Robot for transporting cargo boxes

Abstract

A robot for transporting cargo box, relating to the field of automatic logistics storage, includes a drive unit, a cargo box storing unit and a cargo box delivery unit, wherein the drive unit drives the cargo box storing unit and the cargo box delivery unit to move together; the cargo box storing unit includes one or more cargo box storing spaces; the cargo box delivery unit is configured to deliver the cargo box between the storing space and the shelf.

Claims

1. A robot for transporting cargo boxes, comprising a drive unit, a cargo box storing unit and a cargo box delivery unit, wherein the drive unit drives the cargo box storing unit and the cargo box delivery unit to move together; the cargo box storing unit comprises one or more cargo box storing spaces; the cargo box delivery unit is configured to deliver the cargo box between the cargo box storing space and a shelf, wherein the cargo box storing unit comprises a supporting guide rail; wherein the cargo box delivery unit comprises a lifting device, a rotating device and a retractor device, wherein one end of the lifting device is connected to the supporting guide rail and is slidable up and down in a vertical direction along the supporting guide rail, and the other end of the lifting device is connected to the retractor device by the rotating device; wherein a rotation axis of the retractor device is parallel to a moving direction of the lifting device and passes through the retractor device.

2. The robot for transporting cargo boxes according to claim 1, wherein the retractor device is a fork tooth.

3. The robot for transporting cargo boxes according to claim 1, wherein the cargo box storing unit further comprises a support plate, the support plate is configured to divide the storing space.

4. The robot for transporting cargo boxes according to claim 1, wherein the cargo box storing unit further comprises a reinforcing rib and a support plate, wherein the supporting guide rail, the support plate and the reinforcing rib are connected mutually to form one or more cargo box storing spaces.

5. The robot for transporting cargo boxes according to claim 4, wherein the support plate is an integral flat plate, or has hollows or partitions.

6. The robot for transporting cargo boxes according to claim 1, wherein the drive unit comprises a chassis frame and drive wheels, the drive wheels configured to drive the robot to move or stop.

7. The robot for transporting cargo boxes according to claim 6, wherein the movement comprises advancing, retreating, turning and spinning.

8. The robot for transporting cargo boxes according to claim 6, wherein the number of the drive wheels is two or more.

9. The robot for transporting cargo boxes according to claim 1, wherein the cargo box storing space and the cargo box are provided with machine-readable codes, and the cargo box delivery unit further comprises an alignment sensor and a pose sensor.

10. The robot for transporting cargo boxes according to claim 9, wherein the machine-readable code is a bar code or a two-dimensional code, or a character string or an RFID.

11. The robot for transporting cargo boxes according to claim 9, wherein the alignment sensor is configured to detect the position of the cargo box, and the alignment sensor is a vision sensor or a radio frequency sensor.

12. The robot for transporting cargo boxes according to claim 9, wherein the pose sensor is configured to detect the pose of the cargo box on the cargo box delivery unit, and the pose sensor is a vision sensor or a radio frequency sensor.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a perspective diagram of the transporting robot of one preferable embodiment of the present invention;

(2) FIG. 2 is a perspective diagram of the cargo box delivery unit of one preferable embodiment of the present invention;

(3) FIG. 3 is a perspective diagram of the transporting robot of another preferable embodiment of the present invention;

(4) wherein:

(5) 1. drive unit; 11. chassis frame; 12. drive wheel; 2. cargo box storing unit; 21. supporting guide rail; 22. support plate; 3. cargo box delivery unit; 31. mounting frame; 32. lifting device; 321. an end of the lifting device; 322. the other end of the lifting device; 33. retractable fork tooth; 34. rotating device; 35. pose sensor; 36. alignment sensor; 4. cargo box.

DETAILED DESCRIPTION

(6) The present invention will be described more fully hereinafter with reference to the accompanying drawings, in which two preferred embodiments of the invention are shown, for the purpose of clarity and better understanding of the techniques. This invention may be embodied in various different forms and the invention should not be construed as being limited to the embodiments set forth herein.

