CN111547432A

CN111547432A - Butting method for putting turnover boxes on shelves

Info

Publication number: CN111547432A
Application number: CN202010412350.4A
Authority: CN
Inventors: 张俊; 李林子; 张孟文; 李秀刚
Original assignee: Shenzhen Whalehouse Science And Technology Co ltd
Current assignee: Shenzhen Whalehouse Science And Technology Co ltd
Priority date: 2020-05-15
Filing date: 2020-05-15
Publication date: 2020-08-18
Anticipated expiration: 2040-05-15
Also published as: CN111547432B

Abstract

The invention provides a butt joint method for putting turnover boxes on shelves, which comprises the following steps: moving the transfer robot with the turnover box to be right below the non-circular through hole of the butt joint platform, wherein the turnover box is arranged along the first direction; the carrying robot executes lifting operation, penetrates the turnover box through the through hole and lifts the turnover box to the position above the butt joint platform; the transfer robot rotates the turnover box from the arrangement along the first direction to the arrangement along the second direction around the rotating shaft; the transfer robot performs a lowering operation until the uppermost end of the transfer robot is lower than the lower surface of the docking platform. According to the method for butting the upper frame of the turnover box, the carrying robot can lift and rotate, and the turnover box can be put on the frame based on the through hole of the butting platform, so that the realization mode is simple, the putting efficiency is high, and the cost is low; the butt joint device has simple structure, does not occupy too much space of the warehouse and can still ensure that the warehouse has higher space utilization rate.

Description

Butting method for putting turnover boxes on shelves

Technical Field

The invention relates to the technical field of intelligent storage, in particular to a method for butting upper shelves of turnover boxes.

Background

With the development of the warehousing industry, the call for modern and intelligent warehousing is higher and higher, such as automated storage warehouses like dense storage warehouses. Goods are generally moved through the turnover box in the existing automatic storage warehouse, and the turnover box is required to be automatically put on the shelf at the moment.

At present, in a mainstream intensive storage scheme in the industry, the automatic shelving problem of the turnover box is solved mainly by a mode of butting turnover box carrying equipment by a production line; this solution is too costly and the hardware equipment is too bulky and flexible. Part scheme realizes the turnover case and puts on the shelf based on AGV (Automated Guided Vehicle) dolly, but need carry out a large amount of adaptability transformation to the AGV dolly, and the cost is higher, and efficiency is lower, leads to the effect of current turnover case scheme of putting on the shelf relatively poor.

Disclosure of Invention

In order to solve the above problems, an object of an embodiment of the present invention is to provide a method for butting upper shelves of containers.

The embodiment of the invention provides a method for butting upper shelves of turnover boxes, which comprises the following steps:

moving the transfer robot with the turnover box to be right below the non-circular through hole of the butt joint platform, wherein the turnover box is arranged along a first direction; when the turnover box is arranged along the first direction, the edge of the through hole completely surrounds the horizontal section of the turnover box;

the carrying robot executes lifting operation, penetrates the turnover box through the through hole and lifts the turnover box to the position above the docking platform;

the transfer robot rotates the turnover box from the arrangement along the first direction to the arrangement along the second direction around the rotating shaft; wherein the first direction and the second direction are two different directions on a horizontal plane; when the turnover box is arranged along the second direction, at least three intersection points exist between the edge of the horizontal section of the turnover box and the edge of the through hole, and the convex hulls determined by all the intersection points cover the central point of the horizontal section of the turnover box;

and the transfer robot performs descending operation until the uppermost end of the transfer robot is lower than the lower surface of the docking platform.

