CN117262559A

CN117262559A - Article taking mechanism, transfer robot and article transfer method

Info

Publication number: CN117262559A
Application number: CN202311347747.XA
Authority: CN
Inventors: 李晓伟; 牛星宇; 袁李
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2023-10-17
Filing date: 2023-10-17
Publication date: 2023-12-22

Abstract

The embodiment of the application provides a get thing mechanism, transfer robot and article transport method, include: a base; the movable seat is arranged on the base; the telescopic structure is provided with a first end and a second end, the second end can move close to or far from the first end, the first end is arranged on the movable seat, the object taking assembly is arranged at the second end and is configured to move the target object by acting on the front end surface of the target object when the target object is taken back, and the front end surface of the target object is one side surface of the object taking assembly when the target object is to be taken back; the first driving structure is connected with the movable seat; and the second driving structure is connected with the telescopic structure. The gap between adjacent containers can be effectively reduced, and the storage density of the containers can be effectively improved.

Description

Article taking mechanism, transfer robot and article transfer method

Technical Field

The application belongs to the technical field of storage logistics equipment, and particularly relates to a fetching mechanism, a transfer robot and an article transfer method.

Background

Transfer robots are important devices in warehousing that are capable of automatically placing target items (e.g., containers) onto a target carrier (e.g., a pallet), completing a loading process (e.g., a box returning process), and also removing the target items from the target carrier and then transporting them to a designated location.

The box taking structure of the existing transfer robot comprises a telescopic fork and a poking finger which is rotatably arranged at the front end of the telescopic fork. When the container is taken out and returned, the telescopic fork stretches into the side face of the container under the drive of the driving piece, the poking finger moves behind the container so as to take the container out of the goods shelf, or put the container into the goods shelf from the position between the telescopic fork.

However, the existing transfer robot requires that a certain space is required between the left side, the right side, the front side and the rear side of the container when the container is stored on a goods shelf, and a movable space for moving is reserved for the telescopic fork and the poking finger, so that the storage density of the container is reduced.

Disclosure of Invention

The embodiment of the application provides a get thing mechanism, transfer robot and article transport method, when carrying the packing box, need not to insert in the clearance between the adjacent packing box to when the packing box is deposited, can effectively reduce the clearance between the adjacent packing box, can effectively promote the storage density of packing box.

According to a first aspect of embodiments of the present application, there is provided an article taking mechanism, comprising:

a base;

the movable seat is movably arranged on the base and can move relative to the base;

the telescopic structure is provided with a first end and a second end, the first end is arranged on the movable seat, and the second end can be close to or far from the first end to stretch;

The object taking assembly is arranged at the second end and is configured to act on the front end surface of the target object when the target object is taken back so as to carry the target object, wherein the front end surface of the target object is the end surface of the target object facing the object taking assembly when the target object is to be taken back;

the first driving structure is connected with the movable seat and is configured to drive the movable seat to move relative to the base so that the object taking assembly moves relative to the base under the drive of the movable seat;

the second driving structure is connected with the telescopic structure and is configured to drive the second end to move close to or far away from the first end so that the object taking assembly moves relative to the first end under the drive of the second end;

upon retrieval of the target item, the retrieval assembly is configured to move relative to the base under the drive of the first drive structure and/or the second drive structure to reciprocate within the base at the target cargo space.

In one implementation, the retrieval mechanism is configured to perform one of the following actions when retrieving the target item:

the first driving structure drives the moving seat to move so as to drive the object taking assembly to move a first preset distance towards the target goods space, and the second driving structure drives the telescopic structure to extend out so as to drive the object taking assembly to move a second preset distance towards the target goods space, so that the object taking assembly moves to the target goods space to transfer the target object between the object taking assembly and the target goods space;

The second driving structure drives the telescopic structure to extend out so as to drive the object taking assembly to move a third preset distance towards the target goods space, and the first driving structure drives the moving seat to move so as to drive the object taking assembly to move a fourth preset distance towards the target goods space, so that the object taking assembly moves to the target goods space to transfer the target object between the object taking assembly and the target goods space;

the first driving structure and the second driving structure simultaneously drive the movable seat and the telescopic structure to move so as to drive the object taking assembly to move a working distance towards the target goods space, so that the object taking assembly moves to the target goods space to transfer the target object between the object taking assembly and the target goods space.

In one implementation mode, when the target cargo space is the inner deep position of the target carrier, the second driving structure drives the telescopic structure to extend out so as to drive the object taking assembly to move towards the target cargo space, so that the width of the telescopic structure is reduced, and the width direction of the telescopic structure is intersected with the telescopic direction;

the first driving structure drives the movable seat to move so as to drive the telescopic structure to move close to the target cargo space until the object taking assembly moves to the target cargo space, and the object taking assembly and the target cargo space are transferred.

In one implementation mode, the second driving structure comprises a second driving piece and a second transmission piece, one end of the second driving piece is connected with the second transmission piece to drive the second transmission piece to move relative to the base, and the second transmission piece is connected with the telescopic structure to drive the second end of the telescopic structure to stretch;

the second driving piece and the second transmission piece are arranged on the movable seat, so that the second driving piece and the second transmission piece can synchronously move with the movable seat.

In one implementation mode, the movable seat comprises a first movable part and a second movable part, wherein the first movable part is arranged opposite to the base, the second movable part is connected to one end of the first movable part and is arranged opposite to the fetching component, and the first end of the telescopic structure is arranged on the second movable part;

the second driving piece is arranged on the second moving part, and the second transmission piece is arranged on the first moving part.

In one implementation, the second transmission includes a second power wheel, a second idler wheel, and a second drive belt;

the power output end of the second driving piece is connected with a second power wheel, the second power wheel and a second idler wheel are arranged at intervals along a first direction, a second transmission belt is sleeved on the second power wheel and the second idler wheel, the telescopic structure is connected with a second main body part of the second transmission belt, and the second main body part is positioned between the second power wheel and the second idler wheel;

The second driving piece is configured to drive the second power wheel to rotate so as to drive the second main body part to move, and therefore the telescopic structure is driven to move.

In one implementation, a telescoping structure includes:

at least two cross-piece units sequentially arranged along the telescopic direction, wherein each cross-piece unit comprises two cross-pieces which are oppositely arranged; the first cross piece is in sliding connection with the movable seat, and the second cross piece is in sliding connection with the object taking assembly;

the second driving structure is connected with the hinge shaft of the cross piece in one cross piece unit so as to drive the cross piece to increase or decrease the included angle of the cross piece towards the object taking assembly, and the telescopic structure is telescopic.

In one implementation, in each cross member unit, two ends of the hinge shaft extend to two cross members respectively, and the two cross members are hinged to the ends of the hinge shaft;

the second driving structure is connected with one of the hinge shafts of the plurality of crossing member units to drive the hinge shafts to move.

In one implementation, the fetching mechanism further comprises a first limiting piece, and the first cross piece is connected to the movable seat through the first limiting piece so as to limit the first end of the telescopic structure to translate on the movable seat;

And/or, the fetching mechanism further comprises a second limiting piece, and the second cross piece is connected to the fetching assembly through the second limiting piece so as to limit the second end of the telescopic structure to translate on the fetching assembly.

In one implementation, the first stop includes two links;

one end of each of the two connecting rods is respectively and rotatably connected to two transmission rods in the first cross piece or the second cross piece, the other end of each of the two connecting rods is rotatably connected to a fixed hinge position of the movable seat or the object taking assembly, and the two connecting rods are configured to move along with the cross piece unit;

and/or the second limiting part comprises two extending parts which are oppositely arranged, one ends of the two extending parts are connected with the object taking assembly or the moving seat, a limiting cavity is formed between the two extending parts, the hinge shaft between the two second cross parts or the two first cross parts penetrates through the limiting cavity, and when the second cross parts or the first cross parts move, the hinge shaft moves in the limiting cavity.

In one implementation, the articulation shaft for connection with the second drive structure is configured as a power shaft;

the second driving structure further comprises a second driving block, and the second driving block is connected to one end of the power shaft; the second driving block is configured to drive the power shaft to move.

In one implementation, the retrieval mechanism further comprises: the second sliding block and the second guide rail;

the second slider sets up in the one end of articulated shaft, and the second guide rail sets up on the base, and the second slider slides and establishes on the second guide rail.

In one implementation, the first driving structure includes a first driving member and a first transmission member, where the first driving member is fixedly disposed on the base and connected to the first transmission member to drive the first transmission member to move, and the first transmission member is connected to the moving seat to drive the moving seat to move.

In one implementation, the first transmission includes a first power wheel, a first idler wheel, and a first drive belt;

the power output end of the first driving piece is connected with a first power wheel, the first power wheel and a first idler wheel are arranged at intervals along a first direction, a first transmission belt is sleeved on the first power wheel and the first idler wheel, a movable seat is connected with a first main body part of the first transmission belt, and the first main body part is positioned between the first power wheel and the first idler wheel;

the first driving piece is configured to drive the first power wheel to rotate so as to drive the first main body part to move, and thus the movable seat is driven to move.

In one implementation, the fetching mechanism further comprises a first slider and a first guide rail;

The first sliding block is arranged on the movable seat, the first guide rail is arranged on the base, and the first sliding block is arranged on the first guide rail in a sliding mode.

In one implementation, the retrieval mechanism further comprises:

the follow-up tray is movably arranged on the base, so that the follow-up tray can extend out of the base or retract back onto the base;

the follow-up tray is configured to be abutted on the front end surface of the target carrier when the object taking assembly takes back the target object so as to fill a gap between the base and the target carrier; the follower tray is also configured to support the target item while the target item is carried on the retrieval assembly.

In one implementation, the retrieval mechanism further comprises:

the elastic component is provided with a third end and a fourth end which are oppositely arranged along the elastic direction, the third end of the elastic component is connected with the follow-up tray, and the fourth end of the elastic component is connected with the base;

the movable seat is provided with a bending part, and the follow-up tray is provided with an extending part; when the follow-up tray is at the initial position, the bending part is abutted against one surface of the extending part, which faces the front end of the follow-up tray; the follow-up tray is configured to pop up under the elastic action when the moving seat moves forward and is propped against the front end of the target carrier, and when the moving seat retreats, the bending part drives the extending part to retreat.

In one implementation, the retrieval mechanism further comprises:

the third limiting piece is arranged on the base and is positioned at the front end of the follow-up tray;

the third limiting piece is provided with a first state and a second state, at least part of the third limiting piece extends out of the supporting surface of the follow-up tray in the first state, and the third limiting piece is lower than the supporting surface of the follow-up tray in the second state;

the third limiting piece is configured to be in a second state when the follow-up tray at least partially extends out of the base, and is in a first state when the follow-up tray is located in the base, so that when the fetching mechanism moves, the target object on the follow-up tray is limited along the moving direction of the fetching assembly.

In one implementation mode, the third limiting piece comprises a first part and a second part which form a certain included angle, the joint of the first part and the second part is rotationally connected to the base, and the first part is positioned at the bottom of the follow-up tray;

the front end of the follow-up tray is provided with a collision piece, the collision piece is arranged between the first part and the second part, the collision piece is configured to push the second part when the front end of the follow-up tray stretches out of the base, so that the second part rotates to the bottom of the supporting surface of the follow-up tray, the third limiting piece is in a second state, and the first part is pushed when the front end of the follow-up tray returns to the base, so that the second part rotates to stretch out of the supporting surface of the follow-up tray, and the third limiting piece is in a first state.

In one implementation, the first portion has a first roller thereon rotatable about its own axis, the first roller having a circumferential surface facing the interference member configured to push the first portion when the front end of the follower tray is retracted to the base, comprising: the abutting piece is configured to push the first roller when the front end of the follow-up tray retreats to the base;

and/or, the interference piece is provided with a second roller which can rotate around the axis of the interference piece, the circumference surface of the second roller faces to the second part, the interference piece is configured to push the second part when the front end of the follow-up tray stretches out of the base, and the interference piece comprises: the second roller is configured to push the second portion when the front end of the follower tray protrudes outside the base.

In one implementation, a side surface of the abutting piece facing the first roller is configured as a guide slope inclined toward the base, and the first roller rolls along the guide slope when the front end of the follower tray is retracted to the base.

In one implementation, the retrieval mechanism further comprises:

the two guide strips are oppositely arranged at two sides of the follow-up tray, and the arrangement direction of the two guide strips is intersected with the moving direction of the object taking assembly;

The two guide bars are configured to restrict movement of the target object on the follow-up tray in the arrangement direction.

In one implementation, the article access end of each guide bar has an inclined surface, and the two inclined surfaces are disposed opposite to each other, so that a flaring structure is formed between the article access ends of the two guide bars.

In one implementation, the picking assembly includes a mounting plate and a suction cup,

the mounting plate is arranged on the second end, and the sucker is arranged on the mounting plate and is configured to adsorb a target object;

alternatively, the retrieval assembly includes a finger structure configured to hook the target article.

In one implementation, a channel is formed on the mounting plate, one end of the channel is communicated with the inner cavity of the sucker, and the other end of the channel is used for being communicated with air source equipment;

the suction cup is configured to reduce the pressure of the interior chamber by the air supply device to adsorb the target article.

In one implementation, a support is arranged at the bottom of the fetching component;

the support is configured to be supported on a surface of the target carrier when the picking assembly is extended into the target carrier.

In one implementation, the retrieval mechanism further comprises: at least one of a depth camera, a two-dimensional code camera, a first sensor, a second sensor, a third sensor and a fourth sensor, and a controller; the controller is configured to determine the cargo space height of the target cargo space according to the identification state of the two-dimensional code camera on the target cargo space two-dimensional code; and/or the controller is configured to determine a skew distance from a captured image of the target cargo space by the depth camera; adjusting the position of the object taking component based on the cargo space height and/or the deflection distance so as to enable the object taking component to move to the appointed position of the target carrier;

The controller is further configured to determine whether the fetching assembly is at an initial position according to a first trigger signal of the first sensor, or the controller is further configured to determine whether the fetching assembly is at the initial position according to a first zero signal of the first driving structure motor encoder and a second zero signal of the second driving structure motor encoder;

the controller is further configured to determine whether the object taking assembly at the initial position has the target object according to a second trigger signal of the second sensor;

the controller is further configured to determine whether the target cargo space has the target item based on a third trigger signal of a third sensor;

the controller is further configured to determine a position state of the object item on the object cargo space and the object taking assembly according to a fourth trigger signal of the fourth sensor, and when the position state is that the distance between the object taking assembly and the object item on the object cargo space is smaller than or equal to a fifth preset distance in the process of moving the object taking assembly to the object cargo space, the controller controls the object taking assembly to be close to the object item at a first preset speed; or when the position state is that the distance between the object taking component and the object article is smaller than or equal to the sixth preset distance in the process of retracting the object taking component into the base, the controller determines that the object article is arranged on the object taking component.

In one implementation, when the fetching mechanism moves to a specified position, a first distance is arranged between the front end of the base and the front end of the target carrier; when the object taking assembly is at the initial position, a second distance is reserved between the object taking assembly and the front end face of the base; a third distance is reserved between the target cargo space and the front end of the base;

the controller is further configured to determine a working distance of the fetching assembly according to the first distance, the second distance and the third distance;

the first driving structure and/or the second driving structure are/is configured to drive the fetching assembly to move a working distance towards the target cargo space based on a control signal of the controller so as to reach the target cargo space;

the pick-up assembly is configured to transfer the target item between the target cargo space and the control signal from the controller.

According to an embodiment of the second aspect of the present application, there is provided a transfer robot including:

a chassis;

the portal is arranged on the chassis;

according to the object taking mechanism in any implementation manner of the first aspect of the application, the object taking mechanism is arranged on the portal and can be lifted along the portal.

In one implementation, the transfer robot further includes:

the temporary storage plate is arranged on the portal;

the rotating mechanism is connected with the fetching mechanism and is configured to drive the fetching mechanism to rotate so that the fetching mechanism stores the objects on the temporary storage plate or takes out the objects from the temporary storage plate through the fetching mechanism.

According to a third aspect of the present application, there is provided an article handling method applied to the article picking mechanism provided in any implementation manner of the first aspect of the present application; the article carrying method comprises the following steps:

determining the working distance between the object taking assembly and the target cargo space under the condition that the object taking mechanism is positioned at the designated position of the target carrier;

the first driving structure and/or the second driving structure drive the fetching assembly to move towards the target cargo space for a working distance so as to reach the target cargo space;

and transferring the target object between the object taking assembly and the target goods space.

In one implementation, the first drive structure and/or the second drive structure drive the retrieval assembly a working distance toward a target cargo space, comprising:

the first driving structure drives the moving seat to move so as to drive the object taking assembly to move a first preset distance towards the target cargo space, the second driving structure drives the telescopic structure to extend out again so as to drive the object taking assembly to move a second preset distance towards the target cargo space, and the object taking assembly is enabled to move to the target cargo space, and the first preset distance and the second preset distance are determined by the working distance;

or the second driving structure drives the telescopic structure to extend so as to drive the object taking assembly to move a third preset distance towards the target goods space, the first driving structure drives the moving seat to move again so as to drive the object taking assembly to move a fourth preset distance towards the target goods space, and the object taking assembly is moved to the target goods space, and the third preset distance and the fourth preset distance are determined by the working distance;

Or the first driving structure and the second driving structure simultaneously drive the movable seat and the telescopic structure to move so as to drive the object taking assembly to move a working distance towards the target goods space, and the object taking assembly is moved to the target goods space.

In one implementation, in a case where the target cargo space is deep, the first driving structure and/or the second driving structure drives the fetching assembly to move a working distance toward the target cargo space to reach the target cargo space, including:

the second driving structure drives the telescopic structure to extend out so as to drive the object taking assembly to move towards the target cargo space, so that the width of the telescopic structure is reduced; the first driving structure drives the moving seat to move so as to drive the telescopic structure to move towards the target cargo space until the moving distance of the object taking assembly is a working distance; the width direction of the telescopic structure intersects with the telescopic direction.

In one implementation, determining a working distance between a pickup assembly and a target cargo space includes:

acquiring a first distance between the front end of the base and the front end of the target carrier under the condition that the object taking mechanism is positioned at the designated position of the target carrier;

confirming an initial position of the object taking assembly according to a first trigger signal of the first sensor and/or a zero signal of the first driving structure motor encoder and a zero signal of the second driving structure motor encoder, wherein a second distance is reserved between the initial position and the front end of the base;

Acquiring a third distance between a target cargo space and the front end of the base;

the working distance is determined based on the first distance, the second distance, and the third distance.

In one implementation, the fetching mechanism has a fetching operation state in which the first driving structure and/or the second driving structure drives the fetching assembly to move a working distance toward the target cargo space so as to reach the target cargo space, and the method further includes:

confirming that the target goods are on the target goods according to the third trigger signal of the third sensor;

transfer of target article is carried out between getting thing subassembly and the target goods position, includes:

in the case of a target object on the target cargo space, the object taking assembly applies force to the front end surface of the target object so as to fix the target object to the object taking assembly.

In one implementation, the fetching mechanism includes a fetching working state, in which the first driving structure and/or the second driving structure drives the fetching assembly to move a working distance toward the target cargo space to reach the target cargo space, including:

according to a fourth trigger signal of the fourth sensor, reducing the driving speed of the first driving structure and/or the second driving structure, so that the object taking assembly is close to the target object at the first preset speed when the distance between the object taking assembly and the target object is smaller than or equal to a fifth preset distance; the first preset speed is smaller than the second preset speed, and the second preset speed is the moving speed of the object taking assembly when the distance between the object taking assembly and the target object is larger than the fifth preset distance.

In one implementation, the fetching mechanism further has a returning working state in which the first driving structure and/or the second driving structure drives the fetching assembly to move a working distance toward the target cargo space so as to reach the target cargo space, including:

the first driving structure and/or the second driving structure drive the fetching assembly to move towards the target goods space for a working distance so as to enable the target goods to move to the target goods space; wherein the object taking component carries a target object;

the take-up assembly releases the force on the front face of the target item to transfer the target item to the target cargo space.

In one implementation, before determining the working distance between the retrieval assembly and the target cargo space with the retrieval mechanism at the designated location of the target carrier, the method further includes:

determining the cargo space height of the target cargo space according to the identification state of the two-dimensional code camera on the target cargo space two-dimensional code;

and/or determining a deflection distance according to the photographed image of the target cargo space by the depth camera;

the position of the pick up assembly is adjusted based on the cargo space height and/or the offset distance to move the pick up assembly to a designated position of the target carrier.

In one implementation, the article handling method further comprises:

the first driving structure and/or the second driving structure drive the object taking assembly to move back to the target cargo space until the object taking assembly moves to the initial position on the base.

In one implementation, the first drive structure and/or the second drive structure drive the retrieval assembly to move away from the target cargo space, comprising:

the first driving structure drives the movable seat to move so as to drive the telescopic structure to move back to the target cargo space until the telescopic structure exits the target carrier;

the second driving structure works to drive the telescopic structure to shrink until the fetching component reaches the initial position.

In one implementation, in a fetching operation state, the first driving structure and/or the second driving structure drive the fetching assembly to move away from the target cargo space, including:

according to a fourth trigger signal of a fourth sensor and/or the vacuum degree of the inner cavity of the sucker is in a preset vacuum degree, determining that the object taking component is provided with a target object;

in the case of a target object on the picking assembly, the first driving structure and/or the second driving structure drives the picking assembly to move back to the target cargo space.

In one implementation, the article handling method further comprises:

Acquiring the moving distance of the object taking assembly towards the target cargo space;

under the condition that the moving distance is equal to the working distance, the object taking assembly reaches the target goods space;

the moving distance is detected by any one of a stay wire encoder, a laser ranging sensor, an ultrasonic sensor and a millimeter wave sensor.

According to the object taking mechanism, the carrying robot and the carrying method thereof, the movable seat is movably arranged on the base, and when a target object is taken, the movable seat moves on the base; the telescopic structure is arranged on the movable seat and provided with a first end and a second end, the first end is arranged on the movable seat, and the second end can be close to or far from the first end; the object taking assembly is arranged at the second end, so that the moving speed of the object taking assembly can be improved when the object taking assembly is used for taking and returning the object, namely the object taking and returning efficiency can be effectively improved, the object carrying efficiency is improved, the object taking assembly is jointly moved through the moving seat and the telescopic structure (for example, the first driving structure connected with the moving seat drives the moving seat to move, and the second driving structure drives the second end of the telescopic structure), the moving distance of the object taking assembly can be effectively improved, and the object taking and returning device is also used for taking and returning the object positioned on the inner side (also called as inner deep position) of the goods shelf; in addition, in the embodiment of the application, the object taking assembly is configured to act on the front end surface of the object article (namely, one side surface of the object taking assembly facing the object taking assembly when the object article is in the state of waiting for taking) when the object article is taken, so that the object article is carried; in this way, compared with the related art, one end of the fetching component, which is away from the moving seat (facing/facing the target objects), is not required to be inserted into the gap between the two adjacent target objects, that is, when the target objects are stored, a certain gap between the two adjacent target objects is not required to be reserved, that is, the storage gap between the two adjacent target objects is reduced, and the storage density of the target objects is effectively improved.

