CN116331705A - Get goods device and transfer robot - Google Patents

Abstract

The application provides a get goods placing device and transfer robot. The utility model provides a get goods put device includes flexible subassembly, actuating assembly and presss from both sides and get the subassembly, flexible subassembly includes the mounting and can get the subassembly for the mounting along the flexible mounting of first direction, press from both sides and get the subassembly and remove and set up on the mounting, press from both sides and get the subassembly and be used for pressing from both sides and get the material case, actuating assembly includes first actuating unit, flexible driving piece and drive wheelset, drive wheelset includes a plurality of parallel arrangement's drive wheel, a plurality of drive wheels are located mounting and mounting respectively, flexible driving piece is around locating on a plurality of drive wheels, press from both sides and get the subassembly setting on flexible driving piece and remove along with flexible driving piece, first actuating unit is connected in the drive wheel, and be used for driving the drive wheel and rotate, so that flexible driving piece is around a plurality of drive wheels transmission under the drive of drive wheel drive, and drive flexible driving piece and clamp and get at least one in the subassembly and remove along first direction, can improve storage space utilization ratio.

Description

Get goods device and transfer robot

Technical Field

The invention relates to the technical field of warehouse logistics, in particular to a pick-and-place device and a transfer robot.

Background

With the development of artificial intelligence and automation technology, transfer robots are widely used in the field of warehouse logistics for transferring goods. In a logistics system, goods are stored on shelves, and a transfer robot receives and places the goods by docking with the shelves, the conveyor lines, or the like, and completes a task of transporting the goods.

At present, the fork that is provided with the goods of getting on the transfer robot generally, be provided with the multistage telescopic boom that can stretch out for a fixed direction for the body of transfer robot on the fork generally, and the fork is whole can be rotatory for the body of transfer robot, when the fork gets on goods shelves, multistage telescopic boom need stretch out and draw back the storehouse position inside that gets into goods shelves, and the end of telescopic boom need set up mobilizable or flexible terminal joint, be used for with the interior side terminal surface butt of material case, and deviate from the material case that will be equipped with the goods, the drive structure of multistage telescopic boom and the drive structure of terminal joint all need set up on corresponding telescopic boom, and drive in grades through different driving sources, and a plurality of drive structures all need set up in the side of telescopic boom.

However, the telescopic driving structure of the telescopic arm in the related art is complex, and the occupied space in the width direction of the fork is increased, so that the box space of the material box is increased when the goods are taken and put, and the space utilization rate of storage is reduced.

Disclosure of Invention

The invention provides a pick-and-place device and a transfer robot, which are used for solving the problems of increasing box spacing and reducing space utilization rate caused by occupying excessive lateral space of a material box when picking and placing goods.

In a first aspect, the application provides a pick-and-place device, including flexible subassembly, drive assembly and clamp the subassembly, flexible subassembly includes the mounting and can follow flexible extensible member of first direction for the mounting, presss from both sides and gets the subassembly and remove to set up on the extensible member, presss from both sides and gets the subassembly and be used for pressing from both sides and get the material case.

The driving assembly comprises a first driving unit, a flexible transmission part and a transmission wheel set, wherein the transmission wheel set comprises a plurality of transmission wheels which are arranged in parallel, the plurality of transmission wheels are respectively arranged on the fixing part and the telescopic part, the flexible transmission part is wound on the plurality of transmission wheels, the clamping assembly is arranged on the flexible transmission part and moves along with the flexible transmission part, the first driving unit is connected with the transmission wheels and used for driving the transmission wheels to rotate, so that the flexible transmission part is driven by the transmission wheels to rotate around the plurality of transmission wheels, and at least one of the telescopic part and the clamping assembly is driven to move along a first direction.

The utility model provides a get goods device through the cooperation of a plurality of drive wheels, both can realize the moving of extensible member for the mounting, also can realize pressing from both sides and get the removal of subassembly for flexible arm, simplified the multistage drive structure of getting goods device when pressing from both sides and getting the material case, reduce the space occupation of extensible member side, and then when getting the material case of putting, can reduce the case interval, and then improve space utilization.

As an alternative embodiment, the pick device in the present application may further include a locking mechanism, which may be disposed on the retraction assembly, wherein at least a portion of the locking mechanism may be movable relative to the retraction member and may abut against or separate from the fixing member to lock or unlock the retraction member and the fixing member.

When the telescopic piece and the fixing piece are unlocked, the transmission wheel set is configured to drive the telescopic piece to stretch along the first direction when the flexible transmission piece is transmitted; when the telescopic piece and the fixing piece are locked, the relative positions of the driving wheels in the driving wheel group are unchanged, so that the requirements of different strokes in the picking and placing process are met.

As an alternative embodiment, when the telescopic member and the fixing member are unlocked, part of the driving wheels of the driving wheel group have variable relative positions in the first direction so as to drive the telescopic member to stretch along the first direction when the flexible driving member drives.

As an alternative embodiment, the plurality of driving wheels may include a plurality of inner driving wheels and at least one outer driving wheel, the flexible driving member is wound around the outer sides of the plurality of inner driving wheels, and the outer driving wheel is abutted against the outer circumferential surface of the flexible driving member.

The outer driving wheel and part of the inner driving wheel are connected to the telescopic piece, and when the flexible driving piece drives, the driving wheel connected to the telescopic piece moves along a first direction relative to the driving wheel connected to the fixing piece so as to drive the telescopic piece to stretch.

As an alternative implementation mode, a plurality of inner driving wheels can comprise a first driving wheel, a second driving wheel and a fourth driving wheel which are sequentially distributed in the driving direction of the flexible driving part, the outer driving wheel can comprise a third driving wheel, the third driving wheel is arranged between the second driving wheel and the fourth driving wheel, the first driving wheel and the first driving unit are both arranged at the first end of the fixing part, the first driving unit drives the first driving wheel to rotate, the second driving wheel is arranged at the second end of the fixing part, the third driving wheel is arranged at the first end of the telescopic part, and the fourth driving wheel is arranged at the second end of the telescopic part, so that a closed-loop driving structure is formed, and the movement of the clamping assembly and the movement of the telescopic part can be realized through the driving of the flexible driving part.

As an alternative embodiment, when the telescopic member extends relative to the fixing member, the distance between the first driving wheel and the fourth driving wheel increases, and the distance between the second driving wheel and the third driving wheel decreases; when the telescopic piece is retracted relative to the fixed piece, the distance between the first driving wheel and the fourth driving wheel is reduced, and the distance between the second driving wheel and the third driving wheel is increased; the sum of the distance between the first driving wheel and the fourth driving wheel and the distance between the second driving wheel and the third driving wheel is kept unchanged, and the arrangement can ensure the moving precision of the telescopic piece and the clamping assembly.

As an alternative embodiment, the clamping component is connected with the flexible transmission part between the first transmission wheel and the fourth transmission wheel, the first end of the telescopic part is provided with a first buffer part, the second end of the telescopic part is provided with a second buffer part, when the clamping component moves to the first end of the telescopic part, the clamping component is abutted with the first buffer part and drives the telescopic part to retract relative to the fixed part, and when the clamping component moves to the second end of the telescopic part, the clamping component is abutted with the second buffer part and drives the telescopic part to extend relative to the fixed part, so that the matching between the clamping component and the telescopic part is realized.

As an alternative embodiment, the clamping assembly may include a first mounting plate and a second mounting plate, where the first mounting plate and the second mounting plate are respectively located on different sides of the flexible transmission member and jointly clamp the flexible transmission member, and at least one of the first mounting plate and the second mounting plate has an engagement surface engaged with a surface of the flexible transmission member, so as to ensure reliability of connection between the clamping assembly and the flexible transmission member, and avoid relative sliding between the clamping assembly and the flexible transmission member, thereby improving transmission precision.

As an alternative embodiment, the number of the transmission wheel sets and the flexible transmission members can be two, and the transmission wheel sets and the flexible transmission members can be arranged at two sides of the telescopic assembly in pairs; the first driving wheels of the two driving wheel sets are connected through a driving shaft, and the output end of the first driving unit is connected with the driving shaft, so that synchronous driving of the driving wheel sets on two sides is realized, and stability of the moving process of the telescopic piece and the clamping assembly is ensured.

As an alternative embodiment, the telescopic member may include a tray and side plates respectively disposed at two sides of the tray, the tray is used for carrying the material box, two sides of the fixing member are respectively provided with a first guide rail, and the side plates are respectively connected with the first guide rails in a sliding manner; the third driving wheel and the fourth driving wheel are arranged on the inner side of the side plate, and the third driving wheel and the fourth driving wheel are positioned on one side of the tray, which is away from the material carrying box, so that smoothness of movement of the telescopic piece is ensured, and meanwhile, the driving wheel group is prevented from occupying the space on the outer side of the telescopic piece.