(7) In the accompanying drawings, elements with identical structure are marked with the same reference numerals, and like elements with similar structure or function are marked throughout with like reference numerals, respectively. The dimension and thickness of each of the elements in the accompanying drawings are arbitrarily shown, and are not defined. Certain elements may be shown somewhat exaggerated in thickness in the interest of clarity.

(8) It will be understood that when an element is referred to as being “on” another element, it can be directly on the other element or there may be an intermediate element to which it is attached, and the intermediate element is attached to the other element. When an element is referred to as being “mounted to” or “connected to” another element, either one can be understood as being directly “mounted” or “connected” thereto, or via an intermediate element to be indirectly “mounted to” or “connected to” the other element.

Embodiment 1

(9) As shown in FIG. 1 and FIG. 2, a robot for transporting cargo boxes includes: a drive unit 1, a cargo box storing unit 2, and a cargo box delivery unit 3.

(10) (1) The drive unit 1 is used for driving the cargo box storing unit 2 and the cargo box delivery unit 3 mounted thereon to move on the ground together.

(11) (2) The cargo box storing unit 2 is mounted above the drive unit 1, for storing the cargo boxes 4.

(12) (3) The cargo box delivery unit 3 is mounted to one side of the cargo box storing unit 2, for delivering the cargo box 4 into or out from the cargo box, to a specified position.

(13) The drive unit 1 includes a chassis frame 11 and drive wheels 12, wherein the number of the drive wheels 12 is two, and the drive wheels are symmetrically mounted to two sides of the chassis frame 1. The advancing, retreating, turning and spinning of the robot can be achieved through rotations of the drive wheels 12.

(14) The cargo box storing unit 2 includes supporting guide rails 21, support plates 22 and reinforcing ribs 23, wherein the supporting guide rails 21 are positioned above the drive unit 1, and the supporting guide rails 21 are connected with each other through the support plates 22 and the reinforcing ribs 23, and the support plates 22 are used for stacking the cargo boxes.

(15) The cargo box storing unit 2 can store a plurality of cargo boxes.

(16) The support plates 22 are spaced apart from each other.

(17) The cargo box delivery unit 3 includes a frame 31, a lifting device 32, a retractable fork tooth 33 and a rotating device 34, wherein one end 321 of the lifting device 32 is connected to the supporting guide rail 21, and is slidable up and down in a vertical direction L1 and L2 along the supporting guide rail 21, and the other end 322 of the lifting device 32 is connected to the retractable fork tooth 33 by the rotating device 34.

(18) The retractable fork tooth 33 is rotatable along the rotation axis Z by the rotating device 34, and the rotation direction is R as shown in FIG. 2.

(19) The retractable fork tooth 33 is extendable or retractable in the x direction. If the rotating device 34 drives the retractable fork tooth 33 to rotate, the retracting direction of the retractable fork tooth 33 rotates accordingly therewith.

(20) The cargo box delivery unit 3 further includes a pose sensor 35 for identifying the pose of the cargo box above the retractable fork tooth 33, and an alignment sensor 36 for detecting the position of the cargo box.

(21) The pose sensor 35 may be a vision sensor or other sensors capable of acquiring the pose information.

(22) The alignment sensor 36 may be a vision sensor or other sensors capable of acquiring the pose information.

(23) A procedure for a robot for transporting cargo boxes to transport the cargo boxes 4 to the cargo box storing unit 2 is as follows: the robot moves the cargo box delivery unit 3 to a specified position by the lifting device 32, meanwhile the retractable fork tooth 33 is rotated to a specified angle by the rotating device 34 and extends underneath the cargo box 4 to be transported, and the cargo box 4 is lifted by the lifting device 32, and the cargo box 4 is retracted by the retractable fork tooth 33, and the retractable fork tooth 33 and the cargo box 4 are rotated to another specified angle by the rotating device 34, and then the cargo box 4 is moved onto the support plate 22 by the retractable fork tooth 33, and then the cargo box 4 is lowered by the lifting device 32 and placed on the support plate 22, and finally the retractable fork tooth 33 is retracted.

