CN117284678A

CN117284678A - Object taking device and transfer robot

Info

Publication number: CN117284678A
Application number: CN202311347981.2A
Authority: CN
Inventors: 牛星宇; 李晓伟; 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: 2023-12-26

Abstract

The embodiment of the application provides an object taking device and a transfer robot, comprising: a base; the object taking assembly can selectively extend out of or retract back into the base so as to reciprocate between the target goods space and the base; the object taking assembly is configured to carry the target object by acting on the front end surface of the target object when the target object is taken back, wherein the front end surface of the target object is one side surface of the object taking assembly facing the object taking assembly when the target object is to be taken back; a support assembly at least part of which is positioned in the moving path of the target article when the object taking assembly takes back the target article, and which can extend out of the base to support the target article when the object taking assembly carries the object; at least a portion of the support assembly is movable relative to the base to adjust the support size of the support assembly for the target article.

Description

Object taking device and transfer robot

Technical Field

The application belongs to storage logistics equipment technical field, especially relates to a pick device and transfer robot.

Background

Transfer robots are important devices in warehousing that are capable of automatically placing items (e.g., containers) onto carriers (e.g., racks), completing a loading process (e.g., a box returning process), and also removing items from carriers 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 device and transfer robot, 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 object picking device comprising:

a base;

the object taking assembly can selectively extend out of or retract back into the base so as to reciprocate between the target goods space and the base; the object taking assembly is configured to carry the target object by acting on the front end surface of the target object when the target object is taken back, wherein the front end surface of the target object is one side surface of the object taking assembly facing the object taking assembly when the target object is to be taken back;

A support assembly at least part of which is positioned in the moving path of the target article when the object taking assembly takes back the target article, and which can extend out of the base to support the target article when the object taking assembly carries the object;

at least a portion of the support assembly is movable relative to the base to adjust the support size of the support assembly for the target article.

In some embodiments, the object retrieval device further comprises:

and the width adjusting assembly is connected with the bearing assembly and is configured to drive the bearing assembly to move so as to adjust the bearing size of the bearing assembly on the target object.

In some embodiments, the support assembly comprises at least two supports;

at least two supporting pieces are arranged at intervals;

the width adjusting assembly is connected with at least one supporting piece to drive the at least one supporting piece to be close to or far away from the other supporting piece so as to adjust the distance between the two supporting pieces.

In some embodiments, the width adjustment assembly comprises:

width adjusting driving piece;

one end of the width adjusting transmission piece is connected with the width adjusting driving piece, the width adjusting transmission piece comprises a first part and a second part, and the first part and the second part reversely move under the driving of the width adjusting driving piece;

one of the supports is attached to the first portion and the other support is attached to the second portion.

In some embodiments, the width adjusting driving piece comprises a driving motor and a driving wheel, wherein an output end of the driving motor is connected with the driving wheel to drive the driving wheel to rotate;

the width adjusting transmission piece comprises a driven wheel and a synchronous belt, wherein the driving wheel and the driven wheel are arranged at intervals, two ends of the synchronous belt are sleeved on the driving wheel and the driven wheel, the driving wheel and the driven wheel divide the synchronous belt into a first section and a second section which are oppositely arranged, one bearing piece is connected with the first section, and the other bearing piece is connected with the second section; the first segment is configured as a first portion and the second segment is configured as a second portion.

In some embodiments, the support member is movable relative to the base in a direction of movement of the retrieval member, and one end of the support member abuts the target carrier when the support member is extended from the base.

In some embodiments, the object retrieval device further comprises: a support platform;

the supporting platform is movably arranged on the base, and the bearing assembly is positioned on the supporting platform and can move relative to the supporting platform so as to extend out of the base;

the width adjusting component is connected with the supporting platform to drive the supporting platform to move relative to the base, and the bearing component adjusts the bearing size of the target object under the drive of the supporting platform.

In some embodiments, the object taking device further comprises a width adjustment guide rail and a width adjustment slider;

the width adjusting guide rail is arranged on one of the base and the supporting platform, and the width adjusting slide block is arranged on the other of the base and the supporting platform;

the width adjusting slide block is configured to slide along the width adjusting guide rail when the supporting platform moves.

In some embodiments, there are at least two width-adjusting rails, and correspondingly, there are at least two width-adjusting sliders;

at least two width adjusting guide rails are respectively positioned at two sides of the width adjusting assembly, and each width adjusting guide rail is provided with a corresponding width adjusting sliding block in a sliding way.

In some embodiments, the object retrieval device further comprises:

the two guide strips are oppositely arranged at two sides of the bearing assembly, and the arrangement direction of the two guide strips is intersected with the moving direction of the object taking assembly; the guide strip is configured to limit movement of the target article on the support assembly in the alignment direction;

the width adjusting component is also connected with each guide strip and is configured to drive the two guide strips to move relatively or reversely so as to adjust the distance between the two guide strips.

In some embodiments, the object retrieval device further comprises:

the telescopic structure is arranged on the base, the free end of the telescopic structure can selectively extend out of or retract into the base, and the object taking component is arranged at the free end;

The driving mechanism is connected with the telescopic structure to drive the free end to extend out of or retract back into the base, so that the object taking assembly is driven to move relative to the base.

In some embodiments, the object retrieval device further comprises:

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

the telescopic structure is connected with the movable seat, and the free end of the telescopic structure is connected with the object taking assembly and can drive the object taking assembly to selectively extend out or retract back to the base;

the driving mechanism is respectively connected with the movable seat and the telescopic structure, and can selectively drive at least one of the movable seat and the telescopic structure to move when the target object is fetched and returned, so as to drive the object fetching assembly to extend out of or retract back to the base.

In some embodiments, the drive mechanism comprises:

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 free end to move close to or far away from the movable seat so that the object taking assembly moves relative to the movable seat under the drive of the free 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 some embodiments, the object retrieval device 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 some embodiments, when the target cargo space is the inner deep position of the target carrier, the second driving structure drives the telescopic structure to extend to drive the fetching assembly to move towards the target cargo space, so that the width of the telescopic structure is reduced, and the first driving structure drives the moving seat to move to drive the fetching assembly to move towards the target cargo space until the fetching assembly moves to the target cargo space, so as to transfer the target object between the fetching assembly and the target cargo space;

The width direction of the telescopic structure intersects with the telescopic direction.

In some embodiments, the telescopic structure and/or the movable seat in the fetching device are/is provided with a force application member, the bearing assembly is provided with a force application portion, and the force application member can apply force to the force application portion at least in the retraction process of the fetching assembly so as to drive the bearing assembly to retract to the base.

In some embodiments, the object retrieval device 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 bearing component, and the fourth end of the elastic component is connected with the supporting platform of the object taking device;

the force application part comprises a bending part arranged at one end of the movable seat, and the force bearing part comprises an extending part arranged at one end of the bearing assembly; when the bearing assembly is in the initial position, the bending part is abutted against one surface of the extending part, which faces the front end of the bearing assembly;

the bearing component is configured to pop up under the elastic action of the elastic component when the movable seat moves forwards and is propped against the front end of the target carrier, and when the movable seat retreats, the bending part drives the extending part to retreat to the supporting platform.

In some embodiments, the article-taking assembly includes a mounting plate movable relative to the base, and a suction cup disposed on the mounting plate and configured to adsorb a target article;

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

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

a chassis;

the portal is arranged on the chassis;

the object taking device is arranged on the portal frame and can be lifted along the portal frame.

In some embodiments, the transfer robot further comprises:

the temporary storage plate is arranged on the portal;

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

According to the object taking device, the carrying robot and the storage system, the object taking component is arranged on the base, the object taking component can stretch out or retract back to the base, and the object taking component is configured to act on the front end face of an object when the object is taken back (namely, the object faces one side face of the object taking component when the object is in a state to be taken back), so that the object is carried; therefore, compared with the related art, one end of the fetching assembly does not need to be inserted into a gap between two adjacent containers, that is, when the containers are stored, a certain gap between the two adjacent containers does not need to be reserved, namely, the storage 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 application, the supporting component is movably arranged on the base, so that the supporting component plays a role in supporting the target object when the object taking component carries the target object. In addition, at least a portion of the support assembly is movable relative to the base such that the support assembly is adjustable in support size for the target article, thereby improving the adaptability to take over articles of different sizes.

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 an application scene view of a transfer robot provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of a transfer robot according to an embodiment of the present disclosure;

fig. 3 is a schematic overall structure of an object taking device according to an embodiment of the present application;

fig. 4 is a schematic view of another overall structure of the object taking device according to the embodiment of the present application;

FIG. 5 is a schematic view of the structure of the base, width adjustment assembly and support assembly of the object picking apparatus according to the embodiment of the present application;

FIG. 6 is a schematic view of a configuration of the widening element in combination with a support element of the fetching device according to the embodiment of the present application;

FIG. 7 is a schematic view of another configuration of the widening element in combination with a support element of the fetching device according to the embodiment of the present application;

FIG. 8 is a schematic view of yet another overall structure of the object-fetching device according to the embodiment of the present application;

FIG. 9 is a schematic view of a mechanism for matching a movable seat with a base in an object picking device according to an embodiment of the present disclosure;

Fig. 10 is a schematic structural diagram of the base, the moving seat and the first driving structure in the object taking device according to the embodiment of the present application;

fig. 11 is a schematic structural diagram of the movable seat, the telescopic structure and the second driving structure in the object taking device according to the embodiment of the present application;

fig. 12 is a schematic structural diagram of a telescopic structure and a base in the object taking device according to the embodiment of the present application;

fig. 13 is a schematic structural diagram of a moving seat, a telescopic structure and a fetching assembly in the fetching device according to the embodiment of the present application;

fig. 14 is a schematic structural view of a telescopic structure in the object retrieving apparatus according to the embodiment of the present application;

fig. 15 is a schematic structural view of a support in the object picking device according to the embodiment of the present application;

fig. 16 is a schematic structural view of the movable seat and the supporting member in the object taking device according to the embodiment of the present application;

fig. 17 is a schematic structural diagram of an article picking assembly in an article picking device according to an embodiment of the present application.

Reference numerals illustrate:

1-an object taking device; 2-chassis; 3-a portal; 4-target article; 5-a target carrier;

101-a base; 102-an object taking component; 103-a support assembly; 104-a width adjusting component; 105-guide bars; 106-supporting a platform; 107-width-adjusting guide rails; 108-width adjusting sliding blocks; 109-a mobile seat; 110-telescoping structure; 10-a driving mechanism; 11-a drive assembly; 11 a-a drive assembly; 11 b-a transmission assembly; 12-a transmission assembly; 111-a second drive structure; 112-a first drive structure; 113-a first stop; 114-a second stop; 115-a first rail; 116-a second rail; 117-an elastic component;

1021-mounting plate; 1022-suction cup; 1023-an air supply device; 1024-supports; 1031-a support region; 1032-a support; 1041-a width adjustment drive; 1042-width adjusting transmission member; 1051-guide surface; 1091-a first slide rail; 1092-a third slider; 1093-fold; 1101-first end; 1102-a second end; 1103-cross-piece unit; 1104-a hinge shaft; 1105-turning the shaft; 1106-a second slider; 1111-a second driver; 1112-a second power wheel; 1113-a second transmission member; 1114-a second idler; 1115-a second drive block; 1121-a first driver; 1122-a first power wheel; 1123—a first transmission; 1124-first idler; 1125-a first drive block; 1131-a connecting rod; 1141-an extension; 1142-a spacing cavity;

10321-an extension; 10411-a drive motor; 10412-a drive wheel; 10421-a first portion; 10422-a second portion; 11031-cross piece; 10322-a third rail; 10323-fourth sliders;

11031 a-drive rod.

Detailed Description

In order to facilitate the technical solution of the application, some concepts related to the present application will be described below first.

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 articles on a pallet, a handling robot is generally used to pick up and return the containers or articles from the pallet. Transfer robots are important equipment in warehousing, and can automatically place articles (such as containers) on carriers (such as shelves), complete a loading process (such as a box returning process), and remove articles from the carriers (such as a box taking process) and transport the articles to a designated place.

Fig. 1 is an application scene view of a transfer robot provided in an embodiment of the present application, and fig. 2 is a schematic structural diagram of the transfer robot provided in an embodiment of the present application. Referring to fig. 1 and 2, specifically, the embodiment of the present application provides a transfer robot, which includes a chassis 2, a gantry 3, and an object taking device 1. Wherein, portal 3 sets up on chassis 2, and object taking device 1 sets up on portal 3.

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

In addition, it can be understood that in the embodiment of the application, a communication module may be disposed on the chassis 2 or the gantry 3, 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 warehouse system according to the transfer task, for example, to the appointed position of the target carrier 5, so as to conveniently dock with the target cargo space in the target carrier 5, and realize the process of fetching or returning objects.

The object taking device 1 is provided on the portal 3 and is movable up and down along the portal 3, for example, after the transfer robot moves to the target carrier 5, the object taking device 1 moves up and down along the portal 3, thereby reaching the height of the cargo space where the corresponding target object 4 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 door frame 3, a rotating mechanism is connected with the object taking device 1, and the rotating mechanism is configured to drive the object taking device 1 to rotate so that the object taking device 1 stores the target object 4 on the temporary storage plate or takes out the target object 4 from the temporary storage plate through the object taking device 1.

It will be appreciated that the object taking device 1 may be located on one side of the door frame 3, with the temporary storage plate being located on the other side of the door frame 3; in some examples, the temporary storage plate may be provided in plurality along the height direction of the door frame 3, 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 door frame 3. In this way, the transfer robot can transfer a plurality of target articles 4 at a time, and the transfer efficiency of the target articles 4 is improved.

In some examples, the driving structure on the door frame 3 may be connected to a lifting plate, the lifting plate is driven by the driving structure to lift, and a rotating mechanism is disposed on the lifting plate and connected to the object taking device 1, where the object taking device 1 may rotate relative to the lifting plate, so as to drive the object taking device 1 to rotate.

In the related art, an object taking device 1 (e.g., a box taking structure) of a handling robot generally includes a telescopic fork and a finger rotatably disposed at a front end of the telescopic fork, and the telescopic fork is driven by a driving member to extend into a side surface of a container to clamp the container when taking a box. 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 clamp on the goods shelves and draw out.

In the process of taking and returning the containers, a certain gap (for inserting or extracting the telescopic fork) needs to be kept between two adjacent containers when the containers are placed or put on the goods shelf, and a certain interval (for extracting the fingers to extend in) needs to be kept between the front container and the rear container, so that part of the space for storing the containers is occupied, and the storage density of the containers on the goods shelf is low.

Therefore, the embodiment of the application provides the object taking device 1, so as to solve the technical problems that a certain gap exists between containers in the related art, and the storage density of the containers is low.

Fig. 3 is a schematic overall structure of the object taking device 1 according to the embodiment of the present application, and fig. 4 is a schematic overall structure of the object taking device 1 according to the embodiment of the present application.

Referring to fig. 3 and 4, an embodiment of the present application provides an object retrieval device 1 comprising a base 101, an object retrieval assembly 102, a support assembly 103, and a width adjustment assembly 104.

Specifically, in the embodiment of the present application, the base 101 may be specifically made of a hard plastic (such as engineering plastic), and in some alternative examples, the base 101 may also be made of a metal or alloy material such as aluminum alloy, stainless steel, or cast iron. It can be appreciated that the specific arrangement of the base 101 may be the same as or similar to the arrangement of the base 101 in the related art, which is not described in detail in the embodiments of the present application.

The picker assembly 102 is movably disposed on the base 101 and is selectively extendable or retractable from the base 101. The drive mechanism 10 is configured to drive the retrieval assembly 102 in relation to the base 101 to extend or retract the retrieval assembly 102 from the base 101 to reciprocate within the target cargo space and the base 101 to effect retrieval of the target item 4.

It should be noted that, the fetching assembly 102 may be driven by the driving mechanism 10 to move along a first direction (shown in x direction in the drawing), and the first direction may be parallel to the fetching direction. In some examples, the first direction and the fetching direction have a preset included angle therebetween, and the preset included angle may be an acute angle, so that the first direction x has a certain component in the fetching direction, as long as it is ensured that the fetching assembly 102 can finally reach the target cargo space.

The pickup direction refers to the extending direction of the connection line between the pickup assembly 102 and the target cargo space. The embodiment of the application specifically takes the first direction and the fetching direction as examples.

It will be appreciated that the target cargo space may be a cargo space on a target carrier 5, such as a pallet, or may be a temporary storage cargo space formed by a temporary storage plate. Accordingly, the picking direction may be a direction in which the picking assembly 102 moves toward the target carrier 5 when picking up and returning the target object 4, or may be a direction in which the picking assembly 102 moves toward the pallet cargo space. It will be appreciated that the direction of movement of the picking assembly 102 toward the cargo space of the target carrier 5 may be perpendicular to the direction of movement of the picking assembly 102 toward the pallet cargo space.

In addition, the retrieval assembly 102 is configured to act on the front end surface of the target article 4 to carry the target article 4 when retrieving the target article 4; the front end surface of the target article 4 is the end surface of the target article 4 facing the fetching component 102 when the target article is to be fetched.

In this embodiment of the present application, the front end surface of the target article 4 may refer to a side surface of the target article 4 facing the article taking assembly 102 when the target article is to be taken back; alternatively, in some application scenarios, the target object 4 is stored on a shelf (may also be referred to as a target carrier 5), and the front end surface of the target object 4 may also refer to a side surface of the target object 4 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 outside of the shelf, which is used as a specific example for illustrating the container, so as to facilitate the taking of the fetching assembly 102.

In some examples, the target carrier 5 may also be referred to as a temporary storage plate of the transfer robot. That is, the fetching component 102 may extend out of the base 101 onto the temporary storage plate, and fetch the target object 4 on the temporary storage plate, or place the target object 4 on the temporary storage plate.

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 of the access module 102 to enable movement, handling or retrieval of the container.

As a specific example of an embodiment of the present application, a force providing component that can provide a force against the front end surface of the cargo box may be specifically disposed at the movable end (which may also be referred to as the free end in some examples) of the access module 102 to effect movement, handling or retrieval of the cargo box.

In a specific example of this embodiment of the present application, the force providing component may specifically be a hook, and meanwhile, an inserting slot into which the hook is inserted may be provided on the front end face of the container, and when the container is taken back, the hook may specifically be inserted into the inserting slot, so as to be connected with the front end face of the container, and provide a force for carrying the container.

In other specific examples of embodiments of the present application, the force providing member may also be a dual or multi-axis jaw mechanism and provided with a through hole in the front face of the container for insertion of the jaw mechanism; when the container is taken back, the clamping jaw mechanism is controlled to be in a clamping state and is inserted into the through hole; and then the clamping jaw mechanism is opened, so that the outer side wall of the clamping jaw mechanism 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 jaw mechanism 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.

It will also be appreciated that in alternative examples of embodiments of the present application, the force providing member may also be an electromagnet, and accordingly the front face of the container may be formed of a material that is attracted to the magnet (e.g., a ferrous material), and that upon retrieval of the container, the electromagnet may be energized when the force providing member is in proximity to or in contact with the container, thereby providing transport capacity to the container via 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 picking assembly 102 is configured to act on the front end surface of the object 4 when picking up the object 4, so as to convey the object 4; 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.

According to the object taking device 1 provided by the embodiment of the application, the object taking assembly 102 is movably arranged on the base 101, and the object taking assembly 102 is driven by the driving mechanism 10 to reciprocate along the first direction, so as to extend out of the base 101 or retract back into the base 101, so that the transfer of the target object 4 with the target cargo space is realized. In addition, the pickup assembly 102 is provided to act on the front end face of the target article 4 when the target article 4 is picked up (i.e., the side face of the target article 4 facing the pickup assembly 102 when the target article 4 is in the state to be picked up), thereby carrying the target article 4; thus, compared with the related art, one end of the fetching assembly 102 does not need to be inserted into the gap between two adjacent containers, that is, when the containers are stored, a certain gap between the two adjacent containers can be not required to be reserved, that is, the storage gap between the two adjacent containers is reduced, and the storage density of the containers is effectively improved.