In the scheme provided by the embodiment of the invention, the characteristic that the turnover box has length and width is utilized, the turnover box can be put on the shelf by two actions of lifting and rotating of the carrying robot and the through hole based on the butt-joint platform, the realization mode is simple, and the putting-on efficiency is high; the carrying robot can realize a rotating function by utilizing the traveling mechanism, only a simple lifting mechanism needs to be additionally arranged, the whole structure is simple, and the cost is lower; meanwhile, the butt joint device can be fixedly arranged in the automatic warehouse, the structure of the butt joint device is simple, the space of the warehouse cannot be excessively occupied, and the high space utilization rate of the warehouse can still be ensured.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 shows a flowchart of a method for docking a container on a shelf according to an embodiment of the present invention;

fig. 2 is a schematic structural view illustrating a transfer robot according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a docking device provided in an embodiment of the present invention;

fig. 4a is a schematic top view of the turnover box provided by the embodiment of the present invention, which is arranged along a first direction;

fig. 4b is a schematic diagram illustrating a first top-view structure of the turnover box provided by the embodiment of the invention when the turnover box is arranged along a second direction;

fig. 4c is a second schematic top view of the turnover box provided in the embodiment of the present invention, when the turnover box is arranged along a second direction;

FIG. 5 is a schematic view of a transfer robot according to an embodiment of the present invention positioned below a docking platform in a first direction;

fig. 6 is a schematic structural diagram illustrating a transfer robot according to an embodiment of the present invention lifting a transfer container above a docking platform;

fig. 7 is a schematic structural view illustrating a transfer robot according to an embodiment of the present invention after rotating from a first direction to a second direction;

fig. 8 is a schematic structural view illustrating a contracted lifting mechanism of the transfer robot according to the embodiment of the present invention;

fig. 9 is a schematic structural view illustrating a transfer robot according to an embodiment of the present invention when it is driven off a docking platform;

fig. 10 is a schematic diagram illustrating an application scenario of the docking method according to the embodiment of the present invention.

Icon: 1-carrying robot, 11-robot body, 12-walking mechanism, 13-lifting mechanism, 131-hydraulic rod, 14-supporting platform, 2-docking device, 21-docking platform, 211-through hole, 212-limiting protrusion, 22-bracket and 3-turnover box.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and for simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. 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 invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the two elements can be directly connected or indirectly connected through an intermediate medium, and the two elements can be communicated with each other. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The embodiment of the invention provides a method for docking a turnover box, which is used for docking the turnover box based on a transfer robot and a docking platform. Referring to fig. 1, the method includes:

step 101: moving the transfer robot with the turnover box to be right below the non-circular through hole of the butt joint platform, wherein the turnover box is arranged along the first direction; when the turnover box is arranged along the first direction, the edge of the through hole completely surrounds the horizontal section of the turnover box.

In the embodiment of the invention, the transfer robot has a rotating function and a lifting function, the butt joint platform is provided with the non-circular through hole, and the butt joint platform and the through hole are matched to realize the loading of the turnover box. Referring to fig. 2, the transfer robot includes a robot body 11, a traveling mechanism 12, a lifting mechanism 13, and a support platform 14. Running gear 12 sets up in robot body 11 bottom for moving robot body 11, this running gear 12 can drive transfer robot promptly and remove, makes transfer robot can remove under to the butt joint platform. The lifting mechanism 13 is provided on the robot body 11 for performing a lifting operation or a lowering operation; the supporting platform 14 is arranged on the top of the lifting mechanism 13 and used for placing the turnover box 3.

The docking platform is used for placing the turnover box on the upper shelf, and as shown in fig. 3, the docking platform 21 is provided with a non-circular through hole 211. The docking platform 21 needs to be disposed at a height, and the height of the docking platform 21 is greater than the sum of the height of the transfer robot 1 which is retracted and the height of the turnover box 3, so that the transfer robot 1 can move below the docking platform 21 when transferring the turnover box 3. Meanwhile, the extension height of the transfer robot 1 is greater than the setting height of the docking platform 21, so that the transfer robot 1 can lift the turnover box 3 above the docking platform 21. Wherein the contracted height is the height of the transfer robot 1 when the lifting mechanism 13 of the transfer robot 1 is completely contracted; the extension height is a height of the transfer robot 1 when the lifting mechanism 13 is fully extended. Alternatively, as shown in fig. 3, the docking platform 21 is supported by a bracket 22 with a specific height, so that the docking platform can be conveniently fixed at the set height; in this embodiment, the docking platform 21 and the bracket 22 may form the complete docking device 2.

