CN218967853U

CN218967853U - Get blowing robot and get blowing system

Info

Publication number: CN218967853U
Application number: CN202221917584.5U
Authority: CN
Inventors: 刘赫; 徐丹; 关利东
Original assignee: Kuangshitu Suzhou Intelligent Equipment Co ltd; Beijing Kuangshi Robot Technology Co Ltd
Current assignee: Kuangshitu Suzhou Intelligent Equipment Co ltd; Beijing Kuangshi Robot Technology Co Ltd
Priority date: 2022-04-22
Filing date: 2022-07-22
Publication date: 2023-05-05
Anticipated expiration: 2032-07-22

Abstract

The application provides a get blowing robot and get blowing system relates to storage device technical field, and the application provides a get blowing robot includes: the lifting driving mechanism is in transmission connection with the material taking and placing mechanism so as to drive the material taking and placing mechanism to ascend or descend; the material taking and placing mechanism comprises at least two material taking and placing components which are arranged at intervals along the vertical direction, and the at least two material taking and placing components are respectively used for taking and placing the articles which are positioned on different layers in the plurality of articles which are stacked and placed. The robot for taking and placing the goods solves the technical problems that in the related art, the cost of taking and placing the goods by the robot is high and the operation time is long.

Description

Get blowing robot and get blowing system

Technical Field

The application relates to the technical field of storage devices, in particular to a material taking and discharging robot and a material taking and discharging system.

Background

The intelligent storage is one link of the logistics process, and the application of the intelligent storage ensures the speed and accuracy of data input of each link of the goods warehouse management, ensures that enterprises timely and accurately master real data of the inventory, and reasonably maintains and controls the enterprise inventory.

In the warehouse, articles are stacked together along the vertical direction, the articles are taken and placed through the robot, when the robot in the prior art carries the stacked articles, the robot is required to control the mechanical arm to be matched with other articles above the robot to take away the articles, and then the carrying equipment carries away the target articles, so that the robot is required to be matched with a goods shelf or other devices to finish taking and placing, thereby the cost is high, and the operation time is long.

Disclosure of Invention

The utility model aims at providing a get blowing robot and get blowing system to alleviate among the correlation technique robot get the technical problem that put article with high costs, operating time is longer.

In a first aspect, the present application provides a pick-and-place robot comprising: the lifting driving mechanism is in transmission connection with the material taking and placing mechanism so as to drive the material taking and placing mechanism to ascend or descend; the material taking and placing mechanism comprises at least two material taking and placing components which are arranged at intervals along the vertical direction, and the at least two material taking and placing components are respectively used for taking and placing the articles which are stacked and placed and are located on different layers.

Optionally, part of the at least two picking and placing components are used for picking a first article above a target article in the plurality of articles stacked and placed, and other picking and placing components in the at least two picking and placing components are used for picking the target article; and after the other picking and placing components pick up the target object, the part of picking and placing components place the first object back above the rest second object.

Optionally, the distance between two adjacent material taking and placing components is fixed; or, the distance between two adjacent material taking and discharging assemblies is adjustable.

Optionally, a channel for passing the conveying equipment is further arranged below the material taking and placing robot.

Optionally, the travelling mechanism is arranged at two sides of the channel.

Optionally, the pick-and-place robot further includes a base fixedly installed at a lower end of the supporting mechanism, the base includes a first supporting wall and a second supporting wall that are disposed at intervals in parallel, and the channel is formed between the first supporting wall and the second supporting wall.

Optionally, the picking and placing component comprises a telescopic component, when the articles are picked from the articles stacked and placed or the articles are placed in the articles stacked and placed, the telescopic component stretches out of the supporting mechanism, and when the picking or placing is completed, the telescopic component retracts to the supporting mechanism.

Optionally, the telescopic assembly comprises a linkage piece and a first moving plate and a second moving plate which are matched in a sliding way along the horizontal direction; the linkage is used for enabling the first moving plate and the second moving plate to synchronously move towards the outside or the inside of the supporting mechanism.

Optionally, the material taking and placing mechanism further comprises a fixing plate, and the material taking and placing assembly is connected with the lifting driving mechanism through the fixing plate.

Optionally, when the distance between two adjacent material taking and placing components is adjustable, each material taking and placing component is connected with the lifting driving mechanism through one fixing plate, and at least one fixing plate in the two adjacent fixing plates is detachably connected with the lifting driving mechanism; or, a plurality of get the blowing subassembly install in same on the fixed plate, and with fixed plate swing joint is in order to can adjust adjacent two get the distance between the blowing subassembly.

Optionally, the picking and placing component comprises a picking and placing finger, and the picking and placing finger is inserted into a slot arranged on the article when the article is picked up.

Optionally, the picking and placing robot further comprises an image acquisition assembly, and the image acquisition assembly is installed on the picking and placing mechanism and used for acquiring identification codes on articles.

Optionally, the image acquisition assembly comprises a first camera and a rotary driving assembly, wherein the rotary driving assembly is in transmission connection with the first camera and is used for driving the first camera to rotate around a vertical axis so as to adjust the acquisition position of the first camera.

Optionally, the rotation driving assembly includes a limiting assembly for limiting a rotation range of the first camera.

Optionally, the pick-and-place robot further includes a second camera, where the second camera is installed on the support mechanism and is used to collect an identification code on the ground.

Optionally, the lifting driving mechanism includes a lifting driving member, where the lifting driving member is used to drive the material taking and placing assembly to lift when taking the articles from the stacked articles or placing the articles from the stacked articles, and drive the material taking and placing assembly to descend after completing taking or placing.

In a second aspect, the present application provides a pick-and-place system comprising: handling equipment and the picking and placing robot; the carrying equipment is used for transferring articles between the taking and placing robot and the appointed position.

Optionally, a channel for the conveying equipment to pass is further arranged below the picking and placing robot; the handling equipment is further used for moving to a channel below the taking and placing robot, the taking and placing robot controls at least one taking and placing assembly to place the taken object on the handling equipment, and the handling equipment carries the object placed by the taking and placing robot to a specified position.

When taking articles, the travelling mechanism drives the supporting mechanism to move to the vicinity of the stack where the target articles are located, the lifting driving mechanism drives the taking and placing mechanism to move along the vertical direction, the lowest taking and placing assembly is located near the target articles, the upper taking and placing assembly is opposite to the articles above the target articles, then the lifting driving assembly drives the taking and placing assembly to ascend, the upper taking and placing assembly forks the articles above the target articles, the target articles are exposed, the lowest taking and placing assembly can fork the target articles and is placed on specified conveying equipment, and after the target articles are taken away, the upper taking and placing assembly replaces the articles above the original target articles, and the article taking is completed.

Compared with a robot which is matched with a goods shelf to finish picking and placing objects in the related art, the picking and placing system provided by the application can pick and place the object objects in the object layers of the plurality of objects stacked and placed without being matched with other devices, so that the cost is reduced; in addition, in the process of taking the target object, the obstructing object above the target layer is not required to be placed on the goods shelf, and the obstructing object is moved to the original position from the goods shelf after the taking and placing of the target object are completed, so that the operation time is also saved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related art, the drawings that are needed in the description of the embodiments or the related art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a pick-and-place robot provided in an embodiment of the present application under a first view angle;

fig. 2 is a schematic structural diagram of the pick-and-place robot provided in the embodiment of the present application under a second view angle;

fig. 3 is a schematic structural diagram of a support frame in the pick-and-place robot according to the embodiment of the present application;

fig. 4 is a schematic structural diagram of a pick-and-place mechanism in a pick-and-place robot according to an embodiment of the present disclosure;

fig. 5 is a schematic diagram of an internal structure of a pick-and-place mechanism in a pick-and-place robot according to an embodiment of the present disclosure;

FIG. 6 is an enlarged view of a portion of FIG. 5 at A;

fig. 7 is a schematic structural diagram of an image acquisition assembly in a pick-and-place robot according to an embodiment of the present application.

