described in claim 7, wherein, The gripping robot is used to grab goods and place them on the transfer platform; The transit platform is used to deliver the goods it carries to the corresponding storage location; The storage location is used to allow the goods in the storage location to be selectively and independently removed from the storage location through the outlet, so as to stack the goods with different stacking requirements in the storage location to the corresponding positions.

15. The logistics depalletizing and palletizing composite robot as described in claim 14, wherein, Each of the storage locations is equipped with a first conveying device, which is used to send the goods in the corresponding storage location out of the outlet.

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