CN104837747A - 用于运输储存箱的机器人 - Google Patents

用于运输储存箱的机器人 Download PDF

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CN104837747A
CN104837747A CN201380064353.1A CN201380064353A CN104837747A CN 104837747 A CN104837747 A CN 104837747A CN 201380064353 A CN201380064353 A CN 201380064353A CN 104837747 A CN104837747 A CN 104837747A
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英瓦尔·霍纳兰德
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Automatic storage Polytron Technologies Inc
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JACOB HATTELAND LOGISTICS AS
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Abstract

本发明涉及遥控车辆或机器人，以用于从储存***中拾取储存箱。本发明的车辆或机器人包括：车辆主体，车辆主体进一步包括用于储存车辆驱动装置的第一部分和用于接收储存在储存***内的储存立柱中的任何储存箱的第二部分；车辆提升装置，至少间接地连接至车辆主体以便将储存箱提升到第二部分内；与车辆主体连接的第一组车辆滚动装置，用于在使用期间允许车辆在储存***内沿着第一方向(X)移动；以及与车辆主体连接的第二组车辆滚动装置，用于在使用期间允许车辆在储存***内沿着第二方向(Y)移动。第二方向(Y)与第一方向(X)垂直。本发明的车辆特征在于，第二部分包括居中布置在车辆主体内的腔体。该腔体具有在使用期间朝向底层储存立柱的至少一个箱体接收开口。此外，这两组车辆滚动装置中的至少一组完全布置在车辆主体内。

Description

用于运输储存箱的机器人
本发明涉及一种遥控车辆，以用于从根据权利要求1的前言所述的储存***中拾取储存箱。
本发明还涉及一种使用本发明的车辆的储存***。
已知一种用于从储存***中拾取储存箱的遥控车辆。在WO 98/49075中提供了相关现有技术储存***的详细描述。而且，在挪威专利NO317366中公开了适于这种储存***的现有技术车辆的细节。更具体地，现有技术储存***具有包括储存箱的三维储存栅格，储存箱彼此堆叠成某一高度。储存栅格通常被构造成由顶部轨道相互连接的铝立柱。多个遥控车辆或机器人布置在顶部轨道上。每个车辆均装有升降机，以用于拾取、运载以及放置储存在储存栅格内的箱体。
在图1和图2中分别示出了这种现有技术的储存***和现有技术机器人。储存***3包括机器人1，该机器人被布置为在专用支撑轨道13上移动并且从位于箱体储存栅格15内的储存立柱8中接收储存箱2。储存***3包括专用箱体提升装置50和多个机器人1，该专用箱体提升装置被布置为在箱体储存栅格15的顶部高度处从机器人1中接收储存箱2，并且在竖直方向上将储存箱2向下传送至输送站60。
然而，在图1和图2中示出的现有技术机器人1在其操作期间存在的一些重要的缺点。首先，机器人的特定设计防止进入储存***中的所有可用储存立柱。此外，这个特定设计可在储存箱的提升和运输期间引起不期望的高扭矩，从而产生潜在的不稳定性问题并且明确限制了机器人的最大处理重量。由现有技术机器人设计引起的额外缺点在于：每种类型的机器人仅可接受一种特定的箱体以及一种特定的箱体高度，以便确保充足的稳定性。最后，在接收储存箱的部分的上部中的一体式轭状件(yoke)/垂悬件(overhang)不可避免地使得在由轭状件悬挂的车辆提升装置执行的提升过程的最终阶段不期望地减少。
