CN218520353U

CN218520353U - Storage robot

Info

Publication number: CN218520353U
Application number: CN202223112807.3U
Authority: CN
Inventors: 李再金; 黄鸿淇; 高明; 张唐烁
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2022-11-22
Filing date: 2022-11-22
Publication date: 2023-02-24
Anticipated expiration: 2032-11-22
Also published as: WO2024109606A1

Abstract

The application relates to a storage robot. This storage robot includes: base, grudging post, strorage device, fork subassembly, picking device and temporary storage device. The vertical frame is arranged on the base; the pallet fork assembly is arranged on the vertical frame and can slide up and down relative to the vertical frame; the storage device is arranged on the vertical frame; the picking device is arranged on the vertical frame and can grab the materials in the material box on the fork assembly to the temporary storage device; the temporary storage device is arranged on the vertical frame and used for transferring materials to the storage device. The application provides a scheme, can automatic sorting material, reduce the cost of labor, raise the efficiency and degree of automation.

Description

Storage robot

Technical Field

The application relates to the technical field of warehouse logistics, in particular to a warehouse robot.

Background

In the correlation technique, after the storage robot takes the workbin from the goods shelves, the unloader needs to be docked to transfer the workbin with the material to the workbench, then the staff sorts the material according to the order requirement, the empty workbin which the material has been taken is placed on the storage robot through the feeding machine after sorting, and the storage robot puts the empty workbin back to the goods shelves.

However, this method of sorting the goods requires manual intervention, is inefficient, and requires a high degree of automation.

SUMMERY OF THE UTILITY MODEL

For solving or partly solve the problem that exists among the correlation technique, this application provides a storage robot, can automatic sorting material, reduces the cost of labor, raises the efficiency and degree of automation.

The application provides a storage robot, including base, grudging post, strorage device, fork subassembly, pick device and temporary storage device. Wherein the vertical frame is arranged on the base; the fork assembly is arranged on the vertical frame and can slide up and down relative to the vertical frame, and the fork assembly is used for taking and placing the material box; the storage device is arranged on the vertical frame; the picking device is arranged on the vertical frame and can grab the materials in the material box on the fork assembly to the temporary storage device; the temporary storage device is arranged on the vertical frame and used for transferring materials to the storage device.

Furthermore, the storage device is multi-layer and is used for temporarily storing a plurality of workbins arranged in the vertical direction, and the temporary storage device can slide up and down relative to the vertical frame.

Furthermore, the temporary storage device comprises a funnel, a connecting rod and a sliding block, wherein one end of the connecting rod is connected with the funnel, and the other end of the connecting rod is rotatably connected with the sliding block; the sliding block is connected with the vertical frame and can slide up and down along the vertical frame.

Furthermore, the bottom of the funnel is provided with a switch door, and when the switch door is opened, the materials in the funnel can fall into the material box of the storage device.

Furthermore, the fork subassembly includes the tray and locates relatively two flexible arms of tray left and right sides, flexible arm can respectively towards the place ahead and the rear of tray stretch out.

Furthermore, finger structures are arranged at two ends of the telescopic arm respectively, and the finger structures can rotate relative to the telescopic arm.

Furthermore, the picking device comprises a mechanical arm and a visual recognition device, and the mechanical arm and the visual recognition device are respectively arranged at the upper end of the stand.

Further, the stand includes a column assembly, one side of the column assembly is provided with the fork assembly, and the other side is provided with the storage device.

Further, the stand comprises two stand column assemblies which are oppositely arranged; one of the column assemblies is provided with the fork assembly, and the other column assembly is provided with the storage device, or

The storage devices are arranged on the two upright post assemblies, the fork assembly is arranged on one upright post assembly, and the fork assembly is arranged between the two storage devices.

Furthermore, the storage robot further comprises a controller, and the controller is electrically connected with the picking device and the temporary storage device respectively.

The technical scheme provided by the application can comprise the following beneficial effects: pick device and temporary storage device through the setting, the fork subassembly takes out the workbin from goods shelves, picks the material in the workbin of device on to the fork subassembly and picks, picks the material that needs to the temporary storage device in, then the temporary storage device transfers the material to the corresponding position of strorage device, and the material is picked and can be docked the workstation of unloading after accomplishing, unloads storage device. Therefore, above-mentioned storage robot can automatic sorting material, does not need artifical manual picking, has improved letter sorting efficiency and degree of automation.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.

