WO2021244355A1 - 一种货箱搬运机器人及其使用方法 - Google Patents

一种货箱搬运机器人及其使用方法 Download PDF

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Publication number
WO2021244355A1
WO2021244355A1 PCT/CN2021/095846 CN2021095846W WO2021244355A1 WO 2021244355 A1 WO2021244355 A1 WO 2021244355A1 CN 2021095846 W CN2021095846 W CN 2021095846W WO 2021244355 A1 WO2021244355 A1 WO 2021244355A1
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WO
WIPO (PCT)
Prior art keywords
arm
independent
finger
cargo
handling robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2021/095846
Other languages
English (en)
French (fr)
Inventor
李晓伟
肖玉辉
王鹏飞
王堃
宋伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Geekplus Technology Co Ltd
Original Assignee
Beijing Geekplus Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Geekplus Technology Co Ltd filed Critical Beijing Geekplus Technology Co Ltd
Priority to AU2021285455A priority Critical patent/AU2021285455B2/en
Priority to EP21817693.1A priority patent/EP4163230A4/en
Publication of WO2021244355A1 publication Critical patent/WO2021244355A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B25J9/026—Gantry-type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/905—Control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0258—Trays, totes or bins
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors

Definitions

  • the present disclosure relates to the field of logistics technology, and in particular to a cargo box handling robot and a method of use thereof.
  • AGV Automated Guided Vehicle
  • AGV Automated Guided Vehicle
  • telescopic forks Used for storage of goods such as cartons or cartons.
  • Most of the telescopic forks used to pick up boxes and cartons on the existing AGV robots are fixed in level 1 and telescopic in level 2.
  • the transportation equipment in the prior art can only fetch cargo boxes with a fixed depth, which can no longer meet the requirements of transportation. Facing the demand and application scenarios of further increasing storage density, the existing single-extend telescopic fork robots have certain disadvantages in the face of high-density storage scenarios with multiple rows of shelves.
  • the purpose of the present disclosure is to overcome the shortcomings of the prior art and provide a cargo container handling robot and a method of use thereof.
  • the present disclosure provides a cargo container handling robot.
  • the robot includes a robot carrier, a gantry arranged on the robot carrier, and a pickup mechanism; the pickup mechanism includes: a slidably connected to the gantry
  • the main body a pair of holding forks slidably connected to the main body, each holding fork includes an intermediate component slidably connected to the main body, and a distal arm that is slidably connected to the intermediate component and used to pull the cargo box;
  • the arm is provided with a finger mechanism for pulling the cargo box;
  • the intermediate assembly includes a plurality of detachable independent arms; and the plurality of independent arms are relatively slidable;
  • the body is provided with a mechanism for driving each holding Fork drive mechanism; each independent arm is provided with a linkage mechanism linked with the drive mechanism.
  • the intermediate mechanism is used to form a modular structure, so that the telescopic length of the fork can be adjusted according to the actual need to carry the shelf where the cargo box is located, and the
  • the fork is a two-way fork.
  • two-way pickup can be realized, and the adaptability of the cargo container handling robot is improved.
  • the linkage mechanism of each independent arm includes: a timing belt arranged on the independent arm; wherein the end of the timing belt on one side of the independent arm is connected to the adjacent independent arm or body. Removable fixed connection; the end of the timing belt on the other side of the independent arm is detachably fixedly connected with the adjacent independent arm or the end arm.
  • the linkage is realized by the timing belt, which is convenient to adjust the length of the fork.
  • the number of the timing belts is two; one of the timing belts is used to drive the independent arm to expand and contract in the first direction; the other The timing belt is used to drive the independent arm to expand and contract in a second direction; the first direction is opposite to the second direction. Achieve two-way scaling.
  • the container handling robot further includes a lifting mechanism for driving the body to slide. The movement of the pickup mechanism is driven by the lifting mechanism.
  • the lifting mechanism includes: a rack and pinion mechanism, a timing belt mechanism, a screw mechanism or a friction wheel mechanism.
  • the driving of the pick-up mechanism is realized through different lifting mechanisms.
  • the distal arm is provided with a finger mechanism for pulling the cargo box. Cargo boxes are moved through the finger mechanism.
  • each finger mechanism includes: a steering gear fixed on the distal arm, and a finger connected to the steering gear; the steering gear is used to drive the finger to rotate.
  • the steering gear drives the finger, which reduces the space occupied by the finger mechanism and at the same time ensures the reliability of the finger mechanism.
  • the number of the finger shifting mechanisms provided for each distal arm is multiple, and the multiple finger shifting mechanisms extend along the length direction of the distal arm; the multiple finger shifting mechanisms It can be moved separately to limit different cargo boxes. A single cargo box or multiple cargo boxes can be transported through multiple finger mechanisms.
  • a sensor which is arranged on the end arm and used to detect the cargo box
  • the control device is used for controlling the finger of the finger finger mechanism located on both sides of the cargo box to rotate to the working position when the sensor detects the cargo box to be transported. Improved the accuracy when pulling the container.
  • the driving mechanism includes:
  • a drive unit for providing driving force a double-sided toothed synchronous belt connected to the drive unit; a rack meshed with the double-sided toothed synchronous belt; an independent arm adjacent to the main body of the rack is detachable Fixed connection.
  • each distal arm is provided with two finger shifting mechanisms, and the two finger shifting mechanisms are arranged at opposite ends of the distal arm. Convenient to pull the container in two directions.
  • the present disclosure also provides a container handling method, which utilizes the container handling robot described in any one of the above, and the method includes the following steps: determining the number of independent arms according to the depth of the shelf where the container to be moved is located; A certain number of independent arms are connected with the main body and the distal arm; the pickup mechanism is driven to extend into the shelf, and the finger shift mechanism is controlled to pull the cargo box.
  • the intermediate mechanism is used to form a modular structure, so that the telescopic length of the fork can be adjusted according to the actual need to carry the shelf where the cargo box is located, and the adaptability of the cargo box handling robot is improved.
  • connection of a determined number of independent arms with the main body and the distal arm is specifically:
  • the independent arms at both ends of the intermediate assembly are respectively slidably connected to the main body and the end arm in a one-to-one correspondence; and the linkage mechanism of the independent arms at both ends is connected to the main body and the end arm. It is convenient to connect the holding fork and the driving mechanism.
