CN114873118A

CN114873118A - Carrying robot, warehousing system and working method of carrying robot

Info

Publication number: CN114873118A
Application number: CN202210262942.1A
Authority: CN
Inventors: 王启铭
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2022-03-17
Filing date: 2022-03-17
Publication date: 2022-08-09

Abstract

The present disclosure relates to a carrying robot, a warehousing system and a working method of the carrying robot, wherein the carrying robot includes a body, at least two fork arm assemblies and a moving device, the at least two fork arm assemblies are sequentially arranged on the body at intervals in a height direction in a stacked manner, the fork arm assemblies include a fork arm base and a fork arm, the fork arm base is configured to be controlled by a lifting device to drive the fork arm to lift relative to the body, and the fork arm is configured to carry an object. The moving device is arranged on the machine body and is configured to drive the machine body to move on the working surface so as to drive the fork arms to be forked into the bottom of the object or move the fork arms out of the bottom of the object. It can be seen that the carrying robot of the present disclosure can save the horizontal space occupied by the carrying robot, so that the roadway between the shelves can be set narrower, and the mechanical structure of the carrying robot of the present disclosure is also simpler, thereby reducing the processing cost.

Description

Carrying robot, warehousing system and working method of carrying robot

Technical Field

The disclosure relates to the field of carrying robots, in particular to a carrying robot, a warehousing system and a working method of the carrying robot.

Background

A carrier robot is a robot used to carry containers. The container is placed on the tray before being carried, the carrying robot holds up the tray, moves to a destination and puts down the tray, and therefore the purpose of carrying the container is achieved.

The initial carrier robots generally only transported one pallet at a time, which is inefficient. Then, a carrying robot capable of transporting two trays at a time appears, but the floor area of the carrying robot is 2 times that of the traditional carrying robot, so that the lane space is easily wasted, and in addition, a very complicated mechanical structure system is designed for transporting the two trays, and the processing cost is higher.

Disclosure of Invention

In order to solve the problems in the prior art, the present disclosure provides, on the one hand, a carrier robot, including:

a body;

at least two fork arm assemblies which are arranged on the machine body at intervals in sequence along the height direction, wherein each fork arm assembly comprises a fork arm seat and a fork arm, the fork arm seats are configured to drive the fork arms to lift relative to the machine body under the control of a lifting device, and the fork arms are configured to bear an object;

the moving device is arranged on the machine body and is configured to drive the machine body to move on the working surface so as to drive the fork arm to be forked into the bottom of the object or move the fork arm out of the bottom of the object.

In one embodiment of the present disclosure, the yoke is hinged with the yoke seat;

the yoke assembly further includes a yoke receiving mechanism configured to rotate the yoke between a working position and a receiving position relative to the yoke base.

In one embodiment of the present disclosure, the yoke is configured to extend in a working face direction when in the working position; and/or the yoke is configured to be perpendicular to the working surface when in the stowed position.

In one embodiment of the present disclosure, the yoke housing mechanism includes:

one end of the accommodating telescopic rod is hinged with the fork arm seat, and the other end of the accommodating telescopic rod is hinged with the fork arm;

the telescopic driving element is configured to drive the accommodating telescopic rod to be telescopic relative to the fork arm seat so as to drive the fork arm to rotate between the working position and the accommodating position relative to the fork arm seat.

In one embodiment of the present disclosure, the yoke assembly includes at least two yokes, at least two of the yokes are fixedly connected through a linkage shaft, and the storage telescopic rod is hinged to the linkage shaft.

In one embodiment of the present disclosure, the lifting device includes:

the bottom end of the lifting telescopic rod is fixedly arranged at the bottom of the machine body;

the lifting support wheel is rotatably arranged at the top end of the lifting telescopic rod;

the lifting belt is wound on the lifting support wheel, one end of the lifting belt is fixedly arranged on the machine body, and the other end of the lifting belt is fixedly connected with the fork arm seat;

and the lifting power unit is configured to drive the lifting telescopic rod to stretch and retract so as to drive the fork arm to lift relative to the machine body.

In one embodiment of the disclosure, the carrier robot includes at least two lifting devices symmetrically disposed at left and right sides of the yoke seat.

In one embodiment of the present disclosure, the lifting and retracting rod is a hydraulic push rod, and the hydraulic push rod includes:

the hydraulic device comprises a movable rod and a fixed rod sleeved on the outer side of the movable rod, wherein a hydraulic cavity is formed in the fixed rod, one side of the hydraulic cavity is sealed by the movable rod, and the other side of the hydraulic cavity is communicated with a hydraulic pipe;

the lifting power unit includes a hydraulic pump having a pump port communicating with the hydraulic pipe, the hydraulic pump being configured to flow in or out of the hydraulic chamber by driving a liquid to extend or retract the movable bar from the fixed bar.

In one embodiment of the disclosure, a rotation guide groove is formed on the circumferential surface of the lifting support wheel, and the lifting belt is wound in the rotation guide groove of the lifting support wheel.

In one embodiment of the present disclosure, a lifting guide groove is provided on the machine body;

the fork arm assembly further comprises a lifting guide wheel, wherein the lifting guide wheel is rotatably arranged on the fork arm seat and is configured to slide up and down in the lifting guide groove.

