WO2023280320A1

WO2023280320A1 - Box retrieval device and robot

Info

Publication number: WO2023280320A1
Application number: PCT/CN2022/104748
Authority: WO
Inventors: 王启铭; 王鹏飞; 孙沁; 秦智慧
Original assignee: 北京极智嘉科技股份有限公司
Priority date: 2021-07-09
Filing date: 2022-07-08
Publication date: 2023-01-12

Abstract

A box retrieval device (1) and a robot. The box retrieval device (1) comprises a mounting base (11), a box retrieval member (12), and a first elastic member (13). The mounting base (11) can move in the front-rear direction; the box retrieval member (12) is disposed on the mounting base (11), and the box retrieval member (12) and the mounting base (11) can relatively move in the front-rear direction; a first end of the box retrieval member (12) is used to match a cargo box (3); the first elastic member (13) is disposed at a second end of the box retrieval member (12); when the mounting base (11) moves backwards with respect to the box retrieval member (12), the first elastic member (13) can be compressed and has an elastic force; and after the first end of the box retrieval member (12) is disengaged from the cargo box (3), the first elastic member (13) can push, under the action of the elastic force, the box retrieval member (12) to move backwards relative to the mounting base (11). The box retrieval device (1) can be quickly retracted when being out of contact with the cargo box (3), and thus the box retrieval efficiency is improved.

Description

Box pickers and robots

Cross References to Related Applications

This application requires a Chinese patent application with the application number 202121566645.3 and the application date is July 09, 2021, a Chinese patent application with the application number 202111015903.3 and the application date is August 31, 2021, the application number is 202122079689.X and the application date It is a Chinese patent application dated August 31, 2021, a Chinese patent application with application number 202122181459.4 and a filing date on September 9, 2021, a Chinese patent application with application number 202111058253.0 and a filing date on September 9, 2021, and The priority and rights of the Chinese patent application with the application number 2022209500417 and the filing date of April 21, 2022, the entire content of the above Chinese patent application is hereby incorporated by reference into this application.

technical field

The present application relates to the technical field of warehousing, and in particular, to a box picking device and a robot.

Background technique

The automated warehousing system has been widely used in various civil and industrial warehousing fields due to its advantages of making full use of storage space and improving the management level and efficiency of the warehouse.

In the related art, the box picking mechanism adopts various mechanical and electromagnetic picking methods to place the box from the shelf on the picking platform or place the box on the shelf from the picking platform. However, when the box picking mechanism in the related art needs to be out of contact with the container and retract, there are problems such as slow retraction, easy damage, and affecting the efficiency of picking.

Contents of the invention

For this reason, the embodiment of the present application proposes a box unloading device and a robot, and the box unloading device can realize fast retraction, thereby improving the box picking efficiency of the box unloading device.

The box taking device of the embodiment of the present application includes: a mounting seat, the mounting seat can move along the front and rear directions; Relatively moving, the first end of the box-taking part is used to cooperate with the cargo box; the first elastic part is arranged on the second end of the box-taking part, and the first elastic part When the installation seat moves backward relative to the box-taking part, it can be compressed and has an elastic force, and after the first end of the box-taking part is disengaged from the cargo box, it can be compressed under the elastic force. Under the action, the box-taking part is pushed to move backward relative to the mounting seat.

When the box picking device of the embodiment of the present application picks up a box, the mounting seat first drives the box picking piece to move forward so that the first end of the box picking piece is connected with the cargo box, and then drives the box picking piece to move backward and compress the first elastic part, so that the first elastic part has an elastic force, when the container is placed on the platform for picking up the goods, the first end of the box-taking part is separated from the container, and the box-taking part is relatively opposite under the elastic force of the first elastic part Because the mounting base will move backwards, so that the pick-up parts can quickly retract and avoid the container, without affecting the pick-and-place time of the container, and improve the efficiency of picking.

In some embodiments, the mounting seat has a chamber, the first elastic member is located in the chamber, the box removal member includes a suction cup rod and a suction cup, the suction cup rod is passed through the mounting seat and The mounting base can move relative to the front and rear directions, the second end of the suction cup rod extends into the cavity and is connected with the first elastic member, and the first end of the suction cup rod is connected with the suction cup , the suction cup can cooperate with the cargo box.

In some embodiments, there is a passage in the suction cup rod communicating with the suction cup, and the box removal device further includes an air guide joint, the air guide joint is arranged at the second end of the suction cup rod and has an opening, The opening communicates with the channel.

In some embodiments, there are a plurality of box-removing parts, and at least some of the plurality of box-removing parts are arranged at intervals along a first direction, and the first direction is orthogonal to the front-rear direction and the up-down direction, so There are multiple first elastic pieces, and the multiple first elastic pieces are in one-to-one correspondence with the multiple box-taking pieces.

In some embodiments, it also includes a second elastic member, the second elastic member is arranged at the first end of the box-taking part and when the mounting seat moves forward relative to the box-taking part, the first The second elastic member has an elastic force to push the mounting seat backward.

In some embodiments, the box removal device further includes: a mounting frame, the mounting frame has an accommodating space with at least one side open, and the mounting seat is arranged on the mounting frame and is arranged along the front and rear sides relative to the mounting frame. The direction can be moved; the transmission mechanism is arranged in the accommodation space, the transmission mechanism has a transmission surface for supporting and transporting the container, and the transmission mechanism can move in and out of the storage space along the front and rear directions. space for the cargo boxes to be transported.

In some embodiments, two transmission mechanisms are arranged at intervals along the first direction, the first direction is orthogonal to the front-rear direction and the up-down direction, and the mounting seat is disposed between the two transmission mechanisms, so The transmission mechanism includes two rotating parts arranged at intervals along the first direction and a transmission belt wound on the two rotating parts, and the upper surface of the transmission belt forms the transmission surface.

In some embodiments, the box removal device further includes: a main drive assembly, which is used to drive the mounting seat to move forward and backward; a guide assembly, which is used to guide the mounting seat along the Movement in the fore-and-aft direction is guided.

In some embodiments, the guide assembly includes: a guide rail laid on the mounting frame along the front-to-rear direction; a slider slidably arranged on the guide rail and connected to the mounting seat, the upper surface of the guide rail is lower on the transmission surface.

The robot in the embodiment of the present application includes: a robot body; a box-taking device, the box-taking device is the box-taking device described in any one of the above, the mounting seat of the box-taking device is arranged on the robot body, and the box-taking device The mounting base of the box picking device is movable along the front and rear directions relative to the robot body.

In some embodiments, the mounting seat of the box picking device can also move between a first position and a second position relative to the robot body, the first position is higher than the second position, and the mounting The trajectory of the seat moving between the first position and the second position is a line segment or a curve segment.

In some embodiments, the robot further includes a first driving assembly, the first driving assembly is used to drive the mounting seat to move in the up and down direction relative to the robot body and includes: a bracket, the bracket is arranged on the on the robot body and relative to the robot body in the front and back and the up and down directions; the first rack, the first rack is arranged on the bracket and extends along the up and down direction, the first rack The top of a rack is connected with the mounting seat; the first gear is rotatably arranged on the robot body, and the first gear is meshed with the first rack to drive the The first rack moves in the up and down direction.

In some embodiments, the robot further includes a second driving assembly, the second driving assembly is used to drive the sliding seat to move in the forward and backward direction relative to the robot body and includes: a second rack, the first Two racks are arranged on the robot body and extend along the front-to-back direction; the second gear, the second gear meshes with the second rack, and the second gear can rotate to rotate on the second rack Moving in the forward and backward direction, the second gear is connected with the sliding seat.

In some embodiments, the robot body includes: a chassis; a door frame, the door frame is arranged on the chassis, and the box picking device is arranged on the door frame; a lifting assembly, the lifting assembly is configured In order to move up and down along the door frame, the lifting assembly is connected with the box unloading device to drive the box unloading device to move up and down relative to the door frame.

In some embodiments, the robot body further includes a temporary storage partition, a plurality of temporary storage partitions are arranged at intervals along the height direction of the door frame, and the temporary storage partition can temporarily store the For a container, the container removal device can realize the transfer of the container between the temporary storage partition and the container.

In some embodiments, the robot further includes: at least two auxiliary support devices, at least two auxiliary support devices are controlled by their respective drive assemblies, and are respectively distributed on opposite sides of the robot, at least two The auxiliary support device is configured to protrude relative to the robot to abut against or separate from the material racks on both sides of the robot.

In some embodiments, the auxiliary support device includes a fixed base, and a support element telescopically connected to the fixed base through a telescopic mechanism; the telescopic mechanism is controlled by the drive assembly and is It is configured to drive the supporting element to move relative to the fixed base so that the racks on the corresponding sides are abutted against or separated from each other.

In some embodiments, the robot also includes a telescopic fork device, the lifting assembly is connected to the telescopic fork device to drive the telescopic fork device to move up and down relative to the door frame, and the box picking device is located at On the telescopic fork device, the telescopic fork device includes a mobile pallet connected to the lifting assembly; multi-stage telescopic mechanisms arranged oppositely along the two sides of the mobile pallet, wherein each of the multi-stage telescopic mechanisms is provided with a The rear finger of the limited cargo box;

The telescopic fork device also includes: an in-position detection device for detecting the position of the rear dial finger, a control device, and the control device is used to detect that the position of the rear dial finger exceeds the set position when the in-position detection device detects , control the mobile chassis and the lifting assembly to lock.

In some embodiments, the control device is further configured to control the mobile chassis and the lifting assembly to release the locked state when the in-position detection device detects that the rear finger does not exceed the set position.

Description of drawings

Fig. 1 is a schematic diagram of a box picking device and a robot according to an embodiment of the present application.

FIG. 2 is an enlarged schematic view of part A in FIG. 1 .

