Goods taking and placing device and transport robot

Abstract

The application provides a taking and placing device and a carrying robot. The taking and placing device is used for taking and placing a material box, and comprises a telescopic assembly and a push-pull assembly. The telescopic assembly comprises a fixing part and a telescopic part which can be telescopically moved relative to the fixing part in a first direction. The push-pull assembly is arranged on the telescopic part and comprises a base, a pulling part and a first driving mechanism. The base is connected with the telescopic part, the first driving mechanism is arranged on the base, and the pulling part is connected with the first driving mechanism. An outer wall of the material box has a slot. The first driving mechanism is used for driving the pulling part to move in a second direction, so that the pulling part is inserted into or separated from the slot. Therefore, neither the push-pull assembly nor the telescopic part needs to enter the inside of a storage position of the material box. When the material box is stored in a storage position of a shelf, small-interval or no-interval storage can be achieved, and thus the space utilization of a warehouse is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of warehouse logistics, and particularly relates to a taking and placing device and a carrying robot. BACKGROUND

[0002] With the development of artificial intelligence and automation technology, carrying robots are widely applied in the field of warehouse logistics for transporting goods. In a logistics system, goods are usually stored in racks, and the carrying robot takes and places goods by docking with the racks or conveying lines to complete the goods transportation task.

[0003] In the related art, a forklift is usually provided on the carrying robot to take and place goods. The forklift usually includes a telescopic arm that can be telescoped in multiple sections. A taking mechanism for picking up or clamping a material box is arranged on the telescopic arm. When the forklift takes and places goods on the rack, the telescopic arm needs to be telescoped into the inside of the rack position, and the taking mechanism at the end or side of the telescopic arm needs to be provided with a movable or telescopic end joint for abutting against the inner side end face of the material box or holding the side wall of the material box, so as to pull out or clamp out the material box from the rack position.

[0004] However, the telescopic arm and the taking mechanism of the carrying robot for taking and placing goods in the rack position occupy the space inside the rack position, resulting in the need to reserve sufficient box spacing or layer height when storing the material box, and reducing the space utilization rate of storage. SUMMARY

[0005] The present application provides a taking and placing device and a carrying robot to solve the problem of low storage space utilization rate caused by the occupation of the internal space of the rack position by the carrying robot when taking and placing goods.

[0006] In a first aspect, the present application provides a taking and placing device for taking and placing a material box. The taking and placing device includes a telescopic assembly and a push-pull assembly. The telescopic assembly includes a fixed part and a telescopic part that can be telescoped relative to the fixed part along a first direction. The push-pull assembly is arranged on the telescopic part, so that the telescopic part can drive the push-pull assembly to move, and the push-pull assembly can drive the material box to move to realize the taking and placing operation.

[0007] The push-pull assembly includes a base, a pulling part and a first driving mechanism. The base is connected with the telescopic part, the first driving mechanism is arranged on the base, and the pulling part is connected with the first driving mechanism. An outer wall of the material box has a slot. The first driving mechanism is used to drive the pulling part to move along a second direction, so that the pulling part is inserted into or separated from the slot.

[0008] The taking and placing device provided in the application can be inserted into the outer side wall of the material box through the pulling component when taking and placing the material box on the shelf, so that the pulling component and the telescopic component do not need to enter the inside of the storage location of the material box when the pulling component moves with the material box. Therefore, the taking and placing device does not occupy the internal space of the storage location when taking and placing the material box, and the material box can be stored in a small interval or without interval in the storage location of the shelf, thereby improving the space utilization of the warehouse.

[0009] As an optional implementation, the first direction is along a horizontal direction, and the second direction is along a vertical direction.

[0010] As an optional implementation, the pulling component protrudes from the top of the base.

[0011] As an optional implementation, the pulling component further includes a pushing plate, the pushing plate is connected to the base, and the pushing plate faces the material box to push the material box to move.

[0012] As an optional implementation, the first driving mechanism can include a first driving unit, a first transmission component, a second transmission component, and a connecting component, the first driving unit is arranged on the base, the first transmission component is connected to the output end of the first driving unit, and the first transmission component can rotate under the drive of the first driving unit, the second transmission component cooperates with the first transmission component, and the second transmission component can move along the second direction under the drive of the first transmission component, the first end of the connecting component is connected to the first transmission component, and the second end of the connecting component is connected to the pulling component, so that the pulling component moves with the second transmission component. In this way, the rotation movement output by the first driving unit can be effectively converted into the movement of the pulling component.

[0013] As an optional implementation, the first driving mechanism can further include a guide component, the guide component can be arranged on the base, the guide component is provided with a guide hole extending along the second direction, the connecting component passes through the guide hole, and the connecting component can move along the guide hole under the drive of the second transmission component. In this way, the smoothness and stability of the movement of the pulling component along the second direction can be ensured.

[0014] As an optional implementation, the first transmission component can be a lead screw, the second transmission component can be a lead screw nut, the first driving unit can be a motor, the lead screw can extend along the second direction, the first end of the lead screw is connected to the output shaft of the motor, the second end of the lead screw is rotationally connected to the guide component, the lead screw nut is sleeved on the lead screw, and the lead screw nut moves along the extension direction of the lead screw when the lead screw rotates, and the connecting component is connected to the lead screw nut. In this way, the movement stroke and position of the pulling component can be controlled through the rotation of the lead screw.

[0015] As an optional implementation, the connecting member can be two, and the guide holes can also be two, the two connecting members respectively passing through the two guide holes; the two connecting members are arranged in parallel, and the two connecting members are symmetrically distributed on two sides of the first transmission member. In this way, the balance of the force borne by the second transmission member when the second transmission member drives the pulling member to move can be realized, so as to ensure the stability of the movement process.

[0016] As an optional implementation, the push-pull assembly can further include a first detection unit and a sensing member, the first detection unit is arranged on the base, the sensing member is connected with the second transmission member, and the first detection unit is used for detecting the sensing member to detect the relative position when the second transmission member moves in the second direction. In this way, the accuracy of the plugging action of the pulling member and the slot can be ensured.

[0017] As an optional implementation, the first detection unit can be two, and the two first detection units are respectively located at two ends of the movement stroke of the second transmission member in the second direction. In this way, the plugging and disengaging of the pulling member relative to the slot can be detected, and the stroke of the pulling member can be accurately controlled.

[0018] As an optional implementation, the push-pull assembly can further include an adjusting plate, the adjusting plate is connected with the base, and the first driving mechanism is connected with the adjusting plate; a plurality of adjusting holes can be arranged on the base, the plurality of adjusting holes can be arranged in the second direction, and the adjusting plate can be matched with different adjusting holes to adjust the relative position of the adjusting plate and the base in the second direction. In this way, the taking and placing requirements of the material box of different specifications and sizes can be adapted.

[0019] As an optional implementation, the telescopic assembly can further include a second driving mechanism, the second driving mechanism can include a second driving unit, a flexible transmission member and a transmission wheel set, the transmission wheel set includes a plurality of parallel transmission wheels, the plurality of transmission wheels are respectively located on the fixed member and the telescopic member, and the flexible transmission member is arranged around the plurality of transmission wheels.

[0020] The push-pull assembly is movably connected with the telescopic member, the base is connected with the flexible transmission member and moves with the flexible transmission member, the second driving unit is connected with the transmission wheel and is used for driving the transmission wheel to rotate, so that the flexible transmission member is driven by the transmission wheel to transmit around the plurality of transmission wheels, and at least one of the telescopic member and the push-pull assembly moves in the first direction.

[0021] As an optional implementation, the taking and placing device can further include a locking linkage assembly, the locking linkage assembly is arranged on the telescopic assembly, at least part of the structure of the locking linkage assembly can move with the telescopic member and be clamped or separated with the fixed member, so as to lock or unlock between the telescopic member and the fixed member.

[0022] When the telescopic member and the fixed member are unlocked, the transmission wheel set can be configured to drive the telescopic member to extend or retract in the first direction when the flexible transmission member is driven.

[0023] As an optional embodiment, the telescopic member is provided with a first limiting part and a second limiting part at two ends respectively. When the telescopic member and the fixed member are unlocked, the push-pull assembly abuts against the first limiting part or the second limiting part, so that the telescopic member extends or retracts in the first direction.

[0024] As an optional embodiment, the plurality of transmission wheels can include a plurality of inner transmission wheels and at least one outer transmission wheel. The flexible transmission member is arranged outside the plurality of inner transmission wheels, and the outer transmission wheel abuts against the outer circumferential surface of the flexible transmission member, so as to maintain the tension state of the flexible transmission member. The outer transmission wheel and part of the inner transmission wheels are connected to the telescopic member. When the telescopic member and the fixed member are unlocked and the flexible transmission member is driven, the transmission wheels connected to the telescopic member move relative to the transmission wheels connected to the fixed member in the first direction, so as to drive the telescopic member to extend or retract.

[0025] As an optional embodiment, the plurality of inner transmission wheels can include a first transmission wheel, a second transmission wheel and a fourth transmission wheel arranged in sequence according to the driving direction of the flexible transmission member. The outer transmission wheel can include a third transmission wheel, which can be arranged between the second transmission wheel and the fourth transmission wheel. The first transmission wheel and the first driving unit are arranged at the first end of the fixed member, and the first driving unit can drive the first transmission wheel to rotate. The second transmission wheel is arranged at the second end of the fixed member. The third transmission wheel is arranged at the first end of the telescopic member. The fourth transmission wheel is arranged at the second end of the telescopic member. The base is connected to the flexible transmission member between the first transmission wheel and the fourth transmission wheel. In this way, the push-pull assembly and the telescopic arm can both have sufficient movement stroke.

[0026] As an optional embodiment, the telescopic member can be provided with a first guide rail extending in the first direction. The side of the base facing the telescopic member is provided with a sliding block. The first guide rail cooperates with the sliding block to support the base. In this way, the push-pull assembly can be supported, and the smoothness of the movement of the push-pull assembly can be ensured.

[0027] As an optional embodiment, the locking linkage assembly can include a connecting rod mechanism and a clamping piece. The connecting rod mechanism includes a fixed rod and a plurality of movable rods. The fixed rod is connected to the plurality of movable rods in sequence, and the fixed rod is fixedly connected to the telescopic member. The movable rods can swing relative to the telescopic member.

[0028] The first end of the clamping piece can be rotationally connected with the fixed rod, and the second end of the clamping piece can be rotationally connected with any one of the plurality of movable rods, and the clamping piece rotates under the driving of the movable rod, so that the clamping piece can be clamped with the fixed piece or separated, thereby realizing the locking or unlocking between the telescopic piece and the fixed piece.

[0029] As an optional embodiment, at least one of the plurality of movable rods can be provided with a trigger, and the slider is provided with a pushing piece. When the slider moves to different positions in the extension direction of the first guide rail, the pushing piece can abut or separate from the trigger. In this way, through the trigger, the locking or unlocking of the telescopic piece and the fixed piece when the push-pull assembly moves to a specific position can be realized.

[0030] As an optional embodiment, when the pushing piece abuts against the trigger, the pushing piece drives the movable rod to swing, so that the clamping piece is separated from the fixed piece; the locking linkage assembly further comprises an elastic piece, a first end of the elastic piece is connected with the fixed rod, and a second end of the elastic piece is connected with the clamping piece. When the pushing piece separates from the trigger, the elastic piece pulls the clamping piece to rotate, so that the clamping piece is clamped with the fixed piece.

[0031] As an optional embodiment, the fixed rod can extend in the first direction, and the length of the fixed rod matches the length of the first guide rail; the plurality of movable rods can include a first movable rod, a second movable rod and a third movable rod, the first movable rod and the second movable rod are respectively rotationally connected with two ends of the fixed rod, and two ends of the third movable rod are respectively rotationally connected with the first movable rod and the second movable rod, thereby forming a four-bar linkage structure to ensure the stability of the linkage swinging.

[0032] The second end of the clamping piece can be rotationally connected with the third movable rod, the first movable rod is provided with a first trigger, and the second movable rod is provided with a second trigger, so that when the slider moves to both ends of the stroke of the first guide rail, the first trigger and the second trigger are triggered respectively, thereby realizing the unlocking of the clamping piece and the fixed piece.

