TW202413233A - Goods picking and placing device and carrying robot - Google Patents

Abstract

The invention provides a goods picking and placing device and a transfer robot. The goods taking and placing device is used for taking and placing a material box, the goods taking and placing device comprises a telescopic assembly and a push-pull assembly, the telescopic assembly comprises a fixing piece and a telescopic piece capable of stretching out and drawing back relative to the fixing piece in the first direction, and the push-pull assembly is arranged on the telescopic piece and comprises a base, a pulling piece and a first driving mechanism; the base is connected with the telescopic part, the first driving mechanism is arranged on the base, the pulling part is connected with the first driving mechanism, an inserting groove is formed in the outer wall of the material box, and the first driving mechanism is used for driving the pulling part to move in the second direction so that the pulling part can be inserted into or separated from the inserting groove; therefore, the push-pull assembly and the telescopic piece do not need to enter the storage location where the material box is stored, small-interval or no-interval storage can be achieved when the material box is stored in the storage location of the goods shelf, and then the space utilization rate of storage is increased.

Description

Pick-up and delivery devices and handling robots

This application relates to the field of warehousing and logistics technology, and in particular to a cargo picking and placing device and a handling robot.

With the development of artificial intelligence and automation technology, handling robots are widely used in the field of warehousing and logistics to transport goods. In the logistics system, goods are usually stored on shelves. Handling robots pick up and place goods by docking with shelves or conveyor lines, and complete the task of transporting goods.

In the related technology, a handling robot is usually provided with a fork for picking up and placing goods. The fork usually includes a telescopic arm that can be extended and retracted in multiple sections. A picking mechanism for lifting or clamping a material box is provided on the telescopic arm. When the fork is picking up and placing goods on the shelf, the multi-section telescopic arm needs to be extended and retracted to enter the storage space of the shelf, and the picking mechanism at the end or side of the telescopic arm needs to be provided with a movable or retractable end joint for abutting against the inner end surface of the material box, or holding the side wall of the material box, so as to drag or clamp the material box out of the storage space.

However, the retractable arm of the handling robot and the picking mechanism entering the shelf to pick up and place goods will occupy space in the warehouse, resulting in the need to reserve sufficient box spacing or layer height when storing material boxes, reducing storage space utilization.

The present application provides a cargo picking and placing device and a handling robot to solve the problem that the handling robot occupies the internal space of the shelf location when picking and placing cargo, resulting in low storage space utilization.

In a first aspect, the present application provides a cargo picking and placing device for picking and placing a material box, the cargo picking and placing device comprising a telescopic element and a push-pull element, the telescopic element comprising a fixed member and a telescopic member that can be extended and retracted along a first direction relative to the fixed member, the push-pull element being arranged on the telescopic member, so that the telescopic member can drive the push-pull element to move, and the push-pull element can drive the material box to move, so as to realize the cargo picking and placing operation.

The push-pull element includes a base, a pulling member and a first driving mechanism. The base is connected to the telescopic member. The first driving mechanism is arranged on the base. The pulling member is connected to the first driving mechanism. The outer wall of the material box has a slot. The first driving mechanism is used to drive the pulling member to move along the second direction so that the pulling member is plugged into or disengaged from the slot.

When the picking and placing device provided in the present application picks and places material boxes on the shelf, the push-pull element can be plugged into and matched with the outer side wall of the material box through the pulling piece, so that when the push-pull element drives the material box to move, the push-pull assembly and the telescopic part do not need to enter the storage space where the material box is stored. Therefore, the picking and placing device does not occupy the internal space of the storage space when picking and placing the material box, and the material boxes can be stored in the storage space of the shelf with small spacing or no spacing, thereby improving the space utilization rate of the warehouse.

As an optional implementation, the first direction is along a horizontal direction, and the second direction is along a vertical direction.

As an optional implementation, the pull member protrudes from the top of the base.

As an optional implementation, the push-pull element further includes a push plate, which is connected to the base and faces the material box to push the material box to move.

As an optional implementation, the first driving mechanism may include a first driving unit, a first transmission member, a second transmission member and a connecting member, wherein the first driving unit is arranged on a base, the first transmission member is connected to an output end of the first driving unit, and the first transmission member can rotate under the drive of the first driving unit, and the second transmission member cooperates with the first transmission member, and the second transmission member can move along a second direction under the drive of the first transmission member, the first end of the connecting member is connected to the first transmission member, and the second end of the connecting member is connected to the pulling member, so that the pulling member moves with the second transmission member. Such an arrangement can effectively convert the rotational motion output by the first driving unit into the movement of the pulling member.

As an optional implementation, the first driving mechanism may further include a guide member, which may be disposed on the base, and a guide hole is disposed on the guide member, the guide hole extends along the second direction, the connecting member passes through the guide hole, and the connecting member can move along the guide hole under the drive of the second transmission member. Such an arrangement can ensure the smoothness and stability of the pulling member when moving along the second direction.

As an optional implementation, the first transmission member can be a screw rod, the second transmission member can be a screw rod nut, the first driving unit can be a motor, the screw rod can extend along the second direction, the first end of the screw rod is connected to the output shaft of the motor, the second end of the screw rod is rotatably connected to the guide member, the screw rod nut is sleeved on the screw rod, and when the screw rod rotates, the screw rod nut moves along the extension direction of the screw rod, and the connecting member is connected to the screw rod nut. In this way, the movement stroke and position of the pulling member can be controlled by the rotation of the screw rod.

As an optional implementation, there can be two connecting members and two guide holes, and the two connecting members pass through the two guide holes respectively; the two connecting members are arranged in parallel and symmetrically distributed on both sides of the first transmission member. In this way, the force balance when the second transmission member drives the pulling member to move can be achieved to ensure the smoothness of the moving process.

As an optional implementation, the push-pull element may further include a first detection unit and a sensing member, wherein the first detection unit is disposed on the base, the sensing member is connected to the second transmission member, and the first detection unit is used to detect the sensing member to detect the relative position of the second transmission member when it moves along the second direction. This arrangement can ensure the accuracy of the plugging action of the pulling member and the slot.

As an optional implementation, there can be two first detection units, which are respectively located at two ends of the movement stroke of the second transmission member along the second direction. In this way, the insertion and disengagement of the pulling member relative to the slot can be detected, and the stroke of the pulling member can be accurately controlled.

As an optional implementation, the push-pull element may further include an adjustment plate, the adjustment plate is connected to the base, and the first driving mechanism is connected to the adjustment plate; the base may be provided with a plurality of adjustment holes, the plurality of adjustment holes may be arranged along the second direction, and the adjustment plate may cooperate with different adjustment holes to adjust the relative position of the adjustment plate and the base along the second direction. This arrangement can meet the requirements of picking up and placing material boxes of different specifications and sizes.

As an optional implementation, the telescopic element may further include a second driving mechanism, which may include a second driving unit, a flexible transmission member and a transmission wheel set, wherein the transmission wheel set includes a plurality of parallelly arranged transmission wheels, the plurality of transmission wheels are respectively located on the fixed member and the telescopic member, and the flexible transmission member is wound around the plurality of transmission wheels.

The push-pull element is movably connected to the telescopic member, the base is connected to the flexible transmission member and moves with the flexible transmission member, and the second driving unit is connected to the driving wheel and is used to drive the driving wheel to rotate, so that the flexible transmission member is driven by the driving wheel to rotate around multiple driving wheels and drive at least one of the telescopic member and the push-pull assembly to move along the first direction.

As an optional implementation, the cargo picking and placing device may further include a locking linkage element, which is arranged on the telescopic element. At least a portion of the structure of the locking linkage element can move with the telescopic element and be engaged or separated from the fixed element to lock or unlock the telescopic element and the fixed element.

Among them, when the telescopic member and the fixed member are unlocked, the transmission wheel assembly can be constructed to drive the telescopic member to extend and retract along the first direction when the flexible transmission member is transmitting; when the telescopic member and the fixed member are locked, the relative positions of the transmission wheels in the transmission wheel assembly remain unchanged, and at this time, the transmission of the flexible transmission member can drive the push-pull element to move relative to the telescopic member.

As an optional implementation, the two ends of the telescopic member are respectively provided with a first limiting portion and a second limiting portion. When the telescopic member and the fixing member are unlocked, the push-pull element abuts against the first limiting portion or the second limiting portion to make the telescopic member extend or retract along the first direction.

As an optional implementation, the multiple drive wheels may include multiple inner drive wheels and at least one outer drive wheel, the flexible drive member is wound around the outer sides of the multiple inner drive wheels, and the outer drive wheel abuts against the outer peripheral surface of the flexible drive member, thereby maintaining the tension of the flexible drive member; the outer drive wheel and part of the inner drive wheel are connected to the telescopic member, and when the telescopic member and the fixed member are unlocked and the flexible drive member is transmitted, the drive wheel connected to the telescopic member moves along the first direction relative to the drive wheel connected to the fixed member to drive the telescopic member to extend and retract.

As an optional implementation, the plurality of inner drive wheels may include a first drive wheel, a second drive wheel and a fourth drive wheel arranged in sequence in the transmission direction of the flexible drive member, the outer drive wheel may include a third drive wheel, the third drive wheel may be arranged between the second drive wheel and the fourth drive wheel, the first drive wheel and the first drive unit are both arranged at the first end of the fixed member, and the first drive unit may drive the first drive wheel to rotate, the second drive wheel is arranged at the second end of the fixed member, the third drive wheel is arranged at the first end of the telescopic member, and the fourth drive wheel is arranged at the second end of the telescopic member; the base is connected to the flexible drive member between the first drive wheel and the fourth drive wheel. Such an arrangement can ensure that the push-pull element and the telescopic arm can have sufficient movement stroke.

As an optional implementation, the telescopic member may be provided with a first guide rail extending in a first direction, a slider is provided on one side of the base facing the telescopic member, and the first guide rail cooperates with the slider and supports the base. This arrangement can support the push-pull element and ensure smooth movement of the push-pull element.

As an optional implementation, the locking linkage element may include a connecting rod mechanism and a clamping member, the connecting rod mechanism includes a fixed rod and multiple movable rods, the fixed rod is connected to the multiple movable rods in sequence, and the fixed rod is fixedly connected to the telescopic member, and the movable rod can swing relative to the telescopic member.

Among them, the first end of the clamping member can be rotatably connected to the fixed rod, and the second end of the clamping member can be rotatably connected to any one of the multiple movable rods, and the clamping member rotates under the drive of the movable rod, so that the clamping member can be engaged or separated from the fixed member, thereby realizing the locking or unlocking between the telescopic member and the fixed member.

As an optional implementation, at least one of the plurality of movable rods may be provided with a trigger, and the slider may be provided with a thrust member, and when the slider moves to different positions in the extension direction of the first guide rail, the thrust member may abut against or separate from the trigger. In this way, when the push-pull element moves to a specific position, the telescopic member and the fixed member may be locked or unlocked by the trigger.

As an optional implementation, when the thrust member abuts against the trigger member, the thrust member drives the movable rod to swing so that the clamping member is disengaged from the fixing member; the locking linkage element also includes an elastic member, a first end of the elastic member is connected to the fixing rod, and a second end of the elastic member is connected to the clamping member. When the thrust member is separated from the trigger member, the elastic member pulls the clamping member to rotate so that the clamping member is clamped with the fixing member.

As an optional implementation, the fixed rod can extend along the first direction, and the length of the fixed rod matches the length of the first guide rail; the multiple movable rods can include a first movable rod, a second movable rod and a third movable rod, the first movable rod and the second movable rod are respectively rotatably connected to the two ends of the fixed rod, and the two ends of the third movable rod are respectively rotatably connected to the first movable rod and the second movable rod, thereby forming a four-bar structure to ensure the stability of the connecting rod swing.

Among them, the second end of the clamping member can be rotatably connected to the third movable rod, the first movable rod is provided with a first triggering member, and the second movable rod is provided with a second triggering member, so that when the slider moves to the two ends of the travel of the first guide rail, the first triggering member and the second triggering member are triggered respectively, thereby realizing the unlocking of the clamping member and the fixing member.