As an alternative embodiment, locking mechanism can include linkage board and a plurality of linkage piece, one side that the telescoping member deviates from the mounting is used for bearing the material case, one side that the telescoping member is towards the mounting is provided with the guide way, the linkage board is pegged graft in the guide way, and the linkage board extends along the length direction of telescoping member and moves along first direction, a plurality of linkage pieces set up in telescoping member length direction's different positions, a plurality of linkage pieces respectively with linkage board length direction's different positions cooperation, and at least one of a plurality of linkage pieces can peg graft or separate with the mounting, thereby when the telescoping member moves to different positions, telescoping member and mounting all can lock or unblock as required.

As an alternative embodiment, the clamping assembly may be provided with a push block, when the clamping assembly or the material box moves to different positions in the length direction of the telescopic member, the push block or the material box is abutted against different linkage members, when the push block or the material box pushes one of the plurality of linkage members to move, the linkage plate moves along the length direction of the telescopic member, and the linkage plate drives other linkage members in the plurality of linkage members to move so as to lock or unlock the telescopic member and the fixing member.

As an alternative implementation mode, the plurality of linkage pieces can include first linkage piece, and the second end of extensible member is provided with the first guide that extends to the mounting, and first linkage piece cover is located first guide and can follow first guide and remove, is equipped with first spout on the linkage board, and first spout sets up for first guide slope, and the one end of first linkage piece is pegged graft in first spout to can drive the linkage board through the removal of first linkage piece and remove, and both can have different direction of movement.

As an alternative embodiment, the first linkage member may be provided with a first triggering portion, and a side of the push block facing the second end of the telescopic member has a guiding surface, and when the guiding surface abuts against the first triggering portion, the first triggering portion slides along the guiding surface, and the first linkage member drives the linkage plate to move, so that the telescopic member and the fixing member are locked or unlocked, and when the clamping assembly moves to the second end of the telescopic member, the unlocking of the telescopic member and the fixing member can be triggered.

As an alternative embodiment, the plurality of linkage members may further include a second linkage member, the second linkage member is located at a second end of the telescopic member, the second linkage member is relatively fixed to the linkage plate, a second triggering portion is disposed on the second linkage member, an abutment surface is disposed on a side, facing the first end of the telescopic member, of the push block, and when the abutment surface abuts against the second triggering portion, the second linkage member drives the linkage plate to move, so that the telescopic member and the fixing member are locked or unlocked.

As an alternative implementation mode, when the pushing block pushes the first linkage piece to move and the pushing block pushes the second linkage piece to move, the moving directions of the linkage plates are the same, so that unlocking of the telescopic piece and the fixing piece can be triggered when the clamping assembly moves to two ends of the telescopic piece.

As an alternative implementation mode, the plurality of linkage pieces can further comprise a third linkage piece, the third linkage piece is arranged between the first linkage piece and the second linkage piece, the second guide piece is arranged on the telescopic piece, the third linkage piece is sleeved on the second guide piece and can move along the second guide piece, a second chute is arranged on the linkage plate, the extending direction of the second guide piece is inclined relative to the second chute, and one end of the third linkage piece is inserted into the second chute, so that the third linkage piece can drive the linkage plate to move.

As an alternative embodiment, the telescopic member is provided with an opening, the third linkage member is provided with a third triggering part, and the third triggering part at least partially extends out of the opening and extends to one side of the telescopic member carrying the material box, and when the material box is abutted with the third triggering part, the third linkage member drives the linkage plate to move so as to lock or unlock the telescopic member and the fixing member.

As an alternative implementation manner, the plurality of linkage pieces can further comprise a fourth linkage piece, the telescopic piece is provided with a third guide piece, the fourth linkage piece is sleeved on the third guide piece and can move along the third guide piece, the linkage plate is provided with a third sliding groove, the third sliding groove is obliquely arranged relative to the third guide piece, and the third sliding groove and the first sliding groove have opposite oblique directions, so that when the first linkage piece is triggered, the fourth linkage piece can move in opposite directions, and unlocking of the telescopic piece and the fixing piece is achieved.

As an alternative embodiment, the end of the fourth linkage element facing the fixing element may be provided with a locking portion, the fixing element is provided with a plurality of grooves arranged along the moving direction of the telescopic element, and when the telescopic element moves to different positions relative to the fixing element, the locking portion is in plug-in fit with the different grooves, so that when other linkage elements are not triggered, the fourth linkage element can ensure that the telescopic element and the fixing element are in a locking state.

As an alternative embodiment, the clamping assembly may include a support plate and two opposite clamping plates, where the two clamping plates are located on opposite sides of the telescopic assembly, and the two clamping plates are used to clamp the material box, the clamping assembly may further include a transmission rod and a second driving unit, where the two clamping plates are movably disposed on the transmission rod, and an output end of the second driving unit is connected with the transmission rod and drives the transmission rod to rotate, so that the two clamping plates are close to or far away from each other, and thus the width between the two clamping plates can be adjusted to adapt to the clamping needs of the material box with different sizes.

As an alternative embodiment, the telescopic member may be provided with a second guide rail, and a side of the support plate facing the telescopic member may be provided with a slider, and the second guide rail cooperates with the slider and supports the support plate, thereby ensuring stability and reliability of movement of the support plate along the length direction of the telescopic member.

As an alternative embodiment, the pick-and-place device may further include a rotating assembly, and the telescopic assembly may be disposed on the rotating assembly, where the rotating assembly is used to drive the telescopic assembly to rotate, so that pick-and-place operations may be implemented in different directions.

In a second aspect, the application further provides a transfer robot, including robot main part, elevating gear and get put goods device among the above-mentioned technical scheme, elevating gear sets up in the robot main part to can follow the direction of height of robot main part and remove, get put goods device and set up on elevating gear, thereby elevating gear can drive and get put goods device and remove, realizes getting put goods operation on the not co-altitude.

As an alternative embodiment, the robot main body may include a base and a storage rack, the storage rack is mounted on the base, the lifting device is disposed on the storage rack and may move along a height direction of the storage rack, a plurality of storage slots may be disposed on a side of the storage rack facing away from the pick-and-place device, and the plurality of storage slots are distributed at intervals along the height direction of the storage rack.

In addition to the technical problems, technical features constituting the technical solutions, and beneficial effects brought by the technical features of the technical solutions described above, other technical problems that can be solved by the pick-and-place device and the transfer robot provided in the present application, other technical features included in the technical solutions, and beneficial effects brought by the technical features, further detailed description will be made in the detailed description of the embodiments.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief description will be given below of the drawings that are needed in the embodiments or the prior art descriptions, it being obvious that the drawings in the following description are some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.

Fig. 1 is a schematic structural diagram of a pick-and-place device according to an embodiment of the present disclosure;

FIG. 2 is a side view of a pick-and-place device provided in an embodiment of the present application;

FIG. 3 is a front view of a pick-and-place device according to an embodiment of the present application;

FIG. 4 is a side view of a telescoping assembly mated with a gripping assembly in a pick and place device according to an embodiment of the present application;

FIG. 5 is a front view of a telescoping assembly mated with a gripping assembly in a pick-and-place device according to an embodiment of the present disclosure;

fig. 6 is a schematic diagram of a retraction process of the pick-and-place device according to an embodiment of the present disclosure;

FIG. 7 is a partial view of the position A of FIG. 6;

FIG. 8 is a schematic view of a locking mechanism in the pick-and-place device according to an embodiment of the present disclosure;

FIG. 9 is a front view of a locking mechanism in the pick-and-place device according to an embodiment of the present disclosure;

fig. 10 is a schematic diagram illustrating cooperation of a linkage plate in a pick-and-place device according to an embodiment of the present disclosure;

FIG. 11 is a top view of a telescoping member of the pick-and-place device according to an embodiment of the present disclosure;

FIG. 12 is a schematic view of a locking state of a locking structure in a pick-and-place device according to an embodiment of the present disclosure;

fig. 13 is a schematic view of an unlocked state of a locking structure in a pick-and-place device according to an embodiment of the present disclosure;

FIG. 14 is a schematic diagram illustrating steps of a pick-and-place device pick-and-place process according to an embodiment of the present disclosure;

FIG. 15 is a schematic diagram illustrating steps of a pick-and-place device placement process according to an embodiment of the present disclosure;

FIG. 16 is a view of a gripping assembly of the pick and place device according to an embodiment of the present disclosure;

fig. 17 is a schematic structural diagram of a transfer robot according to an embodiment of the present disclosure.

