Warehouse system, goods taking and placing method and robot

Abstract

The application provides a storage system, a goods taking and placing method and a robot. The storage system comprises a goods shelf and a robot. The goods shelf has at least one storage layer. The storage layer has at least one storage location. The storage location is configured to store at least two material boxes. The material boxes are arranged in sequence from the entrance of the storage location to the direction away from the entrance in the storage location and are detachably connected. The robot comprises at least one storage unit and a fork device. The fork device is configured to be docked with the storage location. When the fork device obtains the material box at the entrance position of the storage location, the fork device drives the other material boxes in the storage location to move towards the entrance of the storage location, thereby improving the convenience of taking goods.

Description

Technical Field

[0001] This application relates to the field of warehousing and logistics technology, and in particular to a warehousing system, a method for picking and placing goods, and a robot. 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, warehousing systems typically include shelves and robots for picking up and placing goods. The robots can move in the aisles between the shelves. The robots are usually equipped with forks for picking up and placing goods and baskets for storing goods. The forks are usually equipped with robotic arms that can extend in a fixed direction relative to the robot body, and the forks as a whole can rotate relative to the robot body. The robotic arms usually perform the picking operation on the side of the robot along the direction of travel and put the goods into the basket. Therefore, when the robot completes the task of picking up and placing goods on different sides of the shelves, it is necessary to rotate the forks to change their orientation.

[0004] However, the robot's forks rely on extended robotic arms to pick up and put down goods via movable push rods, resulting in high fork costs, heavy weight, and complex structure, and reducing the storage density of material bins in the warehousing system. Summary of the Invention

[0005] This application provides a warehousing system, a method for picking and placing goods, and a robot, which can solve the problem that the large space occupied by the robot during operation leads to a decrease in the storage density of the warehousing system.

[0006] In a first aspect, this application provides a warehousing system comprising shelves and a robot, wherein the shelves have at least one storage layer, the storage layer has at least one storage location, the storage location is configured to store at least two material boxes, the material boxes in the same storage location are arranged sequentially from the entrance of the storage location toward the direction away from the entrance and are detachably connected, the robot includes at least one storage unit and a fork device, the fork device is configured to dock with the storage location, and when the fork device acquires the material box at the entrance of the storage location, it drives other material boxes in the storage location to move toward the entrance of the storage location.

[0007] The warehousing system provided in this application achieves deep storage of material boxes in the shelving location through the design of the storage method of material boxes on the shelves and the material box picking and placing process of the robot. It has better flexibility and scalability. At the same time, when the robot picks and places material boxes on the shelf, after obtaining the material box at the entrance of the storage location, it can drive the other material boxes in the storage location to move. This ensures that the material boxes are always arranged from the entrance of the storage location to the inside of the storage location, thereby avoiding the forklift device from rising into the deep inside of the storage location to pick up the goods, and improving the convenience of picking up goods.

[0008] Secondly, this application provides a method for picking up and placing goods, applied to the warehousing system described above, the method comprising:

[0009] Obtain the location information of the target material box, including the target storage location where the target material box is located and its arrangement position within the target storage location;

[0010] Control the robot to move to the target storage location and align the robot's forks with the target storage location;

[0011] Control the robot to obtain the target material box and store it in the robot's target storage unit.

[0012] Thirdly, this application provides a method for picking up and placing goods, applied to the warehousing system described above, the method comprising:

[0013] Obtain the location information of the target storage location and control the robot to move to the target storage location;

[0014] Transfer the target material box from the robot's storage unit to the robot's forklift assembly;

[0015] The robot's forklift docks with the target storage location, stores the target material box in the target storage location, and connects the target material box with the material box in the target storage location.

[0016] Fourthly, this application provides a robot for picking up and placing material boxes in a warehousing system. The robot includes a robot body, a lifting mechanism, and a fork device. The fork device is mounted on the robot body. The lifting mechanism is configured to move the fork device along the height direction of the robot body. The fork device is configured to dock with a storage location on a shelf. When the fork device picks up a material box at the entrance of the storage location, it moves other material boxes in the storage location toward the entrance of the storage location. The robot body includes a chassis, a stand, and a storage unit. The stand is mounted on the chassis. The storage unit and the fork device are mounted on opposite sides of the stand. The fork device includes a first conveying mechanism for transferring the material box picked up by the fork device to the storage unit.

[0017] 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 warehousing system, the picking and placing method, and the robot 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 described in detail in the specific embodiments. Attached Figure Description

[0018] 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.

[0019] Figure 1 This is a schematic diagram of the structure of the warehousing system provided in the embodiments of this application;

[0020] Figure 2 This is a schematic diagram of the structure of a shelf in a warehousing system provided in an embodiment of this application;

[0021] Figure 3 This is a schematic diagram of the structure of a robot in a warehousing system provided in an embodiment of this application;

[0022] Figure 4 A schematic diagram of the arrangement of material boxes on shelves in a warehousing system provided in an embodiment of this application;

[0023] Figure 5 This is a schematic diagram of the structure of a material box in a warehousing system provided in an embodiment of this application;

[0024] Figure 6 This is a structural schematic diagram of a material box in a warehousing system provided in an embodiment of this application, from another perspective.

[0025] Figure 7 A cross-sectional view of the material box connection method in the warehousing system provided in the embodiments of this application;

[0026] Figure 8 This is a schematic diagram of the structure of the forklift device of a robot in a warehousing system provided in an embodiment of this application;

[0027] Figure 9 This is a schematic diagram of the robot body in the warehousing system provided in the embodiments of this application;

[0028] Figure 10 A schematic diagram of a robot storage unit in a warehousing system provided in an embodiment of this application;

[0029] Figure 11 A schematic diagram of a robot carrying a material box in a warehousing system provided in an embodiment of this application;

[0030] Figure 12 A schematic diagram of the first conveying mechanism on the forklift device of a robot in a warehousing system provided in this application embodiment;

[0031] Figure 13 A partial schematic diagram of the first conveying mechanism on the forklift device of a robot in a warehousing system provided in this application embodiment;

[0032] Figure 14 This is a schematic diagram illustrating the steps of a method for picking up and placing goods, as provided in an embodiment of this application.

[0033] Figure 15 A schematic diagram illustrating the steps of another method for picking up and placing goods provided in an embodiment of this application;

[0034] Figure 16 A schematic diagram showing the arrangement of the telescopic mechanism in the fork device of the robot provided in the embodiments of this application;

[0035] Figure 17 A schematic diagram of the picking mechanism in the forklift device of the robot provided in this application embodiment;

[0036] Figure 18 A schematic diagram showing the arrangement of the picking mechanism in the forklift device of the robot provided in this application embodiment;

[0037] Figure 19 A schematic diagram of the rotating assembly of the picking mechanism in the fork device of the robot provided in this application embodiment;

[0038] Figure 20 A cross-sectional view of the rotating component of the picking mechanism in the forklift device of a robot provided in an embodiment of this application;

[0039] Figure 21 A schematic diagram of the positioning component of the picking mechanism in the forklift device of the robot provided in the embodiments of this application;

[0040] Figure 22 A cross-sectional view of the picking mechanism and the material box in the forklift device of the robot provided in the embodiment of this application;

[0041] Figure 23 A cross-sectional view from another perspective of the cooperation between the picking mechanism and the material box in the forklift device of the robot provided in the embodiments of this application;

[0042] Figure 24 A front view of the telescopic mechanism in the fork assembly of a robot provided in an embodiment of this application;