In addition, in the embodiment of the application, the first driving structure is connected with the movable seat and drives the movable seat to move, so that the object taking assembly is driven to move; the telescopic structure arranged between the movable seat and the fetching component is driven by the second driving structure so as to enable the telescopic structure to stretch and drive the fetching component connected with the second end of the telescopic structure to move; in this way, in the first aspect, decoupling of the movement of the movable seat and the movement of the telescopic structure is realized when the container is taken and returned, that is, the movement of the movable seat and the movement of the telescopic structure become two independent movement processes, so that under the condition that any one of the movement fails, the other one can still keep moving, the smooth proceeding of the object to be taken and returned can be ensured, the object to be taken and returned cannot be interfered, the maintenance and replacement efficiency can be improved, and the operation efficiency of the container taking and returning is improved; in the second aspect, in the process of taking the target article, different movement modes of the article taking assembly can be selected according to the actual working condition requirement, so that the flexibility of movement of the article taking assembly is improved, the condition that the container is required to be stopped for maintenance when any one of the movement of the movable seat and the movement of the article taking assembly fails can be avoided, and the operation efficiency of taking the container is improved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

fig. 1 is a schematic diagram of an overall structure of an object taking mechanism according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a base and a moving seat in the fetching mechanism according to the embodiment of the present application;

FIG. 3 is a schematic view of another structure of the base and the movable base in the fetching mechanism according to the embodiment of the present application;

fig. 4 is a schematic structural diagram of the cooperation of the moving seat and the telescopic structure in the fetching mechanism according to the embodiment of the present application;

fig. 5 is a schematic structural diagram of a telescopic structure and a base in the fetching mechanism according to the embodiment of the present application;

fig. 6 is a schematic structural diagram of the cooperation of the moving seat, the telescopic structure and the fetching assembly in the fetching mechanism according to the embodiment of the present application;

fig. 7 is a schematic structural diagram of a telescopic structure in the fetching mechanism according to the embodiment of the present application;

FIG. 8 is a schematic view of another overall structure of the fetching mechanism according to the embodiment of the present application;

fig. 9 is a schematic structural diagram of the cooperation between the base and the follow-up tray in the fetching mechanism according to the embodiment of the present application;

Fig. 10 is a schematic structural diagram of the cooperation between the moving seat and the following tray in the fetching mechanism according to the embodiment of the present application;

fig. 11 is a schematic structural diagram of a state in which a follower tray extends out of a base in the fetching mechanism according to the embodiment of the present application;

fig. 12 is a schematic view of a state structure of a follower tray in the fetching mechanism according to the embodiment of the present application, which is retracted to a base;

fig. 13 is a schematic structural view of the third limiting member and the following tray in the fetching mechanism according to the embodiment of the present application;

fig. 14 is another schematic structural view of the third limiting member and the following tray in the fetching mechanism according to the embodiment of the present application;

fig. 15 is a schematic structural diagram of an article picking assembly in an article picking mechanism according to an embodiment of the present application;

fig. 16 is an application scene view of the fetching mechanism provided in the embodiment of the present application;

FIG. 17 is a view showing an operating state of the fetching mechanism according to the embodiment of the present application;

FIG. 18 is a view of another operational state of the retrieval mechanism provided by the embodiments of the present application;

FIG. 19 is a view of yet another operational state of the retrieval mechanism provided by the embodiments of the present application;

fig. 20 is a schematic structural diagram of a transfer robot according to an embodiment of the present disclosure.

Reference numerals illustrate:

1-an object taking mechanism; 2-a portal; 3-chassis;

11-a base; 12-a mobile seat; 13-a pick-up assembly; 14-telescoping structure; 15-a second drive structure; 16-a first drive structure; 17-a first limiting piece; 18-a second limiting piece; 19-a follow-up tray; 110-a third limiting piece; 111-guide bars; 113-a first rail; 114-a second rail; 115-a controller; 116-a two-dimensional code camera; 117-a first sensor; 118-a second sensor; 119-a third sensor; 120-an elastic component; 11 a-depth camera; 11 b-a fixing part;

121-a first slide rail; 122-a third slider; 123-bending part; 124-a first movement section; 125-a second moving part; 131-mounting plates; 132-suction cup; 133-an air source device; 134-a support; 135-fourth sensor; 136-channel; 141-a first end; 142-a second end; 143-a cross-piece unit; 144-hinge shaft; 145-turning the shaft; 147-a second slider; 151-a second driver; 152-a second power wheel; 153-a second drive belt; 154-a second idler; 155-a second drive block; 161-a first driver; 162-a first power wheel; 163-a first drive belt; 164-a first idler; 165-a first drive block; 171-connecting rod; 181-extensions; 182-limiting cavity; 191-an extension; 192-support surface; 193-interference; 194-third rail; 195-fourth slider; 1101-first part; 1102-a second portion; 1111-ramp;

1431-a cross piece; 1931-second roller; 1932-guiding ramp; 1101 a-first roller; 1431 a-drive bar.

Detailed Description

In order to better understand the technical solutions in the present application, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

It should be noted that in the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than as described herein, and therefore the scope of the present application is not limited by the specific embodiments disclosed below.

In the description of the present application, it should be understood that the terms "upper," "lower," "horizontal," "bottom," "inner," "outer," and the like indicate an orientation or a positional relationship based on that shown in the drawings, and are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application. In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium.

In the present application, unless explicitly specified and limited otherwise, the terms "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. However, it is noted that a direct connection indicates that two bodies connected together do not form a connection relationship by an excessive structure, but are connected to form a whole by a connection structure. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

The description herein as relating to "first," "second," etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance thereof or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.

With the rapid development of electronic commerce, electronic commerce plays an increasingly important role in consumer life, and in order to facilitate the storage and transportation of goods, goods are generally stored and transported in warehouse systems.

In order to improve the handling efficiency and reduce the work intensity when handling containers or target articles on a shelf, a handling robot is generally used to pick up and return the containers or target articles from the shelf. The transfer robot is an important device in storage, and can automatically place target objects (such as containers) on target carriers (such as shelves), complete a loading process (such as a box returning process), and remove the target objects from the target carriers (such as a box taking process) and transport the target objects to a designated place.

In the related art, a box taking structure of a transfer robot generally includes a telescopic fork and a finger rotatably disposed at a front end of the telescopic fork, and when a box is taken back, the telescopic fork stretches into a side surface of a container under the driving of a driving piece so as to clamp the container. In addition, when getting the case, in stretching into goods shelves when flexible fork, and when the front end of flexible fork stretches out the packing box, the plectrum rotates to the packing box rear end face to supplementary flexible fork, receive the packing box on the goods shelves and draw out.

In the process of taking and returning the containers, a certain gap (for inserting or pulling out the telescopic fork) is required to be kept between two adjacent containers when the containers are placed or put on the goods shelf, a certain distance (for extending the pulling finger) is kept between the front container and the rear container, and the gap occupies part of the space for storing the containers, so that the storage density of the containers on the goods shelf is lower.

Therefore, the embodiment of the application provides a fetching mechanism to solve the technical problems that a certain gap exists between containers in the related art and the container storage density is low.

Fig. 1 is a schematic overall structure of a fetching mechanism provided in an embodiment of the present application, fig. 2 is a schematic structure of a base and a moving seat in the fetching mechanism provided in an embodiment of the present application, fig. 3 is another schematic structure of the base and the moving seat in the fetching mechanism provided in an embodiment of the present application, and fig. 4 is a schematic structure of the moving seat and a telescopic structure in the fetching mechanism provided in an embodiment of the present application.

Referring to fig. 1 to 4, an embodiment of the present application provides an article taking mechanism 1, including: base 11, mobile seat 12, telescopic structure 14, pick-up assembly 13, first drive structure 16 and second drive structure 15.

In the embodiment of the present application, the base 11 may be made of a hard plastic (e.g., engineering plastic), and in some alternative examples, the base 11 may also be made of a metal or alloy material such as aluminum alloy, stainless steel, or cast iron. It is understood that the arrangement of the base 11 may be the same as or similar to that of the base in the related art, which is not described in detail in the embodiment of the present application.

In the embodiment of the present application, the movable base 12 may be movably disposed on the base 11. Referring to fig. 1, in some examples, the mobile seat 12 is capable of movement in a first direction. In other examples, the movement direction of the movable seat 12 may also have an angle with the first direction, so long as the movable seat 12 can be guaranteed to have a component in the movement path in the first direction, so that the fetching component 13 disposed on the movable seat 12 can reach the target cargo space. In some examples, the mobile seat 12 may be made of the same or similar material as the base 11. The movable seat 12 may specifically be movable on the base 11 in a translation manner, wherein, referring to fig. 1, the first direction may be the direction shown by the x-axis in fig. 1. In some application scenarios, the first direction may also refer to a movement direction in which the mobile seat 12 moves toward or away from the target cargo space during the process of taking the target object by the fetching mechanism 1.

It should be noted that the target cargo space may be a cargo space on a target carrier, for example, a shelf, or may be a temporary storage cargo space formed by a temporary storage plate on a transfer robot in some examples. Accordingly, the first direction may be a direction in which the fetching assembly 13 moves toward the target carrier when fetching and returning the objects, or may be a direction in which the fetching assembly 13 moves toward the pallet cargo space. It will be appreciated that the direction of movement of the picking assembly 13 towards the cargo space of the target carrier may be perpendicular to the direction of movement of the picking assembly 13 towards the cargo space of the pallet.

It will be appreciated that in the embodiments of the present application, the movement of the movable base 12 may be driven by a motor, a cylinder, or a hydraulic cylinder, among others.

In the embodiment of the present application, referring to fig. 1, the telescopic structure 14 has a first end 141 and a second end 142, and the second end 142 can move (also called telescopic) near to or far from the first end 141; the first end 141 is disposed on the mobile station 12. For example, the first and second ends 141 and 142 may be disposed opposite each other in a first direction, and the second end 142 may be movable toward and away from the first end 141 in the first direction.

Of course, in other examples, the telescopic direction of the telescopic structure 14 (i.e. the moving direction of the second end 142) may also have an angle with the first direction, so long as the telescopic path of the telescopic structure 14 can be guaranteed to have a component in the first direction, so that the fetching assembly 13 provided on the telescopic structure 14 can reach the target cargo space.

The second end 142 is provided with the picking assembly 13; in other words, in the embodiment of the present application, the telescopic structure 14 is disposed between the movable base 12 and the fetching assembly 13, and the telescopic structure 14 stretches to push the fetching assembly 13 to move away from the movable base 12, and the telescopic structure 14 contracts to drive the fetching assembly 13 to move toward the movable base 12.

In an alternative example of an embodiment of the present application, the telescopic structure 14 may be specifically a telescopic rod (e.g. a telescopic cylinder, a hydraulic cylinder or an electric cylinder); in other possible examples, the telescoping structure 14 may also be a lead screw or a linear motor. The specific type of telescoping structure 14 is not limited in this embodiment of the present application.

In some examples, the movable base 12 may move on the base 11 along the first direction, and the fetching assembly 13 is disposed on the movable base 12, so that the movable base 12 may drive the fetching assembly 13 to move together along the first direction; in addition, the fetching assembly 13 may also move along the first direction (e.g. the fetching assembly 13 is driven to move along the first direction by the extension and retraction of the extension and retraction structure 14), so that when the target object placed on the target carrier is fetched and returned, the moving seat 12 and the fetching assembly 13 may be simultaneously driven to extend out of the base 11, that is, the extension and retraction range of the fetching assembly 13 is increased, so that the target object located at the inner depth of the target carrier is fetched and returned.

With continued reference to fig. 1, in an embodiment of the present application, the retrieval assembly 13 is configured to carry the target item by acting on the front face of the target item when retrieving the target item.

In this embodiment of the present application, the front end surface of the target article may refer to a side surface of the target article that faces the article taking assembly 13 when the target article is to be taken back; alternatively, in some application scenarios, the target item is stored on a shelf (target carrier), and the front end surface of the target item may also refer to a side surface of the target item facing the outside of the shelf. In the embodiment of the present application, the front end surface of the container may refer to a side surface facing/facing the outer side of the shelf, which is taken as a specific example, so as to facilitate the taking of the object taking assembly 13.

As a specific example of an embodiment of the present application, a force providing component that can provide a force to the front end surface of the container may be provided at the movable end (which may also be referred to as the free end in some examples, i.e., the end facing away from or away from the mobile station 12) of the access module 13 to effect movement, handling, or retrieval of the container.

The force providing member may be an electromagnet, and the front end surface of the container may be made of a material that can be attracted by the magnet (e.g., a ferrous material), or the electromagnet may be energized when the container is returned, or when the force providing member is brought into close proximity or contact with the container, so that the carrying capacity of the container is provided by the magnetic attraction of the electromagnet to the container.

It will be appreciated that in other possible examples of embodiments of the present application, the force providing member may also be made of a material that is attracted to a magnet, and accordingly, an electromagnet is disposed on the front face of the cargo box; in this way, when the container is returned, the electromagnet may be energized when the force providing member is brought into close proximity to or in contact with the container, so that a magnetic attraction force is generated between the force providing member and the electromagnet on the container, thereby providing a carrying force to the container.

In the embodiment of the application, the object taking assembly 13 is configured to act on the front end surface of the object to carry the object when taking the object; like this, when placing, depositing or storing the packing box on goods shelves, need not to reserve the clearance between packing box and packing box (i.e. between the adjacent packing box), can effectively reduce the storage clearance between the adjacent packing box, promote the storage density of packing box, effectively utilize the same storage space to deposit more packing boxes.

Referring to fig. 2 and 3, in the embodiment of the present application, the first driving structure 16 is connected to the movable base 12, and the first driving structure 16 is configured to drive the movable base 12 to move (for example, along a direction shown by an x-axis in fig. 1), so that the movable base 12 drives the fetching assembly 13 to move along a first direction.

In some examples, the second driving structure 15 may be connected to the telescopic structure 14, where the second driving structure 15 is configured to drive the second end 142 to move toward or away from the first end 141 along the first direction, so that the fetching assembly 13 moves along the first direction under the driving of the second end 142.

In one example, referring to fig. 4, in the embodiment of the present application, the second driving structure 15 is at least movable with respect to the base 11.

In a specific example of the embodiment of the present application, the telescopic structure 14 may be a telescopic rod structure, and the second driving structure 15 may be a screw, where the second end 142 of the telescopic structure 14 may be a rod body of the telescopic rod connected to the object taking assembly 13, and the first end 141 of the telescopic structure 14 may be a rod body of the telescopic rod connected to the moving seat 12; in a specific arrangement, a drive block may be fixed to the second end 142, and a bore with internal threads may be provided in the drive block, through which a lead screw passes and is screwed (which may also be referred to as a threaded connection in some examples); thus, when the screw rod rotates, the screw rod pushes the driving block through threads, and the driving block drives the telescopic rod to stretch out and draw back, so that the fetching assembly 13 is driven to move along the first direction.

It can be understood that, referring to fig. 4, in the embodiment of the present application, two transmission rollers may be disposed on the moving seat 12 along the first direction, and the two transmission rollers are in transmission connection with each other through a transmission member such as a chain, a belt, a synchronous belt or a timing belt; and a driving block is fixed on the chain, the belt, the synchronous belt or the timing belt, and the driving block is fixedly connected with the telescopic structure 14, so that when the two driving rollers are driven to rotate, the two driving rollers drive the chain, the belt, the synchronous belt or the timing belt to rotate, thereby driving the driving block to drive the telescopic structure 14 to stretch and retract, and further driving the fetching assembly 13 arranged on the second end 142 of the telescopic structure 14 to move along the first direction.

In a specific example of an embodiment of the present application, the axial directions of the two driving rollers may be perpendicular to the surface of the base 11; alternatively, in some examples, the axial directions of the two drive rollers may be parallel to the surface of the base 11. In this application embodiment, guarantee that the direction of arranging of two driving rollers is arranged along first direction can, in other words, in this application embodiment, guarantee that the driving direction of two driving rollers to chain, belt, hold-in range or timing belt is along first direction can.

It will be appreciated that in the present embodiment, the first driving structure 16 is connected to the movable base 12, and the first driving structure 16 is configured to drive the movable base 12 to reciprocate along the first direction.

In this embodiment, the specific arrangement manner of the first driving structure 16 may be the same as or similar to that of the second driving structure 15, and reference may be made specifically to the detailed description of the second driving structure 15 in the foregoing embodiment of the present application, which is not repeated in this embodiment of the present application.

In some examples, referring to fig. 2 and 3, the first driving structure 16 may be provided on the base 11; the second drive structure 15 may be movable in a first direction relative to the base 11, e.g., in some examples, the second drive structure 15 may be disposed on the mobile seat 12.

The working process of the fetching mechanism 1 provided by the embodiment of the application when fetching and returning articles is as follows:

depending on the actual situation when the target object is retrieved, the retrieving assembly 13 may be driven by the first driving structure 16 and/or the second driving structure 15 to move along the first direction, so as to extend into the target cargo space of the target carrier or retract into the base 11.

For example, in some examples, the retrieval assembly 13 may be moved in the first direction only by the first drive structure 16. That is, the first driving structure 16 drives the movable base 12 to move along the first direction, and when the movable base 12 moves along the first direction, the telescopic structure 14 disposed on the movable base 12 and the fetching assembly 13 are driven to move together for a working distance, so that the fetching assembly 13 finally reaches the target cargo space. It will be appreciated that the working distance is the distance that the picking assembly 13 moves to the target cargo space when picking up the bin, i.e. the picking distance or the bin returning distance.

Alternatively, in some examples, the retrieval assembly 13 may be moved in the first direction only by the second drive structure 15. For example, the first driving structure 16 is not active, i.e. the relative position of the mobile seat 12 and the base 11 remains stationary; the second driving structure 15 drives the telescopic structure 14 to stretch along the first direction, and the second end 142 of the telescopic structure 14 drives the fetching assembly 13 connected with the telescopic structure 14 to move a working distance along the first direction, so that the fetching assembly 13 finally reaches the target cargo space.

Alternatively, in other examples, the picker assembly 13 may be driven together by the first drive arrangement 16 and the second drive arrangement 15 and moved in the first direction.

For example, in some examples, the first driving structure 16 may drive the moving seat 12 to move to drive the telescopic structure 14 and the fetching assembly 13 to move a first preset distance toward the target cargo space, and the second driving structure 15 drives the telescopic structure 14 to extend again to drive the fetching assembly 13 to move a second preset distance toward the target cargo space, so that the fetching assembly 13 moves to the target cargo space to transfer the target object between the fetching assembly 13 and the target cargo space.

Wherein the first preset distance and the second preset distance are determined by the working distance, e.g. the sum of the first preset distance and the second preset distance is equal to the working distance. Of course, the sum of the first preset distance and the second preset distance may be smaller or larger than the working distance due to driving deviation, movement deviation, and the like.

For example, the first preset distance may be a suitable value of 1/4, 1/2, or 2/3 of the working distance, for example, the first driving structure 16 may move the fetching assembly 13 to the forefront end of the base 11 through the moving seat 12, and then drive the telescopic structure 14 to extend through the second driving structure 15, so as to extend the fetching assembly 13 to the target cargo space. Of course, in other examples, the first driving structure 16 may first drive the movable seat 12 to the forefront end of the base 11, and then drive the telescopic structure 14 to extend through the second driving structure 15, so as to extend the fetching assembly 13 to the target cargo space.

In other examples, the second driving structure 15 may drive the telescopic structure 14 to extend to drive the fetching assembly 13 to move toward the target cargo space by a third predetermined distance, and then the first driving structure 16 drives the moving seat 12 to move to drive the telescopic structure 14 and the fetching assembly 13 to move toward the target cargo space by a fourth predetermined distance, so that the fetching assembly 13 moves to the target cargo space.

Wherein the fourth preset distance and the fifth preset distance are determined by the working distance, for example, the sum of the fourth preset distance and the fifth preset distance is equal to the working distance. Of course, the sum of the third preset distance and the fourth preset distance may be smaller or larger than the working distance due to driving deviation, movement deviation, and the like.

For example, the fourth preset distance may be a suitable value of 1/4, 1/2, or 2/3 of the working distance, for example, the second driving structure 15 may move the fetching assembly 13 to the forefront end of the base 11 through the telescopic structure 14, and then drive the moving seat 12 to move forward through the first driving structure 16 until the fetching assembly 13 reaches the target cargo space. The specific proportion of the third preset distance and the fourth preset distance is not limited in the embodiment of the application, so long as the object taking assembly 13 is guaranteed to be finally moved to the target cargo space.

Of course, in other examples, the first driving structure 16 and the second driving structure 15 may drive the moving seat 12 and the telescopic structure 14 to move simultaneously, in other words, the first driving structure 16 drives the moving seat 12 to move, and the second driving structure 15 drives the telescopic structure 14 to telescope simultaneously to drive the fetching assembly 13 to move a working distance toward the target cargo space, so that the fetching assembly 13 moves to the target cargo space for transferring the target object between the fetching assembly 13 and the target cargo space.

It will be appreciated that in other examples, the first driving structure 16 may drive the movable base 12 to move, the second driving structure 15 drives the telescopic structure 14 to extend, and finally the first driving structure 16 drives the movable base 12 to move again until the fetching assembly 13 moves to the target cargo space.

Alternatively, the second driving structure 15 may drive the telescopic structure 14 to extend, the first driving structure 16 drives the moving seat 12 to move, and finally, the second driving structure 15 drives the telescopic structure 14 to extend again until the fetching assembly 13 moves to the target cargo space. The working sequence and the number of times of the first driving structure 16 and the second driving structure 15 are not limited in this embodiment, so long as the object taking assembly 13 can be guaranteed to finally reach the target cargo space.

