CN220375470U

CN220375470U - Transfer robot

Info

Publication number: CN220375470U
Application number: CN202321565296.2U
Authority: CN
Inventors: 修德敏; 杨成龙; 邱晓烨; 杨振宇
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2023-06-16
Filing date: 2023-06-16
Publication date: 2024-01-23
Anticipated expiration: 2033-06-16

Abstract

The application provides a transfer robot, including removing chassis, stand and handling device, the stand sets up on removing the chassis, and handling device includes lifting member, mounting bracket and gets goods subassembly, and lifting member is gone up and down to remove for the stand; the mounting frame comprises a connecting column and at least two supporting pieces, the at least two supporting pieces are connected through the connecting column, the at least two supporting pieces are connected with the lifting piece, and the at least two supporting pieces extend in a direction away from the upright post; get goods subassembly and at least one of two at least support pieces are connected, and at least two support pieces are arranged along the direction of height of lifting piece to make at least two support pieces support in get goods subassembly direction of height's different positions get goods subassembly, get goods subassembly and include at least one get goods mechanism, make the lifting piece bear when getting the effort of goods subassembly, have a plurality of atress and bear the position, thereby improved lifting piece lifting movement's reliability and smoothness.

Description

Transfer robot

Technical Field

The application relates to the technical field of warehouse logistics, in particular to a transfer robot.

Background

With the development of artificial intelligence and automation technology, robots are widely used in the field of warehouse logistics for picking, placing, transporting and sorting goods. In a logistics system, goods are usually stored by using a column, and a robot with a corresponding function is used for picking up and placing the goods by docking with the column or a conveying line or the like, or completing a goods conveying task.

In the related art, a warehouse system generally includes a storage rack and a robot for picking and placing goods, the robot can move in a roadway between the storage racks, a fork for picking and placing goods and a basket for storing goods are generally arranged on the robot, the fork is generally arranged in a cantilever manner relative to a main body of the robot, and the fork is connected with the main body of the robot through a lifting unit and can lift and move relative to the main body of the robot.

However, when the fork of the robot is used for carrying goods, the lifting unit bears larger acting force, and the reliability is poor.

Disclosure of Invention

The utility model provides a transfer robot can solve the fork of robot when bearing the goods, and the effort that elevating unit bore is great, the relatively poor technical problem of reliability.

The application provides a transfer robot, this transfer robot is including removing chassis, stand and handling device, and the stand sets up on removing the chassis.

The carrying device comprises a lifting piece, a mounting frame and a picking and placing assembly, wherein the lifting piece moves up and down relative to the upright post; the mounting frame comprises a connecting column and at least two supporting pieces, the at least two supporting pieces are connected through the connecting column, the at least two supporting pieces are connected with the lifting piece, and the at least two supporting pieces extend in a direction away from the upright post; the picking and placing assembly is connected with at least one of the at least two supporting pieces, and the at least two supporting pieces are distributed along the height direction of the lifting piece, so that the at least two supporting pieces support the picking and placing assembly at different positions in the height direction of the picking and placing assembly; the pick-and-place assembly includes at least one pick-and-place mechanism.

The utility model provides a transfer robot supports the different positions of getting goods subassembly direction of height through set up a plurality of support pieces on getting the mounting bracket of goods subassembly, and then makes the lifting part bear when getting the effort of goods subassembly, has a plurality of atress bearing position, has improved lifting part lifting movement's reliability and smoothness nature.

As an alternative embodiment, the support may comprise a first support and a second support, the first support being located on a side of the pick-and-place assembly facing the mobile chassis; the second support piece is located on one side of the first support piece, which faces away from the movable chassis, and is spaced from the first support piece.

So set up, first support piece can play main supporting role in getting the below of putting goods subassembly, and second support piece can play auxiliary support effect, improves the reliability of getting the goods subassembly bearing structure.

As an alternative embodiment, the first support member may be connected to an end of the lifting member facing the moving chassis, and the second support member may be connected to an end of the lifting member facing away from the moving chassis.

So set up, the lifting piece is when bearing the effort of getting the goods subassembly of putting, and the both ends of lifting piece all can be atress to improve the smoothness nature of lifting piece when going up and down to remove.

As an alternative embodiment, the mounting frame may further include a first rotating member, where the first rotating member may be disposed on the first supporting member, and the pick-and-place assembly may be rotatably connected to the first supporting member through the first rotating member; and/or the mounting frame can further comprise a second rotating member, the second rotating member can be arranged on the second supporting member, and the picking and placing assembly can be rotationally connected with the second supporting member through the second rotating member.

So set up, get and put goods subassembly and can rotate for first support piece and second support piece to get the operation of putting goods.

As an alternative embodiment, the first rotating member may include a first outer ring and a first inner ring that rotates relative to the first outer ring, the first outer ring being connected to the first support member, the first inner ring being connected to the pick-and-place assembly; and/or the second rotating member may include a second outer race and a second inner race that rotates relative to the second outer race, the second outer race being coupled to the second support, the second inner race being coupled to the pick-and-place assembly.

The arrangement ensures the reliability of the support of the pick-and-place assembly through the two rotating members while realizing the rotation of the pick-and-place assembly.

As an alternative embodiment, the picking and placing assembly may include a connection mechanism and at least two picking and placing mechanisms, the at least two picking and placing mechanisms are connected by the connection mechanism, and the at least two picking and placing mechanisms are arranged along the height direction of the lifting member; at least one of the at least two pick-and-place mechanisms is located between the first support and the second support.

So set up, get and put goods subassembly can have double-deck getting and put goods space, improves transfer robot's efficiency of getting and putting goods.

As an alternative embodiment, the at least two pick-and-place mechanisms may include a first pick-and-place mechanism and a second pick-and-place mechanism, the first pick-and-place mechanism may be located on a side of the first support facing away from the mobile chassis, and the second pick-and-place mechanism may be located on a side of the first pick-and-place mechanism facing away from the mobile chassis; the connecting mechanism is connected with the second rotary member so that the connecting mechanism can support the second picking and placing mechanism.

So set up, can have two-layer getting goods space from top to bottom, two get and put goods mechanism interconnect, guarantee to get bilayer structure of putting goods subassembly and have higher structural stability.

As an alternative embodiment, the picking and placing assembly may further include a rotation driving mechanism, where the rotation driving mechanism includes a first driving member and a first transmission member, the first driving member is disposed on the first picking and placing mechanism, and the first driving member is configured to drive the first transmission member, so that the first transmission member drives the first picking and placing mechanism to rotate relative to the first supporting member.

By the arrangement, the pick-and-place assembly can relatively rotate relative to the mounting frame, and the driving efficiency of the pick-and-place assembly is improved.

As an alternative embodiment, the second support may be located between the first pick-and-place mechanism and the second pick-and-place mechanism, the spacing between the first support and the second support being matched to the height of the storage space above the first pick-and-place mechanism.

So set up, second support piece can play the supporting role in getting the intermediate position of goods subassembly direction of height, improves bearing structure's reliability.

As an alternative embodiment, the second pick-and-place mechanism may be located on a side of the second support facing away from the first pick-and-place mechanism; the connecting mechanism is connected between the first picking and placing mechanism and the second picking and placing mechanism, and the connecting mechanism is connected with the second picking and placing mechanism through the second rotating member so that the first picking and placing mechanism and the second picking and placing mechanism synchronously rotate relative to the mounting frame.

So set up, get goods mechanism and first getting goods mechanism and can be whole relatively fixed to bear weight jointly by first support piece and second support piece, improve structural stability.

