CN115352779A

CN115352779A - Material taking and placing system and material taking and placing robot

Info

Publication number: CN115352779A
Application number: CN202210870206.4A
Authority: CN
Inventors: 刘赫; 徐丹; 关利东
Original assignee: Kuangshitu Suzhou Intelligent Equipment Co ltd; Beijing Kuangshi Robot Technology Co Ltd
Current assignee: Kuangshitu Suzhou Intelligent Equipment Co ltd; Beijing Kuangshi Robot Technology Co Ltd
Priority date: 2022-04-22
Filing date: 2022-07-22
Publication date: 2022-11-18

Abstract

The application provides a get and put material system and get and put material robot relates to storage device technical field, and the get and put material system that this application provided includes: comprises a material taking and placing robot and a server; the server is used for issuing a task instruction to the material taking and placing robot; the material taking and placing robot is used for moving to a target position according to a task instruction issued by the server and taking and placing target articles on a target layer from a plurality of stacked articles. The application provides a get and put material system has alleviated the technical problem that the robot got and put article among the correlation technique is with high costs, operating time is longer.

Description

Material taking and placing system and material taking and placing robot

Technical Field

The application relates to the technical field of storage devices, in particular to a material taking and placing system and a material taking and placing robot.

Background

The intelligent storage is a link in the logistics process, and the application of the intelligent storage ensures the speed and the accuracy of data input in each link of goods warehouse management, ensures that enterprises timely and accurately master real data of the inventory, and reasonably keeps and controls the inventory of the enterprises.

Articles are stacked together along the vertical direction in a warehouse, articles are taken and placed through the robot, when the robot in the prior art carries stacked goods, other goods above the robot need to be taken away firstly by controlling the cooperation of the mechanical arms, and then the target goods are carried away by carrying equipment, so that the robot can take and place the goods only by matching with a goods shelf or other devices, the cost is high, and the operation time is long.

Disclosure of Invention

The utility model aims to provide a get and put material system and get and put material robot to alleviate the technical problem that the robot gets and puts article with high costs among the correlation technique, operating time is longer.

In a first aspect, the material taking and placing system provided by the application comprises a material taking and placing robot and a server; the server is used for issuing a task instruction to the material taking and placing robot; the material taking and placing robot is used for moving to a target position according to a task instruction issued by the server and taking and placing target articles on a target layer in a plurality of stacked articles.

Optionally, the material taking and placing robot comprises a first material taking and placing assembly and a second material taking and placing assembly; the material taking and placing robot controls the first material taking and placing assembly to take the blocking article positioned above the target layer in the plurality of stacked articles, controls the second material taking and placing assembly to take the target article positioned on the target layer out, and controls the first material taking and placing assembly to replace the blocking article to the article positioned below the target layer; and/or the material taking and placing robot controls the first material taking and placing assembly to take the obstructing article positioned above the target layer and the target layer in the plurality of stacked and placed articles, controls the second material taking and placing assembly to place the target article on the target layer, and controls the first material taking and placing assembly to replace the obstructing article on the target article positioned on the target layer.

Optionally, the pick-and-place robot controls the first pick-and-place assembly to lift the obstructing article by a specified height, a gap is formed between the lower surface of the obstructing article and the upper surface of the article below the obstructing article, and then controls the second pick-and-place assembly to pick out the article on the target layer or place the target article on the target layer.

Optionally, the material taking and placing system further comprises a carrying device, and the server is further configured to issue a task instruction to the carrying device; the carrying equipment is used for moving to the position near the material taking and placing robot according to a task instruction issued by the server; the material taking and placing robot is used for placing the taken target object on the carrying equipment; the carrying device carries the target object to a specified position.

Optionally, a channel for the carrying equipment to pass through is arranged below the chassis of the material taking and placing robot; the carrying equipment is used for moving to the channel below the chassis of the material taking and placing robot according to a task instruction issued by the server; when the carrying equipment is located in the channel, the material taking and placing robot places the target object on the carrying equipment, or takes the target object from the carrying equipment.

Optionally, the material taking and placing robot comprises a first material taking and placing assembly and a second material taking and placing assembly; the first material taking and placing assembly is used for taking an obstructing article positioned above the target article in the stacked and placed plurality of articles, and the second material taking and placing assembly is used for taking the target article; after the other material taking and placing assemblies take the target object, the first material taking and placing assembly puts the obstructing object back above the rest objects; the second material taking and placing component can stretch along the horizontal direction; the second material taking and placing assembly is in an extending state when the target object is taken and placed in the plurality of stacked objects; the second material taking and placing assembly is in a retraction state when the target object is placed on the carrying equipment or taken from the carrying equipment.

Optionally, when the second material taking and placing assembly is in a retracted state, the second material taking and placing assembly retracts into the material taking and placing robot.

In a second aspect, the application provides a get and put material robot includes: the system comprises a supporting mechanism, a traveling mechanism, a material taking and placing mechanism and a communication module, wherein the traveling mechanism, the material taking and placing mechanism and the communication module are all arranged on the supporting mechanism; the material taking and placing mechanism comprises at least two material taking and placing assemblies which are arranged at intervals in the vertical direction, and the at least two material taking and placing assemblies are respectively used for taking and placing the articles which are positioned on different layers in the stacked articles.

Optionally, some of the at least two material taking and placing assemblies are used for taking a first article located above a target article in the stacked multiple articles, and other material taking and placing assemblies of the at least two material taking and placing assemblies are used for taking the target article; and after the other material taking and placing assemblies take the target article, the partial material taking and placing assemblies place the first article back above the rest second articles.

Optionally, the distance between two adjacent material taking and placing assemblies is fixed; or the distance between two adjacent material taking and placing components can be adjusted.

Optionally, the material taking and placing robot further comprises a base fixedly installed at the lower end of the supporting mechanism, the base comprises a first supporting wall and a second supporting wall which are arranged in parallel at an interval, and the channel is formed between the first supporting wall and the second supporting wall.

Optionally, the material taking and placing assembly comprises a telescopic assembly, when the articles are taken from the stacked articles or placed in the stacked articles, the telescopic assembly extends out of the supporting mechanism, and when the taking or placing is completed, the telescopic assembly retracts into the supporting mechanism.

Optionally, the material taking and placing robot further comprises a lifting driving mechanism, and the lifting driving mechanism is in transmission connection with the material taking and placing mechanism to drive the material taking and placing mechanism to ascend or descend.

Optionally, the material taking and placing robot further comprises an image acquisition assembly, wherein the image acquisition assembly is installed on the material taking and placing mechanism and used for acquiring identification codes arranged on the articles.

The material taking and placing system comprises a material taking and placing robot and a server, wherein the material taking and placing robot is used for moving to a target position according to a task instruction issued by the server and taking and placing target objects on a target layer in a plurality of stacked and placed objects.

Compared with the robot which needs to be matched with a goods shelf to finish taking and placing the object in the related art, the taking and placing system provided by the application can take and place the object in the target layer of the multiple stacked objects without being matched with other devices, so that the cost is reduced; in addition, in the process of taking the target article, the blocking article above the target layer does not need to be placed on the goods shelf firstly, and the blocking article is moved to the original position from the goods shelf after the target article is taken and placed, so that the operation time is saved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the drawings needed to be used in the description of the embodiments or the related art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural view of a material taking and placing robot provided in an embodiment of the present application at a first viewing angle;

fig. 2 is a schematic structural diagram of a material taking and placing robot provided in the embodiment of the present application at a second viewing angle;

fig. 3 is a schematic structural view of a support frame in the material taking and placing robot according to the embodiment of the present application;

fig. 4 is a schematic structural diagram of a material taking and placing mechanism in the material taking and placing robot according to the embodiment of the present application;

fig. 5 is a schematic internal structural diagram of a pick-and-place mechanism in the pick-and-place robot according to the embodiment of the present disclosure;

FIG. 6 is an enlarged view of a portion of FIG. 5 at A;

fig. 7 is a schematic structural diagram of an image capturing assembly in a material taking and placing robot according to an embodiment of the present application.

An icon: 100-a support frame; 110-channel; 111-a first support wall; 112-a second supporting wall; 120-a support; 121-upright post; 122-a cross beam; 130-a second camera; 200-a running gear; 210-a driving wheel; 220-driven wheel; 230-a travel drive; 300-a lifting driving mechanism; 310-a lifting drive; 320-lifting transmission member; 321-a first lifting wheel; 322-a second lifting wheel; 323-flexible lifting transmission member; 324-a drive shaft; 325-a belt drive assembly; 330-a transmission frame; 341-third guide; 400-taking and placing a material mechanism; 410-a material taking and placing component; 411-picking and placing fingers; 412-finger supports; 413-a finger actuation member; 420-fixing plate; 421-fixing projection; 431-a telescopic assembly; 4311-first moving plate; 4312-second moving plate; 4313-first via; 4314-second via; 4315-moving ledge; 4321-telescoping drive motor; 4322-gear; 4323-rack bar; 4331-a first flexible drive; 4332-a second flexible drive; 4333-first drive wheel; 4334-a second transmission wheel; 440-a first guide assembly; 441-a first guide rail; 442-a first guide groove; 450-a second guide assembly; 451-a second guide rail; 452 — a second guide groove; 461-first limiting block; 510-a support beam; 520-an image acquisition component; 530-a first camera; 541-a support plate; 542-a rotary drive motor; 543-a rotary drive; 544-a first rotary gear; 545-a second rotating gear; 546-rotation axis; 551-limit rod; 552-a third stopper; 553-a fourth limiting block; 600-an electric cabinet; a-a first direction; b-a second direction.