[0043] Figure 25Axonometric view of the telescopic mechanism in the fork assembly of a robot provided in an embodiment of this application;

[0044] Figure 26 A schematic diagram showing the telescopic mechanism extending towards the front end in the fork device of the robot provided in this application embodiment;

[0045] Figure 27 A schematic diagram showing the telescopic mechanism extending to the rear end in the fork device of the robot provided in the embodiments of this application;

[0046] Figure 28 A schematic diagram of the locking mechanism in the fork assembly of a robot provided in an embodiment of this application;

[0047] Figure 29 A schematic diagram showing the unlocked state of the locking mechanism in the fork assembly of the robot provided in this application embodiment;

[0048] Figure 30 A schematic diagram of the rocker arm of the locking mechanism in the fork device of the robot provided in the embodiments of this application in the first position;

[0049] Figure 31 A schematic diagram of the rocker arm of the locking mechanism in the fork device of the robot provided in the embodiments of this application at the second position;

[0050] Figure 32 A schematic diagram of the reset mechanism in the forklift device of the robot provided in this application embodiment;

[0051] Figure 33 A schematic diagram of the structure of the reset mechanism for the extended fork device of the robot provided in the embodiments of this application;

[0052] Figure 34 A schematic diagram of the detection component in the forklift device of the robot provided in the embodiments of this application;

[0053] Figure 35 A schematic diagram showing the arrangement of the third detection unit in the forklift device of the robot provided in the embodiments of this application;

[0054] Figure 36 This is a schematic diagram of the first state of the robot picking process provided in an embodiment of this application;

[0055] Figure 37 This is a schematic diagram of the second state of the robot picking process provided in the embodiments of this application;

[0056] Figure 38 A schematic diagram of the third state of the robot picking process provided in the embodiments of this application;

[0057] Figure 39A cross-sectional view of the third state of the robot picking process provided in the embodiments of this application;

[0058] Figure 40 A cross-sectional view of the fourth state of the robot picking process provided in the embodiments of this application;

[0059] Figure 41 A schematic diagram of the fifth state of the robot picking process provided in the embodiments of this application;

[0060] Figure 42 A cross-sectional view of the sixth state of the robot picking process provided in the embodiments of this application;

[0061] Figure 43 A schematic diagram of the seventh state of the robot pickup process provided in the embodiments of this application;

[0062] Figure 44 A schematic diagram of another picking mechanism for a robot provided in an embodiment of this application;

[0063] Figure 45 A schematic diagram showing another picking mechanism of the robot separated from the material box, provided in an embodiment of this application;

[0064] Figure 46 A schematic diagram showing the insertion state of another picking mechanism of the robot and the material box provided in an embodiment of this application;

[0065] Figure 47 This is a schematic diagram showing the fork assembly of a robot provided in an embodiment of this application facing the storage unit.

[0066] Explanation of reference numerals in the attached figures:

[0067] 100-Robot; 110-Robot body; 111-Chassis; 112-Upright frame; 113-Storage unit; 1131-Second conveying mechanism; 1132-Second transmission component; 1133-Second roller; 1134-Second limiting component; 1134a-Allowing opening; 1135-Switch unit; 120-Fork assembly; 121-Telescopic mechanism; 1211-Base plate; 1211a-First limiting component; 1212-Telescopic plate; 1212a-Abutting part; 1212b-Positioning groove; 1212c-Guide surface; 1213-Transmission assembly; 1213a 1213b - First transmission wheel; 1213c - 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; 1221a - Locking hole; 1221b - Limiting part; 1222 - Rotating assembly; 1222a - Rotating unit; 1222b - Mounting base; 1222c - Rotating shaft; 1222d - First gear; 1222e - Second gear; 1222f - Transmission belt; 1222g - Rotating component; 122 3-Push-pull assembly; 1223a-Push plate; 1223b-Pull plate; 1223c-First driving component; 1223d-Guide part; 1223e-Guide post; 1224-Positioning assembly; 1224a-Second driving component; 1224b-Locking shaft; 1224c-First detection unit; 123-Locking mechanism; 1231-Locking component; 1231a-Roller; 1232-First elastic element; 1233-Hanging pin; 1234-Second driving unit; 1234a-Rock arm; 1235-Stop pin; 124-First transmission mechanism; 1241-First transmission component ; 1242-First roller; 1243-Mounting bracket; 1244-Guide wheel; 1245-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-Second detection unit; 129-Third detection unit; 130-Lifting mechanism; 140-Plug-in component; 150-Third drive unit;

[0068] 200 - Shelving; 201 - Aisle; 210 - Storage layer; 211 - Storage location; 220 - Upright; 230 - Beam; 240 - Longitudinal beam; 241 - Support plate; 242 - Limiting plate;

[0069] 300 - Material box; 301 - Hook; 302 - Slot. Detailed Implementation

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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 retrieve and place goods, and can also transport them. Currently, in warehousing material handling systems, robots mainly use robotic arms to retrieve goods. However, when retrieving boxes deep within the shelving unit, the robotic arm needs to be extended. The length of the robotic arm is limited by cost and technology, and the depth that storage locations can be set is limited, resulting in low warehouse storage density.

[0075] Therefore, in related technologies, each storage location on the shelves in the warehousing system has a limited capacity for storing goods, and the storage location is shallow with a low storage capacity. For shelves with deeper storage locations, when a robot retrieves goods, it needs to extend its robotic arm into the storage location. Its travel distance and operating range are limited, and it will occupy the space on both sides of the storage location (for lifting robotic arms, it will occupy the space on the upper and lower sides of the storage location), which will further reduce the storage density of the warehouse.

[0076] To address the aforementioned issues, this application provides a warehousing system, a method for picking and placing goods, and a robot. By designing the storage method for material boxes on the shelves and the structure of the fork device on the robot, the shelf locations can store material boxes at a depth, and the fork device can pick and place material boxes at a depth. The deep picking and placing of material boxes can be completed without the forks extending into the storage location, simplifying the fork structure, reducing costs, and increasing the storage density of material boxes.

[0077] To facilitate understanding, the application scenarios of the embodiments of this application will be described first.

[0078] The warehousing system provided in this application can be applied to logistics distribution in industrial production lines, inbound and outbound inventory of manufactured products, inbound and outbound products in the retail industry, and inbound and outbound express delivery in e-commerce logistics, etc. The products or goods involved in transportation can be industrial parts, electronic accessories or products, medicines, clothing and accessories, food, books, etc. Furthermore, it can transfer and store goods through robots and shelves, and can also transfer and store material boxes containing goods through robots and shelves. This application does not make specific limitations in this regard. Hereinafter, "material box" will be used to refer to the object being transported by the handling robot, and no specific examples will be given.

[0079] Figure 1 This is a schematic diagram of the structure of the warehousing system provided in the embodiments of this application. Figure 2 This is a schematic diagram of the structure of the shelving in the warehousing system provided in the embodiments of this application. Figure 3 This is a schematic diagram of the robot structure in the warehousing system provided in the embodiments of this application. Figure 4 This is a schematic diagram showing the arrangement of material boxes on shelves in a warehousing system provided in an embodiment of this application. Figure 5 This is a schematic diagram of the structure of the material box in the warehousing system provided in the embodiments of this application. Figure 6 This is a structural schematic diagram of a material box in a warehousing system provided in an embodiment of this application, from another perspective. Figure 7 This is a cross-sectional view of the material box connection method in the warehousing system provided in the embodiments of this application. Figure 8 This is a schematic diagram of the structure of the forklift device of a robot in a warehousing system provided in an embodiment of this application. Figure 9 This is a schematic diagram of the robot body in the warehousing system provided in the embodiments of this application.