As an alternative embodiment, the connecting column comprises a first connecting column, the connecting mechanism may comprise a first connecting plate, the first end of the first connecting column may be connected with the first picking and placing mechanism, the second end of the first connecting column faces the second picking and placing mechanism, the first connecting plate may be connected with the second end of the first connecting column, and the first connecting plate is connected with the second rotating member.

So set up, improve the reliability of connection structure between first getting and putting goods mechanism and the second and get and put goods mechanism.

As an alternative implementation manner, the first connecting columns can be multiple, the first connecting columns are distributed on two sides of the width direction of the picking and placing assembly, the first connecting columns are parallel to each other, and the second ends of the first connecting columns can be connected with the first connecting plate.

So set up, can first connecting plate be as the first get and put the goods mechanism and the second get and put the connection transition part between the goods mechanism, guarantee to have higher structural strength between the two.

As an alternative embodiment, the second support may be located on a side of the second pick-and-place mechanism facing away from the first pick-and-place mechanism, and the distance between the first support and the second support may be matched to the sum of the heights of the storage space above the first pick-and-place mechanism and the storage space above the second pick-and-place mechanism.

So set up, can set up the top position at getting the goods subassembly with second support piece to second support piece can assist first support piece to bear the effort of getting the goods subassembly, improves structural strength.

As an alternative embodiment, the connecting column comprises a second connecting column, the connecting mechanism may comprise a second connecting plate, the first end of the second connecting column is connected with the first picking and placing mechanism, the second end of the second connecting column faces the second picking and placing mechanism, and the second connecting column is connected with the second picking and placing mechanism; the second connecting plate is connected with the second end of the second connecting column, and the second connecting plate is connected with the second rotary member.

The arrangement is that the pick-and-place assembly can rotate relative to the second support member through the second rotating member, and the second support member can bear the acting force of the pick-and-place assembly.

As an alternative embodiment, the number of the second connecting columns may be plural, the plurality of second connecting columns are distributed on two sides of the picking and placing assembly in the width direction, and at least part of second ends of the second connecting columns extend to one side of the second picking and placing mechanism, which is away from the first picking and placing mechanism; the second connecting plate is connected between the second connecting columns at two sides of the picking and placing assembly.

By the arrangement, the reliability of the connecting structure between the first picking and placing mechanism and the second picking and placing mechanism can be improved.

As an alternative embodiment, the first picking and placing mechanism may include a first base plate, a first telescopic member and a first picking and placing member, where the first base plate is rotationally connected with the first support member through a first rotary member, the first telescopic member slides relative to the first base plate, and the first picking and placing member is disposed on the first telescopic member; the second picking and placing mechanism can comprise a second base plate, a second telescopic piece and a second picking and placing piece, the second base plate can be connected with the first base plate through the connecting mechanism, the second telescopic piece slides relative to the second base plate, and the second picking and placing piece is arranged on the second telescopic piece.

The base plate between the two picking and placing mechanisms can be relatively fixed, and the telescopic picking and placing operation can be independently carried out.

As an alternative embodiment, the first picking and placing mechanism comprises a first driving unit, the first driving unit is arranged on the first picking and placing member, a first rack is arranged on the first telescopic member, a first gear is arranged on the first picking and placing member, the first gear is meshed with the first rack, and the output end of the first driving unit is connected with the first gear so that the first driving unit drives the first picking and placing member to move relative to the first telescopic member; and/or the number of the groups of groups,

the second picking and placing mechanism comprises a second driving unit, the second driving unit is arranged on the second picking and placing piece, a second rack is arranged on the second telescopic piece, a second gear is arranged on the second picking and placing piece, the second gear is meshed with the second rack, and the output end of the second driving unit is connected with the second gear, so that the second driving unit drives the second picking and placing piece to move relative to the second telescopic piece.

As an alternative embodiment, the first goods taking piece comprises a first sliding plate and a first goods hook, a first guide rail is arranged on the first telescopic piece, the first sliding plate is arranged in a sliding way with the first guide rail, and the first goods hook is connected with the first sliding plate; the second goods taking piece comprises a second sliding plate and a second goods hook, a second guide rail is arranged on the second telescopic piece, the second sliding plate is arranged in a sliding mode and connected with the second guide rail, and the second goods hook is connected with the second sliding plate.

As an alternative embodiment, the first cargo hook is slidably connected to the first sliding plate, and the first cargo taking member further includes a first tension spring, one end of which is connected to the first sliding plate, and the other end of which is connected to the first cargo hook; and/or the number of the groups of groups,

the second cargo hook is in sliding connection with the second sliding plate, the second cargo taking piece further comprises a second tension spring, two ends of the second tension spring are connected with the second sliding plate, and the other end of the second tension spring is connected with the second cargo hook.

As an alternative embodiment, the first cargo hook is slidably connected with the first sliding plate, and the first cargo taking piece further comprises a third driving unit, wherein the third driving unit is arranged on the first sliding plate and is used for driving the first cargo hook to move along the vertical direction; and/or the number of the groups of groups,

the second cargo hook is in sliding connection with the second sliding plate, the second cargo taking piece further comprises a fourth driving unit, the fourth driving unit is arranged on the second sliding plate, and the fourth driving unit is used for driving the second cargo hook to move along the vertical direction.

As an alternative embodiment, the lifting member may include a lifting body and a roller group, the roller group may include a plurality of rollers, each of the plurality of rollers may be rotatably connected to the lifting body, and the plurality of rollers may be distributed at different positions in a height direction of the lifting member; the plurality of rollers are all abutted with the upright post.

By the arrangement, the smoothness of the lifting piece in lifting and moving relative to the upright post can be improved.

As an alternative embodiment, the stand comprises a fixed stand and a movable stand, the fixed stand is connected with the movable chassis, the movable stand is connected with the fixed stand and can move along the height direction of the fixed stand, and the lifting piece is connected with the movable stand.

As an optional implementation manner, the transfer robot further comprises a plurality of temporary storage units, and the temporary storage units are arranged at intervals along the height direction of the upright post; the carrying device and the temporary storage unit are respectively positioned at two opposite sides of the upright post.

The application provides a transfer robot, including removing chassis, stand and handling device, the stand sets up on removing the chassis, and handling device includes lifting member, mounting bracket and gets put goods subassembly, and the lifting member is connected in the side of stand, and lifting member lift removal for the stand; the mounting frame comprises a connecting column and at least two supporting pieces, the at least two supporting pieces are connected through the connecting column, the at least two supporting pieces are connected with the lifting piece, and the at least two supporting pieces extend in a direction away from the upright post; the picking and placing assembly is connected with at least one of the at least two supporting pieces, and the at least two supporting pieces are distributed along the height direction of the lifting piece, so that the at least two supporting pieces support the picking and placing assembly at different positions of the height direction of the picking and placing assembly, the lifting piece is provided with a plurality of stressed bearing positions when bearing the acting force of the picking and placing assembly, and the reliability and smoothness of lifting movement of the lifting piece are improved.