本发明的目的在于，解决或者至少大致减少上述缺点，即，提供一种这样一种车辆/机器人，其具有更强的稳定性性能、更强的最大处理重量、在操作期间更有效地使用可用空间、以及储存箱的耗时更少的提升和运输过程。
上文确定的目的由权利要求1限定的遥控车辆以及权利要求11限定的储存***实现。在从属权利要求中限定了其他有利特征。
特别地，本发明涉及一种遥控车辆或机器人，用于从储存***中拾取储存箱。本发明的车辆或机器人包括：车辆主体，该车辆主体进一步包括第一部分和第二部分，第一部分用于储存车辆驱动装置，第二部分用于接收储存在储存***内的储存立柱中的任何储存箱；车辆提升装置，该车辆提升装置至少间接地连接至车辆主体，以便将储存箱提升到第二部分内；第一组车辆滚动装置，该第一组车辆滚动装置连接至车辆主体，以便在使用期间允许车辆在储存***内沿着第一方向(X)移动；以及第二组车辆滚动装置，该第二组车辆滚动装置连接至车辆主体，以便在使用期间允许车辆在储存***内沿着第二方向(Y)移动。第二方向(Y)与第一方向(X)垂直。
本发明的车辆特征在于，第二部分包括居中布置在车辆主体内的腔体。该腔体具有在使用期间朝向底层储存立柱的至少一个箱体接收开口。此外，这两组车辆滚动装置中的至少一组完全布置在车辆主体内。
为了允许储存箱容易地进入中央腔体内，该腔体的容积应大于旨在从储存***中拾取的最大储存箱。同样，至少一个箱体接收开口的至少一个的截面面积应大于与腔体开口(多个腔体开口)平行的储存箱壁部的截面面积。
所述车辆还可包括移动装置，以用于车辆在第一方向(X)与第二方向(Y)之间改变方向时可逆地且选择性地移动第一组车辆滚动装置或第二车辆滚动装置远离在储存***内的底层车辆支架。
此外，在一个实施方式中，第一部分可相对于第二部分以这样的方式布置，该方式为与底层车辆支架平行的车辆的截面偏离二次方形状。
在一个优选的实施方式中，在使用期间，车辆主体在第一方向(X)覆盖小于或等于一个中央储存立柱的横向截面区域，并且车辆主体在第二方向(Y)的覆盖多个中央储存立柱的横向截面区域。在一个更具体的实例中，车辆主体在朝向第二方向(Y)的两侧上延伸超过中央储存立柱的横向截面区域，即，还覆盖相邻储存立柱的在第二方向(Y)延伸的一些横向截面区域。优选地，从中央储存立柱延伸的程度在这两侧上相等。在机器人到达允许拾取储存箱的位置时，中央储存立柱被限定为直接位于机器人下方的储存立柱。
尤其为了允许具有很强的车辆稳定性，这两组车辆滚动装置优选地对称地布置在腔体周围，例如，在车辆的下角落附近。至少一组(并且最优选地两组)车辆滚动装置可包括至少四个车轮。可预计有其他实施方式，例如，使用两个垂直定向的履带。此外，这两组车辆滚动装置的外部设计与在构成车辆支架的支撑轨道上的对应外部设计相匹配，以便在相互连接时提供较大的横向稳定性。这种支撑轨道以二维矩阵的形式布置在箱体储存结构或栅格的顶部上，其中，矩阵和栅格两者的主方向与车辆的第一方向(X)和第二方向(Y)一致。
车辆还可有利地包括位置感测装置，以允许在使用期间测量储存***内的车辆位置。这个位置感测装置可包括布置在车辆主体上的至少一些位置处的多个传感器，该位置感测装置横过车辆支架的所述支撑轨道所横越的位置，例如，在车辆下面、接近其下角落。
本发明还涉及一种储存***，该储存***包括：根据上述特征的遥控车辆；车辆支架，该车辆支架包括形成引导网格二维矩阵的多个支撑轨道，其中，该车辆支架被配置为在使用期间沿着第一方向(X)和第二方向(Y)引导车辆的运动；箱体储存结构或栅格，该箱体储存结构或栅格支撑车辆支架，该箱体储存结构包括多个储存立柱，其中，每个储存立柱均被布置为容纳竖直堆叠的储存箱，并且所述箱体储存结构的主要部分与车辆支架和多个支撑轨道交叉的位置一致；以及箱体提升装置，该箱体提升装置被布置为沿着与车辆支架的横向平面垂直的方向在车辆支架与运输站之间传送车辆运输的储存箱。
在一个优选的实施方式中，支撑轨道中的布置在车辆支架的外边缘区域处的至少一些支撑轨道形成外部引导网格，外部引导网格的平均截面面积小于车辆支架中的剩余引导网格的平均截面面积。例如，外部引导网格的较小的平均截面面积可为车辆支架内的剩余引导网格的平均截面面积的大约一半。在一个特别优选的实施方式中，外部引导网格的截面面积仅仅沿着车辆支架的第二方向(Y)减小。