[0080] like Figures 1 to 9 As shown, this embodiment provides a warehousing system, which includes a shelf 200 and a robot 100. The shelf 200 has at least one storage layer 210, and each storage layer 210 has at least one storage location 211. The storage location 211 is configured to store at least two material boxes 300. The material boxes 300 in the same storage location 211 are arranged sequentially from the entrance of the storage location 211 toward the inside of the storage location 211 in a direction away from the entrance and are detachably connected, so that each storage location 211 has a certain storage depth, thereby improving storage density. The robot 100 can pick up and put down the material boxes 300.

[0081] Understandably, since the material boxes 300 in the same storage location 211 are arranged from the entrance of storage location 211 inwards along the depth direction of storage location 211, and adjacent material boxes 300 are connected to each other, and when the robot 100 docks with storage location 211, it can obtain the material box 300 at the entrance of storage location 211, or place the material box 300 at the entrance of storage location 211. Therefore, when the robot 100 drags the material box 300 at the entrance of storage location 211... The remaining material boxes 300 in storage location 211 will be moved one material box 300 position towards the entrance, so that when the next material box 300 is retrieved, the material boxes 300 in storage location 211 will still be arranged from the entrance of storage location 211 inwards. Correspondingly, when the robot 100 places a material box 300 at the entrance of storage location 211, it will push the existing material boxes 300 in storage location 211 to move one material box 300 position inwards.

[0082] In some embodiments, the robot 100 includes a robot body 110 and a fork assembly 120. The robot body 110 includes a chassis 111, a stand 112, and a storage unit 113. The stand 112 is mounted on the chassis 111, which is movable on the ground. The fork assembly 120 is mounted on the robot body 110. The storage unit 113 and the fork assembly 120 are located on opposite sides of the stand 112. The fork assembly 120 includes a first conveying mechanism 124, which is connected to the storage unit 113. The fork assembly 120 is configured to connect to the entrance of the storage location 211 and pick up and place the material box 300 at the entrance of the storage location 211 into the storage unit 113, or pick up and place the material box 300 in the storage unit 113 into the storage location 211.

[0083] To reduce the space occupied by the robot 100 between the shelves 200, the storage unit 113 is located to the side of the fork device 120 in the picking direction. The transfer of the material box 300 between the storage unit 113 and the fork device 120 can be achieved by the first conveying mechanism 124. The first conveying mechanism 124 not only conveys the material box 300, but also provides load-bearing and support for the material box 300. The first conveying mechanism 124 can also move along the picking and placing direction with the fork device 120 from the storage location 211. Thus, when the robot 100 picks and places the material box 300 on the shelf 200, the fork device 120 does not need to rotate to complete the transfer of the material box 300 from the shelf 200 to the storage unit 113, reducing the width of the space between the shelves 200, increasing the storage density of the warehousing system, and improving the working efficiency of the robot 100.

[0084] It should be noted that the warehousing system provided in this application embodiment, through the design of the storage method of the material boxes 300 on the shelf 200 and the material box retrieval and placement process of the robot 100, realizes deep storage of the material boxes 300 in the storage location 211 of the shelf 200, so that a storage location 211 can store multiple material boxes 300. Furthermore, by controlling the fork device 120 of the robot 100, when retrieving the material box 300, the material box 300 at the entrance of the storage location 211 is disconnected from the material box 300 inside the storage location 211. When placing the material box 300, the placed material box 300 is connected to the original material box 300 inside the storage location 211, thereby having better flexibility and scalability, realizing the storage and retrieval of more deep material boxes 300, and improving storage density.

[0085] The specific structure of shelf 200 will be described in detail below.

[0086] Please continue to refer to Figures 1 to 9 In one possible implementation, multiple storage layers 210 can be arranged along the height direction of the shelf 200, and each storage layer 210 can be parallel to each other. The storage locations 211 of each storage layer 210 can be arranged horizontally. The height of the storage layer 210 can match the height of the material box 300, and the width of the storage location 211 can match the width of the material box 300. While ensuring that the material box 300 can be placed, the height of the storage layer 210 and the width of the storage location 211 are minimized as much as possible to improve storage density.

[0087] The robot 100 may also include a lifting mechanism 130, and the fork device 120 may be connected to the lifting mechanism 130. The lifting mechanism 130 may be connected to the upright 112, and the lifting mechanism 130 is configured to drive the fork device 120 to move along the height direction of the upright 112. That is, the height of the fork device 120 can be adjusted, so that the fork device 120 can dock with storage layers 210 at different heights to pick up and put in material boxes 300 at different locations.

[0088] In some embodiments, the shelving 200 can be a frame structure. The shelving 200 may include a plurality of uprights 220, a plurality of crossbeams 230 and a plurality of longitudinal beams 240. The plurality of crossbeams 230 are connected between the plurality of uprights 220 and are spaced apart along the height direction of the uprights 220 to form a plurality of storage layers 210. The plurality of longitudinal beams 240 are connected to the crossbeams 230 and are spaced apart along the length direction of the crossbeams 230. Storage positions 211 are formed between adjacent longitudinal beams 240.

[0089] It is understandable that the uprights 220, beams 230, and longitudinal beams 240 correspond to the height, width, and length of the shelving 200, respectively. The uprights 220 are set vertically, with their bottoms supported on the ground. The height of the top of the uprights 220 depends on the number of storage layers 210. The more storage layers 210 there are, the higher the top of the uprights 220 will be. The length of the beams 230 depends on the number of storage locations 211 in each storage layer 210. The more storage locations 211 there are, the longer the beams 230 will be. In addition, the length of the longitudinal beams 240 depends on the depth of each storage location 211. The more material boxes 300 that can be stored in a storage location 211, the longer the longitudinal beams 240 will be. In this way, a compact multi-layer, multi-location structure of the shelving 200 is formed, improving space utilization.

[0090] For example, the number of storage locations 211 in each warehouse can be two, three, four or more, and this application embodiment does not specifically limit this. The number of material boxes 300 that can be stored in each storage location 211 can be two, three, four, five or more, and this application implementation also does not specifically limit this.

[0091] In some embodiments, the longitudinal beam 240 may include a support plate 241 and a limiting plate 242. The support plate 241 may be horizontally arranged, with the support plates 241 of adjacent longitudinal beams supporting opposite sides of the bottom of the material box 300. The limiting plate 242 is positioned on the side of the material box 300, thereby providing good support for the material box 300 through the support plate 241 and limiting the movement of the material box 300 during loading and unloading through the limiting plate 242. Furthermore, while ensuring storage space and structural strength of the shelf 200, the material usage of the shelf 200 is reduced, thus lowering costs.

[0092] It is understandable that the width of storage location 211 matches the width of material box 300. Both ends of the side wall of material box 300 can be provided with hooks 301 and slots 302. The end side walls of adjacent material boxes 300 abut against each other, and the hooks 301 and slots 302 of adjacent material boxes 300 are opposite each other. Thus, material boxes 300 in the same storage location 211 can be connected and can be moved synchronously during the outbound and inbound processes.

[0093] For example, when adjacent material boxes 300 are located on the same horizontal plane, the hooks 301 and slots 302 of adjacent material boxes 300 are interlocked. The height of the storage layer 210 can be slightly higher than the height of the material boxes 300. When adjacent material boxes 300 are staggered in the vertical direction, that is, when they are staggered in the height direction of the storage layer 210, the hooks 301 and slots 302 of adjacent material boxes 300 are disengaged.