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

Drawings

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

Fig. 1 is a schematic structural diagram of a transfer robot according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a handling device in a first structure of a handling robot according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram ii of a handling device in a first structure of the handling robot according to the embodiment of the present disclosure;

Fig. 4 is a side view of a first embodiment of a handling device in a first configuration of a handling robot according to the present disclosure;

fig. 5 is a second side view of the handling device in the first configuration of the handling robot according to the embodiment of the present disclosure;

fig. 6 is a schematic bottom view of a handling device in a first structure of a handling robot according to an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram of a lifting member in a first structure of the transfer robot according to the embodiment of the present application;

fig. 8 is a schematic view of a second structure of the transfer robot according to the embodiment of the present application;

fig. 9 is a schematic structural view of a handling device in a second structure of the handling robot according to the embodiment of the present disclosure;

fig. 10 is a schematic diagram of a second structure of a handling device in a second structure of the handling robot according to the embodiment of the present disclosure;

fig. 11 is a side view of a first carrying device in a second configuration of a carrying robot according to an embodiment of the present disclosure;

fig. 12 is a second side view of the handling device in the second configuration of the handling robot according to the embodiment of the present disclosure;

fig. 13 is a schematic bottom view of a handling device in a second structure of the handling robot according to the embodiment of the present disclosure;

fig. 14 is a schematic structural view of a lifting member in a second structure of the transfer robot according to the embodiment of the present application;

Fig. 15 is a side view of the extended state of the transfer robot provided in the embodiment of the present application;

fig. 16 is a schematic structural view of a retracted state of the transfer robot according to the embodiment of the present application;

fig. 17 is a schematic diagram illustrating the matching of the goods picking member and the telescopic member in the transfer robot according to the embodiment of the present application;

fig. 18 is a schematic structural diagram of a pickup part in the transfer robot according to the embodiment of the present application;

FIG. 19 is a front view of FIG. 18;

fig. 20 is a schematic diagram of a second structure of a pickup part in the transfer robot according to the embodiment of the present application.

Reference numerals illustrate:

100-moving the chassis;

200-upright posts; 210-a temporary storage unit;

300-handling device; 310-lifting piece; 311-lifting a main body; 312-roller sets; 320-mounting rack; 321-a support; 321 a-a first support; 321 b-a second support; 322-first rotating member; 323-a second rotating member; 330-pick-and-place assembly; 331-a first pick-and-place mechanism; 3311—a first substrate; 3312—a first telescoping member; 3313—a first picker; 3313 a-a third drive unit; 3314—a first drive unit; 3315—a first rack; 3316—a first gear; 3317—a first slide plate; 3318—first hook; 3319—a first tension spring; 332-a second pick-and-place mechanism; 3321-a second substrate; 3322-second telescoping member; 3323-second picker; 333-a connection mechanism; 3331 a-first connecting column; 3331b—a first connection plate; 3332 a-a second connecting column; 3332 b-second connection plate; 334—a rotary drive mechanism; 3341—first driver; 3342—first transmission member; 335-a detection unit;

400-material box.

Detailed Description

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

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

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

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

Various robots are widely used in various fields such as industry and life, and the robots play an important role in the industries such as transportation, logistics and the like, goods are usually stored in a storage logistics system by a storage rack, and the robots can pick up and place the goods by being in butt joint with the storage rack or a conveying line and can convey the goods. The transfer robot can remove in the tunnel between the storing frame, is provided with the fork of getting and putting goods and the basket carried on a back of depositing goods on the robot generally, is the cantilever setting on the fork for the main part of robot, and the fork passes through the elevating unit and is connected with the main part of robot to can go on the elevating movement for the main part of robot, when placing goods or material case on the fork, the fork is whole has great capsizing effort for the main part of robot.

Therefore, when the fork of the existing robot bears goods, the lifting unit for driving the fork to move up and down bears larger acting force, the connection reliability between the fork and the lifting unit is poor, and the lifting unit is subjected to torque action formed by the overturning acting force of the fork when moving relative to the main body of the robot, so that the lifting movement smoothness of the lifting unit is insufficient.

To above-mentioned problem, this application embodiment provides a transfer robot, through the bearing structure's to the fork design for the lift unit in the main part of robot can support a plurality of positions of fork when bearing the fork through the mounting bracket, thereby makes mounting bracket and lift unit have a plurality of stress points, in order to improve the structural stability of fork in the main part of robot, and improve the smoothness nature that the lift unit drove fork lift and remove.

For easy understanding, an application scenario of the embodiments of the present application will be described first.

The transfer robot provided in this embodiment of the present application may be applied to a warehouse system for picking, placing and transporting goods, where the transfer robot may be applied to different fields such as logistics distribution of an industrial production line, in-out warehouse of inventory products in manufacturing industry, in-out warehouse of products in retail industry, and fast delivery in-out warehouse of e-commerce logistics, and the transported products or goods may be industrial parts, electronic accessories or products, medicines, clothing ornaments, foods, books, etc., and may be used for directly transferring goods, or may be used for transferring a material box containing goods.

Fig. 1 is a schematic diagram of a first structure of a handling robot provided in an embodiment of the present application, fig. 2 is a schematic diagram of a first structure of a handling device of the first structure of the handling robot provided in an embodiment of the present application, fig. 3 is a schematic diagram of a second structure of the first structure of the handling robot provided in an embodiment of the present application, fig. 4 is a side view of the first structure of the handling device of the first structure of the handling robot provided in an embodiment of the present application, fig. 5 is a schematic diagram of a bottom of the first structure of the handling device of the first structure of the handling robot provided in an embodiment of the present application, and fig. 7 is a schematic diagram of a lifting member of the first structure of the handling robot provided in an embodiment of the present application.

As shown in fig. 1 to 7, the embodiment of the present application provides a transfer robot for picking and placing and transferring a material box 400, the transfer robot includes a moving chassis 100, a column 200 and a transfer device 300, the column 200 is disposed on the moving chassis 100, the moving chassis 100 can move on the ground, a temporary storage unit 210 on the column 200 is used for storing the material box 400, the transfer device 300 is used for picking and placing the material box 400, and the transfer device 300 can be connected with the column 200, and the transfer device 300 can move along the height direction of the column 200, so as to realize picking and placing operations of the material box 400 at different height positions.

Wherein, handling device 300 includes lifter 310, mounting bracket 320 and gets put goods subassembly 330, and lifter 310 connects in the side of stand 200, and lifter 310 is for stand 200 lift removal, gets put goods subassembly 330 and lifter 310 through mounting bracket 320 to lifter 310 can drive gets put goods subassembly 330 and remove along the direction of height of stand 200, gets put goods subassembly 330 and is used for getting put of material case 400.

In some embodiments, the mounting frame 320 includes a connecting post and at least two supporting members 321, where the at least two supporting members 321 are connected by the connecting post, the supporting members 321 are all connected with the lifting member 310, the supporting members 321 all extend away from the direction of the upright post 200, the picking and placing assembly 330 includes at least one picking and placing mechanism, the picking and placing assembly 330 is connected with at least one of the supporting members 321, and the supporting members 321 can be arranged along the height direction of the lifting member 310, so that the supporting members 321 support the picking and placing assembly 330 at different positions in the height direction of the picking and placing assembly 330.

It will be appreciated that the end of the support 321 may be connected to the lifter 310, the support 321 may form a cantilever structure at the side of the lifter 310, and the pick-and-place assembly 330 is disposed on the support 321, and the weight of the pick-and-place assembly 330 is borne by the support 321, so that the force of the pick-and-place assembly 330 on the support 321 is transferred to the lifter 310.

Because the supporting piece 321 is used as a cantilever to bear the downward gravity action of the picking and placing assembly 330, the lifting piece 310 at the starting end of the cantilever of the supporting piece 321 needs to bear the torque formed by the acting force of the picking and placing assembly 330 on the supporting piece 321.

