Handling robot and method for retrieving inventory item based on handling robot

1. A method for retrieving an inventory item based on a handling robot, wherein:

the handling robot comprises:

a movable chassis ( 10 ), moving along a travelling direction;

a storage frame ( 20 ), installed on the movable chassis ( 10 ), and provided with a plurality of storage units ( 23 ) distributed in a vertical direction, each storage unit ( 23 ) being configured to place an inventory item;

a material handling device ( 30 ) for transporting the inventory item between a warehouse shelf and any one of the storage units ( 23 ), wherein the material handling device ( 30 ) has a preset horizontal reference line (S 6 ), and comprises a telescopic arm ( 36 ) and a pusher assembly ( 37 ), the pusher assembly ( 37 ) comprises a manipulator ( 371 ) that is installed on the telescopic arm ( 36 ), and the telescopic arm ( 36 ), the pusher assembly ( 37 ) and the manipulator ( 371 ) move along the reference line (S 6 ); and

a lifting assembly ( 40 ) for driving the material handling device ( 30 ) to move in the vertical direction; and

a detection device for detecting position information of the material handling device ( 30 ) relative to the warehouse shelf, the storage units ( 23 ) and the inventory item by determining a positional relationship between the warehouse shelf, the storage units ( 23 ) and the inventory item and the reference line (S 6 );

the material handling device ( 30 ) further comprises:

a temporary storage unit ( 35 ) provided with the telescopic arm ( 36 ) and the detection device;

a fork ( 32 ), comprising the telescopic arm ( 36 ), the temporary storage unit ( 35 ), the detection device, and the manipulator ( 371 );

a support bracket ( 31 ), installed on the lifting assembly ( 40 ); and

a rotation assembly ( 33 ), installed between the fork ( 32 ) and the support bracket ( 31 );

the method for retrieving an inventory item comprises:

when a preset position of an inventory item on the warehouse shelf is on the reference line (S 6 ), driving, by the telescopic arm ( 36 ), the manipulator ( 371 ) to extend to the preset position along the reference line (S 6 );

loading, by the manipulator ( 371 ) that is remained on a horizontal plane where the reference line (S 6 ) is located, the inventory item; and

when one storage unit ( 23 ) is on the reference line (S 6 ), driving, by the telescopic arm ( 36 ), the manipulator ( 371 ) loaded with the inventory item to move to the storage frame ( 20 ) along the reference line (S 6 );

unloading, by the manipulator ( 371 ) that is remained on the horizontal plane where the reference line (S 6 ) is located, the inventory item to the storage frame ( 20 );

the method for retrieving an inventory item further comprises:

causing the movable chassis ( 10 ) to move in the travelling direction according to the position information, driving, by the lifting assembly ( 40 ), the material handling device ( 30 ) to move in the vertical direction according to the position information, so that the preset position of the inventory item is located on the reference line (S 6 ); and

after the manipulator ( 371 ) is loaded with the inventory item, driving, by the lifting assembly ( 40 ), the material handling device ( 30 ) to move along the vertical direction according to the position information, so that one storage unit ( 23 ) is located on the reference line (S 6 );

the position information of the material handling device ( 30 ) relative to the inventory item comprises a first position offset between the inventory item and the reference line (S 6 ) in the travelling direction, and a second position offset between the inventory item and the reference line (S 6 ) in the vertical direction, and a distance between the inventory item and the manipulator ( 371 ) along the reference line (S 6 );

the method for retrieving an inventory item further comprise:

causing the movable chassis ( 10 ) to move along the travelling direction according to the first position offset, so that the first position offset is smaller than a first error value; and

driving, by the lifting assembly ( 40 ), the material handling device ( 30 ) to move in the vertical direction according to the second position offset, so that the second position offset is smaller than a second error value; and

adjusting an extension amount of the telescopic arm ( 36 ) along the reference line (S 6 ) according to the distance, so that the extension amount is larger than the distance;

the position information of the material handling device ( 30 ) relative to the inventory item further comprises: a deflection amount between the inventory item and the reference line (S 6 ) in a horizontal direction;

the method for retrieving an inventory item further comprise:

driving, by the rotation assembly ( 33 ), the fork ( 32 ) to rotate around the vertical direction according to the deflection amount, so that the deflection amount is smaller than a third error value.

2. The method for retrieving an inventory item according to claim 1 , further comprising:

before the lifting assembly ( 40 ) drives the material handling device ( 30 ) to move in the vertical direction so that the material handling device ( 30 ) horizontally faces to the preset position, causing the movable chassis ( 10 ) to move to a preset range in front of the warehouse shelf.

3. The method for retrieving an inventory item according to claim 1 , wherein:

the detection device comprises a camera device, a laser guiding device or an infrared sensor for obtaining image information, wherein the camera device is configured to collect a two-dimensional code label attached on a surface of the inventory item facing the handling robot, so as to obtain the position information of the material handling device ( 30 ) relative to the inventory item.