[0094] It should be noted that when the robot 100 picks up and places material boxes 300, the material boxes 300 arranged in the same storage location 211 can move synchronously, always keeping the material boxes 300 outside the storage location 211 at the entrance of the storage location 211, which facilitates the robot's picking and placing without having to go deep into the storage location to pick up or place boxes. In addition, during the process of picking up or placing material boxes 300, the vertical movement of the material boxes 300 to be picked up or placed and the material boxes 300 inside the storage location 211 can be operated by the fork device 120 of the robot 100, so that the material boxes 300 can be interlocked or detached.

[0095] Figure 10 This is a schematic diagram of a robot storage unit in a warehousing system provided in an embodiment of this application. Figure 11 This is a schematic diagram of a robot carrying a material box in a warehousing system provided in an embodiment of this application. Figure 12 This is a schematic diagram of the first conveying mechanism on the forklift device of a robot in a warehousing system provided in an embodiment of this application. Figure 13 This is a partial schematic diagram of the first conveying mechanism on the forklift device of a robot in a warehousing system provided in an embodiment of this application.

[0096] Please refer to Figures 1 to 13 In one possible implementation, the storage unit 113 and the fork device 120 can be disposed on opposite sides of the upright 112. The storage unit 113 may include a second conveying mechanism 1131. The first conveying mechanism 124 and the second conveying mechanism 1131 are connected to transfer the material box 300 between the fork device 120 and the storage unit 113. The conveying direction of the first conveying mechanism 124 has an angle with the picking and placing direction of the fork device 120.

[0097] It is understandable that, on the one hand, the staggered arrangement of the storage unit 113 and the fork device 120 will not increase the width of the gap between adjacent shelves 200. That is, the gap between shelves 200 only needs to be wide enough for the chassis 111 of the robot 100 to move and to accommodate the fork device 120. On the other hand, the material box 300 is transferred by the docking of the first conveying mechanism 124 and the second conveying mechanism 1131, realizing the transfer of the material box 300 between the fork device 120 and the storage unit 113.

[0098] For example, when retrieving the material box 300, the forklift device 120 first retrieves the material box 300 from the storage location 211, and then the first conveying mechanism 124 and the second conveying mechanism 1131 change the moving direction of the material box 300 and move the material box 300 into the storage unit 113. The process of putting the material box 300 in is the reverse process of retrieving the material box 300, which will not be described in detail here.

[0099] In some embodiments, there may be multiple storage units 113, and the multiple storage units 113 may be arranged at intervals along the height direction of the upright 112. When the fork device 120 picks up and puts down the material box 300 inside the storage location 211, at least one storage unit 113 is used to store the material box 300 at the entrance position of the storage location 211. Thus, the storage unit 113 can serve as a temporary storage unit for the material box 300, so that the robot 100 can obtain the material box 300 in the deeper interior of the storage location 211.

[0100] It is understandable that since multiple material boxes 300 can be stored in one storage location 211, when the target material box 300 to be retrieved is located in the inner part of the storage location 211, all the outer material boxes 300 need to be taken out so that the target material box 300 is at the entrance of the storage location 211. The material box 300 that comes out first can be temporarily stored in the storage unit 113 or in other storage locations 211. The specific storage location can be determined according to the storage status of the forks and the idle status of the storage unit 113. This application embodiment does not make specific limitations in this regard.

[0101] It should be noted that there can be multiple racks 200 in the warehousing system, which are arranged at intervals. There are aisles 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 in both directions along the width of the aisle 201 to pick up and place material boxes 300 on the racks 200 on both sides of the aisle 201. Thus, picking and placing operations in two directions can be performed without the fork device 120 needing to rotate, which improves logistics efficiency and reduces the width of the aisle 201, thereby increasing the storage density.

[0102] Since the warehousing system mainly includes the outbound and inbound processes of material boxes 300 from shelves 200 and the inbound processes of material boxes 300 from shelves 200, and both can be achieved by the docking and cooperation between the robot 100 and the shelves 200, the following describes the methods of outbound and inbound of material boxes 300 with the warehousing system as the main execution body.

[0103] First, the method for issuing material box 300 will be explained.

[0104] Figure 14 This is a schematic diagram illustrating the steps of a method for picking up and placing goods, as provided in an embodiment of this application.

[0105] Please refer to Figure 14 This application provides a method for picking and placing goods, applied to the warehousing system described above, using a robot in the warehousing system as the executing entity. The method includes:

[0106] S101. Receive the location information of the target material box, including the target storage location where the target material box is located and its arrangement position in the target storage location.

[0107] Since there are multiple shelves, each with multiple storage layers, and each storage layer with multiple storage locations, and each storage location can hold multiple material boxes, the first step is to determine the precise location of the target material box. The robot can store the location information of all material boxes, or it can receive the location information from the cloud or the warehouse system's control center.

[0108] Understandably, the location information of each material box can be numbered, with the symbols in the number corresponding to the shelf, storage layer, storage location, and the arrangement position within the storage location. For example, if the location information of the target material box is numbered "01, 02, 03, 04", it indicates that the target material box is located at position four in the first shelf, the second storage layer, and the third storage location. Position four can refer to the fourth storage location from the entrance of that storage location.

[0109] S102. Control the robot to move to the target storage location and align the robot's forks with the target storage location.

[0110] In this context, alignment refers to the height of the forklift device corresponding to the height of the target storage location. The picking mechanism of the forklift device faces the entrance of the target storage location, and the picking mechanism is aligned with the entrance of the target storage location and can complete the picking operation. This includes, but is not limited to, the picking mechanism and the entrance of the target storage location being directly abutted against each other or having a certain gap. Multiple racks can form a storage area. The robot can move outside the storage area and in the aisles between the racks. The robot can first move to the aisle of the rack where the target material box is located. The robot can move in this aisle to reach the location of the target storage location. By adjusting the height of the forklift device, the forklift device is aligned with the target storage location.

[0111] It should be noted that when the fork unit docks with the target storage location, the fork unit can extend and retract so that the ends of the fork unit can abut against the rack, and the fork unit will not extend into the interior of the target storage location, thereby avoiding the fork unit occupying the space inside the storage location, which in turn helps to improve the storage density of the rack.

[0112] S103. Control the robot to obtain the target material box and store the target material box in the robot's target storage unit.

[0113] Understandably, since the material boxes in the shelving locations are connected sequentially, when the forklift moves the target material box, it will move all the material boxes in the target location. When all the material boxes have moved one position, the forklift will separate the target material box from the other material boxes and then transfer the target material box to the storage unit. The specific steps of this process are explained below.

[0114] Step 1: Control the fork assembly to connect with the target material box and pull the target material box onto the fork assembly.

[0115] The forklift assembly can be connected to the target material box via a plug-in or suction cup adsorption method, and the material box can be pulled onto the forklift assembly by dragging.

[0116] Step 2: Move the forklift to detach the target material box from the material box inside the target storage location.

[0117] It is understandable that the moving fork device can be a lifting or lowering fork device. Taking the lifting fork device as an example, raising the fork device to a higher moving height can cause the target material box to be vertically misaligned with the material box inside the target storage location. This allows the hooks and slots between the target material box and the material box inside the target storage location to disengage, thereby completing the operation of removing the target material box from the shelf.

[0118] Step 3: Transfer the target material box from the forklift to the target storage unit.

