CN109227529A - Cargo transfer robot and its control method - Google Patents
Cargo transfer robot and its control method Download PDFInfo
- Publication number
- CN109227529A CN109227529A CN201811306685.7A CN201811306685A CN109227529A CN 109227529 A CN109227529 A CN 109227529A CN 201811306685 A CN201811306685 A CN 201811306685A CN 109227529 A CN109227529 A CN 109227529A
- Authority
- CN
- China
- Prior art keywords
- cargo
- transfer robot
- picking
- unit
- placing unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000003068 static effect Effects 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012512 characterization method Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of control methods for cargo transfer robot, the cargo transfer robot includes moving cell, cargo picking and placing unit and lifting unit, the cargo picking and placing unit and lifting unit are carried by the moving cell, the lifting unit is configured to that the cargo picking and placing unit can be raised and lowered, and the control method includes: to receive the work order of cargo transfer robot；According to the work order, the moving cell of the cargo transfer robot is controlled, is moved into the shelf of first position, takes out the cargo for being located at the first height；According to the work order, control the moving cell of the cargo transfer robot, it is moved into the shelf of the second position, and the cargo is placed at the second height of the shelf of the second position, wherein during the cargo transfer robot is moved to the second position from first position, the cargo picking and placing unit is raised or lowered to second height from the first height by the lifting unit.
Description
Technical field
The present invention relates to robot fields, more particularly, to a kind of robot for transporting goods and are used for machine
The control method of device people.
Background technique
With the growth of industry automation demanding, object in such as factory or warehouse is realized using robot more and more
The functions such as automatic transportation, the transfer of material.Automatic guided vehicle is the homing guidance equipment with magnetic stripe, track or laser etc., with
Battery is power along route plan, and is equipped with safeguard protection and various auxiliary bodies (such as transfer is assembled
Mechanism) unpiloted automated vehicle.
KIVA company in 2011 proposes shelf to the method for carrying of people.In common handling process, robot is according to behaviour
It instructs, arrives first at the shelf to be accessed, be elevated to after suitable height, take out cargo, then robot is according to operation
Instruction, moves to the shelf of destination, is then raised or lowered to suitable height, puts down cargo.This pick-and-place mode is realized
Automatic mechanized operation, but each operation is that sequence carries out, operating efficiency is lower.
The content of background technology part is only the technology that inventor is known, not the existing skill of natural representative this field
Art.
Summary of the invention
In view of this, the present invention proposes a kind of control method for cargo transfer robot, wherein the cargo is carried
Robot includes moving cell, cargo picking and placing unit and lifting unit, and the cargo picking and placing unit and lifting unit are by the fortune
Moving cell carrying, the lifting unit are configured to that the cargo picking and placing unit can be raised and lowered, and the control method includes: to connect
It receives the work order of object transfer robot；According to the work order, the moving cell of the cargo transfer robot is controlled,
The shelf of first position are moved into, the cargo for being located at the first height is taken out；According to the work order, the cargo is controlled
The moving cell of transfer robot is moved into the shelf of the second position, and the cargo is placed into the second position
Shelf the second height at, wherein during the cargo transfer robot is moved to the second position from first position,
The cargo picking and placing unit is raised or lowered to second height from the first height by the lifting unit.
According to an aspect of the present invention, described the step of taking out the cargo for being located at the first height includes: the measurement goods
Object picking and placing unit controls the protruding distance L of the cargo picking and placing unit to the distance L1 of the cargo, to be located at described in taking-up
The cargo of first height, wherein L=L1+L2, L2 are the length of the pallet of the cargo or the carrying cargo.
According to an aspect of the present invention, the lifting unit is configured to that institute is raised and lowered according to preset trace information
Cargo picking and placing unit is stated, wherein preferably, the lifting unit is configured to reach the second position in the cargo transfer robot
When, the cargo picking and placing unit is raised or lowered to second height from the first height.
According to an aspect of the present invention, the trace information include it is continuous it is even accelerate, at the uniform velocity with the even decelerating phase.
According to an aspect of the present invention, the cargo transfer robot is moved to the second position, by the cargo
When being placed into the shelf of the second position, the cargo picking and placing unit is static in vertical direction.
