Handling robot

Patent metadata

Field	Value
Publication number	US-11945706-B2
Application number	US-202117390667-A
Country	US
Kind code	B2
Filing date	Jul 30, 2021
Priority date	Feb 1, 2019
Publication date	Apr 2, 2024
Grant date	Apr 2, 2024

Abstract

A handling robot ( 100 ), which relates to the field of warehouse logistics, comprises: a mobile chassis ( 10 ); a storage shelf ( 20 ) mounted to the mobile chassis ( 10 ), the storage shelf ( 20 ) comprising a plurality of layered plate components ( 21 ) distributed at different heights, each layered plate component ( 21 ) comprising a layered plate ( 210 ) for placing materials; a handling device ( 40 ), comprising a handling assembly ( 42 ), the handling assembly ( 42 ) being configured to handle a material to a layered plate ( 210 ) at the same height as the handling assembly ( 42 ), or to handle a material out of a layered plate ( 210 ) at the same height as the handling assembly ( 42 ); and a lift component ( 30 ), configured to drive the handling device ( 40 ) to lift relative to the storage shelf ( 20 ) so that the handling assembly ( 42 ) is at the same height as one layered plate ( 210 ).

First claim

What is claimed is:

1. A handling robot, comprising:
a mobile chassis;
a storage shelf mounted to the mobile chassis, wherein the storage shelf comprises a plurality of layered plate components distributed at different heights, and each layered plate component comprises a layered plate for placing a material;
a handling device comprising a handling assembly, wherein the handling assembly is configured to handle a material to a layered plate at the same height as the handling assembly, or to handle a material out of a layered plate at the same height as the handling assembly; and
a lift component, configured to drive the handling device to lift relative to the storage shelf so that the handling assembly is at the same height as one layered plate;
wherein the storage shelf comprises a vertical beam for supporting the layered plate components;
the layered plate has two ends distributed horizontally, one end of the layered plate is close to the vertical beam and the other end of the layered plate is suspended in the air and away from the vertical beam;
the layered plate components further comprise a cross beam connected to the vertical beam;
a side of the layered plate facing away from the mobile chassis is configured to place a material, the cross beam is located on a side of the layered plate facing the mobile chassis, and the cross beam is close to one end of the layered plate; and
the cross beam is connected to the side of the layered plate facing the mobile chassis by a plate bracket.

2. The handling robot according to claim 1 , wherein the mobile chassis comprises a base and a driving wheel component, the driving wheel component comprises:
a hinge bracket, hinged to the base;
a driving wheel mounted to the hinge bracket, wherein the driving wheel is rotatable relative to the hinge bracket, to enable the mobile chassis to move; and
a shock absorber component, wherein one end of the shock absorber component is hinged to the hinge bracket, the other end of the shock absorber component is hinged to the base, the shock absorber component comprises a shock absorber, the shock absorber is configured to reduce vibration transmitted to the base via the hinge bracket.

3. The handling robot according to claim 2 , wherein the shock absorber component further comprises an adjusting arm;
one end of the shock absorber is hinged to the hinge bracket, the other end of the shock absorber is hinged to the base; one end of the adjusting arm is hinged to the other end of the shock absorber; the other end of the adjusting arm is hinged to the base; the adjusting arm abuts against the base so that the adjusting arm is not rotatable toward a first direction relative to the base;
the shock absorber enables the adjusting arm to abut against the base and provides an elastic force to prevent the adjusting arm from rotating toward a second direction relative to the base, the second direction being opposite to the first direction.

4. The handling robot according to claim 3 , wherein the adjusting arm is provided with a stop portion, the stop portion is located on a side of the adjusting arm facing the first direction;
the adjusting arm and the shock absorber are provided at a first included angle, and an orientation of opening of the first included angle is in the same direction as the second direction;
when the shock absorber is assembled, the shock absorber and the adjusting arm are provided at a second included angle, an orientation of opening of the second included angle is in the same direction as the first direction, and lengths of two ends of the shock absorber is extensible so that the elastic force provided by the shock absorber is reduced.