Icon: 100-supporting frames; 110-channel; 111-a first support wall; 112-a second support wall; 120-a support; 121-an upright; 122-a beam; 130-a second camera; 200-a travelling mechanism; 210-a driving wheel; 220-driven wheel; 230-a travel drive; 300-lifting driving mechanism; 310-lifting drive; 320-lifting transmission parts; 321-a first lifting wheel; 322-a second lifting wheel; 323-flexible lifting transmission member; 324-a drive shaft; 325-belt drive assembly; 330-a transmission frame; 341-a third rail; 400-taking and discharging mechanisms; 410-taking and placing components; 411-picking and placing fingers; 412-finger support; 413-finger drives; 420-fixing plate; 421-fixing projections; 431-telescoping assembly; 4311-a first moving plate; 4312-a second moving plate; 4313-a first via; 4314-a second through hole; 4315-moving the projections; 4321-a telescopic drive motor; 4322-gears; 4323 racks; 4331-a first flexible transmission member; 4332-a second flexible transmission element; 4333-a first drive wheel; 4334-a second drive wheel; 440-a first guide assembly; 441-a first rail; 442-first guide groove; 450-a second guide assembly; 451-a second rail; 452-second guide slot; 461-a first limiting block; 510-supporting the beam; 520-an image acquisition component; 530-a first camera; 541-supporting the board; 542-a rotary drive motor; 543-rotating the driving member; 544-a first rotation gear; 545-a second rotation gear; 546-a rotation axis; 551-limit rod; 552-a third stopper; 553-a fourth limiting block; 600-electric control box; a-a first direction; b-a second direction.

Detailed Description

The following description of the embodiments of the present application will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

In the description of the present application, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of description of the present application and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.

The embodiment of the application provides a get blowing system includes handling equipment and gets the blowing robot, and handling equipment is used for transferring article between getting the blowing robot and appointed position. When placing the target object into the stacked objects, the carrying equipment conveys the object to be placed to the taking and placing robot, and the taking and placing robot places the object to be placed into the stacked objects; when the target object is taken out of the stacked objects, the taking and placing robot takes the target object out of the stacked objects and then places the target object on the conveying equipment, and the conveying equipment conveys the target object to a specified position.

The articles in this embodiment may be a bin, a magazine, or the like containing goods or materials, or may be goods or materials themselves that can be stacked in a regular shape, such as plate-like materials, block-like materials, or the like.

As shown in fig. 1 and fig. 2, a pick-and-place robot provided in an embodiment of the present application includes: the lifting driving mechanism 300 is in transmission connection with the material taking and placing mechanism 400 so as to drive the material taking and placing mechanism 400 to ascend or descend; the picking and placing mechanism 400 includes at least two picking and placing components 410 disposed at intervals along a vertical direction, where the at least two picking and placing components 410 are respectively used for picking and placing articles located in different layers among a plurality of stacked articles.

It should be understood that the picking and placing herein includes picking and placing, that is, each picking and placing component 410 can pick and place an article, and by cooperation of at least two picking and placing components 410, a target article located on a target layer can be picked from a plurality of articles stacked and placed, or the target article can be placed on a position located on the target layer in a plurality of articles stacked and placed.

When picking up an article, the travelling mechanism 200 drives the supporting mechanism to move to the vicinity of the stack where the target article is located, the lifting driving mechanism 300 drives the picking and placing mechanism 400 to move along the vertical direction, so that the lowest picking and placing component 410 is located near the target article, the upper picking and placing component 410 is opposite to the article above the target article, then the lifting driving component drives the picking and placing component 410 to lift, the upper picking and placing component 410 forks the article above the target article, the target article is exposed, and therefore the lowest picking and placing component 410 can fork the target article and place the target article on the designated conveying equipment, and after the target article is picked up, the upper picking and placing component 410 returns the material above the original target article to the original position, so that the article picking is completed.

Compared with a robot which is matched with a goods shelf to finish picking and placing objects in the related art, the picking and placing robot provided by the embodiment of the application can pick and place the object objects in the object layers of the plurality of stacked objects without being matched with other devices, so that the cost is reduced; in addition, in the process of taking the target object, the obstructing object above the target layer is not required to be placed on the goods shelf, and the obstructing object is moved to the original position from the goods shelf after the taking and placing of the target object are completed, so that the operation time is also saved.

The pick-and-place assembly in the embodiment of the present application may have various implementation forms, which is not limited in this application. For example, the pick and place assembly may include a clamp fork for picking and placing items by clamping both sides of the items; the material taking and placing component can also be a fork taking type fork, and fork holes are formed in corresponding articles, and the articles are taken and placed by extending fork teeth of the fork into the fork holes. The picking and placing assembly may be in other implementation forms capable of being adapted to the articles to be picked and placed, for example, a plurality of protruding portions (such as a hooking table) extending outwards by a certain width are arranged on the outer side (such as the upper edge and/or the edge) of the articles to be picked and placed (such as a bin), and the corresponding picking and placing section may include a supporting member capable of extending into the lower portion of the protruding portion, and the supporting member extends into the lower portion of the protruding portion of the edge of the articles to be picked and placed, and then lifts the articles to be picked and placed to achieve picking and placing of the bin.

For convenience of description, a plurality of articles stacked together are distinguished, and articles at different positions are named respectively, in this embodiment, articles to be taken away or placed are named as target articles, articles above the target articles are named as first articles, and articles below the target articles are named as second articles. It should be noted that, in the embodiment in which the target article is placed in the target layer of the plurality of articles placed in a stacked manner, the article originally located in the target layer is also named as the first article, and it can be understood that, to place the target article in the target layer, the article originally located in the target layer also needs to be removed.

The partial picking and placing components 410 in the at least two picking and placing components 410 are used for picking a first article above a target article in a plurality of articles stacked and placed, and the other picking and placing components 410 in the at least two picking and placing components are used for picking the target article; and, after the other pick and place assemblies 410 pick up the target item, a portion of the pick and place assemblies 410 place the first item back over the remaining second item. Specifically, the first articles may be one or more, when the number of the first articles is one, the first articles may be taken by one of the partial taking and placing assemblies 410, when the number of the first articles is a plurality of the first articles, the first articles may be taken up by one of the partial taking and placing assemblies 410 taking the first articles lowest among the stacked first articles, or the first articles may be taken up by using the plurality of the partial taking and placing assemblies 410 taking the first articles lowest among the first articles, and the lowest taking and placing assembly 410 taking the first articles lowest among the first articles. The number of the target articles may be one or more, when the number of the target articles is one, the target articles may be taken by one of the other taking and placing assemblies 410, when the number of the target articles is a plurality of, the lowest target article of the stacked plurality of target articles may be taken by one of the other taking and placing assemblies 410, so that the plurality of target articles may be taken up, or the plurality of target articles may be taken up by the plurality of taking and placing assemblies 410 of the other taking and placing assemblies 410, and the lowest target article of the plurality of target articles may be taken up by the other taking and placing assemblies 410 of the other taking and placing assemblies 410.

In one embodiment of the present application, the supporting mechanism includes a supporting frame 100, and the material taking and placing mechanism 400 is slidably connected to the supporting frame 100. As shown in fig. 3, the support frame 100 includes two support portions 120, where the two support portions 120 are opposite and spaced along a first direction a, each support portion 120 includes at least two columns 121, the multiple columns 121 are parallel to each other and spaced along a second direction b, and adjacent columns 121 are connected by a cross beam 122, where the first direction a and the second direction b both extend along a horizontal direction and are perpendicular to each other. Specifically, the number of the columns 121 in each supporting portion 120 may be two, three or four, in this embodiment, each supporting portion 120 includes two columns 121, the two columns 121 are parallel and spaced along the second direction b, a plurality of beams 122 are disposed between the two columns 121, the beams 122 are parallel and spaced along the vertical direction, one end of each beam 122 is fixedly connected with one of the columns 121, and the other end is fixedly connected with the other column 121. The material taking and discharging mechanism 400 is in sliding fit with the upright post 121, and the lifting driving mechanism 300 is arranged on the upright post 121 and is in transmission connection with the material taking and discharging mechanism 400.

The specific structure of the elevating drive mechanism 300 will be described below.

As shown in fig. 1 and 3, the lifting driving mechanism 300 includes a lifting driving member 310 and a lifting driving member 320, wherein the lifting driving member 310 is mounted at the top end of the supporting frame 100 and is in transmission connection with the lifting driving member 320, and the lifting driving member 320 is disposed on the side wall of the supporting frame 100 along the vertical direction and is in transmission connection with the material taking and placing mechanism 400. In the process of picking and placing the articles, the lifting driving piece 310 drives the lifting driving piece 320 to move, and the lifting driving piece 320 drives the picking and placing mechanism 400 to move along the vertical direction, so that the picking and placing assembly 410 moves to the vicinity of the corresponding articles, or the forked articles move along the vertical direction, and the picking or placing of the articles is realized.

In one embodiment, the lifting driving member 310 includes a lifting driving motor, and the lifting driving member 320 includes a screw rod and a nut, wherein the screw rod is disposed along a vertical direction and is rotatably connected with the support frame 100, and the nut is in threaded engagement with the screw rod and is connected with the material taking and discharging mechanism 400. The lifting driving motor drives the screw rod to rotate around the axis of the screw rod, and the screw rod drives the material taking and placing mechanism 400 to ascend or descend through the nut.