腔体相对于第二方向(Y)在车辆主体中的中央布置有效地移除不期望的扭矩，从而提高了机器人或车辆的稳定性。这种布置还通过高对称性而产生具有重量分布的提升和运输过程。此外，新颖的设计允许使用同一车辆来对高度(即，从提升装置的悬挂部分延伸到车辆的下边缘的高度)明显小于腔体高度的储存箱进行提升和运输，这是因为对容纳腔体的至少一部分箱体进行包围的框架/主体有效地阻止了任何不期望的箱体卷取/摆动。具有对主体进行包围的腔体还允许将完整的或近乎完整的提升速度几乎一直保持到其在腔体内的端部位置，并且在从储存立柱中全面完成箱体提升之前，朝着运输站开始稳定的箱体运输。位于腔体周围的保护主体还提供了如下可能性：在车辆在所讨论的储存立柱上方最终停止之前，开始降低提升装置。由此实现明显更强的稳定性和时间效率。
通过将至少一组车辆滚动装置完全布置在车辆或机器人主体内，在提升过程期间获得了额外的稳定性，这是因为滚动装置更靠近待提升的储存箱。由于相同的原因，这种布置减少了在提升装置上的总负荷。此外，该布置相对于在图2中示出的现有技术机器人更具有空间效率，这是因为滚动装置不在这两个机器人移动方向(X和Y)中的至少一个上提供任何额外的延伸部分。还能够生产更小尺寸的机器人/车辆。
参照附图，从以非限制性实例提供的优选实施方式的下文描述中，使本发明的这些特征和其他特征变得显而易见，附图中：
图1为现有技术的储存***的立体图；
图2为形成如图1中所示储存***的一部分的现有技术机器人或车辆的截面图；
图3为根据本发明的遥控车辆的底部立体图；
图4为根据本发明的遥控车辆的顶视立体图；
图5为机器人组件的立体图，该机器人组件包括储存箱、完全封闭的盖体以及根据本发明的遥控车辆；
图6为根据本发明的箱体储存栅格和车辆支架的顶视立体图；
图7为根据本发明的箱体储存栅格和车辆支架的侧视立体图；
图8为根据本发明的储存***的一部分的侧视立体图，其包括箱体储存栅格、车辆支架和遥控车辆；以及
图9为在支撑轨道的二维矩阵上移动的遥控车辆的示意性顶视图。
图1为根据现有技术的储存***的示意性局部剖开的立体图，并且图2为相应的现有技术机器人的截面图。在前文中已经提及了这两幅图。
图3和图4提供了包括矩形车辆主体或框架4的本发明机器人1的两个不同角度的立体图，其具有：腔体7，该腔体居中地布置在主体4内；顶盖72，该顶盖覆盖主体4的顶部；第一组四个车轮10，第一组四个车轮安装在腔体7内部并且与主体4的内壁平行；以及第二组四个车轮11，第二组四个车轮安装成与主体4的外壁平行。第一组车轮10与第二组车轮11彼此垂直。而且，车辆主体4还包括侧部分5、5a、5b，该侧部分沿着机器人1的至少一个运动方向布置在腔体7的两侧上。为了清晰起见，示出了笛卡尔坐标系，笛卡尔坐标系的X轴、Y轴以及Z轴沿着矩形车辆主体4的主方向对准。腔体7的尺寸适于包含用于提升装置9的必要部件，并且至少完全包含旨在由机器人1拾取的最大储存箱2。
图5提供了机器人组件的立体图，其中，主体4由封盖73完全覆盖，该封盖包括手柄74和传输装置/控制面板75。封盖73的设计适于由主体4和突出轮10提供的特定形状。图5还示出了完全布置在腔体7内部的储存箱2的一小部分以及提升装置9的一小部分。提升装置优选地尤其由四个能竖直移动的金属带构成，该金属带的上端悬挂在朝向顶盖72侧的腔体上并且该金属带的下端悬挂在转向杆上，该转向杆能够被转向并被紧固到待拾取的储存箱2中合适的腔体/区域内。
在图6和图7中示出了栅格组件的结构原理，该栅格组件包括箱体储存结构或栅格15、构成车辆支架14的一体式支撑轨道13以及栅格支撑基部76。栅格15包括多个支柱(pillar)，该支柱布置有内部间距，其适于容纳待成堆地储存在栅格15内部的储存箱2。因此，四个邻近支柱的矩形布置构成储存立柱8。支柱和轨道13两者可由铝制成。关于图3和图4，示出了沿着栅格组件的主方向对准的笛卡尔坐标系，以易于理解。支撑轨道13形成矩形网格的二维矩阵，并且大部分网格的截面面积与由底层栅格15建立的每个储存立柱8的截面面积一致。在车辆支架14(在方向Y的两侧处)的边缘区域处的网格17、18的截面面积小于其余网格的截面面积。在机器人处于开始拾取包含在中央储存立柱8a内的储存箱2的位置中时(见图8和图9)，边缘网格17、18的尺寸应优选地适于超过直接位于机器人1的腔体7之下的中央储存立柱8a的延伸程度。通过这种方式，机器人1可到达储存***3中的所有储存立柱8，即，独立于在Y方向上的机器人定向。例如，如果机器人1正好沿着X方向在一个中央储存立柱8a的截面面积之上延伸并且沿着Y方向在邻近的储存立柱8b的截面面积的1/2之上延伸，则在Y方向上的边缘区域处的网格17、18的截面面积应大约为剩余网格的截面面积的1/2。因此，这些边缘网格17、18的主要功能是允许具有新颖设计的机器人1具有充足的空间。