With continued reference to figures 3 and 4, in the present embodiment, the support assembly 103 is disposed on the base 101 such that at least a portion of the support assembly 103 is positioned in the path of movement of the target item 4 when the retrieval assembly 102 retrieves the target item 4, and such that the support assembly 103 extends out of the base 101 to support the target item 4 when the retrieval assembly 102 is carrying items thereon. For example, the picking assembly 102 may support the target item 4 on the support assembly 103 as the target item 4 is carried back into the base 101 to ensure the stability of the target item 4 on the picking assembly 102.

For example, the support assembly 103 has a support area 1031 formed thereon for supporting a cargo box. Specifically, in the embodiments of the present application, referring to fig. 3 and 4, at least a portion of the support region 1031 is located in the path of movement of the retrieval assembly 102. For example, the support region 1031 can extend in a first direction and the access assembly 102 can be movable within the support region 1031 such that the support region 1031 of the bearing assembly 103 supports items (e.g., containers) carried on the access assembly 102 when the access assembly 102 is retrieving the items.

In some examples, the support assembly 103 may be movably disposed on the base 101, for example, in embodiments of the present application, the direction of movement of the support assembly 103 may be aligned with the first direction, i.e., the direction of movement of the support assembly 103 on the base 101 may be aligned with, for example, parallel or approximately parallel to, the direction of movement of the retrieval assembly 102. In one specific application scenario, the fetching assembly 102 abuts the support assembly 103 on the front end surface of the target carrier 5 when fetching the target object 4, thereby filling the gap between the base 101 and the target carrier 5; in this way, when the fetching component 102 fetches and returns the target object 4, the bearing component 103 can support and bear the target object 4 carried on the fetching component 102, and the situation that the target object 4 falls from the gap between the base 101 and the target carrier 5 can be effectively avoided.

In particular arrangements, the movement of the support assembly 103 in the first direction may be driven by a drive member, for example, in some examples, the support assembly 103 may be driven by a linear motor; alternatively, in other examples, the support assembly 103 may be actuated in the first direction by a cylinder, piston cylinder, hydraulic cylinder, or the like. It will be appreciated that in alternative examples of embodiments of the present application, movement of the support assembly 103 in the first direction may also be driven by the cooperation of a lead screw and a power block; for example, a rotatable screw is provided on the base 101 and is driven to rotate by a motor, and a power block is provided on the side of the support assembly 103 facing the base 101, the power block being provided with a through hole having an internal thread, the power block being screwed (which may also be referred to as a threaded connection in some examples) with the screw, during rotation of the screw, the power is rapidly moved by the pushing of the thread, thereby driving the support assembly 103 to move. In this way, the support assembly 103 is convenient for supporting the articles carried on the picking assembly 102, and the articles are prevented from falling.

Referring to fig. 3 and 4, in the present embodiment, at least a portion of the support assembly 103 is movable relative to the base 101 to adjust the support size of the support assembly 103 for the target object 4. It will be appreciated that the size of the support assembly 103 to the target object 4 may refer specifically to the size of the support area 1031 formed by the support assembly 103 as described above.

For example, at least a portion of the support member 103 can be movable in a second direction on the base 101 to adjust the width of the support region 1031 in the second direction.

Specifically, in the embodiment of the present application, the second direction intersects the first direction, for example, vertically or approximately vertically, and the second direction is along the surface of the base 101, or the second direction is parallel or approximately parallel to the surface of the base 101. That is, in the present embodiment, at least a portion of the support assembly 103 is also movable in a second direction relative to the base 101; alternatively, in some examples, at least a portion of the movement of the support assembly 103 over the base 101 has a component in the second direction such that the width of the support region 1031 formed by the support assembly 103 is adjustable in the second direction. As a specific example of the embodiment of the present application, referring to the drawings and the figures, the second direction may specifically be a direction shown by a y-axis in the drawings and the figures. That is, at least a portion of the support assembly 103 is movable in the direction shown in the figures and the y-axis of the figures to adjust the width of the support region 1031.

In an alternative example of the embodiment of the present application, the bearing component 103 may be specifically configured as a telescopic expansion board structure that is telescopic along the second direction, where the width adjusting component 104 may be connected to a front end or a head end expansion joint of the expansion board structure, and by adjusting a distance between the front end or the head end expansion joint and the tail end expansion joint, the width of the supporting area 1031 is adjusted, and in a specific setting, the tail end expansion joint of the expansion board structure may be specifically configured to be relatively fixed with the base 101, and the head end expansion joint may be specifically configured to be connected to the width adjusting component 104, so as to be driven by the width adjusting component 104 to move along the second direction.

In alternative embodiments of the present application, the support member 103 may be fixed in a central position relative to the base 101, and the support member 103 may be extended and retracted relative to the central position at either or both ends in the second direction, thereby adjusting the width of the support region 1031 of the support member 103. It will be appreciated that the specific arrangement of the support member 103 extending from the middle portion to the two sides along the second direction is similar to that of the fixing of one end of the telescopic plate structure in the previous embodiment of the present application, and reference may be made to the detailed description of the previous embodiment of the present application, which will not be repeated herein.

In addition, in the present embodiment, by positioning the support member 103 to be at least partially movable in a second direction, wherein the second direction intersects the first direction, such as perpendicular, the width of the support region 1031 of the support member 103 in the second direction can be varied and adjusted to promote adaptability to take back items of different sizes.

The support size of the support assembly 103 may be manually adjusted, for example, when the width of the object 4 to be retrieved, such as a container, is a first width, the support assembly 103 may be manually adjusted to a support size (e.g., support width) that is greater than or equal to the first width, and when the width of the object 4 to be retrieved, such as a container, is a second width, the support assembly 103 may be manually adjusted to a support size (e.g., support width) that is greater than or equal to the second width. Wherein the second width is different from the first width.

In still other examples, the object handling apparatus 1 may further comprise a width adjustment assembly 104, the width adjustment assembly 104 being coupled to the support assembly 103 and configured to actuate the support assembly 103 to adjust the support size of the support assembly 103 for the target object 4. For example, the width adjusting component 104 may drive at least a portion of the supporting component 103 to move along the second direction, for example, the width adjusting component 104 may be electrically connected to the controller, and when the width of the target article 4 to be retrieved is the first width, the controller may control the width adjusting component 104 to work, so that the width adjusting component 104 drives the supporting component 103 to move along the second direction, and the supporting size of the supporting component 103 is adjusted to be greater than or equal to the first width, so that the whole process realizes automatic control, and the working efficiency of the object picking device 1 is improved.

With continued reference to figures 3 and 4, in some alternative examples of embodiments of the present application, the support assembly 103 can include two supports 1032. In particular, two of the bearings 1032 are spaced apart, for example, the two bearing assemblies 103 can be disposed opposite one another in a second direction, or, in some examples, it can be appreciated that the two bearings 1032 are disposed in a second direction such that the two bearings 1032 together form a support region 1031 (see fig. 1). Referring to fig. 3 and 4, in the embodiment of the present application, at least a portion of the picking assembly 102 is located between the two supports 1032, such that when the picking assembly 102 picks up an item, the picking assembly 102 moves and carries the item onto the two supports 1032, thereby facilitating the support of the item by the support assembly 103.

It should be noted that where the support assembly 103 includes two supports 1032, the support region 1031 of the present embodiment includes the bearing surfaces of the two supports 1032 and the overhanging region between the bearing surfaces.

By providing the support assembly 103 to include two spaced apart supports 1032, the support of the target object is achieved and the material of the support assembly 103 is saved, thereby reducing costs. In addition, the two spaced apart supports 1032 are configured to facilitate the avoidance of other structures on the base 101 after installation.

In the present embodiment, the width adjustment assembly 104 is coupled to at least one of the supports 1032 and drives at least one of the supports 1032 toward or away from the other support 1032 to adjust the distance between the two supports 1032 to vary the width of the support region 1031.

In some embodiments of the present application, the widening component 104 can be coupled to one of the supports 1032, and the other support 1032 can be fixed relative to the base 101; in particular, when adjusting the width of the two support regions 1031, one of the supports 1032 may be driven by the widening assembly 104 such that the distance between the two supports 1032 is either away from or toward each other, thereby adjusting the width of the support regions 1031.

In alternative examples of embodiments of the present application, the widening component 104 can also be coupled to both supports 1032. That is, in the embodiment of the present application, both supports 1032 are coupled to the width adjustment assembly 104 and are moved by the width adjustment assembly 104.

Specifically, in the embodiment of the present application, the width adjustment assembly 104 may be a screw and a power block as described in the previous embodiment of the present application, it is understood that each support 1032 may be connected to one of the power blocks, where the two power blocks are sleeved on the screw, and the directions of the threads of the internal threads of the through holes on the two power blocks are opposite; thus, when the screw rotates, the moving directions of the two power blocks are always kept to be opposite (for example, opposite, or opposite), so that the width of the supporting area 1031 is adjusted.

In other examples of embodiments of the present application, two sets of width adjustment members 104 may be provided, wherein one set of width adjustment members 104 is connected to one of the two supports 1032 and the other set of width adjustment members 104 is connected to the other of the two supports 1032; that is, in the embodiment of the present application, the two supporting members 1032 may be driven by the two sets of width adjusting members 104, respectively, so as to adjust the supporting regions 1031 formed by the two supporting members 1032.

In some embodiments, the two sets of width adjustment assemblies 104 may be driven in opposite directions for the two supports 1032, for example, when it is desired to increase the width of the support region 1031, the two sets of width adjustment assemblies 104 may be driven away from each other in the second direction to increase the width of the support region 1031 to accommodate larger sized containers; when the width of the supporting area 1031 needs to be reduced, the two groups of width adjusting assemblies 104 can drive the two bearing members 1032 to be close to each other along the second direction, so that the width of the supporting area 1031 is reduced, the shaking of the container with smaller size in the supporting area 1031 is avoided, and the stability of carrying the container is improved.

In other specific examples of the present embodiment, the driving directions of the two sets of width-adjusting assemblies 104 to the two holders 1032 may be the same, and the driving speeds of the two sets of width-adjusting assemblies 104 to the two holders 1032 are different, so that the two holders 1032 are close to each other or far away from each other due to the difference of the moving speeds, so as to adjust the width of the supporting area 1031 formed by the construction of the two holders 1032.

In this embodiment, by arranging two holders 1032 along the second direction, the two holders 1032 form a supporting area 1031, and at least a portion of the fetching assembly 102 is disposed between the two holders 1032, so that the two holders 1032 can support the articles carried on the fetching assembly 102; in addition, the widening component 104 is connected to at least one of the supports 1032 to drive the two supports 1032 toward or away from each other; in this way, the structure of the support 1032 is simplified, the support 1032 is conveniently driven, that is, the convenience of adjusting the width of the supporting area 1031 is improved, the adaptability of the object taking device 1 to containers with different sizes is improved, and the application scene of the object taking device 1 is enlarged.

Fig. 5 is a schematic structural diagram of the base 101, the width adjustment assembly 104, and the support assembly 103 of the object taking device 1 according to the embodiment of the present application, and fig. 6 is a schematic structural diagram of the width adjustment assembly 104 and the support assembly 103 of the object taking device 1 according to the embodiment of the present application.

Referring to fig. 5 and 6, in some specific examples of embodiments of the present application, the widening component 104 includes a widening drive 1041 and a widening drive 1042.

Specifically, in the embodiment of the present application, one end of the width adjustment transmission member 1042 is connected to the width adjustment driving member 1041, and the width adjustment transmission member 1042 has a first portion 10421 and a second portion 10422; in a specific arrangement, the width adjustment drive 1041 may be a motor (e.g., a servo motor, a synchronous motor, a stepper motor, etc.) that can rotate in both forward and reverse directions, it being understood that in some alternative examples of embodiments of the present application, the width adjustment drive 1041 may also be a hand wheel. When specifically provided, the width adjustment transmission member 1042 has a first portion 10421 and a second portion 10422, and the first portion 10421 and the second portion 10422 are driven by the width adjustment driving member 1041 to move reversely in the second direction. For example, referring to the figures and examples of embodiments of the present application, the first portion 10421 may be specifically movable in a positive direction along the y-axis of the figures and examples of embodiments of the present application, and the second portion 10422 may be specifically movable in a negative direction along the y-axis of the figures and examples of embodiments of the present application; alternatively, in other examples of embodiments of the present application, the first portion 10421 may move in a negative direction along the y-axis in the figures and the second portion 10422 may move in a positive direction along the y-axis.

As a specific example of the embodiment of the present application, the width adjusting transmission member 1042 may specifically be a screw and two power blocks sleeved on the screw. One of the two power blocks may be a first portion 10421 and the other of the two power blocks may be a second portion 10422. In this embodiment, the specific matching connection relationship between the screw and the two power blocks may refer to the detailed description of the foregoing embodiment of the present application, which is not repeated in this embodiment of the present application.

It will be appreciated that in the present embodiment, one of the two supports 1032 is connected to the first portion 10421 and the other of the two supports 1032 is connected to the second portion 10422 such that the two supports 1032 move toward and away from each other when the first and second portions 10421, 10422 are moved in opposite directions to adjust the width of the support region 1031 in the second direction to accommodate cargo containers of different sizes.

In this embodiment, the width adjusting driving member 1041 drives the first portion 10421 and the second portion 10422 of the width adjusting driving member 1042 to move in opposite directions in the second direction, so as to drive the two supporting members 1032 to approach each other and separate from each other; in this way, the overall structure of the width adjustment assembly 104, i.e. the overall structure of the object taking device 1, is simplified, facilitating the lightweight design of the object taking device 1. In addition, the material consumption of the width adjusting assembly 104 can be saved, and the processing and production cost of the object taking device 1 is saved.

With continued reference to fig. 5 and 6, in a specific example of the embodiment of the present application, the width adjusting driving member 1041 specifically includes a driving motor 10411 and a driving wheel 10412, specifically, an output end of the driving motor 10411 is connected to the driving wheel 10412, and the driving wheel 10412 is rotated under the driving of the driving motor 10411. In some possible examples, the axial direction of the drive wheel 10412 may be perpendicular or approximately perpendicular to the surface of the base 101, i.e., the direction of rotation of the drive wheel 10412 is parallel to the surface of the base 101; alternatively, in other possible examples of embodiments of the present application, the axial direction of the drive wheel 10412 may be parallel or approximately parallel to the surface of the base 101. The specific arrangement of the driving wheel 10412 in the embodiment of the present application is not limited. It is understood that in the embodiment of the present application, the driving motor 10411 may be specifically a servo motor, a synchronous motor, or a stepper motor. Of course, it is understood that in the embodiment of the present application, the driving motor 10411 may be another type of motor, and the specific type of the driving motor 10411 is not limited in the embodiment of the present application.

In the embodiment of the present application, referring to fig. 5 and 6, the width adjusting transmission member 1042 includes a driven wheel and a timing belt. It can be appreciated that in the embodiment of the present application, the driving wheel 10412 and the driven wheel are arranged at intervals along the second direction, where the synchronous belt is sleeved on the driving wheel 10412 and the driven wheel and is tensioned by the driving wheel 10412 and the driven wheel; thus, when the driving motor 10411 drives the driving wheel 10412 to rotate, the driving wheel 10412 drives the synchronous belt and the driven wheel to rotate together by the tension.

It will also be appreciated that after the timing belt is looped over the drive wheel 10412 and the driven wheel, the timing belt is constructed in a first direction to form opposing first and second sections, wherein the first section may specifically be the first portion 10421 and the second section may be the second portion 10422, as shown in fig. 6. That is, in the present embodiment, the first section is connected to one of the two bearings 1032, and the second section is connected to the other of the two bearings 1032.

Specifically, in the embodiment of the present application, the timing belt may be any one of a chain, a belt, a synchronous belt, or a timing belt, that is, in the embodiment of the present application, the driving wheel 10412 may be a sprocket, and the driven wheel may be an idler.

In a specific arrangement, in the embodiment of the present application, the driving wheel 10412 may be connected through a coupling and a speed reducer, which is equal to an output end (also referred to as an output shaft in some examples) of the driving motor 10411, so that the driving wheel 10412 rotates relative to the base 101 under the driving of the driving motor 10411; the driven wheel may be disposed on the base 101 through a rotation shaft, and is rotatably connected to the base 101.

In the embodiment of the application, a synchronous belt sleeved on a driving wheel 10412 and a driven wheel is driven by a driving motor 10411 and the driving wheel 10412; one of the two bearings 1032 is fixed to a first section of the timing belt and the other of the two bearings 1032 is fixed to a second section of the timing belt. In this way, the driving wheel 10412 and the driving wheel correspond to two fixed pulleys, so as to change the movement direction of the first segment and the second segment, that is, to make the first segment and the second segment 1102 move in opposite directions, so as to drive the two holders 1032 to move, so as to adjust the width of the supporting area 1031 formed by the construction of the two holders 1032.

Specifically, referring to fig. 6, when the first segment moves in the negative y-axis direction, one of the supports 1032 at the distal end of the y-axis (the end far from the origin of coordinates in the drawing) is driven to move in the negative y-axis direction, and the second segment moves in the positive y-axis direction, and one of the supports 1032 at the proximal end of the y-axis (the end near the origin of coordinates in the drawing) is driven to move in the positive y-axis direction, so that the two supports 1032 approach each other, i.e., the width of the supporting area 1031 is reduced; in another specific scenario, when the first segment moves in the positive y-axis direction in the drawing, one of the supports 1032 at the distal end of the y-axis is driven to move in the positive y-axis direction, and at this time, the second segment moves in the negative y-axis direction in the drawing, so that one of the supports 1032 at the proximal end of the y-axis is driven to move in the negative y-axis direction, so that the two supports 1032 are far from each other, i.e., the width of the supporting area 1031 is increased.

In this embodiment, two ends of the synchronous belt are respectively connected with two supporting members 1032, that is, one supporting member 1032 is connected with the first section, and the other supporting member 1032 is connected with the second section, so that; when the driving piece drives the driving wheel 10412, the synchronous belt can drive the two supporting pieces 1032 to move reversely along the second direction; that is, the two holders 1032 move the same distance in opposite directions during the same time, and the actual adjustment distance of the support region 1031 is twice the movement distance of the holders 1032, which effectively improves the adjustment efficiency of the width adjustment of the support region 1031.

In addition, in the embodiment of the present application, the synchronous belt drives the two supporting members 1032 to move reversely, so that the moving distances of the two supporting members 1032 are the same and the directions are opposite; i.e., the distance that the two bearings 1032 move remains symmetrical at all times; in this way, after the supporting area 1031 is adjusted, the article taking assembly 102 can be kept between the two bearing members 1032 all the time, so that the article carried by the article taking assembly 102 is ensured to be positioned between the two bearing members 1032, the situation that the article is deflected is avoided, and the accuracy of taking the article is improved.

With continued reference to fig. 6, in an alternative example of embodiment of the present application, the object-handling device 1 further comprises two guide bars 105. Are oppositely disposed on opposite sides of the support assembly 103 and the orientation of the two guide strips 105 intersects the direction of movement of the picking assembly 102, the guide strips 105 being configured to limit movement of the target object 4 on the support assembly 103 in the orientation.

For example, one guide bar 105 is provided on each support 1032, and the guide bar 105 is located on the side of the two supports 1032 facing away from each other. That is, in the present embodiment, each of the holders 1032 is provided with a guide bar 105 on a side thereof facing away from each other. Like this, when the bearing member 1032 supports the article that gets the article subassembly 102 to carry, two guide bars 105 can carry out spacingly to the activity of article along the second direction that supports on the bearing member 1032 (or support region 1031), can limited avoiding getting the packing box and returning, the in-process of transport, the condition that the packing box takes place to rock to guaranteed the stability of packing box in getting still, in-process of transport.

It will be appreciated that in some alternative examples of embodiments of the present application, the width adjustment assembly 104 is coupled to each of the guide strips 105, and that the width adjustment assembly 104 simultaneously drives the two guide strips 105 toward or away from each other during the process of driving the two supports 1032 toward or away from each other. That is, in the embodiment of the present application, when the width adjustment assembly 104 adjusts the two supports 1032, the two guide strips 105 are adjusted in a follow-up manner, so that the two guide strips 105 can adapt to containers with different sizes, and limit the containers with different sizes.