  • FIG. 1 is a schematic diagram of an application scenario of a container handling robot provided by an embodiment of the disclosure
  • FIG. 2 is a schematic diagram of an application scenario of a container handling robot provided by an embodiment of the disclosure
  • FIG. 3 is a schematic structural diagram of a container handling robot provided by an embodiment of the disclosure.
  • FIG. 4 is a schematic structural diagram of a pickup mechanism provided by an embodiment of the disclosure.
  • Figure 5 is a schematic structural diagram of a fork provided by an embodiment of the present disclosure.
  • Fig. 6 is a schematic structural diagram of a driving mechanism provided by an embodiment of the disclosure.
  • FIG. 7 is a schematic diagram of cooperation between a driving mechanism and an independent arm provided by an embodiment of the disclosure.
  • FIG. 8 is a schematic structural diagram of an independent arm provided by an embodiment of the disclosure.
  • Fig. 9 is a schematic structural diagram of a distal arm provided by an embodiment of the disclosure.
  • the container handling robot provided by the embodiments of the present disclosure is applied to carry containers in a warehouse.
  • the boxes are stored in the rack 100, but when the rack 100 is placed in the warehouse, it needs to be placed adaptively according to the environment of the warehouse.
  • the rack 100 is arranged in two rows. There is a pick-up channel between the rows of shelves 100.
  • the prior art adopts the arrangement of 4 rows of shelves 100 as shown in FIG.
  • FIGS. 1 and 2 show only an example of a warehouse.
  • the container handling robot provided by the embodiments of the present disclosure can be used in various warehousing scenarios with complex and changeable environments.
  • the cargo box in the present disclosure refers to the box used to contain products or semi-finished products in the logistics industry, including but not limited to common cargo boxes such as material boxes, cartons, and wooden boxes.
  • the container handling robot provided by the embodiment of the present disclosure may include a robot carrier 10, a door frame 20 arranged on the robot carrier 10, and a sliding assembly in The pick-up mechanism 40 on the door frame 20.
  • the robot carrier 10 is used as a carrying mechanism
  • the door frame 20 is used to support the picking mechanism 40
  • the picking mechanism 40 is used to take the container out of the shelf.
  • the robot carrier 10 is used as the walking device of the entire container handling robot 1.
  • the robot carrier 10 can be a common robot in the prior art.
  • the robot carrier 10 can be a wheel. Flat-type robot.
  • the robot carrier 10 includes components such as wheels 11, suspension 12, and the like.
  • the robot carrier 10 serves as a carrier base for other components and enables the robot to complete various traveling, turning and other movements on the ground.
  • the robot carrier 10 can move to the shelf where it needs to work according to the navigation system, and complete the route conversion, obstacle avoidance and other operations during the movement.
  • the above actions are common technical means in the existing robot carrier 10. I won't go into too much detail here.
  • the gantry 20 is vertically installed on the robot carrier 10 and fixedly connected to the robot carrier 10. Specifically, it can be connected by threaded parts (bolts or screws), or can also be connected by welding or clamping.
  • the height of the aforementioned door frame 20 corresponds to the height of the shelf where the cargo box to be transported is located. When the height of the shelf is different, the height of the door frame 20 can be changed to ensure that the pickup mechanism 40 can take the cargo box located on the uppermost layer of the shelf.
  • the door frame 20 may be a height-adjustable door frame to adapt to shelves of different heights.
  • the pick-up mechanism 40 needs to slide to the same height as the number of layers on the shelf where the container is located when picking up the goods.
  • the container handling robot provided in the embodiment of the present disclosure is provided with a lifting mechanism 30 for driving the pick-up mechanism 40 to slide.
  • the lifting mechanism 30 drives the pickup mechanism 40 to move.
  • the lifting mechanism 30 is installed in the door frame 20, and the pickup mechanism 40 is moved in the vertical direction by the driving element 31.
  • the lifting mechanism provided by the embodiments of the present disclosure may adopt different structures.
  • the lifting mechanism in FIG. 3 is a mechanism in the form of a slider guide rail.
  • the linear guide rail 32 is installed on the door frame, and the slider 33 is installed on the pickup mechanism 40.
  • the pickup mechanism 40 can be mounted on the guide rail 32 through the slider 33.
  • the driving element 31 is arranged on the top of the door frame, and the driving element 31 is connected to the picking mechanism 40 through a chain 34, and the picking mechanism 40 is driven to move by the chain 34, and the sliding of the picking mechanism 40 is ensured by the cooperation of the slider 33 and the guide rail 32 The stability.
  • the lifting mechanism 30 provided by the embodiment of the present disclosure is not limited to the structure shown in FIG. 3, and in addition to the slide rail form, the lifting mechanism may also include but not limited to the following examples:
  • the rack is installed on the gantry 20
  • the gear is installed on the pickup mechanism 40
  • the driving element drives the gear to drive the telescopic fork system to move vertically along the rack.
  • Timing belt mechanism the timing belt is installed on the gantry 20, the timing belt wheel is installed on the picking mechanism 40, and the driving element drives the timing belt wheel to drive the picking mechanism 40 to move vertically along the timing belt.
  • a guide rail plane is fixed on the door frame 20, and the friction roller is installed on the pickup mechanism 40.
  • the driving element drives the friction roller to drive the pickup mechanism 40 to move vertically along the guide rail plane.
  • Screw mechanism the screw is installed on the gantry 20
  • the sliding block is installed on the picking mechanism 40
  • the driving element drives the screw to rotate, so that the sliding block drives the picking mechanism 40 to move vertically.
  • the connecting rod mechanism is installed on the mast 20 with a scissor fork structure, the picking mechanism 40 is fixed at a proper position of the scissor fork, and the driving element drives the connecting rod to rotate to drive the picking mechanism 40 to move vertically.
  • the aforementioned driving element 31 may be a driving motor and a gear box matched with the driving motor.
  • the driving element 31 is a relatively common driving component in a cargo handling robot, so the specific cooperation relationship with other components in the lifting mechanism will not be described in detail.
  • FIG. 4 shows a schematic diagram of a pickup mechanism provided by an embodiment of the present disclosure.
  • the pick-up mechanism provided by the embodiment of the present disclosure is installed on the door frame.
  • the pickup mechanism includes a main body 40c and a holding fork.
  • the main body 40c is slidably connected to the mast and used to carry the cargo box pulled by the pickup mechanism, and the holding fork is slidably connected to the main body 40c and used to extend and pull the cargo box.
