CN115417046A

CN115417046A - Pick-and-place mechanism and cargo access system

Info

Publication number: CN115417046A
Application number: CN202211091578.3A
Authority: CN
Inventors: 姚继红
Original assignee: Beijing Decheng Technology Co ltd
Current assignee: Beijing Tianxia Xianzhichuang Robot Technology Co ltd
Priority date: 2022-09-07
Filing date: 2022-09-07
Publication date: 2022-12-02

Abstract

The invention discloses a pick-and-place mechanism and a goods pick-and-place system, wherein the pick-and-place mechanism comprises: the box taking assembly is suitable for grabbing the storage box; the intermediate plate is provided with a pulley; the fixing seat assembly comprises a fixing seat, a flat belt and a synchronous belt, wherein the flat belt is connected with the middle plate and is suitable for driving the middle plate to move along the vertical direction at a first speed; the synchronous belt is wound around the pulley, is fixed on the box taking component and is suitable for driving the box taking component to move at a second speed along the vertical direction, wherein the second speed is a preset multiple of the first speed; the middle plate and the pulley are driven to vertically move downwards at a first speed through the flat belt, the synchronous belt and the box taking component are driven to vertically move downwards at a second speed, and therefore the box taking component vertically moves downwards to a first preset position to grab a storage box. According to the pick-and-place mechanism disclosed by the invention, the vertical space occupied by the pick-and-place mechanism can be reduced, the space utilization rate of a storage area is favorably improved, the pick-and-place mechanism is suitable for intensive storage scenes, and the arrangement density of storage boxes is improved.

Description

Pick-and-place mechanism and cargo access system

Technical Field

The invention relates to the technical field of automation, in particular to a pick-and-place mechanism and a goods storing and taking system.

Background

At present, the workload of storage, zero removal and sorting in the e-commerce warehousing industry is increasing, and the requirement is also increasing. The speed and accuracy of picking operations often determine the order fulfillment efficiency and customer service quality, and therefore, increasing the picking speed is receiving more and more attention from e-commerce warehouse logistics enterprises. In order to meet the challenges of picking large orders of various types, small batches and multiple batches and the increasingly obvious labor cost pressure, the adoption of an automatic logistics system is in great tendency.

At present, the storage density of the goods access system is high, and referring to the goods access system shown in fig. 1, the storage density of turnover boxes (storage boxes) is high, the space between the turnover boxes is small, and the automatic taking of the boxes from the high-density storage area is difficult to realize through the existing taking and placing mechanism. And if the storage box placing density is reduced for automatically taking the box, the storage box distance is increased, and the utilization rate of the storage space is reduced.

Therefore, it is desirable to provide a pick and place mechanism suitable for dense storage scenes to solve the above technical problems and improve the utilization rate of storage space.

Disclosure of Invention

To this end, the present invention provides a pick and place mechanism and a cargo access system to solve or at least alleviate the above-identified problems.

According to an aspect of the present invention, there is provided a pick and place mechanism, including: a box fetching assembly suitable for grabbing the storage box; the middle plate is provided with pulleys; the fixing seat assembly comprises a fixing seat, a flat belt and a synchronous belt, wherein the flat belt is fixed on the fixing seat and is connected with the middle plate, and the flat belt is suitable for driving the middle plate to move along the vertical direction at a first speed; the synchronous belt is wound around the pulley, fixed on the box taking component and suitable for driving the box taking component to move in the vertical direction at a second speed, wherein the second speed is a preset multiple of the first speed; the middle plate and the pulleys are driven by the flat belt to vertically move downwards at a first speed, and the synchronous belt and the box taking assembly are driven to vertically move downwards at a second speed, so that the box taking assembly can vertically move downwards to a first preset position to grab a storage box; the middle plate and the pulley are driven by the flat belt to vertically move upwards at a first speed, and the synchronous belt and the box taking assembly are driven to vertically move upwards at a second speed, so that the box taking assembly vertically moves upwards to a second preset position to release the storage box.

Optionally, in the pick and place mechanism according to the present invention, the intermediate plate is further provided with a first linear guide rail and a second linear guide rail, and the intermediate plate is slidably connected to the fixing base assembly through the first linear guide rail and is slidably connected to the box picking assembly through the second linear guide rail.

Alternatively, in the pick and place mechanism according to the present invention, the first linear guide is disposed at both ends of the first surface of the middle plate, and the second linear guide is disposed at both ends of the second surface of the middle plate.