According to the object taking mechanism 1 provided by the embodiment of the application, the movable seat 12 is movably arranged on the base 11, and when a target object is taken back, the movable seat 12 moves on the base 11 along the first direction; in addition, the telescopic structure 14 is arranged on the movable seat 12, the telescopic structure 14 is provided with a first end 141 and a second end 142 along a first direction, the first end 141 is arranged on the movable seat 12, the second end 142 can be close to or far away from the first end 141 along the first direction, and the object taking assembly 13 is arranged at the second end 142, so that the moving speed of the object taking assembly 13 can be improved when the object taking assembly 13 is used for taking and returning the object, namely, the efficiency of taking and returning the object can be effectively improved, the efficiency of carrying goods is improved, the movable seat 12 is moved along the first direction through the common movement of the movable seat 12 and the object taking assembly 13 (for example, the first driving structure 16 connected with the movable seat 12 and the second driving structure 15 drives the second end 142 of the telescopic structure 14 along the first direction), and the moving distance of the object taking assembly 13 facing one end of the object can be effectively improved, namely, the object goods on the inner side of a goods shelf can be conveniently taken and returned.

In addition, in the embodiment of the present application, the object picking assembly 13 is configured to carry the object by acting on the front end surface of the object when the object is picked up (i.e., the side surface of the object facing the object picking assembly 13 when the object is to be picked up); thus, compared with the related art, the end of the fetching component 13, which faces away from the moving seat 12 (faces/faces towards the target object), is not required to be inserted into the gap between the two adjacent containers, that is, when the containers are stored, a certain gap between the two adjacent containers is not required to be reserved, that is, the gap between the two adjacent containers is reduced, and the storage density of the containers is effectively improved.

In addition, in the embodiment of the present application, the first driving structure 16 is connected to the movable seat 12, and drives the movable seat 12 to move along the first direction, so as to drive the fetching assembly 13 to move; and drives the telescopic structure 14 arranged between the movable seat 12 and the fetching assembly 13 through the second driving structure 15, so that the telescopic structure 14 stretches and contracts, and drives the fetching assembly 13 connected with the second end 142 of the telescopic structure 14 to move.

In this way, in the first aspect, decoupling between the movement of the movable seat 12 and the movement of the telescopic structure 14 during picking and returning of the container is achieved, that is, the movement of the movable seat 12 and the movement of the telescopic structure 14 become two independent movement processes, so that the movement speed of the movable seat 12 and the telescopic speed of the telescopic structure 14 are decoupled and independent from each other, so that when the picking and returning of the article is carried out, the picking and returning mechanism 1 in the embodiment of the present application can arbitrarily select one of the driving structures to drive according to the actual requirement, or freely control the driving speeds of the two driving structures, so that the movement displacement of the movable seat 12 and the telescopic amount of the telescopic structure 14 can be freely adjusted.

On the other hand, the arrangement mode ensures that the other one can still keep moving under the condition that any one of the movements fails, can ensure that the taking and returning of the target object can be smoothly carried out without causing interference on the taking and returning of the target object, can improve the maintenance and replacement efficiency, improves the operation efficiency of taking and returning of the container,

on the other hand, in the process of taking the target article, different moving modes of the article taking assembly 13 can be selected according to the actual working condition requirement, so that the flexibility of the movement of the article taking assembly 13 is improved, the condition that the container must be stopped for maintenance when any one of the movement of the movable seat 12 and the movement of the article taking assembly 13 fails can be avoided, and the operation efficiency of taking the container is improved.

In some examples of the embodiments of the present application, referring to fig. 2 and 3, the first driving structure 16 may include a first driving member 161 and a first transmission member, where the first driving member 161 is fixedly disposed on the base 11, one end of the first driving member 161 is connected to the first transmission member to drive the first transmission member to move along a first direction, and the first transmission member is connected to a side of the movable seat 12 facing the base 11, so as to drive the movable seat 12 to move along the first direction.

That is, in the embodiment of the present application, the first transmission member may be disposed on the base 11 along the first direction. In some examples, the first transmission may be a screw, a cylinder, an electric cylinder, or the like as described in the previous embodiments of the present application.

In this embodiment, the first transmission member is disposed on a side of the movable seat 12 facing the base 11, so that the telescopic structure 14 and the fetching assembly 13 are disposed on a side of the movable seat 12 facing away from the base 11, and space utilization is improved.

Illustratively, the first drive includes a first power wheel 162, a first drive belt 163, and a first idler wheel 164.

In some examples, the output shaft of the first driving member 161 (may also be referred to as a power output end of the first driving member 161) is connected to the first power wheel 162 so as to drive the first power wheel 162 to rotate, and referring to fig. 3, in this embodiment of the present application, the first idle wheel 164 and the first power wheel 162 are disposed at intervals along a first direction, and when specifically disposed, an axial direction of the first idle wheel 164 and the first power wheel 162 may be parallel or approximately parallel to a surface of the base 11, and in some alternative examples, an axial direction of the first idle wheel 164 and the first power wheel 162 may also be perpendicular or approximately perpendicular to a surface of the base 11. The first power wheel 162 and the first idle wheel 164 are shown in fig. 3 of the present embodiment as specific examples with their axial directions perpendicular or approximately perpendicular to the surface of the base 11.

Specifically, referring to fig. 3, in the embodiment of the present application, a first transmission belt 163 (e.g., a chain, belt, timing belt, or timing belt as described in the previous embodiments of the present application) is stretched between the first power wheel 162 and the first idler wheel 164 (e.g., the first transmission belt 163 is looped over the first power wheel 162 and the first idler wheel 164); that is, when the first driving member 161 drives the first power wheel 162 to rotate, the first driving belt 163 is driven by the first power wheel 162 to rotate.

As a specific example of an embodiment of the present application, the movable base 12 may be fixed to the first belt 163, for example, the movable base 12 is fixed to the first body portion of the belt 163. It will be appreciated that, with reference to fig. 3, the first body portion may be located between the first power wheel 162 and the first idler wheel 164.

In some examples, referring to fig. 3, in the embodiment of the present application, the moving seat 12 may be fixed to the first body of the first driving belt 163 by the first driving block 165, so as to move under the driving of the first driving belt 163. The first driving member 161 may be any one of a servo motor, a synchronous motor, or a stepping motor.

It will be appreciated that, referring to fig. 4, in the embodiment of the present application, the second driving structure 15 includes a second driving member 151 and a second transmission member, where one end of the second driving member 151 is connected to the second transmission member to drive the second transmission member to move along the first direction.

In this embodiment, referring to fig. 4, both the second driving member 151 and the second transmission member may be disposed on the movable base 12, that is, in this embodiment, the second driving member 151 and the second transmission member may move together with the movement of the movable base 12.

In some examples, referring to fig. 4, the mobile station 12 includes: the extending direction of the first moving portion 124 is consistent with the first direction, the second moving portion 125 is connected to the first moving portion 124, the second moving portion 125 is opposite to the fetching assembly 13, and the first end 141 of the telescopic structure 14 is disposed on the second moving portion 125.

In some examples, the first moving part 124 may have a plate-like or sheet-like structure, and of course, the second moving part 125 may have the same or similar structural shape as the first moving part 124. As an alternative example, after the first moving part 124 and the second moving part 125 construct the molded moving seat 12, the sectional shape of the moving seat 12 may be "L" shaped, that is, the first moving part 124 and the second moving part 125 may be perpendicular or approximately perpendicular to each other.

For example, referring to fig. 2, the first moving part 124 may be provided on the base 11 and parallel or approximately parallel to the surface of the base 11; the second moving part 125 is disposed at an end of the first moving part 124 facing away from the telescopic structure 14. Alternatively, in some examples, it is also understood that the retrieval assembly 13 is disposed on the first movement portion 124. ,

In some examples, the retrieval assembly 13 may be disposed at an end opposite the second movement portion 125. Additionally, the telescoping structure 14 may be disposed on the first moving portion 124, with the telescoping structure 14 being located between the second moving portion 125 and the retrieval assembly 13 in some examples; that is, the first end 141 of the telescopic structure 14 may be disposed on the second moving part 125.

In some alternative examples of the embodiment of the present application, referring to fig. 4, the second driving member 151 may be disposed on a side of the second moving portion 125 facing away from the telescopic structure 14, and the second driving member may be disposed on a side of the first moving portion 124 facing away from the telescopic structure 14.

It will be appreciated that in the embodiment of the present application, the side of the first moving portion 124 facing away from the telescopic structure 14 is illustrated as a specific example, and the specific location of the second driving member is not limited thereto. In some examples, the second transmission member may also be disposed at other locations.

In other examples, it is also understood that the second transmission member is disposed on a side of the first moving portion 124 facing the base 11. At least a portion of the second driving member 151 may extend out of the second moving portion 125 and be in driving connection with the second driving member.

In the present embodiment, by providing the moving seat 12 to include the first moving portion 124 and the second moving portion 125, the second moving portion 125 is provided at one end of the first moving portion 124; the first end 141 of the telescopic structure 14 is disposed on the second moving portion 125, and the telescopic structure 14 is disposed between the second moving portion 125 and the fetching assembly 13; then, the second driving member 151 is disposed on a side of the second moving portion 125 facing away from the telescopic structure 14, and the second driving member is disposed on a side of the first moving portion 124 facing away from the telescopic structure 14; in this way, the positions of the telescopic structure 14, the second driving piece 151 and the second transmission piece are conveniently distributed, and the space utilization rate is effectively improved. Referring to fig. 4, in the embodiment of the present application, the second driving member 151 may be of the same type as or similar to the first driving member 161. In some examples, the second transmission includes: a second power wheel 152, a second idler wheel 154 and a second drive belt 153.

In some examples, an output shaft (which may also be referred to as a power take-off in some examples) of the second drive 151 is coupled to the second power wheel 152 and drives the second power wheel 152 in rotation. The second drive belt 153 (e.g., a chain, belt, timing belt, or the like as described in the previous embodiments of the present application) may be stretched between the second power wheel 152 and the second idler wheel 154 (e.g., the second drive belt 153 is looped over the second power wheel 152 and the second idler wheel 154), and the second drive member 151 moves the second drive belt 153 between the second power wheel 152 and the second idler wheel 154 when the second power wheel 152 is driven to rotate by the second drive member 151.

In some alternative examples, the telescoping structure 14 may be coupled to a second drive belt 153, for example, the telescoping structure 14 may be coupled to a second body portion of the second drive belt 153 between the second power wheel 152 and the second idler wheel 154 such that movement of the second drive belt 153 causes the telescoping structure 14 to telescope, thereby causing the access assembly 13 to move toward the cargo box, or alternatively, causing the access assembly 13 to move away from the cargo box.

It should be understood that, in the embodiment of the present application, the transmission manner of the first driving structure 16 by the first power wheel 162, the first driving belt 163 and the first idler wheel 164 is only shown as a specific example, and in some possible examples, the first driving structure 16 may also be the transmission manner of the screw rod and the power block described in the previous embodiment of the present application, that is, by providing a rotatable screw rod on the base 11 along the first direction, and sleeving a power block with an internal thread on the screw rod, where the power block is connected to the movable seat 12; thus, when the first driving member 161 drives the screw to rotate, the power block can drive the movable base 12 to move along the first direction.

In some possible examples, the first drive structure 16 may also be a telescopic rod as described in the previous embodiments of the present application.

It will also be appreciated that the second driving structure 15 may be identical or similar to the first driving structure 16, and that the second driving structure 15 may be different from the first driving structure 16 in that the second driving structure 15 may be disposed on the movable base 12 and driven by a second driving member 151 disposed on the movable base 12.

In this embodiment, two different power sources, namely, a first driving member 161 and a second driving member 151 are provided, wherein the first driving member 161 drives the moving seat 12 to move through a first transmission member, the second driving member 151 is provided on the moving seat 12 to move together with the movement of the moving seat 12, and the second driving member 151 drives the telescopic structure 14 to stretch and retract through a second transmission member provided on the moving seat 12 so as to drive the fetching assembly 13 to move; thus, when it is desired to carry a container, the access module 13 can be moved in at least three ways so that the access module 13 approaches or moves away from the container on the pallet.

The first moving mode is as follows:

the first driving member 161 drives the movable base 12 to move along the first direction through the first transmission member, so that the fetching assembly 13 arranged on the movable base 12 through the telescopic structure 14 moves and fetches and returns the container.

The second moving mode:

the second driving member 151 drives the fetching assembly 13 provided on the moving base 12 to move in the first direction through the second transmission member, thereby picking up the cargo box.

Third movement mode:

the first driving member 161 drives the movable base 12 to move along a first direction through a first transmission member, and simultaneously, the second driving member 151 drives the fetching assembly 13 arranged on the movable base 12 to move along the first direction through a second transmission member, so that the container is fetched.

It will be appreciated that in some possible examples, the movement of the picking assembly 13 may also be a combination of the three aforementioned movements of the embodiments of the present application; for example, the first driving member 161 drives the moving base 12 to move a part of the distance along the first direction through the first transmission member, then the second driving member 151 drives the picking assembly 13 disposed on the moving base 12 to move a part of the distance through the second transmission member, and then the first driving member 161 drives the moving base 12 to move while the second driving member 151 drives the picking assembly to move.

It should be noted that, in the embodiment of the present application, the specific moving manner of the fetching assembly 13 may be set according to the actual working condition requirement, and in the embodiment of the present application, the specific moving manner of the fetching assembly 13 is not limited.

In this embodiment, the first driving member and the second driving member are driven by two different power sources, that is, the first driving member 161 drives the first driving member, and the second driving member 151 drives the second driving member; thus, in the first aspect, decoupling of the movement of the moving seat 12 and the movement of the fetching mechanism 1 is realized when the container is fetched, that is, the movement of the moving seat 12 and the movement of the fetching assembly 13 are referred to as two independent moving processes (although the movement of the moving seat 12 can drive the movement of the fetching assembly 13, the movement of the fetching assembly 13 is not dependent on the movement of the moving seat 12, and the second driving member 151 can drive the telescopic structure 14 through the second driving member), so that in the case that any one of the movements fails, the other can still keep moving, so that smooth operation of the container can be ensured, interference on the fetched target object can not be caused, maintenance and replacement efficiency can be improved, and the operation efficiency of the container fetching is improved; in the second aspect, in the process of taking the container, different moving modes of the object taking assembly 13 can be selected according to the actual working condition requirement, so that the flexibility of the movement of the object taking assembly 13 is improved, the condition that the container must be stopped for maintenance when any one of the movement of the movable seat 12 and the movement of the object taking assembly 13 fails can be avoided, and the operation efficiency of taking the container is improved.

In addition, through setting up second driving piece 151, second driving piece on the movable seat 12, like this, when getting the returning packing box, can be simultaneously through the removal of first driving piece 161 drive movable seat 12 to get thing subassembly 13 through the drive of second driving piece 151 and remove, promoted the velocity of movement of getting thing subassembly 13, promoted the efficiency of getting the returning packing box promptly.

In an application scenario, when the target cargo space is the deep inner position of the target carrier, in the fetching mechanism 1 provided in the embodiment of the present application, when the target object is fetched, the second driving structure 15 may first work, for example, the second driving member 151 is started, and the second driving member is driven by the second power wheel 152 to move along the first direction, and the second driving member drives the telescopic structure 14 to move along the first direction, so as to push the fetching assembly 13 to move along the first direction; in this way, as the length of the telescoping structure 14 in the first direction is elongated, the width of the telescoping structure 14 in a third direction (e.g., the y-direction in fig. 1) is reduced, thereby facilitating the telescoping structure 14 to push the retrieval assembly 13 into the target vehicle. It will be appreciated that the third direction may intersect the first direction, i.e. the telescoping direction, e.g. perpendicular.

It can be understood that after the telescopic structure 14 drives the fetching assembly 13 to move a predetermined distance, for example, the telescopic structure 14 drives the fetching assembly 13 to extend into the target carrier, the first driving structure 16 is operated again, for example, the first driving member 161 is started, so as to drive the movable base 12 connected to the first driving member and the telescopic structure 14 disposed on the movable base 12 to move together in a direction close to the target cargo space until the fetching assembly 13 moves to the target cargo space, and at this time, the target article transfer between the fetching assembly 13 and the target cargo space can be performed.

For example, the pickup assembly 13 may remove a target item from a target cargo space, or the pickup assembly 13 may place a target item on a target cargo space.

Therefore, the object with smaller width can be conveniently fetched, the telescopic structure 14 can conveniently extend into the object goods space in the inner deep position to transfer the object, the adaptability of the object fetching mechanism 1 to different object objects is improved, and the application range of the object fetching mechanism 1 is improved.

Fig. 5 is a schematic structural diagram of a telescopic structure and a base in a fetching mechanism provided in an embodiment of the present application, fig. 6 is a schematic structural diagram of a moving seat, a telescopic structure and a fetching assembly in a fetching mechanism provided in an embodiment of the present application, and fig. 7 is a schematic structural diagram of a telescopic structure in a fetching mechanism provided in an embodiment of the present application.

In an alternative example of an embodiment of the present application, referring to fig. 5-7, the telescoping structure 14 includes: at least two crossing unit 143 disposed in sequence along the first direction.

Specifically, referring to fig. 5-7, in the embodiment of the present application, each cross member unit 143 may include two cross members 1431 disposed opposite to each other, for example, the two cross members 1431 in each cross member unit 143 are disposed opposite to each other along a second direction, where the second direction may be a direction shown by a z-axis in 65, and an arrangement direction of the two cross members 1431 may be a direction shown by the z-axis in fig. 6; as a specific example of the embodiment of the present application, after the telescopic structure 14 is disposed on the movable base 12, the two intersecting pieces 1431 may be specifically arranged in a direction perpendicular to the surface of the base 11. In this application embodiment, arrange through the second direction and set up two relative crossbars 1431, like this, when extending and contracting structure 14, can guarantee extending and contracting structure 14's stability, promote and get thing subassembly 13 and get the stability of returning the packing box.

With continued reference to fig. 5-7, in this embodiment, each cross member 1431 includes two transmission rods 1431a intersecting each other, where the cross member 1431 corresponding to the cross member unit 143 of the first end 141 is a first cross member, and the cross member 1431 corresponding to the cross member unit 143 of the second end 142 is a second cross member, and referring to fig. 5-7, in this embodiment, the first cross member is slidably connected to the movable base 12, and the second cross member is slidably connected to the picking assembly 13.

In some examples, referring to fig. 7, a first slide rail 121 may be disposed at an end of the movable base 12 facing toward the picking assembly 13, and a third slider 122 may be disposed at ends of two transmission rods 1431a of the first cross member, and the third slider 122 may be slidably connected with the first slide rail 121. It will be appreciated that in the embodiment of the present application, the two mutually intersecting transmission rods 1431a of the cross member 1431 are mutually close to or far from each other on the first slide rail 121 when they are mutually intersecting to rotate. In addition, to ensure that the two transmission rods 1431a intersecting each other can rotate normally, in the embodiment of the present application, the third slider 122 is rotatably connected to the transmission rod 1431a, where the rotation axes of the third slider 122 and the transmission rod 1431a are parallel or approximately parallel to the transmission shafts of the two transmission rods 1431a rotating in an intersecting manner.

It should be noted that, in the embodiment of the present application, the sliding connection manner of the second cross member and the object taking assembly 13 may be specifically the same as or similar to the sliding connection manner of the first cross member and the movable seat 12, and reference may be made specifically to the detailed description of the sliding connection manner between the first cross member and the movable seat 12 in the foregoing embodiment of the present application, which is not repeated herein.

Wherein the cross piece 1431 in each cross piece unit 143 has a hinge shaft 144. It will be appreciated that the two drive links 1431a of the cross member 1431 are hinged by the hinge shaft 144. The second driving structure 15 is connected to the hinge shaft 144 in one of the cross member units 143 to drive the cross member 1431 to increase or decrease the included angle towards the picking assembly 13, so as to enable the second end 142 of the telescopic structure 14 to move towards or away from the first end 141 accordingly.

In some examples (not shown), each of the cross-pieces 1431 corresponds to one hinge axis, i.e., two hinge axes are provided in one cross-piece unit 143, wherein two transmission rods 1431a in one cross-piece 1431 are hinged by one hinge axis 144, and two transmission rods 1431a in the other cross-piece 1431 are hinged by the other hinge axis 144, and the second driving structure 15 is connectable with one hinge axis in one of the cross-piece units 143 to drive the cross-piece 1431 connected to the hinge axis to move in the first direction x.

Since two intersecting members 1431 opposite to each other in the second direction are further rotatably connected with a rotation shaft 145 (refer to fig. 5) between one intersecting member 1431 and an end portion of the other intersecting member 1431, the rotation shaft 145 is used for connecting two intersecting members 1431 adjacent to each other in the first direction, so that when one intersecting member 1431 is driven by the second driving structure 15 to move, the other intersecting member 1431 in the one intersecting member unit 143 can be driven by the rotation shaft 145 to move, thereby realizing the extension and retraction of the scissors fork structure in the first direction.

In other examples, one hinge shaft 144 is provided for each of the cross-piece units 143, that is, in the present embodiment, the number of hinge shafts 144 corresponds to the number of cross-piece units 143, and two cross-pieces 1431 in each cross-piece unit 143 share one hinge shaft 144. For example, referring to fig. 5 to 7, in each of the crossing unit 143, both ends of the hinge shaft 144 are respectively extended to two crossing members 1431, and the two crossing members 1431 are respectively hinged to the ends of the hinge shaft 144, i.e., one of the crossing members 1431 is hinged to one end of the hinge shaft 144 and the other crossing member 1431 is hinged to the other end of the hinge shaft 144

In this way, only one hinge shaft 144 is required for connection of the four transmission rods 1431a in each cross member unit 143, the number of hinge shafts 144 is saved, the installation connection of the cross member units 143 is facilitated, and the stability of the cross member units 143 in telescopic transmission is improved.

It will be appreciated that in this example, the two cross members 1431 arranged in the second direction are connected by the hinge shaft 144, and the second driving structure 15 is connected to one of the hinge shafts 144 of the plurality of cross member units 143, so as to drive the hinge shaft 144 to move in the first direction, and the hinge shaft 144 can simultaneously drive the two cross members 1431 arranged in the second direction z to move in the first direction x, so that the stable movement of the first scissors fork structure in the first direction x is ensured, and the driving precision of the second driving structure 15 to the scissors fork structure is improved.

