Robots and warehousing systems

Abstract

This application provides a robot and a warehousing system. The robot is used to pick up and place material boxes. The robot includes a robot body and a fork device. The fork device is mounted on the robot body and includes a telescopic mechanism and a picking mechanism. The telescopic mechanism includes a base plate and a transmission assembly. The picking mechanism is connected to the transmission assembly to move along the length direction of the base plate under the drive of the transmission assembly. The picking mechanism includes a rotating unit, a connecting seat, and a picking unit. The picking unit is mounted on the connecting seat. The rotating unit is configured to drive the connecting seat to rotate relative to the telescopic mechanism so that the picking unit picks up and places material boxes facing different directions of the fork device.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and in particular to a robot and warehousing system. Background Technology

[0002] With the development of artificial intelligence and automation technologies, robots are widely used in warehousing and logistics for picking, placing, transporting, and sorting goods. In logistics systems, goods are typically stored on shelves, and robots with corresponding functions interact with these shelves or conveyor lines to pick up or place goods, or to complete the task of transporting goods.

[0003] In related technologies, robots used for picking up and placing goods can move in aisles between shelves. The robots are usually equipped with forks for picking up and placing goods. The forks are usually equipped with a robotic arm that can extend in a fixed direction relative to the robot body. The forks as a whole can rotate relative to the robot body. The robotic arm usually performs the picking and placing operation on the side of the robot along the direction of travel. Therefore, when the robot completes the task of picking up and placing goods on different sides of the shelf, it is necessary to rotate the forks to change their orientation.

[0004] However, the robotic arms on the robot can only pick up and put down goods in a single direction, facing the forks. When picking up and putting down goods in different directions, the orientation of the forks or the robot as a whole needs to be turned around, which increases the width of the aisles between adjacent shelves and reduces the storage density. Summary of the Invention

[0005] This application provides a robot and a warehousing system to solve the problem of reduced storage density in the warehousing system caused by the robot's picking and placing structure.

[0006] In a first aspect, this application provides a robot for picking up and placing material boxes. The robot includes a robot body and a fork assembly. The fork assembly is mounted on the robot body and includes a telescopic mechanism and a picking mechanism. The telescopic mechanism includes a base plate and a transmission assembly. The picking mechanism is connected to the transmission assembly to move along the length direction of the base plate under the drive of the transmission assembly. The picking mechanism includes a rotating unit, a connecting seat, and a picking unit. The picking unit is mounted on the connecting seat. The rotating unit is configured to drive the connecting seat to rotate relative to the telescopic mechanism so that the picking unit picks up and places material boxes facing different directions of the fork assembly.

[0007] The robot provided in this application embodiment drives the picking mechanism to move relative to the telescopic plate by setting a transmission component, so that the picking mechanism can pick up and put down the material box. The picking mechanism can make the picking unit have different orientations relative to the fork device by rotating the component, so that the picking mechanism can pick up and put down the material box in different directions of the fork device along with the telescopic mechanism.

[0008] As an optional implementation, when the transmission component is in motion, the picking mechanism is configured to drive the telescopic plate to extend and retract bidirectionally relative to the base plate along the length of the base plate. By using the picking mechanism to drive the telescopic plate to extend and retract bidirectionally relative to the base plate, the fork device can complete picking operations in both forward and backward directions without rotating, thereby reducing the space occupied by the fork device, reducing the rack spacing in the warehousing system, and increasing the storage density.

[0009] As an optional implementation, the transmission assembly may include a locking mechanism, a flexible transmission element, and a transmission wheel set. The transmission wheel set includes multiple transmission wheels, which are respectively located on the base plate and the telescopic plate. The flexible transmission element surrounds the outside of the multiple transmission wheels and moves with the rotation of the transmission wheels. The locking mechanism is connected between the base plate and the telescopic plate. When the locking mechanism is unlocked, the transmission wheels drive the base plate and the telescopic plate to move relative to each other under the drive of the flexible transmission element.

[0010] With this configuration, during the transmission process, the locking mechanism can drive the picking mechanism or telescopic plate to move according to its locking state, thereby completing the telescopic and picking / placing operations.

[0011] As an optional implementation, the transmission assembly may further include a first drive unit connected to the transmission wheel and used to drive the transmission wheel to rotate.

[0012] With this configuration, the telescopic plate can be extended and retracted in both directions through the forward and directional drives of the first drive unit.

[0013] As an alternative implementation, the fork assembly may further include a sliding plate slidably disposed on the telescopic plate, a picking mechanism connected to the sliding plate, and the sliding plate connected to a flexible transmission member and moving with the flexible transmission member.

[0014] This configuration allows the flexible transmission component to be connected to the picking mechanism via a sliding plate, while ensuring the smooth movement of the picking mechanism relative to the telescopic plate.

[0015] As an optional implementation, the drive wheel on the telescopic plate has a variable relative position to the drive wheel on the substrate, so that the flexible drive member moves to drive the telescopic plate to extend or retract relative to the substrate.

[0016] With this configuration, the relative movement between the telescopic plate and the base plate, as well as the relative movement between the sliding plate and the telescopic plate, can be achieved using a single drive source through the transmission of the flexible transmission component.

[0017] As an optional implementation, the multiple transmission wheels include two symmetrically arranged transmission wheel sets. Each transmission wheel set includes a first transmission wheel, a second transmission wheel, and a third transmission wheel. The first and second transmission wheels are disposed on the telescopic plate, and the third transmission wheel is disposed on the base plate. The first and third transmission wheels have different positions in the moving direction of the telescopic plate. A flexible transmission belt is wrapped around the first and third transmission wheels of the two transmission wheel sets to form a closed loop, and the second transmission wheels of the two transmission wheel sets are both located outside the closed loop.

[0018] With this configuration, when the telescopic plate moves relative to the base plate, the annular contour of the formed flexible transmission component can provide travel space for the relative positional changes of the transmission wheels on the telescopic plate and the base plate.

[0019] As an optional implementation, the telescopic plate and the base plate can extend in the same direction. The two ends of the telescopic plate are respectively provided with abutment portions. When the sliding plate abuts with the abutment portions, the flexible transmission component pushes the telescopic plate to move through the sliding plate.

[0020] This configuration provides a limit to the movement of the sliding plate relative to the telescopic plate, and the sliding plate can move the telescopic plate by abutting against the abutment part.

[0021] As an optional implementation, the two driven wheel sets are symmetrically distributed along the moving direction of the telescopic plate, and the distance between the two second transmission wheels in the two transmission wheel sets is smaller than the distance between the two first transmission wheels.

[0022] This configuration ensures that the telescopic plate has sufficient telescopic travel relative to the substrate, and that the bidirectional telescopic travel of the telescopic plate relative to the substrate is symmetrical.

[0023] As an optional implementation, when the flexible transmission member is driven in the first direction, the telescopic plate extends from the first end of the substrate or retracts from the second end of the substrate; when the flexible transmission member is driven in the second direction, the telescopic plate extends from the second end of the substrate or retracts from the first end of the substrate.

[0024] As an optional implementation, the telescopic mechanism may further include a first slide rail and a second slide rail. The first slide rail is disposed between the base plate and the telescopic plate and extends along the length direction of the base plate. The second slide rail is disposed on the telescopic plate and extends along the length direction of the telescopic plate. The sliding plate is configured to move along the second slide rail.

[0025] This design ensures smooth movement of the telescopic and sliding plates.

[0026] As an optional implementation, there can be two telescopic mechanisms. The fork device can also include a pallet, a connecting bracket, and a drive shaft. The two telescopic mechanisms are symmetrically distributed on both sides of the pallet. The telescopic plates of the two telescopic mechanisms are respectively connected to both sides of the pallet. The base plates of the two telescopic mechanisms are connected through the connecting bracket. The two ends of the sliding plate are slidably connected to the telescopic plates of the two telescopic mechanisms. The first drive unit is disposed between the two telescopic mechanisms, and the output end of the first drive unit is connected to the drive shaft. The two ends of the drive shaft are respectively connected to the drive wheels of the two telescopic mechanisms.

[0027] This design ensures a reasonable overall layout of the forklift device, improves space utilization, and the symmetrically distributed telescopic mechanism makes the pallet movement stable and reliable.

[0028] As an optional implementation, the pallet is provided with cushioning pads at both ends along the telescopic plate's extension direction.

[0029] This design acts as a buffer when the telescopic platform connects with the external shelving, preventing rigid impacts.

[0030] As an optional implementation, the locking mechanism can be disposed on the substrate. The locking mechanism includes a locking member, and the telescopic plate is provided with a positioning groove. The locking member can be inserted into or disengaged from the positioning groove so that the telescopic plate is locked or unlocked from the substrate.

[0031] This design ensures the reliability of the locking and unlocking process between the telescopic plate and the base plate, preventing loose locking or jamming.

[0032] As an optional implementation, the locking mechanism may further include a first elastic member, which is slidably disposed on the substrate and has a hook pin. The first end of the first elastic member is connected to the hook pin, and the second end of the first elastic member is connected to the substrate. The first elastic member applies an elastic force toward the positioning groove to the locking member.