In one embodiment of the present application, each upright 121 is provided with a lifting transmission member 320, where the lifting transmission member 320 includes a first lifting wheel 321, a second lifting wheel 322, and a flexible lifting transmission member 323, as shown in fig. 3, and the first lifting wheel 321 and the second lifting wheel 322 are rotatably mounted on the upright 121 and are disposed at intervals along the vertical direction. The first lifting wheel 321 is located above the second lifting wheel 322, and the first lifting wheels 321 on the two upright posts 121 are connected by a transmission shaft 324. The flexible lifting transmission member 323 is annular, and one end is sleeved on the first lifting wheel 321, and the other end is sleeved on the second lifting wheel 322. The flexible lifting transmission member 323 includes two vertical sections, the two vertical sections are arranged in parallel at intervals along the first direction a, a transmission frame 330 is fixedly installed on one of the vertical sections, two ends of the transmission frame 330 are respectively connected with the vertical sections in the two flexible lifting transmission members 323, specifically, the transmission frame 330 is connected with a clamping plate through bolts, and the transmission frame 330 is matched with the clamping plate to clamp the vertical sections between the two sections, so that the connection between the transmission frame 330 and the flexible transmission member is realized. The transmission frame 330 has two connecting portions, and two connecting portions are arranged at intervals along the second direction b and are located between the two upright posts 121, and the material taking and placing mechanism 400 is connected with the connecting portion of the transmission frame 330 through bolts, so that the lifting transmission piece 320 is in transmission connection with the material taking and placing mechanism 400.

The lifting driving part 310 comprises a lifting driving motor, the lifting driving motor is connected with a transmission shaft 324 through a belt transmission assembly 325, and the first lifting wheel 321 is driven to rotate through the transmission shaft 324. In the process of taking and discharging, the lifting driving motor drives the first lifting wheel 321 to rotate, and the first lifting wheel 321 drives the flexible lifting transmission piece 323 to move, so that the transmission frame 330 drives the taking and discharging mechanism 400 to ascend or descend. The lifting transmission member 320 comprises a first lifting wheel 321, a second lifting wheel 322 and a flexible lifting transmission member 323, is simple in structure and low in cost, and can be used for setting the distance between the first lifting wheel 321 and the second lifting wheel 322 and the length of the flexible lifting transmission member 323 according to the moving range of the material taking and placing mechanism 400 in the vertical direction, so that the requirement of the moving range of the material taking and placing mechanism 400 in the vertical direction can be conveniently met. In addition, the transmission frame 330 is installed on the flexible transmission member, the structure of the transmission frame 330 is simpler than that of the material taking and placing mechanism 400, the transmission frame 330 is more convenient to install on the flexible lifting transmission member 323 arranged on the upright post 121, the material taking and placing mechanism 400 is connected with the transmission part, and the transmission part is opposite to the interval between the two upright posts 121, so that the material taking and placing mechanism 400 is more convenient to install compared with the connection between the transmission part and the flexible lifting transmission member 323 arranged on the upright post 121.

In the above embodiment, the flexible lifting transmission member 323 includes a lifting transmission belt, and the first lifting wheel 321 and the second lifting wheel 322 are lifting pulleys. Specifically, the outer peripheral surface of the lifting belt wheel is provided with a first meshing tooth, the inner surface of the lifting transmission belt is provided with a second meshing tooth, the first meshing tooth and the second meshing tooth are meshed with each other, and the lifting transmission piece 320 is prevented from slipping in the moving process, so that the stability of the material taking and discharging mechanism 400 in the lifting process is improved. In addition, the flexible elevating transmission 323 may be provided as a wire rope, and the first elevating wheel 321 and the second elevating wheel 322 may be provided as pulleys.

The material taking and placing mechanism 400 further comprises a fixing plate 420, and the material taking and placing assembly 410 is connected with the lifting driving mechanism 300 through the fixing plate 420. The fixed plate 420 is planar and is positioned in the support frame 100, the fixed plate 420 and the upright 121 are arranged in parallel, the side wall of the fixed plate 420 opposite to the upright 121 is connected with the transmission frame 330 in the lifting driving mechanism 300 through bolts, and the material taking and placing mechanism 400 is arranged on the side wall of the fixed plate 420, which is away from the upright 121. During assembly, the material taking and placing mechanism 400 can be installed on the fixing plate 420, and then the fixing plate 420 is installed on the transmission frame 330, so that assembly operation is convenient.

In one embodiment of the present application, the lift drive mechanism 300 further includes a third guide assembly for guiding the transmission frame 330, and the third guide assembly is connected to the support frame 100 and the transmission frame 330, respectively. In the process that the lifting transmission piece 320 drives the transmission frame 330 to lift, the third guiding component plays a guiding role on the transmission frame 330, so that the stability of the movement of the transmission frame 330 and the material taking and placing component 410 is improved.

The third guide assembly comprises a third guide rail 341 and a third guide groove, and the third guide rail 341 and the third guide groove are arranged along the vertical direction and are in sliding fit with each other; the third guide rail 341 is mounted on the support frame 100 or the transmission frame 330, and the third guide groove is correspondingly disposed on the transmission frame 330 or the support frame 100. In this embodiment, each transmission frame 330 is connected to the support frame 100 through two third guiding assemblies, specifically, third guide rails 341 in the two third guiding assemblies are respectively and fixedly mounted on the two upright posts 121 and are arranged along the vertical direction, and both ends of the transmission frame 330 along the second direction b are respectively provided with a third guiding groove, and the two third guiding grooves are in sliding fit with the corresponding third guide rails 341. In the lifting process of the transmission frame 330, the third guide groove is in sliding fit with the third guide rail 341, so that the transmission frame 330 plays a role in guiding, and the stability of the movement of the transmission frame 330 and the material taking and discharging assembly 410 is improved.

The pick and place mechanism 400 may include two, three, or four pick and place assemblies 410, and in this embodiment, the pick and place mechanism 400 includes two pick and place assemblies 410. As shown in fig. 1, 2 and 4, two pick-and-place assemblies 410 are disposed along a vertical direction, the pick-and-place assembly 410 located below is used for picking up a target object, and the pick-and-place assembly 410 located above is used for picking up a first object above the target object. The material taking and placing mechanism 400 comprises two material taking and placing components 410, so that the material taking and placing robot can independently take and place objects, and meanwhile, the cost is increased due to the fact that too many material taking and placing components 410 are not arranged.

The material taking and placing mechanism 400 includes two, three or four material taking and placing components 410, and each material taking and placing component 410 is disposed in the same manner, and the adjacent material taking and placing components 410 are disposed in the same manner, which will be specifically described below taking the material taking and placing mechanism 400 including two material taking and placing components 410 as an example.

In one embodiment, the distance between two adjacent pick and place assemblies 410 is fixed and the distance between the two is greater than the height of the article. When the upper picking and placing component 410 forks the upper first article, and the lower picking and placing component 410 forks the target article, a gap is formed between the lower surface of the first article and the upper surface of the target article, so that the two articles are prevented from contacting to affect the normal picking and placing of the articles.

In another embodiment, the distance between two adjacent pick and place assemblies 410 may be adjustable. The method can be realized in two modes as follows.

As an implementation manner, each of the material taking and placing components 410 is connected with the lifting driving mechanism 300 through one fixing plate 420, specifically, the material taking and placing mechanism 400 includes fixing plates 420 equal to the number of the material taking and placing components 410, each fixing plate 420 is provided with one material taking and placing component 410, the fixing plates 420 are arranged at intervals along the vertical direction, and at least one fixing plate 420 of two adjacent fixing plates 420 is detachably connected with the lifting driving mechanism 300. The fixing plate 420 and the lifting driving mechanism 300 are detachably connected in the following manner: the fixed plate 420 is provided with a first connecting through hole, the transmission frame 330 is provided with a first adjusting long hole arranged along the vertical direction, and the bolt penetrates through the connecting hole and the first adjusting long hole and is matched with the nut, so that the fixed plate 420 and the transmission frame 330 are connected, the position of the fixed plate 420 in the vertical direction can be adjusted by adjusting the position of the bolt in the first adjusting long hole, and the adjustment of the distance between two adjacent material taking and discharging components 410 is realized.

