CN-115465589-B - Transfer robot, transfer system, transfer method, and server

Abstract

The application provides a transfer robot, a transfer system, a transfer method and a server. The carrying system comprises a carrying robot and a control device, wherein the carrying robot is used for carrying a plurality of cargoes at one time, the carrying robot comprises a walking robot body and a goods shelf, the goods shelf comprises a vertically arranged frame and a plurality of goods places arranged on the frame, a first objective table of each goods place is in a hollowed-out design, a docking device is used for docking the cargoes from the carrying robot or placing the cargoes on the carrying robot, the docking device comprises a lifting mechanism and a plurality of second objective tables arranged on the lifting mechanism, and the control device is used for controlling the carrying robot to dock with the docking device and controlling the plurality of second objective tables of the docking device to ascend or descend through the corresponding first objective tables and transfer the cargoes between the plurality of second objective tables and the plurality of first objective tables. Thus, the cargo handling time can be shortened and the handling efficiency can be improved.

Inventors

• XU DAN

Assignees

• 北京旷视机器人技术有限公司

Dates

Publication Date

20260508

Application Date

20220720

Priority Date

20220112

Claims (20)

1. 1.A handling system, comprising: The carrying robot is used for carrying a plurality of cargoes at one time and comprises a walking robot body and a goods shelf, wherein the goods shelf comprises a frame which is vertically arranged and a plurality of goods places which are arranged on the frame, the goods places are arranged in the vertical direction, and a first objective table of each goods place is in a hollowed-out design; A docking apparatus for docking or placing goods onto or from the transfer robot, the docking apparatus comprising a lifting mechanism and a plurality of second stages provided on the lifting mechanism, wherein the first stage is configured to be adapted to the second stage such that the second stage of the docking apparatus can pass through the first stage in a docked state of the transfer robot and the docking apparatus; The control device is used for controlling the transfer robot to dock with the docking equipment, and controlling a plurality of first object tables of a plurality of goods positions of the transfer robot to dock with a plurality of second object tables of the docking equipment one by one after the docking is finished; The space between a plurality of second objective tables can be adjusted, the second objective tables include a plurality of switching forks that follow the spaced apart setting of horizontal direction, and is a plurality of the space between the switching fork can be adjusted.
2. 2. The handling system of claim 1, wherein the plurality of second stages are arranged in a vertical direction, one end of each second stage being connected to the lifting mechanism and the other end being suspended.
3. 3. The handling system of claim 1 or 2, wherein the first stage comprises a plurality of carrier forks spaced apart in a horizontal direction, The transfer robot and the docking equipment are in a docking state, the plurality of object carrying forks of the first object stage and the plurality of transfer forks of the corresponding second object stage are staggered in the horizontal direction, and the plurality of transfer forks can pass through interval gaps among the plurality of object carrying forks.
4. 4. The handling system according to claim 1 or 2, wherein the control device is further configured to control the handling robot to leave the docking position after controlling the plurality of second stages to rise by a predetermined height to lift the cargo through the corresponding first stages, respectively, and transferring the cargo on the plurality of first stages to the plurality of second stages; Or alternatively The control device is also used for controlling the transfer robot to leave the docking position after controlling the plurality of second object tables to descend and respectively pass through the corresponding first object tables and placing cargoes on the plurality of second object tables on the plurality of first object tables.
5. 5. The handling system of claim 4, wherein the lift mechanism comprises a closed loop drive member comprising a first side extending in a vertical direction, a first vertical section being provided on the first side, The plurality of second object stages are slidably connected to the transmission member, the lifting mechanism is used for driving the plurality of second object stages to circularly move along the transmission member, and the plurality of second object stages are used for being in butt joint with the transfer robot positioned at the butt joint position when being positioned on the first side.
6. 6. The handling system of claim 5, wherein the transmission further comprises a second side extending in a vertical direction and disposed side-by-side with the first side, the second side having a second vertical section disposed thereon, the transmission further comprising a first curved section connected to one end of the first and second vertical sections, and a second curved section connected to the other end of the first and second vertical sections, The handling system further comprises an inbound conveyor line located at the second vertical section, the inbound conveyor line comprises a plurality of conveyor rollers, the axes of the plurality of conveyor rollers are parallel to the plurality of transfer forks of the second object stage of the docking device, and the intervals between the plurality of conveyor rollers are matched with the plurality of transfer forks of each second object stage, so that the plurality of second object stages on the second vertical section can pass through the plurality of conveyor rollers.
7. 7. The handling system of claim 6, wherein one end of the conveyor roller is rotatably coupled to the carriage of the inbound conveyor line and the other end is suspended.
8. 8. The handling system of claim 7, further comprising an outbound conveyor line engaged with the inbound conveyor line.
9. 9. The handling system of claim 6, wherein the drive member is located in a vertical plane, and the inbound conveyor line and docking location are located on the same side of the drive member.
