WO2023098432A1

WO2023098432A1 - Carrying robot and material box transferring method based on carrying robot

Info

Publication number: WO2023098432A1
Application number: PCT/CN2022/130836
Authority: WO
Inventors: 任子佳; 曹董锋
Original assignee: 深圳市海柔创新科技有限公司
Priority date: 2021-11-30
Filing date: 2022-11-09
Publication date: 2023-06-08
Also published as: CN116198884A

Abstract

A carrying robot (100) and a material box (92) transferring method based on a carrying robot (100). The carrying robot (100) comprises a moving chassis (10), upright columns (20), a fork (30), and a carrying mechanism (50); a palletizing position (40) is formed on the moving chassis (10); the upright columns (20) are arranged on the moving chassis (10); the fork (30) and the carrying mechanism (50) both are arranged on the upright columns (20); the fork (30) is used for driving material boxes (92) to get close to the palletizing position (40) and stacking the material boxes (92) on the palletizing position (40); the fork (30) is further used for disassembling the material boxes (92) stacked on the palletizing position (40) and driving the material boxes (92) to get far away from the palletizing position (40); the carrying mechanism (50) is used for conveying the material boxes (92) stacked on the palletizing position (40) to the side of the carrying robot (100); and the carrying mechanism (50) is further used for carrying the material boxes (92) at the side of the carrying robot (100) to the palletizing position (40) and stacking the material boxes on the palletizing position (40).

Description

搬运机器人及基于搬运机器人的物料箱转运方法Handling robot and material box transfer method based on handling robot

技术领域technical field

本发明涉及智能仓储技术领域，尤其涉及一种搬运机器人及基于搬运机器人的物料箱转运方法。The invention relates to the technical field of intelligent storage, in particular to a handling robot and a material box transfer method based on the handling robot.

背景技术Background technique

随着人工智能技术、自动化技术、信息技术的飞速发展，末端物流的智能化程度将不断提高，现有的智能仓储***中，一般通过搬运机器人进行不同场所间的货物的搬运。具体的，搬运机器人包括移动底盘以及设置在移动底盘上的货叉和多个背篓，多个背篓可以在高度方向上间隔布置多个，货叉可以将货架上的货物移动并输送至各背篓上，移动底盘移动带动背篓上的货物到目标场所后，货叉再将各个背篓上的货物取出，并逐一输送至目标场所中。然而，上述货物的转运过程中，搬运机器人的转运效率较低。With the rapid development of artificial intelligence technology, automation technology, and information technology, the intelligence level of terminal logistics will continue to increase. In the existing intelligent storage system, the handling of goods between different places is generally carried out by handling robots. Specifically, the handling robot includes a mobile chassis, a fork and a plurality of back baskets arranged on the mobile chassis, and the plurality of back baskets can be arranged at intervals in the height direction, and the forks can move and transport the goods on the shelves to each back basket. After the mobile chassis moves to drive the goods on the back baskets to the target place, the fork will take out the goods on each back basket and transport them to the target place one by one. However, during the transfer process of the above-mentioned goods, the transfer efficiency of the handling robot is low.

申请内容application content

本发明实施例提供一种搬运机器人及基于搬运机器人的物料箱转运方法，对物料箱转运的效率较高。Embodiments of the present invention provide a handling robot and a material box transfer method based on the handling robot, which have high efficiency in material box transfer.

本申请实施例第一方面提供一种搬运机器人，包括移动底盘、立柱、货叉以及搬运机构；移动底盘上设***垛位，立柱设置在移动底盘上；货叉和搬运机构均设置在立柱上；The first aspect of the embodiment of the present application provides a handling robot, including a mobile chassis, a column, a fork and a handling mechanism; a stacking position is provided on the mobile chassis, and the column is set on the mobile chassis; the fork and the handling mechanism are both set on the column superior;

货叉用于带动物料箱靠近码垛位并将物料箱在码垛位上堆叠成垛，货叉还用于对码垛位上成垛的物料箱进行拆解与带动物料箱远离码垛位；The fork is used to drive the material box close to the stacking position and stack the material box on the stacking position. The fork is also used to dismantle the stacked material boxes on the stacking position and drive the material box away from the stacking position ;

搬运机构用于将码垛位上成垛的物料箱运送至搬运机器人侧方，搬运机构还用于将搬运机器人侧方的物料箱运送至码垛位并在码垛位上堆叠成垛。The handling mechanism is used to transport the stacked material boxes on the palletizing position to the side of the handling robot, and the handling mechanism is also used to transport the material boxes on the side of the handling robot to the stacking position and stack them into stacks on the stacking position.

在一种可能的实施方式中，搬运机构还用于抓取并暂存码垛位上堆叠的物料箱；和/或In a possible implementation, the handling mechanism is also used to grab and temporarily store the material boxes stacked on the pallet; and/or

包括货叉本体，货叉本体内形成有下方开口的容置腔，容置腔的内轮廓尺寸与单个物料箱的外轮廓尺寸相匹配。Including the fork body, an accommodating cavity with a lower opening is formed in the fork body, and the inner contour size of the accommodating cavity matches the outer contour size of a single material box.

在一种可能的实施方式中，还包括设于立柱上的第一移动机构，第一移动机构可沿立柱的延伸方向滑动，以带动货叉沿竖直方向移动；第一移动机构还与货叉连接，并用于带动货叉沿第一水平方向移动，以带动货叉靠近或远离码垛位。In a possible implementation, it also includes a first moving mechanism arranged on the column, the first moving mechanism can slide along the extension direction of the column to drive the fork to move vertically; the first moving mechanism is also connected with the The fork is connected, and is used to drive the fork to move along the first horizontal direction, so as to drive the fork to approach or move away from the stacking position.

在一种可能的实施方式中，第一移动机构包括相互配合的第一滑轨和第一滑块，第一滑轨和第一滑块的其中一者设置在立柱上，另一者连接在货叉上；In a possible implementation manner, the first moving mechanism includes a first sliding rail and a first sliding block that cooperate with each other, one of the first sliding rail and the first sliding block is arranged on the column, and the other is connected to the on the fork;

第一滑轨的轨道沿第一水平方向延伸，第一滑块可相对于第一滑轨滑动，以使货叉可相对于立柱沿第一水平方向移动。The track of the first slide rail extends along the first horizontal direction, and the first slide block can slide relative to the first slide rail, so that the pallet fork can move relative to the column along the first horizontal direction.

在一种可能的实施方式中，第一移动机构还包括设于至少一个立柱上的第一横梁，第一横梁可沿其所连接的立柱的延伸方向滑动，第一滑轨连接在第一横梁的底端面上，第一滑块设置在货叉本体的顶端面上。In a possible implementation manner, the first moving mechanism further includes a first crossbeam arranged on at least one upright, the first crossbeam can slide along the extending direction of the upright to which it is connected, and the first slide rail is connected to the first crossbeam On the bottom end face of the fork body, the first slider is arranged on the top end face of the fork body.

在一种可能的实施方式中，第一移动机构的数量为多个，多个第一移动机构中的第一滑轨彼此平行，且均设于第一横梁上；多个第一移动机构中的第一滑块均设于货叉的顶部。In a possible implementation manner, there are multiple first moving mechanisms, and the first sliding rails in the multiple first moving mechanisms are parallel to each other and are all arranged on the first beam; among the multiple first moving mechanisms The first sliders are all located on the top of the pallet fork.

在一种可能的实施方式中，第一横梁连接的立柱上设有可供第一横梁的端部滑动的第一滑槽，第一滑槽的延伸方向竖直。In a possible implementation manner, a first slide groove for sliding the end of the first crossbeam is provided on the column connected with the first crossbeam, and the extension direction of the first slide groove is vertical.

在一种可能的实施方式中，立柱至少包括间隔设置的第一立柱和第二立柱，第一立柱和第二立柱位于码垛位的相同侧；In a possible implementation manner, the uprights at least include first uprights and second uprights arranged at intervals, and the first uprights and second uprights are located on the same side of the palletizing position;

第一移动机构的数量为两个，两个第一移动机构中的第一滑轨分别连接于第一立柱和第二立柱的相对表面上，两个第一滑块分别设置在货叉的相对两侧侧壁上。The quantity of the first moving mechanism is two, and the first sliding rails in the two first moving mechanisms are respectively connected on the opposite surfaces of the first column and the second column, and the two first slide blocks are respectively arranged on the opposite sides of the pallet fork. on both side walls.

在一种可能的实施方式中，第一滑轨包括第一滑轨段、第二滑轨段和第三滑轨段，第一滑轨段上设有第一轨道，第二滑轨段上设有第二轨道，第三滑轨段上设有第三轨道；In a possible implementation manner, the first slide rail includes a first slide rail section, a second slide rail section and a third slide rail section, the first slide rail section is provided with a first track, and the second slide rail section A second track is provided, and a third track is provided on the third slide rail section;

第一滑轨段的背离第一轨道的一侧连接在第一立柱和/或第二立柱上，第二滑轨段嵌装在第一轨道中，并可沿第一轨道滑动，第三滑轨段嵌装在第二轨道中，并可沿第二轨道滑动；第一滑块嵌装在第三轨道中，并可沿第三轨道滑动；第一轨道、第二轨道和第三轨道的延伸方向平行于第一水平方向。The side of the first slide rail section away from the first track is connected to the first column and/or the second column, the second slide rail section is embedded in the first track, and can slide along the first track, and the third slide rail section The rail segment is embedded in the second track and can slide along the second track; the first slider is embedded in the third track and can slide along the third track; the first track, the second track and the third track The extending direction is parallel to the first horizontal direction.

在一种可能的实施方式中，第一立柱和第二立柱上设有可供第一滑轨的端部滑动的第一滑槽，第一滑槽的延伸方向竖直。In a possible implementation manner, the first upright post and the second upright post are provided with a first chute for sliding the end of the first slide rail, and the extending direction of the first chute is vertical.

在一种可能的实施方式中，搬运机构包括支撑架以及抓取臂组件，抓取臂组件可相对于支撑架沿竖直方向升降，以带动码垛位上堆叠的物料箱进出支撑架。In a possible implementation, the transport mechanism includes a supporting frame and a grabbing arm assembly, and the grabbing arm assembly can be lifted vertically relative to the supporting frame to drive the material boxes stacked on the pallet to enter and exit the supporting frame.

在一种可能的实施方式中，还包括设置在立柱上的第二移动机构，第二移动机构与支撑架连接，并用于带动支撑架沿第二水平方向移动，以带动支撑架在码垛位和搬运机器人侧方之间移动。In a possible implementation manner, it also includes a second moving mechanism arranged on the column, the second moving mechanism is connected with the support frame, and is used to drive the support frame to move along the second horizontal direction, so as to drive the support frame to move in the stacking position and move between the side of the handling robot.

在一种可能的实施方式中，第二移动机构包括设置在立柱上的第二横梁；In a possible implementation manner, the second moving mechanism includes a second beam arranged on the column;

第二移动机构还包括与第二横梁相互配合的第二滑块，第二滑块设置在支撑架上，且第二滑块上设有滑轨，滑轨嵌套在第二横梁上，并可以相对于第二横梁沿第二水平方向移动，以使支撑架可相对于立柱沿第二水平方向移动。The second moving mechanism also includes a second slider cooperating with the second beam, the second slider is arranged on the support frame, and a slide rail is provided on the second slider, the slide rail is nested on the second beam, and It can move along the second horizontal direction relative to the second beam, so that the supporting frame can move along the second horizontal direction relative to the column.

在一种可能的实施方式中，还包括设置在移动底盘上的围挡件，围挡件限定出沿竖直方向延伸的定位面，定位面竖向围设在码垛位四周，并抵靠在码垛位成垛的各物料箱侧面上。In a possible implementation, it also includes a fence set on the mobile chassis, the fence defines a positioning surface extending in the vertical direction, and the positioning surface is vertically arranged around the palletizing position and abuts against On the side of each material box stacked in the palletizing position.

在一种可能的实施方式中，围挡件包括多个码垛挡板，各码垛挡板围绕码垛位设置，且各码垛挡板的内侧面形成定位面。In a possible implementation manner, the enclosure includes a plurality of palletizing baffles, each palletizing baffle is arranged around the palletizing position, and the inner surface of each palletizing baffle forms a positioning surface.

在一种可能的实施方式中，各码垛挡板均可沿竖直方向升降；和/或In a possible implementation, each stacking baffle can be lifted vertically; and/or

各码垛挡板的侧端部之间具有沿竖直方向延伸的间隔，间隔的位置与码垛位中堆叠的各物料箱的角部相对应。There are intervals extending along the vertical direction between the side ends of each stacking baffle, and the positions of the intervals correspond to the corners of the material boxes stacked in the stacking position.

在一种可能的实施方式中，货叉包括货叉本体，货叉本体内形成有下方开口的容置腔，开口的边缘处设有可在第一预设位置和第二预设位置之间移动的定位板，定位板位于第一预设位置时，挡设在开口下方以对容置腔中的物料箱进行锁定；In a possible implementation, the pallet fork includes a pallet fork body, and an accommodating cavity with a lower opening is formed in the pallet fork body, and an accommodating cavity that can be positioned between the first preset position and the second preset position is provided on the edge of the opening. A moving positioning plate, when the positioning plate is at the first preset position, it is set under the opening to lock the material box in the accommodating cavity;

定位板位于第二预设位置时，位于货叉本体侧方，以对容置腔内的物料箱进行释放。When the positioning plate is at the second preset position, it is located at the side of the fork body, so as to release the material box in the accommodating cavity.

在一种可能的实施方式中，支撑架内部具有底侧开口的容纳空间，抓取臂组件包括容置框，容置框底部设有与物料箱匹配定位的定位爪，以对容置框中容纳的物料箱进行锁定；容置框可滑动地设置在支撑架的容纳空间内，并可沿容纳空间的开口进出容纳空间。In a possible implementation, the inside of the support frame has an accommodating space with an opening on the bottom side, and the grabbing arm assembly includes an accommodating frame, and the bottom of the accommodating frame is provided with positioning claws that are matched with the material box for positioning The accommodated material box is locked; the accommodating frame is slidably arranged in the accommodating space of the support frame, and can enter and exit the accommodating space along the opening of the accommodating space.

本申请实施例第二方面提供一种基于搬运机器人的物料箱转运方法，搬运机器人包括：设***垛位的移动底盘、以及设于移动底盘上的货叉和搬运机构，物料箱转运方法包括：The second aspect of the embodiment of the present application provides a material box transfer method based on a handling robot. The handling robot includes: a mobile chassis with a stacking position, and a fork and a handling mechanism arranged on the mobile chassis. The material box transfer method includes: :

控制货叉将货架上的物料箱移动至码垛位，并在码垛位堆叠成垛；Control the fork to move the material boxes on the shelf to the stacking position, and stack them into stacks at the stacking position;

控制搬运机构或货叉将码垛位堆叠的物料箱移动至预设位置。Control the handling mechanism or the fork to move the material boxes stacked in the palletizing position to the preset position.

在一种可能的实施方式中，搬运机器人还包括设于移动底盘上的立柱以及设于立柱上的第一移动机构，第一移动机构用于带动货叉沿第一水平方向或竖直方向移动，其中第一水平方向朝向码垛位；In a possible implementation, the handling robot further includes a column arranged on the mobile chassis and a first moving mechanism arranged on the column, the first moving mechanism is used to drive the fork to move in the first horizontal direction or vertical direction , wherein the first horizontal direction is towards the palletizing position;

控制货叉将货架上的物料箱移动至码垛位，并在码垛位堆叠成垛，具体包括：Control the fork to move the material boxes on the shelf to the stacking position, and stack them into stacks at the stacking position, including:

控制货叉获取货架上的物料箱；Control the fork to obtain the material box on the shelf;

控制第一移动机构带动货叉沿第一水平方向和竖直方向移动，直至货叉到达码垛位；Control the first moving mechanism to drive the fork to move along the first horizontal direction and vertical direction until the fork reaches the stacking position;

控制货叉释放其中的物料箱以在码垛位堆叠成垛。The forks are controlled to release the material boxes therein to be stacked into stacks at the palletizing station.

在一种可能的实施方式中，移动底盘上与码垛位对应的位置设有多个可升降的码垛挡板，各码垛挡板围设在码垛位成垛的物料箱侧面以防倾斜；In a possible implementation, a plurality of liftable stacking baffles are provided at positions corresponding to the stacking positions on the mobile chassis, and each stacking baffle is arranged on the side of the stacked material boxes at the stacking position to prevent tilt;

控制第一移动机构带动货叉沿第一水平方向和竖直方向移动，直至货叉到达码垛位，具体包括：Control the first moving mechanism to drive the fork to move along the first horizontal direction and vertical direction until the fork reaches the stacking position, specifically including:

控制各码垛挡板升降，以使码垛挡板的顶端的位于第一预设高度；其中，第一预设高度低于码垛位所堆叠的所有物料箱的总高度；Control the lifting of each palletizing baffle, so that the top of the palletizing baffle is located at a first preset height; wherein, the first preset height is lower than the total height of all material boxes stacked at the palletizing position;

控制第一移动机构带动货叉沿竖直方向移动，直至货叉的底端高于第一预设高度；Control the first moving mechanism to drive the fork to move vertically until the bottom end of the fork is higher than the first preset height;

控制第一移动机构带动货叉沿第一水平方向移动至码垛位。The first moving mechanism is controlled to drive the pallet fork to move to the stacking position along the first horizontal direction.

在一种可能的实施方式中，货叉包括货叉本体和机械臂组件，机械臂组件可相对于货叉本体伸缩，货叉本体内形成有下方开口的容置腔，开口的边缘处设有可移动的定位板，以对容置腔中的物料箱进行释放或锁定；In a possible implementation, the fork includes a fork body and a mechanical arm assembly, the mechanical arm assembly can be stretched relative to the fork body, and an accommodating cavity with a lower opening is formed in the fork body, and a A movable positioning plate to release or lock the material box in the accommodation cavity;

控制货叉获取货架上的物料箱，具体包括：Control the fork to obtain the material boxes on the shelf, including:

控制定位板移动至容置腔的开口处，并控制机械臂组件将货架上的物料箱输送至容置腔中；和/或controlling the positioning plate to move to the opening of the accommodating cavity, and controlling the mechanical arm assembly to transport the material box on the shelf into the accommodating cavity; and/or

控制货叉释放其中的物料箱以在码垛位堆叠成垛具体包括：Controlling the forks to release the material boxes therein to be stacked into stacks at the palletizing station specifically includes:

控制定位板移动至容置腔的开口外侧，以使容置腔中的物料箱释放至码垛位上进行堆叠。The positioning plate is controlled to move to the outside of the opening of the accommodating cavity, so that the material boxes in the accommodating cavity are released to the palletizing position for stacking.