Optionally, in the pick and place mechanism according to the present invention, the fixing base assembly further includes: the first sliding block is arranged on the fixed seat and is in sliding connection with the first linear guide rail, so that the middle plate can slide along the vertical direction relative to the fixed seat assembly.

Optionally, in the pick-and-place mechanism according to the present invention, the box picking assembly is provided with a second slider, and the second slider is slidably connected to the second linear guide rail, so that the box picking assembly slides in a vertical direction relative to the middle plate.

Optionally, in the pick and place mechanism according to the present invention, a clamping assembly is provided on the intermediate plate, and the flat belt is fixed to the intermediate plate through the clamping assembly.

Optionally, in the pick and place mechanism according to the present invention, the fixing base assembly further comprises: and the motor component is arranged on the fixed seat, is connected with the flat belt and is suitable for driving the flat belt to move.

Alternatively, in the pick and place mechanism according to the present invention, the middle plate is C-shaped, and the middle plate includes a base support plate and a side plate perpendicular to each other.

Optionally, in the pick and place mechanism according to the present invention, the predetermined multiple is 2 times.

Optionally, in the pick-and-place mechanism according to the present invention, the box picking assembly includes a box picking body, and a fixing plate and a second sliding block are disposed on the box picking body.

Optionally, in the pick-and-place mechanism according to the present invention, the pick-and-place mechanism further includes a fixing plate, and the timing belt is wound around the pulley and fixed to the fixing plate.

According to an aspect of the present invention, there is provided a cargo access system including: the pick and place mechanism as described above.

According to the technical scheme, the picking and placing mechanism comprises a fixing seat assembly, an intermediate plate and a box picking assembly used for picking and placing a storage box, wherein a pulley is arranged on the intermediate plate. The fixing seat assembly comprises a fixing seat, a flat belt fixed on the fixing seat and a synchronous belt. The flat belt is connected with the middle plate and is suitable for driving the middle plate to move along the vertical direction at a first speed. The synchronous belt is wound around the pulley and fixed on the box taking component and is suitable for driving the box taking component to move along the vertical direction at a second speed, and the second speed is a preset multiple of the first speed. The middle plate and the pulleys are driven by the flat belt to vertically move downwards at a first speed, and the synchronous belt and the box taking assembly are synchronously driven to vertically move downwards at a second speed, so that the box taking assembly vertically moves downwards to a first preset position to grab a storage box. The middle plate and the pulley are driven by the flat belt to vertically move upwards at a first speed, and the synchronous belt and the box taking assembly are driven to vertically move upwards at a second speed, so that the box taking assembly vertically moves upwards to a second preset position to release the storage box. Therefore, the pick-and-place mechanism adopts the principle of a double-stroke mechanism, and the box taking component moves at the speed which is multiplied by the intermediate plate in the box taking process through the box taking component, so that the vertical space occupied by the pick-and-place mechanism can be reduced under the condition of reaching the same stroke, and the space utilization rate of a storage area is favorably improved.

In addition, the pick-and-place mechanism is suitable for dense storage scenes, wherein the linear guide rails are arranged at two ends of the middle plate by adopting the C-shaped middle plate, so that boxes can be picked from a plurality of densely stored storage boxes, the spacing between the storage boxes is favorably reduced, the arrangement density of the storage boxes is improved, the arrangement of the storage boxes is more dense and compact, the space utilization rate of a storage area is improved, and the space occupied by the pick-and-place mechanism is also reduced.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

To the accomplishment of the foregoing and related ends, certain illustrative aspects are described herein in connection with the following description and the annexed drawings, which are indicative of various ways in which the principles disclosed herein may be practiced, and all aspects and equivalents thereof are intended to be within the scope of the claimed subject matter. The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description read in conjunction with the accompanying drawings. Throughout this disclosure, like reference numerals generally refer to like parts or elements.

Fig. 1 and 2 respectively show a schematic structural diagram of a cargo access system 500 according to an embodiment of the present invention;

fig. 3 and 4 respectively show a schematic structural diagram of a pick and place mechanism 400 according to an embodiment of the present invention;

FIG. 5 illustrates a schematic structural view of the holder assembly 100, according to one embodiment of the present invention;

FIG. 6 illustrates a schematic structural view of a pick-and-place tank assembly 300, according to one embodiment of the present invention;

fig. 7 and 8 respectively show a schematic structural diagram of the middle plate 200 according to an embodiment of the present invention;

fig. 9 showsbase:Sub>A schematic cross-sectional structure atbase:Sub>A-base:Sub>A in fig. 8.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Fig. 1 and 2 respectively show a schematic structural diagram of a cargo access system 500 according to an embodiment of the present invention. The goods access system 500 includes the pick-and-place mechanism 400 of the present invention so that the pick-and-place mechanism 400 of the present invention is applied to the goods access system 500 to pick up the bin by the pick-and-place mechanism 400.