[0033] With this configuration, the locking state of the locking member can be reliably maintained by the elastic force provided by the first elastic element.

[0034] As an optional implementation, the locking mechanism may further include a second drive unit. The output end of the second drive unit is provided with a rocker arm. The second drive unit can drive the rocker arm to rotate. The locking member is provided with a stop pin. When the rocker arm is in the first position, the rocker arm abuts against the stop pin to disengage the locking member from the positioning groove. When the rocker arm is in the second position, the rocker arm separates from the stop pin, and the locking member is engaged with the positioning groove under the elastic force of the first elastic member.

[0035] This configuration enables active locking and unlocking of the locking structure, improving the efficiency of the locking component's movement.

[0036] As an optional implementation, a roller is provided at one end of the locking member facing the positioning groove, and guide surfaces are provided on opposite sides of the positioning groove along the moving direction of the telescopic plate, and the guide surfaces on both sides of the positioning groove are inclined inward to guide the roller to roll.

[0037] This design provides guidance for the roller as it slides out of the positioning slot.

[0038] As an optional implementation, the fork assembly may further include a reset mechanism, which may include a reset baffle, a second elastic member, and a third elastic member. The reset baffle is connected to the base plate, and the second and third elastic members are both disposed on the telescopic plate. The second and third elastic members abut against the reset baffle, and when the telescopic plate extends relative to the base plate, one of the second and third elastic members applies a spring force to the telescopic plate in the direction of retraction of the telescopic plate.

[0039] With this configuration, when the telescopic plate needs to retract after it has extended or retracted relative to the base plate, the reset mechanism provides elastic force to achieve rapid reset.

[0040] As an optional implementation, the reset mechanism may further include a guide shaft disposed on the telescopic plate and extending along the telescopic direction of the telescopic plate. The second elastic member and the third elastic member are both sleeved on the guide shaft and arranged along the extension direction of the guide shaft. The reset baffle is located between the second elastic member and the third elastic member.

[0041] This configuration guides the compression and rebound of the second and third elastic elements, ensuring that the direction of the provided elastic force is consistent with the retraction direction of the telescopic plate.

[0042] As an optional implementation, the forklift device may also include a detection component, which may include a controller, a sensing plate, and two first detection units. The first detection units are all disposed on the sliding plate and are electrically connected to the controller. The sensing plate is disposed on the telescopic plate and extends along the length of the telescopic plate. When the first detection unit is opposite to the sensing plate, it feeds back a detection signal. The controller is configured to determine the position of the sliding plate relative to the telescopic plate based on the detection signal.

[0043] This setup allows for accurate determination of the extension or retraction state of the telescopic plate relative to the substrate in different directions.

[0044] As an optional implementation, the sensing plate may include a first sensing segment and two second sensing segments respectively connected to opposite ends of the first sensing segment. The first sensing segment passes through the midpoint of the sensing plate in the length direction, and the two second sensing segments are staggered relative to the width direction of the telescopic plate. The two first detection units are staggered in the width direction of the telescopic plate.

[0045] With this configuration, when the sliding plate moves, one of the two first detection units is opposite to the second sensing segment, or both first detection units are opposite to the first sensing segment, thereby determining whether the telescopic plate is in the centered position.

[0046] As an optional implementation, the picking unit may include a mounting plate and multiple suction cups. The mounting plate is connected to the connecting base and is vertically arranged. The multiple suction cups are arranged in an array on the mounting plate.

[0047] This setup prevents the telescopic panels from entering the warehouse storage area, reduces the spacing between material boxes, and thus increases storage density.

[0048] As an alternative implementation, the picking unit may include a mounting plate and a insert plate, the insert plate being disposed on the mounting plate and movable relative to the mounting plate, the insert plate being configured to engage with a handle slot of a material box.

[0049] This setup prevents the telescopic panels from entering the warehouse storage area, reduces the spacing between material boxes, and thus increases storage density.

[0050] As an optional implementation, the robot may also include at least two second detection units, which are respectively disposed at both ends of the fork assembly to detect the material boxes in different picking and placing directions of the fork assembly.

[0051] This setup allows for accurate identification of storage locations and material box information when retrieving or placing material boxes.

[0052] As an alternative implementation, a lifting mechanism may also be included. The robot body may include a chassis and a stand, the stand may be mounted on the chassis, and the fork assembly is connected to the lifting mechanism, which is configured to move along the height direction of the stand.

[0053] This configuration allows the forklift to pick up and place goods at different heights.

[0054] Secondly, this application provides a warehousing system, including shelves and a robot as described in any of the above technical solutions. There can be multiple shelves, which are arranged at intervals. There are aisles between adjacent shelves. The width of the aisles matches the width of the robot. The robot moves in the aisles. The robot's fork device can extend and retract bidirectionally along the width of the aisles to pick up and place material boxes on the shelves on both sides of the aisles.

[0055] As an alternative implementation, the rack has multiple storage layers arranged along the height of the rack, including at least one transfer layer located at the bottom of the rack. A robot is used to pick up and place material boxes between the transfer layer and different storage layers. The warehousing system may also include transfer equipment for picking up and placing material boxes from the transfer layer.

[0056] In addition to the technical problems solved by the embodiments of this application, the technical features constituting the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the robot and warehousing system provided by this application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further explained in detail in the specific embodiments. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This is a schematic diagram illustrating the application scenario of the robot provided in the embodiments of this application;

[0059] Figure 2 This is a schematic diagram of the robot provided in an embodiment of this application;

[0060] Figure 3 This is a schematic diagram of the structure of the fork assembly in the robot provided in the embodiments of this application;

[0061] Figure 4 This is a structural schematic diagram of the forklift device in a robot provided in an embodiment of this application from another perspective;

[0062] Figure 5 A schematic diagram showing the extended fork device in a robot according to an embodiment of this application;

[0063] Figure 6 A schematic diagram showing the arrangement of the telescopic mechanism of the fork unit in the robot provided in the embodiments of this application;

[0064] Figure 7 This is an axonometric view of the telescopic mechanism of the fork assembly in a robot provided in an embodiment of this application;

[0065] Figure 8 A schematic diagram showing the extension mechanism of the fork device in the robot provided in this application extending to the front end;

[0066] Figure 9 A schematic diagram showing the extension mechanism of the fork device in the robot provided in this application extending to the rear end;

[0067] Figure 10 This is a schematic diagram of a forklift device in a robot carrying a material box, provided in an embodiment of this application.

[0068] Figure 11 A schematic diagram of the locking mechanism of the fork assembly in the robot provided in this application embodiment;

[0069] Figure 12 A schematic diagram illustrating the unlocking of the locking mechanism of the fork assembly in the robot provided in this application embodiment;

[0070] Figure 13 A schematic diagram showing the rocker arm of the locking mechanism of the fork assembly in the robot provided in the embodiments of this application in the first position;

[0071] Figure 14 A schematic diagram showing the rocker arm of the locking mechanism of the fork assembly in the robot provided in this application embodiment in the second position;

[0072] Figure 15 This is a schematic diagram of the structure of the reset mechanism of the fork unit in the robot provided in the embodiments of this application;

[0073] Figure 16 A schematic diagram of the reset mechanism for the extended fork device in the robot provided in the embodiments of this application;

[0074] Figure 17 A schematic diagram of the detection component of the forklift device in the robot provided in the embodiments of this application;

[0075] Figure 18 A schematic diagram of a first picking mechanism for a forklift device in a robot provided in an embodiment of this application;

[0076] Figure 19 A schematic diagram from another perspective of the first picking mechanism of the forklift device in the robot provided in the embodiments of this application;

[0077] Figure 20 A schematic diagram showing the arrangement of the second detection unit of the forklift device in the robot provided in the embodiments of this application;

[0078] Figure 21 A schematic diagram of a second picking mechanism for the forklift device in a robot provided in an embodiment of this application;

[0079] Figure 22 This is a schematic diagram from another perspective of the second type of picking mechanism for the fork device in the robot provided in the embodiments of this application;

[0080] Figure 23 A schematic diagram of a robot material transfer box provided in an embodiment of this application;

[0081] Figure 24 A schematic diagram of the first state during the robot's pickup process provided in an embodiment of this application;

[0082] Figure 25 A schematic diagram of the second state during the robot's pickup process provided in an embodiment of this application;

[0083] Figure 26 This is a schematic diagram of the third state during the robot's pickup process, as provided in an embodiment of this application.