[0033] As an optional embodiment, the first trigger is located between the fixed rod and the third movable rod, and the second trigger is located on the side of the fixed rod away from the third movable rod.

[0034] As an optional embodiment, the first end of the clamping piece is provided with a clamping portion and a tension portion, the fixed piece is provided with a clamping groove arranged in the first direction, and when the clamping piece is clamped with the fixed piece, the clamping portion is clamped into the clamping groove, thereby ensuring the reliability and structural strength of the clamping. The tension portion is connected with the elastic piece, and the tension portion and the clamping portion are respectively located on the opposite sides of the connection position of the clamping piece and the fixed piece. In this way, the driving rotation direction of the trigger and the elastic piece to the clamping piece is opposite, thereby realizing the locking and unlocking functions.

[0035] As an optional implementation, the two transmission wheel sets and the flexible transmission member are arranged on both sides of the telescopic assembly, and the first transmission wheels of the two transmission wheel sets are connected by a drive shaft, and the output end of the first driving unit is connected with the drive shaft. In this way, the balance and stability of the telescopic assembly in the telescopic operation can be ensured.

[0036] As an optional implementation, the telescopic member can include a tray and side plates arranged on both sides of the tray, and at least one support is arranged on the side plates, the tray is connected with the support, the tray is used for carrying the material box, the locking linkage assembly is arranged on the side of the tray away from the carrying of the material box, the second guide rails are arranged on both sides of the fixing member, and the side plates are slidably connected with the second guide rails. In this way, by arranging the side plates and the tray, installation space for the second driving mechanism can be provided, and reliable and effective carrying of the material box can be ensured.

[0037] As an optional implementation, the locking linkage assembly can further include a third trigger member rotatably connected with the fixing rod, an opening is arranged on the tray, the third trigger member at least partially extends out of the opening and extends to the side of the telescopic member carrying the material box, the third trigger member abuts against the clamping member, and when the material box abuts against the third trigger member, the third trigger member drives the clamping member to rotate, so that the telescopic member is separated from the fixing member. In this way, when the tray carries the material box, the relative slidable state of the telescopic member and the fixing member can be maintained.

[0038] As an optional implementation, the taking and placing device can further include a second detection unit connected with the fixing member, and the second detection unit is used for detecting at least one of the posture of the material box and the electronic identifier of the material box. In this way, the initial position of the taking and placing device when taking and placing the material box can be accurately judged, and the information of the material box can be identified, so that the corresponding goods taking and placing delivery task can be accurately performed.

[0039] As an optional implementation, the taking and placing device can further include a rotating assembly, the rotating assembly can include a fixed support, a third driving unit and a rotating platform, the third driving unit is used for driving the rotating platform to rotate relative to the fixed support, and the telescopic assembly is arranged on the rotating platform. In this way, when applied to the carrying robot, the taking and placing operation can be performed on different sides of the carrying robot.

[0040] In a second aspect, the application provides a carrying robot, which includes a robot main body, a lifting device and the taking and placing device in the above technical solution. The lifting device is arranged on the robot main body and can move along the height direction of the robot main body, and the taking and placing device is arranged on the lifting device, so that the taking and placing operation of goods on different height storage locations of a goods shelf can be realized.

[0041] As an optional implementation, the robot body can include a base and a storage rack, the storage rack is mounted on the base, the lifting device is arranged on the storage rack and is movable along the height direction of the storage rack, and the storage rack can be provided with a plurality of storage slots, the plurality of storage slots are distributed along the height direction of the storage rack to ensure the conveying efficiency of the carrying robot.

[0042] In addition to the technical problems solved by the embodiments of the application described above, the technical features constituting the technical solutions and the beneficial effects brought by the technical features, other technical problems solved by the taking and placing device and the carrying robot provided by the application, other technical features included in the technical solutions and the beneficial effects brought by the technical features will be further described in detail in the specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0044] Figure 1 The schematic diagram of the taking and placing device provided by the embodiments of the application applied to the carrying robot is shown in the figure.

[0045] Figure 2 The structural schematic diagram of the taking and placing device provided by the embodiments of the application is shown in the figure.

[0046] Figure 3 The schematic diagram of the cooperation between the clamping assembly and the material box in the taking and placing device provided by the embodiments of the application is shown in the figure.

[0047] Figure 4 The structural schematic diagram of the first perspective view of the clamping assembly in the taking and placing device provided by the embodiments of the application is shown in the figure.

[0048] Figure 5 The structural schematic diagram of the second perspective view of the clamping assembly in the taking and placing device provided by the embodiments of the application is shown in the figure.

[0049] Figure 6 The structural schematic diagram of the material box cooperated with the clamping assembly in the taking and placing device provided by the embodiments of the application is shown in the figure.

[0050] Figure 7 The schematic diagram of the connection between the base and the telescopic assembly in the taking and placing device provided by the embodiments of the application is shown in the figure.

[0051] Figure 8 The schematic diagram of the driving structure of the telescopic assembly in the taking and placing device provided by the embodiments of the application is shown in the figure.

[0052] Figure 9 The arrangement schematic view of the transmission wheel group in the taking and placing device provided by the embodiment of the present application;

[0053] Figure 10 The front view of the arrangement of the transmission wheel group in the taking and placing device provided by the embodiment of the present application;

[0054] Figure 11 The structure schematic view of the locking linkage assembly in the taking and placing device provided by the embodiment of the present application;

[0055] Figure 12 The partial schematic view of the locking linkage assembly in the taking and placing device provided by the embodiment of the present application;

[0056] Figure 13 The partial schematic view of the locking linkage assembly in the taking and placing device provided by the embodiment of the present application;

[0057] Figure 14 Another structure schematic view of the taking and placing device provided by the embodiment of the present application;

[0058] Figure 15 The structure schematic view of the rotating assembly in the taking and placing device provided by the embodiment of the present application;

[0059] Figure 16 The schematic view of the first state of the taking process of the taking and placing device provided by the embodiment of the present application;

[0060] Figure 17 The schematic view of the second state of the taking process of the taking and placing device provided by the embodiment of the present application;

[0061] Figure 18 The schematic view of the third state of the taking process of the taking and placing device provided by the embodiment of the present application;

[0062] Figure 19 The schematic view of the fourth state of the taking process of the taking and placing device provided by the embodiment of the present application;

[0063] Figure 20 The schematic view of the fifth state of the taking process of the taking and placing device provided by the embodiment of the present application;

[0064] Figure 21 The schematic view of the sixth state of the taking process of the taking and placing device provided by the embodiment of the present application;

[0065] Figure 22 The schematic view of the seventh state of the taking process of the taking and placing device provided by the embodiment of the present application;

[0066] Figure 23Fig. 8 is a schematic view of a ninth state of a picking process of the goods taking and placing device according to an embodiment of the present application;

[0067] Figure 24 Fig. 8 is a schematic view of a ninth state of a picking process of the goods taking and placing device according to an embodiment of the present application;

[0068] Figure 25 Fig. 8 is a schematic view of a ninth state of a picking process of the goods taking and placing device according to an embodiment of the present application;

[0069] Figure 26 Fig. 8 is a schematic view of a ninth state of a picking process of the goods taking and placing device according to an embodiment of the present application;

[0070] Figure 27 Fig. 8 is a schematic view of a ninth state of a picking process of the goods taking and placing device according to an embodiment of the present application;

[0071] Figure 28 Fig. 8 is a schematic view of a ninth state of a picking process of the goods taking and placing device according to an embodiment of the present application;

[0072] Figure 29 Fig. 8 is a schematic view of a ninth state of a picking process of the goods taking and placing device according to an embodiment of the present application;

[0073] Figure 30 Fig. 8 is a schematic view of a ninth state of a picking process of the goods taking and placing device according to an embodiment of the present application;

[0074] Figure 31 Fig. 8 is a schematic view of a ninth state of a picking process of the goods taking and placing device according to an embodiment of the present application;

[0075] BRIEF DESCRIPTION OF THE DRAWINGS

[0076] 100 - goods taking and placing device; 110 - telescopic assembly; 111 - fixed part; 1111 - third guide rail; 1112 - clamping groove; 112 - telescopic part; 1121 - tray; 1122 - side plate; 1123 - opening; 1124 - second guide rail; 1125 - support part; 1126 - first limiting part; 1127 - second limiting part;

[0077] 120 - clamping assembly; 121 - base; 1211 - avoiding groove; 1212 - first guide rail; 1213 - second sliding block; 1214 - thrust part; 122 - first driving mechanism; 1221 - first driving unit; 1222 - first transmission part; 1223 - second transmission part; 1224 - first pulley; 1225 - second pulley; 1226 - transmission belt; 123 - clamping part; 1231 - first sliding block; 124 - mounting seat; 125 - connecting part;

[0078] 130 - second driving mechanism; 131 - second driving unit; 132 - flexible transmission member; 133 - transmission wheel set; 1331 - first transmission wheel; 1332 - second transmission wheel; 1333 - third transmission wheel; 1334 - fourth transmission wheel; 134 - driving shaft;

[0079] 140 - locking linkage assembly; 141 - connecting rod mechanism; 1411 - first movable rod; 1412 - second movable rod; 1413 - third movable rod; 1414 - fixed rod; 1414a - avoiding opening; 142 - clamping piece; 1421 - clamping part; 1422 - tension part; 1423 - second abutting part; 143 - first trigger piece; 144 - second trigger piece; 145 - elastic piece; 146 - third trigger piece; 1461 - first abutting part;

[0080] 150 - second detection unit;

[0081] 160 - rotating assembly; 161 - fixed support; 162 - rotating platform; 163 - fourth driving unit; 164 - chain;

[0082] 170 - push-pull assembly; 171 - base plate; 1711 - adjusting hole; 172 - pulling piece; 173 - third driving mechanism; 1731 - third driving unit; 1732 - third transmission member; 1733 - fourth transmission member; 1734 - connecting rod; 1735 - guide piece; 174 - third detection unit; 175 - sensing piece; 176 - adjusting plate; 177 - push plate;

[0083] 200 - robot main body; 210 - base; 220 - storage rack; 221 - storage groove; 300 - lifting device;

[0084] 400 - material box; 410 - horizontal slot; 420 - vertical slot;

[0085] 500 - goods shelf. DETAILED DESCRIPTION

[0086] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0087] First, those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application, and are not intended to limit the protection scope of the present application. Those skilled in the art can adjust them as needed to adapt to specific application occasions.

[0088] Secondly, it should be noted that in the description of the present application, the terms indicating the direction or positional relationship of "upper", "lower", "left", "right", "front", "rear", "inner", "outer" and the like are based on the direction or positional relationship shown in the drawings, which is only for the convenience of description, and does not indicate or imply that the device or member must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0089] In the description of the present specification, the description referring to the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0090] Various types of robots are widely used in various fields such as industry and life, and the transfer robot plays an important role in transportation and logistics industries. In a logistics system, goods are usually stored in a rack, and the transfer robot takes and places goods by docking with the rack or a conveying line, and transports the goods. The transfer robot is usually provided with a fork for taking and placing goods, and the fork usually includes a telescopic arm that can be telescoped in multiple sections. A taking mechanism for lifting or clamping a material box is arranged on the telescopic arm. When the fork takes and places goods on the rack, the telescopic arm needs to be telescoped into the inside of the storage location of the rack, and the taking mechanism at the end or side of the telescopic arm needs to be provided with a movable or telescopic end joint for abutting against the inside end face of the material box or holding the side wall of the material box, so as to pull out or clamp out the material box from the storage location.

[0091] However, the telescopic arm holds or clamps the material box from the side of the material box, which requires reserving operation space from the side of the storage location of the material box, resulting in an increase in the box spacing during storage. If the telescopic arm is pushed and pulled from the inside of the material box, the telescopic arm not only occupies the space from the side of the material box, but also occupies the space from the inside of the storage location of the material box, resulting in an increase in the longitudinal depth of the storage location. In addition, if the telescopic arm is inserted from above the material box to take and place the material box, it will also result in an increase in the layer spacing of the storage locations of the rack. Therefore, the above-mentioned methods all occupy the space in the storage location, resulting in the need to reserve sufficient box spacing, longitudinal depth or layer height during storage of the material box, thereby reducing the space utilization rate of storage.