图8示出了在位于与栅格组件的边缘区域17、18邻近的中央储存立柱8a之上的提升位置中的机器人1。在这个实施方式中，车辆提升装置9下降一定距离到中央储存立柱8a中，以便钩住并提升底层储存箱2。如在图8中的示例性情况下可见，在边缘区域设计有额外的边缘网格17、18(其中，Y方向宽度大约为栅格15中的剩余网格的Y方向宽度的1/2时，使主体4在与X方向相比的Y方向上延伸的机器人1可被一直驱动到栅格15的边缘。
为了更好地示出机器人1在构成车辆支架14的支撑轨道13上的运动，在图9中示出了机器人1在栅格组件上的一些示例性位置。在机器人1的中心绘制的粗箭头表示允许的运动方向。在机器人1定位成其腔体7正好位于中央储存立柱8a之上时，与左上角和中间的机器人1的情况一样，支撑轨道13的布置允许在X和Y方向移动。在栅格组件上的任何其他位置限制机器人1在车辆支架14上沿着X方向(右下角机器人1)或Y方向(顶部中间以及左下角机器人1)的运动。为了允许确定机器人位置，有利的是使每个机器人1安装有一个或多个位置传感器16(例如，光学传感器)。这种传感器16应优选地安装在机器人1的一个或多个区域内，其确保了传感器16不遮蔽底层支撑轨道13并且使传感器直接在车辆支架14上的轨道13穿过的位置之上经过或者在这些位置经过。传感器16的读数可尤其决定机器人1的进一步运动和/或车辆提升装置9的操作。
机器人1的所有操作由无线通信装置75和遥控单元控制。其包括控制机器人运动、车辆提升装置以及位置测量装置。
在前文的描述中，参照说明性实施方式，描述了根据本发明的装置的各个方面。为了解释的目的，提出了特定的数量、***以及配置，以便更彻底地理解该设备及其工作。然而，本说明书并非旨在限制性地理解。该设备的对于所公开主题的领域内的技术人员显而易见的说明性实施方式以及其他实施方式的各种修改及变型被视为落在本发明的范围内。
参考标号/字母列表：
1、遥控车辆/机器人
2、储存箱
3、储存***
4、车辆主体/框架
5、(车辆主体的)第一部分/部件部分/侧部
5a、第一部分，左边
5b、第一部分，右边
6、车辆驱动装置/电机单元
7、车辆储存空间/第二部分/腔体/居中布置的腔体
8、储存立柱
8a、中央储存立柱
8b、邻近的储存立柱
9、车辆提升装置
10、第一组车辆滚动装置/第一组车轮
11、第二组车辆滚动装置/第二组车轮
12、箱体接收开口
13、支撑轨道
14、车辆支架
15、箱体储存结构/栅格
16、位置感测装置/位置传感器
17、车辆支架的左外侧边缘区域/左边缘网格
18、车辆支架的右外侧边缘区域/右边缘网格
50、箱体提升装置
60、运输站/端口
70、轭状件/悬挂部分
72、顶盖
73、封盖
74、手柄
75、传输装置/控制面板/无线通信装置
76、栅格支撑基部

Claims (14)

1.一种遥控车辆(1)，用于从储存***(3)中拾取储存箱(2)，所述遥控车辆包括：
车辆主体(4)，所述车辆主体包括第一部分(5、5a、5b)和第二部分(7)，所述第一部分用于储存车辆驱动装置(6)，所述第二部分用于接收储存在所述储存***(3)内的储存立柱(8、8a、8b)中的任何储存箱(2)，
车辆提升装置(9)，所述车辆提升装置至少间接地连接至所述车辆主体(4)，以用于将所述储存箱(2)提升到所述第二部分(7)内，
第一组车辆滚动装置(10)，所述第一组车辆滚动装置连接至所述车辆主体(4)，以在使用期间允许所述车辆(1)在所述储存***(3)内沿着第一方向(X)移动，以及
第二组车辆滚动装置(11)，所述第二组车辆滚动装置连接至所述车辆主体(4)，以在使用期间允许所述车辆(1)在所述储存***(3)内沿着第二方向(Y)移动，