Referring to fig. 6, when the second driving structure 15 drives the hinge shaft 144 to move in the positive x-axis direction in fig. 6, the ends of the two transmission rods 1431a of the cross member 1431 move toward each other (i.e., the angle between the two transmission rods 1431a decreases in the first direction), so that the angle between the length direction of the transmission rods 1431a and the direction shown in the x-axis decreases, i.e., the length component of the transmission rods 1431a increases in the direction shown in the x-axis, and at this time, the telescopic structure 14 pushes the pickup assembly 13 to move in the first direction toward the direction away from/away from the movable base 12; in some applications, it is also understood that the telescoping structure 14 urges the access module 13 to move in a first direction toward the cargo box. That is, in the first direction, the distance between the both ends of the crossing unit 143 increases.

It will be appreciated that at this time, the end of the first cross member slidably connected to the movable base 12 moves in a direction toward/approaching each other, and correspondingly, the end of the second cross member slidably connected to the picking assembly 13 also moves in a direction toward/approaching each other.

As will be appreciated, with continued reference to fig. 6, as the second drive structure 15 drives the articulation shaft 144 to move in the negative x-axis direction in fig. 6, the ends of the two drive rods 1431a in the cross member 1431 move away from each other (i.e., the angle between the two drive rods 1431a increases in the first direction), such that the angle between the length direction of the drive rods 1431a and the direction shown in the x-axis increases, i.e., the length component of the drive rods 1431a decreases in the direction shown in the x-axis, at which time the telescopic structure 14 pulls the retrieval assembly 13 to move in the first direction toward/toward the mobile seat 12; in some application scenarios, it may also be understood that the telescopic structure 14 pulls the pickup assembly 13 to move in the first direction towards the moving base 12.

That is, in the first direction, the distance between the two ends of the transmission assembly decreases. It will be appreciated that at this point, the end of the first cross member slidably coupled to the movable base 12 moves in a direction away from each other, and correspondingly, the end of the second cross member slidably coupled to the picking assembly 13 also moves in a direction away from each other.

In this embodiment, by providing at least two intersecting member units 143 sequentially along the first direction, the intersecting member units 143 include two intersecting members 1431 oppositely disposed along a direction perpendicular to the first direction, and each intersecting member 1431 includes a transmission rod 1431a intersecting with each other; each group of cross member units 143 is connected by one hinge shaft 144, so that two transmission rods 1431a are rotatably connected by the hinge shaft 144, and two cross members 1431 are connected by the hinge shaft 144, so that a double-layer scissors fork structure is constructed; thus, when the telescopic structure 14 is driven to stretch along the first direction by being connected with one of the hinge shafts 144 through the second driving structure 15, the stability of the telescopic structure 14 stretching is ensured, namely, the stability and success rate of taking and returning the target object are improved.

In addition, when the fetching mechanism 1 provided in the embodiment of the present application is used to fetch a container, the second driving member 151 may be used to drive the second driving member so that the telescopic structure 14 stretches, so that the length component of the driving rod 1431a in the cross member unit 1431 increases in the direction along the x axis shown in fig. 6, that is, the length component of the driving rod 1431a decreases in the direction perpendicular to the x axis and parallel to the surface of the base 11, so that the driving rod 1431a needs to occupy a smaller width space, and for some containers, the width of the container is narrower, and the container is in an inner deep position (which may be understood to be a position stored in some examples), the fetching assembly 13 may be first inserted into the channel 136 formed after the container in the outer body position is fetched, after the fetching assembly 13 provides a sufficient moving/carrying force for the container, the moving seat 12 is first driven by the first driving member 161 to move the telescopic structure 14 and the fetching assembly 13, and the container is moved to an outer deep position, and then the telescopic structure 14 is driven by the second driving member 151; can effectively adapt to taking and carrying the packing box with narrower width.

It will be appreciated that when the box returning operation is performed on the container, the control may be opposite to the box taking operation in the foregoing embodiment of the present application, for example, the telescopic structure 14 may be driven to be unfolded by the second driving member 151, and the container to be returned may be placed in the deep position, where, due to the telescopic structure 14 being in the unfolded state, the length component of the transmission rod 1431a in the direction shown by the x axis in fig. 6 increases, and accordingly, the length component of the transmission rod 1431a in the direction perpendicular to the x axis in fig. 6 and parallel to the surface of the base 11 is smaller, and the occupied space is smaller; at this time, the first driving member 161 drives the movable base 12 to move in the first direction (i.e., the direction shown by the x-axis in fig. 6), so that the container to be returned can be moved to the deep position.

In some optional examples of embodiments of the present application, with continued reference to fig. 5-7, the telescoping structure 14 includes multiple sets of cross-member units 143, and in particular, 3 sets of cross-member units 143 are shown as specific examples in the drawings of embodiments of the present application, it will be appreciated that in some examples, the cross-member units 143 may also be 4 sets, 5 sets, or more. In a specific setting, the specific number of the cross-piece units 143 may be specifically determined according to the depth of the warehouse, and in the embodiment of the present application, the specific number of the cross-piece units 143 is not limited.

It is also understood that when the cross-member units 143 are plural, one ends of the adjacent two sets of cross-member units 143 connected to each other are connected by the hinge shaft 144. In some specific examples, the hinge shaft 144 may be a rotation shaft 145, that is, a transmission rod 1431a between two adjacent sets of the cross-piece units 1431 is rotatably connected by the rotation shaft 145, thereby facilitating the overall telescoping of the entire telescopic structure 14.

In this embodiment of the application, through setting up multiunit cross-piece unit 143, like this, the scalable scope of extending the extending structure 14 of being convenient for to be convenient for get still target article to the storage demand of difference, promoted the adaptability to different storage demands.

In some alternative examples of embodiments of the present application, referring to fig. 6, the fetching mechanism 1 further comprises a first limiting element 17. Specifically, in the embodiment of the present application, the first limiting member 17 is connected between the first cross member and the movable base 12. That is, the first crossing member may be coupled to the movable base 12 by the first limiting member 17. Alternatively, in some examples, it is also understood that one end of the first stopper 17 is connected to the movable base 12, and the other end of the first stopper 17 is connected to the first crossing member, thereby restricting the movement of the first crossing member on the movable base 12.

Here, it should be noted that, the end portions of the transmission rods 1431a of the first cross member may specifically be slidably connected between the first slide rail 121 and the third slide block 122 in the foregoing embodiments of the present application, and since the two transmission rods 1431a of the first cross member are rotationally connected with each other, the sliding directions of the two third slide blocks 122 are always opposite, specifically, the sliding directions are opposite (close to each other or close to each other), or the sliding directions are opposite (away from each other). In this embodiment, the first limiting member 17 specifically limits the sliding of the first cross member along the first sliding rail 121, that is, the first limiting member 17 specifically shows that the two third sliding blocks 122 slide along the same direction, so as to limit the translation of the first end 141 of the telescopic structure 14 on the moving seat 12.

In a specific example, the first limiting member 17 may be a link 171, one end of the link 171 is rotatably connected to the moving seat 12, and the other end of the link 171 is rotatably connected to the transmission rod 1431 a; thus, when the transmission rod 1431a rotates to enable the telescopic structure 14 to extend and retract, the connecting rod 171 can rotate along with the transmission rod 1431a, and when the telescopic structure 14 translates, the connecting rod 171 can limit the translation of the telescopic structure 14.

Here, a first rotation axis is provided between the link 171 and the moving seat 12, and a second rotation axis is provided between the link 171 and the transmission rod 1431a, wherein the first rotation axis is parallel or approximately parallel to the second rotation axis; in addition, the first rotational axis, the second rotational axis, and the rotational axis between the two transmission rods 1431a are parallel or approximately parallel.

In another example of an embodiment of the present application, with continued reference to fig. 6, the retrieval mechanism 1 further includes a second stop 18, the second stop 18 being coupled between the second cross member and the retrieval assembly 13, thereby limiting translation of the second end 142 of the telescoping structure 14 on the retrieval assembly 13. That is, one end of the second limiting member 18 is connected to the picking assembly 13, and the other end of the second limiting member 18 is connected to the second cross member.

As a specific example of the embodiment of the present application, the structure and specific arrangement manner of the second limiting member 18 may be the same as or similar to that of the first limiting member 17, and specific reference may be made to the detailed description of the first limiting member 17 in the foregoing embodiment of the present application, which is not repeated herein.

In this embodiment of the application, through set up first locating part 17 between first alternately spare and remove seat 12 and carry out spacingly to the translation between the first end 141 of extending structure 14 and the removal seat 12, like this, guaranteed extending structure 14 when getting thing subassembly 13 along the flexible removal of first direction, extending structure 14 and the position of removing seat 12 are relatively fixed, can guarantee to get the stability of returning the packing box process, avoided getting the condition emergence that returning the packing box in-process extending structure 14 takes place the translation and leads to the packing box unable to be got normally still.

In addition, through setting up second locating part 18 between second alternately piece and getting thing subassembly 13, carry out spacingly to the translation of getting between thing subassembly 13 and the extending structure 14 second end 142 through second locating part 18, guaranteed that get thing subassembly 13 can not take place translation or skew for extending structure 14 second end 142 in-process of getting and returning the packing box to guaranteed the packing box and got the accuracy of returning.

In yet other alternative examples of embodiments of the present application, with continued reference to fig. 6, one of the first and second stop members 17, 18 includes two links 171. Specifically, the case where the first stopper 17 includes two links 171 is shown as a specific example in the embodiment of the present application.

Specifically, one of the two links 171 is rotatably connected to one of the transmission rods 1431a in the first cross member, and the other of the two links 171 is rotatably connected to the other transmission rod 1431a in the first cross member; further, the two links 171 are rotatably connected to the movable base 12, and in a specific arrangement, the two links 171 and the movable base 12 may be rotated about the same rotation axis, that is, the two links 171 rotate about the same rotation point on the movable base 12. In this way, the two links 171 and the two transmission members of the first cross-piece form a parallelogram structure (or in some examples also a four-link 171 structure), which limits the translation of the telescopic structure 14 on the mobile seat 12, since the rotation points of the two links 171 on the mobile seat 12 are fixed.

It will be appreciated that in some alternative examples of embodiments of the present application, the specific configuration of the second stop 18 may be the same as or similar to the first stop 17.

It will be further appreciated that, as described in detail in the foregoing embodiments of the present application, in this embodiment, the moving base 12, the telescopic structure 14 and the fetching assembly 13 are all disposed on the base 11, that is, the telescopic structure 14 has a relative movement tendency with the base 11 during the telescopic movement of the telescopic structure 14 along the first direction. In order to avoid structural interference between the first limiting member 17 and the base 11, referring to fig. 1, in the embodiment of the present application, the first limiting member 17 is disposed on a side of the telescopic structure 14 facing away from the base 11, so as to facilitate telescopic movement of the telescopic structure 14.

In other alternative examples of embodiments of the present application, with continued reference to fig. 6, the other of the first and second stop members 17, 18 may include two oppositely disposed extensions 181. Specifically, in the embodiment of the present application, the second limiting member 18 includes two extending portions 181 disposed opposite to each other as a specific example.

Specifically, in the embodiment of the present application, the two extending portions 181 are fixedly connected to a side of the fetching assembly 13 facing the moving seat 12, or in some examples, it is also understood that the two extending portions 181 are fixedly connected to a side of the fetching assembly 13 facing the telescopic structure 14. A limiting cavity 182 or a limiting notch is formed between the two extending parts 181, and when the device is specifically arranged, the hinge shaft 144 between the two second cross pieces is penetrated into the limiting cavity 182 or the limiting notch, so that the hinge shaft 144 moves along the limiting cavity 182 or the limiting notch in the process of telescopic movement of the telescopic structure 14 along the first direction.

That is, in the embodiment of the present application, the extending direction of the limiting cavity 182 or the limiting slot may be consistent with the first direction, for example, the extending direction of the limiting cavity 182 or the limiting slot is parallel or approximately parallel to the first direction.

In some alternative examples, the length of the limiting cavity 182 or the limiting notch extending along the first direction may be greater than or equal to the distance that the hinge shaft 144 between the two second cross members is movable along the first direction, so that the hinge shaft 144 can be ensured to be always located in the limiting cavity 182 or the limiting notch and limited, the situation that the hinge shaft 144 is separated from the limiting cavity 182 or the limiting notch can be avoided, and the stability of limiting the telescopic structure 14 and the fetching assembly 13 is improved.

It will be appreciated that in the embodiment of the present application, the second stop 18 may be disposed between two second cross members, as shown with reference to fig. 6. In this way, the hinge shaft 144 between the two second cross members can be directly utilized to penetrate into the limiting cavity 182, and the hinge shaft 144 does not need to be subjected to extension treatment, so that the use materials of the hinge shaft 144 can be effectively saved, and the occupied space can be reduced.

It will also be appreciated that in alternative examples of embodiments of the present application, the first stop 17 may be provided by way of two oppositely disposed extensions 181.

As a specific example, in the embodiment of the present application, the first limiting member 17 specifically includes two connecting rods 171, and the second limiting member 18 specifically includes two oppositely disposed extending portions 181. That is, the specific structures of the first stopper 17 and the second stopper 18 may be different.

Referring to fig. 4, in an alternative example of the embodiment of the present application, one hinge shaft 144 connected to the second driving structure 15 is configured as a power shaft. When specifically arranged, the second driving structure 15 further includes a second driving block 155, and the second driving block 155 is connected to one end of the power shaft. Specifically, the second driving block 155 is fixedly connected with the power shaft. In some examples, referring to fig. 4, the second driving belt 153 in the second driving structure 15 may be specifically one of a chain, a belt, a synchronous belt or a timing belt, where the second driving block 155 may be fixed on the second driving belt 153, and when the second driving member 151 drives the second driving belt 153 to move, the second driving block 155 is driven to move along the first direction.

In the embodiment of the present application, one hinge shaft 144 connected to the second driving structure 15 among the corresponding hinge shafts 144 of the crossing unit 143 is configured as a power shaft, and the power shaft is connected to the second driving structure 15 through the second driving block 155; in this way, the second driving structure 15 is convenient to drive the telescopic structure 14, and an additional power mechanism is not required to be arranged independently, so that the overall structure of the telescopic structure 14 is simplified.

It will be appreciated that, referring to fig. 4, in the embodiment of the present application, three sets of cross-member units 143 are provided along the first direction as a specific example, and in the embodiment of the present application, the hinge shaft 144 corresponding to any one of the three sets of transmission assemblies may be used as a power shaft and connected to the second driving structure 15 through the second driving block 155.

In a specific example of the embodiment of the present application, the hinge shaft 144 corresponding to one set of transmission assemblies of the three sets of the crossing unit 143 near/toward the moving base 12 is used as a power shaft, that is, the hinge shaft 144 disposed between the two first crossing members is connected with the second driving block 155, so as to be connected with the second driving structure 15 through the second driving block 155, so that the second driving structure 15 drives the telescopic structure 14 to be telescopic in the first direction.

In this embodiment, the hinge shaft 144 between the two first cross members is used as a power shaft, so that the length of the second transmission belt 153 required to be set along the first direction can be reduced, the space required to be occupied by the second transmission belt 153 can be effectively saved, and the material consumption of the second transmission belt 153 can be effectively saved.

In other alternative examples of the embodiment of the present application, referring to fig. 1 and 4, in the embodiment of the present application, a second guide rail 114 is provided on the base 11, and a second slider 147 is provided on the telescopic structure 14; the second rail 114 may specifically extend along the first direction, that is, the extending direction of the second rail 114 may be consistent with the first direction, and the second slider 147 may specifically slide along the second rail 114.

It can be understood that, in the embodiment of the present application, the telescopic structure 14 is specifically a telescopic structure 14 formed by connecting multiple sets of cross member units 143, and a parallelogram structure (may also be understood as a four-bar 171 structure) is formed between two adjacent sets of transmission bars 1431a, during the specific telescopic process, the two transmission bars 1431a intersecting each other in each set of cross member units 143, except for the intersecting point of the intersecting rotation, all other positions of the transmission bars 1431a may be changed, so as to ensure the normal telescopic structure 14, and avoid the occurrence of the situation that the second slider 147 cannot slide due to the stress between the second slider 147 and the second guide rail 114.

In the embodiment of the present application, by providing the second guide rail 114 extending along the first direction on the base 11, the second slider 147 is provided on the telescopic structure 14, and when the telescopic structure 14 moves telescopically along the first direction, the second slider 147 slides on the second guide rail 114; in this way, the cooperation of the second slider 147 and the second guide rail 114 can play a certain guiding and limiting role on the telescopic direction of the telescopic structure 14, so that the telescopic stability of the telescopic structure 14 is ensured.

Fig. 8 is a schematic diagram of another overall structure of the fetching mechanism according to the embodiment of the present application.

Referring to fig. 1 and 8, in other optional examples of the embodiment of the present application, the fetching mechanism 1 further includes: the follower tray 19, specifically, the follower tray 19 may be movably disposed on the base 11; it will be appreciated that in embodiments of the present application, the direction of movement of the follower tray 19 may be substantially aligned with the first direction, that is, the direction of movement of the follower tray 19 on the base 11 may be parallel or approximately parallel to the first direction. In a specific application scenario, when the object taking assembly 13 takes back the target object, the follow-up tray 19 is abutted against the front end surface of the target carrier, so that a gap between the base 11 and the target carrier is filled; therefore, when the object taking assembly 13 takes back the object, the follow-up tray 19 can play a role in supporting and bearing the object carried on the object taking assembly 13, and the object can be effectively prevented from falling from the gap between the base 11 and the object carrier.

It will be appreciated that, as described in detail in the foregoing embodiments of the present application, when the object picking assembly 13 picks up the target object, the object picking assembly 13 may be driven to move by the movement of the moving seat 12; alternatively, in some examples, the movement of the fetching assembly 13 may be driven by the movement of the telescopic structure 14; alternatively, in other examples, it is also possible that the movable base 12 cooperates with the telescopic structure 14 to move the fetching assembly 13. Thus, in embodiments of the present application, movement of the follower tray 19 may be along with at least one of the mobile station 12 and the retrieval assembly 13.

In an alternative example of embodiment of the present application, the follower tray 19 may be specifically fixed with the mobile seat 12; in the process of taking the object from the object taking component 13, whether a gap exists between the base 11 and the target carrier or not can be judged; when a gap exists between the base 11 and the target carrier, the first driving member 161 can drive the moving seat 12 to move, so that the following tray 19 abuts against the front end surface of the target carrier, and at this time, the driving of the moving seat 12 can be stopped, and the telescopic structure 14 is driven by the second driving member 151, so that the fetching assembly 13 continues to move.

With continued reference to fig. 8, in other alternative examples of embodiments of the present application, two follower trays 19 may be provided, with the two follower trays 19 being arranged in a direction perpendicular to the third direction; in particular, there is a gap between the two follower trays 19, which facilitates the sliding connection of the second rail 114 with the second slider 147 provided on the telescopic structure 14.

Fig. 9 is a schematic structural diagram of the cooperation between the base and the follow-up tray in the fetching mechanism provided in the embodiment of the present application, and fig. 10 is a schematic structural diagram of the cooperation between the moving seat and the follow-up tray in the fetching mechanism provided in the embodiment of the present application. Fig. 11 is a schematic structural diagram of a state in which a follower tray extends out of a base in the fetching mechanism according to the embodiment of the present application, and fig. 12 is a schematic structural diagram of a state in which the follower tray retracts back into the base in the fetching mechanism according to the embodiment of the present application.

In other optional examples of the embodiment of the present application, referring to fig. 9, the fetching mechanism 1 further includes: an elastic component 120. Specifically, the elastic component 120 has a third end and a fourth end opposite to each other along the elastic direction, wherein the third end is connected to the follower tray 19, and the fourth end is connected to the base 11. In a specific arrangement, referring to fig. 10, one end of the movable base 12 may be provided with a bending portion 123, and one end of the follower tray 19 may be provided with an extension portion 191; when the follower tray 19 is in the initial position (here, the initial position may be a position when the follower tray 19 does not protrude from the base 11, for example, a position shown with reference to fig. 12), the bending portion 123 abuts on a side of the protruding portion 191 toward the front end surface of the follower tray 19 as shown with reference to fig. 10, and at this time, the elastic member 120 has the first deformation amount as shown with reference to fig. 12.

In this embodiment, the initial position may specifically refer to a position when either of the moving seat 12 and the picking assembly 13 is not moved, that is, the following tray 19 is located on the base 11 and no position movement occurs. In a specific example, the elastic component 120 may be a compression spring, and when the follower tray 19 is in the initial position, the third end may be a specific end of the elastic component 120 facing away from the movable seat 12, and the fourth end may be a specific end of the elastic component 120 facing toward the movable seat 12, where the elastic component 120 may be in a compressed state, i.e. the first deformation of the elastic component 120 is a compression deformation.

In addition, referring to fig. 11, the elastic member 120 has a second deformation amount when the follower tray 19 is in the end position. Referring to fig. 11, in the embodiment of the present application, the end position may specifically be a position where the follower tray 19 is located on the base 11 when the follower tray 19 abuts on the front end surface of the target carrier (in some examples, at least part of the follower tray 19 protrudes out of the base 11). At this time, the compression state of the elastic member 120 is gradually released due to the relative movement of the follower tray 19 and the base 11, so that the compression amount (or deformation amount) of the elastic member 120 is gradually reduced, i.e., the second deformation amount is smaller than the first deformation amount.

As a specific example, the compression set of the elastic member 120 may be completely released when the follower tray 19 is in the end state, i.e., the second deformation amount of the elastic member 120 may be zero.

In other alternative examples of the embodiment of the present application, the elastic assembly 120 may further include a tension spring, where the third end and the fourth end are both provided with a tension spring hook (not numbered in the figure), and in a specific arrangement, the third end may be specifically an end of the tension spring facing the movable seat 12, and the fourth end may be specifically an end of the tension spring facing away from the movable seat 12; that is, the third end of the tension spring is hooked to the following tray 19 by the tension spring hook, and the fourth end of the tension spring is hooked to the base 11 by the tension spring hook. When the follow-up tray 19 is in the initial position, the tension spring has a first deformation amount, and at this time, the tension spring may be in a stretched state, that is, the first deformation of the tension spring is changed into a stretching deformation; when the follower tray 19 is in the end position, the tension state of the tension spring is gradually released, so that the tension state is gradually restored to the natural extension state from the tension state.

It can be appreciated that, in this embodiment of the present application, to ensure that the trailing tray 19 can abut against the front end of the target carrier when the trailing tray 19 is in the end position, the elastic component 120 may still be kept to have a certain deformation (i.e., the second deformation) when the trailing tray 19 is in the end position, so that the trailing tray 19 still receives a certain elastic force provided by the elastic component 120 when it is in the end position, so that the tightness and stability of the abutting between the trailing tray 19 and the front end of the target carrier can be ensured.

