CN216547942U - Goods taking and placing device and transfer robot - Google Patents

Abstract

The application provides a get and put goods device and transfer robot. The application provides a goods taking and placing device, which comprises a telescopic component, a driving component and a clamping component, wherein the telescopic component comprises a fixing part and a telescopic part which can be telescopic along a first direction relative to the fixing part, the clamping component is movably arranged on the telescopic part and is used for clamping a material box, the driving component comprises a first driving unit, a flexible transmission part and a transmission wheel set, the transmission wheel set comprises a plurality of transmission wheels which are arranged in parallel, the plurality of transmission wheels are respectively arranged on the fixing part and the telescopic part, the flexible transmission part is wound on the plurality of transmission wheels, the clamping component is arranged on the flexible transmission part and moves along with the flexible transmission part, the first driving unit is connected with the transmission wheels and is used for driving the transmission wheels to rotate, so that the flexible transmission part is driven by the transmission wheels to transmit around the transmission wheels, and at least one of the telescopic part and the clamping assembly is driven to move along the first direction, and the utilization rate of the storage space can be improved.

Description

Goods taking and placing device and transfer robot

Technical Field

The utility model relates to the technical field of storage logistics, in particular to a goods taking and placing device and a carrying robot.

Background

With the development of artificial intelligence and automation technology, transfer robots are widely used in the field of warehouse logistics for transporting goods. In a logistics system, goods are generally stored on shelves, and a transfer robot is docked with the shelves, a conveyor line, or the like to pick up and place the goods and complete a goods transfer task.

At present, be provided with the fork of getting and put goods on the transfer robot usually, be provided with the flexible arm of multistage that can stretch out toward a fixed direction for transfer robot's body on the fork usually, and the fork is whole can be rotatory for transfer robot's body, when the fork gets on goods shelves, the flexible arm of multistage needs stretch out and draw back and get into inside the storehouse position of goods shelves, and the end of flexible arm need set up portable or flexible end joint, be used for the inboard terminal surface butt with the material case, and deviate from the material case that will be equipped with the goods, the drive structure of the flexible arm of multistage and end joint's drive structure all need set up on corresponding flexible arm, and through the hierarchical drive of different driving source, and a plurality of drive structure all need set up the side at flexible arm.

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

SUMMERY OF THE UTILITY MODEL

The utility model provides a goods taking and placing device and a carrying robot, and aims to solve the problems that when goods are taken and placed, too much space is occupied on the side of a material box, the box spacing is increased, and the space utilization rate is reduced.

In a first aspect, the application provides a get and put goods device, get the subassembly including flexible subassembly, drive assembly and clamp, flexible subassembly includes the mounting and can follow the flexible extensible member of first direction for the mounting, gets the subassembly and removes and set up on the extensible member, gets the subassembly and is used for pressing from both sides the material case.

Wherein, the drive assembly includes first drive unit, flexible transmission spare and transmission wheelset, the transmission wheelset includes a plurality of parallel arrangement's drive wheel, a plurality of drive wheels are located mounting and extensible member respectively, flexible transmission spare is around locating on a plurality of drive wheels, press from both sides and get the subassembly and set up on flexible transmission spare and remove along with flexible transmission spare, first drive unit connects in the drive wheel, and be used for driving the drive wheel and rotate, so that flexible transmission spare is around a plurality of drive wheel transmissions under the drive wheel drive, and drive extensible member and press from both sides and get at least one of subassembly and remove along the first direction.

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

As an alternative embodiment, the goods taking device in the present application may further include a locking mechanism, the locking mechanism may be disposed on the telescopic assembly, and at least a part of the locking mechanism may be movable relative to the telescopic member and abut against or separate from the fixed member to lock or unlock between the telescopic member and the fixed member.

When the flexible transmission member is driven to stretch in the first direction, the transmission wheel set is configured to drive the flexible transmission member to stretch in the first direction; when the telescopic piece and the fixing piece are locked, the relative positions of the driving wheels in the driving wheel set are not changed, so that the requirements of different strokes in the goods taking and placing process are met.

As an alternative, when the flexible transmission member is driven, the telescopic member is driven to extend and retract along the first direction.

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

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

As an optional implementation mode, a plurality of inner driving wheels can include the first driving wheel that is arranged by the transmission direction of flexible driving medium in proper order, second driving wheel and fourth driving wheel, outer driving wheel can include the third driving wheel, the third driving wheel sets up between second driving wheel and fourth driving wheel, first driving wheel and first drive unit all set up in the first end of mounting, and first drive unit drive first driving wheel rotates, the second driving wheel sets up in the second end of mounting, the third driving wheel sets up in the first end of extensible member, the fourth driving wheel sets up in the second end of extensible member, thereby form a closed loop transmission structure, the transmission through flexible driving medium both can realize pressing from both sides the removal of getting the subassembly, also can realize the removal of extensible member.

As an alternative embodiment, when the telescopic member is extended relative to the fixed member, the distance between the first driving wheel and the fourth driving wheel is increased, and the distance between the second driving wheel and the third driving wheel is decreased; when the telescopic piece retracts relative to the fixed piece, the distance between the first driving wheel and the fourth driving wheel is reduced, and the distance between the second driving wheel and the third driving wheel is increased; the distance between the first driving wheel and the fourth driving wheel and the sum of the distances between the second driving wheel and the third driving wheel are kept unchanged, and the moving precision of the telescopic part and the clamping assembly can be guaranteed.

As an optional implementation, the clamping assembly is connected with the flexible transmission member between the first transmission wheel and the fourth transmission wheel, the first end of the telescopic member is provided with a first buffer member, the second end of the telescopic member is provided with a second buffer member, when the clamping assembly moves to the first end of the telescopic member, the clamping assembly abuts against the first buffer member and drives the telescopic member to retract relative to the fixing member, when the clamping assembly moves to the second end of the telescopic member, the clamping assembly abuts against the second buffer member and drives the telescopic member to extend relative to the fixing member, and therefore the matching between the clamping assembly and the telescopic member is achieved.

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

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

As an optional implementation manner, the telescopic part may include a tray and side plates respectively disposed at two sides of the tray, the tray is used for carrying the material box, two sides of the fixing part are respectively provided with a first guide rail, and the side plates are respectively slidably connected with the first guide rails; third drive wheel and fourth drive wheel all set up in the inboard of curb plate, and third drive wheel and fourth drive wheel all are located one side that the tray deviates from bearing the material case to guarantee the smooth and easy nature of extensible member removal, avoid the transmission wheelset to occupy the space in the extensible member outside simultaneously.