Fig. 3 is a schematic diagram of an original state of a box picking device and a robot according to an embodiment of the present application.

Fig. 4 is a schematic diagram of a box picking device and a robot picking state according to an embodiment of the present application.

Fig. 5 is a schematic diagram of a box picking device and a robot pulling back state according to an embodiment of the present application.

Fig. 6 is a schematic diagram of a withdrawing state of a picking box in a box picking device and a robot according to an embodiment of the present application.

Fig. 7 is a top view of the original state of the box picking device and the robot according to the embodiment of the present application.

FIG. 8 is a schematic cross-sectional view of A-A in FIG. 7 .

Fig. 9 is a schematic cross-sectional view of B-B in Fig. 7 .

FIG. 10 is an enlarged schematic view of part B in FIG. 8 .

FIG. 11 is an enlarged schematic view of part C in FIG. 9 .

FIG. 12 is a schematic structural view of the handling robot provided in Embodiment 1 of the present application when docking a cargo box.

FIG. 13 is a schematic structural view of the handling robot provided in Embodiment 1 of the present application when it drags a cargo box into the accommodation space.

FIG. 14 is a schematic structural view of the box picking device provided in Embodiment 1 of the present application when the picking component is retracted.

Fig. 15 is a schematic structural view of the case picking device provided in Embodiment 1 of the present application when the picking component is stretched out.

Fig. 16 is a schematic diagram of a box picking device and a fixed base in a robot according to an embodiment of the present application.

Fig. 17 is a three-dimensional structural schematic view of the box unloading device and the robot according to the embodiment of the present application and the auxiliary support device in the robot according to the embodiment of the present application.

Fig. 18 is a schematic front view of the auxiliary supporting device shown in Fig. 17 in the box picking device and the robot according to an embodiment of the present application.

Fig. 19 is a schematic perspective view of a box picking device and an auxiliary supporting device in a robot according to an embodiment of the present application.

Fig. 20 is a schematic perspective view of the three-dimensional structure of the box unloading device and the assembly of the auxiliary support device and the lifting assembly in the robot according to the embodiment of the present application.

Fig. 21 is a schematic diagram of the first structure of the box unloading device and the telescopic fork device in the robot according to the embodiment of the present application.

Fig. 22 is a schematic diagram of the second structure of the box unloading device and the telescopic fork device in the robot according to the embodiment of the present application.

Fig. 23 is a schematic diagram of a state in which the telescopic fork device in the box unloading device and the robot is not in place according to an embodiment of the present application.

Reference numerals: 1, box taking device; 11, mounting base; 111, chamber; 12, box taking piece; 121, suction cup rod; 122, first suction cup; 13, first elastic member; 14, air guide joint; 15. Second elastic member; 16. Mounting frame; 161. Accommodating space; 162. Installing bottom plate; 163. Installing side plate; 17. Transmission mechanism; 171. Transmission surface; 172. Active rotating part; ; 174, transmission belt; 18, main drive assembly; 181, second sucker; 182, fixed frame; 19, guide rail; 10, shell; Body; 21, first drive assembly; 211, bracket; 212, first rack; 213, first gear; 22, second drive assembly; 221, second rack; 222, second motor; 223, mounting plate 23. Chassis; 24. Door frame; 241. Support column; 242. Beam; 25. Lifting assembly; 26. Temporary storage partition; 5. Auxiliary support device; 50. Fixed base; 51. Support element; 52. First connecting rod; 53. Second connecting rod; 54. First lower hinge shaft; 55. First upper hinge shaft; 56. The first Second lower hinge shaft; 57, second upper hinge shaft; 58, drive assembly; 5', auxiliary support device; 50', fixed base; 500', base plate; 501', rear vertical plate; 502', left side plate ;503', right side plate; 504', guide groove; 505', inclined platen; 51', support element; 52', screw rod; 53', nut block; 56', abutment plate; 57', drive assembly; 1-4, telescopic fork device; 1-41, multi-stage telescopic mechanism; 1-42, front finger; 1-43A, rear finger; 1-44, In-position detection device; 1-45. Moving pallet.

detailed description

Embodiments of the application are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the figures are exemplary, and are intended to explain the present application, and should not be construed as limiting the present application.

As shown in FIG. 1 to FIG. 11 , the box removing device according to the embodiment of the present application includes a mounting base 11 , a box picking member 12 and a first elastic member 13 . The mounting base 11 can move in a forward-backward direction (such as the direction marked in the figure). The box-taking part 12 is arranged on the mounting seat 11 and can move relatively with the mounting seat 11 in the front-rear direction. The first elastic member 13 is arranged on the second end of the box-getting part 12 (the rear end of the box-getting part 12 as shown in the figure), and the first elastic member 13 can be compressed when the mounting seat 11 moves backward relative to the box-getting part 12 And it has elastic force, and after the first end of the box picking piece 12 is disengaged from the cargo box 3, it can push the box picking piece 12 to move backward relative to the mounting seat 11 under the action of the elastic force.

As shown in Figures 1 to 6, when the box taking device of the embodiment of the present application takes the box (the container 3 is taken from the shelf 4 and placed on the goods picking platform), the mounting seat 11 first drives the box taking part 12 to move forward to The first end of the box-removing member 12 is mated with the container 3, and then the container-removing member 12 is driven to move backward and compress the first elastic member 13, so that the first elastic member 13 has elastic force. When the container 3 is placed on the platform for picking up goods, the first end of the box-taking part 12 will be separated from the container 3, and the box-taking part 12 will move toward the mounting seat 11 under the elastic force of the first elastic part 13. Move back, so that the take-up part 12 realizes fast retraction, avoids with the cargo box 3, does not affect the pick-and-place time of the cargo box 3, and improves the efficiency of picking up goods.

When the box picking device 1 places the container 3 from the picking platform on the shelf 4, the mounting seat 11 can drive the box picking part 12 to push the container 3 forward, so that the container 3 is placed on the shelf 4.

In some embodiments, the mount 11 has a cavity 111 , and the first elastic member 13 is located in the cavity 111 . The box picking part 12 includes a suction cup rod 121 and a first suction cup 122. The suction cup rod 121 is passed through the mounting base 11 and can move relative to the mounting base 11 in the front-rear direction. The second end of the suction cup rod 121 extends into the chamber 111. And connected with the first elastic member 13 , the first end of the suction cup rod 121 is connected with the first suction cup 122 , and the first suction cup 122 can cooperate with the container 3 .

As shown in Fig. 2 and Fig. 5, during the process in which the mounting base 11 drives the box picker 12 to pull the cargo box 3 to the picking platform, since the suction cup rod 121 and the mounting base 11 can move relatively, the suction cup rod 121 is relatively The cargo box 3 moves forward and compresses the first elastic member 13, so that the first elastic member 13 generates an elastic force. When the cargo box 3 is placed on the platform for picking up goods, the suction cup rod 121 is separated from the cargo box 3, and the box parts are taken out. 12 will move backward relative to the mounting seat 11 under the action of the elastic force of the first elastic member 13, so that the box-retrieving member 12 can be withdrawn quickly, avoiding the cargo box 3 and improving the efficiency of picking up goods.

As shown in FIG. 2 , the box-removing component 12 includes a suction cup rod 121 and a first suction cup 122 , so that the structure of the box-removing component 12 is simple and the manufacturing cost is saved. The case-removing device 1 of the embodiment of the present application connects the suction cup rod 121 to the case 3 through the cooperation of the first suction cup 122 with the case 3 , so that the connection between the case-removing member 12 and the case 3 is simple.

Specifically, the first elastic member 13 is a spring, and the first elastic member 13 is wound around the second end of the sucker rod 121 .

As shown in FIG. 2 and FIG. 4 , one end of the first elastic member 13 is disposed on the second end of the suction cup rod 121 , and the other end is wound on the suction cup rod 121 along the length direction of the suction cup rod 121 . When the box-taking device 1 is in the original state, the other end of the first elastic member 13 abuts against the inner wall surface of the chamber 111 of the mounting seat 11. Moving backward, the other end of the first elastic member 13 is separated from the inner wall surface of the cavity 111 of the mounting base 11 .

In this embodiment, by setting the first elastic member 13 as a spring, the first elastic member 13 has a simple structure, is easy to manufacture, and saves cost.

It can be understood that the structure of the box-removing member 12 in this application is not limited to the above-mentioned method of using the first suction cup 122 , for example, the container-removing member 12 can adopt a fork-holding or hooking-type structure to cooperate with the container 3 .

In some embodiments, there is a channel (not shown) communicating with the first suction cup 122 in the suction cup rod 121, and the box removal device 1 also includes an air guide joint 14, and the air guide joint 14 is arranged on the second end of the suction cup rod 121 and There is an opening (not shown) which communicates with the channel.

As shown in Figure 4, when the box taking device 1 is in use, the first suction cup 122 is in contact with the outer surface of the cargo box 3, and the air guide joint 14 is connected with a vacuum extractor or other vacuumable devices (not shown), so that the The air between the first suction cup 122 and the outer surface of the cargo box 3 is sucked away, so that the first suction cup 122 is adsorbed on the outer surface of the cargo box 3 , thus, the operation when the first suction cup 122 is connected to the cargo box 3 is simple.

It can be understood that the connection method between the vacuuming device and the first suction cup 122 is not limited to the above-mentioned method. The cavities of the first suction cup 122 communicate with each other.

In some embodiments, there are multiple box-taking parts 12, and at least some of the multiple box-taking parts 12 are arranged at intervals along the first direction. A plurality of first elastic members 13 correspond to a plurality of box-taking members 12 one-to-one.