Further, when the circulation box 3 is arranged in the first direction, the edge of the through hole 211 completely surrounds the horizontal cross section of the circulation box 3. In this embodiment, fig. 4a is a schematic top view of the turnover box 3 arranged along a first direction, which is the up-down direction in fig. 4 a; as shown in fig. 4a, the size of the through hole 211 is larger than that of the turnover box 3, that is, the edge of the through hole 211 can completely surround the horizontal cross section of the turnover box 3, so that the turnover box 3 placed on the supporting platform 14 can pass through the through hole 211, that is, the turnover box 3 can pass through the through hole 211 when the lifting mechanism 13 is extended, so that the turnover box 3 reaches above the docking platform 21.

For example, as shown in fig. 5, the lift mechanism 13 of the transfer robot 1 is in a contracted state and moves to below the docking platform 21 so that the turnover box 3 is positioned directly below the through hole 211 of the docking platform 21.

Step 102: and the carrying robot executes lifting operation, penetrates the turnover box through the through hole and lifts the turnover box to the upper part of the butt joint platform.

In the embodiment of the present invention, the lifting mechanism 13 based on the transfer robot 1 may perform a lifting operation, and specifically, when the lifting mechanism 13 is extended, the lifting operation may be performed, so that the turnover box 3 passes through the through hole 211; meanwhile, since the extension height of the transfer robot 1 is greater than the setting height of the docking platform 21, the turnover box 3 can be raised above the docking platform 21. For example, as shown in fig. 6, the lifting mechanism 13 is extended so that the turnover box 3 can pass through the through hole 211, thereby moving the turnover box 3 above the docking platform 21.

Step 103: the transfer robot rotates the turnover box from the arrangement along the first direction to the arrangement along the second direction around the rotating shaft; wherein the first direction and the second direction are two different directions on a horizontal plane; when the turnover box is arranged along the second direction, at least three intersection points exist between the edge of the horizontal section of the turnover box and the edge of the through hole, and the convex hull determined by all the intersection points covers the central point of the horizontal section of the turnover box.

In the embodiment of the present invention, the traveling mechanism 12 of the transfer robot 1 can also realize the rotation of the transfer robot 1; specifically, the traveling mechanism 12 can drive the robot body 11 to rotate around the rotating shaft from the first direction to the second direction, and further can drive the turnover box 3 on the supporting platform 14 to rotate to the second direction, that is, the turnover box 3 is arranged along the second direction; wherein, the first direction and the second direction are two different directions on the horizontal plane. At this time, at least three intersection points exist between the edge of the horizontal cross section of the turnover box 3 and the edge of the through hole 211, and the convex hull determined by all the intersection points covers the central point of the horizontal cross section of the turnover box 3. In this embodiment, when the turnover box 3 is disposed along the second direction, the turnover box 3 does not correspond to the through hole 211, and the turnover box 3 can be connected to the docking platform 21 in a snap-fit manner due to the intersection of the turnover box 3 and the edge of the through hole 211. Specifically, after the lifting mechanism 13 is retracted, the bottom of the turnover box 3 can contact the docking platform 21, so that the turnover box 3 is clamped on the docking platform 21.

In this embodiment, the schematic diagram of the turnover box 3 rotating from the first direction to the second direction can be seen in fig. 4a and 4 b. Fig. 4b is a schematic plan view of the turnover box 3 arranged in the second direction, i.e., the upper right-lower left direction along the length of the turnover box 3 in fig. 4 b. Fig. 4b illustrates that the turnover box 3 rotates clockwise by 45 degrees, that is, the included angle between the first direction and the second direction is 45 degrees. For convenience of description, point O in fig. 4a and 4b indicates a rotation axis of the rotation, and is also a central point of the container 3, that is, a central position where the container 3 is placed on the support platform 14.