In one embodiment, referring to fig. 1, in the embodiment of the present application, the guide bar 105 is fixedly connected to the support 1032; that is, in the embodiment of the present application, each supporting member 1032 is fixedly connected to one guiding strip 105, and two guiding strips 105 are disposed opposite to each other along the second direction, so as to form a supporting area 1031 between the two guiding strips 105. Specifically, in the embodiment of the present application, the support 1032 may be specifically made of a sheet metal part, and the guide strip 105 may be specifically formed by bending the sheet metal part. Of course, in some possible examples, the guide strip 105 may be fixedly connected to the support 1032 by a bolt, a screw, or in other possible examples, the guide strip 105 may be welded to the support 1032.

In this embodiment, by disposing one guide strip 105 on the side of each support 1032 facing away from the other support 1032, and connecting the width adjustment assembly 104 to each guide strip 105, when the width adjustment assembly 104 drives the support 1032 to move, the two guide strips 105 move closer to or away from each other along with the support 1032, so as to adjust the distance between the two guide strips 105; like this, be convenient for adjust the distance of gib block 105 each other, be convenient for two gib blocks 105 adapt to not unidimensional packing box, be convenient for carry out spacing direction to not unidimensional packing box, promoted the packing box get still, stability in the handling.

In an alternative example of the embodiment of the present application, as shown in the drawing, the front ends of the opposite sides of the two guide strips 105 are formed with guide surfaces 1051, that is, in the embodiment of the present application, one end inner side of each guide strip 105 facing the front end of the base 101 is provided with a guide surface 1051. In addition, in the present embodiment, the guide surface 1051 is inclined toward the front end of the base 101. In other understandings of the embodiments of the present application, referring to the drawings, the article inlet and outlet of the article taking device 1 may be formed into a flared shape along the first direction, so that the guide strip 105 can be prevented from obstructing the movement of the article, so that the article can be taken conveniently, and the article taking efficiency of the article taking device 1 is improved.

Fig. 7 is a schematic view of another structure of the widening unit 104 and the supporting unit 103 of the object picking apparatus 1 according to the embodiment of the present application.

It will be appreciated that the support assembly 103 needs to be movable in a second direction under actuation of the adjustment assembly, and that the support assembly 103 can also be movable in a first direction relative to the base 101 to extend or retract with the retrieval assembly 102 into the base 101. Thus, in order to ensure stable movement of the support assembly 103 in different directions, in some alternative examples of embodiment of the present application, as shown with reference to fig. 5 to 7, the object retrieval device 1 may further comprise a support platform 106. The support platform 106 is movably disposed on the base 101, and the support assembly 103 is disposed on the support platform 106 and is movable relative to the support platform 106 to extend out of the base 101. For example, the support platform 106 is disposed between the base 101 and the support assembly 103, and the width adjustment assembly 104 is connected to the support platform 106 to drive the support platform 106 to move relative to the base 101, for example, the width adjustment assembly 104 can drive the support platform 106 to move in a second direction to adjust the dimension of the support platform 106 in the second direction, and the support assembly 103 is driven by the support platform 106 to adjust the support dimension of the target object 4.

In some examples, the support platform 106 may be a telescoping plate that is telescoping in the second direction and the support assembly 103 may be positioned on the telescoping plate such that the support platform 106, when telescoping in the second direction, moves the support assembly 103 in the second direction to adjust the support dimension of the support assembly 103 in the second direction.

In other examples, referring to fig. 7, the object retrieval device 1 includes two support platforms 106. Specifically, the support platform 106 is disposed between the width adjustment assembly 104 and the support 1032. In particular, a support platform 106 is provided with a bearing 1032 and a guide bar 105; that is, in the embodiment of the present application, one of the supporting members 1032 and one of the guide strips 105 adjacent thereto are located on one of the supporting platforms 106, and the other supporting member 1032 and the guide strip 105 adjacent thereto are located on the other supporting platform 106.

Specifically, in the embodiment of the present application, the width adjustment assembly 104 may be respectively connected to the two support platforms 106, so as to drive the two support platforms 106 to move reversely (e.g., move toward each other or move away from each other) along the second direction.

It should be understood that, in the embodiment of the present application, the connection manner between the width adjustment assembly 104 and the two support platforms 106 is the same as or similar to the connection manner between the width adjustment assembly 104 and the two supporting members 1032 in the previous embodiment of the present application, and specific reference may be made to the detailed description of the connection manner between the width adjustment assembly 104 and the two supporting members 103 in the previous embodiment of the present application, which will not be repeated herein.

In the embodiment of the present application, by arranging two support platforms 106, the width adjusting assembly 104 is connected with the two support platforms 106, and a bearing 1032 and a guide bar 105 are correspondingly arranged on each support platform 106; in this way, the connection of the width adjustment assembly 104 with the support 1032 and the guide bar 105 is facilitated, and the installation and production efficiency of the object taking device 1 is improved.

In an alternative example of embodiment of the present application, referring to fig. 6 and 7, the object taking device 1 further includes a width adjustment rail 107 and a width adjustment slider 108. Specifically, in the embodiment of the present application, the width adjustment guide rail 107 may be disposed on one of the base 101 and the support platform 106, and the width adjustment guide rail 107 extends along the second direction, and the width adjustment slider 108 is disposed on the other of the base 101 and the support platform 106, and the width adjustment slider 108 is slidably connected with the width adjustment guide rail 107.

In a specific example of the embodiment of the present application, the width adjustment rail 107 may be specifically disposed on the base 101, and the width adjustment slider 108 is disposed on the support platform 106, as described with reference to fig. 4 and 5. In a specific arrangement, the width adjustment rail 107 may be fixedly connected to the base 101, and correspondingly, the width adjustment slider 108 may be fixedly connected to the support platform 106. Thus, when the support platform 106 moves, the width adjusting slide block 108 can slide along the width adjusting guide rail 107, so that the movement of the support platform 106 is conveniently guided and supported, and the stability of the movement of the support platform 106 is improved.

In some optional examples of the embodiments of the present application, referring to fig. 6 and fig. 7, two width adjustment rails 107 may be specifically provided, where two width adjustment rails 107 are arranged at intervals along the first direction, and one width adjustment slider 108 is provided on each width adjustment rail 107; in this way, the support platform 106 is supported and translated through the two width adjusting guide rails 107 and the two width adjusting sliding blocks 108, so that the stability of the movement of the support platform 106 can be effectively improved.

In other alternative examples of embodiments of the present application, referring to fig. 7, each support platform 106 is provided with two width adjustment rails 107 along the first direction. That is, in the embodiment of the present application, the width adjustment guide rail 107 may be provided with four in total. Of course, it is understood that three width adjustment rails 107 may be provided (e.g., one of the support platforms 106 is correspondingly provided with two width adjustment rails 107 arranged along the first direction, and the other support platform 106 is correspondingly provided with one width adjustment rail 107); alternatively, in some examples, the number of widening rails 107 may be five. In the embodiment of the present application, the specific number of the adjusting rails 107 is not limited, and may be selected according to actual situation needs when specifically set.

It will also be appreciated that in alternative examples of embodiments of the present application, the width adjustment rail 107 may also be provided on the support platform 106, and correspondingly, the width adjustment slider 108 is provided on the base 101; it can be appreciated that, in the embodiment of the present application, the specific arrangement manner of the width adjustment rail 107 on the supporting platform 106 is the same as or similar to that of the embodiment of the present application when the width adjustment rail 107 is arranged on the base 101, and reference may be made specifically to the detailed description of the embodiment of the present application, which is not repeated herein.

In this embodiment, the object fetching assembly 102 may be arranged in various ways.

In some examples, the object taking device 1 may include a telescopic structure 110, where the telescopic structure 110 is disposed on the base 101, in other words, the telescopic structure 110 is movably disposed on the base 101 through the base 101, the object taking component 102 is disposed at a free end of the telescopic structure 110, and the driving mechanism 10 drives the telescopic structure 110 to stretch out or draw back the object taking component 102 by driving the free end of the telescopic structure 110.

Illustratively, the telescopic structure 110 may be disposed on the base 101, for example, one end of the telescopic structure 110, such as a fixed end, is connected to a fixed portion of the base 101 (disposed opposite to the fetching assembly 102), and the other end may be a free end. Wherein the free end of the telescoping structure 110 is selectively extendable or retractable into the base 101.

In an alternative example of an embodiment of the present application, the telescopic structure 110 may specifically be a telescopic rod (e.g. a telescopic cylinder, a hydraulic cylinder or an electric cylinder); in other possible examples, the telescoping structure 110 may also be a scissors fork structure (as shown). The specific type of the telescopic structure 110 is not limited in the embodiment of the present application.

In some examples of the present application, the fetching assembly 102 is disposed at a free end, and the fetching assembly 102 can move relative to the base 101 under the driving of the free end. In some examples, the drive mechanism 10 may be coupled to the telescoping structure 110, with the drive mechanism 10 configured to drive the free end out of or back into the base 101 to reciprocate the retrieval assembly 102 within the target cargo space and the base 101 (e.g., the base 101).

Taking the telescopic structure 110 as an example of a scissor fork structure, the driving mechanism 10 may specifically include a driving motor and a belt wheel structure, where the belt wheel structure may include a driving wheel and a driven wheel that are disposed at intervals, and a driving belt that is sleeved on the driving wheel and the driven wheel, and the driving motor is connected with the driving wheel to drive the driving wheel to rotate, so as to drive the driving belt and the driven wheel to move. It will be appreciated that the scissor fork structure may include a plurality of hinge positions disposed along a telescoping direction, wherein one hinge is connected by a belt to move along the telescoping direction under the drive of the belt, so that the free end of the scissor fork structure stretches along the x-direction, thereby driving the fetching assembly 102 to extend or retract into the base 101.

Fig. 8 is a schematic structural diagram of the base 101, the translation assembly and the driving structure of the object taking device 1 provided in the present application.

Referring to fig. 3 and 8, in other examples, the access device 1 may include a telescoping structure 110 and a mobile seat 109.

Specifically, in the embodiment of the present application, a first end 1101 (i.e., a fixed end) of the telescopic structure 110 is disposed on the moving seat 109, and a second end 1102 (i.e., a free end) of the telescopic structure 110 is disposed on the fetching assembly 102; in other words, in the embodiment of the present application, the telescopic structure 110 is disposed between the moving seat 109 and the fetching assembly 102, and the telescopic structure 110 stretches to push the fetching assembly 102 to move away from the moving seat 109, and the telescopic structure 110 contracts to drive the fetching assembly 102 to move towards the moving seat 109.

Referring to fig. 3 and 8, in the embodiment of the present application, one end of the driving mechanism 10 is connected to the telescopic structure 110, and the driving mechanism 10 is configured to drive the second end 1102 of the telescopic structure 110 to approach or separate from the first end 1101 of the telescopic structure 110 along the first direction, so that the fetching assembly 102 is driven by the second end 1102 of the telescopic structure 110 to reciprocate along the first direction.

It will be appreciated that in the present embodiment, the driving mechanism 10 is further connected to the moving seat 109, and the driving mechanism 10 is configured to drive the moving seat 109 to reciprocate along the first direction. When the target object 4 is retrieved, the driving mechanism 10 can selectively drive at least one of the moving base 109 and the telescopic structure 110 to move so as to drive the fetching assembly 102 to extend out of or retract into the base 101.

In other alternative examples of the embodiment of the present application, referring to fig. 1, a first guide rail 115 is further provided on the base 101, the first guide rail 115 extends along the first direction x, and a first slider (not shown) is provided on the moving seat 109, and the first slider is slidably connected to the first guide rail 115.

It is further understood that in the embodiment of the present application, two first guide rails 115 may be provided, and the two first guide rails 115 are arranged at intervals along the second direction; thus, the stability of the moving seat 109 during movement can be effectively improved.

As one example, the driving mechanism 10 may simultaneously drive the moving base 109 and the telescopic structure 110 to move the fetching assembly 102 out of or back into the base 101.

For example, the driving mechanism 10 may include a driving component 11 and a transmission component 12, wherein the driving component 11 is connected to one of the moving seat 109 and the telescopic structure 110, the transmission component 12 is connected to the other of the moving seat 109 and the telescopic structure 110, and the transmission component 12 is connected to the driving component 11 to move under the driving of the driving component 11.

Referring to fig. 8, in the embodiment of the present application, the driving assembly 11 may include a driving member 11a, for example, a driving motor, and a first pulley structure 11b, and the first pulley structure 11b may include two transmission rollers disposed on the base 101 and disposed opposite to each other along a first direction, where the two transmission rollers are in transmission connection with each other through a transmission member such as a chain, a belt, a timing 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 110, so that when the driving motor drives one of the transmission rollers to rotate, the chain, the belt, the synchronous belt or the timing belt can rotate along with the driving block, thereby driving the driving block to drive the telescopic structure 110 to stretch and retract, and further driving the fetching assembly 102 arranged on the second end 1102 of the telescopic structure 110 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 101; alternatively, in some examples, referring to the figures and drawings, the axial directions of the two drive rollers may also be parallel to the surface of the base 101. 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.

In addition, the transmission assembly 12 may be a second pulley structure, for example, the second pulley structure may include two transmission rollers, and the two transmission rollers are in transmission connection through a transmission component 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 moving seat 109, wherein one of the transmission rollers of the second belt wheel structure is also connected with an output shaft of the driving motor, so that when the driving motor drives one of the transmission rollers of the second belt wheel structure to rotate, the chain, the belt, the synchronous belt or the timing belt can rotate along with the rotation of the one of the transmission rollers of the second belt wheel structure, thereby driving the driving block to drive the moving seat 109 to move, and further driving the telescopic structure 110 and the fetching assembly 102 arranged on the moving seat 109 to move along the first direction.

It will be appreciated that one of the drive rollers of the first pulley arrangement 11b and the drive roller of the second pulley arrangement are coaxially arranged side by side in the axial direction of the motor output shaft so that both pulley arrangements are driven in motion simultaneously by one drive motor. That is, in the embodiment of the present application, the moving seat 109 and the fetching assembly 102 can move synchronously.

It can be appreciated that in the embodiment of the present application, in the process of moving the moving seat 109 and the fetching assembly 102 synchronously, there may be a mutual interference between the moving seat 109 and the fetching assembly 102, and as shown in fig. 5 and 8, in the embodiment of the present application, the diameters of the two transmission rollers of the first belt wheel structure and the two transmission rollers of the second belt wheel structure may be specifically set to be different.

Specifically, referring to fig. 8, when the first pulley structure 11b and the second pulley structure are powered by one driving motor, the rotational angular speeds of the power wheels (i.e., one driving roller connected to the driving motor) of the first pulley structure b and the second pulley structure are the same, and during the process of picking or returning, the picking assembly 102 is located on the side of the moving seat 109 facing/facing the container, and it is generally required to ensure that the moving speed of the picking assembly 102 is greater than the moving speed of the moving seat 109; therefore, in the embodiment of the present application, the wheel diameters of the two transmission rollers of the first pulley structure b may be set to be larger than the wheel diameters of the two transmission rollers of the second pulley structure; thus, under the drive of the same driving motor, the two driving rollers of the first belt wheel structure b have larger rotation linear speeds relative to the two driving rollers of the second belt wheel structure, so that the chain, belt, synchronous belt or timing belt of the first belt wheel structure b has larger transmission speeds compared with the second belt wheel structure, namely the object taking assembly 102 has faster moving speeds compared with the moving seat 109, and mutual interference between the object taking assembly 102 and the moving seat 109 can be effectively avoided.

Fig. 9 is a schematic structural diagram of the base 101 and the moving seat 109 in the object taking device 1 provided in the embodiment of the present application, fig. 10 is another schematic structural diagram of the base 101 and the moving seat 109 in the object taking device 1 provided in the embodiment of the present application, and fig. 11 is a schematic structural diagram of the moving seat 109 and the telescopic structure 110 in the object taking device 1 provided in the embodiment of the present application.

As another example, referring to fig. 9-11, the drive mechanism 10 may include a first drive structure 112 and a second drive structure 111, wherein the first drive structure 112 is coupled to the mobile mount 109 and the first drive structure 112 is configured to drive the mobile mount 109 (e.g., in a direction shown by an x-axis in fig. 10) to move such that the mobile mount 109 moves the retrieval assembly 102 in a first direction.

In some examples, the second driving structure 111 may be connected to the telescopic structure 110, where the second driving structure 111 is configured to drive the second end 1102 to move toward or away from the first end 1101 along the first direction, so that the fetching assembly 102 moves along the first direction under the driving of the second end 1102.

In a specific example of the embodiment of the present application, the telescopic structure 110 may be a telescopic rod structure, and the second driving structure 111 may be a screw, where the second end 1102 of the telescopic structure 110 may be a rod body of the telescopic rod connected to the object fetching assembly 102, and the first end 1101 of the telescopic structure 110 may be a rod body of the telescopic rod connected to the moving seat 109; in a specific arrangement, a driving block may be fixed on the second end 1102, where a hole with internal threads is provided on the driving block, and a screw rod passes through the hole and is screwed with the hole (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 102 is driven to move along the first direction.

It can be understood that, referring to fig. 10, in the embodiment of the present application, two transmission rollers may be disposed on the moving seat 109 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 110, 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 110 to stretch and retract, and further driving the fetching assembly 102 arranged on the second end 1102 of the telescopic structure 110 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 101; alternatively, in some examples, the axial directions of the two drive rollers may also be parallel to the surface of the base 101. 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 is understood that in the embodiment of the present application, the first driving structure 112 is connected to the moving seat 109, and the first driving structure 112 is used to drive the moving seat 109 to reciprocate along the first direction.

In this embodiment, the specific arrangement manner of the first driving structure 112 may be the same as or similar to that of the second driving structure 111, and reference may be made specifically to the detailed description of the second driving structure 111 in the foregoing embodiment of the present application, which is not repeated in this embodiment of the present application.

In some examples, referring to the figures, the first drive structure 112 may be disposed on the base 101; the second drive structure 111 may be movable in a first direction relative to the base 101, for example, in some examples, the second drive structure 111 may be disposed on the mobile seat 109 (shown with reference to fig. 11).

The working process of the object taking device 1 provided in the embodiment of the present application when taking back the target object 4 is as follows:

depending on the actual situation when retrieving the target object 4, the fetching assembly 102 may be driven by the first driving structure 112 and/or the second driving structure 111 to move along the first direction, so as to extend into the target cargo space of the target carrier 5 or retract into the base 101.

The first driving structure 112 is driven to move along the first direction. That is, the first driving structure 112 drives the moving seat 109 to move along the first direction, and when the moving seat 109 moves along the first direction, the telescopic structure 110 disposed on the moving seat 109 and the fetching assembly 102 are driven to move together for a working distance, so that the fetching assembly 102 finally reaches the target cargo space. It will be appreciated that the working distance is the distance that the pickup assembly 102 moves to the target cargo space, i.e., the pickup distance or the return distance, when picking up a bin.

Alternatively, in some examples, the retrieval assembly 102 may be moved in the first direction only by the second drive structure 111. For example, the first driving structure 112 is not operated, i.e. the relative position of the moving seat 109 and the base 101 remains stationary; the second driving structure 111 drives the telescopic structure 110 to stretch along the first direction, and the second end 1102 of the telescopic structure 110 drives the fetching assembly 102 connected with the telescopic structure 110 to move a working distance along the first direction, so that the fetching assembly 102 finally reaches the target cargo space.

Alternatively, in other examples, the retrieval assembly 102 may be driven together by the first drive structure 112 and the second drive structure 111 and moved in the first direction.