Reference numerals illustrate:

100-taking and placing goods devices; 110-telescoping assembly; 111-fixing piece; 1111—a first rail; 1112-grooves; 112-telescoping member; 1121-a first buffer; 1122-a second buffer; 1123-a tray; 1124-side plates; 1125-opening; 1126-a second rail; 1127-a guide slot;

120-clamping the component; 121-a first mounting plate; 122-a second mounting plate; 123-pushing blocks; 1231-guide surface; 1232-abutment surface; 124-a support plate; 125-splints; 126-a second drive unit; 127-drive rod;

130-a first drive unit; 131-a drive shaft; 140-flexible transmission member; 150-transmission wheel sets; 151-a first drive wheel; 152-a second drive wheel; 153-a third drive wheel; 154-a fourth driving wheel; 155-a tensioning mechanism;

160-linkage plates; 1601-first chute; 1602-second runner; 1603-third runner; 161-a first linkage; 1611-a first trigger; 162-second linkage member; 1621-a second trigger; 163-third linkage; 1631-a third trigger; 164-fourth linkage; 1641-locking portion; 171-first guide; 172-a second guide; 173-a third guide;

180-rotating assembly; 181-a substrate; 182-sprocket; 183-a third drive unit; 184-chain;

200-a robot body; 210-a base; 220-storage rack; 221-storage tanks; 300-lifting device;

400-material box.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

First, it should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present application, and are not intended to limit the scope of the present application. Those skilled in the art can adapt it as desired to suit a particular application.

Further, it should be noted that, in the description of the present application, terms such as "upper," "lower," "left," "right," "front," "rear," "inner," "outer," and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the apparatus or component must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Various robots are widely used in various fields such as industry and life, and transfer robots play an important role in industries such as transportation and logistics, in a logistics system, goods are usually stored on a goods shelf, and the transfer robots pick up and place the goods by docking with the goods shelf or a conveyor line and transport the goods. The utility model provides a be provided with the fork of getting on the transfer robot and put goods generally, be provided with on the fork and can stretch out to a fixed direction for transfer robot's body flexible arm, flexible arm need stretch into to the goods shelves storehouse position when getting to put goods, and rely on the terminal joint of flexible arm to butt with the terminal surface of the material case that is equipped with goods, flexible arm's drive structure and terminal joint's drive structure all need set up on corresponding flexible arm to hierarchical drive through different driving sources, and a plurality of drive structures all need set up the side at flexible arm. Therefore, the telescopic driving structure of the telescopic arm is complex, the occupied space of the fork in the width direction can be increased, the box spacing of the material box is increased when the goods are taken and put, and the space utilization rate of storage is reduced.

To above-mentioned problem, this application embodiment provides a get goods putting device and transfer robot, through the design to its extending structure, simplifies its required drive structure when getting goods that stretches out and draws back, avoids drive structure to occupy too much space of getting goods putting device side simultaneously, in addition, when getting the goods put, the telescopic boom need not advance into the warehouse entry inside, further reduced the case interval when the material case is deposited, improved the space utilization when storing.

The handling robot provided by the embodiment of the application is used for picking and placing goods, can be applied to different fields such as logistics distribution of an industrial production line, delivery and storage of inventory products in manufacturing industry, delivery and storage of products in retail industry, and also can be applied to different fields such as quick delivery and storage of e-commerce logistics, and the transported products or goods can be industrial parts, electronic accessories or products, medicines, clothing ornaments, foods, books and the like.

As shown in fig. 1 to 5, the pick-and-place device 100 provided in this embodiment includes a telescopic component 110, a driving component and a clamping component 120, where the telescopic component 110 includes a fixing component 111 and a telescopic component 112, the telescopic component 112 is disposed on the fixing component 111 and can stretch out and draw back along a first direction relative to the fixing component 111, the clamping component 120 is movably disposed on the telescopic component 112, the clamping component 120 is used for clamping a material box and moving relative to the telescopic component 112, that is, picking and placing the material box, the telescopic component 112 can play a bearing role on the material box, and the driving component is used for driving the telescopic component 112 and the clamping component 120 to move.

First, for convenience of description, the length direction of the fixing member 111 is defined as the X direction, that is, the first direction is the X direction, the telescopic member 112 may be telescopic along the X direction, the width direction of the fixing member 111 is defined as the Y direction, the height direction of the pick-and-place device 100 is defined as the Z direction, and the fixing member 111, the telescopic member 112 and the gripping assembly 120 may be arranged along the Z direction.

The driving assembly includes a first driving unit 130, a flexible transmission member 140 and a transmission wheel set 150, where the transmission wheel set 150 may include a plurality of transmission wheels disposed in parallel, the plurality of transmission wheels are respectively located on the fixing member 111 and the telescopic member 112, the flexible transmission member 140 is wound on the plurality of transmission wheels, and the first driving unit 130 is connected to at least one of the transmission wheels and is used for driving the transmission wheels to rotate, so that the flexible transmission member 140 is driven by the transmission wheels to rotate around the plurality of transmission wheels.

It will be appreciated that the gripping assembly 120 is disposed on the flexible driving member 140, i.e. the gripping assembly 120 is movable with the flexible driving member 140 when the flexible driving member 140 is driven, and during this process, the gripping assembly 120 moves relative to the telescopic member 112, i.e. the gripping assembly 120 moves in the first direction, and the relative positions of the driving wheels disposed on the telescopic member 112 and the fixing member 111 change when the telescopic member 112 moves relative to the fixing member 111.

The utility model provides a get goods device through the cooperation of a plurality of drive wheels, both can realize that extensible member 112 is for the removal of mounting 111, also can realize pressing from both sides and get the removal of subassembly 120 for flexible arm, simplified the multistage drive structure of getting goods device when pressing from both sides the material case, reduce the space occupation of extensible member 110 side, and then when getting the material case of putting, can reduce the case interval, and then improve space utilization.

It should be noted that, the length of the telescopic member 112 along the X direction may be approximately regarded as a movement stroke of the gripping assembly 120, that is, the gripping assembly 120 may move between two ends of the telescopic member 112, and the movement of the telescopic member 112 relative to the fixing member 111 may be regarded as a change of an overlapping state between the telescopic member 112 and the moving member along the Z direction, where the telescopic member 112 and the fixing member 111 may be regarded as a retracted state of the telescopic member 112 when the telescopic member 112 is in the overlapping state along the Z direction, and may be regarded as an extended state of the telescopic member 112 when the telescopic member 112 extends from one end of the fixing member 111, that is, when the telescopic member 112 partially overlaps, the first driving unit 130 may drive at least one of the telescopic member 112 and the gripping assembly 120 to move along the first direction when the driving wheel rotates, for example, only drive the gripping assembly 120 to move during a partial stroke when picking and placing goods, or may drive the telescopic member 112 and the gripping assembly 120 to move simultaneously during a partial stroke.

When the pick-and-place device 100 provided by the application performs pick-and-place operation, firstly, the pick-and-place device needs to be in butt joint with a pick-and-place object, taking a pick-and-place process of a goods shelf as an example, firstly, the pick-and-place component 120 is moved to the front end of the telescopic piece 112, and then the telescopic piece 112 is moved in a telescopic manner, so that the end of the telescopic piece 112 can be abutted against the lower edge of a garage mouth of the garage position, a channel for the movement of a material box is established between the pick-and-place device 100 and the garage position, and then the material box is separated from the garage position to the telescopic piece 112 through the movement of the pick-and-place component 120 relative to the telescopic piece 112, and then the telescopic piece 112 is retracted, so that the pick-up is completed.

It can be seen that during the picking or placing steps of the picking and placing device 100, the movement of the telescopic member 112 relative to the fixed member 111 and the movement of the clamping assembly 120 relative to the telescopic member 112 need to be controlled, i.e. the first driving unit 130 needs to keep the telescopic member 112 and the fixed member 111 relatively stationary in some cases and the clamping assembly 120 relatively stationary in other cases, and the telescopic member 112 relatively movable in other cases, when driving the driving wheel set 150 to rotate and the flexible driving member 140 to drive.

In order to meet the above-mentioned moving requirement of each joint component in the picking and placing process, the picking device in this embodiment of the present application may further include a locking mechanism, where the locking mechanism may be disposed on the telescopic assembly 110, at least part of the structure of the locking mechanism may move relative to the telescopic member 112, and different moving positions may enable at least part of the structure of the locking mechanism to abut against or separate from the fixing member 111, so as to lock or unlock between the telescopic member 112 and the fixing member 111.