In one embodiment of the present disclosure, the yoke assembly includes at least two yokes, and at least two yokes are disposed parallel to each other.

In one embodiment of the present disclosure, the body includes:

the fork arm assembly is arranged on the rack;

a chassis configured to support the frame;

and the supporting arm is fixedly connected with the chassis and extends along the working face.

In one embodiment of the present disclosure, further comprising:

the steering wheel is arranged at the bottom of the chassis and is configured to drive the chassis to move on a working surface;

and the chassis support wheel is rotatably arranged on the support arm and is configured to rotate along with the steering wheel so as to support the support arm to move on a working surface.

In one embodiment of the present disclosure, the steering wheel includes:

two wheels, each of the wheels configured to be independently rotatable relative to the other wheel;

the moving device comprises two wheel power units, and the two wheel power units are respectively configured to drive one wheel to rotate so as to drive the chassis to translate or rotate on the working surface. In one embodiment of the present disclosure, the mobile device includes:

the steering wheel frame is in clutch connection with the two wheel power units, and the steering wheel frame can be steered on a working surface relative to the machine body;

the handle is arranged on the steering wheel frame and is configured to drive the steering wheel to steer on a working surface under the action of external force under the condition that the steering wheel frame is connected with the two wheel power units.

In one embodiment of the present disclosure, further comprising:

a detection unit disposed on the body and configured to acquire a self-position of the carrier robot;

and the control unit is in signal connection with the detection unit and is configured to control the carrying robot to move and control the lifting device to load and unload the object based on a conveying instruction.

In one embodiment of the present disclosure, further comprising:

an object identification acquisition unit arranged on the body and configured to acquire an object identification of an object;

the control unit is in signal connection with the object identification acquisition unit and is also configured to control the carrying robot to move based on a carrying instruction and control the lifting device to load and unload the object conforming to the object identification in the carrying instruction.

A second aspect of the present disclosure also provides a warehousing system comprising:

the carrier robot;

a container;

a tray configured to place the container, and a bottom of the tray having a slot into which or from which a fork arm of the carrier robot is to be forked.

The third aspect of the present disclosure also provides a working method of a carrier robot, applied to the carrier robot, including:

the carrying robot receives a carrying instruction, wherein the carrying instruction comprises the current position and the target position of at least one target object;

the carrying robot loads each target object onto each fork arm assembly from the current position by using the moving device and the lifting device until all the target objects are completely loaded;

and the carrying robot unloads each target object on the carrying robot to a target position corresponding to each target object by utilizing the moving device and the lifting device.

The present disclosure provides a carrying robot, wherein, carrying robot includes organism, two at least yoke subassemblies and mobile device, and two at least yoke subassemblies set up on the organism at interval range upon range of in proper order along the direction of height, and the yoke subassembly includes yoke seat and yoke, and the yoke seat is configured to be controlled by elevating gear and drives the yoke and go up and down for the organism, and the yoke is constructed to be used for bearing the weight of the object. The moving device is arranged on the machine body and is configured to drive the machine body to move on the working surface so as to drive the fork arms to be forked into the bottom of the object or move the fork arms out of the bottom of the object.

It can be seen that in the carrying robot of this disclosure, because each yoke subassembly sets up on the organism along the direction of height in proper order interval range upon range of, the object on the yoke can range upon range of and put on carrying robot to can practice thrift the horizontal space that carrying robot took, make the tunnel between the goods shelves can set up narrower, the mechanical structure of the carrying robot of this disclosure is also fairly simple moreover, thereby has reduced the processing cost.

Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a schematic perspective view of a carrier robot provided in an embodiment of the present disclosure;

fig. 2 is a rear view of a carrier robot provided by embodiments of the present disclosure;

FIG. 3 is a schematic perspective view of a yoke assembly and a lifting device provided by embodiments of the present disclosure;

fig. 4 is a schematic perspective view of a warehousing system including a carrier robot provided in an embodiment of the present disclosure;

FIG. 5 is a perspective view of one perspective of the yoke assembly and elevator apparatus provided by embodiments of the present disclosure in an operating position;

FIG. 6 is a perspective view of another perspective of the yoke assembly and elevator apparatus in an operating position as provided by embodiments of the present disclosure;

FIG. 7 is a perspective view of the yoke assembly and body during rotation as provided by the disclosed embodiment;

FIG. 8 is a schematic perspective view of the yoke assembly during rotation provided by embodiments of the present disclosure;

FIG. 9 is a schematic perspective view of a yoke assembly provided by embodiments of the present disclosure in a stowed position;

fig. 10 is a partial perspective view of a carrier robot with hidden yoke assembly and detection unit provided in an embodiment of the disclosure;

fig. 11 is a perspective view of a handle, a rudder wheel carrier and a rudder wheel of the carrying robot provided by the embodiment of the present disclosure;

fig. 12 is a schematic flow chart of a working method of a carrier robot according to an embodiment of the present disclosure.