For example, in some examples, the first driving structure 112 may drive the moving seat 109 to move to drive the telescopic structure 110 and the fetching assembly 102 to move a first predetermined distance toward the target cargo space, and the second driving structure 111 drives the telescopic structure 110 to extend again to drive the fetching assembly 102 to move a second predetermined distance toward the target cargo space, so that the fetching assembly 102 moves to the target cargo space to transfer the target article 4 between the fetching assembly 102 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 the working distance/, or/and the like, for example, the first driving structure 112 may move the fetching assembly 102 to the forefront of the base 101 through the moving seat 109, and then drive the telescopic structure 110 to extend through the second driving structure 111, so as to extend the fetching assembly 102 to the target cargo space. Of course, in other examples, the first driving structure 112 may first drive the moving seat 109 to the forefront end of the base 101, and then drive the telescopic structure 110 to extend through the second driving structure 111, so as to extend the fetching assembly 102 to the target cargo space.

In other examples, the second driving structure 111 may drive the telescopic structure 110 to extend to drive the fetching assembly 102 to move toward the target cargo space by a third predetermined distance, and then the first driving structure 112 drives the moving seat 109 to move to drive the telescopic structure 110 and the fetching assembly 102 to move toward the target cargo space by a fourth predetermined distance, so that the fetching assembly 102 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 the working distance/, and/or the like, for example, the second driving structure 111 may move the fetching assembly 102 to the forefront of the base 101 through the telescopic structure 110, and then drive the moving seat 109 to move forward through the first driving structure 112 until the fetching assembly 102 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 present application, so long as the object fetching component 102 is guaranteed to move to the target cargo space finally.

Of course, in other examples, the first driving structure 112 and the second driving structure 111 can drive the moving seat 109 and the telescopic structure 110 to move simultaneously, in other words, the first driving structure 112 drives the moving seat 109 to move, and the second driving structure 111 drives the telescopic structure 110 to telescope simultaneously to drive the fetching assembly 102 to move a working distance toward the target cargo space, so that the fetching assembly 102 moves to the target cargo space to transfer the target object 4 between the fetching assembly 102 and the target cargo space.

It will be appreciated that in other examples, the first drive structure 112 may drive the mobile base 109 to move, the second drive structure 111 may drive the telescoping structure 110 to extend, and finally the first drive structure 112 may drive the mobile base 109 to move again until the retrieval assembly 102 is moved to the target cargo space.

Alternatively, the second driving structure 111 may drive the telescopic structure 110 to extend, the first driving structure 112 drives the moving seat 109 to move, and finally, the second driving structure 111 drives the telescopic structure 110 to extend again until the fetching assembly 102 moves to the target cargo space. The working sequence and the number of times of the first driving structure 112 and the second driving structure 111 are not limited in this embodiment, so long as the object fetching assembly 102 can be guaranteed to finally reach the target cargo space.

According to the object taking device 1 provided by the embodiment of the application, the movable seat 109 is movably arranged on the base 101, and when the target object 4 is taken back, the movable seat 109 moves on the base 101 along the first direction; and, set up the extending structure 110 on the removal seat 109, the extending structure 110 has first end 1101 and second end 1102 along first direction, first end 1101 sets up on removal seat 109, the second end 1102 can be close to or keep away from first end 1101 along first direction, set up and get thing subassembly 102 at the second end 1102, in this way, can promote the velocity of movement to getting thing subassembly 102 when getting back to target article 4 through getting thing subassembly 102, can effectively promote the efficiency that target article 4 got back, the efficiency to the goods transport has been promoted, through the joint movement of removal seat 109 and getting thing subassembly 102 (for example the first drive structure 112 that is connected with removal seat 109 moves along first direction to removal seat 109, and the second drive structure 111 drives along first direction to the second end 1102 of extending structure 110), can effectively promote the travel distance of getting thing subassembly 102 towards one end of target article 4, even if get back to target article 4 that is located the goods shelves inboard.

In addition, in the embodiment of the present application, the fetching component 102 is configured to act on the front end surface of the target article 4 (i.e., the side surface of the target article 4 facing the fetching component 102 when the target article 4 is to be fetched) when the target article 4 is to be fetched, so as to convey the target article 4; thus, compared with the related art, the end of the fetching assembly 102, which faces away from the moving seat 109 (facing/facing the target object 4), 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 112 is connected to the moving seat 109, and drives the moving seat 109 to move along the first direction, so as to drive the fetching assembly 102 to move; and drives the telescopic structure 110 arranged between the movable seat 109 and the fetching assembly 102 through the second driving structure 111, so that the telescopic structure 110 stretches and contracts, and drives the fetching assembly 102 connected with the second end 1102 of the telescopic structure 110 to move.

In this way, in the first aspect, decoupling between the movement of the moving seat 109 and the movement of the telescopic structure 110 during picking up and returning the container is achieved, that is, the movement of the moving seat 109 and the movement of the telescopic structure 110 become two independent moving processes, so that the moving speed of the moving seat 109 and the telescopic speed of the telescopic structure 110 are decoupled, and the moving speed of the moving seat 109 and the telescopic speed of the telescopic structure 110 are independent of each other, so that when the object picking device 1 in the embodiment of the present application picks up and returns the target object 4, one of the driving structures can be selected to drive according to the actual requirement, or the driving speeds of the two driving structures can be controlled freely, so that the moving displacement of the moving seat 109 and the telescopic amount of the telescopic structure 110 can be adjusted freely.

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 4 is carried out smoothly without causing interference to the taking and returning of the target object 4, can improve the maintenance and replacement efficiency, improves the operation efficiency of taking and returning of a container,

on the other hand, in the process of taking the target article 4, different moving modes of the article taking assembly 102 can be selected according to the actual working condition requirement, so that the flexibility of the movement of the article taking assembly 102 is improved, the condition that the container must be stopped for maintenance when any one of the movement of the moving seat 109 and the movement of the article taking assembly 102 fails can be avoided, and the operation efficiency of taking the container is improved.

In some examples of embodiments of the present application, referring to fig. 10, the first driving structure 112 may include a first driving member 1121 and a first transmission member 1123, where the first driving member 1121 is fixedly disposed on the base 101, one end of the first driving member 1121 is connected to the first transmission member 1123 to drive the first transmission member 1123 to move in the first direction, and the first transmission member 1123 is connected to a side of the moving seat 109 facing the base 101 to drive the moving seat 109 to move in the first direction.

That is, in the embodiment of the present application, the first transmission member 1123 may be provided on the base 101 in the first direction. In some examples, the first driver 1123 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 1123 is disposed on a side of the moving seat 109 facing the base 101, so that the telescopic structure 110 and the fetching assembly 102 are disposed on a side of the moving seat 109 facing away from the base 101, thereby improving space utilization.

Illustratively, the first drive 1123 includes a first power wheel 1122, a first drive belt, and a first idler wheel 1124.

In some examples, the output shaft of the first driving member 1121 (may also be referred to as the power output end of the first driving member 1121) is connected to the first power wheel 1122 so as to rotate the first power wheel 1122, and referring to fig. 10, in the embodiment of the present application, the first idle wheel 1124 is disposed at intervals along the first direction from the first power wheel 1122, where, in a specific arrangement, the axial directions of the first idle wheel 1124 and the first power wheel 1122 may be parallel or approximately parallel to the surface of the base 101, and in some alternative examples, the axial directions of the first idle wheel 1124 and the first power wheel 1122 may also be perpendicular or approximately perpendicular to the surface of the base 101. The drawings of the embodiments of the present application illustrate specific examples in which the axial directions of the first power wheel 1122 and the first idle wheel 1124 are perpendicular or approximately perpendicular to the surface of the base 101.

Specifically, referring to fig. 10, in an embodiment of the present application, a first drive belt (e.g., a chain, belt, timing belt, or timing belt as described in the previous embodiments of the present application) is stretched between a first power wheel 1122 and a first idler wheel 1124 (e.g., the first drive belt is looped over the first power wheel 1122 and the first idler wheel 1124); that is, when the first driving member 1121 drives the first power wheel 1122 to rotate, the first belt is driven by the first power wheel 1122 to rotate.

As a specific example of an embodiment of the present application, the moving seat 109 may be fixed on the first belt, for example, the moving seat 109 is fixed on the first body portion of the first belt. It will be appreciated that, with reference to the figures, the first body portion may be located between the first power wheel 1122 and the first idler wheel 1124.

In some examples, referring to fig. 10, in the embodiment of the present application, the moving seat 109 may be fixed to the first body portion of the first driving belt by the first driving block 1125, so as to move under the driving of the first driving belt. The first driving member 1121 may be any one of a servo motor, a synchronous motor, or a stepping motor.

It will be appreciated that in the embodiment of the present application, referring to fig. 11, the second driving structure 111 includes a second driving member 1111 and a second transmission member 1113, and one end of the second driving member 1111 is connected to the second transmission member 1113 to drive the second transmission member 1113 to move in the first direction.

In the embodiment of the present application, referring to fig. 11, both the second driving member 1111 and the second transmission member 1113 may be provided on the moving seat 109, that is, in the embodiment of the present application, the second driving member 1111 and the second transmission member 1113 may move together with the movement of the moving seat 109.

In some examples, referring to fig. 11, the mobile station 109 includes: the first moving part and the second moving part, the extending direction of the first moving part is consistent with the first direction, the second moving part is connected to the first moving part, the second moving part is opposite to the fetching assembly 102, and the first end 1101 of the telescopic structure 110 is arranged on the second moving part.

In some examples, the first moving portion may be a plate-like or sheet-like structure, and of course, the second moving portion may have the same or similar structural shape as the first moving portion. As an alternative example, after the first moving part and the second moving part construct the molded moving seat 109, the cross-sectional shape of the moving seat 109 may be "L", that is, the first moving part and the second moving part may be perpendicular or approximately perpendicular to each other.

For example, the first moving part may be disposed on the base 101 and parallel or approximately parallel to the surface of the base 101; the second moving part is disposed at an end of the first moving part facing away from the telescopic structure 110. Alternatively, in some examples, it is also understood that the retrieval assembly 102 is disposed on the first mobile portion.

In some examples, the retrieval assembly 102 may be disposed at an end opposite the second movement portion. Additionally, the telescoping structure 110 may be disposed on the first mobile portion, in some examples, the telescoping structure 110 is located between the second mobile portion and the retrieval assembly 102; that is, the first end 1101 of the telescoping structure 110 may be disposed on the second movable portion.

In some alternative examples of the embodiment of the present application, referring to fig. 11, the second driving member 1111 may be disposed on a side of the second moving portion facing away from the telescopic structure 110, and the second transmission member 1113 may be disposed on a side of the first moving portion facing away from the telescopic structure 110.

It should be understood that, in the embodiment of the present application, the side of the first moving portion facing away from the telescopic structure 110 is illustrated as a specific example, and the specific location of the second driving member 1113 is not limited. In some examples, second driver 1113 may also be located elsewhere.

In other examples, it is also understood that the second transmission member 1113 is disposed on a side of the first moving member facing the base 101. At least a portion of the second driving member 1111 may extend out of the second moving portion and be in driving connection with the second driving member 1113.

In the embodiment of the present application, by providing the moving seat 109 to include the first moving portion and the second moving portion, the second moving portion is provided at one end of the first moving portion; the first end 1101 of the telescopic structure 110 is disposed on the second moving portion, and the telescopic structure 110 is disposed between the second moving portion and the retrieval assembly 102; then, the second driving member 1111 is disposed at a side of the second moving portion facing away from the telescopic structure 110, and the second transmission member 1113 is disposed at a side of the first moving portion facing away from the telescopic structure 110; in this way, the positions of the telescopic structure 110, the second driving member 1111 and the second driving member 1113 are conveniently distributed, and the space utilization rate is effectively improved. Referring to the drawings, in the embodiment of the present application, the type of the second driver 1111 may be the same as or similar to the first driver 1121. In some examples, the second transmission 1113 includes: a second power wheel 1112, a second idler 1114, and a second drive belt.

In some examples, an output shaft (which may also be referred to as a power take-off in some examples) of the second drive 1111 is coupled to the second power wheel 1112 and drives rotation of the second power wheel 1112. The second drive member 1111 is disposed at a distance from the second power wheel 1112 along the first direction, and a second transmission belt (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 1112 and the second idle wheel 1114 (e.g., the second transmission belt is looped over the second power wheel 1112 and the second idle wheel 1114), and the second drive member 1111 moves the second transmission belt between the second power wheel 1112 and the second idle wheel 1114 when the second power wheel 1112 is driven to rotate.

In some alternative examples, the telescoping structure 110 may be coupled to a second belt, for example, the telescoping structure 110 may be coupled to a second body portion of the second belt, the second body portion being positioned between the second power wheel 1112 and the second idler wheel 1114 such that movement of the second belt causes the telescoping structure 110 to telescope, thereby causing the access assembly 102 to move toward the cargo box, or causing the access assembly 102 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 112 by the first power wheel 1122, the first transmission belt and the first idle wheel 1124 is only shown as a specific example, and in some possible examples, the first driving structure 112 may also be a transmission manner of a screw and a power block described in the previous embodiment of the present application, that is, by providing a rotatable screw on the base 101 along the first direction, and sleeving a power block with an internal thread on the screw, where the power block is connected to the moving seat 109; thus, when the first driving member 1121 drives the screw to rotate, the power block may drive the moving seat 109 to move along the first direction.

In some possible examples, the first drive structure 112 may also be a telescoping rod as described in the previous embodiments of the present application.

It will also be appreciated that the second driving structure 111 may be the same as or similar to the first driving structure 112, and that the second driving structure 111 may be different from the first driving structure 112 in that the second driving structure 111 may be disposed on the moving seat 109 and driven by a second driving member 1111 disposed on the moving seat 109.

In this embodiment, two different power sources, namely, a first driving member 1121 and a second driving member 1111 are provided, wherein the first driving member 1121 drives the moving seat 109 to move through a first transmission member 1123, the second driving member 1111 is provided on the moving seat 109 to move together with the movement of the moving seat 109, and the second driving member 1111 drives the telescopic structure 110 to stretch and retract through a second transmission member 1113 provided on the moving seat 109 so as to drive the fetching assembly 102 to move; thus, when a container is to be handled, there are at least three ways to move the access module 102 so that the access module 102 approaches or moves away from the container on the pallet.

The first moving mode is as follows:

the first driving member 1121 drives the moving base 109 to move in the first direction through the first transmission member 1123, so that the fetching assembly 102 disposed on the moving base 109 through the telescopic structure 110 moves and fetches and returns the cargo box.

The second moving mode:

the second driving member 1111 drives the pickup assembly 102 provided on the moving base 109 through the second transmission member 1113 to move in the first direction, thereby picking up the cargo box.

Third movement mode:

the first driving member 1121 drives the moving base 109 to move in a first direction through the first transmission member 1123, and at the same time, the second driving member 1111 drives the pickup assembly 102 provided on the moving base 109 to move in the first direction through the second transmission member 1113, thereby picking up a cargo box.

It will be appreciated that in some possible examples, the movement of the retrieval assembly 102 may also be a combination of the three aforementioned movements of the embodiments of the present application; for example, the first driving member 1121 drives the moving base 109 to move a part of the distance in the first direction through the first transmission member 1123, then the second driving member 1111 drives the picking assembly 102 provided on the moving base 109 to move a part of the distance through the second transmission member 1113, and then the first driving member 1121 drives the moving base 109 to move while the second driving member 1111 drives the picking assembly to move.

It should be noted that, in the embodiment of the present application, the specific movement mode of the fetching assembly 102 may be set according to the actual working condition requirement, and in the embodiment of the present application, the specific movement mode of the fetching assembly 102 is not limited.

In the embodiment of the present application, the first transmission member 1123 and the second transmission member 1113 are driven by providing two different power sources, that is, the first driving member 1121 drives the first transmission member 1123, and the second driving member 1111 drives the second transmission member 1113; thus, in the first aspect, decoupling of the movement of the moving seat 109 and the movement of the object taking device 1 during the container taking and returning is realized, that is, the movement of the moving seat 109 and the movement of the object taking assembly 102 are referred to as two independent moving processes (although the movement of the moving seat 109 can drive the movement of the object taking assembly 102, the movement of the object taking assembly 102 is not dependent on the movement of the moving seat 109, and the second driving member 1111 can drive the telescopic structure 110 through the second driving member 1113), so that in the case that any one of the movements fails, the other can still keep moving, so that smooth progress of the container taking and returning can be ensured, interference on the object taking and returning 4 can not be caused, maintenance and replacement efficiency can be improved, and the container taking and returning operation efficiency can be improved; in the second aspect, in the process of taking the container, different moving modes of the fetching assembly 102 can be selected according to the actual working condition requirement, so that the flexibility of the movement of the fetching assembly 102 is improved, the situation that the container must be stopped for maintenance when any one of the movement of the moving seat 109 and the movement of the fetching assembly 102 fails can be avoided, and the operation efficiency of taking the container is improved.

In addition, the second driving member 1111 and the second transmission member 1113 are arranged on the moving seat 109, so that when the container is taken, the moving seat 109 can be driven to move through the first driving member 1121 at the same time, and the fetching assembly 102 is driven to move through the second driving member 1111, so that the moving speed of the fetching assembly 102 is improved, namely the efficiency of taking the container is improved.

In an application scenario, when the target cargo space is the deep inner position of the target carrier 5, in the object picking device 1 provided in the embodiment of the present application, when the target object 4 is picked up, the second driving structure 111 may first work, for example, the second driving member 1111 is started, and the second driving member 1113 is driven by the second power wheel 1112 to move along the first direction, and the second driving member 1113 drives the telescopic structure 110 to move along the first direction, so as to push the object picking assembly 102 to move along the first direction; in this way, as the length of the telescoping structure 110 in the first direction is elongated, the width of the telescoping structure 110 in the second direction (e.g., the y-direction in fig. 11) is reduced, thereby facilitating the telescoping structure 110 to push the retrieval assembly 102 into the target carrier 5. It will be appreciated that the second direction may intersect the first direction, i.e. the telescoping direction, e.g. perpendicular.

It can be understood that after the telescopic structure 110 drives the fetching assembly 102 to move by a predetermined distance, for example, the telescopic structure 110 drives the fetching assembly 102 to extend into the target carrier 5, the first driving structure 112 is operated again, for example, the first driving member 1121 is started, so as to drive the moving seat 109 connected to the first driving member 1123 and the telescopic structure 110 disposed on the moving seat 109 to move together in a direction close to the target cargo space until the fetching assembly 102 moves to the target cargo space, and at this time, the transfer of the target article 4 between the fetching assembly 102 and the target cargo space can be performed.

For example, the pickup assembly 102 may remove the target item 4 from the target cargo space, or the pickup assembly 102 may place the target item 4 on the target cargo space.

In this way, the object 4 with smaller width can be conveniently fetched, the telescopic structure 110 can conveniently extend into the object goods space at the inner deep position to transfer the object 4, the adaptability of the object taking device 1 to different object 4 is improved, and the application range of the object taking device 1 is improved.

Fig. 12 is a schematic structural diagram of the telescopic structure 110 in the object taking device 1 provided in the embodiment of the present application in cooperation with the base 101, fig. 13 is a schematic structural diagram of the moving seat 109, the telescopic structure 110 and the object taking component 102 in the object taking device 1 provided in the embodiment of the present application, and fig. 14 is a schematic structural diagram of the telescopic structure 110 in the object taking device 1 provided in the embodiment of the present application.

In an alternative example of an embodiment of the present application, referring to fig. 12 to 14, the telescopic structure 110 includes: at least two crossing unit 1103 disposed in sequence along the first direction.

Specifically, referring to fig. 12-14, in the embodiment of the present application, each cross-piece unit 1103 may include two cross-pieces 11031 that are disposed opposite to each other, for example, the two cross-pieces 11031 in each cross-piece unit 1103 are disposed opposite to each other along a third direction, where the third direction may be a direction shown by a z-axis in the drawing, and an arrangement direction of the two cross-pieces 11031 may be a direction shown by the z-axis in the drawing; as a specific example of the embodiment of the present application, after the telescopic structure 110 is disposed on the moving base 109, the two cross members 11031 may be specifically arranged in a direction perpendicular to the surface of the base 101. In this embodiment of the present application, two opposite cross members 11031 are arranged in the third direction, so that when the telescopic structure 110 stretches out and draws back, the telescopic stability of the telescopic structure 110 can be ensured, and the stability of the article taking component 102 for taking back the container is improved.