As an optional implementation, the first trigger is located between the fixed rod and the third movable rod, and the second trigger is located on a side of the fixed rod away from the third movable rod.

As an optional implementation, a clamping portion and a tension portion are provided at the first end of the clamping member, and a clamping groove arranged along a first direction is provided on the fixing member. When the clamping member is clamped with the fixing member, the clamping portion is clamped into the clamping groove to ensure the reliability of the clamping and the structural strength; the tension portion is connected to the elastic member, and the tension portion and the clamping portion are respectively located on opposite sides of the connection position between the clamping member and the fixing member. In this arrangement, the trigger member and the elastic member drive the clamping member to rotate in opposite directions, thereby realizing the locking and unlocking functions.

As an optional implementation, there are two drive wheel sets and two flexible drive members, and the drive wheel sets and the flexible drive members are arranged in pairs on both sides of the telescopic assembly; the first drive wheels of the two drive wheel sets are connected through a drive shaft, and the output end of the first drive unit is connected to the drive shaft. Such an arrangement can ensure the balance and stability of the operation of the telescopic structure of the telescopic element as a whole.

As an optional implementation, the retractable member may include a pallet and side plates respectively arranged on both sides of the pallet, at least one supporting member is arranged on the side plate, the pallet is connected to the supporting member, the pallet is used to carry the material box, the locking linkage assembly is located on the side of the pallet away from the carrying material box, the second guide rails are respectively arranged on both sides of the fixing member, and the side plates are respectively slidably connected to the second guide rails. In this way, by arranging the side plates and the pallet, it is possible to provide an installation space for the second drive mechanism, and to ensure that the material box can have reliable and effective carrying.

As an optional implementation, the locking linkage element may further include a third trigger, which is rotatably connected to the fixed rod, and an opening is provided on the pallet, and the third trigger at least partially extends from the opening and extends to the side of the telescopic member carrying the material box; the third trigger abuts against the clamping member, and when the material box abuts against the third trigger, the third trigger drives the clamping member to rotate so that the telescopic member is separated from the fixed member. In this way, when the material box is carried on the pallet, the telescopic member and the fixed member can be kept in a relatively slidable state.

As an optional implementation, the cargo picking and placing device may further include a second detection unit, which is connected to the fixing member and is used to detect at least one of the posture of the material box and the electronic identification of the material box. With such a configuration, the initial position of the cargo picking and placing device when picking and placing the material box can be accurately determined, and the information of the material box can be identified, so as to accurately perform the corresponding cargo picking and placing transportation task.

As an optional implementation, the cargo pick-up and placement device may further include a rotating element, which may include a fixed bracket, a third driving unit and a rotating platform, wherein the third driving unit is used to drive the rotating platform to rotate relative to the fixed bracket, and the telescopic assembly is arranged on the rotating platform. When such an arrangement is applied to a handling robot, cargo pick-up and placement operations can be performed on different sides of the handling robot.

On the second aspect, the present application provides a transport robot, including a robot body, a lifting device and a picking and placing device in the above-mentioned technical solution. The lifting device is arranged on the robot body and can move along the height direction of the robot body. The picking and placing device is arranged on the lifting device, thereby realizing the picking and placing operations of goods at different height locations on the shelf.

As an optional implementation, the robot body may include a base and a storage rack, the storage rack is installed on the base, the lifting device is arranged on the storage rack and can move along the height direction of the storage rack, and a plurality of storage slots may be arranged on the storage rack, and the plurality of storage slots are spaced apart along the height direction of the storage rack to ensure the transport efficiency of the handling robot.

In addition to the technical problems solved by the embodiments of the present application described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by the cargo picking and placing device and the handling robot provided by the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods.

In order to make the purpose, technical solution and advantages of the embodiments of this application clearer, the technical solution in the embodiments of this application will be described clearly and completely in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative labor are within the scope of protection of this application.

First of all, those skilled in the art should understand that these implementations are only used to explain the technical principles of this application and are not intended to limit the scope of protection of this application. Those skilled in the art can adjust them as needed to adapt to specific application scenarios.

Secondly, it should be noted that in the description of this application, the terms "up", "down", "left", "right", "front", "back", "inside", "outside", etc., which indicate directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description, and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on this application.

In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in an appropriate manner.

Various types of robots are widely used in various fields such as industry and life, and handling robots play an important role in transportation, logistics and other industries. In the logistics system, goods are usually stored on shelves. Handling robots pick up and place goods by docking with shelves or conveyor lines and transport the goods. A handling robot is usually equipped with a fork for picking up and placing goods. The fork usually includes a telescopic arm that can be extended and retracted in multiple sections. A picking mechanism for lifting or clamping a material box is provided on the telescopic arm. When the fork is picking up and placing goods on the shelf, the multi-section telescopic arm needs to be extended and retracted to enter the storage space of the shelf, and the picking mechanism at the end or side of the telescopic arm needs to be provided with a movable or retractable end joint for abutting against the inner end surface of the material box, or holding the side wall of the material box, so as to drag or clamp the material box out of the storage space.

However, when the telescopic arm holds or clamps the material box from the side of the material box, it is necessary to reserve operating space on the side of the storage location of the material box, resulting in an increase in the box spacing during storage. If the material box is pushed or pulled from the inside, the telescopic arm will not only occupy the space on the side of the material box, but also occupy the space inside the storage location of the material box, resulting in an increase in the depth of the storage location. In addition, if the telescopic arm is extended from the top of the material box to take and place the material box, the layer spacing of the shelf storage location will increase. Therefore, the above methods will occupy the space in the storage location, resulting in the need to reserve sufficient box spacing, storage location depth or layer height when storing the material boxes, thereby reducing the storage space utilization rate.

In response to the above problems, the embodiment of the present application provides a cargo picking and placing device and a handling robot, which improves the cargo picking and placing structure by optimizing the design of the cargo picking and placing method. During the cargo picking and placing process, all components of the cargo picking and placing device do not need to enter the storage unit of the shelf, thereby reducing or eliminating the box spacing and gaps in various directions when material boxes are stored, thereby improving space utilization during storage.

To facilitate understanding, the application scenarios of the embodiments of the present application are first described.

The picking and placing device provided in the embodiment of the present application is mainly used for picking and placing material boxes on the shelves, that is, placing the material boxes into the storage location of the shelf for storage, or taking out the material boxes from the storage location of the shelf. The equipment that can be installed and applied in the picking and placing device includes but is not limited to handling robots, logistics conveyor lines and other equipment that can be connected to the shelves. The following explanation takes the handling robot as an example.

As shown in FIG1 , when the pick-up and place device 100 provided in the embodiment of the present application is applied to a transport robot, the transport robot can take the material box 400 from the shelf 500 and perform a transport task on the material box 400, or transfer the material box 400 of other logistics processes to the shelf 500 and store it. The transport robot can be applied to the logistics distribution of industrial production lines, the warehousing and unwarehousing of inventory products in the manufacturing industry, and the delivery and unloading of products in the retail industry. In and out of the warehouse, it can also be applied to different fields such as express in and out of the warehouse of e-commerce logistics, and the products or goods involved in the transportation can be industrial parts, electronic accessories or products, medicines, clothing accessories, food, books, etc. The embodiment of the present application does not make specific limitations on this, and the above-mentioned goods can be placed in the material box 400 for transshipment or storage. The "material box 400" will be used below to refer to the handling object of the handling robot, and no specific examples will be given.

Please refer to Figure 2 in combination with Figure 1. The cargo picking and placing device 100 provided in this embodiment includes a telescopic element 110 and a clamping element 120. The telescopic element 110 includes a fixing member 111 and a telescopic member 112 that can be extended along a first direction relative to the fixing member 111. The clamping assembly 120 is arranged on the telescopic member 112, so that the telescopic member 112 can drive the clamping element 120 to move, and the clamping element 120 can drive the material box 400 to move to realize the cargo picking and placing operation.

Among them, the clamping element 120 includes a base 121, a first driving mechanism 122 and two clamping members 123. The base 121 is connected to the telescopic member 112. The two clamping members 123 are slidably arranged on the base 121. The outer wall of the material box 400 has a horizontal slot 410. The first driving mechanism 122 is arranged on the base 121, and the first driving mechanism 122 is used to drive the two clamping members 123 to open and close along the width direction of the telescopic assembly 110, so that the two clamping members 123 are both plugged in or disengaged from the horizontal slot 410.

For the sake of convenience, the fixing member 111 is used as a reference, and the length direction of the fixing member 111 is defined as the X direction, that is, the first direction is the X direction, and the telescopic member 112 can be telescopic along the X direction, and the width direction of the fixing member 111 is defined as the Y direction, that is, the width direction of the telescopic assembly 110 is the Y direction, and the base 121 extends along the width direction of the telescopic assembly 110, and the two clamping members 123 can move toward each other or away from each other along the Y direction. Since the telescopic member 112 and the clamping member 123 can both move back and forth, the movement in the X direction includes the forward and backward movement of the fixing member 111 in the length direction, and the movement in the Y direction includes the left and right movement of the telescopic assembly 110 in the width direction.

Please refer to Figure 3. When the clamping assembly 120 moves to a position close to or abutting the material box 400, the two clamping members 123 can move toward each other to achieve the cooperation between the clamping members 123 and the material box 400, wherein the outer wall of the material box 400 can be provided with a horizontal slot 410, wherein there can be one horizontal slot 410, that is, the two clamping members 123 are respectively inserted into the opposite sides of the horizontal slot 410, and there can also be two horizontal slots 410, that is, the two clamping members 123 respectively correspond to the two horizontal slots 410 one by one to complete the docking.

Taking two horizontal slots 410 as an example, the end cross-sectional size of the clamping member 123 can be equal to or smaller than the slot size of the horizontal slot 410. When the two clamping members 123 are close to each other, the two clamping members 123 can be inserted into the horizontal slot 410 respectively. When the clamping members 123 are away from each other, the two clamping members 123 can be detached from the horizontal slot 410 respectively. When the clamping members 123 enter the horizontal slot 410, along with the overall movement of the clamping assembly 120, the clamping member 123 can drive the material box 400 to move, thereby realizing the pick-up and placement operation of the material box 400. In addition, the clamping member 123 can be bent relative to the base 121, and the end of the clamping member 123 can be parallel to the length direction of the base 121.

It should be noted that, as the object to be placed, the outer wall of the material box 400 provided with the horizontal slot 410 can face the entrance and exit of the storage location of the shelf 500. When the material box 400 is placed on the shelf 500 by the device 100 provided in the embodiment of the present application, the clamping element 120 can be plugged and matched with the horizontal slot 410 protruding from the outer wall of the material box 400 through the clamping member 123. Therefore, when the clamping element 120 drives the material box 400 to move, the clamping assembly 120 and the telescopic member 112 do not need to enter the storage space where the material box 400 is stored. Therefore, the picking and placing device 100 will not occupy the internal space of the storage space when picking and placing the material box 400. When the material box 400 is stored in the storage space of the shelf 500, small spacing or no spacing storage can be achieved, thereby improving the space utilization rate of the warehouse.

The following is a detailed description of the driving method of the first driving mechanism 122 on the two clamping members 123.

As shown in Figures 4 and 5, in a possible implementation, the first driving mechanism 122 may include a first driving unit 1221, a first transmission member 1222 and two second transmission members 1223. The first driving unit 1221 is arranged on the base 121, the first transmission member 1222 can extend along the length direction of the base 121, the two second transmission members 1223 are both matched with the first transmission member 1222, and the two second transmission members 1223 are driven by the first transmission member 1222 to approach or move away from each other along the length direction of the base 121. The two clamping members 123 are respectively connected to the two second transmission members 1223, so that the clamping and separation of the clamping element 120 and the material box 400 can be controlled by controlling the distance between the two clamping members 123.