The one-to-one correspondence between component names and reference numbers in fig. 1 to 11 is as follows:

1. a carrier robot; 11. a frame; 12. a yoke assembly; 121. a fork arm base; 122. a yoke; 123. accommodating the telescopic rod; 124. a lifting guide wheel; 13. a lifting device; 131. lifting the telescopic rod; 132. a lifting support wheel; 133. a lifting belt; 14. a chassis; 15. a support arm; 151. chassis support wheels; 16. a steering wheel; 161. a wheel; 162. a wheel power unit; 17. a rudder wheel carrier; 18. a handle; 19. a detection unit; 2. a container; 3. a tray.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Specific embodiments of the present disclosure are described below with reference to the accompanying drawings.

In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used only to indicate relative positional relationships between relevant portions, and do not limit absolute positions of the relevant portions.

In this document, "first", "second", and the like are used only for distinguishing one from another, and do not indicate the degree and order of importance, and the premise that each other exists, and the like.

In this context, "equal", "same", etc. are not strictly mathematical and/or geometric limitations, but also include tolerances as would be understood by a person skilled in the art and allowed for manufacturing or use, etc.

The present disclosure provides a carrier robot including a body, at least two yoke assemblies, and a moving device. Wherein, two at least yoke subassemblies follow interval range upon range of setting in proper order on the direction of height on the organism, the yoke subassembly includes yoke seat and yoke, and the yoke seat is configured to be controlled by elevating gear drive yoke and goes up and down for the organism, and the yoke is constructed and is used for bearing the weight of the object. The moving device is arranged on the machine body and is configured to drive the machine body to move on the working surface so as to drive the fork arms to be forked into the bottom of the object or move the fork arms out of the bottom of the object.

The working principle of the carrier robot of the present disclosure is illustrated by taking as an example a carrier robot having two fork arm assemblies (i.e., the carrier robot includes a first fork arm assembly and a second fork arm assembly). When the carrying robot carries the first container placed on the first tray and the second container placed on the second tray, the working process can comprise the following steps:

the moving device drives the machine body to move to the front of the first container on the working surface;

the lifting device drives the first fork arm assembly to lift so as to enable the first fork arm to be flush with the slot of the first tray;

the moving device drives the carrying robot to move forwards, so that the first fork arm is forked into the slot of the first tray;

the lifting device drives the first fork arm assembly to lift, so that the first tray is suspended;

the moving device drives the machine body to move to the front of the second container on the working surface;

the lifting device drives the second fork arm assembly to lift so as to enable the second fork arm to be flush with the slot of the second tray, and drives the first fork arm assembly to lift upwards so as to reserve a storage space of the second container;

the moving device drives the machine body to move forwards, so that the second fork arm is forked into the slot of the second tray;

and the lifting device drives the second fork arm assembly to lift, so that the second tray is suspended, and the first container and the second container are stacked at the moment, so that the carrying robot finishes a container loading task.

When the carrying robot needs to unload the container carried by the carrying robot, the operation process is carried out reversely.

Specifically, the work process of unloading the container may include:

the moving device drives the machine body to move to a target position of the second container on the working surface;

the lifting device drives the second fork arm assembly to lift so as to place the second container at the target position of the second container;

the moving device drives the machine body to move on the working surface so as to move the second fork arm out of the slot of the second tray and move to the target position of the first container;

the lifting device drives the first fork arm assembly to lift so as to place the first container at the target position of the first container;

the moving device drives the machine body to move on the working surface so as to move the first fork arm out of the first tray slot, and thus the carrying robot finishes a container unloading task.

Obviously, compare with prior art, each yoke subassembly of this disclosure sets up on the organism along the direction of height is gone up to interval range upon range of in proper order, and the object on the yoke (being above-mentioned first container and second container promptly) can range upon range of and put on the carrying robot to can practice thrift the horizontal space that the carrying robot took, make the tunnel between the goods shelves narrower that can set up, the mechanical structure of this disclosure's carrying robot is also simpler moreover, thereby has reduced the processing cost.

For ease of understanding, the specific structure of the carrier robot of the present disclosure and the operation principle thereof will be described in detail below with reference to fig. 1 to 11 in conjunction with one embodiment.

Referring to fig. 1, the present disclosure provides a carrier robot including a body, at least two yoke assemblies 12, and a moving device (not shown).

The body serves as a carrier configured to mount various functional elements required for the carrier robot, the functional elements of the carrier robot including at least two fork arm assemblies 12, a lifting device 13, and a moving device.

In the carrier robot of the present disclosure, there are at least two fork arm assemblies 12, and each fork arm assembly 12 is sequentially stacked on the body at intervals in the height direction.

Each yoke assembly 12 comprises a yoke seat 121 and a yoke 122, the yoke seat 121 is configured to move the yoke 122 up and down relative to the machine body under the control of the lifting device 13, and the yoke 122 is configured to carry an object.

As shown in fig. 1 to 3, in one embodiment of the present disclosure, there are two sets of yoke assemblies 12, and in other embodiments of the present disclosure, there may be three or more sets of yoke assemblies 12, and those skilled in the art may set an appropriate number of yoke assemblies 12 based on the actual application scenario.

The lifting device 13 is used for driving the fork arm seat 121 to lift. Specifically, as shown in fig. 3, in one embodiment of the present disclosure, the lifting device 13 includes a lifting telescopic rod 131, a lifting support wheel 132, a lifting belt 133, and a lifting power unit (not shown in the figure).