Detailed Description

The technical solutions of the present application will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and operate, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present application, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

The article in this embodiment may be a bin, a magazine, or the like containing goods or materials, or may be goods or materials themselves having regular shapes and capable of being stacked, such as plate-shaped materials, block-shaped materials, or the like.

Compared with the robot which needs to be matched with a goods shelf to complete the object picking and placing in the related art, the object picking and placing system provided by the application can pick and place the object in the object layer of the plurality of stacked objects without being matched with other devices, so that the cost is reduced; in addition, in the process of taking the target article, the blocking article above the target layer does not need to be placed on the shelf firstly, and the blocking article is moved to the original position from the shelf after the target article is taken and placed, so that the operation time is saved.

The material taking and placing robot comprises a first material taking and placing component and a second material taking and placing component, when a target article is taken from a plurality of stacked articles, the material taking and placing robot controls the first material taking and placing component to take a blocking article located above a target layer in the plurality of stacked articles, controls the second material taking and placing component to take the target article located on the target layer out, and controls the first material taking and placing component to replace the blocking article on the article located below the target layer.

When an object is placed on a target layer of a plurality of stacked objects, the material taking and placing robot controls the first material taking and placing assembly to take the blocking object located above the target layer and the target layer in the plurality of stacked objects, controls the second material taking and placing assembly to place the target object on the target layer, and controls the first material taking and placing assembly to replace the blocking object on the target object located on the target layer. The first material taking and placing component is matched with the second material taking and placing component to finish the taking or placing (namely taking and placing) of the target object, the blocking object above the target layer does not need to be placed on the goods shelf in the process of taking and placing the target object, and the blocking object is moved to the original position from the goods shelf after the target object is taken and placed, so that the operation time is saved.

Specifically, when the target object is taken or placed, the material taking and placing robot controls the first material taking and placing assembly to lift the blocking object to a specified height, a gap is formed between the lower surface of the blocking object and the upper surface of the object below the blocking object, and then the second material taking and placing assembly is controlled to take out the object on the target layer or place the target object on the target layer.

The material taking and placing system further comprises a carrying device, the server is further used for issuing a task instruction to the carrying device, and the carrying device is used for moving to a position near the material taking and placing robot according to the task instruction issued by the server; the material taking and placing robot is used for placing the taken target object on the carrying equipment; the conveying equipment conveys the target object to a specified position.

In some embodiments, a channel 110 for a handling device to pass through is arranged below the chassis of the material taking and placing robot, and the handling device is configured to move to the channel 110 below the chassis of the material taking and placing robot according to a task instruction issued by the server; when the carrier is located in the passage 110, the pick-and-place robot places the target object on the carrier, or picks up the target object from the carrier. The handling device can enter the channel 110, so that the handling device is located below the material taking and placing assembly 410, and the material taking and placing assembly 410 can conveniently take articles from the handling device or place the articles on the handling device. In other embodiments, the channel 110 is not provided under the chassis of the pick-and-place robot, in which case the carrier may be parked beside the pick-and-place robot, and the pick-and-place robot controls the pick-and-place module 410 to place objects on the carrier or to take objects from the carrier.

The material taking and placing robot comprises a first material taking and placing assembly and a second material taking and placing assembly, the first material taking and placing assembly is used for taking blocking articles above target articles in a plurality of stacked and placed articles, and the second material taking and placing assembly is used for taking the target articles; and, after other material taking and placing assemblies 410 take the target object, the first material taking and placing assembly will hinder the object from being placed above the rest of the objects, the second material taking and placing assembly is retractable along the horizontal direction, the second material taking and placing assembly is in an extended state when the target object is taken from the plurality of stacked objects, and the second material taking and placing assembly is in a retracted state when the target object is placed on the carrying device or taken from the carrying device.

When the second material taking and placing component is in a retraction state, the second material taking and placing component retracts into the material taking and placing robot.

It should be noted that the number of the first material taking and placing assemblies may be one or more, and the number of the second material taking and placing assemblies may also be one or more.

As shown in fig. 1 and fig. 2, a material taking and placing robot provided in an embodiment of the present application includes: the lifting driving mechanism 300 is in transmission connection with the material taking and placing mechanism 400 so as to drive the material taking and placing mechanism 400 to ascend or descend; the material taking and placing mechanism 400 comprises at least two material taking and placing assemblies 410 which are arranged at intervals along the vertical direction, and the at least two material taking and placing assemblies 410 are respectively used for taking and placing the articles which are positioned on different layers in the plurality of stacked articles.

It should be understood that the picking and placing herein includes both picking and placing, that is, each picking and placing assembly 410 can pick and place an object, and the target object on the target layer can be picked from or placed on the plurality of objects stacked by the cooperation of at least two picking and placing assemblies 410.

When taking articles, the walking mechanism 200 drives the supporting mechanism to move to the position near the stack where the target article is located, the lifting driving mechanism 300 drives the material taking and placing mechanism 400 to move along the vertical direction, so that the material taking and placing component 410 located at the lowest position is located near the target article, the material taking and placing component 410 located at the upper position is opposite to the article above the target article, then the lifting driving mechanism drives the material taking and placing component 410 to ascend, the material taking and placing component 410 located at the upper position forks the article above the target article to expose the target article, so that the material taking and placing component 410 located at the lower position can fork the target article and place the target article on appointed carrying equipment, and after the target article is taken away, the material taking and placing component 410 located at the upper position puts the material above the original target article back to the original position, and article taking is completed.

Compared with the robot which needs to be matched with a goods shelf to finish taking and placing the objects in the related art, the robot for taking and placing the objects provided by the embodiment of the application can take and place the target objects in the target layer of the plurality of stacked objects without being matched with other devices, so that the cost is reduced; in addition, in the process of taking the target article, the blocking article above the target layer does not need to be placed on the shelf firstly, and the blocking article is moved to the original position from the shelf after the target article is taken and placed, so that the operation time is saved.

The material taking and placing component in the embodiment of the present application may have various implementation forms, which is not limited in the present application. For example, the material taking and placing assembly can comprise a clamping type pallet fork, and articles can be taken and placed by clamping two sides of the articles; the material taking and placing assembly can also be a fork-type fork, a fork hole is formed in the corresponding article, and the fork teeth of the fork extend into the fork hole to take and place the article. The material taking and placing assembly can also be in other implementation forms which can be adapted to the article to be taken and placed, for example, the outer side (such as the upper edge and/or the edge) of the article to be taken and placed (such as a bin) is provided with a plurality of protruding parts (such as a hanging table) which extend outwards for a certain width, and the corresponding material taking and placing area can comprise a supporting part which can extend into the lower part of the protruding part, the supporting part can extend into the lower part of the protruding part of the edge of the article to be taken and placed, and then the article to be taken and placed can be lifted to achieve the taking and placing of the bin.

For the purpose of describing the distinction between a plurality of articles stacked together, the articles at different locations are named separately, in this embodiment, the article to be removed or placed is named a target article, the article above the target layer is named a first article, and the article below the target article is named a second article. It should be noted that, in the embodiment of placing the target item in the target layer of the plurality of stacked items, the item originally located in the target layer is also named as the first item, and it can be understood that to place the target item in the target layer, the item originally located in the target layer needs to be removed.

Some of the at least two material taking and placing assemblies 410 are used for taking a first article above a target article in the stacked and placed plurality of articles, and other material taking and placing assemblies 410 in the at least two material taking and placing assemblies 410 are used for taking the target article; after the other material taking and placing assemblies 410 take the target object, part of the material taking and placing assemblies 410 place the first object above the rest of the second object. Specifically, the number of the first articles may be one or more, when the number of the first articles is one, the first article may be taken by one of the partial material taking and placing assemblies 410, and when the number of the first articles is multiple, the lowermost first article of the stacked plurality of first articles may be taken by one of the partial material taking and placing assemblies 410, so as to take the plurality of first articles, or the plurality of first articles may be taken by using the plurality of material taking and placing assemblies 410 of the partial material taking and placing assemblies 410, and the lowermost first article of the plurality of first articles may be taken by the material taking and placing assembly 410 located at the lowermost position. The number of the target items may be one or more, when the number of the target items is one, the target item may be taken by one of the other material taking and placing assemblies 410, when the number of the target items is multiple, the lowermost target item of the stacked multiple target items may be taken by one of the other material taking and placing assemblies 410, so as to take up the multiple target items, or the multiple material taking and placing assemblies 410 of the other material taking and placing assemblies 410 may be used to take up the multiple target items, and the lowermost material taking and placing assembly 410 of the other material taking and placing assemblies 410 may take up the lowermost target item of the multiple target items.