[0092] In order to solve the above problems, the embodiment of the present application provides a taking and placing device and a carrying robot. The taking and placing device is optimized in the taking and placing mode, the structure of the taking and placing device is improved, and in the taking and placing process, each component of the taking and placing device does not need to enter the internal position of the shelf, so that the interval between the material boxes and the gap in each direction during storage can be reduced or eliminated, and the space utilization rate during storage can be improved.

[0093] In order to facilitate understanding, the application scenario of the embodiment of the present application is first described.

[0094] The taking and placing device provided by the embodiment of the present application is mainly used for taking and placing operation on the material box on the shelf, that is, storing the material box in the internal position of the shelf, or taking out the material box in the internal position of the shelf, and the device to which the taking and placing device can be installed and applied includes but is not limited to a carrying robot, a logistics conveying line and other devices that can be connected with the shelf. The carrying robot is taken as an example for description.

[0095] As shown in Figure 1 When the taking and placing device 100 provided by the embodiment of the present application is applied to the carrying robot, the carrying robot can take the material box 400 from the shelf 500 and perform a delivery task on the material box 400, or transfer the material box 400 of other logistics procedures to the shelf 500 and store it. The carrying robot can be applied to logistics distribution of an industrial production line, warehouse in and out of manufacturing industry, warehouse in and out of retail industry, and can also be applied to express in and out of e-commerce logistics and other different fields, and the products or goods involved in transportation can be industrial parts, electronic accessories or products, medicines, clothing accessories, food, books, etc. The embodiment of the present application does not make specific limitation, and the above-mentioned goods can be placed in the material box 400 for transfer or storage. The carrying object of the carrying robot will be referred to as "material box 400" below, and specific examples will not be given.

[0096] Please refer to Figure 2 and in combination with Figure 1 The taking and placing device 100 provided by the embodiment includes a telescopic assembly 110 and a clamping assembly 120. The telescopic assembly 110 includes a fixed part 111 and a telescopic part 112 which can be telescopically moved relative to the fixed part 111 along a first direction. The clamping assembly 120 is arranged on the telescopic part 112, so that the telescopic part 112 can drive the clamping assembly 120 to move, and the clamping assembly 120 can drive the material box 400 to move, so as to realize the taking and placing operation.

[0097] The clamping assembly 120 comprises a base 121, a first driving mechanism 122 and two clamping pieces 123. The base 121 is connected with the telescopic piece 112. The two clamping pieces 123 are slidingly arranged on the base 121. The outer wall of the material box 400 is provided with horizontal slots 410. The first driving mechanism 122 is arranged on the base 121 and is used to drive the two clamping pieces 123 to open and close along the width direction of the telescopic assembly 110, so that the two clamping pieces 123 are inserted into or separated from the horizontal slots 410.

[0098] For the convenience of description, taking the fixing piece 111 as the reference, the length direction of the fixing piece 111 is defined as the X direction, i.e., the first direction is the X direction. The telescopic piece 112 can be telescoped along the X direction. The width direction of the fixing piece 111 is defined as the Y direction, i.e., the width direction of the telescopic assembly 110 is the Y direction. The base 121 extends along the width direction of the telescopic assembly 110. The two clamping pieces 123 can move towards each other or away from each other along the Y direction. Since the telescopic piece 112 and the clamping piece 123 can reciprocate, the movement in the X direction includes the forward and backward movement in the length direction of the fixing piece 111. The movement in the Y direction includes the left and right movement in the width direction of the telescopic assembly 110.

[0099] Please refer to Figure 3 When the clamping assembly 120 moves to a position close to or abutting the material box 400, the cooperation between the clamping pieces 123 and the material box 400 can be achieved by moving the two clamping pieces 123 towards each other. The outer wall of the material box 400 can be provided with horizontal slots 410. The horizontal slots 410 can be one, i.e., the two clamping pieces 123 are inserted into opposite sides of the horizontal slot 410. The horizontal slots 410 can also be two, i.e., the two clamping pieces 123 are respectively connected to the two horizontal slots 410.

[0100] Taking the two horizontal slots 410 as an example, the end section size of the clamping piece 123 can be equal to or less than the slot size of the horizontal slot 410. When the two clamping pieces 123 move towards each other, the two clamping pieces 123 can be respectively inserted into the horizontal slots 410. When the clamping pieces 123 move away from each other, the two clamping pieces 123 can be respectively separated from the horizontal slots 410. When the clamping pieces 123 are inserted into the horizontal slots 410, the clamping pieces 123 can move the material box 400 along with the movement of the clamping assembly 120, thereby achieving the taking and placing operation of the material box 400. In addition, the clamping piece 123 can be bent relative to the base 121, and the end of the clamping piece 123 can be parallel to the length direction of the base 121.

[0101] It should be noted that as the object to be taken and placed, the outer wall of the material box 400 provided with the horizontal slot 410 can face the entrance of the storage location of the shelf 500. When the taking and placing device 100 provided in the embodiments of the present application takes and places the material box 400 on the shelf 500, the clamping assembly 120 can be inserted and matched with the horizontal slot 410 protruding on the outer wall of the material box 400 through the clamping piece 123, so that when the clamping assembly 120 moves with the material box 400, neither the clamping assembly 120 nor the telescopic piece 112 needs to enter the inside of the storage location storing the material box 400. Therefore, the taking and placing device 100 does not occupy the internal space of the storage location when taking and placing the material box 400, and the material box 400 can be stored in a small interval or no interval in the storage location of the shelf 500, thereby improving the space utilization of the warehouse.

[0102] The driving mode of the first driving mechanism 122 to the two clamping pieces 123 will be described in detail below.

[0103] As shown in Figure 4 and Figure 5 , in a possible implementation, the first driving mechanism 122 can include a first driving unit 1221, a first transmission piece 1222, and two second transmission pieces 1223. The first driving unit 1221 is arranged on the base 121, the first transmission piece 1222 can extend along the length direction of the base 121, the two second transmission pieces 1223 are matched with the first transmission piece 1222, and the two second transmission pieces 1223 are driven by the first transmission piece 1222 to move closer to or away from each other along the length direction of the base 121. The two clamping pieces 123 are connected with the two second transmission pieces 1223 respectively, so that the clamping and separation of the clamping assembly 120 and the material box 400 can be controlled by controlling the distance between the two clamping pieces 123.

[0104] It can be understood that the two second transmission pieces 1223 moving closer to each other correspond to the two clamping pieces 123 moving closer to each other, and the two transmission pieces moving away from each other correspond to the two clamping pieces 123 moving away from each other. The first driving unit 1221 can be a motor, the rotation of the output shaft of the motor can be transmitted to the first transmission piece 1222 to drive the first transmission piece 1222 to rotate, and the cooperation between the first transmission piece 1222 and the second transmission piece 1223 can convert the rotary motion output by the first driving unit 1221 into the movement of the clamping piece 123 along the Y direction. Those skilled in the art can understand that the cooperation between the first transmission piece 1222 and the second transmission piece 1223 can adopt different ways such as screw transmission, gear and rack transmission, and connecting rod transmission, which will be described in detail below taking screw transmission as an example.

[0105] Please continue to refer to Figure 4 and Figure 5In some embodiments, the first transmission member 1222 can be a lead screw, and the two second transmission members 1223 can be lead screw nuts. The lead screw can include two coaxially connected threaded segments, and the two threaded segments can have opposite screw directions. The two lead screw nuts can be respectively sleeved on the two threaded segments, so that the two second transmission members 1223 can have opposite moving directions by rotating the lead screw.

[0106] For example, the two threaded segments of the lead screw can have the same length and the same pitch, and the two threaded segments can be integrally formed or connected by welding or a shaft coupling. The embodiments of the present application do not make specific limitations in this regard.

[0107] In addition, the first driving mechanism 122 can further include a first pulley 1224, a second pulley 1225, and a transmission belt 1226. The first pulley 1224 is connected to the output end of the first driving unit 1221, the second pulley 1225 is coaxially connected to the end of the lead screw, and the transmission belt 1226 is wound around the first pulley 1224 and the second pulley 1225. When the output end of the first driving unit 1221 rotates, the first pulley 1224 is driven to rotate, i.e., the first pulley 1224 is a driving pulley. The first pulley 1224 drives the transmission belt 1226 to rotate, thereby driving the second pulley 1225 to rotate, i.e., the second pulley 1225 is a driven pulley. The second pulley 1225 can be coaxially connected to the first transmission member 1222, so as to drive the first transmission member 1222 to rotate.

[0108] It can be understood that the first driving unit 1221 and the first transmission member 1222 can be arranged in a vertically staggered manner along the height direction of the base 121, so as to fully utilize the space above and below the base 121, avoid occupying the space in the length direction of the base 121 due to the coaxial arrangement of the first driving unit 1221 and the first transmission member 1222, and make the length of the base 121 as much as possible to match the moving stroke of the clamping member 123, thereby improving the rationality of the space layout.

[0109] In order to provide reliable support for the lead screw and ensure the stability of the clamping member 123 during movement, the base 121 can be provided with a mounting seat 124 at each end along the length direction of the base 121, and the two ends of the lead screw are respectively rotationally connected to the mounting seats 124. For example, the two ends of the lead screw can be respectively matched with the mounting seats 124 through bearings, i.e., the outer ring of the bearing is fixedly matched with the mounting seat 124, and the inner ring of the bearing is sleeved on the end of the lead screw.

[0110] Since all the clamping members 123 and the first driving mechanism 122 need to be installed on the base 121, in order to ensure that the overall size of the base 121 is reasonable, the clamping members 123 and the first driving mechanism 122 can be arranged on different sides of the base 121, wherein the clamping members 123 can be located on the side of the base 121 facing the direction of taking goods, and the first driving mechanism 122 can be installed on the side of the base 121 away from the direction of taking goods.

[0111] Please continue to refer to Figure 4 and Figure 5 In a possible implementation, the first driving mechanism 122 and the two clamping members 123 can be respectively located on opposite sides of the base 121, the base 121 is provided with a avoiding slot 1211 extending along the length direction of the base 121, and the clamping assembly 120 further comprises two connecting members 125, the two connecting members 125 connect the two clamping members 123 and the two second transmission members 1223 through the avoiding slot 1211, so that the layout space on both sides of the base 121 can be fully utilized, the occupied space of the first driving mechanism 122 is reduced, and the overall size of the clamping assembly 120 is further reduced.

[0112] It can be understood that the avoiding slot 1211 can be in a strip shape, and the length of the avoiding slot 1211 can match the length of the first transmission member 1222, that is, the length of the avoiding slot 1211 can be approximately equal to the stroke size of the two clamping members moving away from each other. In addition, the first transmission member 1222 is arranged opposite to the avoiding slot 1211, and the two mounting seats 124 can be respectively arranged at both ends of the avoiding slot 1211. For example, the base 121 can be a sheet metal part, the avoiding slot 1211 can be formed by integral molding or machining, and the assembly of the first driving unit 1221, the mounting seat 124 and the base can be achieved by fasteners, buckles or welding connections, and the like. The embodiments of the present application do not make specific limitations hereon.

[0113] In some embodiments, the base 121 can be provided with a first guide rail 1212 extending along the length direction of the base 121, and the two clamping members 123 are respectively connected with first sliding blocks 1231, and the two first sliding blocks 1231 are in sliding connection with the first guide rail 1212, so that the first guide rail 1212 can provide a guiding effect for the movement of the two clamping members 123.

[0114] For example, the first guide rail 1212 can be installed on the base 121 by fasteners, and the first guide rail 1212 can be arranged along the edge of the length direction of the avoiding slot 1211. The cooperation of the first guide rail 1212 and the first sliding block 1231 can also provide a supporting effect for the clamping member 123, so as to avoid that the first transmission member 1222 receives pressure or radial shear force, and ensure the smoothness of the movement and clamping process.