The invention further relates to a kind of cargo transfer robots, comprising: moving cell；Cargo picking and placing unit, the cargo take
It puts unit to be carried by the moving cell, and is configured to that cargo can be taken out or places goods on shelf；Lifting unit,
The lifting unit is carried by the moving cell, and is configured to that the cargo picking and placing unit can be raised and lowered；And control
Unit, described control unit is coupled with the moving cell, cargo picking and placing unit and lifting unit, and is configured to that this hair can be performed
Bright control method.
According to an aspect of the present invention, the hopper robot further includes camera or radar, the camera or thunder
Up to being configured to can measure the cargo picking and placing unit at a distance from the cargo.
According to an aspect of the present invention, the control device be configured to can according to the camera or radar surveying away from
From the control cargo picking and placing unit to take out cargo.
According to an aspect of the present invention, the lifting unit is configured to that institute is raised and lowered according to preset trace information
Cargo picking and placing unit is stated, wherein preferably, the lifting unit is configured to reach the second position in the cargo transfer robot
When, the cargo picking and placing unit is raised or lowered to second height from the first height.
According to an aspect of the present invention, the trace information include it is continuous it is even accelerate, at the uniform velocity with the even decelerating phase.
According to an aspect of the present invention, the control device is configured to: when the cargo transfer robot is moved to institute
When stating the second position, the cargo being placed into the shelf of the second position, keep the cargo picking and placing unit in vertical side
To static.
According to an embodiment of the invention, the movement of yoke and the movement of cargo transfer robot are linked, save
Yoke individually goes up and down the time of execution, to improve the time for taking, putting goods.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the flow chart according to the control method for cargo transfer robot of first embodiment of the invention；
Fig. 2 is the schematic diagram according to the cargo transfer robot of second embodiment of the invention；
Fig. 3 is the desired guiding trajectory information according to one embodiment of the invention；With
Fig. 4 is according to the shelf of one embodiment of the invention and the schematic diagram of cargo.
Specific embodiment
Hereinafter, certain exemplary embodiments are simply just described.As one skilled in the art will recognize that
Like that, without departing from the spirit or scope of the present invention, described embodiment can be modified by various different modes.
Therefore, attached drawing and description are considered essentially illustrative rather than restrictive.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width
Degree ", " thickness ", " go up ", " under ", " preceding ", " afterwards ", " left side ", " right side ", " heavily fortified point, and directly ", " level ", " top ", " bottom ", " is interior ", " outside ", "
Clockwise ", " counterclockwise " wait the orientation or positional relationship of instructions to be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second " are only
For descriptive purposes, it is not understood to indicate or imply relative importance or implicitly indicates the number of indicated technical characteristic
Amount." first " is defined as a result, the feature of " second " can explicitly or implicitly include one or more spy
Sign.In the description of the present invention, " multiple " are meant that two or more, unless otherwise specifically defined.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected: can
To be mechanical connection, it is also possible to be electrically connected or can mutually communicate；It can be directly connected, it can also be by between intermediary
It connects connected, can be the connection inside two elements or the interaction relationship of two elements.For the ordinary skill of this field
For personnel, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature its " upper " or it " under "
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " include first spy
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and it is " following " including fisrt feature right above second feature and oblique upper, or be merely representative of
First feature horizontal height is less than second feature.
Following disclosure provides many different embodiments or example is used to realize different structure of the invention.In order to
Simplify disclosure of the invention, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and
And it is not intended to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or reference letter,
This repetition is for purposes of simplicity and clarity, itself not indicate between discussed various embodiments and/or setting
Relationship.In addition, the present invention provides various specific techniques and material example, but those of ordinary skill in the art can be with
Recognize the application of other techniques and/or the use of other materials.