  • the body 40c shown in Figure 4 is a U-shaped structure, which includes a bottom plate and two opposite side walls.
  • the body 40c is provided with a drive mechanism for driving each fork (only the drive mechanism is shown).
  • the drive unit 401) can drive the fork to extend and contract through the drive mechanism.
  • the pickup mechanism includes a holding fork 40a and a holding fork 40b.
  • the holding fork 40a and the holding fork 40b are symmetrically arranged on both sides of the body 40c. When the holding fork 40a and the holding fork 40b are extended, they extend into the shelf to pull the cargo box, and when the holding fork 40a and the holding fork 40b shrink, the cargo box is drawn into the body 40c.
  • FIG. 5 illustrates a schematic diagram of the specific structure of a fork.
  • Each fork includes a middle component slidably connected to the main body, and a distal arm 420 slidably connected to the middle component.
  • the intermediate assembly includes a plurality of detachable independent arms, and the plurality of independent arms can slide relatively. Taking the three independent arms shown in FIG. 5 as an example, the intermediate assembly includes three independent arms 410, 430, 440, and each independent arm is an independent structure.
  • FIG. 4 shows a driving unit 401 for providing driving force in the driving mechanism
  • FIGS. 6 and 7 show other structures of the driving mechanism.
  • Other structures include components such as a double-sided toothed synchronous belt 404 arranged on the side wall 406 of the main body and connected with the driving unit, and a rack 405 meshed with the double-sided toothed synchronous belt 404.
  • the double-sided toothed synchronous belt 404 is driven by the pulley 402 and the pulley 403, and the pulley 402 and the pulley 403 are connected to the driving unit 401
  • the driving unit 401 may be a driving motor or a mechanism composed of a driving motor and a gear box. As shown in FIG.
  • the driving mechanism further includes a rack 405, which meshes with the double-sided toothed timing belt 404, and the rack 405 is used for the detachable fixed connection of the independent arm adjacent to the main body, as shown on the independent arm 410 in FIG. 7.
  • the rack 405 When the rack 405 is fixed on the independent arm 410, when the double-sided toothed timing belt 404 rotates, the rack 405 can be driven to slide, thereby driving the independent arm 410 to slide, so as to realize the sliding of the independent arm 410 relative to the body.
  • the side wall 406 of the main body is provided with a guide rail 407 to which the independent arm 410 cooperates.
  • the cooperation of the guide rail 407 and the independent arm 410 can realize the sliding of the independent arm 410 relative to the main body.
  • each independent arm 450 is provided with a linkage mechanism linked with the driving mechanism.
  • the independent arm 450 in the fork has a modular structure. Therefore, one of the independent arms 450 is taken as an example to illustrate the linkage mechanism.
  • the linkage mechanism includes: timing belts 452, 453 arranged on the independent arm 450; wherein the independent arm 450 is provided with pulleys 451, 454 that cooperate with the timing belts 452, 453; the timing belts 452, 453 bypass the pulleys 451, 453 454, one end of the timing belts 452, 453 is located on one side of the independent arm 450, and the other end is located on the other side of the independent arm 450.
  • the ends of the timing belts 452, 453 on one side of the independent arm 450 are detachably fixedly connected to the adjacent independent arms or the body; the ends of the timing belts 452, 453 on the other side of the independent arm 450 are connected to the adjacent independent arms. Removable and fixed connection of arm or end arm.
  • one of the timing belts is connected as follows: in the independent arm 410 slidably connected to the main body 40c, the end of one side of the timing belt is fixed to the main body 40c Connected, the end on the other side is fixedly connected with the independent arm 410; the end on one side of the timing belt on the independent arm 440 is connected with the independent arm 410, and the end on the other side is connected with the independent arm 430; The end on one side of the timing belt is connected with the independent arm 440, and the end on the other side is fixedly connected with the end arm 420.
  • each independent arm 450 is an independent module.
  • the telescopic length of the holding fork needs to be changed, this can be achieved by increasing or reducing the number of independent arms 450.
  • the number of independent arms 450 can be increased to increase the telescopic length of the fork; when the number of racks is relatively small, the number of independent arms 450 can be reduced to reduce the number of forks. The telescopic length.
  • the holding fork may be a two-way telescopic holding fork.
  • the holding fork may extend in the first direction or in the second direction, wherein the first direction is opposite to the second direction , It can realize that the cargo box handling robot can carry cargo boxes on either side of the roadway without turning, which improves the handling efficiency.
  • the fork is a two-way fork, there are two timing belts 452 and 453; one timing belt is used to drive the independent arm to extend and retract in the first direction; the other timing belt is used to drive the independent arm along the first direction. Stretching in two directions. As shown in FIG.
  • the fork is a one-way telescopic fork
  • only one timing belt can be used.
  • the specific timing belt setting method can be determined according to the telescopic direction of the fork. When the telescopic direction is the first direction, only the timing belt 452 may be used; when the telescopic direction is the second direction, only the timing belt 453 may be used.
  • a guide rail 455 is further provided on the independent arm 450, and adjacent independent arms may be provided on the guide rail 455.
  • the independent arm 410 is slidably connected with the guide rail on the body 40c
  • the guide rail on the independent arm 440 is slidably connected with the independent arm 410
  • the guide rail on the independent arm 440 is slidably connected with the independent arm 430
  • the guide rail on the independent arm 430 is connected to the end section
  • the arm 420 is slidably connected.
  • the distal arm is provided with a finger shifting mechanism for pulling the cargo box.
  • the number of the finger shifting mechanism can be two, and the two finger shifting mechanisms are arranged at opposite ends of the distal arm.
  • each finger mechanism may include a steering gear fixed on the distal arm and a finger connected to the steering gear; the steering gear is used to drive the finger to rotate. The finger is driven by the steering gear.
  • the finger is perpendicular to the distal arm, as shown in Figure 4, the finger is perpendicular to the distal arm, and the finger is in contact with the cargo box and used to drag the cargo box.
  • the finger can be rotated to a position parallel to the distal arm, thereby reducing the space occupied by the finger finger mechanism and at the same time ensuring the reliability of the finger finger mechanism.
  • the distal arm 420 includes components such as a steering gear 422, a finger 422a, a steering gear 423, and a finger 423a.
  • the steering gear 422 and the steering gear 423 can respectively drive the finger 422a and the finger 423a to rotate to the working position. Realize the pulling of the cargo box.