[0115] It should be noted that the movement of the clamping members 123 along the X direction can be powered by the first driving unit 1221, and the first transmission member 1222 and the second transmission member 1223 can be used as the force and motion transmission units, so that the movement speed and stroke of the clamping members 123 depend on the output rotation speed and the number of rotations of the first driving unit 1221 on one hand, and depend on the parameters of the first transmission member 1222 and the second transmission member 1223 on the other hand, for example, when a lead screw and a lead screw nut are used, the movement speed and stroke of the clamping members 123 depend on the diameter and pitch of the lead screw. For the selected type and parameters of the first transmission member 1222 and the second transmission member 1223, the movement stroke and speed of the clamping members 123 can be adjusted by controlling the output of the first driving unit 1221, and the control of the first driving unit 1221 can be referenced by an external signal, which will be described below.

[0116] In a possible implementation, the clamping assembly 120 can further include a first detection unit (not shown), which can be mounted on the base 121 and can be arranged corresponding to any one of the two clamping members 123 to detect the clamping state of the clamping members 123, so as to accurately determine the clamping state of the clamping assembly 120 relative to the material box 400, ensure the accuracy of the clamping operation, and improve the operation efficiency.

[0117] It can be understood that when the clamping members 123 need to be inserted into the horizontal slots 410 or need to be separated, the first detection unit can determine the stroke position of the clamping members 123, so as to ensure the accuracy of the insertion action of the clamping members 123 and the horizontal slots 410, and since the movement processes of the two clamping members 123 are symmetrical relative to the base 121, the clamping state of the two clamping members 123 can be determined by detecting one of the two clamping members 123.

[0118] For example, the first detection unit can adopt types including but not limited to photoelectric sensors, contact switches, etc., which are not limited in the embodiments of the present application.

[0119] It should be noted that when the clamping members 123 cooperate with the material box 400, the two clamping members 123 move leftward and rightward to be inserted, and the slot of the horizontal slot 410 on the material box 400 needs to face the clamping members 123. Figure 6 As shown in the figure, the horizontal slots 410 can be located on both sides of the end outer wall of the material box 400, and the two horizontal slots 410 can be formed by two handles.

[0120] The movement of the clamping assembly 120 along the X direction is driven by the telescopic assembly 110. The telescoping manner of the telescopic assembly 110 and the cooperation manner with the clamping assembly 120 are described in detail below.

[0121] Please continue to refer to Figure 2 In a possible implementation, the telescopic assembly 110 can include a fixed part 111, a telescopic part 112, and a second driving mechanism 130. The second driving mechanism 130 can be arranged between the fixed part 111 and the telescopic part 112. The second driving mechanism 130 can not only realize the telescopic movement of the telescopic part 112 relative to the fixed part 111 along the X direction, but also realize the movement of the clamping assembly 120 relative to the telescopic part 112.

[0122] The second driving mechanism 130 includes a second driving unit 131, a flexible transmission part 132, and a transmission wheel set 133. The transmission wheel set 133 can include a plurality of parallel transmission wheels. The plurality of transmission wheels are respectively arranged on the fixed part 111 and the telescopic part 112. The flexible transmission part 132 is arranged around the plurality of transmission wheels. The second driving unit 131 is connected to at least one of the transmission wheels and is used to drive the transmission wheel to rotate, so that the flexible transmission part 132 is driven to transmit around the plurality of transmission wheels.

[0123] It can be understood that the clamping assembly 120 is movably connected to the telescopic part 112. The clamping assembly 120 is arranged on the flexible transmission part 132 and the base 121 is fixedly connected to the flexible transmission part 132. That is, when the flexible transmission part 132 is driven, the base 121 can move with the flexible transmission part 132. In this process, the clamping assembly 120 moves relative to the telescopic part 112, that is, the clamping assembly 120 moves along the first direction. In this state, the relative positions of the transmission wheels of the transmission wheel set 133 can remain unchanged. When the telescopic part 112 and the fixed part 111 move relative to each other, the relative positions of the transmission wheels arranged on the telescopic part 112 and the fixed part 111 change.

[0124] The taking and placing device 100 provided by the embodiment of the present application can realize the movement of the telescopic part 112 relative to the fixed part 111 and the movement of the clamping assembly 120 relative to the telescopic arm through the cooperation of the plurality of transmission wheels. The multi-stage driving structure of the taking device when clamping the material box 400 is simplified. The space occupation on the side of the telescopic assembly 110 is reduced, so that the overall structure is more compact.

[0125] It should be noted that the length of the telescopic member 112 in the X direction can be approximately regarded as the moving stroke of the clamping assembly 120, i.e., the clamping assembly 120 can move between the two ends of the telescopic member 112, and the movement of the telescopic member 112 relative to the fixed member 111 can be regarded as the change of the overlapping state of the telescopic member 112 and the moving member in the vertical direction, wherein the telescopic member 112 and the fixed member 111 are in the overlapping state in the vertical direction, which can be regarded as the telescopic member 112 in the retracted state, and the telescopic member 112 extends from one end of the fixed member 111, i.e., partially overlaps, which can be regarded as the telescopic member 112 in the extended state. When the second driving unit 131 drives the transmission wheel to rotate, at least one of the telescopic member 112 and the clamping assembly 120 can move in the first direction, for example, in part of the stroke of taking and placing goods, only the clamping assembly 120 is driven to move, or in part of the stroke, the telescopic member 112 and the clamping assembly 120 are simultaneously driven to move.

[0126] The taking and placing device 100 provided in the present application can first be docked with the target of taking and placing goods when taking and placing goods is performed. Taking the storage location of the goods shelf 500 as an example, the clamping assembly 120 is first moved to the front end of the telescopic member 112, and then the telescopic member 112 is moved by the telescopic movement, so that the end of the telescopic member 112 abuts against the lower edge of the storage opening of the storage location, thereby establishing a channel for the movement of the material box 400 between the taking and placing device 100 and the storage location. Then, by moving the clamping assembly 120 relative to the telescopic member 112, the clamping assembly 120 is used to take the material box 400 out of the storage location to the telescopic member 112, and then the telescopic member 112 is retracted, thereby completing the taking of goods.

[0127] As can be seen, in the steps of taking or placing goods of the taking and placing device 100, the movement of the telescopic member 112 relative to the fixed member 111 and the movement of the clamping assembly 120 relative to the telescopic member 112 need to be controlled, i.e., when the second driving unit 131 drives the transmission wheel set 133 to rotate and the flexible transmission member 132 to transmit, the telescopic member 112 and the fixed member 111 need to be kept relatively stationary in some cases, while the clamping assembly 120 moves relative to the telescopic member 112, and the clamping assembly 120 and the telescopic member 112 need to be kept relatively stationary in another part of the case, while the telescopic member 112 moves relative to the fixed member 111.

[0128] As Figure 7 and Figure 8As shown, in order to realize the movement requirement of each joint part in the above-mentioned picking process, the picking device in the embodiment of the present application can further comprise a locking linkage assembly 140, which can be arranged on the telescopic assembly 110, at least part of the structure of the locking linkage assembly 140 can be moved relative to the telescopic part 112, and different moving positions can make at least part of the structure of the locking linkage assembly 140 be clamped or separated with the fixed part 111, so as to lock or unlock between the telescopic part 112 and the fixed part 111.

[0129] It can be understood that when the telescopic part 112 and the fixed part 111 are unlocked, the transmission wheel set 133 can drive the telescopic part 112 to stretch or retract in the first direction when the flexible transmission part 132 is driven, and the relative positions of the partial transmission wheels of the transmission wheel set 133 in the first direction are variable, that is, the relative positions of the transmission on the fixed part 111 and the transmission wheel on the telescopic part 112 can change, and the length of the flexible transmission part 132 between the corresponding partial transmission wheels also changes.

[0130] When the telescopic part 112 and the fixed part 111 are locked, the relative positions of each transmission wheel in the transmission wheel set 133 are unchanged, at this time, the second driving unit 131 drives the transmission wheel to rotate, and the flexible transmission part 132 forms a closed loop with relatively fixed shape, so that the clamping assembly 120 can be moved relative to the telescopic part 112 when the flexible transmission part 132 is driven.

[0131] In some embodiments, the telescopic part 112 is respectively provided with a first limiting part 1126 and a second limiting part 1127 at both ends, when the locking linkage assembly 140 unlocks the telescopic part 112 and the fixed part 111, the clamping assembly 120 abuts against the first limiting part 1126 or the second limiting part 1127, so that the telescopic part 112 stretches out or retracts in the first direction, and at this time, the relative positions of each transmission wheel of the transmission wheel set 133 change relatively as in the foregoing scheme; and when the locking linkage assembly 140 locks the telescopic part 112 and the fixed part 111, the clamping assembly 120 moves between the first limiting part 1126 and the second limiting part 1127, and at this time, the relative positions of each transmission wheel of the transmission wheel set 133 remain unchanged.

[0132] The specific structure, arrangement mode of the transmission wheel set 133, and the specific principle of the second driving mechanism 130 to realize driving will be described in detail below.

[0133] As shown in Figure 9 and Figure 10 As shown in Figure 2 and Figure 8In a possible implementation, the plurality of transmission wheels can include a plurality of inner transmission wheels and at least one outer transmission wheel, the flexible transmission member 132 is arranged outside the plurality of inner transmission wheels, and the outer transmission wheel abuts against an outer circumferential surface of the flexible transmission member 132.

[0134] The outer transmission wheel and part of the inner transmission wheels are connected to the telescopic member 112, and the remaining inner transmission wheels are arranged on the fixed member 111. When the flexible transmission member 132 is driven to move the clamping assembly 120, the clamping assembly 120 triggers the locking linkage assembly 140 to be unlocked, and then drives the telescopic member 112 to move, thereby driving the transmission wheels connected to the telescopic member 112 to move relative to the transmission wheels connected to the fixed member 111 in the first direction.

[0135] For example, the flexible transmission member 132 can be a synchronous belt, the inner transmission wheels can be synchronous wheels, the synchronous wheels are engaged with the inner side of the synchronous belt through synchronous teeth, and the outer transmission wheel can be a flat pulley, which abuts against the outer side of the synchronous belt, thereby serving as a guide wheel to guide the synchronous belt to change direction.

[0136] In some embodiments, the plurality of inner transmission wheels can include a first transmission wheel 1331, a second transmission wheel 1332, and a fourth transmission wheel 1334 arranged in sequence according to the driving direction of the flexible transmission member 132, and the outer transmission wheel can include a third transmission wheel 1333, which is arranged between the second transmission wheel 1332 and the fourth transmission wheel 1334. That is, the flexible transmission member 132 sequentially passes through the first transmission wheel 1331, the second transmission wheel 1332, the third transmission wheel 1333, and the fourth transmission wheel 1334, and forms a closed transmission loop.

[0137] In order to make full use of the length of the fixed member 111 and the telescopic member 112, and ensure that the clamping assembly 120 has sufficient taking and placing travel, the first transmission wheel 1331 and the second driving unit 131 can be arranged at the first end of the fixed member 111, the second transmission wheel 1332 can be arranged at the second end of the fixed member 111, the third transmission wheel 1333 can be arranged at the first end of the telescopic member 112, and the fourth transmission wheel 1334 can be arranged at the second end of the telescopic member 112. In the closed transmission structure formed in this way, the flexible transmission member 132 first extends from the first end of the fixed member 111 to the second end of the fixed member 111, then extends from the second end of the fixed member 111 to the first end of the telescopic member 112, then extends from the first end of the telescopic member 112 to the second end of the telescopic member 112, and finally extends from the second end of the telescopic member 112 back to the first end of the fixed member 111. Therefore, the movement of the clamping assembly 120 and the movement of the telescopic member 112 can be realized through the transmission of the flexible transmission member 132.

[0138] It can be understood that, in order to ensure the rationality of the spatial layout, the second driving unit 131 can be arranged on the fixed part 111 and used to drive the first transmission wheel 1331 to rotate, that is, the first transmission wheel 1331 can be a driving wheel, the second transmission wheel 1332 and the fourth transmission wheel 1334 can be driven wheels, and the third transmission wheel 1333 can be a guide wheel. In order to ensure the rationality of the spatial layout in the vertical direction, the diameter of the first transmission wheel 1331 can be greater than the diameters of the other transmission wheels, and the specific size values of all the transmission wheels are not limited in the embodiment of the present application.