It can be understood that when two second transmission members 1223 are close to each other, the two clamping members 123 are close to each other, and when two second transmission members are far from each other, the two clamping members 123 are far from each other. The first drive unit 1221 can be a motor, and the rotation of the output shaft of the motor can be transmitted to the first transmission member 1222, driving the first transmission member 1222 to rotate, and the cooperation between the first transmission member 1222 and the second transmission member 1223 can convert the rotational motion output by the first drive unit 1221 into the movement of the clamping member 123 along the Y direction. It is understandable to those skilled in the art that the cooperation between the first transmission member 1222 and the second transmission member 1223 can be achieved by different methods such as screw transmission, gear and rack transmission, connecting rod transmission, etc. The following takes screw transmission as an example for detailed description.

Please continue to refer to Figures 4 and 5. In some embodiments, the first transmission member 1222 can be a screw, and the two second transmission members 1223 can both be screw nuts. The screw can include two coaxially connected threaded segments, and the thread rotation directions of the two threaded segments are opposite. The two screw nuts are respectively sleeved on the two threaded segments, so that the two second transmission members 1223 can have opposite movement directions through the rotation of the screw.

For example, the two threaded segments of the screw rod may be of equal length and equal pitch, and the two threaded segments may be integrally formed, or may be connected by welding or a coupling, and this embodiment of the application does not specifically limit this.

In addition, the first driving mechanism 122 may also include a first pulley 1224, a second pulley 1225 and a transmission belt 1226. The first pulley 1224 is connected to the output end of the first driving unit 1221, and the second pulley 1225 is coaxially connected to the end of the screw. The transmission belt 1226 is wound around the first pulley 1224 and the second pulley 1225. When the output end of the first driving unit 1221 rotates, the first pulley 1224 is driven to rotate, that is, the first pulley 1224 is a driving wheel, and the first pulley 1224 drives the transmission belt 1226 to transmit, thereby driving the second pulley 1225 to rotate, that is, the second pulley 1225 is a driven wheel. The second pulley 1225 can be coaxially connected to the first transmission member 1222, so that the first transmission member 1222 can be driven to rotate.

It can be understood that the first drive unit 1221 and the first transmission member 1222 can be staggered up and down along the height direction of the base 121, so as to make full use of the space above and below the base 121 and avoid the first drive unit 1221 and the first transmission member 1222 being coaxially arranged to occupy the space in the length direction of the base 121, so that the size of the length direction of the base 121 can match the moving stroke of the clamping member 123 as much as possible, thereby improving the rationality of the space layout.

In order to provide reliable support for the screw rod and ensure the stability of the clamping member 123 during movement, the base 121 may be provided with mounting seats 124 at both ends along its length direction, and the two ends of the screw rod are rotatably connected to the mounting seats 124. For example, the two ends of the screw rod may be matched with the mounting seats 124 through bearings, that is, the outer ring of the bearing is fixedly matched with the mounting seat 124, and the inner ring of the bearing is sleeved on the end of the screw rod.

Since all the clamping members 123 and the first driving mechanism 122 need to be installed on the base 121 as a whole, in order to ensure that the overall size of the base 121 is reasonable, the clamping members 123 and the first driving mechanism 122 can be arranged on different sides of the base 121, wherein the clamping members 123 can be located on the side of the base 121 facing the direction of picking up goods, and the first driving mechanism 122 can be installed on the side of the base 121 away from the direction of picking up goods.

Please continue to refer to Figures 4 and 5. In a possible implementation, the first driving mechanism 122 and the two clamping members 123 can be respectively located on opposite sides of the base 121. An avoidance groove 1211 is provided on the base 121. The avoidance groove 1211 extends along the length direction of the base 121. The clamping element 120 can also include two connecting members 125. The two connecting members 125 pass through the avoidance groove 1211 to connect the two clamping members 123 with the two second transmission members 1223, so that the layout space on both sides of the base 121 can be fully utilized, the space occupied by the first driving mechanism 122 can be reduced, and the overall size of the clamping element 120 can be reduced.

It is understandable that the avoidance groove 1211 can be in the shape of an elongated strip, and the length of the avoidance groove 1211 can match the length of the first transmission member 1222, that is, the length of the avoidance groove 1211 can be approximately equal to the stroke size of the two clamping members moving toward each other. In addition, the first transmission member 1222 is arranged opposite to the avoidance groove 1211, and the two mounting seats 124 can be respectively arranged at the two ends of the avoidance groove 1211. Exemplarily, the base 121 can be a sheet metal part, the avoidance groove 1211 can be formed by integral molding or machining, and the assembly of the first drive unit 1221, the mounting seat 124 and the machine base can be achieved by fasteners, snaps or welding connections, etc., and this application embodiment does not specifically limit this.

In some embodiments, a first guide rail 1212 may be provided on the base 121, and the first guide rail 1212 may extend along the length direction of the base 121. The two clamping members 123 are respectively connected to first sliders 1231, and the two first sliders 1231 are both slidably connected to the first guide rail 1212, so that the first guide rail 1212 can provide a guiding effect for the movement of the two clamping members 123.

Exemplarily, the first guide rail 1212 can be installed on the base 121 by means of fasteners, and the first guide rail 1212 can be arranged along the edge of the length direction of the avoidance groove 1211. The cooperation between the first guide rail 1212 and the first slider 1231 can also provide support for the clamping member 123, thereby preventing the first transmission member 1222 from receiving pressure or radial shear force, thereby ensuring the smoothness of the moving clamping process.

It should be noted that, since the movement of the clamping member 123 along the X direction can be driven by the first drive unit 1221 as a power source, and the first transmission member 1222 and the second transmission member 1223 are used as force and motion transmission units, the movement speed and stroke of the clamping member 123 depend on the output speed and the number of rotations of the first drive unit 1221 on the one hand, and on the parameters of the first transmission member 1222 and the second transmission member 1223 on the other hand, for example, when a screw and a screw nut are used, it depends on the diameter and pitch of the screw. For the first transmission member 1222 and the second transmission member 1223 of the selected type and parameters, the moving stroke and speed of the clamping member 123 can be adjusted by controlling the output of the first drive unit 1221, and the control of the first drive unit 1221 can be referenced by an external signal, which will be explained below.

In one possible implementation, the clamping element 120 may further include a first detection unit (not shown), which may be mounted on the base 121, and the first detection unit may be arranged corresponding to any one of the two clamping members 123 to detect the clamping state of the clamping members 123, thereby accurately judging the clamping state of the clamping element 120 relative to the material box 400, ensuring the accuracy of the clamping operation, and improving the operating efficiency.

It can be understood that when the clamping member 123 needs to be plugged into or detached from the horizontal slot 410, the first detection unit can determine the travel position of the clamping member 123, thereby ensuring the accuracy of the plugging action between the clamping member 123 and the horizontal slot 410, and because the movement process of the two clamping members 123 is symmetrical relative to the base 121, one of the two clamping members 123 can be detected, and the clamping state of the two clamping members 123 can be determined.

Exemplarily, the types that can be used by the first detection unit include but are not limited to photoelectric sensors, contact switches, etc., and the embodiments of the present application do not make specific limitations on this.

It should be noted that, when the clamping member 123 is mated with the material box 400, the two clamping members 123 move left and right to be plugged in, and the notch of the horizontal slot 410 on the material box 400 needs to face the clamping member 123. As shown in FIG6, the horizontal slot 410 can be located on both sides of the end outer wall of the material box 400, and the two horizontal slots 410 can be formed by two handles.

The movement of the clamping assembly 120 along the X direction is achieved by the telescopic assembly 110. The telescopic method of the telescopic element 110 and the matching method with the clamping element 120 are described in detail below.

Please continue to refer to Figure 2. In a possible implementation, the telescopic element 110 may include a fixed member 111, a telescopic member 112 and a second driving mechanism 130. The second driving mechanism 130 may be arranged between the fixed member 111 and the telescopic member 112. The second driving mechanism 130 can not only drive the telescopic member 112 to telescope relative to the fixed member 111 along the X direction, but also realize the movement of the clamping element 120 relative to the telescopic member 112.

Among them, the second driving mechanism 130 includes a second driving unit 131, a flexible transmission member 132 and a transmission wheel set 133. The transmission wheel set 133 may include a plurality of parallelly arranged transmission wheels, and the plurality of transmission wheels are respectively located on the fixed member 111 and the telescopic member 112. The flexible transmission member 132 is wound around the plurality of transmission wheels. The second driving unit 131 is connected to at least one of the transmission wheels and is used to drive the transmission wheel to rotate, so that the flexible transmission member 132 is driven by the transmission wheel to rotate around the plurality of transmission wheels.

It can be understood that the clamping element 120 is movably connected to the telescopic member 112, the clamping element 120 is arranged on the flexible transmission member 132 and the base 121 is fixedly connected to the flexible transmission member 132, that is, when the flexible transmission member 132 is transmitted, the base 121 can move with the flexible transmission member 132. In this process, the clamping assembly 120 moves relative to the telescopic member 112, that is, the clamping element 120 moves along the first direction. In this state, the relative positions of the various driving wheels of the driving wheel assembly 133 can remain unchanged, and when the telescopic member 112 and the fixed member 111 move relative to each other, the relative positions of the driving wheels arranged on the telescopic member 112 and the fixed member 111 will change.

The cargo picking and placing device 100 provided in the embodiment of the present application can realize the movement of the telescopic member 112 relative to the fixed member 111 and the movement of the clamping element 120 relative to the telescopic arm through the cooperation of multiple transmission wheels, thereby simplifying the multi-stage driving structure of the cargo picking device when clamping the material box 400, reducing the space occupied by the side of the telescopic element 110, and making the overall structure more compact.

It should be noted that the length of the telescopic member 112 along the X direction can be approximately regarded as the moving stroke of the clamping element 120, that is, the clamping element 120 can move between the two ends of the telescopic member 112, and the movement of the telescopic member 112 relative to the fixed member 111 can be regarded as the change of the overlapping state between the telescopic member 112 and the moving member along the vertical direction, wherein, when the telescopic member 112 and the fixed member 111 are in an overlapping state in the vertical direction, it can be regarded as the contraction of the telescopic member 112. state, and when the telescopic member 112 extends from one end relative to the fixed member 111, that is, when they are partially overlapped, it can be regarded as the extended state of the telescopic member 112. When the second driving unit 131 drives the transmission wheel to rotate, it can drive at least one of the telescopic member 112 and the clamping element 120 to move along the first direction. For example, in part of the stroke of picking up and placing goods, only the clamping element 120 is driven to move, or, in part of the stroke, the telescopic member 112 and the clamping element 120 are driven to move at the same time.

When the cargo picking and placing device 100 provided in the present application performs the cargo picking and placing operation, it can first dock with the cargo picking and placing target. Taking the cargo picking process of the storage location of the shelf 500 as an example, the clamping component 120 is first moved to the front end of the telescopic component 112, and then through the telescopic movement of the telescopic component 112, the end of the telescopic component 112 can be abutted against the lower edge of the storage location, thereby establishing a channel for the movement of the material box 400 between the cargo picking and placing device 100 and the storage location. Thereafter, through the movement of the clamping component 120 relative to the telescopic component 112, the material box 400 is removed from the storage location to the telescopic component 112 by using the clamping component 120, and then the telescopic component 112 is retracted to complete the cargo picking.

It can be seen that in the picking or placing step of the cargo picking and placing device 100, the movement of the telescopic member 112 relative to the fixed member 111 and the movement of the clamping element 120 relative to the telescopic member 112 need to be controlled, that is, when the second driving unit 131 drives the transmission wheel assembly 133 to rotate and the flexible transmission member 132 to transmit, it is necessary to keep the telescopic member 112 and the fixed member 111 relatively stationary in some cases, and the clamping assembly 120 moves relative to the telescopic member 112, and keep the clamping element 120 and the telescopic member 112 relatively stationary in other cases, and the telescopic member 112 moves relative to the fixed member 111.