As shown in Figure 1, at least some of the plurality of box-taking parts 12 are arranged at intervals in the left-right direction, and the plurality of first elastic members 13 are also arranged at intervals in the left-right direction, and the plurality of first elastic members 13 and the plurality of take-out The boxes 12 correspond one to one. After the container 3 is placed on the platform for picking up goods, the vacuum state between the first suction cup 122 and the container 3 is broken, so that the first suction cup 122 is separated from the container 3. At this time, each box-taking part 12 can be Under the action of the corresponding first elastic member 13 , quick retraction is realized without affecting the pick-and-place time of the container 3 .

In some embodiments, a plurality of box-taking parts 12 includes a first group of box-taking parts 12 and a second group of box-taking parts 12 that are opposite and symmetrically arranged in the front-rear direction, and the first group of box-taking parts 12 and the second group of box-taking parts 12 are Each of the box parts 12 includes at least two box picking parts 12 arranged at intervals along the first direction.

As shown in FIG. 1 and FIG. 2 , the mounting base 11 includes a front end and a rear end, and the front end and the rear end are arranged facing each other. A plurality of box-getting parts 12 includes a first group of symmetrically arranged box-getting parts 12 and a second group of box-getting parts 12. It is arranged on the rear end (not shown) of the mounting base 11, so that both the front end and the rear end of the mounting base 11 can take the box, and the box picking device 1 can also place the cargo box 3 on the shelf 4 from the picking platform , improving the usage rate of the mounting seat 11.

Each of the first group of box-taking parts 12 and the second group of box-taking parts 12 includes at least two box-taking parts 12 arranged at intervals along the first direction, and each box-taking part 12 is correspondingly provided with a first An elastic piece 13 makes the connection between the box-taking piece 12 and the cargo box 3 stronger.

In some embodiments, as shown in FIG. 2 , the box-taking device 1 also includes a second elastic member 15, the second elastic piece 15 is arranged at the first end of the box-taking component 12 and is positioned at the mounting base 11 relative to the box-taking component 12. Compressed when moving forward.

As shown in FIGS. 3 to 6 , the front end of the second elastic member 15 is connected to the first suction cup 122 , and the second elastic member 15 extends along the length direction of the suction cup rod 121 . When the box removing device 1 is in the original state, as shown in FIG. 3 , both the first elastic member 13 and the second elastic member 15 are in a state of no elastic force. When the box picking device 1 is in the state of picking up goods, as shown in Figure 4, the mounting base 11 drives the suction cup rod 121 to move forward so that the first suction cup 122 is connected with the cargo box 3, and the mounting base 11 moves forward relative to the suction cup rod 121 , the second elastic member 15 is compressed and generates an elastic force, thereby slowing down the impact of the first suction cup 122 on the cargo box 3 when the first suction cup 122 is in contact with the cargo box 3, and plays a buffering role, reducing the impact on the cargo box 3 and/or Or take out the damage of case device 1, extend the service life of case device 1. When the box-taking device 1 is in the pull-back state, as shown in Figure 5, the mounting seat 11 drives the suction cup rod 121 to move backward, and the mounting seat 11 moves backward relative to the suction cup rod 121 to compress the first elastic member 13, so that the first elastic The element 13 generates an elastic force, and the second elastic element 15 returns to the state of no elastic force. After the cargo box 3 is placed on the cargo picking platform, as shown in FIG. After moving, the sucker rod 121 is withdrawn quickly, avoiding with the cargo box 3 and improving the efficiency of picking up goods.

Specifically, the second elastic member 15 is a spring, and the second elastic member 15 is wound around the first end of the sucker rod 121 .

One end of the second elastic member 15 is disposed on the first end of the suction cup rod 121 , and the other end is wound on the suction cup rod 121 along the length direction of the suction cup rod 121 . In this embodiment, by setting the second elastic member 15 as a spring, the second elastic member 15 has a simple structure, is easy to manufacture, and saves cost.

As shown in FIGS. 12-15 , in some embodiments, the box-taking device 1 also includes a mounting frame 16 and a transmission mechanism 17 , the mounting frame 16 has an accommodating space 161 with at least one side opening, and the mounting seat 11 is located on the mounting frame 16 The transmission mechanism 17 is arranged in the accommodation space 161. The transmission mechanism 17 has a transmission surface 171 for supporting and transporting the cargo box 3. The transmission mechanism 17 can move in and out along the front and rear directions. The cargo boxes 3 in the space 161 are transported.

Specifically, the box-taking device 1 provided in this embodiment can realize the docking with the container 3 by setting the mounting base 11, drag the container 3 on the shelf 4 into the accommodation space 161, or drag the container 3 on the mounting rack 16 3 Push out into the storage space 161 and push it onto the shelf 4, so as to realize the transfer of the cargo box 3 on the storage space 161 and the shelf 4; by setting the transmission mechanism 17, the cargo box 3 in and out of the storage space 161 can be supported and assisted The transmission can improve the transmission efficiency and transmission stability of the cargo box 3 , and can reduce the force required by the box unloading device 1 , and reduce the structural requirements for the box unloading device 1 .

The mounting frame 16 preferably includes a horizontally arranged installation base plate 162 and a vertically arranged installation side plate 163, the lower end of the installation side plate 163 is vertically connected with the installation base plate 162, and two installation side plates 163 are opposite and spaced along the second direction, The accommodating space 161 is formed between the two installation side plates 163 , the transmission mechanism 17 and the installation seat 11 are installed on the installation bottom plate 162 , and the upper end of the installation side plate 163 is higher than the transmission surface 171 . By arranging two installation side panels 163, it is beneficial to protect the cargo box 3 entering the accommodation space 161, avoiding the cargo box 3 from falling from the side of the installation frame 16 due to accidents, and improving the safety of the cargo box 3 in the process of picking and placing At the same time, the setting of the installation side plate 163 can also provide protection for the transmission mechanism 17 and the installation seat 11.

Preferably, the mounting base 11 can be connected to one side of the cargo box 3 , and the mounting base 11 can be connected to the side of the cargo box 3 through detachable connection methods such as magnetic adsorption, vacuum adsorption, or detachable mechanical connection. The setting of this kind of mounting seat 11 can reduce the space required for the docking of the mounting seat 11 and the cargo box 3, and prevent the mounting seat 11 from extending into both sides of the cargo box 3 to clamp the cargo box 3, thereby reducing the size of the cargo box. The space requirement between two adjacent cargo boxes 3 on the 3 increases the arrangement density of the cargo boxes 3 on the cargo box 3 . The detachable mechanical connection may be, but not limited to, clamping, plugging, or hooking. In other embodiments, the mounting seat 11 can also adopt the existing clamping structure to pick and place the container 3 .

In some embodiments, the box-taking device 1 preferably further includes a casing 10 located outside the installation frame 16, the casing 10 has an opening, and the opening of the casing 10 coincides with the opening of the accommodating space 161, so as to improve the stability of the box-taking device 1. Aesthetics. The housing 10 preferably includes a lateral side plate 102 forming a U-shaped structure and two opposite and spaced outer side plates 101. The two outer side plates 101 are respectively located on the outer sides of the two installation side plates 163 and are connected to the corresponding installation side plates 163. The connection is detachable, and the opening formed by the encirclement of the lateral side plate 102 and the two outer plates 101 is consistent with the opening of the accommodation space 161 . The arrangement of the housing 10 is beneficial to the protection of the box removing device 1, and can prevent the cargo box 3 from falling from the side away from the opening of the accommodating space 161, improving the safety and reliability of placing the cargo box 3 on the box picking device 1 .

Further, the end of each outer plate 101 away from the lateral plate 102 is provided with a guide plate portion 103, and the two guide plate portions 103 approach each other obliquely along the direction away from the lateral plate 102, and the second direction is perpendicular to the first direction. The arrangement of the guide plate portion 103 is beneficial to guide the container 3 to enter and exit the accommodation space 161 .

In some embodiments, two transmission mechanisms 17 are arranged at intervals along the first direction, the first direction is orthogonal to the front-rear direction and the up-down direction, and the mounting seat 11 is arranged between the two transmission mechanisms 17, and the transmission mechanism 17 includes Two rotating parts are arranged at intervals along the first direction and a transmission belt 174 is wound on the two rotating parts. The upper surface of the driving belt 174 forms the transmission surface 171 .

Specifically, in order to further improve the stability of the transmission of the cargo box 3, two transmission mechanisms 17 are arranged opposite and spaced apart along the second direction, and the distance between the two transmission mechanisms 17 is smaller than the width of the cargo box 3, and the mounting seat 11 is set Between the two transmission mechanisms 17, the two sides of the bottom of the container 3 can be respectively supported on the transmission surfaces 171 of the two transmission mechanisms 17 during the pick-and-place process of the container 3, thereby improving the stability and reliability of the transmission. and the container 3 is dragged by the mounting seat 11 in the middle, which can effectively guide the transmission direction of the container 3, avoid the inclination of the container 3 during the transportation process, and improve the force stability of the container 3 during the transmission process ; At the same time, this kind of setting can also reduce the structural interference between the mounting base 11 and the transmission mechanism 17 . In other embodiments, only one transmission mechanism 17 may be provided, and the mounting seat 11 is provided above the transmission mechanism 17 .

Preferably, the transmission mechanism 17 adopts a belt-type transmission mechanism 17 , which is stable in transmission, low in cost, and will not cause scratches to the container 3 . Specifically, the transmission mechanism 17 includes a driving rotating member 172 and a driven rotating member 173 arranged oppositely and at intervals along the first direction, and a transmission belt 174 wound on the driving rotating member 172 and the driven rotating member 173. The upper surface of the driving belt 174 The transmission surface 171 is formed.

Preferably, the two rotating parts (the driving rotating part 172 and the driven driving part) are both rollers, and the rotating shaft of the roller is arranged along the second direction. This arrangement can increase the width of the transmission belt 174, thereby increasing the width of the transmission surface 171, and improving transmission safety and reliability. In other embodiments, the driving rotating member 172 and the driven rotating member 173 can also be configured as pulleys.