It should be noted that, in the transfer robot provided in this embodiment of the present application, the mounting frame 320 of the pick-and-place assembly 330 is set to be in a structural form of a plurality of supporting members 321, and when the pick-and-place assembly 330 is installed, different positions of the pick-and-place assembly 330 in the height direction can be supported, so that the lifting member 310 has a plurality of bearing positions when bearing the acting force of the pick-and-place assembly 330, and the reliability and smoothness of lifting movement of the lifting member 310 relative to the upright post 200 are improved.

The specific arrangement of the support 321 and the specific connection of the pick-and-place assembly 330 to the support 321 will be described in detail.

The moving direction of the lifter 310 with respect to the column 200 is defined as the Z direction, the length direction of the pick-and-place unit 330 is defined as the X direction, and the width direction of the pick-and-place unit 330 is defined as the Y direction.

With continued reference to fig. 1-7, in one possible implementation, the support 321 may include a first support 321a and a second support 321b, where the first support 321a is located on a side of the pick and place assembly 330 facing the mobile chassis 100, and the second support 321b is located on a side of the first support 321a facing away from the mobile chassis 100 and spaced apart from the first support 321 a.

It is understood that the first supporting member 321a is located below the pick-and-place assembly 330 along the Z direction, so that the first supporting member 321a can play a main supporting role below the pick-and-place assembly 330, while the second supporting member 321b can be supported at other positions on the pick-and-place assembly 330, and the second supporting member 321b can play an auxiliary supporting role, so as to improve the reliability of the supporting structure of the pick-and-place assembly 330.

Illustratively, the second support 321b may be supported at a middle position of the pick and place assembly 330 along the Z-direction, or the second support 321b may be supported at a top position of the pick and place assembly 330 along the Z-direction, which is not specifically limited in the embodiments herein.

It should be noted that, in the embodiment of the present application, the number of the supporting members 321 may be two, three or more, where the supporting members 321 below the pick-and-place assembly 330 play a main supporting role, and other supporting members 321 may play an auxiliary supporting role, and the following description will be given by taking two supporting members 321 as examples, which will not be repeated.

In some embodiments, the first support 321a may be connected to an end of the lifting member 310 facing the moving chassis 100, and the second support 321b may be connected to an end of the lifting member 310 facing away from the moving chassis 100, and the first support 321a and the second support 321b are disposed parallel to each other.

It will be appreciated that the first support 321a and the second support 321b each extend laterally of the upright 200 along the X direction, and the lifter 310 extends along the Z direction, and the first support 321a is connected to the bottom end of the lifter 310 along the Z direction, so that the first support 321a can be supported below the pick-and-place assembly 330. The second supporting member 321b is connected to the top end of the lifting member 310 along the Z direction, so that the second supporting member 321b can be opposite to the middle position of the picking and placing assembly 330 or the upper space of the picking and placing assembly 330.

It should be noted that, the ends of the two cantilever structures formed by the first support 321a and the second support 321b are respectively connected with two ends of the lifting member 310, so that when the lifting member 310 bears the acting force of the picking and placing assembly 330, the two ends of the lifting member 310 can be stressed synchronously, thereby improving the reliability of supporting the picking and placing assembly 330 and the smoothness of the lifting member 310 during lifting and moving.

In some embodiments, the mounting frame 320 may further include a first rotating member 322, where the first rotating member 322 may be disposed on the first supporting member 321a, and the pick and place assembly 330 may be rotatably connected to the first supporting member 321a through the first rotating member 322.

The mounting frame 320 may further include a second rotating member 323, where the second rotating member 323 may be disposed on the second supporting member 321b, and the pick and place assembly 330 may be rotatably connected to the second supporting member 321b through the second rotating member 323.

It will be appreciated that the pick and place assembly 330 may be rotatable relative to the first and second supports 321a, 321b, i.e., the pick and place assembly 330 may be rotatable as a unit relative to the mounting frame 320 to facilitate the pick and place operation. The axis of rotation of pick and place assembly 330 extends in the Z direction such that the pick and place opening of pick and place assembly 330 is oriented toward column 200 or toward a side facing away from column 200 by rotation of pick and place assembly 330.

It should be noted that, the first rotating member 322 and the second rotating member 323 may be bearings, the first rotating member 322 may be mounted on the first supporting member 321a through a bearing seat, the second rotating member 323 may be mounted on the second supporting member 321b through a bearing seat, and the first rotating member 322 and the second rotating member 323 may all be axially stressed, so as to ensure that the pick-and-place assembly 330 may rotate while having sufficient supporting strength for the pick-and-place assembly 330.

In addition, since the first supporting member 321a plays a main supporting role under the pick-and-place assembly 330, and the second supporting member 321b plays an auxiliary supporting role over the first supporting member 321a, the size of the first rotating member 322 matched with the first supporting member 321a may be larger than the size of the second rotating member 323 matched with the second supporting member 321b, and the size models of the first rotating member 322 and the second rotating member 323 are not limited in this embodiment.

For example, the first rotating member 322 may include a first outer ring and a first inner ring rotating relative to the first outer ring, where the first outer ring may be connected to the first support member 321a, the first inner ring may be connected to the pick-and-place assembly 330, the first outer ring is a bearing outer ring, the first inner ring is a bearing inner ring, the first outer ring may be fixedly connected to the first support member 321a, including, but not limited to, a welded connection, a fastening connection such as a bolt, and the like, and the first inner ring may be connected to the pick-and-place assembly 330 by a fastening connection or may be assembled in an interference fit manner, so that the reliability of the first support member 321a supporting the pick-and-place assembly 330 by the first rotating member 322 is ensured while the pick-and-place assembly 330 rotates relative to the first support member 321 a.

For example, the second rotating member 323 may include a second outer ring and a second inner ring that rotates relative to the second outer ring, where the second outer ring is connected to the second support member 321b, and the second inner ring is connected to the pick-and-place assembly 330, and the second outer ring is a bearing outer ring, and the second inner ring is a bearing inner ring, and the second outer ring may be fixedly connected to the second support member 321b, including, but not limited to, a welded connection, a fastening connection such as a bolt, and the like, and the second inner ring may be connected to the pick-and-place assembly 330 by the fastening connection or may be assembled in an interference fit manner, so that the reliability of the second support member 321b supporting the pick-and-place assembly 330 through the second rotating member 323 is ensured while the pick-and-place assembly 330 rotates relative to the second support member 321 b.

The specific structure of the pick-and-place assembly 330 and the specific matching manner of the pick-and-place assembly 330 with the first support 321a and the second support 321b are described in detail below.

With continued reference to fig. 1 to 7, in one possible implementation, the pick-and-place assembly 330 may include a connection mechanism 333 and at least two pick-and-place mechanisms, where the at least two pick-and-place mechanisms are connected by the connection mechanism 333, and the at least two pick-and-place mechanisms are arranged along the height direction of the lifter 310, and at least one of the at least two pick-and-place mechanisms is located between the first support 321a and the second support 321 b.

It will be appreciated that the number of pick and place mechanisms of pick and place assembly 330 may be two, three, or more, each with an independent storage space for storage of the bin 400, and each capable of picking and placing the bin 400, thereby improving the efficiency of pick and place assembly 330 for picking and placing the bin 400.

Taking two get goods placing organization as an example, get goods placing component 330 can have double-deck getting goods placing space, and two get goods placing organization can be arranged along the Z direction, and a plurality of get goods placing organization get put a plurality of materials and make get the whole weight increase of goods placing component 330, but in this embodiment, support through a plurality of support piece 321 for fork group price also has good structural stability when having the structure of multilayer getting goods placing material case 400.