As shown in Figures 7 and 8, in order to realize the movement requirements of various joint components in the above-mentioned picking and placing process, the picking device in the embodiment of the present application may also include a locking linkage element 140. The locking linkage element 140 can be arranged on the telescopic element 110. At least part of the structure of the locking linkage element 140 can move relative to the telescopic member 112, and different moving positions can make at least part of the structure of the locking linkage element 140 engage or separate with the fixing member 111, thereby locking or unlocking the telescopic member 112 and the fixing member 111.

It can be understood that when the telescopic member 112 and the fixed member 111 are unlocked, the transmission wheel assembly 133 can drive the telescopic member 112 to extend and retract along the first direction when the flexible transmission member 132 is transmitted, and some transmission wheels of the transmission wheel assembly 133 have a variable relative position in the first direction, that is, the relative position of the transmission wheel on the fixed member 111 and the transmission wheel on the telescopic member 112 can change, and the length of the flexible transmission member 132 between the corresponding parts of the transmission wheels also changes.

When the telescopic member 112 and the fixed member 111 are locked, the relative positions of the driving wheels in the driving wheel assembly 133 remain unchanged. At this time, the second driving unit 131 drives the driving wheel to rotate, and the flexible transmission member 132 forms a closed loop with a relatively fixed shape, so that the flexible transmission member 132 is driven to move the clamping element 120 relative to the telescopic member 112.

In some embodiments, the two ends of the telescopic member 112 are respectively provided with a first limit portion 1126 and a second limit portion 1127. When the locking linkage component 140 unlocks the telescopic member 112 and the fixing member 111, the clamping element 120 abuts against the first limit portion 1126 or the second limit portion 1127, so that the telescopic member 112 extends or retracts along the first direction, and at this time, the relative positions of the various driving wheels of the driving wheel assembly 133 will change relatively as described in the aforementioned scheme; and when the locking linkage assembly 140 locks the telescopic member 112 and the fixing member 111, the clamping element 120 moves between the first limit portion 1126 and the second limit portion 1127, and at this time, the relative positions of the various driving wheels of the driving wheel assembly 133 also remain unchanged.

The specific structure and arrangement of the transmission wheel set 133 and the specific principle of the second driving mechanism 130 to achieve driving are described in detail below.

As shown in Figures 9 and 10, combined with Figures 2 and 8, in one possible implementation, the multiple drive wheels may include multiple inner drive wheels and at least one outer drive wheel, the flexible drive member 132 is arranged around the outer sides of the multiple inner drive wheels, and the outer drive wheel abuts against the outer peripheral surface of the flexible drive member 132.

Among them, the outer driving wheel and part of the inner driving wheel are connected to the telescopic member 112, and the remaining inner driving wheels are arranged on the fixed member 111. When the flexible driving member 132 is driven, the clamping assembly 120 is driven to move, and the clamping assembly 120 triggers the locking linkage assembly 140 to unlock, and then drives the telescopic member 112 to move, thereby driving the driving wheel connected to the telescopic member 112 to move along the first direction relative to the driving wheel connected to the fixed member 111.

Exemplarily, the flexible transmission member 132 can be a synchronous belt, the inner transmission wheel can be a synchronous wheel, and the synchronous wheel is engaged with the inner side of the synchronous belt through a synchronous tooth, and the outer transmission wheel can be a flat belt wheel, which abuts against the outer side of the synchronous belt, thereby acting as a guide wheel to guide the direction of the synchronous belt.

In some embodiments, the multiple inner drive wheels may include a first drive wheel 1331, a second drive wheel 1332 and a fourth drive wheel 1334 arranged in sequence in the transmission direction of the flexible transmission member 132, and the outer drive wheel may include a third drive wheel 1333, and the third drive wheel 1333 is arranged between the second drive wheel 1332 and the fourth drive wheel 1334, that is, the flexible transmission member 132 passes around the first drive wheel 1331, the second drive wheel 1332, the third drive wheel 1333 and the fourth drive wheel 1334 in sequence to form a closed transmission loop.

In order to make full use of the length of the fixed member 111 and the telescopic member 112 and ensure that the clamping element 120 has a sufficient picking and placing stroke, the first transmission wheel 1331 and the second driving unit 131 can be arranged at the first end of the fixed member 111, the second transmission wheel 1332 can be arranged at the second end of the fixed member 111, and the third transmission wheel 1333 can be arranged at the first end of the telescopic member 112, and the fourth transmission wheel 1334 can be arranged at the second end of the telescopic member 112, forming a closed-loop transmission. In the structure, the flexible transmission member 132 first extends from the first end of the fixed member 111 to the second end of the fixed member 111, then extends from the second end of the fixed member 111 to the first end of the telescopic member 112, then extends from the first end of the telescopic member 112 to the second end of the telescopic member 112, and finally returns from the second end of the telescopic member 112 to the first end of the fixed member 111, so that the movement of the clamping element 120 and the movement of the telescopic member 112 can be realized through the transmission of the flexible transmission member 132.

It is understandable that, in order to ensure the rationality of the spatial layout, the second drive unit 131 can be arranged on the fixing member 111, and used to drive the first transmission wheel 1331 to rotate, that is, the first transmission wheel 1331 can be the driving wheel, the second transmission wheel 1332 and the fourth transmission wheel 1334 can be the driven wheels, and the third transmission wheel 1333 can be the guide wheel. In order to ensure the rationality of the spatial layout along the vertical direction, the diameter of the first transmission wheel 1331 can be larger than the diameter of other transmission wheels, and the embodiment of the present application does not limit the specific size values of all transmission wheels.

In some embodiments, the base 121 may be relatively fixedly connected to the flexible transmission member 132 between the first transmission wheel 1331 and the fourth transmission wheel 1334. When the telescopic member 112 and the fixed member 111 remain relatively stationary and the flexible transmission member 132 is driven, the clamping element 120 may move between the first transmission wheel 1331 and the fourth transmission wheel 1334. At this time, if the clamping element 120 abuts against the first end of the telescopic member 112 or the second end of the telescopic member 112, the clamping element 120 may push the telescopic member 112 to move relative to the fixed member 111 under the driving action of the flexible transmission member 132.

Among them, when the telescopic member 112 is extended relative to the fixed member 111, the distance between the first transmission wheel 1331 and the fourth transmission wheel 1334 increases, and the distance between the second transmission wheel 1332 and the third transmission wheel 1333 decreases, that is, it can be understood that the second transmission wheel 1332 and the third transmission wheel are close to each other, while the first transmission wheel 1331 and the fourth transmission wheel 1334 are far away from each other, and the length of the flexible transmission member 132 between the second transmission wheel 1332 and the third transmission wheel 1333 can compensate for the length of the flexible transmission member 132 between the first transmission wheel 1331 and the fourth transmission wheel 1334.

When the telescopic member 112 is retracted relative to the fixed member 111, the distance between the first transmission wheel 1331 and the fourth transmission wheel 1334 decreases, and the distance between the second transmission wheel 1332 and the third transmission wheel 1333 increases, that is, it can be understood that the second transmission wheel 1332 and the third transmission wheel move away from each other, while the first transmission wheel 1331 and the fourth transmission wheel 1334 move closer to each other, and the length of the flexible transmission member 132 between the first transmission wheel 1331 and the fourth transmission wheel 1334 can compensate for the length of the flexible transmission member 132 between the second transmission wheel 1332 and the third transmission wheel 1333.

It should be noted that the sum of the distance between the first transmission wheel 1331 and the fourth transmission wheel 1334 and the distance between the second transmission wheel 1332 and the third transmission wheel 1333 remains unchanged, thereby ensuring the movement accuracy of the telescopic member 112 and the clamping element 120 and avoiding the flexible transmission from being stuck due to excessive tension or being loose due to insufficient tension.

In addition, in order to maintain the tensioned state of the flexible transmission member 132, a tensioning mechanism (not shown) can be provided on one of the multiple transmission wheels. The tensioning mechanism can adjust the position of the transmission wheel at its corresponding position, thereby maintaining the flexible transmission member 132 in a more appropriate tensioned state to avoid transmission difficulties due to being too tight or transmission failure due to being too loose.

It can be understood by those skilled in the art that a second guide rail 1124 can be provided on the telescopic member 112, and the second guide rail 1124 extends along the first direction. A second slider 1213 is provided on the side of the base 121 facing the telescopic member 112, and the second guide rail 1124 cooperates with the second slider 1213 to support the base 121, thereby providing support for the clamping element 120 and ensuring smooth movement of the clamping element 120.

The movement of the base 121 and the second slider 1213 along the second guide rail 1124 can be realized by the transmission of the flexible transmission member 132. When the base 121 is connected to the flexible transmission member 132, two cover plates (not shown) that cover each other and are respectively located on both sides of the flexible transmission member 132 can be provided under the base 121. The two cover plates clamp the flexible transmission member 132 together, thereby ensuring that when the flexible transmission member 132 is transmitted, the clamping element 120 and the flexible transmission member 132 between the first transmission wheel 1331 and the fourth transmission wheel 1334 maintain a fixed relative position. In addition, the two cover plates can be connected by means of threaded fasteners or buckles, etc., and this embodiment of the application does not make specific limitations on this.

In some embodiments, there can be two transmission wheel assemblies 133 and two flexible transmission members 132, and the two can be arranged in pairs, and the two pairs of transmission wheel assemblies 133 and flexible transmission members 132 can be respectively arranged on both sides of the telescopic element 110, that is, a mirror-symmetrical transmission structure is formed on both sides of the telescopic member 112 and the fixed member 111 to improve the stability of the driving mechanism.

It can be understood that the first drive wheels 1331 of the two drive wheel sets 133 are connected through the drive shaft 134, and the output end of the second drive unit 131 is connected to the drive shaft 134, thereby realizing the synchronous transmission of the drive wheel sets 133 on both sides and ensuring the stability of the movement process of the telescopic member 112 and the clamping element 120.

Exemplarily, both ends of the drive shaft 134 can be mounted on the first end of the fixing member 111 through a bearing seat and a bearing support, and the second drive unit 131 can be a motor, and the output shaft of the motor can be matched with the drive shaft 134 by gear engagement, or a reducer can be provided between the motor output shaft and the drive shaft 134. The embodiment of the present application does not specifically limit the specific matching method between the second drive unit 131 and the drive shaft 134.

It should be noted that, in addition to the synchronous belt, the flexible transmission member 132 in the driving element may also adopt other structural types including but not limited to the chain 164 and the like. The corresponding transmission wheel may be a sprocket or the like that matches the same structure. The embodiment of the present application does not specifically limit this and will not be elaborated on.

Since the second driving mechanism 130 needs to rely on the locking linkage assembly 140 to lock the telescopic member 112 and the fixing member 111 at a specific position during the cargo picking and placing step of driving the telescopic member 112 and the clamping element 120 to move, the specific structure and principle of the locking linkage element 140 are described in detail below.

As shown in Figures 11 to 13, combined with Figure 8, in a possible implementation, the locking linkage element 140 may include a connecting rod mechanism 141 and a clamping member 142, the connecting rod mechanism 141 includes a fixed rod 1414 and a plurality of movable rods, the fixed rod 1414 is connected to the plurality of movable rods in sequence, and the fixed rod 1414 is connected to the telescopic member 112, the movable rod can swing relative to the telescopic member 112, the clamping member 142 can be connected between the fixed rod 1414 and the movable rod, and when the movable rod swings, the clamping member 142 can be connected to and separated from the fixed member 111.

Among them, the first end of the clamping member 142 can be rotatably connected to the fixed rod 1414, and the second end of the clamping member 142 can be rotatably connected to any one of the multiple movable rods, and the clamping member 142 can rotate under the drive of the movable rod. When the clamping member 142 is clamped with the fixed member 111, the clamping member 142 is clamped with the fixed member 111, so that the telescopic member 112 and the fixed member 111 are in a locked state, and when the clamping member 142 is separated from the fixed rod 1414, the telescopic member 112 and the fixed member 111 are unlocked.