Referring to fig. 9, 11 and 12, in some alternative examples of embodiments of the present application, a third guide rail 194 and a fourth slider 195 are provided between the follower tray 19 and the base 11; specifically, in the embodiment of the present application, one of the third guide rail 194 and the fourth slider 195 may be disposed on a side of the follower tray 19 facing the base 11 (which may be understood as being below the follower tray 19 when in specific use), for example, the third guide rail 194 may be fixedly connected with the follower tray 19; in addition, the other of the third guide rail 194 and the fourth slider 195 may be provided on the base 11, the fourth slider 195 being slidably connected to the third guide rail 194, and in one specific example, the fourth slider 195 may be fixed to the base 11, and the third guide rail 194 being slid with respect to the fourth slider 195 while moving together with the follower tray 19. It will be appreciated that in some alternative examples, it is also possible to fix the third rail 194 to the base 11 and to provide the fourth slider 195 on the follower tray 19 such that the follower tray 19 moves in the direction of the third rail 194. In this way, the stability of the following tray 19 moving under the driving of the elastic component 120 can be effectively improved.

In a specific example of the embodiment of the present application, referring to fig. 9, the fourth slider 195 may be specifically provided with two fourth sliders 195 arranged side by side in the first direction. In this way, the stability of the movement of the follow-up tray 19 can be effectively improved. Of course, it will be appreciated that, with reference to fig. 1, when there are two follower trays 19, each follower tray 19 may be correspondingly provided with two fourth sliders 195.

The following describes the specific movement process of the follower tray 19 in the embodiment of the present application in detail:

referring to fig. 10 and 12, when the follower tray 19 is at the initial position, the bending portion 123 abuts against a side of the protrusion 191 facing the target carrier, or the bending portion 123 provides a force in the negative x-axis direction of fig. 10 to the follower tray 19 through the protrusion 191, so that the elastic member 120 is deformed and has a first deformation amount; when the container needs to be taken or returned, the first driving member 161 drives the moving seat 12 to move along the positive x-axis direction in fig. 10, at this time, along with the movement of the moving seat 12, the acting force of the bending portion 123 on the protruding portion 191 changes, the elastic component 120 provides an elastic force to the following tray 19, so that the following tray 19 moves along the positive x-axis direction in fig. 10, the deformation of the elastic component 120 gradually decreases until the following tray 19 abuts against the front end of the target carrier, at this time, the following tray 19 cannot move continuously, and the elastic component 120 has a second deformation.

It can be appreciated that in the embodiment of the present application, after the follower tray 19 abuts against the front end of the target carrier, since the movable base 12 and the follower tray 19 interact through the bending portion 123 and the protruding portion 191, that is, the movable base 12 and the follower tray 19 are not fixedly connected; therefore, the movable seat 12 can still move continuously under the drive of the first driving structure 16, and the follow-up tray 19 does not influence the movement of the movable seat 12, so that the container in the deep position can be taken out conveniently.

It may be further understood that in this embodiment of the present application, after the return of the container or the taking of the container is completed by the fetching assembly 13, the first driving structure 16 may drive the moving seat 12 to move until the bending portion 123 contacts with the extending portion 181, and the telescopic structure 14 contracts along the first direction, so as to drive the fetching assembly 13 and the container on the fetching assembly 13 to move, and move the container onto the follow-up tray 19, where the follow-up tray 19 plays a role in supporting and supporting the container, and then, the first driving structure 16 continues to drive the moving seat 12 to move, where the bending portion 123 applies a force along the negative x-axis direction in fig. 10 to the extending portion 181, and drives the follow-up tray 19 and the container on the follow-up tray 19 to move together, so as to take out the container, and the elastic assembly 120 deforms and stores energy until the follow-up tray 19 moves to the initial position.

In the embodiment of the present application, the third end of the elastic component 120 is connected to the following tray 19, and the fourth end of the elastic component 120 is connected to the base 11; in this way, when the fetching component 13 fetches and returns the target object, the follow-up tray 19 can move under the deformation change of the elastic component 120, so that a driving mechanism is not required to be arranged solely for the movement of the follow-up tray 19, and the structure of the fetching mechanism 1 can be effectively simplified; moreover, the movement of the follow-up tray 19 moves synchronously with the movement of the movable seat 12, so that the follow-up tray 19 can be used for filling gaps between the base 11 and the target carrier in the process of taking and returning the target object, and the situation that the target object falls is effectively avoided.

Fig. 13 is a schematic structural view of the third limiting member and the following tray in the fetching mechanism according to the embodiment of the present application, and fig. 14 is a schematic structural view of the third limiting member and the following tray in the fetching mechanism according to the embodiment of the present application.

In other alternative examples of embodiments of the present application, referring to fig. 1, 13 and 14, the fetching mechanism 1 further includes a third limiting member 110. Specifically, in the embodiment of the present application, the third limiting member 110 may be specifically disposed on the base 11, and the third limiting member 110 is located at the front end of the following tray 19.

It should be noted that, referring to fig. 1, in the embodiment of the present application, the third limiting member 110 may be specifically disposed at an edge of the front end of the base 11; the front end of the base 11 may specifically be an end of the base 11 facing the target carrier when the fetching mechanism 1 fetches and returns the target object.

Specifically, in the embodiment of the present application, referring to fig. 13, the third limiting member 110 has a first state in which at least a portion of the third limiting member 110 extends out of the supporting surface 192 of the following tray 19. It will be appreciated that referring to fig. 1, the support surface 192 of the follower tray 19 may specifically refer to a surface of the follower tray 19 that supports the target article. In some specific examples, the support surface 192 may also refer to a surface of the follower tray 19 facing away from the base 11. That is, in the embodiment of the present application, at least part of the third limiting member 110 extends along a surface perpendicular to the base 11, and at least part of the third limiting member 110 protrudes from the supporting surface 192 of the follow-up tray 19. Thus, the portion of the third stop 110 that protrudes beyond the support surface 192 can stop or block the target item on the follower tray 19 when the target item or container is present on the follower tray 19.

Referring to fig. 14, the third limiting member 110 further has a second state, in which the third limiting member 110 is integrally located between the following tray 19 and the base 11, that is, in a specific application, when the following tray 19 extends out of the base 11 under the action of the elastic component 120, the third limiting member 110 is switched from the first state to the second state, so that the third limiting member 110 can be effectively prevented from affecting or blocking the movement of the following tray 19, and the movement of the following tray 19 is facilitated.

In an alternative example of the embodiment of the present application, the third limiting member 110 may be specifically rotatably connected to the base 11, and when the third limiting member 110 is switched from the first state to the second state, the third limiting member 110 rotates from being perpendicular to the surface of the base 11 to being parallel to the surface of the base 11; and when the third limiting member 110 is switched from the second state to the first state, the third limiting member 110 may rotate from being parallel to the surface of the base 11 to being perpendicular to the surface of the base 11.

In some possible examples, the third limiting member 110 may be rotated by a motor, for example, when the following tray 19 needs to be extended, it may be determined that no target object or container is supported on the following tray 19 at this time, the third limiting member 110 may be driven by the motor to switch to the second state (i.e., the third limiting member 110 is parallel to the base 11), and then the first driving structure 16 drives the moving seat 12 to move, so that the following tray 19 extends out of the base 11. When the follow-up tray 19 returns to the initial position, the motor drives the third limiting member 110 to switch to the first state.

In yet other alternative examples of embodiments of the present application, with continued reference to fig. 13 and 14, the third stop 110 includes a first portion 1101 and a second portion 1102 that are angled. It should be noted that, in the embodiment of the present application, the first portion 1101 and the second portion 1102 may be specifically formed as an integrally formed structure; of course, in some examples, the first portion 1101 and the second portion 1102 may also be integrally connected by welding. Wherein the first portion 1101 and the second portion 1102 form a certain included angle, which specifically means that the first portion 1101 and the second portion 1102 are not parallel; in some specific examples, the included angle between the first portion 1101 and the second portion 1102 may be an acute angle, a right angle, or an obtuse angle. As a specific example of an embodiment of the present application, referring to fig. 13 and 14, the angle between the first portion 1101 and the second portion 1102 may be a right angle or approximately a right angle.

In a specific arrangement, the connection between the first portion 1101 and the second portion 1102 is rotatably connected to the base 11, so that the space occupied by the side of the third limiting member 110 facing the base 11 during rotation can be effectively reduced, and the rotation of the third limiting member 110 is facilitated. Referring to fig. 13 and 14, in the embodiment of the present application, the second portion 1102 is located between the first portion 1101 and the front end of the base 11, that is, the second portion 1102 is connected to the side of the first portion 1101 facing the front end of the base 11, and the first portion 1101 is located between the follower tray 19 and the base 11, in other words, the first portion 1101 is located at the bottom of the follower tray 19.

It will be appreciated that, referring to fig. 13, when the third limiting member 110 is in the first state (i.e., when the follower tray 19 is in the initial position), the second portion 1102 is located at the front end of the follower tray 19, and the first portion 1101 is located at the bottom of the follower tray 19; in addition, referring to fig. 13, the front end of the follower tray 19 is provided with a collision member 193, the collision member 193 is located between the follower tray 19 and the base 11, and the collision member 193 is located between the first portion 1101 and the second portion 1102; referring to fig. 13, when the third stop member 110 is in the first state, the abutting member 193 may contact (e.g., directly contact or indirectly contact) the first portion 1101, so as to lock the third stop member 110 in the first state, that is, when the target object or container is supported on the follower tray 19, the position of the follower tray 19 remains unchanged, and at this time, the abutting member 193 abuts against the first portion 1101, so that the third stop member 110 cannot rotate with the base 11, thereby ensuring that the second portion 1102 limits the target object or container on the follower tray 19.

It will be further appreciated that, in the embodiment of the present application, when the front end of the follower tray 19 extends outside the base 11 (i.e., when the position of the follower tray 19 is switched from the initial position to the end position), the abutting member 193 pushes against the second portion 1102 (the abutting member 193 may directly contact the second portion 1102 to push the second portion 1102, or may indirectly contact the second portion 1102 to push the second portion 1102), so that the third limiting member 110 rotates relative to the base 11, i.e., the third limiting member 110 is switched from the first state to the second state.

With continued reference to fig. 14, in the embodiment of the present application, when the third limiting member 110 is in the second state, the distance between the second portion 1102 and the supporting surface 192 of the follower tray 19 may be greater than or equal to the length of the first portion 1101, so as to ensure smooth rotation of the first portion 1101 when the third limiting member 110 is switched from the first state to the second state.

In this embodiment, the third limiting member 110 is configured to include a first portion 1101 and a second portion 1102 that form a certain included angle, and an abutting member 193 is disposed at the front end of the follow-up tray 19, where the abutting member 193 is disposed between the first portion 1101 and the second portion 1102; in this way, during the process of switching the following tray 19 from the initial position to the final position, the abutting member 193 can push the second portion 1102, so that the third limiting member 110 rotates on the base 11 around the connection between the first portion 1101 and the second portion 1102, and the third limiting member 110 is convenient to switch from the first state to the second state. In addition, when the follower tray 19 is switched from the end position to the initial position, the abutting member 193 pushes the first portion 1101, so that the third limiting member 110 is switched from the second state to the first state, so as to facilitate limiting the target object or container supported on the follower tray 19, and avoid falling of the target object.

It will be appreciated that with reference to fig. 13, when a target article or container is supported on the follower tray 19, as the target article applies a force to the second portion 1102, the third stop member 110 is maintained in the first condition and acts as a stop for the target article or container as the interference member 193 applies an interference force to the first portion 1101.

In some alternative examples of embodiments of the present application, the rotational connection of the third stop 110 to the base 11 may be a damped rotational connection; that is, when the position of the follower tray 19 is switched from the initial position to the end position, after the third stopper 110 is switched from the first state (see fig. 13) to the second state (see fig. 14), the position of the follower tray 19 may not yet reach the end position, that is, the follower tray 19 may continue to move, in which case the rotation of the third stopper 110 and the base 11 is set to a damped rotation, so that the state of the third stopper 110 may be maintained at the angle of the second state shown in fig. 14, that is, the second portion 1102 may be maintained parallel to the surface of the base 11; in this way, when the follower push plate is switched from the end position to the initial position, the influence of the second portion 1102 on the abutting member 193 can be effectively avoided, so that the position of the follower push plate and the state of the third limiting member 110 can be switched conveniently.

It will be further appreciated that referring to fig. 14, a reinforcing rib is generally disposed at the bottom of the follower tray 19, and in this embodiment, when the third limiting member 110 is in the second state, a gap is formed between the first portion 1101 and the bottom of the follower tray 19, where the gap is greater than or equal to a distance that the reinforcing rib protrudes from the bottom of the follower tray 19; in addition, it will be appreciated that the gap between the first portion 1101 and the bottom of the follower tray 19 is less than the distance the interference member 193 protrudes from the bottom of the follower tray 19.

In other alternative examples of embodiment of the present application, with continued reference to fig. 13 and 14, the first portion 1101 is provided with a first roller 1101a rotatable about its own axis, and the circumferential surface of the first roller 1101a is disposed facing the abutting member 193; in some specific examples, the first roller 1101a may be disposed at an end of the first portion 1101 facing away from the second portion 1102, or the first roller 1101a may be understood to be disposed at an end of the first portion 1101. In this way, in the process of switching the following tray 19 from the end position to the initial position, the abutting member 193 pushes the first portion 1101 through the first roller 1101a, so that the third limiting member 110 rotates, that is, the surface-to-surface contact between the abutting member 193 and the first portion 1101 is converted into the surface-to-line contact between the abutting member 193 and the first roller 1101a, so that the friction force received by the abutting member 193 can be effectively reduced, and the position of the following tray 19 can be conveniently switched.

It will be appreciated that in some specific examples of embodiments of the present application, referring to fig. 13 and 14, the side of the interference member 193 facing the first portion 1101 has a guiding slope 1932, and the guiding slope 1932 is inclined toward the base 11; thus, during the process of switching the follower tray 19 from the end position to the initial position (for example, when moving in the direction shown by the x-axis in fig. 14), the guiding slope 1932 may provide a component force perpendicular to the follower tray 19 (for example, a component force in the direction shown by the z-axis in fig. 14) to the first portion 1101 by the first roller 1101a, or it may be understood that the pushing force of the guiding slope 1932 to the first roller 1101a causes the first portion 1101 to form a rotation moment at the rotational connection with the base 11, so that the third stopper 110 rotates in the direction shown by the arc arrow a in fig. 14, that is, the third stopper 110 switches from the second state to the first state.

In addition, it is further understood that in the embodiment of the present application, the first roller 1101a and the first portion 1101 may be rotatably connected, so that the plane-line sliding friction between the guiding inclined plane 1932 and the first roller 1101a is converted into rolling friction, thereby reducing the friction between the guiding inclined plane 1932 and the first roller 1101a and improving the smoothness of the position switching of the follow-up tray 19.

In alternative examples of embodiments of the present application, with continued reference to fig. 13 and 14, the interference member 193 is provided with a second roller 1931 rotatable about its own axis; in particular arrangements, the circumferential surface of the second roller 1931 faces the second portion 1102. Referring to fig. 13, when the position of the follower tray 19 is switched from the initial position to the final position (for example, when the follower tray 19 moves in the direction indicated by the x-axis in fig. 14), the second roller 1931 abuts against the second portion 1102 and applies a pushing force to the second portion 1102, so that the second portion 1102 forms a rotational moment at the rotational connection with the base 11, and the third stopper 110 rotates in the direction indicated by the arc arrow b in fig. 13 (i.e., the third stopper 110 is switched from the first state to the second state).

In this embodiment, the second portion 1102 is pushed by the second roller 1931, so that friction between the abutting member 193 and the second portion 1102 can be effectively reduced, and smoothness of position switching of the follow-up tray 19 is improved. It is also understood that the second roller 1931 may also be rotatably coupled to the interference member 193.

In other optional examples of embodiments of the present application, referring to fig. 1, the fetching mechanism 1 further includes: two guide strips 111. In this embodiment, the two guide strips 111 may be disposed on two opposite sides of the follower tray 19, for example, in an arrangement direction (also referred to as a third direction) of the two guide strips 111, where the third direction is parallel to the surface of the base 11 and intersects with a moving direction of the fetching assembly 13, for example, a first direction, and the third direction is perpendicular to the first direction. That is, one of the guide bars 111 may be provided on one side of the follower tray 19 and the other guide bar 111 may be provided on the other side of the follower tray 19 in the third direction (specifically, may be the direction shown by the y-axis in fig. 1).

In some specific examples of embodiments of the present application, the guide bar 111 may be specifically fixedly disposed on the base 11, and of course, in other alternative examples of embodiments of the present application, the guide bar 111 may be disposed on the follower tray 19 and move along with the follower tray 19. Wherein, one side of the guide strip 111 facing away from the base 11 protrudes from the surface of the follow-up tray 19; thus, when the follow-up tray 19 carries the target object or container, the guide strip 111 can limit the target object or container on the follow-up tray 19, that is, the target object on the follow-up tray 19 can be prevented from moving along the third direction, and the stability of the target object on the fetching mechanism 1 is improved when the fetching mechanism 1 fetches and transfers the target object.

With continued reference to fig. 1, in other alternative examples of the embodiment of the present application, the front ends of the opposite sides of the two guide strips 111 are formed with inclined planes 1111, that is, in the embodiment of the present application, the target article inlet and outlet (or may also be referred to as the article inlet and outlet end) of the article taking mechanism 1 is set to be in a flared shape (may also be understood as a flared structure) along the first direction, so that the guide strips 111 can be prevented from obstructing the movement of the target article, so that the taking of the target article is facilitated, and the efficiency of the article taking mechanism 1 for taking the target article is improved.

In other alternative examples of the embodiment of the present application, referring to fig. 1, a first rail 113 is further provided on the base 11, the first rail 113 extending in the first direction, and a first slider (not shown) is provided on the movable base 12, and the first slider is slidably connected to the first rail 113.

It can be appreciated that, in the embodiment of the present application, the arrangement manner of the first rail 113 may be specifically the same as or similar to the arrangement manner of the second rail 114 in the previous embodiment of the present application, and specific reference may be made to the detailed description of the second rail 114 in the previous embodiment of the present application, which is not repeated herein.

It may also be appreciated that in the embodiment of the present application, two first guide rails 113 may be provided, where the two first guide rails 113 are arranged at intervals along the second direction; thus, the stability of the movable base 12 during movement can be effectively improved.

Fig. 15 is a schematic structural diagram of an article picking assembly in an article picking mechanism according to an embodiment of the present application.

Referring to fig. 15, in other examples of embodiments of the present application, the retrieval assembly 13 includes a mounting plate 131 and a suction cup 132, i.e., the force providing member may be the suction cup 132.

Specifically, in the embodiment of the present application, the mounting plate 131 is connected to the second end 142 of the telescopic structure 14, where it is understood that in the embodiment of the present application, the mounting plate 131 may be specifically connected to the movable base 12 through the telescopic structure 14. In a specific arrangement, referring to fig. 15, in this embodiment, the suction cup 132 is disposed on the mounting plate 131, a channel 136 is formed on the mounting plate 131, one end of the channel 136 is communicated with the inner cavity of the suction cup 132, and the other end of the channel 136 is used for being communicated with the air source device 133. As a specific example, in the embodiment of the present application, the air source device 133 may be a vacuum pump. Referring to fig. 1, the air source device 133 may be specifically disposed on the base 11.

Specifically, the channel 136 on the mounting plate 131 may be formed by punching or slotting the mounting plate 131, and the other end of the channel 136 may be specifically communicated with the air source device 133 through a vacuum tube, so that when the air source device 133 operates, the air source device 133 reduces the pressure in the channel 136 and the inner cavity of the suction cup 132 through the vacuum tube, so that the external atmospheric pressure presses and adsorbs the target object to be transferred on the suction cup 132.

In some possible examples, the air source device 133 may specifically be an air source device 133 capable of rotating forward and backward, for example, when the air source device 133 rotates forward, the vacuum tube sucks the channel 136 and the inner cavity of the suction cup 132 to reduce the pressure of the inner cavity of the suction cup 132, so as to facilitate the absorption of the target object to be transferred; when the air supply device 133 is reversed, the air supply device 133 inflates the channel 136 and the interior cavity of the suction cup 132 through the vacuum tube, thereby releasing the suction of the suction cup 132 against the target object to facilitate removal of the target object from the suction cup 132.

It will be further appreciated that in some alternative examples of embodiments of the present application, the vacuum tube may be further provided with a solenoid valve, a vacuum pressure gauge, etc., where the solenoid valve is configured to close the vacuum tube by the solenoid valve when the suction cup 132 provides sufficient suction to the target object (e.g., when the pressure gauge detects that the pressure in the channel 136 or the vacuum tube reaches a preset negative pressure value), so that the negative pressure in the cavity of the suction cup 132 is maintained, thereby avoiding long-term operation of the vacuum pump, and effectively saving energy consumption.

In other examples, the retrieval assembly 13 may include a claw structure, i.e., the force providing member may be a claw structure for hooking a target article.

In some examples, the hook structure may be a hook, while a slot into which the hook is inserted may be provided on the front face of an item, such as a container, and upon retrieval of the container, the hook may be inserted into the slot to connect with the front face of the container and provide a force to carry the container.

In other examples, the finger structure may be a double-axis or multi-axis jaw, and a through hole is provided in the front end of the container for the jaw to insert; when the container is taken back, the clamping jaw is controlled to be in a clamping state and is inserted into the through hole; and then the clamping jaw is opened, so that the outer side wall of the clamping jaw is contacted with the inner wall of the through hole, and the container is carried by friction force between the outer side wall of the clamping jaw and the inner wall of the through hole. It will be appreciated that in some possible examples barbs may also be provided on the outer side walls of the jaws so that they may be hooked over the edges of the inner walls of the container to ensure that the jaw mechanism provides adequate transport capacity when the container is being transported.

With continued reference to fig. 15, in some alternative examples of embodiments of the present application, the bottom of the retrieval assembly 13 is provided with a support 135, such as the bottom of the mounting plate 131 is provided with a support 134. Specifically, the support 134 is fixedly coupled to the mounting plate 131. The bottom of the mounting plate 131 may specifically refer to a side of the mounting plate 131 facing the base 11. Thus, referring to fig. 8, in the process that the second driving structure 15 drives the fetching assembly 13 to move through the telescopic structure 14 (for example, in the process that the fetching assembly 13 moves the target object), the supporting member 134 may be supported on the surface of the target carrier, so as to perform a better supporting function on the telescopic structure 14 and the fetching assembly 13, so that the situation that the telescopic structure 14 may be damaged under the condition that the weight of the target object is heavy is avoided, and the telescopic structure 14 can be effectively protected.

