Handling robot

Patent metadata

Field	Value
Publication number	US-11655099-B2
Application number	US-202217944671-A
Country	US
Kind code	B2
Filing date	Sep 14, 2022
Priority date	Nov 14, 2017
Publication date	May 23, 2023
Grant date	May 23, 2023

Abstract

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.

First claim

What is claimed is:

1. A handling robot, comprising:
a movable chassis;
a storage frame supported by the movable chassis, the storage frame being provided with a plurality of storage units;
a material handling device supported by the movable chassis and configured to move in a vertical direction, the material handling device being configured to transport an inventory item between a shelf and one of the plurality of storage units; and
a lifting assembly configured to drive the material handling device to move in the vertical direction;
wherein the material handling device comprises:
a support bracket configured to move in the vertical direction; and
a fork supported by the support bracket and configured to rotate around the vertical direction relative to the support bracket;
wherein the fork comprises:
a temporary storage unit configured to temporarily store the inventory item on an upper side of the temporary storage unit, the temporary storage unit being configured to support a weight of the inventory item;
a telescopic arm configured to extend or retract relative to the temporary storage unit, wherein the telescopic arm comprises a first arm section and a second arm section directly or indirectly connected to the first arm section, the first arm section being directly or indirectly coupled to the temporary storage unit, the second arm section being movable relative to the first arm section; and
a pusher assembly, wherein the pusher assembly comprises;
a push rod fixedly installed to the second arm section, the push rod being immovable relative to the second arm section, the push rod being configured to move together with the second arm section relative to the temporary storage unit, the push rod being configured to push the inventory item away from the temporary storage unit when the telescopic arm is in a state where the telescopic arm is in a process of extending relative to the temporary storage unit; and
a manipulator installed to the second arm section, the manipulator being configured to fold or unfold relative to the second arm section, the manipulator being configured to pull the inventory item to the temporary storage unit when the manipulator is in a state where the manipulator is unfolded relative to the second arm section and the telescopic arm is in a state where the telescopic arm is in a process of retracting relative to the temporary storage unit.

2. The handling robot according to claim 1 , wherein the fork further comprises a U-shaped housing configured to house at least a part of the telescopic arm.

3. The handling robot according to claim 1 , wherein the telescopic arm is configured to extend in a single direction relative to the temporary storage unit.

4. The handling robot according to claim 1 , wherein the handling robot is configured to control the telescopic arm to extend based at least in part on a distance between the fork and the inventory item.

5. The handling robot according to claim 4 , wherein the material handling device comprises a detection assembly configured to detect the distance;
wherein the detection assembly comprises at least one of a camera, a laser sensor, an infrared sensor, and a radio frequency transmitter.

6. The handling robot according to claim 1 , wherein the telescopic arm is configured to extend so that an extension amount of the telescopic arm is larger than a distance between the fork and the inventory item.

7. The handling robot according to claim 1 , wherein the material handling device further comprises a camera;
wherein the camera is directly or indirectly coupled to the temporary storage unit and is disposed beneath a surface of the temporary storage unit.

8. A handling robot, comprising:
a movable chassis comprising a base and a standing frame installed to the base;
a plurality of storage units supported by the movable chassis;
a material handling device configured to move along the standing frame, the material handling device being configured to transport an inventory item between a shelf and one of the plurality of storage units; and
a lifting assembly configured to drive the material handling device to move along the standing frame;
wherein the material handling device comprises:
a support bracket configured to move along the standing frame;
a fork installed to the support bracket and configured to rotate around a vertical direction relative to the support bracket; and
a camera;
wherein the fork comprises:
a temporary storage unit configured to temporarily store the inventory item on the temporary storage unit during transport of the inventory item;
a telescopic arm directly or indirectly coupled to the temporary storage unit, the telescopic arm being configured to extend or retract relative to the temporary storage unit in order to transport the inventory item; and
a pusher assembly installed to the telescopic arm and configured to push or pull the inventory item;
wherein the camera is directly or indirectly coupled to the temporary storage unit.

9. The handling robot according to claim 8 , wherein the camera is configured to rotate together with the fork around the vertical direction relative to the support bracket when the fork is in a state where the fork is in a process of rotating.

10. The handling robot according to claim 8 , wherein the camera is mounted beneath a surface of the temporary storage unit.

11. The handling robot according to claim 8 , wherein the fork comprises a U-shaped housing provided with an opening, the telescopic arm being extendable in a single direction relative to the temporary storage unit;
wherein the camera is mounted to an end of the temporary storage unit, the end of the temporary storage unit being close to the opening.

12. The handling robot according to claim 8 , wherein the camera is mounted in the middle of the temporary storage unit.

13. The handling robot according to claim 8 , wherein a lens of the camera is in a direction the same or substantially the same as a direction of extension of the telescopic arm.

14. The handling robot according to claim 8 , wherein the camera is immovable relative to the temporary storage unit.

15. The handling robot according to claim 8 , wherein the telescopic arm is configured to extend so that an extension amount of the telescopic arm is larger than a distance between the fork and the inventory item.

16. The handling robot according to claim 8 , wherein the telescopic arm comprises:
a first arm section directly or indirectly coupled to the temporary storage unit; and
a second arm section connected to the first arm section and configured to move relative to the first arm section;
wherein the pusher assembly comprises:
a push rod fixedly mounted to the second arm section and configured to push the inventory item away from the temporary storage unit, the push rod being immovable relative to the second arm section, the push rod being movable together with the second arm section relative to the temporary storage unit; and
a manipulator mounted to the second arm section, the manipulator being configured to fold or unfold relative to the second arm section, the manipulator being configured to pull the inventory item to the temporary storage unit.

17. The handling robot according to claim 8 , wherein the material handling device is configured to transport the inventory item from the shelf to the one of the plurality of storage units, a marker being arranged on the shelf;
wherein the camera is configured to acquire an image of the marker arranged on the shelf;
wherein the handling robot is configure

Assignees

• Hai Robotics Co Ltd

Inventors

• Cheng Jui-Chun
• Xu Shengdong
• Chen Yuqi

Classifications

• G06T7/73

  using feature-based methods · CPC title

• B25J9/1679 Primary

  characterised by the tasks executed · CPC title

• B65G1/0492

  with cars adapted to travel in storage aisles · CPC title

• G05B19/41895

  using automatic guided vehicles [AGV] (control of position or course of AGV's G05D1/00) · CPC title

• G05B2219/50393

  Floor conveyor, AGV automatic guided vehicle · CPC title