It is understandable that, according to the steps of the cargo picking and placing process of the cargo picking and placing device 100, when the clamping element 120 moves to different positions in the X direction, it is necessary to realize the conversion between the locking state and the unlocking state between the telescopic member 112 and the fixing member 111.

In some embodiments, a trigger may be provided on at least one of the multiple movable rods, and a thrust piece 1214 may be provided on the second slider 1213. When the second slider 1213 moves to different positions in the extension direction of the second guide rail 1124, the thrust piece 1214 may abut against or separate from the trigger piece, that is, when the clamping element 120 moves to different positions along the X direction, it can trigger the change of the matching state between the thrust piece 1214 and the trigger piece, thereby realizing the locking or unlocking of the telescopic member 112 and the fixing member 111.

When the thrust piece 1214 abuts against the trigger piece, the thrust piece 1214 drives the movable rod to swing so that the clamping piece 142 is separated from the fixing piece 111. At this time, the telescopic piece 112 can move relative to the fixing piece 111 under the push, and the position of the clamping assembly 120 relative to the telescopic piece 112 remains unchanged.

In addition, the locking linkage element 140 may also include an elastic member 145, which can provide a reset function for the clamping of the clamping member 142 and the fixing member 111, wherein the first end of the elastic member 145 can be connected to the fixing rod 1414, and the second end of the elastic member 145 can be connected to the clamping member 142. When the thrust member 1214 is separated from the trigger member, the elastic member 145 pulls the clamping member 142 to rotate so that the clamping member 142 is clamped with the fixing member 111. At this time, the telescopic member 112 and the fixing member 111 remain relatively stationary, and under the transmission of the flexible transmission member 132, the clamping assembly 120 moves relative to the telescopic member 112.

Exemplarily, the elastic member 145 may be a tension spring, or may be an elastic rope, elastic rubber or other member that can provide tension. The model, type and elastic damping coefficient of the elastic member 145 may be designed according to the installation space and the size requirements of the clamping force between the telescopic member 112 and the fixing member 111, and the embodiment of the present application does not make specific limitations on this.

It is understandable to those skilled in the art that in order to ensure the stability of the swing of the connecting rod mechanism 141, the connecting rod mechanism 141 can be a four-bar structure, which is illustrated below.

Please continue to refer to Figures 8, 11, 12 and 13. The fixed rod 1414 can extend along the first direction, and the length of the fixed rod 1414 matches the length of the second guide rail 1124. The multiple movable rods may include a first movable rod 1411, a second movable rod 1412 and a third movable rod 1413. The first movable rod 1411 and the second movable rod 1412 are respectively rotatably connected to the two ends of the fixed rod 1414, and the two ends of the third movable rod 1413 are respectively rotatably connected to the first movable rod 1411 and the second movable rod 1412, thereby forming a four-bar structure.

Among them, the lengths of the fixed rod 1414 and the third movable rod 1413 can be longer, and the lengths of the first movable rod 1411 and the second movable rod 1412 can be shorter, so as to reduce the range of movement of the connecting rod mechanism 141 when it swings and avoid interference. The second end of the clamping member 142 can be rotatably connected to the third movable rod 1413, the first movable rod 1411 can be provided with a first triggering member 143, and the second movable rod 1412 can be provided with a second triggering member 144. When the second slider 1213 moves to the two ends of the travel of the second guide rail 1124, the thrust member 1214 can trigger the first triggering member 143 and the second triggering member 144 respectively, that is, the first movable rod 1411 or the second movable rod 1412 is driven to swing by abutting against the first triggering member 143 or the second triggering member 144 respectively, so as to realize the movement of the connecting rod mechanism 141, thereby realizing the unlocking of the clamping member 142 and the fixing member 111.

It should be noted that the reciprocating movement of the clamping element 120 relative to the two ends of the telescopic member 112 corresponds to the reciprocating movement of the thrust member 1214 between the first trigger member 143 and the second trigger member 144, and the abutting force of the thrust member 1214 on the first trigger member 143 and the second trigger member 144 is in the opposite direction. Therefore, in order to ensure that when the thrust member 1214 abuts against the first trigger member 143 and the second trigger member 144, the third movable rod 1413 can swing in the same direction to separate the clamping member 142 from the fixing member 111. The first trigger 143 and the second trigger 144 can be designed to have different positions, wherein, on one side of the first movable rod 1411, the first trigger 143 can be located between the two rotating shafts of the first movable rod 1411, and on one side of the second movable rod 1412, the second trigger 144 can be located at the outer ends of the two rotating shafts of the second movable rod 1412, so that the directions of the abutting forces on the first trigger 143 and the second trigger 144 are opposite, but the connecting rod mechanism 141 can have the same swinging state.

In some embodiments, the first end of the clamping member 142 may be provided with a clamping portion 1421 and a pulling portion 1422, and the fixing member 111 is provided with a clamping groove 1112 arranged along the first direction. When the clamping member 142 is clamped with the fixing member 111, the clamping portion 1421 is clamped into the clamping groove 1112 to ensure the reliability of the clamping and the structural strength. The pulling portion 1422 may be connected to the elastic member 145, and the pulling portion 1422 and the clamping portion 1421 are respectively located on opposite sides of the connection position between the clamping member 142 and the fixing member 111, so that the trigger member and the elastic member 145 drive the clamping member 142 to rotate in opposite directions, thereby realizing the locking and unlocking functions.

Please continue to refer to FIG. 12 . The clamping groove 1112 can be formed by a tooth plate installed on the fixing member 111. The plurality of clamping grooves 1112 can be arranged in sequence along the X direction. When the second trigger member 144 is hit and abutted, the second movable rod 1412 swings clockwise and drives the third movable rod 1413 to move to the left. At this time, since the position of the fixing rod 1414 remains unchanged, the position of the connection point between the clamping member 142 and the fixing rod 1414 remains unchanged. The third movable rod 1413 can drive the clamping member 1414 to move to the left. The other end of 142 moves to the left, so that the connecting member 125 rotates counterclockwise, and the clamping portion 1421 can be separated from the clamping groove 1112; and when the second trigger member 144 is freed from the abutment, under the pulling force of the elastic member 145, the elastic member 145 pulls the pulling portion 1422, so that the clamping member 142 can rotate clockwise, and the clamping portion 1421 can be clamped with the clamping groove 1112, and at the same time the third movable rod 1413 can also be swung to the right to its original state.

Please continue to refer to FIG. 2 and FIG. 9. In a possible implementation, the telescopic member 112 may include a pallet 1121 and side panels 1122 respectively disposed on both sides of the pallet 1121. The side panels 1122 are provided with at least one supporting member 1125. The pallet 1121 is connected to the supporting member 1125. The pallet 1121 is used to carry the material box 400 and lock the material box 400. The linkage assembly 140 is located on the side of the pallet 1121 away from the material box 400. The third guide rails 1111 are respectively provided on both sides of the fixing member 111. The side plates 1122 are respectively slidably connected to the third guide rails 1111, thereby providing an installation space for the second driving mechanism 130 and ensuring that the material box 400 can be reliably and effectively loaded.

It should be noted that, when the pallet 1121 does not carry a material box 400, the telescopic member 112 and the fixed member 111 can be unlocked by triggering the first trigger member 143 or the second trigger member 144 by the clamping element 120, and the movement of the telescopic member 112 is directly driven by the clamping assembly 120. When the pallet 1121 carries a material box 400, the clamping element 120 can apply a pushing force or a pulling force to the material box 400, and the friction between the material box 400 and the pallet 1121 drives the telescopic member 112 to move relative to the fixed member 111.

Please continue to refer to Figures 1, 2, 8 and 13. In a possible implementation, the locking linkage element 140 may also include a third trigger 146, which is rotatably connected to the fixed rod 1414. An opening 1123 is provided on the tray 1121. The third trigger 146 at least partially extends from the opening 1123 and extends to the side of the telescopic member 112 that carries the material box 400. The third trigger 146 is used to cooperate with the material box 400. When the material box 400 is carried on the tray 1121, the material box 400 can press down the third trigger 146 to trigger the unlocking of the telescopic member 112 and the fixed member 111.

It can be understood that the third trigger 146 can abut against the clamping member 142, and when the material box 400 abuts against the third trigger 146, the third trigger 146 drives the clamping member 142 to rotate, so that the telescopic member 112 is separated from the fixed member 111, so that when the material box 400 is carried on the tray 1121, the telescopic member 112 and the fixed member 111 can be kept in a relatively slidable state. In addition, in order to ensure that the material box 400 has a sufficient contact area with the tray 1121 and prevent the material box 400 from falling, the third trigger 146 can be located on a side close to the second movable rod 1412.

Exemplarily, the fixed rod 1414 may be provided with an avoidance opening 1414a, the third trigger 146 is rotatably connected to the side wall of the avoidance opening 1414a, the third trigger 146 is provided with a first abutment portion 1461, the clamping member 142 is provided with a second abutment portion 1423 on the side facing the fixed rod 1414, the second abutment portion 1423 extends to the bottom side of the fixed rod 1414, the first abutment portion 1461 passes through the avoidance opening 1414a and abuts against the second abutment portion 1423, so that when the third trigger 146 rotates, the clamping member 142 can be driven to rotate.

It should be noted that the above-mentioned locking linkage elements 140 can be one, two or more, and can be arranged at different positions on the telescopic member 112 along the width direction of the telescopic member 112 to ensure the reliability of locking, and different locking linkage elements 140 can move or swing synchronously.

Please continue to refer to Figures 2 and 7. The cargo picking and placing device 100 provided in the embodiment of the present application may also include a second detection unit 150. The second detection unit 150 is connected to the fixing member 111, and the second detection unit 150 is used to detect the posture of the material box 400 and at least one of the electronic identification of the material box 400, so as to accurately determine the initial position of the cargo picking and placing device 100 when picking and placing the material box 400, and to identify the information of the material box 400, and accurately perform the corresponding cargo picking and placing and transportation tasks.

It is understandable that there may be multiple second detection units 150, and different second detection units 150 may detect information of different material boxes 400. Exemplarily, the multiple second detection units 150 may include a 3D camera for detecting the size and placement of the material box 400, so that the picking and placing device 100 can align the material box 400 during operation. The multiple second detection units 150 may also include a scanner or a 2D camera, etc., for detecting identifiable identification on the material box 400, such as a two-dimensional code, a barcode, a digital mark, etc., to determine whether the identity of the material box 400 is the correct execution object for the current task.

Please refer to Figures 14 and 15. The cargo picking and placing device 100 provided in the embodiment of the present application may also include a rotating element 160. The rotating element 160 may include a fixed bracket 161, a fourth driving unit 163 and a rotating platform 162. The fourth driving unit 163 is used to drive the rotating platform 162 to rotate relative to the fixed bracket 161. The telescopic assembly 110 is arranged on the rotating platform 162. When applied to a transport robot, cargo picking and placing operations can be implemented on different sides of the transport robot.

Exemplarily, the fourth drive unit 163 can be a motor, and the motor can be installed on the rotating platform 162. The fourth drive unit 163 and the fixed bracket 161 can be matched through a chain 164 and two sprockets (not shown), one of which can be fixed relative to the fixed bracket 161, and the rotating platform 162 can be rotatably connected to the sprocket, and the other sprocket can be rotatably set at the bottom of the rotating platform 162. The chain 164 can be wound around the two sprockets, and the fourth drive unit 163 can drive the sprocket on the rotating platform 162 to rotate, so that the rotating platform 162 rotates relative to the fixed bracket 161, thereby realizing the rotation of the telescopic element 110 relative to the fixed bracket 161.

In addition, please continue to refer to Figures 1 and 2. A buffer can be provided at the front end of the tray 1121. When the telescopic member 112 is extended relative to the fixed member 111, the buffer can abut against the edge of the shelf 500, thereby playing a buffering role and reducing or eliminating noise. A micro switch can also be provided at the front end of the tray 1121. When the telescopic member 112 abuts against the edge of the shelf 500, the micro switch can be triggered, thereby determining that the telescopic member 112 is successfully docked with the shelf 500, and then the clamping element 120 can be plugged and matched with the material box 400. Of course, a corresponding switch unit (not shown) may also be provided at the rear end of the tray 1121 to detect whether the retractable member 112 is fully retracted.