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Fig. 1 shows a kind of control method 100 for cargo transfer robot according to a first embodiment of the present invention.The
The control method 100 of one embodiment is applicable to all kinds or types of goods transfer robot.The usual cargo transfer robot
Including moving cell, cargo picking and placing unit and lifting unit.Moving cell for example including chassis, frame, driving wheel, driven wheel,
One or more of motor.Chassis and frame can be used for carrying all parts, and the motor drive driving wheel drives entire
The walking of cargo transfer robot, the various movements such as advanced, retreated, turned.If necessary, moving cell can also include from
Driving wheel.Cargo picking and placing unit and lifting unit are carried by the moving cell.Cargo picking and placing unit such as mechanical arm or yoke
Device can be used for grabbing cargo.Lifting unit is configured to be raised and lowered cargo picking and placing unit to different height, such as can
To be the structure of rail types or the structure of chain conveyer type.Certainly, cargo transfer robot includes control unit, and control is single
Member is coupled with moving cell, cargo picking and placing unit and lifting unit, controls the operation of each section.Control unit can be with other portions
Part integrates, and is also possible to individual, external control unit, is communicatively coupled with other component.These are all in the present invention
Protection scope in.
As shown in Figure 1, receiving the work order of cargo transfer robot in step S101.Such as cargo transfer robot
Control unit receive the work order.According to specific working condition, work order may include various information, for example,
One work order may include the primary information for carrying task, such as cargo is in which height on which shelf, to remove
Which height etc. of which shelf transported to.The present invention is not limited to the particular contents of work order.Receive a work order
Later, if necessary, which can be parsed, to obtain the specifying information content of carrying task.
The moving cell of the cargo transfer robot is controlled, is moved it according to the work order in step S102
To the shelf of first position, the cargo for being located at the first height is taken out.It would generally include target in work order according to described above
Cargo is in which shelf, the position of shelf, specific cargo height etc..After knowing these information, by controlling machine
Cargo transfer robot is moved to target shelf, and grabs target by cargo picking and placing unit by the moving cell of device people
Cargo.Cargo transfer robot can be moved to the shelf of first position by a variety of methods, such as be led by computer vision
The modes such as boat, inertial navigation, electromagnetic navigation, the present invention is not limited to modes of specifically navigating.
In step S103, after grabbing target goods, continue to control the fortune of cargo transfer robot according to work order
Moving cell, is moved into the shelf of the second position, and the cargo is placed into the second high of the shelf of the second position
At degree.Wherein, during the cargo transfer robot is moved to the second position from first position, the lifting unit will
The cargo picking and placing unit is raised or lowered to second height from the first height.
According to a preferred implementation, after the cargo transfer robot is moved to the second position, by institute
During stating the shelf that cargo is placed into the second position, the cargo picking and placing unit is static in vertical direction.In this way,
After the movement in place of cargo transfer robot, other elapsed time is not needed to adjust the height of cargo picking and placing unit.
Described the step of taking out the cargo for being located at the first height for example, measure the cargo picking and placing unit to the goods
The distance L1 of object controls the protruding distance L of the cargo picking and placing unit, to take out the cargo for being located at the first height,
Middle L=L1+L2, L2 are the length of the pallet of the cargo or the carrying cargo.
The lifting unit is configured to that the cargo picking and placing unit is raised and lowered according to preset trace information.It is wherein excellent
Choosing, the lifting unit is configured to when the cargo transfer robot reaches the second position, by the cargo picking and placing unit
Second height is raised or lowered to from the first height.Such as control unit is moved to second calculating from first position
The required time is set, while calculating the difference in height between the first height and the second height.By adjusting the rail of lifting unit
Mark information, so that cargo picking and placing unit is also gone up and down in place while cargo transfer robot reaches the second position.
A preferred implementation according to the present invention, the trace information subtract including continuous even acceleration, at the uniform velocity with even
The fast stage.It is specific as shown in Figure 3.
Control method 100 according to a first embodiment of the present invention, the movement of cargo picking and placing unit such as yoke and robot
Movement is linked, and is saved yoke and is individually gone up and down the time of execution, to save the time for taking, putting goods.
A kind of cargo transfer robot 200 of second embodiment of the invention is described below with reference to Fig. 2.Cargo transfer robot
200 include: moving cell, cargo picking and placing unit, lifting unit and control unit.Each unit is described below in detail.
Pedestal 202 and wheel 201 and unshowned motor of the moving cell for example including cargo transfer robot.Bottom
Seat is for carrying all parts of robot.Motor can drive wheel 201 to drive entire cargo transfer robot 200 to do respectively
Kind movement, such as advance, it retreats, turning etc..