As shown in fig. 1, a storage area 505 of the cargo access system 500 stores a plurality of storage boxes 501 (turnover boxes), and the plurality of storage boxes 501 are arranged in a dense array and stacked in the storage area 505. The cargo access system 500 includes a horizontally disposed cross beam 504, and the pick and place mechanism 400 may be mounted on the cross beam 504. The pick-and-place mechanism 400 can pick the storage box 501 from a plurality of storage boxes densely stored in the storage area 505 and drive the storage box 501 to move up and down in the vertical direction.

Fig. 3 and 4 respectively show a schematic structural diagram of a pick and place mechanism 400 according to an embodiment of the present invention.

As shown in fig. 3 and 4, the pick and place mechanism 400 includes a holder assembly 100, an intermediate plate 200, and a box picking assembly 300. Wherein, the fixing seat assembly 100 and the box taking assembly 300 are respectively arranged at two sides of the middle plate 200. In other words, the intermediate plate 200 is disposed between the holder assembly 100 and the box-taking assembly 300.

The bin picking assembly 300 is configured to pick up a bin, and in particular, may pick up one or more bins 501 from a storage area 505 of the cargo access system 500. As shown in fig. 4, the bottom end of the box taking assembly 300 is provided with a clamping jaw 305, and the clamping jaw 305 can be used for grabbing the storage box 501.

Fig. 5 illustrates a schematic structural view of the mount assembly 100 according to an embodiment of the present invention. Fig. 6 illustrates a schematic diagram of a pick-and-place tank assembly 300 according to an embodiment of the present invention. Fig. 7 and 8 respectively showbase:Sub>A schematic structural diagram of the middle plate 200 according to an embodiment of the present invention, and fig. 9 showsbase:Sub>A schematic sectional structural diagram atbase:Sub>A-base:Sub>A in fig. 8.

As shown in fig. 4 to 8, the intermediate plate 200 is provided with a pulley 204.

The fixed seat assembly 100 comprises a fixed seat 105, a flat belt 103 fixed on the fixed seat 105 and a synchronous belt 104. Here, the fixing base 105 may be implemented as a welded body, and other structural members may be mounted on the fixing base 105. Specifically, one end of the flat belt 103 is fixed to the fixing base 105, and the other end of the flat belt 103 is connected to the middle plate 200. The fixed-base assembly 100 can provide lifting power and can drive the middle plate 200 to move (lift) at a first speed in the vertical direction through the flat belt 103, and simultaneously drive the pulley 204 on the middle plate 200 to move in the vertical direction at the first speed synchronously.

The synchronous belt 104 is fixed on the box taking assembly 300 after passing through the pulley 204. Specifically, one end of the timing belt 104 is fixed to the fixing base 105, and the other end of the timing belt 104 is fixed to the box taking assembly 300 after passing around the pulley 204, thereby forming a pulley mechanism. The box taking assembly 300 can be driven to move in the vertical direction at a second speed through the synchronous belt 104. Wherein the second speed is a predetermined multiple of the first speed.

In one embodiment, as shown in fig. 6, the box taking assembly 300 includes a fixing plate 303, and the other end of the timing belt 104 is fixed on the fixing plate 303 of the box taking assembly 300 after passing through the pulley 204.

In one embodiment, as shown in fig. 7, a cleat assembly 203 is provided on the intermediate plate 200, and the other end of the flat belt 103 is fixed to the intermediate plate 200 by the cleat assembly 203.

In one embodiment, the predetermined multiple may be, for example, 2 times. That is, the second speed is 2 times the first speed, and the box taking assembly 300 can be driven by the timing belt 104 to move in the vertical direction at twice the speed of the middle plate 200.