10. 10. A method of handling, comprising: controlling a carrying robot to move to a butt joint position, wherein a goods shelf is arranged on the carrying robot, and a plurality of goods spaces are arranged on the goods shelf; controlling the transfer robot to dock with the docking equipment, wherein after docking is completed, a plurality of first object tables of a plurality of goods positions of the transfer robot dock with a plurality of second object tables of the docking equipment one by one; Controlling a plurality of second object tables of the docking apparatus to ascend or descend, and transferring goods between the docking apparatus and the transfer robot; Wherein, under the butt joint state, the second objective table can pass first objective table, a plurality of interval between the second objective table can be adjusted, the second objective table includes a plurality of switching forks that set up along the horizontal direction is spaced apart, a plurality of interval between the switching fork can be adjusted.
11. 11. The transfer method according to claim 10, wherein the transfer robot has a plurality of first stages on which the cargo is placed, and after the transfer robot and the docking apparatus are docked, the plurality of second stages of the docking apparatus are controlled to rise to raise the cargo through the respective first stages, and the cargo on the plurality of first stages is transferred to the plurality of second stages; Or alternatively And the second object tables of the docking equipment are used for placing cargoes, and after the docking of the transfer robot and the docking equipment is completed, the second object tables are controlled to descend, and the second object tables respectively penetrate through the corresponding first object tables to transfer cargoes on the second object tables to the first object tables.
12. 12. The method of claim 11, wherein the second plurality of stages of the docking apparatus are disposed on a transmission member in a closed loop, a first side of the docking apparatus interfaces with the transfer robot, a second side of the docking apparatus interfaces with a conveyor, the first side and the second side are on opposite sides of the transmission member, The method further comprises the steps of: After the docking device receives the cargoes from the transfer robot, controlling a transmission member of the docking device to rotate along a first direction so as to rotate a plurality of second object stages carrying the cargoes from the first side to the second side through the upper part of the transmission member, controlling the transmission member of the docking device to continue rotating, enabling the second object stages to penetrate downwards through the conveyor one by one to respectively place the cargoes on the conveyor, and controlling the conveyor to convey the received cargoes away from the docking device; Or alternatively And controlling the conveyor to convey cargoes to the second side of the berthing equipment one by one, and controlling the transmission piece of the berthing equipment to rotate along a second direction, so that a plurality of second objective tables, which are positioned below the conveyor, on the second side of the berthing equipment ascend through the conveyor one by one, and respectively lift the cargoes off the conveyor.
13. 13. The method of claim 12, wherein the rotational speed of the transfer member of the docking apparatus is controlled to match the speed of the conveyor to transfer the goods one by one between the docking apparatus and the conveyor.
14. 14. The transfer method according to any one of claims 10 to 13, wherein the transfer robot has a load placed on a plurality of first stages, the controlling the transfer robot to dock with the docking apparatus, comprising: the heights of the plurality of second object stages which are in butt joint with the carrying robot on the docking equipment are adjusted so that the heights of the plurality of second object stages are slightly lower than the heights of the corresponding first object stages; And controlling the transfer robot to move to dock with the docking equipment, wherein after docking is completed, the plurality of second object stages are respectively positioned below the corresponding first object stages.
15. 15. The method of any one of claims 10 to 13, wherein the cargo is placed on a plurality of second stages of the docking apparatus, the controlling the transfer robot to dock with the docking apparatus, comprising: The heights of the plurality of second object stages which are in butt joint with the carrying robot on the docking equipment are adjusted so that the heights of the plurality of second object stages are slightly higher than the heights of the corresponding first object stages; and controlling the transfer robot to move to dock with the docking equipment, wherein after docking is completed, the plurality of second object stages are respectively positioned above the corresponding first object stages.
16. 16. The transfer robot is characterized by comprising a walking robot body and a goods shelf, wherein the goods shelf is arranged at the top end of the walking robot body; The goods shelves include the frame of vertical setting and set up a plurality of goods shelves on the frame, a plurality of goods shelves are arranged along vertical direction, and the first objective table fretwork design of every goods shelves, just the first objective table of every goods shelves is constructed and is being held in the palm with the second objective table looks adaptation of berth equipment, makes transfer robot with connect berth equipment under the butt joint state, the second objective table of berth equipment can pass the first objective table of goods shelves, wherein, a plurality of interval between the second objective table can be adjusted, the second objective table includes a plurality of switching forks that set up along the horizontal direction interval, a plurality of interval between the switching fork can be adjusted.
17. 17. The transfer robot of claim 16, wherein the first stage of each cargo space comprises a plurality of cargo forks arranged at intervals in a horizontal direction, one end of the plurality of cargo forks being connected to the frame and the other end thereof being suspended; the spacing between the plurality of load forks is configured for adaptation to an adapter fork of a second stage of the docking apparatus.
18. 18. The transfer robot of claim 17, wherein the transfer robot and the docking apparatus are in a docked state, the plurality of carrier forks of the first stage are staggered in a horizontal direction with the plurality of transfer forks of the corresponding second stage, the plurality of transfer forks being capable of passing through the gap between the plurality of carrier forks.
19. 19. The transfer robot of any of claims 16-18, wherein the plurality of cargo spaces each extend from the frame toward the first side.
20. 20. The transfer robot of claim 17, wherein the plurality of load forks of each cargo space are equally spaced.