It will be appreciated that when the telescopic member 112 and the fixing member 111 are unlocked, the driving wheel set 150 can drive the telescopic member 112 to stretch in the first direction when the flexible driving member 140 is driven, and part of the driving wheels of the driving wheel set 150 have variable relative positions in the first direction, that is, the relative positions of the driving wheel on the fixing member 111 and the driving wheel on the telescopic member 112 can be changed, and the length of the flexible driving member 140 between the corresponding part of the driving wheels is also changed.

When the telescopic member 112 and the fixing member 111 are locked, the relative positions of the driving wheels in the driving wheel set 150 are unchanged, and at this time, the first driving unit 130 drives the driving wheels to rotate, and the flexible driving member 140 forms a closed cycle with a relatively fixed shape, so that the gripping assembly 120 can move relative to the telescopic member 112 when the flexible driving member 140 drives.

The specific structure and arrangement of the drive wheel set 150, and the specific principle of driving the drive assembly will be described in detail.

As shown in fig. 4 to 7, in one possible implementation, the plurality of driving wheels may include a plurality of inner driving wheels and at least one outer driving wheel, the flexible driving member 140 is wound around the outer sides of the plurality of inner driving wheels, and the outer driving wheel abuts against the outer circumferential surface of the flexible driving member 140.

The outer driving wheel and part of the inner driving wheels are connected to the telescopic member 112, the rest of the inner driving wheels are arranged on the fixing member 111, and when the flexible driving member 140 is driven, the clamping assembly 120 is driven to move, the clamping assembly 120 triggers the locking mechanism to unlock, and then the telescopic member 112 is driven to move, so that the driving wheels connected to the telescopic member 112 are driven to move along the first direction relative to the driving wheels connected to the fixing member 111.

Illustratively, the flexible transmission member 140 may be a synchronous belt, the inner transmission wheel may be a synchronous wheel, and the synchronous wheel is meshed with the inner side of the synchronous belt through synchronous teeth, and the outer transmission wheel may be a flat belt wheel, which is abutted with the outer side of the synchronous belt, so as to serve as a guide wheel to guide the synchronous belt to turn.

In some embodiments, the plurality of inner driving wheels may include a first driving wheel 151, a second driving wheel 152, and a fourth driving wheel 154 sequentially arranged by a driving direction of the flexible driving member 140, and the outer driving wheel may include a third driving wheel 153, the third driving wheel 153 being disposed between the second driving wheel 152 and the fourth driving wheel 154, i.e., the flexible driving member 140 sequentially bypasses the first driving wheel 151, the second driving wheel 152, the third driving wheel 153, and the fourth driving wheel 154, and forms a closed driving cycle.

In order to fully utilize the lengths of the fixing member 111 and the telescopic member 112, to ensure that the gripping assembly 120 has a sufficient pickup stroke, the first driving wheel 151 and the first driving unit 130 may be disposed at a first end of the fixing member 111, the second driving wheel 152 may be disposed at a second end of the fixing member 111, and the third driving wheel 153 may be disposed at a first end of the telescopic member 112, and the fourth driving wheel 154 may be disposed at a second end of the telescopic member 112, so that in the closed-loop driving structure formed, the flexible driving member 140 extends from the first end of the fixing member 111 to the second end of the fixing member 111, then extends from the second end of the fixing member 111 to the first end of the telescopic member 112, then extends from the first end of the telescopic member 112 to the second end of the telescopic member 112, and finally returns from the second end of the telescopic member 112 to the first end of the fixing member 111, thereby not only realizing movement of the gripping assembly 120, but also realizing movement of the telescopic member 112 through driving of the flexible driving member 140.

It will be appreciated that, in order to ensure the rationality of the spatial arrangement, the first driving unit 130 may be disposed on the fixing member 111 and used for driving the first driving wheel 151 to rotate, i.e. the first driving wheel 151 may be a driving wheel, the second driving wheel 152 and the fourth driving wheel 154 may be driven wheels, and the third driving wheel 153 may be a guiding wheel. In order to ensure the rationality of the spatial layout along the Z direction, the first driving wheels 151 may have a larger diameter than the other driving wheels, and the specific numerical values of all the driving wheels are not limited in the present application.

The gripping assembly 120 may be relatively fixedly connected to the flexible transmission member 140 between the first transmission wheel 151 and the fourth transmission wheel 154, and the gripping assembly 120 may be moved between the first transmission wheel 151 and the fourth transmission wheel 154 when the telescopic member 112 is kept relatively stationary with respect to the fixed member 111 and the flexible transmission member 140 is driven. At this time, if the clamping assembly 120 abuts against the first end of the telescopic member 112 or the second end of the telescopic member 112, the clamping assembly 120 can push the telescopic member 112 to move relative to the fixing member 111 under the driving action of the flexible driving member 140.

Wherein, when the telescopic member 112 is extended with respect to the fixing member 111, the distance between the first driving wheel 151 and the fourth driving wheel 154 increases, and the distance between the second driving wheel 152 and the third driving wheel 153 decreases, which means that the second driving wheel 152 and the third driving wheel are close to each other, and the first driving wheel 151 and the fourth driving wheel 154 are far away from each other, and the length of the flexible driving member 140 between the second driving wheel 152 and the third driving wheel 153 can compensate the length of the flexible driving member 140 between the first driving wheel 151 and the fourth driving wheel 154.

When the telescopic member 112 is retracted relative to the fixing member 111, the distance between the first driving wheel 151 and the fourth driving wheel 154 is reduced, and the distance between the second driving wheel 152 and the third driving wheel 153 is increased, which means that the second driving wheel 152 and the third driving wheel are far away from each other, and the first driving wheel 151 and the fourth driving wheel 154 are close to each other, and the length of the flexible driving member 140 between the first driving wheel 151 and the fourth driving wheel 154 can compensate the length of the flexible driving member 140 between the second driving wheel 152 and the third driving wheel 153, i.e., L ₁ ＝L ₂ Wherein L is ₁ L is the change of the distance between the first driving wheel 151 and the fourth driving wheel 154 ₂ Is a change in the distance between the second drive wheel 152 and the third drive wheel 153.

It should be noted that, the sum of the distance between the first driving wheel 151 and the fourth driving wheel 154 and the distance between the second driving wheel 152 and the third driving wheel 153 is kept unchanged, so that the moving precision of the telescopic member 112 and the clamping assembly 120 can be ensured, and phenomena of clamping, loosening and the like caused by overlarge tension or insufficient tension in the flexible driving are avoided.

In addition, in order to maintain the tensioning state of the flexible transmission member 140, a tensioning mechanism 155 may be disposed on one of the plurality of transmission wheels, and the tensioning mechanism 155 may adjust the positions of the transmission wheels at corresponding positions thereof, so as to maintain the flexible transmission member 140 in a relatively proper tensioning state, and avoid difficult transmission caused by over tightening or failure of transmission caused by over loosening. Illustratively, the tensioning mechanism 155 may be disposed on the second driving wheel 152, and the position of the second driving wheel 152 is adjusted by using bolts and slots, and the specific structure and adjustment manner of the tensioning mechanism 155 are not limited in this embodiment.

In order to facilitate the retraction of the telescopic member 112 relative to the fixed member 111 when the clamping assembly 120 moves to the first end of the telescopic member 112, or the extension of the telescopic member 112 relative to the fixed member 111 when the clamping assembly 120 moves to the second end of the telescopic member 112, a first buffer member 1121 may be provided at the first end of the telescopic member 112, and a second buffer member 1122 may be provided at the second end of the telescopic member 112, when the clamping assembly 120 moves to the first end of the telescopic member 112, the clamping assembly 120 abuts against the first buffer member 1121 and drives the telescopic member 112 to retract relative to the fixed member 111, and when the clamping assembly 120 moves to the second end of the telescopic member 112, the clamping assembly 120 abuts against the second buffer member 1122 and drives the telescopic member 112 to extend relative to the fixed member 111, thereby realizing the motion fit between the clamping assembly 120 and the telescopic member 112.

With continued reference to fig. 2 to 4, in one possible implementation, the gripping assembly 120 may include a first mounting plate 121 and a second mounting plate 122, where the first mounting plate 121 and the second mounting plate 122 are located on different sides of the flexible driving member 140, respectively, that is, the first mounting plate 121 and the second mounting plate 122 are located on upper and lower sides of the flexible driving belt along the Z direction, respectively, and jointly clamp the flexible driving member 140, so as to ensure that the flexible driving member 140 between the gripping assembly 120 and the first driving wheel 151 and the fourth driving wheel 154 maintains a fixed relative position when the flexible driving member 140 drives.