According to a preferred implementation, cargo picking and placing unit includes yoke 203, telescope motor 204 and yoke platform
208.The cargo picking and placing unit is carried by the moving cell, and is configured to that cargo can be taken out from shelf or is put cargo
It sets on shelf.Telescope motor 204 can drive yoke 203 to stretch out or retract.Such as when needing to grab cargo, stretch electricity
Machine 204 drives yoke 203 to stretch out a distance, reaches the lower section of target goods, then yoke 203 is driven to retract, cargo is received
It returns and is placed on yoke platform 208.Yoke 203, telescope motor 204 and yoke platform 208 are one of cargo picking and placing unit
Preferred implementation, the invention is not limited thereto.Those of ordinary skill is envisaged that other implementations, for example, by using
Mechanical arm, gripper mode pick and place cargo, these are within.
Lifting unit is carried by the moving cell, and is configured to that the cargo picking and placing unit can be raised and lowered, and is arrived
Up to certain object height.As shown in Fig. 2, lifting unit includes chain 206 and lifting electricity in a preferred implementation
Machine 205, cargo picking and placing unit (such as yoke 203, telescope motor 204 and yoke platform 208) are fixed on chain 206, thus
When the rotation of 205 drive chain 206 of lifting motor, the height of cargo picking and placing unit can adjust variation therewith.Those of ordinary skill
It is also conceivable that other implementations of lifting unit, such as realized by guide rail structure, these are all in guarantor of the invention
It protects in range.
Control unit is, for example, the central controller of cargo transfer robot, controls the integrated operation of robot.Control is single
It is first to be coupled with the moving cell, cargo picking and placing unit and lifting unit, and being configured to can be in the cargo robot from
During one position is moved to the second position, controls the lifting unit and increase the cargo picking and placing unit from the first height
Or it is reduced to second height.
According to a preferred implementation, the control device is configured to: the cargo transfer robot is moved to institute
After stating the second position, during the cargo to be placed into the shelf of the second position, the cargo picking and placing unit is kept
It is static in vertical direction.
According to a preferred implementation, the cargo transfer robot further includes camera or radar 209, described to take the photograph
As head or radar 209 are configured to can measure the cargo picking and placing unit at a distance from the cargo.Camera or radar 209 and control
Device coupling processed, therefore control device can precisely control the goods according to the camera or the distance of radar surveying
Object picking and placing unit takes out cargo.A preferred implementation according to the present invention, cargo picking and placing unit can be yoke device.Fork
Arm assembly usually when taking out cargo, needs to stretch out yoke a distance to the lower section of cargo.Therefore it takes out high positioned at first
The step of cargo of degree can include: measure the cargo picking and placing unit to the distance L1 of the cargo, control the cargo and pick and place
The protruding distance L of unit, to take out the cargo for being located at the first height, wherein L=L1+L2, L2 are the cargo or hold
Carry the length of the pallet of the cargo.The cargo picking and placing unit can be measured by way of radar or camera to institute
State the distance of cargo.
According to a preferred implementation, the lifting unit is configured to that institute is raised and lowered according to preset trace information
Cargo picking and placing unit is stated, wherein preferably, the lifting unit is configured to reach the second position in the cargo transfer robot
When, the cargo picking and placing unit is raised or lowered to second height from the first height.
Fig. 3 shows a preferred embodiment of desired guiding trajectory information, wherein the trace information includes continuous even acceleration
Stage I, constant velocity stage II and even decelerating phase III.According to a preferred implementation, control unit is being calculated from first
Time t required for being moved to the second position is set, while calculating the difference in height h between the first height and the second height.Pass through
The trace information (such as acceleration or maximum speed by adjusting cargo picking and placing unit track) for adjusting cargo picking and placing unit, makes
It is also t that cargo picking and placing unit movement h, which is obtained, apart from the required time.The second position is reached in cargo transfer robot to realize
Meanwhile cargo picking and placing unit is also gone up and down in place.
A preferred implementation according to the present invention, the control device are configured to: when the cargo transfer robot
When being moved to the second position, the cargo being placed into the shelf of the second position, the cargo picking and placing unit is kept
It is static in vertical direction.
The course of work of cargo transfer robot of the invention is described below with reference to Fig. 3 and Fig. 4.