[0119] The fork assembly can be raised and lowered so that its height matches that of the target storage unit. This allows the first conveying mechanism on the fork assembly to be aligned with the second conveying mechanism of the target storage unit. Through the docking and transmission of the first and second conveying mechanisms, the target material box can be moved from the fork assembly to the target storage unit.

[0120] In one possible implementation, if the target material box is located inside the target storage location, before controlling the robot to obtain the target material box, the process includes: controlling the robot to obtain the material box outside the target material box and storing the material box outside the target material box in the robot's idle storage unit, or storing it in other storage locations with space on the shelf.

[0121] It is understandable that vacant storage units and other available storage locations on shelves can serve as temporary storage for material boxes. After the robot obtains the target material box, the material box in the vacant storage unit or other available storage location on the shelf can be returned to the target storage location.

[0122] The following describes the method for receiving material boxes into the warehouse.

[0123] Figure 15 This is a schematic diagram illustrating the steps of another method for picking up and placing goods provided in an embodiment of this application.

[0124] Please refer to Figure 15 This application also provides a method for picking and placing goods, applied to the warehousing system described above, using a robot in the warehousing system as the executing entity. The method includes:

[0125] S201. Receive the location information of the target storage location and control the robot to move to the target storage location.

[0126] The robot can obtain the target material box from the external conveyor line or other transfer equipment, and then receive the location information of the target storage location where the target material box needs to be stored from the control center of the warehousing system. Based on its own location and the location of the target storage location, the robot can plan a movement path and move to the location of the target storage location.

[0127] S202. Transfer the target material box from the robot's storage unit to the robot's forklift.

[0128] First, the fork assembly can be moved to a position at the same height as the storage unit containing the target material box. Then, the first conveying mechanism on the fork assembly connects with the second conveying mechanism of the storage unit, transferring the target material box from the storage unit to the fork assembly.

[0129] S203. Control the robot's forklift device to dock with the target storage location, store the target material box in the target storage location, and make the target material box snap-fit ​​with the existing material box in the target storage location.

[0130] Move the fork assembly carrying the target material box to a position at the same height as the target storage location, so that the fork assembly is opposite the entrance of the target storage location. The fork assembly can be extended and retracted to connect with the target storage location, that is, the end of the fork assembly abuts against the rack. After that, the fork assembly can push the material box into the target storage location.

[0131] It should be noted that when a material box is already stored in the target storage location, the forklift will push the existing material box in the target storage location one position further into the storage location. The following describes the coordination steps between the target material box and the existing material box in the target storage location.

[0132] Step 1: Control the forklift device to move to the first height position. There is a height difference between the first height position and the target storage location. At the first height position, the vertical projection of the docking structure between the target material box and the material box at the entrance of the target storage location does not coincide.

[0133] For example, the height of the target material box on the forklift device will be higher than the height of the existing material box in the target storage location, so that the hooks and slots between the two can be staggered in the vertical direction.

[0134] Step 2: Move the target material box to the edge of the target storage location and make it abut against the material box in the target storage location. The projection of the docking structure between the target material box and the material box at the entrance of the target storage location in the horizontal direction should at least partially overlap.

[0135] The fork extension creates a passage between the fork extension and the target storage location on the rack, allowing the target material box to move. It can also push the target material box to a position where it contacts the material box in the target storage location. At this point, the target material box is still located outside the target storage location.

[0136] Step 3: Control the forklift device to move to the second height position. There is a height difference between the second height position and the first height position. At the second height position, the projections of the docking structure between the target material box and the material box at the entrance of the target storage location overlap at least partially in both the vertical and horizontal directions. The second height position is not lower than the height of the target storage location so that the target material box can be fastened to the material box in the target storage location.

[0137] For example, if the second height position is lower than the first height position, it can be understood that the second height position is the height position of the existing material box in the target storage location. The control fork device is lowered by a certain height, and the distance of the downward movement is the height difference between the second height position and the first height position. This causes the target material box on the fork device to move down a certain height, so that the hooks and slots of the target material box and the existing material box in the target storage location are interlocked.

[0138] Step 4: Move the target material box to the target storage location.

[0139] By using the pushing force of the forklift device on the material box, the target material box and all existing material boxes in the target storage location are simultaneously pushed one position into the target storage location, thereby completing the storage operation of the material box. At this time, the target material box is located at the entrance position of the target storage location.

[0140] Figure 16 This is a schematic diagram showing the arrangement of the telescopic mechanism in the fork device of the robot provided in the embodiments of this application. Figure 17 This is a schematic diagram of the picking mechanism in the forklift device of the robot provided in the embodiments of this application.

[0141] Please refer to Figures 1 to 13 , combined Figure 16 and Figure 17 This application provides a robot 100 for picking up and placing material boxes 300 in a warehousing system. The robot 100 includes a robot body 110, a lifting mechanism 130, and a fork device 120. The fork device 120 is mounted on the robot body 110. The lifting mechanism 130 is configured to move the fork device 120 along the height direction of the robot body 110, so that the fork device 120 can complete the picking and placing operations at different heights. The fork device 120 is configured to dock with a storage location 211 of a shelf 200, and when the fork device 120 picks up a material box 300 at the entrance of the storage location 211, it moves other material boxes 300 in the storage location 211 toward the entrance of the storage location 211.

[0142] The robot body 110 includes a chassis 111, a stand 112, and a storage unit 113. The stand 112 is mounted on the chassis 111. The storage unit 113 and the fork device 120 are located on opposite sides of the stand 112. The fork device 120 includes a first conveying mechanism 124, which is connected to the storage unit 113 to transfer the material box 300 between the fork device 120 and the storage unit 113.

[0143] It should be noted that when the robot 100 provided in this application embodiment docks with the material box 300, after the fork device 120 picks up the material box 300, it does not need to rotate the fork device 120 to face the storage unit 113. Instead, the first conveying mechanism 124 on the fork device 120 can change the conveying direction of the material box 300 and convey the material box 300 to the storage unit 113. This avoids the rotation diameter of the fork device 120 occupying more space, which helps to reduce the spacing between the shelves 200 when the robot 100 picks up and puts down goods and improves the storage density.

[0144] The structure, location, and docking method of the first transmission mechanism 124 with the storage unit 113 will be described below.

[0145] Figure 18 This is a schematic diagram showing the arrangement of the picking mechanism in the forklift device of the robot provided in the embodiments of this application. Figure 19 This is a schematic diagram of the rotating assembly of the picking mechanism in the forklift device of the robot provided in this application embodiment. Figure 20 This is a cross-sectional view of the rotating component of the picking mechanism in the robot's fork assembly provided in this embodiment of the application. Figure 21 This is a schematic diagram of the positioning component of the picking mechanism in the robot's forklift device provided in an embodiment of this application. Figure 22 This is a cross-sectional view of the picking mechanism and the material box in the forklift device of the robot provided in this embodiment of the application. Figure 23 This is a cross-sectional view from another perspective of the picking mechanism and material box cooperation in the forklift device of the robot provided in the embodiments of this application.

[0146] Please refer to Figures 18 to 23 , combined Figures 10 to 13 In one possible implementation, the fork assembly 120 may further include a telescopic mechanism 121, which includes a base plate 1211 and a telescopic plate 1212. The telescopic plate 1212 can extend and retract bidirectionally relative to the base plate 1211 along the length of the base plate 1211. A first conveying mechanism 124 is connected to the telescopic plate 1212 and is configured to support the material box 300.