In order to improve the structural compactness of the box-taking device 1, preferably, the active rotating part 172 is an electric drum, that is, the active rotating part 172 includes a cylinder body and a transmission drive unit arranged inside the cylinder body, which occupies a small space and has a compact structure. powerful. In other embodiments, the driving rotating member 172 can also be a separate cylindrical structure, and the transmission mechanism 17 also includes a transmission motor disposed outside the driving rotating member 172 and a transmission structure connected between the transferring motor and the driving rotating member 172 .

In other another embodiment, the transmission mechanism 17 can also be a drum type transmission mechanism 17, a roller type transmission mechanism 17 or a chain type transmission mechanism 17, and the roller type transmission mechanism 17, the roller type transmission mechanism 17 or the chain type transmission mechanism 17 All can be set with reference to the prior art, and this application will not give examples one by one.

In some embodiments, the box removal device 1 further includes a main drive assembly 18 and a guide assembly, the main drive assembly 18 is used to drive the mounting base 11 to move in the front-rear direction, and the guide assembly is used to guide the motion of the installation base 11 in the front-rear direction .

Specifically, the mounting base 11 also includes a pick-up assembly for docking with the container 3 , and the main drive assembly 18 is used to drive the pick-up assembly to move forward and backward, so as to drive the container 3 into and out of the accommodation space 161 .

In this embodiment, the docking mode of the pick-up assembly and the container 3 is a vacuum adsorption connection, that is, the pick-up assembly includes a second suction cup 181, an air pump assembly (not shown) for supplying air and vacuuming the second suction cup 181 . The air pump assembly includes an air pump and an air pipe connected between the second suction cup 181 and the air pump. When the main drive assembly 18 drives the second suction cup 181 to contact the side of the cargo box 3, the air pump vacuumizes the second suction cup 181 through the air pipe, so as to realize the vacuum adsorption of the second suction cup 181 to the cargo box 3; when the cargo box 3 needs to be released , the air pump feeds positive pressure gas into the second suction cup 181 through the air pipe, so that the release of the second suction cup 181 to the cargo box 3 can be realized.

The way of vacuum adsorption is used to realize the docking of the picking component and the container 3, which is simple in structure, easy to realize and low in cost; at the same time, this kind of setting can conveniently make the picking component only act on one side of the container 3 to realize the docking The stable picking of the cargo box 3 makes it more convenient to pick and place the cargo box 3; at the same time, the vacuum adsorption method is used to pick and place the cargo box 3, without changing the structure of the cargo box 3, the improvement cost is low, and the versatility is strong Furthermore, the use of vacuum adsorption to pick and place the cargo box 3 can reduce the alignment accuracy requirements between the picking components and the cargo box 3 and improve the convenience of picking and placing the cargo box 3 .

In order to facilitate the installation and disassembly of the picking assembly, the mounting base 11 also includes a fixed frame 182, the second suction cup 181 is detachably connected to the fixed frame 182, and the fixed frame 182 is detachably connected to the main drive assembly 18, and the main drive assembly 18 drives the fixed frame 182 moves along the first direction, thereby driving the second suction cup 181 to move along the first direction. Preferably, at least two second suction cups 181 are arranged at intervals along the second direction and/or the vertical direction, so as to improve the reliability of adsorption to the container 3 and reduce the suction force required by a single second suction cup 181 .

Each second suction cup 181 can be independently provided with an air pipe, and the air pump supplies air to a single air pipe. Or, it is also possible to arrange an air distribution block near the end of the second suction cup 181 to distribute the gas, and the second suction cup 181 is arranged on the air distribution block, so that one air pipe can realize the supply of multiple second suction cups 181. Air, and ensure the uniformity and consistency of the second sucker 181 air supply.

In this embodiment, the main drive assembly 18 is driven by a main drive motor cooperating with a main drive assembly. The main driving motor is preferably disposed on the side of the installation frame 16 away from the opening of the accommodating space 161 to avoid interference with the container 3 . The main transmission assembly may, but is not limited to, adopt a transmission form such as a belt transmission, a rack and pinion transmission, a chain transmission, or a screw nut transmission that can realize the linear movement of the fixing frame 182 . This embodiment does not limit the transmission form and specific structural form of the main transmission assembly.

Specifically, the guide assembly can improve the stability of the pick-up assembly running along the front-rear direction, and the guide assembly is arranged on the installation base plate 162 and extends along the front-rear direction. The guide assembly includes a first guide piece and a second guide piece that are slidably connected. The first guide piece is laid on the installation base plate 162 along the first direction and is located between the two transmission mechanisms 17. The second guide piece slides with the first guide piece. Or rolling fit, the second guide is detachably connected to the fixing frame 182 .

In some embodiments, the guide assembly includes a guide rail 19 and a slider, and the guide rail 19 is laid on the installation frame 16 along the front-to-rear direction. The slider is slidably disposed on the guide rail 19 and connected to the mounting seat 11 , the upper surface of the guide rail 19 is lower than the transmission surface 171 .

In this embodiment, the first guide member is a guide rail 19 , and the second guide member is a slider, that is, the guide assembly is a guide rail slider structure, and the upper surface of the guide rail 19 is lower than the transmission surface 171 . In other embodiments, the first guide member may also be a guide rod, and the second guide member may be a guide sleeve slidingly sleeved on the guide rod. Other existing structures that can realize linear running guidance are all within the protection scope of this application, and this application does not limit this.

Further, the second suction cup 181 is positioned above the guide rail 19 to increase the height of the second suction cup 181 while reducing the height of the fixing frame 182, thereby improving the docking position of the second suction cup 181 and the cargo box 3 relative to the cargo box 3 The height of the bottom improves the stability of the transport of the container 3, improves the compactness of the structure, and reduces structural interference.

The robot according to the embodiment of the present application includes a robot body 2 and a box-removing device 1 , the mounting seat 11 of the box-removing device 1 is arranged on the robot body 2 and is movable in a front-rear direction relative to the robot body 2 . The mounting base 11 is located on the mounting frame 16, and the mounting frame 16 is located on the robot body 2. The mounting base 11 can move back and forth relative to the mounting frame 16. In other words, the mounting base 11 is connected to the robot body 2 through the mounting frame 16.

The box picking device of the robot in the embodiment of the present application can realize fast retraction, avoiding the box 3, without affecting the picking and placing time of the box 3, and improving the picking efficiency.

As shown in Figures 3 to 6, the box-taking device 1 is movably arranged on the robot body 2. When the shelf 4 is in front of the robot body 2, the box-taking device 1 moves forward and is connected with the cargo box 3, and then The box fetching device 1 drives the cargo box 3 to move backward and pulls the cargo box 3 onto the robot body 2, so that the operation process is simple and convenient.

In some embodiments, the mounting base 11 of the box removing device 1 can also move between a first position (not shown) and a second position (not shown) relative to the robot body 2, the first position being higher than the second position. position, the trajectory of the mounting seat 11 moving between the first position and the second position is a line segment or a curve segment.

It can be understood that when the running track of the mounting base 11 is a line segment, the mounting base 11 moves in the vertical direction, as shown in FIG. Below the upper surface, when the mounting base 11 moves from the first position to the second position, it can move linearly along the vertical direction. When the running track of the mounting base 11 is a curved segment, the mounting base 11 performs a curved motion. It should be noted that the curve segment may be an arc segment, an arc segment, and the like.

As shown in Figures 5 to 7, after the box-taking device 1 pulls the box 3 onto the robot body 2, the first elastic member 13 is still in a compressed state and has elastic force, releasing the first suction cup 122 and the box 3. In the adsorption state between them, the sucker rod 121 withdraws quickly under the action of the elastic force of the first elastic member 13, and the box-taking device 1 moves downward in the vertical direction (up and down direction as shown in the figure), so that the box-taking The whole device 1 moves below the upper surface of the robot body 2 to avoid the cargo box 3 so that the cargo box 3 is not hindered when moving on the robot body 2 .

In the related art, the end surface of the container 3 is provided with transverse ribs. The applicant found through research that if the first suction cup 122 and the cargo box 3 are released from the adsorption state, the installation seat 11 needs to move downward to return to the bottom of the cargo picking platform, that is, the box picking device 1 returns to its position, but during the downward movement , the transverse rib on the cargo box 3 easily collides with the first suction cup 122 and the suction cup bar 121, which blocks the return of the box-taking device 1, and easily damages the box-taking device 1, and also reduces the efficiency of picking up the box-taking device 1. For this reason, in the box-taking device 1 of the embodiment of the present application, after the first suction cup 122 and the cargo box 3 are released from the adsorption state, they can move backward under the elastic force of the first elastic member 13, so as to realize the rapid removal of the box-taking part 12. Retraction avoids the transverse ribs on the cargo box 3, reduces damage to the box picking device 1, and improves the picking efficiency.

Moreover, after the mounting base 11 moves between the above-mentioned first position and the above-mentioned second position relative to the robot body 2, the pick-up platform only needs to be close to the length of the cargo box 3, and there is no need to set up additional space in the front and rear directions to accommodate the pick-up parts. 12, thus saving space in the front-back direction.

It can be understood that the box-taking device 1 of the present application can also move backward to return, that is, the mounting seat 11 moves backward to return. Under the action, it can first move backward to stay away from the cargo box 3, and then move backward under the drive of the mounting seat 11 to return to its position. Thus, the box picking device 1 of the present application can quickly move away from the cargo box 3, improving the efficiency of picking up goods.