In one possible implementation, the picking and placing mechanism may include a first picking and placing mechanism 331 and a second picking and placing mechanism 332, where the first picking and placing mechanism 331 may be located on a side of the first supporting member 321a facing away from the mobile chassis 100, and the second picking and placing mechanism 332 may be located on a side of the first picking and placing mechanism 331 facing away from the mobile chassis 100.

It can be appreciated that the first pick-and-place mechanism 331 is located below the second pick-and-place mechanism 332, and the second pick-and-place mechanism 332 is located above the first pick-and-place mechanism 331, and the first pick-and-place mechanism 331 and the second pick-and-place mechanism 332 can be relatively fixed through the connection mechanism 333, and can rotate synchronously relative to the mounting frame 320, so that the double-layer structure of the pick-and-place assembly 330 is ensured to have higher structural stability.

For example, the first picking and placing mechanism 331 may be carried above the first supporting member 321a, and the bottom of the first picking and placing mechanism 331 may be connected to the first rotating member 322, and the first picking and placing mechanism 331 may rotate relative to the first supporting member 321a by the first rotating member 322; the second picking and placing mechanism 332 may be carried above the first picking and placing mechanism 331 by the connection mechanism 333, and the connection mechanism 333 may be connected with the second rotating member 323, so that the whole acting force of the picking and placing assembly 330 is transferred to the second supporting member 321b by the connection mechanism 333, and the second supporting member 321b may realize the auxiliary supporting function.

In some embodiments, the pick-and-place assembly 330 may further include a rotation driving mechanism 334, where the rotation driving mechanism 334 includes a first driving member 3341 and a first transmission member 3342, the first driving member 3341 is disposed on the first pick-and-place mechanism 331, and the first driving member 3341 is configured to drive the first transmission member 3342 to make the first transmission member 3342 drive the first pick-and-place mechanism 331 to rotate relative to the first support member 321 a.

It will be appreciated that the first driving member 3341 may be a motor, the output end of the first driving member 3341 may be provided with a driving wheel, the outer ring of the first rotating member 322 may form a driving wheel, the first driving member 3342 is a flexible driving member and is wound between the two driving wheels, wherein the outer ring of the first rotating member 322 is kept relatively fixed, and the rotation of the pick and place assembly 330 relative to the mounting frame 320 can be realized by the rotation of the output end of the first driving unit, and the driving efficiency of the rotation of the pick and place assembly 330 is improved.

Illustratively, the driving wheel at the output end of the first driving member 3341 may be a sprocket, the outer ring of the first rotating member 322 may be provided with a sprocket, and the first driving member 3342 may be a chain, and the rotation driving mechanism 334 may also employ other driving structures, including but not limited to a pulley driving, etc.

It should be noted that, since the pick-and-place assembly 330 may have a multi-layered pick-and-place structure, the first support 321a may be supported at the bottom of the pick-and-place assembly 330, and the second support 321b may have different support positions with respect to the pick-and-place assembly 330, for example, the second support 321b may be supported in the middle of the first pick-and-place mechanism 331 and the second pick-and-place mechanism 332, or the second support 321b may be supported above the second pick-and-place mechanism 332. The following will explain in detail each by way of different examples.

With continued reference to fig. 1 to 7, in one possible implementation manner, the second support 321b may be located between the first pick-and-place mechanism 331 and the second pick-and-place mechanism 332, where a distance between the first support 321a and the second support 321b matches a height of the storage space above the first pick-and-place mechanism 331, and the second support 321b may play a supporting role in a middle position of the pick-and-place assembly 330 in a height direction, so as to improve reliability of the support structure.

It will be appreciated that the first pick-and-place mechanism 331 may be coupled to the second support 321b by a coupling mechanism 333, and the second pick-and-place mechanism 332 may be supported above the second support 321b, and the first and second pick-and-place mechanisms 331 and 332 may be simultaneously rotated relative to the second support 321 b.

In some embodiments, the second picking and placing mechanism 332 may be located on a side of the second support 321b facing away from the first picking and placing mechanism 331, the connecting mechanism 333 is connected between the first picking and placing mechanism 331 and the second picking and placing mechanism 332, and the connecting mechanism 333 is connected to the second picking and placing mechanism 332 through the second rotating member 323, so that the first picking and placing mechanism 331 and the second picking and placing mechanism 332 rotate synchronously relative to the mounting frame 320.

It can be appreciated that the connection mechanism 333 and the second picking and placing mechanism 332 may be connected with the inner ring of the second rotating member 323 at the same time, the weight of the second picking and placing mechanism 332 may be carried by the inner ring of the second rotating member 323, and the second rotating member 323 is transferred to the connection mechanism 333, so that the second picking and placing mechanism 332 and the first picking and placing mechanism 331 may be relatively fixed integrally, and the first supporting member 321a and the second supporting member 321b may jointly carry the weight, thereby improving the structural stability.

In some embodiments, the connecting column includes a first connecting column 3331a, the connecting mechanism 333 may include a first connecting plate 3331b, a first end of the first connecting column 3331a may be connected with the first picking and placing mechanism 331, a second end of the first connecting column 3331a faces the second picking and placing mechanism 332, the first connecting plate 3331b may be connected with a second end of the first connecting column 3331a, and the first connecting plate 3331b is connected with the second rotating member 323, so as to improve the reliability of the connecting structure between the first picking and placing mechanism 331 and the second picking and placing mechanism 332.

It is to be understood that the first connecting column 3331a may extend along the Z direction, the first connecting column 3331a may have a space between the first picking and placing mechanism 331 and the second picking and placing mechanism 332, and further, a storage space for placing the material box 400 may be formed above the first picking and placing mechanism 331, and the first connecting plate 3331b may be connected with the top of the first connecting column 3331 a.

The first connecting columns 3331a may be a plurality of first connecting columns 3331a, the first connecting columns 3331a are distributed on two sides of the picking and placing assembly 330 in the width direction, the first connecting columns 3331a are parallel to each other, and the second ends of the first connecting columns 3331a are connected with the first connecting plates 3331b, so that the first connecting plates 3331b serve as connecting transition parts between the first picking and placing mechanism 331 and the second picking and placing mechanism 332, and the first connecting columns 3331a enable the stress of the first connecting plates 3331b to be more balanced, so that higher structural strength is ensured between the first connecting plates 3331 b.

It should be noted that, since the storage space above the second picking and placing mechanism 332 is located above the second supporting member 321b along the Z direction, when the second picking and placing mechanism 332 picks up and places the material box 400, the material box 400 is located above the lifting member 310, and therefore, when the picking and placing assembly 330 picks up and places the material box 400, the picking and placing operation of the material box 400 can be performed at a position higher than the top end of the upright post 200.

Fig. 8 is a schematic diagram of a second structure of a handling robot provided in an embodiment of the present application, fig. 9 is a schematic diagram of a first structure of a handling device in a second structure of a handling robot provided in an embodiment of the present application, fig. 10 is a schematic diagram of a second structure of a handling device in a second structure of a handling robot provided in an embodiment of the present application, fig. 11 is a side view of a first structure of a handling device in a second structure of a handling robot provided in an embodiment of the present application, fig. 12 is a schematic diagram of a bottom of a handling device in a second structure of a handling robot provided in an embodiment of the present application, and fig. 13 is a schematic diagram of a lifting member in a second structure of a handling robot provided in an embodiment of the present application.

Referring to fig. 8 to 14, in one possible implementation, the second support 321b may be located on a side of the second picking and placing mechanism 332 away from the first picking and placing mechanism 331, and a distance between the first support 321a and the second support 321b may be matched with a sum of heights of the placing space above the first picking and placing mechanism 331 and the placing space above the second picking and placing mechanism 332.