As an optional implementation manner, the locking mechanism may include a linkage plate and a plurality of linkage members, one side of the telescopic member away from the fixing member is used for bearing the material box, one side of the telescopic member toward the fixing member is provided with a guide groove, the linkage plate is inserted into the guide groove, the linkage plate extends along the length direction of the telescopic member and moves along a first direction, the linkage members are arranged at different positions of the length direction of the telescopic member, the linkage members are respectively matched with different positions of the length direction of the linkage plate, and at least one of the linkage members can be inserted into or separated from the fixing member, so that when the telescopic member moves to different positions, the telescopic member and the fixing member can be locked or unlocked according to requirements.

As an optional implementation manner, a pushing block may be disposed on the clamping assembly, when the clamping assembly or the material tank moves to different positions in the length direction of the telescopic member, the pushing block or the material tank abuts against different linkage members, when the pushing block or the material tank pushes one of the linkage members to move, the linkage plate moves along the length direction of the telescopic member, and the linkage plate drives other linkage members of the linkage members to move, so as to lock or unlock the telescopic member and the fixing member.

As an optional implementation manner, the plurality of linkage members may include a first linkage member, the second end of the telescopic member is provided with a first guide member extending toward the fixing member, the first linkage member is sleeved on the first guide member and can move along the first guide member, the linkage plate is provided with a first chute, the first chute is arranged in an inclined manner relative to the first guide member, one end of the first linkage member is inserted into the first chute, so that the linkage plate can be driven to move through the movement of the first linkage member, and the linkage plate and the first linkage member can have different moving directions.

As an optional implementation manner, a first triggering portion may be disposed on the first linkage member, a guide surface is disposed on one side of the push block facing the second end of the telescopic member, and when the guide surface abuts against the first triggering portion, the first triggering portion slides along the guide surface, and the first linkage member drives the linkage plate to move, so that the telescopic member and the fixing member are locked or unlocked, and when the clamping assembly moves to the second end of the telescopic member, unlocking of the telescopic member and the fixing member may be triggered.

As an optional implementation manner, the plurality of linkage members may further include a second linkage member, the second linkage member is located at the second end of the telescopic member, the second linkage member is relatively fixed to the linkage plate, a second trigger portion is disposed on the second linkage member, one side of the push block facing the first end of the telescopic member has an abutting surface, and when the abutting surface abuts against the second trigger portion, the second linkage member drives the linkage plate to move, so that the telescopic member and the fixed member are locked or unlocked.

As an optional embodiment, when the pushing block pushes the first linkage member to move, and when the pushing block pushes the second linkage member to move, the moving directions of the linkage plates are the same, so that the unlocking of the telescopic member and the fixing member can be triggered when the clamping assembly moves to both ends of the telescopic member.

As an optional implementation manner, the plurality of linkage members may further include a third linkage member, the third linkage member is disposed between the first linkage member and the second linkage member, the telescopic member is provided with a second guide member, the third linkage member is sleeved on the second guide member and can move along the second guide member, the linkage plate is provided with a second sliding groove, the extending direction of the second guide member is inclined relative to the second sliding groove, and one end of the third linkage member is inserted into the second sliding groove, so that the third linkage member can drive the linkage plate to move.

As an optional implementation manner, an opening is formed in the telescopic piece, the third link piece is provided with a third triggering portion, at least part of the third triggering portion extends out of the opening and extends to one side of the telescopic piece, which bears the material box, and when the material box is abutted against the third triggering portion, the third link piece drives the linkage plate to move, so that the telescopic piece and the fixed piece are locked or unlocked.

As an optional implementation manner, the plurality of linkage members may further include a fourth linkage member, the telescopic member is provided with a third guide member, the fourth linkage member is sleeved on the third guide member and can move along the third guide member, the linkage plate is provided with a third chute, the third chute is arranged obliquely relative to the third guide member, and the third chute and the first chute have opposite oblique directions, so that when the first linkage member is triggered, the fourth linkage member can move in the opposite direction, and the unlocking of the telescopic member and the fixing member is realized.

As an optional implementation manner, one end of the fourth linkage member facing the fixing member may be provided with a locking portion, the fixing member is provided with a plurality of grooves arranged along the moving direction of the telescopic member, and when the telescopic member moves to different positions relative to the fixing member, the locking portion is in insertion fit with different grooves, so that when other linkage members are not triggered, the fourth linkage member may ensure that the telescopic member and the fixing member are in a locked state.

As an optional implementation mode, the clamping assembly can comprise a supporting plate and two oppositely arranged clamping plates, the two clamping plates are respectively located on two opposite sides of the telescopic assembly and used for clamping the material box, the clamping assembly can further comprise a transmission rod and a second driving unit, the two clamping plates are movably arranged on the transmission rod, an output end of the second driving unit is connected with the transmission rod and drives the transmission rod to rotate, so that the two clamping plates are close to or far away from each other, the width between the two clamping plates can be adjusted, and clamping requirements of the material boxes with different sizes are met.

As an alternative embodiment, a second guide rail may be disposed on the telescopic member, and a sliding block may be disposed on a side of the supporting plate facing the telescopic member, and the second guide rail cooperates with the sliding block and supports the supporting plate, so as to ensure stability and reliability of the supporting plate moving along the length direction of the telescopic member.

As an alternative embodiment, the goods taking and placing device may further include a rotating assembly, the telescopic assembly may be disposed on the rotating assembly, and the rotating assembly is configured to drive the telescopic assembly to rotate, so that the goods taking and placing operation may be implemented in different directions.

In a second aspect, the present application further provides a transfer robot, including a robot main body, a lifting device and a goods taking and placing device in the above technical solution, wherein the lifting device is disposed on the robot main body and can move along a height direction of the robot main body, and the goods taking and placing device is disposed on the lifting device, so that the lifting device can drive the goods taking and placing device to move, and the goods taking and placing operations at different heights are realized.

As an alternative embodiment, the robot main body may include a base and a storage rack, the storage rack is mounted on the base, the lifting device is disposed on the storage rack and is movable in a height direction of the storage rack, and a plurality of storage slots may be disposed on a side of the storage rack facing away from the goods taking and placing device, and the plurality of storage slots are spaced apart in the height direction of the storage rack.