The bottom end of the telescopic rod 131 is fixed to the bottom of the machine body, so that the machine body can be used for supporting the telescopic rod 131.

The lifting support wheel 132 is rotatably mounted on the top end of the lifting telescopic rod 131, specifically, a lifting support wheel shaft (not shown) may be fixedly disposed on the top end of the lifting telescopic rod 131, and a bearing is disposed between the lifting support wheel 132 and the lifting support wheel shaft, and the lifting support wheel 132 rotates around the lifting support wheel shaft through the bearing.

The lifting belt 133 is wound on the lifting support wheel 132, one end of the lifting belt is fixedly arranged on the machine body, and the other end of the lifting belt is fixedly connected with the fork arm seat 121.

The lifting power unit is used for driving the lifting telescopic rod 131 to stretch and retract so as to drive the fork arm 122 to lift relative to the machine body.

It can be seen that, since the fork arm base 121 and the machine body can be lifted relatively, the lifting belt 133 is wound on the lifting support wheel 132, and one end of the lifting support wheel is fixedly arranged on the machine body, the other end of the lifting support wheel is fixedly arranged on the fork arm base 121, and the machine body supports the lifting telescopic rod 131 below the lifting telescopic rod 131, when the lifting telescopic rod 131 extends upwards, the lifting belt 133 can drive the fork arm base 121 to move upwards; when the telescopic rod 131 is shortened downwards, the yoke seat 121 will move downwards continuously under the action of gravity.

The moving device is arranged on the machine body and used for driving the machine body to move on the working surface so as to drive the fork arms 122 to be forked into the bottom of the object or move the fork arms 122 out of the bottom of the object, and therefore loading and unloading of the object are achieved. For example, a driving wheel or a crawler may be provided at the bottom of the body, and a motor may be provided in the body. The motor is used as a moving device, and the machine body can be driven to move on the working surface by driving the driving wheel or the crawler belt to rotate.

Specifically, as shown in fig. 4, the carrier robot having two fork arm assemblies (i.e., the carrier robot includes a first fork arm assembly and a second fork arm assembly) is taken as an example to illustrate the working principle of the carrier robot of the present disclosure. When the carrying robot carries the first container placed on the first tray and the second container placed on the second tray, the working process can comprise the following steps:

The above process is a general loading case of two containers, and if the first container, the first tray, the second container and the second tray are stacked from top to bottom in sequence, the lifting device 13 can be used to drive the first fork arm assembly 12 and the second fork arm assembly 12 to lift and lower, so as to level the first fork arm 122 with the slot of the first tray and level the second fork arm 122 with the slot of the second tray. Then the moving device drives the carrying robot to move forward, so that the first fork arm 122 is forked into the slot of the first tray, and meanwhile, the second fork arm 122 is forked into the slot of the second tray. Then, the lifting device 13 drives the first fork arm assembly 12 and the second fork arm assembly 12 to lift, so that the first tray and the second tray are suspended, the loading work of the first container and the loading work of the second container can be finished at the same time, and the unloading process refers to the carrying process.

It can be seen that, in the carrying robot of the present disclosure, since each of the yoke assemblies 12 is sequentially arranged on the body at intervals in the height direction in a stacked manner, the objects on the yoke 122 can be arranged on the carrying robot in a stacked manner, so that the occupied space can be saved, the roadway between the shelves can be narrower, and the mechanical structure of the carrying robot of the present disclosure is also simpler, thereby reducing the processing cost.

As previously mentioned, the yoke 122 is configured to carry an object, and in order to save material of the yoke 122, as shown in fig. 3 to 6, each yoke assembly 12 includes two yokes 122, and the two yokes 122 are arranged in parallel with each other, so that the two yokes 122 can support the object, and compared with the scheme of using one whole wide yoke 122 or a plurality of yokes 122, the arrangement of the two yokes 122 can achieve the purpose of supporting the object and also save material of the yoke 122. Of course, in other embodiments of the present disclosure, each yoke assembly 12 includes three or more yokes 122.

In some operating conditions, not all of the yoke assembly 12 may be put into use, so to save working space of the yoke assembly 12, in one embodiment of the present disclosure, the yoke 122 is hinged to the yoke base 121, and the yoke assembly 12 further includes a yoke receiving mechanism configured to rotate the yoke 122 relative to the yoke base 121 between the operating position and the receiving position.

By arranging the fork arm receiving mechanism, when a certain fork arm assembly 12 is not needed, the fork arm 122 can be rotated to the receiving position for receiving; when a certain yoke assembly 12 is needed, the yoke 122 is rotated to the working position for working.

Specifically, in one embodiment of the present disclosure, the yoke 122 is configured to extend in the working plane direction when in the working position, because only the yoke 122 can be inserted into or removed from the bottom of the object parallel to the working plane.

In one embodiment of the present disclosure, the yoke 122 is configured to be perpendicular to the work surface when in the stowed position, i.e., the yoke 122 is stowed perpendicular to the work surface, such that it does not impede the proper operation of the other yoke assemblies 12.

In one embodiment of the present disclosure, as shown in fig. 5 to 9, the yoke housing mechanism includes a housing telescopic rod 123 and a telescopic driving member.