It can be appreciated that the second supporting member 321b is disposed above the picking and placing assembly 330, the first picking and placing mechanism 331 and the second picking and placing mechanism 332 can be fixed relatively directly by the connection mechanism 333, the first picking and placing mechanism 331 and the second picking and placing mechanism 332 are located between the first supporting member 321a and the second supporting member 321b as a whole, and the second supporting member 321b can assist the first supporting member 321a to bear the acting force of the picking and placing assembly 330, so as to improve the structural strength.

In some embodiments, the connection mechanism 333 may be connected between the first pick-and-place mechanism 331 and the second pick-and-place mechanism 332, the second pick-and-place mechanism 332 is located above the first support 321a, one end of the connection mechanism 333, which is away from the mobile chassis 100, is connected with the second rotating member 323, the first pick-and-place mechanism 331 and the second pick-and-place mechanism 332 may be connected into a whole through the connection mechanism 333, the acting force of the pick-and-place assembly 330 may be transferred to the second support 321b through the connection mechanism 333, and the first support 321a and the second support 321b bear the force together, so as to improve the structural stability of the pick-and-place assembly 330.

The connection post includes a second connection post 3332a, the connection mechanism 333 may include a second connection plate 3332b, a first end of the second connection post 3332a is connected with the first picking and placing mechanism 331, a second end of the second connection post 3332a faces the second picking and placing mechanism 332, the second connection post 3332a is connected with the second picking and placing mechanism 332, the second connection plate 3332b is connected with a second end of the second connection post 3332a, and the second connection plate 3332b is connected with the second rotating member 323, so that the picking and placing assembly 330 can rotate relative to the second supporting member 321b through the second rotating member 323, and meanwhile the second supporting member 321b can bear the acting force of the picking and placing assembly 330.

In some embodiments, the second connecting posts 3332a may be multiple, the second connecting posts 3332a are distributed on two sides of the picking and placing assembly 330 in the width direction, at least a portion of the second ends of the second connecting posts 3332a extend to one side of the second picking and placing mechanism 332 facing away from the first picking and placing mechanism 331, and the second connecting plates 3332b are connected between the second connecting posts 3332a on two sides of the picking and placing assembly 330, so that the reliability of the connecting structure between the first picking and placing mechanism 331 and the second picking and placing mechanism 332 can be improved.

For example, the number of the second connection posts 3332a may be four, wherein the height of two second connection posts 3332a is matched with the distance between the first picking and placing mechanism 331 and the second picking and placing mechanism 332, and the height of the other two second connection posts 3332a may extend upwards along the Z direction from the side of the second picking and placing mechanism 332, so as to be connected with the second connection plate 3332b above the second picking and placing mechanism 332.

In this embodiment of the present application, the pick-and-place mechanism may be applied to other logistics equipment such as an automated conveyor line and an loading/unloading machine, and is not limited in this embodiment. The pick and place mechanism may include a first pick and place mechanism 331 and a second pick and place mechanism 332. The structure of the first pick-and-place mechanism 331 and the second pick-and-place mechanism 332 will be described below.

In one possible implementation, the first picking and placing mechanism 331 may include a first base plate 3311, a first telescopic member 3312 and a first picking and placing member 3313, the first base plate 3311 is rotationally connected with the first supporting member 321a through the first rotating member 322, the first telescopic member 3312 slides relative to the first base plate 3311, the first picking and placing member 3313 is disposed on the first telescopic member 3312, the second picking and placing mechanism 332 may include a second base plate 3321, a second telescopic member 3322 and a second picking and placing member 3323, the second base plate 3321 may be connected with the first base plate 3311 through a connecting mechanism 333, the second telescopic member 3322 slides relative to the second base plate 3321, and the second picking and placing member 3323 is disposed on the second telescopic member 3322.

It is understood that the first base plate 3311 of the first pick-and-place mechanism 331 and the second base plate 3321 of the second pick-and-place mechanism 332 are relatively fixed, and the second telescopic member 3322 can be independently driven by the driving units on the respective base plates, so that telescopic pick-and-place operations can be independently performed.

Illustratively, a sliding rail may be disposed on the first substrate 3311, the first telescopic member 3312 may be slidably connected with the first substrate 3311 through the sliding rail, and a motor and a driving belt may be disposed on the first substrate 3311, the motor drives the driving belt to drive through the driving wheel, and the driving belt is connected with the first telescopic member 3312, thereby implementing telescopic movement of the first telescopic member 3312 relative to the first substrate 3311. In addition, the first pickup part 3313 may be a pickup hook, and the first pickup part 3313 may be disposed on the first telescopic part 3312 in a sliding rail matching manner, and driven by a motor and a driving belt, so that the first pickup part 3313 may pick up the material box 400 on the first telescopic part 3312 or push out the material box 400 from the first telescopic part 3312.

For example, the movement of the first telescopic member 3312 relative to the first base plate 3311 and the movement of the first pickup member 3313 relative to the first telescopic member 3312 may be in a rack-and-pinion manner, which is not particularly limited in the embodiment of the present application.

It should be noted that, the second telescopic member 3322 and the second base plate 3321 may have a similar manner and structure to those of the first telescopic member 3312 and the first base plate 3311, and the second picking member 3323 may also have a similar structure and driving structure to those of the first picking member 3313, which will not be described herein.

Fig. 15 is a side view of an extended state of a transfer robot provided in an embodiment of the present application, fig. 16 is a schematic structural diagram of a retracted state of the transfer robot provided in an embodiment of the present application, fig. 17 is a schematic structural diagram of a picking member and a telescopic member in the transfer robot provided in an embodiment of the present application, and fig. 18 is a schematic structural diagram of a picking member in the transfer robot provided in an embodiment of the present application.

Referring to fig. 15 to 18, in one possible implementation manner, the first pick-and-place mechanism 331 includes a first driving unit 3314, the first driving unit 3314 is disposed on the first pick-up member 3313, a first rack 3315 is disposed on the first telescopic member 3312, a first gear 3316 is disposed on the first pick-up member 3313, the first gear 3316 is meshed with the first rack 3315, and an output end of the first driving unit 3314 is connected with the first gear 3316, so that the first driving unit 3314 drives the first pick-up member 3313 to move relative to the first telescopic member 3312.

It is understood that the first rack 3315 extends in the X direction, and the first driving unit 3314 may be a motor, and when the first driving unit 3314 drives the first gear 3316 to rotate, the first gear 3316 is engaged with the first rack 3315 and rolls in the length direction of the first rack 3315, so that the first picker 3313 may be driven to move in the X direction relative to the first telescopic member 3312.

The second picking and placing mechanism 332 includes a second driving unit, the second driving unit is disposed on the second picking member 3323, a second rack is disposed on the second telescopic member 3322, a second gear is disposed on the second picking member 3323, the second gear is meshed with the second rack, and an output end of the second driving unit is connected with the second gear, so that the second driving unit drives the second picking member 3323 to move relative to the second telescopic member 3322.

It should be noted that the second picker 3323 may have the same or similar structure and driving manner as the first picker 3313, and will not be described herein.

In one possible implementation, the first access member 3313 may include a first slide plate 3317 and a first hook 3318, where the first telescopic member 3312 is provided with a first rail, the first slide plate 3317 is slidably disposed on the first rail, and the first hook 3318 is connected to the first slide plate 3317.

It will be appreciated that the first guide rail may be disposed parallel to the first telescoping member 3312 and the first rack 3315 to provide support and guiding for movement of the first access member 3313, the first hooks 3318 may be oriented in the access direction of the first access member 3313, and the first hooks 3318 may hook the inner edges of the side walls of the material box when the first telescoping member 3312 and the first access member 3313 are extended to access the material box and retract with the first access member 3313.