Fig. 1 is a schematic structural diagram of a warehousing robot shown in an embodiment of the present application;

FIG. 2 is a schematic structural view of a fork assembly shown in an embodiment of the present application;

FIG. 3 is a schematic diagram illustrating an embodiment of a buffer device;

FIG. 4 is a schematic diagram of a SCARA robot shown in an embodiment of the present application;

fig. 5 is a schematic structural diagram of another warehousing robot shown in the embodiment of the application;

fig. 6 is a schematic structural diagram of a row crane robot arm according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of another warehousing robot shown in the embodiment of the application;

fig. 8 is a schematic structural diagram of parallel mechanical arms according to an embodiment of the present disclosure.

Reference numerals:

the automatic picking device comprises a base 1, a vertical frame 2, a storage device 3, a bin 31, a pallet 4, a fork assembly 41, a tray 42, a telescopic arm 43, a connecting frame 43, a finger structure 44, a picking device 5, a SCARA mechanical arm 51, a crane mechanical arm 52, a parallel mechanical arm 53, a temporary storage device 6, a hopper 61, a connecting rod 62, a sliding block 63, a switch door 64 and a bin 7.

Detailed Description

Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the present application.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections as well as removable connections or combinations; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In the correlation technique, after the storage robot takes the workbin from the goods shelves, the unloader needs to be docked to transfer the workbin with the material to the workbench, then the staff sorts the material according to the order requirement, the empty workbin which the material has been taken is placed on the storage robot through the feeding machine after sorting, and the storage robot puts the empty workbin back to the goods shelves. However, this method of sorting the goods requires manual intervention, is inefficient, and requires a high degree of automation.

To above-mentioned problem, the embodiment of the application provides a storage robot, can automatic sorting material, reduces the cost of labor, raises the efficiency and degree of automation.

The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.

As shown in fig. 1, the embodiment of the present application provides a storage robot, which includes a base 1, a stand 2, a storage device 3, a fork assembly 4, a picking device 5, and a temporary storage device 6. The base 1 serves as a traveling mechanism of the storage robot and can drive the storage robot to move.

On the base 1 was located to grudging post 2, specifically, grudging post 2's lower extreme fixed mounting can be at the upper surface of base 1, and grudging post 2 can be the installation of vertical direction. The fork assembly 4 is arranged on the vertical frame 2 and can slide up and down relative to the vertical frame 2, and the fork assembly 4 is used for taking and placing the material box; the device for driving the fork assembly 4 to slide up and down can be a motor, a traction rope and a fixed pulley matched mode, for example, one end of the traction rope is connected with the fork assembly 4, the other end of the traction rope can be wound by the motor after passing around the fixed pulley, and the motor controls the fork assembly 4 to lift through the traction rope. The fork assembly 4 is used for taking the bin out of the shelf and putting the bin on the shelf again after the material is taken out.

The storage device 3 is arranged on the vertical frame 2, the picking device 5 is also arranged on the vertical frame 2 and can grab materials in a material box on the fork assembly 4 to the temporary storage device 6; temporary storage device 6 is located on grudging post 2 to a material is transferred to strorage device 3, picks the material that device 5 will be located the workbin on fork subassembly 4 promptly and snatchs to temporary storage device 6, then temporary storage device 6 transfers the material to strorage device 3 again.

Take out the workbin from the goods shelves through fork subassembly 4, pick the material in the workbin of device 5 on to fork subassembly 4 and pick, pick the material that needs to the device 6 of keeping in, then the device 6 of keeping in transfers the material to the corresponding position of strorage device 3, and the material is picked and can be docked the workstation of unloading after accomplishing, unloads storage device 3. Therefore, above-mentioned storage robot can automatic sorting material, does not need artifical manual picking, has improved letter sorting efficiency and degree of automation.

As shown in fig. 1, in order to further improve the efficiency of sorting materials, in this embodiment, the storage device 3 is provided with a plurality of layers for temporarily storing a plurality of bins 31 arranged in the up-down direction, and the temporary storage device 6 can slide up and down relative to the vertical frame 2. Specifically, the bin 31 on each storage device 3 can correspond to one order, the bins 31 correspond to a plurality of orders, so that the warehousing robot can pick materials of the orders in one picking period, the materials of each order are transferred to the corresponding bin 31 through the temporary storage device 6, after the materials of the orders are picked completely, the warehousing robot is in butt joint with an unloading work station, the bins 31 of the multilayer storage devices 3 are taken down all at one time, and the sorting efficiency is improved.

As shown in fig. 3, in some embodiments, the temporary storage device 6 comprises a hopper 61, a connecting rod 62 and a sliding block 63, wherein one end of the connecting rod 62 is connected with the hopper 61, and the other end is rotatably connected with the sliding block 63; the slider 63 is connected to the stand 2 and can slide up and down along the stand 2.