[0147] Understandably, when the robot 100 moves between the two shelves 200, the fork device 120 can perform picking and placing operations in different directions. That is, it can pick up goods on the shelves 200 on both sides without rotating the fork device 120. It only needs to extend and retract the telescopic plate 1212 in different directions, which improves the efficiency of picking and placing goods, reduces space occupation, and increases warehouse density.

[0148] It should be noted that the first conveying mechanism 124 and the telescopic plate 1212 move synchronously. The first conveying mechanism 124 acts as a pallet. The storage unit 113 is located to the side of the fork device 120 along the telescopic direction of the telescopic plate 1212. Here, "to the side" means that when the fork device 120 and the storage unit 113 are opposite each other, the storage unit 113 is located on one side of the width direction of the fork device 120. The storage unit 113 may include a second conveying mechanism 1131. The first conveying mechanism 124 and the second conveying mechanism 1131 are connected. The transmission directions of the first conveying mechanism 124 and the second conveying mechanism 1131 are the same. The transmission direction of the first conveying mechanism 124 has an angle with the telescopic direction of the telescopic plate 1212. Thus, the turning movement of the material box 300 can be achieved through the connection of the first conveying mechanism 124 and the second conveying mechanism 1131, avoiding the storage unit 113 occupying the space in the width direction of the aisle 201 of the shelf 200.

[0149] The first conveying mechanism 124 and the second conveying mechanism 1131 can realize the movement of the material box 300 by means of rollers, tracks, etc. This application embodiment does not specifically limit this, and the following will use rollers as an example for explanation.

[0150] In one possible implementation, the first conveying mechanism 124 may include a first transmission member 1241 and a plurality of parallel-spaced first rollers 1242, with adjacent first rollers 1242 connected by the first transmission member 1241. The first rollers 1242 extend along the length of the telescopic plate 1212. The second conveying mechanism 1131 may include a second transmission member 1132 and a plurality of parallel-spaced second rollers 1133, with adjacent second rollers 1133 connected by the second transmission member 1132. The second rollers 1133 are arranged parallel to the first rollers 1242 to ensure that the transmission direction between the first rollers 1242 and the second rollers 1133 is consistent, thereby ensuring good docking between the first conveying mechanism 124 and the second conveying mechanism 1131, so that the movement of the material box 300 remains smooth.

[0151] It is understood that the number of first rollers 1242 can be two, three, four or more. Multiple first rollers 1242 are located on the same horizontal plane to maintain good support for the material box 300. Multiple first rollers 1242 can be symmetrically distributed with respect to the width direction of the forks. For example, there can be four first rollers 1242, which are symmetrically distributed in pairs with gaps in between. This allows the first conveying mechanism 124 to avoid interference with components that are fixed relative to the base plate 1211 when it moves with the telescopic plate 1212.

[0152] In addition, the first transmission component 1241 can be a flexible component such as a belt or chain. The first transmission component 1241 can be located at the end of the first roller 1242. At least one of the multiple first rollers 1242 can be an electric roller, so as to drive the other first rollers 1242 to rotate, thereby improving the transfer efficiency of the material box 300.

[0153] It should be noted that the number of second rollers 1133 is not specifically limited in this application. Multiple second rollers 1133 can be installed on the side of the upright 112 through a frame structure. The connection method and transmission method between the second transmission component 1132 and the second rollers 1133 can be similar to those of the first transmission component 1241, and will not be described in detail here.

[0154] In some embodiments, a first limiting member 1211a may be provided on the side of the fork device 120 away from the storage unit 113. The first limiting member 1211a is connected to the base plate 1211 and protrudes vertically from the upper side of the first roller 1242. When the first roller 1242 supports the material box 300, the first limiting member 1211a can block the side of the material box 300, thereby preventing the material box 300 from falling from the side of the fork device 120.

[0155] Correspondingly, a second limiting member 1134 may be provided on the side of the storage unit 113 away from the fork device 120. The second limiting member 1134 is connected to the edge of the storage unit 113 and protrudes vertically from the upper side of the second roller 1133. When the second roller 1133 supports the material box 300, the second limiting member 1134 is blocked on the side of the material box 300, which can prevent the material box 300 from falling from the side of the storage unit 113.

[0156] In addition, a switch unit 1135 may be provided on the side edge of the storage unit 113 away from the fork device 120, and a clearance opening 1134a is provided on the second limiting member 1134. The switch unit 1135 protrudes at least partially through the clearance opening 1134a to the side of the second limiting member 1134 facing the second conveying mechanism 1131, which can accurately detect whether the material box 300 has entered the storage unit 113.

[0157] For example, the switch unit 1135 can be a touch switch, with the trigger end of the touch unit protruding to the side of the second limiting member 1134 facing the second conveying mechanism 1131. During the retrieval process, when the material box 300 is transferred to the storage unit 113, the side wall of the material box 300 abuts against the switch unit 1135, thereby obtaining an electrical signal indicating that the material box 300 is in place. The switch unit 1135 can also be a non-touch switch, such as a photoelectric switch, etc., which is not specifically limited in this embodiment.

[0158] It should be noted that at least one guide wheel 1244 may be provided on the mounting bracket 1243. The guide wheel 1244 is located between two adjacent first rollers 1242 and abuts against the outer side of the first transmission member 1241. The guide wheel 1244 guides the transmission of the first transmission member 1241 and changes the shape enclosed by the first transmission member 1241, thereby making the first transmission member 1241 occupy less space. During the extension and retraction of the fork device 120, interference between the first transmission member 1241, which moves with the telescopic plate 1212, and other components (such as cameras) between adjacent first rollers 1242 is avoided.

[0159] The specific structure of the forklift device 120 and its loading and unloading methods are described in detail below.

[0160] Figure 24 This is a front view of the telescopic mechanism in the fork assembly of the robot provided in an embodiment of this application. Figure 25 This is an axonometric view of the telescopic mechanism in the fork assembly of the robot provided in this embodiment of the application. Figure 26 This is a schematic diagram showing the telescopic mechanism extending forward in the fork device of the robot provided in this application embodiment. Figure 27 This is a schematic diagram of the telescopic mechanism extending to the rear end in the fork device of the robot provided in the embodiments of this application.

[0161] Please refer to Figures 24 to 27 , combined Figure 3 and Figure 8 In one possible implementation, the forklift device 120 may further include a sliding plate 1221 and a picking mechanism 122. The sliding plate 1221 is slidably disposed on the telescopic plate 1212, and the picking mechanism 122 is connected to the sliding plate 1221. The telescopic mechanism 121 may further include a transmission assembly 1213, which is disposed between the telescopic plate 1212 and the base plate 1211. The picking mechanism 122 is connected to the transmission assembly 1213. 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 assembly 1213 is in motion, thereby automatically and efficiently completing the operation of picking up and placing the material box 300.

[0162] The travel distance of the picking mechanism 122 relative to the sliding plate 1221 can be approximated as 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.

[0163] 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.

[0164] The telescopic plate 1212 is defined as the X-direction in its telescopic direction relative to the base plate 1211. The picking mechanism 122 is also defined as the X-direction in its moving direction relative to the telescopic plate 1212. The width direction of the fork device 120 is defined as the Y-direction. The direction perpendicular to the XY plane is defined as the Z-direction, which is the height direction of the fork device 120.