在一种可能的实施方式中，控制货叉将码垛位堆叠的物料箱移动至预设位置，具体包括：In a possible implementation manner, controlling the pallet fork to move the material boxes stacked at the palletizing position to a preset position includes:

控制货叉获取码垛位堆垛的物料箱；Control the forks to obtain the material boxes stacked at the palletizing position;

控制第一移动机构带动物料箱移动至货架；Control the first moving mechanism to drive the material box to move to the shelf;

控制货叉释放其中的物料箱至货架。Control the fork to release the material box therein to the shelf.

在一种可能的实施方式中，货叉包括货叉本体，货叉本体内形成有下方开口的容置腔，开口的边缘处设有可移动的定位板，以对容置腔中的物料箱进行释放或锁定；In a possible implementation, the fork includes a fork body, and an accommodating cavity with a lower opening is formed in the fork body, and a movable positioning plate is provided at the edge of the opening to align the material box in the accommodating cavity. to release or lock;

控制货叉获取码垛位堆垛的物料箱，具体包括：Control the forks to obtain the material boxes stacked in the palletizing position, including:

控制第一移动机构带动货叉沿第一水平方向和竖直方向移动至码垛位堆叠的物料箱上方；Controlling the first moving mechanism to drive the fork to move along the first horizontal direction and vertical direction to the top of the material boxes stacked at the palletizing position;

控制第一移动机构带动货叉沿竖直方向移动至定位板与作为拿取目标的物料箱的底部齐平；Control the first moving mechanism to drive the fork to move vertically until the positioning plate is flush with the bottom of the material box as the object to be picked;

控制定位板移动至容置腔的开口处，并支撑在码垛位的物料箱的下方；和/或Control the positioning plate to move to the opening of the accommodating cavity, and support it under the material box of the palletizing position; and/or

控制货叉释放其中的物料箱至货架，具体包括：Control the fork to release the material box to the shelf, including:

控制定位板移动至容置腔的开口外侧，以使容置腔中的物料箱释放至货架。The positioning plate is controlled to move to the outside of the opening of the accommodating cavity, so that the material box in the accommodating cavity is released to the shelf.

在一种可能的实施方式中，搬运机构包括支撑架以及抓取臂组件，抓取臂组件可相对于支撑架沿竖直方向升降，以带动物料箱进出支撑架；In a possible implementation manner, the transport mechanism includes a support frame and a grabbing arm assembly, and the grab arm assembly can be vertically lifted relative to the support frame to drive the material box into and out of the support frame;

控制搬运机构将码垛位堆叠的物料箱移动至预设位置，具体包括：Control the handling mechanism to move the material boxes stacked in the palletizing position to the preset position, including:

控制抓取臂组件将码垛位堆叠的物料箱抓取至支撑架中；Control the grabbing arm assembly to grab the material boxes stacked in the palletizing position into the support frame;

控制搬运机构移动至预设位置，并控制抓取臂组件释放支撑架中的物料箱以进行卸垛。Control the transfer mechanism to move to the preset position, and control the grabbing arm assembly to release the material box in the support frame for destacking.

在一种可能的实施方式中，搬运机器人还包括设置在移动底盘上的立柱以及设于立柱上的第二移动机构，第二移动机构用于带动搬运机构沿第二水平方向，其中第二水平方向朝向码垛位；In a possible implementation manner, the handling robot further includes a column arranged on the mobile chassis and a second moving mechanism arranged on the column, the second moving mechanism is used to drive the handling mechanism along the second horizontal direction, wherein the second horizontal Direction towards the palletizing position;

控制搬运机构移动至预设位置，具体包括：Control the handling mechanism to move to the preset position, including:

控制第二移动机构带动搬运机构沿第二水平方向移动，直至搬运机构移动至预设位置。The second moving mechanism is controlled to drive the conveying mechanism to move along the second horizontal direction until the conveying mechanism moves to a preset position.

在一种可能的实施方式中，预设位置包括间隔设置的第三预设位置和第四预设位置；In a possible implementation manner, the preset position includes a third preset position and a fourth preset position arranged at intervals;

控制搬运机构移动至预设位置，并控制抓取臂组件释放支撑架中的物料箱以进行卸垛，具体包括：Control the handling mechanism to move to the preset position, and control the grabbing arm assembly to release the material box in the support frame for destacking, including:

控制搬运机构移动至第三预设位置上方，并控制抓取臂组件释放支撑架中的物料箱至第三预设位置；controlling the transport mechanism to move above the third preset position, and controlling the grabbing arm assembly to release the material box in the support frame to the third preset position;

控制抓取臂组件将第三预设位置堆叠的部分物料箱抓取至支撑架中，将搬运机构移动至第四预设位置上方，并控制抓取臂组件释放支撑架中的物料箱至第四预设位置。Control the grabbing arm assembly to grab some of the material boxes stacked at the third preset position into the support frame, move the handling mechanism above the fourth preset position, and control the grabbing arm assembly to release the material boxes in the support frame to the first Four preset positions.

控制支撑架沿竖直方向抬升；Control the support frame to lift in the vertical direction;

控制货叉将货架上的物料箱移动至搬运机器人上的码垛位，并在码垛位堆叠成垛；Control the fork to move the material boxes on the shelf to the stacking position on the handling robot, and stack them into stacks at the stacking position;

控制搬运机构移动至预设位置，并控制抓取臂组件释放支撑架中的物料箱以进行卸垛；Control the handling mechanism to move to the preset position, and control the grabbing arm assembly to release the material box in the support frame for destacking;

控制抓取臂组件将码垛位堆叠的物料箱抓取至支撑架中，将搬运机构移动至预设位置，并控制抓取臂组件释放支撑架中的物料箱以进行卸垛。Control the grabbing arm assembly to grab the material box stacked in the palletizing position into the support frame, move the handling mechanism to the preset position, and control the grabbing arm assembly to release the material box in the support frame for destacking.

本申请实施例第三方面提供一种基于搬运机器人的物料箱转运方法，搬运机器人包括设***垛位的移动底盘、以及设置在移动底盘上的货叉和搬运机构，物料箱转运方法包括：The third aspect of the embodiment of the present application provides a material box transfer method based on a handling robot. The handling robot includes a mobile chassis provided with a stacking position, and a fork and a handling mechanism arranged on the mobile chassis. The material box transfer method includes:

控制搬运机构将预设位置上的物料箱抓取至码垛位；Control the handling mechanism to grab the material box at the preset position to the stacking position;

控制货叉将码垛位上堆叠的物料箱移动至货架上，或者控制搬运机构将码垛位上堆叠的物料箱移动至第五预设位置。Control the pallet fork to move the material boxes stacked on the stacking position to the shelf, or control the handling mechanism to move the material boxes stacked on the stacking position to the fifth preset position.

控制搬运机构将预设位置上的物料箱抓取至码垛位，具体包括：Control the handling mechanism to grab the material box at the preset position to the stacking position, including:

控制抓取臂组件将预设位置上堆叠的物料箱抓取至支撑架中；Control the grabbing arm assembly to grab the stacked material boxes at the preset position into the support frame;

控制搬运机构移动至码垛位，并控制抓取臂组件将支撑架中的物料箱释放至码垛位。Control the transfer mechanism to move to the stacking position, and control the grabbing arm assembly to release the material box in the support frame to the stacking position.

在一种可能的实施方式中，搬运机器人还包括设置在移动底盘上的立柱以及设于立柱上的第二移动机构，第二移动机构用于带动搬运机构沿第二水平方向移动，其中第二水平方向朝向码垛位；In a possible implementation manner, the handling robot further includes a column arranged on the mobile chassis and a second moving mechanism arranged on the column, the second moving mechanism is used to drive the handling mechanism to move along the second horizontal direction, wherein the second Horizontally towards the palletizing position;

控制控制搬运机构移动至码垛位，具体包括：Control and control the handling mechanism to move to the stacking position, including:

控制第二移动机构带动搬运机构沿第二水平方向移动，直至搬运机构移动至码垛位。The second moving mechanism is controlled to drive the conveying mechanism to move along the second horizontal direction until the conveying mechanism moves to the stacking position.

控制抓取臂组件将预设位置上堆叠的物料箱抓取至支撑架中，具体包括：Control the grabbing arm assembly to grab the material boxes stacked at the preset position into the support frame, including:

将搬运机构移动至第三预设位置上方，并控制抓取臂组件将第三预设位置上堆叠的物料箱抓取至支撑架；moving the transport mechanism above the third preset position, and controlling the grabbing arm assembly to grab the stacked material boxes at the third preset position to the support frame;

将搬运机构移动至第四预设位置上方，并控制抓取臂组件将支撑架中存放的物料箱放置到第四预设位置堆叠的物料箱上方堆叠成垛，并控制抓取臂组件将第四预设位置处堆叠成垛的物料箱抓取至支撑架中。Move the handling mechanism above the fourth preset position, and control the grabbing arm assembly to place the material boxes stored in the support frame on top of the stacked material boxes at the fourth preset position, and control the grabbing arm assembly to move the first The material boxes stacked in stacks at four preset positions are grabbed into the support frame.

在一种可能的实施方式中，搬运机器人还包括设置在移动底盘上的立柱以及设于立柱上的第二移动机构，第二移动机构用于带动搬运机构沿第二水平方向或竖直方向移动，其中第二水平方向朝向码垛位；In a possible implementation, the handling robot further includes a column arranged on the mobile chassis and a second moving mechanism arranged on the column, the second moving mechanism is used to drive the handling mechanism to move in the second horizontal direction or vertical direction , wherein the second horizontal direction is towards the palletizing position;

控制搬运机构移动至码垛位，并控制抓取臂组件将支撑架中的物料箱释放至码垛位之后还包括：After controlling the handling mechanism to move to the stacking position, and controlling the grabbing arm assembly to release the material box in the support frame to the stacking position, it also includes:

控制第二移动机构带动搬运机构沿第二水平方向移动，直至预设位置；controlling the second moving mechanism to drive the conveying mechanism to move along the second horizontal direction until reaching the preset position;

控制抓取臂组件将预设位置堆叠的物料箱抓取至支撑架中。The grabbing arm assembly is controlled to grab the material boxes stacked at the preset position into the support frame.

在一种可能的实施方式中，支撑架和码垛位均具有成垛的物料箱后，控制货叉将码垛位上堆叠的物料箱移动至货架上还包括：In a possible implementation manner, after both the support frame and the palletizing position have stacked material boxes, controlling the fork to move the material boxes stacked on the palletizing position to the shelf also includes:

控制货叉将码垛位上堆叠的物料箱移动至货架上；Control the fork to move the stacked material boxes on the pallet to the shelf;

控制抓取臂组件将支撑架中的物料箱释放至码垛位；Control the grabbing arm assembly to release the material box in the support frame to the palletizing position;

控制货叉将码垛位上堆叠的物料箱移动至货架上。Control the forks to move the stacked material boxes on the pallet to the rack.

在一种可能的实施方式中，搬运机器人还包括设置在移动底盘上的立柱以及设于立柱上的第一移动机构，第一移动机构用于带动货叉沿第一水平方向或竖直方向移动，其中第一水平方向朝向码垛位；In a possible implementation, the handling robot further includes a column arranged on the mobile chassis and a first moving mechanism arranged on the column, the first moving mechanism is used to drive the fork to move in the first horizontal direction or vertical direction , wherein the first horizontal direction is towards the palletizing position;

控制货叉将码垛位上堆叠的物料箱移动至货架上，具体包括：Control the forks to move the material boxes stacked on the pallet to the shelf, including:

控制货叉获取码垛位上的物料箱；Control the fork to obtain the material box on the stacking position;

控制第一移动机构带动货叉沿第一水平方向和竖直方向移动，直至货叉到达与货架对应的位置；Control the first moving mechanism to drive the fork to move along the first horizontal direction and vertical direction until the fork reaches the position corresponding to the shelf;

在一种可能的实施方式中，移动底盘上与码垛位对应的位置设有多个可升降的码垛挡板，各码垛挡板围设在码垛位成垛物料箱侧面以防倾斜；In a possible implementation, a plurality of liftable palletizing baffles are provided on the mobile chassis corresponding to the palletizing position, and each palletizing baffle is arranged on the side of the stacking material box at the palletizing position to prevent tilting ;

控制货叉获取码垛位上的物料箱之前还包括：Before controlling the fork to obtain the material box on the palletizing position, it also includes:

控制各码垛挡板下降，以使码垛位上作为入库目标的物料箱露出码垛挡板。Control the descending of each palletizing baffle, so that the material box on the palletizing position as the storage target exposes the palletizing baffle.

控制货叉获取码垛位上的物料箱，具体包括：Control the fork to obtain the material boxes on the palletizing position, including:

控制第一移动组件带动货叉移动至与码垛位上的目标物料箱对应的位置，控制定位板移动至容置腔的开口内，并支撑在目标物料箱下方；和/或Control the first moving component to drive the fork to move to a position corresponding to the target material box on the stacking position, control the positioning plate to move into the opening of the accommodating cavity, and support it under the target material box; and/or

控制定位板移动至容置腔的开口内侧，并控制机械臂组件将容置腔中的物料箱输送至货架上。The positioning plate is controlled to move to the inside of the opening of the accommodating cavity, and the mechanical arm assembly is controlled to transport the material box in the accommodating cavity to the shelf.

在一种可能的实施方式中，控制搬运机构将码垛位上堆叠的物料箱移动至第五预设位置，具体包括：In a possible implementation manner, controlling the handling mechanism to move the material boxes stacked on the palletizing position to the fifth preset position specifically includes:

控制抓取臂组件将码垛位上堆叠的物料箱抓取至支撑架中；Control the grabbing arm assembly to grab the material boxes stacked on the palletizing position into the support frame;

控制搬运机构移动至第五预设位置，并控制抓取臂组件将支撑架中的物料箱释放至第五预设位置。Control the transport mechanism to move to the fifth preset position, and control the grabbing arm assembly to release the material box in the support frame to the fifth preset position.

本实施例提供的搬运机器人及基于搬运机器人的物料箱转运方法，通过设置货叉和搬运机构，货叉用于带动物料箱靠近码垛位并将物料箱在码垛位上堆叠成垛，这种将物料箱堆叠起来的放置方式，可以在移动底盘上有限的高度空间内放置更多的物料箱；并且货叉还用于对码垛位上成垛的物料箱进行拆解与带动物料箱远离码垛位；这样可由货叉自动在码垛位进行物料箱的堆垛和拆垛。进一步，搬运机构用于将码垛位上成垛的物料箱运送至搬运机器人侧方，搬运机构还用于将搬运机器人侧方的物料箱运送至码垛位并在码垛位上堆叠成垛，即搬运机构也可以在码垛位进行物料箱的堆垛和拆垛操作。In the handling robot and the material box transfer method based on the handling robot provided in this embodiment, by setting a fork and a handling mechanism, the fork is used to drive the material box close to the stacking position and stack the material box on the stacking position to form a stack. A method of stacking material boxes, which can place more material boxes in the limited height space on the mobile chassis; and the fork is also used to disassemble and drive the material boxes stacked on the palletizing position Away from the palletizing station; this enables automatic stacking and depalletizing of the material boxes at the palletizing station by the forks. Further, the handling mechanism is used to transport the stacked material boxes on the stacking position to the side of the handling robot, and the handling mechanism is also used to transport the material boxes on the side of the handling robot to the stacking position and stack them into stacks on the stacking position , that is, the handling mechanism can also perform stacking and unstacking operations of material boxes at the stacking position.

由此，货叉和搬运机构配合，在两个场所之间转运物料箱时，可以先利用货叉将第一个场所的物料箱堆垛在码垛位，移动底盘带动码垛位的物料箱达到第二个场所中后，利用货叉或搬运机构将码垛位的成垛物料箱卸垛至第二个场所中。或者，可以先利用搬运机构将将第一个场所的成垛的物料箱搬运到码垛位，移动底盘带动码垛位的物料箱达到第二个场所中后，利用货叉或搬运机构将码垛位的成垛物料箱卸垛至第二个场所中。Therefore, the fork and the handling mechanism cooperate, and when the material box is transferred between two places, the fork can be used to stack the material box in the first place on the stacking position, and the moving chassis drives the material box in the stacking position After arriving in the second place, use the fork or the handling mechanism to unstack the stacked material boxes in the palletizing position to the second place. Or, you can first use the handling mechanism to move the stacked material boxes in the first place to the stacking position, and then move the chassis to drive the material boxes in the stacking position to the second place, then use the fork or the handling mechanism to move the stacked material boxes to the stacking position. The stacked material boxes of the stack are depalletized into the second place.

这种将物料箱堆叠成垛的运送方式，每次运送的物料箱的数量更多，并且搬运机构对成垛的多个物料箱同时进行的搬运操作也大大提高了搬运效率。另外，货叉和搬运机构都可以进行码垛位的物料箱的码垛和拆垛，物料箱和搬运机构的搬运操作相互配合和组合，可以衍生出多种不同的转运方式，在搬运操作时，更加灵活和通用。This transport method of stacking material boxes into stacks can transport more material boxes each time, and the simultaneous transport operation of multiple material boxes stacked by the transport mechanism also greatly improves the transport efficiency. In addition, both the fork and the handling mechanism can stack and unstack the material boxes at the stacking position. The handling operations of the material box and the handling mechanism cooperate and combine with each other, and a variety of different transfer methods can be derived. During the handling operation , which is more flexible and general.