[0084] Explanation of reference numerals in the attached figures:

[0085] 100-Robot; 110-Robot body; 111-Chassis; 112-Upright frame; 120-Fork assembly; 121-Telescopic mechanism; 1211-Base plate; 1212-Telescopic plate; 1212a-Abutting part; 1212b-Positioning groove; 1212c-Guide surface; 1213-Transmission assembly; 1213a-First transmission wheel; 1213b-Second transmission wheel; 1213c-Third transmission wheel; 1214-Flexible transmission component; 1215-First drive unit; 1216-First slide rail; 1217-Second slide rail; 122-Picking mechanism; 1221-Sliding plate; 1222-Rotating unit; 1223-Connecting seat; 1224-Picking unit; 1224a-Suction cup ; 1224b-Insertion plate; 123-Locking mechanism; 1231-Locking component; 1231a-Roller; 1232-First elastic element; 1233-Hanging pin; 1234-Second drive unit; 1234a-Rock arm; 1235-Stop pin; 124-Tray; 1241-Buffer pad; 125-Connecting bracket; 126-Drive shaft; 127-Reset mechanism; 1271-Reset baffle; 1272-Second elastic element; 1273-Third elastic element; 1274-Guide shaft; 128-Detection assembly; 1281-Sensing plate; 1281a-First sensing section; 1281b-Second sensing section; 1282-First detection unit; 129-Second detection unit; 130-Lifting mechanism;

[0086] 200 - Shelving; 201 - Aisle; 210 - Storage level;

[0087] 300 - Material box; 301 - Handle groove. Detailed Implementation

[0088] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0089] First, those skilled in the art should understand that these embodiments are merely for explaining the technical principles of this application and are not intended to limit the scope of protection of this application. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios.

[0090] Secondly, it should be noted that in the description of this application, the terms "upper", "lower", "left", "right", "front", "back", "inner", "outer", etc., which indicate the direction or positional relationship, are based on the direction or positional relationship shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this application.

[0091] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0092] Robots of various types are widely used in various fields such as industry and daily life. They play a crucial role in industries such as transportation and logistics. In warehousing and logistics systems, goods are typically stored on shelves. Robots interact with these shelves or conveyor lines to pick up and place goods, and can also transport them. Robots used for picking up and placing goods can move within aisles between shelves. They are typically equipped with forks for picking up and placing goods, and these forks usually have a robotic arm that extends in a fixed direction relative to the robot's body. The forks themselves can rotate relative to the robot's body. The robotic arm typically performs the picking and placing operations from the side of the robot along its direction of travel. Therefore, when a robot needs to pick up or place goods on shelves on different sides, it needs to rotate the forks to change their orientation.

[0093] Therefore, in related technologies, when a handling robot performs a goods transportation task, if it needs to dock with other equipment, it must first ensure that its side along the forward direction is opposite to other equipment. When picking up or placing goods from different sides of the robot, the position of the forks must first be rotated so that the picking direction of the forks is opposite to the target shelf before the forks can be extended and retracted to pick up or place goods. This results in low picking and placing efficiency of the robot. Secondly, the robot's forks have a certain rotation diameter. In order to provide space for the forks to turn, the width of the aisles between adjacent shelves needs to be increased, which leads to a decrease in storage density and reduces the overall space utilization of the storage system.

[0094] To address the aforementioned issues, this application provides a robot and warehousing system. Through structural design of the fork device on the handling robot, the fork device can extend and retract in both directions. Thus, when the robot is in the aisle, it can complete the picking and placing of goods in both directions without rotating and adjusting the posture of the forks. The aisle of the rack does not need to reserve space for the handling robot to rotate, which reduces the aisle width and improves space utilization and warehousing efficiency.

[0095] To facilitate understanding, the application scenarios of the robot provided in the embodiments of this application will be described first.

[0096] The robot provided in this embodiment is applied in a warehousing and logistics system for picking up and placing goods. This robot can be applied to logistics distribution in industrial production lines, inbound and outbound inventory in manufacturing, inbound and outbound product warehousing in the retail industry, and inbound and outbound express delivery in e-commerce logistics, among other fields. The products or goods transported can be industrial parts, electronic components or products, pharmaceuticals, clothing and accessories, food, books, etc. Furthermore, it can directly transfer goods or transfer material boxes containing goods. This embodiment does not specifically limit this; "material box" will be used to refer to the object being handled by the robot, without further specific examples.

[0097] Figure 1 This is a schematic diagram illustrating the application scenario of the robot provided in the embodiments of this application. Figure 2 This is a schematic diagram of the robot provided in an embodiment of this application. Figure 3 This is a schematic diagram of the fork assembly in the robot provided in the embodiments of this application. Figure 4 This is a structural schematic diagram of the forklift device in the robot provided in an embodiment of this application, from another perspective. Figure 5 This is a schematic diagram of the extended fork device in a robot provided in an embodiment of this application.

[0098] like Figures 1 to 5As shown, the robot 100 provided in this embodiment is applied to the warehousing system. It can move between the shelves 200 in the warehousing system and retrieve material boxes 300 from the shelves 200 or place material boxes 300 on the shelves 200, thus performing the work of picking up, placing and transferring material boxes 300.

[0099] The robot 100 provided in this application embodiment includes a robot body 110 and a fork device 120. The fork device 120 is mounted on the robot body 110 and can be raised and lowered relative to the robot body 110. The robot body 110 can move on the ground, so that the fork device 120 can be positioned relative to different storage locations of the shelf 200 to obtain the target material box 300. After the fork device 120 is docked with the corresponding storage location of the shelf 200, it can perform the picking and placing operation of the material box 300.

[0100] The fork assembly 120 includes a telescopic mechanism 121 and a picking mechanism 122. The telescopic mechanism 121 includes a base plate 1211 and a transmission assembly. The picking mechanism 122 is connected to the transmission assembly and moves along the length of the base plate 1211 under the drive of the transmission assembly. The picking mechanism 122 includes a rotating unit 1222, a connecting seat 1223, and a picking unit 1224. The picking unit 1224 is disposed on the connecting seat 1223. The rotating unit 1222 is configured to drive the connecting seat 1223 to rotate relative to the telescopic mechanism 121. Thus, the picking mechanism 122, through the rotating unit 1222, allows the picking unit 1224 to have different orientations relative to the fork assembly 120. Therefore, the picking mechanism 122 can pick up and place the material box 300 in different directions of the fork assembly 120 along with the telescopic mechanism 121, realizing bidirectional picking.

[0101] In some embodiments, the telescopic mechanism 121 may further include a telescopic plate 1212, which is movably disposed relative to the substrate 1211. A transmission assembly 1213 is disposed between the telescopic plate 1212 and the substrate 1211. A picking mechanism 122 is disposed on the telescopic plate 1212 and connected to the transmission assembly 1213. When the transmission assembly 1213 is in operation, it can both drive the picking mechanism 122 to move relative to the telescopic plate 1212 and drive the telescopic plate 1212 to move relative to the substrate 1211.

[0102] It is understandable that the movement of the telescopic plate 1212 relative to the base plate 1211 allows the fork device 120 to dock with the storage location of the rack 200. The movement of the picking mechanism 122 relative to the telescopic plate 1212 allows the material box 300 to be dragged from the storage location to the fork device 120, or the material box 300 on the fork device 120 to be pushed into the storage location. In order to achieve the coordinated work of the picking mechanism 122 and the telescopic plate 1212, the picking mechanism 122 is configured to drive the telescopic plate 1212 to extend and retract bidirectionally relative to the base plate 1211 along the length direction of the base plate 1211 when the transmission component 1213 is in motion.

[0103] It should be noted that the telescopic plate 1212 can extend from both ends of the base plate 1211 relative to the base plate 1211, that is, it can be used for picking up and putting down goods from both sides of the fork device 120. The travel distance of the telescopic plate 1212 relative to the base plate 1211 depends on the distance between the fork device 120 and the edge of the shelf 200. In order to ensure that the telescopic plate 1212 has sufficient travel distance in both directions when applied to different scenarios, the unidirectional telescopic travel distance of the telescopic plate 1212 can be approximated as half the length of the telescopic plate 1212, so that the sum of the bidirectional telescopic travel distances is approximately equal to the length of the telescopic plate 1212.

[0104] Furthermore, the travel distance of the picking mechanism 122 relative to the sliding plate 1221 can be approximately equal to the length of the telescopic plate 1212. That is, the picking mechanism 122 can move between the two ends of the telescopic plate 1212. Since the picking mechanism 122 is connected to the transmission component 1213, the picking mechanism 122 can move relative to the telescopic plate 1212 when the transmission component 1213 is in motion. When the picking mechanism 122 moves to the end of its travel distance, that is, when it moves to the two ends of the telescopic plate 1212, the picking mechanism 122 can push the telescopic plate 1212 relative to the base plate 1211 under the drive of the transmission component 1213.

[0105] Therefore, the robot 100 provided in this application embodiment drives the picking mechanism 122 to move relative to the telescopic plate 1212 by setting the transmission component 1213, so that the picking mechanism 122 can pick up and put down the material box 300. At the same time, the picking mechanism 122 can drive the telescopic plate 1212 to extend and retract relative to the base plate 1211 in both directions, so that the fork device 120 can complete the picking operation in both the front and rear directions without rotating, thereby reducing the space occupied by the fork device 120, reducing the spacing of the shelves 200 in the warehousing system, and increasing the storage density.

[0106] First, the telescopic direction of the telescopic plate 1212 relative to the base plate 1211 is defined as the X direction, the moving direction of the picking mechanism 122 relative to the telescopic plate 1212 is also defined as the X direction, the width direction of the fork device 120 is defined as the Y direction, and the direction perpendicular to the XY plane is defined as the Z direction, that is, the height direction of the fork device 120.