The clamping assembly 120 can move to different positions along the X direction under the driving of the flexible driving member 140, and the clamping assembly 120 can complete the clamping operation of the goods, that is, the clamping assembly 120 can keep the relative position of the clamping assembly and the goods in the process of picking and placing the goods, for example, the clamping assembly 120 can comprise openable clamping manipulators to hold two sides of the goods, and friction force between the clamping assembly 120 and the goods is utilized to drive the goods to move, or the clamping assembly 120 can comprise rotatable finger joints and can be abutted with part of the structure of the goods, so that the goods can be pushed or pulled to move by the abutting force.

It will be appreciated that when the flexible transmission member 140 is a timing belt, at least one of the first mounting plate 121 and the second mounting plate 122 has an engagement surface that engages with a surface of the flexible transmission member 140 to ensure reliability of the connection of the gripping assembly 120 to the flexible transmission member 140. For example, one of the first mounting plate 121 and the second mounting plate 122 may have a toothed plate engaged with the toothed belt of the synchronous belt, and the other may be a pressing plate and pressed against the side of the synchronous belt having the toothed belt, and the first mounting plate 121 and the second mounting plate 122 are locked by fasteners such as screws, so as to avoid relative slippage between the two, thereby improving the transmission precision of the flexible transmission member 140 to the clamping assembly 120.

In some embodiments, the number of the driving wheel sets 150 and the flexible driving members 140 may be two, and the driving wheel sets 150 and the flexible driving members 140 may be arranged in pairs, and the two pairs of driving wheel sets 150 and the flexible driving members 140 may be respectively arranged at two sides of the telescopic assembly 110, that is, form a mirror-symmetrical driving structure at two sides of the telescopic member 112 and the fixing member 111, so as to improve the stability of the driving mechanism.

The first driving wheels 151 of the two driving wheel sets 150 are connected through the driving shaft 131, and the output end of the first driving unit 130 is connected with the driving shaft 131, so that synchronous driving of the driving wheel sets 150 on two sides is realized, and stability of the moving process of the telescopic member 112 and the clamping assembly 120 is ensured.

Illustratively, two ends of the driving shaft 131 may be supported by a bearing housing and a bearing to be mounted at a first end of the fixing member 111, and the first driving unit 130 may be a motor, and an output shaft of the motor may be engaged with the driving shaft 131 by way of gear engagement, and a specific engagement manner of the first driving unit 130 and the driving shaft 131 is not particularly limited in the embodiment of the present application.

It should be noted that, besides the synchronous belt, the flexible transmission member 140 in the driving assembly may also be of a structure type including, but not limited to, other forms such as a chain, and the corresponding driving wheel may be a structure matched with a sprocket, etc., which is not specifically limited and not repeated in the embodiment of the present application.

In addition, in order to prevent the driving assembly from occupying the space on both sides of the telescopic member 112 while making the telescopic member 112 have a sufficient space for carrying the material tank, the telescopic member 112 may include a tray 1123 and side plates 1124 respectively provided on both sides of the tray 1123, the tray 1123 being for carrying the material tank, both sides of the fixing member 111 being provided with first guide rails 1111 respectively, the side plates 1124 on both sides of the tray 1123 being slidably connected with the first guide rails 1111 on both sides of the fixing member 111, i.e., the extending direction of the first guide rails 1111 is the X direction, so that the fixing member 111 supports and guides the telescopic member 112 through the first guide rails 1111.

The third driving wheel 153 and the fourth driving wheel 154 may be disposed on the inner sides of the side plates 1124, i.e., on the opposite sides of the two side plates 1124, and the third driving wheel 153 and the fourth driving wheel 154 may be disposed on the side of the tray 1123 facing away from the material carrying box, so that on one hand, the driving wheel set 150 may be prevented from being exposed on the side of the telescopic component 110, and the gap between the telescopic component 112 and the fixing component 111 in the Z-sending direction is fully utilized, so as to improve the space utilization of the structure, and on the other hand, the driving component is prevented from occupying the space of the tray 1123 for carrying the material box, and interference with the clamping component 120 is avoided, and smoothness of movement of the telescopic component 112 and the clamping component 120 is ensured.

Since the driving assembly is required to lock the telescopic member 112 and the fixing member 111 at a specific position by means of the locking mechanism in the picking and placing step of driving the telescopic member 112 and the gripping assembly 120, the specific structure and principle of the locking mechanism will be described in detail.

Referring to fig. 8 to 15, in one possible implementation manner, the locking mechanism may include a linkage plate 160 and a plurality of linkage members, wherein a side of the telescopic member 112 facing away from the fixing member 111 is used for carrying a material box, a side of the telescopic member 112 facing toward the fixing member 111 is provided with a guiding slot 1127, the linkage plate 160 may be inserted into the guiding slot 1127, the linkage plate 160 extends along a length direction of the telescopic member 112 and moves along a first direction, the plurality of linkage members are disposed at different positions along the length direction of the telescopic member 112, the plurality of linkage members are respectively matched with different positions along the length direction of the linkage plate 160, and at least one of the plurality of linkage members may be inserted into or separated from the fixing member 111.

It will be appreciated that the linkage plate 160 may move along the X direction, and the movement of the linkage plate 160 may cause the telescopic member 112 and the fixing member 111 to switch between the locked and unlocked states, where the movement of the linkage plate 160 is driven by the linkage member, and when the linkage member is triggered, the linkage member may drive the linkage plate 160 to move, different linkage members may have different trigger positions and may also have different trigger objects, and different movement modes and structures of the linkage member may be set according to the trigger positions and trigger objects of the linkage member, but the movement of different linkage members are all associated with the linkage plate 160, so that when one of the linkage members triggers, the linkage plate 160 and other linkage members all move correspondingly, and when the telescopic member 112 moves to different positions, the telescopic member 112 and the fixing member 111 may be locked or unlocked as required.

First, a possible triggering object of the linkage member will be described, where the clamping assembly 120 may be provided with a push block 123, when the clamping assembly 120 or the material box moves to different positions along the length direction of the telescopic member 112, the push block 123 or the material box is connected with different linkage members, that is, the linkage member may be triggered by the connection of the push block 123 or the material box, part of the linkage member uses the push block 123 as the triggering object, that is, uses the clamping assembly 120 as the triggering object, and part of the linkage member uses the material box as the triggering object.

It can be appreciated that when the pushing block 123 or the material box pushes one of the plurality of linkage members to move, the linkage plate 160 moves along the length direction of the telescopic member 112, and the linkage plate 160 drives the other linkage members of the plurality of linkage members to move, so that the telescopic member 112 can be locked or unlocked with the fixed member 111 due to the fact that at least one of the plurality of linkage members can be inserted into or separated from the fixed member 111.

The following describes the linkage members in the first direction at different triggering positions, and the corresponding linkage member structure, function and triggering mode.

In one possible implementation manner, the plurality of linkage members may include a first linkage member 161, the second end of the telescopic member 112 may be provided with a first guide member 171 extending toward the fixing member 111, the first linkage member 161 is sleeved on the first guide member 171 and may move along the first guide member 171, the linkage plate 160 is provided with a first sliding groove 1601, the first sliding groove 1601 is obliquely arranged relative to the first guide member 171, and one end of the first linkage member 161 is inserted into the first sliding groove 1601, so that the movement of the first linkage member 161 may drive the movement of the linkage plate 160, and both may have different movement directions.

It will be appreciated that when the gripper assembly 120 is moved to the second end of the telescoping member 112 and it is desired to push the telescoping member 112 out of engagement with respect to the fixed member 111, the first linkage member 161 is triggered and the telescoping member 112 is unlocked from the fixed member 111.

The first linkage member 161 may be provided with a first trigger portion 1611, one side of the push block 123 facing the second end of the telescopic member 112 has a guide surface 1231, when the guide surface 1231 abuts against the first trigger portion 1611, the first trigger portion 1611 slides along the guide surface 1231, and the first linkage member 161 drives the linkage plate 160 to move, so that other linkage members move together, the telescopic member 112 is unlocked from the fixing member 111, and when the gripping assembly 120 is retracted, the push block 123 is separated from the first linkage member 161, the first linkage member 161 returns to the locked state so that the fixing member 111 and the telescopic member 112 are restored.

The first guiding element 171 may be a guiding rod, the guiding rods may be one or a plurality of guiding rods, the first linkage element 161 may be a plate-shaped element with a special-shaped structure and may be matched with the guiding rod through a linear bearing, the first triggering portion 1611 may be a roller, the guiding surface 1231 may be an arc-shaped surface to ensure smoothness of the matching between the first triggering portion 1611 and the guiding surface 1231, and one end of the first linkage element 161 inserted into the first sliding groove 1601 may be connected with a locking screw to avoid the sliding from the first sliding groove 1601. In addition, the moving direction of the first guide 171 may be a Z direction, and the first chute 1601 is disposed obliquely with respect to the Z direction, so that the linkage plate 160 may be driven to displace in the X direction when the first guide 171 moves.