附图说明Description of drawings

图1为本申请实施例提供的搬运机器人的整体结构示意图；FIG. 1 is a schematic diagram of the overall structure of the handling robot provided in the embodiment of the present application;

图2a为图1的左视图；Fig. 2 a is the left view of Fig. 1;

图2b为本申请实施例提供的搬运机器人的另一个状态的结构示意图；Fig. 2b is a schematic structural diagram of another state of the handling robot provided by the embodiment of the present application;

图2c为本申请实施例提供的搬运机器人中搬运机构和码垛位均容置有物料箱的结构示意图；Fig. 2c is a schematic structural diagram of the handling mechanism and the palletizing position in the handling robot provided by the embodiment of the present application, where material boxes are accommodated;

图3为本申请实施例提供的搬运机器人的另一种结构的示意图；Fig. 3 is a schematic diagram of another structure of the handling robot provided by the embodiment of the present application;

图4为图3的左视图；Fig. 4 is the left view of Fig. 3;

图5为本申请实施例提供的搬运机器人的另一个角度的结构示意图；FIG. 5 is a structural schematic diagram of another angle of the handling robot provided by the embodiment of the present application;

图6为本申请实施例提供的基于搬运机器人的物料箱转运方法的流程框图；FIG. 6 is a flowchart of a material box transfer method based on a handling robot provided in an embodiment of the present application;

图7a为本申请实施例提供的基于搬运机器人的物料箱转运方法中货叉和货架之间的物料箱取放的状态示意图；Fig. 7a is a schematic diagram of the state of picking and placing the material box between the fork and the shelf in the material box transfer method based on the handling robot provided by the embodiment of the present application;

图7b为本申请实施例提供的基于搬运机器人的物料箱转运方法中货叉和货架之间的物料箱取放的状态示意图；Fig. 7b is a schematic diagram of the pick-and-place state of the material box between the fork and the shelf in the material box transfer method based on the handling robot provided by the embodiment of the present application;

图7c为本申请实施例提供的基于搬运机器人的物料箱转运方法中货叉在码垛位进行码垛或拆垛的状态示意图；Fig. 7c is a schematic diagram of the state of palletizing or unstacking of forks in the palletizing position in the material box transfer method based on the handling robot provided by the embodiment of the present application;

图8为本申请实施例提供的基于搬运机器人的物料箱转运方法中搬运机构在码垛位进行码垛或拆垛的状态示意图；Fig. 8 is a schematic diagram of the state of the handling mechanism performing stacking or unstacking at the stacking position in the material box transfer method based on the handling robot provided by the embodiment of the present application;

图9为本申请实施例提供的基于搬运机器人的物料箱转运方法中搬运机构在托盘上进行码垛或拆垛的状态示意图；Fig. 9 is a schematic diagram of the state of the handling mechanism performing stacking or unstacking on the pallet in the material box transfer method based on the handling robot provided by the embodiment of the present application;

图10为本申请实施例提供的基于搬运机器人的物料箱转运方法中货叉在码垛位进行码垛的流程框图；Fig. 10 is a flow chart of palletizing forks at palletizing positions in the material box transfer method based on the handling robot provided by the embodiment of the present application;

图11为本申请实施例提供的基于搬运机器人的物料箱转运方法中货叉将码垛位堆叠的物料箱移动至预设位置的流程框图；Fig. 11 is a flow chart of moving the material boxes stacked at the palletizing position to the preset position in the material box transfer method based on the handling robot provided by the embodiment of the present application;

图12为本申请实施例提供的基于搬运机器人的物料箱转运方法中搬运机构将码垛位堆叠的物料箱移动至预设位置的流程框图；Fig. 12 is a flow chart of moving the material boxes stacked at the palletizing position to the preset position by the handling mechanism in the material box transfer method based on the handling robot provided by the embodiment of the present application;

图13为本申请实施例提供的基于搬运机器人的物料箱转运方法的另一种实施方式的流程框图；Fig. 13 is a flowchart of another implementation of the material box transfer method based on the handling robot provided in the embodiment of the present application;

图14为本申请实施例提供的基于搬运机器人的物料箱转运方法中搬运机构将预设位置上的物料箱抓取至码垛位的流程框图；Fig. 14 is a flow chart of the handling mechanism grabbing the material box at the preset position to the stacking position in the material box transfer method based on the handling robot provided by the embodiment of the present application;

图15为本申请实施例提供的基于搬运机器人的物料箱转运方法中货叉将码垛位上堆叠的物料箱移动至货架上的流程框图；Fig. 15 is a flow chart of moving the material boxes stacked on the palletizing position to the shelf in the material box transfer method based on the handling robot provided by the embodiment of the present application;

图16为本申请实施例提供的基于搬运机器人的物料箱转运方法中货叉将码垛位上堆叠的物料箱移动至货架上的流程框图。Fig. 16 is a block diagram of the process of moving the material boxes stacked on the palletizing position to the shelf in the material box transfer method based on the handling robot provided by the embodiment of the present application.

附图标记说明：Explanation of reference signs:

100-搬运机器人；10-移动底盘；20-立柱；21-第一立柱；22-第二立柱；23-第一滑槽；23'-连接部；30-货叉；31-货叉本体；32-容置腔；321-进出口；33-定位板；34-机械臂组件；341-活动件；40-码垛位；50-搬运机构；51-支撑架；511-容纳空间；52-抓取臂组件；521-定位爪；622、622'-容置框；6221-顶板；6222-抓取臂；60、60'-第一移动机构；61、61'-第一滑轨；611-第一滑轨段；6111-第一轨道；612-第二滑轨段；613-第三滑轨段；62、62'-第一滑块；63-第一横梁；70、70'-第二移动机构；71、71'-第二横梁；72、72'-第二滑块；80-围挡件；81-码垛挡板；811-内侧面；82-子挡板；83-间隔；84-托盘；90-货架；91-货架上的预设位置；92-物料箱。100-handling robot; 10-mobile chassis; 20-column; 21-first column; 22-second column; 23-first chute; 23'-connection; 30-fork; 31-fork body; 32-Accommodating cavity; 321-Import and exit; 33-Positioning plate; 34-Robot arm assembly; 341-Moving parts; Grabbing arm assembly; 521-positioning claw; 622, 622'-accommodating frame; 6221-top plate; 6222-grabbing arm; 60, 60'-first moving mechanism; 61,61'-first slide rail; - the first slide rail section; 6111 - the first rail; 612 - the second slide rail section; 613 - the third slide rail section; 62, 62' - the first slider; 63 - the first beam; 70, 70' - The second moving mechanism; 71, 71'-the second beam; 72, 72'-the second slider; 80-enclosing block; 81-stacking baffle; 811-inner side; 82-sub-baffle; 83- Interval; 84-pallet; 90-shelf; 91-preset position on the shelf; 92-material box.

具体实施方式Detailed ways

本申请的实施方式部分使用的术语仅用于对本申请的具体实施例进行解释，而非旨在限定本申请，下面将结合附图对本申请实施例的实施方式进行详细描述。The terms used in the embodiments of the application are only used to explain the specific embodiments of the application, and are not intended to limit the application. The implementation of the embodiments of the application will be described in detail below with reference to the accompanying drawings.

实施例Example

图1为本申请实施例提供的搬运机器人的整体结构示意图，图2a为图1的左视图；图2b为本申请实施例提供的搬运机器人的另一个状态的结构示意图，图2c为本申请实施例提供的搬运机器人中搬运机构和码垛位均容置有物料箱的结构示意图，图3为本申请实施例提供的搬运机器人的另一种结构的示意图，图4为图3的左视图。Figure 1 is a schematic diagram of the overall structure of the handling robot provided by the embodiment of the present application, and Figure 2a is a left view of Figure 1; The example provides a schematic diagram of the structure of the handling robot and the palletizing position where material boxes are accommodated. FIG. 3 is a schematic diagram of another structure of the handling robot provided in the embodiment of the present application. FIG. 4 is a left view of FIG. 3 .

参照图1、图2a，本申请提供一种搬运机器人100，包括移动底盘10、立柱20、货叉30以及搬运机构50；移动底盘10上设***垛位40，立柱20设置在移动底盘10上；货叉30和搬运机构50均设置在立柱20上；Referring to Fig. 1 and Fig. 2a, the present application provides a handling robot 100, comprising a mobile chassis 10, a column 20, a fork 30 and a handling mechanism 50; on; the fork 30 and the transport mechanism 50 are both arranged on the column 20;

货叉30用于带动物料箱靠近码垛位40并将物料箱在码垛位40上堆叠成垛，货叉30还用于对码垛位40上成垛的物料箱进行拆解与带动物料箱远离码垛位40；The forks 30 are used to drive the material boxes close to the stacking position 40 and stack the material boxes on the stacking position 40. The box is far away from the stacking position 40;

搬运机构50用于将码垛位40上成垛的物料箱运送至搬运机器人100侧方，搬运机构50还用于将搬运机器人100侧方的物料箱运送至码垛位40并在码垛位40上堆叠成垛。The transport mechanism 50 is used to transport the stacked material boxes on the stacking position 40 to the side of the transport robot 100, and the transport mechanism 50 is also used to transport the material boxes on the side of the transport robot 100 to the stacking position 40 and place them on the stacking position. 40 stacked in piles.

在上述方案中，通过设置货叉30和搬运机构50，货叉30用于带动物料箱靠近码垛位40并将物料箱在码垛位40上堆叠成垛，这种将物料箱堆叠起来的放置方式，可以在移动底盘10上有限的高度空间内放置更多的物料箱；并且货叉30还用于对码垛位40上成垛的物料箱进行拆解与带动物料箱远离码垛位40；这样可由货叉30自动在码垛位进行物料箱的堆垛和拆垛。进一步，搬运机构50用于将码垛位40上成垛的物料箱运送至搬运机器人100侧方，搬运机构50还用于将搬运机器人100侧方的物料箱运送至码垛位40并在码垛位40上堆叠成垛，即搬运机构50也可以在码垛位40进行物料箱的堆垛和拆垛操作。In the above scheme, by setting the fork 30 and the handling mechanism 50, the fork 30 is used to drive the material box close to the stacking position 40 and stack the material box on the stacking position 40. This method of stacking the material box Placement mode, more material boxes can be placed in the limited height space on the mobile chassis 10; and the fork 30 is also used to dismantle the material boxes stacked on the stacking position 40 and drive the material boxes away from the stacking position 40; the stacking and unstacking of the material box can be carried out automatically at the stacking position by the pallet fork 30 like this. Further, the transport mechanism 50 is used to transport the stacked material boxes on the palletizing position 40 to the side of the transport robot 100, and the transport mechanism 50 is also used to transport the material boxes on the side of the transport robot 100 to the stacking position 40 and place them on the stacking position 40. The stacking position 40 is stacked into stacks, that is, the transport mechanism 50 can also perform the stacking and unstacking operations of the material boxes at the stacking position 40 .

由此，货叉30和搬运机构50配合，在两个场所之间转运物料箱时，可以先利用货叉30将第一个场所的物料箱堆垛在码垛位40，移动底盘10带动码垛位40的物料箱达到第二个场所中后，利用货叉30或搬运机构50将码垛位40的成垛物料箱卸垛至第二个场所中。或者，可以先利用搬运机构50将将第一个场所的成垛的物料箱搬运到码垛位，移动底盘10带动码垛位40的物料箱达到第二个场所中后，利用货叉30或搬运机构50将码垛位40的成垛物料箱卸垛至第二个场所中。Thus, the fork 30 and the transport mechanism 50 cooperate, and when the material box is transferred between two places, the material box of the first place can be stacked at the stacking position 40 by using the fork 30, and the mobile chassis 10 drives the code After the material boxes at the stacking position 40 arrive at the second place, the palletized material boxes at the stacking position 40 are unstacked to the second place by using the fork 30 or the transport mechanism 50 . Or, the transport mechanism 50 can be used to transport the stacked material boxes in the first place to the stacking position, and the mobile chassis 10 drives the material boxes in the stacking position 40 to reach the second place, then use the fork 30 or The transport mechanism 50 unstacks the stacked material boxes in the stacking position 40 to the second place.

这种将物料箱堆叠成垛的运送方式，每次运送的物料箱的数量更多，并且搬运机构50对成垛的多个物料箱同时进行的搬运操作也大大提高了搬运效率。另外，货叉30和搬运机构50都可以进行码垛位的物料箱的码垛和拆垛，物料箱和搬运机构50的搬运操作相互配合和组合，可以衍生出多种不同的转运方式，在搬运操作时，更加灵活和通用。This transport method of stacking the material boxes into stacks can transport more material boxes each time, and the simultaneous transport operation of the multiple material boxes stacked by the transport mechanism 50 also greatly improves the transport efficiency. In addition, both the fork 30 and the handling mechanism 50 can perform stacking and destacking of the material boxes at the stacking position, and the handling operations of the material boxes and the handling mechanism 50 cooperate and combine with each other to derive a variety of different transfer methods. It is more flexible and versatile when handling operations.

其中，在移动底盘10上可以设***垛位40，码垛位40是设于移动底盘10顶部表面上的预设区域，码垛位40中可以用于堆叠物料箱。立柱20直立设置在移动底盘10上，并对货叉30和搬运机构50进行承载。搬运机构50和码垛位40可以位于立柱20的相同侧。Wherein, a stacking position 40 may be provided on the mobile chassis 10, and the stacking position 40 is a preset area provided on the top surface of the mobile chassis 10, and the stacking position 40 may be used for stacking material boxes. The column 20 is vertically arranged on the mobile chassis 10 and carries the fork 30 and the transport mechanism 50 . The handling mechanism 50 and the palletizing station 40 may be located on the same side of the column 20 .

货叉30用于带动物料箱靠近码垛位40并将物料箱在码垛位40上堆叠成垛，这样货叉30可以在码垛位40进行物料箱的堆垛，货叉30可以将货架上的货物堆垛在码垛位40，也可以将其他位置例如工作站的物料箱堆垛在码垛位40上，以实现搬运机器人100的码垛动作。The pallet fork 30 is used to drive the material box close to the stacking position 40 and stacks the material box into a stack on the stacking position 40, so that the cargo fork 30 can stack the material box at the stacking position 40, and the pallet fork 30 can stack the shelf The goods above are stacked on the stacking position 40, and material boxes at other positions such as workstations can also be stacked on the stacking position 40 to realize the stacking action of the handling robot 100.

货叉30还用于对码垛位40上成垛的物料箱进行拆解与带动物料箱远离码垛位40，这样货叉30可以对码垛位40堆叠成垛的物料箱进行拆垛。可以理解的是，货叉30可以将码垛位40成垛的物料箱拆解后运送至货架上，也可以将码垛位40成垛的物料箱拆解后运送至其他位置，例如工作站。The pallet fork 30 is also used to dismantle the stacked material boxes on the stacking position 40 and drive the material boxes away from the stacking position 40, so that the pallet fork 30 can depalletize the stacked material boxes at the stacking position 40. It can be understood that the pallet fork 30 can disassemble the stacked material boxes at the stacking position 40 and transport them to the shelf, or disassemble the stacked material boxes at the stacking position 40 and transport them to other locations, such as a workstation.

可以理解的是，货叉30对物料箱的操作可以是每次只针对单个物料箱，具体的，货叉30可以包括货叉本体31，货叉本体31内形成有下方开口的容置腔32，容置腔32的内轮廓尺寸与单个物料箱的外轮廓尺寸相匹配或是大于物料箱的外轮廓，只要是能容置物料箱且能对于物料箱进行取放作业的空间即可。It can be understood that the operation of the fork 30 on the material box can only be aimed at a single material box at a time. Specifically, the fork 30 can include a fork body 31, and an accommodating cavity 32 with a lower opening is formed in the fork body 31 , the inner contour size of the accommodating cavity 32 matches the outer contour size of a single material box or is larger than the outer contour of the material box, as long as it is a space that can accommodate the material box and can carry out pick-and-place operations for the material box.

本申请实施例中，搬运机构50用于将码垛位40上成垛的物料箱运送至搬运机器人100侧方，例如，可以搬运到其它位置，例如工作站以进行成垛物料箱的卸垛；或者，搬运机构50还用于抓取并暂存码垛位40上堆叠的物料箱，这样，搬运机构50起到了物料箱的存储空间的作用。In the embodiment of the present application, the handling mechanism 50 is used to transport the stacked material boxes on the palletizing position 40 to the side of the handling robot 100, for example, it can be transported to other positions, such as a workstation for unstacking the stacked material boxes; Alternatively, the transport mechanism 50 is also used to grab and temporarily store the material boxes stacked on the pallet 40 , so that the transport mechanism 50 functions as a storage space for the material boxes.

另外，搬运机构50还用于将搬运机器人100侧方、例如工作站中的物料箱运送至码垛位40并在码垛位40上堆叠成垛。In addition, the transport mechanism 50 is also used to transport the side of the transport robot 100 , for example, the material boxes in the workstation to the palletizing position 40 and stack them into stacks on the palletizing position 40 .

下面说明货叉30的具体结构。The specific structure of the pallet fork 30 will be described below.

参照图1、图2a，货叉30还包括机械臂组件34，机械臂组件34可相对于货叉本体31伸缩，以带动物料箱进出货叉本体31。在一些示例中，机械臂组件34的端部还设有活动件341，活动件341可以在机械臂组件34的端部转动，从而挡设在物料箱的移动路径上，或者移出物料箱的移动路径。可以理解的是，机械臂组件34可以沿物料箱进出货叉本体31的方向(第二方向S)伸缩，以将物料箱拉取至货叉本体31内，或将物料箱自货叉本体31内推出。Referring to FIG. 1 and FIG. 2 a , the fork 30 also includes a mechanical arm assembly 34 , and the mechanical arm assembly 34 can expand and contract relative to the fork body 31 to drive the material box into and out of the fork body 31 . In some examples, the end of the mechanical arm assembly 34 is also provided with a movable part 341, and the movable part 341 can rotate at the end of the mechanical arm assembly 34, so as to be blocked on the moving path of the material box, or move out of the material box path. It can be understood that the mechanical arm assembly 34 can expand and contract along the direction (second direction S) in which the material box enters and exits the fork body 31, so as to pull the material box into the fork body 31, or pull the material box from the fork body Launched in 31.

如前所述，货叉本体31内形成有下方开口的容置腔32，物料箱可容置在容置腔32中。货叉本体31的至少一个侧面还具有供物料箱进出容置腔32的进出口321。需要注意的是，这里进出口321的数量可以为两个，与之对应地，机械臂组件34可以沿第二方向S向靠近或远离货架的方向伸缩，可以经过两个进出口321中的至少一者对物料箱进行操作。As mentioned above, the accommodating cavity 32 with a lower opening is formed in the fork body 31 , and the material box can be accommodated in the accommodating cavity 32 . At least one side of the fork body 31 also has an inlet and outlet 321 for the material box to enter and exit the accommodating cavity 32 . It should be noted that the number of inlets and outlets 321 can be two, and correspondingly, the mechanical arm assembly 34 can expand and contract along the second direction S toward or away from the shelf, and can pass through at least one of the two inlets and outlets 321. One operates on the material box.

容置腔32的开口的边缘处设有可在第一预设位置和第二预设位置之间移动的定位板33，定位板33位于第一预设位置时，挡设在容置腔32的开口下方以对容置腔32中的物料箱进行锁定，如图2b所示；定位板33位于第二预设位置时，位于货叉本体31侧方，以对容置腔32内的物料箱进行释放，如图1所示。The edge of the opening of the accommodating cavity 32 is provided with a positioning plate 33 that can move between the first preset position and the second preset position. To lock the material box in the accommodating cavity 32, as shown in Figure 2b; box for release, as shown in Figure 1.