In some embodiments, as shown in FIG. 10 , the robot further includes a first driving assembly 21 for driving the mounting base 11 to move relative to the robot body 2 in an up and down direction. The first driving assembly 21 includes a bracket 211 , a first rack 212 and a first gear 213 . The bracket 211 is disposed on the robot body 2 and is movable in front, rear and up and down directions relative to the robot body 2 . The first rack 212 is disposed on the bracket 211 and extends along the vertical direction, and the top end of the first rack 212 is connected to the mounting seat 11 . The first gear 213 is rotatably arranged on the robot body 2, and the first gear 213 meshes with the first rack 212 to drive the first rack 212 to move up and down, and then drives the mounting base 11 relative to the robot body through the bracket 211 2 Move in the up and down direction.

Specifically, there are at least two brackets 211, wherein one bracket 211 is located at the left end of the mounting base 11, and the other bracket 211 is located at the right end of the mounting base 11, and the two brackets 211 are arranged oppositely in the front-rear direction. The upper end is connected with the mounting seat 11 , and the lower end of the bracket 211 extends along the vertical direction and is arranged on the robot body 2 .

The first rack 212 is arranged on the support 211 along the up and down direction, and the first gear 213 is rotatably arranged on the robot body 2. When the mounting base 11 moves longitudinally, the first gear 213 is engaged with the first rack 212, and the first gear 213 is engaged with the first rack 212. A gear 213 drives the first rack 212 to move up and down, and then drives the bracket 211 to move up and down, thereby driving the mounting base 11 to move up and down. Therefore, the structure of the first driving assembly 21 is simple, and the operation is convenient.

Specifically, the first driving assembly 21 further includes a first motor (not shown), and the first motor is connected with the first gear 213 to drive the first gear 213 to rotate.

In some embodiments, a connecting block 6 is provided between the mounting base 11 and the upper end of the bracket 211 , so that the contact area between the mounting base 11 and the upper end of the bracket 211 is increased, so that the mounting base 11 and the bracket 211 are firmly connected.

In some embodiments, the robot also includes a sliding seat (not shown), the robot body 2 is provided with a guide rail 19 (not shown), the sliding seat is slidably arranged on the guide rail 19, and the first gear 213 and the bracket 211 are provided. on the slide.

Guide rail 19 extends along the front-back direction of robot body 2, and slide seat is slidably installed on guide rail 19, and first gear 213 and support 211 are also located on the slide seat, so that first gear 213 and support 211 also follow guide rail 19 Sliding in the front and back direction of the box realizes the movement of the box taking device 1 along the front and back direction of the guide rail 19. Thus, the robot in the embodiment of the present application has a simple structure and is easy to operate.

In some embodiments, as shown in FIG. 9 and FIG. 11 , the robot further includes a second driving assembly 22, the second driving assembly 22 is used to drive the sliding seat to move in the forward and backward direction relative to the robot body 2, and the second driving assembly 22 Including a second rack 221 and a second gear (not shown), the second rack 221 is disposed on the robot body 2 and extends along the front-rear direction. The second gear meshes with the second rack 221 , the second gear can rotate to move forward and backward on the second rack 221 , and the second gear is connected with the sliding seat.

As shown in Figures 9 and 11, the robot body 2 is provided with a second rack 221 extending in the front-to-back direction, and the second gear can move in the front-to-back direction on the second rack 221 through its own rotation, thereby driving the sliding seat Relative to the robot body 2, it moves forward and backward. Therefore, the robot in the embodiment of the present application has a simple structure and is easy to operate.

Specifically, the second driving assembly 22 further includes a second motor 222, and the second motor 222 is connected with the second gear to drive the second gear to rotate.

As shown in Figure 11, the robot also includes a mounting plate 223, the second motor 222 is located on the mounting plate 223, and the slide seat is also located on the mounting plate 223, so that the second motor 222 drives the second gear along the second rack 221. When moving back and forth, the sliding seat is also driven to move back and forth on the second rack 221 , and then the box-taking device 1 is moved back and forth on the second rack 221 .

As shown in Figure 12, in some embodiments, the robot body 2 includes: a chassis 23; On: the lifting assembly 25, the lifting assembly 25 is configured to move up and down along the door frame 24, the lifting assembly 25 is connected with the box removal device 1 to drive the box removal device 1 relative to the door The frame 24 can move up and down.

Specifically, the chassis 23 is used to realize the movement of the handling robot on the ground, so as to realize the transportation of the cargo box 3 by the handling robot; the door frame 24 is arranged on the chassis 23 for fixing and supporting the box-taking device 1; The lifting mechanism is arranged on the door frame 24 so as to pick up the container 3 on the container 3 or place the container 3 on the container 3 .

The chassis 23 includes a chassis body and a driving wheel mechanism arranged at the bottom of the chassis body, and the driving wheel mechanism is used to realize the movement of the chassis 23 . The drive wheel mechanism can be in the form of differential drive, specifically including a drive wheel motor, two drive wheels arranged at the bottom of the chassis body, and a connecting assembly connecting the drive wheel motor and the two drive wheels. Two driving wheels are respectively arranged on both sides of the chassis body, and the driving wheel motor is arranged inside the chassis body, and its rotating output shaft is connected with the driving wheel and drives the driving wheel to move, so as to realize the linear or turning motion of the chassis 23 .

In this embodiment, the driving wheel mechanism is arranged on both sides of the middle part of the chassis 23 , which is beneficial to improve the stability of the movement of the chassis 23 . A plurality of universal driven wheels can also be set on the chassis body, such as a pair of universal driven wheels can be respectively set at the front portion and the rear portion of the chassis body, and two pairs of universal driven wheels are arranged symmetrically relative to a pair of driving wheels. It is beneficial to further improve the smooth movement of the chassis 23, especially the stability of the turning movement of the chassis 23, and prevent the chassis 23 from toppling to one side during the movement.

The driving wheel mechanism can also adopt other mechanisms that can drive the movement of the chassis body. This embodiment does not limit the specific form of the driving wheel mechanism, nor does it limit the specific structure of the chassis 23, as long as the structure that can drive the door frame 24 to move can be , such as the existing robot structure, etc.

As shown in Figure 12, the door frame 24 includes two support columns 241 opposite and spaced apart, each support column 241 is all vertically arranged, the lower end of the support column 241 is connected with the chassis 23, and the upper end of the two support columns 241 A beam 242 is connected to prevent the two supporting columns 241 from shaking relative to each other. Preferably, each support column 241 includes a plurality of detachably connected support rod segments, so as to improve the convenience of processing and assembly. The structure of the door frame 24 can refer to the prior art, and will not be repeated here.

The box-taking device 1 is installed on the door frame 24 by a lifting mechanism, and the lifting mechanism includes a lifting frame 7 and a lifting drive assembly, and the lifting drive assembly is installed between the door frame 24 and the lifting frame 7, and is used to drive the lifting frame 7 to elevate. The case taking device 1 is installed on the lifting frame 7 . The lifting mechanism can be but not limited to a sprocket chain type lifting mechanism, a screw nut type lifting mechanism, a rack and pinion type lifting mechanism, etc., and the specific structure of the lifting mechanism and the connection between the lifting mechanism and the cargo picking device 1 can refer to the existing technology, which is not limited in this embodiment.

In some embodiments, the robot body 2 also includes a temporary storage partition 26, a plurality of temporary storage partitions 26 are arranged at intervals along the height direction of the door frame 24, and the temporary storage partition 26 can temporarily The cargo box 3 is stored, and the box taking device 1 can realize the transfer of the cargo box 3 between the temporary storage partition 26 and the cargo box 3 .

Specifically, each temporary storage partition 26 is vertically connected to the support column 241 , and each temporary storage partition 26 can be used to temporarily store one container 3 . With this arrangement, the handling robot can transport a plurality of cargo boxes 3 at one time, improving the efficiency of cargo box 3 handling.

Further, each temporary storage partition 26 is detachably connected with the door frame 24, so that a reasonable number of temporary storage partitions can be set on the door frame 24 according to the height of the container 3, the height of the door frame 24 and the requirements of handling. 26. Improve the flexibility and versatility of the handling robot, enable the temporary storage partition 26 to be processed and set up in a modular manner, improve the processing and use flexibility of the temporary storage partition 26, and facilitate the processing and assembly of the temporary storage partition 26 and handling. The specific structure of the temporary storage partition 26 can refer to the prior art, which is not the focus of this application and will not be repeated here.

In order to avoid interference between the box-taking device 1 and the temporary storage partition 26, the box-taking device 1 and the temporary storage partition 26 are respectively located on opposite sides of the door frame 24, and the box-taking device 1 is connected with the elevating frame 7 through a rotating mechanism, so as to Rotate the box picking device 1 around the vertical axis to change the orientation of the opening of the accommodation space 161, so that the box 3 pick-and-place mechanism and the transmission mechanism 17 can realize the transfer of the box 3 between the mounting frame 16 and the temporary storage partition 26 . The setting of the rotating mechanism can refer to the existing setting, which is not the focus of this application and will not be repeated here.

In some embodiments, the robot body 2 also includes a detection component, the detection component is used to detect the working state of the handling robot and the external environment state; the controller is used to obtain the order information of the warehouse logistics, and based on the order information and the detection result of the detection component, Intelligently regulate the operation of the handling robot.

As shown in Figures 16-18, in some embodiments, the robot further includes at least two auxiliary support devices 5, at least two auxiliary support devices 5 are controlled by respective drive assemblies 58, and are respectively distributed on opposite sides of the robot. , at least two auxiliary support devices 5 are configured to protrude relative to the robot to abut against or separate from the material racks on both sides of the robot.

In some embodiments, the auxiliary support device 5 includes a fixed base 50, and a support element 51 telescopically connected to the fixed base 50 through a telescopic mechanism. The telescoping mechanism is controlled by the driving assembly 58 and is configured to drive the supporting element 51 to move relative to the fixed base 50 to abut against or separate from the racks on the corresponding side.