As another implementation manner, the plurality of material taking and placing components 410 are mounted on the same fixing plate 420 and are movably connected with the fixing plate 420, so as to be capable of adjusting the distance between two adjacent material taking and placing components 410. Specifically, the fixing plate 420 is fixedly mounted on the transmission frame 330 through bolts, the material taking and placing component 410 is provided with a second connecting through hole, the fixing plate 420 is provided with a second adjusting long hole arranged along the vertical direction, the bolts penetrate through the second connecting through hole and the second adjusting long hole to be matched with nuts, so that the fixing plate 420 is connected with the material taking and placing component 410, the position of the material taking and placing component 410 in the vertical direction can be adjusted through adjusting the position of the bolts in the second adjusting long hole, and the adjustment of the distance between two adjacent material taking and placing components 410 is realized.

The adjustment of the distance between the adjacent material taking and placing components 410 is realized through the structure, and the distance between the two adjacent material taking and placing components 410 is adjusted according to the size of the articles to be taken and placed, so that the material taking and placing robot provided by the embodiment of the application can meet the requirement of taking and placing more specifications of articles, and the application range of the material taking and placing robot is increased.

In the above embodiment, whether the distance between two adjacent pick-and-place assemblies 410 is fixed or adjustable, the distance between two adjacent pick-and-place assemblies 410 is greater than the height of the article. So set up, after two upper and lower get the blowing subassembly 410 all fork the article that corresponds, have the interval between two upper and lower articles, can not produce the interference to can use a lift driving medium 320 to drive two upper and lower get the blowing subassembly 410 simultaneously, and can accomplish and get the putting article, make the mobile robot's that this application embodiment provided structure simpler.

In one embodiment, the pick and place assembly 410 is fixed in position relative to the support 100 in the horizontal direction, i.e., the pick and place assembly 410 is always located inside the support 100. In the process of picking and placing the articles, the travelling mechanism 200 drives the supporting frame 100 to move, so that the supporting frame 100 drives the picking and placing component 410 to move, thereby realizing the movement of the articles in the horizontal direction.

In one embodiment of the present application, the pick and place mechanism 400 includes a retraction assembly 431 that extends out of the support mechanism when picking an item from or placing an item in a stack of items, and the retraction assembly 431 retracts back to the support mechanism when the picking or placing is completed. Specifically, a first telescopic channel and a second telescopic channel are disposed between the two supporting portions 120 of the supporting frame 100, and the first telescopic channel and the second telescopic channel are located at two sides of the center of the supporting frame 100 along the second direction b, and are both communicated with the inside of the supporting frame 100. The telescopic component 431 can extend and retract the supporting frame 100 from the first telescopic channel 110, and can extend and retract the supporting frame 100 from the second telescopic channel 110, so that articles can be taken from or placed in the article stacks on two sides of the supporting frame 100 without moving the position of the supporting frame 100 in the process of taking and placing articles, and the operation is simpler.

A specific description of how the retraction assembly 431 is extended or retracted from the support bracket 100 is provided below.

The material taking and placing assembly further comprises a telescopic driving piece, the material taking end of the material taking and placing assembly 410 is installed on the telescopic assembly 431, the telescopic assembly 431 is in sliding fit with the fixing plate 420 along the horizontal direction, and the telescopic driving piece is installed on the fixing plate 420 and is in transmission connection with the telescopic assembly 431. When the articles are taken and put, the telescopic driving piece drives the telescopic component 431 to move along the horizontal direction, and the telescopic component 431 drives the taking end of the taking and putting component 410 to move along the horizontal direction, so that the taking end of the taking and putting component 410 can extend and retract from the first telescopic channel 110 or the second telescopic channel 110.

The telescopic assembly 431 may be specifically arranged as follows.

As an arrangement, the telescopic component 431 includes a third moving plate, which is located on a side of the fixed plate 420 away from the transmission frame 330 and is horizontally slidably connected to the fixed plate 420, and the pick-and-place end of the pick-and-place component 410 is mounted on the first moving plate. The telescopic driving piece comprises an electric push rod, the fixed end of the electric push rod is arranged on the fixed plate 420, and the driving end of the electric push rod is in transmission connection with the third movable plate. The third moving plate is driven to move along the horizontal direction by the extension and retraction of the electric push rod, so that the picking end of the picking and placing component 410 is driven to extend out of or retract into the supporting frame 100. As another driving manner, the telescopic driving piece includes a telescopic driving motor 4321, a gear and a rack 4323, the rack 4323 is mounted on the third moving plate and is disposed along the horizontal direction, the gear 4322 is mounted on the fixed plate 420 and is meshed with the rack 4323, and the telescopic driving motor 4321 is mounted on the fixed plate 420 and is in transmission connection with the gear 4322. The telescopic driving motor 4321 drives the gear 4322 to rotate, and the gear 4322 drives the third moving plate to move along the horizontal direction by being matched with the rack 4323, so that the picking end of the picking and placing assembly 410 is driven to extend out of or retract into the supporting frame 100.

As another embodiment, the telescopic assembly 431 includes a first moving plate 4311 and a second moving plate 4312, the first moving plate 4311 is located between the second moving plate 4312 and the fixed plate 420, and is disposed in parallel with the second moving plate 4312 and the fixed plate 420 at intervals, and the picking end of the picking and placing assembly 410 is mounted on the second moving plate 4312; the telescopic driving assembly further comprises a linkage piece, wherein the linkage piece is respectively connected with the first moving plate 4311 and the second moving plate 4312, and the telescopic driving piece is in transmission connection with the first moving plate 4311 or the second moving plate 4312. Specifically, the first moving plate 4311 is located at a side of the fixed plate 420 facing away from the transmission frame 330, the second moving plate 4312 is located at a side of the first moving plate 4311 facing away from the fixed plate 420, and two sides of the first moving plate 4311 are respectively slidably engaged with the fixed plate 420 and the second moving plate 4312. The picking end of the picking and placing assembly 410 is mounted on the second moving plate 4312, and when the picking end of the picking and placing assembly 410 is located in the supporting frame 100, the first moving plate 4311 is opposite to the fixed plate 420 and the second moving plate 4312 respectively. When the telescopic driving piece is connected with the first moving plate 4311, the telescopic driving piece drives the first moving plate 4311 to move, and the first moving plate 4311 drives the second moving plate 4312 to move in the same direction with the first moving plate 4311 through the linkage piece; when the telescopic driving piece is connected with the second moving plate 4312, the telescopic driving piece drives the second moving plate 4312 to move, and the second moving plate 4312 drives the first moving plate 4311 and the second moving plate 4312 to move in the same direction through the linkage piece. The telescopic driving piece drives one moving plate to move, and then drives the other moving plate to move through the linkage piece, so that the extension length of the second moving plate 4312 can be increased, and when the goods taking end of the goods taking and placing assembly 410 is retracted into the supporting frame 100, the first moving plate 4311 is opposite to the fixed plate 420 and the second moving plate 4312 respectively, so that the space occupied by the goods taking and placing mechanism 400 is reduced.

The linkage member is specifically arranged in the following two modes.

As one arrangement, the linkage member includes a linkage hole formed in the first moving plate 4311 and a linkage post formed in the second moving plate 4312, wherein the linkage Kong Chengchang is circular and is arranged in a horizontal direction, and the linkage post is inserted into the linkage hole. When the telescopic component 431 is located inside the support frame 100, the linkage column abuts against the inner wall of the first end of the linkage hole, when the telescopic driving piece drives the second moving plate 4312 to move towards the direction extending out of the support frame 100, the second moving plate 4312 drives the linkage column to move towards the direction close to the second end of the linkage hole, when the second moving plate 4312 moves a certain distance, the linkage column abuts against the inner wall of the second end of the linkage hole, and then drives the first moving plate 4311 to move towards the direction extending out of the support frame 100 synchronously, so that the telescopic component 431 extends out of the support frame 100. When the telescopic driving piece drives the second moving plate 4312 to move towards the direction of retracting the supporting frame 100, the second moving plate 4312 drives the linkage column to move towards the direction close to the first end of the linkage hole, when the second moving plate 4312 moves for a certain distance, the linkage column is abutted with the inner wall of the first end of the linkage hole, and then the first moving plate 4311 is driven to synchronously move towards the direction of retracting the supporting frame 100, so that the telescopic component 431 is retracted into the supporting frame 100.

When the linkage piece is arranged in the mode, the telescopic driving piece comprises an electric push rod, the fixed end of the electric push rod is arranged on the fixed plate 420, and the driving end of the electric push rod is in transmission connection with the second movable plate 4312. The second moving plate 4312 is driven to move in the horizontal direction by the extension and contraction of the electric push rod. As another driving manner, the telescopic driving piece includes a telescopic driving motor 4321, a gear 4322 and a rack 4323, the rack 4323 is mounted on the second moving plate 4312 and is disposed along the horizontal direction, the gear 4322 is mounted on the fixed plate 420 and is meshed with the rack 4323, and the telescopic driving motor 4321 is mounted on the fixed plate 420 and is in transmission connection with the gear 4322. The telescopic driving motor 4321 drives the gear 4322 to rotate, and the gear 4322 drives the second moving plate 4312 to move in the horizontal direction by being matched with the rack 4323.