When the turnover box 3 rotates to the second direction, as shown in fig. 4b, the edge of the horizontal cross section of the turnover box 3 intersects with the edge of the through hole 211, and there are at least three intersection points, which are support points capable of supporting the turnover box 3; meanwhile, the convex hulls formed by all the intersection points can cover the central point of the horizontal section of the turnover box 3, so that the butt-joint platform 21 can stably support the turnover box 3. In fig. 4b, four intersection points A, B, C, D are shown as an example, the quadrilateral ABCD formed by the intersection points A, B, C, D is a convex hull formed by all the intersection points, and the center point O is located in the quadrilateral ABCD, so that all the intersection points can support the tote 3 stably. Optionally, the turnover box 3 can be rotated by 90 degrees, that is, an included angle between the first direction and the second direction is 90 degrees, so that the rotated turnover box can be completely clamped on the docking platform 21, and the stability is further improved. Fig. 4c shows a schematic top view of the turnover box 3 rotated by 90 degrees.

In this embodiment, fig. 7 is a schematic view of the turnover box 3 after turning to the second direction. As shown in fig. 7, the traveling mechanism 12 of the transfer robot 1 rotates around the rotation axis, and the turnaround case 3 may also rotate around the rotation axis, so that the turnaround case 3 rotates from the first direction to the second direction, and fig. 7 illustrates an example in which the turnaround case 3 rotates 90 degrees around the center point.

Step 104: the transfer robot performs a lowering operation until the uppermost end of the transfer robot is lower than the lower surface of the docking platform.

In the embodiment of the present invention, when the turnover box 3 is disposed along the second direction, at least a convex hull formed by a plurality of intersection points and capable of covering the center point of the turnover box 3 exists between the turnover box 3 and the through hole 211, so that the turnover box 3 can be clamped on the docking platform 21 when the transfer robot 1 performs the lowering operation. For example, as shown in fig. 8, the lift mechanism 13 of the transfer robot 1 is retracted, and the week box 3 is moved down and engaged with the docking platform 21, so that the week box 3 is placed on the docking platform 21, and the week box can be put on the shelf. Optionally, as shown in fig. 3, the upper surface of the docking platform 21 is provided with a limiting protrusion 212 arranged along the second direction. The limiting protrusions 212 are used for limiting the position of the turnover box 3, so that when the turnover box is arranged along the second direction and falls onto the butt-joint platform 21, the limiting protrusions 212 can limit the position of the turnover box 3, the dislocation of the turnover box 3 is avoided, and the turnover box 3 is conveniently and subsequently put on shelf.

Specifically, other shelving systems can shelf the turnover box 3 on the docking platform 21, that is, based on the method, the docking with the shelving system can be realized, so that the turnover box can be conveniently shelved. For example, the docking method can be applied to an automated warehouse, and an application scenario thereof can be as shown in fig. 10, wherein a track robot capable of carrying the turnover box 3 is arranged on the top of the automated warehouse; after the transfer robot 1 places the turnover box 3 on the docking platform 21, the rail robot can move to a corresponding position to move the turnover box 3 on the docking platform 21 to a shelf in a warehouse, so that the turnover box 3 is put on the shelf.

Optionally, after "the uppermost end of the transfer robot is lower than the lower surface of the docking platform" in step 104, the method further comprises: the transfer robot drives away from the docking platform. In the present embodiment, the transfer robot 1 can move by the traveling mechanism 12, and can travel away from the docking platform 21, and thereafter can perform other operations. As shown in fig. 9, the transfer robot 1 can leave the docking platform 21 by the traveling mechanism 12 to perform other operations.