It is understood that the supporting member 135 may be disposed at other positions of the fetching assembly 13, such as the bottom of the suction cup 132 or the claw structure, and the embodiment of the present application does not limit the disposed position of the supporting member 135, as long as the supporting member 135 can be supported on the surface of the target carrier when the fetching assembly 13 moves into the target carrier.

As a specific example of the embodiment of the present application, referring to fig. 15, the support 134 may be a third roller or turning roller, which is rotatably connected to the bottom of the support 134. In this way, the supporting piece 134 can effectively reduce the friction force received by the supporting piece 134 in the surface moving process of the target carrier, and can also play a better role in protecting the surface of the target carrier.

In this embodiment of the present application, through setting up support piece 134 in the bottom of mounting panel 131, when getting thing subassembly 13 and stretching out and removing to the target carrier, support piece 134 and the surface contact of target carrier to play the supporting role to getting thing subassembly 13, like this, can prevent to get thing subassembly 13 because the condition emergence of taking sagging (also called the low head in some examples) when the flexible distance of extending structure 14 is longer, guaranteed to get the accuracy of getting the contact position when getting the thing subassembly 13 to the target article.

In some optional examples of the embodiments of the present application, referring to fig. 1, the fetching mechanism 1 may further include a two-dimensional code camera 116, where the two-dimensional code camera 116 may be specifically configured to identify a two-dimensional code of the target carrier, so as to accurately determine a specific fetching operation object of the current fetching mechanism 1.

It will be appreciated that, referring to fig. 1, in the embodiment of the present application, the two-dimensional code camera 116 may be specifically disposed at the front end of the base 11 and located below the movable base 12. In some possible examples, the two-dimensional code camera 116 may also be disposed above the retrieval assembly 13, such as above the mounting plate 131 in the previous embodiments of the present application.

It may be further understood that, referring to fig. 1, in this embodiment of the present application, a controller 115 may be further disposed on the base 11, where the controller 115 may be a central processing unit (Central Processing Unit, abbreviated as CPU), a micro control unit (Microcontroller Unit, abbreviated as MCU), a field programmable gate array (Field Programmable Gate Array, abbreviated as FPGA), or a programmable logic controller 115 (Programmable Logic Controller, abbreviated as PLC), or the like. It will be appreciated that in the embodiments of the present application, the types of the controller 115 are only shown as some specific examples, and in some possible examples, the controller 115 may also be other types of controllers 115, which are not listed in the embodiments of the present application. The controller 115 may be specifically configured to control the two-dimensional code camera 116, and of course, the controller 115 may also control the first driving member 161 and the second driving member 151 in the foregoing embodiments of the present application.

For example, the target carrier may have multiple layers of target cargo space, wherein the two-dimensional code may be disposed on a front end beam of each layer of target cargo space, for example, in a middle portion of the beam.

In the embodiment of the application, in the process that the object taking mechanism 1 moves to the target carrier according to the target position information issued by the upper computer and moves to the target position, the two-dimensional code corresponding to the target cargo space can be identified through the two-dimensional code camera 116; thereby determining whether the target carrier reaches the cargo space height corresponding to the target cargo space.

Generally, the fetching mechanism 1 may be disposed on a gantry 2 of the handling robot, when the handling robot moves to a designated position, a driving structure on the gantry 2 adjusts the height of the fetching mechanism 1 through, for example, a transmission chain, it may be understood that a certain fit clearance exists between a driving wheel and the chain, that is, the actual driving height of the driving structure to the fetching mechanism 1 may be smaller than the cargo space height of the target cargo space, after the two-dimensional code camera scans the two-dimensional code of the corresponding target cargo space, the controller may determine the actual cargo space height of the target cargo space according to the corresponding two-dimensional code, and then compare the actual cargo space height with the recording height (that is, the running height of the fetching mechanism 1) rotated by a motor encoder of the driving structure on the gantry 2, so as to adjust the height of the fetching mechanism 1, so that the height of the fetching mechanism 1 is aligned with the target cargo space height (herein may be the height difference is within a preset range).

In some examples, the retrieval mechanism 1 may further include a depth camera 11a, and the depth camera 11a may be disposed on the base 11 or the mobile base 12. In this embodiment, the controller 115 may further determine the skew distance between the pickup assembly 13 and the target cargo space according to the photographed image of the target cargo space by the depth camera 11 a.

In the embodiment of the present application, the controller 115 may compare the image photographed by the depth camera 11a with the standard image, thereby determining the skew distance; therefore, the deflection distance between the object taking assembly 13 and the target cargo space is conveniently kept within the preset distance range, the object taking assembly 13 is conveniently aligned with the target cargo space, and the stability of taking the target object on the target cargo space can be improved.

In other alternative examples of embodiments of the present application, the base 11 is further provided with a first sensor 117, and the first sensor 117 may be specifically configured to detect the position of the mobile station 12 and the pickup assembly 13. That is, in the embodiment of the present application, when the mobile seat 12 and the pickup assembly 13 are at the initial positions, the first sensor 117 triggers and generates a first trigger signal; the controller 115 may determine that the mobile station 12 and the retrieval assembly 13 are in the initial position based on the first trigger signal. As a specific example, the first sensor 117 may be a contact switch or a magnetic switch.

It should be understood that, in the embodiment of the present application, only the first sensor 117 is shown as a specific example on the base 11, and in some examples, the first sensor 117 may also be disposed on, for example, the mobile seat 12, or may also be disposed at another position, which is not described herein in detail.

In this embodiment, whether the movable seat 12 and the fetching assembly 13 are at the initial positions or not is detected by the first sensor 117, so that whether the movable seat 12 and the fetching assembly 13 move in place or not can be accurately determined when the movable seat is returned, and the controller 115 is convenient to accurately control the stop operation of the first driving member 161 and the second driving member 151. In addition, the first sensor 117 detects whether the movable seat 12 and the fetching assembly 13 are at the initial position, so as to determine the distance that the fetching assembly 13 needs to move towards the target cargo space in the process of fetching and returning the target object.

For example, in some examples, the distance between the pickup assembly 13 and the front end of the base 11, and generally, the distance between the pickup assembly 13 and the front end of the base 11 when the pickup assembly 13 and the mobile station 12 are in the initial position, may be a determined distance (which may be referred to as a second distance in some examples).

In other examples, it may be convenient to determine whether the picking assembly 13 is in the initial position by the first zero signal of the motor encoder of the first driving structure 16 and the second zero signal of the motor encoder of the second driving structure 15, so as to determine the distance between the picking assembly 13 and the front end of the base 11.

In another alternative example of the embodiment of the present application, with continued reference to fig. 2, the fetching mechanism 1 further includes a second sensor 118, where the second sensor 118 may be disposed on the base 11, and the second sensor 118 is configured to detect whether the fetching assembly 13 in the initial position has the target object thereon.

For example, in the process of taking the object, when the object taking assembly 13 takes out the object from the object cargo space, and in the process of retracting to the base 11 under the driving of the moving seat 12 and/or the telescopic structure 14, the object taking assembly 13 may be separated from the object taking assembly 13 due to unstable acting force of the object taking assembly 13, so that when the object taking assembly 13 finally retracts to the initial position, the object is not retracted, and thus the object is very easy to fall from the front end of the base 11 in the process of moving the handling robot in the storage system, or the problem that the action time between the object taking assembly 13 and the object is uncontrollable when the handling robot unloads at the workstation occurs.

Based on this, by providing the second sensor 118, when the picking assembly 13 is retracted to the initial position and there is a target object on the picking assembly 13, the second sensor 118 may send a second trigger signal to the controller 115, and the controller 115 determines that there is a target object when the picking assembly 13 is in the initial position according to the second trigger signal of the second sensor 118. On the contrary, when the picking assembly 13 is retracted to the initial position, the controller 115 does not receive the second trigger signal of the second sensor 118, and determines that the picking assembly 13 is at the initial position, the picking assembly 13 does not carry the target object, so that it can be timely found that the target object is not retracted to the initial position.

When the picking assembly 13 is retracted to the initial position, the controller 115 may control the first driving structure 16 and/or the second driving structure 15 to operate (e.g. forward driving) again when the picking assembly 13 does not carry the target object, i.e. the controller 115 does not receive the second trigger signal, so that the picking assembly 13 is driven by the moving base 12 and/or the telescopic structure 14 to move forward in the first direction (e.g. forward direction in the x direction in fig. 1), until the controller 115 receives the second trigger signal, and controls the picking assembly 13 to act on the front end surface of the target object, and then the controller 115 controls the first driving structure 16 and/or the second driving structure 15 to operate (e.g. reverse driving) again, so that the picking assembly 13 is driven by the moving base 12 and/or the telescopic structure 14 to move backward in the first direction (e.g. reverse direction in the x direction in fig. 1) until the picking assembly 13 carries the target object to the initial position.

Through the arrangement of the second sensor 118, the object can be found in time that the object is not retracted to the initial position, so that the first driving structure 16 and/or the second driving structure 15 can be controlled in time to drive the object taking assembly 13 to move to the object again, the object is brought back to the initial position, the problem that the object is very easy to fall off from the front end of the base 11 in the moving process of the transfer robot in the warehouse system, or the problem that the action time between the object taking assembly 13 and the object is uncontrollable when the transfer robot is unloaded at the workstation can be solved.

As a specific example, in the embodiment of the present application, the second sensor 118 may also be a contact switch or a magnetic switch. Specifically, in the embodiment of the present application, the second sensor 118 operates on the same or similar principle as the first sensor 117, and reference is specifically made to the detailed description of the previous embodiment of the present application with respect to the first sensor 117.

It will be appreciated that in the embodiments of the present application, the second sensor 118 may be disposed at other locations, and in the embodiments of the present application, only the second sensor 118 is disposed on the base 11 is illustrated as an example.

Referring to fig. 1, in another alternative example of the embodiment of the present application, the fetching mechanism 1 may further include a third sensor 119, in some examples, the third sensor 119 may be disposed on the base 11, specifically, the third sensor 119 may be an infrared sensor or an ultrasonic sensor, and the third sensor 119 is configured to detect a target object on the target carrier, for example, the controller 115 determines whether the target object exists on the cargo space of the target carrier to be fetched according to a third trigger signal of the third sensor 119.

In other alternative examples of embodiments of the present application, referring to fig. 15, the fetching mechanism 1 may further include a fourth sensor 135, referring to fig. 15, the fourth sensor 135 may be disposed on the fetching assembly 13, and the fourth sensor 135 is configured to detect a position state between the target object and the fetching assembly 13. For example, the controller 115 determines a positional state between the target item and the picker assembly 13 based on a fourth trigger signal from the fourth sensor 135.

The position state may include that the distance between the fetching component 13 and the target object is smaller than or equal to a fifth preset distance in the process of moving towards the target cargo space. In addition, the position state may further include that the distance between the picking assembly 13 and the target object is smaller than or equal to the sixth preset distance during the retracting process of the picking assembly 13 into the base 11.

For example, the controller 115 may control the picking assembly 13 to approach the target object at the first predetermined speed when the distance between the picking assembly 13 and the target object during the movement toward the target cargo space is less than or equal to the fifth predetermined distance. In some examples, the first preset speed is smaller than the second preset speed, and the second preset speed is the movement speed of the fetching assembly 13 when the distance between the fetching assembly and the target object is larger than the fifth preset distance, so that the fetching assembly 13 can be ensured to slowly approach the target object when moving to the vicinity of the target object until contacting the target object, the target object is prevented from retreating, and even falling from the target goods space, and the safety of fetching is ensured.

For another example, when the distance between the object taking component 13 and the object is smaller than or equal to the sixth preset distance in the process of retracting the object taking component 13 into the base 11, it is determined that the object taking component 13 has the object, that is, the object taking component 13 is not separated from the object, so that the object taking component 13 is ensured to smoothly reach the initial position with the object. In some examples, the fifth preset distance is greater than the sixth preset distance. It will be appreciated that the fourth sensor 135 may trigger the fourth trigger signal when the distance between the picking assembly 13 and the target object is less than or equal to the fifth preset distance or the sixth preset distance, whereas the fourth sensor 135 may not trigger the fourth trigger signal when the distance between the picking assembly 13 and the target object is greater than the fifth preset distance or the sixth preset distance. Thus, when the controller 115 receives the fourth trigger signal of the fourth sensor 135, it is determined that the distance between the picking assembly 13 and the target object is less than or equal to the fifth preset distance or the sixth preset distance, and when the controller 115 does not receive the fourth trigger signal of the fourth sensor 135, it is determined that the distance between the picking assembly 13 and the target object is greater than the fifth preset distance or the sixth preset distance.

For example, when the controller 115 does not receive the fourth trigger signal of the fourth sensor 135 during the retraction of the object pickup assembly 13 into the base 11, and determines that the distance between the object pickup assembly 13 and the object pickup assembly is greater than the sixth preset distance, and determines that the object pickup assembly 13 is separated from the object pickup assembly, the first driving structure 16 and/or the second driving structure 15 may drive the object pickup assembly 13 to move toward the object pickup assembly until the object pickup assembly 13 contacts the object pickup assembly, and then control the object pickup assembly 13 to retract with the object pickup assembly again until the initial position is reached.

In some specific examples, the fourth sensor 135 may specifically be any one of a contact switch, an infrared sensor, or an ultrasonic sensor, and the fourth sensor 135 may also be a magnetic sensor (e.g., a hall switch).

In some examples, during fetching or returning of the fetching assembly 13, in order to determine the moving distance of the fetching assembly 13 towards the target cargo space, the moving distance of the fetching assembly 13 towards the target cargo space may be determined by a motor encoder of the driving structure, such as the motor encoder of the first driving structure 16, and a motor encoder of the second driving structure 15, wherein a gear position in the motor encoder is determined by a motor rotation speed and a rotation time, and the gear position of the motor encoder determines the moving distance of the motor driving telescopic structure 14 and/or the moving seat 12. For example, the motor encoder of the first driving structure 16 may detect the moving distance of the moving base 12, and the second driving structure 15 may detect the moving distance of the power shaft of the telescopic structure 14, so as to determine the moving distance of the fetching assembly 13.

In still other examples, the retrieval mechanism 1 may further include a detection structure configured to detect a distance traveled by the retrieval assembly 13 toward the target cargo space to determine the position of the retrieval assembly 13 in real-time. For example, the position of the pickup assembly 13 relative to the base 11 may be determined based on the distance the pickup assembly 13 moves toward the target cargo space, and the initial position of the pickup assembly 13 relative to the base 11. It will be appreciated that this distance of movement refers to the distance that the picking assembly 13 extends relative to the initial position on the base 11, i.e. the distance between the current position of the picking assembly 13 and the initial position. The initial position is the position of the fetching assembly 13 on the base 11 when the fetching mechanism 1 is not fetching a return object.

The detection structure may include, but is not limited to, any one of a wire-drawing encoder, a laser ranging sensor, an ultrasonic sensor, and a millimeter wave sensor.

Taking the detection structure as a pull wire encoder for example, when the detection structure is installed, one end of a pull wire in the pull wire encoder can be fixed on the base 11 (for example, fixed on a fixing part 11b of the base 11), for example, one end of the pull wire encoder can be arranged at the rear end (one end facing away from a target cargo space) of the base 11, and the other end of the pull wire encoder is fixed on the fetching component 13, so when the fetching component 13 stretches out or withdraws, the pull wire of the pull wire encoder stretches out or withdraws along with the fetching component, and the moving distance of the fetching component 13 towards the target cargo space can be accurately fed back through the length of the pull wire, so that the stretching precision can be controlled.

The fixed portion 11b is located at a side of the movable base 12 facing away from the telescopic structure 14.

Fig. 16 is an application scene view of the fetching mechanism provided in the embodiment of the present application, fig. 17 is a working state view of the fetching mechanism provided in the embodiment of the present application, fig. 18 is another working state view of the fetching mechanism provided in the embodiment of the present application, and fig. 19 is a further working state view of the fetching mechanism provided in the embodiment of the present application.

Next, the process of picking up the object articles by the picking mechanism 1 according to the embodiment of the present application will be described with reference to fig. 15 to 18.

The material taking process comprises the following steps:

firstly, the object taking mechanism can move under the drive of the transfer robot, for example, the upper computer can send order information to the transfer robot, and the transfer robot moves to a corresponding target carrier according to the order information; or, the upper computer can also determine the position of the corresponding target carrier according to the order information, and send the corresponding position information to the transfer robot, and the transfer robot moves according to the corresponding position information and drives the object taking mechanism to move to the corresponding position.

Generally, referring to fig. 15, the target carrier has multiple levels of cargo space, each of which may store a plurality of target items (e.g., a container or bin as shown in fig. 15). The object taking mechanism 1 is generally arranged on a portal 2 of the transfer robot and can move up and down along the portal 2; after the transfer robot moves to the target carrier, the pickup mechanism 1 moves up and down along the portal 2, thereby reaching the height of the cargo space where the corresponding target object is located.

Illustratively, the end face of each layer of cargo space is provided with a two-dimensional code, and the two-dimensional code can record the actual height of the current cargo space. When the driving structure on the gantry 2 drives the fetching mechanism to move up and down, the ascending height of the recording fetching mechanism can be detected through, for example, a motor encoder, etc., in this embodiment, the controller 115 compares the ascending height of the fetching mechanism with the height of the cargo space corresponding to the two-dimensional code, so as to determine a possible deviation (mainly from the fit gap of the driving structure) between the fetching mechanism and the target cargo space in the height direction. At this time, the height of the fetching mechanism can be adjusted according to the comparison result, so that the height of the fetching mechanism is the same as the height of the target cargo space.

In some examples, the image corresponding to the target carrier may be captured by the depth camera 11a, and the image captured by the depth camera 11a is analyzed by the controller 115, so as to determine the deflection condition of the base 11 or the fetching assembly 13 relative to the target cargo space, so that the fetching assembly 13 is convenient to face the target cargo space, and the effectiveness and accuracy of fetching are ensured.

Generally, in the process that the object taking mechanism 1 walks under the drive of the carrying robot, the carrying robot walks along a planned path of the ground according to the position information issued by the upper computer and recognizes the ground mark; thereby determining the position of the target carrier by the ground identification. After the transfer robot moves to a designated position according to the position information issued by the upper computer, a first distance is provided between the front end of the base 11 of the fetching mechanism 1 and the front end surface of the target carrier.

Subsequently, the controller 115 may issue a first trigger signal to the first sensor 117 to determine whether the pickup assembly 13 and the mobile station 12 are in the initial position; for example, when the first sensor 117 emits a first trigger signal, the pickup assembly 13 and the mobile station 12 are determined to be in the initial positions, thus facilitating the determination of a second distance between the pickup assembly 13 and the front end of the base 11.

Alternatively, in some examples, it may be determined whether the mobile seat 12 and the telescoping structure 14 are in the initial position based on the first zero signal of the motor encoder of the first drive structure 16 and the second zero signal of the motor encoder of the second drive structure 15, thereby determining whether the retrieval assembly 13 is in the initial position. Alternatively, the movement distance of the pickup assembly 13 toward the target cargo space may be detected by a detecting structure such as a wire encoder, and when the movement distance is zero, it may be determined that the pickup assembly 13 is at the initial position. That is, in the case where neither the first driving member 161 nor the second driving member 151162 is rotated, it is possible to determine that the movable base 12 and the telescopic structure 14 are at the initial positions. In this way, it is convenient to determine the second distance between the picking assembly 13 and the front end of the base 11.

Additionally, in some examples, the controller 115 may also determine, via the third sensor 119, whether the target item is present on the target carrier, e.g., in the event that the third sensor 119 issues a third trigger signal, the controller 115 may determine that the target item is present on the target cargo space, and may perform the pick-up operation; and in the case that the third sensor 119 does not emit the third trigger signal, proving that the target goods on the target goods space do not exist, or that the target goods on the target goods space have a certain skew; at this time, the controller 115 may send out an alarm prompt message or report to the host computer for timely processing.

Referring to fig. 17, the detection signal from the third sensor 119 may be transmitted to the target object, and the target object gives a feedback signal, for example, may be a reflected signal to the detection signal.

It will be appreciated that, during the process of moving and extending the movable base 12, referring to fig. 17, the following tray 19 extends out of the base 11 under the action of the elastic component 120, and the front end abutting piece 193 of the following tray 19 pushes the third limiting piece 110 to switch from the first state to the second state along with the movement of the movable base 12; until the front end of the follower tray 19 abuts against the target carrier (see fig. 17), the follower tray 19 stops moving, and the moving base 12 can continue to move under the drive of the first driver 161.

In the process that the sucker 132 of the fetching assembly 13 is in contact with or approaches to the bin (refer to fig. 18), the fourth sensor 135 sends out a fourth trigger signal, and the controller 115 determines that the distance between the sucker 132 and the target object is smaller than or equal to a preset distance according to the fourth trigger signal of the fourth sensor 135; at this time, the controller 115 may control the first driving structure 16 and the second driving structure 15 to drive the pickup assembly 13 in a decelerating manner, so as to avoid the pickup assembly 13 from causing collision damage to the target object.

In some examples, the first distance, the second distance, and the third distance (the third distance may be a distance between the target cargo space and the front end of the target carrier, and is generally a fixed value) may determine a working distance that the pickup assembly 13 needs to move from the initial position to the target cargo space. After the pickup assembly 13 moves a working distance toward the target cargo space, it can be determined that the pickup assembly 13 has reached the target cargo space, and the suction cup 132 is in contact with the target object, at this time, the controller 115 controls the air source device 133 to be started, and suction is performed on the inner cavity of the suction cup 132, so that the suction cup 132 is tightly adsorbed on the surface of the target object. For example, when the detection structure detects that the moving distance of the fetching assembly 13 toward the target cargo space is the working distance, it may be determined that the fetching assembly 13 reaches the target cargo space.

When the vacuum degree in the suction cup 132 or the channel 136 reaches a preset vacuum degree (the preset vacuum degree can also be a preset negative pressure, and can be determined according to the weight of the target object to be carried and fetched), the controller 115 controls the first driving member 161 and the second driving member 151 to operate, and the object fetching assembly 13 drives the target object to move towards the base 11; when the target object moves onto the follow-up tray 19, the target object can be supported by the follow-up tray 19 (see fig. 19), and the target object can be effectively prevented from falling off. Along with the continuous movement of the movable seat 12, the bending part 123 on the movable seat 12 contacts with the extending part 191 of the follow-up tray 19 and drives the follow-up tray 19 to move towards the base 11, and the movement of the follow-up tray 19 deforms the elastic component 120, so that the elastic component 120 stores energy so as to drive the follow-up tray 19 when the following-up tray extends next time.

