Handling robot
A method for retrieving an inventory item based on a handling robot, where the handling robot includes: a storage frame; and a material handling device installed on the storage frame, and including a telescopic arm and a manipulator installed to the telescopic arm; and the method for retrieving an inventory item includes: driving, by the telescopic arm, the manipulator to extend to a preset position of warehouse shelf along a preset horizontal reference line; loading, by the manipulator that is remained on the reference line, the inventory item located in the preset position; driving, by the telescopic arm, the manipulator loaded with the inventory item to move to the storage frame along the reference line; and unloading, by the manipulator that is remained on the reference line, the inventory item to the storage frame.
1. A handling robot ( 100 ), comprising:
a movable chassis ( 10 ), comprising a bracket assembly ( 11 ) and a driving wheel assembly ( 13 ) installed to the bracket assembly ( 11 );
the bracket assembly ( 11 ) comprises a base body ( 112 ) and a shock absorber bracket ( 114 ) installed to the base body ( 112 );
the driving wheel assembly ( 13 ) comprises a driving wheel bracket ( 130 ), the driving wheel bracket ( 130 ) comprises a hub bracket ( 134 ), a shock absorber ( 136 ), and an axle body ( 135 ) connected to the hub bracket ( 134 );
one end of the shock absorber ( 136 ) is hinged to an end of the shock absorber bracket ( 114 ) away from the base body ( 112 ), so that the shock absorber ( 136 ) is capable of rotating around an axis (S 4 ) parallel to the axle body ( 135 ), relative to the base body ( 112 );
the other end of the shock absorber ( 136 ) is hinged to an end of the hub bracket ( 134 ) away from the axle body ( 135 ) so that the shock absorber ( 136 ) is capable of rotating around a second axis (S 3 ) parallel to the axle body ( 135 ), relative to the hub bracket ( 134 );
wherein the handling robot ( 100 ) further comprises: a storage frame ( 20 ), a material handling device ( 30 ), and a lifting assembly ( 40 );
the storage frame ( 20 ) comprises storage units ( 23 ) for placing inventory items;
the material handling device ( 30 ) is configured to transport an 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 pusher assembly ( 37 ) that is movable along the reference line (S 6 );
the lifting assembly ( 40 ) is configured to drive the material handling device ( 30 ) to move in a vertical direction, so that any one of the storage units ( 23 ) is located on the reference line (S 6 );
when one storage unit ( 23 ) is on the reference line (S 6 ), the pusher assembly ( 37 ) is capable of pushing an inventory item to a corresponding storage unit ( 23 ) along the reference line (S 6 ), or the pusher assembly ( 37 ) is capable of pulling an inventory item located at a corresponding storage unit ( 23 ) away therefrom;
the lifting assembly ( 40 ) is configured to drive the material handling device ( 30 ) to move in the vertical direction according to a position offset between an inventory item on the warehouse shelf and the reference line (S 6 ) in the vertical direction;
when the inventory item on the warehouse shelf is on the reference line (S 6 ), the pusher assembly ( 37 ) is capable of pushing the inventory item to a preset position of the corresponding warehouse shelf along the reference line (S 6 ), or the pusher assembly ( 37 ) is capable of pulling an inventory item located at a preset position of the corresponding warehouse shelf away therefrom.
2. The handling robot ( 100 ) according to claim 1 , wherein the shock absorber bracket ( 114 ), the hub bracket ( 134 ), and the shock absorber ( 136 ) form a triangular structure.
3. The handling robot ( 100 ) according to claim 1 , wherein the base body ( 112 ) is a horizontally arranged rectangular plate having a first axis (S 1 ), one end of the driving wheel bracket ( 130 ) is arranged near the first axis (S 1 ), and the other end is arranged away from the first axis (S 1 ).
4. The handling robot ( 100 ) according to claim 3 , wherein the driving wheel assembly ( 13 ) further comprises a driving wheel body ( 131 ), the driving wheel body ( 131 ) is installed to the driving wheel bracket ( 130 ), and the driving wheel body ( 131 ) is capable of rotating around a rotation axis (S 2 ) relative to the driving wheel bracket ( 130 ), the rotation axis (S 2 ) is horizontal and perpendicular to the first axis (S 1 ).
5. The handling robot ( 100 ) according to claim 4 , wherein the driving wheel body ( 131 ) is installed to an end of the hub bracket ( 134 ) away from the first axis (S 1 ).
6. The handling robot ( 100 ) according to claim 4 , wherein the axle body ( 135 ) is arranged to be parallel to the first axis (S 1 ).