Please refer to Figures 16 to 24, taking the application on a transport robot as an example, the following is an exemplary description of the specific steps of picking up goods from the shelf 500 by the picking and placing device 100 of the embodiment of the present application.

Step 1: As shown in FIG. 16 , the telescopic member 112 is in a retracted state relative to the fixed member 111, and the clamping element 120 moves from the first end of the telescopic member 112 to the second end of the telescopic member 112, thereby triggering the unlocking of the telescopic member 112 and the fixed member 111.

Step 2: As shown in FIG. 17 , the clamping assembly 120 drives the telescopic member 112 to extend relative to the fixed member 111, and the end of the telescopic member 112 abuts against the edge of the shelf 500, so that the two clamping members 123 of the clamping assembly 120 are close to each other and can be plugged into the horizontal slot 410 of the material box 400 to clamp the material box 400.

Step 3: As shown in FIG. 18 , the clamping component 120 moves back relative to the telescopic member 112, so that the clamping component 120 pulls part of the material box 400 onto the tray 1121 of the telescopic member 112. At this time, the telescopic member 112 and the fixing member 111 are locked, and the relative positions of the two remain fixed to prevent the material box 400 from falling.

Step 4: As shown in FIG. 19 , the clamping assembly 120 pulls the entire material box 400 onto the pallet 1121 . At this time, the pressure of the material box 400 triggers the unlocking of the telescopic member 112 and the fixed member 111 , so that when the clamping assembly 120 drags the material box 400 to move, the telescopic member 112 can be retracted relative to the fixed member 111 under the friction force of the material box 400 .

Step 5: As shown in FIG. 20 , the retractable member 112 is completely retracted, the retractable member 112 is separated from the edge of the shelf 500, and the material box 400 is pulled to the top of the fixing member 111 by the clamping element 120. At this time, the retractable element 110 as a whole returns to the initial position before picking up the goods.

Step 6: As shown in FIG. 21 , the rotating element 160 drives the telescopic element 110 and the material box 400 to rotate 90° together, so that the material box 400 faces the storage slot 221 of the transport robot.

Step 7: As shown in FIG. 22 , the clamping assembly 120 pushes the material box 400 to move, and under the action of the friction force of the material box 400 , the telescopic member 112 extends out and abuts against the edge of the storage slot 221 .

Step 8: As shown in FIG. 23 , the clamping assembly 120 continues to push the material box 400 to move, and the material box 400 moves from the tray 1121 to the storage slot 221 , after which the two clamping members 123 of the clamping element 120 can move away from each other and detach from the material box 400 .

Step nine: As shown in FIG. 24 , the clamping assembly 120 is retracted relative to the telescopic member 112 and drives the telescopic member 112 to retract relative to the fixing member 111 to return to the initial state.

It should be noted that the operation of taking and placing the material box 400 on the transport robot into the storage location of the shelf 500 can be similar to the above-mentioned operation steps, which will not be repeated here.

Different from the method of using the clamping assembly 120 to pick up and place the material box 400 in the above technical solution, the embodiment of the present application can also use another method to pick up and place the material box 400.

Please refer to Figures 25 to 31. In another implementation, the cargo picking and placing device 100 may include a telescopic element 110 and a push-pull element 170. The telescopic element 110 includes a fixed member 111 and a telescopic member 112. The telescopic member 112 is arranged on the fixed member 111 and can be extended and retracted along a first direction relative to the fixed member 111. The push-pull assembly 170 is arranged on the telescopic member 112. The push-pull element 170 is used to drive the material box 400 to move, that is, to pick and place the material box 400. The telescopic member 112 can play a bearing role on the material box 400.

It can be understood that the push-pull element 170 may include a substrate 171, a pulling member 172 and a third driving mechanism 173, the substrate 171 is connected to the telescopic member 112, the third driving mechanism 173 is arranged on the substrate 171, the pulling member 172 is connected to the third driving mechanism 173, and the third driving mechanism 173 can drive the pulling member 172 to move along the cooperative manufacturer direction.

For the sake of convenience, the fixing member 111 is used as a reference, and the length direction of the fixing member 111 is defined as the X direction, that is, the first direction is the X direction, and the retractable member 112 can be retracted along the X direction. The height direction of the substrate 171 is defined as the Z direction, that is, the cooperative manufacturer direction is the Z direction, and the pulling member 172 can move along the Z direction. Since the retractable member 112 and the pulling member 172 can both move back and forth, the movement in the first direction includes the forward and backward movement in the X direction, and the movement in the cooperative manufacturer direction includes the up and down movement in the Z direction.

Please refer to Figures 25, 26, 27, 28, 29 and 30. When the push-pull assembly 170 moves to a position close to or abutting the material box 400, the pulling member 172 can be matched with the material box 400 through the extension and contraction movement of the pulling member 172, wherein the outer wall of the material box 400 can be provided with a vertical slot 420. Under the drive of the third driving mechanism 173, the pulling member 172 can be connected to or disconnected from the vertical slot 420 by movement.

It can be understood that the cross-sectional size of the pulling member 172 can be equal to or smaller than the slot size of the vertical slot 420, so that the pulling member 172 can enter the vertical slot 420. When the pulling member 172 moves upward, the pulling member 172 can be inserted into the vertical slot 420. When the pulling member 172 moves downward, the pulling member 172 can be detached from the vertical slot 420. When the pulling member 172 enters the vertical slot 420, as the push-pull assembly 170 moves as a whole, the pulling member 172 can drive the material box 400 to move, thereby realizing the pick-up and placement operation of the material box 400.

It should be noted that, as the object to be picked up and placed, the outer wall of the material box 400 provided with the vertical slot 420 can face the entrance and exit of the storage location of the shelf 500. When the picking and placing device 100 provided in the embodiment of the present application picks and places the material box 400 on the shelf 500, the push-pull element 170 can be plugged and matched with the outer side wall of the material box 400 through the pulling member 172, so that when the push-pull element 170 drives the material box 400 to move, the push-pull assembly 170 and the telescopic member 112 do not need to enter the storage location where the material box 400 is stored. Therefore, the picking and placing device 100 will not occupy the internal space of the storage location when picking and placing the material box 400, and can achieve small spacing or no spacing when storing the material box 400 in the storage location of the shelf 500, thereby improving the space utilization rate of the warehouse.

In addition, the push-pull element 170 may further include a push plate 177, which is connected to the base plate 171 and faces the material box 400 to push the material box 400 to move, that is, the push plate 177 is located on the same side of the third driving mechanism 173 and the pulling member 172 relative to the base plate 171. Exemplarily, the push plate 177 can be assembled and connected with the base plate 171 by fasteners.

The following is a detailed description of the driving method of the third driving mechanism 173 on the pulling member 172.

In one possible implementation, the third driving mechanism 173 may include a third driving unit 1731, a third transmission 1732, a fourth transmission 1733 and a connecting rod 1734, the third driving unit 1731 is arranged on the substrate 171, the third transmission 1732 is connected to the output end of the third driving unit 1731, and the third transmission 1732 can rotate under the drive of the third driving unit 1731, and the fourth transmission 1733 cooperates with the third transmission 1732, and the fourth transmission 1733 can move in the direction of the third transmission 1732, that is, move up and down along the Z direction.

It can be understood that the third drive unit 1731 can output rotational motion and drive the third transmission member 1732 to rotate, and the cooperation between the fourth transmission member 1733 and the third transmission member 1732 can convert the rotational motion into linear motion. The first end of the connecting rod 1734 can be connected to the third transmission member 1732, and the second end of the connecting rod 1734 is connected to the pulling member 172, so that when the fourth transmission member 1733 moves, it can drive the pulling member 172 to move synchronously, thereby realizing the cooperation of the pulling member 172 and the vertical slot 420 for plugging in or out.

It should be noted that, since the plug-in cooperation between the pulling member 172 and the vertical slot 420 requires reciprocating movement, the up and down movement of the pulling member 172 along the Z direction can be respectively corresponding to the forward rotation and reverse rotation of the third transmission member 1732. For example, when the third transmission member 1732 rotates forward, the corresponding pulling member 172 moves upward along the Z direction, and when the third transmission member 1732 reverses, the corresponding pulling member 172 moves downward along the Z direction.

In addition, in order to ensure the smoothness and stability of the pulling member 172 when moving along the cooperative manufacturer direction, the third driving mechanism 173 may also include a guide member 1735. The guide member 1735 can be arranged on the substrate 171. A guide hole is provided on the guide member 1735. The guide hole extends along the cooperative manufacturer direction. The connecting rod 1734 passes through the guide hole, and the connecting rod 1734 can move along the guide hole under the drive of the fourth transmission member 1733, that is, the guide member 1735 can play a role as a limit element guide for the movement of the fourth transmission member 1733.

In the embodiment of the present application, the third driving mechanism 173 is used to drive the pulling member 172, and its purpose is to convert the rotational motion into linear motion. Therefore, different matching modes of the third transmission member 1732 and the fourth transmission member 1733 can be adopted, including but not limited to the screw transmission mode, the gear and tooth mode, the pulley and transmission belt mode, etc., and the embodiment of the present application does not make specific restrictions on this. Of course, it is also possible to consider the mode of using a linear motor or a cylinder to directly drive the pulling member 172. The following is an example of one of the driving modes for explanation.

In some embodiments, the third transmission member 1732 can be a screw, the fourth transmission member 1733 can be a screw nut, the third drive unit 1731 can be a motor, the screw can extend in the cooperative direction, that is, the screw extends along the Z direction, the first end of the screw is connected to the output shaft of the motor, the second end of the screw is rotatably connected to the guide member 1735, the screw nut is sleeved on the screw, and when the screw rotates, the screw nut moves along the extension direction of the screw, the connecting rod 1734 is connected to the screw nut, so that the movement stroke and position of the pulling member 172 can be controlled by the rotation of the screw.

It can be understood that the screw rod can be arranged between the motor and the guide member 1735, so as to support the screw rod. The screw rod and the output shaft of the motor can be directly connected or indirectly connected through a coupling. When the screw rod is connected to the guide member 1735, since the screw rod rotates but the guide member 1735 is relatively stationary, the screw rod can cooperate with the guide member 1735 through the bearing, thereby ensuring the smooth rotation of the screw rod.

In order to ensure the smooth movement of the pulling member 172, there can be two connecting rods 1734 and two guide holes. The two connecting rods 1734 can pass through the two guide holes respectively. The two connecting rods 1734 can be rod-shaped and the two connecting rods 1734 can be arranged in parallel. In addition, the two connecting rods 1734 can be symmetrically distributed on both sides of the third transmission member 1732, so as to achieve the balance of force when the fourth transmission member 1733 drives the pulling member 172 to move.

It is understandable to those skilled in the art that, when layout space permits, three or more connecting rods 1734 can be used to cooperate with guide members 1735 to guide, thereby further improving the support strength. This embodiment of the application does not make specific limitations on this.

It should be noted that, since the movement of the pulling member 172 along the Z direction can be driven by the third drive unit 1731 as a power source, and the third transmission member 1732 and the fourth transmission member 1733 serve as force and motion transmission units, the movement speed and stroke of the pulling member 172 depend on the output speed and the number of rotations of the third drive unit 1731 on the one hand, and on the parameters of the third transmission member 1732 and the fourth transmission member 1733 on the other hand, for example, when a screw and a screw nut are used in combination, it depends on the diameter and pitch of the screw. For the third transmission member 1732 and the fourth transmission member 1733 of the selected type and parameters, the moving stroke and speed of the pulling member 172 can be adjusted by controlling the output of the third drive unit 1731, and the control of the third drive unit 1731 can be referenced by an external signal, which will be explained below.