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

Drawings

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

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

fig. 2 is a side view of a pick-and-place device according to an embodiment of the present disclosure;

fig. 3 is a front view of a cargo handling device according to an embodiment of the present application;

fig. 4 is a side view of the telescoping assembly and gripping assembly of the pick and place device according to the present disclosure;

fig. 5 is a front view of the telescoping assembly and gripping assembly of the pick and place device according to the present disclosure;

fig. 6 is a schematic view illustrating a telescoping process of the goods taking and placing device according to the embodiment of the present disclosure;

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

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

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

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

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

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

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

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

FIG. 15 is a step diagram illustrating a stocking process of the stocking and placing device according to an embodiment of the present application;

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

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

Description of reference numerals:

100-a goods taking and placing device; 110-a telescoping assembly; 111-a fixture; 1111-a first guide rail; 1112-a groove; 112-a telescoping member; 1121 — a first buffer; 1122-a second dampener; 1123-a tray; 1124-side plate; 1125-an opening; 1126-a second rail; 1127-guide groove;

120-a grasping assembly; 121-a first mounting plate; 122-a second mounting plate; 123-a push block; 1231-a guide surface; 1232-an abutment surface; 124-a support plate; 125-splint; 126-a second drive unit; 127-a transmission rod;

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

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

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

200-a robot body; 210-a base; 220-a storage shelf; 221-a storage tank; 300-a lifting device;

400-material tank.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

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

Next, it should be noted that in the description of the present application, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear", "inner", "outer", etc. are based on the direction or positional relationship shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or member must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application.

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

While various robots are widely used in various fields such as industry and life, transfer robots play an important role in industries such as transportation and logistics, and in a logistics system, goods are generally stored on a rack, and the transfer robots take and place the goods by being connected to the rack or a conveyor line and transfer the goods. Be provided with the fork of putting the goods on the transfer robot usually, be provided with the flexible arm that can stretch out toward a fixed direction for transfer robot's body on the fork usually, flexible arm is got when putting the goods and need stretch into to goods shelves storehouse position in, and the terminal joint that relies on flexible arm and the terminal surface butt of the material case that is equipped with the goods, the drive structure of flexible arm and terminal joint's drive structure all need set up on corresponding flexible arm, and drive in grades through the driving source of difference, and a plurality of drive structure all need set up the side at flexible arm. Therefore, the telescopic driving structure of the telescopic arm is complex, the occupied space of the pallet fork in the width direction can be increased, the box interval of the material box is increased when the goods are taken and placed, and the space utilization rate of storage is reduced.

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

The carrying robot provided by the embodiment of the application is used for picking and placing goods, the carrying robot can be applied to logistics distribution of an industrial production line, warehousing and ex-warehousing of stock products in the manufacturing industry, warehousing and ex-warehousing of products in the retail industry, can also be applied to different fields such as fast warehousing and ex-warehousing of e-commerce logistics, products or goods related to transportation can be industrial parts, electronic accessories or products, medicines, clothing ornaments, food, books and the like, the embodiment of the application is not particularly limited to this, the goods can be placed in a material box for transferring or storing, and carrying objects of the carrying robot are referred to as material boxes below, and specific examples are not given.

As shown in fig. 1 to 5, the goods taking and placing device 100 provided in this embodiment includes a telescopic assembly 110, a driving assembly and a clamping assembly 120, the telescopic assembly 110 includes a fixing member 111 and a telescopic member 112, the telescopic member 112 is disposed on the fixing member 111 and can be extended and retracted along a first direction relative to the fixing member 111, the clamping assembly 120 is movably disposed on the telescopic member 112, the clamping assembly 120 is used for clamping a material box and moving relative to the telescopic member 112, that is, taking and placing the material box, the telescopic member 112 can bear the material box, and the driving assembly is used for driving the telescopic member 112 and the clamping assembly 120 to move.

First, for convenience of description, referring to the fixing member 111, the length direction of the fixing member 111 is defined as an X direction, that is, the first direction is an X direction, the telescopic member 112 can be extended and contracted along the X direction, the width direction of the fixing member 111 is defined as a Y direction, the height direction of the cargo taking and placing device 100 is defined as a Z direction, and the fixing member 111, the telescopic member 112, and the gripping assembly 120 can be arranged along the Z direction.

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

It will be understood that the gripping assembly 120 is disposed on the flexible transmission member 140, that is, the gripping assembly 120 can move along with the flexible transmission member 140 when the flexible transmission member 140 is driven, in the process, the gripping assembly 120 moves relative to the telescopic member 112, that is, the gripping assembly 120 moves along the first direction, and when the telescopic member 112 and the fixed member 111 move relative to each other, the relative positions of the driving wheels disposed on the telescopic member 112 and the fixed member 111 change.

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

It should be noted that the length of the telescopic member 112 along the X direction can be approximately regarded as the moving stroke of the gripping assembly 120, that is, the gripping assembly 120 can move between two ends of the telescopic member 112, and the movement of the telescopic member 112 relative to the fixed member 111 can be regarded as the change of the overlapping state between the telescopic member 112 and the moving member along the Z direction, wherein when the telescopic member 112 and the fixed member 111 are in the overlapping state along the Z direction, it can be regarded as the contracting state of the telescopic member 112, and when the telescopic member 112 extends from one end of the telescopic member 112 relative to the fixed member 111, that is, when the telescopic member is partially overlapped, it can be regarded as the extending state of the telescopic member 112, and when the first driving unit 130 drives the driving wheel to rotate, at least one of the telescopic member 112 and the gripping assembly 120 can be driven to move along the first direction, for example, during a partial stroke of taking and putting goods, only the gripping assembly 120 can be driven to move, or, during a partial stroke, bringing the telescoping member 112 and the grasping assembly 120 into motion.

The application provides a get and put goods device 100 when getting and put the goods operation, it at first needs to dock with the target of getting and putting the goods, use the storehouse position of goods shelves to get the goods process as an example, press from both sides earlier and get subassembly 120 and remove the front end to extensible member 112, rethread extensible member 112's flexible removal, can follow the butt under the tip of extensible member 112 and the storehouse mouth of storehouse position, thereby establish a passageway that supplies the material case to remove between getting and putting goods device 100 and the storehouse position, thereafter through getting the removal of pressing from both sides subassembly 120 for extensible member 112, deviate from the storehouse position to extensible member 112 on with the material case, retract extensible member 112 again, accomplish and get the goods.

It can be seen that, in the step of picking or placing the goods in the pick and place device 100, the movement of the telescopic member 112 relative to the fixed member 111 and the movement of the gripping assembly 120 relative to the telescopic member 112 need to be controlled, that is, when the first driving unit 130 drives the transmission wheel set 150 to rotate and the flexible transmission member 140 to transmit, the telescopic member 112 and the fixed member 111 need to be kept stationary in some cases, while the gripping assembly 120 moves relative to the telescopic member 112, and the gripping assembly 120 and the telescopic member 112 need to be kept stationary in other cases, while the telescopic member 112 moves relative to the fixed member 111.