7. The handling robot ( 100 ) according to claim 4 , wherein the driving wheel assembly ( 13 ) further comprises a hub driving device ( 132 ), an output end of the hub driving device ( 132 ) is connected to the driving wheel body ( 131 ), so that the driving wheel body ( 131 ) is capable of rotating around the rotation axis (S 2 ).
8. The handling robot ( 100 ) according to claim 7 , wherein the driving wheel assembly ( 13 ) further comprises a hub reduction device ( 133 ), an output end of the hub driving device ( 132 ) is connected to an input end of the hub reduction device ( 133 ), and an output end of the hub reduction device ( 133 ) is connected to the driving wheel body ( 131 ), the hub driving device ( 132 ) is configured to provide a first driving force for rotation of the driving wheel body ( 131 ) around the rotation axis (S 2 ), and the hub reduction device ( 133 ) is configured to transmit the first driving force.
9. The handling robot ( 100 ) according to claim 8 , wherein the output end of the hub reduction device ( 133 ) or the output end of the hub driving device ( 132 ) is connected to the driving wheel body ( 131 ) by a flange ( 137 ).
10. The handling robot ( 100 ) according to claim 1 , wherein the material handling device ( 30 ) comprises a support bracket ( 31 ), a fork ( 32 ), a rotation assembly ( 33 ), and a detection device ( 34 );
the rotation assembly ( 33 ) is installed between the support bracket ( 31 ) and the fork ( 32 ), so that the fork ( 32 ) is capable of rotating around a vertically set rotation axis (S 5 ) relative to the support bracket ( 31 ); and
the detection device ( 34 ) is configured to detect position information of the material handling device ( 30 ) relative to an inventory item.
11. The handling robot ( 100 ) according to claim 3 , wherein the bracket assembly ( 11 ) further comprises a standing frame ( 111 ),
the standing frame ( 111 ) is installed to a second surface ( 1121 ) of the base body ( 112 ), and the standing frame ( 111 ) comprises vertical columns ( 115 ) and horizontal columns ( 116 ) installed to the vertical columns ( 115 );
the vertical columns ( 115 ) are vertically arranged and installed to the second surface ( 1121 ) of the base body ( 112 ), and two vertical columns are symmetrically distributed relative to the first axis (S 1 ).
12. The handling robot ( 100 ) according to claim 11 , wherein a surface of each vertical column ( 115 ) facing the other vertical column ( 115 ) is provided with a guide rail along a vertical direction, the material handling device ( 30 ) is installed to guide rails of the two vertical columns, so that the material handling device ( 30 ) is capable of moving relative to the vertical columns ( 115 ) along the vertical direction.
13. A handling robot ( 100 ), comprising:
a movable chassis ( 10 ), comprising a bracket assembly ( 11 ) and a driving wheel assembly ( 13 ) installed to the bracket assembly ( 11 );
the bracket assembly ( 11 ) comprises a base body ( 112 ) and a shock absorber bracket ( 114 ) installed to the base body ( 112 );
the driving wheel assembly ( 13 ) comprises a driving wheel bracket ( 130 ), the driving wheel bracket ( 130 ) comprises a hub bracket ( 134 ), a shock absorber ( 136 ), and an axle body ( 135 ) connected to the hub bracket ( 134 );
one end of the shock absorber ( 136 ) is hinged to an end of the shock absorber bracket ( 114 ) away from the base body ( 112 ), so that the shock absorber ( 136 ) is capable of rotating around an axis (S 4 ) parallel to the axle body ( 135 ), relative to the base body ( 112 );
the other end of the shock absorber ( 136 ) is hinged to an end of the hub bracket ( 134 ) away from the axle body ( 135 ) so that the shock absorber ( 136 ) is capable of rotating around a second axis (S 3 ) parallel to the axle body ( 135 ), relative to the hub bracket ( 134 );
wherein the base body ( 112 ) is a horizontally arranged rectangular plate having a first axis (S 1 ), one end of the driving wheel bracket ( 130 ) is arranged near the first axis (S 1 ), and the other end is arranged away from the first axis (S 1 );
wherein the bracket assembly ( 11 ) further comprises a standing frame ( 111 ),
the standing frame ( 111 ) is installed to a second surface ( 1121 ) of the base body ( 112 ), and the standing frame ( 111 ) comprises vertical columns ( 115 ) and horizontal columns ( 116 ) installed to the vertical columns ( 115 );
the vertical columns ( 115 ) are vertically arranged and installed to the second surface ( 1121 ) of the base body ( 112 ), and two vertical columns are symmetrically distributed relative to the first axis (S 1 ).