[0107] The structure of the transmission assembly 1213, the transmission assembly 1213, and the method by which the transmission assembly 1213 drives the telescopic plate 1212 and the picking mechanism 122 to move are described in detail below.

[0108] Figure 6 This is a schematic diagram showing the arrangement of the telescopic mechanism of the fork unit in the robot provided in the embodiments of this application. Figure 7 This is an axonometric view of the telescopic mechanism of the fork assembly in the robot provided in this embodiment of the application. Figure 8 This is a schematic diagram showing the extension mechanism of the fork unit in the robot provided in this application extending towards the front end. Figure 9 This is a schematic diagram showing the extension mechanism of the fork unit in the robot provided in the embodiments of this application extending to the rear end.

[0109] Please refer to Figures 2 to 9 In one possible implementation, the transmission assembly 1213 may include a locking mechanism 123, a flexible transmission member 1214, and a transmission wheel set. The transmission wheel set includes multiple transmission wheels, which are respectively located on the base plate 1211 and the telescopic plate 1212. The flexible transmission member 1214 surrounds the outside of the multiple transmission wheels and moves with the rotation of the transmission wheels. The locking mechanism 123 is connected between the base plate 1211 and the telescopic plate 1212 and is used to control the relative state between the base plate 1211 and the telescopic plate 1212.

[0110] It is understandable that when the locking mechanism 123 is locked, the telescopic plate 1212 and the base plate 1211 are relatively fixed. At this time, the relative position of the transmission wheels on the base plate 1211 and the telescopic plate 1212 remains unchanged. The flexible transmission member 1214 rolls around the multiple transmission wheels in sequence and can drive the picking mechanism 122 to move. When the locking mechanism 123 is unlocked, the transmission wheels drive the base plate 1211 and the telescopic plate 1212 to move relative to each other under the drive of the flexible transmission member 1214.

[0111] It should be noted that during the transmission process of the transmission component 1213, the locking mechanism 123 can drive the picking mechanism 122 or the telescopic plate 1212 to move according to the locking state of the locking mechanism 123. The power for the movement of both comes from the transmission of the flexible rotating parts, thereby completing the telescopic and picking / placing operations.

[0112] Furthermore, the transmission assembly 1213 may also include a first drive unit 1215, which is connected to the transmission wheel and used to drive the transmission wheel to rotate. Through the forward and directional drives of the first drive unit 1215, the telescopic plate 1212 can be extended and retracted bidirectionally. For example, when the locking mechanism 123 is unlocked and the picking mechanism 122 has moved to the end of the telescopic plate 1212, when the output end of the first drive unit 1215 rotates clockwise, the telescopic plate 1212 extends from the rear end of the base plate 1211 along the X direction (…). Figure 9 The telescopic plate 1212 extends from the right side of the substrate 1211, and when the output end of the first drive unit 1215 rotates counterclockwise, the telescopic plate 1212 can extend from the front end of the substrate 1211 along the X direction. Figure 8 (Extends from the left side of the middle)

[0113] In some embodiments, in order to facilitate the assembly of the picking mechanism 122 and to achieve a sliding connection between the picking mechanism 122 and the telescopic plate 1212, the fork device 120 may further include a sliding plate 1221 slidably disposed on the telescopic plate 1212. The picking mechanism 122 is connected to the sliding plate 1221, and the sliding plate 1221 is connected to the flexible transmission member 1214 and moves with the flexible transmission member 1214.

[0114] It is understood that the picking mechanism 122 is fixed relative to the sliding plate 1221. The flexible transmission component 1214 is indirectly connected to the picking mechanism 122 through the sliding plate 1221 to ensure the smooth movement of the picking mechanism 122 relative to the telescopic plate 1212. Under the drive of the flexible transmission component 1214, the sliding plate 1221 can move in the X direction. The moving stroke of the sliding plate 1221 is the moving stroke of the picking mechanism 122.

[0115] For example, the flexible transmission component 1214 can be a flexible component such as a belt or chain, and the corresponding transmission wheel can be a pulley or sprocket. This application embodiment does not specifically limit this. Taking a belt and pulley as an example, the sliding plate 1221 can be connected to the belt through a toothed plate. The sliding plate 1221 abuts against the outer side of the belt, and the toothed plate meshes with the inner side of the belt, clamping the belt between the toothed plate and the sliding plate 1221. The toothed plate and the sliding plate 1221 can be connected and fixed by fasteners such as screws, so that the toothed plate and the sliding plate 1221 press the belt, ensuring the reliability of the connection between the sliding plate 1221 and the flexible transmission component 1214.

[0116] Since multiple transmission wheels are respectively mounted on the base plate 1211 and the telescopic plate 1212, when the locking mechanism 123 is unlocked, the telescopic plate 1212 can move relative to the base plate 1211. The transmission wheels on the telescopic plate 1212 have a variable relative position with respect to the transmission wheels on the base plate 1211, so that when the flexible transmission member 1214 moves, it drives the telescopic plate 1212 to extend and retract relative to the base plate 1211.

[0117] It is understandable that by using the transmission of the flexible transmission component 1214, and with a single driving source, namely only the first driving unit 1215, the relative movement between the telescopic plate 1212 and the base plate 1211, as well as the relative movement between the sliding plate 1221 and the telescopic plate 1212, can be realized, thereby improving the compactness and transmission efficiency of the overall structure of the transmission component 1213.

[0118] The specific arrangement and transmission method of the transmission wheel set are explained below.

[0119] In one possible implementation, the multiple transmission wheels include two symmetrically arranged transmission wheel sets. Each transmission wheel set includes a first transmission wheel 1213a, a second transmission wheel 1213b, and a third transmission wheel 1213c. The first transmission wheel 1213a and the second transmission wheel 1213b are disposed on the telescopic plate 1212, and the third transmission wheel 1213c is disposed on the base plate 1211. The flexible transmission member 1214 passes sequentially around the first transmission wheel 1213a, the second transmission wheel 1213b, and the third transmission wheel 1213c of one of the transmission wheel sets, and then passes through the third transmission wheel 1213c, the second transmission wheel 1213b, and the first transmission wheel 1213a of the other transmission wheel set, thus forming a closed loop.

[0120] The first transmission wheel 1213a and the third transmission wheel 1213c are positioned in different directions of movement of the telescopic plate 1212. The flexible transmission belt wraps around the first transmission wheel 1213a and the third transmission wheel 1213c of the two transmission wheel sets, and the second transmission wheel 1213b of the two transmission wheel sets are both located outside the closed ring, thereby providing travel space for the relative position change between the transmission wheel on the base plate 1211 and the transmission on the telescopic plate 1212.

[0121] It is understood that the two driven wheel sets are symmetrically distributed along the moving direction of the telescopic plate 1212, and the distance between the two second transmission wheels 1213b in the two transmission wheel sets is smaller than the distance between the two first transmission wheels 1213a, thereby ensuring that the telescopic plate 1212 has sufficient telescopic stroke relative to the base plate 1211, and the bidirectional telescopic stroke of the telescopic plate 1212 relative to the base plate 1211 is symmetrical.

[0122] For example, the second transmission wheel 1213b may be located in the middle or near the middle of the telescopic plate 1212, the two first transmission wheels 1213a may be located at both ends of the telescopic plate 1212, and the two third transmission wheels 1213c may be located at both ends of the substrate 1211. When the telescopic plate 1212 moves relative to the substrate 1211, the annular contour of the formed flexible transmission member 1214 can provide travel space for the relative position change of the transmission wheels on the telescopic plate 1212 and the substrate 1211.

[0123] It should be noted that the second transmission wheel 1213b and the third transmission wheel 1213c are spaced apart in the X direction. When the telescopic plate 1212 extends from the front end relative to the base plate 1211, the distance between the second transmission wheel 1213b and the third transmission wheel 1213c in the front transmission wheel group decreases, while the distance between the second transmission wheel 1213b and the third transmission wheel 1213c in the rear transmission wheel group increases. Conversely, when the telescopic plate 1212 extends from the rear end relative to the base plate 1211, the distance between the second transmission wheel 1213b and the third transmission wheel 1213c in the front transmission wheel group increases, while the distance between the second transmission wheel 1213b and the third transmission wheel 1213c in the rear transmission wheel group decreases. Furthermore, the sum of the distances between the second transmission wheels 1213b and the third transmission wheel 1213c in both transmission wheel groups remains unchanged.

[0124] In addition, one of the multiple transmission wheels can be the driving wheel, and the other transmission wheels can be the driven wheels. For example, the third transmission wheel 1213c of any one of the two transmission wheel sets can be the driving wheel. The first drive unit 1215 is connected to the driving wheel and drives the driving wheel to rotate. The driving wheel drives the flexible transmission component 1214 to drive the driven wheel to rotate.

[0125] In some embodiments, the telescopic plate 1212 and the substrate 1211 can extend in the same direction, that is, both extend in the X direction. The telescopic plate 1212 is provided with abutting portions 1212a at both ends. When the sliding plate 1221 abuts with the abutting portion 1212a, the flexible transmission member 1214 pushes the telescopic plate 1212 to move through the sliding plate 1221, thereby providing a limit on the movement of the sliding plate 1221 relative to the telescopic plate 1212. The sliding plate 1221 can drive the telescopic plate 1212 to move by abutting with the abutting portion 1212a.

