CN220663693U

CN220663693U - Get and put mechanism and transfer robot

Info

Publication number: CN220663693U
Application number: CN202322316030.0U
Authority: CN
Inventors: 王堃; 肖玉辉; 郝雪蒙; 李晓伟
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2023-08-25
Filing date: 2023-08-25
Publication date: 2024-03-26
Anticipated expiration: 2033-08-25
Also published as: DE202024104328U1

Abstract

The present disclosure relates to a pick-and-place mechanism and a transfer robot. The picking and placing mechanism comprises a base, a transmission assembly and a picking and placing assembly; the transmission assembly comprises a storage piece and a rigid transmission chain wound in the storage piece, wherein the free end of the rigid transmission chain is configured to extend out of the storage piece and is configured to be controlled by a driving device to move in the horizontal direction; the picking and placing component is fixed at the free end of the rigid transmission chain and is configured to extend or retract to be matched with the front side surface of the target object along the horizontal direction under the action of the rigid transmission chain so as to pick and place the target object. In the picking and placing mechanism disclosed by the invention, as the picking and placing assembly is driven by the transmission assembly to pick and place the object, and the rigid transmission chain can be rolled in the storage piece, the horizontal space occupied by the storage piece is smaller, the horizontal telescopic space is not required to be reserved for the rigid transmission chain, the number of the whole parts is smaller, the structure is simpler, and if the picking depth of the picking and placing mechanism is increased, the length of the rigid transmission chain is only required to be prolonged.

Description

Get and put mechanism and transfer robot

Technical Field

The present disclosure relates to the field of warehouse logistics technology, and in particular, to a pick-and-place mechanism; the present disclosure also relates to a transfer robot.

Background

Currently, in a warehouse system, a plurality of carriers for storing objects and a transfer robot for transferring the objects are generally disposed in a warehouse area. The carrying robot can move to the corresponding position of the carrier corresponding to the target object according to the carrying instruction issued by the control server, and the work of carrying the target object is completed through the picking and placing mechanism.

In order to achieve picking and placing of the target object, a picking and placing mechanism is generally provided with a telescopic mechanism, and common telescopic mechanisms generally comprise a telescopic fork holding mechanism, a scissors fork holding mechanism and the like. For the telescopic fork mechanism, a horizontal telescopic space is reserved for the telescopic fork mechanism on the picking and placing mechanism, and for the scissors fork mechanism, the number of parts is large, the structure is complex, and the space occupation is large. In order to increase the goods taking depth of the goods taking and placing mechanism, the number of stages of the telescopic fork holding mechanism and the scissors fork holding mechanism is increased, so that the occupied space is increased, and the mechanism is more complex.

Disclosure of Invention

The utility model provides a get and put mechanism and transfer robot in order to solve the problem that exists among the prior art.

According to a first aspect of the present disclosure, there is provided a pick-and-place mechanism comprising:

A base;

the transmission assembly comprises a storage piece and a rigid transmission chain wound in the storage piece, wherein the free end of the rigid transmission chain is configured to extend out of the storage piece and is configured to be controlled by a driving device to move in the horizontal direction;

and the picking and placing assembly is fixed at the free end of the rigid transmission chain and is configured to extend or retract to be matched with the front side surface of the target object along the horizontal direction under the action of the rigid transmission chain so as to pick and place the target object.

In one embodiment of the present disclosure, the rigid drive chain is configured to be wound in the receiver.

In one embodiment of the present disclosure, the receiving member is configured to extend in a height direction.

In one embodiment of the present disclosure, two of the driving assemblies are provided, and the rigid driving chains of the two driving assemblies are configured to be parallel to each other, and the pick-and-place assembly is fixedly connected to the free ends of the two rigid driving chains.

In one embodiment of the present disclosure, a drive wheel is disposed within the transmission assembly; the rigid drive chain is configured to engage on the drive wheel;

the driving device is configured to drive the driving wheel to rotate so as to drive the free end of the rigid transmission chain to move in the horizontal direction.

In one embodiment of the present disclosure, the driving wheels in the two driving assemblies are fixedly connected to two ends of the driving shaft; the driving device is arranged between the two transmission assemblies and is configured to drive the transmission shaft to rotate.

In one embodiment of the present disclosure, the receiving member includes a vertical section extending in a vertical direction, and a horizontal section connected to the vertical section and extending in a horizontal direction; the driving wheel is arranged at the bending position of the storage piece, the rigid transmission chain extends in the vertical section, and one end of the rigid transmission chain extends out of the horizontal section through the driving wheel.

In one embodiment of the present disclosure, the pick-and-place mechanism further includes a carrier for carrying the object, the carrier being guide-fitted on the base and configured to protrude outward to abut against the carrier when the object is picked and placed.

In one embodiment of the present disclosure, during picking of the target, the picking mechanism is configured to move in a height direction to a level where an upper surface of the carrier is not higher than a bearing surface of the carrier; in the process of returning the target object, the pick-and-place mechanism is configured to move in the height direction so that the upper surface of the carrier is not lower than the carrying surface of the carrier.

In one embodiment of the present disclosure, the carrier is configured to move in a direction toward the carrier to abut against the carrier during the outward extension of the pick-and-place assembly; the pick-and-place assembly is configured to drive the carrier to reset during retraction.

In one embodiment of the disclosure, during the process of picking up the target, the carrying member and the picking and placing assembly are configured to move towards the direction of the carrier, and after the carrying member is abutted on the carrier, the picking and placing assembly is configured to extend outwards continuously to acquire the target located at the preset position of the carrier; the picking and placing assembly brings the target object on the carrier to the carrier in the retracting process, and drives the carrier to reset in the continuous retracting process.