In one embodiment of the present application, the supporting mechanism includes a supporting frame 100, and the material taking and placing mechanism 400 is slidably connected to the supporting frame 100. As shown in fig. 3, the supporting frame 100 includes two supporting portions 120, the two supporting portions 120 are disposed opposite to each other at intervals along a first direction a, each supporting portion 120 includes at least two vertical columns 121, a plurality of vertical columns 121 are disposed parallel to each other at intervals along a second direction b, and adjacent vertical columns 121 are connected by a cross beam 122, wherein the first direction a and the second direction b extend along a horizontal direction and are perpendicular to each other. Specifically, the number of the upright columns 121 in each support portion 120 may be two, three, or four, and in this embodiment, each support portion 120 includes two upright columns 121, the two upright columns 121 are parallel and spaced apart from each other along the second direction b, a plurality of cross beams 122 are disposed between the two upright columns 121, the plurality of cross beams 122 are parallel and spaced apart from each other along the vertical direction, one end of each cross beam 122 is fixedly connected to one of the upright columns 121, and the other end of each cross beam 122 is fixedly connected to the other upright column 121. The material taking and placing mechanism 400 is in sliding fit with the upright 121, and the lifting driving mechanism 300 is mounted on the upright 121 and is in transmission connection with the material taking and placing mechanism 400.

The following describes a specific structure of the elevation drive mechanism 300.

As shown in fig. 1 and 3, the lifting driving mechanism 300 includes a lifting driving member 310 and a lifting transmission member 320, the lifting driving member 310 is mounted at the top end of the supporting frame 100 and is in transmission connection with the lifting transmission member 320, and the lifting transmission member 320 is disposed on the side wall of the supporting frame 100 along the vertical direction and is in transmission connection with the material taking and placing mechanism 400. In the process of picking and placing the object, the lifting driving member 310 drives the lifting driving member 320 to move, and the lifting driving member 320 drives the picking and placing mechanism 400 to move along the vertical direction, so that the picking and placing assembly 410 moves to a position near the corresponding object, or the fork picks the object to move along the vertical direction, thereby picking or placing the object.

In one embodiment, the lifting driving member 310 includes a lifting driving motor, and the lifting driving member 320 includes a lead screw and a nut, the lead screw is disposed along a vertical direction and rotatably connected to the supporting frame 100, and the nut is threadedly engaged with the lead screw and connected to the material taking and placing mechanism 400. The lifting driving motor drives the screw rod to rotate around the axis of the screw rod, and the screw rod drives the material taking and placing mechanism 400 to ascend or descend through the nut.

In one embodiment of the present application, each upright column 121 is provided with a lifting transmission member 320, and the lifting transmission member 320 includes a first lifting wheel 321, a second lifting wheel 322 and a flexible lifting transmission member 323, as shown in fig. 3, the first lifting wheel 321 and the second lifting wheel 322 are rotatably mounted on the upright column 121 and are spaced apart from each other in the vertical direction. The first lifting wheel 321 is located above the second lifting wheel 322, and the first lifting wheels 321 on the two columns 121 are connected through a transmission shaft 324. The flexible lifting transmission member 323 is annular, and has one end sleeved on the first lifting wheel 321 and the other end sleeved on the second lifting wheel 322. Flexible lift driving medium 323 includes two vertical sections, and two vertical sections set up along the parallel interval of first direction a side, and fixed mounting has driving frame 330 on one of them vertical section, and the both ends of driving frame 330 are connected with the vertical section in two flexible lift driving mediums 323 respectively, and specifically, driving frame 330 passes through the bolt to be connected with a clamping plate, and driving frame 330 presss from both sides the vertical section tightly with the clamping plate cooperation between the two to realize being connected of driving frame 330 and flexible driving medium. The transmission frame 330 has two connecting portions, the two connecting portions are arranged at intervals along the second direction b and are located between the two upright posts 121, and the material taking and placing mechanism 400 is connected with the connecting portions of the transmission frame 330 through bolts, so that the lifting transmission member 320 is connected with the material taking and placing mechanism 400 in a transmission manner.

The lifting driving member 310 includes a lifting driving motor, which is connected to the transmission shaft 324 through a belt transmission assembly 325, and drives the first lifting wheel 321 to rotate through the transmission shaft 324. In the material taking and placing process, the lifting driving motor drives the first lifting wheel 321 to rotate, and the first lifting wheel 321 drives the flexible lifting transmission member 323 to move, so that the transmission frame 330 drives the material taking and placing mechanism 400 to ascend or descend. The lifting transmission member 320 comprises a first lifting wheel 321, a second lifting wheel 322 and a flexible lifting transmission member 323, the lifting transmission member is simple in structure and low in cost, the distance between the first lifting wheel 321 and the second lifting wheel 322 within the moving range of the material taking and placing mechanism 400 in the vertical direction can be increased as required, the length of the flexible lifting transmission member 323 can be increased, and the requirement for the moving range of the material taking and placing mechanism 400 in the vertical direction can be met conveniently. In addition, install the driving frame 330 on flexible transmission member, the structure of driving frame 330 is simple compared with getting in and puts material mechanism 400, more conveniently installs driving frame 330 on locating flexible lift driving medium 323 on stand 121, gets to put material mechanism 400 and is connected with the transmission portion, because the transmission portion is relative with the interval between two stands 121, compare in directly being connected with the flexible lift driving medium 323 of locating on stand 121, more conveniently gets the installation of putting material mechanism 400.

In the above embodiment, the flexible lifting transmission 323 includes the lifting transmission belt, and the first lifting wheel 321 and the second lifting wheel 322 are both lifting pulleys. Specifically, there is first meshing tooth in the outer peripheral face of lift band pulley, and the second meshing tooth is established to the inner face of lift drive belt, and first meshing tooth and second meshing tooth intermeshing prevent that lift driving medium 320 from skidding at the in-process of motion to improved and got the stability of expecting mechanism 400 at the lift in-process. In addition, the flexible lifting transmission member 323 can be a wire rope, and the first lifting wheel 321 and the second lifting wheel 322 can be pulleys.

The material taking and placing mechanism 400 further comprises a fixing plate 420, and the material taking and placing assembly 410 is connected with the lifting driving mechanism 300 through the fixing plate 420. The fixing plate 420 is planar and located inside the supporting frame 100, the fixing plate 420 and the upright 121 are parallel to each other, the side wall of the fixing plate 420 opposite to the upright 121 is connected to the transmission frame 330 of the lifting driving mechanism 300 through a bolt, and the taking and placing mechanism 400 is installed on the side wall of the fixing plate 420 away from the upright 121. When assembling, the material taking and placing mechanism 400 can be firstly installed on the fixing plate 420, and then the fixing plate 420 is installed on the transmission frame 330, so that the assembling operation is convenient.

In one embodiment of the present application, the lifting driving mechanism 300 further includes a third guiding component for guiding the driving frame 330, and the third guiding component is connected to the supporting frame 100 and the driving frame 330 respectively. In the process that the lifting transmission member 320 drives the transmission frame 330 to lift, the third guiding component guides the transmission frame 330, so as to improve the motion stability of the transmission frame 330 and the material taking and placing component 410.

The third guide assembly comprises a third guide rail 341 and a third guide groove, and the third guide rail 341 and the third guide groove are both arranged along the vertical direction and are in sliding fit with each other; the third guiding rail 341 is installed on the supporting frame 100 or the transmission frame 330, and the third guiding groove is correspondingly installed on the transmission frame 330 or the supporting frame 100. In this embodiment, each transmission frame 330 is connected to the supporting frame 100 through two third guiding assemblies, specifically, the third guide rails 341 in the two third guiding assemblies are respectively and fixedly mounted on the two upright posts 121 and are arranged along the vertical direction, the transmission frame 330 is provided with third guide grooves at two ends along the second direction b, and the two third guide grooves are in sliding fit with the corresponding third guide rails 341. In the process of lifting the transmission frame 330, the third guide groove is in sliding fit with the third guide rail 341 to guide the transmission frame 330, so that the stability of the movement of the transmission frame 330 and the material taking and placing component 410 is improved.

The material taking and placing mechanism 400 may include two, three or four material taking and placing assemblies 410, and in this embodiment, the material taking and placing mechanism 400 includes two material taking and placing assemblies 410. As shown in fig. 1, 2 and 4, two material taking and placing assemblies 410 are arranged in a vertical direction, the material taking and placing assembly 410 located below is used for forking a target object, and the material taking and placing assembly 410 located above is used for forking a first object above the target object. The material taking and placing mechanism 400 comprises two material taking and placing assemblies 410, so that the material taking and placing robot can independently take and place objects, and the cost increase caused by the arrangement of too many material taking and placing assemblies 410 is avoided.

The material taking and placing mechanism 400 includes two, three or four material taking and placing assemblies 410, each material taking and placing assembly 410 is arranged in the same manner, and the adjacent material taking and placing assemblies 410 are arranged in the same manner, which will be specifically described below by taking the case that the material taking and placing mechanism 400 includes two material taking and placing assemblies 410 as an example.