当需要获取货架上的物料箱时，将定位板33移动至第一预设位置，机械臂组件伸出并将物料箱从容置腔32的进出口进入容置腔32中。而当需要对码垛位40上堆垛的物料箱进行拆解时，可以将货叉本体31移动至与待拆解的物料箱对应的位置，并将定位板33移动至第一预设位置，可以将物料箱抓取到容置腔32中。When it is necessary to obtain the material box on the shelf, the positioning plate 33 is moved to the first preset position, the mechanical arm assembly is stretched out and the material box enters the accommodating cavity 32 from the entrance and exit of the accommodating cavity 32 . And when it is necessary to disassemble the material box stacked on the stacking position 40, the fork body 31 can be moved to a position corresponding to the material box to be disassembled, and the positioning plate 33 can be moved to the first preset position , the material box can be grabbed into the accommodating cavity 32 .

当需要释放货叉本体31中的物料箱时，只需要使定位板33移动至第二预设位置，即可释放物料箱。When the material box in the fork body 31 needs to be released, the material box can be released only by moving the positioning plate 33 to the second preset position.

对于定位板33与货叉本体31的连接方式，可以是常见的连接方式，例如铰接等。The connection method between the positioning plate 33 and the fork body 31 may be a common connection method, such as a hinged joint.

下面说明用于带动货叉30移动的第一移动机构60的结构。The structure of the first moving mechanism 60 for driving the fork 30 to move will be described below.

搬运机器人100包括第一移动机构60，第一移动机构60用于带动货叉30靠近或远离码垛位40，具体的，第一移动机构60用于带动货叉30沿第一水平方向F或竖直方向H移动，其中第一水平方向朝向码垛位40。The handling robot 100 includes a first moving mechanism 60. The first moving mechanism 60 is used to drive the fork 30 to approach or move away from the palletizing position 40. Specifically, the first moving mechanism 60 is used to drive the fork 30 along the first horizontal direction F or The vertical direction H moves, wherein the first horizontal direction is towards the palletizing location 40 .

参照图1、图2a，第一移动机构60设于立柱20上，第一移动机构60可沿立柱20的延伸方向滑动，以带动货叉30沿竖直方向移动，这样可实现货叉30沿竖直方向H的升降。Referring to Fig. 1 and Fig. 2a, the first moving mechanism 60 is arranged on the column 20, and the first moving mechanism 60 can slide along the extension direction of the column 20 to drive the fork 30 to move in the vertical direction, so that the fork 30 can be moved along the vertical direction. Lifting in the vertical direction H.

第一移动机构60还与货叉30连接，并用于带动货叉30沿第一水平方向F移动，以带动货叉30靠近或远离码垛位40。这样，由于第一移动机构60的存在，货叉30在任意两个位置之间的移动都可以由沿第一水平方向F的移动和沿竖直方向H的移动组合而得到。The first moving mechanism 60 is also connected with the fork 30 and is used to drive the fork 30 to move along the first horizontal direction F, so as to drive the fork 30 to approach or move away from the palletizing position 40 . In this way, due to the existence of the first moving mechanism 60, the movement of the pallet fork 30 between any two positions can be obtained by combining the movement along the first horizontal direction F and the movement along the vertical direction H.

继续参照图1，第一移动机构60包括相互配合的第一滑轨61和第一滑块62，第一滑轨61和第一滑块62的其中一者设置在立柱20上，另一者连接在货叉30上；第一滑轨61的轨道沿第一水平方向F延伸，第一滑块62可相对于第一滑轨61滑动，以使货叉30可相对于立柱20沿第一水平方向F移动。Continuing to refer to Fig. 1, the first moving mechanism 60 includes a first slide rail 61 and a first slide block 62 that cooperate with each other, one of the first slide rail 61 and the first slide block 62 is arranged on the column 20, and the other Connected on the pallet fork 30; the track of the first slide rail 61 extends along the first horizontal direction F, and the first slide block 62 can slide relative to the first slide rail 61, so that the pallet fork 30 can move along the first horizontal direction relative to the column 20. Move in the horizontal direction F.

具体实现时，立柱20至少包括间隔设置的第一立柱21和第二立柱22，第一立柱21和第二立柱22位于码垛位40的相同侧。这样货叉30靠近或远离码垛位40的过程中，可以使货叉30穿过第一立柱21和第二立柱22之间的间隔。In actual implementation, the uprights 20 at least include first uprights 21 and second uprights 22 arranged at intervals, and the first uprights 21 and second uprights 22 are located on the same side of the palletizing position 40 . In this way, when the fork 30 approaches or moves away from the stacking position 40 , the fork 30 can pass through the space between the first column 21 and the second column 22 .

示例性的，第一移动机构60的数量为两个，两个第一移动机构60中的第一滑轨61分别连接于第一立柱21和第二立柱22的相对表面上，两个第一滑块62分别设置在货叉30的相对两侧侧壁上。这样通过第一滑块62沿着第一滑轨61的相对移动，货叉30可以沿第一水平方向穿过第一立柱21和第二立柱22之间的间隔靠近或远离码垛位40。Exemplarily, the number of the first moving mechanism 60 is two, and the first sliding rails 61 in the two first moving mechanisms 60 are respectively connected to the opposite surfaces of the first column 21 and the second column 22, and the two first The sliders 62 are respectively arranged on opposite side walls of the pallet fork 30 . In this way, through the relative movement of the first slider 62 along the first slide rail 61 , the pallet fork 30 can pass through the space between the first column 21 and the second column 22 along the first horizontal direction to approach or move away from the palletizing position 40 .

为了提高货叉30沿第一水平方向移动时的移动行程，第一滑轨61包括第一滑轨段611、第二滑轨段612和第三滑轨段613，第一滑轨段611上设有第一轨道6111，第二滑轨段612上设有第二轨道(未图示)，第三滑轨段613上设有第三轨道(未图示)；In order to improve the moving stroke when the pallet fork 30 moves along the first horizontal direction, the first slide rail 61 includes a first slide rail section 611, a second slide rail section 612 and a third slide rail section 613, on the first slide rail section 611 A first track 6111 is provided, a second track (not shown) is provided on the second slide rail section 612, and a third track (not shown) is provided on the third slide rail section 613;

第一滑轨段611的背离第一轨道6111的一侧连接在第一立柱21和/或第二立柱22上，第二滑轨段612嵌装在第一轨道6111中，并可沿第一轨道6111滑动，第三滑轨段613嵌装在第二轨道中，并可沿第二轨道滑动；第一滑块62嵌装在第三轨道中，并可沿第三轨道滑动；第一轨道6111、第二轨道和第三轨道的延伸方向平行于第一水平方向F。这样货叉30靠近立柱20时，第一滑块62沿着第三轨道滑动，第三滑轨段613沿着第二轨道滑动，第二滑轨段612沿着第一轨道6111滑动，第三滑轨段613、第二滑轨段612以及第一滑轨段611形成类似伸缩臂的移动方式，使货叉30靠近立柱20。The side of the first slide rail segment 611 away from the first track 6111 is connected to the first column 21 and/or the second column 22, the second slide rail segment 612 is embedded in the first track 6111, and can move along the first The track 6111 slides, and the third slide rail section 613 is embedded in the second track and can slide along the second track; the first slider 62 is embedded in the third track and can slide along the third track; the first track 6111. The extension direction of the second track and the third track is parallel to the first horizontal direction F. When the fork 30 is close to the column 20, the first slider 62 slides along the third track, the third slide rail section 613 slides along the second track, the second slide rail section 612 slides along the first track 6111, and the third slide rail section 613 slides along the first track 6111. The slide rail section 613 , the second slide rail section 612 and the first slide rail section 611 form a moving manner similar to a telescopic arm, so that the pallet fork 30 is close to the column 20 .

货叉30想要穿过第一立柱21和第二立柱22之间的间隔而进入到码垛位40上方时，在上述动作过程的基础上，第二滑轨段612继续沿着第一轨道6111滑移，第三滑轨段613继续沿着第二轨道滑移，第一滑块62继续沿着第三轨道滑移，货叉30即可被带动至码垛位40上方的区域内。可以理解的是，第一移动机构60带动货叉30远离码垛位40的过程与上述过程互逆，此处不再赘述。When the pallet fork 30 intends to pass through the space between the first column 21 and the second column 22 and enter above the stacking position 40, on the basis of the above-mentioned action process, the second slide rail segment 612 continues along the first track 6111 slides, the third slide rail segment 613 continues to slide along the second track, the first slider 62 continues to slide along the third track, and the pallet fork 30 can be driven to the area above the palletizing position 40 . It can be understood that the process of the first moving mechanism 60 driving the fork 30 away from the palletizing position 40 is reciprocal to the above process, and will not be repeated here.

另外，为了便于货叉30沿竖直方向的升降，第一立柱21和第二立柱22上还设有可供第一滑轨61的端部滑动的第一滑槽23，第一滑槽23的延伸方向竖直，这样第一滑轨61沿第一滑槽23上下滑动时，货叉30随之上下移动。In addition, in order to facilitate the lifting of the fork 30 in the vertical direction, the first column 21 and the second column 22 are also provided with a first chute 23 for the end of the first slide rail 61 to slide. The first chute 23 The direction of extension is vertical, so that when the first slide rail 61 slides up and down along the first slide groove 23, the pallet fork 30 moves up and down thereupon.

参照图3、图4，作为另一种可能的实施方式，第一移动机构60'包括相互配合的第一滑轨61'和第一滑块62'，第一滑轨61'和第一滑块62'的其中一者设置在立柱20上，另一者连接在货叉30上；Referring to Fig. 3 and Fig. 4, as another possible implementation manner, the first moving mechanism 60' includes a first sliding rail 61' and a first sliding block 62' that cooperate with each other, and the first sliding rail 61' and the first sliding block One of the blocks 62' is set on the column 20, and the other is connected to the fork 30;

第一滑轨61'的轨道沿第一水平方向F延伸，第一滑块62'可相对于第一滑轨61滑动，以使货叉30可相对于立柱20沿第一水平方向F移动。The track of the first sliding rail 61 ′ extends along the first horizontal direction F, and the first sliding block 62 ′ can slide relative to the first sliding rail 61 , so that the fork 30 can move along the first horizontal direction F relative to the column 20 .

具体实现时，第一移动机构60'还包括设于至少一个立柱20上的第一横梁63，例如，第一横梁63连接在第一立柱21和第二立柱22之间，第一横梁63可沿其所连接的立柱20的延伸方向滑动，第一滑轨61'连接在第一横梁63的底端面上，第一滑块62'设置在货叉本体31的顶端面上。可以理解的是，第一滑轨61'沿第一水平方向F的部分结构位于码垛位40上方，这样可以便于货叉30滑移至码垛位40上方。During specific implementation, the first moving mechanism 60' also includes a first beam 63 arranged on at least one column 20, for example, the first beam 63 is connected between the first column 21 and the second column 22, and the first beam 63 can be Sliding along the extending direction of the column 20 to which it is connected, the first slide rail 61 ′ is connected to the bottom end surface of the first beam 63 , and the first sliding block 62 ′ is arranged on the top surface of the fork body 31 . It can be understood that, the partial structure of the first slide rail 61 ′ along the first horizontal direction F is located above the stacking position 40 , which can facilitate the sliding of the pallet fork 30 to above the stacking position 40 .

本申请实施例中，为了使货叉30的移动更为稳定，第一移动机构60'的数量可以为多个，多个第一移动机构60'中的第一滑轨61'彼此平行，且均设于第一横梁63上；多个第一移动机构60'中的第一滑块62'均设于货叉30的顶部。In the embodiment of the present application, in order to make the movement of the fork 30 more stable, the number of first moving mechanisms 60' can be multiple, and the first sliding rails 61' in the multiple first moving mechanisms 60' are parallel to each other, and They are all arranged on the first beam 63 ; the first sliders 62 ′ in the plurality of first moving mechanisms 60 ′ are all arranged on the top of the fork 30 .

另外，第一横梁63连接的立柱20上设有可供第一横梁63的端部滑动的第一滑槽，第一滑槽的延伸方向竖直。示例性的，在第一横梁63连接在第一立柱21和第二立柱22的情况下，第一立柱21和第二立柱22上均设有可供第一横梁63的端部滑动的第一滑槽。In addition, the column 20 connected to the first crossbeam 63 is provided with a first chute for the end of the first crossbeam 63 to slide, and the extending direction of the first chute is vertical. Exemplarily, in the case that the first beam 63 is connected to the first column 21 and the second column 22, the first column 21 and the second column 22 are both provided with a first chute.

或者，也可以参照图3所示，第一横梁63的两端设有与立柱滑动配合连接的连接部23'，连接部23'上设有可沿立柱滑动的内滑槽，内滑槽沿着竖直方向延伸。Alternatively, as shown in FIG. 3 , the two ends of the first crossbeam 63 are provided with a connecting portion 23 ′ that is slidably connected to the column, and the connecting portion 23 ′ is provided with an inner chute that can slide along the column. extend vertically.

下面说明搬运机构50的结构。Next, the structure of the transport mechanism 50 will be described.

参照图1、图2a，搬运机构50包括支撑架51以及抓取臂组件52，抓取臂组件52可相对于支撑架51沿竖直方向升降，以带动码垛位40上堆叠的物料箱进出支撑架51。支撑架51可以是框状件，内部可容纳成垛的物料箱。示例性的，支撑架51内部具有底侧开口的容纳空间511，抓取臂组件52包括容置框622，容置框622底部设有与物料箱匹配定位的定位爪521，以对容置框622中容纳的物料箱进行锁定；容置框622可滑动地设置在支撑架51的容纳空间511内，并可沿容纳空间511的开口进出容纳空间511。Referring to Fig. 1 and Fig. 2a, the transport mechanism 50 includes a support frame 51 and a grab arm assembly 52, the grab arm assembly 52 can be raised and lowered in the vertical direction relative to the support frame 51, so as to drive the material boxes stacked on the stacking position 40 to enter and exit Support frame 51. The supporting frame 51 may be a frame-shaped member, and the material boxes in stacks may be accommodated inside. Exemplarily, the inside of the support frame 51 has an accommodating space 511 with an open bottom side, and the grabbing arm assembly 52 includes an accommodating frame 622, and the bottom of the accommodating frame 622 is provided with a positioning claw 521 matched with the material box to align the accommodating frame The material box accommodated in 622 is locked; the accommodating frame 622 is slidably disposed in the accommodating space 511 of the support frame 51 , and can enter and exit the accommodating space 511 along the opening of the accommodating space 511 .

对于容置框622的结构，例如可以如图1、图2a所示，容置框622包括顶板6221以及连接在顶板6221上的四个抓取臂6222；定位爪521可转动地连接在抓取臂6222的底部，以对物料箱进行抓取和释放。顶板6221可以套设在支撑架51的架体上，以便在顶板6221上下移动时，依靠支撑架51的架体进行导向。For the structure of the accommodating frame 622, for example, as shown in Fig. 1 and Fig. 2a, the accommodating frame 622 includes a top plate 6221 and four grasping arms 6222 connected on the top plate 6221; The bottom of the arm 6222 to grab and release the material box. The top plate 6221 can be sleeved on the frame body of the support frame 51 so that when the top plate 6221 moves up and down, it is guided by the frame body of the support frame 51 .

图3所示的是另一种容置框622'的结构，与图1所示的不同之处在于，容置框622'整体为框状件，并未设有顶板。定位爪也固定在容置框622'的底部。另外，容置框622'的工作过程和结构与容置框622类似，此处不再赘述。FIG. 3 shows another structure of the accommodating frame 622 ′, which is different from that shown in FIG. 1 in that the accommodating frame 622 ′ is a frame-like piece as a whole without a top plate. The positioning claw is also fixed on the bottom of the receiving frame 622'. In addition, the working process and structure of the accommodating frame 622' are similar to those of the accommodating frame 622, and will not be repeated here.

参照图2c，是支撑架51和码垛位40均具有成垛的物料箱的情况。需要注意的是，在容置框中容置有成垛的物料箱的情况下，将容置框移动到支撑架51内时，支撑架51还可以起到成垛物料箱的暂存装置的作用。Referring to Fig. 2c, it is a case where both the supporting frame 51 and the palletizing position 40 have stacked material boxes. It should be noted that, in the case of accommodating stacked material boxes in the accommodation frame, when the accommodation frame is moved into the support frame 51, the support frame 51 can also serve as a temporary storage device for the stacked material boxes. effect.

下面说明用于带动搬运机构50移动的第二移动机构70的结构。The structure of the second moving mechanism 70 for driving the transport mechanism 50 to move will be described below.

搬运机器人100包括第二移动机构70，第二移动机构70用于带动搬运机构50移动至搬运机器人100侧方，或者用于带动搬运机构50由搬运机器人100侧方移动至码垛位40。The handling robot 100 includes a second moving mechanism 70, and the second moving mechanism 70 is used to drive the handling mechanism 50 to move to the side of the handling robot 100, or to drive the handling mechanism 50 to move from the side of the handling robot 100 to the stacking position 40.

具体实现时，参照图1、图2a，第二移动机构70与支撑架51连接，并用于带动支撑架51沿第二水平方向S移动，以带动支撑架51在码垛位40和搬运机器人100侧方之间移动。During specific implementation, referring to Fig. 1 and Fig. 2a, the second moving mechanism 70 is connected with the support frame 51, and is used to drive the support frame 51 to move along the second horizontal direction S, so as to drive the support frame 51 between the palletizing position 40 and the handling robot 100 Move between sides.

参照图1所示，作为一种可能的实施方式，第二移动机构70包括设置在立柱20上的第二横梁71；第二移动机构70还包括与第二横梁71相互配合的第二滑块72，第二滑块72设置在支撑架51上，第二滑块72上设有滑轨，滑轨嵌套在第二横梁71上，并可以相对于第二横梁71沿第二水平方向S滑动。As shown in FIG. 1 , as a possible implementation, the second moving mechanism 70 includes a second beam 71 arranged on the column 20; the second moving mechanism 70 also includes a second slider cooperating with the second beam 71 72, the second slider 72 is set on the support frame 51, the second slider 72 is provided with a slide rail, the slide rail is nested on the second beam 71, and can be moved along the second horizontal direction S relative to the second beam 71 slide.