4. The method for retrieving an inventory item according to claim 1 , wherein:

the inventory item comprises a first inventory item and a second inventory item;

the preset position comprises a first preset position and a second preset position, the first inventory item is located at the first preset position, and the second inventory item is located at the second preset position;

the storage frame ( 20 ) comprises a first storage unit and a second storage unit;

when there is the second inventory item back behind the first inventory item, the method for retrieving an inventory item further comprises:

driving, by the telescopic arm ( 36 ), the manipulator ( 371 ) to extend to the first preset position of the warehouse shelf along the reference line (S 6 );

loading, by the manipulator ( 371 ) that is remained on the horizontal plane where the reference line (S 6 ) is located, the first inventory item located at the first preset position;

driving, by the telescopic arm ( 36 ), the manipulator ( 371 ) loaded with the first inventory item to move to the first storage unit along the reference line (S 6 );

unloading, by the manipulator ( 371 ) that is remained on the horizontal plane where the reference line (S 6 ) is located, the first inventory item to the first storage unit;

driving, by the telescopic arm ( 36 ), the manipulator ( 371 ) to move to the second preset position of the warehouse shelf along the reference line (S 6 );

loading, by the manipulator ( 371 ) that is remained on the horizontal plane where the reference line (S 6 ) is located, the second inventory item located at the second preset position;

driving, by the telescopic arm ( 36 ), the manipulator ( 371 ) loaded with the second inventory item to move to the second storage unit along the reference line (S 6 ); and

unloading, by the manipulator ( 371 ) that is remained on the horizontal plane where the reference line (S 6 ) is located, the second inventory item to the second storage unit.

5. The method for retrieving an inventory item according to claim 4 , further comprising:

driving, by the telescopic arm ( 36 ), the manipulator ( 371 ) to move to the first storage unit along the reference line (S 6 );

driving, by the telescopic arm ( 36 ), the manipulator ( 371 ) to be remained at the reference line (S 6 ) and to load the first inventory item located at the first storage unit;

driving, by the telescopic arm ( 36 ), the manipulator ( 371 ) loaded with the first inventory item to move to the first preset position of the warehouse shelf along the reference line (S 6 ); and

unloading, by the manipulator ( 371 ) that is remained on the horizontal plane where the reference line (S 6 ) is located, the first inventory item to the first preset position of the warehouse shelf;

or

the method for retrieving an inventory item further comprises:

driving, by the telescopic arm ( 36 ), the manipulator ( 371 ) to move to the first storage unit along the reference line (S 6 );

driving, by the telescopic arm ( 36 ), the manipulator ( 371 ) to be remained on the horizontal plane where the reference line (S 6 ) is located, to load the first inventory item located at the first storage unit;

driving, by the telescopic arm ( 36 ), the manipulator ( 371 ) loaded with the first inventory item to move to the second preset position of the warehouse shelf along the reference line (S 6 );

unloading, by the manipulator ( 371 ) that is remained on the horizontal plane where the reference line (S 6 ) is located, the first inventory item to the second preset position of the warehouse shelf; and

uploading current position information of the first inventory item.

6. The method for retrieving an inventory item according to claim 1 , wherein:

the method for retrieving an inventory item further comprises:

before the telescopic arm ( 36 ) drives the manipulator ( 371 ) loaded with the inventory item to move to the storage frame ( 20 ) along the reference line (S 6 ), driving, by the telescopic arm ( 36 ), the manipulator ( 371 ) loaded with the inventory item to retract to the temporary storage unit ( 35 ) along the reference line (S 6 );

unloading, by the manipulator ( 371 ) that is remained on the horizontal plane where the reference line (S 6 ) is located, the inventory item to the temporary storage unit ( 35 ); and

pushing, by the pusher assembly ( 37 ), the inventory item located on the temporary storage unit ( 35 ) to the corresponding storage units ( 23 ) in the storage frame ( 20 ) along the reference line (S 6 ).

7. The method for retrieving an inventory item according to claim 6 , wherein:

the rotation assembly ( 33 ) comprises a first rotation member ( 3300 ) and a second rotation member ( 3301 );

the first rotation member ( 3300 ) is installed to the support bracket ( 31 );

the second rotation member ( 3301 ) is installed to the temporary storage unit ( 35 ), and rotates around a vertically set rotation axis (S 5 ) relative to the first rotation member ( 3300 ), so that the fork ( 32 ) rotates around the rotation axis (S 5 ) relative to the support bracket ( 31 ).