With continued reference to fig. 12-14, in this embodiment, each cross member 11031 includes two transmission rods 11031a that cross each other, where the cross member 11031 corresponding to the cross member unit 1103 at the first end 1101 is a first cross member, and the cross member 11031 corresponding to the cross member unit 1103 at the second end 1102 is a second cross member, where in this embodiment, the first cross member is slidably connected to the moving base 109, and the second cross member is slidably connected to the picking assembly 102.

In some examples, referring to fig. 12, a first sliding rail 1091 may be disposed at an end of the moving seat 109 facing toward the picking assembly 102, and a third sliding block 1092 may be disposed at ends of two transmission rods 11031a of the first cross member, where the third sliding block 1092 is slidably connected with the first sliding rail 1091. It can be appreciated that in the embodiment of the present application, when the two transmission rods 11031a of the cross member 11031 are rotated in a crossing manner, the third slider 1092 approaches or moves away from each other on the first rail 1091. In addition, to ensure that the two transmission rods 11031a intersecting each other can rotate normally, in the embodiment of the present application, the third slider 1092 is rotatably connected to the transmission rods 11031a, where the rotation axes of the third slider 1092 and the transmission rods 11031a are parallel or approximately parallel to the transmission shafts of the two transmission rods 11031a 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 fetching assembly 102 may be specifically the same or similar to the sliding connection manner of the first cross member and the moving seat 109, and reference may be specifically made to the detailed description of the sliding connection manner between the first cross member and the moving seat 109 in the foregoing embodiment of the present application, which is not repeated herein.

Wherein the cross member 11031 in each cross member unit 1103 has a hinge shaft 1104. It can be appreciated that the two transmission rods 11031a of the cross member 11031 are hinged by a hinge shaft 1104. The second driving structure 111 is connected to the hinge shaft 1104 in one of the cross-member units 1103 to drive the cross-member 11031 to increase or decrease the angle towards the picking assembly 102, so as to enable the second end 1102 of the telescopic structure 110 to move towards or away from the first end 1101 accordingly.

In some examples (not shown in the figures), each cross member 11031 corresponds to one hinge shaft 1104, i.e. one cross member unit 1103 has two hinge shafts 1104 therein, wherein two transmission rods 11031a in one cross member 11031 are hinged by one hinge shaft 1104, and two transmission rods 11031a in the other cross member 11031 are hinged by the other hinge shaft 1104, and the second driving structure 111 is connectable with one hinge shaft 1104 in one cross member unit 1103 to drive the cross member 11031 connected with the hinge shaft 1104 to move in the first direction x.

Since two cross members 11031 opposite to each other in the third direction are further rotatably connected between one cross member 11031 and an end portion of the other cross member 11031, a rotating shaft rod 1105 (as shown in fig. 12) is used for connecting two cross members 11031 adjacent to each other in the first direction, so that when one cross member 11031 is driven to move by the second driving structure 111, the other cross member 11031 in the one cross member unit 1103 can be driven to move by the rotating shaft rod 1105, thereby realizing the expansion and contraction of the scissors fork structure in the first direction.

In other examples, one hinge shaft 1104 is provided for each cross-member unit 1103, that is, in the embodiment of the present application, the number of hinge shafts 1104 corresponds to the number of cross-member units 1103, and two cross-members 11031 in each cross-member unit 1103 share one hinge shaft 1104. For example, referring to fig. 12 to 14, in each of the crossing member units 1103, both ends of the hinge shaft 1104 are respectively extended to two crossing members 11031, and the two crossing members 11031 are respectively hinged to the ends of the hinge shaft 1104, i.e., one of the crossing members 11031 is hinged to one end of the hinge shaft 1104 and the other crossing member 11031 is hinged to the other end of the hinge shaft 1104.

In this way, only one hinge shaft 1104 is needed to connect the four transmission rods 11031a in each cross member unit 1103, which saves the number of hinge shafts 1104, facilitates the installation and connection of the cross member units 1103, and improves the stability of the cross member units 1103 in telescopic transmission.

It will be appreciated that in this example, the two cross members 11031 arranged along the third direction are connected by the hinge shaft 1104, and the second driving structure 111 is connected to one hinge shaft 1104 of the plurality of cross member units 1103, so as to drive the hinge shaft 1104 to move along the first direction, and the hinge shaft 1104 can simultaneously drive the two cross members 11031 arranged along the third direction z to move along the first direction x, so that the stable movement of the first scissors fork structure along the first direction x is ensured, and the driving precision of the second driving structure 111 to the scissors fork structure is improved.

Referring to fig. 13, when the second driving structure 111 drives the hinge shaft 1104 to move in the positive x-axis direction in the drawing, the ends of the two transmission rods 11031a in the cross member 11031 move toward each other (i.e., the angle between the two transmission rods 11031a decreases in the first direction), so that the angle between the length direction of the transmission rods 11031a and the direction shown in the x-axis decreases, i.e., the length component of the transmission rods 11031a increases in the direction shown in the x-axis, and at this time, the telescopic structure 110 pushes the pickup assembly 102 to move in the first direction toward the direction away from/away from the moving seat 109; in some applications, it is also understood that the telescoping structure 110 urges the access module 102 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 1103 increases.

It will be appreciated that at this time, the end of the first cross member slidably coupled to the movable base 109 moves in a direction toward/toward each other, and correspondingly, the end of the second cross member slidably coupled to the picking assembly 102 also moves in a direction toward/toward each other.

As can be appreciated, with continued reference to fig. 13, as the second driving structure 111 drives the hinge shaft 1104 to move in the negative x-axis direction in the drawing, the ends of the two driving rods 11031a in the cross member 11031 move away from each other (i.e., the angle between the two driving rods 11031a increases in the first direction), so that the angle between the length direction of the driving rods 11031a and the direction shown in the x-axis increases, i.e., the length component of the driving rods 11031a decreases in the direction shown in the x-axis, and at this time, the telescopic structure 110 pulls the pickup assembly 102 to move in the first direction toward/toward the moving seat 109; in some applications, it may also be understood that the telescopic structure 110 pulls the pickup assembly 102 to move in the first direction toward the moving base 109.

That is, in the first direction, the distance between the two ends of the telescopic structure 110 decreases. It will be appreciated that at this time, the end of the first cross member slidably coupled to the movable base 109 moves in a direction away from each other, and correspondingly, the end of the second cross member slidably coupled to the picking assembly 102 also moves in a direction away from each other.

In the embodiment of the present application, by providing at least two intersecting member units 1103 disposed in sequence along a first direction, the intersecting member units 1103 include two intersecting members 11031 disposed opposite each other along a direction perpendicular to the first direction, each intersecting member 11031 including a transmission rod 11031a intersecting each other; each group of crossing member units 1103 is connected by a hinge shaft 1104, so that two transmission rods 11031a are rotatably connected by the hinge shaft 1104, and two crossing members 11031 are connected by the hinge shaft 1104, so as to construct a double-layer scissors fork structure; in this way, when the telescopic structure 110 is driven to extend and retract along the first direction while being connected to one of the hinge shafts 1104 through the second driving structure 111, the stability of the telescopic structure 110 in extension and retraction is ensured, that is, the stability and success rate of taking and returning the target article 4 are improved.

In addition, when the object picking device 1 provided in the embodiment of the present application is used to pick up a container, the second driving member 1113 may be driven by the second driving member 1111 to extend the telescopic structure 110, so that the length component of the driving rod 11031a in the cross-member unit 1103 increases in the direction along the x axis in the figure, that is, the length component of the driving rod 11031a decreases in the direction perpendicular to the x axis and parallel to the surface of the base 101, so that the driving rod 11031a needs to occupy a smaller width space, has a narrower width for some containers, and is located at an inner deep position (in some examples, may be understood as being stored at an inner position), the object picking assembly 102 may be first inserted into a channel formed after the container in the outer body is picked up in the first direction, after the object picking assembly 102 provides a sufficient moving/carrying force for the container, the moving seat 109 drives the telescopic structure 110 and the object picking assembly 102 to move to the outer position by the first driving member 1121, and then drives the telescopic structure 110 to the telescopic structure 102 to the deep position by the second driving member 1111; can effectively adapt to taking and carrying the packing box with narrower width.

It can be understood that when the box returning operation is performed on the container, the box returning operation may be controlled in opposite to the box taking operation in the foregoing embodiment of the application, for example, the telescopic structure 110 may be driven to be unfolded by the second driving member 1111 to place the container to be returned to the outer deep position, at this time, since the telescopic structure 110 is in the unfolded state, the length component of the transmission rod 11031a in the direction shown by the x axis in fig. 13 is increased, and accordingly, the length component of the transmission rod 11031a in the direction perpendicular to the x axis in the figure and parallel to the surface of the base 101 is smaller, and the occupied space is smaller; at this time, the first driving member 1121 drives the moving base 109 to move in the first direction (i.e., the direction shown by the x-axis in fig. 13), and the container to be returned is moved to the deep position.

In some optional examples of the embodiments of the present application, with continued reference to fig. 12-14, the telescopic structure 110 includes multiple sets of intersecting element units 1103, specifically, in the drawings of the embodiments of the present application, the intersecting element units 1103 are shown as specific examples, and it is understood that in some examples, the intersecting element units 1103 may also be groups, or more groups. In the specific setting, the specific number of the cross-piece units 1103 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 1103 is not limited.

It is also understood that when the cross-member units 1103 are plural sets, one end of each of the adjacent two sets of cross-member units 1103, which are connected to each other, is connected by the hinge shaft 1104. In some specific examples, the hinge shaft 1104 may be a rotation shaft 1105, that is, the transmission rods 11031a between the adjacent two sets of crossing member units 1103 are rotatably connected by the rotation shaft 1105, thereby facilitating the overall expansion and contraction of the entire expansion and contraction structure 110.

In this embodiment of the present application, through setting up multiunit cross-piece unit 1103, like this, the scalable scope of the extension extending structure 110 of being convenient for to be convenient for get still target article 4 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. 13, the object taking device 1 further includes a first limiting member 113. Specifically, in the embodiment of the present application, the first limiting member 113 is connected between the first cross member and the moving seat 109. That is, the first crossing member may be coupled to the moving base 109 by the first limiting member 113. Alternatively, in some examples, it is also understood that one end of the first limiting member 113 is connected to the moving seat 109, and the other end of the first limiting member 113 is connected to the first crossing member, thereby limiting the movement of the first crossing member on the moving seat 109.

Here, it should be noted that, the end portions of the transmission rods 11031a of the first cross member may be specifically slidably connected between the first sliding rail 1091 and the third sliding block 1092 in the foregoing embodiments of the present application, and since the two transmission rods 11031a of the first cross member are rotationally connected to each other, the sliding directions of the two third sliding blocks 1092 are always opposite, specifically, slide toward (close to or close to) each other, or slide away from (away from each other). In this embodiment, the first limiting member 113 specifically limits the sliding of the first cross member along the first sliding rail 1091, that is, the first limiting member 113 specifically shows that the two third sliding blocks 1092 slide along the same direction, so as to limit the translation of the first end 1101 of the telescopic structure 110 on the moving seat 109.

In a specific example, the first limiting member 113 may be a link 1131, one end of the link 1131 is rotatably connected to the moving seat 109, and the other end of the link 1131 is rotatably connected to the transmission rod 11031 a; thus, when the transmission rod 11031a rotates to enable the telescopic structure 110 to extend and retract, the connecting rod 1131 can rotate along with the transmission rod 11031a, and when the telescopic structure 110 translates, the connecting rod 1131 can limit the translation of the telescopic structure 110.

Here, a first rotation axis is provided between the link 1131 and the moving seat 109, and a second rotation axis is provided between the link 1131 and the transmission rod 11031a, where the first rotation axis is parallel or approximately parallel to the second rotation axis; in addition, the first rotation axis, the second rotation axis are parallel or approximately parallel to the rotation axis between the two transmission rods 11031 a.

In another example of an embodiment of the present application, with continued reference to the figures, the retrieval device 1 further includes a second stop 114, the second stop 114 being coupled between the second cross member and the retrieval assembly 102, thereby limiting translation of the second end 1102 of the telescoping structure 110 on the retrieval assembly 102. That is, one end of the second limiting member 114 is connected to the picking assembly 102, and the other end of the second limiting member 114 is connected to the second cross member.

As a specific example of the embodiment of the present application, the structure and the specific arrangement manner of the second limiting member 114 may be the same as or similar to those of the first limiting member 113, and specific reference may be made to the detailed description about the first limiting member 113 in the foregoing embodiment of the present application, which is not repeated in the embodiment of the present application.

In this embodiment of the application, through set up first locating part 113 between first alternately spare and remove the seat 109 and carry out spacingly to the translation between the first end 1101 of extending structure 110 and the removal seat 109, like this, guaranteed extending structure 110 when getting the thing subassembly 102 along the flexible removal of first direction, extending structure 110 and the position of removing the seat 109 are relatively fixed, can guarantee to get the stability of returning the packing box process, avoided getting returning the packing box in-process extending structure 110 and take place the translation and lead to the packing box can't be taken the condition emergence of returning by normal.

In addition, through setting up second locating part 114 between second alternately piece and getting thing subassembly 102, carry out spacingly to the translation of getting between thing subassembly 102 and the telescopic structure 110 second end 1102 through second locating part 114, guaranteed that get thing subassembly 102 can not take place translation or skew for telescopic structure 110 second end 1102 in-process of getting and returning the packing box to guaranteed the accuracy that the packing box was got and returned.

In yet other alternative examples of embodiments of the present application, with continued reference to fig. 13, one of the first stop 113 and the second stop 114 includes two links 1131. Specifically, in the embodiment of the present application, a case where the first stopper 113 includes two links 1131 is shown as a specific example.

Specifically, one of the two links 1131 is rotatably connected with one of the transmission rods 11031a in the first cross member, and the other one of the two links 1131 is rotatably connected with the other one of the transmission rods 11031a in the first cross member; in addition, the two links 1131 are rotatably connected to the movable base 109, and when the movable base 109 is specifically configured, the two links 1131 and the movable base 109 may be the same rotation axis, that is, the two links 1131 rotate on the movable base 109 around the same rotation point. In this way, the two links 1131 and the two driving members of the first cross-piece form a parallelogram structure (or in some examples also a four-link 1131 structure), thus limiting the translation of the telescopic structure 110 on the mobile seat 109, since the rotation points of the two links 1131 on the mobile seat 109 are fixed.

It will be appreciated that in some alternative examples of embodiments of the present application, the specific structure of the second stop 114 may be the same as or similar to the first stop 113.

It will be further appreciated that, as described in detail in the foregoing embodiments of the present application, in the embodiments of the present application, the moving base 109, the telescopic structure 110 and the fetching assembly 102 are all disposed on the base 101, that is, the telescopic structure 110 has a relative movement tendency with respect to the base 101 during the telescopic movement of the telescopic structure 110 along the first direction. In order to avoid structural interference between the first limiting member 113 and the base 101, referring to fig. 13, in the embodiment of the present application, the first limiting member 113 is disposed on a side of the telescopic structure 110 facing away from the base 101, so as to facilitate telescopic movement of the telescopic structure 110.

In other alternative examples of embodiments of the present application, with continued reference to fig. 13, the other of the first stop 113 and the second stop 114 may include two oppositely disposed extensions 1141. Specifically, in the embodiment of the present application, the second limiting member 114 includes two oppositely disposed extending portions 1141 as a specific example.

Specifically, in the embodiment of the present application, two extension portions 1141 are fixedly connected to a side of the fetching assembly 102 facing the moving seat 109, or in some examples, it is also understood that two extension portions 1141 are fixedly connected to a side of the fetching assembly 102 facing the telescopic structure 110. A limiting cavity 1142 or a limiting notch is formed between the two extending portions 1141, and when the device is specifically set, the hinge shaft 1104 between the two second cross members is arranged in the limiting cavity 1142 or the limiting notch in a penetrating manner, so that the hinge shaft 1104 moves along the limiting cavity 1142 or the limiting notch in the telescopic movement process of the telescopic structure 110 along the first direction.

That is, in the embodiment of the present application, the extending direction of the limiting cavity 1142 or the limiting slot may be consistent with the first direction, for example, the extending direction of the limiting cavity 1142 or the limiting slot is parallel or approximately parallel to the first direction.

In some alternative examples, the length of the limiting cavity 1142 or the limiting notch extending along the first direction may be greater than or equal to the distance that the hinge shaft 1104 between the two second cross members is movable along the first direction, so that the hinge shaft 1104 can be ensured to be always located in the limiting cavity 1142 or the limiting notch and limited, the situation that the hinge shaft 1104 is separated from the limiting cavity 1142 or the limiting notch can be avoided, and the stability of limiting the telescopic structure 110 and the fetching assembly 102 is improved.

It will be appreciated that in the embodiment of the present application, the second limiter 114 may be specifically disposed between two second cross members, as shown with reference to fig. 13. In this way, the hinge shaft 1104 between the two second cross members can be directly used to penetrate the limiting cavity 1142, and the hinge shaft 1104 does not need to be subjected to extension treatment, so that the use materials of the hinge shaft 1104 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 113 may be provided by way of two oppositely disposed extensions 1141.

As a specific example, in the embodiment of the present application, the first limiting member 113 specifically includes two connecting rods 1131, and the second limiting member 114 specifically includes two oppositely disposed extending portions 1141. That is, the specific structures of the first stopper 113 and the second stopper 114 may be different.

Referring to fig. 13, in an alternative example of the embodiment of the present application, one hinge shaft 1104 connected to the second driving structure 111 is configured as a power shaft. When specifically provided, the second driving structure 111 further includes a second driving block 1115, where the second driving block 1115 is connected to one end of the power shaft. Specifically, the second driving block 1115 is fixedly connected with the power shaft. In some examples, referring to fig. 12, the second driving belt in the second driving structure 111 may be specifically one of a chain, a belt, a synchronous belt or a timing belt, at this time, the second driving block 1115 may be fixed on the second driving belt, and the second driving member 1111 drives the second driving block 1115 when driving the second driving belt to move, so as to drive the driving shaft to move along the first direction.

In the embodiment of the present application, one hinge shaft 1104 connected to the second driving structure 111 among the hinge shafts 1104 corresponding to the cross member unit 1103 is configured as a power shaft, and the power shaft is connected to the second driving structure 111 through the second driving block 1115; in this way, the second driving structure 111 is convenient to drive the telescopic structure 110, and no additional power mechanism is required to be separately arranged, so that the overall structure of the telescopic structure 110 is simplified.

It should be understood that, in the embodiment of the present application, three sets of cross members 1103 are provided along the first direction as a specific example, in the embodiment of the present application, the hinge shaft 1104 corresponding to any one set of cross members 11031 of the three sets of cross members 11031 may be used as a power shaft, and connected to the second driving structure 111 through the second driving block 1115.

In a specific example of the embodiment of the present application, the hinge shaft 1104 corresponding to one set of the intersecting member units 1103 of the three sets of intersecting member units 1103 that is close to/toward the movable base 109 is used as a power shaft, that is, the hinge shaft 1104 disposed between the two first intersecting members is connected to the second driving block 1115, so as to be connected to the second driving structure 111 through the second driving block 1115, so that the second driving structure 111 drives the telescopic structure 110 to expand and contract in the first direction.

In this embodiment of the application, the hinge shaft 1104 between the two first cross members is used as a power shaft, so that the length of the second driving belt required to be set along the first direction can be reduced, and the space required to be occupied by the second driving belt and the material used for the second driving belt can be effectively saved.

In other alternative examples of the embodiment of the present application, referring to the drawings, in the embodiment of the present application, a second guide rail 116 is provided on the base 101, and a second slider 1106 is provided on the telescopic structure 110; the second rail 116 may specifically extend along the first direction, that is, the extending direction of the second rail 116 may be consistent with the first direction, and the second slider 1106 may specifically slide along the second rail 116.