  • the finger structure provided by the embodiments of the present disclosure can also adopt other structures that can shift the cargo box to be transported.
  • the number of finger shifting mechanisms provided for each distal arm is multiple, and the multiple finger shifting mechanisms extend along the length of the distal arm; multiple finger shifting mechanisms can move individually to limit different positions Cargo box.
  • the multiple finger shifting mechanisms described above can move independently, and the multiple finger shifting mechanisms can move independently to limit the cargo box.
  • the first finger shifting mechanism is located at the end of the distal arm, and the first finger shifting mechanism and the second finger shifting mechanism enclose a space for accommodating the cargo box to place the first cargo box; or the first finger shifting mechanism alone can be used to move the first cargo box.
  • the cargo box, or the first cargo box is moved by the second finger mechanism alone, during specific work, the working status of the first finger mechanism, the second finger mechanism and the third finger mechanism can be individually controlled as needed during specific work.
  • the second finger shifting mechanism and the third finger shifting mechanism enclose a space for accommodating the cargo box for placing the second cargo box. When there are multiple finger dialing mechanisms, a space for placing three or four boxes of different numbers can also be formed. All of the above-mentioned referral agencies can work independently. If only the first cargo box needs to be pulled, only the first finger shifting mechanism can be controlled, or the first finger shifting mechanism and the second finger shifting mechanism can be controlled to rotate to the working position at the same time.
  • the first container and the second container are arranged adjacent to each other on the shelf along the depth direction of the shelf, and the first container is located inside.
  • the first dial can be controlled at the same time
  • the finger mechanism, the second finger mechanism are rotated to the working position, or the first finger mechanism, the second finger mechanism, and the third finger mechanism are rotated to the working position at the same time.
  • the distal arm is further provided with a sensor 424, which is used to detect the cargo box;
  • the cargo-carrying robot also includes a control device for controlling the location of the cargo when the sensor 424 detects the cargo box to be moved.
  • the finger of the finger finger mechanism on both sides of the box is rotated to the working position.
  • the above-mentioned control device may specifically be a common control device such as a PLC, a single-chip microcomputer, or an industrial computer. It should be understood that the control device controls the component actions according to the received data as a common technical means in the art. Therefore, the specific electrical connection relationship between the control device, the detection device and the adjustment device, and the specific control logic are not specifically illustrated in this disclosure. .
  • the driving unit 401 drives the pulley 402 and the pulley 403 to rotate clockwise, and then drives the rack 405 and the independent arm 410 to move in the first direction through the double-sided toothed synchronous belt 404, and drives the independent arm 410 to extend in the first direction.