Embodiment one

Specifically, as shown in Figures 17 and 18, the auxiliary supporting device 5 includes a fixed base 50, and a support element 51 telescopically connected to the fixed base 50 through a telescopic mechanism, wherein the telescopic mechanism is controlled by the drive The component 58 is configured to drive the supporting element 51 to move relative to the fixed base 50 to abut against or separate from the material shelf on the corresponding side. In order to better understand the structure of the auxiliary support device 5 , please also refer to the figure, which is a front structural schematic diagram of the auxiliary support device 5 shown in the figure.

Wherein, the fixed base 50 is specifically a square plate, which is fixedly connected on the side wall of the door frame 24 by means of threaded connection or bonding, and the support element 51 has the same shape as the fixed base 50. Connected to the fixed base 50 in a manner, the telescoping mechanism drives the support element 51 to move away from or close to the support element 51 under the action of the drive assembly 58 .

It should be noted that, in this embodiment, the fixing base 50 is fixed on the door frame 24 , and its fixing position can be a lower area, a middle area or an upper area along the extending direction of the door frame 24 . Of course, the fixed base 50 can also be arranged on the lifting assembly 25 or the retrieving box assembly, so that it can reach any position in the extending direction of the door frame 24 along with the lifting assembly 25 .

The telescoping mechanism includes a scissors unit, and the scissors unit includes a first link 52 mechanism and a second link 53 mechanism that are arranged crosswise and hinged together at the intersection point. Wherein, one end of the first connecting rod 52 mechanism is hinged with the fixed base 50, and the other end is movably connected to the supporting element 51 in a slidable manner; one end of the second connecting rod 53 mechanism is connected to the supporting element 51 Hinged, the other end is movably connected to the fixed base 50 in a slidable manner.

In detail, the first connecting rod 52 mechanism includes two first connecting rods 52 arranged in parallel, and the second connecting rod 53 mechanism includes two second connecting rods 53 arranged in parallel, wherein the two first connecting rods 52 have the same The two ends are hinged on the same hinge axis, the same ends of the two second connecting rods 53 are hinged on the same hinge axis, and the first connecting rod 52 and the second connecting rod 53 on the same side intersect and are hinged together.

In more detail, the lower ends of the two first connecting rods 52 are hinged on the first lower hinge shaft 54, and the upper ends of the two first connecting rods 52 are respectively hinged on the two first upper hinge shafts 55 arranged coaxially. , and the two first upper hinge shafts 55 are movably connected to the support element 51 in a slidable manner, the support element 51 is provided with two elongated holes 5a, and the two first upper hinge shafts 55 respectively pass through the two A strip-shaped hole 5a and slide up and down relative to the support member 51 along the strip-shaped hole 5a.

Similarly, the lower ends of the two second connecting rods 53 are respectively hinged on two second lower hinge shafts 56 coaxially arranged, and the two second lower hinge shafts 56 are fixedly or rotatably connected to the support element 51; The upper ends of the second connecting rods 53 are all hinged on the second upper hinge shaft 57, and the second upper hinge shaft 57 is movably connected to the fixed base 50 in a slidable manner. Specifically, the fixed base 50 is also provided with Two elongated holes 5a, the second upper hinge shaft 57 passes through the two elongated holes 5a and can slide along the elongated holes 5a under the action of external force.

The drive assembly 58 that drives this retractable mechanism includes a screw rod push rod motor, the casing of the screw rod push rod motor is fixedly connected on the fixed base 50, and its drive shaft is fixedly connected with the second upper hinge shaft 57 to control the forward rotation of the motor or Reversing can make its driving shaft drive the second upper hinge shaft 57 to slide up and down along the elongated hole 5a.

Specifically, when the push rod screw motor rotates forward, the second upper hinge shaft 57 slides upward along the elongated hole 5a, and at this time, the first connecting rod 52 mechanism and the second connecting rod 53 mechanism of the scissors unit retract, Then both the fixed base 50 and the support element 51 are moved in a direction gradually approaching each other, that is, the cargo handling robot as a whole is in the working state in the figure, that is, the auxiliary support device 5 is in a retracted state relative to the door frame 24, and its support element 51 is not against the material shelf on the corresponding side, and the auxiliary supporting device 5 does not have a supporting function at this moment.

Conversely, when the push rod screw motor reverses, the second upper hinged shaft 57 slides down along the elongated hole 5a corresponding thereto, at this moment the first link 52 mechanism and the second link 53 of the scissors unit The mechanism expands, so that both the fixed base 50 and the support element 51 move in a direction gradually away from each other, that is, the overall cargo handling robot is in the working state in the figure, that is, the auxiliary support device 5 is in the extended state relative to the door frame 24, Its supporting element 51 stretches out to the material rack on the corresponding side, and at this time, the auxiliary support device 5 utilizes the two material racks on the opposite side to support the door frame 24 to prevent it from shaking.

Embodiment two

As shown in Figure 19, the structure of the cargo handling robot in Embodiment 2 is basically the same as that of Embodiment 1. The main difference between the two is that the specific structure of the auxiliary support device 5' is different. In order to keep the text concise, the following will be combined with the drawings of the description 19 and accompanying drawing 20, to describe in detail the specific structure of the auxiliary supporting device 5' in the second embodiment, and the same parts as those in the first embodiment will not be repeated here. It should be noted that, except for the auxiliary supporting device 5 ′, the reference numerals of other functional components are the same as the reference numerals in Fig. 16 to Fig. 18 of the first embodiment.

Among them, FIG. 19 is a schematic diagram of the three-dimensional structure of the second specific embodiment of the cargo handling robot provided by the present disclosure in use; the figure is a front view of the structure shown in the figure; the figure is a schematic perspective view of the three-dimensional structure of the auxiliary support device 5' in the figure .

Referring to Fig. 19, in this embodiment, the auxiliary support device 5' includes a fixed base 50', and a supporting element 51' telescopically connected to the fixed base 50' through a telescopic mechanism, wherein the telescopic mechanism is controlled by Controlled by the driving assembly 57' and configured to drive the supporting element 51' to move relative to the fixed base 50' to abut against or separate from the material shelf on the corresponding side.

Wherein, the fixed base 50' includes a base plate 500' and a rear vertical plate 501' fixedly connected to the lower surface of the base plate 500', a left side plate 502' and a right side plate 503', and the rear vertical plate 501' and the left side plate Guide grooves 504' are formed between 502'. The support element 51' is specifically a quadrangular prism rod. The support element 51' is driven by the telescopic mechanism under the action of the drive assembly 57' to protrude from the guide groove 504' or retract into the guide groove 504', and then realize the support element 51' It moves relative to the fixed base 50' to the purpose of abutting against or separating from the material shelf on the corresponding side.

In this embodiment, the base plate 500' of the fixed base 50' is fixed on the lower surface of the lifting assembly 25, so that the support element 51' is located within the width range of the cargo handling robot in a retracted state. In some other embodiments, the fixed base plate 500' can also be fixedly connected to the lower area, middle area or upper area of the door frame 24 along its extending direction, as long as the auxiliary supporting device 5' is in the retracted state and located at the cargo handling area. Within the width range of the robot, it only needs to be able to stretch out from the width direction of the cargo handling robot when it is extended. It should be noted that the width of the cargo handling robot refers to the dimension on the vertical distance between two racks where it is located.

In addition, in this embodiment, the auxiliary support device 5' is connected to the lifting assembly 25, which can move along with the lifting assembly 25 along the extension direction of the middle door frame 24, so that it can be offset against the corresponding side material frame at any position of the door frame 24. Referring to the supporting function, the auxiliary supporting device 5' has flexible auxiliary functions and can meet the supporting requirements of different positions. In order to better understand the position and assembly relationship of the auxiliary supporting device 5' and the lifting assembly 25, please refer to the figure together, which is a three-dimensional structural schematic diagram of the assembly of the auxiliary supporting device 5' and the lifting assembly 25 in the figure.

The telescopic mechanism includes a screw 52' nut transmission mechanism controlled by a drive assembly 57', and the screw 52' nut mechanism transmission mechanism is configured to drive the support element 51' to move relative to the fixed base 50' under the action of the drive assembly 57' To resist or separate from the material shelf on the corresponding side.

In detail, the screw 52' of the nut drive mechanism is rotatably connected to the left side plate 502' and the right side plate 503' of the fixed base 50' through bearings and other structures, and its nut part includes mutual The nut block 53' and the slider 54' are fixedly connected, the nut block 53' is located between the left side plate 502' and the right side plate 503' and is screwed with the screw rod 52', and a slide groove is opened on the slider 54', A sliding rail 55' extending axially along the screw rod 52' is fixedly connected to the base plate 500', the sliding block 54' is slidably connected to the sliding rail 55' through a sliding groove, and the sliding block 54' is fixedly connected to the supporting element 51'. Of course, it is also possible that the support element 51' is guided and fit together with the base plate 500' through the guide rail 19 assembly, and the nut block 53' threaded with the threaded rod 52' is directly connected with the support element 51'.

The driving assembly 57' includes a motor, and the casing of the motor is fixedly connected to the right side plate 503', and its armature shaft is used to drive the screw rod 52' to rotate. Controlling the turning of the armature shaft of the motor can realize the relative rotation of the nut block 53'. Sliding on the left or right direction of the screw rod 52', the slider 54' drives the support element 51' to extend or retract from the guide groove 504' of the fixed base 50' to the fixed base 50' in the guide groove 504'.

In one embodiment of the present disclosure, in order to improve the stability of the auxiliary support device 5' supporting the material shelf, in this embodiment, an abutment plate 56' is hinged at the end of the support element 51', specifically, the support element 51' is opened One end of the abutment plate 56' is inserted into the installation groove and hinged to the support element 51' through the hinge shaft. in the slot.