According to the method for butting the upper frame of the turnover box, provided by the embodiment of the invention, the turnover box 3 is characterized by length and width, the through hole 211 of the butting platform 21 can be used for butting the upper frame of the turnover box 3 through the two actions of lifting and rotating of the carrying robot 1, the realization mode is simple, and the racking efficiency is high; the carrying robot can realize a rotating function by utilizing the traveling mechanism 12, only a simple lifting mechanism 13 needs to be additionally arranged, the whole structure is simple, and the cost is lower; meanwhile, the docking device 2 can be fixedly arranged in the automatic warehouse, the structure of the docking device 2 is simple, the space of the warehouse cannot be occupied too much, and the warehouse can still be guaranteed to have higher space utilization rate.

On the basis of the above embodiment, before "moving the carrier robot on which the turnover box is placed right below the non-circular through hole of the docking platform" in step 101, the method further includes:

step A1: placing the turnover box on a supporting platform of the transfer robot along a preset direction, wherein the turnover box arranged along the preset direction can be synchronously arranged along a first direction with the transfer robot; the supporting platform is arranged at the top of the transfer robot, and the first distance of the supporting platform is smaller than the short-axis distance of the through hole; wherein the first distance is a maximum span of the support platform in a short axis direction of the through hole when the transfer robot is disposed in the first direction.

In the embodiment of the present invention, when placing the turnover box 3 on the supporting platform 14, the turnover box 3 needs to be arranged along the preset direction, so that the transfer robot 1 can accurately arrange the turnover box 3 along the first direction, that is, when the transfer robot 1 rotates to a certain direction, the turnover box 3 is arranged along the first direction, in this embodiment, rotating the transfer robot 1 to the certain direction is also regarded as rotating the transfer robot to the first direction, that is, the transfer robot 1 and the turnover box 3 can be synchronously arranged along the first direction.

Meanwhile, in order to ensure that the supporting platform 14 can smoothly pass through the through hole 211, the first distance of the supporting platform 14 is smaller than the short axis distance of the through hole 211. That is, when the robot body 11 of the transfer robot 1 is disposed in the first direction, the maximum span of the support platform 14 in the short axis direction of the through hole 211 is smaller than the short axis distance of the through hole 211, so that the support platform 14 can pass through the through hole 211 when disposed in the first direction, that is, the support platform 14 can pass through the through hole 211 with the turnover box 3 and reach above the docking platform 21 when lifted.

Specifically, the through hole 211 in this embodiment is in a non-circular shape, such as a square, rectangle, ellipse, etc.; the through hole 211 is provided with a long axis direction and a short axis direction, wherein the through hole 211 can be divided into four sides, the long axis direction is a direction between two opposite sides of the through hole 211 which are far away from each other, and the short axis direction is a direction between two opposite sides of the through hole 211 which are close to each other; accordingly, the maximum span of the through hole 211 in the major axis direction is the major axis distance of the through hole 211, and the maximum span of the through hole 211 in the minor axis direction is the minor axis distance of the through hole 211. Alternatively, the through hole 211 may have a shape matching the shape of the horizontal cross section of the turnover box 3, that is, the through hole 211 may have a rectangular shape. Taking the through hole 211 as a rectangle as an example, the major axis direction and the minor axis direction are respectively the length direction and the width direction of the through hole 211, and the corresponding major axis distance and minor axis distance are the length and the width of the through hole 211.

Optionally, the step 104 "the transfer robot performs the lowering operation" includes:

step B1: and the carrying robot performs descending operation until the turnover box is placed on the docking platform and the supporting platform is positioned above the docking platform.

Step B2: and the transfer robot rotates from the second direction to the first direction, and then the transfer robot continues to perform descending operation until the supporting platform is lower than the lower surface of the docking platform.