  • Belt, synchronously moving in the first direction drives the independent arm 440 to move in the first direction (here, the principle of a pulley is similar to a movable pulley, and the moving distance of the independent arm 440 is twice that of the independent arm 410).
  • the independent arm 440 is driven along The timing belt extending in the first direction moves in the first direction synchronously to drive the independent arm 430 to move in the first direction, and then drives the timing belt extending in the first direction to drive the independent arm 430 to move in the first direction synchronously to drive the end arm 420 moves in the first direction.
  • the steering gear 423 drives the finger 423a to rotate to realize the pulling of the cargo box.
  • the driving element driving unit 401 drives the pulley 402 and the pulley 403 to rotate counterclockwise, so that the finger 423a drives the cargo box to reset, and the above completes the pulling of the cargo box on the right side of the robot by the telescopic fork.
  • the embodiment of the present disclosure also provides a container handling method, which utilizes any one of the above-mentioned container handling robots, and the method includes the following steps:
  • Step 001 Determine the number of independent arms according to the depth of the shelf where the container to be moved is located;
  • Step 002 Connect the determined number of independent arms with the main body and the distal arm;
  • the independent arms at both ends of the intermediate assembly are slidably connected to the main body and the end arm respectively; and the linkage mechanism of the independent arms at both ends is connected to the main body and the end arm. It is convenient to connect the holding fork and the driving mechanism.
  • Step 003 Drive the pick-up mechanism to extend into the shelf, and control the finger dial mechanism to pull the box.
  • the moving box robot controls the pick-up mechanism to remove the covered box, and then takes out the to-be-carried box through the pick-up mechanism.
  • the telescopic length of the fork can be adjusted according to the actual needs of the shelf where the container is moved, and the adaptability of the container handling robot is improved.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Container Filling Or Packaging Operations (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)

Abstract

一种货箱搬运机器人及其使用方法，该机器人包括：机器人载体（10），设置在机器人载体（10）上的门架（20）；还包括取货机构（40）；取货机构（40）包括：与门架（20）滑动连接的本体（40c），与本体（40c）滑动连接的一对抱叉（40a,40b），每个抱叉（40a,40b）包括与本体（40c）滑动连接的中间组件，与中间组件滑动连接且用于拉取货箱的末节臂（420）；其中，中间组件包括多个可拆卸的独立臂（410,430,440）；且多个独立臂（410,430,440）可相对滑动；本体（40c）上设置有用于驱动每个抱叉（40a,40b）的驱动机构；每个独立臂（410,430,440）设置有与驱动机构联动的联动机构。该货箱搬运机器人可调整抱叉的伸缩长度，提高了货箱搬运机器人的适应性。

Description

一种货箱搬运机器人及其使用方法
本公开要求在2020年06月05日提交中国专利局、公开号为202010507410.0、公开名称为“一种货箱搬运机器人及其使用方法”的中国专利的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及到物流技术领域，尤其涉及到一种货箱搬运机器人及其使用方法。
背景技术
在现有物流领域的机器人搬运过程中，最初的自动导引运输车(Automated Guided Vehicle，AGV)机器人是搬运货架模式的设备；随着技术进步，现在大多数厂家开始利用AGV机器人作为搬运设备，用于搬运货箱或者纸箱等货物存储。现有AGV机器人上用于取货箱和纸箱的伸缩叉多为1级固定，2级伸缩的模式。但是随着货架排布方式的改变，现有技术中的搬运设备仅能取到固定深度的货箱，已经无法满足搬运的要求。面对仓储密度进一步提升的需求及应用场景，已有的单伸位伸缩叉机器人在面对多排货架的高密度仓储场景方面存在一定的劣势。