It can be understood that, in the embodiment of the present application, the telescopic structure 110 is specifically a telescopic structure 110 formed by connecting multiple groups of cross member units 1103, and a parallelogram structure (also can be understood as a four-bar 1131 structure) is formed between two adjacent groups of transmission bars 11031a, in the process of specific telescopic operation, two transmission bars 11031a intersecting each other in each group of cross member units 1103, other positions of the transmission bars 11031a except for the intersecting points of intersecting rotation, so that, in order to ensure normal telescopic operation of the telescopic structure 110, the situation that the second slider 1106 cannot slide due to stress between the second slider 1106 and the second guide rail 116 is avoided.

In the embodiment of the present application, by providing the second guide rail 116 extending along the first direction on the base 101, the second slider 1106 is provided on the telescopic structure 110, and when the telescopic structure 110 moves telescopically along the first direction, the second slider 1106 slides on the second guide rail 116; in this way, the cooperation of the second slider 1106 and the second guide rail 116 can play a certain guiding and limiting role on the telescopic direction of the telescopic structure 110, so that the telescopic stability of the telescopic structure 110 is ensured.

When the telescopic structure 110 and/or the movable seat 109 of the object picking apparatus 1 are/is provided with a force application member, the supporting component 103 is provided with a force application portion, and the force application member can apply a force to the force application portion at least during the retraction process of the object picking component 102, so as to drive the supporting component 103 to retract to the base 101 (for example, on the supporting platform 106).

The fetching component 102 may specifically drive the fetching component 102 to move by moving the moving seat 109 when fetching and returning the target object 4; alternatively, in some examples, the movement of the fetching assembly 102 may be driven by the movement of the telescopic structure 110; alternatively, in other examples, the motion base 109 and the telescopic structure 110 may cooperate to move the pickup assembly 102. Thus, in embodiments of the present application, movement of the support assembly 103 may be accompanied by movement of at least one of the travel base 109 and the retrieval assembly 102.

In an alternative example of embodiment of the present application, the support assembly 103 may be specifically affixed to the mobile seat 109; in the process of taking and returning the target object 4 by the object taking component 102, it can be specifically determined whether a gap exists between the base 101 and the target carrier 5; when a gap exists between the base 101 and the target carrier 5, the first driving member 1121 can drive the moving seat 109 to move, so that the supporting component 103 abuts against the front end surface of the target carrier 5, at this time, the driving of the moving seat 109 can be stopped, and the telescopic structure 110 is driven by the second driving member 1111, so that the fetching component 102 continues to move.

Fig. 15 is a schematic structural view of the support 1032 in the object picking apparatus 1 according to the embodiment of the present application, and fig. 16 is a schematic structural view of the moving seat 109 and the support 1032 in the object picking apparatus 1 according to the embodiment of the present application.

In other alternative examples of embodiments of the present application, referring to fig. 15, the object taking device 1 further includes: an elastic member 117 (not shown). In particular, the elastic element 117 has a third end and a fourth end arranged opposite in the elastic direction, wherein the third end is connected to the support element 103, for example the support 1032, and the fourth end is connected to the support platform 106. In a specific arrangement, referring to fig. 16, the force application member may include a bending portion 1093 disposed at one end of the moving seat 109, and the force receiving portion may include an extending portion 10321 at one end of the supporting member 1032; when the receiver 1032 is in the initial position, as shown in fig. 16, the bending portion 1093 abuts against a side of the protruding portion 10321 facing the front end surface of the receiver 1032, and at this time, the elastic member 117 has the first deformation amount.

In this embodiment, the initial position may specifically refer to a position when neither the moving seat 109 nor the picking assembly 102 is moved, i.e., the bearing 1032 is on the support platform 106 and no positional movement occurs. In a specific example, the elastic component 117 may be a compression spring, and when the support 1032 is in the initial position, the third end may be a specific end of the elastic component 117 facing away from the moving seat 109, and the fourth end may be a specific end of the elastic component 117 facing toward the moving seat 109, where the elastic component 117 may be in a compressed state, i.e. the first deformation of the elastic component 117 is changed into a compression deformation.

In addition, the resilient member 117 has a second amount of deformation when the support 1032 is in the end position. In this embodiment, the end position may specifically be a position of the support 1032 on the support platform 106 when the support 1032 abuts on the front end surface of the carrier. At this time, the bearing 1032 moves relative to the support platform 106, so that the compression state of the elastic element 117 is gradually released, and the compression amount (or deformation amount) of the elastic element 117 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 resilient member 117 may be fully released when the support 1032 is in the end state, i.e., the second amount of deformation of the resilient member 117 may be specifically zero.

In other alternative examples of the embodiment of the present application, the elastic component 117 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 moving seat 109, and the fourth end may be specifically an end of the tension spring facing away from the moving seat 109; that is, the third end of the tension spring is hooked to the supporter 1032 by the tension spring hook, and the fourth end of the tension spring is hooked to the supporting platform 106 by the tension spring hook. When the support 1032 is in the initial position, the tension spring has a first deformation amount, and the tension spring may be in a stretched state at this time, that is, the first deformation of the tension spring is changed into a stretching deformation; when the holder 1032 is in the end position, the tension of the tension spring is gradually released, so that the tension spring gradually returns from the stretched state to the natural stretched state.

It will be appreciated that in this embodiment, to ensure that the support 1032 is capable of abutting the front end of the carrier when the support 1032 is in the end position, the elastic member 117 may still be maintained to have a certain amount of deformation (i.e., a second amount of deformation) when the support 1032 is in the end position, so that the support 1032 may still be subjected to a certain elastic force provided by the elastic member 117 when the support 1032 is in the end position, thereby ensuring the tightness and stability of the abutment of the support 1032 with the front end of the carrier.

Referring to fig. 15, in some alternative examples of embodiments of the present application, a third rail 10322 and a fourth slider 10323 are disposed between the bearing 1032 and the support platform 106; specifically, in the embodiment of the present application, one of the third rail 10322 and the fourth slider 10323 may be disposed on a side of the bearing 1032 facing the support platform 106 (which may be understood as being below the bearing 1032 when in specific use), for example, the third rail 10322 may be fixedly connected to the bearing 1032; in addition, the other of the third and fourth sliders 10322, 10323 may be specifically disposed on the support platform 106, the fourth slider 10323 being slidably coupled to the third slider 10322, and in one specific example, the fourth slider 10323 may be fixed to the support platform 106, and the third slider 10322 being slidably movable with respect to the fourth slider 10323 along with the support 1032. It will be appreciated that in some alternative examples, the third rail 10322 may be fixed to the support platform 106 and the fourth slider 10323 may be disposed on the carrier 1032 such that the carrier 1032 moves in the direction of the third rail 10322. In this way, the stability of the movement of the support 1032 under the drive of the elastic member 117 can be effectively improved.

In a specific example of the embodiment of the present application, the fourth slider 10323 may be provided with two, two fourth sliders 10323 arranged side by side in the first direction. In this way, the stability of the movement of the support 1032 is effectively improved. Of course, it is understood that, referring to fig. 1, when there are two holders 1032, each holder 1032 may be provided with two fourth sliders 10323.

The following describes the specific movement of the support 1032 in the embodiment of the present application in detail:

referring to fig. 16, when the support 1032 is at the initial position, the bending portion 1093 abuts against a side of the protruding portion 10321 facing the carrier, or the bending portion 1093 provides a force to the support 1032 along the negative x-axis direction in fig. 16 through the protruding portion 10321, so that the elastic member 117 is deformed and has a first deformation amount; when the container needs to be taken or returned, the first driving member 11211121 drives the moving seat 109 to move along the positive x-axis direction in fig. 16, at this time, along with the movement of the moving seat 109, the acting force of the bending portion 1093 on the protruding portion 10321 changes, the elastic member 117 provides the elastic force to the supporting member 1032 to enable the supporting member 1032 to move along the positive x-axis direction in fig. 16, and the deformation amount of the elastic member 117 gradually decreases until the supporting member 1032 abuts against the front end of the carrier, at this time, the supporting member 1032 cannot move continuously, and the elastic member 117 has the second deformation amount.

It can be appreciated that in the embodiment of the present application, after the support 1032 abuts against the front end of the carrier, since the moving seat 109 and the support 1032 interact through the bending portion 1093 and the protruding portion 10321, the moving seat 109 and the support 1032 are not fixedly connected; therefore, the moving seat 109 can further move under the driving of the first driving structure 112, and the support 1032 does not affect the movement of the moving seat 109, so as to facilitate taking and returning of the cargo box in the inner body position.

It should be further appreciated 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 102, the first driving structure 112 may drive the moving seat 109 to move until the bending portion 1093 contacts the protruding portion 10321, and the telescopic structure 110 contracts along the first direction, so as to drive the fetching assembly 102 and the container on the fetching assembly 102 to move and move the container to the supporting member 1032, and the supporting member 1032 supports and supports the container, then, the first driving structure 112 continues to drive the moving seat 109 to move, and at this moment, the bending portion 1093 applies a force along the negative x-axis direction in fig. 16 to the protruding portion 10321 and drives the supporting member 1032 and the container on the supporting member 1032 to move together, so as to take the container out, and the elastic assembly 117 deforms and moves until the supporting member 1032 moves to the initial position.

In this embodiment, the third end of the elastic element 117 is connected to the supporting member 1032, and the fourth end of the elastic element 117 is connected to the base; thus, when the fetching component 102 fetches and returns objects, the supporting component 1032 can move under the deformation change of the elastic component 117, thus, the supporting component 1032 does not need to be moved by a driving mechanism 10 alone, and the structure of the fetching device 1 can be effectively simplified; moreover, the movement of the support 1032 moves synchronously with the movement of the moving seat 109, so that the gap between the base 101 and the carrier can be filled by the support 1032 in the process of taking and returning the articles, and the falling of the articles can be effectively avoided.

Fig. 17 is a schematic structural diagram of the fetching assembly 102 in the fetching device 1 according to the embodiment of the present application.

Referring to fig. 17, in yet other alternative examples of embodiments of the present application, the retrieval assembly 102 includes a mounting plate 1021 and a suction cup 1022.

Specifically, in the embodiment of the present application, the mounting plate 1021 is connected to the moving seat 109, and it will be understood that in the embodiment of the present application, the mounting plate 1021 may be connected to the moving seat 109 through the telescopic structure 110. In a specific arrangement, referring to fig. 17, in the embodiment of the present application, the suction cup 1022 is disposed on the mounting plate 1021, a channel is formed on the mounting plate 1021, one end of the channel is communicated with the inner cavity of the suction cup 1022, and the other end of the channel is used for communicating with the air source device 1023 (referring to fig. 3). As a specific example, in the embodiment of the present application, the air source device 1023 may be a vacuum pump. Referring to fig. 1, a gas source apparatus 1023 may be provided on a base 101.

Specifically, the channel on the mounting board 1021 may be formed by punching or slotting the mounting board 1021, and the other end of the channel may be specifically connected to the air source device 1023 through a vacuum tube, so that when the air source device 1023 operates, the air source device 1023 reduces the pressure of the channel and the inner cavity of the suction cup 1022 through the vacuum tube, so that the articles to be transferred are pressed and adsorbed on the suction cup 1022 by the external atmospheric pressure reduction.

In some possible examples, the air source device 1023 may specifically be a forward and reverse rotatable air source device 1023, for example, when the air source device 1023 rotates forward, the vacuum tube is used to suck the channel and the cavity of the suction cup 1022, so as to reduce the pressure of the cavity of the suction cup 1022, so as to facilitate the adsorption of the articles to be transferred; when the air source device 1023 is reversed, the air source device 1023 inflates the channel and the inner cavity of the suction cup 1022 through the vacuum tube, thereby releasing the suction of the suction cup 1022 to the article, and facilitating the removal of the article from the suction cup 1022.

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 through the solenoid valve when the suction cup 1022 is configured to provide sufficient suction to the article (e.g., when the pressure gauge detects that the pressure in the channel or the vacuum tube reaches a preset negative pressure value), thereby maintaining the negative pressure in the cavity of the suction cup 1022, avoiding long-term operation of the vacuum pump, and effectively saving energy consumption.

With continued reference to fig. 17, in some alternative examples of embodiments of the present application, the bottom of the mounting plate 1021 is provided with a support 1024. Specifically, the support 1024 is fixedly connected to the mounting plate 1021. The bottom of the mounting board 1021 may specifically refer to a side of the mounting board 1021 facing the base 101. Like this, in the in-process that the second driving structure 111 moved through the telescopic structure 110 drive get thing subassembly 102 (for example get the thing subassembly 102 and carry out the in-process that removes the article), support 1024 can the butt at the surface of carrier to can play better supporting role to telescopic structure 110 and get thing subassembly 102, avoided under the great circumstances of article weight, probably caused the situation emergence of cision to telescopic structure 110, can effectively protect telescopic structure 110.

As a specific example of an embodiment of the present application, referring to fig. 17, the support 1024 may be a third roller or turning roller, which is rotatably connected to the bottom of the support 1024. In this way, the friction force applied to the support 1024 can be effectively reduced during the movement of the surface of the carrier, and the surface of the carrier can be well protected.

In this embodiment of the present application, through setting up support 1024 in the bottom of mounting panel 1021, when getting the thing subassembly 102 and stretching out and removing to the carrier, support 1024 and the surface contact of carrier to play the supporting role to getting the thing subassembly 102, like this, can prevent to get the thing subassembly 102 because the condition emergence of sagging (also called the low head in some examples) takes place when the telescopic link 110 flexible distance is longer, guaranteed to get the accuracy of the contact position when getting the thing subassembly 102 to article and getting.

In some optional examples of the embodiments of the present application, the object taking device 1 may further include a two-dimensional code camera, where the two-dimensional code camera may be specifically configured to identify the two-dimensional code of the target carrier 5, so as to accurately determine a specific object taking operation object of the current object taking device 1.

It can be appreciated that in the embodiment of the present application, the two-dimensional code camera may be specifically disposed at the front end of the base 101 and located below the moving seat 109. In some possible examples, the two-dimensional code camera may also be disposed above the retrieval assembly 102, such as above the mounting plate 1021 in the previous embodiments of the present application.

It may be further understood that, in the embodiment of the present application, a controller may be further disposed on the base 101, where the controller may specifically 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 (Programmable Logic Controller, abbreviated as PLC), etc. It will be appreciated that in the embodiments of the present application, the types of controllers are only shown as some specific examples, and in some possible examples, the controllers may also be other types of controllers, which are not listed in the embodiments of the present application. The controller may be specifically used to control the two-dimensional code camera, and of course, the controller may also control the first driving element 1121 and the second driving element 1111 in the foregoing embodiments of the present application.

For example, the target carrier 5 may have a multi-layered target cargo space, wherein the two-dimensional code may be provided on a front end beam of each layered target cargo space, for example, in the middle of the beam.

In the embodiment of the application, in the process that the object taking device 1 moves to the target carrier 5 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; thereby determining whether the target carrier 5 reaches the cargo space height corresponding to the target cargo space.

Generally, the object taking device 1 may be disposed on a gantry 3 of the handling robot, when the handling robot moves to a designated position, a driving structure on the gantry 3 adjusts the height of the object taking device 1 through, for example, a transmission chain, it may be understood that a certain fit clearance exists between the driving wheel 10412 and the chain, that is, the actual driving height of the driving structure for the object taking device 1 may be smaller than the 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 recorded height (that is, the running height of the object taking device 1) of the motor encoder of the driving structure on the gantry 3, so as to adjust the height of the object taking device 1, so that the height of the object taking device 1 is aligned with the height of the target cargo space (herein may be the height difference is within a preset range).

In some examples, the object retrieval device 1 may further comprise a depth camera, which may be provided on the base 101 or the mobile station 109. In this embodiment of the present application, the controller may further determine the offset distance between the fetching component 102 and the target cargo space according to the captured image of the target cargo space by the depth camera.

In the embodiment of the application, the controller can compare the image shot by the depth camera with the standard image so as to determine the offset distance; in this way, the skew distance between the fetching component 102 and the target cargo space is conveniently kept within the preset distance range, so that the fetching component 102 is conveniently aligned with the target cargo space, and the stability of fetching the target object 4 on the target cargo space can be improved.

In other alternative examples of embodiments of the present application, a first sensor is also provided on the base 101, which may be specifically configured to detect the position of the mobile station 109 and the pickup assembly 102. That is, in the embodiment of the present application, when the mobile seat 109 and the pickup assembly 102 are at the initial position, the first sensor triggers and generates a first trigger signal; the controller may determine that the mobile station 109 and the retrieval assembly 102 are in the initial position based on the first trigger signal. As a specific example, the first sensor 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 is disposed on the base 101 as a specific example, and in some examples, the first sensor may also be disposed on, for example, the mobile seat 109, or may also be disposed at another position, which is not described herein in detail.

In this embodiment, whether the moving seat 109 and the fetching assembly 102 are at the initial positions is detected by the first sensor, so that whether the moving seat 109 and the fetching assembly 102 move in place during return can be accurately determined, and the controller is convenient to accurately control the stop operation of the first driving piece 1121 and the second driving piece 1111. In addition, the first sensor detects whether the moving seat 109 and the fetching assembly 102 are at the initial position, so as to determine the distance that the fetching assembly 102 needs to move towards the target cargo space during the process of fetching and returning the target object 4.

For example, in some examples, the distance between the pickup assembly 102 and the front end of the base 101, generally, the distance between the pickup assembly 102 and the front end of the base 101 when the pickup assembly 102 and the travel base 109 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 the distance between the pickup assembly 102 and the front end of the base 101 by determining whether the pickup assembly 102 is in the initial position via a first zero signal of the motor encoder of the first drive structure 112 and a second zero signal of the motor encoder of the second drive structure 111.

In another alternative example of embodiment of the present application, continuing to refer to the figure, the object picking device 1 further comprises a second sensor, which may be provided on the base 101, for detecting whether the object picking assembly 102 in the initial position has the object 4 thereon.

For example, in the fetching process of the fetching device 1, when the fetching component 102 fetches the target article 4 from the target cargo space, and in the process of backing up to the base 101 under the driving of the moving seat 109 and/or the telescopic structure 110, the situation that the target article 4 is separated from the fetching component 102 may occur due to unstable acting force of the fetching component 102, so that when the fetching component 102 finally backs up to the initial position, the target article 4 is not backed up, which may cause that the handling robot is easy to drop from the front end of the base 101 in the process of moving in the warehouse system, or may cause that the action time between the fetching component 102 and the target article 4 is uncontrollable when the handling robot unloads at the workstation.

Based on this, by providing the second sensor, when the fetching assembly 102 is retracted to the initial position, and when the fetching assembly 102 has the target object 4, the second sensor may send a second trigger signal to the controller, and the controller determines that the fetching assembly 102 has the target object 4 when in the initial position according to the second trigger signal of the second sensor. On the contrary, when the fetching component 102 is retracted to the initial position, the controller does not receive the second trigger signal of the second sensor, and determines that the fetching component 102 is at the initial position, the fetching component 102 does not carry the target article 4, so that it can be timely found that the target article 4 is not retracted to the initial position.

When the picking assembly 102 is retracted to the initial position, the controller may control the first driving structure 112 and/or the second driving structure 111 to operate (e.g. forward driving) again when the picking assembly 102 does not carry the target object 4, i.e. the controller does not receive the second trigger signal, so that the picking assembly 102 is driven by the moving base 109 and/or the telescopic structure 110 to move forward along the first direction (e.g. forward direction in the x direction in fig. 3), until the controller receives the second trigger signal, and controls the picking assembly 102 to act on the front end surface of the target object 4, and then the controller controls the first driving structure 112 and/or the second driving structure 111 to operate (e.g. reverse driving) again, so that the picking assembly 102 is driven by the moving base 109 and/or the telescopic structure 110 to move backward along the first direction (e.g. reverse direction in the x direction in fig. 3), until the picking assembly 102 carries the target object 4 to the initial position.

Through the arrangement of the second sensor, the situation that the target object 4 does not fall back to the initial position can be timely found, so that the first driving structure 112 and/or the second driving structure 111 are timely controlled to drive the object taking assembly 102 to move to the target object 4 again, the target object 4 is brought back to the initial position, the problem that the target object 4 is very easy to fall off from the front end of the base 101 in the moving process of the transfer robot in the warehouse system, or the transfer robot can be caused to have uncontrollable action time between the object taking assembly 102 and the target object 4 when unloading in a workstation occurs.