第二横梁71沿第二水平方向S延伸，第二滑块72可相对于第二横梁71滑动，以使支撑架51可相对于立柱20沿第二水平方向S移动。The second beam 71 extends along the second horizontal direction S, and the second slider 72 can slide relative to the second beam 71 so that the supporting frame 51 can move along the second horizontal direction S relative to the column 20 .

参照图3、图4所示，作为另一种可能的实施方式，第二移动机构70'包括设置在立柱20上的第二横梁71'；第二移动机构70'还包括与第二横梁71'相互配合的第二滑块72'，第二滑块72'设置在支撑架51上，且第二滑块72'上设有滑轨，滑轨嵌套在第二横梁71'上，并可以相对于第二横梁71'沿第二水平方向S滑动。Referring to Fig. 3 and Fig. 4, as another possible implementation, the second moving mechanism 70' includes a second beam 71' arranged on the column 20; the second moving mechanism 70' also includes a 'The second sliding block 72' that cooperates with each other, the second sliding block 72' is arranged on the support frame 51, and the second sliding block 72' is provided with a slide rail, and the slide rail is nested on the second beam 71', and It can slide along the second horizontal direction S relative to the second beam 71 ′.

第二横梁71'沿第二水平方向S延伸，第二滑块72'可相对于第二横梁71'滑动，以使支撑架51可相对于立柱20沿第二水平方向S移动。The second beam 71 ′ extends along the second horizontal direction S, and the second slider 72 ′ can slide relative to the second beam 71 ′, so that the supporting frame 51 can move along the second horizontal direction S relative to the column 20 .

如上所述，第二横梁71和第二滑块72沿竖直方向H的尺寸大于第二横梁71'和第二滑块72'沿竖直方向的尺寸。图1所示的第二横梁71和第二滑块72的配合更为稳固，承重性能更佳。As mentioned above, the size of the second beam 71 and the second slider 72 along the vertical direction H is larger than the size of the second beam 71 ′ and the second slider 72 ′ along the vertical direction. The cooperation between the second beam 71 and the second sliding block 72 shown in FIG. 1 is more stable, and the load-bearing performance is better.

下面说明码垛位设置的围挡件80。The enclosing member 80 provided at the palletizing position will be described below.

图5为本申请实施例提供的搬运机器人的另一个角度的结构示意图。Fig. 5 is a structural schematic diagram of another angle of the handling robot provided by the embodiment of the present application.

参照图1、图5，搬运机器人100还包括设置在移动底盘10上的围挡件80，围挡件80限定出沿竖直方向延伸的定位面，定位面竖向围设在码垛位40四周，并抵靠在码垛位40成垛的各物料箱侧面上。这样在物料箱在码垛位40堆叠的过程中，定位面可以防止物料箱在堆叠的过程中发生偏斜。Referring to Fig. 1 and Fig. 5, the handling robot 100 also includes an enclosure 80 arranged on the mobile chassis 10, the enclosure 80 defines a positioning surface extending in the vertical direction, and the positioning surface is vertically surrounded by the stacking position 40 All around, and lean against on the side of each material box that stacks 40 into stacks. In this way, when the material boxes are stacked at the stacking station 40, the positioning surface can prevent the material boxes from being deflected during the stacking process.

具体实现时，围挡件80可以包括多个码垛挡板81，各码垛挡板81围绕码垛位设置，且各码垛挡板81的内侧面811形成定位面。During specific implementation, the enclosure member 80 may include a plurality of stacking baffles 81 , each stacking baffle 81 is arranged around the stacking position, and the inner surface 811 of each stacking baffle 81 forms a positioning surface.

另外，为了使各码垛挡板81不会干涉到物料箱堆叠，各码垛挡板81均可沿竖直方向H升降。例如，码垛挡板81可以包括多个子挡板82，各子挡板82之间可以在竖直方向H上相对滑动，这样当各子挡板82沿竖直方向滑动时，可以实现单个码垛挡板81的伸缩。In addition, in order to prevent the stacking baffles 81 from interfering with the stacking of material boxes, each stacking baffle 81 can be moved up and down along the vertical direction H. For example, the stacking baffle 81 can include a plurality of sub-baffles 82, and each sub-baffle 82 can slide relative to each other in the vertical direction H, so that when each sub-baffle 82 slides in the vertical direction, a single code can be realized. The expansion and contraction of pile baffle plate 81.

各码垛挡板81的侧端部之间具有沿竖直方向延伸的间隔83，间隔83的位置与码垛位40中堆叠的各物料箱的角部相对应。例如，可以与定位爪521的位置相对应，以便于定位爪521的抓取操作。There is a space 83 extending vertically between the side ends of each stacking baffle 81 , and the position of the space 83 corresponds to the corner of each material box stacked in the stacking position 40 . For example, it may correspond to the position of the positioning claw 521 so as to facilitate the grasping operation of the positioning claw 521 .

基于上述的搬运机器人，本申请实施例还提供了物料转运方法。Based on the above-mentioned handling robot, the embodiment of the present application also provides a material transfer method.

其中，基于货叉的动作控制方法包括：Among them, the motion control method based on the fork includes:

控制货叉将码垛位上堆叠成垛的物料箱进行拆解，并将拆解后的物料箱移动至货架。Control the pallet fork to disassemble the stacked material boxes on the palletizing position, and move the disassembled material boxes to the shelf.

其中，基于搬运机构的动作控制方法包括：Among them, the motion control method based on the handling mechanism includes:

控制搬运机构将码垛位上堆叠的物料箱移动至搬运机器人侧方；Control the handling mechanism to move the material boxes stacked on the palletizing position to the side of the handling robot;

控制搬运机构将物料箱在各不同预设位置之间进行转运；Control the handling mechanism to transfer the material box between different preset positions;

控制搬运机构将预设位置上的物料箱或码垛位的物料箱抓取起来，暂存在搬运机构中。Control the handling mechanism to grab the material box at the preset position or the material box at the stacking position, and temporarily store it in the handling mechanism.

本申请实施例中，将上述货叉的动作和搬运机构的各种可能的动作方法进行不同配合后，可得到如下的物料转运方法：In the embodiment of the present application, the following material transfer method can be obtained after different coordination between the above-mentioned fork action and various possible action methods of the handling mechanism:

即，搬运机器人的出库、理库操作方法；以及That is, the operation method of the handling robot out of the warehouse and warehouse management; and

搬运机器人的入库操作方法和搬运机器人在各工作站之间的转运操作方法。The warehousing operation method of the transfer robot and the transfer operation method of the transfer robot between workstations.

图6为本申请实施例提供的基于搬运机器人的物料箱转运方法的流程框图，图7a为本申请实施例提供的基于搬运机器人的物料箱转运方法中货叉和货架之间的物料箱取放的状态示意图，图7b为本申请实施例提供的基于搬运机器人的物料箱转运方法中货叉和货架之间的物料箱取放的状态示意图，图7c为本申请实施例提供的基于搬运机器人的物料箱转运方法中货叉在码垛位进行码垛或拆垛的状态示意图。Fig. 6 is a flow chart of the material box transfer method based on the handling robot provided in the embodiment of the present application, and Fig. 7a is the picking and placing of the material box between the fork and the shelf in the material box transfer method based on the handling robot provided in the embodiment of the application Figure 7b is a schematic diagram of the state of picking and placing the material box between the fork and the shelf in the material box transfer method based on the handling robot provided by the embodiment of the present application, and Figure 7c is the state diagram of the material box based on the handling robot provided by the embodiment of the application Schematic diagram of the status of palletizing or depalletizing forks in the palletizing position in the material box transfer method.

图8为本申请实施例提供的基于搬运机器人的物料箱转运方法中搬运机构在码垛位进行码垛或拆垛的状态示意图，图9为本申请实施例提供的基于搬运机器人的物料箱转运方法中搬运机构在托盘上进行码垛或拆垛的状态示意图。Figure 8 is a schematic diagram of the state of the handling mechanism performing stacking or unstacking at the palletizing position in the material box transfer method based on the handling robot provided in the embodiment of the present application, and Figure 9 is the material box transfer based on the handling robot provided in the embodiment of the application A schematic diagram of the state of the handling mechanism performing stacking or unstacking on the pallet in the method.

下面详细说明上述方法：The above methods are described in detail below:

参照图6，对应于搬运机器人的出库、理库操作方法，本申请实施例的基于搬运机器人的物料箱转运方法包括：Referring to FIG. 6 , corresponding to the operation method of the handling robot out of the warehouse and sorting out the warehouse, the material box transfer method based on the handling robot in the embodiment of the present application includes:

S10、控制货叉将货架上的物料箱移动至码垛位，并在码垛位堆叠成垛。S10. Control the pallet fork to move the material boxes on the shelf to the stacking position, and stack them into stacks at the stacking position.

S20、控制搬运机构或货叉将码垛位堆叠的物料箱移动至预设位置。S20. Control the transfer mechanism or the pallet fork to move the material boxes stacked at the palletizing position to a preset position.

在上述方案中，可以将货架上的物料箱在搬运机器人的码垛位上进行码垛，并控制搬运机构将码垛位堆叠的物料箱移动至预设位置，预设位置可以是工作站或者是图9所示的托盘84等，这对应于物料箱的出库过程。In the above solution, the material boxes on the shelf can be stacked on the palletizing position of the handling robot, and the handling mechanism is controlled to move the material boxes stacked on the palletizing position to a preset position, which can be a workstation or a The pallet 84 etc. shown in FIG. 9 corresponds to the outbound process of the material box.

在上述方案中，还可以将货架上的物料箱在搬运机器人的码垛位上进行码垛，并控制货叉将码垛位堆叠的物料箱移动至预设位置，预设位置可以是另外的货架等，这对应于物料箱的理库。在此过程中，搬运机器人可以完成不同货架之间的物料箱的整理。In the above scheme, it is also possible to stack the material boxes on the shelf on the palletizing position of the handling robot, and control the fork to move the material boxes stacked on the palletizing position to the preset position, which can be another Shelves, etc., which correspond to the sorting of material boxes. During this process, the handling robot can complete the sorting of material boxes between different shelves.

图10为本申请实施例提供的基于搬运机器人的物料箱转运方法中货叉在码垛位进行码垛的流程框图。Fig. 10 is a block diagram of a flow chart of forks performing palletizing at a palletizing position in a material box transfer method based on a handling robot provided in an embodiment of the present application.

参照图10，具体实现时，步骤S10可以包括：Referring to Figure 10, during specific implementation, step S10 may include:

S101、控制货叉获取货架上的物料箱，如图7a和图7b所示。S101. Control the pallet fork to obtain the material box on the shelf, as shown in Fig. 7a and Fig. 7b.

S102、控制第一移动机构带动货叉沿第一水平方向和竖直方向移动，直至货叉到达码垛位，如图7c所示的示意图，是货叉30带动物料箱到达码垛位40时的情况。S102. Control the first moving mechanism to drive the fork to move along the first horizontal direction and vertical direction until the fork reaches the stacking position, as shown in the schematic diagram in Figure 7c, when the fork 30 drives the material box to reach the stacking position 40 Case.

需要注意的是，参照图1，货叉30沿竖直方向H的移动可以通过驱动第一滑轨段611沿着第一立柱21和第二立柱22上的第一滑槽23滑动来实现。货叉30沿第一水平方向F的移动可以通过驱动第一滑块62沿第一水平方向F的移动来实现。例如，驱动第一滑块62向靠近码垛位40的方向移动，此时第一滑块62沿着第三轨道滑移，第三滑轨段613沿着第二轨道滑移，第二滑轨段612沿着第一轨道6111滑移，直至货叉30到达码垛位40的上方，如图7c所示。而驱动第一滑块62向远离码垛位40的方向移动，此时第一滑块62沿着第三轨道向远离码垛位40的方向滑移，第三滑轨段613沿着第二轨道向远离码垛位40的方向滑移，第二滑轨段612沿着第一轨道6111向远离码垛位40的方向滑移，直至货叉30离开码垛位40。It should be noted that, referring to FIG. 1 , the movement of the fork 30 along the vertical direction H can be realized by driving the first sliding rail segment 611 to slide along the first sliding groove 23 on the first column 21 and the second column 22 . The movement of the pallet fork 30 along the first horizontal direction F can be realized by driving the first slider 62 to move along the first horizontal direction F. For example, drive the first slide block 62 to move towards the direction close to the stacking position 40, at this time the first slide block 62 slides along the third track, the third slide rail section 613 slides along the second track, and the second slide The rail segment 612 slides along the first rail 6111 until the fork 30 reaches the top of the stacking position 40, as shown in FIG. 7c. And drive the first slider 62 to move away from the direction of the stacking position 40, now the first slider 62 slides along the third track to the direction away from the stacking position 40, the third slide rail section 613 along the second The track slides away from the stacking position 40 , and the second slide rail segment 612 slides along the first track 6111 away from the stacking position 40 until the fork 30 leaves the stacking position 40 .

参照图3，货叉30沿竖直方向H的移动可以通过驱动第一滑轨61'沿着第一立柱21和第二立柱22上的连接部23'滑动来实现。货叉30沿第一水平方向F的移动可以通过驱动第一滑块62'沿第一水平方向F的移动来实现。例如，驱动第一滑块62'向靠近码垛位40的方向移动，此时第一滑块62'沿着第一滑轨61'滑移直至货叉30到达码垛位40的上方。而驱动第一滑块62'向远离码垛位40的方向移动，此时第一滑块62' 沿着第一滑轨61'向远离码垛位40的方向滑移，直至货叉30离开码垛位40。Referring to FIG. 3 , the movement of the fork 30 along the vertical direction H can be realized by driving the first sliding rail 61 ′ to slide along the connecting portion 23 ′ on the first column 21 and the second column 22 . The movement of the pallet fork 30 along the first horizontal direction F can be realized by driving the first slider 62 ′ to move along the first horizontal direction F. For example, the first sliding block 62 ′ is driven to move towards the palletizing position 40 , and at this moment, the first sliding block 62 ′ slides along the first sliding rail 61 ′ until the pallet fork 30 reaches above the palletizing position 40 . And the first slide block 62' is driven to move away from the stacking position 40, at this time, the first slide block 62' slides along the first slide rail 61' in a direction away from the stacking position 40 until the pallet fork 30 leaves Stacking position 40.

另外，需要说明的是，这里的驱动第一滑轨段611、驱动第一滑块62、62'的滑动可以通过已知的一些驱动单元来实现，例如直线电机、滚珠丝杠机构等。In addition, it should be noted that the driving of the first sliding rail segment 611 and the sliding of the first sliding

blocks

62 and 62 ′ can be realized by some known driving units, such as linear motors, ball screw mechanisms and the like.

S103、控制货叉释放其中的物料箱以在码垛位堆叠成垛。S103. Control the pallet fork to release the material boxes therein to be stacked at the palletizing position.

上述的步骤S101具体可以包括：控制定位板移动至容置腔的开口处，并控制机械臂组件将货架上的物料箱输送至容置腔中。具体的，参照图7a、图7b，货架90上可以放置有多个物料箱92，机械臂组件34向货架上的预设位置91伸出，拉取预设位置91处的物料箱至货叉本体中。The above step S101 may specifically include: controlling the positioning plate to move to the opening of the accommodating cavity, and controlling the mechanical arm assembly to transport the material box on the shelf into the accommodating cavity. Specifically, referring to Fig. 7a and Fig. 7b, a plurality of material boxes 92 can be placed on the shelf 90, and the mechanical arm assembly 34 stretches out to the preset position 91 on the shelf, and pulls the material box at the preset position 91 to the pallet fork in the ontology.

另外，在上述的步骤S102中，在码垛位设有围挡件的情况下，需要对围挡件的高度进行适当的调整，以防止围挡件对货叉的动作造成干涉。In addition, in the above-mentioned step S102, in the case where a fence is provided at the palletizing position, the height of the fence needs to be adjusted appropriately to prevent the fence from interfering with the movement of the forks.

示例性的，如前所述，围挡件包括多个码垛挡板，步骤S102具体可以包括：Exemplarily, as mentioned above, the enclosure includes a plurality of stacking baffles, and step S102 may specifically include:

控制各码垛挡板升降，以使码垛挡板的顶端的位于第一预设高度；其中，第一预设高度低于码垛位所堆叠的所有物料箱的总高度；这样将码垛挡板的顶端设置得低于码垛位堆叠的物料箱的总高度。Control the lifting of each stacking baffle so that the top of the stacking baffle is at a first preset height; wherein, the first preset height is lower than the total height of all material boxes stacked at the stacking position; The top of the baffle plate is set lower than the total height of the material boxes stacked in the palletizing position.

在码垛挡板的位置调整好后，可以控制第一移动机构带动货叉沿竖直方向移动，直至货叉的底端高于第一预设高度；然后控制第一移动机构带动货叉沿第一水平方向移动至码垛位。After the position of the palletizing baffle is adjusted, the first moving mechanism can be controlled to drive the fork to move vertically until the bottom end of the fork is higher than the first preset height; The first horizontal direction moves to the palletizing position.

上述的步骤S103可以包括：控制定位板移动至容置腔的开口外侧，以使容置腔中的物料箱释放至码垛位上进行堆叠。The above step S103 may include: controlling the positioning plate to move to the outside of the opening of the accommodating cavity, so that the material boxes in the accommodating cavity are released to the palletizing position for stacking.

本申请实施例中，用货叉将物料箱码垛在码垛位之后，可以利用货叉或搬运机构对码垛位的成垛物料箱进行操作。In the embodiment of the present application, after the material boxes are stacked on the stacking position with a fork, the stacked material boxes at the stacking position may be operated by using a fork or a handling mechanism.

图11为本申请实施例提供的基于搬运机器人的物料箱转运方法中货叉将码垛位堆叠的物料箱移动至预设位置的流程框图。Fig. 11 is a block diagram of the process of moving the material boxes stacked at the palletizing position to the preset position in the material box transfer method based on the handling robot provided by the embodiment of the present application.

具体的，参照图11，步骤S20、控制货叉将码垛位堆叠的物料箱移动至预设位置，具体包括：Specifically, referring to Figure 11, step S20, controlling the fork to move the material boxes stacked at the palletizing position to a preset position, specifically includes:

S201、控制货叉获取码垛位堆垛的物料箱；S201. Control the pallet fork to obtain the material boxes stacked in the palletizing position;

S202、控制第一移动机构带动物料箱移动至货架；S202. Control the first moving mechanism to drive the material box to move to the shelf;

S203、控制货叉释放其中的物料箱至货架。S203. Control the pallet fork to release the material box therein to the shelf.

