Robot for carrying packing boxesTechnical Field
The utility model relates to a logistics storage field especially relates to a robot of transport packing box.
Background
The transfer robot is a device applied to the field of automatic material transfer, has the advantages of high automation degree, flexible application, safety, reliability, high efficiency, convenient maintenance and the like, is widely applied to logistics transportation places such as automobile manufacturing industry, food industry, tobacco industry, engineering machinery industry and the like, and can be built in various public service places such as airports, hospitals and office buildings. These advantages also make the transfer robot a critical device in modern logistics systems, one of the important members of the "robot-to-robot" project.
Since KIVA corporation proposed the concept of "shelf-to-person" and achieved great success, its structure and method are described in detail in US patent US7850413B 2; therefore, many unmanned transfer robots with the concept of "rack-to-person" are developed in China, and good effects are achieved. However, the KIVA robot needs to carry the whole goods shelf to a goods picking area for picking one piece of goods, so that great resource waste is caused.
Therefore, in order to overcome the defect that the KIVA robot can only take one piece of goods in a single pass, the technical personnel in the field are dedicated to developing a robot for transporting the packing boxes, and the single pass can transport various kinds of goods, so that the transporting efficiency of the transporting robot is improved.
SUMMERY OF THE UTILITY MODEL
In view of the above-mentioned defects in the prior art, the technical problem to be solved in the present invention is how to improve the carrying efficiency of the transfer robot. Because the container is carried, the volume and the weight are both far smaller than the goods shelf, so a plurality of containers can be carried in one trip. A single container stores at least one type of goods, so that multiple types of goods can be carried in a single pass.
In order to achieve the purpose, the utility model provides a robot for carrying packing boxes, which comprises a driving unit, a packing box storage unit and a packing box transmission unit, wherein the driving unit bears the joint movement of the packing box storage unit and the packing box transmission unit; the container storage unit comprises one or more container storage spaces; the container transfer unit is configured to transfer the containers between the container storage space and the racks.
Further, the driving unit includes a chassis frame and a driving wheel configured to drive the robot to move or stop.
Further, the motions include forward, reverse, turning, and pivot rotation.
Further, the number of the driving wheels is two or more.
Further, the container storage unit comprises a support rail, a pallet and a reinforcing rib, wherein the support rail, the pallet and the reinforcing rib are connected with each other to form one or more container storage spaces.
Further, the tray is configured to partition the storage space.
Further, the container conveying unit comprises a lifting device, a rotating device and a telescopic device, wherein one end of the lifting device is connected with the supporting guide rail and can slide up and down along the vertical direction of the supporting guide rail, and the other end of the lifting device is connected with the telescopic device through the rotating device.
Further, the telescoping devices are tines.
Further, the container storage space and the container have machine-readable codes, and the container transmission unit further comprises a positioning sensor and a pose sensor.
Further, the machine-readable code is a bar code or a two-dimensional code or a character string or an RFID.
Further, the positioning sensor is configured to detect a position of the cargo box, the positioning sensor being a visual sensor or a radio frequency sensor.
Further, the attitude sensor is configured to detect an attitude of the container on the container transport unit, and the attitude sensor is a visual sensor or a radio frequency sensor.
Furthermore, the supporting plate is a whole-surface flat plate or is provided with a hollow part or a partition part.
The robot of transport packing box to packing box storage unit's flow as follows: the carrying robot moves the container transmission unit to a designated position through the lifting device, simultaneously rotates the telescopic fork teeth to a designated angle through the rotating device, extends the telescopic fork teeth to the lower part of a container to be carried, lifts the container through the lifting device, retracts the container through the telescopic fork teeth, rotates the telescopic fork teeth and the container to another designated angle through the rotating device, moves the container to the upper part of the supporting plate through the telescopic fork teeth, lowers the container through the lifting device, places the container on the supporting plate, and retracts the telescopic fork teeth. Therefore, the robot of transport packing box one time can transport multiple goods, work efficiency is high, the energy consumption is low.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings, so as to fully understand the objects, the features and the effects of the present invention.
Drawings
Fig. 1 is a perspective view of a transfer robot according to a preferred embodiment of the present invention;
fig. 2 is a perspective view of a container transfer unit according to a preferred embodiment of the present invention;
fig. 3 is a perspective view of a transfer robot according to another preferred embodiment of the present invention;
wherein,
1. a drive unit; 11. a chassis frame; 12. a drive wheel;
2. a container storage unit; 21. supporting the guide rail; 22. a support plate;
3. a container transfer unit; 31. a mounting frame; 32. a lifting device; 33. a telescopic tine; 34. a rotating device; 35. a pose sensor; 36. a positioning sensor;
4. a cargo box.
Detailed Description
Two preferred embodiments of the present invention will be described below with reference to the accompanying drawings for clarity and understanding of the technical contents. The present invention may be embodied in many different forms of embodiments, and the scope of the invention is not limited to the embodiments described herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
When certain components are described as being "on" another component, the components can be directly on the other component; there may also be an intermediate component disposed on the intermediate component and the intermediate component disposed on another component. When a component is described as being "mounted to" or "connected to" another component, both may be understood as being directly "mounted to" or "connected to" the other component, or one component may be indirectly "mounted to" or "connected to" the other component through an intermediate component.
Example 1:
as shown in fig. 1 and 2, a robot for handling a container includes a driving unit 1, a container storage unit 2, and a container transfer unit 3.