[0139] In some embodiments, the base 121 can be fixedly connected to the flexible transmission member 132 between the first transmission wheel 1331 and the fourth transmission wheel 1334, and when the flexible transmission member 132 is driven while the telescopic part 112 and the fixed part 111 remain relatively stationary, the clamping assembly 120 can move between the first transmission wheel 1331 and the fourth transmission wheel 1334. At this time, if the clamping assembly 120 abuts against the first end of the telescopic part 112 or the second end of the telescopic part 112, the clamping assembly 120 can drive the telescopic part 112 to move relative to the fixed part 111.

[0140] When the telescopic part 112 extends relative to the fixed part 111, the distance between the first transmission wheel 1331 and the fourth transmission wheel 1334 increases, and the distance between the second transmission wheel 1332 and the third transmission wheel 1333 decreases, that is, the second transmission wheel 1332 and the third transmission wheel 1333 can be understood as moving closer to each other, and the first transmission wheel 1331 and the fourth transmission wheel 1334 move away from each other. The length of the flexible transmission member 132 between the second transmission wheel 1332 and the third transmission wheel 1333 can compensate for the length of the flexible transmission member 132 between the first transmission wheel 1331 and the fourth transmission wheel 1334.

[0141] When the telescopic part 112 retracts relative to the fixed part 111, the distance between the first transmission wheel 1331 and the fourth transmission wheel 1334 decreases, and the distance between the second transmission wheel 1332 and the third transmission wheel 1333 increases, that is, the second transmission wheel 1332 and the third transmission wheel 1333 can be understood as moving away from each other, and the first transmission wheel 1331 and the fourth transmission wheel 1334 move closer to each other. The length of the flexible transmission member 132 between the first transmission wheel 1331 and the fourth transmission wheel 1334 can compensate for the length of the flexible transmission member 132 between the second transmission wheel 1332 and the third transmission wheel 1333.

[0142] It should be noted that the distance between the first transmission wheel 1331 and the fourth transmission wheel 1334 and the distance between the second transmission wheel 1332 and the third transmission wheel 1333 remain unchanged, so as to ensure the movement accuracy of the telescopic member 112 and the clamping assembly 120, and avoid the phenomenon of jamming caused by excessive tension or relaxation caused by insufficient tension in flexible transmission.

[0143] In addition, in order to maintain the tension state of the flexible transmission member 132, a tensioning mechanism (not shown) can be arranged on one of the plurality of transmission wheels. The tensioning mechanism can adjust the position of the transmission wheel at the corresponding position, so as to maintain the appropriate tension state of the flexible transmission member 132, and avoid the difficulty of transmission caused by excessive tension or the failure of transmission caused by excessive relaxation.

[0144] As can be understood by those skilled in the art, the telescopic member 112 can be provided with a second guide rail 1124 extending in the first direction, and the base 121 can be provided with a second sliding block 1213 on the side facing the telescopic member 112. The second guide rail 1124 cooperates with the second sliding block 1213 to support the base 121, so as to support the clamping assembly 120 and ensure the smoothness of the movement of the clamping assembly 120.

[0145] The movement of the base 121 and the second sliding block 1213 along the second guide rail 1124 can be realized by the transmission of the flexible transmission member 132. When the base 121 is connected with the flexible transmission member 132, two cover plates (not shown) can be arranged below the base 121 and cover each other and are located on both sides of the flexible transmission member 132. The two cover plates jointly clamp the flexible transmission member 132, so as to ensure that the flexible transmission member 132 maintains a fixed relative position between the clamping assembly 120 and the first transmission wheel 1331 and the fourth transmission wheel 1334 during transmission. In addition, the two cover plates can be connected by means of threaded fasteners or buckles, and the present application does not make specific limitations thereto.

[0146] In some embodiments, the transmission wheel set 133 and the flexible transmission member 132 can both be two, and can be arranged in pairs. The two pairs of transmission wheel sets 133 and flexible transmission members 132 can be arranged on both sides of the telescopic assembly 110, i.e. the mirror-symmetrical transmission structure is formed on both sides of the telescopic member 112 and the fixed member 111, so as to improve the stability of the driving mechanism.

[0147] As can be understood, the first transmission wheel 1331 of the two transmission wheel sets 133 is connected through the driving shaft 134, and the output end of the second driving unit 131 is connected with the driving shaft 134, so as to realize the synchronous transmission of the two transmission wheel sets 133 on both sides, and ensure the stability of the movement process of the telescopic member 112 and the clamping assembly 120.

[0148] Exemplarily, two ends of the driving shaft 134 can be supported and installed at the first end of the fixed part 111 through a bearing seat and a bearing, the second driving unit 131 can be a motor, and an output shaft of the motor can be matched with the driving shaft 134 through gear engagement, or a speed reducer can be arranged between the output shaft of the motor and the driving shaft 134, and the specific matching mode of the second driving unit 131 and the driving shaft 134 is not limited in the embodiment of the application.

[0149] It should be noted that the flexible transmission member 132 in the driving assembly can be in a structure type other than a synchronous belt, including but not limited to a chain 164 and other forms, and the corresponding transmission wheel can be a sprocket and other matching structures, and the embodiment of the application does not make a specific limitation, and will not be described again.

[0150] Since the second driving mechanism 130 needs to rely on the locking linkage assembly 140 to lock the telescopic part 112 and the fixed part 111 at a specific position in the moving and placing step of the telescopic part 112 and the clamping assembly 120, the specific structure and principle of the locking linkage assembly 140 will be described in detail below.

[0151] As shown in FIG. 1, Figure 11 to Figure 13 As shown in FIG. 1, Figure 8 In a possible implementation, the locking linkage assembly 140 can include a connecting rod mechanism 141 and a clamping member 142, the connecting rod mechanism 141 includes a fixed rod 1414 and a plurality of movable rods, the fixed rod 1414 is connected with the plurality of movable rods in sequence, and the fixed rod 1414 is connected with the telescopic part 112, the movable rods can swing relative to the telescopic part 112, and the clamping member 142 can be connected between the fixed rod 1414 and the movable rods, and the clamping of the clamping member 142 and the fixed part 111 can be achieved when the movable rods swing.

[0152] The first end of the clamping member 142 can be rotatably connected with the fixed rod 1414, the second end of the clamping member 142 can be rotatably connected with any one of the plurality of movable rods, and the clamping member 142 can be rotated under the driving of the movable rods, when the clamping member 142 is clamped with the fixed part 111, the clamping member 142 is clamped with the fixed part 111, so that the telescopic part 112 and the fixed part 111 are in a locked state, and when the clamping member 142 is separated from the fixed rod 1414, the telescopic part 112 and the fixed part 111 are unlocked.

[0153] It can be understood that according to the moving and placing process steps of the taking and placing device 100, the conversion between the locked state and the unlocked state of the telescopic part 112 and the fixed part 111 needs to be achieved when the clamping assembly 120 moves to different positions in the X direction.

[0154] In some embodiments, at least one of the plurality of movable rods can be provided with a trigger, and the second slider 1213 can be provided with a pushing element 1214, when the second slider 1213 moves to different positions in the extension direction of the second guide rail 1124, the pushing element 1214 can abut or separate from the trigger, that is, when the clamping assembly 120 moves to different positions in the X direction, the change in the cooperation state between the pushing element 1214 and the trigger can be triggered, so as to realize the locking or unlocking of the telescopic element 112 and the fixed element 111.

[0155] When the pushing element 1214 abuts against the trigger, the pushing element 1214 drives the movable rod to swing, so that the clamping element 142 is disengaged from the fixed element 111, at this time the telescopic element 112 can move relative to the fixed element 111 under the push, and the position of the clamping assembly 120 relative to the telescopic element 112 is unchanged.

[0156] In addition, the locking linkage assembly 140 can further include an elastic element 145, which can provide a reset function for the clamping of the clamping element 142 and the fixed element 111, wherein a first end of the elastic element 145 can be connected with the fixed rod 1414, and a second end of the elastic element 145 can be connected with the clamping element 142, when the pushing element 1214 is separated from the trigger, the elastic element 145 pulls the clamping element 142 to rotate, so that the clamping element 142 is clamped with the fixed element 111, at this time the telescopic element 112 and the fixed element 111 remain relatively stationary, under the transmission of the flexible transmission element 132, the clamping assembly 120 moves relative to the telescopic element 112.

[0157] For example, the elastic element 145 can be a tension spring, or can be a spring rope, a spring rubber or other components that can provide tension, the model, type and elastic damping coefficient of the elastic element 145 can be designed according to the installation space and the size requirement of the clamping force of the telescopic element 112 and the fixed element 111, and the present application does not make specific limitation.

[0158] Those skilled in the art can understand that, in order to ensure the stability of the swing of the connecting rod mechanism 141, the connecting rod mechanism 141 can be a four-bar linkage structure, which will be described below.

[0159] Please continue to refer to Figure 8 , Figure 11 , Figure 12 and Figure 13The fixed rod 1414 can extend along the first direction, the length of the fixed rod 1414 matches the length of the second guide rail 1124, the plurality of movable rods can include a first movable rod 1411, a second movable rod 1412 and a third movable rod 1413, the first movable rod 1411 and the second movable rod 1412 are rotatably connected with two ends of the fixed rod 1414 respectively, and two ends of the third movable rod 1413 are rotatably connected with the first movable rod 1411 and the second movable rod 1412 respectively, so as to form a four-bar linkage structure.

[0160] The length of the fixed rod 1414 and the third movable rod 1413 can be relatively long, and the length of the first movable rod 1411 and the second movable rod 1412 can be relatively short, so as to reduce the swing range of the linkage mechanism 141 and avoid interference. The second end of the clamping piece 142 can be rotatably connected with the third movable rod 1413, the first movable rod 1411 can be provided with a first trigger piece 143, and the second movable rod 1412 can be provided with a second trigger piece 144. When the second slider 1213 moves to both ends of the stroke of the second guide rail 1124, the thrust piece 1214 can trigger the first trigger piece 143 and the second trigger piece 144 respectively, that is, the first movable rod 1411 or the second movable rod 1412 is driven to swing by abutting against the first trigger piece 143 or the second trigger piece 144 respectively, so as to realize the movement of the linkage mechanism 141, thereby realizing the unlocking of the clamping piece 142 and the fixed piece 111.

[0161] It should be noted that the reciprocating movement of the clamping assembly 120 relative to the two ends of the telescopic piece 112 corresponds to the reciprocating movement of the thrust piece 1214 between the first trigger piece 143 and the second trigger piece 144, and the abutting force of the thrust piece 1214 on the first trigger piece 143 and the second trigger piece 144 is opposite in direction. Therefore, in order to ensure that the third movable rod 1413 can swing in the same direction when the thrust piece 1214 abuts against the first trigger piece 143 and the second trigger piece 144, so as to separate and unlock the clamping piece 142 and the fixed piece 111, the positions of the first trigger piece 143 and the second trigger piece 144 can be designed differently. Among them, on one side of the first movable rod 1411, the first trigger piece 143 can be located between the two rotation shafts of the first movable rod 1411, and on one side of the second movable rod 1412, the second trigger piece 144 can be located outside the two rotation shafts of the second movable rod 1412, so that the abutting forces of the first trigger piece 143 and the second trigger piece 144 are opposite in direction, but the linkage mechanism 141 has the same swing state.

[0162] In some embodiments, the first end of the clamping piece 142 can be provided with a clamping portion 1421 and a tension portion 1422, the fixing piece 111 is provided with clamping grooves 1112 arranged in the first direction, when the clamping piece 142 is clamped with the fixing piece 111, the clamping portion 1421 is clamped into the clamping groove 1112, which ensures the reliability and structural strength of clamping, the tension portion 1422 can be connected with the elastic piece 145, and the tension portion 1422 and the clamping portion 1421 are located on opposite sides of the connection position of the clamping piece 142 and the fixing piece 111 respectively, so that the driving direction of the trigger piece and the elastic piece 145 to the clamping piece 142 is opposite, thereby realizing the functions of locking and unlocking.