In one embodiment of the disclosure, during the process of returning the target, the carrying member and the picking and placing assembly are configured to move towards the direction of the carrier, and after the carrying member is abutted on the carrier, the picking and placing assembly is configured to extend outwards continuously so as to drive the target on the carrying member to a preset position on the carrier for storage; the picking and placing assembly drives the bearing piece to reset in the retracting process.

In one embodiment of the disclosure, the device further comprises an elastic piece, wherein two ends of the elastic piece are respectively fixed on the base and the bearing piece, and the bearing piece is configured to pull the bearing piece to extend outwards under the elastic action of the elastic piece until the bearing piece is abutted on the carrier;

the picking and placing assembly is configured to be abutted with the bearing piece when being retracted so as to drive the bearing piece to retract against the elastic acting force of the elastic piece.

In one embodiment of the disclosure, the picking and placing assembly is provided with a blocking end, the bearing piece is provided with a receiving end, and the blocking end is positioned on the front side of the receiving end;

the bearing piece is configured to extend outwards under the elastic acting force of the elastic piece until the bearing piece is abutted against the carrier in the process that the blocking end extends outwards along with the picking and placing assembly; the blocking end is connected with the bearing end in an abutting mode in a supporting mode in the retracting process of the picking and placing assembly, and the bearing piece is driven to reset through the bearing end.

In one embodiment of the present disclosure, the pick-and-place assembly includes a mounting bracket and an adsorption assembly disposed on the mounting bracket, the mounting bracket fixedly connected with a free end of the rigid drive chain, the adsorption assembly configured for adsorption on a target.

In one embodiment of the present disclosure, the front side of the mounting frame is provided with an abutment; the abutment is configured to cooperate with the target to urge the target outwardly during the target return.

In one embodiment of the present disclosure, the front end surface of the abutment is configured not to exceed the front end surface of the suction assembly, and a distance between the abutment and the suction assembly front end surface is smaller than a threshold value to limit an amount of deformation of the suction assembly during returning of the target object.

In one embodiment of the present disclosure, the front end face of the abutment is configured for positioning of the target during the taking of the target.

In one embodiment of the present disclosure, the mounting frame is plate-shaped, the plate-shaped mounting frame is configured to be bent forward to form the abutment portion, and a mounting portion extending upward from a bent position, and the adsorption assembly is disposed at a front side position of the mounting portion.

In one embodiment of the disclosure, the device further comprises two baffles, wherein the two baffles are arranged at two sides of the picking and placing assembly in the moving direction, and the front end of the baffle forms a flaring structure;

the pick-and-place assembly is configured to pull a target between two of the baffles, or is configured and arranged to push a target between two of the baffles out.

According to a second aspect of the present disclosure, a transfer robot is provided, comprising a movement mechanism configured to drive the pick-and-place mechanism to dock with a storage location on a carrier, and a pick-and-place mechanism configured to pick and place a target object on the storage location on the carrier.

In the picking and placing mechanism disclosed by the invention, as the picking and placing assembly is driven by the transmission assembly to pick and place the object, and the rigid transmission chain can be rolled in the storage piece, the horizontal space occupied by the storage piece is smaller, the horizontal telescopic space is not required to be reserved for the rigid transmission chain, the number of the whole parts is smaller, the structure is simpler, if the picking depth of the picking and placing mechanism is required to be increased, the length of the rigid transmission chain is only required to be prolonged, the structure of the transmission assembly is not required to be greatly changed, and the use experience of a user is effectively improved. Moreover, as the picking and placing component disclosed by the invention is matched with the front side surface of the target object, the two sides of the target object do not need to reserve space, so that the arrangement of the target object on the carrier is more compact, and the utilization efficiency of the space on the carrier is improved.

Other features of the present disclosure and its advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1 is a schematic perspective view of a pick-and-place mechanism, a carrier, and a target object provided in an embodiment of the disclosure;

fig. 2 is a schematic perspective view of a pick-and-place mechanism and a target object provided in an embodiment of the present disclosure;

fig. 3 is a schematic perspective view of a pick-and-place mechanism provided in an embodiment of the present disclosure;

FIG. 4 is a further schematic perspective view of a pick-and-place mechanism provided by an embodiment of the present disclosure;

FIG. 5 is a top schematic view of a pick-and-place mechanism provided by an embodiment of the present disclosure;

FIG. 6 is a schematic side view of a pick-and-place mechanism provided by an embodiment of the present disclosure;

fig. 7 is a schematic perspective view of a part of the structure of a pick-and-place mechanism provided in an embodiment of the present disclosure;

fig. 8 is a schematic perspective view of a part of the structure of the pick-and-place mechanism provided in the embodiment of the present disclosure;

FIG. 9 is a schematic cross-sectional view of a pick-and-place mechanism provided by an embodiment of the present disclosure;

FIG. 10 is a perspective view of yet another pick-and-place mechanism provided by an embodiment of the present disclosure;

FIG. 11 is a perspective view of yet another pick-and-place mechanism provided by an embodiment of the present disclosure;

the correspondence between the component names and the reference numerals in fig. 1 to 11 is as follows:

1. A base; 2. a transmission assembly; 21. a rigid drive chain; 22. a storage member; 23. a driving wheel; 3. a pick-and-place assembly; 31. a mounting frame; 311. an abutting portion; 312. a blocking end; 313. a mounting part; 32. an adsorption assembly; 41. a driving device; 42. a transmission shaft; 51. a carrier; 511. a receiving end; 52. an elastic member; 53. a guide rail; 6. and a baffle. 7. A target; 8. and a carrier.