其中，步骤S201具体可以包括：Wherein, step S201 may specifically include:

控制第一移动机构带动货叉沿第一水平方向和竖直方向移动至码垛位堆叠的物料箱上方。The first moving mechanism is controlled to drive the pallet fork to move along the first horizontal direction and the vertical direction to the top of the material boxes stacked at the palletizing position.

在货叉到达码垛位上方后，可以控制第一移动机构带动货叉沿竖直方向移动至定位板与作为拿取目标的物料箱的底部齐平。After the pallet fork reaches the top of the stacking position, the first moving mechanism can be controlled to drive the pallet fork to move vertically until the positioning plate is flush with the bottom of the material box used as the pick-up target.

在货叉到达与物料相对应的位置后，可以控制定位板移动至容置腔的开口内，并支撑在码垛位的物料箱的下方。After the fork reaches the position corresponding to the material, the positioning plate can be controlled to move into the opening of the accommodating cavity and be supported under the material box of the palletizing position.

需要说明的是，第一移动机构带动货叉沿竖直方向的移动以及沿第一水平方向的移动与前面步骤S102中所说明的移动方式类似，此处不再赘述。It should be noted that the movement of the pallet fork along the vertical direction and the movement along the first horizontal direction driven by the first moving mechanism is similar to the movement described in step S102 above, and will not be repeated here.

另外，步骤S203具体可以包括：控制定位板移动至容置腔的开口外侧，以使容置腔中的物料箱释放至货架。In addition, step S203 may specifically include: controlling the positioning plate to move to the outside of the opening of the accommodating cavity, so as to release the material box in the accommodating cavity to the shelf.

图12为本申请实施例提供的基于搬运机器人的物料箱转运方法中搬运机构将码垛位堆叠的物料箱移动至预设位置的流程框图。Fig. 12 is a block diagram of the process of moving the material boxes stacked at the palletizing position to a preset position by the handling mechanism in the material box transfer method based on the handling robot provided by the embodiment of the present application.

参照图12，步骤S20中，控制搬运机构将码垛位堆叠的物料箱移动至预设位置，具体包括：Referring to Fig. 12, in step S20, the handling mechanism is controlled to move the material boxes stacked at the palletizing position to a preset position, specifically including:

S204、控制抓取臂组件将码垛位堆叠的物料箱抓取至支撑架中；S204. Control the grabbing arm assembly to grab the material boxes stacked in the palletizing position into the support frame;

S205、控制搬运机构移动至预设位置，并控制抓取臂组件释放支撑架中的物料箱以进行卸垛。S205. Control the transfer mechanism to move to a preset position, and control the grabbing arm assembly to release the material box in the support frame for destacking.

本申请实施例中，如前所述，搬运机器人包括第二移动机构，第二移动机构用于带动搬运机构沿第二水平方向移动。In the embodiment of the present application, as mentioned above, the handling robot includes a second moving mechanism, and the second moving mechanism is used to drive the handling mechanism to move along the second horizontal direction.

步骤S205中，控制搬运机构移动至预设位置，具体包括：In step S205, control the transport mechanism to move to a preset position, specifically including:

控制第二移动机构带动搬运机构沿第二水平方向移动，直至搬运机构移动至预设位置。参照图1，这里第二移动机构70带动搬运机构50沿第二水平方向S的移动可以包括：驱动第二滑块72沿着第二横梁71滑动，以带动与第二滑块72连接的支撑架51沿第二水平方向S的位移。The second moving mechanism is controlled to drive the conveying mechanism to move along the second horizontal direction until the conveying mechanism moves to a preset position. Referring to FIG. 1 , where the second moving mechanism 70 drives the movement of the transport mechanism 50 along the second horizontal direction S may include: driving the second slider 72 to slide along the second beam 71 to drive the support connected to the second slider 72 The displacement of the frame 51 along the second horizontal direction S.

参照图3，这里第二移动机构70'带动搬运机构50沿第二水平方向S的移动可以包括：驱动第二滑块72'沿着第二横梁71'滑动，以带动与第二滑块72'连接的支撑架51沿第二水平方向S的位移。Referring to FIG. 3 , where the second moving mechanism 70 ′ drives the movement of the conveying mechanism 50 along the second horizontal direction S may include: driving the second slider 72 ′ to slide along the second beam 71 ′, so as to drive the second slider 72 'Displacement of the connected support frame 51 along the second horizontal direction S.

本申请实施例中，预设位置可以包括间隔设置的第三预设位置和第四预设位置。第三预设位置和第四预设位置例如可是托盘的不同位置，或者可是位于不同位置的工作站。In the embodiment of the present application, the preset position may include a third preset position and a fourth preset position set at intervals. The third preset position and the fourth preset position may be, for example, different positions of the pallet, or may be workstations located at different positions.

步骤S205、控制搬运机构移动至预设位置，并控制抓取臂组件释放支撑架中的物料箱以进行卸垛，具体包括：Step S205, controlling the transport mechanism to move to a preset position, and controlling the grabbing arm assembly to release the material box in the support frame for destacking, specifically including:

控制抓取臂组件将第三预设位置堆叠的部分物料箱抓取至支撑架中，将搬运机构移动至第四预设位置上方，并控制抓取臂组件释放支撑架中的物料箱至第四预设位置。这样，搬运机构在卸垛时，可以将部分物料箱放置在第三预设位置，并可以将部分物料箱放置在第四预设位置。参照图1，抓取臂组件释放或者抓取物料箱可以通过定位爪在不同位置之间的转动来实现。Control the grabbing arm assembly to grab some of the material boxes stacked at the third preset position into the support frame, move the handling mechanism above the fourth preset position, and control the grabbing arm assembly to release the material boxes in the support frame to the first Four preset positions. In this way, when the transport mechanism is unstacking, it can place part of the material boxes at the third preset position, and can place some of the material boxes at the fourth preset position. Referring to FIG. 1, the release of the grab arm assembly or the grabbing of the material box can be achieved by the rotation of the positioning claw between different positions.

另外，如前所述，搬运机构可以起到成垛物料箱的存储机构的作用。例如，可以控制搬运机构先将成垛的物料箱抬起，将码垛位空出，或者只在码垛位留有一定数量的物料箱，此时控制货叉继续在码垛位堆垛物料箱。待码垛位堆垛到足够数量的物料箱后，控制搬运机构进行卸垛；并控制搬运机构再次抓取码垛位成垛的物料箱再次进行卸垛操作。In addition, as previously mentioned, the handling mechanism can function as a storage mechanism for the stacked material boxes. For example, it is possible to control the handling mechanism to lift up the stacked material boxes first, to vacate the stacking position, or only leave a certain number of material boxes in the stacking position, and at this time, control the fork to continue stacking the material boxes in the stacking position . After a sufficient number of material boxes have been stacked at the palletizing position, the handling mechanism is controlled to depalletize; and the handling mechanism is controlled to grab the stacked material boxes at the stacking position again for unstacking operation.

具体实现时，步骤S20中，控制搬运机构将码垛位堆叠的物料箱移动至预设位置，具体包括：During specific implementation, in step S20, control the handling mechanism to move the material boxes stacked in the palletizing position to the preset position, specifically including:

需要说明的是，上述过程中，抓取臂组件对物料箱的抓取和释放，第一移动机构带动货叉沿第一水平方向和竖直方向的移动，以及第二移动机构带动搬运机构沿第二水平方向的移动已经在前面进行过详细说明，此处不再赘述。It should be noted that, in the above process, the grabbing arm assembly grabs and releases the material box, the first moving mechanism drives the fork to move along the first horizontal direction and the vertical direction, and the second moving mechanism drives the transport mechanism along the first horizontal direction and the vertical direction. The movement in the second horizontal direction has been described in detail above, and will not be repeated here.

图13为本申请实施例提供的基于搬运机器人的物料箱转运方法的另一种实施方式的流程框图。Fig. 13 is a flow chart of another implementation of the material box transfer method based on the handling robot provided in the embodiment of the present application.

参照图13，对应于搬运机器人的入库操作方法和搬运机器人在各工作站之间的转运操作方法，本申请实施例的基于搬运机器人的物料箱转运方法包括：Referring to FIG. 13 , corresponding to the warehousing operation method of the handling robot and the transfer operation method of the handling robot between workstations, the material box transfer method based on the handling robot in the embodiment of the present application includes:

S30、控制搬运机构将预设位置上的物料箱抓取至码垛位；S30, controlling the transport mechanism to grab the material box at the preset position to the stacking position;

S40、控制货叉将码垛位上堆叠的物料箱移动至货架上，或者控制搬运机构将码垛位上堆叠的物料箱移动至第五预设位置。S40. Control the pallet fork to move the material boxes stacked on the palletizing position to the shelf, or control the transport mechanism to move the material boxes stacked on the palletizing position to a fifth preset position.

在上述方法中，可以控制搬运机构将预设位置上的物料箱抓取至码垛位，并控制货叉将码垛位上堆叠的物料箱移动至货架上，这对应物料箱的入库过程。这其中，预设位置可以是托盘，或者也可以是工作站等。In the above method, the handling mechanism can be controlled to grab the material box at the preset position to the stacking position, and the fork can be controlled to move the material box stacked on the stacking position to the shelf, which corresponds to the storage process of the material box . Herein, the preset position may be a tray, or may also be a workstation or the like.

在上述方法中，可以控制搬运机构将预设位置上的物料箱抓取至码垛位，并控制搬运机构将码垛位上堆叠的物料箱移动至第五预设位置，这里的第五预设位置和预设位置是不同的位置，例如，第五预设位置和预设位置可以是托盘的不同位置，或者可以是位置不同的工作站。In the above method, the handling mechanism can be controlled to grab the material box at the preset position to the stacking position, and the handling mechanism can be controlled to move the material box stacked on the stacking position to the fifth preset position, where the fifth preset The set position and the preset position are different positions, for example, the fifth preset position and the preset position may be different positions of the pallet, or may be workstations with different positions.

图14为本申请实施例提供的基于搬运机器人的物料箱转运方法中搬运机构将预设位置上的物料箱抓取至码垛位的流程框图。Fig. 14 is a block diagram of a flow chart of a transport mechanism grabbing a material box at a preset position to a palletizing position in a material box transfer method based on a handling robot provided by an embodiment of the present application.

参照图14，具体实现时，步骤S30、控制搬运机构将预设位置上的物料箱抓取至码垛位，具体可以包括：Referring to Fig. 14, during specific implementation, step S30, controlling the handling mechanism to grab the material box at the preset position to the stacking position, may specifically include:

S301：控制抓取臂组件将预设位置上堆叠的物料箱抓取至支撑架中，参照图1，这可以通过控制定位爪521翻转锁定在物料箱底部的相应卡扣位，然后驱动抓取臂组件52相对于支撑架51向上移动来实现。S301: Control the grabbing arm assembly to grab the material box stacked at the preset position into the support frame. Referring to Figure 1, this can be locked at the corresponding buckle position at the bottom of the material box by controlling the positioning claw 521, and then drive the grabbing This is achieved by moving the arm assembly 52 upward relative to the support frame 51 .

S302：控制搬运机构移动至码垛位，并控制抓取臂组件将支撑架中的物料箱释放至码垛位。S302: Control the transfer mechanism to move to the stacking position, and control the grabbing arm assembly to release the material box in the support frame to the stacking position.

控制抓取臂组件将支撑架中的物料箱释放至码垛位具体包括：通过驱动抓取臂组件相对于支撑架向下移动，并控制定位爪翻转释放对物料箱底部的卡扣。Controlling the grabbing arm assembly to release the material box in the support frame to the stacking position specifically includes: driving the grabbing arm assembly to move downward relative to the support frame, and controlling the positioning claw to turn over and release the buckle on the bottom of the material box.

可以理解的是，本申请中，抓取臂组件对物料箱的抓取和释放都和上述过程类似，本申请以下不再赘述。It can be understood that, in the present application, the grasping and releasing of the material box by the grasping arm assembly is similar to the above-mentioned process, and will not be repeated in the present application.

上述步骤S302中，控制控制搬运机构移动至码垛位，具体包括：In the above step S302, control and control the transport mechanism to move to the stacking position, specifically including:

控制第二移动机构带动搬运机构沿第二水平方向移动的具体步骤在前面已经进行过详细说明，此处不再赘述。The specific steps of controlling the second moving mechanism to drive the conveying mechanism to move along the second horizontal direction have been described in detail above, and will not be repeated here.

如前所述，预设位置可以包括间隔设置的第三预设位置和第四预设位置，还可以控制搬运机构将位于两个不同位置的物料箱抓取至支撑架中。As mentioned above, the preset position may include a third preset position and a fourth preset position arranged at intervals, and the transport mechanism may also be controlled to grab the material boxes at two different positions into the support frame.

示例性的，上述步骤S301中，控制抓取臂组件将预设位置上堆叠的物料箱抓取至支撑架中具体包括：Exemplarily, in the above step S301, controlling the grabbing arm assembly to grab the material boxes stacked at the preset position into the support frame specifically includes:

控制抓取臂组件将第三预设位置堆叠的部分物料箱抓取至支撑架中，将搬运机构移动至第四预设位置上方，并控制抓取臂组件释放支撑架中的物料箱至第四预设位置。并再次控制抓取臂组件将第四预设位置的所有物料箱抓取至支撑架中，这样，搬运机构可以同时抓取第三预设位置和第四预设位置的物料箱。Control the grabbing arm assembly to grab some of the material boxes stacked at the third preset position into the support frame, move the handling mechanism above the fourth preset position, and control the grabbing arm assembly to release the material boxes in the support frame to the first Four preset positions. And control the grabbing arm assembly again to grab all the material boxes at the fourth preset position into the support frame, so that the transport mechanism can grab the material boxes at the third preset position and the fourth preset position at the same time.

本申请实施例中，参照图14，上述S302中：控制搬运机构移动至码垛位，并控制抓取臂组件将支撑架中的物料箱释放至码垛位之后还包括：In the embodiment of the present application, referring to Fig. 14, in the above S302: after controlling the handling mechanism to move to the stacking position, and controlling the grabbing arm assembly to release the material box in the support frame to the stacking position, it also includes:

S303、控制第二移动机构带动搬运机构沿第二水平方向移动，直至预设位置；S303. Control the second moving mechanism to drive the conveying mechanism to move along the second horizontal direction until reaching the preset position;

S304、控制抓取臂组件将预设位置堆叠的物料箱抓取至支撑架中。这样，在码垛位上已经有了成垛物料箱的情况下，继续将预设位置的另外的成垛物料箱抓取至支撑架中，此处，搬运机构起到了成垛物料箱的暂存装置的作用。S304. Control the grabbing arm assembly to grab the material box stacked at the preset position into the support frame. In this way, when there are already stacked material boxes on the stacking position, continue to grab another stacked material box at the preset position into the support frame. function of the storage device.

图15为本申请实施例提供的基于搬运机器人的物料箱转运方法中货叉将码垛位上堆叠的物料箱移动至货架上的流程框图。Fig. 15 is a block diagram of the process of moving the material boxes stacked on the palletizing position to the shelf in the material box transfer method based on the handling robot provided by the embodiment of the present application.

参照图15，在一些示例中，在支撑架和码垛位均具有成垛的物料箱后，步骤S40中控制货叉将码垛位上堆叠的物料箱移动至货架上，具体包括：Referring to FIG. 15 , in some examples, after both the support frame and the palletizing position have stacked material boxes, in step S40, the fork is controlled to move the material boxes stacked on the palletizing position to the shelf, specifically including:

S401、控制货叉将码垛位上堆叠的物料箱移动至货架上；S401. Control the pallet fork to move the material boxes stacked on the palletizing position to the shelf;

S402、控制抓取臂组件将支撑架中的物料箱释放至码垛位；S402, controlling the grabbing arm assembly to release the material box in the support frame to the stacking position;

S403、控制货叉将码垛位上堆叠的物料箱移动至货架上。S403. Control the pallet fork to move the material boxes stacked on the palletizing position to the shelf.

像上述这样在码垛位和支撑架中都有了物料箱后，利用货叉进行拆垛，这样可以一次性地对更多的物料箱进行操作。After there are material boxes in the stacking position and the support frame as mentioned above, use the fork to unstack, so that more material boxes can be operated at one time.

本申请实施例中，参照图16，步骤S40中控制货叉将码垛位上堆叠的物料箱移动至货架上，具体还可以包括：In the embodiment of the present application, referring to Fig. 16, in step S40, the fork is controlled to move the material boxes stacked on the palletizing position to the shelf, which may specifically include:

S404、控制货叉获取码垛位上的物料箱；S404. Control the pallet fork to obtain the material box on the stacking position;

S405、控制第一移动机构带动货叉沿第一水平方向和竖直方向移动，直至货叉到达与货架对应的位置；S405. Control the first moving mechanism to drive the fork to move along the first horizontal direction and vertical direction until the fork reaches a position corresponding to the shelf;

S406、控制货叉释放其中的物料箱至货架。S406. Control the pallet fork to release the material box therein to the shelf.

在上述步骤中，控制第一移动机构带动货叉沿第一水平方向和竖直方向的移动，以及控制货叉释放和获取物料箱的过程在前面的实施例中已经进行过详细描述，此处不再赘述。In the above steps, the process of controlling the first moving mechanism to drive the fork to move along the first horizontal direction and vertical direction, and controlling the release and acquisition of the material box by the fork has been described in detail in the previous embodiment, here No longer.

本申请实施例中，在步骤S404之前，还包括：In the embodiment of this application, before step S404, it also includes:

另外，步骤S404中，控制货叉获取码垛位上的物料箱，具体包括：In addition, in step S404, the fork is controlled to obtain the material box on the stacking position, specifically including:

控制第一移动组件带动货叉移动至与码垛位上的目标物料箱对应的位置，控制定位板移动至容置腔的开口内，并支撑在目标物料箱下方.Control the first moving component to drive the fork to move to the position corresponding to the target material box on the stacking position, control the positioning plate to move to the opening of the accommodation cavity, and support it under the target material box.

而步骤S406、控制货叉释放其中的物料箱至货架，具体包括：And step S406, controlling the fork to release the material box therein to the shelf, specifically includes:

本申请实施例的物料箱转运方法中，步骤S40控制搬运机构将码垛位上堆叠的物料箱移动至第五预设位置，具体包括：In the material box transfer method of the embodiment of the present application, step S40 controls the handling mechanism to move the material boxes stacked on the palletizing position to the fifth preset position, which specifically includes:

控制搬运机构移动至第五预设位置，并控制抓取臂组件将支撑架中的物料箱释放至第五预设位置。其中，第五预设位置是和预设位置不同的位置，这样可以将成垛的物料箱在不同的工作站或者托盘的不同位置之间进行运转。Control the transport mechanism to move to the fifth preset position, and control the grabbing arm assembly to release the material box in the support frame to the fifth preset position. Wherein, the fifth preset position is a different position from the preset position, so that the stacked material boxes can be operated between different workstations or different positions of the pallet.