[0163] Please continue to refer to Figure 12 The clamping groove 1112 can be formed by a tooth plate installed on the fixing piece 111, and a plurality of clamping grooves 1112 can be arranged in sequence and continuously in the X direction. When the second trigger piece 144 is hit and abuts, the second movable rod 1412 swings clockwise and drives the third movable rod 1413 to move left. At this time, since the position of the fixed rod 1414 does not change, the position of the connection point of the clamping piece 142 and the fixed rod 1414 also does not change, and the third movable rod 1413 can drive the other end of the clamping piece 142 to move left, so that the connecting piece 125 generates counterclockwise rotation, and then the clamping portion 1421 can be separated from the clamping groove 1112; and when the second trigger piece 144 is separated from the abutment, under the tension of the elastic piece 145, the elastic piece 145 pulls the tension portion 1422, so that the clamping piece 142 can rotate clockwise, and then the clamping portion 1421 can be clamped with the clamping groove 1112, and at the same time, the third movable rod 1413 can also swing to the original state.

[0164] Please continue to refer to Figure 2 and Figure 9 In a possible implementation, the telescopic piece 112 can include a tray 1121 and side plates 1122 respectively arranged on both sides of the tray 1121, the side plates 1122 are provided with at least one supporting piece 1125, the tray 1121 is connected with the supporting piece 1125, the tray 1121 is used for carrying the material box 400, the locking linkage assembly 140 is located on the side of the tray 1121 away from the carrying material box 400, and the two sides of the fixing piece 111 are respectively provided with third guide rails 1111, and the side plates 1122 are respectively connected with the third guide rails 1111 in a sliding mode, so as to provide installation space for the second driving mechanism 130, and to ensure that the material box 400 can have reliable and effective carrying.

[0165] It should be noted that when the tray 1121 does not carry the material box 400, the first trigger 143 or the second trigger 144 can be triggered by the clamping assembly 120 to unlock the telescopic piece 112 from the fixed piece 111, and the movement of the telescopic piece 112 is directly pushed by the clamping assembly 120, and when the tray 1121 carries the material box 400, the telescopic piece 112 can be driven to move relative to the fixed piece 111 by the friction between the material box 400 and the tray 1121.

[0166] Please continue to refer to Figure 1 , Figure 2 , Figure 8 and Figure 13 In a possible implementation, the locking linkage assembly 140 can further include a third trigger 146, the third trigger 146 is rotationally connected with the fixed rod 1414, the tray 1121 is provided with an opening 1123, the third trigger 146 extends at least partially from the opening 1123 and extends to one side of the telescopic piece 112 carrying the material box 400, and the third trigger 146 is used to cooperate with the material box 400, so that when the tray 1121 carries the material box 400, the material box 400 can press down the third trigger 146 to trigger the unlocking of the telescopic piece 112 from the fixed piece 111.

[0167] It can be understood that the third trigger 146 can abut against the clamping piece 142, and when the material box 400 abuts against the third trigger 146, the third trigger 146 drives the clamping piece 142 to rotate, so that the telescopic piece 112 is separated from the fixed piece 111, thereby maintaining the relative slidable state of the telescopic piece 112 and the fixed piece 111 when the tray 1121 carries the material box 400. In addition, in order to ensure that the material box 400 has sufficient contact area with the tray 1121 and avoid the material box 400 from falling, the third trigger 146 can be located close to the second movable rod 1412.

[0168] For example, the fixed rod 1414 can be provided with a avoiding opening 1414a, the third trigger 146 is rotationally connected with the sidewall of the avoiding opening 1414a, the third trigger 146 is provided with a first abutting portion 1461, the clamping piece 142 is provided with a second abutting portion 1423 on the side facing the fixed rod 1414, the second abutting portion 1423 extends to the bottom side of the fixed rod 1414, and the first abutting portion 1461 abuts against the second abutting portion 1423 through the avoiding opening 1414a, so that when the third trigger 146 rotates, the clamping piece 142 is driven to rotate.

[0169] It should be noted that the above locking linkage assembly 140 can be one, two and multiple, and can be arranged at different positions along the width direction of the telescopic part 112 on the telescopic part 112 to ensure the reliability of the locking, and different locking linkage assemblies 140 can be moved or swung synchronously.

[0170] Please continue to refer to Figure 2 and Figure 7 The taking and placing device 100 provided by the embodiment of the present application can further include a second detection unit 150, the second detection unit 150 is connected with the fixing part 111, and the second detection unit 150 is used for detecting at least one of the posture of the material box 400 and the electronic identification of the material box 400, so that the initial position of the taking and placing device 100 when taking and placing the material box 400 can be accurately judged, and the information of the material box 400 can be identified, and the corresponding goods taking and placing delivery task can be accurately executed.

[0171] It can be understood that the second detection unit 150 can be multiple, and different second detection units 150 can detect different information of the material box 400. For example, the plurality of second detection units 150 can include a 3D camera for detecting the size and posture of the material box 400, so that the taking and placing device 100 can be aligned with the material box 400 during operation, and the plurality of second detection units 150 can also include a scanner or a 2D camera, etc. for detecting the identifiable identification on the material box 400, such as a two-dimensional code, a bar code, a digital symbol, etc., to determine whether the identity of the material box 400 is the correct execution object of the current task.

[0172] Please refer to Figure 14 and Figure 15 The taking and placing device 100 provided by the embodiment of the present application can further include a rotating assembly 160, the rotating assembly 160 can include a fixed support 161, a fourth driving unit 163 and a rotating platform 162, the fourth driving unit 163 is used for driving the rotating platform 162 to rotate relative to the fixed support 161, and the telescopic assembly 110 is arranged on the rotating platform 162, so that the taking and placing operation can be performed on different sides of the carrying robot when applied to the carrying robot.

[0173] Exemplarily, the fourth driving unit 163 can be a motor, and the motor can be mounted on the rotating platform 162. Between the fourth driving unit 163 and the fixed support 161, the cooperation can be achieved through a chain 164 and two sprockets (not shown). One of the sprockets can be fixed relative to the fixed support 161, and the rotating platform 162 can be rotationally connected to the sprocket. The other sprocket can be rotationally arranged at the bottom of the rotating platform 162. The chain 164 can be arranged around the two sprockets. The fourth driving unit 163 can drive the sprocket on the rotating platform 162 to rotate, so as to make the rotating platform 162 relatively rotate relative to the fixed support 161, and thus realize the rotation of the telescopic assembly 110 relative to the fixed support 161.

[0174] In addition, please continue to refer to Figure 1 and Figure 2 The front end of the tray 1121 can be provided with a buffer. When the telescopic part 112 is extended relative to the fixed part 111, the buffer can abut against the edge of the shelf 500, thereby playing a buffering role and reducing or eliminating noise. A microswitch can also be arranged at the front end of the tray 1121. When the telescopic part 112 abuts against the edge of the shelf 500, the microswitch can be triggered, so that it can be judged that the telescopic part 112 is successfully docked with the shelf 500, and thus the clamping assembly 120 can be inserted and cooperated with the material box 400. Of course, a corresponding switch unit (not shown) can also be arranged at the rear end of the tray 1121 to detect whether the telescopic part 112 is completely retracted.

[0175] Please refer to Figure 16 to Figure 24 For example, the steps of the taking and placing device 100 of the embodiment of the present application for taking the shelf 500 are exemplarily described below.

[0176] Step one: as shown in Figure 16 , the telescopic part 112 is in a retracted state relative to the fixed part 111, and the clamping assembly 120 is moved from the first end of the telescopic part 112 to the second end of the telescopic part 112, so as to trigger the unlocking of the telescopic part 112 and the fixed part 111.

[0177] Step two: as shown in Figure 17 , the clamping assembly 120 drives the telescopic part 112 to extend relative to the fixed part 111, and the end of the telescopic part 112 abuts against the edge of the shelf 500, so that the two clamping parts 123 of the clamping assembly 120 are close to each other, and can be inserted and cooperated with the horizontal slot 410 of the material box 400 to clamp the material box 400.

[0178] Step three: as shown in Figure 18As shown, the gripping assembly 120 moves back relative to the telescopic member 112, so that the gripping assembly 120 pulls the material box 400 partially onto the tray 1121 of the telescopic member 112, at this time the telescopic member 112 and the fixed member 111 are locked, and the relative position is fixed to avoid the material box 400 from falling.

[0179] Step four: as shown, Figure 19 the gripping assembly 120 pulls the material box 400 completely onto the tray 1121, at this time the pressure of the material box 400 triggers the unlocking of the telescopic member 112 and the fixed member 111, so that the telescopic member 112 can retract relative to the fixed member 111 under the friction of the material box 400 when the gripping assembly 120 drags the material box 400 to move.

[0180] Step five: as shown, Figure 20 the telescopic member 112 is completely retracted, and the telescopic member 112 is separated from the edge of the shelf 500, and the material box 400 is pulled by the gripping assembly 120 to above the fixed member 111, at this time the telescopic assembly 110 returns to the initial position state before picking.

[0181] Step six: as shown, Figure 21 the rotating assembly 160 drives the telescopic assembly 110 to rotate 90° together with the material box 400, so that the material box 400 is directed to the storage slot 221 of the carrying robot.

[0182] Step seven: as shown, Figure 22 the gripping assembly 120 pushes the material box 400 to move, and the telescopic member 112 extends to abut against the edge of the storage slot 221 under the friction of the material box 400.

[0183] Step eight: as shown, Figure 23 the gripping assembly 120 continues to push the material box 400 to move, and the material box 400 moves from the tray 1121 to the storage slot 221, after which the two clamping members 123 of the gripping assembly 120 can be away from each other and be detached from the material box 400.

[0184] Step nine: as shown, Figure 24 the gripping assembly 120 is retracted relative to the telescopic member 112, and the telescopic member 112 is retracted relative to the fixed member 111 to return to the initial state.

[0185] It should be noted that the operation of taking and placing the material box 400 on the carrying robot into the storage location of the shelf 500 can be similar to the above operation steps, which will not be described here.

[0186] Unlike the above technical solution, the gripping assembly 120 takes and places the material box 400 in another way.

[0187] Please refer to Figure 25 to Figure 31 In another implementation manner, the taking and placing device 100 can include a telescopic assembly 110 and a push-pull assembly 170, the telescopic assembly 110 includes a fixed part 111 and a telescopic part 112, the telescopic part 112 is arranged on the fixed part 111 and can be telescoped relative to the fixed part 111 in a first direction, the push-pull assembly 170 is arranged on the telescopic part 112, the push-pull assembly 170 is used to move the material box 400, that is, to take and place the material box 400, and the telescopic part 112 can bear the material box 400.

[0188] It can be understood that the push-pull assembly 170 can include a base plate 171, a pulling part 172 and a third driving mechanism 173, the base plate 171 is connected with the telescopic part 112, the third driving mechanism 173 is arranged on the base plate 171, the pulling part 172 is connected with the third driving mechanism 173, and the third driving mechanism 173 can drive the pulling part 172 to move in a third direction.

[0189] For the convenience of description, taking the fixed part 111 as a reference, the length direction of the fixed part 111 is defined as an X direction, that is, the first direction is the X direction, the telescopic part 112 can be telescoped in the X direction, the height direction of the base plate 171 is defined as a Z direction, that is, the third direction is the Z direction, and the pulling part 172 can move in the Z direction. Since the telescopic part 112 and the pulling part 172 can both reciprocate, the movement in the first direction includes forward and backward movement in the X direction, and the movement in the third direction includes upward and downward movement in the Z direction.

[0190] Please refer to Figure 25 , Figure 26 , Figure 27 , Figure 28 , Figure 29 and Figure 30 When the push-pull assembly 170 moves to a position close to or abutting the material box 400, the cooperation between the pulling part 172 and the material box 400 can be achieved through telescopic movement of the pulling part 172, wherein the outer wall of the material box 400 can be provided with a vertical slot 420, and under the driving of the third driving mechanism 173, the pulling part 172 can be inserted into or separated from the vertical slot 420 through movement.