Detailed Description

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and apparatus should be considered part of the specification.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

Specific embodiments of the present disclosure are described below with reference to the accompanying drawings.

In this document, "upper", "lower", "front", "rear", "left", "right", and the like are used merely to indicate relative positional relationships between the relevant portions, and do not limit the absolute positions of the relevant portions.

Herein, "first", "second", etc. are used only for distinguishing one another, and do not denote any order or importance, but rather denote a prerequisite of presence.

Herein, "equal," "same," etc. are not strictly mathematical and/or geometric limitations, but also include deviations that may be appreciated by those skilled in the art and allowed by fabrication or use, etc.

The present disclosure provides a pick-and-place mechanism, including a base, a transmission assembly, and a pick-and-place assembly. The base is used for installing the picking and placing mechanism on the transfer robot and bearing other structures of the picking and placing mechanism. The transmission assembly is arranged on the base and comprises a storage piece and a rigid transmission chain wound in the storage piece, wherein the free end of the rigid transmission chain is configured to extend out of the storage piece and is configured to be controlled by the driving device to move in the horizontal direction. The picking and placing assembly is fixed on the free end of the rigid transmission chain and is configured to extend or retract in the horizontal direction under the action of the rigid transmission chain so as to pick and place the target object.

In the working process of the picking and placing mechanism, the driving device can drive the rigid transmission chain to move, so that the free end of the rigid transmission chain moves in the horizontal direction; because the chain is a rigid transmission chain, the free end of the rigid transmission chain can be ensured to keep rigidity in the process of stretching along the horizontal direction, and bending can not occur; the picking and placing component can pick and place the target object by matching with the front side surface of the target object in the process that the picking and placing component moves along the horizontal direction along with the free end of the rigid transmission chain.

For ease of understanding, the specific structure of the pick-and-place mechanism of the present disclosure and its principle of operation will be described in detail below in connection with one embodiment with reference to fig. 1 to 11. It should be noted that, the present disclosure further provides a handling robot, and in order to keep the text simple, the handling robot is introduced when describing the picking and placing mechanism.

As shown in fig. 1 and 2, the present disclosure provides a pick-and-place mechanism comprising a base 1, a transmission assembly 2, and a pick-and-place assembly 3. The base 1 is used for installing the picking and placing mechanism on the transfer robot and carrying other structures of the picking and placing mechanism. Specifically, as shown in fig. 3 and 4, in one embodiment of the present disclosure, the base 1 may be a support plate, and in another embodiment of the present disclosure, the base 1 may also be a frame, which is not limited herein.

It will be appreciated that in one embodiment of the present disclosure, the transfer robot of the present disclosure may include a pick-and-place mechanism and a motion mechanism, wherein the motion mechanism is configured to drive the pick-and-place mechanism to move into docking with the storage location of the carrier 8, and the pick-and-place mechanism is configured to pick and place the object 7 on the storage location of the carrier 8. Specifically, the base 1 of the picking and placing mechanism may be mounted on a motion mechanism, and the motion mechanism may drive the picking and placing mechanism to translate and rotate to butt-joint with the storage position of the carrier 8. Thus, in the working process of the transfer robot, the moving mechanism drives the picking and placing mechanism to move to be in butt joint with the storage position of the carrier 8, the picking and placing mechanism can pick up the target object 7 on the storage position of the carrier 8, and then the moving mechanism can drive the picking and placing mechanism to move to be in butt joint with the storage position of another carrier 8, and the picking and placing mechanism places the target object 7 on the storage position of the carrier 8.

The transmission assembly 2 is provided on the base 1 and comprises a receiving member 22 and a rigid transmission chain 21 wound in the receiving member 22, the free end of the rigid transmission chain 21 being configured to protrude from the receiving member 22 and to be controlled by a driving device 41 to move in a horizontal direction. The pick-and-place assembly 3 is fixed to the free end of the rigid drive chain 21 and is configured to extend or retract in a horizontal direction under the influence of the rigid drive chain 21 to pick and place the target 7.

It will be appreciated that, as shown in fig. 10 and 11, the rigid driving chain 21 is composed of a plurality of links connected to each other, and the free end of the rigid driving chain 21 will not be bent automatically by gravity after extending horizontally, and the specific structure of the rigid driving chain 21 can refer to the existing rigid driving chain 21 and will not be described herein. Also, the rigid transmission chain 21 in the present disclosure has a single-chain structure, so that the overall structure can be made simpler.

As shown in fig. 11, in one embodiment of the present disclosure, the transmission assembly 2 further includes a driving wheel 23, and the rigid transmission chain 21 is wound around the driving wheel 23 to bend in the extending direction at the driving wheel 23; the drive wheel 23 is configured to be controlled by a drive device 41 to move the free end of the rigid transmission chain 21 in a horizontal direction. In other embodiments of the present disclosure, a driving wheel and a steering wheel may be separately provided, where the steering wheel is used to bend the rigid transmission chain 21, and the driving wheel is used to be controlled by the driving device 41 to drive the rigid transmission chain 21 to move.

With reference to the direction in fig. 11, on both sides of the driving wheel 23, the left half portion of the rigid transmission chain 21 is a free end, and the left half portion is limited by the guide groove extending in the horizontal direction, and after extending from the limiting groove, the left half portion can only be bent in the counterclockwise direction, but not in the clockwise direction, and cannot be bent downwards, so that the free end of the rigid transmission chain 21 can be ensured not to be bent automatically under the gravity after extending in the horizontal direction. The right end of the rigid transmission chain 21 is a receiving end, the part is limited by a linear limiting groove extending along the vertical direction, and the bending can only be performed along the clockwise direction. Therefore, a spiral limit groove may be provided in the storage member 22, so that the storage end of the rigid transmission chain 21 is folded and stored in the clockwise direction.

