Robot

Patent metadata

Field	Value
Publication number	US-12434912-B2
Application number	US-202318494689-A
Country	US
Kind code	B2
Filing date	Oct 25, 2023
Priority date	Apr 26, 2018
Publication date	Oct 7, 2025
Grant date	Oct 7, 2025

Abstract

A robot includes: a travelling apparatus, disposed at a bottom of the robot and configured to travel to a preset position; a body, disposed above the travelling apparatus; and an item picking apparatus, disposed on the body and configured to, based on a task received by the robot, pick a target item at a first position and place the target item to a second position. The item picking apparatus includes a lifting component and a telescopic component, the lifting component is connected to the telescopic component and configured to lift or lower the telescopic component to a preset height, and the telescopic component includes a sliding portion and is configured to extend to pick the target item and transfer the target item from the first position to the second position via the sliding portion.

First claim

What is claimed is:

1. A robot, comprising:
a travelling apparatus, disposed at a bottom of the robot and configured to travel to a preset position;
a body, disposed above the travelling apparatus; and
an item picking apparatus, disposed on the body and configured to, based on a task received by the robot, pick a target item at a first position and place the target item to a second position;
wherein the item picking apparatus comprises a lifting component and a telescopic component, the lifting component is connected to the telescopic component and configured to lift or lower the telescopic component to a preset height, and the telescopic component comprises a sliding portion and is configured to extend to pick the target item and transfer the target item from the first position to the second position via the sliding portion;
wherein the telescopic component further comprises an item taking portion;
wherein the item taking portion comprises a first picking component and a second picking component disposed opposite to each other;
wherein the first picking component and the second picking component has a rod-like configuration; the first picking component is arranged at an end of a first telescopic arm of the telescopic component, and the second picking component is arranged at an end of a second telescopic arm of the telescopic component; the first picking component and the second picking component are switchable in a first direction and a second direction, the first direction is a vertical direction and the second direction is a horizontal direction; and during picking the target item by the item taking portion, the telescopic component extends in a depth direction and exceeds the target item, the first picking component and the second picking component switch from the first direction to the second direction such that the target item is picked and transferred to the item picking apparatus by the first picking component and the second picking component.

2. The robot of claim 1 , further comprising:
a containing apparatus, connected to the body and comprising a plurality of containing positions which are interlayers stacked in a vertical direction;
the first position is a first item storage position of an item storage apparatus and the second position is a first containing position of the containing apparatus, or the first position is a second containing position of the containing apparatus and the second position is a second item storage position of the item storage apparatus.

3. The robot of claim 2 , wherein the containing apparatus connecting to the body comprises: disposing the containing apparatus on the body; wherein the body is configured to support the containing apparatus and the item picking apparatus, and the item picking apparatus is disposed at a periphery of the containing apparatus, or the item picking apparatus and the containing apparatus are disposed at opposite sides of the body.

4. The robot of claim 2 , wherein the item taking portion is slidably connected to the sliding portion, wherein the item taking portion is configured to pick the target item from the item storage apparatus or from the containing apparatus, and the item taking portion is slidable through the sliding portion in a depth direction of the interlayers or in a depth direction of the item storage apparatus.

5. The robot of claim 2 , wherein the item storage apparatus comprises a rack comprising a plurality of interlayers, wherein one or more items are placed on each interlayer or hung on the rack; the item comprises goods or a storage container containing goods.

6. The robot of claim 1 , further comprising:
a containing apparatus, connected to the body and comprising a plurality of containing positions which are interlayers stacked in a vertical direction;
the first position is a third containing position of the containing apparatus and the second position is a fourth containing position of the containing apparatus, or the first position is a third item storage position of an item storage apparatus, and the second position is a fourth item storage position of the item storage apparatus.

7. The robot of claim 1 , wherein the travelling apparatus is configured to travel to the preset position based on a travelling path or a preset coordinate point received by the robot.

8. The robot of claim 1 , wherein the first picking component and the second picking component are disposed at opposite sides of the item picking apparatus, and the item taking portion is configured to pick the target item with the first picking component and the second picking component.

9. The robot of claim 1 , wherein the item taking portion comprises a clamping portion configured to pick the target item in a clamping manner; wherein the first picking component and the second picking component have a plate-shaped structure with a shape of rectangular or circular.

10. The robot of claim 9 , wherein the clamping portion further comprises at least one fastener disposed on an inner side of the first picking component and/or an inner side of the second picking component, wherein the fastener is configured to be folded when the clamping portion does not pick the target item, and the fastener is configured to expand and fasten the target item when the clamping portion picks the target item, so as to prevent the target item from sliding off between the first picking component and the second picking component.

11. The robot of claim 1 , wherein when the target item on the item picking apparatus is transferred to the item storage apparatus or the containing position, a rod structure of the item picking apparatus is configured to push the target object to the item storage apparatus or the containing position.

12. The robot of claim 1 , wherein the telescopic component comprises a forking portion, wherein the forking portion is configured to pick, in a forking manner, the target item from the first position.

13. The robot of claim 1 , wherein the item picking apparatus is configured to pick or store the target item based on an identifier of the target item or an identifier of an interlayer of an apparatus for storing the target item.

14. The robot of claim 1 , wherein the sliding portion is a guide rail.

15. The robot of claim 1 , further comprising:
a rotating component, the item picking apparatus is disposed on the rotating component, and the rotating component is configured to adjust a direction of the item picking apparatus to match the first position or the second position.

16. The robot of claim 15 , wherein the rotating assembly is configured to rotate a preset angle relative to a travel direction of the robot, wherein an absolute value of a difference between a preset angle and 90° is less than a preset threshold.

17. The robot of claim 15 , wherein the lifting component and the rotating component are configured to adjust to a posture that matches with picking the target item in a process of the robot moving from a task starting point to the preset position.

18. A carrying system, comprising a first robot being the robot of claim 1 and a second robot, wherein:
the first robot is configured to move to an item storage apparatus, and pick a first target item in the item storage apparatus and place the first target item on a movable temporary cache apparatus or pick a second target item on the movable temporary cache apparatus and place the second target item in the item storage apparatus; and
the second robot is connected to the temporary cache apparatus and moves along with the first robot.

Assignees

• Beijing Geekplus Tech Co Ltd

Inventors

• Li Hongbo
• Hu Bin
• Sun Langlang

Classifications

• B66F9/141

  with shuttle-type movement · CPC title

• B66F9/063

  Automatically guided · CPC title

• B65G1/1375

  the orders being assembled on a commissioning stacker-crane or truck · CPC title

• B25J15/0253

  comprising parallel grippers · CPC title

• B25J9/1679

  characterised by the tasks executed · CPC title