(1) The driving unit 1 is used for driving the container storage unit 2 and the container transmission unit 3 which are arranged on the driving unit to jointly move on the ground;
(2) a container storage unit 2 is installed above the driving unit 1 for storing a container 4;
(3) the container transfer unit 3 is installed at one side of the container storage unit 2 for transferring the containers 4 into or out of the container storage unit 2 to a designated position.
The driving unit 1 includes a chassis frame 11 and two driving wheels 12, wherein the two driving wheels 12 are symmetrically installed at two sides of the chassis frame 11. By the rotation of the driving wheel 12, the robot can advance, retreat, turn, and rotate in place.
The container storage unit 2 includes support rails 21, pallets 22, and reinforcing ribs 23. In which the support rails 21 are located above the drive unit 1 and are connected to each other by means of pallets 22 and reinforcing bars 23, and the pallets 22 are used to stack containers.
The container storage unit 2 can store a plurality of containers.
The pallet 22 is interrupted in the middle.
The container transfer unit 3 comprises a frame 31, a lifting device 32, telescopic tines 33, and a rotating device 34. One end of the lifting device 31 is connected with the support rail 21 and can slide up and down along the vertical direction of the support rail 21, and the other end is connected with the telescopic fork teeth 33 through the rotating device 34.
The telescopic tines 33 are rotatable along the z-axis by a rotation means 34.
The telescopic fork teeth 33 can be extended or retracted along the x direction, and if the rotating device 34 drives the telescopic fork teeth 33 to rotate, the telescopic fork teeth 33 also rotate along with the extending direction.
The container transfer unit 3 further comprises a pose sensor 35 for identifying the pose of the container above the telescopic tines 33, and a position sensor 36 for detecting the position of the container.
The pose sensor 35 may be a vision sensor or other sensors capable of acquiring pose information.
The positioning sensor 36 may be a vision sensor or other sensors capable of acquiring pose information.
A process of the robot for handling the containers to handle the containers 4 to the container storage unit 2 is as follows: the robot moves the container conveying unit 3 to a designated position through the lifting device 32, simultaneously rotates the telescopic fork teeth 33 to a designated angle through the rotating device 34, extends the telescopic fork teeth 33 to the lower side of a container 4 to be carried, lifts the container 4 through the lifting device 32, retracts the container 4 through the telescopic fork teeth 33, rotates the telescopic fork teeth 33 and the container 4 to another designated angle through the rotating device 34, moves the container 4 to the upper side of the supporting plate 22 through the telescopic fork teeth 33, lowers the container 4 through the lifting device 32, places the container 4 on the supporting plate 22, and finally retracts the telescopic fork teeth 33.
Example 2:
as shown in fig. 2 and 3, a robot for handling a container includes a driving unit 1, a container storage unit 2, and a container transfer unit 3.
(1) The driving unit 1 is used for driving the container storage unit 2 and the container transmission unit 3 which are arranged on the driving unit to jointly move on the ground;
(2) a container storage unit 2 is installed above the driving unit 1 for storing a container 4;
(3) the container transfer unit 3 is installed at one side of the container storage unit 2 for transferring the containers 4 into or out of the container storage unit 2 to a designated position.
The driving unit 1 includes a chassis frame 11 and two driving wheels 12, wherein the two driving wheels 12 are symmetrically installed at two sides of the chassis frame 11. By the rotation of the driving wheel 12, the robot can advance, retreat, turn, and rotate in place.
The container storage unit 2 includes support rails 21, pallets 22, and reinforcing ribs 23. In which the support rails 21 are located above the drive unit 1 and are connected to each other by means of pallets 22 and reinforcing bars 23, and the pallets 22 are used to stack containers.
The container storage unit 2 can store a plurality of containers.
The support plate 22 is a flat plate connected to the support rails 21 at both sides.
The container transfer unit 3 comprises a frame 31, a lifting device 32, telescopic tines 33, and a rotating device 34. One end of the lifting device 31 is connected with the support rail 21 and can slide up and down along the vertical direction of the support rail 21, and the other end is connected with the telescopic fork teeth 33 through the rotating device 34.
The telescopic tines 33 are rotatable along the z-axis by a rotation means 34.
The telescopic fork teeth 33 can extend or retract along the x direction, and if the rotating device 34 drives the telescopic fork teeth 33 to rotate, the telescopic fork teeth 33 also rotate along with the extending direction.
The container transfer unit 3 further comprises a pose sensor 35 for identifying the pose of the container above the telescopic tines 33, and a position sensor 36 for detecting the position of the container.
The pose sensor 35 may be a vision sensor or other sensors capable of acquiring pose information, such as a radio frequency sensor.
The positioning sensor 36 may be a vision sensor or other sensors capable of acquiring pose information, such as a radio frequency sensor.
A process of the robot for handling the containers to handle the containers 4 to the container storage unit 2 is as follows: the robot moves the container conveying unit 3 to a designated position through the lifting device 32, simultaneously rotates the telescopic fork teeth 33 to a designated angle through the rotating device 34, extends the telescopic fork teeth 33 to the lower side of a container 4 to be carried, lifts the container 4 through the lifting device 32, retracts the container 4 through the telescopic fork teeth 33, rotates the telescopic fork teeth 33 and the container 4 to another designated angle through the rotating device 34, moves the container 4 to the upper side of the supporting plate 22 through the telescopic fork teeth 33, lowers the container 4 through the lifting device 32, places the container 4 on the supporting plate 22, and finally retracts the telescopic fork teeth 33.
The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the teachings of this invention without undue experimentation. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection defined by the claims.