Description

Transfer robot, transfer system, transfer method, and server Technical Field The present application relates generally to the field of logistics transportation technology, and in particular, to a transfer robot, a transfer system, a transfer method, and a server. Background At present, with the rapid development of the logistics industry, higher requirements are put on the cargo handling efficiency. For example, in the process of operation, higher requirements are put on various links such as transportation, warehouse entry, storage, picking, packaging, sorting, warehouse exit, inventory, distribution and the like. In the warehouse operation, the goods are generally transported by a transport robot such as an AGV, for example, the goods are transported from a shelf to a designated position such as a sorting station by the transport robot, or the goods are transported from a buffer shelf to a storage shelf by the transport robot. Therefore, in the warehouse operation with heavy transportation tasks, how to improve the transportation efficiency of the transportation robot is one of the technical problems to be solved. Disclosure of Invention In order to solve the above-mentioned problems occurring in the prior art, according to one aspect of the present application, a handling system is provided. The transfer system comprises a transfer robot, a transfer device and a control device, wherein the transfer robot is used for transferring a plurality of cargoes at one time, the transfer robot comprises a walking robot body and a goods shelf, the goods shelf comprises a frame which is arranged vertically and a plurality of goods places arranged on the frame, the goods shelves comprise a plurality of goods places arranged along the vertical direction, a first object stage hollowed-out design of each goods place, the transfer device is used for transferring the cargoes from the transfer robot or placing the cargoes on the transfer robot, the transfer device comprises a lifting mechanism and a plurality of second object stages arranged on the lifting mechanism, the first object stage is matched with the second object stages, the second object stages of the transfer device can penetrate through the first object stages in a butt joint state of the transfer robot and the transfer device, the control device is used for controlling the transfer robot to be in butt joint with the transfer device, the first object stages of the transfer device are in butt joint state, and the second object stages of the transfer device are controlled to be lifted or lowered through the corresponding first object stages. The plurality of second objective tables are arranged in the vertical direction, and one end of each second objective table is connected to the lifting mechanism and the other end of each second objective table is arranged in a suspended mode. The first stage includes a plurality of object carrying forks disposed at intervals along a horizontal direction, the second stage includes a plurality of transfer forks disposed at intervals along the horizontal direction, the transfer robot and the docking device are in a docked state, the plurality of object carrying forks of the first stage and the corresponding plurality of transfer forks of the second stage are staggered in the horizontal direction, and the plurality of transfer forks can pass through interval gaps between the plurality of object carrying forks. The control device is also used for controlling the transfer robot to leave the docking position after controlling the plurality of second object tables to rise to the preset height to respectively lift the goods through the corresponding first object tables and transferring the goods on the plurality of first object tables to the plurality of second object tables The control device is also used for controlling the transfer robot to leave the butt joint position after controlling the plurality of second object tables to descend and pass through the corresponding first object tables respectively and placing cargoes on the plurality of second object tables on the plurality of first object tables. The lifting mechanism comprises a transmission member in the shape of a closed ring, the transmission member comprising a first side extending in a vertical direction, a first vertical section being provided on the first side, a plurality of second object tables being slidably connected to the transmission member, the lifting mechanism being for driving the plurality of second object tables to move cyclically along the transmission member, the plurality of second object tables being for docking with a transfer robot located at a docking position when at the first side. The transmission member further comprises a second side extending in a vertical direction and arranged side by side with the first side, a second vertical section is arranged on the second side, the transmission member further comprises a first bending section connect