[0126] It is understandable that when the flexible transmission member 1214 is driven in the first direction (counterclockwise), the telescopic plate 1212 extends from the first end (front end) of the substrate 1211 or retracts from the second end (rear end) of the substrate 1211; and when the flexible transmission member 1214 is driven in the second direction (clockwise), the telescopic plate 1212 extends from the second end of the substrate 1211 or retracts from the first end of the substrate 1211.

[0127] It should be noted that the telescopic mechanism 121 may also include a first slide rail 1216 and a second slide rail 1217. The first slide rail 1216 may be disposed between the base plate 1211 and the telescopic plate 1212, and the first slide rail 1216 extends along the length direction of the base plate 1211. The second slide rail 1217 is disposed on the telescopic plate 1212, and the second slide rail 1217 extends along the length direction of the telescopic plate 1212. The sliding plate 1221 is configured to move along the second slide rail 1217.

[0128] It is understandable that the first slide rail 1216 and the second slide rail 1217 both extend along the X direction. The base plate 1211 can support the telescopic plate 1212 through the first slide rail 1216, and the telescopic plate 1212 can support the sliding plate 1221 through the second slide rail 1217, thereby ensuring the smooth movement of the telescopic plate 1212 and the sliding plate 1221.

[0129] Figure 10 This is a schematic diagram of the forklift device in the robot carrying the material box provided in the embodiments of this application. Please refer to... Figures 3 to 10 In one possible implementation, there can be two telescopic mechanisms 121. The fork assembly 120 may also include a pallet 124, a connecting bracket 125, and a drive shaft 126. The two telescopic mechanisms 121 are symmetrically distributed on both sides of the pallet 124. The telescopic plates 1212 of the two telescopic mechanisms 121 are respectively connected to both sides of the pallet 124. The base plates 1211 of the two telescopic mechanisms 121 are connected by the connecting bracket 125. The pallet 124 is used to carry the material box 300.

[0130] It can be understood that the two base plates 1211 and the two telescopic arms are arranged in parallel. The sliding plate 1221 can extend along the Y direction. The two ends of the sliding plate 1221 are slidably connected to the telescopic plates 1212 of the two telescopic mechanisms 121 respectively. The first drive unit 1215 can be arranged between the two telescopic mechanisms 121, and the output end of the first drive unit 1215 is connected to the drive shaft 126. The drive shaft 126 can extend along the Y direction, and the two ends of the drive shaft 126 can be connected to the drive wheels of the two telescopic mechanisms 121 respectively. This can ensure the reasonable layout of the overall structure of the fork device 120, improve space utilization, and the symmetrically distributed telescopic mechanisms 121 make the movement of the pallet 124 stable and reliable.

[0131] For example, the first drive unit 1215 can be a motor. The motor can be mounted on the connecting bracket 125 of the two base plates 1211. The output shaft of the motor can be connected to the transmission shaft 126 through a transmission component of gear or reducer so that the motor drives the transmission shaft 126 to rotate when it is working. The motor can be arranged on the side of the transmission shaft 126 to improve space utilization. In this application embodiment, there are no specific limitations on the model, output power and transmission ratio between the first drive unit 1215 and the transmission shaft 126.

[0132] In some embodiments, buffer pads 1241 can be provided at both ends of the pallet 124 along the telescopic plate 1212 telescopic direction. That is, buffer pads 1241 can be provided at the front end and rear end of the telescopic plate 1212 along its own telescopic direction. When the telescopic plate 1212 docks with the external shelf 200, it can play a buffering role and avoid rigid impact.

[0133] It is understood that there may be one or more cushioning pads 1241, and the cushioning pads 1241 may protrude from the end of the telescopic plate 1212. When the telescopic plate 1212 extends relative to the base plate 1211 and aligns with the storage edge of the shelf 200, the cushioning pads 1241 abut against the storage edge of the shelf 200. The cushioning pads 1241 may be elastic, thereby reducing the impact force and preventing the impact force from being transmitted to the telescopic plate 1212.

[0134] For example, two buffer pads 1241 can be provided at each end of the telescopic plate 1212 and arranged at intervals along the Y direction. The material of the buffer pads 1241 can include, but is not limited to, rubber, silicone, sponge, etc. This application embodiment does not make specific limitations on this.

[0135] Figure 11 This is a schematic diagram of the locking mechanism of the fork assembly in the robot provided in the embodiments of this application. Figure 12 This is a schematic diagram illustrating the unlocking of the locking mechanism of the fork assembly in the robot provided in this embodiment of the application. Figure 13 This is a schematic diagram showing the rocker arm of the locking mechanism of the fork assembly in the robot provided in the embodiments of this application in the first position. Figure 14 This is a schematic diagram showing the rocker arm of the locking mechanism of the fork assembly in the robot provided in the embodiments of this application in the second position.

[0136] The specific structure and locking method of the locking mechanism 123 will be described in detail below.

[0137] Please refer to Figures 3 to 14 In one possible implementation, the locking mechanism 123 can be disposed on the substrate 1211. The locking mechanism 123 may include a locking member 1231, and the telescopic plate 1212 may be provided with a positioning groove 1212b. The locking member 1231 can be inserted into or disengaged from the positioning groove 1212b to lock or unlock the telescopic plate 1212 with the substrate 1211, thereby ensuring the reliability of the locking and unlocking process of the telescopic plate 1212 relative to the substrate 1211 and avoiding loose locking or jamming.

[0138] The locking member 1231 can move vertically relative to the positioning groove 1212b, that is, the locking member 1231 can move along the Z direction. When the locking member 1231 is inserted into the positioning groove 1212b, the telescopic plate 1212 is locked to the base plate 1211. At this time, when the flexible transmission member 1214 is driven, it can drive the sliding plate 1221 to move relative to the telescopic plate 1212, thereby dragging the material box 300 onto the fork device 120 or pushing the material box 300 away from the fork device 120. When the locking member 1231 is disengaged from the positioning groove 1212b, the telescopic plate 1212 is unlocked from the base plate 1211. At this time, the flexible transmission member 1214 is driven, which can drive the telescopic plate 1212 to extend or retract.

[0139] It is understood that the locking mechanism 123 can be located at the center of the fork assembly 120, that is, the locking member 1231 can be installed at the center of the base plate 1211, and the center of the telescopic plate 1212 is provided with a positioning groove 1212b. When the locking member 1231 can be inserted into the positioning groove 1212b for locking, the center of the telescopic plate 1212 is opposite to the center of the base plate 1211, that is, the telescopic plate 1212 is in a retracted state. In this way, when the picking mechanism 122 pulls the material box 300 onto the fork assembly 120, it prevents the telescopic plate 1212 from extending in the opposite direction beyond the center position when it retracts under the friction of the material box 300. Thus, after each picking or unloading operation, the telescopic plate 1212 can be maintained in the center position relative to the base plate 1211.

[0140] In some embodiments, the locking mechanism 123 may further include a first elastic member 1232, the locking member 1231 is slidably disposed on the substrate 1211, and the locking member 1231 is provided with a hook 1233, the first end of the first elastic member 1232 is connected to the hook 1233, the second end of the first elastic member 1232 is connected to the substrate 1211, and the first elastic member 1232 applies an elastic force to the locking member 1231 toward the positioning groove 1212b.

[0141] It is understood that a guide hole may be provided on the substrate 1211, and the locking member 1231 may be inserted into the guide hole. The first elastic member 1232 may provide elastic force to the locking member 1231 in the Z direction, thereby maintaining the reliability of the locking state of the locking member 1231 through the elastic force provided by the first elastic member 1232.

[0142] For example, the first elastic element 1232 can be a tension spring, and the hanging pin 1233 can be a protruding structure on the side of the locking member 1231. The hanging pin 1233 can be integrally formed with the locking member 1231, or the hanging pin 1233 can be welded or inserted with the locking member 1231. The embodiments of this application do not specifically limit the elastic force of the first elastic element 1232 or the specific connection method of the hanging pin 1233.

[0143] To achieve active locking and unlocking of the locking structure and improve the efficiency of the movement of the locking member 1231, the locking mechanism 123 may further include a second drive unit 1234. The output end of the second drive unit 1234 is provided with a rocker arm 1234a. The second drive unit 1234 can drive the rocker arm 1234a to rotate. The locking member 1231 is provided with a stop pin 1235. When the rocker arm 1234a is in the first position, the rocker arm 1234a abuts against the stop pin 1235 to disengage the locking member 1231 from the positioning groove 1212b. When the rocker arm 1234a is in the second position, the rocker arm 1234a separates from the stop pin 1235, and the locking member 1231 is engaged with the positioning groove 1212b under the elastic force of the first elastic member 1232.

[0144] For example, the second drive unit 1234 can be a servo motor, and the end of the rocker arm 1234a is connected to the rotating shaft of the servo motor. The rocker arm 1234a swings between the first position and the second position by rotating the rotating shaft of the second drive unit 1234 in both directions. The magnitude of the swing amplitude of the rocker arm 1234a between the first position and the second position can be determined by the travel of the locking member 1231 relative to the positioning groove 1212b. This application embodiment does not specifically limit this.