8. The method for retrieving an inventory item according to claim 6 , wherein:

the handling robot further comprises:

a deflection detection device, connected between the fork ( 32 ) and the support bracket;

the driving, by the rotation assembly ( 33 ), the fork ( 32 ) to rotate around the vertical direction, comprises:

when the deflection detection device detects that the fork ( 32 ) has not yet rotated to the preset angle, driving, by the rotation assembly ( 33 ), the fork ( 32 ) to continue to rotate;

when the deflection detection device detects that the fork ( 32 ) has rotated over the preset angle, driving, by the rotation assembly ( 33 ), the fork ( 32 ) to rotate in a reverse direction; and

when the deflection detection device detects that the fork ( 32 ) rotates to the preset angle, causing the rotation assembly ( 33 ) to stop rotating.

9. The method for retrieving an inventory item according to claim 8 , wherein:

the deflection detection device comprises:

a first sensor ( 3330 ), provided with a first detection range;

a second sensor ( 3331 ), provided with a second detection range;

when the first sensor ( 3330 ) detects the fork ( 32 ) in the first detection range, and the second sensor ( 3331 ) does not detect the fork ( 32 ) in the second detection range, the deflection detection device detects that the fork ( 32 ) has not yet rotated to the preset angle;

when the first sensor ( 3330 ) does not detect the fork ( 32 ) in the first detection range, and the second sensor ( 3331 ) detects the fork ( 32 ) in the second detection range, the deflection detection device detects that the fork ( 32 ) has rotated over the preset angle; and

when the first sensor ( 3330 ) detects the fork ( 32 ) in the first detection range, and the second sensor ( 3331 ) detects the fork ( 32 ) in the second detection range, the deflection detection device detects that the fork ( 32 ) rotates to the preset angle.

10. A handling robot ( 100 ), comprising:

a movable chassis ( 10 ), moving along a travelling direction;

a storage frame ( 20 ), installed on the movable chassis ( 10 ), and provided with a plurality of storage units ( 23 ) distributed in a vertical direction, each storage unit ( 23 ) being configured to place an inventory item;

a material handling device ( 30 ) for transporting the inventory item between a warehouse shelf and any one of the storage units ( 23 ), the material handling device ( 30 ) having a preset horizontal reference line (S 6 ), and comprising a pusher assembly ( 37 ) that is movable along the reference line (S 6 );

a lifting assembly ( 40 ) for driving the material handling device ( 30 ) to move in the vertical direction, so that any one of the storage units ( 23 ) is located on the reference line (S 6 ); and

a detection device for detecting position information of the material handling device ( 30 ) relative to the warehouse shelf, the storage units ( 23 ) and the inventory item by determining a positional relationship between the warehouse shelf, the storage units ( 23 ) and the inventory item and the reference line (S 6 );

the material handling device ( 30 ) comprises a support bracket ( 31 ), a fork ( 32 ), and a rotation assembly ( 33 );

when one of the storage units ( 23 ) is located on the reference line (S 6 ), the pusher assembly ( 37 ) pushes the inventory item to a corresponding storage unit ( 23 ) along the reference line (S 6 ), or the pusher assembly ( 37 ) pulls the inventory item located at the corresponding storage unit ( 23 ) away therefrom;

the movable chassis ( 10 ) is configured to move in the travelling direction according to the position information, the lifting assembly ( 40 ) is configured to drive the material handling device ( 30 ) to move in the vertical direction according to the position information;

the position information of the material handling device ( 30 ) relative to the inventory items comprises a first position offset between the inventory item and the reference line (S 6 ) in the travelling direction of the movable chassis, and a second position offset between the inventory item and the reference line (S 6 ) in the vertical direction;

the movable chassis ( 10 ) is configured to move along the travelling direction according to the first position offset so that the first position offset is less than a first error value; and

the lifting assembly ( 40 ) is configured to drive the material handling device ( 30 ) to move in the vertical direction according to the second position offset so that the second position offset is smaller than a second error value;

the position information of the material handling device ( 30 ) relative to the inventory item further comprises: a deflection amount between the inventory item and the reference line (S 6 ) in a horizontal direction;

the rotation assembly ( 33 ) is configured to drive the fork ( 32 ) to rotate around the vertical direction according to the deflection amount, so that the deflection amount is smaller than a third error value.

11. The handling robot ( 100 ) according to claim 10 , wherein the material handling device ( 30 ) further comprises a temporary storage unit ( 35 );

the temporary storage unit ( 35 ) is configured to temporarily store an inventory item that is to be transported between the warehouse shelf and any one of the storage units ( 23 ), and the temporary storage unit ( 35 ) has the reference line (S 6 );

when one of the storage units ( 23 ) is located on the reference line (S 6 ), the pusher assembly ( 37 ) pushes an inventory item located on the temporary storage unit ( 35 ) to a corresponding storage unit ( 23 ) along the reference line (S 6 ), or the pusher assembly ( 37 ) pulls an inventory item on a corresponding storage unit ( 23 ) to the temporary storage unit ( 35 ).