One end of the accommodating telescopic rod 123 is hinged with the fork arm seat 121, and the other end is hinged with the fork arm 122; and the telescopic driving element is configured to drive the accommodating telescopic rod 123 to be telescopic relative to the fork arm seat 121 so as to drive the fork arm 122 to rotate between the working position and the accommodating position relative to the fork arm seat 121.

As shown in fig. 5 and 6, in one embodiment of the present disclosure, when the fork arm 122 is located at the working position, the retractable rod 123 is located above the fork arm 122, and the length is shortest.

As shown in fig. 7 and 8, when the fork arm 122 needs to be stored, the storage telescopic rod 123 is extended, and since the fork arm 122 is hinged to the fork arm seat 121, the fork arm 122 can only rotate relative to the fork arm seat 121, so that the fork arm 122 rotates upward.

As shown in fig. 9, the fork arm 122 is rotated upward to a storage position perpendicular to the working surface, and at this time, the length of the storage telescopic rod 123 is longest.

When the fork arm 122 needs to be rotated to the working position from the storage position, the storage telescopic rod 123 is controlled to be shortened continuously.

In other embodiments of the present disclosure, the retractable rod 123 may be disposed at other positions as long as the fork arm 122 can be driven to rotate between the working position and the retracted position relative to the fork arm seat 121.

As mentioned above, the lifting device 13 is used to drive the fork arm assembly 12 to lift. In order to make the lifting and lowering of the yoke assembly 12 more smooth, in one embodiment of the present disclosure, the carrier robot includes at least two lifting devices 13 symmetrically disposed at left and right sides of the yoke seat 121.

Specifically, two ends of each fork arm seat 121 can be provided with one lifting device 13, so that the two lifting devices 13 can drive the fork arm seats 121 to lift from two sides of the fork arm seats 121 simultaneously, and therefore the lifting of the fork arm seats 121 can be more stable.

The structure of the telescopic lifting rod 131 can be various, in one embodiment of the present disclosure, the telescopic lifting rod 131 is a hydraulic push rod, the hydraulic push rod includes a movable rod and a fixed rod sleeved outside the movable rod, a hydraulic cavity is formed in the fixed rod, one side of the hydraulic cavity is sealed by the movable rod, and the other side is communicated with a hydraulic pipe.

The lifting power unit includes a hydraulic pump having a pump port communicating with the hydraulic pipe, the hydraulic pump being configured to flow in or out of the hydraulic chamber by driving a liquid to drive the movable rod to extend from or retract to the fixed rod.

Thus, the driving liquid can flow into or flow out of the hydraulic cavity by controlling the hydraulic pump, so as to realize the lifting of the movable rod, and further drive the fork arm 122 to lift relative to the machine body.

In order to allow the lifting belt 133 to smoothly rotate on the lifting support wheel 132, in one embodiment of the present disclosure, a rotation guide groove (not shown) is provided on a circumferential surface of the lifting support wheel 132, the lifting belt 133 is wound around the rotation guide groove of the lifting support wheel 132, and the rotation guide groove prevents the lifting belt 133 from being removed from the lifting support wheel 132 when the lifting belt 133 moves relative to the lifting support wheel 132.

In order to enable the yoke base 121 to smoothly ascend and descend on the machine body, an ascending and descending guide groove (not shown) is provided on the machine body, and the yoke assembly 12 further includes an ascending and descending guide wheel 124, and the ascending and descending guide wheel 124 is rotatably installed on the yoke base 121 and configured to slide up and down in the ascending and descending guide groove.

Thus, when the fork arm seat 121 is lifted, the lifting guide groove can limit the fork arm seat 121 in the lifting guide groove, and the fork arm seat cannot swing to cause the falling of objects. The lifting guide wheel 124 rolls in the lifting guide groove, so that the resistance of the lifting guide groove to the fork arm base 121 can be reduced.

In order to keep the carrying robot balanced after loading the object, as shown in fig. 1, 10 and 11, in one embodiment of the present disclosure, the body includes a frame 11, a chassis 14, a support arm 15 and a chassis support wheel 151.

The frame 11 is used for mounting the at least two fork arm assemblies 12, the chassis 14 is used for supporting the frame 11, the supporting arm 15 is fixedly connected with the chassis 14, and the supporting arm 15 is configured to extend along the working surface so as to prevent the carrying robot from rolling over.

Specifically, taking the direction of fig. 1 as an example, since the loaded containers are all located on the right side of the frame 11, the frame 11 tends to turn to the right under the action of the containers. However, because the support arm 15 extending rightward along the working surface is fixedly arranged below the machine frame 11, when the machine frame 11 tends to roll over rightward, the support arm 15 abuts against the working surface and further receives a supporting force from the ground, so that the machine frame 11 cannot roll over rightward further.

In order to enable the carrier robot of the present disclosure to move on a work surface, in one embodiment of the present disclosure, the carrier robot of the present disclosure further includes a chassis support wheel 151 and a rudder wheel 16.

The chassis support wheels 151 are rotatably mounted below the support arms 15 so that the support arms 15 can roll on a work surface. As shown in fig. 1 and 10, a chassis support wheel 151 is mounted below both support arms 15.