In one possible implementation manner, the plurality of linkage members may further include a second linkage member 162, where the second linkage member 162 may be disposed at a second end of the telescopic member 112, and the second linkage member 162 is relatively fixed to the linkage plate 160, a second trigger portion 1621 is disposed on the second linkage member 162, and a side of the push block 123 facing the first end of the telescopic member 112 has an abutment surface 1232, and when the abutment surface 1232 abuts against the second trigger portion 1621, the second linkage member 162 drives the linkage plate 160 to move, so as to lock or unlock the telescopic member 112 and the fixing member 111.

It will be appreciated that when the gripping assembly 120 is moved to the first end of the telescoping member 112 and it is desired to push the telescoping member 112 to retract relative to the fixed member 111, the second linkage member 162 is triggered and the telescoping member 112 is unlocked from the fixed member 111, the abutment surface 1232 of the push block 123 is located on the side facing away from the guiding surface 1231 thereof, and the second linkage member 162 and the linkage plate 160 have a consistent movement direction due to the relative fixation of the second linkage member 162 and the linkage plate 160.

The second linkage member 162 may be a plate-like member coupled to the linkage plate 160 by a fastener such as a bolt, for example.

It should be noted that, the first linkage member 161 and the second linkage member 162 are both triggered by the push block 123, when the push block 123 pushes the first linkage member 161 to move, and when the push block 123 pushes the second linkage member 162 to move, the moving direction of the linkage plate 160 is the same, that is, when the push block 123 applies a pushing force to the first linkage member 161 forward or the push block 123 applies a pushing force to the second linkage member 162 backward, the linkage plate 160 moves backward, so that when the clamping assembly 120 moves to both ends of the telescopic member 112, the unlocking of the telescopic member 112 and the fixing member 111 can be triggered. In addition, the pushing block 123 has the function of triggering the first linkage 161 or the second linkage 162 and also has the function of pushing the telescopic member 112 to move.

In one possible implementation manner, the plurality of linkage members may further include a third linkage member 163, the third linkage member 163 may be triggered by the material box, the third linkage member 163 may be disposed between the first linkage member 161 and the second linkage member 162, the second guide member 172 is disposed on the telescopic member 112, the third linkage member 163 is sleeved on the second guide member 172 and may move along the second guide member 172, the second sliding slot 1602 is disposed on the linkage plate 160, an extending direction of the second guide member 172 is inclined with respect to the second sliding slot 1602, and one end of the third linkage member 163 is inserted into the second sliding slot 1602, so that the third linkage member 163 may drive the linkage plate 160 to move.

It will be appreciated that the movement of the third linkage 163 is achieved by pressing down the material box, and the distance between the third linkage 163 and the second linkage 162 may be smaller than the distance between the third linkage 163 and the first linkage 161, so that, on one hand, during picking, the material box may not contact the third linkage 163 at the initial stage of pulling out the goods by the gripping assembly 120, so as to ensure that the telescopic member 112 is locked with the fixing member 111, and avoid the telescopic member 112 retracting under the friction force of the material box to cause the material box to fall, on the other hand, during discharging, the material box may abut against the third linkage 163 at the initial stage of pushing out the goods by the gripping assembly 120, so that the telescopic member 112 may be in an unlocked state with the fixing member 111, so that the telescopic member 112 may extend out to abut against the shelf location under the friction force of the material box, and the material box may be prevented from falling.

In addition, the telescopic member 112 is provided with an opening 1125, the third linkage member 163 has a third triggering portion 1631, and the third triggering portion 1631 extends at least partially from the opening 1125 and extends to a side of the telescopic member 112 carrying the material box, and when the material box abuts against the third triggering portion 1631, the third linkage member 163 drives the linkage plate 160 to move, so that the telescopic member 112 and the fixing member 111 are locked or unlocked.

For example, the second guide 172 may be a guide rod, the third link 163 may be engaged with the guide rod through a linear bearing, the third trigger part 1631 may be a plate-shaped part extending in the X direction and protruding from the opening 1125, and an end of the third trigger part 1631 abutting against the material box may have an inclined surface to play a guiding role for abutting movement of the material box, so as to avoid jamming during movement of the material box. In addition, the second chute 1602 may extend along the Z direction, the second guide 172 may be disposed obliquely with respect to the Z direction, and the oblique direction of the second guide 172 may be opposite to the oblique direction of the first chute 1601, so that when the third link 163 is pushed down by the material box, it may drive the link plate 160 to move toward the first end of the telescopic member 112, that is, the direction in which the link plate 160 moves when the third link 163 is triggered is the same as the direction in which the link plate 160 moves when the first link 161 is triggered.

In one possible implementation, the plurality of linkage members may further include a fourth linkage member 164, where the fourth linkage member 164 is configured to lock the fourth linkage member 164 with the fixing member 111 in a plugging manner when the other linkage members are triggered, that is, the fourth linkage member 164 may be driven by the linkage plate 160 to lock or unlock the telescopic member 112 with the fixing member 111.

The telescopic member 112 may be provided with a third guide member 173, the fourth linkage member 164 is sleeved on the third guide member 173 and can move along the third guide member 173, the linkage plate 160 is provided with a third chute 1603, and the third chute 1603 is obliquely arranged relative to the third guide member 173.

It will be appreciated that the third guide member 173 may be a guide rod, the fourth linkage member 164 may be engaged with the third guide member 173 through a linear bearing, the fourth linkage member 164 may be moved in the Z direction, the third chute 1603 is inclined with respect to the Z direction, and the third chute 1603 and the first chute 1601 have opposite inclination directions, so that when the first linkage member 161 is triggered, the fourth linkage member 164 may be moved in opposite directions to unlock the telescopic member 112 and the fixing member 111.

In addition, a locking portion 1641 may be disposed at an end of the fourth linkage member 164 facing the fixing member 111, a plurality of grooves 1112 arranged along the moving direction of the telescopic member 112 are disposed on the fixing member 111, and when the telescopic member 112 moves to different positions relative to the fixing member 111, the locking portion 1641 is in plug-in fit with the different grooves 1112, so that when other linkage members are not triggered, the fourth linkage member 164 can ensure that the telescopic member 112 and the fixing member 111 are in a locking state. For example, a roller may be attached to the locking portion 1641 to prevent the fourth link 164 from being locked when it is inserted into the groove 1112.

It should be noted that, the locking mechanisms may be one, two or more, and may be disposed at different positions along the Y direction on the telescopic member 112, so as to ensure the reliability of locking, and the linkage plates 160 of different locking mechanisms may be fixed by a bracket, so as to ensure synchronous movement.

In addition, at least one of the different linkage members may be provided with a reset elastic member, such as a reset spring, so that the locking mechanism can be kept in a self-locking state, and can be restored to a locking state when the triggering unlocking is invalid, and accordingly, when any one of the triggering positions triggers unlocking, the pressure provided by the pushing block 123 or the material box can overcome the elastic force of the reset spring to realize unlocking.

The steps of picking and placing the pallet in the pick-and-place device 100 according to the embodiment of the present application are specifically described below.

With continued reference to fig. 14, the following is a description of the status of each stage of the pick-and-place device 100 during the pick-up process:

state (1): the telescopic member 112 is in a contracted state, the clamping assembly 120 is located at the first end of the telescopic member 112, and the clamping assembly 120 has no pushing force on the second linkage member 162 or has a gap, and the telescopic member 112 is locked with the fixing member 111, which is the initial state before picking.

State (2): the drive assembly is operated such that the gripping assembly 120 is moved in a first direction toward the second end of the telescoping member 112, during which time the gripping assembly 120 is moved relative to the telescoping member 112 and the telescoping member 112 is stationary relative to the fixed member 111.

State (3): the clamping assembly 120 reaches the second end of the telescopic member 112, and the clamping assembly 120 abuts against the first linkage member 161 and triggers the unlocking of the telescopic member 112 and the fixing member 111.

State (4): the drive assembly continues to drive, the gripping assembly 120 pushes the telescoping member 112 to extend relative to the fixed member 111, and the extending telescoping member 112 may abut against the edge of the shelf location, at which time the gripping assembly 120 may grip the bin 400 in the location.

State (5): the driving assembly drives reversely, the clamping assembly 120 moves backwards and is separated from the second end of the telescopic member 112, at this time, the telescopic member 112 is in small contact with the material box 400, the telescopic member 112 moves backwards by a small distance under the friction force between the material box 400 and the telescopic member 112, and the telescopic member 112 and the fixing member 111 enter a locking state, so that the material box 400 is prevented from falling.