In order to meet the moving requirement of each joint component in the goods taking and placing process, the goods taking device in the embodiment of the application may further include a locking mechanism, the locking mechanism may be disposed on the telescopic assembly 110, at least a part of the locking mechanism may be movable relative to the telescopic member 112, and different moving positions may enable at least a part of the locking mechanism to abut against or separate from the fixed member 111, so as to lock or unlock between the telescopic member 112 and the fixed member 111.

It can be understood that when the telescopic member 112 and the fixed member 111 are unlocked, the transmission wheel set 150 can drive the telescopic member 112 to extend and retract along the first direction when the flexible transmission member 140 transmits, and a part of the transmission wheels of the transmission wheel set 150 has a variable relative position in the first direction, that is, the relative positions of the transmission on the fixed member 111 and the transmission wheel on the telescopic member 112 can be changed, and the length of the flexible transmission member 140 between the corresponding part of the transmission wheels can also be changed.

When the telescopic member 112 and the fixed member 111 are locked, the relative positions of the transmission wheels in the transmission wheel set 150 are not changed, and the first driving unit 130 drives the transmission wheels to rotate, so that the flexible transmission member 140 forms a closed loop with a relatively fixed shape, and the flexible transmission member 140 transmits, so that the clamping assembly 120 can move relative to the telescopic member 112.

The specific structure and arrangement of the transmission wheel set 150 and the specific principle of driving by the driving component will be described in detail below.

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

The outer driving wheel and a part of the inner driving wheels are connected to the telescopic member 112, and the rest of the inner driving wheels are disposed on the fixed member 111, and when the flexible driving member 140 is driven, the clamping member 120 is driven to move, the locking mechanism is triggered by the clamping member 120 to unlock, and then the telescopic member 112 is driven to move, so that the driving wheels connected to the telescopic member 112 are driven to move in a first direction relative to the driving wheels connected to the fixed member 111.

For example, the flexible driving member 140 may be a timing belt, the inner driving wheel may be a timing wheel, and the timing wheel is engaged with the inner side of the timing belt through a timing tooth, and the outer driving wheel may be a flat belt wheel, which is abutted against the outer side of the timing belt, thereby functioning as a guide wheel for guiding the timing belt to turn.

In some embodiments, the plurality of inner transmission wheels may include a first transmission wheel 151, a second transmission wheel 152 and a fourth transmission wheel 154 which are sequentially arranged from the transmission direction of the flexible transmission member 140, the outer transmission wheel may include a third transmission wheel 153, and the third transmission wheel 153 is disposed between the second transmission wheel 152 and the fourth transmission wheel 154, that is, the flexible transmission member 140 sequentially bypasses the first transmission wheel 151, the second transmission wheel 152, the third transmission wheel 153 and the fourth transmission wheel 154, and forms a closed transmission cycle.

In order to fully utilize the lengths of the fixed member 111 and the telescopic member 112 and ensure that the gripping assembly 120 has a sufficient pick-up stroke, the first driving wheel 151 and the first driving unit 130 may be disposed at the first end of the fixed member 111, the second driving wheel 152 may be disposed at the second end of the fixed member 111, the third driving wheel 153 may be disposed at the first end of the telescopic member 112, and the fourth driving wheel 154 may be disposed at the second end of the telescopic member 112, so as to form a closed-loop driving structure, in which the flexible driving member 140 extends from the first end of the fixed member 111 to the second end of the fixed member 111, then from the second end of the fixed member 111 to the first end of the telescopic member 112, then from the first end of the telescopic member 112 to the second end of the telescopic member 112, and then from the second end of the telescopic member 112 back to the first end of the fixed member 111, so that the movement of the gripping assembly 120 can be realized through the driving of the flexible driving member 140, movement of telescoping member 112 may also be accomplished.

It is understood that, in order to ensure the rational space layout, the first driving unit 130 may be disposed on the fixing member 111 and configured to drive the first driving wheel 151 to rotate, i.e., the first driving wheel 151 may be a driving wheel, the second driving wheel 152 and the fourth driving wheel 154 are driven wheels, and the third driving wheel 153 is a guiding wheel. In order to ensure the reasonableness of the spatial layout along the Z direction, the diameters of the first driving wheels 151 may be larger than those of the other driving wheels, and the present application does not limit the specific values of all the driving wheels.

The gripping assembly 120 may be fixedly coupled to the flexible transmission 140 between the first driving wheel 151 and the fourth driving wheel 154, and when the telescopic member 112 and the fixed member 111 are relatively fixed and the flexible transmission 140 is driven, the gripping assembly 120 may be moved between the first driving wheel 151 and the fourth driving wheel 154. At this time, if the grasping assembly 120 abuts on the first end of the telescopic member 112 or the second end of the telescopic member 112, the grasping assembly 120 can push the telescopic member 112 to move relative to the fixed member 111 under the driving action of the flexible driving member 140.

When the telescopic member 112 extends relative to the fixed member 111, the distance between the first driving wheel 151 and the fourth driving wheel 154 increases, and the distance between the second driving wheel 152 and the third driving wheel 153 decreases, so that it can be understood that the second driving wheel 152 and the third driving wheel 153 are close to each other, the first driving wheel 151 and the fourth driving wheel 154 are far away from each other, and the length of the flexible transmission member 140 between the second driving wheel 152 and the third driving wheel 153 can compensate the length of the flexible transmission member 140 between the first driving wheel 151 and the fourth driving wheel 154.

When the telescopic member 112 is retracted relative to the fixed member 111, the distance between the first transmission wheel 151 and the fourth transmission wheel 154 decreases, and the distance between the second transmission wheel 152 and the third transmission wheel 153 increases, i.e. it can be understood that the second transmission wheel 152 and the third transmission wheel 153 are far away from each other, while the first transmission wheel 151 and the fourth transmission wheel 154 are close to each other, and the length of the flexible transmission member 140 between the first transmission wheel 151 and the fourth transmission wheel 154 can compensate the length of the flexible transmission member 140 between the second transmission wheel 152 and the third transmission wheel 153, i.e. L₁＝L₂Wherein L is₁For variation of the distance between the first drive wheel 151 and the fourth drive wheel 154, L₂Is the change in the distance between the second drive wheel 152 and the third drive wheel 153.

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

In addition, in order to maintain the tension state of the flexible transmission member 140, a tension mechanism 155 may be disposed on one of the plurality of driving wheels, and the tension mechanism 155 may adjust the position of the driving wheel at the corresponding position, so as to maintain the flexible transmission member 140 in a proper tension state, and avoid the transmission difficulty caused by over-tightening or the transmission failure caused by over-loosening. For example, the tensioning mechanism 155 may be disposed on the second transmission wheel 152, and the position of the second transmission wheel 152 is adjusted by a bolt and a slot, and the embodiment is not limited to the specific structure and adjustment manner of the tensioning mechanism 155.