5. The handling robot according to claim 1 , wherein the handling device further comprises a handling assembly bracket to which the handling assembly is mounted;
the lift component is configured to drive the handling assembly bracket to lift relative to the storage shelf, the handling assembly is rotatable about a vertical direction relative to the handling assembly bracket.

6. The handling robot according to claim 5 , wherein the handling device further comprises a rotation driving device;
the rotation driving device comprises a rotation driving motor, a fixed pulley, a handling assembly synchronous belt pulley and a handling assembly synchronous belt;
the fixed pulley is fixedly mounted to the handling assembly bracket, the handling assembly synchronous belt pulley is rotatably mounted to the handling assembly, the handling assembly synchronous belt is connected to the handling assembly synchronous belt pulley and the fixed pulley, and the rotation driving motor is configured to drive the handling assembly synchronous belt pulley to rotate relative to the handling assembly so that the handling assembly rotates about a vertical direction relative to the handling assembly bracket.

7. The handling robot according to claim 6 , wherein the fixed pulley is protrudingly provided with a synchronous belt press block on its outer wheel face, and the synchronous belt press block abuts against the handling assembly synchronous belt so that the handling assembly synchronous belt is tensioned;
the handling assembly is provided with a first locking hole and the handling assembly bracket is provided with a second locking hole, a locking pin is simultaneously inserted into the first locking hole and the second locking hole so that the handling assembly is not rotatable about a vertical direction relative to the handling assembly bracket.

8. The handling robot according to claim 1 , wherein the layered plate components further comprise a restriction structure;
the restriction structure is configured to block a material located on the layered plate;
the restriction structure is a surrounding plate;
the surrounding plate extends at an edge of the layered plate in a direction away from the mobile chassis.

9. The handling robot according to claim 8 , wherein the surrounding plate comprises a surrounding plate main body and a flanging body;
the flanging body extends at an edge of the surrounding plate main body facing away from the layered plate, and the flanging body fits to the surrounding plate main body so that a position where the flanging body is connected to the surrounding plate main body is shaped into an arc transition;
the flanging body and the layered plate are located on the same side of the surrounding plate main body.

10. The handling robot according to claim 8 , wherein each layered plate component comprises a plurality of surrounding plates;
an edge of the layered plate has a plurality of side edges, each surrounding plate extends at one side edge of the layered plate, a joint structure provided at a gap between each two adjacent surrounding plates; and
the joint structure is jointed with two adjacent surrounding plates respectively, such that an arc-shaped corner is formed at a corner of the two adjacent surrounding plates.

11. The handling robot according to claim 10 , wherein the joint structure has two slots;
side edges of two adjacent surrounding plates are embedded in the two slots, respectively;
the layered plate is fixedly connected to the joint structure by a screw.

12. The handling robot according to claim 1 , wherein the vertical beam is detachably connected to the mobile chassis;
the lift component comprises a synchronous belt pulley mechanism and a lift driving motor, the lift driving motor is configured to drive the handling device to lift relative to the storage shelf by the synchronous belt pulley mechanism; and
the synchronous belt pulley mechanism is mounted to the vertical beam.

13.

Assignees

• Hai Robotics Co Ltd

Inventors

• Kong Zhe
• Zhan Qingxin
• Chen Yeguang

Classifications

• B66F9/20 Primary

  Means for actuating or controlling masts, platforms, or forks (power take-off from vehicle transmissions, combined with vehicle propulsion systems B60K) · CPC title

• B65G1/0492 Primary

  with cars adapted to travel in storage aisles · CPC title

• B65G35/00

  Mechanical conveyors not otherwise provided for · CPC title

• B66F9/08

  Masts; Guides; Chains · CPC title

• B66F9/12

  Platforms; Forks; Other load supporting or gripping members · CPC title