The steering wheel 16 is disposed at the bottom of the chassis 14 and is configured to move the chassis 14 on the working surface under the control of a moving device or a manual force. Specifically, in the automatic state, the steering wheel 16 is controlled by the moving device to move on the working surface, and in the manual state, the steering wheel 16 is controlled by the human power to move on the working surface.

In order to achieve turning and steering of the steering wheel 16 in an automatic state, in one embodiment of the present disclosure, the steering wheel 16 includes two wheels 161, each wheel 161 of the two wheels 161 being capable of independently turning with respect to the other wheel 161; the moving device includes two wheel power units 162, and each of the two wheel power units 162 is configured to drive one wheel 161 to rotate, so as to drive the chassis 14 to translate or rotate on the working surface.

The carrying robot of the present disclosure can rotate the steering wheel 16 on the working surface by controlling the two wheels 161 to rotate in the same direction at the same rotation speed, and further drive the chassis 14 to translate on the working surface.

The carrier robot of the present disclosure can deflect the moving direction of the carrier robot by adjusting the rotation speed or the rotation direction of the two wheels 161. For example, when the two wheels 161 rotate forward and the rotation speed of the left wheel is greater than that of the right wheel, the steering wheel 16 can drive the chassis 14 to deflect forward and rightward continuously; when the left wheel rotates forwards and the right wheel rotates backwards, the steering wheel 16 can drive the chassis 14 to rotate in situ to the right side, and the principle of the direction judgment method of other rotation conditions is the same, which is not described herein.

In order to enable the carrier robot of the present disclosure to realize the movement and steering of the rudder wheel 16 in the manual state and to switch between the manual state and the automatic state, as shown in fig. 11, in one embodiment of the present disclosure, the moving means includes a rudder wheel carrier 17 and a handle 18.

The steering wheel frame 17 is in clutch connection with the two wheel power units 162, and the steering wheel frame 17 is configured to be capable of steering on a working surface relative to the machine body.

The handle 18 is provided on the steering wheel frame 17 and is configured to steer the steering wheel 16 on the working surface under an external force with the steering wheel frame 17 engaged with the two wheel power units 162.

Specifically, a clutch is provided between the steering wheel frame 17 and the two wheel power units 162. In the automatic state, the clutch between the steering wheel frame 17 and the two wheel power units 162 is in a disengaged state, and the two wheels 161 are directly controlled to rotate by the wheel power units 162.

In the manual state, the clutch between the wheel carrier 17 and the two wheel power units 162 is engaged, and at this time, the steering wheel carrier 17 and the two wheel power units 162 are fixedly connected.

The user can drive the carrying robot to translate on the working surface by pushing or pulling the handle 18 transversely. When steering is required, the user turns the handle 18 in the direction of the working surface; since the steering wheel frame 17 and the two wheel power units 162 are fixedly connected at this time, the steering wheel 16 can be deflected by rotating the handle 18 by the user, so that the carrying robot can continuously rotate along the deflection direction of the moving steering wheel 16.

The handle 18 and the steering wheel frame 17 can be fixedly connected or can be hinged with each other. When the handle 18 and the steering wheel frame 17 are hinged to each other, a user can manually pull the handle 18 downwards before pushing or pulling the handle 18 transversely, so that the handle 18 is bent to a certain angle towards the side of the frame 11 where the yoke assembly 12 is not arranged. After the handle 18 is bent downward at a certain angle, it is more convenient for a user to apply force when pushing or pulling the handle 18 laterally. When carrying out carrying work, the carrying robot of the present disclosure receives a carrying instruction, and obtains the position of a target object in the carrying instruction. In some conveying instructions, a traveling route is also included, and the carrying robot can carry out conveying work by moving according to the traveling route. Secondly, in some transporting commands, the traveling route is not included, and the carrying robot needs to plan the traveling route to move.

In order to enable the carrying robot of the present disclosure to self-plan a travel route for movement, in one embodiment of the present disclosure, the carrying robot of the present disclosure further includes a detection unit 19 and a control unit.

The detection unit 19 is provided on the body, and is configured to acquire the own position of the carrier robot. The detection unit 19 may acquire the own position of the carrier robot by detecting surrounding objects in conjunction with a map stored in advance.

As shown in fig. 2, the detection units 19 may be provided at the top and bottom of the body, respectively, so that it is possible to obtain object information of all directions around the carrier robot.

And a control unit (not shown) in signal connection with the detection unit 19, and configured to control the carrier robot to move and control the lifting device 13 to load and unload the object based on the conveying command. Wherein, the carrying instruction comprises the position of the target object.

The carrying robot can acquire the position of the carrying robot by arranging the detection unit 19 and the control unit, so that the carrying robot can automatically plan a traveling route according to the position of the carrying robot and the position of a target object in a carrying instruction, and is more convenient. The carrier robot of the present disclosure may also detect an obstacle on a travel route during travel using the detection unit 19, and avoid the obstacle.

In order to avoid the carrier robot carrying a wrong object, the carrier robot of the present disclosure further includes an object identifier obtaining unit (not shown in the figure) in an embodiment of the present disclosure. The object identification acquisition unit is arranged on the machine body and is configured to acquire an object identification of the object. And the control unit is in signal connection with the object identification acquisition unit and is also configured to control the carrying robot to move based on the carrying instruction and control the lifting device 13 to load and unload the object according with the object identification in the carrying instruction.