The second picking member 3323 includes a second sliding plate and a second hook, a second guide rail is disposed on the second telescopic member, the second sliding plate is slidably disposed on the second guide rail, and the second hook is connected with the second sliding plate. It should be noted that the specific picking structure of the second picking member 3323 may be the same as or similar to that of the first picking member 3313, and will not be described herein.

Fig. 19 is a front view of fig. 18.

Referring to fig. 15 to 19, in some embodiments, the first hook 3318 is slidably connected to the first sliding board 3317, the first picking member 3313 further includes a first tension spring 3319, one end of the first tension spring 3319 is connected to the first sliding board 3317, and the other end of the first tension spring 3319 is connected to the first hook 3318.

It is appreciated that the first tension spring 3319 may apply a tension force to the first hook 3318 towards the first slide plate 3317, and when the first hook 3318 picks up goods, the tension force provided by the first tension spring 3319 may provide a pre-tightening force for the first hook 3318 to abut against the material box, so as to prevent the first hook 3318 from being blocked. In addition, when the equipment is in fault, the pulling force of the first tension spring 3319 can be overcome by lifting the first cargo hook 3318, so that the material box can be conveniently removed for equipment maintenance.

Illustratively, the first hooks 3318 hook the material tank in an upward or downward direction or in other directions, which is not specifically limited in the embodiments of the present application.

In addition, the first hook 3318 may be a clamping plate, a sucking disc, or other structures for taking and placing the material box, which is not limited in particular in the embodiment of the present application.

It should be noted that, the second cargo hook is slidably connected with the second sliding plate, the second cargo taking member 3323 further includes a second tension spring, two ends of the second tension spring are connected with the second sliding plate, and the other end of the second tension spring is connected with the second cargo hook. The second hook may also be configured to move similar to the first hook 3318, and will not be described again.

Referring to fig. 20, in some embodiments, the first hooks 3318 are slidably connected to the first sliding board 3317, the first picking member 3313 further includes a third driving unit 3313a, the third driving unit 3313a is disposed on the first sliding board 3317, and the third driving unit 3313a is used for driving the first hooks 3318 to move along the vertical direction.

It is to be understood that the third driving unit 3313a may be a motor, the output end of the third driving unit 3313a may be connected with a screw and drive the screw to rotate, a screw nut may be disposed on the screw and may be connected with the first cargo hook 3318, so that when the screw rotates, the screw nut drives the first cargo hook 3318 to move along the vertical direction, and thus, through the active driving of the third driving unit 3313a, the operation of clamping or releasing the first cargo hook 3318 with the material box during picking and placing can be realized.

It should be noted that, the second cargo hook is slidably connected to the second sliding plate, and the second cargo taking member 3323 further includes a fourth driving unit, where the fourth driving unit is disposed on the second sliding plate, and the fourth driving unit is used for driving the second cargo hook to move along the vertical direction. The second hook may be configured to move similar to the first hook 3318, which is not described herein.

In addition, the first and second pickers 3313, 3323 may be provided with a detection unit 335, such as an infrared detector, a laser detector, etc., for detecting the positions of the first and second pickers 3313, 3323 with respect to the material box, respectively.

The specific manner and structure of engagement of lifter 310 with column 200 is described in detail below.

In one possible implementation manner, the lifting member 310 may include a lifting main body 311 and a roller set 312, the roller set 312 may include a plurality of rollers, the plurality of rollers are rotationally connected with the lifting main body 311, and the plurality of rollers may be distributed at different positions of the height direction of the lifting member 310, and the plurality of rollers are abutted with the upright post 200, so that smoothness of the lifting member 310 during lifting movement relative to the upright post 200 may be improved.

It will be appreciated that the upright 200 may be provided with a rail extending along the height of the upright 200, that the rollers may be disposed in the rail, and that the rollers may roll along the rail, thereby reducing friction as the lifter 310 moves up and down relative to the upright 200.

In some embodiments, the roller sets 312 may be multiple, the roller sets 312 may be distributed on opposite sides of the lifting member 310, and the roller sets 312 may be respectively engaged with the sliding rails on two sides of the upright 200. For example, the roller set 312 may include four rollers, two of which are disposed at an upper end of one side of the lifter 310, and the other two of which may be disposed at a lower end of one side of the lifter 310. The specific number of rollers is not limited in this embodiment.

In addition, can be provided with the installation spout on the lifting member 310, the gyro wheel can be installed in this installation spout, and the pivot of gyro wheel can be through fastener such as screw and lifting member 310 to dismantle the connection to improve the convenience of gyro wheel dismouting.

In some embodiments, the upright 200 may include a fixed upright and a movable upright, the fixed upright is connected with the movable chassis 100, the movable upright is connected with the fixed upright and moves along the height direction of the fixed upright, and the lifting member 310 is connected with the movable upright, so as to move along the height of the fixed upright under the driving of the movable upright, thereby implementing the lifting movement of the handling device 300.

In addition, the handling robot further includes a plurality of temporary storage units 210, the plurality of temporary storage units 210 may be arranged at intervals along the height direction of the upright 200, and the handling device 300 and the temporary storage units 210 may be respectively located at two opposite sides of the upright 200. The temporary storage unit 210 is used for storing the material boxes removed from the shelf by the carrying device 300.

It should be noted that, a transmission member such as a chain or a driving belt may be disposed along the height direction of the upright post 200, and the transmission member may be driven by a motor disposed on the upright post 200, so that the transmission member is driven along the height direction of the upright post 200, and the lifting member 310 may be connected with the transmission member, so as to perform lifting movement along the height direction of the upright post 200 under the driving of the transmission member.

The embodiment of the application also provides a warehouse system, and the warehouse system includes the transfer robot among storing frame and the above-mentioned technical scheme, and transfer robot can get at the storing frame and put the material case to transport the material case.

It can be appreciated that the storage rack can be provided with a plurality of storage layers, and the transfer robot can realize the picking and placing operation of the material box on different storage layers at different heights.

It should be noted that, for the application scenario of the warehouse system and the transfer robot provided in this embodiment, according to the type of the specific goods, the warehouse system and the transfer robot may be applied to different fields such as a manufacturing factory production line or warehouse-in and warehouse-out of stock products, a retail industry logistics, and a fast delivery warehouse-in and warehouse-out of an e-commerce logistics, and the products or goods related to transportation may be industrial parts, electronic accessories or products, apparel ornaments, food, etc., but the embodiment of the application is not limited thereto specifically.

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.

Claims

1. The carrying robot is characterized by comprising a moving chassis, an upright post and a carrying device, wherein the upright post is vertically arranged on the moving chassis;

the carrying device comprises a lifting piece, a mounting frame and a picking and placing assembly, wherein the lifting piece moves up and down relative to the upright post; the mounting frame comprises a connecting column and at least two supporting pieces, the at least two supporting pieces are connected through the connecting column, the at least two supporting pieces are connected with the lifting piece, and the at least two supporting pieces extend in a direction away from the upright column; the picking and placing assembly is connected with at least one of the at least two supporting pieces, and the at least two supporting pieces are distributed along the height direction of the lifting piece, so that the at least two supporting pieces support the picking and placing assembly at different positions of the height direction of the picking and placing assembly; the pick-and-place assembly includes at least one pick-and-place mechanism.