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

It will be appreciated that in the embodiments of the present application, the second sensor may be disposed at other positions, and in the embodiments of the present application, only the second sensor is disposed on the base 101 is illustrated as an example.

In another alternative example of the embodiment of the present application, the object picking device 1 may further include a third sensor, in some examples, the third sensor may be disposed on the base 101, specifically, the third sensor may be an infrared sensor or an ultrasonic sensor, and the third sensor is used to detect the target object 4 on the target carrier 5, for example, the controller determines whether the target object 4 exists on the cargo space of the target carrier 5 to be picked according to a third trigger signal of the third sensor.

In other optional examples of embodiments of the present application, as shown in the figures, the object picking device 1 may further include a fourth sensor, as shown in the figures, which may be disposed on the object picking assembly 102, and the fourth sensor is used to detect a position state between the target object 4 and the object picking assembly 102. For example, the controller determines a positional state between the target item 4 and the retrieval assembly 102 based on a fourth trigger signal from a fourth sensor.

The position state may include that the distance between the fetching component 102 and the target object 4 is less than or equal to a fifth preset distance during the moving to the target cargo space. In addition, the position state may further include that the distance between the picking assembly 102 and the target object 4 is smaller than or equal to the sixth preset distance during the retracting process of the picking assembly into the base 101.

For example, the controller may control the pickup assembly 102 to approach the target item 4 at the first predetermined speed when the distance between the pickup assembly 102 and the target item 4 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 component 102 when the distance between the fetching component and the target object 4 is larger than the fifth preset distance, so that the fetching component 102 can be ensured to slowly approach the target object 4 until contacting the target object 4 when moving near the target object 4, the target object 4 is prevented from backing, 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 102 and the target object 4 is smaller than or equal to the sixth preset distance in the process of retracting the object taking component 102 into the base 101, it is determined that the object taking component 102 has the target object 4, that is, the object taking component 102 is not separated from the target object 4, so that the object taking component 102 is ensured to smoothly reach the initial position with the target object 4. In some examples, the fifth preset distance is greater than the sixth preset distance. It will be appreciated that the fourth sensor may trigger the fourth trigger signal when the distance between the picking assembly 102 and the target object 4 is less than or equal to the fifth or sixth predetermined distance, whereas the fourth sensor may not trigger the fourth trigger signal when the distance between the picking assembly 102 and the target object 4 is greater than the fifth or sixth predetermined distance. Thus, when the controller receives the fourth trigger signal of the fourth sensor, it is determined that the distance between the fetching component 102 and the target object 4 is smaller than or equal to the fifth preset distance or the sixth preset distance, and when the controller does not receive the fourth trigger signal of the fourth sensor, it is determined that the distance between the fetching component 102 and the target object 4 is larger than the fifth preset distance or the sixth preset distance.

For example, when the controller does not receive the fourth trigger signal of the fourth sensor during the retraction of the object pickup assembly 102 into the base 101, and determines that the distance between the object pickup assembly 102 and the object pickup assembly 4 is greater than the sixth preset distance, and determines that the object pickup assembly 102 is separated from the object pickup assembly 4, the driving mechanism 10, for example, the first driving structure 112 and/or the second driving structure 111, may drive the object pickup assembly 102 to move toward the object pickup assembly 4 until the object pickup assembly 102 contacts the object pickup assembly 4, and then control the object pickup assembly 102 to retract with the object pickup assembly 4 again until the initial position is reached.

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

In some examples, during retrieval or return of the retrieval assembly 102, to determine the distance of movement of the retrieval assembly 102 toward the target cargo space, the distance of movement of the retrieval assembly 102 toward the target cargo space may be determined by a drive structure, such as a motor encoder of the first drive structure 112 and a motor encoder of the second drive structure 111, wherein a gear in the motor encoder is determined by a motor speed and a rotation time, and the gear of the motor encoder determines the distance that the motor drives the telescoping structure 110 and/or the movement base 109 to move. For example, the motor encoder of the first driving structure 112 may detect the moving distance of the moving seat 109, and the second driving structure 111 may detect the moving distance of the power shaft of the telescopic structure 110, so as to determine the moving distance of the fetching assembly 102.

In still other examples, the retrieval device 1 may further include a detection structure configured to detect a distance traveled by the retrieval assembly 102 toward the target cargo space to determine the location of the retrieval assembly 102 in real-time. For example, the position of the pickup assembly 102 relative to the base 101 may be determined based on the distance the pickup assembly 102 moves toward the target cargo space, the initial position of the pickup assembly 102 relative to the base 101. For example, the controller is configured to determine the position of the pickup assembly 102 based on the distance the detection structure detects the movement of the pickup assembly 102 toward the target cargo space. It will be appreciated that this distance of movement refers to the distance that the retrieval assembly 102 extends relative to the initial position on the base 101, i.e., the distance between the current position of the retrieval assembly 102 and the initial position. The initial position is a position of the picking assembly 102 on the base 101 when the picking device 1 has not picked up 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 101, for example, one end of the pull wire encoder can be arranged at the rear end of the base 101 (the end facing away from the target cargo space, for example, on the fixing part of the base 101), and the other end of the pull wire encoder is fixed on the fetching component 102, so when the fetching component 102 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 102 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 fixing portion of the base 101 may be located at a side of the moving seat 109 facing away from the telescopic structure 110, and is opposite to and spaced apart from the moving seat 109.

The following describes a process of picking up the target article 4 of the object picking apparatus 1 provided in the embodiment of the present application, respectively.

The material taking process comprises the following steps:

firstly, the object taking device 1 can be driven by a transfer robot to move, for example, an upper computer can send order information to the transfer robot, and the transfer robot moves to a corresponding target carrier 5 according to the order information; or, the upper computer may determine the position of the corresponding target carrier 5 according to the order information, send the corresponding position information to the transfer robot, and move the transfer robot according to the corresponding position information to drive the object taking device 1 to move to the corresponding position.

Generally, referring to FIG. 1, the target carrier 5 has multiple levels of cargo space, each of which may hold a plurality of target items 4 (e.g., a container or bin as shown in FIG. 1). The object taking device 1 is usually arranged on a portal 3 of the transfer robot and can move up and down along the portal 3; after the transfer robot moves to the target carrier 5, the object pickup device 1 moves up and down along the portal 3, thereby reaching the corresponding cargo space height of the target object 4.

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 3 drives the object taking device 1 to move up and down, the ascending height of the object taking device 1 can be detected and recorded by, for example, a motor encoder, etc., and in this embodiment, the controller compares the ascending height of the object taking device 1 with the cargo space height corresponding to the two-dimensional code, so as to determine a possible deviation (mainly from the fit clearance of the driving structure) between the object taking device 1 and the target cargo space in the height direction. At this time, the height of the object taking device 1 may be adjusted according to the comparison result, so that the height of the object taking device 1 is the same as the height of the target cargo space.

In some examples, the image corresponding to the target carrier 5 may be captured by the depth camera, and the image captured by the depth camera is analyzed by the controller, so as to determine the offset condition of the base 101 or the fetching component 102 relative to the target cargo space, so that the fetching component 102 is convenient to be opposite to the target cargo space, and the effectiveness and accuracy of fetching are ensured.

In addition, the controller can control the widening module 104 according to the pre-stored width of the target article 4 such that the widening module 104 drives the support assembly 103, e.g., two supports 1032, in a second direction relative to or against each other to adjust the load bearing size of the support assembly 103 to accommodate the width of the corresponding target article 4. Meanwhile, the width adjusting component 104 can drive the two guide strips 105 to move relatively or oppositely along the second direction according to the width of the target object 4 so as to adjust the width between the two guide strips 105 and ensure that the corresponding target object 4 is adapted.

It should be understood that the adjustment of the support size of the support member 103 and the adjustment timing of the guide strips 105 may be performed before the transfer robot moves toward the target carrier 5, or during the movement of the transfer robot toward the target carrier 5, or after the object picking apparatus 1 reaches the designated position, the embodiment of the present application specifically does not limit the adjustment timing of the width of the support member 103 and the guide strips 105, so long as the object 4 carried on the object picking assembly 102 is ensured to be stably supported on the support member 103 and between the two guide strips 105.

Generally, in the process that the object taking device 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 5 by means of the ground identification. After the transfer robot moves to the designated position according to the position information issued by the host computer, a first distance is provided between the front end of the base 101 of the object taking device 1 and the front end surface of the target carrier 5.

Subsequently, the controller may issue a first trigger signal to the first sensor to determine whether the pickup assembly 102 and the mobile station 109 are in the initial position; for example, when the first sensor sends a first trigger signal, it is determined that the pickup assembly 102 and the mobile station 109 are in the initial positions, thus facilitating the determination of a second distance between the pickup assembly 102 and the front end of the base 101.

Alternatively, in some examples, it may also be determined whether the travel base 109 and the telescoping structure 110 are in the initial position based on a first zero signal of a motor encoder of the drive mechanism 10, such as the first drive structure 112, and a second zero signal of a motor encoder of the second drive structure 111, thereby determining whether the retrieval assembly 102 is in the initial position. Alternatively, the displacement of the pickup assembly 102 toward the target cargo space may be detected by a detection structure, such as a pull wire encoder, and when the displacement is zero, it may be determined that the pickup assembly 102 is in the initial position. That is, in the event that neither the first drive 1121 nor the second drive 1111 is rotated, it is determined that the picker assembly 102 is in the initial position. In this way, a second distance between the pickup assembly 102 and the front end of the base 101 is readily determined.

In addition, in some examples, the controller may also determine, through the third sensor, whether the target object 4 is present on the target carrier 5, e.g., in a case where the third sensor sends a third trigger signal, the controller may determine that the target object 4 is present on the target cargo space, and may perform the fetching operation; under the condition that the third sensor does not send out a third trigger signal, proving that the target goods 4 are not present on the target goods position, or that the target goods 4 on the target goods position have certain deflection; at this time, the controller can send out alarm prompt information or report to the upper computer for timely processing.

The detection signal from the third sensor may be transmitted to the target object 4, and the target object 4 gives a feedback signal, which may be a reflected signal to the detection signal, for example.

It can be understood that, in the process of moving and extending the moving seat 109, the bearing assembly extends out of the base 101 under the action of the elastic assembly 117, and along with the movement of the moving seat 109, the front end abutting piece of the bearing assembly pushes the third limiting piece to switch from the first state to the second state; until the front end of the carrier assembly abuts against the target carrier 5, the carrier assembly stops moving, and the moving seat 109 can continue to move under the driving of the first driving member 1121.

In the process that the sucking disc 1022 of the fetching assembly 102 is contacted with or approaches to the material box, the fourth sensor sends out a fourth trigger signal, and the controller determines that the distance between the sucking disc 1022 and the target object 4 is smaller than or equal to a preset distance according to the fourth trigger signal of the fourth sensor; at this time, the controller may control the first driving structure 112 and the second driving structure 111 to drive the pickup assembly 102 in a decelerating manner, so as to avoid the pickup assembly 102 from causing collision damage to the target object 4.

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 5, and is generally a fixed value) may determine a working distance that the pickup assembly 102 needs to move from the initial position to the target cargo space. After the pickup assembly 102 moves a working distance toward the target cargo space, it can be determined that the pickup assembly 102 has reached the target cargo space and the suction cup 1022 is in contact with the target article 4, at this time, the controller controls the air source device 1023 to be activated, and suction is performed on the inner cavity of the suction cup 1022, so that the suction cup 1022 is tightly adsorbed on the surface of the target article 4. For example, when the detection structure detects that the distance of movement of the pickup assembly 102 toward the target cargo space is the working distance, it may be determined that the pickup assembly 102 arrives at the target cargo space.

When the vacuum degree in the suction cup 1022 or the channel reaches a preset vacuum degree (the preset vacuum degree can also be a preset negative pressure, and can be specifically determined according to the weight of the target object 4 to be carried and taken), the controller controls the first driving piece 1121 and the second driving piece 1111 to operate, and the object taking assembly 102 drives the target object 4 to move towards the base 101; when the target object 4 moves onto the bearing assembly, the target object 4 can be supported by the bearing assembly (refer to the figure), and the situation that the target object 4 falls off can be effectively avoided. Along with the continuous movement of the moving seat 109, the bending portion 1093 on the moving seat 109 contacts with the protruding portion 10321 of the bearing assembly and drives the bearing assembly to move towards the base 101, and the movement of the bearing assembly deforms the elastic assembly 117, so that the elastic assembly 117 stores energy, and the bearing assembly is driven when the bearing assembly protrudes next time.

When the first sensor detects that the movable seat 109 and the fetching assembly 102 are at the initial position (i.e. the movable seat 109 and the fetching assembly 102 retract to the initial position after fetching), the controller controls the first driving piece 1121 to stop, and the movable seat 109 stops; when the second sensor detects the target object 4, the object taking assembly 102 is also at the initial position, the target object 4 moves to the position, and the controller controls the second driving member 1111 to stop, and the telescopic structure 110 stops moving.

Finally, the controller controls the air source device 1023 to supply air to the suction cups 1022 in the opposite direction, thereby releasing the negative pressure between the suction cups 1022 and the target object 4 and releasing the target object 4 from the picking assembly 102. In the process that the bearing assembly returns along with the moving seat 109, the abutting piece at the front end of the bearing assembly pushes the first portion 10421 of the third limiting piece, so that the third limiting piece is switched from the second state to the first state, and the target article 4 is limited.

Then, the transfer robot can transfer the target article 4 to another position according to the transfer instruction issued by the host computer.

And (3) the following process:

it will be appreciated that in the embodiment of the present application, the process of returning is similar to the process of moving the seat 109 and the picking assembly 102 out of the base 101 during picking, except that the target object 4 is carried on the picking assembly 102 during the process of returning the seat 109 and the picking assembly 102 out. 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.

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

The article handling method comprises the following steps:

s1, determining the size of the target object 4 and adjusting the support size of the target object 4 by the support assembly 103.

In the embodiment of the present application, the dimension of the target object 4 refers to the width of the target object 4 along the second direction, and is shown with reference to fig. 1.

In some examples, the operator may manually adjust the support size of the support assembly 103 based on the size of the target item 4 on which the order is placed to adjust the support size of the support assembly 103 to be greater than or equal to the width of the target item 4, ensuring that the support assembly 103 is stably supporting the target item 4.

In other examples, to enable automated control of the overall retrieval process, the width of the target item 4 may be measured by a ranging sensor or depth camera and this width information fed back to a controller that controls the widening element 104 based on the width information to adjust the support size of the support element 103 to be greater than or equal to the width of the target item 4.

In other examples, the width information of the target item 4 may also be manually entered into the controller, which in turn controls the adjustment assembly 104 based on the width information to adjust the support size of the support assembly 103 to be greater than or equal to the width of the target item 4.

S2, determining the offset distance of the fetching component 102 relative to the target cargo space;

for example, the controller may determine an offset distance (i.e., a horizontal offset distance) from a captured image of the target cargo space by the depth camera. It is understood that the offset distance refers to the deviation of the pickup assembly 102 from the target cargo space in the second direction.

In some other examples, the controller may also determine an offset distance (i.e., a vertical offset distance) of the pickup assembly 102 from the target cargo space based on the identification status of the two-dimensional code camera to the target cargo space two-dimensional code. It is understood that the vertical offset distance refers to the deviation of the pickup assembly 102 from the target cargo space in the height direction.

Illustratively, based on the offset distance, the controller may control the chassis 2 to move along the second direction, so that the offset distance of the fetching component 102, such as the supporting seat, moves along the second direction, so that the deviation of the fetching component 102 and the target cargo space in the second direction is controlled within an allowable range, and, for example, a translation component may also be provided in the fetching device 1, and the fetching component 102, such as the base 101, is driven to move along the second direction by the translation component to offset the offset distance, so that the fetching component 102 is aligned with the target cargo space, so as to ensure that the fetching component 102 can accurately reach the target cargo space when fetching and returning the target object 4, and transfer and butt joint of the target object 4 are performed.

In addition, the controller may further control the lifting device on the gantry 3 to drive the object taking device 1 to lift up and down along the gantry 3 according to the determined vertical offset distance, so as to reduce the deviation between the object taking assembly 102 and the target cargo space in the height direction until the deviation between the object taking assembly 102 and the target cargo space in the height direction is within the allowable deviation range, for example, the object taking assembly 102 may be directly moved up and down to be aligned with the target cargo space.

S4, the driving mechanism 10 drives the fetching assembly 102 to move towards the target cargo space until reaching the target cargo space.

For example, the controller may obtain a distance of movement of the pickup assembly 102 toward the target cargo space, where the pickup assembly 102 reaches the target cargo space with the distance of movement equal to the working distance. For example, during the process that the driving mechanism 10 drives the fetching assembly 102 to move toward the target cargo space along the first direction, the detecting structure may detect the moving distance of the fetching assembly 102 toward 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 indicates that the fetching assembly 102 reaches the target cargo space, and then the controller controls the driving mechanism 10 to stop working, so that the fetching assembly 102 stops moving forward.

In some examples, the controller may first determine the working distance between the pickup assembly 102 and the target cargo space before the drive mechanism 10 drives the pickup assembly 102 toward the target cargo space.

In some examples, the object handling device 1 may be arranged on a chassis of the transfer robot. After receiving the carrying instruction or the designated position information issued by the upper computer, the carrying robot may move to the designated position of the target carrier 5 along the path identifier set on the ground in the warehouse system.

Here, the controller determining the working distance between the pickup assembly 102 and the target cargo space may include:

a first distance between the front end of the base 101 and the front end of the target carrier 5 is acquired. Generally, after the object picking robot moves to the target position, the mobile robot moves along the marking path of the ground, so the first distance between the front end of the base 101 and the front end of the target carrier 5 is generally a certain value, and in some examples, the first distance may be set according to the actual requirement of the storage target object 4.

The controller confirms the initial position of the fetching assembly 102 according to the first trigger signal of the first sensor and/or the zero signal of the motor encoder of the first driving structure 112 and the zero signal of the motor encoder of the second driving structure 111, and a second distance is arranged between the initial position and the front end of the base 101.

The controller obtains a third distance between the target cargo space and the front end of the base 101. 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 is understood that the working distance may be the distance that the pickup assembly 102 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.

The drive mechanism 10, for example, the first drive structure 112 and/or the second drive structure 111, then drives the pick device 102 a working distance in a first direction toward the target cargo space to reach the target cargo space.

That is, in this embodiment, the first driving structure 112 may operate to drive the fetching assembly 102; alternatively, the second driving structure 111 may be operated to drive the fetching assembly 102; in other examples, it is also possible that both the first drive structure 112 and the second drive structure 111 are operational. 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 carrier 5, at which time the second drive structure 111 may advance the telescoping structure 110, e.g., the controller may first control the operation of the second drive structure 111 to move the second end 1102 of the telescoping structure 110, e.g., in a first direction, toward the target cargo space to reduce the width of the telescoping structure 110, e.g., in a third direction.

After the telescopic structure 110 drives the fetching assembly 102 to move by a predetermined distance, the first driving structure 112 drives the moving seat 109 to move, for example, the controller controls the first driving structure 112 to work, so that the moving seat 109 drives the telescopic structure 110 to move toward the target cargo space until the moving distance of the fetching assembly 102 is the working distance.

In this way, for the case that the width of some target objects 4 is smaller, that is, the interval between the adjacent target objects 4 on two sides of the target cargo space is narrower, the telescopic structure 110 can be moved by a first preset distance, so that the width of the telescopic structure 110 along the third direction is smaller than or equal to the width of the target cargo space, and the telescopic structure 110 is ensured to drive the fetching assembly 102 to extend into the target carrier 5, and then the moving seat 109 is moved; the size space occupied by the telescopic structure 110 in the width direction of the target object 4 can be reduced, and the accuracy of the positions of the target objects 4 on two adjacent sides of the target cargo space can be ensured.

