Handling robot

Patent metadata

Field	Value
Publication number	US-12330870-B2
Application number	US-202418677101-A
Country	US
Kind code	B2
Filing date	May 29, 2024
Priority date	Nov 14, 2017
Publication date	Jun 17, 2025
Grant date	Jun 17, 2025

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 system configured to transport an inventory item, comprising:
a vertical column configured to move in a travelling direction;
a material handling device configured to move along the vertical column, the material handling device being configured to transport the inventory item from a shelf; and
a lifting assembly configured to drive the material handling device to move along the vertical column in a vertical direction;
wherein the material handling device comprises:
a temporary storage unit configured to temporarily store the inventory item;
a manipulator coupled to the temporary storage unit, the manipulator being configured to rotate relative to the temporary storage unit; and
a motor configured to drive the manipulator to rotate relative to the temporary storage unit;
wherein the manipulator comprises a pulling surface and a pushing surface, the pulling surface being different from the pushing surface;
wherein the motor is configured to drive both the pulling surface and the pushing surface to rotate simultaneously;
wherein the manipulator is configured to pull the inventory item from the shelf to the temporary storage unit through the pulling surface, the manipulator being further configured to push the inventory item away from the temporary storage unit through the pushing surface.

2. The system according to claim 1 , wherein the pushing surface and the pulling surface are oppositely arranged.

3. The system according to claim 1 , wherein the manipulator comprises a finger.

4. The system according to claim 1 , wherein the manipulator comprises a hook.

5. The system according to claim 1 , wherein the material handling device further comprises a camera, the camera being configured to acquire an image of the inventory item when the inventory item is located on the shelf;
wherein the system is configured to calculate a position offset between the material handling device and the inventory item in the travelling direction based at least in part on the image of the inventory item;
wherein the system is further configured to control the vertical column to move in the travelling direction based at least in part on the position offset.

6. The system according to claim 5 , wherein a code label is attached on the inventory item;
wherein the camera is configured to acquire an image of the code label attached on the inventory item;
wherein the system is configured to calculate the position offset based at least in part on the image of the code label attached on the inventory item.

7. The system according to claim 5 , wherein the vertical column is configured to move in the travelling direction until the position offset is smaller than a preset value.

8. The system according to claim 1 , wherein a marker is arranged on the shelf;
wherein the material handling device further comprises a camera configured to acquire an image of the marker when the inventory item is located on the shelf;
wherein the system is configured to calculate a position offset based at least in part on the image of the marker, the position offset reflecting a relative position between the material handling device and the inventory item in the vertical direction;
wherein the system is further configured to control the material handling device to move along the vertical column in the vertical direction based at least in part on the position offset.

9. The system according to claim 8 , wherein the material handling device is configured to move in the vertical direction until the position offset is smaller than a preset value.

10. The system according to claim 8 , wherein the marker comprises a code label.

11. The system according to claim 10 , wherein positional information of the inventory item is absent in the code label.

12. The system according to claim 1 , wherein the material handling device further comprises a camera configured to acquire an image of the inventory item;
wherein the system is configured to calculate a position offset between the material handling device and the inventory item in the vertical direction based at least in part on the image of the inventory item;
wherein the system is further configured to control the material handling device to move along the vertical column in the vertical direction based at least in part on the position offset.

13. The system according to claim 12 , wherein a code label is attached on the inventory item;
wherein the camera is configured to acquire an image of the code label attached on the inventory item when the inventory item is located on the shelf;
wherein the system is configured to calculate the position offset based at least in part on the image of the code label attached on the inventory item.

14. The system according to claim 12 , wherein the material handling device is configured to move in the vertical direction so that the position offset is smaller than a preset value.

15. The system according to claim 1 , further comprising a wheel coupled to the vertical column and configured to move on a floor in the travelling direction.

16. The system according to claim 1 , wherein the material handling device further comprises:
a U-shaped housing provided with an opening; and
a camera fixedly installed to an end of the temporary storage unit adjacent to the opening.

17. A system configured to transport an inventory item, comprising:
a vertical column configured to move in a travelling direction;
a material handling device configured to move along the vertical column, the material handling device being configured to transport the inventory item from a shelf; and
a lifting assembly configured to drive the material handling device to move along the vertical column in a vertical direction;
wherein the material handling device comprises:
a temporary storage unit configured to temporarily store the inventory item transported from the shelf;
a telescopic arm coupled to the temporary storage unit and configured to extend or retract relative to the temporary storage unit;
a manipulator installed to the telescopic arm, the manipulator being configured to fold or unfold relative to the telescopic arm, the manipulator being further configured to pull the inventory item from the shelf to the temporary storage unit; and
a push rod installed to the telescopic arm, the push rod being configured to push the inventory item away from the temporary storage unit.

18. The system according to claim 17 , 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 rotate relative to the second arm section;
wherein the push rod is installed to the second arm section.

19. The system according to claim 18 , wherein the manipulator is rotatably installed to a first end of the second arm section, and the push rod is fixedly installed to a second end of the second arm section.

20. The system according to claim 17 , wherein the material handling device further comprises a camera, the camera being configured to acquire an image of the inventory item when the inventory item is located on the shelf;
wherein the system is configured to calculate a position offset between the material handling device and the inventory item in the travelling direction based at least in part on the image of the inventory item;
wherein the system is further configured to control the vert

Assignees

• Hai Robotics Co Ltd

Inventors

• Cheng Jui-Chun
• Xu Shengdong
• Chen Yuqi

Classifications

• 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

• B25J15/0014

  having fork, comb or plate shaped means for engaging the lower surface on a object to be transported · CPC title