Specifically, slider 63 can slide from top to bottom along grudging post 2 to make temporary storage device 6 can remove the height that each workbin 31 corresponds respectively, guarantee that temporary storage device 6 can transfer the material to every workbin 31 homoenergetic. When temporary storage device 6 slides from top to bottom, in order to prevent temporary storage device 6 from touching workbin 31 and interfering, connecting rod 62 is connected with slider 63 rotation, make connecting rod 62 can take place to rotate relative to slider 63, like this, when temporary storage device 6 reciprocates, connecting rod 62 rotates and makes funnel 61 deviate workbin 31 and avoid interfering, highly when target in place back when temporary storage device 6, connecting rod 62 rotates and makes funnel 61 rotate to the top that corresponds workbin 31, make funnel 61 can fall into the material in workbin 31.

Optionally, the bottom of the hopper 61 is provided with an opening and closing door 64, and when the opening and closing door 64 is opened, the material in the hopper 61 can fall into the bin 31 of the storage device 3. The switch door 64 is closed when the picking device 5 picks the material to the hopper 61, and the switch door 64 is opened when the hopper 61 moves above the corresponding bin 31, so that the material falls into the bin 31.

As shown in fig. 2, in some embodiments, the fork assembly 4 includes a tray 41 and two telescopic arms 42 disposed at left and right sides of the tray 41, and the telescopic arms 42 can respectively extend toward front and rear sides of the tray 41, so that the fork assembly 4 can take and place the bins on the shelves at front and rear sides through the telescopic arms 42, which can reduce the overall movement of the storage robot and further improve the efficiency of sorting materials, compared with a mode that the bins can be taken and placed on the shelves at only one side. Specifically, the fork assembly 4 further comprises a connecting frame 43 connected with the tray 41, and the connecting frame 43 is slidably connected with the stand 2 and can slide up and down relative to the stand 2.

Wherein, the both ends of flexible arm 42 are equipped with finger structure 44 respectively, and finger structure 44 can rotate relative flexible arm 42. The finger structures 44 are used for clamping the material box when the material box on the shelf is taken and placed, after the telescopic arm 42 extends into the shelf in place, the finger structures 44 at two ends of the telescopic arm 42 can rotate downwards at the same time, so that the material box is clamped between the finger structures 44 at two ends, and then the telescopic arm 42 retracts and moves the material box to the tray 41 through the finger structures 44.

In this embodiment, picking device 5 includes arm and visual identification device, and the upper end of grudging post 2 is located respectively to arm and visual identification device, and the arm is arranged in will being located the material of the workbin on fork subassembly 4 and snatchs to temporary storage device 6's funnel 61 in, and visual identification device is used for discerning the material that needs to be snatched in the workbin, and visual identification device can be the camera.

Alternatively, as shown in figure 4, the robotic arm of this embodiment is a SCARA robotic arm 51, which is disposed at the upper end of the stand 2 and moves upwardly to a position where the SCARA robotic arm 51 can grasp when the fork assembly 4 has taken a bin from a shelf.

In the present embodiment, as shown in fig. 1, the stand 2 includes two oppositely disposed pillar assemblies, each having two oppositely disposed pillars; one of the upright post components is provided with a fork component 4, and the other upright post component is provided with a storage device 3.

In other embodiments, two of the column assemblies may be provided with storage devices 3, and one of the column assemblies may be provided with a fork assembly 4, the fork assembly 4 being disposed between the two storage devices 3. The number of the bins 31 on the storage device 3 can be increased, the number of orders which can pick materials simultaneously is increased, and then the material sorting efficiency is improved. Accordingly, the number of buffer devices 6 may also be two or more.

In other embodiments, the stand 2 comprises a mast assembly having a fork assembly 4 on one side and a storage unit 3 on the other side, which reduces the size of the storage robot.

In this embodiment, the warehousing robot may further include a controller, the controller is electrically connected to the picking device 5 and the temporary storage device 6, specifically, the controller may control the robot to grab the corresponding material in the bin to the temporary storage device 6 according to the order requirement and the information detected by the visual recognition device, and may control the temporary storage device 6 to transfer the material to the corresponding bin 31 in the storage device 3.

The working flow of the warehousing robot provided by the embodiment of the application is as follows:

1. the fork assembly 4 is raised to a certain shelf position, the telescopic arm 42 is extended into the shelf, the finger arrangement 44 is turned downwards, the telescopic arm 42 is retracted and the bin is pulled back onto the tray 41.