When the first sensor 117 detects that the movable seat 12 and the fetching assembly 13 are at the initial positions (i.e. the movable seat 12 and the fetching assembly 13 are retracted to the initial positions after fetching), the controller 115 controls the first driving piece 161 to stop, and the movable seat 12 stops; when the second sensor 118 detects the target object, the object taking assembly 13 is also at the initial position, the target object moves to the position, and the controller 115 controls the second driving member 151 to stop, so that the telescopic structure 14 stops moving.

Finally, the controller 115 controls the air source device 133 to supply air to the suction cup 132 in a reverse direction, thereby releasing the negative pressure between the suction cup 132 and the target object and releasing the target object from the picking assembly 13. During the process that the following tray 19 returns along with the moving seat 12, the abutting piece 193 at the front end of the following tray 19 pushes the first portion 1101 of the third limiting piece 110, so that the third limiting piece 110 is switched from the second state to the first state, and limits the target object.

Then, the transfer robot can transfer the target object to other positions according to the transfer instruction issued by the upper computer.

And (3) the following process:

it can be understood that in the embodiment of the present application, the process of returning is similar to the process of extending the movable base 12 and the fetching assembly 13 out of the base plate 11 in the process of returning, except that the movable base 12 and the fetching assembly 13 carry the target object in the process of extending the fetching assembly 13. Reference may be made specifically to the detailed description of the picking process in the foregoing embodiments of the present application, which is not repeated herein.

Fig. 20 is a schematic structural diagram of a transfer robot according to an embodiment of the present disclosure. Referring to fig. 20, the embodiment of the present application further provides a transfer robot, including a chassis 3, a gantry 2, and a fetching mechanism 1 provided in any implementation manner of the foregoing embodiments of the present application. Wherein, portal 2 sets up on chassis 3, gets thing mechanism 1 and sets up on portal 2.

Specifically, in the embodiment of the present application, the chassis 3 may be the same as or similar to the chassis in the related art, and in addition, the embodiment of the present application has the same or corresponding technical features as the foregoing embodiment, so the embodiment of the present application has the same or similar technical effects as the foregoing embodiment of the present application, and specific reference may be made to the detailed description of the foregoing embodiment of the present application, which is not repeated herein.

In this embodiment, the gantry 2 may be fixedly disposed on the chassis 3 and move under the driving of the chassis 3, where the connection manner of the gantry 2 and the chassis 3 may be the same as or similar to that in the related art, which is not described herein in detail.

In addition, it can be understood that in the embodiment of the application, a communication module may be disposed on the chassis 3 or the gantry 2, and the communication module may communicate with the upper computer and receive a control signal sent by the upper computer; in addition, the communication module can upload the position information of the transfer robot to the upper computer, and the upper computer controls the transfer robot to move in the warehousing system according to the transfer task, for example, to the appointed position of the target carrier, so as to conveniently dock with the target cargo space in the target carrier, and realize the process of taking or returning objects.

The fetching mechanism 1 is disposed on the gantry 2 and can move up and down along the gantry 2, for example, after the transfer robot moves to the target carrier, the fetching mechanism 1 moves up and down along the gantry 2, so as to reach the height of the goods space where the corresponding target object is located.

In some examples, the transfer robot further comprises: a temporary storage plate (not shown) and a rotating mechanism (not shown).

The temporary storage plate is arranged on the portal 2, the rotating mechanism is connected with the object taking mechanism 1, and the rotating mechanism is configured to drive the object taking mechanism 1 to rotate so that the object taking mechanism 1 can store target objects on the temporary storage plate or take out the target objects from the temporary storage plate through the object taking mechanism 1. Wherein the above-mentioned pallet cargo space is formed on the pallet. The pallet location may be one of the target locations, i.e. the picking assembly 13 may be driven by the first driving structure 16 and/or the second driving structure 15 to move in the first direction to extend into the pallet location.

It will be appreciated that the direction in which the picking assembly 13 moves toward the cargo space of the target carrier may be perpendicular to the direction in which the picking assembly 13 moves toward the cargo space of the temporary storage plate, in other words, the moving direction of the picking assembly 13 when the target cargo space is the cargo space of the temporary storage plate may be perpendicular to the moving direction of the picking assembly 13 when the target cargo space is the cargo space on the target carrier.

It can be understood that the fetching mechanism 1 can be located at one side of the gantry 2, and the temporary storage plate is located at the other side of the gantry 2; in some examples, the temporary storage plate may be provided in plurality along the height direction of the gantry 2, or in some understandings it may be understood that the temporary storage plate is provided in a plurality of layers along the height direction of the gantry 2. Therefore, the transfer robot can transfer a plurality of target objects at a time, and the transfer efficiency of the target objects is improved.

In some examples, the driving structure on the gantry 2 may be connected to a lifting plate, where the lifting plate is driven by the driving mechanism to lift, and a rotating mechanism is disposed on the lifting plate, where the rotating mechanism is connected to the base 11 of the fetching mechanism 1, and the base 11 may rotate relative to the lifting plate, so as to drive the fetching mechanism 1 to rotate.

The embodiment of the application also provides an article carrying method which is applied to the article taking mechanism 1 provided by any optional example of the previous embodiment of the application;

the article handling method comprises the following steps:

step s1: with the retrieval mechanism 1 in a designated position on the target carrier, the controller 115 determines the working distance between the retrieval assembly 13 and the target cargo space.

In some examples, the retrieval mechanism 1 may be provided on a floor pan of the transfer robot. After receiving a carrying instruction or designated position information issued by the upper computer, the carrying robot moves to a designated position of the target carrier along a path identifier arranged on the ground in the warehouse system.

Here, the controller 115 determining the working distance between the pickup assembly 13 and the target cargo space may include:

a first distance between the front end of the base 11 and the front end of the target carrier is obtained. Generally, after the object picking robot moves to the target position, the transfer robot moves along the marking path of the ground, so the first distance between the front end of the base 11 and the front end of the target carrier is usually a certain value, and in some examples, the first distance may be set according to the actual requirement of the stored objects.

The controller 115 confirms the initial position of the picking assembly 13 according to the first trigger signal of the first sensor 117 and/or the zero signal of the motor encoder of the first driving structure 16 and the zero signal of the motor encoder of the second driving structure 15, and a second distance is provided between the initial position and the front end of the base 11.

The controller 115 obtains a third distance between the target cargo space and the front end of the base 11. In this embodiment of the present application, the determination manners of the second distance and the third distance may refer to the detailed descriptions of the foregoing embodiments of the present application, which are not repeated herein.

The working distance is determined based on the first distance, the second distance, and the third distance. It will be appreciated that the working distance may be the distance that the pick device 13 moves from the initial position to the target cargo space. In some examples, the working distance may be a sum of the first distance, the second distance, and the third distance.

In some examples, step s1, before determining the working distance between the picking assembly 13 and the target cargo space in the case where the picking mechanism 1 is at the designated position of the target carrier, the article handling method further includes:

step s01: determining the deflection distance between the object taking assembly 13 and the target cargo space according to the identification state of the two-dimensional code camera 116 on the target cargo space two-dimensional code; and/or the controller 115 is configured to determine a skew distance from the captured image of the target cargo space by the depth camera 11 a;

step s02: the position of the fetching assembly 13 is adjusted based on the deflection distance, so that the deflection distance of the fetching assembly 13 and the target cargo space is within a preset distance range, and the fetching mechanism 1 is determined to be at the designated position of the target carrier.

In this way, the object taking assembly 13 and the target cargo space can be in a right-facing state, or the deflection distance between the object taking assembly 13 and the target cargo space is within a preset distance range, so that the object taking assembly 13 can conveniently apply force to the target cargo on the target cargo space, or the object taking assembly 13 can conveniently and accurately store the target cargo on the target cargo space.

Step s2: the first drive arrangement 16 and/or the second drive arrangement 15 drive the retrieval assembly 13 in a first direction a working distance towards the target cargo space to reach the target cargo space.

In some examples, the article handling method may further comprise: the moving distance of the fetching assembly 13 towards the target cargo space is obtained, and the fetching assembly 13 reaches the target cargo space under the condition that the moving distance is equal to the working distance. For example, during the process that the first driving structure 16 and/or the second driving structure 15 drive the fetching assembly 13 to move towards the target cargo space along the first direction, the detecting structure may detect the moving distance of the fetching assembly 13 towards the target cargo space in real time, when the controller obtains that the moving distance detected by the detecting structure is equal to the working distance, the controller characterizes that the fetching assembly 13 reaches the target cargo space, and then the controller controls the first driving structure 16 and/or the second driving structure 15 to stop working. That is, in this embodiment, the first driving structure 16 may operate to drive the fetching assembly 13; alternatively, the second driving structure 15 may be operated to drive the fetching assembly 13; in other examples, it is also possible that both the first drive structure 16 and the second drive structure 15 are operative. Reference should be made in detail to the embodiments of the present application.

It will be appreciated that in some examples the target cargo space may be deep within the target vehicle, at which time the second drive structure 15 may first drive the telescoping structure 14 to extend, for example, the controller 115 may first control the second drive structure 15 to operate such that the second end 142 of the telescoping structure 14 moves toward the target cargo space, for example, in a first direction to reduce the width of the telescoping structure 14, for example, in a third direction.

After the telescopic structure 14 drives the fetching assembly 13 to move by a preset distance, the first driving structure 16 drives the moving seat 12 to move, for example, the controller 115 controls the first driving structure 16 to work, so that the moving seat 12 drives the telescopic structure 14 to move toward the target cargo space until the moving distance of the fetching assembly 13 is the working distance.

In this way, for the case that the width of some target objects is smaller, that is, the interval between adjacent objects on two sides of the target cargo space is narrower, the telescopic structure 14 can be moved by a first preset distance, so that the width of the telescopic structure 14 along the third direction is smaller than or equal to the width of the target cargo space, and the telescopic structure 14 is ensured to drive the fetching assembly 13 to extend into the target carrier, and then the moving seat 12 is moved; the size space occupied by the telescopic structure 14 in the width direction of the target object can be reduced, and the accuracy of the object positions on two adjacent sides of the target cargo space can be ensured.

For example, the telescopic structure 14 can drive the fetching assembly 13 to extend into the target carrier, and the first driving structure 16 drives the moving seat 12 to move forward until the fetching assembly 13 moves to the target cargo space for docking with the target cargo space.

Step s3: the transfer of the target object is performed between the pick-up assembly 13 and the target cargo space.

Here, the transfer of the target object may be that the fetching component 13 applies a force to the target object on the target cargo space, that is, fetches the target object from the target cargo space (for example, the vacuum pump may be controlled to vacuum the suction cup 132); in some examples, it may also be that the picking assembly 13 releases the force on the target item, i.e., the picking assembly 13 places the target item on the target cargo space.

In other examples of embodiments of the present application, the article handling method may further include:

step s4: the first drive arrangement 16 and/or the second drive arrangement 15 drive the retrieval assembly 13 for example in a first direction for a working distance away from the target cargo space in order to reach the initial position.

For example, when the controller may acquire the detection information of the detection structure and the moving distance of the fetching assembly 13 detected by the detection structure toward the target cargo space is equal to zero, the controller may control the first driving structure 16 and/or the second driving structure 15 to stop working, so that the fetching assembly 13 stops retracting, and the fetching assembly 13 is at the initial position of the base 11.

In some examples, the first driving structure 16 drives the moving base 14 to move backward, for example, the controller 115 may control the first driving structure 16 to operate first, so that the moving base 12 drives the telescopic structure 14 to move back to the target cargo space until the telescopic structure 14 exits the target carrier.

The second driving structure 15 drives the telescopic structure 14 to retract, for example, the controller 115 may control the second driving structure 15 to operate, so that the second end 142 of the telescopic structure 14 moves away from the target cargo space, for example, in the first direction until the fetching assembly 13 reaches the initial position.

It can be appreciated that, in general, the fetching mechanism 1 has a fetching operation state, and in the fetching operation state, in the embodiment of the present application, step s2: the first drive structure 16 and/or the second drive structure 15 drive the pick device 13 a working distance in a first direction towards the target cargo space to reach the target cargo space, the method further comprises:

step s02: based on the third trigger signal from the third sensor 119, it is confirmed that the target cargo space has the target item thereon.

That is, in the embodiment of the present application, before the pickup assembly 13 is driven to move, whether the target cargo space has the target object may be determined by whether the third sensor 119 sends the third trigger signal. In the case of a target object on the target cargo space, the pickup assembly 13 is again driven to move. In the case that the target goods are not present on the target goods, the possible reasons may be that the position information sent by the upper computer is wrong or the target goods on the target goods are lost or the position of the target goods is moved, at this time, the controller 115 may send an alarm prompt message to the upper computer so as to be processed in time.

In other examples of the embodiments of the present application, in the fetching operation state, step s2: the first drive arrangement 16 and/or the second drive arrangement 15 drive the retrieval assembly 13, for example, in a first direction, a working distance towards the target cargo space to reach the target cargo space, comprising:

step s21: according to the fourth trigger signal of the fourth sensor 135, the driving speed of the first driving structure 16 and/or the second driving structure 15 is reduced, so that the object picking assembly 13 approaches the target object at the first preset speed when the distance between the object picking assembly and the target object is smaller than or equal to the fifth preset distance; the first preset speed is smaller than the second preset speed, and the second preset speed is the moving speed of the fetching assembly 13 when the distance between the fetching assembly and the target object is larger than the fifth preset distance.

For example, the rotation speed of the first driving member 161 may be reduced, or the rotation speed of the second driving member 151 may be reduced; alternatively, in other examples, the rotational speeds of the first driving member 161 and the second driving member 151 may be reduced at the same time.

In this way, the object taking assembly 13 can be in contact with the target object at a lower speed, so that the impact force of the object taking assembly 13 on the target object can be reduced, and the target object can be effectively protected.

It will be appreciated that, in other examples, the fetching mechanism 1 further has a returning operation state, in which, in the embodiment of the present application, step s2: the first drive arrangement 16 and/or the second drive arrangement 15 drive the retrieval assembly 13, for example, in a first direction, a working distance towards the target cargo space to reach the target cargo space, comprising:

step s22: the first drive arrangement 16 and/or the second drive arrangement 15 drive the pick device 13, for example, in a first direction for a working distance towards the target cargo space to move the target item to the target cargo space. Wherein the object picking assembly 13 carries the object.

In the embodiment of the present application, the object returning working state of the object retrieving mechanism 1 is basically similar to the object retrieving working state, and the difference is that the object retrieving assembly 13 carries the object in the object returning working state.

Additionally, it will be appreciated that in some examples, prior to step s2, it may also be possible to confirm whether the target cargo space has an item via the third trigger signal of the third sensor 119 in the cargo-returning operation state. At this time, when the third sensor 119 transmits a third trigger signal, the controller 115 transmits an alarm prompt message to the host computer.

In other examples of embodiments of the present application, in the fetching operation state, the first driving structure 16 and/or the second driving structure 15 drive the fetching assembly 13 to move, for example, in the first direction away from the target cargo space, including:

the object item on the picking assembly 13 is determined according to the fourth trigger signal of the fourth sensor 135 and/or the vacuum level of the inner cavity of the sucker 132 being at the preset vacuum level.

When the fetching component 13, for example, the suction cup 132, and the target object are within a sixth preset distance L (for example, within 50 mm), the fourth sensor 135 sends a fourth trigger signal to the controller 115, otherwise, if the controller 115 does not receive the fourth trigger signal, the distance between the suction cup 132 and the target object is larger than the sixth preset distance. Thus, during the process that the suction cup 132 takes out the target object from the target cargo space and retreats in the direction away from the target cargo space (i.e., in the direction toward the base 11), the suction cup 132 can be characterized as having the target object when the controller 115 receives the fourth trigger signal, and the suction cup 132 can be characterized as being separated from the target object when the controller 115 does not receive the fourth trigger signal.

In addition, the vacuum pressure gauge can monitor the vacuum degree in the inner cavity of the sucker 132 and the vacuum tube communicated with the inner cavity in real time, when the sucker 132 adsorbs a target object, the numerical value on the vacuum pressure gauge is the preset vacuum degree, in other words, under the preset vacuum degree, the sucker 132 adsorbs the target object, and when the target object falls off from the sucker 132, the vacuum degree is destroyed, and the numerical value on the vacuum pressure gauge is smaller than the preset vacuum degree. Thus, when the vacuum gauge vacuum (i.e. vacuum of the inner cavity of the suction cup 132) is smaller than the preset vacuum, the suction cup 132 can be characterized as being separated from the target object during the process that the suction cup 132 takes out the target object from the target cargo space and retreats in the direction away from the target cargo space (i.e. in the direction towards the base 11).

It will be appreciated that in some examples, the presence of the target item on the retrieval assembly 13 may be determined based on a fourth trigger signal from a fourth sensor 135, or alternatively, the vacuum level of the interior cavity of the suction cup 132 is at a preset vacuum level.

In order to improve the accuracy of judging whether the suction cup 132 is separated from the target object, in other examples, the object taking assembly 13 may be determined to have the target object, i.e. dual conditions, according to the fourth trigger signal of the fourth sensor 135 and that the vacuum degree of the inner cavity of the suction cup 132 is at the preset vacuum degree, so that the judging result is more accurate. In addition, when any one of the fourth sensor 135 and the vacuum pressure gauge fails, the smooth progress of the judgment process or the accuracy of the judgment result is prevented from being affected.

In the case of a target item on the pickup assembly 13, the first drive structure 16 and/or the second drive structure 15 drive the pickup assembly 13 in a first direction away from the target cargo space.

It will be appreciated that the retrieval assembly 13 may be disengaged from the target item during retraction due to insufficient force, etc. When the target object is separated from the picking assembly 13, if the picking assembly 13 is continuously retracted under the driving of the moving seat 12 or the telescopic structure 14, the carrying robot can move to the next link position, such as the picking workstation, without load, thereby affecting the smooth progress of the whole picking work and causing the waste of resources.

For example, during the retraction of the picking assembly 13, when the picking assembly 13 has a target object, the fourth sensor 135 may send a fourth trigger signal to the controller 115, and the controller 115 determines that the picking assembly 13 has the target object based on the fourth trigger signal, and/or when the controller 115 determines that the vacuum degree of the inner cavity of the suction cup 132 is a preset vacuum degree, determines that the picking assembly 13 has the target object, and then controls the first driving structure 16 and/or the second driving structure 15 to operate (i.e. reverse driving operation) so as to move the picking assembly 13 along the negative direction of the x direction (i.e. back to the target cargo space) under the driving of the telescopic structure 14 and/or the moving seat 12.

When the controller 115 does not receive the fourth trigger signal and/or the controller 115 determines that the vacuum degree of the inner cavity of the suction cup 132 is lower than the preset vacuum degree, and the first driving structure 16 and/or the second driving structure 15 can be controlled to stop the back driving operation when the vacuum degree of the inner cavity of the suction cup 132 is lower than the preset vacuum degree, so that the object taking assembly 13 stops moving towards the base 11, and when the object taking assembly 13 acquires the target object again, the controller 115 receives the fourth trigger signal, and then continues to control the back driving operation of the first driving structure 16 and/or the second driving structure 15, so that the object taking assembly 13 continues to move towards the initial position.

For example, when the fetching assembly 13 includes the suction cup 132, when the controller 115 does not receive the fourth trigger signal, the controller 115 controls the first driving structure 16 and/or the second driving structure 15 to stop the reverse driving operation, and controls the first driving structure 16 and/or the second driving structure 15 to perform the forward driving operation, so that the fetching assembly 13 moves forward along the forward direction of the x direction, and controls the inner cavity of the suction cup 132 to be in a vacuum state, so as to adsorb the target object again, and when the suction cup 132 adsorbs the target object, the fourth sensor 135 sends the fourth trigger signal to the controller 115 again, and the controller 115 controls the first driving structure 16 and/or the second driving structure 15 to operate (i.e. reverse driving operation) based on the fourth trigger signal, so that the fetching assembly 13 continues to retract until retracting to the initial position.

The foregoing detailed description of the embodiments of the present application has further described the objects, technical solutions and advantageous effects thereof, and it should be understood that the foregoing is merely a specific implementation of the embodiments of the present application, and is not intended to limit the scope of the embodiments of the present application, and any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the scope of the embodiments of the present application.

Claims

1. An article taking mechanism, comprising:

a base (11);

a movable seat (12) movably provided on the base (11) and movable with respect to the base (11);

-a telescopic structure (14) having a first end (141) and a second end (142), said first end (141) being arranged on said mobile seat (12), said second end (142) being able to telescope close to or away from said first end (141);

a pick-up assembly (13) disposed at the second end (142) and configured to carry a target item by acting on a front end surface of the target item when the target item is picked up, wherein the front end surface of the target item is an end surface of the target item facing the pick-up assembly (13) when the target item is to be picked up;

a first driving structure (16) connected with the movable seat (12) and configured to drive the movable seat (12) to move relative to the base (11) so as to enable the fetching assembly (13) to move relative to the base (11) under the driving of the movable seat (12);

a second driving structure (15) connected with the telescopic structure (14), wherein the second driving structure (15) is configured to drive the second end (142) to move towards or away from the first end (141) so as to enable the fetching assembly (13) to move relative to the first end (141) under the driving of the second end (142);

Upon retrieval of a target item, the retrieval assembly (13) is configured to move relative to the base (11) under the drive of the first drive structure (16) and/or the second drive structure (15) to reciprocate within the base (11) at a target cargo space.

2. The retrieval mechanism according to claim 1, wherein the retrieval mechanism (1) is configured to perform one of the following actions when retrieving a target item:

the first driving structure (16) drives the moving seat (12) to move so as to drive the fetching assembly (13) to move a first preset distance towards the target goods space, the second driving structure (15) drives the telescopic structure (14) to extend out again so as to drive the fetching assembly (13) to move a second preset distance towards the target goods space, and the fetching assembly (13) is enabled to move to the target goods space to transfer a target object between the fetching assembly (13) and the target goods space;

the second driving structure (15) drives the telescopic structure (14) to extend so as to drive the object taking assembly (13) to move a third preset distance towards the target goods space, and the first driving structure (16) drives the moving seat (12) to move so as to drive the object taking assembly (13) to move a fourth preset distance towards the target goods space, so that the object taking assembly (13) moves to the target goods space to transfer a target object between the object taking assembly (13) and the target goods space;

The first driving structure (16) and the second driving structure (15) simultaneously drive the movable seat (12) and the telescopic structure (14) to move so as to drive the object taking assembly (13) to move to the target goods space for a working distance, so that the object taking assembly (13) moves to the target goods space for transferring the target object between the object taking assembly (13) and the target goods space.