Thus, before the object is conveyed, the object identifier acquiring unit may acquire the identifier of the object to be conveyed, determine whether the identifier is consistent with the object identifier of the target object in the conveying instruction, and normally convey the target object if the identifier is consistent with the object identifier of the target object in the conveying instruction; and if the position of the target object is inconsistent with the position of the target object, returning to report an error, and carrying the target object after the position of the target object of the carrying instruction is updated by the staff.

As shown in fig. 4, the embodiment of the present disclosure also provides a warehousing system including the carrier robot 1 of the present disclosure, a container 2, and a tray 3, the tray 3 is configured to place the container 2, and the bottom of the tray has a slot for the fork arm 122 of the carrier robot 1 to fork in or out.

Specifically, the working principle of the carrier robot in the warehousing system of the present disclosure is illustrated by taking as an example a warehousing system including a carrier robot including two fork arm assemblies (i.e., the carrier robot includes a first fork arm assembly and a second fork arm assembly). When the carrying robot carries the first container placed on the first tray and the second container placed on the second tray, the working process can comprise the following steps:

The work process when the carrier robot unloads the container carried by the carrier robot can comprise the following steps:

the moving device drives the machine body to move on the working face so as to move the first fork arm out of the first tray slot, and the carrying robot is completed to complete a container unloading task.

In the warehousing system of this disclosure, because each yoke assembly 12 of carrying robot 1 sets up on the organism along the direction of height in the interval range upon range of in proper order, container 2 on yoke 122 can range upon range of and put on carrying robot 1 to can practice thrift the horizontal space that carrying robot 1 occupy, make the tunnel between the goods shelves narrower that can set up, the mechanical structure of carrying robot 1 is also fairly simple moreover, thereby has reduced the processing cost.

The embodiment of the disclosure also provides a working method of the carrying robot, which is applied to the carrying robot of the disclosure, and comprises the following main steps:

the carrying robot loads each target object onto each fork arm assembly from the current position by using the moving device and the lifting device until all the target objects are loaded;

the carrying robot unloads each target object on the carrying robot to a target position corresponding to each target object respectively by using the moving device and the lifting device.

For ease of understanding, the above feed adjustment method is described in detail with reference to fig. 12 in conjunction with one embodiment.

In this embodiment, the working method of the carrying robot includes the following steps:

s101: the carrier robot receives the carrying instruction.

The handling instructions comprise at least a current position and a target position of the at least one target object, because the carrier robot can only handle the target object from the current position to the target position if the current position and the target position of the target object are obtained.

Obviously, since the number of the yoke assemblies of the carrier robot is limited, each yoke assembly can only carry one object, the number of the target objects in the carrying instruction does not exceed the number of the yoke assemblies, and thus, the carrier robot can be guaranteed to completely load all the target objects at one time.

As described above, the transport instruction may or may not include the travel route. When the carrying instruction does not include the traveling route, the carrying robot needs to have a detection unit to perform office work.

And S102, the carrying robot loads a target object onto the fork arm assembly from the current position by using the moving device and the lifting device.

The process of loading the target object to the yoke assembly by the carrier robot using the moving device and the lifting device is referred to the aforementioned working process, and will not be described herein.

And S103, judging whether all the target objects are completely loaded, if not, returning to the step S102, and if so, executing the step S104.

When all the target objects are not completely loaded, the carrying robot continues to load the target objects; when all the target objects are loaded, the carrying robot can unload all the target objects to the target positions of the target objects in the next step.

And S104, the carrying robot unloads each target object on the carrying robot to a target position corresponding to each target object by using the moving device and the lifting device.

The process of the carrying robot unloading the target object to the corresponding target position by using the moving device and the lifting device refers to the aforementioned working process, which is not described herein again.

In the working method of the carrying robot disclosed by the present disclosure, since each of the yoke assemblies 12 of the carrying robot is sequentially arranged on the body at intervals in the height direction in a stacked manner, and the objects on the yoke 122 are stacked on the carrying robot 1 in a stacked manner, not only can the horizontal space occupied by the carrying robot be saved, and the lane between the shelves can be narrower, but also the working efficiency of the carrying robot can be improved.

Having described embodiments of the present disclosure, 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 is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A carrier robot, comprising:

a body;

at least two fork arm assemblies (12) which are arranged on the machine body in a stacking mode at intervals in the height direction, wherein the fork arm assemblies (12) comprise fork arm seats (121) and fork arms (122), the fork arm seats (121) are configured to drive the fork arms (122) to lift relative to the machine body under the control of a lifting device (13), and the fork arms (122) are configured to carry objects;

the moving device is arranged on the machine body and is configured to drive the machine body to move on the working surface so as to drive the fork arm (122) to fork into the bottom of the object or move the fork arm (122) out of the bottom of the object.

2. The launch robot according to claim 1, characterized in that the fork arm (122) is articulated with the fork arm seat (121);

the yoke assembly (12) further includes a yoke receiving mechanism configured to rotate the yoke (122) relative to the yoke base (121) between an operating position and a received position.