In the embodiment of the present invention, when the transfer robot 1 performs the lowering operation, the lifting mechanism 13 is retracted so that the turnover box 3 can be placed on the docking platform 21. Meanwhile, if the upper surface of the docking platform 21 is further provided with a protrusion for supporting the turnover box 3, a gap exists between the turnover box 3 and the upper surface of the docking platform 3 while the docking platform 3 supports the turnover box 3, and the support platform 14 of the transfer robot 1 is located in the gap, that is, the support platform 14 is still located above the docking platform 21. At this time, the lifting mechanism 13 may suspend to retract, and the transfer robot 1 rotates from the second direction to the first direction again under the action of the traveling mechanism 12, so that the support platform 14 is restored to be arranged along the first direction again; until the transfer robot 1 continues to perform the lowering operation, since the first distance of the support platform 14 is smaller than the short axis distance of the through hole 211, for example, smaller than the width of the through hole 211, the support platform 14 can pass through the through hole 211, and finally the support platform 14 is lower than the lower surface of the docking platform 21, for example, until the lifting mechanism 13 continues to retract to the fully retracted state.

Optionally, the second distance of the supporting platform 14 is also smaller than the short-axis distance of the through hole 211; wherein the second distance is a maximum span of the support platform 14 in the short axis direction of the through hole 211 when the transfer robot 1 is disposed in the second direction. That is, when the transfer robot 1 is disposed in the second direction (in this case, it can be considered that the support platform 14 is disposed in the second direction), the maximum span of the support platform 14 in the short axis direction of the through hole 211 is smaller than the short axis distance of the through hole 211, so that the support platform 14 can pass through the through hole 211 even when disposed in the second direction.

In the embodiment of the present invention, the supporting platform 14 may be circular or square; further, the rotation axis when the transfer robot 1 rotates may be an axis that is perpendicular to the support platform 14 and passes through the center point of the support platform 14. If the rotation axis passes through the center point of the supporting platform 14, the first distance and the second distance of the circular supporting platform 14 are both the diameter of the supporting platform 14. If the support platform 14 is square, the corresponding first and second distances need to be determined based on the angle at which the support platform 14 is rotated. For example, the supporting platform 14 is square, as shown in fig. 4b, an included angle between the second direction and the first direction is 45 degrees, the first distance is a side length of the supporting platform 14, and the second distance is a diagonal length of the supporting platform 14; alternatively, as shown in fig. 4c, the included angle between the second direction and the first direction is 90 degrees, and then both the first distance and the second distance are the side length of the supporting platform 14.

In the embodiment of the present invention, when the first distance and the second distance of the supporting platform 14 are both smaller than the short axis distance of the through hole 211, after step 103, the supporting platform 14 is disposed along the second direction, and at this time, because the second distance is also smaller than the through hole 211, when the lifting mechanism 13 is retracted, the lifting mechanism can be directly retracted to the fully retracted state, that is, the transfer robot continues to perform the lowering operation, and the transfer robot 1 does not need to be returned to the first direction, so that the lowering process can be simplified, and the efficiency can be improved. Specifically, the step 104 "the transfer robot performs the lowering operation" includes:

step C1: the transfer robot continues to perform the lowering operation until the support platform is lower than the lower surface of the docking platform.

When both the first distance and the second distance of the support platform 14 are smaller than the short-axis distance of the through hole 211, the support platform may be lowered based on the lowering manner shown in the above steps B1 and B2.

On the basis of the above embodiment, the rotation axis of the transfer robot 1 when rotating may be a perpendicular line that is perpendicular to the support platform 14 and passes through the center point of the support platform 14. Specifically, the step 103 "the transfer robot rotates the turnover box from the first direction to the second direction around the rotating shaft" includes: the transfer robot rotates along a rotating shaft which is perpendicular to the supporting platform and passes through the central point of the supporting platform, and the turnover box is rotated from the first direction to the second direction.

In the embodiment of the present invention, when the transfer robot 1 rotates along the rotating shaft, the supporting platform 14 rotates around its center point, so as to conveniently control the position and the direction of the supporting platform 14, and further conveniently control the position and the direction of the turnover box 3 on the supporting platform 14, that is, the turnover box 3 can be accurately rotated from the first direction to the second direction. Optionally, an included angle between the first direction and the second direction is 30 to 150 degrees. As mentioned above, the included angle may be an acute angle or a right angle such as 45 degrees or 90 degrees, so as to avoid the walking mechanism 12 moving too much to affect the efficiency of putting on the shelf.