The above-mentioned manner of driving the telescopic component 431 to stretch out and draw back through the third moving plate and the manner of driving the first moving plate 4311 to move through the through hole linkage hole and the linkage column of the second moving plate 4312 can only achieve that the material taking and placing component 410 extends out and retracts into the supporting frame 100 from one side of the supporting frame 100, and in order to achieve that the telescopic component 431 can extend out and retract into the supporting frame 100 from two sides of the supporting frame 100, the linkage component is set as follows.

The linkage member includes a first flexible transmission member 4331, a second flexible transmission member 4332, a first transmission wheel 4333 and a second transmission wheel 4334, where the first flexible transmission member 4331 and the second flexible transmission member 4332 are all in a strip shape. The left end shown in fig. 5 of the first moving plate 4311 is a first end in the horizontal direction, the right end shown in fig. 5 of the first moving plate 4311 is a second end in the horizontal direction, the first driving wheel 4333 is arranged at the first end in the horizontal direction of the first moving plate 4311, the second driving wheel 4334 is arranged at the second end in the horizontal direction of the first moving plate 4311, and the axis of the first driving wheel 4333 and the axis of the second driving wheel 4334 are arranged vertically. The left end of the fixed plate 420 shown in fig. 5 is a first end thereof in the horizontal direction, the right end of the fixed plate 420 shown in fig. 5 is a second end thereof in the horizontal direction, the left end of the second moving plate 4312 shown in fig. 5 is a first end thereof in the horizontal direction, and the right end of the second moving fixed plate 420 shown in fig. 5 is a second end thereof in the horizontal direction. One end of the first flexible transmission member 4331 is fixedly connected with the first end of the fixed plate 420 in the horizontal direction, the other end of the first flexible transmission member 4331 is fixedly connected with the first end of the second movable plate 4312 in the horizontal direction, and a part between the two ends of the first flexible transmission member 4331 is matched with the second transmission wheel 4334. One end of the second flexible transmission member 4332 is fixedly connected with the second end of the fixed plate 420 in the horizontal direction, the other end is fixedly connected with the second end of the second moving plate 4312 in the horizontal direction, and a portion between the two ends of the second flexible transmission member 4332 is matched with the first transmission wheel 4333.

The telescopic driving piece is in transmission connection with the first moving plate 4311 and is used for driving the first moving plate 4311 to slide leftwards or rightwards. When the telescopic driving member drives the first moving plate 4311 to slide to the left side as shown in fig. 5, the first moving plate 4311 drives the first driving wheel 4333 and the second driving wheel 4334 to move to the left, and as the position of one end of the second flexible driving member 4332 connected with the fixed plate 420 is fixed, the first driving wheel 4333 pulls one end of the second flexible driving member 4332 connected with the second moving plate 4312 to move to the left, and further the second flexible driving member 4332 pulls the second moving plate 4312 to move to the left, and the second moving plate 4312 drives the picking end of the picking and placing component 410 to extend from the left side, or drives the telescopic component 431 extending from the right side to retract into the supporting frame 100. When the telescopic driving member drives the first moving plate 4311 to slide to the right side as shown in fig. 5, the first moving plate 4311 drives the first driving wheel 4333 and the second driving wheel 4334 to move to the right, and as the position of one end of the first flexible driving member 4331 connected with the fixed plate 420 is fixed, the second driving wheel 4334 pulls one end of the first flexible driving member 4331 connected with the second moving plate 4312 to move to the right, and further the first flexible driving member 4331 pulls the second moving plate 4312 to move to the right, and the second moving plate 4312 drives the picking end of the picking and placing component 410 to extend from the right side, or drives the telescopic component 431 extending from the left side to retract into the supporting frame 100. By setting the flexible transmission part in the mode, the fork can extend and retract from the first telescopic channel and the second telescopic channel on the support frame 100, the position of the support frame 100 is not required to be regulated, and the objects on two sides of the support frame 100 can be taken or placed, so that the operation time is saved. In addition, the cooperation of the first driving wheel 4333 and the second flexible driving member 4332, and the cooperation of the second driving wheel 4334 and the first flexible driving member 4331 are both equivalent to a movable pulley assembly, when the first moving plate 4311 drives the first driving wheel 4333 and the second driving wheel 4334 to move by a distance L, the distance of movement of the second moving plate 4312 is 2L, and when the movable distance of the first moving plate 4311 is fixed, the telescopic range of the telescopic assembly 431 is increased.

In the above embodiment, the first flexible transmission member 4331 and the second flexible transmission member 4332 each include a telescopic transmission belt, and the first transmission wheel 4333 and the second transmission wheel 4334 each include a telescopic pulley. Specifically, the outer peripheral surface of the telescopic belt wheel is provided with a first meshing tooth, the inner surface of the telescopic transmission belt is provided with a second meshing tooth, the first meshing tooth and the second meshing tooth are meshed with each other, the telescopic component 431 is prevented from slipping in the telescopic process, and therefore stability of the telescopic component 431 in the telescopic process is improved. In addition, the flexible telescopic transmission member can be further arranged as a steel wire rope, and the first telescopic wheel and the telescopic wheel can be further arranged as pulleys.

The first driving wheel 4333 and the second driving wheel 4334 may be mounted on a top wall or a bottom wall of the first moving plate 4311, in one embodiment of the present application, the first moving plate 4311 is provided with a first through hole 4313 and a second through hole 4314, the first through hole 4313 is disposed near a first end of the first moving plate 4311 in a horizontal direction, the second through hole 4314 is disposed near a second end of the first moving plate 4311 in a horizontal direction, and the first through hole 4313 and the second through hole 4314 penetrate through the first moving plate 4311 along a thickness direction of the first moving plate 4311, and each section is rectangular. As shown in fig. 5 and 6, the first driving wheel 4333 is installed in the first through hole 4313 through a first rotating shaft, the first rotating shaft is respectively connected with the upper wall and the lower wall of the first through hole 4313, the second flexible driving member 4332 passes through the first through hole 4313 from one side of the first driving wheel 4333, which is far away from the center of the first moving plate 4311, and is matched with the first driving wheel 4333, and two ends of the second flexible driving member 4332 are respectively positioned at two sides of the first moving plate 4311. The second driving wheel 4334 is installed in the second through hole 4314 through a second rotating shaft, the second rotating shaft is respectively connected with the upper wall and the lower wall of the second through hole 4314, the first flexible driving part 4331 penetrates through the second through hole 4314 from one side of the second driving wheel 4334, which is far away from the center of the first moving plate 4311, and is matched with the second driving wheel 4334, and two ends of the first flexible driving part 4331 are respectively positioned at two sides of the first moving plate 4311. The first through hole 4313 and the second through hole 4314 are arranged on the first moving plate 4311, so that part of the structure of the linkage piece is positioned in the first moving plate 4311, and the occupied space is reduced; in addition, the first flexible transmission member 4331 passes through the second through hole 4314, the second flexible transmission member 4332 passes through the first through hole 4313, which plays a role in limiting the first flexible transmission member 4331 and the second flexible transmission member 4332, and prevents the first flexible transmission member 4331 from being separated from the second transmission wheel 4334 or the second flexible transmission member 4332 from being separated from the first transmission wheel 4333 in the process of extending and retracting the telescopic assembly 431.

When the linkage member is set in the second mode, the telescopic driving member includes a telescopic driving motor 4321, a gear 4322 and a rack 4323, and the rack 4323 is fixedly mounted on the first moving plate 4311 and is disposed along the horizontal direction. Gear 4322 is mounted to fixed plate 420 by a mount and is rotatably coupled to the mount. The telescopic driving motor 4321 is installed on the fixed plate 420 and is in transmission connection with the gear 4322. The telescopic driving motor 4321 drives the gear 4322 to forward or reverse, the gear 4322 is meshed with the rack 4323 to drive the first moving plate 4311 to move leftwards or rightwards, and the first moving plate 4311 is driven by the cooperation of the gear 4322 and the rack 4323, so that bidirectional driving of the first moving plate 4311 can be realized.