3. The launch robot according to claim 2, characterized in that the yoke (122) is configured to extend in the working plane direction in the working position; and/or the yoke (122) is configured to be perpendicular to the work surface when in the stowed position.

4. The carrier robot of claim 2, wherein the yoke stowing mechanism comprises:

one end of the accommodating telescopic rod (123) is hinged with the fork arm seat (121), and the other end of the accommodating telescopic rod is hinged with the fork arm (122);

the telescopic driving element is configured to drive the accommodating telescopic rod (123) to be telescopic relative to the fork arm seat (121) so as to drive the fork arm (122) to rotate relative to the fork arm seat (121) between a working position and an accommodating position.

5. The carrier robot according to claim 4, characterized in that the yoke assembly (12) comprises at least two yokes (122), at least two of the yokes (122) being fixedly connected by a linkage shaft, the receiving telescopic rod (123) being articulated with the linkage shaft.

6. A launch robot according to any of the claims 1 to 5, characterized in that said lifting device (13) comprises:

the bottom end of the lifting telescopic rod (131) is fixedly arranged at the bottom of the machine body;

the lifting supporting wheel (132) is rotatably arranged at the top end of the lifting telescopic rod (131);

the lifting belt (133) is wound on the lifting supporting wheel (132), one end of the lifting belt is fixedly arranged on the machine body, and the other end of the lifting belt is fixedly connected with the fork arm seat (121);

the lifting power unit is configured to drive the lifting telescopic rod (131) to stretch and retract so as to drive the fork arm (122) to lift relative to the machine body.

7. A carrier robot as claimed in claim 6, characterized in that it comprises at least two lifting devices (13) symmetrically arranged on the left and right sides of the fork arm foot (121).

8. The carrier robot according to claim 6, characterized in that the lifting telescopic rod (131) is a hydraulic push rod comprising:

9. The carrier robot as claimed in claim 6, wherein a rotation guide groove is provided on a circumferential surface of the elevation support wheel (132), and the lift belt (133) is wound in the rotation guide groove of the elevation support wheel (132).

10. A carrier robot as claimed in any one of claims 1 to 5, wherein the body is provided with a lifting guide groove;

the fork arm assembly (12) further comprises a lifting guide wheel (124), wherein the lifting guide wheel (124) is rotatably mounted on the fork arm seat (121) and is configured to slide up and down in the lifting guide groove.

11. The launch robot according to any of the claims 1 to 5, characterized in that the yoke assembly (12) comprises at least two yokes (122), and that at least two yokes (122) are arranged parallel to each other.

12. A launch robot as claimed in any one of claims 1 to 5, characterised in that the body comprises:

a frame (11), the yoke assembly (12) being disposed on the frame (11);

a chassis (14) configured to support the frame (11);

and the supporting arm (15) is fixedly connected with the chassis (14) and extends along the working surface.

13. The carrier robot of claim 12, further comprising:

a steering wheel (16), wherein the steering wheel (16) is arranged at the bottom of the chassis (14) and is configured to drive the chassis (14) to move on a working surface;

a chassis support wheel (151) rotatably mounted on the support arm (15) and configured to rotate with the steering wheel (16) to support the support arm (15) for movement on a work surface.

14. A launch robot according to claim 13, characterized in that said steering wheel (16) comprises:

two wheels (161), each wheel (161) configured to be independently rotatable relative to the other wheel (161);

the moving device comprises two wheel power units (162), and the two wheel power units (162) are respectively configured to drive one wheel (161) to rotate so as to drive the chassis (14) to translate or rotate on a working surface.

15. The carrier robot of claim 14, wherein the moving device comprises:

a steering wheel frame (17), wherein the steering wheel frame (17) is in clutch connection with the two wheel power units (162), and the steering wheel frame (17) can be steered on a working surface relative to the machine body;

the handle (18) is arranged on the steering wheel frame (17) and is configured to drive the steering wheel (16) to turn on a working surface under the external force under the condition that the steering wheel frame (17) is connected with the two wheel power units (162).

16. The carrier robot of any of claims 1-5, further comprising:

a detection unit (19) provided on the body and configured to acquire a self-position of the carrier robot;

and a control unit which is in signal connection with the detection unit (19) and is configured to control the carrier robot to move and control the lifting device (13) to load and unload the object based on a conveying instruction.

17. The carrier robot of claim 16, further comprising:

the control unit is in signal connection with the object identification acquisition unit and is also configured to control the carrying robot to move based on a carrying instruction and control the lifting device (13) to load and unload the object according with the object identification in the carrying instruction.

18. A warehousing system, comprising:

the carrier robot (1) of any one of claims 1 to 17;

a container (2);

a tray (3) configured for placing the containers (2) and having slots at the bottom for the fork arms (122) of the carrier robot (1) to be forked in or out.

19. A working method of a carrier robot applied to the carrier robot of any one of claims 1 to 17, comprising:

the carrying robot loads each target object onto each fork arm assembly (12) from the current position by using the moving device and the lifting device (13) until all the target objects are loaded;

the carrying robot respectively unloads the target objects on the carrying robot to the target positions corresponding to the target objects by using the moving device and the lifting device (13).