[0191] It can be understood that the cross-sectional dimension of the pulling part 172 can be equal to or less than the slot dimension of the vertical slot 420, so that the pulling part 172 can enter the vertical slot 420, when the pulling part 172 moves upward, the pulling part 172 can be inserted into the vertical slot 420, when the pulling part 172 moves downward, the pulling part 172 can be separated from the vertical slot 420, and when the pulling part 172 enters the vertical slot 420, the pulling part 172 can move the material box 400 with the movement of the push-pull assembly 170 as a whole, thereby achieving the taking and placing operation of the material box 400.

[0192] It should be noted that as the object to be taken and placed, the outer wall of the material box 400 provided with the vertical slot 420 can face the entrance of the storage location of the shelf 500, and when the taking and placing device 100 provided in the embodiment of the application takes and places the material box 400 on the shelf 500, the push-pull assembly 170 can be inserted and matched with the outer wall of the material box 400 through the pulling member 172, so that when the push-pull assembly 170 moves the material box 400, neither the push-pull assembly 170 nor the telescopic member 112 needs to enter the inside of the storage location where the material box 400 is stored. Therefore, the taking and placing device 100 does not occupy the internal space of the storage location when taking and placing the material box 400, and the material box 400 can be stored in a small interval or no interval in the storage location of the shelf 500, thereby improving the space utilization of the warehouse.

[0193] In addition, the push-pull assembly 170 can further include a push plate 177 connected to the base plate 171 and facing the material box 400 to push the material box 400 to move, that is, the push plate 177 is located on the same side of the third driving mechanism 173 and the pulling member 172 relative to the base plate 171. For example, the push plate 177 can be assembled and connected to the base plate 171 by fasteners.

[0194] The driving mode of the third driving mechanism 173 to the pulling member 172 will be described in detail below.

[0195] In a possible implementation, the third driving mechanism 173 can include a third driving unit 1731, a third transmission member 1732, a fourth transmission member 1733, and a connecting rod 1734. The third driving unit 1731 is arranged on the base plate 171, the third transmission member 1732 is connected to the output end of the third driving unit 1731, and the third transmission member 1732 can rotate under the driving of the third driving unit 1731. The fourth transmission member 1733 cooperates with the third transmission member 1732, and the fourth transmission member 1733 can move in the third direction under the driving of the third transmission member 1732, that is, move up and down in the Z direction.

[0196] It can be understood that the third driving unit 1731 can output rotary motion and drive the third transmission member 1732 to rotate, and the cooperation of the fourth transmission member 1733 and the third transmission member 1732 can convert the rotary motion into linear motion. The first end of the connecting rod 1734 can be connected to the third transmission member 1732, and the second end of the connecting rod 1734 is connected to the pulling member 172, so that when the fourth transmission member 1733 moves, the pulling member 172 can be driven to move synchronously, thereby realizing the insertion and disengagement of the pulling member 172 and the vertical slot 420.

[0197] It should be noted that the plug-in cooperation of the pulling member 172 and the vertical slot 420 needs to be reciprocated, and the up-down movement of the pulling member 172 along the Z direction can be opposite to the forward rotation and reverse rotation of the third transmission member 1732, for example, when the third transmission member 1732 rotates forward, the pulling member 172 moves upward along the Z direction, and when the third transmission member 1732 reverses, the pulling member 172 moves downward along the Z direction.

[0198] In addition, in order to ensure the smoothness and stability of the movement of the pulling member 172 along the third direction, the third driving mechanism 173 can further include a guide member 1735, which can be provided on the base plate 171, and the guide member 1735 is provided with a guide hole extending along the third direction, and the connecting rod 1734 passes through the guide hole and can move along the guide hole under the driving of the fourth transmission member 1733, that is, the guide member 1735 can limit and guide the movement of the fourth transmission member 1733.

[0199] In the embodiment of the present application, the third driving mechanism 173 is used to drive the pulling member 172, and the purpose is to convert the rotary motion into linear motion, so different cooperation modes of the third transmission member 1732 and the fourth transmission member 1733 can be used, including but not limited to screw transmission mode, gear and rack mode, belt wheel and transmission belt mode, etc., which are not limited in the embodiment of the present application. Of course, a linear motor or a cylinder can also be considered to directly drive the pulling member 172. The following will be described by taking one of the driving modes as an example.

[0200] In some embodiments, the third transmission member 1732 can be a lead screw, the fourth transmission member 1733 can be a lead screw nut, and the third driving unit 1731 can be a motor. The lead screw can extend along the third direction, that is, the lead screw extends along the Z direction. The first end of the lead screw is connected with the output shaft of the motor, and the second end of the lead screw is rotationally connected with the guide member 1735. The lead screw nut is sleeved on the lead screw, and when the lead screw rotates, the lead screw nut moves along the extension direction of the lead screw. The connecting rod 1734 is connected with the lead screw nut, so that the movement stroke and position of the pulling member 172 can be controlled by the rotation of the lead screw.

[0201] It can be understood that the lead screw can be arranged between the motor and the guide member 1735, thereby supporting the lead screw. The lead screw and the output shaft of the motor can be directly connected or indirectly connected through a shaft coupling. When the lead screw is connected with the guide member 1735, the lead screw can be matched with the guide member 1735 through a bearing, so as to ensure the smoothness of the rotation of the lead screw.

[0202] In order to ensure the smooth movement of the pulling member 172, the connecting rod 1734 can be two, and the guide hole can also be two, the two connecting rods 1734 can pass through the two guide holes respectively, the two connecting rods 1734 can be rod-shaped, and the two connecting rods 1734 can be arranged in parallel, and in addition, the two connecting rods 1734 can be symmetrically distributed on both sides of the third transmission member 1732, so that the balance of the force borne by the fourth transmission member 1733 when driving the pulling member 172 to move can be realized.

[0203] Those skilled in the art can understand that three or more connecting rods 1734 can be used in cooperation with the guide 1735 to further improve the supporting strength when the layout space allows, and the embodiments of the present application do not make specific limitations.

[0204] It should be noted that the movement of the pulling member 172 in the Z direction can be powered by the third driving unit 1731, and the third transmission member 1732 and the fourth transmission member 1733 can be used as force and motion transmission units, therefore, the movement speed and stroke of the pulling member 172 depend on the output speed and the number of rotations of the third driving unit 1731 on the one hand, and the parameters of the third transmission member 1732 and the fourth transmission member 1733 on the other hand, for example, when a screw rod and a screw nut are used in cooperation, the diameter and pitch of the screw rod are used. For the selected type and parameters of the third transmission member 1732 and the fourth transmission member 1733, the movement stroke and speed of the pulling member 172 can be adjusted by controlling the output of the third driving unit 1731, and the control of the third driving unit 1731 can be referred to by an external signal, which will be described below.

[0205] In a possible implementation, the push-pull assembly 170 can further include a third detection unit 174 and a sensing member 175, the third detection unit 174 is arranged on the base plate 171, and the sensing member 175 is connected with the fourth transmission member 1733, that is, when the pulling member 172 moves in the Z direction, the sensing member 175 also moves synchronously, and the third detection unit 174 is used to detect the sensing member 175 to detect the relative position when the fourth transmission member 1733 moves in the third direction.

[0206] It can be understood that when the pulling member 172 needs to be inserted into the vertical slot 420 or needs to be separated, the third detection unit 174 can determine the stroke position of the pulling member 172, so that the accuracy of the insertion action of the pulling member 172 and the vertical slot 420 can be ensured. The types of the third detection unit 174 can include but are not limited to photoelectric sensors, contact switches, etc.

[0207] In some embodiments, the third detection unit 174 can be two, and the two third detection units 174 are respectively located at both ends of the moving stroke of the fourth transmission member 173 in the third direction, so that the two third detection units 174 can respectively detect the insertion and disengagement state of the pulling member 172 relative to the vertical slot 420, and accurately control the stroke of the pulling member 172.

[0208] For example, when an optical sensor is used, the two third detection units 174 can be arranged at both ends of the moving stroke of the sensing member 175 in the Z direction. When the third detection unit 174 on the upper side in the Z direction is blocked by the sensing member 175, it can be judged that the pulling member 172 has completed the insertion with the vertical slot 420, at which time the push-pull assembly 170 can move the material box 400. When the third detection unit 174 on the lower side in the Z direction is blocked by the sensing member 175, it can be judged that the pulling member 172 has completed the disengagement with the insertion slot, at which time the push-pull assembly 170 can be separated from the material box 400.

[0209] Because the types and size specifications of the material box 400 can be different in different application scenarios, in order to improve the applicability of the taking and placing device 100 and reduce the control difficulty, when the third driving mechanism 173 and the base plate 171 are assembled, the relative position of the mounting cooperation of the two can be set as an adjustable structure, so that when the position of the vertical slot 420 of the material box 400 relative to the push-pull assembly 170 changes, the taking and placing operation of the material box 400 can still be performed.

[0210] In a possible implementation, the push-pull assembly 170 can further include an adjusting plate 176, the adjusting plate 176 is connected with the base plate 171, and the third driving mechanism 173 is connected with the adjusting plate 176, that is, the third driving mechanism 173 can be indirectly connected with the base plate 171 through the adjusting plate 176, and the position of the adjusting plate 176 is adjustable relative to the base plate 171, so as to realize the position adjustment of the third driving mechanism 173 relative to the base plate 171.

[0211] It can be understood that a plurality of adjusting holes 1711 can be provided on the base plate 171, and the plurality of adjusting holes 1711 can be arranged in the third direction. The adjusting plate 176 can cooperate with different adjusting holes 1711 to adjust the relative position of the adjusting plate 176 and the base plate 171 in the third direction, so as to adapt to the taking and placing requirements of material boxes 400 of different specifications and sizes.

[0212] Exemplarily, the adjusting holes 1711 can be sequentially communicated to form adjusting grooves along the arrangement direction, that is, the plurality of adjusting holes 1711 form a group, and a plurality of groups of adjusting holes 1711 can be arranged on the base plate 171 to form a plurality of connecting positions, each group of adjusting holes 1711 has one adjusting hole 1711 connected with the adjusting plate 176, for example, there can be four groups of adjusting holes 1711 arranged in two rows, and each row is two groups of adjusting holes 1711 along the Z direction. In addition, the adjusting plate 176 can be connected with the base plate 171 through the threaded fastener and the connecting rod 1734, for example, the threaded fastener sequentially passes through the connecting plate and the adjusting hole 1711, and the connecting rod 1734 is pressed on the base plate 171 to ensure the reliability of the installation.

[0213] In order to reduce the overall weight of the picking and placing device 100 while ensuring the structural strength, the base plate 171 can be a sheet metal part, for example, a bent plate with an L-shaped cross section, and one, two or more reinforcing ribs can be arranged on the base plate 171 to improve the structural strength.

[0214] It should be noted that when the pulling member 172 cooperates with the material box 400, the pulling member 172 moves up and down to be inserted and cooperated, and the slot of the vertical slot 420 on the material box 400 needs to face the pulling member 172. Please refer to Figure 31 The vertical slot 420 can be located at the upper edge of the material box 400, and the slot of the vertical slot 420 faces downward, and in order to move the material box 400 for edge operation tasks in other logistics processes, the slot edge of the vertical slot 420 can be provided with a wave-shaped groove corresponding to the fingers of a person to improve the comfort of moving the material box 400.

[0215] The embodiment of the present application also provides a carrying robot, please continue to refer to Figure 1 The carrying robot includes a robot body 200, a lifting device 300 and the picking and placing device 100 in the above technical solution, the lifting device 300 is arranged on the robot body 200 and can move along the height direction of the robot body 200, and the picking and placing device 100 is arranged on the lifting device 300, so that the lifting device 300 can drive the picking and placing device 100 to move to realize picking and placing operation at different heights.

[0216] The robot body 200 can include a base 210 and a storage rack 220, the storage rack 220 is installed on the base 210, the lifting device 300 is arranged on the storage rack 220 and can move along the height direction of the storage rack 220, and the side of the storage rack 220 away from the picking and placing device 100 can be provided with a plurality of storage grooves 221, and the plurality of storage grooves 221 are spaced apart along the height direction of the storage rack 220.