In order to facilitate the gripping assembly 120 to push the telescopic member 112 to retract relative to the fixing member 111 when moving to the first end of the telescopic member 112, or the gripping assembly 120 to push the telescopic member 112 to extend relative to the fixing member 111 when moving to the second end of the telescopic member 112, the first end of the telescopic member 112 may be provided with a first buffering member 1121, and the second end of the telescopic member 112 may be provided with a second buffering member 1122, when the gripping assembly 120 moves to the first end of the telescopic member 112, the gripping assembly 120 abuts against the first buffering member 1121 and drives the telescopic member 112 to retract relative to the fixing member 111, and when the gripping assembly 120 moves to the second end of the telescopic member 112, the gripping assembly 120 abuts against the second buffering member 1122 and drives the telescopic member 112 to extend relative to the fixing member 111, thereby achieving the motion fit between the gripping assembly 120 and the telescopic member 112.

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

The clamping assembly 120 is driven by the flexible transmission member 140 to move to different positions along the X direction, and the clamping assembly 120 itself can complete the clamping operation of the goods, that is, the clamping assembly 120 can keep the relative position with the goods in the goods taking and placing process, for example, the clamping assembly 120 may include an openable clamping manipulator to hold two sides of the goods tightly and drive the goods to move by using the friction force between the clamping assembly and the goods, or the clamping assembly 120 may include a rotatable finger joint and can abut against a partial structure of the goods, so as to push or pull the goods to move by using the abutting force.

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

In some embodiments, two driving wheel sets 150 and two flexible driving members 140 may be provided, and the two driving wheel sets 150 and the flexible driving members 140 may be provided on two sides of the telescopic assembly 110, respectively, that is, mirror symmetric driving structures are formed on two sides of the telescopic member 112 and the fixing member 111, so as to improve the stability of the driving mechanism.

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

For example, both ends of the driving shaft 131 may be supported and mounted on the first end of the fixing member 111 through a bearing seat and a bearing, the first driving unit 130 may be a motor, and an output shaft of the motor may be engaged with the driving shaft 131 through a gear engagement, and the embodiment of the present application is not particularly limited to the specific engagement manner of the first driving unit 130 and the driving shaft 131.

It should be noted that, the flexible transmission member 140 in the driving assembly may adopt, besides the synchronous belt, other types of structures including, but not limited to, a chain and the like, and the corresponding transmission wheel may be a structure matched with a sprocket and the like, which is not specifically limited in this embodiment of the present application and is not described again.

In addition, in order to prevent the driving assembly from occupying space on both sides of the telescopic member 112 while providing enough space for holding the material tank for the telescopic member 112, the telescopic member 112 may include a tray 1123 and side plates 1124 respectively disposed on both sides of the tray 1123, the tray 1123 is used for holding the material tank, both sides of the fixing member 111 are respectively provided with a first guide rail 1111, the side plates 1124 on both sides of the tray 1123 are respectively slidably connected with the first guide rails 1111 on both sides of the fixing member 111, that is, the extending direction of the first guide rails 1111 is the X direction, so that the fixing member 111 supports and guides the telescopic member 112 through the first guide rails 1111.

Wherein, third drive wheel 153 and fourth drive wheel 154 all can set up the inboard at curb plate 1124, two curb plate 1124 one side that face each other promptly, and third drive wheel 153 and fourth drive wheel 154 all can be located tray 1123 and deviate from one side of bearing the weight of the thing workbin, can avoid transmission wheelset 150 to expose in telescopic component 110's side on the one hand, make full use of is sent out the clearance of direction at the Z between telescopic part 112 and the mounting 111, improve the space utilization of structure, on the other hand avoid the drive assembly to occupy the space that tray 1123 bore the material workbin, and avoid pressing from both sides the production of pressing from both sides the subassembly 120 and interfere, guarantee telescopic part 112 and press from both sides the smooth and easy nature of getting the subassembly 120 removal.

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

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

It can be understood that the linkage plate 160 can move along the X direction, and the movement of the linkage plate 160 can switch the telescopic member 112 and the fixing member 111 between the locking and unlocking states, the movement of the linkage plate 160 is driven by the linkage member, the linkage member can drive the linkage plate 160 to move when being triggered, different linkage members have different triggering positions, or different triggering objects, the movement modes and structures of different linkage members can be set according to the triggering positions and the triggering objects, but the movement of different linkage members is related to the linkage plate 160, therefore, when one of the linkage members is triggered, the linkage plate 160 and the other linkage members can correspondingly move, and when the telescopic member 112 moves to different positions, the telescopic member 112 and the fixing member 111 can be locked or unlocked according to requirements.

Firstly, a possible triggering object of the linkage is explained, wherein a push block 123 may be arranged on the clamping assembly 120, when the clamping assembly 120 or the material tank moves to different positions in the length direction of the telescopic member 112, the push block 123 or the material tank abuts against different linkage members, that is, the linkage member may be triggered by the abutment of the push block 123 or the abutment of the material tank, part of the linkage members use the push block 123 as a triggering object, that is, the clamping assembly 120 as a triggering object, and part of the linkage members use the material tank as a triggering object.

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

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

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

It will be appreciated that when the gripping assembly 120 is moved to the second end of the telescopic member 112 and it is desired to push the telescopic member 112 to extend relative to the fixed member 111, the first linkage member 161 is triggered and the telescopic member 112 is unlocked from the fixed member 111.

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

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

In a possible implementation manner, the multiple linkage members may further include a second linkage member 162, the second linkage member 162 may be disposed at the second end of the telescopic member 112, the second linkage member 162 is fixed relative to the linkage plate 160, a second triggering portion 1621 is disposed on the second linkage member 162, one side of the push block 123 facing the first end of the telescopic member 112 has an abutting surface 1232, and when the abutting surface 1232 abuts against the second triggering portion 1621, the second linkage member 162 drives the linkage plate 160 to move, so that the telescopic member 112 and the fixing member 111 are locked or unlocked.

It will be appreciated that when the gripping assembly 120 is moved to the first end of the telescopic member 112 and it is necessary to push the telescopic member 112 to retract relative to the fixed member 111, the second link member 162 is triggered and the telescopic member 112 is unlocked from the fixed member 111, the abutting surface 1232 of the push block 123 is located on the side away from the guiding surface 1231 thereof, and the second link member 162 and the linkage plate 160 have the same moving direction because the second link member 162 and the linkage plate 160 are relatively fixed.