As shown in fig. 10 and 11, in one embodiment of the present disclosure, a rigid drive chain 21 may be disposed in a straight line in a receiver 22. In yet another embodiment of the present disclosure, the rigid transmission chain 21 is configured to be wound around the receiving member 22, which effectively reduces the extension length of the receiving member 22 to save the space occupied by the receiving member 22.

Further, as shown in fig. 10 and 11, in one embodiment of the present disclosure, the receiving piece 22 includes a vertical section extending in a vertical direction, and a horizontal section connected to the vertical section and extending in a horizontal direction; the driving wheel 23 is arranged at the bending position of the receiving member 22, the rigid transmission chain 21 extends in the vertical section, and one end thereof extends from the horizontal section via the driving wheel 23. In this way, it is convenient to form limiting grooves in the vertical section and the horizontal section respectively, so as to further limit the bending of the rigid transmission chain 21, and the overall occupation space of the transmission assembly 2 is smaller. Further, in one embodiment of the present disclosure, the storage member 22 is configured to extend along the height direction, so that the extending length of the storage member 22 in the horizontal direction can be effectively reduced, so as to save the horizontal occupied space of the storage member 22, thereby reducing the horizontal width of the picking and placing mechanism and improving the applicability of the picking and placing mechanism in a narrow space.

The pick-and-place assembly 3 is fixed to the free end of the rigid drive chain 21 and is configured to extend or retract in a horizontal direction under the influence of the rigid drive chain 21 into engagement with the front side of the object 7 to pick-and-place the object 7. Specifically, when the picking and placing mechanism does not have the target object 7, the picking and placing assembly 3 can be matched with the target object 7 after the free end stretches out, and the target object 7 is pulled to the picking and placing mechanism in the process of retracting the free end; the object 7 is then pushed onto the storage position of the carrier 8 during the extension of the free end.

During operation of the pick-and-place mechanism of the present disclosure, the driving device 41 can drive the rigid transmission chain 21 to move, so that the free end of the rigid transmission chain 21 moves in the horizontal direction; because the chain is the rigid transmission chain 21, the rigidity of the free end of the rigid transmission chain 21 in the process of stretching along the horizontal direction can be ensured, and the bending can not occur; the object 7 can be picked and placed in the process that the picking and placing component 3 moves along the horizontal direction along with the free end of the rigid transmission chain 21.

In the picking and placing mechanism disclosed by the disclosure, as the picking and placing assembly 3 is driven by the transmission assembly 2 to pick and place the target object 7, and the rigid transmission chain 21 can be rolled in the storage piece 22, the horizontal space occupied by the storage piece 22 is smaller, the horizontal telescopic space is not required to be reserved for the rigid transmission chain 21, the number of the whole parts is smaller, the structure is simpler, if the picking depth of the picking and placing mechanism needs to be increased, the length of the rigid transmission chain 21 is only prolonged, the structure of the transmission assembly 2 is not required to be greatly changed, and the use experience of a user is effectively improved.

Moreover, as the picking and placing component 3 disclosed by the disclosure is matched with the front side surface of the target object 7 to pick and place the target object 7, no reserved space is needed on two sides of the target object 7, so that the arrangement of the target object 7 on the carrier 8 is more compact, and the utilization efficiency of the space on the carrier 8 is improved.

Specifically, as shown in fig. 3, in one embodiment of the present disclosure, the pick-and-place assembly 3 includes a mounting frame 31 and an adsorption assembly 32 provided on the mounting frame 31, the adsorption assembly 32 being configured to adsorb the target 7. The mounting assembly is used to mount the suction assembly 32 and is fixedly attached to the free end.

The adsorption component 32 may be an electromagnet component that realizes adsorption by magnetic force, or may be a vacuum chuck component that realizes adsorption by negative pressure. Wherein, the vacuum chuck assembly can include a chuck and a vacuum generator in communication with the chuck, the vacuum generator for creating a negative pressure within the chuck to cause the chuck to adhere to the target 7. When the vacuum chuck assembly works, the vacuum generator is started, the chuck generates adsorption force, the adsorption force can be adsorbed on the target object 7, and the target object 7 is pulled to the picking and placing mechanism in the process of retracting the free end through the adsorption force; and after the vacuum generator is turned off, the suction force of the suction cup is removed and the vacuum cup assembly is released from the object 7. Other forms of the suction assembly 32, such as electromagnet assemblies, are similar in principle and will not be described in detail herein.

Further, as shown in fig. 3 and 5, in one embodiment of the present disclosure, two adsorption assemblies 32 are provided, and the two adsorption assemblies 32 are configured to be aligned in a horizontal direction so as to be commonly adsorbed on the target 7. By arranging the two adsorption assemblies 32, the adsorption force to the target object 7 can be effectively improved, and the left side and the right side of the target object 7 can be stressed more uniformly.

Further, as shown in fig. 4 and 5, in one embodiment of the present disclosure, two driving assemblies 2 are provided, and the rigid driving chains 21 of the two driving assemblies 2 are configured to be parallel to each other, and the pick-and-place assembly 3 is fixedly connected to the free ends of both the rigid driving chains 21. Thus, the two rigid transmission chains 21 can drive the picking and placing assembly 3 to move together, so that the acting force on the picking and placing assembly 3 can be improved, the picking and placing assembly 3 can be aligned with the target object 7 conveniently, and the adsorption assembly 32 can be tightly attached to the target object 7.