发明内容
本公开的目的是为了克服现有技术的不足，提供了一种货箱搬运机器人及其使用方法。
本公开是通过以下技术方案实现：
本公开提供了一种货箱搬运机器人，该机器人包括：机器人载体，设置在所述机器人载体上的门架；还包括取货机构；所述取货机构包括：与所述门架滑动连接的本体，与所述本体滑动连接的一对抱叉，每个抱叉包括与所述本体滑动连接的中间组件，与所述中间组件滑动连接且用于拉取 货箱的末节臂；所述末节臂设置有用于拉取货箱的拨指机构；其中，所述中间组件包括多个可拆卸的独立臂；且所述多个独立臂可相对滑动；所述本体上设置有用于驱动每个抱叉的驱动机构；每个独立臂设置有与所述驱动机构联动的联动机构。在上述技术方案中，通过采用中间机构做成模块结构，从而可根据实际需要搬运货箱所在货架的深度调整抱叉的伸缩长度，提高了货箱搬运机器人的适应性。
在一个具体的可实施方案中，所述抱叉为双向抱叉。从而可实现双向取货，提高了货箱搬运机器人的适应性。
在一个具体的可实施方案中，每个独立臂的联动机构包括：设置在该独立臂的同步带；其中，所述同步带位于该独立臂一侧的端部与相邻的独立臂或者本体可拆卸的固定连接；所述同步带位于该独立臂另一侧的端部与相邻的独立臂或者末节臂可拆卸的固定连接。通过同步带实现了联动，方便调整抱叉的长度。
在一个具体的可实施方案中，在所述抱叉为双向抱叉时，所述同步带的个数为两个；其中的一个同步带用于驱动该独立臂沿第一方向伸缩；另一个同步带用于驱动该独立臂沿第二方向伸缩；所述第一方向与所述第二方向相反。实现双向伸缩。
在一个具体的可实施方案中，所述货箱搬运机器人还包括用于驱动所述本体滑动的升降机构。通过升降机构驱动取货机构运动。
在一个具体的可实施方案中，所述升降机构包括：齿轮齿条机构、同步带机构、丝杠机构或摩擦轮机构。通过不同的升降机构实现对取货机构的驱动。
在一个具体的可实施方案中，所述末节臂设置有用于拉取货箱的拨指机构。通过拨指机构实现搬运货箱。
在一个具体的可实施方案中，每个拨指机构包括：固定在所述末节臂的舵机，以及与所述舵机连接的拨指；所述舵机用于驱动所述拨指转动。 通过舵机驱动拨指，降低了拨指机构占用的空间，同时还可保证拨指机构的可靠性。
在一个具体的可实施方案中，每个末节臂设置的所述拨指机构的个数为多个，且所述多个拨指机构沿末节臂的长度方向延伸；所述多个拨指机构可单独运动以限位不同的货箱。通过多个拨指机构可实现单个货箱或者多个货箱的搬运。
在一个具体的可实施方案中，还包括：
传感器，设置在所述末节臂，并用于检测货箱；
控制装置，用于在所述传感器检测到待搬运货箱时，控制位于所述货箱两侧的拨指机构的拨指转动到工作位。提高了拉取货箱时的准确性。
在一个具体的可实施方案中，所述驱动机构包括：
用于提供驱动力的驱动单元，与所述驱动单元连接的双面齿同步带；与所述双面齿同步带啮合的齿条；所述齿条与所述本体相邻的独立臂可拆卸的固定连接。通过齿条与双面齿同步带的配合，方便驱动抱叉。
在一个具体的可实施方案中，每个末节臂设置有两个拨指机构，且所述两个拨指机构分列在所述末节臂相对的两端。方便双向拉取货箱。
本公开还提供了一种货箱搬运方法，该方法利用上述任一项所述的货箱搬运机器人，所述方法包括以下步骤：根据待搬运货箱所在货架的深度确定独立臂的个数；将确定个数的独立臂与所述本体及所述末节臂连接；驱动所述取货机构伸入到所述货架，并控制所述拨指机构拉取所述货箱。在上述技术方案中，通过采用中间机构做成模块结构，从而可根据实际需要搬运货箱所在货架的深度调整抱叉的伸缩长度，提高了货箱搬运机器人的适应性。
在一个具体的可实施方案中，所述将确定个数的独立臂与所述本体及所述末节臂连接，具体为：
将所述中间组件中位于两端的独立臂分别与所述本体及所述末节臂一一对应滑动连接；并将所述两端的独立臂的联动机构与所述本体及所述末节臂连接。方便了抱叉与驱动机构连接。
附图说明
为了更清楚地说明本公开实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，此处的附图被并入说明书中并构成本说明书中的一部分，这些附图示出了符合本公开的实施例，并与说明书一起用于说明本公开的技术方案。应当理解，以下附图仅示出了本公开的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1为本公开实施例提供的货箱搬运机器人的应用场景示意图；
图2为本公开实施例提供的货箱搬运机器人的应用场景示意图；
图3为本公开实施例提供的货箱搬运机器人的结构示意图；
图4为本公开实施例提供的取货机构的结构示意图；
图5为本公开实施例提供的抱叉的结构示意图；
图6为本公开实施例提供的驱动机构的结构示意图；
图7为本公开实施例提供的驱动机构与独立臂的配合示意图；
图8为本公开实施例提供的独立臂的结构示意图；
图9为本公开实施例提供的末节臂的结构示意图。
具体实施方式
为了使本公开的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本公开进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本公开，并不用于限定本公开。
为了使本公开的目的、技术方案和优点更加清楚，下面将结合附图对 本公开作进一步地详细描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本公开保护的范围。
为方便理解本公开实施例提供的货箱搬运机器人，下面结合图1及图2详细说明一下本公开实施例提供的货箱搬运机器人。如图1及图2所示，本公开实施例提供的货箱搬运机器人应用于仓库中搬运货箱。在仓库中，货箱存放在货架100中，但是货架100在仓库中摆放时，需要根据仓库的环境适应性放置，如图1中所示，货架100采用两排设置的方式排布，两排货架100之间设置有取货通道，但是随着仓库面积的利用要求越来越高，现有技术中采用如图2中所示的4排货架100排布，4排货架100之间设置取货通道。或者还可设置5排、6排等不同的情况。为适应在多排货架100排布的仓库中取货方式，本公开实施例提供了一种货箱搬运机器人，这里，图1和图2示出的示出的仅是一种仓库的示例，本公开实施例提供的货箱搬运机器人可以用于各种环境复杂多变的仓储场景中。
下面结合具体的附图对本公开实施例提供的货箱搬运机器人加以详细的说明。
首先说明一下货箱，本公开中的货箱指代的是物流产业中用于盛放产品或者半成品的箱子，包含但不限定料箱、纸箱、木质箱等常见的货箱。
如图3所示的本公开实施例提供的货箱搬运机器人，本公开实施例提供的货箱搬运机器人的主体结构可包括机器人载体10、设置在机器人载体10上的门架20以及滑动装配在门架20上的取货机构40。其中，机器人载体10作为承载机构，门架20用于支撑取货机构40，而取货机构40用于将货箱从货架中取出。下面结合附图详细说明上述几部分的机构。
首先说明一下本公开实施例提供的机器人载体10，机器人载体10作为整个货箱搬运机器人1的行走装置，机器人载体10可选用现有技术中常见 的机器人，示例性的，机器人载体10可为轮式平板型机器人。示例性的，机器人载体10包括车轮11、悬挂12等组件，机器人载体10作为其他组件的承载基体，可使机器人完成在地面上的各种行进、转向等运动。在行驶时，机器人载体10可根据导航系统移动至所需工作的货架前，并在移动过程中完成路线转换、避障等操作，上述动作均为现有机器人载体10中常用的技术手段，在此不做过多赘述。
门架20竖直安装于机器人载体10上，并与机器人载体10固连，具体的可通过螺纹件(螺栓或者螺钉)连接，或者还可采用焊接、卡接等不同的方式。上述门架20的高度与待搬运货箱所在的货架高度对应。在货架的高度不同时，可更换门架20的高度，以保证取货机构40可取到位于货架最上层的货箱。或者还可采用门架20为高度可调的门架，以适应不同高度的货架。