2. The transfer robot of claim 1, wherein the support comprises a first support and a second support, the first support being located on a side of the pick and place assembly facing the mobile chassis; the second support piece is positioned on one side of the first support piece, which faces away from the mobile chassis, and is spaced from the first support piece.

3. The transfer robot according to claim 2, wherein the first support member is connected to an end of the lifting member facing the moving chassis, and the second support member is connected to an end of the lifting member facing away from the moving chassis.

4. The transfer robot of claim 2, wherein the mounting frame further comprises a first swivel member disposed on the first support member, the pick-and-place assembly being rotatably coupled to the first support member via the first swivel member; and/or, the mounting frame further comprises a second rotating member, the second rotating member is arranged on the second supporting member, and the picking and placing assembly is rotationally connected with the second supporting member through the second rotating member.

5. The transfer robot of claim 4, wherein the first swivel member comprises a first outer race and a first inner race that rotates relative to the first outer race, the first outer race being coupled to the first support member, the first inner race being coupled to the pick and place assembly; and/or the second rotary member comprises a second outer ring and a second inner ring which rotates relative to the second outer ring, the second outer ring is connected with the second supporting member, and the second inner ring is connected with the picking and placing assembly.

6. The transfer robot according to claim 4 or 5, wherein the pick-and-place assembly includes a connection mechanism and at least two pick-and-place mechanisms, the at least two pick-and-place mechanisms are connected by the connection mechanism, and the at least two pick-and-place mechanisms are arranged in a height direction of the lifting member; at least one of the at least two pick and place mechanisms is located between the first support and the second support.

7. The transfer robot of claim 6, wherein at least two of the pick and place mechanisms include a first pick and place mechanism and a second pick and place mechanism, the first pick and place mechanism being located on a side of the first support facing away from the mobile chassis and the second pick and place mechanism being located on a side of the first pick and place mechanism facing away from the mobile chassis; the connecting mechanism is connected with the second rotary member, so that the connecting mechanism supports the second picking and placing mechanism.

8. The transfer robot of claim 7, wherein the pick and place assembly further comprises a rotary drive mechanism including a first drive member and a first transmission member, the first drive member being disposed on the first pick and place mechanism, the first drive member being configured to drive the first transmission member such that the first transmission member drives the first pick and place mechanism to rotate relative to the first support member.

9. The transfer robot of claim 7 or 8, wherein the second support is located between the first pick and place mechanism and the second pick and place mechanism, the spacing between the first support and the second support matching the height of the storage space above the first pick and place mechanism.

10. The transfer robot of claim 9, wherein the second pick and place mechanism is located on a side of the second support facing away from the first pick and place mechanism; the connecting mechanism is located between the first picking and placing mechanism and the second picking and placing mechanism, and the connecting mechanism is connected with the second picking and placing mechanism through the second rotating member, so that the first picking and placing mechanism and the second picking and placing mechanism synchronously rotate relative to the mounting frame.

11. The transfer robot of claim 10, wherein the connecting post comprises a first connecting post, the connecting mechanism comprises a first connecting plate, a first end of the first connecting post is connected with the first pick and place mechanism, a second end of the first connecting post faces the second pick and place mechanism, the first connecting plate is connected with a second end of the first connecting post, and the first connecting plate is connected with the second rotating member.

12. The transfer robot of claim 11, wherein the plurality of first connecting columns are distributed on two sides of the pick-and-place assembly in the width direction, the plurality of first connecting columns are parallel to each other, and the second ends of the plurality of first connecting columns are connected with the first connecting plate.

13. The transfer robot of claim 7 or 8, wherein the second support is located on a side of the second pick and place mechanism facing away from the first pick and place mechanism, a spacing between the first support and the second support matching a sum of heights of a storage space above the first pick and place mechanism and a storage space above the second pick and place mechanism.

14. The transfer robot of claim 13, wherein the connection post comprises a second connection post, the connection mechanism comprises a second connection plate, a first end of the second connection post is connected to the first pick and place mechanism, a second end of the second connection post is oriented toward the second pick and place mechanism, and the second connection post is connected to the second pick and place mechanism; the second connecting plate is connected with the second end of the second connecting column, and the second connecting plate is connected with the second rotary member.

15. The transfer robot of claim 14, wherein the plurality of second connecting columns are distributed on two sides of the picking and placing assembly in the width direction, and at least a part of second ends of the second connecting columns extend to one side of the second picking and placing mechanism away from the first picking and placing mechanism; the second connecting plate is connected between the second connecting columns on two sides of the picking and placing assembly.

16. The transfer robot of claim 7 or 8, wherein the first pick and place mechanism comprises a first base plate, a first telescopic member, and a first pick and place member, the first base plate is rotatably connected to the first support member by a first rotating member, the first telescopic member slides relative to the first base plate, and the first pick and place member is disposed on the first telescopic member; the second picking and placing mechanism comprises a second substrate, a second telescopic piece and a second picking and placing piece, wherein the second substrate is connected with the first substrate through the connecting mechanism, the second telescopic piece slides relative to the second substrate, and the second picking and placing piece is arranged on the second telescopic piece.

17. The transfer robot of claim 16, wherein the first pick and place mechanism includes a first driving unit, the first driving unit is disposed on the first pick-up member, a first rack is disposed on the first telescopic member, a first gear is disposed on the first pick-up member, the first gear is meshed with the first rack, and an output end of the first driving unit is connected with the first gear, so that the first driving unit drives the first pick-up member to move relative to the first telescopic member; and/or the number of the groups of groups,

The second picking and placing mechanism comprises a second driving unit, the second driving unit is arranged on the second picking and placing piece, a second rack is arranged on the second telescopic piece, a second gear is arranged on the second picking and placing piece and meshed with the second rack, and the output end of the second driving unit is connected with the second gear, so that the second driving unit drives the second picking and placing piece to move relative to the second telescopic piece.

18. The transfer robot of claim 16, wherein the first pick up includes a first slide plate and a first hook, the first telescoping member having a first rail thereon, the first slide plate slidably disposed with the first rail, the first hook coupled with the first slide plate; the second goods taking piece comprises a second sliding plate and a second goods hook, a second guide rail is arranged on the second telescopic piece, the second sliding plate is arranged in a sliding mode and is connected with the second guide rail, and the second goods hook is connected with the second sliding plate.

19. The transfer robot of claim 18, wherein the first hook is slidably connected to the first slide plate, the first pick up further comprising a first tension spring, one end of the first tension spring being connected to the first slide plate, the other end of the first tension spring being connected to the first hook; and/or the number of the groups of groups,

20. The transfer robot of claim 18, wherein the first hook is slidably connected to the first slide plate, and the first picking member further comprises a third driving unit, the third driving unit being disposed on the first slide plate, and the third driving unit being configured to drive the first hook to move in a vertical direction; and/or the number of the groups of groups,

21. The transfer robot according to any one of claims 1 to 5, wherein the lifting member includes a lifting main body and a roller group, the roller group includes a plurality of rollers, the plurality of rollers are each rotatably connected to the lifting main body, and the plurality of rollers are distributed at different positions in a height direction of the lifting member; and the plurality of rollers are abutted with the upright post.

22. The transfer robot of claim 21, wherein the upright includes a fixed upright and a movable upright, the fixed upright being connected to the movable chassis, the movable upright being connected to the fixed upright and movable in a height direction of the fixed upright, the lifting member being connected to the movable upright.

23. The transfer robot according to any one of claims 1 to 5, further comprising a plurality of temporary storage units, the plurality of temporary storage units being arranged at intervals along the height direction of the column; the carrying device and the temporary storage unit are respectively positioned at two opposite sides of the upright post.