State (6): the clamping assembly 120 drives the material box 400 to move until the material box 400 abuts against the third linkage member 163, and triggers the unlocking of the telescopic member 112 and the fixing member 111, and the clamping assembly 120 continues to move backwards, so that the telescopic member 112 can retract backwards relative to the fixing member 111 together under the friction force of the material box 400.

State (7): after the telescoping member 112 returns to the initial retracted state, the gripper assembly 120 continues to drag the animal magazine 400 a distance until the gripper assembly 120 returns to the first end of the telescoping member 112.

With continued reference to fig. 15, the following is a description of the states of the various stages of the pick-and-place device 100 during the picking process:

state (1): because the material box 400 is placed on the telescopic member 112, the third linkage member 163 is in a triggered state, the telescopic member 112 and the fixing member 111 are unlocked, at this time, the driving assembly works, when the clamping assembly 120 pushes the material box 400 to move, the friction force between the material box 400 and the telescopic member 112 drives the telescopic member 112 to extend forwards, and at this time, the clamping assembly 120 and the telescopic member 112 remain relatively stationary.

State (2): the telescopic member 112 abuts against the edge of the storage position of the shelf, so that the telescopic member 112 and the fixing member 111 remain stationary, and the clamping assembly 120 moves relative to the telescopic member 112 under the driving, i.e. the clamping assembly 120 can push the material box 400 out of the telescopic member 112 into the storage position at this time.

State (3): the gripper assembly 120 moves to the second end of the telescopic member 112, the material tank 400 is fully pushed into the storage position, and the telescopic member 112 and the fixing member 111 are also brought into the locked state due to the separation of the material tank 400 from the third link member 163.

State (4): the clamping assembly 120 is moved back after the loading operation is completed, and at this time, the fixing member 111 and the telescopic member 112 remain locked and relatively stationary until the clamping assembly 120 moves to the first end of the telescopic member 112, abuts against the second linkage member 162, and triggers the unlocking of the telescopic member 112 and the fixing member 111.

State (5): gripping assembly 120 pushes telescoping member 112 to retract to the initial position.

State (6): the gripper assembly 120 moves forward a small distance relative to the telescoping member 112 to disengage from the second linkage member 162, thereby bringing the telescoping member 112 and the fixed member 111 into a locked state for the next round of the put cycle.

In the pick-and-place device 100 provided by the embodiment of the application, when the pick-and-place assembly 120 picks up goods in the warehouse of the goods shelf or picks up goods from the goods shelf, only the side wall of the less part of the end of the material box, which faces the warehouse port of the goods, can be clamped, and the material box is separated, but does not completely extend into the warehouse, so that the box space on the goods shelf is avoided from being occupied, and the storage efficiency of the goods shelf is improved.

As shown in fig. 16, in one possible implementation, the gripping assembly 120 may include a support plate 124 and two opposite clamping plates 125, where the two clamping plates 125 are located on opposite sides of the telescopic assembly 110, and the two clamping plates 125 are used to clamp a material box, the gripping assembly 120 may further include a transmission rod 127 and a second driving unit 126, where the two clamping plates 125 are movably disposed on the transmission rod 127, and an output end of the second driving unit 126 is connected with the transmission rod 127 and drives the transmission rod 127 to rotate so that the two clamping plates 125 approach or separate, so that a width between the two clamping plates 125 may be adjusted to adapt to a gripping requirement of the material box with different sizes.

It will be appreciated that the telescoping member 112 may be provided with a second rail 1126, and the side of the support plate 124 facing the telescoping member 112 may be provided with a slider, the second rail 1126 cooperating with the slider and supporting the support plate 124 to ensure stability and reliability of movement of the support plate 124 along the length of the telescoping member 112.

For example, the second driving unit 126 may be a motor, the transmission rod 127 may be a screw rod having opposite-handed threads at both ends, and the two clamping plates 125 are respectively connected to the two screw rods by nuts, so that the two clamping plates 125 may be moved toward or away from each other in the length direction of the screw rod by forward and reverse rotation of the screw rod when the screw rod is driven by the motor.

In order to implement the pick and place device 100 to perform pick and place operations in different directions, the pick and place device 100 may further include a rotating assembly 180, and the telescopic assembly 110 may be disposed on the rotating assembly 180, where the rotating assembly 180 is used to drive the telescopic assembly 110 to rotate, so that pick and place operations may be implemented in different directions.

With continued reference to fig. 1 to 3, in one possible implementation, the rotating assembly 180 may include a third driving unit 183, a base plate 181, and a transmission structure, the telescopic assembly 110 may be rotatably disposed on the base plate 181, and the third driving unit 183 may drive the telescopic assembly 110 to rotate through the transmission structure.

For example, the third driving unit 183 may be a motor, and the motor may be mounted on the fixing member 111, the transmission structure may include a chain 184 and two sprockets 182, one of the sprockets 182 may be fixed with respect to the base plate 181, and the fixing plate may be rotatably connected to the sprocket 182, the other sprocket 182 may be rotatably disposed at the bottom of the fixing member 111, the chain 184 is wound around the two sprockets 182, and the third driving unit 183 may drive the sprocket 182 on the fixing member 111 to rotate, thereby relatively rotating the fixing member 111 with respect to the base plate 181, and realizing the rotation of the telescopic assembly 110 with respect to the base plate 181.

It should be noted that, the pickup device provided in the application may further be provided with a recognition unit (not shown) such as a 3D camera and a photoelectric code scanner, so as to recognize the target when the pickup bin is used.

As shown in fig. 17, the embodiment of the present application further provides a transfer robot, including a robot main body 200, a lifting device 300, and a pick-and-place device 100 in the above technical solution, where the lifting device 300 is disposed on the robot main body 200 and can move along the height direction of the robot main body 200, and the pick-and-place device 100 is disposed on the lifting device 300, so that the lifting device 300 can drive the pick-and-place device 100 to move, and pick-and-place operations on different heights are implemented.

Wherein, the robot main body 200 may include a base 210 and a storage rack 220, the storage rack 220 is mounted on the base 210, the lifting device 300 is disposed on the storage rack 220 and can move along a height direction of the storage rack 220, a plurality of storage slots 221 may be disposed on a side of the storage rack 220 facing away from the pick-and-place device 100, and the plurality of storage slots 221 are distributed at intervals along the height direction of the storage rack 220.

The lifting device 300 may be driven by a motor, and may drive the pick-and-place device 100 to move up and down along the height direction of the robot body 200 by means of a synchronous belt or a chain transmission.

It will be appreciated by those skilled in the art that, when the storage slot 221 is disposed at the rear side of the handling robot, the pick-and-place device may be disposed at the front side of the robot body 200, and according to the above-described structure of the pick-and-place device 100, the pick-and-place operation may be completed by docking the front side, the left side, and the right side of the robot body 200 with other devices, and meanwhile, the pick-and-place operation may be completed in the storage slot 221 at the rear side of the robot body 200 only by rotating by 90 ° or 180 °.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the technical solutions according to the embodiments of the present invention.

Claims (25)

1. The picking and placing device is characterized by comprising a telescopic component, a driving component and a clamping component, wherein the telescopic component comprises a fixing piece and a telescopic piece which can stretch and retract along a first direction relative to the fixing piece, the clamping component is movably arranged on the telescopic piece, and the clamping component is used for clamping a material box;

the driving assembly comprises a first driving unit, a flexible transmission part and a transmission wheel set, wherein the transmission wheel set comprises a plurality of transmission wheels which are arranged in parallel, the transmission wheels are respectively arranged on the fixing part and the telescopic part, the flexible transmission part is wound on the transmission wheels, the clamping assembly is arranged on the flexible transmission part and moves along with the flexible transmission part, and the first driving unit is connected with the transmission wheels and is used for driving the transmission wheels to rotate, so that the flexible transmission part is driven by the transmission wheels to rotate around the transmission wheels, and at least one of the telescopic part and the clamping assembly is driven to move along the first direction.

2. The pick and place device of claim 1 further comprising a locking mechanism disposed on the telescoping assembly, at least a portion of the locking mechanism being movable relative to the telescoping member and abutting or disengaging the securing member to lock or unlock the telescoping member from the securing member;

When the telescopic piece and the fixing piece are unlocked, the transmission wheel set is configured to drive the telescopic piece to stretch along the first direction when the flexible transmission piece is transmitted;

when the telescopic piece and the fixing piece are locked, the relative position of each driving wheel in the driving wheel group is unchanged.

3. The pick and place device of claim 2, wherein a portion of said drive wheels of said drive wheel set have a variable relative position in a first direction when unlocked between said telescoping member and said securing member to drive said telescoping member to telescope in said first direction when said flexible drive member is driven.