Embodiment 2

(24) As shown in FIG. 2 and FIG. 3, a robot for transporting cargo boxes includes: a drive unit 1, a cargo box storing unit 2, and a cargo box delivery unit 3.

(25) (1) The drive unit 1 is used for driving the cargo box storing unit 2 and the cargo box delivery unit 3 mounted thereon to move on the ground together.

(26) (2) The cargo box storing unit 2 is mounted above the drive unit 1, for storing the cargo boxes 4.

(27) (3) The cargo box delivery unit 3 is mounted at one side of the cargo box storing unit 2, for delivering the cargo box 4 into or out the cargo box storing unit 2, to a specified position.

(28) The drive unit 1 includes a chassis frame 11 and drive wheels 12, wherein the number of the drive wheels 12 is two, and the drive wheels 12 are symmetrically mounted to two sides of the chassis frame 11. The advancing, retreating, turning and spinning of the robot can be achieved through rotations of the drive wheels 12.

(29) The cargo box storing unit 2 includes supporting guide rails 21, support plates 22 and reinforcing ribs 23, wherein the supporting guide rails 21 are positioned above the drive unit 1, and are connected with each other through the support plates 22 and the reinforcing ribs 23, and the support plates 22 are used for stacking the cargo boxes.

(30) The cargo box storing unit 2 can store a plurality of cargo boxes.

(31) The support plate 22 is a flat plate for connecting the supporting guide rails 21 at the two sides.

(32) The cargo box delivery unit 3 includes a frame 31, a lifting device 32, a retractable fork tooth 33 and a rotating device 34, wherein one end of the lifting device 31 is connected to the supporting guide rail 21, and is slidable up and down in a vertical direction along the supporting guide rail 21, and the other end of the lifting device 32 is connected to the retractable fork tooth 33 by the rotating device 34.

(33) The retractable fork tooth 33 is rotatable along the z axis by the rotating device 34.

(34) The retractable fork tooth 33 is extendable or retractable in the x direction. If the rotating device 34 drives the retractable fork tooth 33 to rotate, the retracting direction of the retractable fork tooth 33 rotates accordingly therewith.

(35) The cargo box delivery unit 3 further includes a pose sensor 35 for identifying the pose of the cargo box above the retractable fork tooth 33, and an alignment sensor 36 for detecting the position of the cargo box.

(36) The pose sensor 35 may be a vision sensor or other sensors capable of acquiring the pose information, for example a radio frequency sensor.

(37) The alignment sensor 36 may be a vision sensor or other sensors capable of acquiring the pose information, for example a radio frequency sensor.

(38) A procedure for a robot for transporting cargo boxes to transport the cargo boxes 4 to the cargo box storing unit 2 is as follows. The robot moves the cargo box delivery unit 3 to a specified position by the lifting device 32, meanwhile the retractable fork tooth 33 is rotated to a specified angle by the rotating device 34 and extended underneath the cargo box 4 to be transported, and the cargo box 4 is lifted by the lifting device 32, and the cargo box 4 is retracted by the retractable fork tooth 33, and the retractable fork tooth 33 and the cargo box 4 are rotated to another specified angle by the rotating device 34, and the cargo box 4 is moved onto the support plate 22 by the retractable fork tooth 33, and then the cargo box 4 is lowered by the lifting device 32 and placed on the support plate 22, and finally the retractable fork tooth 33 is retracted.

(39) The preferred specific embodiments of the invention have been described in detail above. It is to be understood that numerous modifications and variations can be made by those ordinary skilled in the art in accordance with the concepts of the present invention without any inventive effort. Hence, the technical solutions that may be derived by those skilled in the art according to the concepts of the present invention on the basis of the prior art through logical analysis, reasoning and limited experiments should be within the scope of protection defined by the claims.