For example, the telescopic structure 110 can drive the fetching assembly 102 to extend into the target carrier 5, and the first driving structure 112 drives the moving seat 109 to move forward until the fetching assembly 102 moves to the target cargo space to dock the target object 4 with the target cargo space.

S5: the transfer of the target item 4 is performed between the pick-up assembly 102 and the target cargo space.

Here, the transferring of the target object 4 may be that the fetching assembly 102 applies a force to the target object 4 on the target cargo space, i.e. fetches the target object 4 from the target cargo space (e.g. the vacuum pump may be controlled to evacuate the suction cup 1022); in some examples, it may also be that the retrieval assembly 102 releases the force on the target item 4, i.e., the retrieval assembly 102 places the target item 4 on the target cargo space.

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

s6: the drive mechanism 10 drives the pick assembly 102 away from the target cargo space until an initial position of the base 101 is reached.

Illustratively, the first drive structure 112 and/or the second drive structure 111 drive the pickup assembly 102, for example, in a first direction, a working distance away from the target cargo space to reach the initial position.

For example, when the controller may acquire detection information of the detection structure, and when the moving distance of the fetching assembly 102 detected by the detection structure toward the target cargo space is equal to zero, it is determined that the fetching assembly 102 is at the initial position of the base 101, the controller may control the driving mechanism 10 to stop working, so that the fetching assembly 102 stops retracting.

In some examples, the first driving structure 112 drives the moving seat 109 to move backward, for example, the controller may control the first driving structure 112 to operate first, so that the moving seat 109 drives the telescopic structure 110 to move away from the target cargo space until the telescopic structure 110 exits the target carrier 5.

The second driving structure 111 then drives the telescopic structure 110 to retract, for example, the controller can control the second driving structure 111 to operate, so that the second end 1102 of the telescopic structure 110 moves away from the target cargo space, for example, along the first direction until the fetching assembly 102 reaches the initial position.

It will be appreciated that, in general, the object picking apparatus 1 has an object picking operation state, in which in the embodiment of the present application, S4, that is, before the driving mechanism 10 drives the object picking assembly 102 to move toward the target cargo space, the object handling method further includes:

step S4a: based on the third trigger signal of the third sensor, it is confirmed that the target cargo space has the target article 4 thereon.

That is, in the embodiment of the present application, before the pickup assembly 102 is driven to move, whether the target object 4 is located on the target cargo space may be determined by whether the third sensor sends the third trigger signal. In the case of a target object 4 on the target cargo space, the picker assembly 102 is again driven to move. Under the condition that the target goods position does not exist on the target goods position, the possible reasons are that the position information sent by the upper computer is wrong or the target goods 4 on the target goods position is lost or moves, and at the moment, the controller can send alarm prompt information to the upper computer so as to be processed in time.

In other examples of the embodiment of the present application, in the fetching operation state, S4, that is, the driving mechanism 10 drives the fetching assembly 102 to move toward the target cargo space, including:

s4b: according to the fourth trigger signal of the fourth sensor, reducing the driving speed of the driving mechanism 10, for example, the first driving structure 112 and/or the second driving structure 111, so that the object picking assembly 102 approaches the target object 4 at the first preset speed when the distance between the object picking assembly and the target object 4 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 component 102 when the distance between the fetching component and the target object 4 is larger than the fifth preset distance.

For example, the rotation speed of the first driver 1121 may be reduced, or the rotation speed of the second driver 1111 may be reduced; alternatively, in other examples, the rotational speeds of the first driver 1121 and the second driver 1111 may be reduced simultaneously.

In this way, the object taking assembly 102 can be in contact with the target object 4 at a lower speed, so that the impact force of the object taking assembly 102 on the target object 4 can be reduced, and the target object 4 can be effectively protected.

It will be appreciated that in other examples, the fetching device 1 further has a returning operation state, in which in the present embodiment, S4, the driving mechanism 10 drives the fetching assembly 102 to move toward the target cargo space, including:

The drive mechanism 10, e.g., the first drive structure 112 and/or the second drive structure 111, drives the pick assembly 102, e.g., in a first direction, a working distance toward the target cargo space to move the target item 4 to the target cargo space. Wherein the picking assembly 102 carries the target object 4.

In the embodiment of the present application, the article taking device 1 has a returning operation state substantially similar to the article taking operation state, except that the article taking assembly 102 carries the target article 4 in the returning operation state.

In addition, it may be appreciated that, in some examples, before step S4 in the article returning operation state, it may also be determined whether the target cargo space has the target article 4 by the third trigger signal of the third sensor. At this time, under the condition that the third sensor sends out a third trigger signal, the controller sends out alarm prompt information to the upper computer.

In other examples of embodiments of the present application, in the fetching operation state, the first driving structure 112 and/or the second driving structure 111 drive the fetching assembly 102 to move, for example, in the first direction away from the target cargo space, including:

the object 4 is determined to be on the picking assembly 102 according to the fourth trigger signal of the fourth sensor and/or the vacuum level of the inner cavity of the suction cup 1022 is at the preset vacuum level.

When the fetching component 102, for example, the suction cup 1022 and the target object 4 are within a sixth preset distance L (for example, within mm), the fourth sensor sends a fourth trigger signal to the controller, otherwise, if the controller does not receive the fourth trigger signal, the distance between the suction cup 1022 and the target object 4 is larger than the sixth preset distance. Thus, during the process that the suction cup 1022 takes out the target article 4 from the target cargo space and retreats in the direction away from the target cargo space (i.e. in the direction toward the base 101), the suction cup 1022 may be characterized as having the target article 4 thereon when the controller receives the fourth trigger signal, and the suction cup 1022 may be characterized as being separated from the target article 4 when the controller does not receive the fourth trigger signal.

In addition, the vacuum pressure gauge can monitor the vacuum degree in the inner cavity of the suction cup 1022 and the vacuum tube communicated with the inner cavity in real time, when the suction cup 1022 adsorbs the target object 4, the numerical value on the vacuum pressure gauge is the preset vacuum degree, in other words, under the preset vacuum degree, the suction cup 1022 adsorbs the target object 4, and when the target object 4 falls off from the suction cup 1022, the vacuum degree is destroyed, and the numerical value on the vacuum pressure gauge is smaller than the preset vacuum degree. Thus, during the process that the suction cup 1022 takes out the target article 4 from the target cargo space and retreats in the direction away from the target cargo space (i.e. in the direction toward the base 101), when the vacuum degree on the vacuum pressure gauge (i.e. the vacuum degree of the inner cavity of the suction cup 1022) is smaller than the preset vacuum degree, the suction cup 1022 can be characterized to be separated from the target article 4.

It will be appreciated that in some examples, the object 4 may be determined to be present on the picking assembly 102 based on the fourth trigger signal from the fourth sensor, or alternatively, the vacuum level of the cavity of the suction cup 1022 is at a preset vacuum level.

In order to improve the accuracy of judging whether the suction cup 1022 is separated from the target object 4, in other examples, the object 4 on the object taking assembly 102 can be determined according to the fourth trigger signal of the fourth sensor and that the vacuum degree of the inner cavity of the suction cup 1022 is at the preset vacuum degree, so that the judging result is more accurate. In addition, when any one of the fourth sensor and the vacuum pressure gauge fails, the smooth proceeding of the judging process or the accuracy of the judging result is prevented from being influenced.

With the target item 4 on the pickup assembly 102, the first drive structure 112 and/or the second drive structure 111 drive the pickup assembly 102 in a first direction away from the target cargo space.

It will be appreciated that the retrieval assembly 102 may disengage from the target article 4 during retraction due to insufficient force, etc. When the target object 4 is separated from the picking assembly 102, if the picking assembly 102 is driven by the moving seat 109 or the telescopic structure 110 to retract, the transfer robot can move to the next link position, such as the picking workstation, without load, thereby affecting the smooth progress of the whole picking operation and wasting resources.

For example, during the retraction of the picking assembly 102, when the picking assembly 102 has the target object 4, the fourth sensor may send a fourth trigger signal to the controller, and the controller determines that the picking assembly 102 has the target object 4 based on the fourth trigger signal, and/or when the controller determines that the vacuum degree of the inner cavity of the suction cup 1022 is the preset vacuum degree, determines that the picking assembly 102 has the target object 4, and then controls the first driving structure 112 and/or the second driving structure 111 to operate (i.e. reverse driving operation) so that the picking assembly 102 is driven by the telescopic structure 110 and/or the moving seat 109 to move along the negative direction of the x direction (i.e. back to the target cargo space).

When the controller does not receive the fourth trigger signal and/or the controller determines that the vacuum degree of the inner cavity of the suction cup 1022 is lower than the preset vacuum degree, and the controller characterizes that the object taking component 102 has no target object 4, the first driving structure 112 and/or the second driving structure 111 can be controlled to stop the back driving operation, so that the object taking component 102 stops moving towards the base 101, and when the object taking component 102 acquires the target object 4 again, the controller receives the fourth trigger signal, and then continues to control the back driving operation of the first driving structure 112 and/or the second driving structure 111, so that the object taking component 102 continues to move towards the initial position.

For example, when the fetching assembly 102 includes the suction cup 1022, when the controller does not receive the fourth trigger signal, the controller controls the first driving structure 112 and/or the second driving structure 111 to stop the reverse driving operation, and controls the first driving structure 112 and/or the second driving structure 111 to perform the forward driving operation, so that the fetching assembly 102 moves forward along the forward direction of the x direction, and controls the inner cavity of the suction cup 1022 to be in a vacuum state, so as to adsorb the target article 4 again, and when the suction cup 1022 adsorbs the target article 4, the fourth sensor sends the fourth trigger signal to the controller again, and the controller controls the first driving structure 112 and/or the second driving structure 111 to operate (i.e. reverse driving operation) based on the fourth trigger signal, so that the fetching assembly 102 continues to retract until the initial position is retracted.

The embodiments of the present application have the same or corresponding technical features as the foregoing embodiments, so the embodiments of the present application have the same or similar technical effects as the foregoing embodiments of the present application, and specific reference may be made to the detailed description of the foregoing embodiments of the present application, which is not repeated herein.

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 object taking device, characterized by comprising:

a base (101);

a pick-up assembly (102) selectively extendable and retractable from the base (101) for reciprocal movement between a target cargo space and the base (101); the fetching assembly (102) is configured to carry a target object by acting on a front end surface of the target object when the target object is fetched, wherein the front end surface of the target object is a side surface of the target object facing the fetching assembly (102) when the target object is to be fetched;

a support assembly (103), at least part of the support assembly (103) being positioned in the path of movement of the target item when the picking assembly (102) picks up the target item, and the support assembly (103) being extendable out of the base (101) to support the target item when the picking assembly carries the item thereon;

at least part of the support assembly (103) is movable relative to the base (101) to adjust the support size of the support assembly (103) for a target item.

2. The object extraction device of claim 1, wherein the object extraction device further comprises:

a width adjustment assembly (104) coupled to the support assembly (103) and configured to actuate the support assembly (103) to adjust a support size of the support assembly (103) for a target item.

3. The object handling device according to claim 2, wherein said support assembly (103) comprises at least two supports (1032);

at least two of the support members (1032) are spaced apart;

the width adjustment assembly (104) is connected with at least one bearing (1032) to drive at least one bearing (1032) closer to or farther from the other bearing (1032) to adjust the distance between the two bearings (1032).

4. A pick-up device according to claim 3, wherein the widening component (104) comprises:

a width adjustment drive (1041);

one end of the width adjusting transmission piece (1042) is connected with the width adjusting driving piece (1041), the width adjusting transmission piece (1042) comprises a first part (10421) and a second part (10422), and the first part (10421) and the second part (10422) move reversely under the driving of the width adjusting driving piece (1041);

one of the supports (1032) is connected to the first portion (10421) and the other support (1032) is connected to the second portion (10422).

5. The object taking device according to claim 4, wherein the width adjusting driving member (1041) comprises a driving motor (10411) and a driving wheel (10412), and an output end of the driving motor (10411) is connected with the driving wheel (10412) to drive the driving wheel (10412) to rotate;

The width-adjusting transmission piece (1042) comprises a driven wheel and a synchronous belt, the driving wheel (10412) and the driven wheel are arranged at intervals, two ends of the synchronous belt are sleeved on the driving wheel (10412) and the driven wheel, the driving wheel (10412) and the driven wheel divide the synchronous belt into a first section and a second section which are oppositely arranged, one supporting piece (1032) is connected with the first section, and the other supporting piece (1032) is connected with the second section; the first segment is configured as the first portion (10421) and the second segment is configured as the second portion (10422).

6. An object handling device according to claim 2, wherein the support member (103) is movable relative to the base (101) in the direction of movement of the object handling member (102), and wherein one end of the support member (103) abuts against a target carrier when the support member (103) extends from the base (101).

7. The object taking device according to claim 6, characterized in that the object taking device (1) further comprises: a support platform (106);

the supporting platform (106) is movably arranged on the base (101), and the bearing assembly (103) is positioned on the supporting platform (106) and can move relative to the supporting platform (106) so as to extend out of the base (101);

The width adjusting component (104) is connected with the supporting platform (106) to drive the supporting platform (106) to move relative to the base (101), and the bearing component (103) is driven by the supporting platform (106) to adjust the bearing size of a target object.

8. The object taking device according to claim 7, characterized in that the object taking device (1) further comprises a width adjustment guide rail (107) and a width adjustment slider (108);

the width adjusting guide rail (107) is arranged on one of the base (101) and the supporting platform (106), and the width adjusting sliding block (108) is arranged on the other of the base (101) and the supporting platform (106);

the width adjustment slider (108) is configured to slide along the width adjustment rail (107) when the support platform (106) is active.

9. The object taking device according to claim 8, characterized in that the number of width-adjusting guide rails (107) is at least two, and correspondingly, the number of width-adjusting slide blocks (108) is at least two;

at least two width adjusting guide rails (107) are respectively positioned at two sides of the width adjusting assembly (104), and each width adjusting guide rail (107) is provided with a corresponding width adjusting sliding block (108) in a sliding manner.

10. The object taking device according to claim 2, characterized in that the object taking device (1) further comprises:

Two guide strips (105) are oppositely arranged at two sides of the bearing assembly (103), and the arrangement direction of the two guide strips (105) is intersected with the moving direction of the fetching assembly (1302); -the guide strip (105) is configured to limit the movement of the target item on the support assembly (103) along the arrangement direction;

the width adjusting component (104) is also connected with each guide strip (105) and is configured to drive the two guide strips (105) to move oppositely or reversely so as to adjust the distance between the two guide strips (105).

11. The object extraction device of claim 1, wherein the object extraction device further comprises:

the telescopic structure (110) is arranged on the base (101), the free end of the telescopic structure (110) can selectively extend out of or retract back into the base (101), and the object taking assembly (102) is arranged at the free end;

the driving mechanism (10) is connected with the telescopic structure (110) to drive the free end to extend out of or retract back into the base (101), so that the object taking assembly (102) is driven to move relative to the base (101).

12. The object extraction device of claim 1, wherein the object extraction device further comprises:

a movable base (109) movably provided on the base (101) and movable with respect to the base (101);

The telescopic structure (110) is connected with the movable seat (109), and the free end of the telescopic structure (110) is connected with the object taking assembly (102) and can drive the object taking assembly (102) to selectively extend out of or retract into the base (101);

the driving mechanism (10) is respectively connected with the movable seat (109) and the telescopic structure (110), and when the target object is fetched, the driving mechanism (10) can selectively drive at least one of the movable seat (109) and the telescopic structure (110) to move so as to drive the object fetching assembly (102) to extend out or retract back to the base (101).

13. The object taking device according to claim 12, characterized in that the driving mechanism (10) comprises:

a first driving structure (112) connected with the movable seat (109) and configured to drive the movable seat (109) to move relative to the base (101) so as to enable the fetching assembly (102) to move relative to the base (101) under the driving of the movable seat (109);

a second driving structure (111) connected with the telescopic structure (110), wherein the second driving structure (111) is configured to drive the free end to move close to or far away from the moving seat (109) so as to enable the fetching assembly (102) to move relative to the moving seat (109) under the drive of the free end;

Upon retrieval of a target item, the retrieval assembly (102) is configured to move relative to the base (101) under the drive of the first drive structure (112) and/or the second drive structure (111) to reciprocate within the base (101) at a target cargo space.

14. The object handling device according to claim 13, wherein the object handling device (1) is configured to perform one of the following actions when picking up a target object:

the first driving structure (112) drives the moving seat (109) to move so as to drive the fetching assembly (102) to move a first preset distance towards the target goods space, the second driving structure (111) drives the telescopic structure (110) to extend out again so as to drive the fetching assembly (102) to move a second preset distance towards the target goods space, and the fetching assembly (102) is enabled to move to the target goods space to transfer a target object between the fetching assembly (102) and the target goods space;

the second driving structure (111) drives the telescopic structure (110) to extend so as to drive the fetching assembly (102) to move a third preset distance towards the target cargo space, and the first driving structure (112) drives the moving seat (109) to move so as to drive the fetching assembly (102) to move a fourth preset distance towards the target cargo space, so that the fetching assembly (102) moves to the target cargo space to transfer a target object between the fetching assembly (102) and the target cargo space;

The first driving structure (112) and the second driving structure (111) simultaneously drive the moving seat (109) and the telescopic structure (110) to move so as to drive the fetching assembly (102) to move to the target goods space for a working distance, so that the fetching assembly (102) moves to the target goods space for transferring the target goods between the fetching assembly (102) and the target goods space.

15. The object taking device according to claim 14, wherein when a target cargo space is an inner deep position of a target carrier, the second driving structure (111) drives the telescopic structure (110) to extend to drive the object taking component (102) to move towards the target cargo space, so that the width of the telescopic structure (110) is reduced, and the first driving structure (112) drives the moving seat (109) to move again to drive the object taking component (102) to move towards the target cargo space until the object taking component (102) moves to the target cargo space, so that a target object transfer between the object taking component (102) and the target cargo space is performed;

the width direction of the telescopic structure (110) intersects with the telescopic direction.

16. The object taking device according to any one of claims 11-15, characterized in that a force application member is arranged on the telescopic structure (110) and/or the movable seat (109) in the object taking device, and a force application portion is arranged on the bearing assembly (103), and the force application member can apply a force to the force application portion at least during the retraction of the object taking assembly (102) so as to drive the bearing assembly (103) to retract into the base (101).

17. The object extraction device of claim 16, wherein the object extraction device further comprises:

an elastic component (140) having a third end and a fourth end which are oppositely arranged along the elastic direction, wherein the third end of the elastic component (140) is connected with the bearing component (103), and the fourth end of the elastic component (140) is connected with the supporting platform (106) of the object taking device;

the force application piece comprises a bending part (1093) arranged at one end of the moving seat (109), and the force receiving part comprises an extending part (10321) arranged at one end of the bearing assembly (103); the bending part (1093) is abutted against one surface of the protruding part (10321) towards the front end of the supporting component (103) when the supporting component (103) is at the initial position;

the bearing assembly (103) is configured to pop up under the elastic action of the elastic assembly (140) when the moving seat (109) moves forward and to abut against the front end of the target carrier, and when the moving seat (109) retreats, the bending part (1093) drives the protruding part (10321) to retreat to the supporting platform (106).

18. The object taking device according to any one of claims 1 to 15, wherein,

the fetching assembly (102) comprises a mounting plate (1021) and a sucking disc (1022), wherein the mounting plate (1021) can move relative to the base (101), and the sucking disc (1022) is arranged on the mounting plate (1021) and is configured to adsorb a target object;

Alternatively, the retrieval assembly includes a finger structure configured to hook a target item.

19. A transfer robot, comprising

A chassis (2);

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

the object handling device (1) according to any one of claims 1-18, said object handling device (1) being arranged on said mast (3) and being capable of being lifted along said mast (3).

20. The transfer robot of claim 19, further comprising:

the temporary storage plate is arranged on the portal (3);

and the rotating mechanism is connected with the object taking device (1) and is configured to drive the object taking device (1) to rotate so that the object taking device (1) stores a target object on the temporary storage plate or takes out the target object from the temporary storage plate through the object taking device (1).