[0145] It should be noted that the second drive unit 1234 can be disposed on the side of the locking member 1231, and the second drive unit 1234 and the first elastic member 1232 can be located on opposite sides of the locking member 1231 respectively. Correspondingly, the stop pin 1235 and the hook pin 1233 can be located on opposite sides of the locking member 1231 respectively. The structure of the stop pin 1235 and the connection method with the locking member 1231 are similar to those of the hook pin 1233, and will not be described in detail here.

[0146] In addition, a roller 1231a may be provided at one end of the locking member 1231 facing the positioning groove 1212b. Guide surfaces 1212c are provided on opposite sides of the positioning groove 1212b along the moving direction of the telescopic plate 1212. The guide surfaces 1212c on both sides of the positioning groove 1212b are inclined inward to guide the roller 1231a to roll, thereby providing guidance for the roller 1231a when it slides out of the positioning groove 1212b.

[0147] Understandably, the main function of the second drive unit 1234 is to unlock the locking member 1231 from the positioning groove 1212b, so that the telescopic plate 1212 can move relative to the base plate 1211. When the telescopic plate 1212 moves relative to the base plate 1211, the locking member 1231 can abut against the telescopic plate 1212 through the end roller 1231a, and roll along the telescopic plate 1212 as the telescopic plate 1212 moves.

[0148] It should be noted that when the telescopic plate 1212 needs to return to the center position, when the roller 1231a contacts the guide surface 1212c, since the guide surface 1212c is inclined relative to the horizontal direction, that is, inclined relative to the X direction, the first elastic member 1232 applies elastic force to the locking member 1231, and the horizontal component of the contact force of the roller 1231a of the locking member 1231 against the guide surface 1212c can force the telescopic plate 1212 to return to the center position, so that the roller 1231a rolls relative to the telescopic plate 1212 into the positioning groove 1212b.

[0149] For example, two guide surfaces 1212c can be symmetrically distributed on both sides of the positioning groove 1212b. Different positions of the guide surfaces 1212c along their extension direction can have different inclination angles. The inclination angle of the end of the guide surface 1212c closer to the positioning groove 1212b relative to the horizontal direction can be greater than the inclination angle of the end away from the positioning groove 1212b relative to the horizontal direction. The range of the inclination angle of the guide surface 1212c relative to the horizontal direction can be between 0° and 90°, for example, 10°, 20°, 30°, 45°, 60°, 80°, etc. Furthermore, the guide surface 1212c can be a plane or an arc surface; this embodiment does not specifically limit this. When the guide surface 1212c is an arc surface, the inclination angle of the guide surface 1212c is the angle between its tangent and the horizontal direction.

[0150] Figure 15 This is a schematic diagram of the structure of the reset mechanism of the fork device in the robot provided in the embodiments of this application. Figure 16 This is a schematic diagram of the reset mechanism for the extended fork device in the robot provided in the embodiments of this application.

[0151] During the process of picking up and placing the material box 300, when the telescopic plate 1212 retracts from the telescopic state, in addition to using the transmission component 1213 to retract to the neutral state, the fork device 120 can also use the reset mechanism 127 to assist the telescopic plate 1212 in retracting. The structure of the reset mechanism 127 is described below.

[0152] Please refer to Figure 15 and Figure 16 and combined Figures 2 to 5In one possible implementation, the fork assembly 120 may further include a reset mechanism 127. The reset mechanism 127 may include a reset baffle 1271, a second elastic member 1272, and a third elastic member 1273. The reset baffle 1271 is connected to the base plate 1211. The second elastic member 1272 and the third elastic member 1273 are both disposed on the telescopic plate 1212. The second elastic member 1272 and the third elastic member 1273 abut against the reset baffle 1271. When the telescopic plate 1212 extends relative to the base plate 1211, one of the second elastic member 1272 and the third elastic member 1273 applies a spring force to the telescopic plate 1212 in the direction of retraction of the telescopic plate 1212.

[0153] It is understandable that when the telescopic plate 1212 needs to retract after extending relative to the base plate 1211, the reset mechanism 127 provides elastic force to achieve rapid reset. Since the telescopic plate 1212 can extend and retract in both directions relative to the base plate 1211, the second elastic member 1272 and the third elastic member 1273 can respectively provide the reset elastic force required when extending in the front and rear directions.

[0154] In some embodiments, the reset mechanism 127 may further include a guide shaft 1274, which is disposed on the telescopic plate 1212 and extends along the telescopic direction of the telescopic plate 1212. The second elastic member 1272 and the third elastic member 1273 are both sleeved on the guide shaft 1274 and arranged along the extension direction of the guide shaft 1274. The reset baffle 1271 is located between the second elastic member 1272 and the third elastic member 1273.

[0155] It is understood that the two ends of the guide shaft 1274 can be connected to the two ends of the telescopic plate 1212 respectively. The guide shaft 1274 extends in the X direction and can provide guidance for the compression and rebound of the second elastic element 1272 and the third elastic element 1273, thereby ensuring that the direction of the provided elastic force is consistent with the retraction direction of the telescopic plate 1212.

[0156] For example, both the second elastic element 1272 and the third elastic element 1273 can be springs. The reset baffle 1271 can be provided with a through hole, so that when the guide shaft 1274 is assembled, it can pass through the through hole on the reset baffle 1271. The second elastic element 1272 and the third elastic element 1273 can have the same damping coefficient. In this embodiment, the specific damping coefficients of the second elastic element 1272 and the third elastic element 1273 are not specifically limited.

[0157] Figure 17 This is a schematic diagram of the detection component of the forklift device in the robot provided in the embodiments of this application.

[0158] Since the telescopic plate 1212 can extend and retract bidirectionally relative to the substrate 1211, that is, extend and retract back and forth along the X direction, the telescopic plate 1212 is in the retracted state when it is in the center position relative to the substrate 1211, relative to the extended state on both sides. In order to accurately determine the extension direction and extension state of the telescopic plate 1212 relative to the substrate 1211, it can be achieved by the detection component 128. The detection method of the detection component 128 will be described in detail below.

[0159] Please refer to Figure 17 and combined Figures 2 to 5 In one possible implementation, the fork assembly 120 may further include a detection component 128, which may include a controller (not shown), a sensing plate 1281, and two first detection units 1282. The first detection units 1282 are all disposed on the sliding plate 1221 and are electrically connected to the controller. The sensing plate 1281 is disposed on the telescopic plate 1212 and extends along the length of the telescopic plate 1212. When the first detection units 1282 are opposite to the sensing plate 1281, they feed back detection signals. The controller is configured to determine the position of the sliding plate 1221 relative to the telescopic plate 1212 based on the detection signals.

[0160] It is understood that the sensing plate 1281 can extend along the X direction. When the telescopic plate 1212 moves relative to the substrate 1211, the first detection unit 1282 moves relative to the sensing plate 1281. When the first detection unit 1282 and the sensing plate 1281 are opposite each other at different positions, different detection signals can be fed back, so as to accurately determine the extension or retraction state of the telescopic plate 1212 relative to the substrate 1211 in different directions.

[0161] In some embodiments, the sensing plate 1281 may include a first sensing segment 1281a and two second sensing segments 1281b respectively connected to opposite ends of the first sensing segment 1281a. The first sensing segment 1281a passes through the midpoint of the sensing plate 1281 in the length direction, and the two second sensing segments 1281b are staggered relative to the width direction of the telescopic plate 1212. Two first detection units 1282 are staggered in the width direction of the telescopic plate 1212. When the sliding plate 1221 moves, one of the two first detection units 1282 is opposite to the second sensing segment 1281b, or both of the first detection units 1282 are opposite to the first sensing segment 1281a, thereby determining whether the telescopic plate 1212 is in a centered position.

[0162] For example, the first sensing segment 1281a is located in the middle of the substrate 1211, and the two second sensing segments 1281b extend along the X direction and are staggered in the Y direction. The first detection unit 1282 can be located in the middle of the telescopic plate 1212, and the two first detection units 1282 can be staggered relative to the Y direction. When the telescopic plate 1212 extends, only one of the two first detection units 1282 is opposite to the second sensing segment 1281b. The extension direction of the telescopic plate 1212 can be determined by judging the different signals fed back by the two first detection units 1282. When the telescopic plate 1212 retracts, the two first detection units 1282 are simultaneously opposite to the first sensing segment 1281a and feed back the same signal, thereby determining whether the telescopic plate 1212 has returned to the centered position.

[0163] It should be noted that the locking mechanism 123, the reset mechanism 127, and the detection component 128 are all located on the side of the fork device 120. The detection component 128 can be provided on one side of the fork device 120, or the locking mechanism 123, the reset mechanism 127, and the detection component 128 can be provided on both sides of the fork device 120. This application embodiment does not make specific limitations in this regard.