3. The fetching mechanism according to claim 2, wherein when a target cargo space is an inner deep position of a target carrier, the second driving structure (15) drives the telescopic structure (14) to extend to drive the fetching assembly (13) to move towards the target cargo space, so that the width of the telescopic structure (14) is reduced, and the first driving structure (16) drives the moving seat (12) to move again to drive the fetching assembly (13) to move towards the target cargo space until the fetching assembly (13) moves to the target cargo space, so that target article transfer between the fetching assembly (13) and the target cargo space is performed;

the width direction of the telescopic structure (14) is intersected with the telescopic direction.

4. The retrieval mechanism of claim 1, wherein the handle is configured to be moved from the first position to the second position,

the second driving structure (15) comprises a second driving piece (151) and a second transmission piece, one end of the second driving piece (151) is connected with the second transmission piece to drive the second transmission piece to move relative to the base (11), and the second transmission piece is connected with the telescopic structure (14) to drive the second end (142) of the telescopic structure (14) to stretch;

The second driving piece (151) and the second transmission piece are both arranged on the movable seat (12), so that the second driving piece (151) and the second transmission piece move synchronously with the movable seat (12).

5. The fetching mechanism according to claim 4, wherein the movable base (12) comprises a first movable portion (124) and a second movable portion (125), the first movable portion (124) is disposed opposite to the base (11), the second movable portion (125) is connected to the first movable portion (124) and disposed opposite to the fetching assembly (13), and the first end (141) of the telescopic structure (14) is disposed at the second movable portion (125);

the second driving piece (151) is arranged on the second moving part (125), and the second transmission piece is arranged on the first moving part (124).

6. The fetching mechanism according to claim 4, wherein the second transmission member comprises a second power wheel (152), a second idler wheel (154) and a second transmission belt (153);

the power output end of the second driving piece (151) is connected with the second power wheel (152), the second power wheel (152) and the second idle wheel (154) are arranged at intervals, the second driving belt (153) is sleeved on the second power wheel (152) and the second idle wheel (154), and the telescopic structure (14) is connected with a second main body part of the second driving belt (153); the second body portion is located between the second power wheel (152) and the second idler wheel (154);

The second driving piece (151) is configured to drive the second power wheel (152) to rotate so as to drive the second main body part to move, and therefore the telescopic structure (14) is driven to move.

7. The retrieval mechanism as recited in claim 1, wherein the telescoping structure (14) comprises:

at least two intersecting member units (143) arranged in sequence along the expansion and contraction direction, each intersecting member unit (143) comprising two intersecting members (1431) arranged opposite to each other; wherein, in at least two said cross-piece units (143), said cross-piece (1431) in said cross-piece unit (143) at said first end (141) is a first cross-piece, said cross-piece (1431) in said cross-piece unit (143) at said second end (142) is a second cross-piece, said first cross-piece is slidingly connected with said mobile seat (12), said second cross-piece is slidingly connected with said picking assembly (13);

the second driving structure (15) is connected to the hinge shaft (144) of the cross piece (1431) in one cross piece unit (143) so as to drive the cross piece (1431) to increase or decrease the included angle towards the object taking assembly (13) and realize the expansion and contraction of the telescopic structure (14).

8. The retrieval mechanism as recited in claim 7, wherein in each of said cross-piece units (143), both ends of said hinge shaft (144) extend to two cross-pieces (1431), respectively, and both said cross-pieces (1431) are hinged to ends of said hinge shaft (144);

The second driving structure (15) is connected with one of the hinge shafts (144) of the plurality of crossing member units (143) to drive the hinge shafts (144) to move.

9. The extraction mechanism according to claim 7, characterized in that the extraction mechanism (1) further comprises a first stop (17), the first cross-piece being connected to the mobile seat (12) by means of the first stop (17) to limit the translation of the first end (141) of the telescopic structure (14) on the mobile seat (12);

and/or, the fetching mechanism (1) further comprises a second limiting piece (18), and the second cross piece is connected to the fetching assembly (13) through the second limiting piece (18) so as to limit the second end (142) of the telescopic structure (14) to translate on the fetching assembly (13).

10. The extraction mechanism according to claim 9, characterized in that one of the first and second limiting members (17, 18) comprises two connecting rods (171);

one ends of the two connecting rods (171) are respectively and rotatably connected to two transmission rods (1431 a) in the first cross piece or the second cross piece, the other ends of the two connecting rods (171) are rotatably connected to the fixed hinging positions of the movable seat (12) or the fetching component (13), and the two connecting rods (171) are configured to move along with the cross piece unit (143);

And/or, the second limiting part (18) comprises two extending parts (181) which are oppositely arranged, one ends of the two extending parts (181) are connected with the object taking assembly (13) or the movable seat (12), a limiting cavity (182) is formed between the two extending parts (181), a hinge shaft (144) between the two second crossing parts or between the first crossing parts penetrates through the limiting cavity (182), and when the second crossing parts or the first crossing parts move, the hinge shaft (144) moves in the limiting cavity (182).

11. The extraction mechanism according to claim 8, characterized in that the hinge shaft (144) for connection with the second drive structure (15) is configured as a power shaft;

the second driving structure (15) further comprises a second driving block (155), and the second driving block (155) is connected to one end of the power shaft; the second driving block (155) is configured to drive the power shaft to move.

12. The retrieval mechanism of claim 8, wherein the retrieval mechanism (1) further comprises: a second slider (147) and a second guide rail (114);

the second sliding block (147) is arranged at one end of the hinge shaft (144), the second guide rail (114) is arranged on the base (11), and the second sliding block (147) is arranged on the second guide rail (114) in a sliding mode.

13. The fetching mechanism according to claim 1, wherein the first driving structure (16) comprises a first driving member (161) and a first transmission member, the first driving member (161) is fixedly arranged on the base (11) and connected with the first transmission member to drive the first transmission member to move, and the first transmission member is connected with the moving seat (12) to drive the moving seat (12) to move.

14. The retrieval mechanism as recited in claim 13, wherein the first transmission member comprises a first power wheel (162), a first idler wheel (164), and a first belt (163);

the power output end of the first driving piece (161) is connected with the first power wheel (162), the first power wheel (162) is arranged at intervals with the first idle wheel (164), the first driving belt (163) is sleeved on the first power wheel (162) and the first idle wheel (164), the movable seat (12) is connected with a first main body part of the first driving belt (163), and the first main body part is positioned between the first power wheel (162) and the first idle wheel (164);

the first driving piece (161) is configured to drive the first power wheel (162) to rotate so as to drive the first main body part to move, and thus the movable seat (12) is driven to move.

15. The retrieval mechanism according to claim 1, wherein the retrieval mechanism (1) further comprises a first slider and a first guide rail (113);

the first sliding block is arranged on the movable seat (12), the first guide rail (113) is arranged on the base (11), and the first sliding block is arranged on the first guide rail (113) in a sliding mode.

16. The retrieval mechanism according to claim 1, wherein the retrieval mechanism (1) further comprises:

the follow-up tray (19) is movably arranged on the base (11) so that the follow-up tray (19) can extend out of the base (11) or retract back onto the base (11);

the follow-up tray (19) is configured to abut against the front end surface of a target carrier when the object taking assembly (13) takes back a target object so as to fill a gap between the base (11) and the target carrier; the follower tray (19) is further configured to support the target item when carried on the picker assembly (13).

17. The retrieval mechanism of claim 16, wherein the retrieval mechanism (1) further comprises:

an elastic component (120) having a third end and a fourth end which are oppositely arranged along an elastic direction, wherein the third end of the elastic component (120) is connected with the follow-up tray (19), and the fourth end of the elastic component (120) is connected with the base (11);

A bending part (123) is arranged on the movable seat (12), and an extending part (191) is arranged on the follow-up tray (19); when the follow-up tray (19) is at the initial position, the bending part (123) is abutted against one surface of the protruding part (191) facing the front end of the follow-up tray (19); the follow-up tray (19) is configured to pop up under the elastic action of the elastic component (120) when the moving seat (12) moves forwards and prop against the front end of the target carrier, and when the moving seat (12) retreats, the bending part (123) drives the protruding part (191) to retreat.

18. The retrieval mechanism of claim 16, wherein the retrieval mechanism (1) further comprises:

the third limiting piece (110) is arranged on the base (11) and is positioned at the front end of the follow-up tray (19);

the third limiting piece (110) has a first state and a second state, at least part of the third limiting piece (110) extends out of the supporting surface (192) of the follow-up tray (19) in the first state, and the third limiting piece (110) is lower than the supporting surface (192) of the follow-up tray (19) in the second state;

the third limiting piece (110) is configured to be in a second state when the follow-up tray (19) at least partially extends out of the base (11), and is in a first state when the follow-up tray (19) is located in the base (11), so that when the fetching mechanism (1) moves, target objects on the follow-up tray (19) are limited along the moving direction of the fetching assembly (13).

19. The fetching mechanism according to claim 18, wherein the third limiting element (110) comprises a first portion (1101) and a second portion (1102) which form an included angle, a connection part of the first portion (1101) and the second portion (1102) is rotatably connected to the base (11), and the first portion (1101) is located at the bottom of the follow-up tray (19);

the front end of follow-up tray (19) is equipped with conflict piece (193), conflict piece (193) are located between first portion (1101) and second portion (1102), conflict piece (193) are configured to be when the front end of follow-up tray (19) stretches out in base (11) outside promotes second portion (1102), so that second portion (1102) rotate to follow-up tray (19) holding surface (192) bottom makes third locating part (110) be in the second state, and when the front end of follow-up tray (19) is returned to base (11) promotes first portion (1101), so that second portion (1102) rotate to stretch out follow-up tray (19) holding surface (192), make third locating part (110) be in the first state.

20. The retrieval mechanism as recited in claim 19, wherein the first portion (1101) has a first roller (1101 a) rotatable about its own axis, a circumferential surface of the first roller (1101 a) facing the abutting member (193), the abutting member (193) being configured to push the first portion (1101) when a front end of the follower tray (19) is retracted to the base (11), comprising: the interference member (193) is configured to push the first roller (1101 a) when the front end of the follower tray (19) is retracted to the base (11);

And/or, the interference member (193) has a second roller (1931) rotatable about its own axis, and a circumferential surface of the second roller (1931) faces the second portion (1102); the interference member (193) is configured to push the second portion (1102) when the front end of the follower tray (19) protrudes outside the base (11), comprising: the second roller (1931) is configured to push the second portion (1102) when the front end of the follower tray (19) protrudes outside the base (11).

21. The retrieval mechanism as recited in claim 20, wherein a side surface of the interference member (193) facing the first roller (1101 a) is configured as a guide slope (1932), the guide slope (1932) being inclined toward the base (11), the first roller (1101 a) rolling along the guide slope (1932) as the leading end of the follower tray (19) is retracted to the base (11).

22. The retrieval mechanism of claim 16, wherein the retrieval mechanism (1) further comprises:

the two guide strips (111) are oppositely arranged at two sides of the follow-up tray (19), and the arrangement direction of the two guide strips (111) is intersected with the moving direction of the object taking assembly (13);

The two guide bars (111) are configured to restrict movement of the target articles on the follow-up tray (19) in the arrangement direction.

23. The article taking mechanism according to claim 22, wherein the article receiving and feeding end of each guide strip (111) is provided with an inclined surface (1111), and the two inclined surfaces (1111) are oppositely arranged so that a flaring structure is formed between the article receiving and feeding ends of the two guide strips (111).

24. The retrieval mechanism of claim 1, wherein the retrieval assembly (13) includes a mounting plate (131) and a suction cup (132), the mounting plate (131) disposed at the second end (142), the suction cup (132) disposed on the mounting plate (131) and configured to adsorb a target item;

alternatively, the retrieval assembly (13) includes a claw structure configured to hook a target item.

25. The fetching mechanism according to claim 24, wherein a channel (136) is formed on the mounting plate (131), one end of the channel (136) is communicated with the inner cavity of the sucker (132), and the other end of the channel (136) is used for being communicated with an air source device (133); the suction cup (132) is configured to reduce the pressure of the suction cup lumen by the air supply device (133) to suction the target item.

26. The fetching mechanism according to claim 1, characterized in that the bottom of the fetching assembly (13) is provided with a support (134);

the support (134) is configured to be supported on a surface of a target carrier when the picking assembly (13) is extended into the target carrier.

27. The retrieval mechanism as claimed in any one of claims 1 to 26 wherein the retrieval mechanism (1) further comprises: at least one of a depth camera (11 a), a two-dimensional code camera (116), a first sensor (117), a second sensor (118), a third sensor (119), and a fourth sensor (135), and a controller (115); wherein the controller (115) is configured to determine a cargo space height of the target cargo space according to an identification state of the two-dimensional code camera (116) to the target cargo space two-dimensional code; and/or the controller (115) is configured to determine a skew distance from a captured image of the target cargo space by the depth camera (11 a); and adjusting the position of the picking assembly (13) based on the cargo space height and/or the deflection distance so as to enable the picking assembly (13) to move to a designated position of a target carrier;

the controller (115) is further configured to determine whether the picking assembly (13) is in an initial position based on a first trigger signal of the first sensor (117), or the controller (115) is further configured to determine whether the picking assembly (13) is in an initial position based on a first zero signal of a first drive structure (16) motor encoder and a second zero signal of a second drive structure (15) motor encoder;

The controller (115) is further configured to determine whether a target item is present on the retrieval assembly (13) in an initial position based on a second trigger signal of the second sensor (118);

-the controller (115) is further configured to determine whether the target cargo space has a target item according to a third trigger signal of the third sensor (119);

the controller (115) is further configured to determine a positional state between a target item and the pick-up assembly (13) based on a fourth trigger signal of the fourth sensor (135);

the position state is that when the distance between the object taking component (13) and a target object on the target cargo space is smaller than or equal to a fifth preset distance in the process of moving to the target cargo space, the controller (115) controls the object taking component (13) to approach the target object at a first preset speed; or, when the position state is that the distance between the object taking component (13) and the object article is smaller than or equal to the sixth preset distance in the process of retracting the object taking component (13) into the base (11), the controller (115) determines that the object article is arranged on the object taking component (13).

28. The retrieval mechanism according to claim 27, wherein a first distance is provided between the front end of the base (11) and the front end of the target carrier when the retrieval mechanism (1) is moved to the designated position; when the object taking assembly (13) is at the initial position, a second distance is reserved between the object taking assembly (13) and the front end face of the base (11); a third distance is arranged between the target cargo space and the front end of the base (11);

The controller (115) is further configured to determine a working distance of the retrieval assembly (13) based on the first distance, the second distance, and the third distance;

-the first drive structure (16) and/or the second drive structure (15) are configured to drive the pick-up assembly (13) to move the working distance towards the target cargo space to reach the target cargo space based on a control signal of the controller (115);

the pick-up assembly (13) is configured to transfer a target item between the target cargo space and a control signal from the controller (115).

29. A transfer robot, comprising:

a chassis (3);

the portal frame (2) is arranged on the chassis (3);

the retrieval mechanism (1) according to any one of claims 1-28, said retrieval mechanism (1) being arranged on said mast (2) and being capable of being lifted along said mast (2).

30. The transfer robot of claim 29, further comprising:

the temporary storage plate is arranged on the portal (2);

the rotating mechanism is connected with the object taking mechanism (1) and is configured to drive the object taking mechanism (1) to rotate so that the object taking mechanism (1) can store objects on the temporary storage plate or take out objects from the temporary storage plate through the object taking mechanism (1).

31. A method of handling articles, characterized by being applied to an article handling mechanism (1) according to any one of claims 1-28; the article handling method includes:

determining a working distance between the object taking assembly (13) and the target cargo space under the condition that the object taking mechanism (1) is at a specified position;

-the first drive structure (16) and/or the second drive structure (15) drive the pick-up assembly (13) to move the working distance towards the target cargo space to reach the target cargo space;

and the object taking assembly (13) and the object goods place are used for transferring the object goods.

32. The method of item handling according to claim 31, wherein the first drive structure (16) and/or the second drive structure (15) drive the pick-up assembly (13) to move the working distance towards the target cargo space, comprising:

the first driving structure (16) drives the moving seat (12) to move so as to drive the fetching assembly (13) to move a first preset distance towards the target cargo space, the second driving structure (15) drives the telescopic structure (14) to extend out again so as to drive the fetching assembly (13) to move a second preset distance towards the target cargo space, and the first preset distance and the second preset distance are determined by the working distance;

Or the second driving structure (15) drives the telescopic structure (14) to extend so as to drive the fetching assembly (13) to move a third preset distance towards the target goods space, the first driving structure (16) drives the moving seat (12) to move again so as to drive the fetching assembly (13) to move a fourth preset distance towards the target goods space, and the third preset distance and the fourth preset distance are determined by the working distance;

or the first driving structure (16) and the second driving structure (15) simultaneously drive the movable seat (12) and the telescopic structure (14) to move so as to drive the fetching assembly (13) to move a working distance towards the target goods space, so that the fetching assembly (13) moves to the target goods space.

33. Method according to claim 32, wherein, in case the target cargo space is deep inside, the first driving structure (16) and/or the second driving structure (15) drive the pick-up assembly (13) to move the working distance towards the target cargo space to reach the target cargo space, comprising:

the second driving structure (15) drives the telescopic structure (14) to extend out so as to drive the fetching assembly (13) to move towards the target cargo space, so that the width of the telescopic structure (14) is reduced; the first driving structure (16) drives the movable seat (12) to move again so as to drive the telescopic structure (14) to move towards the target cargo space until the moving distance of the fetching assembly (13) is the working distance; the width direction of the telescopic structure (14) is intersected with the telescopic direction.

34. The method of item handling according to claim 31, wherein said determining a working distance between said pick up assembly (13) and said target cargo space comprises:

acquiring a first distance between the front end of the base (11) and the front end of the target carrier under the condition that the object taking mechanism (1) is positioned at a designated position of the target carrier;

confirming an initial position of the object taking assembly (13) according to a first trigger signal of a first sensor (117) and/or a zero signal of a motor encoder of the first driving structure (16) and a zero signal of a motor encoder of the second driving structure (15), wherein a second distance is reserved between the initial position and the front end of the base (11);

acquiring a third distance between the target cargo space and the front end of the base (11);

35. The method of item handling according to claim 31, wherein the picking mechanism (1) has a picking operation in which the first drive structure (16) and/or the second drive structure (15) drive the picking assembly (13) to move the working distance towards the target cargo space to reach the target cargo space, the method further comprising:

Confirming that the target cargo space has a target object according to a third trigger signal of a third sensor (119);

transfer of a target object between the picking assembly (13) and the target cargo space is carried out, and the transfer device comprises:

when the target goods is arranged on the target goods space, the object taking assembly (13) applies force to the front end face of the target goods, so that the target goods are fixed to the object taking assembly (13).

36. Method according to claim 35, wherein in the picking operation the first drive structure (16) and/or the second drive structure (15) drive the picking assembly (13) towards the target cargo space for the operating distance to reach the target cargo space, comprising:

according to a fourth trigger signal of a fourth sensor (135), reducing the driving speed of the first driving structure (16) and/or the second driving structure (15) so that the object picking assembly (13) approaches the target object at a first preset speed when the distance between the object picking assembly and the target object is smaller than or equal to a fifth preset distance; the first preset speed is smaller than the second preset speed, and the second preset speed is the moving speed of the object taking assembly (13) when the distance between the object taking assembly and the object is larger than the fifth preset distance.

37. The method of item handling according to claim 31, wherein the picking mechanism (1) further has a picking operation in which the first drive structure (16) and/or the second drive structure (15) drive the picking assembly (13) to move the working distance towards the target cargo space to reach the target cargo space, comprising:

-said first drive structure (16) and/or said second drive structure (15) driving said pick-up assembly (13) to move said working distance towards a target cargo space to move said target item to said target cargo space; wherein the object taking assembly (13) carries a target object;

the fetching assembly (13) releases the acting force on the front end face of the target object so as to enable the target object to be transferred onto the target goods space.

38. The method of item handling according to claim 31, wherein, before determining the working distance between the pick assembly (13) and the target cargo space with the pick mechanism (1) in a designated position of the target carrier, the method further comprises:

Determining the cargo space height of a target cargo space according to the identification state of the two-dimensional code camera (116) on the target cargo space two-dimensional code;

and/or determining a deflection distance according to a shot image of the target cargo space by a depth camera (11 a), and adjusting the position of the object taking assembly (13) based on the cargo space height and/or the deflection distance so as to enable the object taking assembly (13) to move to a designated position of the target carrier.

39. The article handling method of any of claims 31-38, further comprising:

the first driving structure (16) and/or the second driving structure (15) drive the object taking assembly (13) to move back to the target cargo space until the object taking assembly (13) moves to an initial position on the base (11).

40. Method according to claim 39, wherein the first drive structure (16) and/or the second drive structure (15) drive the pick assembly (13) to move away from the target cargo space, comprising:

the first driving structure (16) drives the movable seat (12) to move so as to drive the telescopic structure (14) to move back to the target cargo space until the telescopic structure (14) exits from the target carrier;

The second driving structure (15) drives the telescopic structure (14) to shrink until the fetching assembly (13) reaches the initial position.

41. Method according to claim 35, wherein in the picking operation the first drive structure (16) and/or the second drive structure (15) drive the picking assembly (13) to move away from the target cargo space, comprising:

determining that the object taking assembly (13) is provided with a target object according to a fourth trigger signal of a fourth sensor (135) and/or the vacuum degree of the inner cavity of the sucker (132) is in a preset vacuum degree;

in the case of a target object on the picking assembly (13), the first drive structure (16) and/or the second drive structure (15) drive the picking assembly (13) to move away from the target cargo space.

42. The article handling method of claim 31, further comprising:

acquiring the moving distance of the object taking assembly (13) towards a target cargo space;

-in case the movement distance is equal to the working distance, the picking assembly (13) reaches a target cargo space;

wherein the moving distance is detected by any one of a stay wire encoder, a laser ranging sensor, an ultrasonic sensor and a millimeter wave sensor.