2. The fork assembly 4 is raised to the upper end of the stand 2 so that the bin on the fork assembly 4 is in the proper picking position and the robotic arm picks the material in the bin onto the hopper 61.

3. After the picking is finished, the fork assembly 4 returns the material box to the original shelf position for warehousing, and the hopper 61 puts the picked material into the material box 31 appointed by the storage device 3.

4. After all orders are picked, the storage robot is in butt joint with the unloading work station, the material box 31 on the storage device 3 is taken down all at one time, the whole order picking work is completed smoothly, the material box 31 with the picked materials is sent to the designated position by the unloading machine, and the storage robot continues to pick the next period.

As shown in fig. 5, the present application provides another warehousing robot, which is different from the above embodiments only in that: the robotic arm is a traveling boom robotic arm 52.

A travelling crane robot 52 is mounted on the upper end of the stand 2 for gripping material in the bin 7 on the fork assembly 4. Fig. 6 shows a schematic structural diagram of the traveling crane robot 52 of the present embodiment, which is capable of moving in three directions X, Y and Z and grabbing the material in the bin 7.

As shown in fig. 7, the present application provides another warehousing robot, which is different from the above embodiments only in that: the arms are parallel arms 53.

The parallel mechanical arm 53 is installed at the upper end of the stand 2, fig. 8 shows a schematic structural diagram of the parallel mechanical arm 53 of the present embodiment, and the parallel mechanical arm 53 may be of a type existing in the market, and the principle and the specific structure thereof are not described herein again.

In summary, the embodiment of the application provides a storage robot, which has a picking function and can realize full-automatic material picking; the mechanical arm is combined with visual recognition to pick materials, so that the error probability of manual picking can be reduced, and the labor cost is reduced; the emergency orders can be picked accurately and efficiently and delivered quickly.

The aspects of the present application have been described in detail hereinabove with reference to the accompanying drawings. In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments. Those skilled in the art should also appreciate that the acts and modules referred to in the specification are not necessarily required for the application. In addition, it can be understood that the steps in the method of the embodiment of the present application may be sequentially adjusted, combined, and deleted according to actual needs, and the modules in the device of the embodiment of the present application may be combined, divided, and deleted according to actual needs.

Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or improvements to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A warehousing robot, comprising: the device comprises a base, a vertical frame, a storage device, a fork assembly, a picking device and a temporary storage device;

the vertical frame is arranged on the base;

the fork assembly is arranged on the vertical frame and can slide up and down relative to the vertical frame, and the fork assembly is used for taking and placing the material box;

the storage device is arranged on the vertical frame;

the picking device is arranged on the vertical frame and can grab the materials in the material box on the fork assembly to the temporary storage device;

the temporary storage device is arranged on the vertical frame and used for transferring materials to the storage device.

2. The warehousing robot of claim 1, wherein:

the storage device is multi-layer and is used for temporarily storing a plurality of material boxes which are arranged in the vertical direction, and the temporary storage device can slide up and down relative to the vertical frame.

3. The warehousing robot of claim 2, wherein:

the temporary storage device comprises a funnel, a connecting rod and a sliding block, wherein one end of the connecting rod is connected with the funnel, and the other end of the connecting rod is rotatably connected with the sliding block; the sliding block is connected with the vertical frame and can slide up and down along the vertical frame.

4. The warehousing robot of claim 3, wherein:

the hopper is characterized in that a switch door is arranged at the bottom of the hopper, and when the switch door is opened, materials in the hopper can fall into a material box on the storage device.

5. The warehousing robot of claim 1, wherein:

the fork subassembly includes the tray and locates relatively two flexible arms of tray left and right sides, flexible arm can respectively towards the place ahead and the rear of tray stretch out.

6. The warehousing robot of claim 5, wherein:

the two ends of the telescopic arm are respectively provided with a finger structure, and the finger structures can rotate relative to the telescopic arm.

7. The warehousing robot of claim 1, wherein:

the picking device comprises a mechanical arm and a visual recognition device, and the mechanical arm and the visual recognition device are respectively arranged at the upper end of the vertical frame.

8. The warehousing robot of claim 1, wherein:

the vertical frame comprises a vertical column assembly, wherein the fork assembly is arranged on one side of the vertical column assembly, and the storage device is arranged on the other side of the vertical column assembly.

9. The warehousing robot of claim 1, wherein:

the stand comprises two upright post components which are oppositely arranged; one of the column assemblies is provided with the fork assembly, and the other column assembly is provided with the storage device, or

10. The warehousing robot of any of claims 1-8, wherein:

the picking device is characterized by further comprising a controller, wherein the controller is electrically connected with the picking device and the temporary storage device respectively.