Optionally, in step 103, "the transfer robot rotates the turnover box from the first direction to the second direction around the rotating shaft" specifically includes: the carrying robot drives the first driving wheel to rotate in the forward direction and drives the second driving wheel to rotate in the reverse direction;

or the transfer robot drives the first driving wheel to rotate reversely and drives the second driving wheel to rotate positively;

wherein, first drive wheel and second drive wheel set up respectively in transfer robot's both sides.

In the embodiment of the present invention, the traveling mechanism 12 includes a first driving wheel and a second driving wheel which can rotate forward and backward; the first driving wheel and the second driving wheel are respectively arranged on two sides of the robot body 11, and the rotating function is realized through the two driving wheels which can rotate positively and reversely. Specifically, first drive wheel forward rotates and second drive wheel antiport, perhaps first drive wheel antiport and second drive wheel forward rotates, can realize rotation function, and transfer robot 1 can rotate around the pivot at center.

The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present invention, and the present invention shall be covered by the claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. The utility model provides a butt joint method of turnover case upper rack which characterized in that includes:

and the carrying robot performs descending operation until the uppermost end of the carrying robot is lower than the lower surface of the docking platform.

2. The method according to claim 1, further comprising, before moving the transfer robot on which the tote is placed directly below the non-circular through hole of the docking platform:

placing the turnover box on a supporting platform of a carrying robot along a preset direction, wherein the turnover box arranged along the preset direction can be synchronously arranged along a first direction with the carrying robot; the supporting platform is arranged at the top of the transfer robot, and the first distance of the supporting platform is smaller than the short-axis distance of the through hole; wherein the first distance is a maximum span of the support platform in a short axis direction of the through hole when the transfer robot is disposed in the first direction.

3. The method of claim 2, wherein the transfer robot performing a lowering operation comprises:

the carrying robot performs descending operation until the turnover box is placed on the docking platform and the supporting platform is positioned above the docking platform;

and the transfer robot rotates from the second direction to the first direction, and then the transfer robot continues to perform descending operation until the supporting platform is lower than the lower surface of the docking platform.

4. The method of claim 2, wherein the second distance of the support platform is less than a minor axis distance of the through-hole; wherein the second distance is a maximum span of the support platform in a short axis direction of the through hole when the transfer robot is disposed in the second direction.

5. The method of claim 4, wherein the transfer robot performing a lowering operation comprises:

the carrying robot continuously executes descending operation until the supporting platform is lower than the lower surface of the docking platform;

or the carrying robot performs descending operation until the turnover box is placed on the docking platform and the supporting platform is positioned above the docking platform; and the transfer robot rotates from the second direction to the first direction, and then the transfer robot continues to perform descending operation until the support platform is lower than the lower surface of the docking platform.

6. The method of claim 2, wherein the transfer robot rotates the tote from the first orientation arrangement to the second orientation arrangement about a rotation axis, comprising:

the transfer robot is along the perpendicular to supporting platform, and pass through the pivot of supporting platform's central point rotates, will the turnover case is followed and is set up to rotate to set up along the second direction along first direction.

7. The method according to claim 2 or 6, wherein the transfer robot rotates the tote from being disposed in a first direction to being disposed in a second direction about a rotation axis, comprising:

the carrying robot drives the first driving wheel to rotate forward and drives the second driving wheel to rotate reversely; or the transfer robot drives the first driving wheel to rotate reversely and drives the second driving wheel to rotate forwardly;

wherein the first drive wheel and the second drive wheel are respectively provided on both sides of the transfer robot.

8. The method of claim 1, wherein the angle between the first direction and the second direction is between 30 degrees and 150 degrees.

9. The method of claim 8, wherein the angle between the first direction and the second direction is an acute angle or a right angle.

10. The method of claim 1, further comprising, after the uppermost end of the transfer robot is below the lower surface of the docking platform:

the transfer robot drives away from the docking platform.