[0217] For example, the lifting device 300 can be driven by a motor and drive the picking and placing device 100 to move up and down along the height direction of the robot body 200 via a synchronous belt or chain drive.

[0218] Those skilled in the art will understand that when the storage slot 221 is located at the rear of the handling robot, the picking and placing device can be located at the front of the robot body 200. According to the structure of the picking and placing device 100, it can dock with other devices at the front, left, and right sides of the robot body 200 to complete the picking and placing operation. At the same time, it can also complete the picking and placing operation in the storage slot 221 at the rear of the robot body 200, simply by rotating it 90° or 180° accordingly.

[0219] This application also provides a logistics system, including a shelf and a handling robot as described in the aforementioned technical solution. The handling robot is equipped with a picking and placing device as described in the aforementioned technical solution. The structure of the handling robot and the picking and placing device is similar to that in the aforementioned solution and has all the technical effects of the aforementioned technical solution, which will not be repeated here. The shelf can realize the storage of material boxes with small spacing or no spacing (box spacing, layer spacing, etc.), thereby improving space utilization.

[0220] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of this application.

Claims

1. A picking and placing device, characterized in that, The material handling device is used for picking up and placing material boxes. It includes a telescopic component and a push-pull component. The telescopic component includes a fixed member and a telescopic member that can extend and retract relative to the fixed member in a first direction. The push-pull component is disposed on the telescopic member. The push-pull assembly includes a base, a pull member, and a first drive mechanism. The base is slidably disposed on the telescopic member. The first drive mechanism is disposed on the base. The pull member is connected to the first drive mechanism. The first drive mechanism is used to drive the pull member to move along a second direction so that the pull member can be inserted into a slot in the outer wall of the material box or disengaged from the slot. The second direction and the first direction have an included angle. It also includes a locking linkage component, which is disposed on the telescopic component; The telescopic member is provided with a first guide rail extending along the first direction, and the base is provided with a slider on the side facing the telescopic member. The locking linkage assembly includes a linkage mechanism and a snap-fit ​​component. The linkage mechanism includes a fixed rod and multiple movable rods. The fixed rod is sequentially connected to the multiple movable rods, and the fixed rod is fixedly connected to the telescopic member. The movable rods can swing relative to the telescopic member. The first end of the snap-fit ​​component is rotatably connected to the fixed rod, and the second end of the snap-fit ​​component is rotatably connected to any one of the plurality of movable rods. The snap-fit ​​component rotates under the drive of the movable rod, so that the snap-fit ​​component is snapped into or separated from the fixed component. At least one of the plurality of movable rods is provided with a trigger, and the slider is provided with a thrust member. When the slider moves to different positions in the extension direction of the first guide rail, the thrust member can abut or separate from the trigger member. When the thrust member abuts with the trigger member, the thrust member drives the movable rod to swing so that the snap-fit ​​member separates from the fixing member.

2. The picking and placing device according to claim 1, characterized in that, The first direction is horizontal, and the second direction is vertical.

3. The picking and placing device according to claim 2, characterized in that, The pull member protrudes from the top of the base.

4. The picking and placing device according to any one of claims 1-3, characterized in that, The push-pull assembly also includes a push plate connected to the base and facing the material box to push the material box to move.

5. The picking and placing device according to any one of claims 1-3, characterized in that, The first driving mechanism includes a first driving unit, a first transmission component, a second transmission component, and a connecting component. The first driving unit is disposed on the base, and the output end of the first driving unit is connected to the first transmission component to drive the first transmission component to rotate. The second transmission member cooperates with the first transmission member, and the second transmission member and the pulling member are relatively fixed, and can move along the second direction under the drive of the first transmission member.

6. The picking and placing device according to claim 5, characterized in that, The first driving mechanism further includes a guide member, and the connecting member is connected between the second transmission member and the pulling member; the guide member is disposed on the base, and the guide member is provided with a guide hole extending along the second direction, the connecting member passes through the guide hole, and the connecting member moves along the guide hole under the drive of the second transmission member.

7. The picking and placing device according to claim 6, characterized in that, The first transmission component is a lead screw, and the second transmission component is a lead screw nut. The lead screw extends along the second direction, and the first end of the lead screw is connected to the output shaft of the first drive unit. The second end of the lead screw is rotatably connected to the guide component. The lead screw nut is sleeved on the lead screw, and when the lead screw rotates, the lead screw nut moves along the extension direction of the lead screw.

8. The picking and placing device according to claim 7, characterized in that, There are two connectors and two guide holes, with each connector passing through one of the two guide holes. The two connectors are arranged in parallel and are symmetrically distributed on both sides of the first transmission member.

9. The picking and placing device according to claim 5, characterized in that, The push-pull assembly further includes a first detection unit and a sensor. The first detection unit is disposed on the base, and the sensor is connected to the second transmission component. The first detection unit is used to detect the sensor to detect the relative position of the second transmission component when it moves along the second direction.

10. The picking and placing device according to claim 9, characterized in that, There are two first detection units, which are located at the two ends of the movement stroke of the second transmission member along the second direction.

11. The picking and placing device according to claim 5, characterized in that, The push-pull assembly further includes an adjustment plate connected to the base, and the first drive mechanism is connected to the adjustment plate. The base is provided with a plurality of adjustment holes, which are arranged along the second direction. The adjustment plate can cooperate with different adjustment holes to adjust the relative position of the adjustment plate and the base along the second direction.

12. The picking and placing device according to any one of claims 1-3, characterized in that, The telescopic component further includes a second drive mechanism, which includes a second drive unit, a flexible transmission element, and a transmission wheel set. The transmission wheel set includes a plurality of parallel transmission wheels, which are respectively located on the fixed member and the telescopic component. The flexible transmission element is wound around the plurality of transmission wheels. The push-pull assembly is movably connected to the telescopic member, the base is connected to the flexible transmission member and moves with the flexible transmission member, the second drive unit is connected to the transmission wheel and is used to drive the transmission wheel to rotate, so that the flexible transmission member is driven by the transmission wheel to rotate around the multiple transmission wheels, and drives at least one of the telescopic member and the push-pull assembly to move along the first direction.

13. The picking and placing device according to claim 12, characterized in that, At least a portion of the locking linkage assembly can move with the telescopic member and engage or disengage with the fixing member to lock or unlock the telescopic member and the fixing member; when the telescopic member and the fixing member are unlocked, the transmission wheel set is configured to drive the telescopic member to extend or retract along the first direction when the flexible transmission member is in motion. When the telescopic member and the fixed member are locked together, the relative positions of each of the transmission wheels in the transmission wheel set remain unchanged.

14. The picking and placing device according to claim 13, characterized in that, The telescopic member is provided with a first limiting part and a second limiting part at both ends. When the telescopic member is unlocked from the fixed part, the push-pull assembly abuts against the first limiting part or the second limiting part, so that the telescopic member extends or retracts along the first direction.

15. The picking and placing device according to claim 13, characterized in that, The plurality of transmission wheels include a plurality of inner transmission wheels and at least one outer transmission wheel, the flexible transmission member is arranged around the outside of the plurality of inner transmission wheels, and the outer transmission wheel abuts against the outer peripheral surface of the flexible transmission member; The outer drive wheel and part of the inner drive wheel are connected to the telescopic member. When the telescopic member and the fixed member are unlocked and the flexible drive member is in motion, the drive wheel connected to the telescopic member moves relative to the drive wheel connected to the fixed member in the first direction to drive the telescopic member to extend and retract.

16. The picking and placing device according to claim 15, characterized in that, The plurality of inner transmission wheels include a first transmission wheel, a second transmission wheel, and a fourth transmission wheel arranged sequentially in the transmission direction of the flexible transmission member. The outer transmission wheel includes a third transmission wheel, which is disposed between the second transmission wheel and the fourth transmission wheel. The first transmission wheel and the first driving unit are both disposed at the first end of the fixed member, and the first driving unit drives the first transmission wheel to rotate. The second transmission wheel is disposed at the second end of the fixed member. The third transmission wheel is disposed at the first end of the telescopic member, and the fourth transmission wheel is disposed at the second end of the telescopic member. The base is connected to the flexible transmission element between the first transmission wheel and the fourth transmission wheel.

17. The picking and placing device according to claim 16, characterized in that, The second drive unit is mounted on the fixing member and is used to drive the first transmission wheel to rotate; The first guide rail cooperates with the slider and supports the base.

18. The picking and placing device according to claim 17, characterized in that, The locking linkage assembly also includes an elastic element. The first end of the elastic element is connected to the fixed rod, and the second end of the elastic element is connected to the snap-fit ​​element. When the thrust element separates from the trigger element, the elastic element pulls the snap-fit ​​element to rotate so that the snap-fit ​​element snaps into the fixed element.

19. The picking and placing device according to claim 18, characterized in that, The fixed rod extends along the first direction, and the length of the fixed rod matches the length of the first guide rail; the plurality of movable rods include a first movable rod, a second movable rod, and a third movable rod, the first movable rod and the second movable rod being rotatably connected to both ends of the fixed rod, and the two ends of the third movable rod being rotatably connected to the first movable rod and the second movable rod, respectively; The second end of the snap-fit ​​component is rotatably connected to the third movable rod. The triggering component includes a first triggering component disposed on the first movable rod and a second triggering component disposed on the second movable rod, so as to trigger the first triggering component and the second triggering component respectively when the slider moves to both ends of the stroke of the first guide rail.

20. The picking and placing device according to claim 19, characterized in that, The first trigger is located between the fixed rod and the third movable rod, and the second trigger is located on the side of the fixed rod opposite to the third movable rod.

21. The picking and placing device according to claim 18, characterized in that, The first end of the snap-fit ​​component is provided with a snap-fit ​​portion, and the fixing component is provided with a plurality of snap-fit ​​grooves arranged along the first direction. When the snap-fit ​​component abuts against the fixing component, the snap-fit ​​portion snaps into the snap-fit ​​groove.

22. The picking and placing device according to any one of claims 17-21, characterized in that, There are two transmission wheel sets and two flexible transmission components, and the transmission wheel sets and the flexible transmission components are arranged in pairs on both sides of the telescopic assembly; the first transmission wheels of the two transmission wheel sets are connected by a drive shaft, and the output end of the first drive unit is connected to the drive shaft.

23. The picking and placing device according to claim 22, characterized in that, The locking linkage assembly further includes a third trigger, which is rotatably connected to the fixed rod and extends to the side of the telescopic member that carries the material box; the third trigger abuts against the latching member, and when the material box abuts against the third trigger, the third trigger drives the latching member to rotate, so as to separate the telescopic member from the fixed member.

24. The picking and placing device according to claim 23, characterized in that, The fixed rod is provided with a clearance opening, and the third trigger is rotatably connected to the side wall of the clearance opening. The third trigger is provided with a first abutment portion, and the latching member is provided with a second abutment portion on the side facing the fixed rod. The second abutment portion extends to the bottom side of the fixed rod, and the first abutment portion passes through the clearance opening and abuts against the second abutment portion, so that when the third trigger is rotated, the latching member is driven to rotate.

25. The picking and placing device according to any one of claims 1-3, characterized in that, It also includes a second detection unit, which is connected to the fixing member, and the second detection unit is used to detect at least one of the posture of the material box and the electronic identification of the material box.

26. The picking and placing device according to any one of claims 1-3, characterized in that, The loading and unloading device also includes a rotating assembly, which includes a fixed bracket, a third drive unit, and a rotating platform. The third drive unit is used to drive the rotating platform to rotate relative to the fixed bracket, and the telescopic assembly is disposed on the rotating platform.

27. A transport robot, characterized in that, The device includes a robot body, a lifting device, and a picking and placing device as described in any one of claims 1-26, wherein the lifting device is disposed on the robot body and is movable along the height direction of the robot body, and the picking and placing device is disposed on the lifting device.

28. The handling robot according to claim 27, characterized in that, The robot body includes a base and a storage rack. The storage rack is mounted on the base, and the lifting device is disposed on the storage rack and can move along the height direction of the storage rack. The storage rack is provided with multiple storage slots, which are spaced apart along the height of the storage rack.

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