Further, as shown in fig. 4 and 5, in one embodiment of the present disclosure, the driving wheels in the two transmission assemblies 2 are fixedly connected to both ends of the transmission shaft 42; the driving device 41 is disposed between the two transmission assemblies 2 and configured to drive the transmission shaft 42 to rotate. By providing the transmission shaft 42, not only can one driving device 41 be used for driving the two rigid transmission chains 21 to move simultaneously, but also the two rigid transmission chains 21 can be convenient to keep synchronous movement, and the picking and placing assembly 3 can be conveniently aligned with the target object 7.

As shown in fig. 6 and 7, in one embodiment of the present disclosure, the front side of the mount 31 is provided with an abutment 311; in the process of returning the target 7, the abutment 311 is configured to cooperate with the target 7 to push the target 7 outward.

That is, when the picking and placing assembly 3 needs to push out the target 7 onto the carrier 8, the rigid transmission chain 21 pushes the mounting frame 31 to move to the abutting part 311 on the mounting frame 31 to abut against the target 7, and then continuously pushes the target 7 to move outwards under the action of the driving device 41 until pushing to the storage position of the carrier 8.

It will be appreciated that, during the process of taking the object 7, in order to enable the adsorption assembly 32 to adsorb on the object 7, the adsorption assembly 32 needs to protrude forward a certain distance relative to the abutment portion 311, and during the process of taking and placing the object 7 while the picking and placing assembly 3 protrudes forward, the adsorption assembly 32 will be deformed by extrusion, so that the abutment portion 311 can abut on the object 7.

Therefore, in one embodiment of the present disclosure, the front end surface of the abutting portion 311 is configured not to exceed the front end surface of the adsorption assembly 32, and the distance from the front end surface of the adsorption assembly 32 is smaller than a threshold value to limit the deformation amount of the adsorption assembly 32 during the returning of the target 7.

The threshold is the maximum extrusion deformation amount of the adsorption component 32, and since the front end surface of the abutting portion 311 does not exceed the front end surface of the adsorption component 32, and the distance between the front end surface of the abutting portion and the front end surface of the adsorption component 32 is smaller than the threshold, when the target object 7 is returned, the abutting portion abuts against the target object 7 in the process that the pick-and-place component 3 extends forward, the extrusion deformation amount of the adsorption component 32 is smaller than the threshold, so that damage caused by excessive extrusion of the adsorption component 32 can be avoided, and normal operation of the adsorption component 32 is ensured.

It will be appreciated that in one embodiment of the present disclosure, the front end surface of the abutment 311 is configured for positioning the target 7 during the process of taking the target 7.

That is, in the process of taking the target object 7, when the target object 7 is not aligned with the taking and placing component 3, the abutting portion 311 can push the target object 7 to align the target object 7 with the taking and placing component 3, so that the adsorbing component 32 can be tightly adsorbed with the target object 7, and then the target object 7 can be pulled onto the taking and placing component 3.

Similarly, in the process of returning the target object 7, the abutting portion 311 can also prevent the target object 7 from being deflected under the action of external force, so that the abutting portion 311 can be always attached to the target object 7, and therefore after the target object 7 is pushed onto the carrier 8, the target object 7 can be opposite to the position of the picking and placing mechanism, and subsequent picking and placing of the target object 7 is facilitated.

Further, as shown in fig. 7, in one embodiment of the present disclosure, the mounting frame 31 is plate-shaped, the mounting frame 31 having a plate shape is configured to be folded forward to form the abutting portion 311, and the mounting portion 313 extending upward from the folded position, and the adsorption assembly 32 is disposed at a front side position of the mounting portion 313.

In this way, the abutting portion 311 is formed only by the mounting bracket 31, and the abutting portion 311 does not need to be provided separately, so that the material cost of the abutting portion 311 can be effectively reduced, and the processing is relatively simple.

As shown in fig. 4 and 5, in one embodiment of the present disclosure, the pick-and-place mechanism of the present disclosure further includes a carrier 51 for carrying the target object 7, the carrier 51 being guide-fitted on the base 1 and configured to protrude outward to abut on the shelf when picking and placing the target object 7. Through setting up carrier 51, can get the in-process that puts the mechanism got the target object and put the target object, make the target object can get and put between mechanism and the goods shelves steady removal, avoid getting under the condition that there is the gap between mechanism and goods shelves to put, the target object falls into the gap at the in-process that removes, leads to the condition emergence that the target object can't remove to getting to put mechanism or goods shelves. In one embodiment of the present disclosure, the carrier 51 may be engaged on the base 1 by a guide rail guide, and in other embodiments of the present disclosure, the carrier 51 may also be engaged on the base 1 by other structural guides, without limitation.

In one embodiment of the present disclosure, during taking the target 7, the taking and placing mechanism is configured to move in the height direction to such a degree that the upper surface of the carrier 51 is not higher than the carrying surface of the carrier 8; in the process of returning the target 7, the pick-and-place mechanism is configured to move in the height direction so that the upper surface of the carrier 51 is not lower than the carrying surface of the carrier 8.

In this way, in the process of taking the object 7, the taking and placing mechanism can move in the height direction to make the upper surface of the carrier 51 not higher than the carrying surface of the carrier 8, so that the object 7 can be ensured to move smoothly from the carrier 8 to the carrier 51 without being blocked by the upper surface of the carrier 51. Specifically, in the process of taking the target 7, the taking and placing mechanism makes the upper surface of the carrier 51 lower than the carrying surface of the carrier 8, or makes the upper surface of the carrier 51 flush with the carrying surface of the carrier 8, which is not limited herein.