取货机构40在取货时需要滑动到与货箱所在货架上的层数相同的高度，本公开实施例提供的货箱搬运机器人设置了用于驱动取货机构40滑动的升降机构30。通过升降机构30驱动取货机构40运动。升降机构30安装于门架20中，通过驱动元件31使得取货机构40沿竖直方向移动。
本公开实施例提供的升降机构可采用不同的结构。示例性的，图3中的升降机构为滑块导轨形式的机构，直线导轨32安装于门架上，滑块33安装于取货机构40，取货机构40可通过滑块33在导轨32上竖向移动。驱动元件31设置在门架的顶部，且驱动元件31通过链条34与取货机构40连接，通过链条34带动取货机构40运动，并通过滑块33与导轨32的配合保证取货机构40滑动的稳定性。
应当理解的是，本公开实施例提供的升降机构30不仅限于图3中所示的结构，除滑块导轨形式，升降机构还可包含但不限于以下几种示例：
齿轮齿条机构，将齿条安装于门架20上，齿轮安装于取货机构40上，驱动元件驱动齿轮带动伸缩叉系统沿着齿条竖向移动。
同步带机构，将同步带安装于门架20上，同步带轮安装于取货机构40上，驱动元件驱动同步带轮带动取货机构40沿着同步带竖向移动。
摩擦轮机构，门架20上固定一导轨平面，摩擦滚轮安装于取货机构40上，驱动元件驱动摩擦滚轮带动取货机构40沿着导轨平面竖向移动。
丝杠机构，将丝杠安装于门架20上，滑块安装于取货机构40上，驱动元件驱动丝杠旋转，使得滑块带动取货机构40竖向移动。
连杆机构，将类似于剪刀叉结构安装于门架20上，取货机构40固定在剪刀叉合适位置，驱动元件驱动连杆旋转带动取货机构40竖向移动。
上述几种具体的升降机构的实现形式为比较常见的机构，因此在本公开实施例中不再详细的说明上述几种机构在与门架及取货机构具体如何连接。
在一个可选的实施方案中，上述的驱动元件31可为驱动电机以及与驱动电机配合的齿轮箱。驱动元件31为货箱搬运机器人中比较常见的驱动部件，因此不再详细赘述其与升降机构中其他部件的具体配合关系。
一并参考图4，图4示出了本公开实施例提供的取货机构的示意图。本公开实施例提供的取货机构安装于门架上。取货机构包括本体40c以及抱叉，其中，本体40c与门架滑动连接并用于承载取货机构拉取的货箱，而抱叉与本体40c滑动连接并用于伸出拉取货箱。如图4中所示的本体40c为一个U形的结构，其包含一个底板以及两个相对的侧壁，本体40c上设置有用于驱动每个抱叉的驱动机构(仅示出了驱动机构的驱动单元401)，通过驱动机构可驱动抱叉伸缩。取货机构包括抱叉40a和抱叉40b，抱叉40a和抱叉40b对称设置在本体40c的两侧。在抱叉40a和抱叉40b伸出时，伸入到货架中将货箱拉取，在抱叉40a和抱叉40b收缩时，将货箱拉取到本体40c内。
上述的抱叉40a和抱叉40b为对称结构，因此，以一个抱叉为例进行说明。一并参考图5，图5示例出了一个抱叉的具体结构示意图。每个抱叉 包括与本体滑动连接的中间组件，以及与中间组件滑动连接的末节臂420。其中，中间组件包含多个可拆卸的独立臂，且多个独立臂可相对滑动。以图5中所示的三个独立臂为例，中间组件包括三个独立臂410、430、440，每个独立臂均为独立的结构。
一并参考图4、图6及图7，图4示出了驱动机构中用于提供驱动力的驱动单元401，图6及图7示出了驱动机构的其他结构。其他结构包括设置在本体的侧壁406并与驱动单元连接的双面齿同步带404，与双面齿同步带404啮合的齿条405等组件。其中，双面齿同步带404通过带轮402、带轮403带动，而带轮402、带轮403与驱动单元401连接，上述驱动单元401可为驱动电机或者驱动电机及齿轮箱组成的机构。如图7所示，图7中的相同标号可参考图6中所示。驱动机构还包括齿条405，齿条405与双面齿同步带404啮合，且齿条405用于与本体相邻的独立臂可拆卸的固定连接，如图7中的独立臂410上。齿条405固定在独立臂410上时，当双面齿同步带404转动时，可带动齿条405滑动，从而带动独立臂410滑动，实现独立臂410相对本体的滑动。
在一个可选的方案中，本体的侧壁406上设置有独立臂410配合的导轨407，通过导轨407与独立臂410的配合，可实现独立臂410相对本体的滑动。
一并参考图8，图8示出了独立臂的具体结构。每个独立臂450设置有与驱动机构联动的联动机构，抱叉中的独立臂450为模块化结构，因此以其中的一个独立臂450为例来说明其联动机构。联动机构包括：设置在该独立臂450的同步带452、453；其中，独立臂450上设置有与同步带452、453配合的带轮451、454；同步带452、453绕过带轮451、454，同步带452、453一端位于独立臂450的一侧，另一端位于独立臂450的另一侧。同步带452、453位于该独立臂450一侧的端部与相邻的独立臂或者本体可拆卸的固定连接；同步带452、453位于该独立臂450另一侧的端部与相邻的独立臂或者末节臂可拆卸的固定连接。一并参考图5，以上述的三个独立 臂450为例，其中的一个同步带的连接方式如下：与本体40c滑动连接的独立臂410中，同步带的一侧的端部与本体40c固定连接，另一侧的端部与独立臂410固定连接；独立臂440上的同步带一侧的端部与独立臂410连接，另一侧的端部与独立臂430连接；独立臂430上的同步带一侧的端部与独立臂440连接，另一侧的端部与末节臂420固定连接。
由上述描述可看出，每个独立臂450均为一个独立模块，在需要改变抱叉的伸缩长度时，可通过增加或者减少独立臂450的个数来实现。示例性的，当货架为多排货架时，可增加独立臂450的个数，以增加抱叉的伸缩长度；当货架的排数比较少时，可减少独立臂450的个数，以减少抱叉的伸缩长度。
在一个可选的方案中，抱叉可为双向伸缩的抱叉，此时，抱叉可沿第一方向伸出，也可以沿第二方向伸出，其中，第一方向与第二方向相反，可实现货箱搬运机器人在不转弯的情况下对巷道两侧中任一侧的货箱进行搬运，提高的搬运效率。在抱叉为双向抱叉时，同步带452、453的个数为两个；其中的一个同步带用于驱动该独立臂沿第一方向伸缩；另一个同步带用于驱动该独立臂沿第二方向伸缩。如图8中的同步带452和同步带453，其中，同步带452为驱动独立臂450沿第一方向伸缩的同步带；同步带453为驱动独立臂450沿第二方向伸缩的同步带。当抱叉为单向伸缩的抱叉时，可仅采用一个同步带，具体的同步带的设置方式，可根据抱叉的伸缩方向而定。在伸缩方向为第一方向时，可仅采用同步带452；在伸缩方向为第二方向时，可仅采用同步带453。
在一个可选的方案中，独立臂450上还设置有导轨455，相邻的独立臂可设置在导轨455上。以上述的三个独立臂为例。参考图5，独立臂410与本体40c上的导轨滑动连接，独立臂440上的导轨与独立臂410滑动连接；独立臂440上的导轨与独立臂430滑动连接；独立臂430上的导轨与末节臂420滑动连接。
末节臂设置有用于拉取货箱的拨指机构。该拨指机构的个数可为两个， 且两个拨指机构分列在末节臂相对的两端。其中，每个拨指机构可包括固定在末节臂的舵机，以及与舵机连接的拨指；舵机用于驱动拨指转动。通过舵机驱动拨指，在取货时，拨指与末节臂垂直，如图4中的拨指与末节臂垂直，拨指与货箱接触并用于拖拉货箱运动，而取货完成后，拨指可以转动到与末节臂平行的位置，进而降低了拨指机构占用的空间，同时还可保证拨指机构的可靠性。如图9所示，末节臂420包括舵机422、拨指422a、舵机423、拨指423a等组件，舵机422和舵机423可分别驱动拨指422a和拨指423a旋转到工作位，实现对货箱的拉取。在采用舵机驱动拨指时，相比与现有技术中采用机械结构驱动拨指的情况，不存在现有技术中机械结构磨损的情况，提高了拨指结构工作的可靠性。当然，本公开实施例提供的拨指结构还可采用其他的可拨动待搬运货箱的结构，