For example, the second linkage member 162 may be a plate-shaped member connected to the linkage plate 160 by a fastener such as a bolt.

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

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

It can be understood that the movement of the third link 163 is realized by the downward pressing of the material box, and the distance from the third link 163 to the second link 162 can be smaller than the distance from the third link 161 to the first link 161, so as to achieve the above-mentioned advantages, on one hand, when the material is taken, the material box can not contact with the third link 163 at the initial stage when the clamping assembly 120 pulls the goods out, so as to ensure that the telescopic member 112 is locked with the fixing member 111, thereby preventing the telescopic member 112 from retracting under the friction force of the material box to cause the falling of the material box, on the other hand, when the material is put, at the initial stage when the clamping assembly 120 pushes the goods out, the material box can abut against the third link 163, so that the telescopic member 112 and the fixing member 111 are in the unlocking state, thereby the telescopic member 112 can extend under the friction force of the material box to abut against the shelf position, and the falling of the material box can also be prevented.

In addition, an opening 1125 is formed in the telescopic member 112, the third link 163 has a third triggering portion 1631, at least a portion of the third triggering portion 1631 extends out of the opening 1125 and extends to a side of the telescopic member 112 where the material tank is supported, and when the material tank abuts against the third triggering portion 1631, the third link 163 drives the link plate 160 to move, so that the telescopic member 112 and the fixing member 111 are locked or unlocked.

For example, the second guide 172 may be a guide rod, the third link 163 may be matched with the guide rod through a linear bearing, the third triggering portion 1631 may be a plate-shaped portion extending from the opening 1125 in the X direction, and an end of the third triggering portion 1631 abutting against the material tank may have an inclined surface to play a guiding role in the abutting movement of the material tank, so as to prevent the material tank from being stuck during the movement. In addition, the second sliding slot 1602 may extend along the Z direction, the second guide 172 may be disposed to be inclined with respect to the Z direction, and the inclined direction of the second guide 172 may be opposite to the inclined direction of the first sliding slot 1601, so that when the third link 163 is pressed down by the material tank, the third link 163 may drive the linkage plate 160 to move towards the first end of the telescopic member 112, that is, when the third link 163 is triggered, the direction in which the linkage plate 160 moves is the same as the direction in which the linkage plate 160 moves when the first link 161 is triggered.

In a possible implementation manner, the plurality of linkage members may further include a fourth linkage member 164, where the fourth linkage member 164 is configured to be inserted into and locked with the fixed member 111 when the other linkage members are triggered, that is, the fourth linkage member 164 may be driven by the linkage plate 160 to play a role in locking or unlocking the telescopic member 112 and the fixed member 111.

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

It can be understood that the third guiding element 173 may guide a rod, the fourth linking element 164 may be engaged with the third guiding element 173 through a linear bearing, the fourth linking element 164 may move along the Z direction, the third sliding slot 1603 is disposed obliquely with respect to the Z direction, and the third sliding slot 1603 and the first sliding slot 1601 have opposite oblique directions, so that when the first linking element 161 is triggered, the fourth linking element 164 may move in the opposite direction, and the unlocking of the telescopic element 112 and the fixing element 111 is achieved.

In addition, one end of the fourth linkage member 164 facing the fixed member 111 may be provided with a locking portion 1641, the fixed member 111 is provided with a plurality of grooves 1112 arranged along the moving direction of the telescopic member 112, and when the telescopic member 112 moves to different positions relative to the fixed member 111, the locking portion 1641 is in insertion fit with different grooves 1112, so that when other linkage members are not triggered, the fourth linkage member 164 may ensure that the telescopic member 112 and the fixed member 111 are in a locked state. For example, a roller may be coupled to the locking portion 1641 to prevent the fourth linkage member 164 from being locked when engaging the groove 1112.

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

In addition, at least one of the different linkage pieces may be provided with a return elastic member, such as a return spring, which may keep the locking mechanism in a self-locking state and return the locking mechanism to the locking state when the unlocking triggering is disabled, and accordingly, when the unlocking triggering is performed at any one of the triggering positions, regardless of the pressure provided by the pushing block 123 or the material tank, the elastic force of the return spring may be overcome to achieve unlocking.

The following is an exemplary description of the specific picking and placing steps of the picking and placing device 100 according to the embodiment of the present application.

With continued reference to fig. 14, the following is a description of the status of the pick and place apparatus 100 at various stages during the picking process:

the state is that: the telescopic member 112 is in a contracted state, the gripping assembly 120 is located at the first end of the telescopic member 112, and the gripping assembly 120 has no thrust or clearance against the second link member 162, so that the telescopic member 112 is locked with the fixed member 111, which is an initial state before picking.

State two: the drive assembly operates to move gripping assembly 120 in a first direction toward the second end of telescoping member 112, during which the gripping assembly 120 moves relative to telescoping member 112 while telescoping member 112 is stationary relative to stationary member 111.

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

State (iv): the driving assembly continues to drive, the clamping assembly 120 pushes the telescopic member 112 to extend relative to the fixing member 111, and the extended telescopic member 112 can abut against the edge of the shelf storage space, and at this time, the clamping assembly 120 can clamp the material tank 400 in the storage space.

State fifth: the driving assembly drives reversely, the clamping assembly 120 moves backwards and is separated from the second end of the telescopic piece 112, at the moment, the telescopic piece 112 is in a small amount of contact with the material box 400, and under the action of friction force between the material box 400 and the telescopic piece 112, the telescopic piece 112 moves backwards for a small distance, and the telescopic piece 112 and the fixing piece 111 enter a locking state, so that the material box 400 is prevented from falling.

State (c): the clamping assembly 120 drives the material tank 400 to move until the material tank 400 abuts against the third link 163, the telescopic member 112 and the fixing member 111 are triggered to be unlocked, the clamping assembly 120 continues to move backwards, and the telescopic member 112 can retract backwards relative to the fixing member 111 under the action of friction force of the material tank 400.

The state is that: after the telescopic member 112 returns to the initial contracted state, the gripping assembly 120 continues to drag the material tank 400 to move a certain distance until the gripping assembly 120 returns to the first end of the telescopic member 112.

With continued reference to FIG. 15, the following is a description of the status of the stages of the pick and place apparatus 100 during the placing process:

the state is that: because the material tank 400 is placed on the telescopic member 112, the third link 163 is in a triggered state, the telescopic member 112 is unlocked from the fixing member 111, the driving assembly works at this time, when the clamping assembly 120 pushes the material tank 400 to move, the friction force between the material tank 400 and the telescopic member 112 drives the telescopic member 112 to extend forward, and at this time, the clamping assembly 120 and the telescopic member 112 keep relatively static.