In the process of returning the target object 7, the picking and placing mechanism can move to the bearing surface which enables the upper surface of the bearing piece 51 not to be lower than the bearing surface of the carrier 8 in the height direction, so that the target object 7 can be ensured to smoothly move onto the carrier 8 from the bearing piece 51 and not to be blocked by the bearing surface of the carrier 8, and the picking and placing mechanism disclosed by the disclosure can work normally. Specifically, in the process of returning the target 7, the pick-and-place mechanism may make the upper surface of the carrier 51 higher than the carrying surface of the carrier 8, or make the upper surface of the carrier 51 flush with the carrying surface of the carrier 8, which is not limited herein. When the picking and placing mechanism is arranged on the lifting mechanism of the transfer robot, the picking and placing mechanism can be driven by the lifting mechanism to lift, so that the upper surface of the bearing piece 51 is not higher than the bearing surface of the carrier 8, or the upper surface of the bearing piece 51 is not lower than the bearing surface of the carrier 8. And when the transfer robot is provided with other motion mechanisms capable of driving the picking and placing mechanism to move, the picking and placing mechanism can be driven to move through the motion mechanisms, and the description is omitted here.

In one embodiment of the present disclosure, the carrier 51 is configured to move in the direction of the carrier 8 to abut against the carrier 8 during the outward extension of the pick-and-place assembly 3; the pick-and-place assembly 3 is configured to bring the carrier 51 back during retraction.

That is, when the object 7 is taken out, in the process that the taking and placing component 3 extends outwards, the bearing piece 51 moves towards the direction of the carrier 8 until the bearing piece is abutted against the carrier 8, the taking and placing component 3 continues to extend outwards until the bearing piece is matched with the object 7, then the taking and placing component 3 retracts inwards and drives the object 7 to move towards the taking and placing mechanism, after the object 7 is completely transferred from the carrier 8 to the bearing piece 51 after a certain distance is retracted, the taking and placing component 3 drives the bearing piece 51 to reset until the bearing piece 51 returns to the initial position, and the object 7 completely moves onto the taking and placing mechanism.

Namely, when the object 7 is returned, the object 7 is continuously pushed to move outwards in the process of outwards extending the picking and placing assembly 3, and meanwhile, the bearing piece 51 moves towards the direction of the carrier 8; after the bearing piece 51 is abutted against the carrier 8, the picking and placing assembly 3 continues to extend outwards until the target 7 is completely pushed out of the bearing piece 51 to the target position, then the picking and placing assembly 3 retracts inwards, and after a certain distance of retraction, the picking and placing assembly 3 drives the bearing piece 51 to reset until the bearing piece 51 returns to the initial position.

Further, in one embodiment of the present disclosure, during the process of picking up the target object 7, the carrier 51 and the picking and placing assembly 3 are configured to move toward the carrier 8, and after the carrier 51 abuts against the carrier 8, the picking and placing assembly 3 is configured to continue to extend outwards to pick up the target object 7 located at the predetermined position of the carrier 8; the pick-and-place assembly 3 brings the object 7 on the carrier 8 onto the carrier 51 during retraction and resets the carrier 51 during continued retraction.

That is, when the object 7 is taken out, in the process that the taking and placing component 3 extends outwards, the bearing piece 51 moves towards the direction of the carrier 8 until the bearing piece abuts against the carrier 8, and after that, the taking and placing component 3 continues to extend outwards until the object 7 positioned at the preset position of the carrier 8 is obtained; then the picking and placing assembly 3 retracts inwards and drives the target object 7 to the bearing piece 51, after a certain distance of retraction, the picking and placing assembly 3 drives the bearing piece 51 to reset until the bearing piece 51 returns to the initial position, and the target object 7 moves to the picking and placing mechanism completely.

Further, in one embodiment of the present disclosure, during the process of returning the object 7, the carrier 51 and the pick-and-place assembly 3 are configured to move toward the carrier 8, and after the carrier 51 abuts against the carrier 8, the pick-and-place assembly 3 is configured to continue to extend outwards to drive the object 7 located on the carrier 51 to a predetermined position on the carrier 8 for storage; the pick-and-place assembly 3 brings the carrier 51 back during retraction.

Namely, when the object 7 is returned, the object 7 on the bearing piece 51 is continuously pushed to move outwards in the process of outwards extending the picking and placing assembly 3, and meanwhile, the bearing piece 51 moves towards the direction of the carrier 8; after the bearing piece 51 is abutted against the carrier 8, the picking and placing assembly 3 continues to extend outwards until the target 7 is pushed out from the bearing piece 51 to a preset position on the carrier 8, then the picking and placing assembly 3 retracts inwards, and after a certain distance of retraction, the picking and placing assembly 3 drives the bearing piece 51 to reset until the bearing piece 51 returns to the initial position.

It will be appreciated that, as shown in fig. 1, the pick-and-place mechanism of the present disclosure may not only pick up the target object on the surface of the carrier 8, but also pick up the target object located inside the carrier 8. Specifically, when the object 7 located inside the carrier is taken, in the process that the taking and placing component 3 extends outwards, the bearing piece 51 moves towards the direction of the carrier 8 until the bearing piece abuts against the carrier 8, and after that, the taking and placing component 3 continues to extend outwards until the object enters the carrier, and the object 7 located inside the carrier 8 is obtained; the subsequent process is similar to the process of picking up the target object, and will not be described here again.