Such as Fig. 4, camera or radar 209 when yoke platform 208 is located at shelf first layer front position, in front of yoke
The distance L1 (such as two dimensional code is directed at come ranging by radar range finding or camera) of pallet is read, it is flexible by executing
Motor 204 makes 203 outreach L of yoke (wherein, L=L1+L2, L2 are pallet length), then executes lifting motor 205 and drives
208 lifting height h of yoke platform, executing telescope motor later returns to zero yoke, can get cargo on yoke platform 208.
After obtaining first layer cargo, cargo is put into the third layer of another shelf, robot is moved first,
It is high from shelf first layer according to trajectory time (robot mobile time) planning yoke platform of mobile phase when mobile beginning
Degree H1 rises to shelf third layer height H2 trace information, and trace information mainly includes the acceleration in each sampling period, speed
And location information, such as Fig. 4.In moving process, lifting motor is operated according to the trace information planned in advance, lifting motor is logical
Crossing chain conveyer drives yoke platform to rise to third layer.
After AGV trolley and yoke move synchronously in place, makes 3 outreach L of yoke by executing telescope motor, then execute
Lifting motor drives yoke platform falling head h, and cargo is put on shelf, and executing telescope motor later returns to zero yoke, i.e.,
A picking is completed to goods putting process.
In the process, the movement of yoke and the movement of AGV trolley are linked, save yoke individually go up and down execution when
Between, to improve the time for taking, putting goods.
Yoke elevating movement track is planned according to chassis traveling time, so that when lifting position arrival time and mobile chassis
Between it is consistent.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (11)
1. a kind of control method for cargo transfer robot, wherein the cargo transfer robot includes moving cell, goods
Object picking and placing unit and lifting unit, the cargo picking and placing unit and lifting unit are carried by the moving cell, and the lifting is single
Member is configured to that the cargo picking and placing unit can be raised and lowered, and the control method includes:
Receive the work order of cargo transfer robot；
According to the work order, the moving cell of the cargo transfer robot is controlled, the goods of first position is moved into
Frame takes out the cargo for being located at the first height；
According to the work order, the moving cell of the cargo transfer robot is controlled, the goods of the second position is moved into
Frame, and the cargo is placed at the second height of the shelf of the second position, wherein in the cargo transfer robot
During being moved to the second position from first position, the lifting unit increases the cargo picking and placing unit from the first height
Or it is reduced to second height.
2. control method according to claim 1, which is characterized in that described the step of taking out the cargo for being located at the first height
Include:
The cargo picking and placing unit is measured to the distance L1 of the cargo, controls the protruding distance L of the cargo picking and placing unit,
To take out the cargo for being located at the first height, wherein L=L1+L2, L2 are the pallet of the cargo or the carrying cargo
Length.
3. control method according to claim 1 or 2, which is characterized in that wherein the lifting unit is configured to according to pre-
If trace information the cargo picking and placing unit is raised and lowered, wherein preferably, the lifting unit is configured in the goods
When object transfer robot reaches the second position, it is high that the cargo picking and placing unit from the first height is raised or lowered to described second
Degree.
4. control method according to claim 3, which is characterized in that the trace information includes continuous even accelerating, being even
The fast and even decelerating phase.
5. control method according to claim 3, which is characterized in that the cargo transfer robot is moved to described second
Behind position, during the cargo to be placed into the shelf of the second position, the cargo picking and placing unit is in vertical side
To static.
6. a kind of cargo transfer robot, comprising:
Moving cell；
Cargo picking and placing unit, the cargo picking and placing unit are carried by the moving cell, and are configured to that goods can be taken out from shelf
Object places goods on shelf；
Lifting unit, the lifting unit are carried by the moving cell, and are configured to the cargo can be raised and lowered and be taken
Put unit；With
Control unit, described control unit is coupled with the moving cell, cargo picking and placing unit and lifting unit, and being configured to can
Execute control method as described in claim 1.
7. cargo transfer robot according to claim 6, which is characterized in that the cargo transfer robot further includes taking the photograph
As head or radar, the camera or radar are coupled with described control unit, and are configured to can measure the cargo picking and placing unit
At a distance from the cargo.
8. cargo transfer robot according to claim 7, which is characterized in that the control device is configured to can be according to institute
Cargo picking and placing unit described in camera or the distance controlling of radar surveying is stated to take out cargo.