在本申请实施例的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应作广义理解，例如，可以是固定连接，也可以是通过中间媒介间接相连，可以是两个元件内部的连通或者两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请实施例中的具体含义。In the description of the embodiments of the present application, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a An indirect connection through an intermediary may be an internal communication between two elements or an interaction relationship between two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in the embodiments of the present application according to specific situations.

本申请实施例的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”、“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the embodiments of the present application and the above drawings are used to distinguish similar objects, while It is not necessarily used to describe a particular order or sequence.

最后应说明的是：以上各实施例仅用以说明本申请实施例的技术方案，而非对其限制；尽管参照前述各实施例对本申请实施例进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请实施例各实施例技术方案的范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the embodiments of the present application, and are not intended to limit them; although the embodiments of the present application have been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art It should be understood that it is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the embodiments of the present application. The scope of the technical solutions of each embodiment.

Claims

一种搬运机器人，其特征在于，包括移动底盘、立柱、货叉以及搬运机构；所述移动底盘上设***垛位，所述立柱设置在所述移动底盘上；所述货叉和所述搬运机构均设置在所述立柱上；A handling robot is characterized in that it includes a mobile chassis, a column, a fork and a handling mechanism; the mobile chassis is provided with a stacking position, and the column is arranged on the mobile chassis; the fork and the The handling mechanisms are all set on the columns;

所述货叉用于带动物料箱靠近所述码垛位并将所述物料箱在所述码垛位上堆叠成垛，所述货叉还用于对所述码垛位上成垛的物料箱进行拆解与带动物料箱远离所述码垛位；The fork is used to drive the material box close to the stacking position and stack the material box on the stacking position, and the fork is also used to stack the material on the stacking position Disassemble the box and drive the material box away from the stacking position;

所述搬运机构用于将所述码垛位上成垛的物料箱运送至所述搬运机器人侧方，所述搬运机构还用于将所述搬运机器人侧方的物料箱运送至所述码垛位并在所述码垛位上堆叠成垛。The transport mechanism is used to transport the stacked material boxes on the palletizing position to the side of the transport robot, and the transport mechanism is also used to transport the material boxes on the side of the transport robot to the pallet and stacked into stacks on the palletizing position.
根据权利要求1所述的搬运机器人，其特征在于，所述搬运机构还用于抓取并暂存所述码垛位上堆叠的物料箱；和/或The handling robot according to claim 1, wherein the handling mechanism is also used to grab and temporarily store the material boxes stacked on the pallet; and/or

所述货叉包括货叉本体，所述货叉本体内形成有下方开口的容置腔，所述容置腔的内轮廓尺寸与单个所述物料箱的外轮廓尺寸相匹配。The fork includes a fork body, and an accommodating cavity with a lower opening is formed in the fork body, and the inner contour size of the accommodating cavity matches the outer contour size of a single material box.
根据权利要求1所述的搬运机器人，其特征在于，还包括设于所述立柱上的第一移动机构，所述第一移动机构可沿所述立柱的延伸方向滑动，以带动所述货叉沿竖直方向移动；所述第一移动机构还与所述货叉连接，并用于带动所述货叉沿第一水平方向移动，以带动所述货叉靠近或远离所述码垛位。The handling robot according to claim 1, further comprising a first moving mechanism arranged on the column, the first moving mechanism can slide along the extension direction of the column to drive the fork moving in the vertical direction; the first moving mechanism is also connected with the fork and is used to drive the fork to move in the first horizontal direction so as to drive the fork closer to or away from the palletizing position.
根据权利要求3所述的搬运机器人，其特征在于，所述第一移动机构包括相互配合的第一滑轨和第一滑块，所述第一滑轨和所述第一滑块的其中一者设置在所述立柱上，另一者连接在所述货叉上；The handling robot according to claim 3, wherein the first moving mechanism includes a first sliding rail and a first sliding block that cooperate with each other, and one of the first sliding rail and the first sliding block One is set on the column, and the other is connected to the fork;

所述第一滑轨的轨道沿所述第一水平方向延伸，所述第一滑块可相对于所述第一滑轨滑动，以使所述货叉可相对于所述立柱沿所述第一水平方向移动。The track of the first sliding rail extends along the first horizontal direction, and the first sliding block can slide relative to the first sliding rail so that the fork can move along the first horizontal direction relative to the column. - Move horizontally.
根据权利要求4所述的搬运机器人，其特征在于，所述第一移动机构还包括设于至少一个所述立柱上的第一横梁，所述第一横梁可沿其所连接的所述立柱的延伸方向滑动，所述第一滑轨连接在所述第一横梁的底端面上，所述第一滑块设置在所述货叉本体的顶端面上。The handling robot according to claim 4, wherein the first moving mechanism further comprises a first crossbeam arranged on at least one of the uprights, and the first crossbeam can move along the direction of the upright to which it is connected. The extension direction slides, the first slide rail is connected to the bottom end surface of the first beam, and the first slider is arranged on the top end surface of the fork body.
根据权利要求5所述的搬运机器人，其特征在于，所述第一移动机构的数量为多个，多个所述第一移动机构中的所述第一滑轨彼此平行，且均设于所述第一横梁上；多个所述第一移动机构中的第一滑块均设于所述货叉的顶部。The handling robot according to claim 5, wherein the number of the first moving mechanisms is multiple, and the first sliding rails in the multiple first moving mechanisms are parallel to each other and are all arranged on the on the first beam; the first sliders in the plurality of first moving mechanisms are all arranged on the top of the fork.
根据权利要求5所述的搬运机器人，其特征在于，所述第一横梁的两端设有可与立柱滑动配合的连接部，连接部上设有可沿所述立柱滑动的内滑槽。The transporting robot according to claim 5, characterized in that, both ends of the first cross beam are provided with connecting parts that can slide and fit with the uprights, and the connecting parts are provided with inner slide grooves that can slide along the uprights.
根据权利要求4所述的搬运机器人，其特征在于，所述立柱至少包括间隔设置的第一立柱和第二立柱，所述第一立柱和所述第二立柱位于所述码垛位的相同侧；The handling robot according to claim 4, wherein the uprights at least include first uprights and second uprights arranged at intervals, and the first uprights and the second uprights are located on the same side of the palletizing position ;

所述第一移动机构的数量为两个，两个所述第一移动机构中的第一滑轨分别连接于所述第一立柱和所述第二立柱的相对表面上，两个所述第一滑块分别设置在所述货叉的相对两侧侧壁上。The number of the first moving mechanism is two, and the first sliding rails in the two first moving mechanisms are respectively connected to the opposite surfaces of the first column and the second column, and the two first moving mechanisms A slider is respectively arranged on the opposite side walls of the fork.
根据权利要求8所述的搬运机器人，其特征在于，所述第一滑轨包括第一滑轨段、第二滑轨段和第三滑轨段，所述第一滑轨段上设有第一轨道，所述第二滑轨段上设有第二轨道，所述第三滑轨段上设有第三轨道；The handling robot according to claim 8, wherein the first slide rail comprises a first slide rail section, a second slide rail section and a third slide rail section, and the first slide rail section is provided with a A track, the second track section is provided with a second track, and the third slide track section is provided with a third track;

所述第一滑轨段的背离所述第一轨道的一侧连接在所述第一立柱和/或所述第二立柱上，所述第二滑轨段嵌装在所述第一轨道中，并可沿所述第一轨道滑动，所述第三滑轨段嵌装在所述第二轨道中，并可沿所述第二轨道滑动；所述第一滑块嵌装在所述第三轨道中，并可沿所述第三轨道滑动；所述第一轨道、所述第二轨道和所述第三轨道的延伸方向平行于所述第一水平方向。The side of the first slide rail section away from the first rail is connected to the first column and/or the second column, and the second slide rail section is embedded in the first rail , and can slide along the first rail, the third slide rail segment is embedded in the second rail, and can slide along the second rail; the first slider is embedded in the first Among the three tracks, it can slide along the third track; the extension direction of the first track, the second track and the third track is parallel to the first horizontal direction.
根据权利要求9所述的搬运机器人，其特征在于，所述第一立柱和所述第二立柱上设有可供所述第一滑轨的端部滑动的第一滑槽，所述第一滑槽的延伸方向竖直。The handling robot according to claim 9, characterized in that, the first column and the second column are provided with a first chute for the end of the first slide rail to slide, and the first The extending direction of the chute is vertical.
根据权利要求1所述的搬运机器人，其特征在于，所述搬运机构包括支撑架以及抓取臂组件，所述抓取臂组件可相对于所述支撑架沿竖直方向升降，以带动所述码垛位上堆叠的物料箱进出所述支撑架。The handling robot according to claim 1, wherein the handling mechanism includes a support frame and a grabbing arm assembly, and the grabbing arm assembly can be vertically lifted relative to the support frame to drive the The material box stacked on the palletizing position enters and exits the support frame.
根据权利要求11所述的搬运机器人，其特征在于，还包括设置在所述立柱上的第二移动机构，所述第二移动机构与所述支撑架连接，并用于带动所述支撑架沿第二水平方向移动，以带动所述支撑架在所述码垛位和所述搬运机器人侧方之间移动。The handling robot according to claim 11, further comprising a second moving mechanism arranged on the column, the second moving mechanism is connected with the support frame, and is used to drive the support frame along the first Two, move in the horizontal direction to drive the support frame to move between the palletizing position and the side of the handling robot.
根据权利要求12所述的搬运机器人，其特征在于，所述第二移动机构包括设置在所述立柱上的第二横梁；The handling robot according to claim 12, wherein the second moving mechanism comprises a second beam arranged on the column;

所述第二移动机构还包括与所述第二横梁相互配合的第二滑块，所述第二滑块设置在所述支撑架上，且所述第二滑块上设有滑轨，所述滑轨嵌套在所述第二横梁上，并可以相对于第二横梁沿所述第二水平方向移动，以使所述支撑架可相对于所述立柱沿所述第二水平方向移动。The second moving mechanism also includes a second slider cooperating with the second beam, the second slider is arranged on the support frame, and a slide rail is provided on the second slider, so The slide rail is nested on the second crossbeam and can move along the second horizontal direction relative to the second crossbeam, so that the support frame can move along the second horizontal direction relative to the column.
根据权利要求1-13任一项所述的搬运机器人，其特征在于，还包括设置在所述移动底盘上的围挡件，所述围挡件限定出沿竖直方向延伸的定位面，所述定位面竖向围设在所述码垛位四周，并抵靠在所述码垛位成垛的各物料箱侧面上。The handling robot according to any one of claims 1-13, characterized in that, it further comprises an enclosure member arranged on the mobile chassis, the enclosure member defines a positioning surface extending in the vertical direction, so The positioning surface is vertically arranged around the stacking position and abuts against the side surfaces of each material box stacked in the stacking position.
根据权利要求14所述的搬运机器人，其特征在于，所述围挡件包括多个码垛挡板，各所述码垛挡板围绕所述码垛位设置，且各所述码垛挡板的内侧面形成所述定位面。The handling robot according to claim 14, wherein the enclosure includes a plurality of stacking baffles, each of the stacking baffles is arranged around the stacking position, and each of the stacking baffles The inner side of the forming the positioning surface.
根据权利要求15所述的搬运机器人，其特征在于，各所述码垛挡板均可沿所述竖直方向升降；和/或The handling robot according to claim 15, wherein each of the stacking baffles can be lifted and lowered along the vertical direction; and/or

各所述码垛挡板的侧端部之间具有沿竖直方向延伸的间隔，所述间隔的位置与所述码垛位中堆叠的各物料箱的角部相对应。There is a space extending along the vertical direction between the side ends of each of the palletizing baffles, and the position of the space corresponds to the corner of each material box stacked in the palletizing position.
根据权利要求1-13任一项所述的搬运机器人，其特征在于，所述货叉包括货叉本体，所述货叉本体内形成有下方具有开口的容置腔，所述开口的边缘处设有可在第一预设位置和第二预设位置之间移动的定位板，所述定位板位于所述第一预设位置时，挡设在所述开口下方以对所述容置腔中的物料箱进行锁定；The handling robot according to any one of claims 1-13, characterized in that, the fork includes a fork body, and an accommodating cavity with an opening below is formed in the fork body, and the edge of the opening is A positioning plate that can move between a first preset position and a second preset position is provided. When the positioning plate is located at the first preset position, it is blocked under the opening so as to secure the accommodating cavity. The material box in the lock is locked;

所述定位板位于所述第二预设位置时，位于所述货叉本体侧方，以对所述容置腔内的物料箱进行释放。When the positioning plate is at the second preset position, it is located at the side of the fork body, so as to release the material box in the accommodating cavity.
根据权利要求11-13中任一项所述的搬运机器人，其特征在于，所述支撑架内部具有底侧开口的容纳空间，所述抓取臂组件包括容置框，所述容置框底部设有与物料箱匹配定位的定位爪，以对所述容置框中容纳的物料箱进行锁定；所述容置框可滑动地设置在所述支撑架的容纳空间内，并可沿所述容纳空间的开口进出所述容纳空间。The handling robot according to any one of claims 11-13, wherein the inside of the support frame has an accommodating space with an open bottom side, the grabbing arm assembly includes an accommodating frame, and the bottom of the accommodating frame is There is a positioning claw matched with the material box to lock the material box accommodated in the accommodating frame; the accommodating frame is slidably arranged in the accommodating space of the support frame, and can be The opening of the accommodation space enters and exits said accommodation space.
一种基于搬运机器人的物料箱转运方法，其特征在于，所述搬运机器人包括：设***垛位的移动底盘、以及设于所述移动底盘上的货叉和搬运机构，所述物料箱转运方法包括：A material box transfer method based on a handling robot, characterized in that the handling robot includes: a mobile chassis provided with a stacking position, and a fork and a handling mechanism arranged on the mobile chassis, the material box transfer Methods include:

控制所述货叉将货架上的物料箱移动至所述码垛位，并在所述码垛位堆叠成垛；Controlling the pallet fork to move the material boxes on the shelf to the stacking position and stack them into stacks at the stacking position;

控制所述搬运机构或所述货叉将所述码垛位堆叠的物料箱移动至预设位置。Controlling the transport mechanism or the pallet fork to move the material boxes stacked at the palletizing position to a preset position.
根据权利要求19所述的物料箱转运方法，其特征在于，所述搬运机器人还包括设于所述移动底盘上的立柱以及设于所述立柱上的第一移动机构，所述第一移动机构用于带动所述货叉沿第一水平方向或竖直方向移动，其中所述第一水平方向朝向所述码垛位；The material box transfer method according to claim 19, wherein the handling robot further comprises a column arranged on the mobile chassis and a first moving mechanism arranged on the column, and the first moving mechanism Used to drive the fork to move along a first horizontal direction or a vertical direction, wherein the first horizontal direction faces the stacking position;

所述控制所述货叉将货架上的物料箱移动至所述码垛位，并在所述码垛位堆叠成垛，具体包括：The control of the pallet fork to move the material boxes on the shelf to the stacking position, and stack them into stacks at the stacking position, specifically includes:

控制所述货叉获取货架上的物料箱；Control the fork to obtain the material box on the shelf;

控制所述第一移动机构带动所述货叉沿所述第一水平方向和所述竖直方向移动，直至所述货叉到达所述码垛位；Controlling the first moving mechanism to drive the fork to move along the first horizontal direction and the vertical direction until the fork reaches the stacking position;

控制所述货叉释放其中的物料箱以在所述码垛位堆叠成垛。The pallet forks are controlled to release the material boxes therein to be stacked at the palletizing station.
根据权利要求20所述的物料箱转运方法，其特征在于，所述移动底盘上与码垛位对应的位置设有多个可升降的码垛挡板，各所述码垛挡板围设在所述码垛位成垛的物料箱侧面以防倾斜；The material box transfer method according to claim 20, wherein a plurality of liftable stacking baffles are arranged on the position corresponding to the stacking position on the mobile chassis, and each of the stacking baffles is surrounded by a The side of the material box where the stacking position is stacked to prevent tilting;

所述控制所述第一移动机构带动所述货叉沿所述第一水平方向和所述竖直方向移动，直至所述货叉到达所述码垛位，具体包括：The controlling the first moving mechanism to drive the fork to move along the first horizontal direction and the vertical direction until the fork reaches the stacking position, specifically includes:

控制各所述码垛挡板升降，以使所述码垛挡板的顶端的位于第一预设高度；其中，所述第一预设高度低于所述码垛位所堆叠的所有物料箱的总高度；controlling the lifting of each of the palletizing baffles so that the top of the palletizing baffles is located at a first preset height; wherein, the first preset height is lower than all the material boxes stacked at the palletizing position the total height of

控制所述第一移动机构带动所述货叉沿竖直方向移动，直至所述货叉的底端高于所述第一预设高度；controlling the first moving mechanism to drive the fork to move vertically until the bottom end of the fork is higher than the first preset height;

控制所述第一移动机构带动所述货叉沿所述第一水平方向移动至所述码垛位。The first moving mechanism is controlled to drive the fork to move to the stacking position along the first horizontal direction.
根据权利要求20所述的物料箱转运方法，其特征在于，所述货叉包括货叉本体和机械臂组件，所述机械臂组件可相对于所述货叉本体伸缩，所述货叉本体内形成有下方开口的容置腔，所述开口的边缘处设有可移动的定位板，以对所述容置腔中的物料箱进行释放或锁定；The material box transfer method according to claim 20, wherein the fork includes a fork body and a mechanical arm assembly, the mechanical arm assembly can be stretched relative to the fork body, and the fork body An accommodating chamber with a lower opening is formed, and a movable positioning plate is provided at the edge of the opening to release or lock the material box in the accommodating chamber;

所述控制所述货叉获取货架上的物料箱，具体包括：The control of the fork to obtain the material box on the shelf specifically includes:

控制所述定位板移动至所述容置腔的开口处，并控制所述机械臂组件将货架上的物料箱输送至所述容置腔中；和/或Controlling the positioning plate to move to the opening of the accommodating cavity, and controlling the mechanical arm assembly to transport the material box on the shelf into the accommodating cavity; and/or

所述控制所述货叉释放其中的物料箱以在所述码垛位堆叠成垛具体包括：The controlling the forks to release the material boxes therein to be stacked at the palletizing position specifically includes:

控制所述定位板移动至所述容置腔的开口外侧，以使所述容置腔中的物料箱释放至所述码垛位上进行堆叠。Controlling the positioning plate to move to the outside of the opening of the accommodating cavity, so that the material boxes in the accommodating cavity are released to the palletizing position for stacking.
根据权利要求20或21所述的物料箱转运方法，其特征在于，所述控制所述货叉将所述码垛位堆叠的物料箱移动至预设位置，具体包括：The material box transfer method according to claim 20 or 21, wherein the controlling the fork to move the material boxes stacked at the palletizing position to a preset position specifically includes:

控制所述货叉获取所述码垛位堆垛的物料箱；controlling the pallet fork to obtain the material boxes stacked at the palletizing position;

控制所述第一移动机构带动所述物料箱移动至货架；controlling the first moving mechanism to drive the material box to move to the shelf;

控制所述货叉释放其中的物料箱至货架。Control the pallet fork to release the material box therein to the shelf.
根据权利要求23所述的物料箱转运方法，其特征在于，所述货叉包括货叉本体，所述货叉本体内形成有下方开口的容置腔，所述开口的边缘处设有可移动的定位板，以对所述容置腔中的物料箱进行释放或锁定；The material box transfer method according to claim 23, wherein the fork includes a fork body, and an accommodating cavity with a lower opening is formed in the fork body, and a movable a positioning plate for releasing or locking the material box in the accommodating chamber;

所述控制所述货叉获取所述码垛位堆垛的物料箱，具体包括：The controlling the forks to obtain the material boxes stacked at the palletizing position specifically includes:

控制所述第一移动机构带动所述货叉沿所述第一水平方向和所述竖直方向移动至所述码垛位堆叠的物料箱上方；Controlling the first moving mechanism to drive the fork to move along the first horizontal direction and the vertical direction to above the material boxes stacked at the palletizing position;

控制所述第一移动机构带动所述货叉沿竖直方向移动至所述定位板与作为拿取目标的所述物料箱的底部齐平；Controlling the first moving mechanism to drive the fork to move vertically until the positioning plate is flush with the bottom of the material box as the pick-up target;

控制所述定位板移动至所述容置腔的开口处，并支撑在码垛位的物料箱的下方；和/或Control the positioning plate to move to the opening of the accommodating cavity, and support it under the material box of the palletizing position; and/or

所述控制所述货叉释放其中的物料箱至货架，具体包括：The controlling the fork to release the material box therein to the shelf specifically includes:

控制所述定位板移动至所述容置腔的开口外侧，以使所述容置腔中的物料箱释放至货架。Controlling the positioning plate to move to the outside of the opening of the accommodating cavity, so that the material box in the accommodating cavity is released to the shelf.
根据权利要求19-22任一项所述的物料箱转运方法，其特征在于，所述搬运机构包括支撑架以及抓取臂组件，所述抓取臂组件可相对于所述支撑架沿竖直方向升降，以带动物料箱进出所述支撑架；The material box transfer method according to any one of claims 19-22, wherein the transport mechanism includes a support frame and a grabbing arm assembly, and the grabbing arm assembly can move vertically relative to the support frame. Direction lifting to drive the material box into and out of the support frame;

所述控制所述搬运机构将所述码垛位堆叠的物料箱移动至预设位置，具体包括：The control of the handling mechanism to move the material boxes stacked at the palletizing position to a preset position specifically includes:

控制所述抓取臂组件将所述码垛位堆叠的物料箱抓取至所述支撑架中；Controlling the grabbing arm assembly to grab the material boxes stacked at the palletizing position into the support frame;

控制所述搬运机构移动至所述预设位置，并控制所述抓取臂组件释放所述支撑架中的物料箱以进行卸垛。Control the transfer mechanism to move to the preset position, and control the grabbing arm assembly to release the material box in the support frame for destacking.
根据权利要求25所述的物料箱转运方法，其特征在于，所述搬运机器人还包括设置在移动底盘上的立柱以及设于所述立柱上的第二移动机构，所述第二移动机构用于带动所述搬运机构沿第二水平方向，其中所述第二水平方向朝向所述码垛位；The material box transfer method according to claim 25, characterized in that, the handling robot further comprises a column arranged on the mobile chassis and a second moving mechanism arranged on the column, and the second moving mechanism is used for driving the conveying mechanism along a second horizontal direction, wherein the second horizontal direction faces the palletizing position;

所述控制所述搬运机构移动至所述预设位置，具体包括：The controlling the moving of the transport mechanism to the preset position specifically includes:

控制所述第二移动机构带动所述搬运机构沿所述第二水平方向移动，直至所述搬运机构移动至所述预设位置。The second moving mechanism is controlled to drive the conveying mechanism to move along the second horizontal direction until the conveying mechanism moves to the preset position.
根据权利要求25所述的物料箱转运方法，其特征在于，所述预设位置包括间隔设置的第三预设位置和第四预设位置；The material box transfer method according to claim 25, wherein the preset position includes a third preset position and a fourth preset position arranged at intervals;

控制所述搬运机构移动至所述预设位置，并控制所述抓取臂组件释放所述支撑架中的物料箱以进行卸垛，具体包括：Controlling the transfer mechanism to move to the preset position, and controlling the grabbing arm assembly to release the material box in the support frame for destacking, specifically includes:

控制所述搬运机构移动至所述第三预设位置上方，并控制所述抓取臂组件释放所述支撑架中的物料箱至所述第三预设位置；controlling the transport mechanism to move above the third preset position, and controlling the grabbing arm assembly to release the material box in the support frame to the third preset position;

控制所述抓取臂组件将所述第三预设位置堆叠的部分物料箱抓取至所述支撑架中，将所述搬运机构移动至所述第四预设位置上方，并控制所述抓取臂组件释放所述支撑架中的所述物料箱至所述第四预设位置。controlling the grabbing arm assembly to grab part of the material boxes stacked at the third preset position into the support frame, move the handling mechanism above the fourth preset position, and control the grabbing The arm fetching assembly releases the material box in the support frame to the fourth preset position.
根据权利要求19-22任一项所述的物料箱转运方法，其特征在于，The material box transfer method according to any one of claims 19-22, characterized in that,

所述搬运机构包括支撑架以及抓取臂组件，所述抓取臂组件可相对于所述支撑架沿竖直方向升降，以带动物料箱进出所述支撑架；The handling mechanism includes a support frame and a grabbing arm assembly, and the grabbing arm assembly can be vertically lifted relative to the support frame to drive the material box into and out of the support frame;

所述控制所述搬运机构将所述码垛位堆叠的物料箱移动至预设位置，具体包括：The control of the handling mechanism to move the material boxes stacked at the palletizing position to a preset position specifically includes:

控制所述抓取臂组件将所述码垛位堆叠的物料箱抓取至所述支撑架中；Controlling the grabbing arm assembly to grab the material boxes stacked at the palletizing position into the support frame;

控制所述支撑架沿所述竖直方向抬升；controlling the support frame to lift along the vertical direction;

控制所述货叉将货架上的物料箱移动至所述搬运机器人上的码垛位，并在所述码垛位堆叠成垛；Controlling the fork to move the material boxes on the shelf to the stacking position on the handling robot, and stacking them into stacks at the stacking position;

控制所述搬运机构移动至所述预设位置，并控制所述抓取臂组件释放所述支撑架中的物料箱以进行卸垛；controlling the handling mechanism to move to the preset position, and controlling the grabbing arm assembly to release the material box in the support frame for destacking;

控制所述抓取臂组件将所述码垛位堆叠的物料箱抓取至所述支撑架中，将所述搬运机构移动至所述预设位置，并控制所述抓取臂组件释放所述支撑架中的物料箱以进行卸垛。Controlling the grabbing arm assembly to grab the material boxes stacked at the palletizing position into the support frame, moving the handling mechanism to the preset position, and controlling the grabbing arm assembly to release the Boxes of material in support racks for depalletizing.
一种基于搬运机器人的物料箱转运方法，其特征在于，所述搬运机器人包括设***垛位的移动底盘、以及设置在所述移动底盘上的货叉和搬运机构，所述物料箱转运方法包括：A material box transfer method based on a handling robot, characterized in that the handling robot includes a mobile chassis provided with a stacking position, and a fork and a handling mechanism arranged on the mobile chassis, the material box transfer method include:

控制所述搬运机构将预设位置上的物料箱抓取至所述码垛位；controlling the handling mechanism to grab the material box at the preset position to the stacking position;

控制所述货叉将所述码垛位上堆叠的物料箱移动至货架上，或者控制所述搬运机构将所述码垛位上堆叠的物料箱移动至第五预设位置。Controlling the fork to move the material boxes stacked on the stacking position to the shelf, or controlling the transport mechanism to move the material boxes stacked on the stacking position to a fifth preset position.
根据权利要求29所述的物料箱转运方法，其特征在于，所述搬运机构包括支撑架以及抓取臂组件，所述抓取臂组件可相对于所述支撑架沿竖直方向升降，以带动物料箱进出所述支撑架；The material box transfer method according to claim 29, wherein the transport mechanism includes a support frame and a grabbing arm assembly, and the grabbing arm assembly can be vertically lifted relative to the support frame to drive The material box enters and exits the support frame;

所述控制所述搬运机构将预设位置上的物料箱抓取至所述码垛位，具体包括：The control of the handling mechanism to grab the material box at the preset position to the stacking position specifically includes:

控制所述抓取臂组件将所述预设位置上堆叠的物料箱抓取至所述支撑架中；controlling the grabbing arm assembly to grab the material boxes stacked at the preset position into the support frame;

控制所述搬运机构移动至码垛位，并控制所述抓取臂组件将所述支撑架中的物料箱释放至所述码垛位。Controlling the transfer mechanism to move to the stacking position, and controlling the grabbing arm assembly to release the material box in the support frame to the stacking position.
根据权利要求30所述的物料箱转运方法，其特征在于，所述搬运机器人还包括设置在所述移动底盘上的立柱以及设于所述立柱上的第二移动机构，所述第二移动机构用于带动所述搬运机构沿第二水平方向移动，其中所述第二水平方向朝向所述码垛位；The material box transfer method according to claim 30, wherein the handling robot further comprises a column arranged on the mobile chassis and a second moving mechanism arranged on the column, and the second moving mechanism It is used to drive the transport mechanism to move along the second horizontal direction, wherein the second horizontal direction faces the palletizing position;

所述控制控制所述搬运机构移动至码垛位，具体包括：The control controls the transfer mechanism to move to the stacking position, specifically including:

控制所述第二移动机构带动所述搬运机构沿所述第二水平方向移动，直至所述搬运机构移动至码垛位。The second moving mechanism is controlled to drive the conveying mechanism to move along the second horizontal direction until the conveying mechanism moves to a stacking position.
根据权利要求30所述的物料箱转运方法，其特征在于，所述预设位置包括间隔设置的第三预设位置和第四预设位置；The material box transfer method according to claim 30, wherein the preset position includes a third preset position and a fourth preset position arranged at intervals;

控制所述抓取臂组件将所述预设位置上堆叠的物料箱抓取至所述支撑架中，具体包括：Controlling the grabbing arm assembly to grab the material boxes stacked at the preset position into the support frame, specifically includes:

将搬运机构移动至所述第三预设位置上方，并控制所述抓取臂组件将所述第三预设位置上堆叠的物料箱抓取至所述支撑架；moving the transport mechanism above the third preset position, and controlling the grabbing arm assembly to grab the material boxes stacked at the third preset position to the support frame;

将搬运机构移动至所述第四预设位置上方，并控制所述抓取臂组件将所述支撑架中存放的物料箱放置到所述第四预设位置堆叠的物料箱上方堆叠成垛，并控制所述抓取臂组件将所述第四预设位置处堆叠成垛的物料箱抓取至所述支撑架中。moving the transport mechanism above the fourth preset position, and controlling the grabbing arm assembly to place the material boxes stored in the support frame above the stacked material boxes at the fourth preset position and stack them into stacks, And controlling the grabbing arm assembly to grab the material boxes stacked in stacks at the fourth preset position into the support frame.
根据权利要求30所述的物料箱转运方法，其特征在于，所述搬运机器人还包括设置在所述移动底盘上的立柱以及设于所述立柱上的第二移动机构，所述第二移动机构用于带动所述搬运机构沿第二水平方向或竖直方向移动，其中所述第二水平方向朝向所述码垛位；The material box transfer method according to claim 30, wherein the handling robot further comprises a column arranged on the mobile chassis and a second moving mechanism arranged on the column, and the second moving mechanism It is used to drive the transport mechanism to move along a second horizontal direction or a vertical direction, wherein the second horizontal direction faces the palletizing position;

所述控制所述搬运机构移动至码垛位，并控制所述抓取臂组件将所述支撑架中的物料箱释放至所述码垛位之后还包括：After controlling the handling mechanism to move to the stacking position, and controlling the grabbing arm assembly to release the material box in the support frame to the stacking position, it also includes:

控制所述第二移动机构带动所述搬运机构沿所述第二水平方向移动，直至预设位置；controlling the second moving mechanism to drive the conveying mechanism to move along the second horizontal direction until reaching a preset position;

控制所述抓取臂组件将所述预设位置堆叠的物料箱抓取至所述支撑架中。Controlling the grabbing arm assembly to grab the material boxes stacked at the preset position into the support frame.
根据权利要求33所述的物料箱转运方法，其特征在于，所述支撑架和所述码垛位均具有成垛的物料箱后，所述控制货叉将码垛位上堆叠的物料箱移动至货架上还包括：The material box transfer method according to claim 33, characterized in that, after both the support frame and the stacking position have stacked material boxes, the control fork moves the stacked material boxes on the stacking position To the shelf also includes:

控制所述货叉将所述码垛位上堆叠的物料箱移动至货架上；Controlling the fork to move the material boxes stacked on the stacking position to the shelf;

控制所述抓取臂组件将所述支撑架中的物料箱释放至所述码垛位；controlling the grabbing arm assembly to release the material box in the support frame to the stacking position;

控制所述货叉将所述码垛位上堆叠的物料箱移动至货架上。The pallet forks are controlled to move the material boxes stacked on the palletizing position to the shelves.
根据权利要求29-33中任一项所述的物料箱转运方法，其特征在于，所述搬运机器人还包括设置在所述移动底盘上的立柱以及设于所述立柱上的第一移动机构，所述第一移动机构用于带动所述货叉沿第一水平方向或竖直方向移动，其中所述第一水平方向朝向所述码垛位；The material box transfer method according to any one of claims 29-33, wherein the handling robot further comprises a column arranged on the mobile chassis and a first moving mechanism arranged on the column, The first moving mechanism is used to drive the fork to move in a first horizontal direction or a vertical direction, wherein the first horizontal direction is toward the stacking position;

所述控制所述货叉将所述码垛位上堆叠的物料箱移动至货架上，具体包括：The control of the fork to move the material boxes stacked on the stacking position to the shelf specifically includes:

控制所述货叉获取码垛位上的物料箱；Controlling the fork to obtain the material box on the stacking position;

控制所述第一移动机构带动所述货叉沿所述第一水平方向和所述竖直方向移动，直至所述货叉到达与所述货架对应的位置；controlling the first moving mechanism to drive the fork to move along the first horizontal direction and the vertical direction until the fork reaches a position corresponding to the shelf;

控制所述货叉释放其中的物料箱至所述货架。Controlling the pallet fork to release the material box therein to the shelf.
根据权利要求35所述的物料箱转运方法，其特征在于，所述移动底盘上与码垛位对应的位置设有多个可升降的码垛挡板，各所述码垛挡板围设在所述码垛位成垛物料箱侧面以防倾斜；The material box transfer method according to claim 35, characterized in that, a plurality of liftable palletizing baffles are arranged on the position corresponding to the palletizing position on the mobile chassis, and each of the palletizing baffles is surrounded by a The stacking position is stacked on the side of the material box to prevent tilting;

控制所述货叉获取码垛位上的物料箱之前还包括：Before controlling the pallet fork to obtain the material box on the stacking position, it also includes:

控制各所述码垛挡板下降，以使所述码垛位上作为入库目标的物料箱露出所述码垛挡板。Each of the palletizing baffles is controlled to descend, so that the material box on the palletizing position as the storage target exposes the palletizing baffles.
根据权利要求35所述的物料箱转运方法，其特征在于，所述货叉包括货叉本体和机械臂组件，所述机械臂组件可相对于所述货叉本体伸缩，所述货叉本体内形成有下方开口的容置腔，所述开口的边缘处设有可移动的定位板，以对所述容置腔中的物料箱进行释放或锁定；The material box transfer method according to claim 35, wherein the fork includes a fork body and a mechanical arm assembly, the mechanical arm assembly can be stretched relative to the fork body, and the fork body An accommodating chamber with a lower opening is formed, and a movable positioning plate is provided at the edge of the opening to release or lock the material box in the accommodating chamber;

所述控制所述货叉获取码垛位上的物料箱，具体包括：The control of the fork to obtain the material box on the stacking position specifically includes:

控制所述第一移动组件带动所述货叉移动至与所述码垛位上的目标物料箱对应的位置，控制所述定位板移动至所述容置腔的开口内，并支撑在所述目标物料箱下方；和/或Controlling the first moving assembly to drive the fork to move to a position corresponding to the target material box on the palletizing position, controlling the positioning plate to move into the opening of the accommodating cavity, and supporting it on the below the target material bin; and/or

控制所述货叉释放其中的物料箱至所述货架，具体包括：Controlling the fork to release the material box therein to the shelf, specifically includes:

控制所述定位板移动至所述容置腔的开口内侧，并控制所述机械臂组件将所述容置腔中的物料箱输送至所述货架上。The positioning plate is controlled to move to the inside of the opening of the accommodation cavity, and the mechanical arm assembly is controlled to transport the material box in the accommodation cavity to the shelf.
根据权利要求30-33中任一项所述的物料箱转运方法，其特征在于，所述控制所述搬运机构将所述码垛位上堆叠的物料箱移动至第五预设位置，具体包括：The material box transfer method according to any one of claims 30-33, wherein the controlling the transport mechanism to move the material boxes stacked on the stacking position to a fifth preset position specifically includes :

控制所述抓取臂组件将所述码垛位上堆叠的物料箱抓取至所述支撑架中；controlling the grabbing arm assembly to grab the material boxes stacked on the palletizing position into the support frame;

控制所述搬运机构移动至所述第五预设位置，并控制所述抓取臂组件将所述支撑架中的物料箱释放至所述第五预设位置。Controlling the transport mechanism to move to the fifth preset position, and controlling the grabbing arm assembly to release the material box in the support frame to the fifth preset position.