[0164] Figure 18 This is a schematic diagram of a first type of picking mechanism for the fork device in a robot provided in an embodiment of this application. Figure 19 20 is a schematic diagram from another perspective of the first picking mechanism of the fork device in the robot provided in the embodiments of this application, and 20 is a schematic diagram of the arrangement of the second detection unit of the fork device in the robot provided in the embodiments of this application. Figure 21 This is a schematic diagram of a second type of picking mechanism for the forklift device in a robot provided in an embodiment of this application. Figure 22 This is a schematic diagram from another perspective of the second type of picking mechanism for the forklift device in the robot provided in the embodiments of this application. Figure 23 This is a schematic diagram of a robot material transfer box provided in an embodiment of this application.

[0165] The specific structure and pickup method of pickup mechanism 122 are explained below.

[0166] Please refer to Figures 18 to 21 and combined Figures 2 to 5 In one possible implementation, the picking mechanism 122 may include a rotating unit 1222, a connecting seat 1223, and a picking unit 1224. The rotating unit 1222 is disposed on the sliding plate 1221. The picking unit 1224 can be connected to the rotating unit 1222 via the connecting seat 1223. The rotating unit 1222 is used to drive the connecting seat 1223 to rotate and drive the picking unit 1224 to rotate, so that the picking unit 1224 faces the extension direction of the telescopic plate 1212.

[0167] It is understandable that, since the telescopic plate 1212 extends and retracts relative to the base plate 1211 in the X direction, the picking mechanism 122 needs to face different sides of the fork device 120 to pick up and place goods. By setting the rotating unit 1222, the picking mechanism 122 can be rotated 180° as a whole, thereby changing the orientation of the picking unit 1224 on the picking mechanism 122. Thus, when the telescopic plate 1212 extends and retracts in different directions, the picking mechanism 122 can pick up and place goods on different sides of the material box 300 by rotating the direction.

[0168] The picking mechanism 122 can cooperate with the material box 300 in different ways, as illustrated below.

[0169] Please refer to Figures 18 to 20 In a first optional embodiment, the picking unit 1224 may include a mounting plate and a plurality of suction cups 1224a. The mounting plate is connected to the connecting seat 1223 and is vertically arranged. The plurality of suction cups 1224a are arranged in an array on the mounting plate. After the telescopic plate 1212 is docked with the shelf 200, the picking mechanism 122 moves to the end of the telescopic plate 1212 and can abut against the end face of the material box 300 facing the outside of the shelf 200 storage position. The suction cups 1224a can adsorb the end face of the material box 300, thereby preventing the telescopic plate 1212 from entering the storage position of the warehouse, reducing the box spacing when the material box 300 is stored, and thus improving the storage density.

[0170] For example, there can be four suction cups 1224a, which are arranged in a square array on the mounting plate. The suction cups 1224a can be pneumatic suction cups 1224a, which use negative pressure for adsorption, or they can be electromagnetic suction cups 1224a, which generate suction force after being powered. The specific settings can be set according to the end face material of the material box 300. This application embodiment does not make specific limitations in this regard.

[0171] Please refer to Figures 21 to 23 In a second optional embodiment, the picking unit 1224 may include a mounting plate and a insert plate 1224b. The insert plate 1224b is disposed on the mounting plate and is movable relative to the mounting plate. The insert plate 1224b is configured to be inserted into the handle slot 301 of the material box 300. The handle of the material box 300 is located at the end of the material box 300 facing the outside of the storage position of the shelf 200, thereby preventing the telescopic plate 1212 from entering the storage position of the warehouse, reducing the distance between the boxes when the material boxes 300 are stored, and thus increasing the storage density.

[0172] For example, the insert plate 1224b can be slidably connected to the mounting plate. The mounting plate can be equipped with a motor, which drives the insert plate 1224b to move vertically relative to the mounting plate, that is, to move along the Z direction. So when the picking mechanism 122 cooperates with the material box 300, the insert plate 1224b is inserted into the handle groove 301 of the material box 300. After the picking and placing operation is completed, the insert plate 1224b is dislodged from the handle groove 301 of the material box 300 under the drive of the motor.

[0173] It should be noted that the robot 100 may also include at least two second detection units 129, which are respectively disposed at both ends of the fork device 120 to detect the material box 300 in different picking and placing directions of the fork device 120. When picking and placing the material box 300, the robot can accurately identify the storage location and the information of the material box 300.

[0174] For example, the second detection unit 129 can be a vision sensor such as a camera or a scanner, to identify the location markings of the material box 300 and the shelf 200. There can be two third sensors, which can be installed on the connecting bracket 125 between the base plates 1211, and the two third sensors can be located at both ends of the fork assembly 120 respectively.

[0175] In addition, it should be noted that in order to enable the fork device 120 to pick up and place goods at different height positions, the robot 100 may also include a lifting mechanism 130. The robot body 110 may include a chassis 111 and a stand 112. The stand 112 may be mounted on the chassis 111. The fork device 120 is connected to the lifting mechanism 130, and the lifting mechanism 130 is configured to move along the height direction of the stand 112.

[0176] The lifting mechanism 130 can be connected to the upright frame 112 via a slide groove. The lifting mechanism 130 can be located on opposite sides of the picking device. The lifting mechanism 130 can move up and down relative to the upright frame 112 in the Z direction via chain drive or belt drive. The specific driving method of the lifting mechanism 130 is not limited in this embodiment.

[0177] Please refer to Figure 1 and Figure 2This application embodiment also provides a warehousing system, which includes a rack 200 and a robot 100 as described above. There can be multiple racks 200, which are arranged at intervals. There is an aisle 201 between adjacent racks 200. The width of the aisle 201 matches the width of the robot 100. The robot 100 moves in the aisle 201. The fork device 120 of the robot 100 can extend and retract bidirectionally along the width direction of the aisle 201 to pick up and place material boxes 300 on the racks 200 on both sides of the aisle 201.

[0178] It is understandable that since the fork device 120 of the robot 100 can pick up goods from both sides along the width of the aisle 201, the fork device 120 does not need to be turned, and the aisle 201 does not need to reserve space for the fork device 120 to rotate, thereby increasing the storage density of the warehousing system.

[0179] In some embodiments, the shelf 200 may have multiple storage layers 210 arranged along the height direction of the shelf 200. At least one transfer layer is included among the storage layers 210, located at the bottom of the shelf 200. A robot 100 is used to pick up and place material boxes 300 between the transfer layer and different storage layers 210. The warehousing system may also include transfer equipment (not shown) for picking up and placing material boxes 300 from the transfer layer. This allows for the coordination of large and small vehicles, improving the logistics efficiency of the warehousing system.

[0180] It should be noted that during the inbound process of the warehousing system, the material boxes 300 to be received can first be transferred by the transfer equipment to the transfer layer of the shelf 200, that is, stored at the bottom of the shelf 200, and then the robot 100 places the material boxes 300 in the transfer layer into the target storage location of the corresponding storage layer 210; while during the outbound process of the warehousing system, the robot 100 can first place the material boxes 300 to be shipped from the storage layer 210 to the transfer layer, and then the transfer equipment can pick them up and transfer them to the external conveyor line or sorting table, etc.

[0181] The following describes the process by which robot 100 retrieves material box 300 from shelf 200.

[0182] Figure 24 This is a schematic diagram of the first state during the robot's pickup process, provided in an embodiment of this application. Figure 25 This is a schematic diagram of the second state during the robot's pickup process, provided in an embodiment of this application. Figure 26 This is a schematic diagram of the third state during the robot's pickup process, as provided in an embodiment of this application.

[0183] Please refer to Figures 24 to 26 The process of obtaining material box 300:

[0184] ① The robot 100 moves in the aisle to the location of the target storage location, and at the same time the forklift device 120 moves to the height position corresponding to the target storage location.

[0185] ② The picking mechanism 122 of the fork assembly 120 moves toward the material box 300 and drives the telescopic plate 1212 to extend forward and abut against the edge of the shelf 200, while the picking mechanism 122 and the end face of the material box 300 are in contact.

[0186] ③ The picking mechanism 122 moves back, moving the material box 300 onto the fork device 120. At the same time, the telescopic plate 1212 returns to the center position relative to the base plate 1211, completing the picking process.

[0187] The process of storing the material box 300 on the shelf 200 is the reverse of the process of obtaining the material box 300 described above, and will not be repeated here.

[0188] The warehousing system provided in this embodiment can be applied to the manufacturing industry, depending on the specific type of goods.

[0189] This application covers various fields, including factory production lines or inventory inbound and outbound operations, retail logistics, and e-commerce logistics express delivery inbound and outbound operations. The products or goods involved in transportation can be industrial parts, electronic components or products, clothing and accessories, food, etc.

[0190] For example, no specific limitations are specified.

[0191] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit it; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that it can still be used...