In one possible implementation, the push-pull element 170 may also include a third detection unit 174 and a sensor 175. The third detection unit 174 is disposed on the substrate 171, and the sensor 175 is connected to the fourth transmission member 1733. That is, when the pulling member 172 moves along the Z direction, the sensor 175 will also move synchronously. The third detection unit 174 is used to detect the sensor 175 to detect the relative position of the fourth transmission member 1733 when it moves along the third party manufacturer direction.

It is understandable that when the pull member 172 needs to be plugged into or detached from the vertical slot 420, the third detection unit 174 can determine the travel position of the pull member 172, thereby ensuring the accuracy of the plugging action of the pull member 172 and the vertical slot 420. The third detection unit 174 can be used in types including but not limited to photoelectric sensors, contact switches, etc.

In some embodiments, there may be two third detection units 174, and the two third detection units 174 are respectively located at the two ends of the moving travel of the fourth transmission member 1733 along the cooperative manufacturer direction, so that the two third detection units 174 can respectively detect the insertion and disengagement status of the pulling member 172 relative to the vertical slot 420, and accurately control the travel of the pulling member 172.

Exemplarily, when a photoelectric sensor is used, two third detection units 174 can be arranged at both ends of the moving range of the sensor 175 along the Z direction. When the third detection unit 174 on the upper side along the Z direction is blocked by the sensor 175, it can be determined that the pulling member 172 and the vertical slot 420 have been plugged in, and at this time the push-pull element 170 can drive the material box 400 to move. When the third detection unit 174 on the lower side along the Z direction is blocked by the sensor 175, it can be determined that the pulling member 172 and the plug-in slot have been disengaged, and at this time the push-pull element 170 can be separated from the material box 400.

Since the type and size specifications of the material box 400 may be different in different application scenarios, in order to improve the applicability of the cargo picking and placing device 100 and reduce the difficulty of control, when the third driving mechanism 173 and the base plate 171 are assembled, the relative positions of the two installation cooperations can be set to an adjustable structure, so that when the position of the vertical slot 420 of the material box 400 changes relative to the push-pull element 170, the material box 400 can still be picked up and placed.

In one possible implementation, the push-pull element 170 may further include an adjusting plate 176, which is connected to the substrate 171, and the third driving mechanism 173 is connected to the adjusting plate 176, that is, the third driving mechanism 173 can be indirectly connected to the substrate 171 through the adjusting plate 176, and the position of the adjusting plate 176 is adjustable relative to the substrate 171, thereby realizing the position adjustment of the third driving mechanism 173 relative to the substrate 171.

It can be understood that a plurality of adjustment holes 1711 can be provided on the base plate 171, and the plurality of adjustment holes 1711 can be arranged along the cooperative manufacturer direction. The adjustment plate 176 can cooperate with different adjustment holes 1711 to adjust the relative position of the adjustment plate 176 and the base plate 171 along the cooperative manufacturer direction, so as to adapt to the requirements of taking and placing material boxes 400 of different specifications and sizes.

Exemplarily, the adjustment holes 1711 can be connected in sequence along the arrangement direction to form an adjustment groove, that is, a plurality of adjustment holes 1711 form a group, and a plurality of groups of adjustment holes 1711 can be provided on the substrate 171 to form a plurality of connection positions, and each group of adjustment holes 1711 has an adjustment hole 1711 connected to the adjustment plate 176. For example, there can be four groups of adjustment holes 1711, and they are arranged in two rows, and each row is two groups of adjustment holes 1711 along the Z direction. In addition, the adjustment plate 176 can be connected to the substrate 171 by a threaded fastener with a connecting rod 1734, for example, by passing a bolt through the connecting plate and the adjustment hole 1711 in sequence, and pressing the connecting rod 1734 on the substrate 171 to ensure the reliability of the installation.

In order to reduce the overall weight of the cargo picking and placing device 100 while ensuring the structural strength, the base plate 171 can be a sheet metal part, such as a bent plate with an L-shaped cross-section, and one, two or more reinforcing ribs can be provided on the base plate 171 to improve the structural strength.

It should be noted that, when the pull member 172 is engaged with the material box 400, the pull member 172 moves up and down for plugging and engagement, and the notch of the vertical slot 420 on the material box 400 needs to face the pull member 172. Please refer to FIG. 31 , the vertical slot 420 can be located at the upper edge of the material box 400, and the notch of the vertical slot 420 faces downward. At the same time, in order to move the material box 400 for edge operation tasks in other logistics processes, the notch edge of the vertical slot 420 can be provided with a wavy groove corresponding to a person's fingers, thereby improving the comfort of carrying the material box 400.

The present application embodiment also provides a transport robot. Please continue to refer to Figure 1. The transport robot includes a robot body 200, a lifting device 300 and a cargo pick-up and placement device 100 in the above technical solution. The lifting device 300 is arranged on the robot body 200 and can move along the height direction of the robot body 200. The cargo pick-up and placement device 100 is arranged on the lifting device 300, so that the lifting device 300 can drive the cargo pick-up and placement device 100 to move, thereby realizing cargo pick-up and placement operations at different heights.

Among them, the robot body 200 may include a base 210 and a storage rack 220, the storage rack 220 is installed on the base 210, the lifting device 300 is arranged on the storage rack 220, and can move along the height direction of the storage rack 220, and a plurality of storage slots 221 may be arranged on the side of the storage rack 220 away from the loading and unloading device 100, and the plurality of storage slots 221 are spaced apart along the height direction of the storage rack 220.

Exemplarily, the lifting device 300 can be driven by a motor, and drive the picking and placing device 100 to move up and down along the height direction of the robot body 200 by means of a synchronous belt or chain transmission.

It can be understood by those skilled in the art that when the storage slot 221 is arranged on the rear side of the transport robot, the cargo picking and placing device can be arranged on the front side of the robot body 200. According to the structure of the above-mentioned cargo picking and placing device 100, it can realize the cargo picking and placing operations by docking with other equipment on the front, left, and right sides of the robot body 200. At the same time, the cargo picking and placing operations can also be completed in the storage slot 221 on the rear side of the robot body 200, and it only needs to be rotated 90° or 180° accordingly.

The present application embodiment also provides a logistics system, including a shelf and the handling robot in the aforementioned technical solution, the handling robot is provided with the picking and placing device in the aforementioned technical solution, the structure of the handling robot and the picking and placing device is similar to that in the aforementioned solution and has all the technical effects of the aforementioned technical solution, which will not be repeated here. The shelf can realize the storage of material boxes with small spacing or no spacing (box spacing, layer spacing, etc.), thereby improving space utilization.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, rather than to limit it. Although the present application has been described in detail with reference to the above embodiments, ordinary technical personnel in this field should understand that they can still modify the technical solutions described in the above embodiments, or replace part or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solution from the scope of the technical solution of the present application.

100: Pick-up and delivery device 110: Telescopic assembly 111: Fixing member 112: Telescopic member 120: Clamping assembly 121: Base 122: First drive mechanism 123: Clamping member 124: Mounting seat 125: Connecting member 130: Second drive mechanism 131: Second drive unit 132: Flexible transmission member 133: Transmission wheel assembly 134: Driving shaft 140: Locking linkage assembly 141: Link mechanism 142: Snap-on member 143: First trigger member 144: Second trigger member 145: Elastic member 146: Third trigger member 150: Second detection unit 160: Rotating assembly 161: Fixed bracket 162: Rotating platform 163: Fourth drive unit 164: Chain 170: Push-pull assembly 171: Base plate 172: Pulling member 173: Third drive mechanism 174: Third detection unit 175: Sensing member 176: Adjustment plate 177: Push plate 200: Robot body 210: Base 220: Storage rack 221: Storage slot 300: Lifting device 400: Material box 410: Horizontal slot 420: Vertical slot 500: Shelf 1111: Third guide rail 1112: Snap-in slot 1121: tray 1122: side plate 1123: opening 1124: second guide rail 1125: support member 1126: first limiter 1127: second limiter 1211: avoidance groove 1212: first guide rail 1213: second slider 1214: thrust member 1221: first drive unit 1222: first transmission member 1223: second transmission member 1224: first pulley 1225: second pulley 1226: transmission belt 1231: first slider 1331: first transmission wheel 1332: second transmission wheel 1333: third transmission wheel 1334: fourth transmission wheel 1411: first movable rod 1412: second movable rod 1413: third movable rod 1414: fixed rod 1414a: escape hole 1421: clamping part 1422: tension part 1423: second abutment part 1461: first abutment part 1711: adjustment hole 1731: third drive unit 1732: third transmission member 1733: fourth transmission member 1734: connecting rod 1735: guide member

In order to more clearly explain the technical solutions in the embodiments of this application or the prior art, the drawings required for use in the embodiments or the prior art descriptions will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor. Figure 1 is a schematic diagram of the cargo pick-up and placement device provided in the embodiment of the present application applied to a handling robot; Figure 2 is a schematic diagram of the structure of the cargo pick-up and placement device provided in the embodiment of the present application; Figure 3 is a schematic diagram of the cooperation between the clamping element and the material box in the cargo pick-up and placement device provided in the embodiment of the present application; Figure 4 is a schematic diagram of the structure of the clamping element in the cargo pick-up and placement device provided in the embodiment of the present application from a first viewing angle; Figure 5 is a schematic diagram of the structure of the clamping element in the cargo pick-up and placement device provided in the embodiment of the present application from a second viewing angle; Figure 6 is a schematic diagram of the structure of the material box matched with the clamping element in the cargo pick-up and placement device provided in the embodiment of the present application; Figure 7 is a schematic diagram of the connection between the base and the telescopic element in the cargo pick-up and placement device provided in the embodiment of the present application; Figure 8 is a schematic diagram of the telescopic element driving structure in the cargo pick-up and placement device provided in the embodiment of the present application; Figure 9 is a schematic diagram of the arrangement of the transmission wheel set in the cargo pick-up and release device provided in the embodiment of the present application; Figure 10 is a front view of the arrangement of the transmission wheel set in the cargo pick-up and release device provided in the embodiment of the present application; Figure 11 is a structural schematic diagram of the locking linkage element in the cargo pick-up and release device provided in the embodiment of the present application; Figure 12 is a partial schematic diagram of the locking linkage element in the cargo pick-up and release device provided in the embodiment of the present application; Figure 13 is a partial schematic diagram of the locking linkage element in the cargo pick-up and release device provided in the embodiment of the present application from another perspective; Figure 14 is another structural schematic diagram of the cargo pick-up and release device provided in the embodiment of the present application; Figure 15 is a structural schematic diagram of the rotating element in the cargo pick-up and release device provided in the embodiment of the present application; Figure 16 is a schematic diagram of the first state of the cargo pick-up process of the cargo pick-up and release device provided in the embodiment of the present application; Figure 17 is a schematic diagram of the second state of the picking process of the picking and placing device provided in the embodiment of the present application; Figure 18 is a schematic diagram of the third state of the picking process of the picking and placing device provided in the embodiment of the present application; Figure 19 is a schematic diagram of the fourth state of the picking process of the picking and placing device provided in the embodiment of the present application; Figure 20 is a schematic diagram of the fifth state of the picking process of the picking and placing device provided in the embodiment of the present application; Figure 21 is a schematic diagram of the sixth state of the picking process of the picking and placing device provided in the embodiment of the present application; Figure 22 is a schematic diagram of the seventh state of the picking process of the picking and placing device provided in the embodiment of the present application; Figure 23 is a schematic diagram of the eighth state of the picking process of the picking and placing device provided in the embodiment of the present application; Figure 24 is a schematic diagram of the ninth state of the picking process of the picking and placing device provided in the embodiment of the present application; Figure 25 is another structural schematic diagram of the cargo pick-up and placement device provided in the embodiment of the present application; Figure 26 is a structural schematic diagram of the push-pull element in the cargo pick-up and placement device provided in the embodiment of the present application; Figure 27 is a schematic diagram of the push-pull element in the cargo pick-up and placement device provided in the embodiment of the present application and the material box; Figure 28 is a cross-sectional view of the push-pull element in the cargo pick-up and placement device provided in the embodiment of the present application and the material box; Figure 29 is a partial view of the push-pull element in the cargo pick-up and placement device provided in the embodiment of the present application; Figure 30 is a structural schematic diagram of another perspective of the push-pull element in the cargo pick-up and placement device provided in the embodiment of the present application; Figure 31 is a structural schematic diagram of the material box matched with the push-pull element in the cargo pick-up and placement device provided in the embodiment of the present application.

