Handling robot

Patent metadata

Field	Value
Publication number	US-12103771-B2
Application number	US-202318367581-A
Country	US
Kind code	B2
Filing date	Sep 13, 2023
Priority date	Nov 14, 2017
Publication date	Oct 1, 2024
Grant date	Oct 1, 2024

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 method performed by a handling robot, the handling robot comprising:
a movable chassis comprising a frame;
a storage unit coupled to the movable chassis; and
a material handling device movably installed to the movable chassis, the material handling device being configured to transport a first inventory item to the storage unit;
wherein the material handling device comprises:
a support bracket configured to move in a vertical direction along the frame; and
a fork installed to 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 first inventory item to be transported to the storage unit;
a telescopic arm coupled to the temporary storage unit, the telescopic arm being configured to extend or retract relative to the temporary storage unit so as to transport the first inventory item; and
a manipulator installed to the telescopic arm, the manipulator being configured to transport the first inventory item to the temporary storage unit;
wherein the method comprises:
retracting the telescopic arm relative to the temporary storage unit with a motor;
at least partially in response to retracting the telescopic arm, transporting, by the manipulator, the first inventory item to the temporary storage unit;
after the step of transporting the first inventory item to the temporary storage unit, rotating the fork around the vertical direction relative to the support bracket;
extending the telescopic arm relative to the temporary storage unit; and
at least partially in response to extending the telescopic arm, transporting the first inventory item from the temporary storage unit to the storage unit.

2. The method according to claim 1 , wherein the storage unit comprises a first storage unit and a second storage unit;
wherein the first inventory item is placed on a first portion of a shelf, and a second inventory item is placed on a second portion of the shelf, wherein the first portion is provided behind the second portion;
wherein the step of transporting the first inventory item from the temporary storage unit to the storage unit comprises:
transporting the first inventory item from the temporary storage unit to the first storage unit;
wherein before the step of transporting the first inventory item to the temporary storage unit, the method further comprises:
transporting the second inventory item from the shelf to the second storage unit;
wherein after the step of transporting the first inventory item from the temporary storage unit to the first storage unit, the method further comprises:
transporting the second inventory item from the second storage unit to the first portion of the shelf.

3. The method according to claim 1 , wherein the step of transporting the first inventory item to the temporary storage unit comprises:
pulling, by the manipulator, the first inventory item to the temporary storage unit.

4. The method according to claim 3 , wherein the step of transporting the first inventory item from the temporary storage unit to the storage unit comprises:
pushing, by the manipulator, the first inventory item from the temporary storage unit to the storage unit.

5. The method according to claim 3 , wherein the telescopic arm comprises a first arm section coupled to the temporary storage unit and a second arm section movably connected to the first arm section;
wherein the fork further 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 push the first inventory item from the temporary storage unit to the storage unit;
wherein the manipulator is installed to the second arm section, the manipulator being configured to rotate relative to the second arm section;
wherein the step of transporting the first inventory item from the temporary storage unit to the storage unit comprises:
pushing, by the push rod, the first inventory item from the temporary storage unit to the storage unit.

6. A handling robot, comprising:
a movable chassis;
a storage unit coupled to the movable chassis and configured to store an inventory item; and
a material handling device configured to transport the inventory item from the storage unit;
wherein the material handling device comprises:
a support bracket configured to move in a vertical direction; and
a fork installed to 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;
a telescopic arm coupled to the temporary storage unit and configured to extend or retract relative to the temporary storage unit; and
a manipulator installed to the telescopic arm, the manipulator being configured to transport the inventory item from the storage unit to the temporary storage unit.

7. The handling robot according to claim 6 , wherein the manipulator is configured to pull the inventory item from the storage unit to the temporary storage unit;
wherein the manipulator is further configured to push the inventory item from the temporary storage unit to a rack.

8. The handling robot according to claim 7 , wherein the manipulator is configured to rotate relative to the telescopic arm.

9. The handling robot according to claim 6 , wherein the manipulator comprises a pushing surface and a pulling surface;
wherein the manipulator is configured to pull the inventory item from the storage unit to the temporary storage unit through the pulling surface;
wherein the manipulator is further configured to push the inventory item away from the temporary storage unit through the pushing surface.

10. The handling robot according to claim 9 , wherein the manipulator is a finger or a hook.

11. The handling robot according to claim 6 , wherein the manipulator is configured to pull the inventory item from the storage unit to the temporary storage unit;
wherein the fork further comprises a push rod fixedly installed to the telescopic arm, the push rod being configured to push the inventory item away from the temporary storage unit.

12. The handling robot according to claim 6 , wherein the telescopic arm comprises a first arm section coupled to the temporary storage unit and a second arm section movably coupled to the first arm section;
wherein the manipulator is 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 from the storage unit to the temporary storage unit;
wherein the fork further 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 push the inventory item away from the temporary storage unit.

13. The handling robot according to claim 12 , wherein the push rod is provided without a motor such that the push rod is immovable relative to the second arm section.

14. The handling robot according to claim 12 , wherein the storage unit comprises a plate body configured to support a weight of the inventory item;
wherein the movable chassis is provided with a frame, the material handling device being configured to move along the frame in the vertical direction;
wherein the frame comprises a vertical column and a horizontal column installed to the vertical column;
wherein the plate body is integrally formed with the horizontal c

Assignees

• Hai Robotics Co Ltd

Inventors

• Cheng Jui-Chun
• Xu Shengdong
• Chen Yuqi

Classifications

• B66F9/141

  with shuttle-type movement · CPC title

• G06T7/70

  Determining position or orientation of objects or cameras (camera calibration G06T7/80) · CPC title

• B65G2203/041

  Camera · CPC title

• B65G1/137

  with arrangements or automatic control means for selecting which articles are to be removed · CPC title

• B65G1/0492

  with cars adapted to travel in storage aisles · CPC title