[0165] In some embodiments, the transmission assembly 1213 may include a locking mechanism 123, a first driving unit 1215, a flexible transmission member 1214, and a transmission wheel set. The transmission wheel set includes multiple transmission wheels. The first driving unit 1215 drives the multiple transmission wheels to rotate. The multiple transmission wheels are respectively located on the substrate 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 substrate 1211 and the telescopic plate 1212. When the locking mechanism 123 is unlocked, the transmission wheels drive the substrate 1211 and the telescopic plate 1212 to move relative to each other under the drive of the flexible transmission member 1214.

[0166] 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.

[0167] 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.

[0168] The picking mechanism 122 is fixed relative to the sliding plate 1221. The flexible transmission member 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. The sliding plate 1221 can move along the X direction under the drive of the flexible transmission member 1214. The moving stroke of the sliding plate 1221 is the moving stroke of the picking mechanism 122.

[0169] 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.

[0170] In one possible implementation, there can be two telescopic mechanisms 121. The fork assembly 120 may also include a connecting bracket 125 and a drive shaft 126. The two telescopic mechanisms 121 are symmetrically distributed on both sides of the first conveying mechanism 124. The first conveying mechanism 124 may also include two mounting brackets 1243. The two mounting brackets 1243 are located at both ends of the first roller 1242, and the first roller 1242 is rotatably connected to the mounting brackets 1243.

[0171] The mounting bracket 1243 is connected at both ends to the telescopic plates 1212 of the two telescopic mechanisms 121 respectively; the base plates 1211 of the two telescopic mechanisms 121 are connected by the connecting bracket 125; the sliding plate 1221 is slidably connected at both ends to the telescopic plates 1212 of the two telescopic mechanisms 121 respectively; the first drive unit 1215 is disposed between the two telescopic mechanisms 121, and the output end of the first drive unit 1215 is connected to the drive shaft 126. The two ends of the drive shaft 126 are connected to the drive wheels of the two telescopic mechanisms 121 respectively, thereby ensuring the reasonable layout of the overall structure of the fork device 120, improving space utilization, and the symmetrically distributed telescopic mechanisms 121 make the overall movement of the first conveying mechanism 124 stable and reliable.

[0172] 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.

[0173] 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.

[0174] In some implementations, 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 ensures a reasonable layout of the overall structure of the fork device 120, improves space utilization, and the symmetrically distributed telescopic mechanisms 121 make the movement of the first conveying mechanism 124 stable and reliable.

[0175] 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.

[0176] In some embodiments, buffer pads 1245 can be provided at both ends of the first conveying mechanism 124 along the telescopic plate 1212 telescopic direction. That is, buffer pads 1245 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.

[0177] It is understood that there may be one or more cushioning pads 1245, and the cushioning pads 1245 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 edge of the storage position 211 of the shelf 200, the cushioning pads 1245 abut against the edge of the storage position 211 of the shelf 200. The cushioning pads 1245 may be elastic, thereby reducing the impact force and preventing the impact force from being transmitted to the telescopic plate 1212.

[0178] For example, two buffer pads 1245 can be provided at each end of the telescopic plate 1212 and arranged at intervals along the Y direction. The material used for the buffer pads 1245 may include, but is not limited to, rubber, silicone, sponge, etc. This application embodiment does not specifically limit this.

[0179] The specific structure and working method of the pickup mechanism 122 will be described in detail below.

[0180] Please refer to Figures 17 to 23 In one possible implementation, the picking mechanism 122 may include a rotating component 1222 and a push-pull component 1223. The rotating component 1222 may include a rotating unit 1222a, a mounting base 1222b, and a rotating shaft 1222c. The rotating shaft 1222c is connected to the sliding plate 1221, and the mounting base 1222b is rotatably connected to the rotating shaft 1222c. The rotating unit 1222a is disposed on the mounting base 1222b and drives the mounting base 1222b to rotate relative to the rotating shaft 1222c. The push-pull component 1223 is disposed on the mounting base 1222b, thereby enabling the picking mechanism 122 to change direction and complete picking operations in different directions.

[0181] Understandably, the power source for rotating the mounting base 1222b can be located on the mounting base 1222b itself, thereby improving the rationality of the spatial layout. The rotating unit 1222a can be a motor, and the output shaft of the motor can drive the mounting base 1222b to rotate via belt drive or chain drive.

[0182] For example, the rotating assembly 1222 may further include a first gear 1222d, a second gear 1222e, and a transmission belt 1222f. The first gear 1222d is connected to the output end of the rotating unit 1222a, the second gear 1222e is connected to the rotating shaft 1222c and is coaxially arranged, and the transmission belt 1222f is wrapped around the outside of the first gear 1222d and the second gear 1222e. When the rotating assembly 1222 drives the first gear 1222d to rotate, the second gear 1222e remains fixed to the rotating shaft 1222c, so that the mounting base 1222b can rotate around the shaft.

[0183] In some embodiments, the mounting base 1222b has a connecting portion that can be sleeved on the outside of the rotating shaft 1222c and is coaxially arranged with the rotating shaft 1222c. At least one rotating member 1222g is provided between the inner wall of the connecting portion and the outer wall of the rotating shaft 1222c, thereby improving the smoothness of the rotation of the mounting base 1222b.

[0184] For example, the connecting part can be integrally formed with the mounting base 1222b. The connecting part is cylindrical, and the rotating component 1222g can be a bearing. The inner ring of the bearing can be interference-fitted with the outer wall of the rotating shaft 1222c, and the outer ring of the bearing can be interference-fitted with the inner wall of the connecting part. In addition, there can be one, two, or more rotating components 1222g. Multiple rotating components 1222g are arranged at intervals to improve the ability to bear radial forces. The embodiments of this application do not specifically limit the number of rotating components 1222g.

[0185] To enable quick insertion and separation of the push-pull assembly 1223 from the material box 300 and improve the efficiency of picking and placing goods, the push-pull assembly 1223 may include a push plate 1223a, a pull plate 1223b, and a first driving member 1223c. The push plate 1223a is connected to the mounting base 1222b, the first driving member 1223c may be disposed on the push plate 1223a, and the pull plate 1223b is connected to the first driving member 1223c. The first driving member 1223c is configured to drive the pull plate 1223b to move relative to the mounting base 1222b, so that the pull plate 1223b can be inserted into or detached from the material box 300.

[0186] The push-pull assembly 1223 may also include at least one guide portion 1223d and a guide post 1223e. The guide portion 1223d is disposed on the push plate 1223a, and the guide post 1223e passes through the guide portion 1223d and is connected to the pull plate 1223b. The guide post 1223e extends along the moving direction of the pull plate 1223b, thereby improving the smoothness of the movement of the pull plate 1223b.

[0187] For example, there can be two guide posts 1223e, which are arranged in parallel and located on both sides of the first drive member 1223c, thereby improving the balance of the movement of the pull plate 1223b. In addition, the first drive member 1223c can be a telescopic motor. The cooperation between the guide posts 1223e and the guide part 1223d can bear the radial tension when the pull plate 1223b pulls the material box 300, avoiding the first drive member 1223c from bearing the tension and extending the service life of the first drive member 1223c.

[0188] In some embodiments, the picking mechanism 122 may further include a positioning component 1224, which may include a second drive member 1224a and a locking shaft 1224b. The second drive member 1224a is connected to the mounting base 1222b, and the locking shaft 1224b is connected to the output end of the second drive member 1224a. A locking hole 1221a may be provided on the sliding plate 1221. The second drive member 1224a is configured to drive the locking shaft 1224b to move so that the locking shaft 1224b can be inserted into or disengaged from the locking hole 1221a.