In one embodiment of the present application, the rack 4323 is mounted to a top wall or a bottom wall of the first moving plate 4311, and is disposed along a length direction of the first moving plate 4311, and the gear 4322 is mounted to a side of the fixed plate 420 opposite to the first moving plate 4311, and is engaged with the rack 4323. The position of the fixed plate 420 opposite to the gear 4322 is provided with a third through hole, the telescopic driving motor 4321 is arranged on the surface of the fixed plate 420, which is away from the first moving plate 4311, and the driving end of the telescopic driving motor 4321 passes through the third through hole on the fixed plate 420 and is in transmission connection with the gear 4322. The rack 4323 is arranged on the top wall or the bottom wall of the first moving plate 4311, so that the rack 4323 and the gear 4322 matched with the rack 4323 are conveniently arranged, the telescopic driving motor 4321 is arranged on one side of the fixed plate 420, which is away from the first moving plate 4311, the space occupying one side of the fixed plate 420 opposite to the first moving plate 4311 is reduced, and the installation space is reasonably utilized.

The telescopic drive assembly further includes a first limiting assembly that prevents the first moving plate 4311 from being disengaged from the second moving plate 4312. When the second moving plate 4312 moves leftwards or rightwards relative to the first moving plate 4311 to the limit position, the limiting component limits the first moving plate 4311 to move continuously, so that the first moving plate 4311 is prevented from being separated from the second moving plate 4312; in addition, the first moving plate 4311 is driven by the second moving plate 4312, and when the second moving plate 4312 stops moving, the first moving plate 4311 also stops moving, so as to prevent the first moving plate 4311 from being separated from the fixed plate 420.

The first limiting component comprises a first limiting block 461 mounted on the first moving plate 4311 and a second limiting block mounted on the second moving plate 4312, and when the second moving plate 4312 moves to the limiting position, the first limiting block 461 is abutted with the second limiting block. Specifically, the first end and the second end of the opposite surfaces of the first moving plate 4311 and the second moving plate 4312 are respectively provided with a first limiting block 461, and the height of the first limiting block 461 at the first end is higher than that of the first limiting block 461 at the second end. The first end and the second end of the surface of the second moving plate 4312 opposite to the first moving plate 4311 are respectively provided with a second limiting block, and the height of the second limiting block positioned at the second end of the second moving plate 4312 is the same as the height of the first limiting block 461 positioned at the first end of the first moving plate 4311, and the height of the second limiting block positioned at the first end of the second moving plate 4312 is the same as the height of the first limiting block 461 positioned at the second end of the first moving plate 4311. When the second moving plate 4312 moves to the left to the limit position, the second limiting block located at the second end of the second moving plate 4312 abuts against the first block located at the first end of the first moving plate 4311, and when the second moving plate 4312 moves to the right to the limit position, the second limiting block located at the first end of the second moving plate 4312 abuts against the first block located at the second end of the first moving plate 4311, and the moving range of the second moving plate 4312 is limited by the cooperation of the first limiting block 461 and the second limiting block, so that the second moving plate 4312 is prevented from being separated from the first moving plate 4311.

In one embodiment of the present application, a first guide assembly 440 for supporting and guiding is connected between the fixed plate 420 and the first moving plate 4311, and a second guide assembly 450 for supporting and guiding is connected between the first moving plate 4311 and the second moving plate 4312. When the first moving plate 4311 slides along the horizontal direction relative to the fixed plate 420, the first guiding assembly 440 supports and guides the first moving plate 4311, so that the stability of the first moving plate 4311 during movement is improved, and when the second moving plate 4312 moves relative to the first moving plate 4311, the second guiding assembly 450 supports and guides the second moving plate 4312, so that the stability of the second moving plate 4312 during movement is improved.

Specifically, as shown in fig. 6, the first guide assembly 440 includes a first guide rail 441 and a first guide groove 442, which extend in a horizontal direction and are slidably engaged with each other, the first guide rail 441 is mounted on the fixed plate 420 or the first moving plate 4311, and the first guide groove 442 is disposed on the first moving plate 4311 or the fixed plate 420, respectively. In the present embodiment, the number of the first guide rails 441 is two, and the two first guide rails 441 are fixedly mounted on the fixing plate 420 and are arranged in parallel at intervals along the vertical direction. The two first guide grooves 442 are fixedly mounted on the first moving plate 4311, and are in sliding fit with the two first guide rails 441 in a one-to-one correspondence.

The second guide assembly 450 includes a second guide rail 451 and a second guide groove 452, both extending in a horizontal direction and slidably engaged with each other, the second guide rail 451 is mounted on the first moving plate 4311 or the second moving plate 4312, and the second guide groove 452 is correspondingly mounted on the second moving plate 4312 or the first moving plate 4311. In the present embodiment, the number of the second guide rails 451 is two, and the two second guide rails 451 are fixedly mounted on the first moving plate 4311 and are arranged in parallel at intervals along the vertical direction. The two second guide grooves 452 are fixedly mounted on the second moving plate 4312 and are in sliding fit with the two second guide rails 451 in a one-to-one correspondence.

When the first moving plate 4311 slides in the horizontal direction with respect to the fixed plate 420, the first guide groove 442 slides with respect to the first guide rail 441, thereby improving stability when the first moving plate 4311 moves, and when the second moving plate 4312 moves with respect to the first moving plate 4311, the second guide groove 452 slides with respect to the second guide rail 451, thereby improving stability when the second moving plate 4312 moves.

In one embodiment of the present application, as shown in fig. 4, the fixing plate 420 is provided with a fixing protrusion 421, the fixing protrusion 421 is rectangular and is fixedly mounted on a top wall or a bottom wall of the fixing plate 420, and further, the fixing protrusion 421 and the fixing plate 420 are in a certain molding structure. The second moving plate 4312 is provided with a moving protrusion 4315, the moving protrusion 4315 has a rectangular shape, and when the second moving plate 4312 is retracted, the moving protrusion 4315 is opposite to the fixed protrusion 421. The pick-and-place end of pick-and-place assembly 410 is mounted to the side wall of mobile tab 4315 opposite fixed tab 421. When the second moving plate 4312 is retracted into the supporting mechanism, the moving protrusion 4315 is opposite to the fixed protrusion 421, and the picking end 410 of the picking and placing assembly is located between the fixed protrusion 421 and the moving protrusion 4315, so as to protect the picking end of the picking and placing assembly 410.

The specific structure of the pick-and-place assembly 410 is described below.

As shown in fig. 5, the pick-and-place assembly 410 includes a pick-and-place finger 411 and a finger support 412, and the pick-and-place finger 411 is mounted to the finger support 412. Specifically, the pick-and-place assembly 410 includes two finger supports 412 and two pick-and-place fingers 411, where the two finger supports 412 are fixedly mounted on a surface of the second moving plate 4312 opposite to the fixed plate 420 through bolts. The two picking and placing fingers 411 are each in a rod shape and are mounted on the two finger supports 412 in a one-to-one correspondence. When the article is forked, the two picking and placing fingers 411 are inserted into the slots on the two side walls of the article, so that the matching between the picking and placing assembly 410 and the article is realized.

The pick-and-place finger 411 may be connected to the finger support 412 in the following two ways.

In one connection, the picking finger 411 is fixedly connected to the finger support 412 and extends out of a side of the second moving plate 4312 facing away from the first moving plate 4311. The slot opening on the article is downward, when the article is inserted and taken, the taking and placing finger 411 is moved to the lower part of the slot, and then the taking and placing finger 411 is driven to move upward, so that the taking and placing finger 411 is inserted into the corresponding slot.

In another connection, the pick-and-place finger 411 is rotatably connected to the finger support 412, and the rotation axis of the pick-and-place finger 411 extends in the second direction b. The pick-and-place assembly 410 further includes a finger driving member 413 for driving the pick-and-place finger 411 to rotate, where the finger driving member 413 may be configured as a motor or a rotary cylinder, and in this embodiment, the finger driving member 413 is configured as a finger driving motor, and the finger driving member 413 is in transmission connection with the pick-and-place finger 411 to drive the pick-and-place finger 411 to extend or retract from the second moving plate 4312. When the article is not needed to be inserted, the finger driving piece 413 drives the picking and placing finger 411 to move to be in a vertical state, the picking and placing finger 411 is retracted between the fixed protruding portion 421 and the movable protruding portion 4315, interference with other components is avoided, and when the article is needed to be inserted, the finger driving piece 413 drives the picking and placing finger 411 to extend out of the second movable plate 4312 and be in a horizontal state, so that the picking and placing finger 411 can be matched with a slot on the article.

The above-mentioned picking and placing mechanism 400 may be provided in one or two, and when the picking and placing mechanism 400 is provided in one, the picking and placing finger 411 in the picking and placing mechanism 400 may be provided longer, so as to ensure the stability when picking articles.