When the object 7 needs to be returned to the carrier 8, the object 7 on the carrier 51 is continuously pushed to move outwards in the process that the picking and placing assembly 3 extends outwards, and meanwhile, the carrier 51 moves towards the carrier 8; after the bearing piece 51 is abutted against the carrier 8, the picking and placing assembly 3 continues to extend outwards until the target 7 is pushed out from the bearing piece 51 into the carrier 8; the subsequent process is similar to the process of returning the target object, and is not described here again.

Further, as shown in fig. 7 and 9, in one embodiment of the present disclosure, the pick-and-place mechanism of the present disclosure further includes an elastic member 52, two ends of the elastic member 52 are fixed to the base 1 and the carrier 51, respectively, and the carrier 51 is configured to extend outwards under the elastic force of the elastic member 52 until abutting against the carrier 8; the pick-and-place assembly 3 is configured to abut against the carrier 51 when retracted, so as to bring the carrier 51 to retract against the elastic force of the elastic member 52.

Through setting up elastic component 52, can make the carrier 51 outwards stretch out under the elastic force of elastic component 52 until the butt is on carrier 8 to can overcome the elastic force of elastic component 52 at getting and put the subassembly 3 and drive carrier 51 butt withdrawal, need not to set up alone and control the device that carrier 51 stretched out and withdrawn, not only the structure is relatively simple, but also more convenient. The elastic member 52 may be an extension spring, or other forms of elastic member 52 may be used, which is not limited herein.

Further, as shown in fig. 6 and 7, in one embodiment of the present disclosure, the pick-and-place assembly 3 is provided with a blocking end 312, the carrier 51 is provided with a receiving end 511, and the blocking end 312 is located on the front side of the receiving end 511; the bearing piece 51 is configured to extend outwards under the elastic force of the elastic piece 52 until abutting against the carrier 8 when the blocking end 312 extends outwards with the picking and placing assembly 3; the blocking end 312 is configured to abut against the receiving end 511 during the retraction process of the pick-and-place assembly 3, and drive the carrier 51 to reset through the receiving end 511.

Thus, when the picking and placing assembly 3 extends outwards, the blocking end 312 keeps abutting against the receiving end 511 under the elastic force of the elastic member 52 until the bearing member 51 abuts against the carrier 8, the blocking end 312 is separated from the receiving end 511, and the blocking end 312 extends outwards along with the picking and placing assembly 3. When the picking and placing assembly 3 is retracted and extended inwards, the blocking end 312 is retracted inwards continuously until the blocking end abuts against the abutting end, and the blocking end 312 drives the bearing piece 51 to reset by overcoming the elastic force of the elastic piece 52 through the bearing end 511 until the bearing piece 51 returns to the initial position.

As shown in fig. 5, the bearing member 51 and the elastic member 52 may be disposed along a direction opposite to the carrier 8, or may be disposed along other directions, so long as the elastic member 52 is ensured to pull the bearing member 51 to extend outwards to abut against the carrier 8 under the action of self elastic force. Furthermore, as shown in fig. 5, in one embodiment of the present disclosure, two carriers 51 are provided, and are respectively located at both sides of the pick-and-place assembly 3, and the upper surfaces of the two carriers 51 are level. In this way, the two carriers 51 can jointly carry the object 7, so that part of the material can be saved, and in other embodiments, an entire carrier 51 can be used to carry the object 7.

As shown in fig. 5 and 8, in one embodiment of the present disclosure, the present disclosure further includes two baffles 6, the two baffles 6 are disposed at both sides of the pick-and-place assembly 3 in the moving direction, and the front ends form a flaring structure; the pick-and-place assembly 3 is configured to pull the object 7 between two baffles 6 or to push the object 7 between two baffles 6 out. By arranging the baffle 6 structures with flares at the two sides of the picking and placing assembly 3, the guiding and limiting functions can be realized in the process that the target 7 enters the picking and placing mechanism, and even if the picking and placing mechanism is not completely aligned with the target 7, the target 7 can be pulled into the picking and placing mechanism.

As previously described, the present disclosure also provides a transfer robot, including a movement mechanism configured to drive the pick-and-place mechanism to dock with a storage location on the carrier 8, and a pick-and-place mechanism configured to pick and place the target 7 on the storage location on the carrier 8. The effect of the transfer robot is referred to above and will not be described in detail here.

The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvements in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A pick-and-place mechanism, comprising:

a base (1);

-a transmission assembly (2), the transmission assembly (2) comprising a receiving member (22) and a rigid transmission chain (21) wound in the receiving member (22), the free end of the rigid transmission chain (21) being configured to protrude from the receiving member (22) and being configured to be controlled by a driving device (41) to move in a horizontal direction;

and the picking and placing assembly (3) is fixed at the free end of the rigid transmission chain (21) and is configured to extend or retract to be matched with the front side surface of the target object (7) along the horizontal direction under the action of the rigid transmission chain (21) so as to pick and place the target object (7).

2. Pick-and-place mechanism according to claim 1, characterized in that the rigid transmission chain (21) is configured to be wound in the housing (22).

3. The pick-and-place mechanism of claim 1, wherein the receiving member (22) is configured to extend in a height direction.

4. The picking and placing mechanism according to claim 1, characterized in that two transmission assemblies (2) are provided, and that the rigid transmission chains (21) of the two transmission assemblies (2) are configured to be parallel to each other, and that the picking and placing assembly (3) is fixedly connected to the free ends of both rigid transmission chains (21).

5. The picking and placing mechanism according to claim 4, characterized in that a driving wheel (23) is arranged in the transmission assembly (2); -said rigid transmission chain (21) is configured to engage on said driving wheel (23);

the driving means (41) is configured to drive the driving wheel (23) in rotation to move the free end of the rigid transmission chain (21) in a horizontal direction.