In one embodiment, the distance between two adjacent picking assemblies 410 is fixed and is greater than the height of the article. When the upper material taking and placing assembly 410 forks the upper first article and the lower material taking and placing assembly 410 forks the target article, a gap is formed between the lower surface of the first article and the upper surface of the target article, so that the two articles are prevented from contacting to influence normal article taking and placing.

In another embodiment, the distance between two adjacent material taking and placing assemblies 410 is adjustable. Specifically, this can be achieved in the following two ways.

As an implementation manner, each material taking and placing assembly 410 is connected to the lifting driving mechanism 300 through a fixing plate 420, specifically, the material taking and placing mechanism 400 includes fixing plates 420 equal in number to the material taking and placing assemblies 410, each fixing plate 420 is provided with one material taking and placing assembly 410, the fixing plates 420 are arranged at intervals in the vertical direction, and at least one fixing plate 420 of two adjacent fixing plates 420 is detachably connected to the lifting driving mechanism 300. The detachable connection between the fixing plate 420 and the lifting driving mechanism 300 is as follows: be equipped with first connect the via hole on the fixed plate 420, be equipped with the first regulation slot hole that sets up along vertical direction on the driving frame 330, the bolt pass connecting hole and first regulation slot hole and cooperate with the nut to realize being connected of fixed plate 420 and driving frame 330, through the position of adjusting bolt in first regulation slot hole, can realize adjusting fixed plate 420 in vertical ascending position, thereby realized adjacent two and got the regulation of putting the distance between the material subassembly 410.

As another implementation manner, a plurality of material taking and placing assemblies 410 are mounted on the same fixing plate 420 and movably connected to the fixing plate 420, so that the distance between two adjacent material taking and placing assemblies 410 can be adjusted. Specifically, the fixing plate 420 is fixedly installed on the transmission frame 330 through a bolt, a second connecting through hole is formed in the material taking and placing assembly 410, a second adjusting long hole arranged in the vertical direction is formed in the fixing plate 420, the bolt penetrates through the second connecting through hole and the second adjusting long hole to be matched with the nut, connection of the fixing plate 420 and the material taking and placing assembly 410 is achieved, the position of the material taking and placing assembly 410 in the vertical direction can be adjusted through the position of the adjusting bolt in the second adjusting long hole, and adjustment of the distance between two adjacent material taking and placing assemblies 410 is achieved.

Through the structure, the distance between the adjacent material taking and placing assemblies 410 is adjusted, and the distance between the two adjacent material taking and placing assemblies 410 is adjusted according to the size of the article to be taken and placed, so that the material taking and placing robot provided by the embodiment of the application can meet the requirement for taking and placing the articles with more specifications, and the application range of the material taking and placing robot is enlarged.

In the above embodiment, the distance between two adjacent material taking and placing assemblies 410 is greater than the height of the article, regardless of whether the distance between two adjacent material taking and placing assemblies 410 is fixed or adjustable. So set up, get the blowing subassembly 410 and all will correspond article fork back when two from top to bottom, have the interval between two upper and lower articles, can not produce and interfere to can use two upper and lower blowing subassemblies 410 of getting of a lift driving medium 320 simultaneous drive, and can accomplish and get and put article, make the mobile robot's that this application embodiment provided structure simpler.

In one embodiment, the material taking and placing assembly 410 is fixed in position relative to the supporting rack 100 in the horizontal direction, that is, the material taking and placing assembly 410 is always located inside the supporting rack 100. In the process of taking and placing the article, the support frame 100 is driven by the traveling mechanism 200 to move, so that the support frame 100 drives the material taking and placing component 410 to move, and the article is moved in the horizontal direction.

In one embodiment of the present application, the pick-and-place mechanism 400 includes a telescopic assembly 431, and when an article is picked from or placed in a plurality of articles stacked, the telescopic assembly 431 extends out of the supporting mechanism, and when the picking or placing is completed, the telescopic assembly 431 retracts into the supporting mechanism. Specifically, a first telescopic channel and a second telescopic channel are disposed between the two supporting portions 120 of the supporting frame 100, and the first telescopic channel and the second telescopic channel are respectively located at two sides of the center of the supporting frame 100 along the second direction b and are both communicated with the inside of the supporting frame 100. The telescopic assembly 431 can extend out of and retract into the support frame 100 from the first telescopic passage and also extend out of and retract into the support frame 100 from the second telescopic passage, so that in the process of taking and placing the articles, the articles can be taken from or placed in the article stacks at two sides of the support frame 100 without moving the position of the support frame 100, and the operation is simpler.

The following is a detailed description of how the telescoping assembly 431 extends or retracts the support stand 100.

The material taking and placing assembly 410 further comprises a telescopic driving member, the material taking end of the material taking and placing assembly 410 is mounted on the telescopic assembly 431, the telescopic assembly 431 is in sliding fit with the fixing plate 420 along the horizontal direction, and the telescopic driving member is mounted on the fixing plate 420 and is in transmission connection with the telescopic assembly 431. When articles are taken and placed, the telescopic driving piece drives the telescopic assembly 431 to move along the horizontal direction, and the telescopic assembly 431 drives the goods taking end of the material taking and placing assembly 410 to move along the horizontal direction, so that the goods taking end of the material taking and placing assembly 410 can stretch out and retract from the first telescopic channel or the second telescopic channel.

The telescoping assembly 431 may be specifically configured as follows.

As an arrangement mode, the telescopic assembly 431 includes a third moving plate, the third moving plate is located on a side of the fixed plate 420 away from the transmission frame 330 and horizontally and slidably connected to the fixed plate 420, and the picking end of the picking and placing assembly 410 is mounted on the first moving plate 4311. The telescopic driving part comprises an electric push rod, the fixed end of the electric push rod is installed on the fixed plate 420, and the driving end of the electric push rod is in transmission connection with the third moving plate. The third moving plate is driven to move along the horizontal direction by the extension and retraction of the electric push rod, so as to drive the picking end of the picking and placing assembly 410 to extend out of or retract into the supporting frame 100. As another driving manner, the telescopic driving member includes a telescopic driving motor 4321, a gear 4322 and a rack 4323, the rack 4323 is mounted on the third moving plate and is arranged along the horizontal direction, the gear 4322 is mounted on the fixed plate 420 and is engaged with the rack 4323, and the telescopic driving motor 4321 is mounted on the fixed plate 420 and is in transmission connection with the gear 4322. The gear 4322 is driven by the telescopic driving motor 4321 to rotate, and the gear 4322 drives the third moving plate to move in the horizontal direction by matching with the rack 4323, so as to drive the picking end of the picking and placing assembly 410 to extend out of or retract into the supporting frame 100.

As another embodiment, the telescopic assembly 431 includes a first moving plate 4311 and a second moving plate 4312, the first moving plate 4311 is located between the second moving plate 4312 and the fixed plate 420, and is spaced from and parallel to the second moving plate 4312 and the fixed plate 420, respectively, and the picking end of the picking and placing assembly 410 is mounted on the second moving plate 4312; the telescopic driving assembly further includes a linkage member, the linkage member is respectively connected to the first moving plate 4311 and the second moving plate 4312, and the telescopic driving member is in transmission connection with the first moving plate 4311 or the second moving plate 4312. Specifically, the first moving plate 4311 is located on a side of the fixed plate 420 away from the transmission frame 330, the second moving plate 4312 is located on a side of the first moving plate 4311 away from the fixed plate 420, and two side surfaces of the first moving plate 4311 are horizontally slidably engaged with the fixed plate 420 and the second moving plate 4312, respectively. The picking end of the picking assembly 410 is mounted on the second movable plate 4312, and when the picking end of the picking assembly 410 is located in the supporting frame 100, the first movable plate 4311 is opposite to the fixed plate 420 and the second movable plate 4312, respectively. When the telescopic driving member is connected to the first moving plate 4311, the telescopic driving member drives the first moving plate 4311 to move, and the first moving plate 4311 drives the second moving plate 4312 and the first moving plate 4311 to move in the same direction through the linkage member; when the telescopic driving member is connected to the second moving plate 4312, the telescopic driving member drives the second moving plate 4312 to move, and the second moving plate 4312 drives the first moving plate 4311 and the second moving plate 4312 to move in the same direction through the linkage member. The telescopic driving part drives one moving plate to move, then drives the other moving plate to move through the linkage part, the extension length of the second moving plate 4312 can be increased, and when the goods taking end of the material taking and placing assembly 410 is retracted into the support frame 100, the first moving plate 4311 is respectively opposite to the fixed plate 420 and the second moving plate 4312, so that the space occupied by the material taking and placing mechanism 400 is reduced.

The linkage member has two specific setting modes as follows.