The abutment plate 56' has a first position and a second position: in the first position, the abutment plate 56' is received and pre-pressed in the guide groove 504' of the fixed base 50', and the abutment plate 56' and The extension direction of the support element 51' is consistent; in the second position, the abutment plate 56' is separated from the guide groove 504' of the fixed base 50', and the abutment plate 56' rotates to align with the support element 51 under the elastic restoring force. 'at a predetermined angle.

In one embodiment of the present disclosure, in this embodiment, the abutment plate 56' can be elastically connected to the supporting element 51' through a torsion spring, and when in the second position, the abutment plate 56' is made to It is arranged at an angle of ° with the supporting element 51'.

In order to simplify the overall structure of the auxiliary supporting device 5', an inclined pressing plate 505' is provided at the opening end of the guide groove 504' on the fixed base 50', and the inclined pressing plate 505' is configured so that when the supporting element 51' retracts to the fixed base When the seat 50' is in the guide groove 504', it is used to contact the abutment plate 56' to push the abutment plate 56'. The inclined pressing plate 505' extends outward relative to the opening end of the guide groove 504'.

In some embodiments, as shown in FIGS. 21 to 23 , the robot further includes a telescopic fork device 1-4, and the lifting assembly 25 is connected with the telescopic fork device 1-4 to drive the telescopic fork device 1-4 relative to the door frame 24. Moving up and down, the box-taking device 1 is arranged on the telescopic fork device 1-4, and the telescopic fork device 1-4 includes a mobile pallet 1-45 connected with the lifting assembly 25 and a multi-stage counter set along both sides of the mobile pallet 1-45. Telescopic mechanism 1-41, wherein each multi-stage telescopic mechanism 1-41 is provided with a rear finger 1-43A for limiting the container 3;

The telescopic fork device 1-4 also includes an in-position detection device 1-44 and a control device, the in-position detection device 1-44 is used to detect the position of the rear finger 1-43A, and the control device is used to detect the When the position of the rear finger 1-43A exceeds the set position, the mobile chassis 23 and the lifting assembly 25 are controlled to be locked.

In some embodiments, the control device is also used to control the mobile chassis 23 and the lifting assembly 25 to release the locked state when the finger 1-43A does not exceed the set position after detection by the in-position detection device 1-44.

Specifically, the robot also includes a telescopic fork device 1 - 4 that can move up and down along the height direction of the mast 24 , and a lifting assembly 25 that drives the telescopic fork device 1 - 4 to move up and down along the height direction of the mast 24 . Exemplarily, the side of the door frame 24 facing away from the assembled temporary storage partition 26 is slidably provided with a lifting assembly 25 along its height direction, and the lifting assembly 25 can adopt any one of a rack and pinion mechanism, a screw mechanism or a synchronous belt mechanism way to complete the drive, so that the lifting assembly 25 is vertically lifted along the door frame 24.

Referring to Fig. 21 to Fig. 23, the telescopic fork device 1-4 for retrieving and returning the container 3 is arranged on the lifting assembly 25, and the telescopic fork device 1-4 is lifted to different heights with the lifting assembly 25, and the container of different heights 3 Perform the withdrawal and return operation.

When the telescopic fork device 1-4 is connected with the lifting assembly 25, the telescopic fork device 1-4 is connected with the lifting assembly 25 through a rotating assembly, and the rotating assembly is used to drive the telescopic fork device 1-4 to rotate horizontally. Exemplarily, the telescopic fork device 1-4 includes a mobile pallet 1-45 connected to the lifting assembly 25, the mobile pallet 1-45 is connected to the lifting assembly 25 through a rotating assembly, and the mobile pallet 1-45 can rotate around the rotating assembly Center turns. The mobile pallet 1-45 moves in place with the shelf 4 and each layer of temporary storage partitions 26. Driven by the rotating assembly, the telescopic fork device 1-4 can realize the loading and unloading of the container 3 on the shelf 4 on both sides of the roadway. Thereby realize two-way fetching and returning cargo box 3.

When specifically realizing the operation of taking and returning the container 3, the telescopic fork device 1-4 also includes a multi-stage telescopic mechanism 1-41 oppositely arranged along both sides of the mobile pallet 1-45; the multi-stage telescopic mechanism 1-41 is provided with two , the multi-stage telescopic mechanism 1-41 is at least three-stage telescopic. Of course, the multi-stage telescopic mechanism 1-41 can also be a three-stage telescopic mechanism, a four-stage telescopic mechanism, a five-stage telescopic mechanism, etc., which will not be limited here.

When the multi-stage telescopic mechanism 1-41 is a three-stage telescopic mechanism, it includes: a first arm fixedly arranged on the moving tray 1-45, an intermediate arm slidably connected to the first arm, and a terminal arm slidably connected to the intermediate arm. The three arms can slide along the direction of picking up the goods, so as to realize the expansion and contraction of the multi-stage telescopic mechanism 1-41 along the way of picking up the goods.

When raising the operation of picking up and returning the cargo box 3, a front finger 1-42 is rotated and connected to the front end of the oppositely arranged terminal arm along the direction of picking up goods, and a rear finger is fixedly arranged at the rear end of the relatively set up terminal arm along the direction of picking up goods. 1-43A. Both the front dial finger 1-42 and the rear dial finger 1-43A move along with the terminal arm along the picking direction. It can be seen from the above description that whether the multi-stage telescopic mechanism 1-41 is a three-stage telescopic mechanism or a four-stage telescopic mechanism, the assembly positions of the front dial finger 1-42 and the rear dial finger 1-43A remain unchanged, and they are all assembled on the stub arm.

The front finger 1-42 is connected to the terminal arm through the rotation of the steering gear, and the front finger 1-42 has two positions: a working position and an avoidance position. When the front finger 1-42 is working, the steering gear drives the front finger 1-42 to rotate to a horizontal position. The two front fingers 1-42 are placed opposite to each other, so that when the multi-stage telescopic mechanism 1-41 shrinks, the container 3 to be transported can be pulled.

The rear finger 1-43A is fixedly mounted on the end of the distal arm away from the front finger 1-42, and the rear finger 1-43A is used to push the container 3 on the mobile pallet 1-45 to the shelf 4 or the temporary storage partition 26 on for storage. As shown in the figure, two rear finger 1-43A can be arranged oppositely. During the extension process of the multi-stage telescopic mechanism 1-41, the container 3 on the mobile pallet 1-45 is controlled by the rear finger 1 on both sides. -43A realizes blocking and pushing, thereby pushing the cargo box 3 on the mobile pallet 1-45 to the shelf 4 or the temporary storage partition 26 of the robot itself.

The rear dial finger 1-43A can also be integrally connected between the end arms on both sides, and also block and push the container 3 on the mobile pallet 1-45 during the extension process of the multi-stage telescopic mechanism 1-41.

The telescopic fork device 1-4 may have the situation that the fork cannot be retracted in place under abnormal conditions. At this time, if the robot continues to do follow-up actions, it will cause danger to the robot, the shelf 4, the container 3, and even the staff. For this reason, the application utilizes the rear dial finger 1-43A of fixed arrangement as positioning sign, detects the in-place information of multistage telescoping mechanism 1-41.

When specifically detecting the position information of the rear finger 1-43A, the telescopic fork device 1-4 further includes: an in-position detection device 1-44 for detecting the position of the rear finger 1-43A. The position detecting device 1-44 is fixedly assembled on the moving tray 1-45, and is used for detecting the position information of the rear dial finger 1-43A.

The in-position detection device 1-44 is any one of a diffuse reflection sensor, a laser sensor, a micro switch or a shape travel switch arranged on the moving tray 1-45 and corresponding to the rear finger 1-43A. When there are two rear dial fingers 1-43A arranged oppositely, there are two in-position detection devices 1-44, which correspond to the two rear dial fingers 1-43A respectively, thereby enhancing the detection accuracy. When the rear finger 1-43A is integrally connected between the end arms on both sides, the number of in-position detection devices 1-44 can be one or two.

At the same time, it also includes a control device, which adopts one of a PLC controller and a single-chip controller industrial computer. And after the control device receives the position information of the rear finger 1-43A fed back by the position detection device 1-44, it controls the corresponding work of the multi-stage telescopic mechanism 1-41, the mobile chassis 23, the lifting assembly 25 and the rotating assembly, all of which are existing control The technical means commonly used in the method will not be repeated here.

When the position detection device 1-44 detects that the position of the rear finger 1-43A exceeds the set position, the control device controls the mobile chassis 23, the lifting assembly 25 and the rotating assembly to lock. The control device is also used to control the mobile chassis 23, the lifting assembly 25 and the rotating assembly to release the locked state when the finger 1-43A does not exceed the set position after detection by the in-position detection device 1-44. It needs to be specifically stated that the setting position is a reasonable interval, so that the rear finger 1-43A can run to this range under the slight mechanical movement error and control error, and at the same time ensure that the rear finger 1-43A runs to After this interval, the whole machine will not scratch other parts, shelves 4, cargo boxes 3, etc. when it lifts, rotates, and walks.

It can be seen from the above description that when the container 3 on the shelf 4 is taken to the robot for transportation, the mobile chassis 23 moves to the shelf 4 where the container 3 is to be picked up, and the lifting assembly 25 drives the telescopic fork device 1-4 to rise To the 4th floor of the shelf with the same height as the container 3 to be picked up, the front finger 1-42 is in the avoidance position at this moment. As shown in the figure, the multi-stage telescopic mechanism 1-41 extends from the terminal arm along the middle arm on both sides of the container 3 to be picked up. At this time, the in-position detection device 1-44 detects that the position of the rear finger 1-43A exceeds The position is set, and the control device controls the mobile chassis 23, the lifting assembly 25 and the rotating assembly to be in a locked state.