It should be noted that, according to the pick and place mechanism 400 of the present invention, during picking up the storage box 501, first, the pick-and-place assembly 300 needs to be driven to move vertically downward, so that the pick-and-place assembly 300 moves vertically downward to the first predetermined position to pick up the storage box 510. Specifically, by releasing the flat belt 103 of the fixing base assembly 100 downwards, the middle plate 200 and the pulley 204 on the middle plate can be driven by the flat belt 103 to move vertically downwards at a first speed (the synchronous belt 104 wound on the pulley 204 is fixed on the fixing base 105 of the fixing base assembly 100 at one end and connected to the fixing plate 303 of the box taking assembly 300 at the other end), when the fixing base 105 is not moved, the middle plate 200 and the pulley 204 move vertically downwards relative to the fixing base 105, the synchronous belt 104 wound on the pulley 204 is driven to move vertically downwards relative to the fixing base 105 at a second speed (a predetermined multiple of the moving speed of the middle plate) relative to the fixing base 105 at the same time, and the synchronous belt 104 drives the box taking assembly 300 to move vertically downwards relative to the fixing base 105 at the second speed (a predetermined multiple of the moving speed of the middle plate) during the movement until the box taking assembly 300 is driven to move vertically downwards to a first predetermined position.

When the box taking assembly 300 moves vertically downward to a first predetermined position, the box taking assembly 300 may grab the storage box 501 from the storage area by the gripping jaw 305.

Then, it is necessary to drive the pick-up assembly 300 to move vertically upward in order to drive the storage box 501 gripped by the pick-up assembly 300 to move vertically upward, which is the reverse of the above-described vertical downward movement. Specifically, by pulling up the flat belt 103 of the fixing base assembly 100, the middle plate 200 and the pulley 204 on the middle plate can be driven by the flat belt 103 to move vertically upward at a first speed (the synchronous belt 104 wound around the pulley 204 and having one end fixed to the fixing base 105 of the fixing base assembly 100 and the other end connected to the fixing plate 303 of the box taking assembly 300), when the fixing base 105 is not moved, the middle plate 200 and the pulley 204 move vertically upward relative to the fixing base 105, the synchronous belt 104 wound around the pulley 204 is driven to move vertically upward relative to the fixing base 105 at a second speed (a predetermined multiple of the moving speed of the middle plate) relative to the fixing base 105 at the same time, and the box taking assembly 300 is driven to move vertically upward relative to the fixing base 105 at the second speed (a predetermined multiple of the moving speed of the middle plate) during the movement of the synchronous belt 104. In this way, it is possible to effect the driving of the picking assembly 300 and the storage bin 501 gripped thereby to move vertically upwards to the second predetermined position, so that the picking assembly 300 releases the storage bin 501 at the second predetermined position.

In this way, the box fetching process for the storage box 501 is realized.

It should be noted that the pick and place mechanism 400 according to the present invention employs the principle of double-stroke mechanism, and during the box picking process by the pick and place mechanism 400, the pulley 204 and the synchronous belt 104 cooperate to drive the box picking assembly 300 to move at double speed (e.g. double speed) of the middle plate, so that the vertical space occupied by the pick and place mechanism 400 can be reduced under the condition of reaching the same stroke.

In one embodiment, as shown in fig. 4 to 7, two pulleys 204 may be provided at an interval at the upper end of the middle plate 200, and the two pulleys 204 may be symmetrically arranged on the middle plate 200. Correspondingly, the fixing base assembly 100 includes two synchronous belts 104, the two synchronous belts 104 are symmetrically disposed on the fixing base 105, and the two synchronous belts 104 respectively pass around the two pulleys 204 and cooperate with the two pulleys 204 to form a pulley mechanism.

In one embodiment, as shown in fig. 4 to 8, the middle plate 200 is further provided with a first linear guide 206 and a second linear guide 205, and the first linear guide 206 can be slidably connected with the holder assembly 100, and the second linear guide 205 can be slidably connected with the box taking assembly 300.

Specifically, the first linear guide 206 is disposed at both ends of a first face (a face opposite to the holder assembly 100) of the middle plate 200. The second linear guide 205 is disposed at both ends of a second face (a face opposite to the box taking assembly 300) of the middle plate 200.

In one embodiment, as shown in fig. 5, the holder assembly 100 further includes a first sliding block 106, and the first sliding block 106 is fixedly disposed on the holder 105. The first slider 106 is movable in cooperation with a first linear guide 206 on the intermediate plate 200. Specifically, the first sliding block 106 of the fixing base assembly 100 may be slidably connected to the first linear guide 206 to form a linear sliding pair, and the sliding fit between the first sliding block 106 and the first linear guide 206 guides the movement of the middle plate 200 relative to the fixing base assembly 100, so as to ensure that the middle plate 200 slides in the vertical direction relative to the fixing base assembly 100.

Here, 4 first sliding blocks 106 may be disposed on the fixed base 105 along four vertex positions of the rectangle, and 4 first sliding blocks 106 may be slidably engaged with the first linear guide rails 206 disposed at both ends of the middle plate 200.