As an arrangement manner, the linkage member includes a linkage hole provided on the first moving plate 4311 and a linkage post provided on the second moving plate 4312, the linkage hole is oblong and is provided along the horizontal direction, and the linkage post is inserted into the linkage hole. When the telescopic component 431 is located inside the support frame 100, the inner wall butt of the first end of linkage post and linkage hole, when the flexible driving piece drives the second moving plate 4312 to move towards the direction of stretching out the support frame 100, the second moving plate 4312 drives the linkage post to move towards the direction close to the second end of the linkage hole, after the second moving plate 4312 moves a certain distance, the inner wall butt of the second end of the linkage post and the linkage hole, then the first moving plate 4311 is driven to move towards the direction of stretching out the support frame 100 synchronously, thereby the telescopic component 431 stretches out the support frame 100. When the telescopic driving member drives the second moving plate 4312 to move towards the direction of retracting the supporting frame 100, the second moving plate 4312 drives the linking column to move towards the direction close to the first end of the linking hole, and after the second moving plate 4312 moves for a certain distance, the linking column abuts against the inner wall of the first end of the linking hole, and then drives the first moving plate 4311 to move towards the direction of retracting the supporting frame 100 synchronously, so that the telescopic assembly 431 retracts into the supporting frame 100.

When the linkage is set to the above manner, the telescopic driving member includes an electric push rod, a fixed end of the electric push rod is mounted on the fixed plate 420, and a driving end of the electric push rod is in transmission connection with the second moving plate 4312. The second moving plate 4312 is driven to move in the horizontal direction by the extension and contraction of the electric push rod. As another driving manner, the telescopic driving member includes a telescopic driving motor 4321, a gear 4322 and a rack 4323, the rack 4323 is mounted on the second moving plate 4312 and is arranged along the horizontal direction, the gear 4322 is mounted on the fixed plate 420 and is engaged with the rack 4323, and the telescopic driving motor 4321 is mounted on the fixed plate 420 and is in transmission connection with the gear 4322. The gear 4322 is driven by the telescopic driving motor 4321 to rotate, and the gear 4322 drives the second moving plate 4312 to move in the horizontal direction by cooperating with the rack 4323.

The above-mentioned mode of getting flexible subassembly 431 flexible through the drive of third movable plate to and the mode that drives first movable plate 4311 through second movable plate 4312 through-hole linkage hole and linkage post and move, all can only realize getting to expect that subassembly 410 stretches out and retracts support frame 100 from one side of support frame 100, in order to realize that flexible subassembly 431 can stretch out and retract support frame 100 from the both sides of support frame 100, the linkage subassembly sets up to following mode.

The linkage member includes a first flexible transmission member 4331, a second flexible transmission member 4332, a first transmission wheel 4333 and a second transmission wheel 4334, wherein the first flexible transmission member 4331 and the second flexible transmission member 4332 are both in the shape of a strip. The left end of the first moving plate 4311 shown in fig. 5 is a first end of the first moving plate 4311 in the horizontal direction, the right end of the first moving plate 4311 shown in fig. 5 is a second end of the first moving plate 4311 in the horizontal direction, the first transmission wheel 4333 is installed at the first end of the first moving plate 4311 in the horizontal direction, the second transmission wheel 4334 is installed at the second end of the first moving plate 4311 in the horizontal direction, and the axis of the first transmission wheel 4333 and the axis of the second transmission wheel 4334 are both vertically arranged. The left end of the fixed plate 420 shown in fig. 5 is a first end of the fixed plate 420 in the horizontal direction, the right end of the fixed plate 420 shown in fig. 5 is a second end of the fixed plate 420 in the horizontal direction, the left end of the second moving plate 4312 shown in fig. 5 is a first end of the second moving plate 4312 in the horizontal direction, and the right end of the second moving plate 420 shown in fig. 5 is a second end of the second moving plate 420 in the horizontal direction. One end of the first flexible transmission member 4331 is fixedly connected to the first end of the fixed plate 420 in the horizontal direction, the other end is fixedly connected to the first end of the second moving plate 4312 in the horizontal direction, and a portion between the two ends of the first flexible transmission member 4331 is engaged with the second transmission wheel 4334. One end of the second flexible transmission member 4332 is fixedly connected to the second end of the fixed plate 420 in the horizontal direction, the other end is fixedly connected to the second end of the second moving plate 4312 in the horizontal direction, and a portion between the two ends of the second flexible transmission member 4332 is engaged with the first transmission wheel 4333.

The telescopic driving member is in transmission connection with the first moving plate 4311 and is used for driving the first moving plate 4311 to slide leftwards or rightwards. When the telescopic driving member drives the first moving plate 4311 to slide to the left side as shown in fig. 5, the first moving plate 4311 drives the first transmission wheel 4333 and the second transmission wheel 4334 to move leftward, and since the position of the end of the second flexible transmission member 4332 connected to the fixed plate 420 is fixed, the end of the first flexible transmission member 4333 connected to the second moving plate 4312 is pulled by the first transmission wheel 4333 to move leftward, and the second flexible transmission member 4332 pulls the second moving plate 4312 to move leftward, the second moving plate 4312 drives the picking end of the picking and placing assembly 410 to extend out from the left side, or drives the telescopic assembly 431 extending out from the right side to retract into the supporting frame 100. When the telescopic driving member drives the first moving plate 4311 to slide to the right side as shown in fig. 5, the first moving plate 4311 drives the first transmission wheel 4333 and the second transmission wheel 4334 to move rightward, because the end of the first flexible transmission member 4331 connected to the fixed plate 420 is fixed, the second transmission wheel 4334 pulls the end of the first flexible transmission member 4331 connected to the second moving plate 4312 to move rightward, the first flexible transmission member 4331 pulls the second moving plate 4312 to move rightward, and the second moving plate 4312 drives the picking end of the picking and placing assembly 410 to extend out from the right side, or drives the telescopic assembly 431 extending out from the left side to retract into the supporting frame 100. Set up flexible transmission spare into above-mentioned mode, can realize that the fork stretches out and retracts from the flexible passageway of first flexible passageway and second on the support frame 100, need not to adjust the position of support frame 100, and the limit can be realized taking or placing the article of support frame 100 both sides, has saved operating time. In addition, the cooperation between the first transmission wheel 4333 and the second flexible transmission member 4332 and the cooperation between the second transmission wheel 4334 and the first flexible transmission member 4331 are both equivalent to a movable pulley assembly, when the first moving plate 4311 drives the first transmission wheel 4333 and the second transmission wheel 4334 to move by a distance L, the second moving plate 4312 moves by a distance of 2L, and when the movable distance of the first moving plate 4311 is fixed, the telescopic range of the telescopic assembly 431 is increased.

In the above embodiment, the first flexible transmission member 4331 and the second flexible transmission member 4332 each comprise a telescopic transmission belt, and the first transmission wheel 4333 and the second transmission wheel 4334 each comprise a telescopic pulley. Specifically, the outer peripheral face of flexible band pulley has first meshing tooth, and the second meshing tooth is established to the inner face of flexible drive belt, first meshing tooth and second meshing tooth intermeshing, prevent that flexible subassembly 431 from skidding at flexible in-process to the stability of flexible subassembly 431 at flexible in-process has been improved. In addition, the flexible telescopic transmission member can be arranged as a steel wire rope, and the first telescopic wheel and the telescopic wheel can also be arranged as pulleys.

The first transmission wheel 4333 and the second transmission wheel 4334 may be installed on a top wall or a bottom wall of the first moving plate 4311, in an embodiment of the present application, the first moving plate 4311 is provided with a first through hole 4313 and a second through hole 4314, the first through hole 4313 is disposed near a first end of the first moving plate 4311 in a horizontal direction, the second through hole 4314 is disposed near a second end of the first moving plate 4311 in the horizontal direction, and the first through hole 4313 and the second through hole 4314 penetrate through the first moving plate 4311 in a thickness direction of the first moving plate 4311, and have rectangular cross sections. As shown in fig. 5 and 6, the first transmission wheel 4333 is installed in the first through hole 4313 through a first rotation shaft, the first rotation shaft is connected to an upper wall and a lower wall of the first through hole 4313, the second flexible transmission member 4332 passes through the first through hole 4313 from a side of the first transmission wheel 4333 departing from the center of the first moving plate 4311 and is engaged with the first transmission wheel 4333, and two ends of the second flexible transmission member 4332 are located at two sides of the first moving plate 4311. The second transmission wheel 4334 is installed in the second through hole 4314 through a second rotation shaft, the second rotation shaft is connected to an upper wall and a lower wall of the second through hole 4314, the first flexible transmission element 4331 passes through the second through hole 4314 from a side of the second transmission wheel 4334 away from the center of the first moving plate 4311, and is engaged with the second transmission wheel 4334, and two ends of the first flexible transmission element 4331 are located at two sides of the first moving plate 4311, respectively. The first moving plate 4311 is provided with a first through hole 4313 and a second through hole 4314, so that part of the structure of the linkage is positioned in the first moving plate 4311, and the occupied space is reduced; in addition, the first flexible transmission element 4331 passes through the second through hole 4314, and the second flexible transmission element 4332 passes through the first through hole 4313, so as to limit the first flexible transmission element 4331 and the second flexible transmission element 4332, thereby preventing the first flexible transmission element 4331 from being separated from the second transmission wheel 4334 or the second flexible transmission element 4332 from being separated from the first transmission wheel 4333 during the extension and retraction of the telescopic assembly 431.