After the terminal arm is fully extended, the middle arm extends along the first arm until the front finger 1-42 is located at the back of the container 3 . The steering gear rotates so that the front finger 1-42 is located at the working position, and then during the retraction process of the multi-stage telescopic mechanism 1-41, the front finger 1-42 pulls the container 3 from the shelf 4 to the mobile pallet 1-45. As shown in the figure or the figure, after the middle arm and the end arm gradually shrink into place, the in-position detection device 1-44 detects that the dial finger 1-43A returns to the set position, and controls the mobile chassis 23, the lifting assembly 25 and the rotation The component is released from the deadlock state.

Thereby, the control device controls the lifting assembly 25 to drive the telescopic fork device 1-4 to lift to the same height position as the temporary storage partition 26 layers of suitable vacancy, and controls the rotating assembly to drive the mobile pallet 1-45 degrees of rotation. The steering gear drives the front finger 1-42 to be in the avoidance position, and the multi-stage telescopic mechanism 1-41 pushes the container 3 on the mobile pallet 1-45 to the temporary storage partition 26 by the rear finger 1-43A during the extension process deposit. And during the moving process of the rear finger 1-43A, the position detection device 1-44 detects that the position of the rear finger 1-43A exceeds the set position. At this time, the control device controls the mobile chassis 23, the lifting assembly 25 and the rotating assembly to be in the lock position dead state. On the contrary, when the container 3 on the temporary storage partition 26 is placed on the shelf 4 for storage, the above-mentioned method is also adopted for operation, and details will not be repeated here.

In this application, the rear dial finger 1-43A is used as a fixed-point mechanism while the cargo box 3 is limited. After the in-position detection device 1-44 detects whether the rear dial finger 1-43A is in place, the robot can perform subsequent operations and improve the robot. operational safety.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial", The orientation or positional relationship indicated by "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, rather than indicating or implying the referred device or element Must be in a particular orientation, constructed, and operate in a particular orientation, and thus should not be construed as limiting of the application.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

In this application, terms such as "installation", "connection", "connection" and "fixation" should be interpreted in a broad sense, for example, it can be a fixed connection or a detachable connection, unless otherwise clearly specified and limited. , or integrated; can be mechanically connected, can also be electrically connected or can communicate with each other; can be directly connected, can also be indirectly connected through an intermediary, can be the internal communication of two components or the interaction relationship between two components, Unless expressly defined otherwise. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

In the present application, unless otherwise clearly specified and limited, a first feature being "on" or "under" a second feature may mean that the first and second features are in direct contact, or that the first and second features are indirect through an intermediary. touch. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

In this application, the terms "one embodiment," "some embodiments," "example," "specific examples," or "some examples" mean specific features, structures, materials, or features described in connection with the embodiment or examples. Features are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

Although the above-mentioned embodiments have been shown and described, it can be understood that the above-mentioned embodiments are exemplary, and should not be construed as limitations on the present application. Changes, modifications, substitutions and variations made by those skilled in the art to the above-mentioned embodiments All within the scope of protection of this application.

Claims

A box taking device is characterized in that it comprises:

a mounting seat, the mounting seat can move along the front and rear directions;

A box-taking piece, the box-taking piece is arranged on the mounting seat and can move relative to the mounting seat in the front-rear direction, and the first end of the box-picking piece is used to cooperate with the cargo box;

The first elastic part is arranged at the second end of the box-taking part, and the first elastic part can be compressed when the mounting base moves backward relative to the box-taking part and has elastic force, and after the first end of the box-taking piece is disengaged from the cargo box, the box-taking piece can be pushed to move backward relative to the mounting seat under the action of the elastic force.
The box removing device according to claim 1, wherein the mounting base has a chamber, the first elastic member is located in the chamber, the box removing member includes a suction cup rod and a suction cup, and the suction cup rod passes through The second end of the sucker rod protrudes into the cavity and is connected with the first elastic member on the mounting base and is movable relative to the mounting base in the front-rear direction, and the second end of the sucker rod is One end is connected with the suction cup, and the suction cup can cooperate with the cargo box.
The box taking device according to claim 2, characterized in that, there is a passage in the suction cup rod communicating with the suction cup, and the box taking device also includes an air guide joint, and the air guide joint is arranged on the suction cup rod. The second end has an opening communicating with the channel.
The box-taking device according to claim 1, wherein there are a plurality of said box-taking parts, at least some of said box-taking parts are arranged at intervals along a first direction, and said first direction is orthogonal to said In the front-rear direction and the up-down direction, there are a plurality of first elastic members, and the plurality of first elastic members correspond to the plurality of box-removing members one by one.
The box-taking device according to claim 1, further comprising a second elastic member, the second elastic piece is arranged at the first end of the box-taking piece and is opposite to the box-taking piece at the mounting base. When moving forward, the second elastic member has an elastic force to push the mounting seat backward.
The box-taking device according to any one of claims 1-5, further comprising: a mounting frame, the mounting frame has an accommodating space with at least one side opening, and the mounting seat is arranged on the mounting frame up and movable in a front-rear direction relative to the mounting frame,

a transmission mechanism, the transmission mechanism is arranged in the accommodation space, the transmission mechanism has a transmission surface for supporting and transporting the container, and the transmission mechanism can move in and out of the accommodation space along the front-rear direction Boxes are transported.
The box picking device according to claim 6, wherein two transmission mechanisms are arranged at intervals along the first direction, the first direction is orthogonal to the front-rear direction and the up-down direction, and the mounting seats are arranged on two sides. Between the two transmission mechanisms, the transmission mechanism includes two rotating parts arranged at intervals along the first direction and a transmission belt wound on the two rotating parts, and the upper surface of the transmission belt forms the transmission surface.
The box-taking device according to any one of claims 6-7, further comprising:

a main drive assembly, the main drive assembly is used to drive the mounting base to move in the front and back directions;

The guide assembly is used for guiding the movement of the installation seat along the front and rear directions.
The box removing device according to claim 8, wherein the guide assembly comprises:

Guide rails are laid on the mounting frame along the front-to-back direction;

The slider is slidably arranged on the guide rail and connected with the installation seat, and the upper surface of the guide rail is lower than the transmission surface.
A robot, characterized in that it comprises:

robot body;

A box-taking device, the box-taking device is the box-taking device according to any one of claims 1-9, the mounting seat of the box-taking device is arranged on the robot body, and the box-taking device The mounting base is movable in the front-rear direction relative to the robot body.
The robot according to claim 10, characterized in that, relative to the robot body, the mounting seat of the box-taking device can also move between a first position and a second position, and the first position is higher than the In the second position, the track of the mounting base moving between the first position and the second position is a line segment or a curve segment.
The robot according to claim 10, further comprising a first drive assembly, the first drive assembly is used to drive the mounting base to move up and down relative to the robot body and includes:

a bracket, the bracket is arranged on the robot body and is movable relative to the robot body in the front-rear direction and the up-down direction;

a first rack, the first rack is arranged on the bracket and extends in the up and down direction, and the top end of the first rack is connected to the mounting seat;

A first gear, the first gear is rotatably provided on the robot body, and the first gear is engaged with the first rack to drive the first rack to move up and down.
The robot according to claim 12, further comprising a second drive assembly, the second drive assembly is used to drive the sliding seat to move in a front-rear direction relative to the robot body and includes:

a second rack, the second rack is arranged on the robot body and extends along the front-to-rear direction;

a second gear, the second gear meshes with the second rack, the second gear is rotatable to move forward and backward on the second rack, and the second gear is connected with the sliding seat .
The robot according to claim 10 or 11, wherein the robot body comprises:

chassis;

A door frame, the door frame is arranged on the chassis, and the box removal device is arranged on the door frame;

A lifting assembly, the lifting assembly is configured to move up and down along the door frame, and the lifting assembly is connected with the box unloading device to drive the box unloading device to move up and down relative to the door frame.
The robot according to claim 14, wherein the robot body further includes a temporary storage partition, and a plurality of temporary storage partitions are arranged at intervals along the height direction of the door frame, and the temporary storage partition The cargo box can be temporarily stored on the board, and the box taking device can realize the transfer of the cargo box between the temporary storage partition and the cargo box.
The robot according to any one of claims 14 or 15, further comprising:

At least two auxiliary support devices, at least two auxiliary support devices are controlled by their respective drive assemblies, and are respectively distributed on opposite sides of the robot, at least two auxiliary support devices are configured to be relative to the The robot stretches out to abut against or separate from the material racks on both sides of the robot.
The robot according to claim 16, wherein the auxiliary support device comprises a fixed base, and a support element telescopically connected to the fixed base through a telescopic mechanism; the telescopic mechanism is controlled The material rack on the driving assembly and configured to drive the supporting element to move to the corresponding side relative to the fixed base abuts or separates.
The robot according to any one of claims 14-17, further comprising a telescopic fork device, the lifting assembly is connected with the telescopic fork device to drive the telescopic fork device to move relative to the mast Moving up and down, the box-taking device is arranged on a telescopic fork device, and the telescopic fork device includes a mobile tray connected to the lifting assembly; a multi-stage telescopic mechanism arranged oppositely along both sides of the mobile tray, wherein each The multi-stage telescopic mechanism is provided with a rear finger for limiting the container;

The telescopic fork device also includes: an in-position detection device for detecting the position of the rear dial finger, a control device, and the control device is used to detect that the position of the rear dial finger exceeds the set position when the in-position detection device detects , control the mobile chassis and the lifting assembly to lock.
The robot according to claim 18, wherein the control device is further used to control the mobile chassis and the lifting mechanism when the in-position detection device detects that the rear finger does not exceed the set position. The component is released from the dead state.