9. cargo transfer robot a method according to any one of claims 6-8, which is characterized in that the wherein lifting unit
It is configured to that the cargo picking and placing unit is raised and lowered according to preset trace information, wherein preferably, the lifting unit is matched
It is set to when the cargo transfer robot reaches the second position, the cargo picking and placing unit is raised and lowered from the first height
To second height.
10. cargo transfer robot according to claim 9, which is characterized in that the trace information includes continuous even
Accelerate, at the uniform velocity with the even decelerating phase.
11. cargo transfer robot a method according to any one of claims 6-8, which is characterized in that the control device is matched
It is set to: after the cargo transfer robot is moved to the second position, the cargo being placed into the second position
Shelf during, keep the cargo picking and placing unit static in vertical direction.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811306685.7A CN109227529A (en) | 2018-11-05 | 2018-11-05 | Cargo transfer robot and its control method |
| EP19750621.5A EP3878772A4 (en) | 2018-11-05 | 2019-02-21 | Item transportation robot and control method therefor |
| PCT/CN2019/075723 WO2019154433A2 (en) | 2018-11-05 | 2019-02-21 | Item transportation robot and control method therefor |
| JP2019531455A JP6807088B2 (en) | 2018-11-05 | 2019-02-21 | Goods transfer robot and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811306685.7A CN109227529A (en) | 2018-11-05 | 2018-11-05 | Cargo transfer robot and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109227529A true CN109227529A (en) | 2019-01-18 |
Family
ID=65076674
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811306685.7A Pending CN109227529A (en) | 2018-11-05 | 2018-11-05 | Cargo transfer robot and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109227529A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109573449A (en) * | 2019-01-29 | 2019-04-05 | 北京极智嘉科技有限公司 | A kind of transfer robot, products storage circulation system and container method for carrying |
| CN109760008A (en) * | 2019-01-29 | 2019-05-17 | 丽水学院 | One kind replenishes robot |
| CN109941652A (en) * | 2019-04-19 | 2019-06-28 | 北京极智嘉科技有限公司 | A kind of transfer robot |
| WO2019154433A3 (en) * | 2018-11-05 | 2019-10-03 | 上海快仓智能科技有限公司 | Item transportation robot and control method therefor |
| CN110803657A (en) * | 2019-09-17 | 2020-02-18 | 上海快仓智能科技有限公司 | Material box carrying system using lifting robot and carrying method thereof |
| CN111232524A (en) * | 2020-03-09 | 2020-06-05 | 深圳市海柔创新科技有限公司 | Method and device for controlling transfer robot and transfer robot |
| CN111348361A (en) * | 2020-01-21 | 2020-06-30 | 深圳市海柔创新科技有限公司 | Goods taking and placing control method and device, conveying device and conveying robot |
| CN113795353A (en) * | 2019-05-02 | 2021-12-14 | 德克尔马霍普夫龙滕有限公司 | Transport device comprising a carrier for transporting goods in transit, carrier for goods in transit and receiving device |
| CN113879749A (en) * | 2021-11-07 | 2022-01-04 | 浙江科技学院 | Carrying device with intelligent counterweight adjustment function and using method |
| CN114367972A (en) * | 2020-10-15 | 2022-04-19 | 北京极智嘉科技股份有限公司 | Robot and robot control method |
| CN116495677A (en) * | 2023-06-30 | 2023-07-28 | 苏州托玛斯机器人集团有限公司 | Transfer robot with guiding mechanism |
| WO2024027189A1 (en) * | 2022-08-03 | 2024-02-08 | 北京京东乾石科技有限公司 | Goods distribution device and system, device control method, controller, and readable medium |