When the linkage is configured as the second manner, the telescopic driving member includes a telescopic driving motor 4321, a gear 4322 and a rack 4323, and the rack 4323 is fixedly mounted on the first moving plate 4311 and is configured along a horizontal direction. The gear 4322 is mounted to the fixing plate 420 through a mounting seat and is rotatably connected to the mounting seat. The telescopic driving motor 4321 is installed on the fixing plate 420 and is in transmission connection with the gear 4322. The telescopic driving motor 4321 drives the gear 4322 to rotate forwards or reversely, the gear 4322 is meshed with the rack 4323 to drive the first moving plate 4311 to move leftwards or rightwards, and the first moving plate 4311 is driven by the matching of the gear 4322 and the rack 4323, so that the bidirectional driving of the first moving plate 4311 can be realized.

In one embodiment of the present application, a rack 4323 is installed on a top wall or a bottom wall of the first moving plate 4311 and is disposed along a length direction of the first moving plate 4311, and a gear 4322 is installed on a side of the fixed plate 420 opposite to the first moving plate 4311 and is engaged with the rack 4323. A third through hole is formed in a position where the fixed plate 420 is opposite to the gear 4322, the telescopic driving motor 4321 is installed on the surface of the fixed plate 420, which is away from the first moving plate 4311, and the driving end of the telescopic driving motor 4321 penetrates through the third through hole in the fixed plate 420 to be in transmission connection with the gear 4322. The rack 4323 is mounted on the top wall or the bottom wall of the first moving plate 4311, so that the rack 4323 can be conveniently mounted on the gear 4322 matched with the rack 4323, and the telescopic driving motor 4321 is mounted on one side of the fixed plate 420 departing from the first moving plate 4311, so that the space occupied by the fixed plate 420 on the side opposite to the first moving plate 4311 is reduced, and the mounting space is reasonably utilized.

The telescopic driving assembly further includes a first limit assembly preventing the first moving plate 4311 from being separated from the second moving plate 4312. When the second moving plate 4312 moves leftward or rightward relative to the first moving plate 4311 to a limit position, the limit assembly limits the first moving plate 4311 from moving continuously, thereby preventing the first moving plate 4311 from being separated from the second moving plate 4312; in addition, the first moving plate 4311 is driven by the second moving plate 4312, and when the second moving plate 4312 stops moving, the first moving plate 4311 also stops moving, preventing the first moving plate 4311 from separating from the fixed plate 420.

The first limiting assembly comprises a first limiting block 461 mounted on the first moving plate 4311 and a second limiting block mounted on the second moving plate 4312, and when the second moving plate 4312 moves to a limiting position, the first limiting block 461 abuts against the second limiting block. Specifically, the first end and the second end of the opposite surfaces of the first moving plate 4311 and the second moving plate 4312 are both provided with a first stopper 461, and the height of the first stopper 461 at the first end is higher than the height of the first stopper 461 at the second end. The first end and the second end of the surface of the second moving plate 4312 opposite to the first moving plate 4311 are both provided with a second stopper, the height of the second stopper at the second end of the second moving plate 4312 is the same as the height of the first stopper 461 at the first end of the first moving plate 4311, and the height of the second stopper at the first end of the second moving plate 4312 is the same as the height of the first stopper 461 at the second end of the first moving plate 4311. When the second moving plate 4312 moves to the limit position leftward, the second stopper at the second end of the second moving plate 4312 abuts against the first stopper at the first end of the first moving plate 4311, and when the second moving plate 4312 moves to the limit position rightward, the second stopper at the first end of the second moving plate 4312 abuts against the first stopper at the second end of the first moving plate 4311, so that the movement range of the second moving plate 4312 is limited by the cooperation of the first stopper 461 and the second stopper, and the second moving plate 4312 is prevented from being separated from the first moving plate 4311.

In one embodiment of the present application, a first guide assembly 440 for supporting and guiding is connected between the fixed plate 420 and the first moving plate 4311, and a second guide assembly 450 for supporting and guiding is connected between the first moving plate 4311 and the second moving plate 4312. When the first moving plate 4311 slides in the horizontal direction with respect to the fixed plate 420, the first guide assembly 440 supports and guides the first moving plate 4311, so as to improve the stability of the first moving plate 4311 during movement, and when the second moving plate 4312 moves with respect to the first moving plate 4311, the second guide assembly 450 supports and guides the second moving plate 4312, so as to improve the stability of the second moving plate 4312 during movement.

Specifically, as shown in fig. 6, the first guide assembly 440 includes a first guide rail 441 and a first guide groove 442 both extending in the horizontal direction and slidably engaged with each other, the first guide rail 441 is mounted on the fixed plate 420 or the first moving plate 4311, and the first guide groove 442 is correspondingly disposed on the first moving plate 4311 or the fixed plate 420. In this embodiment, the number of the first guide rails 441 is two, and the two first guide rails 441 are both fixedly mounted on the fixing plate 420 and are arranged in parallel at intervals along the vertical direction. The two first guide grooves 442 are fixedly mounted on the first moving plate 4311 and are in one-to-one sliding fit with the two first guide rails 441.

The second guide assembly 450 includes a second guide rail 451 and a second guide groove 452, which are both horizontally extended and slidably engaged with each other, the second guide rail 451 is mounted to the first moving plate 4311 or the second moving plate 4312, and the second guide groove 452 is correspondingly mounted to the second moving plate 4312 or the first moving plate 4311. In this embodiment, the number of the second guide rails 451 is two, and the two second guide rails 451 are both fixedly mounted on the first moving plate 4311 and are arranged in parallel at intervals in the vertical direction. The two second guide grooves 452 are fixedly mounted on the second moving plate 4312, and are in one-to-one sliding fit with the two second guide rails 451.

When the first moving plate 4311 slides in the horizontal direction with respect to the fixed plate 420, the first guide groove 442 slides with respect to the first guide rail 441, which improves the stability when the first moving plate 4311 moves, and when the second moving plate 4312 moves with respect to the first moving plate 4311, the second guide groove 452 slides with respect to the second guide rail 451, which improves the stability when the second moving plate 4312 moves.

In one embodiment of the present application, as shown in fig. 4, the fixing plate 420 is provided with a fixing protrusion 421, the fixing protrusion 421 is rectangular and is fixedly mounted on the top wall or the bottom wall of the fixing plate 420, and further, the fixing protrusion 421 and the fixing plate 420 are in a certain molding structure. The second moving plate 4312 is provided with a moving projection 4315, the moving projection 4315 is rectangular, and when the second moving plate 4312 is retracted, the moving projection 4315 is opposite to the fixed projection 421. The picking end of the picking assembly 410 is mounted on the side wall of the moving projection 4315 opposite to the fixed projection 421. When the second moving plate 4312 retracts into the supporting mechanism, the moving protrusion 4315 is opposite to the fixed protrusion 421, and the picking end 410 of the picking and placing assembly 410 is located between the fixed protrusion 421 and the moving protrusion 4315, so as to protect the picking end of the picking and placing assembly 410.

The following describes a specific structure of the pick-and-place assembly 410.

As shown in fig. 5, the pick-and-place assembly 410 includes a pick-and-place finger 411 and a finger support 412, and the pick-and-place finger 411 is mounted on the finger support 412. Specifically, the material taking and placing assembly 410 includes two finger supports 412 and two taking and placing fingers 411, and the two finger supports 412 are both fixedly mounted on the surface of the second moving plate 4312 opposite to the fixed plate 420 through bolts. The two picking and placing fingers 411 are rod-shaped and are correspondingly mounted on the two finger supports 412. When the article is forked, the two picking and placing fingers 411 are inserted into the slots on the two side walls of the article, so that the matching between the picking and placing assembly 410 and the article is realized.

The pick-and-place finger 411 may be connected to the finger rest 412 in the following two ways.

In one connection manner, the picking-placing finger 411 is fixedly connected to the finger support 412 and extends out of a side of the second moving plate 4312 away from the first moving plate 4311. The opening of the slot on the article is downward, when the article is inserted and taken, the picking and placing finger 411 is moved to the lower part of the slot, and then the picking and placing finger 411 is driven to move upward, so that the picking and placing finger 411 is inserted into the corresponding slot.

In another connection, the pick-and-place finger 411 is rotatably connected to the finger rest 412, and the rotation axis of the pick-and-place finger 411 extends along the second direction b. The material taking and placing assembly 410 further includes a finger driving member 413 for driving the finger 411 to rotate, the finger driving member 413 may be configured as a motor or a rotary cylinder, and the like. When the article is not required to be forked, the finger driving part 413 drives the picking and placing finger 411 to move to be in a vertical state, the picking and placing finger 411 retracts between the fixed protruding part 421 and the moving protruding part 4315, interference with other parts is avoided, and when the article is required to be inserted and taken, the finger driving part 413 drives the picking and placing finger 411 to extend out of the second moving plate 4312 and to be in a horizontal state, so that the picking and placing finger 411 can be matched with a slot in the article.

The number of the material taking and placing mechanisms 400 may be one or two, and when the material taking and placing mechanism 400 is one, the length of the finger 411 in the material taking and placing mechanism 400 may be longer, so as to ensure the stability of forking and taking articles.