In one embodiment, as shown in fig. 6, the fixing plate 303 of the box taking assembly 300 is provided with a second sliding block 302, and the second sliding block 302 can move in cooperation with the second linear guide 205 on the intermediate plate 200. Specifically, the second slider 302 is slidably connected to the second linear guide 205 to form a linear sliding pair, and the sliding fit between the second slider 302 and the second linear guide 205 guides the movement of the box taking assembly 300 relative to the middle plate 200, so that the box taking assembly 300 can be ensured to slide in the vertical direction relative to the middle plate 200.

As shown in fig. 6, the box taking assembly 300 includes a box taking body 301, and a fixing plate 303 and a second sliding block 302 are disposed on the box taking body 301. In one implementation, 4 second sliding blocks 302 may be disposed on the fixing plate 303 of the box taking assembly 300 along four vertex positions of the rectangle, and the 4 second sliding blocks 302 may slide in cooperation with the second linear guide rails 205 disposed at two ends of the intermediate plate 200.

In addition, as shown in fig. 4, the box taking assembly 300 further includes a clamping jaw 305, the clamping jaw 305 is disposed at the bottom end of the box taking assembly 300 (box taking body 301), and the storage box 501 can be grabbed by the clamping jaw 305.

In one embodiment, as shown in fig. 5, the fixing base assembly 100 further includes a motor assembly 102, the motor assembly 102 is mounted on the fixing base 105, and the motor assembly 102 is connected to the flat belt 103, so that the flat belt 103 can be driven to move by the motor assembly 102. The motor assembly 102 supplies power to the flat belt 103, and can form a hoisting power assembly with the flat belt 103 so as to drive the middle plate 200 to vertically lift and fall through the flat belt 103.

It can be understood that the flat belt 103 is driven by the motor assembly 102 to move, so that the flat belt 103 drives the middle plate 200 and the pulley 204 to move in the vertical direction at a first speed (vertical downward/upward movement), and at the same time, the movement of the pulley 204 drives the synchronous belt wound on the pulley 204 and the box taking assembly 300 connected with the synchronous belt to move in the vertical direction at a second speed (vertical downward/upward movement).

In one embodiment, as shown in fig. 5, the holder assembly 100 further includes a drag chain 107, one end of the drag chain 107 is connected to the holder 105, and the other end is connected to the box taking assembly 300. The tow chain 107 is used to route the sensors of the container picking assembly 300.

In one embodiment, as shown in fig. 7 to 9, the middle plate 200 has an overall C-shape. Specifically, the middle plate 200 includes a base support plate 201, and two side plates 202 disposed at both sides of the base support plate 201. Two side plates 202 are formed by extending both sides of the base support plate 201, and the side plates 202 are perpendicular to the base support plate 201. Here, the bending strength can be improved by using the C-shaped intermediate plate 200.

It should be noted that, in the process of taking the storage boxes, the gaps of the storage boxes can be utilized, the middle plate 200 is arranged in the gaps of the storage boxes, and the linear guide rails are arranged at the two ends of the middle plate 200 by adopting the C-shaped middle plate 200, so that the gaps of the storage boxes can be reduced, the arrangement density of the storage boxes can be improved, the arrangement of a plurality of storage boxes is more dense and compact, and the space occupied by the whole taking and placing mechanism can be reduced.

The pick-and-place mechanism 400 according to the present invention comprises a fixing base assembly, an intermediate plate, and a box picking assembly for picking and placing a storage box, wherein the intermediate plate is provided with a pulley. The fixing seat assembly comprises a fixing seat, a flat belt fixed on the fixing seat and a synchronous belt. The flat belt is connected with the middle plate and is suitable for driving the middle plate to move along the vertical direction at a first speed. The synchronous belt is wound around the pulley and fixed on the box taking component and is suitable for driving the box taking component to move along the vertical direction at a second speed, and the second speed is a preset multiple of the first speed. Wherein, drive intermediate lamella and pulley through the flat belt and with the vertical downstream of first speed, can drive the hold-in range simultaneously and get the vertical downstream of case subassembly with the second speed to it snatchs the storage box to get the vertical downstream of case subassembly to first preset position department. The middle plate and the pulley are driven by the flat belt to vertically move upwards at a first speed, the synchronous belt and the box taking assembly are driven to vertically move upwards at a second speed, and therefore the box taking assembly vertically moves upwards to a second preset position to release the storage box. Therefore, the box taking and placing mechanism adopts the principle of a double-stroke mechanism, and the box taking component moves at double speed of the middle plate in the box taking process through the box taking component, so that the vertical space occupied by the box taking and placing mechanism can be reduced under the condition of reaching the same stroke, and the space utilization rate of a storage area is favorably improved.