12. The handling robot ( 100 ) according to claim 11 , wherein

the support bracket ( 31 ) is installed on the lifting assembly ( 40 ), and the lifting assembly ( 40 ) is configured to drive the support bracket ( 31 ) to move in the vertical direction;

the fork ( 32 ) comprises the temporary storage unit ( 35 ), the telescopic arm ( 36 ), and the pusher assembly ( 37 );

the rotation assembly ( 33 ) comprises a first rotation member ( 3300 ) and a second rotation member ( 3301 );

the first rotation member ( 3300 ) is installed to the support bracket ( 31 );

the second rotation member ( 3301 ) is installed to the temporary storage unit ( 35 ), and rotates around a vertically set rotation axis (S 5 ) relative to the first rotation member ( 3300 ), so that the fork ( 32 ) rotates around the rotation axis (S 5 ) relative to the support bracket ( 31 ).

13. The handling robot ( 100 ) according to claim 11 , wherein the material handling device ( 30 ) further comprises a telescopic arm ( 36 );

the telescopic arm ( 36 ) comprises an outer arm section ( 360 ), a middle arm section ( 361 ) and an inner arm section ( 362 ), the outer arm section ( 360 ) is fixedly installed to the temporary storage unit ( 35 ), the middle arm section ( 361 ) is installed on the outer arm section ( 360 ), and the inner arm section ( 362 ) is installed to the middle arm section ( 361 ), the middle arm section ( 361 ) moves relative to the outer arm section ( 360 ) along the reference line (S 6 ), the inner arm section ( 362 ) moves relative to the middle arm section ( 361 ) along the reference line (S 6 );

the pusher assembly ( 37 ) is installed to the inner arm section ( 362 );

the inner arm section ( 362 ) moves relative to the outer arm section ( 360 ) along the reference line (S 6 ), so that the pusher assembly ( 37 ) moves relative to the storage frame ( 20 ) along the reference line (S 6 ).

14. The handling robot ( 100 ) according to claim 13 , wherein the telescopic arm ( 36 ) further comprises an outer arm section driving assembly ( 364 );

the outer arm section driving assembly ( 364 ) comprises a movable pulley ( 3640 ) and a sliding chain ( 3641 ), the movable pulley ( 3640 ) is a flat belt pulley and the sliding chain ( 3641 ) is an open-loop flat belt;

the movable pulley ( 3640 ) is installed on the middle arm section ( 361 );

a middle part of the sliding chain ( 3641 ) is arranged to be bent and sleeved over the movable pulley ( 3640 ), so that both ends of the sliding chain ( 3641 ) are oppositely arranged, one end being fixedly connected to the outer arm section ( 360 ), and the other end being fixedly connected to the inner arm section ( 362 );

when the middle arm section ( 361 ) moves at a first speed relative to the outer arm section ( 360 ) along the reference line (S 6 ), the inner arm section ( 362 ) moves at a second speed relative to the outer arm section ( 360 ) along the reference line (S 6 ), and the second speed is twice the first speed.

15. The handling robot ( 100 ) according to claim 13 , wherein the pusher assembly ( 37 ) comprises a manipulator ( 371 ) and a fixed push rod ( 370 );

the manipulator ( 371 ) is installed at an end of the inner arm section ( 362 ), so that the manipulator ( 371 ) moves relative to the storage frame ( 20 ) along the reference line (S 6 ), and the manipulator ( 371 ) unfolds or fold relative to the inner arm section ( 362 );

when the manipulator ( 371 ) folds relative to the inner arm section ( 362 ), an end of the inner arm section ( 362 ) installed with the manipulator ( 371 ) moves to another side from one side of the inventory item on the storage unit ( 23 ) or the warehouse shelf that is located on the reference line (S 6 ), so that when the manipulator ( 371 ) folds is unfolded relative to the inner arm section ( 362 ), the manipulator ( 371 ) pulls a corresponding inventory item to the temporary storage unit ( 35 );

the fixed push rod ( 370 ) is installed on an end of the inner arm section ( 362 ) away from the manipulator ( 371 ), so that the fixed push rod ( 370 ) moves relative to the storage frame ( 20 ) along the reference line (S 6 );

the fixed push rod ( 370 )) is configured to push the inventory item placed on the temporary storage unit ( 35 ) to the storage unit ( 23 ) located on the reference line (S 6 ), or to push the inventory item placed in the temporary storage unit ( 35 ) to an empty position of the warehouse shelf.

16. The handling robot ( 100 ) according to claim 15 , wherein the pusher assembly ( 37 ) further comprises a push rod driving device ( 372 );

the push rod driving device ( 372 ) is connected to the manipulator ( 371 ), and is configured to drive the manipulator ( 371 ) to rotate relative to the inner arm section ( 362 ), so that the manipulator ( 371 ) folds or unfolds relative to the inner arm section ( 362 ).