In this embodiment, there are two material taking and placing mechanisms 400, and the two material taking and placing mechanisms 400 are arranged at an interval along the first direction a and are both in sliding fit with the supporting mechanism. Specifically, the two material taking and placing mechanisms 400 are respectively mounted on the two supporting portions 120 of the supporting frame 100, and are in sliding fit with the corresponding supporting portions 120. Two lifting transmission members 320 are correspondingly arranged, and the two lifting transmission members 320 are in one-to-one transmission connection with the two material taking and placing mechanisms 400. The lifting driving motor is respectively connected with the transmission shafts 324 in the two lifting transmission members 320 through two synchronous belt assemblies, so that two lifting belt transmission assemblies 325 are driven simultaneously. When the fork is used for taking the article, the material taking and placing assemblies 410 positioned above the two material taking and placing mechanisms 400 are matched with the fork to take two ends of the first article, the material taking and placing assemblies 410 positioned at the lowest positions of the two material taking and placing mechanisms 400 are matched with the fork to take the target article, and the two material taking and placing mechanisms 400 are matched with the fork to take the article, so that the stability of the article in the fork taking process is improved.

In one embodiment of the present application, the material taking and placing robot further includes an image capturing component 520, and the image capturing component 520 is mounted on the material taking and placing mechanism 400 and is used for identifying the target object. When the support frame 100 stops near the stack where the target article is located, the lifting driving mechanism 300 drives the material taking and placing mechanism 400 to ascend or descend, the material taking and placing mechanism 400 drives the image acquisition assembly 520 to ascend and descend, the image acquisition assembly 520 identifies the article, the position of the target article is identified, and therefore preparation is made for forking of the article.

Specifically, the pick-and-place mechanism 400 is provided with a support beam 510, the support beam 510 extends along a first direction a, a first end of the support beam 510 is connected to the fixing plate 420 of one pick-and-place mechanism 400 through a bolt, and the other end of the support beam 510 is connected to the fixing plate 420 of the other pick-and-place mechanism 400 through a bolt. The image capturing assembly 520 is located below the support beam 510 and is installed in the middle of the support beam 510, and the capturing end of the image capturing assembly 520 faces the first telescopic channel or the second telescopic channel on the support frame 100. When the support frame 100 stops near the stack where the target article is located, the lifting driving mechanism 300 drives the material taking and placing mechanism 400 to ascend or descend, the material taking and placing mechanism 400 drives the image acquisition assembly 520 to ascend and descend, the image acquisition assembly 520 sequentially acquires two-dimensional codes on the articles and transmits acquired two-dimensional code information to a control mechanism of the material taking and placing robot, and the control mechanism analyzes the received two-dimensional code information to determine the position of the target article.

The following describes a specific arrangement structure of the image capturing unit 520.

The image capturing assembly 520 includes a first camera 530 for capturing a two-dimensional code image on an object and a rotation driving assembly for driving the first camera 530 to rotate around a vertical axis, and the rotation driving assembly is installed in the middle of the lower end surface of the support beam 510 and is in transmission connection with the first camera 530. When the support frame 100 moves to the position near the stack of the target object, the rotation driving assembly drives the first camera 530 to rotate around the vertical axis, so that the lens of the first camera 530 faces the stack of the target object, the first camera 530 is driven to rotate around the vertical axis through the rotation driving assembly, the support frame 100 does not need to be moved, the first camera 530 can identify the objects on the two sides of the support frame 100, and the operation of taking and placing the objects is facilitated.

The rotation driving assembly includes a supporting plate 541, a rotation driving motor 542, and a rotation driving member 543, as shown in fig. 4, the supporting plate 541 is located below the supporting beam 510 and is disposed along a horizontal direction, an upper end surface of the supporting plate 541 is rotatably connected to the supporting beam 510 by a rotation shaft 546, and the rotation shaft 546 is disposed along a vertical direction. The first camera 530 is fixedly installed at a lower surface of the support plate 541, the rotation driving motor 542 is fixedly installed below the support plate 541, and the driving end extends to above the support plate 541 through the support plate 541. The rotary transmission member 543 is located above the support plate 541, and is drivingly connected to the rotary drive motor 542 and the rotary shaft 546, respectively. When the state of the first camera 530 is adjusted, the rotation driving motor 542 drives the rotation shaft 546 to rotate through the rotation transmission member 543, the rotation shaft 546 drives the supporting plate 541 to rotate, and the supporting plate 541 drives the first camera 530 to rotate, so that the lens orientation of the first camera 530 is adjusted.

The rotary drive can be set in the following two ways.

In one arrangement, the rotating transmission member 543 includes a belt transmission member, one belt wheel of the belt transmission member is fixedly connected to the driving end of the rotating driving motor 542, another belt wheel of the belt transmission member is fixedly sleeved on the rotating shaft 546, and the driving belt of the belt transmission member is sleeved on the peripheries of the two belt wheels. The rotation driving motor 542 drives the belt wheel connected to the rotation driving motor to rotate forward or backward, and the transmission belt drives the other belt wheel to rotate, so as to drive the rotation shaft 546 and the supporting plate 541 to rotate, thereby adjusting the position of the first camera 530.

As another embodiment, the rotary transmission member 543 includes a first rotary gear 544 and a second rotary gear 545 which are engaged with each other, as shown in fig. 7, the first rotary gear 544 is located above the supporting plate 541 and is fixedly connected with the driving end of the rotary driving motor 542, the second rotary gear 545 is fixedly secured to the rotary shaft 546 by a key connection, and the diameter of the second rotary gear 545 is larger than that of the first rotary gear 544. The rotation driving motor 542 drives the first rotation gear 544 to rotate, the first rotation gear 544 drives the second rotation gear 545 to rotate, and the second rotation gear 545 drives the rotation shaft 546 and the supporting plate 541 to rotate, so as to adjust the position of the first camera 530.

In one embodiment of the present application, the rotation driving assembly further includes a second limiting assembly connected to the support beam 510 and the support plate 541, respectively, for limiting a rotation range of the first camera 530. When the lens of the first camera 530 faces the stack of the target object, the second position-limiting component limits the supporting plate 541 to rotate continuously, so that the positioning accuracy of the first camera 530 in acquiring the two-dimensional code is improved.

Specifically, the limiting assembly includes a limiting rod 551, a third limiting block 552 and a fourth limiting block 553, as shown in fig. 4, the third limiting block 552 and the fourth limiting block 553 are both fixedly mounted on the lower surface of the supporting beam 510 and are respectively located at two sides of the supporting plate 541. As shown in fig. 7, the limiting rod 551 is mounted on the upper surface of the support plate 541 by a bolt, and has one end protruding beyond the edge of the support plate 541. When the lens of the first camera 530 faces the stack of the target object on one side of the support frame 100, the limiting rod 551 abuts against the third limiting block 552, and when the lens of the first camera 530 faces the stack of the target object on the other side of the support frame 100, the limiting rod 551 abuts against the fourth limiting block 553, and through the matching of the limiting rod 551, the third limiting block 552 and the fourth limiting block 553, two limit positions of the first camera 530 are limited, so that the first camera 530 can accurately collect the target objects on two sides of the support frame 100.

In one embodiment of the present application, a passage 110 for conveying equipment to pass through is further provided below the material taking and placing robot. Specifically, the passage 110 includes a first passage, a second passage, and a parking space for the conveyance device to park, and the first passage and the second passage are respectively located on both sides of the parking space and are both communicated with the parking space. In one embodiment, the height of the first lane is lower than the height of the second lane, the height of the first lane is only sufficient for the conveying equipment to pass through, and the height of the second lane is sufficient for the conveying equipment carrying the article to pass through. The carrying equipment which does not carry articles can enter and exit the parking space through the first channel or the second channel, and the carrying equipment which carries articles can enter and exit the parking space through the second channel. In another embodiment, the first lane and the second lane are the same height and are each sufficient for a carrying device carrying an article to pass. When taking the article, the carrying device enters the stopping space through the passage 110, after the article is forked by the material taking and placing assembly 410, the lifting driving mechanism 300 drives the material taking and placing assembly 410 to move downwards, the material taking and placing assembly 410 places the taken article on the carrying device, and the carrying device drives the article to move out of the support frame 100 through the passage 110.

In one embodiment of the present application, the material taking and placing robot further includes a base fixedly installed at a lower end of the support mechanism, the base includes a first support wall 111 and a second support wall 112, the first support wall 111 and the second support wall 112 are independent from each other and are arranged in parallel and spaced, and a passage 110 for the transfer robot to pass through and stay is formed between the first support wall 111 and the second support wall 112.

The pick-and-place robot further comprises a second camera 130 for identifying the position of the support frame 100, wherein the second camera 130 is mounted on the support frame 100. Specifically, the second camera 130 is fixedly mounted on the support frame 100, and the lens is disposed downward, and a two-dimensional code corresponding to each stack of articles is pasted on the ground near each stack of articles. When taking or placing an article, the support frame 100 drives the second camera 130 to move, and the second camera 130 collects the two-dimensional code on the ground, so that the taking and placing robot can automatically identify the position to be reserved through the two-dimensional code on the ground.

The following describes a specific structure of the traveling mechanism 200.