| CN117842714A (en) * | 2023-12-28 | 2024-04-09 | 遨博（江苏）机器人有限公司 | Material stacking method of cooperative robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007197134A (en) * | 2006-01-25 | 2007-08-09 | Toyota Industries Corp | Method for controlling stacker crane and controller for stacker crane |
| CN104129591A (en) * | 2013-11-20 | 2014-11-05 | 上海快仓智能科技有限公司 | Unmanned automatic carrying system for warehoused articles |
| JP2015178141A (en) * | 2014-03-19 | 2015-10-08 | トヨタ自動車株式会社 | transfer robot and transfer method |
| CN106155062A (en) * | 2016-09-08 | 2016-11-23 | 肇庆市小凡人科技有限公司 | A kind of Mobile Robot Control System |
| CN107199556A (en) * | 2017-07-28 | 2017-09-26 | 杭州康奋威科技股份有限公司 | Logistics carrying robot arm |
| CN108190344A (en) * | 2018-02-11 | 2018-06-22 | 深圳志合天成科技有限公司 | Kinds of goods access arrangement |
| CN108217038A (en) * | 2017-01-16 | 2018-06-29 | 浙江国自机器人技术有限公司 | A kind of robot and its method for carrying container |
| CN108726061A (en) * | 2017-04-25 | 2018-11-02 | 浙江国自机器人技术有限公司 | A kind of robot and its method transported goods |
-
2018
- 2018-11-05 CN CN201811306685.7A patent/CN109227529A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007197134A (en) * | 2006-01-25 | 2007-08-09 | Toyota Industries Corp | Method for controlling stacker crane and controller for stacker crane |
| CN104129591A (en) * | 2013-11-20 | 2014-11-05 | 上海快仓智能科技有限公司 | Unmanned automatic carrying system for warehoused articles |
| JP2015178141A (en) * | 2014-03-19 | 2015-10-08 | トヨタ自動車株式会社 | transfer robot and transfer method |
| CN106155062A (en) * | 2016-09-08 | 2016-11-23 | 肇庆市小凡人科技有限公司 | A kind of Mobile Robot Control System |
| CN108217038A (en) * | 2017-01-16 | 2018-06-29 | 浙江国自机器人技术有限公司 | A kind of robot and its method for carrying container |
| CN108726061A (en) * | 2017-04-25 | 2018-11-02 | 浙江国自机器人技术有限公司 | A kind of robot and its method transported goods |
| CN107199556A (en) * | 2017-07-28 | 2017-09-26 | 杭州康奋威科技股份有限公司 | Logistics carrying robot arm |
| CN108190344A (en) * | 2018-02-11 | 2018-06-22 | 深圳志合天成科技有限公司 | Kinds of goods access arrangement |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019154433A3 (en) * | 2018-11-05 | 2019-10-03 | 上海快仓智能科技有限公司 | Item transportation robot and control method therefor |
| CN109760008A (en) * | 2019-01-29 | 2019-05-17 | 丽水学院 | One kind replenishes robot |
| CN109573449A (en) * | 2019-01-29 | 2019-04-05 | 北京极智嘉科技有限公司 | A kind of transfer robot, products storage circulation system and container method for carrying |
| CN109941652A (en) * | 2019-04-19 | 2019-06-28 | 北京极智嘉科技有限公司 | A kind of transfer robot |
| CN113795353A (en) * | 2019-05-02 | 2021-12-14 | 德克尔马霍普夫龙滕有限公司 | Transport device comprising a carrier for transporting goods in transit, carrier for goods in transit and receiving device |
| CN113795353B (en) * | 2019-05-02 | 2024-05-10 | 德克尔马霍普夫龙滕有限公司 | System comprising a transport device for transporting a carrier for transporting goods, a carrier for transporting goods and a receiving device |
| CN110803657A (en) * | 2019-09-17 | 2020-02-18 | 上海快仓智能科技有限公司 | Material box carrying system using lifting robot and carrying method thereof |
| CN110803657B (en) * | 2019-09-17 | 2024-07-23 | 上海快仓自动化科技有限公司 | Material box conveying system using lifting robot and conveying method thereof |
| CN111348361A (en) * | 2020-01-21 | 2020-06-30 | 深圳市海柔创新科技有限公司 | Goods taking and placing control method and device, conveying device and conveying robot |
| CN111232524B (en) * | 2020-03-09 | 2023-06-13 | 深圳市海柔创新科技有限公司 | Method and device for controlling transfer robot and transfer robot |
| CN111232524A (en) * | 2020-03-09 | 2020-06-05 | 深圳市海柔创新科技有限公司 | Method and device for controlling transfer robot and transfer robot |
| WO2022078298A1 (en) * | 2020-10-15 | 2022-04-21 | 北京极智嘉科技股份有限公司 | Robot and robot control method |