[0192] Modifications may be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions may be made to some or all of the technical features therein; however, such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A robot, characterized in that, The robot is used for picking up and placing material boxes. It includes a robot body and a fork assembly, with the fork assembly mounted on the robot body. The fork assembly includes a telescopic mechanism and a picking mechanism. The telescopic mechanism includes a base plate and a transmission assembly. The picking mechanism is connected to the transmission assembly to move along the length direction of the base plate under the drive of the transmission assembly. The picking mechanism includes a rotating unit, a connecting seat, and a picking unit. The picking unit is disposed on the connecting seat. The rotating unit is configured to drive the connecting seat to rotate relative to the telescopic mechanism so that the picking unit picks up and places the material box facing different directions of the fork assembly. The telescopic mechanism further includes a telescopic plate, which is movably disposed relative to the base plate. The transmission assembly is disposed between the telescopic plate and the base plate. The picking mechanism is disposed on the telescopic plate. When the transmission assembly is in motion, the picking mechanism is configured to drive the telescopic plate to extend and retract bidirectionally relative to the base plate along the length direction of the base plate. The fork assembly further includes a sliding plate slidably disposed on the telescopic plate, and the picking mechanism is connected to the sliding plate; The forklift device further includes a detection component, which includes a controller, a sensing plate, and two first detection units. The first detection units are all disposed on the sliding plate and are electrically connected to the controller. The sensing plate is disposed on the telescopic plate and extends along the length of the telescopic plate. When the first detection unit is opposite to the sensing plate, it feeds back a detection signal. The controller is configured to determine the position of the sliding plate relative to the telescopic plate based on the detection signal. The sensing plate includes a first sensing segment and two second sensing segments respectively connected to opposite ends of the first sensing segment. The first sensing segment passes through the midpoint of the sensing plate in the length direction, and the two second sensing segments are staggered relative to the width direction of the telescopic plate. The two first detection units are staggered in the width direction of the telescopic plate, so that when the sliding plate moves, one of the two first detection units is opposite to the second sensing segment, or both of the first detection units are opposite to the first sensing segment.

2. The robot according to claim 1, characterized in that, The picking unit includes a mounting plate and multiple suction cups. The mounting plate is connected to the connecting seat. The mounting plate is vertically arranged, and the multiple suction cups are arranged in an array on the mounting plate.

3. The robot according to claim 1, characterized in that, The picking unit includes a mounting plate and a insert plate, the insert plate being disposed on the mounting plate and movable relative to the mounting plate, the insert plate being configured to engage with the handle slot of the material box.

4. The robot according to any one of claims 1-3, characterized in that, The fork assembly further includes a locking mechanism. The transmission assembly includes a flexible transmission element and a transmission wheel set. The transmission wheel set includes multiple transmission wheels, which are respectively located on the base plate and the telescopic plate. The flexible transmission element surrounds the outside of the multiple transmission wheels and moves as the transmission wheels rotate. The locking mechanism is disposed between the base plate and the telescopic plate. When the locking mechanism is unlocked, the transmission wheel drives the base plate and the telescopic plate to move relative to each other under the drive of the flexible transmission member.

5. The robot according to claim 4, characterized in that, The sliding plate is connected to the flexible transmission member and moves with the flexible transmission member.

6. The robot according to claim 5, characterized in that, The transmission wheel on the telescopic plate has a variable relative position to the transmission wheel on the substrate, so that when the flexible transmission member moves, it drives the telescopic plate to extend or retract relative to the substrate.

7. The robot according to claim 6, characterized in that, The plurality of transmission wheels include two symmetrically arranged transmission wheel sets. Each transmission wheel set includes a first transmission wheel, a second transmission wheel, and a third transmission wheel. The first transmission wheel and the second transmission wheel are disposed on the telescopic plate, and the third transmission wheel is disposed on the base plate. The first transmission wheel and the third transmission wheel have different positions in the moving direction of the telescopic plate. The flexible transmission element surrounds the first and third transmission wheels of the two transmission wheel sets to form a closed ring, and the second transmission wheels of the two transmission wheel sets are both located outside the closed ring.

8. The robot according to claim 7, characterized in that, The telescopic plate extends in the same direction as the base plate, and each end of the telescopic plate is provided with an abutment portion. When the sliding plate abuts against the abutment portion, the flexible transmission member pushes the telescopic plate to move through the sliding plate.

9. The robot according to claim 7, characterized in that, The two transmission wheel sets are symmetrically distributed along the moving direction of the telescopic plate, and the distance between the two second transmission wheels in the two transmission wheel sets is smaller than the distance between the two first transmission wheels.

10. The robot according to claim 7, characterized in that, When the flexible transmission component is driven around the first direction, the telescopic plate extends from the first end of the substrate or retracts from the second end of the substrate; When the flexible transmission member is driven in the second direction, the telescopic plate extends from the second end of the substrate or retracts from the first end of the substrate.

11. The robot according to any one of claims 5-10, characterized in that, The telescopic mechanism further includes a first slide rail and a second slide rail. The first slide rail is disposed between the base plate and the telescopic plate and extends along the length direction of the base plate. The second slide rail is disposed on the telescopic plate and extends along the length direction of the telescopic plate. The sliding plate is configured to move along the second slide rail.

12. The robot according to any one of claims 5-10, characterized in that, The transmission assembly further includes a first drive unit, which is connected to the transmission wheel and is used to drive the transmission wheel to rotate.

13. The robot according to claim 12, characterized in that, The telescopic mechanism comprises two components. The fork assembly further includes a pallet, a connecting bracket, and a drive shaft. The two telescopic mechanisms are distributed on opposite sides of the pallet. The telescopic plates of the two telescopic mechanisms are respectively connected to the two sides of the pallet. The base plates of the two telescopic mechanisms are connected through the connecting bracket. The two ends of the sliding plate are slidably connected to the telescopic plates of the two telescopic mechanisms. The first drive unit is disposed between the two telescopic mechanisms, and the output end of the first drive unit is connected to the drive shaft. The two ends of the drive shaft are respectively connected to the drive wheels of the two telescopic mechanisms.

14. The robot according to claim 13, characterized in that, Both ends of the tray are provided with cushioning pads along the telescopic plate's extension and retraction direction.

15. The robot according to any one of claims 5-10, characterized in that, The locking mechanism is disposed on the substrate. The locking mechanism includes a locking member. The telescopic plate is provided with a positioning groove. The locking member can be inserted into or disengaged from the positioning groove so that the telescopic plate is locked or unlocked from the substrate.

16. The robot according to claim 15, characterized in that, The locking mechanism further includes a first elastic member, which is slidably disposed on the substrate and has a hook on it. A first end of the first elastic member is connected to the hook, and a second end of the first elastic member is connected to the substrate. The first elastic member applies an elastic force toward the positioning groove to the locking member.

17. The robot according to claim 16, characterized in that, The locking mechanism further includes a second drive unit. The output end of the second drive unit is provided with a rocker arm. The second drive unit can drive the rocker arm to rotate. The locking member is provided with a stop pin. When the rocker arm is in the first position, the rocker arm abuts against the stop pin to disengage the locking member from the positioning groove. When the rocker arm is in the second position, the rocker arm separates from the stop pin, and the locking member is engaged with the positioning groove under the elastic force of the first elastic member.

18. The robot according to claim 15, characterized in that, The locking member is provided with a roller at one end facing the positioning groove. The positioning groove is provided with guide surfaces on opposite sides along the moving direction of the telescopic plate, and the guide surfaces on both sides of the positioning groove are inclined inward to guide the roller to roll.

19. The robot according to any one of claims 5-10, characterized in that, The fork assembly further includes a reset mechanism, which includes a reset baffle, a second elastic element, and a third elastic element. The reset baffle is connected to the base plate. The second elastic element and the third elastic element are both disposed on the telescopic plate. The second elastic element and the third elastic element abut against the reset baffle. When the telescopic plate extends relative to the base plate, one of the second elastic element and the third elastic element applies a spring force to the telescopic plate in the direction of retraction of the telescopic plate.

20. The robot according to claim 19, characterized in that, The reset mechanism further includes a guide shaft, which is disposed on the telescopic plate and extends along the telescopic direction of the telescopic plate. The second elastic member and the third elastic member are both sleeved on the guide shaft and arranged along the extension direction of the guide shaft. The reset baffle is located between the second elastic member and the third elastic member.

21. The robot according to any one of claims 1-3, characterized in that, It also includes at least two second detection units, which are respectively disposed at both ends of the fork assembly to detect the material box in different loading and unloading directions of the fork assembly.

22. The robot according to any one of claims 1-3, characterized in that, It also includes a lifting mechanism. The robot body includes a chassis and a stand. The stand is mounted on the chassis. The fork assembly is connected to the lifting mechanism, which is configured to move along the height direction of the stand.

23. A warehousing system, characterized in that, The device includes a rack and a robot as described in any one of claims 1-22, wherein there are multiple racks arranged at intervals, and an aisle is provided between adjacent racks. The width of the aisle matches the width of the robot, and the robot moves in the aisle. The robot's fork assembly is bidirectionally extendable along the width of the aisle to pick up and place material boxes on the racks on both sides of the aisle.

24. The warehousing system according to claim 23, characterized in that, The shelf has multiple storage layers arranged along the height of the shelf, and at least one of the storage layers includes a transfer layer located at the bottom of the shelf. The robot is used to pick up and place the material boxes between the transfer layer and different storage layers. The warehousing system also includes a transfer device for picking up and placing the material boxes from the transfer layer.

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