The traveling mechanism 200 includes two traveling assemblies, and specifically, the two traveling assemblies are located at two sides of the passage 110 and are respectively installed at the lower ends of the first supporting wall 111 and the second supporting wall 112 to be controlled independently from each other, so that traveling motions such as forward, backward, turning, spinning and the like of the support frame 100 can be realized.

Specifically, the walking assembly includes a driving wheel 210, driven wheels 220 and a walking driving element 230, the number of the driving wheel 210 is one, the number of the driven wheels 220 can be one, two or three, and the like, in this embodiment, in each walking assembly, the number of the driven wheels 220 is two. The driving wheel 210 is rotatably connected with the lower end of the supporting frame 100, the rotating axis extends along the second direction b, the two driven wheels 220 are respectively located on two sides of the driving wheel 210 and are rotatably connected with the supporting frame 100, and further, the two driven wheels 220 are universal wheels. The walking driving member 230 includes a walking driving motor, and the walking driving motor is fixedly installed on the supporting frame 100 and is in transmission connection with the driving wheel 210. In the process of taking and placing articles, the walking driving motor drives the driving wheel 210 to rotate, and the driving wheel 210 drives the supporting frame 100 to move, so as to drive the driven wheel 220 to rotate. The traveling driving motors in the two traveling assemblies independently drive the corresponding driving wheels 210, thereby realizing traveling actions such as forward movement, backward movement, turning, spinning and the like of the support frame 100.

Further, the material taking and placing robot provided by the embodiment of the application further comprises an electric cabinet 600, the electric cabinet 600 is fixedly installed outside the support frame 100 and is electrically connected with the lifting driving mechanism 300, the walking mechanism 200, the first camera 530 and the second camera 130 respectively, and the walking and material taking and placing operations of the material taking and placing robot are controlled through the electric cabinet 600.

The following describes an operation process of taking articles by the material taking and placing system provided in the embodiment of the present application.

The walking motor drives the driving wheel 210 to enable the support frame 100 to move in the passageway between the article stacks, the second camera 130 collects the two-dimension codes on the ground to identify the position of the support frame 100, and when the second camera 130 collects the two-dimension codes corresponding to the stack of the target article, the walking mechanism 200 stops driving the support frame 100 to walk; the rotary driving member drives the supporting plate 541 to drive the first camera 530 to rotate, so that the lens of the first camera 530 faces the stack of the target object; then the lifting driving mechanism 300 adjusts the material taking and placing assembly 410 to a correct height, the first camera 530 sequentially collects two-dimensional codes on each article to determine the position of a target article, and the accuracy of the posture of the support frame 100 is judged according to the determined position of the target article; when the precision meets the requirement, the upper and lower material taking and placing assemblies 410 in the two material taking and placing mechanisms 400 extend out simultaneously, and then the taking and placing fingers 411 in the upper and lower material taking and placing assemblies 410 extend out simultaneously. The lifting driving mechanism 300 drives the two material taking and placing mechanisms 400 to ascend, the taking and placing fingers 411 on the upper layer are in contact with the first article, the taking and placing fingers 411 on the lower layer are in contact with the target article, then the material taking and placing assembly 410 is continuously driven to ascend, the first article and the target article are both forked, and an interval is reserved between the first article and the target article. After the first article and the target article are both forked, the material taking and placing assembly 410 located below drives the target article to retract into the support frame 100, then the two material taking and placing mechanisms 400 are driven to descend, the first article is placed on the second article of the original article stack, the material taking and placing assembly 410 located on the upper layer is retracted, the two material taking and placing mechanisms 400 continue to be driven to descend, and finally the target article is placed on the carrying equipment located in the reserved space, so that the operation of taking the article is completed.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A material taking and placing system is characterized by comprising a material taking and placing robot and a server;

the server is used for issuing a task instruction to the material taking and placing robot;

the material taking and placing robot is used for moving to a target position according to a task instruction issued by the server and taking and placing target articles on a target layer from a plurality of stacked articles.

2. The material taking and placing system of claim 1, wherein the material taking and placing robot comprises a first material taking and placing component and a second material taking and placing component;

the material taking and placing robot controls the first material taking and placing assembly to take the blocking article positioned above the target layer in the plurality of stacked articles, controls the second material taking and placing assembly to take the target article positioned on the target layer out, and controls the first material taking and placing assembly to replace the blocking article to the article positioned below the target layer; and/or the presence of a gas in the gas,

the material taking and placing robot controls the first material taking and placing assembly to take the blocking articles positioned on the target layer and above the target layer in the plurality of stacked articles, controls the second material taking and placing assembly to place the target articles on the target layer, and controls the first material taking and placing assembly to replace the blocking articles on the target layer.

3. The pick-and-place system of claim 2, wherein the pick-and-place robot controls the first pick-and-place assembly to lift the obstructing article by a specified height, form a gap between a lower surface of the obstructing article and an upper surface of the article below the obstructing article, and then controls the second pick-and-place assembly to pick up the article from the target layer or place the target article on the target layer.

4. The material taking and placing system according to any one of claims 1 to 3, wherein the material taking and placing system further comprises a handling device, and the server is further configured to issue a task instruction to the handling device;

the carrying equipment is used for moving to the position near the material taking and placing robot according to a task instruction issued by the server;

the material taking and placing robot is used for placing the taken target object on the carrying equipment;

the carrying device carries the target object to a specified position.

5. The material taking and placing system according to claim 4, wherein a channel (110) for the carrying equipment to pass through is arranged below the chassis of the material taking and placing robot,

the carrying equipment is used for moving to the channel (110) below the chassis of the material taking and placing robot according to a task instruction issued by the server;

when the carrying equipment is located in the channel (110), the taking and placing robot places the target object on the carrying equipment or takes the target object from the carrying equipment.

6. The material taking and placing system of claim 5, wherein the material taking and placing robot comprises a first material taking and placing assembly and a second material taking and placing assembly;

the first material taking and placing assembly is used for taking an obstructing article positioned above the target article in the stacked and placed plurality of articles, and the second material taking and placing assembly is used for taking the target article; after other material taking and placing assemblies take the target article, the first material taking and placing assembly returns the obstructing article to the position above the rest articles;

the second material taking and placing assembly is telescopic along the horizontal direction;

the second material taking and placing assembly is in an extending state when the target object is taken and placed in the plurality of stacked objects;

the second material taking and placing assembly is in a retraction state when the target object is placed on the carrying equipment or taken from the carrying equipment.

7. The pick-and-place system of claim 6, wherein the second pick-and-place assembly is retracted into the pick-and-place robot when the second pick-and-place assembly is in the retracted state.

8. A get and put material robot, its characterized in that includes: the system comprises a supporting mechanism, a traveling mechanism (200), a material taking and placing mechanism (400) and a communication module, wherein the traveling mechanism, the material taking and placing mechanism and the communication module are all arranged on the supporting mechanism;

the material taking and placing mechanism (400) comprises at least two material taking and placing assemblies (410) which are arranged at intervals along the vertical direction, and the at least two material taking and placing assemblies (410) are respectively used for taking and placing the articles which are positioned on different layers in the plurality of stacked articles.

9. The pick-and-place robot according to claim 8, wherein some of the at least two pick-and-place assemblies (410) are used for picking a first article above a target article among the plurality of articles stacked, and other pick-and-place assemblies (410) of the at least two pick-and-place assemblies (410) are used for picking the target article; and after the other material taking and placing assemblies (410) take the target object, the partial material taking and placing assemblies (410) place the first object back above the rest second objects.

10. The material taking and placing robot according to claim 8, wherein the distance between two adjacent material taking and placing assemblies (410) is fixed;

alternatively, the distance between two adjacent material taking and placing assemblies (410) can be adjusted.

11. The material handling robot according to any of the claims 8-10, characterized in that a passage (110) for other handling equipment to pass through is further provided under the material handling robot, and the walking mechanism (200) is provided on both sides of the passage (110).

12. The pick-and-place robot as claimed in claim 11, further comprising a base fixedly mounted to a lower end of the support mechanism, wherein the base comprises a first support wall (111) and a second support wall (112) arranged in parallel and spaced apart, and the channel (110) is formed between the first support wall (111) and the second support wall (112).

13. The pick-and-place robot as claimed in any one of claims 8 to 12, wherein the pick-and-place assembly (410) comprises a telescoping assembly (431), the telescoping assembly (431) extending out of the support mechanism when picking or placing an item from or to the plurality of items placed in the stack, the telescoping assembly (431) retracting into the support mechanism when picking or placing is completed.

14. The material taking and placing robot according to any one of claims 8 to 13, further comprising a lifting driving mechanism (300), wherein the lifting driving mechanism (300) is in transmission connection with the material taking and placing mechanism (400) to drive the material taking and placing mechanism (400) to ascend or descend.

15. The material taking and placing robot as claimed in any one of claims 8 to 14, further comprising an image acquisition assembly (520), wherein the image acquisition assembly (520) is mounted on the material taking and placing mechanism (400) and is used for acquiring an identification code arranged on an object,

the image acquisition assembly (520) comprises a first camera (530) and a rotary driving assembly, wherein the rotary driving assembly is in transmission connection with the first camera (530) and is used for driving the first camera (530) to rotate around a vertical axis so as to adjust the acquisition position of the first camera (530).