In this embodiment, two pick-and-place mechanisms 400 are provided, and the two pick-and-place mechanisms 400 are disposed at intervals along the first direction a and are both in sliding fit with the supporting mechanism. Specifically, the two pick-and-place mechanisms 400 are respectively mounted on the two supporting portions 120 of the supporting frame 100, and are in sliding fit with the corresponding supporting portions 120. The two lifting driving members 320 are correspondingly arranged, and the two lifting driving members 320 are in driving connection with the two material taking and discharging mechanisms 400 in one-to-one correspondence. The lifting driving motor is respectively connected with the transmission shafts 324 in the two lifting driving members 320 through the two synchronous belt assemblies, so that the two lifting belt driving assemblies 325 are driven simultaneously. When the object is forked, the two picking and placing components 410 positioned above in the two picking and placing mechanisms 400 are matched with two ends of the first object to be forked, the two picking and placing components 410 positioned below in the two picking and placing mechanisms 400 are matched with the object to be forked, and the two picking and placing mechanisms 400 are matched with the object to be inserted, so that the stability of the object in the forking and placing process is improved.

In one embodiment of the present application, the pick and place robot further includes an image acquisition assembly 520, and the image acquisition assembly 520 is mounted on the pick and place mechanism 400 for identifying the target object. When the support 100 is stopped near the stack of the target object, the lifting driving mechanism 300 drives the picking and placing mechanism 400 to ascend or descend, the picking and placing mechanism 400 drives the image acquisition assembly 520 to ascend and descend, the image acquisition assembly 520 identifies the object, and the position of the target object is identified, so that the object is ready for fork picking.

Specifically, the material taking and placing mechanisms 400 are provided with a supporting beam 510, the supporting beam 510 extends along the first direction a, a first end of the supporting beam 510 is connected with a fixing plate 420 in one material taking and placing mechanism 400 through a bolt, and the other end of the supporting beam 510 is connected with the fixing plate 420 in the other material taking and placing mechanism 400 through a bolt. The image acquisition assembly 520 is located below the support beam 510 and is mounted in the middle of the support beam 510, and the acquisition end of the image acquisition assembly 520 faces the first telescopic channel 110 or the second telescopic channel 110 on the support frame 100. When the support frame 100 is stopped near the stack where the target object is located, the lifting driving mechanism 300 drives the taking and placing mechanism 400 to ascend or descend, the taking and placing mechanism 400 drives the image acquisition assembly 520 to ascend and descend, the image acquisition assembly 520 sequentially acquires two-dimension codes on each object and transmits the acquired two-dimension code information to the control mechanism of the taking and placing robot, and the control mechanism analyzes the received two-dimension code information to determine the position of the target object.

The specific arrangement of the image pickup assembly 520 is described below.

The image acquisition assembly 520 comprises a first camera 530 for acquiring two-dimensional code images on the object and a rotary driving assembly for driving the first camera 530 to rotate around a vertical axis, wherein the rotary driving assembly is installed in the middle of the lower end surface of the supporting beam 510 and is in transmission connection with the first camera 530. When the support frame 100 moves to the vicinity of the stack where the target object is located, the rotation driving assembly drives the first camera 530 to rotate around the vertical axis, so that the lens of the first camera 530 faces the stack where the target object is located, the rotation driving assembly drives the first camera 530 to rotate around the vertical axis, the support frame 100 is not required to be moved, the objects on two sides of the support frame 100 can be identified by the first camera 530, and the object picking and placing operation is convenient.

The rotation driving assembly includes a support plate 541, a rotation driving motor 542, and a rotation transmission member 543, as shown in fig. 4, the support plate 541 is located below the support beam 510 and is disposed in a horizontal direction, an upper end surface of the support plate 541 is rotatably connected to the support beam 510 through a rotation shaft 546, and the rotation shaft 546 is disposed in a vertical direction. The first camera 530 is fixedly installed at the lower surface of the support plate 541, the rotary driving motor 542 is fixedly installed under the support plate 541, and the driving end extends to above the support plate 541 through the support plate 541. The rotation transmission member 543 is located above the support plate 541, and is in transmission connection with the rotation driving motor 542 and the rotation shaft 546, respectively. In the state of adjusting the first camera 530, the rotation driving motor 542 drives the rotation shaft 546 to rotate through the rotation transmission member 543, the rotation shaft 546 drives the support plate 541 to rotate, and the support plate 541 drives the first camera 530 to rotate, so as to adjust the lens orientation of the first camera 530.

The rotation transmission can be provided with the following two arrangement modes.

In one arrangement, the rotary driving member 543 includes a belt driving assembly, one pulley in the belt driving assembly is fixedly connected to the driving end of the rotary driving motor 542, the other pulley in the belt driving assembly is fixedly sleeved on the rotary shaft 546, and the driving belt in the belt driving assembly is sleeved on the outer peripheries of the two pulleys. The rotation driving motor 542 drives the belt pulley connected with the rotation driving motor to rotate forward or backward, and the driving belt drives the other belt pulley to rotate, so that the rotation shaft 546 and the supporting plate 541 are driven to rotate, and the position of the first camera 530 is adjusted.

As another embodiment, the rotation transmission member 543 includes a first rotation gear 544 and a second rotation gear 545 meshed with each other, as shown in fig. 7, the first rotation gear 544 is located above the support plate 541 and is fixedly connected to the driving end of the rotation driving motor 542, the second rotation gear 545 is fixedly sleeved on the rotation shaft 546 by means of a key connection, and the diameter of the second rotation gear 545 is larger than that of the first rotation gear 544. The rotation driving motor 542 drives the first rotation gear 544 to rotate, the first rotation gear 544 drives the second rotation gear 545 to rotate, and the second rotation gear 545 drives the rotation shaft 546 and the support plate 541 to rotate, so as to adjust the position of the first camera 530.

In one embodiment of the present application, the rotation driving assembly further includes a second limiting assembly connected to the support beam 510 and the support plate 541, respectively, for limiting a rotation range of the first camera 530. When the lens of the first camera 530 faces the stack where the target object is located, the second limiting component limits the support plate 541 to continue rotating, so that the positioning accuracy of the first camera 530 when the two-dimensional code is acquired is improved.

Specifically, the limiting assembly includes a limiting rod 551, a third limiting block 552 and a fourth limiting block 553, as shown in fig. 4, where the third limiting block 552 and the fourth limiting block 553 are fixedly mounted on the lower surface of the supporting beam 510 and respectively located on two sides of the supporting plate 541. As shown in fig. 7, the limit bar 551 is mounted to the upper surface of the support plate 541 by a bolt, and one end is provided protruding from the edge of the support plate 541. When the lens of the first camera 530 faces the stack where the target object on one side of the support frame 100 is located, the limiting rod 551 is abutted with the third limiting block 552, when the lens of the first camera 530 faces the stack where the target object on the other side of the support frame 100 is located, the limiting rod 551 is abutted with the fourth limiting block 553, and two limiting positions of the first camera 530 are limited by the cooperation of the limiting rod 551 with the third limiting block 552 and the fourth limiting block 553, so that the first camera 530 can accurately collect the target object on two sides of the support frame 100.

In one embodiment of the present application, a channel 110 for the conveying device to pass is also provided below the pick-and-place robot. Specifically, the passage 110 includes a first passage, a second passage, and a stay space for the conveyance device to stay, the first passage and the second passage being located on both sides of the stay space, respectively, and both communicating with the stay space. In one embodiment, the height of the first channel is lower than the height of the second channel, the height of the first channel being sufficient only for the passage of the handling device, the height of the second channel being sufficient for the passage of the handling device carrying the article. The carrying equipment without carrying the articles can enter and exit the residence space through the first channel or the second channel, and the carrying equipment with the articles enters and exits the residence space through the second channel. In another embodiment, the first channel and the second channel are the same height and each accommodate the passage of a carrying device carrying an item. When the article is taken, the carrying device enters the residence space through the channel 110, after the article is taken by the taking and placing component 410, the lifting driving mechanism 300 drives the taking and placing component 410 to move downwards, the taking and placing component 410 places the taken article on the carrying device, and the carrying device drives the article to move out of the supporting frame 100 through the channel 110.

In an embodiment of the present application, the pick-and-place robot further includes a base fixedly mounted at a lower end of the supporting mechanism, the base includes a first supporting wall 111 and a second supporting wall 112, the first supporting wall 111 and the second supporting wall 112 are independent from each other and are arranged in parallel at intervals, and a channel 110 for passing and staying of the handling robot is formed between the first supporting wall 111 and the second supporting wall 112.

The pick-and-place robot further comprises a second camera 130 for identifying the position of the support 100, and the second camera 130 is mounted on the support 100. Specifically, the second camera 130 is fixedly mounted on the support 100, and the lens is disposed downward, and a two-dimensional code corresponding to each stack of articles is attached to the ground near the stack of articles. When the article is taken or placed, the support frame 100 drives the second camera 130 to move, and the second camera 130 collects the two-dimensional code on the ground, so that the taking and placing robot automatically identifies the position to be left through the two-dimensional code on the ground.