In the description of the present specification, the terms "connected", "fixed", and the like are to be construed broadly unless otherwise explicitly specified or limited. Furthermore, the terms "front", "back", "upper", "lower", "inner", "outer", "top", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing and simplifying the description, but do not indicate or imply that the referred devices or units must have a specific direction, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: rather, the invention as claimed requires more features than are expressly recited in each claim. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules or units or components of the devices in the examples disclosed herein may be arranged in a device as described in this embodiment, or alternatively may be located in one or more devices different from the device in this example. The modules in the foregoing examples may be combined into one module or may be further divided into multiple sub-modules.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments.

As used herein, unless otherwise specified the use of the ordinal adjectives "first", "second", "third", etc., to describe a common object, merely indicate that different instances of like objects are being referred to, and are not intended to imply that the objects so described must be in a given sequence, either temporally, spatially, in ranking, or in any other manner.

While the invention has been described with respect to a limited number of embodiments, those skilled in the art, having benefit of this description, will appreciate that other embodiments can be devised which do not depart from the scope of the invention as described herein. Furthermore, it should be noted that the language used in the specification has been principally selected for readability and instructional purposes, and may not have been selected to delineate or circumscribe the inventive subject matter. Accordingly, many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the appended claims. The present invention has been disclosed by way of illustration and not limitation with respect to the scope of the invention, which is defined by the appended claims.

Claims

1. A pick and place mechanism comprising:

a box fetching assembly suitable for grabbing the storage box;

the middle plate is provided with pulleys;

the fixing seat assembly comprises a fixing seat, a flat belt and a synchronous belt, wherein the flat belt is fixed on the fixing seat and is connected with the middle plate, and the flat belt is suitable for driving the middle plate to move along the vertical direction at a first speed; the synchronous belt is wound around the pulley, is fixed on the box taking assembly and is suitable for driving the box taking assembly to move in the vertical direction at a second speed, wherein the second speed is a preset multiple of the first speed;

the middle plate and the pulleys are driven by the flat belt to vertically move downwards at a first speed, and the synchronous belt and the box taking assembly are driven to vertically move downwards at a second speed, so that the box taking assembly can vertically move downwards to a first preset position to grab a storage box;

the middle plate and the pulley are driven by the flat belt to vertically move upwards at a first speed, and the synchronous belt and the box taking assembly are driven to vertically move upwards at a second speed, so that the box taking assembly vertically moves upwards to a second preset position to release the storage box.

2. The pick and place mechanism as recited in claim 1, wherein the intermediate plate further comprises a first linear guide rail and a second linear guide rail, the first linear guide rail being slidably coupled to the holder assembly, and the second linear guide rail being slidably coupled to the pick and place assembly.

3. The pick and place mechanism as in claim 2,

the first linear guide rails are disposed at both ends of the first surface of the middle plate,

the second linear guide rails are disposed at both ends of the second surface of the middle plate.

4. The pick and place mechanism of claim 2 or 3, wherein the mount assembly further comprises:

the first sliding block is arranged on the fixed seat and is in sliding connection with the first linear guide rail, so that the middle plate can slide along the vertical direction relative to the fixed seat assembly.

5. Pick and place mechanism as claimed in any one of the claims 2-4,

the box taking assembly is provided with a second sliding block, and the second sliding block is in sliding connection with the second linear guide rail, so that the box taking assembly can slide along the vertical direction relative to the middle plate.

6. Pick and place mechanism as claimed in any one of the claims 1-5,

the middle plate is provided with a clamping plate assembly, and the flat belt is fixed on the middle plate through the clamping plate assembly.

7. The pick and place mechanism of any one of claims 1-6, wherein the mount assembly further comprises:

and the motor component is arranged on the fixed seat, is connected with the flat belt and is suitable for driving the flat belt to move.

8. The pick and place mechanism of any one of claims 1-7 wherein the middle plate is C-shaped, the middle plate including a base support plate and side plates that are perpendicular to each other.

9. Pick and place mechanism as claimed in any one of the claims 1-8, wherein the predetermined multiple is 2.

10. A cargo access system comprising:

pick and place mechanism as claimed in any one of claims 1-9.