State two: the telescopic member 112 abuts against the edge of the storage position of the shelf, so that the telescopic member 112 and the fixed member 111 are kept stationary, and the gripping assembly 120 is driven to move relative to the telescopic member 112, that is, the gripping assembly 120 can push the material tank 400 out of the telescopic member 112 to the storage position.

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

State (iv): the gripping assembly 120 completes the goods placing operation and moves back, and at this time, the fixed member 111 and the telescopic member 112 are kept locked and relatively still until the gripping assembly 120 moves to the first end of the telescopic member 112 and abuts against the second linkage member 162, so as to trigger the unlocking of the telescopic member 112 and the fixed member 111.

State fifth: gripping assembly 120 urges telescoping member 112 to retract to the initial position.

State (c): the gripping assembly 120 moves forward a small distance relative to the telescopic member 112 to disengage from the second linkage member 162, thereby bringing the telescopic member 112 and the fixed member 111 into a locked state for entering the next round of stock-placing cycle.

In the goods device 100 of putting that gets that this application embodiment provided, press from both sides and get subassembly 120 when putting goods or getting goods from goods shelves in the position of storehouse toward goods shelves, only can press from both sides the lateral wall of the less part of the one end of pressing from both sides the position mouth of storehouse of getting the material case towards the goods to deviate from the material case, and can not stretch into inside the position of storehouse completely, thereby avoid occupying the case interval on the goods shelves, in order to improve goods shelves storage efficiency.

As shown in fig. 16, in a possible implementation manner, the clamping assembly 120 may include a supporting plate 124 and two oppositely disposed clamping plates 125, the two clamping plates 125 are respectively located at two opposite sides of the telescopic assembly 110, and the two clamping plates 125 are used for clamping the material tank, the clamping assembly 120 may further include a transmission rod 127 and a second driving unit 126, the two clamping plates 125 are movably disposed on the transmission rod 127, an output end of the second driving unit 126 is connected with the transmission rod 127 and drives the transmission rod 127 to rotate, so that the two clamping plates 125 approach or move away from each other, and thus a width between the two clamping plates 125 may be adjusted to meet clamping requirements of material tanks with different sizes.

It will be appreciated that the telescopic member 112 may be provided with a second guide rail 1126, and the side of the support plate 124 facing the telescopic member 112 may be provided with a slider, and the second guide rail 1126 is engaged with the slider and supports the support plate 124, so as to ensure the stability and reliability of the movement of the support plate 124 along the length direction of the telescopic member 112.

For example, the second driving unit 126 may be a motor, the transmission rod 127 may be a screw rod having opposite-handed threads at two ends, and the two clamping plates 125 are respectively connected to the two screw rods through nuts, so that when the motor drives the screw rod to rotate, the two clamping plates 125 may approach or separate from each other along the length direction of the screw rod through forward rotation and reverse rotation of the screw rod.

In order to realize that the goods taking and placing device 100 performs the goods taking and placing operation in different directions, the goods taking and placing device 100 may further include a rotating assembly 180, the telescopic assembly 110 may be disposed on the rotating assembly 180, and the rotating assembly 180 is configured to drive the telescopic assembly 110 to rotate, so that the goods taking and placing operation may be realized in different directions.

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

Illustratively, the third driving unit 183 may be a motor, and the motor may be mounted on the fixed member 111, the transmission structure may include a chain 184 and two chain wheels 182, wherein one chain wheel 182 may be fixed relative to the base plate 181, and the fixed plate may be rotatably connected to the chain wheel 182, the other chain wheel 182 may be rotatably disposed at the bottom of the fixed member 111, the chain 184 is wound around the two chain wheels 182, and the third driving unit 183 may drive the chain wheel 182 on the fixed member 111 to rotate, so that the fixed member 111 rotates relative to the base plate 181, and the rotation of the telescopic assembly 110 relative to the base plate 181 is achieved.

It should be noted that the goods taking device provided by the present application may further be provided with a 3D camera, a photoelectric code scanner, and other identification units (not shown), so as to identify the target when taking the goods box.

As shown in fig. 17, an embodiment of the present application further provides a transfer robot, which includes a robot main body 200, a lifting device 300 and the goods taking and placing device 100 in the foregoing technical solution, wherein the lifting device 300 is disposed on the robot main body 200 and can move along a height direction of the robot main body 200, and the goods taking and placing device 100 is disposed on the lifting device 300, so that the lifting device 300 can drive the goods taking and placing device 100 to move, thereby achieving the goods taking and placing operations at different heights.

The robot main body 200 may include a base 210 and a storage rack 220, the storage rack 220 is mounted on the base 210, the lifting device 300 is disposed on the storage rack 220 and can move along a height direction of the storage rack 220, a plurality of storage slots 221 may be disposed on a side of the storage rack 220 departing from the pick-and-place device 100, and the storage slots 221 are spaced apart from each other along the height direction of the storage rack 220.

For example, the lifting device 300 may be driven by a motor and drives the goods taking and placing device 100 to move up and down along the height direction of the robot body 200 by means of a synchronous belt or a chain drive.

It can be understood by those skilled in the art that when the storage slot 221 is disposed at the rear side of the transfer robot, the goods taking and placing device can be disposed at the front side of the robot main body 200, and according to the structure of the goods taking and placing device 100, it can be implemented that goods taking and placing operations are completed by docking with other devices at the front side, the left side, and the right side of the robot main body 200, and meanwhile, goods taking and placing operations can be completed in the storage slot 221 at the rear side of the robot main body 200 by only rotating 90 ° or 180 ° accordingly.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the utility model has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (25)

1. The goods taking and placing device is characterized by comprising a telescopic assembly, a driving assembly and a clamping assembly, wherein the telescopic assembly comprises a fixed part and a telescopic part which can be telescopic along a first direction relative to the fixed part, the clamping assembly is movably arranged on the telescopic part, and the clamping assembly is used for clamping a material box;

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

2. The device according to claim 1, further comprising a locking mechanism disposed on the retractable assembly, at least a portion of the locking mechanism being movable relative to the retractable member and abutting against or separating from the fixed member to lock or unlock the retractable member and the fixed member;

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

when the telescopic piece and the fixing piece are locked, the relative position of each driving wheel in the driving wheel set is not changed.

3. The device according to claim 2, wherein when the retractable member and the fixed member are unlocked, the transmission wheels of the transmission wheel set have a variable relative position in a first direction, so as to drive the retractable member to retract in the first direction when the flexible transmission member is driven.