在一个可选的方案中，每个末节臂设置的拨指机构的个数为多个，且多个拨指机构沿末节臂的长度方向延伸；多个拨指机构可单独运动以限位不同的货箱。示例性的，上述的多个拨指机构可单独运动，多个拨指机构可单独运动以限位货箱。以三个拨指结构为例，沿末节臂的长度方向排列有：第一拨指机构、第二拨指机构、第三拨指机构。第一拨指机构位于末节臂的末端，第一拨指机构和第二拨指机构围成一个容纳货箱的空间，以放置第一货箱；或者单独通过第一拨指机构拨动第一货箱，或者单独通过第二拨指机构拨动第一货箱，在具体工作时，可根据需要单独控制上述第一拨指机构、第二拨指机构及第三拨指机构的工作状态。第二拨指机构和第三拨指机构围成一个容纳货箱的空间，以放置第二货箱。在拨指机构为多个时，也可形成放置三个、四个等不同个数货箱的空间。上述的拨指机构均可单独工作。如仅需要拉取第一货箱时，可仅控制第一拨指机构，或者同时控制第一拨指机构及第二拨指机构转动到工作位。第一货箱和第二货箱沿货架深度方向相邻排列在货架上，且第一货箱位于内测，在第一货箱和第二货箱需要同时搬运时，可同时控制第一拨指机构、第二拨指机构转动到工作位，或同时控制第一拨指机构、第二拨指机构及第三拨指机构 转动到工作位。
在一个可选的方案中，末节臂还设置有传感器424，该传感器用于检测货箱；货箱搬运机器人还包括控制装置，以用于在传感器424检测到待搬运货箱时，控制位于货箱两侧的拨指机构的拨指转动到工作位。上述控制装置具体可为PLC、单片机或者工业电脑等常见的控制装置。应当理解的是，控制装置根据接收的数据控制部件动作为本领域内常见的技术手段，因此在本公开不在具体示例出控制装置与检测装置及调整装置的具体电连接关系，以及具体的控制逻辑。
为方便理解本公开实施例体用的抱叉如何工作，下面结合上述公开的部件的结构进行说明。
驱动单元401驱动带轮402、带轮403顺时针转动，进而通过双面齿同步带404带动齿条405和独立臂410一体向第一方向移动，驱动独立臂410沿第一方向伸出的同步带，同步向第一方向移动带动独立臂440向第一方向移动(此处带轮原理近似于动滑轮，独立臂440的移动距离为独立臂410的两倍)，同理，驱动独立臂440沿第一方向伸出的同步带，同步向第一方向移动带动独立臂430向第一方向移动，进而驱动独立臂430向第一方向伸出的同步带，同步向第一方向移动，带动末节臂420向第一方向移动，末节臂420通过传感器424确定到达指定位置时，舵机423驱动拨指423a旋转，实现对货箱的拉取。然后驱动元件驱动单元401驱动带轮402、带轮403逆时针转动，使得拨指423a带动货箱复位，以上完成伸缩叉对机器人右侧货箱的拉取。
本公开实施例还提供了一种货箱搬运方法，该方法利用上述任一项的货箱搬运机器人，方法包括以下步骤：
步骤001：根据待搬运货箱所在货架的深度确定独立臂的个数；
步骤002：将确定个数的独立臂与本体及末节臂连接；
具体的，将中间组件中位于两端的独立臂分别与本体及末节臂一一对 应滑动连接；并将两端的独立臂的联动机构与本体及末节臂连接。方便了抱叉与驱动机构连接。
步骤003：驱动取货机构伸入到货架，并控制拨指机构拉取货箱。
待搬运货箱外侧有遮挡货箱时，搬运货箱机器人控制取货机构将遮挡货箱搬离，然后再通过取货机构将待带搬运货箱取出。
通过上述描述可看出，通过采用中间机构做成模块结构，从而可根据实际需要搬运货箱所在货架的深度调整抱叉的伸缩长度，提高了货箱搬运机器人的适应性。
以上仅为本公开的可选实施例而已，并不用以限制本公开，凡在本公开的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本公开的保护范围之内。

Claims (17)

  1. 一种货箱搬运机器人，其特征在于，包括：机器人载体，设置在所述机器人载体上的门架；还包括取货机构；
    所述取货机构包括：与所述门架滑动连接的本体，与所述本体滑动连接的一对抱叉，每个抱叉包括与所述本体滑动连接的中间组件，与所述中间组件滑动连接且用于拉取货箱的末节臂；其中，
    所述中间组件包括多个可拆卸的独立臂；且所述多个独立臂可相对滑动；
    所述本体上设置有用于驱动每个抱叉的驱动机构；
    每个独立臂设置有与所述驱动机构联动的联动机构。
  2. 根据权利要求1所述的货箱搬运机器人，其特征在于，所述门架竖直安装于所述机器人载体上，并与所述机器人载体固定连接。
  3. 根据权利要求1或2所述的货箱搬运机器人，其特征在于，所述门架的高度与待搬运货箱所在的货架高度对应；或者，所述门架的高度可调。
  4. 根据权利要求1-3任一项所述的货箱搬运机器人，其特征在于，还包括：升降机构；
    所述升降机构安装于所述门架中；所述升降机构通过驱动元件使得所述取货机构沿竖直方向移动。
  5. 根据权利要求4所述的货箱搬运机器人，其特征在于，所述升降机构包括下述至少一种：滑块导轨机构、齿轮齿条机构、同步带机构、丝杠机构、摩擦轮机构、连杆机构。
  6. 根据权利要求1-5任一项所述的货箱搬运机器人，其特征在于，所述抱叉为双向抱叉。
  7. 根据权利要求1-6任一项所述的货箱搬运机器人，其特征在于，每 个独立臂的联动机构包括：
    设置在该独立臂的同步带；其中，所述同步带位于该独立臂一侧的端部与相邻的独立臂或者本体可拆卸的固定连接；
    所述同步带位于该独立臂另一侧的端部与相邻的独立臂或者末节臂可拆卸的固定连接。
  8. 根据权利要求7所述的货箱搬运机器人，其特征在于，所述本体的侧壁上设置有与所述独立臂配合的导轨。
  9. 根据权利要求7或8所述的货箱搬运机器人，其特征在于，在所述抱叉为双向抱叉时，所述同步带的个数为两个；
    其中的一个同步带用于驱动该独立臂沿第一方向伸缩；
    另一个同步带用于驱动该独立臂沿第二方向伸缩；所述第一方向与所述第二方向相反。
  10. 根据权利要求1-9任一项所述的货箱搬运机器人，其特征在于，所述末节臂设置有用于拉取货箱的拨指机构。
  11. 根据权利要求10所述的货箱搬运机器人，其特征在于，每个拨指机构包括：固定在所述末节臂的舵机，以及与所述舵机连接的拨指；所述舵机用于驱动所述拨指转动。
  12. 根据权利要求10或11所述的货箱搬运机器人，其特征在于，每个末节臂设置的所述拨指机构的个数为多个，且所述多个拨指机构沿末节臂的长度方向延伸；
    所述多个拨指机构可单独运动以限位不同的货箱。
  13. 根据权利要求11或12所述的货箱搬运机器人，其特征在于，还包括：
    传感器，设置在所述末节臂，并用于检测货箱；
    控制装置，用于在所述传感器检测到待搬运货箱时，控制位于所述货箱两侧的拨指机构的拨指转动到工作位。
  14. 根据权利要求1-13任一项所述的货箱搬运机器人，其特征在于，所述驱动机构包括：
    用于提供驱动力的驱动单元，与所述驱动单元连接的双面齿同步带；与所述双面齿同步带啮合的齿条；所述齿条与所述本体相邻的独立臂可拆卸的固定连接。
  15. 一种货箱搬运方法，其特征在于，利用如权利要求1～15任一项所述的货箱搬运机器人，所述方法包括以下步骤：
    根据待搬运货箱所在货架的深度确定独立臂的个数；
    将确定个数的独立臂与所述本体及所述末节臂连接；
    驱动所述取货机构伸入到所述货架，并控制所述拨指机构拉取所述货箱。
  16. 根据权利要求15所述的搬运方法，其特征在于，所述将确定个数的独立臂与所述本体及所述末节臂连接，具体为：
    将所述中间组件中位于两端的独立臂分别与所述本体及所述末节臂一一对应滑动连接；并将所述两端的独立臂的联动机构与所述本体及所述末节臂连接。
  17. 根据权利要求15或16所述的搬运方法，其特征在于，所述待搬运货箱外侧有遮挡货箱时，所述搬运货箱机器人控制所述取货机构将遮挡货箱搬离，然后再通过所述取货机构将所述待带搬运货箱取出。
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