110: Telescopic assembly

111:Fixing parts

112: Telescopic parts

120: Clip assembly

130: Second drive mechanism

146: The third trigger

150: Second detection unit

1111: The third track

1121: Trust

1122: Side panels

1123: Open your mouth

1124: Second rail

Claims (30)

A device for picking up and placing goods is characterized in that it is used for picking up and placing material boxes, and the device for picking up and placing goods includes a telescopic element and a push-pull element, the telescopic element includes a fixed element and a telescopic element that can be extended and retracted relative to the fixed element along a first direction, and the push-pull assembly is arranged on the telescopic element; The push-pull element includes a base, a pulling element and a first driving mechanism, the base is slidably arranged on the telescopic element, the first driving mechanism is arranged on the base, the pulling element is connected to the first driving mechanism, and the first driving mechanism is used to drive the pulling element to move along a second direction so that the pulling element is inserted into a slot on the outer wall of the material box, or is separated from the slot, wherein the second direction and the first direction have an angle. The cargo picking and placing device according to claim 1 is characterized in that the first direction is along the horizontal direction and the second direction is along the vertical direction. The cargo picking and placing device according to claim 2 is characterized in that the pulling member protrudes from the top of the base. The cargo picking and placing device according to any one of claims 1 to 3 is characterized in that the push-pull element also includes a push plate, which is connected to the base and faces the material box to push the material box to move. The cargo pick-up and delivery device according to any one of claim items 1-3 is characterized in that the first driving mechanism includes a first driving unit, a first transmission member, a second transmission member and a connecting member, the first driving unit is arranged on the base, and the output end of the first driving unit is connected to the first transmission member to drive the first transmission member to rotate; the second transmission member cooperates with the first transmission member, and the second transmission member and the pulling member are relatively fixed, and can move along the second direction under the drive of the first transmission member. The cargo picking and placing device according to claim 5 is characterized in that the first driving mechanism further includes a guide member, the connecting member is connected between the second transmission member and the pulling member; the guide member is arranged on the base, and a guide hole extending along the second direction is provided on the guide member, the connecting member passes through the guide hole, and the connecting member moves along the guide hole under the drive of the second transmission member. The cargo picking and placing device according to claim 6 is characterized in that the first transmission member is a screw, the second transmission member is a screw nut, the screw extends along the second direction, the first end of the screw is connected to the output shaft of the first drive unit, and the second end of the screw is rotatably connected to the guide member; the screw nut is sleeved on the screw, and when the screw rotates, the screw nut moves along the extension direction of the screw. The cargo picking and placing device according to claim 7 is characterized in that there are two connecting parts and two guide holes, and the two connecting parts pass through the two guide holes respectively; the two connecting parts are arranged in parallel, and the two connecting parts are symmetrically distributed on both sides of the first transmission part. The cargo picking and placing device according to claim 5 is characterized in that the push-pull element also includes a first detection unit and a sensor, the first detection unit is arranged on the base, the sensor is connected to the second transmission member, and the first detection unit is used to detect the sensor to detect the relative position of the second transmission member when it moves along the second direction. The cargo picking and placing device according to claim 9 is characterized in that there are two first detection units, and the two first detection units are respectively located at two ends of the moving stroke of the second transmission member along the second direction. The cargo picking and placing device according to claim 5 is characterized in that the push-pull assembly also includes an adjusting plate, the adjusting plate is connected to the base, and the first driving mechanism is connected to the adjusting plate; a plurality of adjusting holes are provided on the base, and the plurality of adjusting holes are arranged along the second direction, and the adjusting plate can cooperate with different adjusting holes to adjust the relative position of the adjusting plate and the base along the second direction. The cargo pick-up and placement device according to any one of claim items 1-3 is characterized in that the telescopic element further includes a second drive mechanism, the second drive mechanism includes a second drive unit, a flexible transmission member and a transmission wheel set, the transmission wheel set includes a plurality of parallel transmission wheels, the plurality of transmission wheels are respectively located on the fixed member and the telescopic member, and the flexible transmission member is wound around the plurality of transmission wheels; The push-pull element is movably connected to the telescopic member, the base is connected to the flexible transmission member and moves with the flexible transmission member, the second drive unit is connected to the transmission wheel, and is used to drive the transmission wheel to rotate, so that the flexible transmission member is driven by the transmission wheel to rotate around the plurality of transmission wheels, and drives at least one of the telescopic member and the push-pull assembly to move along the first direction. The cargo pick-up and delivery device according to claim 12 is characterized in that it further includes a locking linkage assembly, which is arranged on the telescopic assembly, and at least part of the structure of the locking linkage element can move with the telescopic member and be engaged or separated with the fixed member to lock or unlock the telescopic member and the fixed member; When the telescopic member and the fixed member are unlocked, the transmission wheel set is configured to drive the telescopic member to extend and retract along the first direction when the flexible transmission member is driven; When the telescopic member and the fixed member are locked, the relative positions of the transmission wheels in the transmission wheel set remain unchanged. The cargo picking and placing device according to claim 13 is characterized in that a first limiting portion and a second limiting portion are respectively provided at two ends of the telescopic member, and when the telescopic member and the fixing member are unlocked, the push-pull assembly abuts against the first limiting portion or the second limiting portion to allow the telescopic member to extend or retract along the first direction. According to claim 13, the cargo pick-up and delivery device is characterized in that the plurality of drive wheels include a plurality of inner drive wheels and at least one outer drive wheel, the flexible drive member is arranged around the outer side of the plurality of inner drive wheels, and the outer drive wheel abuts against the outer peripheral surface of the flexible drive member; The outer drive wheel and part of the inner drive wheels are connected to the telescopic member, and when the telescopic member and the fixed member are unlocked and the flexible drive member is driven, the drive wheel connected to the telescopic member moves along the first direction relative to the drive wheel connected to the fixed member to drive the telescopic member to extend and retract. The cargo pick-up and placement device according to claim 15 is characterized in that the plurality of inner drive wheels include a first drive wheel, a second drive wheel and a fourth drive wheel arranged in sequence in the driving direction of the flexible drive member, the outer drive wheel includes a third drive wheel, the third drive wheel is arranged between the second drive wheel and the fourth drive wheel, the first drive wheel and the first drive unit are both arranged at the first end of the fixed member, and the first drive unit drives the first drive wheel to rotate, the second drive wheel is arranged at the second end of the fixed member, the third drive wheel is arranged at the first end of the telescopic member, and the fourth drive wheel is arranged at the second end of the telescopic member; The base is connected to the flexible drive member between the first drive wheel and the fourth drive wheel. The cargo picking and placing device according to claim 16 is characterized in that a first guide rail extending along the first direction is provided on the telescopic member, a slide block is provided on one side of the base facing the telescopic member, and the first guide rail cooperates with the slide block and supports the base. According to claim 17, the cargo pick-up and delivery device is characterized in that the locking linkage element includes a connecting rod mechanism and a clamping member, the connecting rod mechanism includes a fixed rod and a plurality of movable rods, the fixed rod is sequentially connected to the plurality of movable rods, and the fixed rod is fixedly connected to the telescopic member, and the movable rod can swing relative to the telescopic member; The first end of the clamping member is rotationally connected to the fixed rod, the second end of the clamping member is rotationally connected to any one of the plurality of movable rods, and the clamping member rotates under the drive of the movable rod to clamp or separate the clamping member from the fixed member. The cargo picking and placing device according to claim 18 is characterized in that a trigger is provided on at least one of the plurality of movable rods, and a thrust piece is provided on the slide block, and when the slide block moves to different positions in the extension direction of the first guide rail, the thrust piece can abut against or separate from the trigger piece, and when the thrust piece abuts against the trigger piece, the thrust piece drives the movable rod to swing so that the clamping piece is separated from the fixing piece. The cargo picking and placing device according to claim 19 is characterized in that the locking linkage element also includes an elastic member, a first end of the elastic member is connected to the fixed rod, and a second end of the elastic member is connected to the clamping member, and when the thrust member is separated from the trigger member, the elastic member pulls the clamping member to rotate so that the clamping member is clamped with the fixed member. The cargo pick-up and placement device according to claim 20 is characterized in that the fixed rod extends along the first direction, and the length of the fixed rod matches the length of the first guide rail; the plurality of movable rods include a first movable rod, a second movable rod and a third movable rod, the first movable rod and the second movable rod are respectively rotatably connected to the two ends of the fixed rod, and the two ends of the third movable rod are respectively rotatably connected to the first movable rod and the second movable rod; The second end of the clamp is rotatably connected to the third movable rod, and the trigger includes a first trigger disposed on the first movable rod and a second trigger disposed on the second movable rod, so that when the slider moves to the two ends of the travel of the first guide rail, the first trigger and the second trigger are respectively triggered. The cargo picking and placing device according to claim 21 is characterized in that the first trigger is located between the fixed rod and the third movable rod, and the second trigger is located on a side of the fixed rod away from the third movable rod. The cargo picking and placing device according to claim 20 is characterized in that a clamping portion is provided at the first end of the clamping member, and a plurality of clamping grooves arranged along the first direction are provided on the fixing member, and when the clamping member abuts against the fixing member, the clamping portion is inserted into the clamping groove. The cargo picking and placing device according to any one of claim items 19-23 is characterized in that the number of the driving wheel set and the number of the flexible driving member are both two, and the driving wheel set and the flexible driving member are arranged in pairs on both sides of the telescopic assembly; the first driving wheels of the two driving wheel sets are connected through a driving shaft, and the output end of the first driving unit is connected to the driving shaft. The cargo picking and placing device according to claim 24 is characterized in that the locking linkage assembly also includes a third trigger, which is rotatably connected to the fixed rod and extends to the side of the telescopic member that carries the material box; the third trigger abuts against the clamping member, and when the material box abuts against the third trigger, the third trigger drives the clamping member to rotate so that the telescopic member is separated from the fixed member. The cargo picking and placing device according to claim 25 is characterized in that an avoidance opening is provided on the fixed rod, the third trigger is rotatably connected to the side wall of the avoidance opening, the third trigger is provided with a first abutment portion, and the clamping member is provided with a second abutment portion on a side facing the fixed rod, the second abutment portion extends to the bottom side of the fixed rod, and the first abutment portion passes through the avoidance opening and abuts against the second abutment portion, so as to drive the clamping member to rotate when the third trigger rotates. The cargo picking and placing device according to any one of claim items 1-3 is characterized in that it also includes a second detection unit, which is connected to the fixing member and is used to detect at least one of the posture of the material box and the electronic identification of the material box. The cargo picking and placing device according to any one of claim items 1-3 is characterized in that the cargo picking and placing device also includes a rotating element, the rotating element includes a fixed bracket, a third driving unit and a rotating platform, the third driving unit is used to drive the rotating platform to rotate relative to the fixed bracket, and the telescopic assembly is arranged on the rotating platform. A transport robot, characterized in that it includes a robot body, a lifting device and a cargo pick-up and placement device as described in any one of claim items 1-28, wherein the lifting device is arranged on the robot body and can move along the height direction of the robot body, and the cargo pick-up and placement device is arranged on the lifting device. The transport robot according to claim 29 is characterized in that the robot body includes a base and a storage rack, the storage rack is mounted on the base, the lifting device is arranged on the storage rack and can move along the height direction of the storage rack; The storage rack is provided with a plurality of storage slots, and the plurality of storage slots are spaced apart along the height direction of the storage rack.