4. The device according to claim 2, wherein the plurality of driving wheels comprises a plurality of inner driving wheels and at least one outer driving wheel, the flexible driving member is wound around the outer sides of the plurality of inner driving wheels, and the outer driving wheel abuts against the outer peripheral surface of the flexible driving member;

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

5. The device for picking and placing goods according to claim 4, wherein the plurality of inner driving wheels comprises a first driving wheel, a second driving wheel and a fourth driving wheel which are sequentially arranged along the driving direction of the flexible driving member, the outer driving wheel comprises a third driving wheel, the third driving wheel is arranged between the second driving wheel and the fourth driving wheel, the first driving wheel and the first driving unit are both arranged at the first end of the fixing member, the first driving unit drives the first driving wheel to rotate, the second driving wheel is arranged at the second end of the fixing member, the third driving wheel is arranged at the first end of the telescopic member, and the fourth driving wheel is arranged at the second end of the telescopic member.

6. The pick and place device of claim 5, wherein when the extendable member is extended relative to the fixed member, the spacing between the first drive wheel and the fourth drive wheel increases and the spacing between the second drive wheel and the third drive wheel decreases; when the telescopic piece retracts relative to the fixed piece, the distance between the first driving wheel and the fourth driving wheel is reduced, and the distance between the second driving wheel and the third driving wheel is increased; the sum of the distance between the first driving wheel and the fourth driving wheel and the distance between the second driving wheel and the third driving wheel is kept unchanged.

7. The device according to claim 5, wherein the gripping assembly is connected to the flexible transmission member between the first transmission wheel and the fourth transmission wheel, a first buffer member is provided at a first end of the telescopic member, and a second buffer member is provided at a second end of the telescopic member;

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

8. The pick and place device of claim 7, wherein the pick assembly includes a first mounting plate and a second mounting plate, the first mounting plate and the second mounting plate being respectively located on different sides of the flexible drive and together gripping the flexible drive, at least one of the first mounting plate and the second mounting plate having an engagement surface for engaging a surface of the flexible drive.

9. The device according to any one of claims 5 to 8, wherein there are two transmission wheel sets and two flexible transmission members, and the transmission wheel sets and the flexible transmission members are arranged on two sides of the telescopic assembly in pairs; the first driving wheels of the two driving wheel sets are connected through a driving shaft, and the output end of the first driving unit is connected with the driving shaft.

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

11. The device for picking and placing the goods according to any one of claims 2 to 8, wherein the locking mechanism comprises a linkage plate and a plurality of linkage members, one side of the telescopic member, which is far away from the fixed member, is used for bearing the material box, one side of the telescopic member, which is far towards the fixed member, is provided with a guide groove, the linkage plate is inserted into the guide groove, and the linkage plate extends along the length direction of the telescopic member and moves along the first direction;

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

12. The device for picking and placing the goods according to claim 11, wherein a pushing block is arranged on the clamping assembly, and when the clamping assembly or the material box moves to different positions in the length direction of the telescopic member, the pushing block or the material box abuts against different linkage members;

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

13. The device for picking and placing the goods according to claim 12, wherein the plurality of linkage members include a first linkage member, the second end of the telescopic member is provided with a first guide member extending towards the fixed member, the first linkage member is sleeved on the first guide member and moves along the first guide member, the linkage plate is provided with a first sliding groove, the first sliding groove is obliquely arranged relative to the first guide member, and one end of the first linkage member is inserted into the first sliding groove.

14. The device for picking and placing goods according to claim 13, wherein the first linkage member is provided with a first triggering portion, one side of the push block facing the second end of the telescopic member is provided with a guide surface, and when the guide surface abuts against the first triggering portion, the first triggering portion slides along the guide surface and drives the linkage plate to move, so that the telescopic member and the fixing member are locked or unlocked.

15. The device for picking and placing goods according to claim 13, wherein the plurality of linkage members further comprises a second linkage member, the second linkage member is located at the second end of the expansion member, the second linkage member is fixed relative to the linkage plate, a second trigger portion is arranged on the second linkage member, an abutting surface is arranged on one side of the push block facing the first end of the expansion member, and when the abutting surface abuts against the second trigger portion, the second linkage member drives the linkage plate to move, so that the expansion member and the fixed member are locked or unlocked.

16. The device according to claim 15, wherein the linkage plate moves in the same direction when the pushing block pushes the first linkage member to move and when the pushing block pushes the second linkage member to move.

17. The device for picking and placing goods according to claim 15, wherein the plurality of linkage members further includes a third linkage member, the third linkage member is disposed between the first linkage member and the second linkage member, the telescopic member is provided with a second guide member, the third linkage member is sleeved on the second guide member and moves along the second guide member, the linkage plate is provided with a second sliding groove, the extending direction of the second guide member is inclined relative to the second sliding groove, and one end of the third linkage member is inserted into the second sliding groove.

18. The pick and place device of claim 17, wherein the extendable member has an opening, and the third linkage member has a third trigger portion extending at least partially from the opening to a side of the extendable member carrying the material container;

when the material box is abutted against the third triggering portion, the third linkage piece drives the linkage plate to move, so that the telescopic piece and the fixing piece are locked or unlocked.

19. The device according to any one of claims 13 to 18, wherein the plurality of linkage members further includes a fourth linkage member, the telescopic member is provided with a third guide member, the fourth linkage member is sleeved on the third guide member and moves along the third guide member, the linkage plate is provided with a third sliding slot, the third sliding slot is arranged obliquely relative to the third guide member, and the third sliding slot and the first sliding slot have opposite oblique directions.

20. The device according to claim 19, wherein a locking portion is disposed at an end of the fourth link member facing the fixed member, the fixed member is provided with a plurality of grooves arranged along a moving direction of the telescopic member, and the locking portion is engaged with different grooves when the telescopic member moves to different positions relative to the fixed member.

21. The device for picking and placing the goods according to any one of claims 1 to 8, wherein the clamping assembly comprises a support plate and two oppositely arranged clamping plates, the two clamping plates are respectively positioned at two opposite sides of the telescopic assembly, and the two clamping plates are used for clamping the material box;

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

22. The pick and place device of claim 21, wherein the extendable member has a second track, and the support plate has a slider on a side thereof facing the extendable member, the second track engaging the slider and supporting the support plate.

23. The device according to any one of claims 1 to 8, further comprising a rotation assembly, wherein the telescopic assembly is disposed on the rotation assembly, and the rotation assembly is used for driving the telescopic assembly to rotate.

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

25. The transfer robot of claim 24, wherein the robot main body comprises a base and a storage shelf mounted on the base, the lifting device being provided on the storage shelf and being movable in a height direction of the storage shelf;

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

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