| CN114367972A (en) * | 2020-10-15 | 2022-04-19 | 北京极智嘉科技股份有限公司 | Robot and robot control method |
| CN114367972B (en) * | 2020-10-15 | 2024-06-07 | 北京极智嘉科技股份有限公司 | Robot and robot control method |
| CN113879749B (en) * | 2021-11-07 | 2023-08-04 | 浙江科技学院 | Handling device with counterweight intelligent adjustment function and use method |
| CN113879749A (en) * | 2021-11-07 | 2022-01-04 | 浙江科技学院 | Carrying device with intelligent counterweight adjustment function and using method |
| WO2024027189A1 (en) * | 2022-08-03 | 2024-02-08 | 北京京东乾石科技有限公司 | Goods distribution device and system, device control method, controller, and readable medium |
| CN116495677A (en) * | 2023-06-30 | 2023-07-28 | 苏州托玛斯机器人集团有限公司 | Transfer robot with guiding mechanism |
| CN116495677B (en) * | 2023-06-30 | 2023-08-29 | 苏州托玛斯机器人集团有限公司 | Transfer robot with guiding mechanism |
| CN117842714A (en) * | 2023-12-28 | 2024-04-09 | 遨博（江苏）机器人有限公司 | Material stacking method of cooperative robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109227529A (en) | Cargo transfer robot and its control method | |
| CN114222708B (en) | Automatic transport of pallets of goods | |
| JP6838178B2 (en) | How to pick up goods with a transfer robot and a transfer robot | |
| EP3878772A2 (en) | Item transportation robot and control method therefor | |
| CN104129591A (en) | Unmanned automatic carrying system for warehoused articles | |
| CN113859831A (en) | Material box carrying logistics robot | |
| CN114655843B (en) | Small-sized lifting and carrying equipment capable of automatically identifying goods identification and control method thereof | |
| JP6275899B2 (en) | Tire-type portal crane and control method thereof | |
| JP6113546B2 (en) | Container terminal | |
| CN114084849A (en) | Material box carrying robot | |
| CN209765333U (en) | AGV commodity circulation delivery system | |
| CN218490684U (en) | Transfer system | |
| CN213201592U (en) | Automatic loading and stacking device for bagged goods of train boxcar | |
| KR100596675B1 (en) | Method for controlling movement of unmanned crane in 3 axes at the same time and system therefor | |
| CN110262474A (en) | A kind of automatic control system and method for las er-guidance trolley travel line | |
| EP4286305A1 (en) | Apparatus for automated loading of building materials arranged on pallets and method for automated loading of building materials arranged on pallets | |
| CN220201212U (en) | Intelligent tower crane material transportation system | |
| CN113439250A (en) | Carrying system and carrying vehicle | |
| CN116151406A (en) | Production system, workstation and flat board in cell production mode | |
| WO2021092800A1 (en) | Loading and unloading for automatic guided vehicle | |
| CN112340339A (en) | Control system and method for accurately placing roadway for fork type AGV (automatic guided vehicle) carrying shuttle car | |
| JP2024111278A (en) | Automatic warehouse system | |
| CN117262691A (en) | Inter-vehicle transport system | |
| BR112021020336B1 (en) | METHOD FOR AUTOMATIC TRANSPORTATION OF PALLETS OF GOODS | |
| CN118458387A (en) | Intelligent transportation robot and transportation method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Country or region after: China Address after: No. 210-69 Yangmuqiao, Huangxiang Street, Liangxi District, Wuxi City, Jiangsu Province, 214041 Applicant after: Wuxi Kuaicang Intelligent Technology Co.,Ltd. Applicant after: SHANGHAI NOBLELIFT INTELLIGENT TECHNOLOGY CO.,LTD. Address before: Room 1030, Zone B, Room 1205, No. 968 Memorial Road, Baoshan District, Shanghai Applicant before: SHANGHAI QUICKTRON INTELLIGENT TECHNOLOGY Co.,Ltd. Country or region before: China Applicant before: SHANGHAI NOBLELIFT INTELLIGENT TECHNOLOGY CO.,LTD. |