所述第二方向(Y)与所述第一方向(X)垂直，
其特征在于，
所述第二部分(7)包括居中布置在所述车辆主体(4)内的腔体(7)，所述腔体(7)具有在使用期间朝向所述储存立柱(8、8a、8b)的至少一个箱体接收开口(12)，并且
这两组车辆滚动装置中的至少一组车辆滚动装置(11)完全布置在所述车辆主体(4)内。
2.根据权利要求1所述的遥控车辆(1)，其特征在于，所述车辆还包括移动装置，在所述车辆在所述第一方向(X)与所述第二方向(Y)之间改变方向时，所述移动装置用于可逆地且选择性地使所述第一组车辆滚动装置或所述第二车辆滚动装置移动远离所述储存***(3)内的底层车辆支架(14)。
3.根据权利要求1或2所述的遥控车辆(1)，其特征在于，在使用期间，所述车辆主体(4)在所述第一方向(X)上至多覆盖一个中央储存立柱(8a)的横向截面，并且在所述第二方向(Y)上覆盖多个中央储存立柱(8a、8b)的横向截面。
4.根据权利要求3所述的遥控车辆(1)，其特征在于，所述车辆主体(4)在沿着所述第二方向(Y)的两侧上延伸超过所述中央储存立柱(8a、8b)的横向截面。
5.根据权利要求4所述的遥控车辆(1)，其特征在于，延伸超过所述中央储存立柱(8a、8b)的横向截面的延伸部分在沿着所述第二方向(Y)的两侧上相等。
6.根据前述权利要求中任一项所述的遥控车辆(1)，其特征在于，车辆滚动装置(10、11)对称地分布在居中布置的所述腔体(7)周围。
7.根据前述权利要求中任一项所述的遥控车辆(1)，其特征在于，这两组车辆滚动装置(10、11)中的至少一组包括至少四个车轮。
8.根据前述权利要求中任一项所述的遥控车辆(1)，其特征在于，这两组车辆滚动装置(10、11)的外部设计与位于构成所述车辆支架(14)的支撑轨道(13)上的对应外部设计相匹配，以便在相互连接时提供较大的横向稳定性，
其中，所述支撑轨道(13)以二维矩阵形式布置在箱体储存结构(15)的顶部上，矩阵和所述箱体储存结构(15)的主方向与所述车辆(1)的所述第一方向(X)和所述第二方向(Y)一致。
9.根据前述权利要求中任一项所述的遥控车辆(1)，其特征在于，所述车辆(1)包括位置感测装置(16)，以允许在使用期间测量储存***(3)内的车辆位置。
10.根据权利要求9所述的遥控车辆(1)，其特征在于，所述位置感测装置(16)包括布置在所述车辆主体(4)上的至少一些位置中的多个传感器，所述位置感测装置在使用期间横过所述车辆支架(14)的所述支撑轨道(13)所横越的位置。
11.一种储存***(3)，其特征在于，所述储存***包括：
-根据权利要求1至10中任一项所述的遥控车辆(1)，
-车辆支架(14)，所述车辆支架包括多个支撑轨道(13)，所述多个支撑轨道形成引导网格的二维矩阵，所述车辆支架(14)被配置为在使用期间沿着第一方向(X)和第二方向(Y)引导所述车辆(1)的运动，
-箱体储存结构(15)，所述箱体储存结构支撑所述车辆支架(14)，所述结构(15)包括多个储存立柱(8、8a、8b)，其中，
每个储存立柱(8、8a、8b)均被布置为容纳竖直堆叠的储存箱(2)，并且
所述箱体储存结构(15)的主要部分与所述车辆支架(14)上的所述多个支撑轨道(13)所横越的位置一致，以及
-箱体提升装置(50)，所述箱体提升装置被布置为沿着与所述车辆支架(14)的横向平面垂直的方向在所述车辆支架(14)与运输站(60)之间传送车辆运输的储存箱(2)。
12.根据权利要求11所述的储存***(3)，其特征在于，所述支撑轨道(13)中的布置在所述车辆支架(14)的外侧边缘区域(17、18)处的至少一些支撑轨道形成外部引导网格，所述外部引导网格的平均截面小于所述车辆支架(14)中的其余引导网格的平均截面。
13.根据权利要求12所述的储存***(3)，其特征在于，所述外部引导网格的减小的平均截面是所述车辆支架(14)中的其余引导网格的平均截面的大约一半。
14.根据权利要求12或13所述的储存***(3)，其特征在于，所述外部引导网格的尺寸仅沿着所述车辆支架(14)的所述第二方向(Y)减小。
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