Handling robot, material fetching method, material replenishing or returning method, intelligent warehousing system

Patent metadata

Field	Value
Publication number	US-12017854-B2
Application number	US-202117464584-A
Country	US
Kind code	B2
Filing date	Sep 1, 2021
Priority date	Sep 30, 2019
Publication date	Jun 25, 2024
Grant date	Jun 25, 2024

Abstract

A handling robot, a material fetching method, a material replenishing or returning method, and an intelligent warehousing system, the handling robot comprises a vertical bracket ( 19 ); a pallet ( 22 ) for storing a material box; and a handling system installed to the vertical bracket ( 19 ), where the pallet ( 22 ) is installed to the handling system, and the handling system is used for fetching a material box from one of a warehouse shelf ( 24 ) and the pallet ( 22 ), storing it onto the other, and/or fetching out a material from a material box stored on the pallet ( 22 ). With the configuration of the handling system, a material can be fetched out from a material box stored on the pallet, and after the material is fetched out, the material box is placed back onto the warehouse shelf, such manner of material fetching is flexible, and has high efficiency.

First claim

What is claimed is:

1. A material fetching method, which is performed by a handling robot, wherein the handling robot comprises a material transfer component and a vertical bracket, the handling robot further comprises a handling assembly or an installation platform, the handling assembly or the installation platform is slidably connected to the vertical bracket, and the method comprises:
receiving a material fetching instruction, wherein the material fetching instruction comprises position information of material fetching, type information of a material to be fetched, and/or material information of a material to be fetched,
instructing the material transfer component to perform fetching and placing operations on a material and/or a first material box according to the material fetching instruction;
the method further comprises:
instructing the handling assembly or the installation platform to move to a first position according to the position information of material fetching.

2. The method according to claim 1 , wherein the handling robot comprises the handling assembly, the handling assembly is slidably connected to the vertical bracket, and the material transfer component is slidably connected to the handling assembly, and the method further comprises:
instructing the handling assembly to move to the first position according to the position information of material fetching,
instructing the handling assembly or the material transfer component to move a first material box carrying a material to be fetched from a second position to the first position.

3. The method according to claim 1 , wherein the handling robot comprises the handling assembly, the handling assembly is slidably connected to the vertical bracket, and at least one material transfer component is slidably connected to the vertical bracket, and the method further comprises:
instructing the handling assembly to move to the first position according to the position information of material fetching, and
instructing the handling assembly to move a first material box carrying a material to be fetched from a second position to the first position, or
instructing the material transfer component to move to the first position, and moving the first material box carrying the material to be fetched from the second position to the first position.

4. The method according to claim 1 , wherein the handling robot comprises the installation platform, the installation platform is slidably connected to the vertical bracket, and the material transfer component is slidably connected to the installation platform, and the method further comprises:
instructing the installation platform to move to the first position according to the position information of material fetching,
instructing the material transfer component to move a first material box carrying a material to be fetched from a second position to the first position.

5. The method according to claim 1 , wherein the handling robot comprises the installation platform, the installation platform is slidably connected to the vertical bracket, and at least one material transfer component is slidably connected to the vertical bracket, and the method further comprises:
instructing the installation platform to move to the first position according to the position information of material fetching,
instructing the material transfer component to move to the first position, and moving a first material box carrying a material to be fetched from a second position to the first position.

6. The method according to claim 2 , wherein the handling robot further comprises at least one storage shelf, the handling assembly further comprises a rotation driving device, and the rotation driving device is configured to drive the handling assembly to rotate around a vertical direction; the method further comprises:
instructing the handling assembly or the material transfer component to move the first material box from the first position to a corresponding storage shelf.

7. The method according to claim 2 , wherein the handling robot further comprises at least one storage shelf, the handling assembly further comprises a rotation driving device, and the rotation driving device is configured to drive the handling assembly to rotate around a vertical direction; the method further comprises:
instructing the handling assembly or the material transfer component to move the first material box from the first position to a third position corresponding to the storage shelf.

8. The method according to claim 7 , wherein the type information of the material to be fetched comprises stock keeping unit information, and when materials to be fetched in the first material box have the same stock keeping unit information,
instructing the material transfer component to perform fetching and placing operations on a material according to the material fetching instruction, comprising:
instructing the material transfer component to fetch out the material to be fetched from the first material box and place it onto a corresponding storage shelf or into a pre-placed second material box of the storage shelf.

9. The method according to claim 8 , wherein a material identification device is installed to the handling assembly, the installation platform or the material transfer component, and the method further comprises:
acquiring image information, which is captured by the material identification device, of the material to be fetched in the first material box,
instructing the material transfer component to fetch out the material to be fetched from the first material box and place it onto the corresponding storage shelf or into the pre-placed second material box of the storage shelf, specifically comprises:
instructing, according to the image information, the material transfer component to fetch out the material to be fetched from the first material box, and place the fetched material onto the corresponding storage shelf or into the second material box.

10. The method according to claim 9 , wherein the image information comprises: position information of a material to be fetched in a material box, stock keeping unit information of a material to be fetched, shape of a material to be fetched, image feature point of a material to be fetched, and color information of a material to be fetched and/or volume information of a material to be fetched;
the method further comprises:
after the material transfer component completes the preset number of fetching and placing operations of the material to be fetched of the first material box, instructing the handling assembly or the material transfer component to place the first material box back to its original position or place it in another position.

11. The method according to claim 7 , wherein the type information of the material to be fetched comprises stock keeping unit information, and when the material to be fetched in the first material box have different stock keeping unit information, the method further comprises:
acquiring the image information of the material to be fetched;
instructing the material transfer component to perform fetching and placing operations on the material according to the material fetching instruction, comprising:
according to the image information of the material to be fetched in the first material box, determining a material that is consistent with the stock keeping unit information in the material fetching instruction, and instructing the material transfer component to fetch out the material from the first material box, and place it onto the storage shelf or into the pre-placed second material box of the storage shelf;
wherein the image information comprises: position

Assignees

• Hai Robotics Co Ltd

Inventors

• Chen Yuqi
• Kong Zhe

Classifications

• B65G2203/041

  Camera · CPC title

• B65G2203/0258

  Weight of the article · CPC title

• B65G2203/0241

  Quantity of articles · CPC title

• B65G2203/0233

  Position of the article · CPC title

• B25J9/1697

  Vision controlled systems · CPC title