4. The pick-and-place device according to claim 2, wherein the plurality of driving wheels comprise a plurality of inner driving wheels and at least one outer driving wheel, the flexible driving member is wound on the outer sides of the plurality of inner driving wheels, and the outer driving wheel is abutted against the outer peripheral surface of the flexible driving member;

the outer driving wheel and part of the inner driving wheel are connected with the telescopic piece, and when the flexible driving piece is driven, the driving wheel connected with the telescopic piece moves along the first direction relative to the driving wheel connected with the fixing piece so as to drive the telescopic piece to stretch.

5. The pick-and-place device of claim 4, wherein the plurality of inner driving wheels comprise a first driving wheel, a second driving wheel and a fourth driving wheel which are sequentially arranged in a driving direction of the flexible driving member, the outer driving wheel comprises a third driving wheel, the third driving wheel is arranged between the second driving wheel and the fourth driving wheel, the first driving wheel and the first driving unit are both arranged at a first end of the fixing member, the first driving unit drives the first driving wheel to rotate, the second driving wheel is arranged at a second end of the fixing member, the third driving wheel is arranged at a first end of the telescopic member, and the fourth driving wheel is arranged at a second end of the telescopic member.

6. The pick and place device of claim 5, wherein when the telescoping member extends relative to the stationary member, the spacing between the first and fourth drive wheels increases and the spacing between the second and third drive wheels decreases; when the telescopic piece is retracted relative to the fixing piece, the distance between the first driving wheel and the fourth driving wheel is reduced, and the distance between the second driving wheel and the third driving wheel is increased; the sum of the distance between the first driving wheel and the fourth driving wheel and the distance between the second driving wheel and the third driving wheel is kept unchanged.

7. The pick and place device of claim 5, wherein the pick assembly is coupled to the flexible drive member between the first drive wheel and the fourth drive wheel, a first end of the telescoping member is provided with a first buffer member, and a second end of the telescoping member is provided with a second buffer member;

when the clamping assembly moves to the first end of the telescopic piece, the clamping assembly is abutted with the first buffer piece and drives the telescopic piece to retract relative to the fixing piece; when the clamping assembly moves to the second end of the telescopic piece, the clamping assembly is abutted with the second buffer piece and drives the telescopic piece to extend out relative to the fixing piece.

8. The pick and place device of claim 7, wherein the pick assembly includes a first mounting plate and a second mounting plate, the first mounting plate and the second mounting plate being located on different sides of the flexible drive member and co-clamping the flexible drive member, respectively, at least one of the first mounting plate and the second mounting plate having an engagement surface that engages a surface of the flexible drive member.

9. The pick & place device of any one of claims 5-8, wherein the number of drive wheel sets and flexible drive members is two, and the drive wheel sets and flexible drive members are disposed in pairs on either side of the telescoping assembly; the first driving wheels of the two driving wheel sets are connected through a driving shaft, and the output end of the first driving unit is connected with the driving shaft.

10. The pick-and-place device of claim 9, wherein the telescoping member comprises a tray and side plates respectively arranged at two sides of the tray, the tray is used for bearing the material box, two sides of the fixing member are respectively provided with a first guide rail, and the side plates are respectively connected with the first guide rails in a sliding manner; the third driving wheel and the fourth driving wheel are arranged on the inner side of the side plate, and the third driving wheel and the fourth driving wheel are positioned on one side, away from the material carrying box, of the tray.

11. The pick & place apparatus of any one of claims 2-8, wherein said locking mechanism includes a linkage plate and a plurality of linkage members, a side of said telescoping member facing away from said fixed member is used to carry said material box, a side of said telescoping member facing said fixed member is provided with a guiding slot, said linkage plate is inserted into said guiding slot, and said linkage plate extends along a length direction of said telescoping member and moves along said first direction;

the plurality of linkage pieces are arranged at different positions in the length direction of the telescopic piece, the plurality of linkage pieces are respectively matched with different positions in the length direction of the linkage plate, and at least one of the plurality of linkage pieces can be spliced or separated from the fixing piece.

12. The pick and place device of claim 11, wherein a push block is provided on the pick assembly, and the push block or the material box abuts against different linkage members when the pick assembly or the material box moves to different positions in the length direction of the telescopic members;

when the pushing block or the material box pushes one of the plurality of linkage pieces to move, the linkage plate moves along the length direction of the telescopic piece, and the linkage plate drives the other linkage pieces of the plurality of linkage pieces to move so as to lock or unlock the telescopic piece and the fixing piece.

13. The pick and place device of claim 12, wherein the plurality of linkage members includes a first linkage member, a second end of the telescoping member is provided with a first guide member extending toward the fixed member, the first linkage member is sleeved on the first guide member and moves along the first guide member, a first chute is provided on the linkage plate, the first chute is obliquely arranged relative to the first guide member, and one end of the first linkage member is inserted into the first chute.

14. The pick and place device of claim 13, wherein a first trigger portion is disposed on the first linkage member, a guide surface is disposed on a side of the push block facing the second end of the telescopic member, and when the guide surface abuts against the first trigger portion, the first trigger portion slides along the guide surface, and the first linkage member drives the linkage plate to move, so that the telescopic member is locked or unlocked with the fixing member.

15. The pick and place device of claim 13, wherein the plurality of linkage members further comprises a second linkage member, the second linkage member is located at the second end of the telescopic member, the second linkage member is fixed relative to the linkage plate, a second trigger portion is disposed on the second linkage member, an abutment surface is disposed on a side, facing the first end of the telescopic member, of the push block, and when the abutment surface abuts against the second trigger portion, the second linkage member drives the linkage plate to move so as to lock or unlock the telescopic member and the fixing member.

16. The pick and place device of claim 15 wherein the direction of movement of the linkage plate is the same when the pusher pushes the first linkage to move and when the pusher pushes the second linkage to move.

17. The pick-and-place device of claim 15, wherein the plurality of linkage members further comprises a third linkage member, the third linkage member is disposed between the first linkage member and the second linkage member, a second guide member is disposed on the telescopic member, the third linkage member is sleeved on the second guide member and moves along the second guide member, a second chute is disposed on the linkage plate, an extending direction of the second guide member is inclined relative to the second chute, and one end of the third linkage member is inserted into the second chute.

18. The pick and place device of claim 17 wherein said telescoping member has an opening therein and said third linkage member has a third trigger portion extending at least partially from said opening and extending to a side of said telescoping member carrying said material box;

when the material box is abutted to the third triggering part, the third linkage piece drives the linkage plate to move, so that the telescopic piece is locked or unlocked with the fixing piece.

19. The pick and place device of any one of claims 13-18, wherein the plurality of linkages further comprises a fourth linkage, wherein a third guide is disposed on the telescoping member, wherein the fourth linkage is nested on and moves along the third guide, wherein a third chute is disposed on the linkage plate, wherein the third chute is disposed obliquely with respect to the third guide, and wherein the third chute has an opposite oblique direction to the first chute.

20. The pick-and-place device of claim 19, wherein a locking portion is disposed at an end of the fourth linkage member facing the fixing member, a plurality of grooves are disposed on the fixing member and arranged along a moving direction of the telescopic member, and the locking portion is in plug-in fit with different grooves when the telescopic member moves to different positions relative to the fixing member.

21. The pick up and delivery device of any one of claims 1-8, wherein the pick up assembly includes a support plate and two oppositely disposed jaws, the two jaws being located on opposite sides of the telescoping assembly, respectively, and the two jaws being adapted to grip the bin;

the clamping assembly further comprises a transmission rod and a second driving unit, the two clamping plates are movably arranged on the transmission rod, and the output end of the second driving unit is connected with the transmission rod and drives the transmission rod to rotate so as to enable the two clamping plates to be close to or far away from each other.

22. The pick and place device of claim 21, wherein a second rail is provided on the telescoping member, a slider is provided on a side of the support plate facing the telescoping member, and the second rail cooperates with the slider and supports the support plate.

23. The pick and place device of any one of claims 1-8, further comprising a rotating assembly, the telescoping assembly being disposed on the rotating assembly, the rotating assembly being configured to drive the telescoping assembly to rotate.

24. A transfer robot comprising a robot body, a lifting device and the pick-and-place device according to any one of claims 1 to 23, wherein the lifting device is provided on the robot body and is movable in a height direction of the robot body, and the pick-and-place device is provided on the lifting device.

25. The transfer robot of claim 24, wherein the robot body includes a base and a storage rack mounted on the base, the lifting device being disposed on the storage rack and movable in a height direction of the storage rack;

one side of the storage rack, which is away from the picking and placing device, is provided with a plurality of storage grooves, and the storage grooves are distributed at intervals along the height direction of the storage rack.

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