6. The picking and placing mechanism according to claim 5, characterized in that the driving wheels in the two transmission assemblies (2) are fixedly connected to both ends of a transmission shaft (42); the driving device (41) is arranged between the two transmission assemblies (2) and is configured to drive the transmission shaft (42) to rotate.

7. The pick-and-place mechanism according to claim 5, wherein the receiving member (22) comprises a vertical section extending in a vertical direction, and a horizontal section connected to the vertical section and extending in a horizontal direction; the driving wheel (23) is arranged at the bending position of the storage piece (22), the rigid transmission chain (21) extends in the vertical section, and one end of the rigid transmission chain extends out of the horizontal section through the driving wheel (23).

8. The pick-and-place mechanism according to claim 1, further comprising a carrier (51) for carrying the object (7), the carrier (51) being guided fitted on the base (1) and being configured to protrude outwards into abutment on the carrier (8) when picking and placing the object (7).

9. The pick-and-place mechanism according to claim 8, characterized in that during picking of an object (7), the pick-and-place mechanism is configured to move in height direction to such an extent that the upper surface of the carrier (51) is not higher than the carrying surface of the carrier (8); during the return of the object (7), the pick-and-place mechanism is configured to move in the height direction such that the upper surface of the carrier (51) is not lower than the carrying surface of the carrier (8).

10. The pick-and-place mechanism according to claim 8, characterized in that the carrier (51) is configured to move in the direction of the carrier (8) against the carrier (8) during the outward extension of the pick-and-place assembly (3); the pick-and-place assembly (3) is configured to bring the carrier (51) back during retraction.

11. The pick-and-place mechanism according to claim 10, characterized in that, during picking of the object (7), the carrier (51), the pick-and-place assembly (3) is configured to move in the direction of the carrier (8), after abutment of the carrier (51) on the carrier (8), the pick-and-place assembly (3) is configured to continue to extend outwards to pick up the object (7) in a predetermined position of the carrier (8); the picking and placing assembly (3) brings the object (7) on the carrier (8) to the carrier (51) in the retracting process, and drives the carrier (51) to reset in the continuing retracting process.

12. The pick-and-place mechanism according to claim 10, characterized in that, during the return of the object (7), the carrier (51), the pick-and-place assembly (3) is configured to move in the direction of the carrier (8), after the carrier (51) abuts against the carrier (8), the pick-and-place assembly (3) is configured to continue to extend outwards to bring the object (7) located on the carrier (51) to a predetermined position on the carrier (8) for storage; the picking and placing assembly (3) drives the bearing piece (51) to reset in the retracting process.

13. The pick-and-place mechanism according to claim 10, further comprising an elastic member (52), both ends of the elastic member (52) being fixed to the base (1) and the carrier (51), respectively, the carrier (51) being configured to pull the carrier (51) to extend outwards under the elastic force of the elastic member (52) itself until abutting against the carrier (8);

the picking and placing assembly (3) is configured to be abutted with the bearing piece (51) when being retracted so as to drive the bearing piece (51) to retract against the elastic force of the elastic piece (52).

14. The pick-and-place mechanism according to claim 13, characterized in that the pick-and-place assembly (3) is provided with a blocking end (312), the carrier (51) is provided with a receiving end (511), and the blocking end (312) is located on the front side of the receiving end (511);

The bearing piece (51) is configured to extend outwards under the elastic force of the elastic piece (52) until the bearing piece is abutted against the carrier (8) in the process that the blocking end (312) extends outwards along with the picking and placing assembly (3); the blocking end (312) is configured to abut against the bearing end (511) in the process of retracting the picking and placing assembly (3), and drives the bearing piece (51) to reset through the bearing end (511).

15. The picking and placing mechanism according to claim 1, characterized in that the picking and placing assembly (3) comprises a mounting frame (31) and an adsorption assembly (32) arranged on the mounting frame (31), the mounting frame (31) is fixedly connected with the free end of the rigid transmission chain (21), and the adsorption assembly (32) is configured for being adsorbed on a target object (7).

16. The pick-and-place mechanism according to claim 15, characterized in that the front side of the mounting frame (31) is provided with an abutment (311); the abutment (311) is configured to cooperate with the target (7) to push the target (7) outwards during the return of the target (7).

17. The pick-and-place mechanism according to claim 16, wherein a front end surface of the abutting portion (311) is configured not to exceed a front end surface of the suction unit (32), and a distance from the front end surface of the suction unit (32) is smaller than a threshold value to limit an amount of deformation of the suction unit (32) during returning of the target object (7).

18. The pick-and-place mechanism according to claim 17, characterized in that during picking of the object (7), the front end face of the abutment (311) is configured for positioning of the object (7).

19. The pick-and-place mechanism according to claim 16, wherein the mounting bracket (31) is plate-like, the plate-like mounting bracket (31) is configured to be bent forward to form the abutment portion (311), and a mounting portion (313) extending upward from a bent position, and the suction unit (32) is disposed at a front side position of the mounting portion (313).

20. The picking and placing mechanism according to claim 1, further comprising two baffles (6), wherein the two baffles (6) are arranged at two sides of the picking and placing assembly (3) in the moving direction, and the front ends form a flaring structure;

the pick-and-place assembly (3) is configured for pulling a target (7) between two of the baffles (6) or for pushing out a target (7) between two of the baffles (6).

21. A transfer robot comprising a movement mechanism and a pick-and-place mechanism according to any one of claims 1 to 20, the movement mechanism being configured to drive the pick-and-place mechanism to move into abutment with a storage location on a carrier (8), the pick-and-place mechanism being configured to pick-and-place a target (7) on the storage location on the carrier (8).