The following describes the specific structure of running gear 200.

The traveling mechanism 200 includes two traveling assemblies, specifically, two traveling assemblies are located at two sides of the channel 110, and the two traveling assemblies are respectively installed at the lower ends of the first supporting wall 111 and the second supporting wall 112 and independently controlled, so that traveling actions such as advancing, retreating, turning, spinning and the like of the supporting frame 100 can be realized.

Specifically, the traveling assembly includes the driving wheel 210, the driven wheels 220, and the traveling driving member 230, the number of the driving wheels 210 is one, the number of the driven wheels 220 may be one, two, or three, etc., and in this embodiment, the number of the driven wheels 220 is two in each traveling assembly. The driving wheel 210 is rotatably connected to the lower end of the support frame 100, the rotation axis extends along the second direction b, the two driven wheels 220 are respectively located at two sides of the driving wheel 210 and are both rotatably connected to the support frame 100, and further, the two driven wheels 220 are all universal wheels. The traveling driving part 230 includes a traveling driving motor fixedly installed to the support frame 100 and in driving connection with the driving wheel 210. In the process of taking and placing the articles, the traveling driving motor drives the driving wheel 210 to rotate, and the driving wheel 210 drives the supporting frame 100 to move, so that the driven wheel 220 is driven to rotate. The traveling driving motors in the two traveling assemblies independently drive the corresponding driving wheels 210, thereby realizing traveling actions such as advancing, retreating, turning, spinning and the like of the support frame 100.

Further, the pick-and-place robot provided in the embodiment of the application further includes an electric cabinet 600, where the electric cabinet 600 is fixedly installed outside the supporting frame 100 and is electrically connected with the lifting driving mechanism 300, the travelling mechanism 200, the first camera 530 and the second camera 130 respectively, and the travelling of the pick-and-place robot and the pick-and-place operation are controlled by the electric cabinet 600.

The following describes an operation procedure of taking articles by the taking and placing system provided in the embodiment of the application.

The walking motor drives the driving wheel 210 to enable the support frame 100 to move in the passageway between the object stacks, the second camera 130 collects the two-dimensional codes on the ground to identify the position of the support frame 100, and when the second camera 130 collects the two-dimensional codes corresponding to the stacks of the object objects, the walking mechanism 200 stops driving the support frame 100 to walk; the rotary driving piece drives the supporting plate 541 to drive the first camera 530 to rotate, so that the lens of the first camera 530 faces the stack where the target object is located; then the lifting driving mechanism 300 adjusts the material taking and placing assembly 410 to the correct height, the first camera 530 sequentially collects two-dimensional codes on each article to determine the position of the target article, and the accuracy of the posture of the support 100 is judged according to the determined position of the target article; when the precision meets the requirement, the upper and lower picking and placing components 410 in the two picking and placing mechanisms 400 simultaneously extend, and then the picking and placing fingers 411 in the upper and lower picking and placing components 410 simultaneously extend. The lifting driving mechanism 300 drives the two picking and placing mechanisms 400 to ascend, the picking and placing finger 411 positioned at the upper layer contacts with the first article, the picking and placing finger 411 positioned at the lower layer contacts with the target article, then the picking and placing assembly 410 is continuously driven to ascend, and the first article and the target article are both forked, and an interval is reserved between the first article and the target article. After the first article and the target article are forked, the lower picking and placing component 410 drives the target article to retract into the supporting frame 100, then drives the two picking and placing mechanisms 400 to descend, the first article is placed on the second article of the original article stack, the upper picking and placing component 410 is retracted, the two picking and placing mechanisms 400 are continuously driven to descend, and finally the target article is placed on the carrying equipment in the parking space, so that the article picking operation is completed.

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

Claims

1. The utility model provides a get blowing robot which characterized in that includes: the lifting driving mechanism (300) is in transmission connection with the material taking and placing mechanism (400) so as to drive the material taking and placing mechanism (400) to ascend or descend;

the material taking and placing mechanism (400) comprises at least two material taking and placing components (410) which are arranged at intervals along the vertical direction, and the at least two material taking and placing components (410) are respectively used for taking and placing the articles which are stacked and placed and are located on different layers.

2. The pick-and-place robot of claim 1, wherein a portion of the at least two pick-and-place assemblies (410) are configured to pick up a first item of the stacked plurality of items above a target item, and other pick-and-place assemblies (410) of the at least two pick-and-place assemblies (410) are configured to pick up the target item; and, after the other pick-and-place assemblies (410) pick the target article, the partial pick-and-place assemblies (410) place the first article back over the remaining second article.

3. The pick-and-place robot according to claim 1, characterized in that the distance between two adjacent pick-and-place assemblies (410) is fixed;

alternatively, the distance between two adjacent pick-and-place assemblies (410) can be adjusted.

4. The pick-and-place robot according to claim 1, wherein a channel (110) for passing the handling equipment is further provided below the pick-and-place robot, and the travelling mechanism (200) is provided on both sides of the channel (110).

5. The pick-and-place robot according to claim 4, further comprising a base fixedly mounted at the lower end of the support mechanism, the base comprising a first support wall (111) and a second support wall (112) arranged in parallel and spaced apart, the first support wall (111) and the second support wall (112) forming the channel (110) therebetween.

6. The pick and place robot of claim 1, wherein the pick and place assembly (410) comprises a telescopic assembly (431), the telescopic assembly (431) extending out of the support mechanism when picking an item from or placing an item into the stacked items, the telescopic assembly (431) retracting back to the support mechanism when picking or placing is completed.

7. The pick-and-place robot according to claim 6, characterized in that the telescopic assembly (431) comprises a linkage and a first moving plate (4311) and a second moving plate (4312) are slidingly fitted in a horizontal direction;

the linkage is used for enabling the first moving plate (4311) and the second moving plate (4312) to synchronously move to the outside or the inside of the supporting mechanism.

8. The pick-and-place robot according to claim 2, wherein the pick-and-place mechanism (400) further comprises a fixing plate (420), and the pick-and-place assembly (410) is connected with the lifting drive mechanism (300) through the fixing plate (420).

9. The pick-and-place robot according to claim 8, characterized in that when the distance between two adjacent pick-and-place assemblies (410) is adjustable, each pick-and-place assembly (410) is connected to the lifting drive mechanism (300) by means of one of the fixing plates (420), at least one of the fixing plates (420) of the two adjacent fixing plates (420) being detachably connected to the lifting drive mechanism (300);

Or, the plurality of material taking and placing components (410) are installed on the same fixed plate (420) and are movably connected with the fixed plate (420), so that the distance between two adjacent material taking and placing components (410) can be adjusted.

10. The pick-and-place robot of claim 1, wherein the pick-and-place assembly (410) comprises pick-and-place fingers (411), the pick-and-place fingers (411) being inserted into slots provided on the articles when the articles are picked up.

11. The pick and place robot of claim 1 further comprising an image acquisition assembly (520), the image acquisition assembly (520) being mounted to the pick and place mechanism (400) for acquiring an identification code disposed on an article.

12. The pick-and-place robot of claim 11, wherein the image acquisition assembly (520) comprises a first camera (530) and a rotary drive assembly drivingly connected to the first camera (530) for driving the first camera (530) to rotate about a vertical axis to adjust an acquisition position of the first camera (530).

13. The pick and place robot of claim 12, wherein the rotational drive assembly comprises a limit assembly for limiting a range of rotation of the first camera (530).

14. The pick-and-place robot of claim 1, further comprising a second camera (130), the second camera (130) being mounted to the support mechanism for capturing an identification code located on the ground.

15. The pick and place robot according to any of the claims 1 to 14, wherein the lifting drive mechanism (300) comprises a lifting drive (320), the lifting drive (320) being adapted to drive the pick and place assembly (410) up when picking an item from or placing an item in the stack of items and to drive the pick and place assembly (410) down when picking or placing is completed.

16. A pick-and-place system, comprising:

handling equipment and the pick-and-place robot of any one of claims 1-15;

the carrying equipment is used for transferring articles between the taking and placing robot and the appointed position.

17. The pick-and-place system according to claim 16, characterized in that a channel (110) for the passage of the handling device is also provided below the pick-and-place robot;

The handling equipment is further used for moving to a channel (110) below the picking and placing robot, the picking and placing robot controls at least one picking and placing assembly (410) to place the picked object on the handling equipment, and the handling equipment carries the object placed by the picking and placing robot to a specified position.