[0189] It is understandable that when the picking mechanism 122 rotates to the target position, the positioning component 1224 can keep the picking mechanism 122 stable, and prevent the picking mechanism 122 from deflecting or shaking during the cooperation between the picking mechanism 122 and the material box 300. The second driving component 1224a can be a telescopic motor, and the locking shaft 1224b can move along the Z direction under the drive of the second driving component 1224a.

[0190] In addition, the positioning mechanism may also include a first detection unit 1224c, which is disposed on one of the sliding plate 1221 and the mounting base 1222b. When the locking shaft 1224b is opposite to the locking hole 1221a, the first detection unit 1224c is opposite to the other of the sliding plate 1221 and the mounting base 1222b, thereby ensuring the positioning accuracy of the starting point of the rotation stroke of the picking mechanism 122.

[0191] For example, the first detection unit 1224c can be a photoelectric sensor. Since the picking mechanism 122 can pick up goods in both directions according to the extension direction of the telescopic plate 1212, the conversion between the two picking directions can be achieved by controlling the mounting base 1222b to rotate 180°. Both ends of the sliding member can be provided with locking holes 1221a. When the picking mechanism 122 is in different picking directions, the locking shaft 1224b can be inserted and engaged with the locking hole 1221a, and the photoelectric sensor can detect the mounting base 1222b or the sliding plate 1221.

[0192] It should be noted that the sliding plate 1221 may be provided with a limiting part 1221b. When the locking shaft 1224b is opposite to the locking hole 1221a, the limiting part 1221b abuts against the mounting base 1222b. The limiting part 1221b may be a plate-shaped structure, which can limit the rotation of the picking mechanism 122 and avoid alignment deviation.

[0193] In one possible implementation, the sliding plate 1221 is connected to the flexible transmission member 1214 and moves with the flexible transmission member 1214. The picking mechanism 122 is fixed relative to the sliding plate 1221. The flexible transmission member 1214 and the picking mechanism 122 are indirectly connected through the sliding plate 1221 to ensure the smooth movement of the picking mechanism 122 relative to the telescopic plate 1212. The sliding plate 1221 can move along the X direction under the drive of the flexible transmission member 1214. The moving stroke of the sliding plate 1221 is the moving stroke of the picking mechanism 122.

[0194] The specific arrangement and transmission method of the transmission wheel set are explained below.

[0195] Please refer to Figures 24 to 27 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.

[0196] The first transmission wheel 1213a and the third transmission wheel 1213c are positioned at different locations in the direction of movement of the telescopic plate 1212. The flexible transmission member 1214 surrounds 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.

[0197] 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.

[0198] 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.

[0199] 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.

[0200] 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.

[0201] 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.

[0202] 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.

[0203] 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.

[0204] 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.

[0205] The specific structure and locking method of the locking mechanism 123 will be described in detail below.

[0206] Figure 28 This is a schematic diagram of the locking mechanism in the fork assembly of the robot provided in an embodiment of this application. Figure 29 This is a schematic diagram showing the unlocked state of the locking mechanism in the fork assembly of the robot provided in this embodiment of the application. Figure 30 This is a schematic diagram of the rocker arm of the locking mechanism in the fork assembly of the robot provided in this application, in the first position. Figure 31 This is a schematic diagram of the rocker arm of the locking mechanism in the second position of the forklift device of the robot provided in the embodiments of this application.

[0207] Please refer to Figures 24 to 31 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.

[0208] 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.

[0209] 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.

[0210] 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.

[0211] 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.

[0212] 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.

[0213] 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.

[0214] 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.

[0215] 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.

[0216] 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.

[0217] 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.

[0218] 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.

[0219] 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.

[0220] 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.

[0221] Figure 32 This is a schematic diagram of the reset mechanism in the forklift device of the robot provided in the embodiments of this application. Figure 33 This is a schematic diagram of the structure of the reset mechanism for the extended fork device of the robot provided in the embodiments of this application.

[0222] Please refer to Figure 32 and Figure 33 , combined Figures 24 to 27In 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.

[0223] 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.

[0224] 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.

[0225] 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.

[0226] 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.

[0227] 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.

[0228] Figure 34 This is a schematic diagram of the detection component in the forklift device of the robot provided in an embodiment of this application. Figure 35 This is a schematic diagram showing the arrangement of the third detection unit in the forklift device of the robot provided in an embodiment of this application.

[0229] Please refer to Figure 34 and Figure 35 In one possible implementation, the forklift device 120 may further include a detection component 128, which may include a controller, a sensing plate 1281, and two second detection units 1282. The second 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 second detection units 1282 are relative to the sensing plate 1281, they provide a detection signal. The controller is configured to determine the position of the sliding plate 1221 relative to the telescopic plate 1212 based on the detection signal.

[0230] 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 second detection unit 1282 moves relative to the sensing plate 1281. When the second 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.

[0231] 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 second detection units 1282 are staggered in the width direction of the telescopic plate 1212. When the sliding plate 1221 moves, one of the two second detection units 1282 is opposite to the second sensing segment 1281b, or both second detection units 1282 are opposite to the first sensing segment 1281a, thereby determining whether the telescopic plate 1212 is in a centered position.

[0232] 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 second detection unit 1282 can be located in the middle of the telescopic plate 1212, and the two second detection units 1282 can be staggered relative to the Y direction. When the telescopic plate 1212 extends, only one of the two second 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 second detection units 1282. When the telescopic plate 1212 retracts, the two second 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.

[0233] 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.

[0234] In addition, the robot 100 may also include at least two third 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 211 and the information of the material box 300.

[0235] For example, the third detection unit 129 can be a vision sensor such as a camera or a scanner, to identify the markings of the material box 300 and the storage location 211 of 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.

[0236] 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.

[0237] 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.

[0238] The structure of the other picking mechanism 122 provided in the embodiments of this application, and the corresponding structure of the fork device 120, will be described below.

[0239] Figure 44 This is a schematic diagram of another picking mechanism for a robot provided in an embodiment of this application. Figure 45 This is a schematic diagram illustrating another separation state between the robot's picking mechanism and the material box, as provided in an embodiment of this application. Figure 46 This is a schematic diagram illustrating another connection state between the robot's picking mechanism and the material box, as provided in an embodiment of this application. Figure 47 This is a schematic diagram showing the fork assembly of a robot provided in an embodiment of this application facing the storage unit.

[0240] Please refer to Figures 44 to 47 In one possible implementation, the fork assembly 120 may include a picking mechanism 122 and a rotating mechanism. The picking mechanism 122 is movably mounted on the fork assembly 120, and the rotating mechanism is located between the fork assembly 120 and the lifting mechanism 130. A connector 140 is provided on the side of the picking mechanism 122 facing the picking direction of the fork assembly 120. The connector 140 is configured to connect or disconnect from the material box 300 by the lifting of the lifting mechanism 130.

[0241] It is understandable that when the connector 140 is connected to the material box 300, the material box 300 can be dragged onto the fork device 120 or pushed away from the fork device 120 by the movement of the picking mechanism 122 relative to the fork device 120, so as to realize the picking and placing operation. It should be noted that the lifting mechanism 130 can realize the connection or separation of the connector 140 and the material box 300 by changing the overall height position of the fork device 120 relative to the material box 300.

[0242] For example, the connector 140 can be an "L"-shaped insert structure, and the connector 140 can be inserted into the slot 302 of the material box 300. The connector 140 can be connected to the sliding plate 1221, for example, by fastener installation or welding connection.

[0243] In some embodiments, the rotating mechanism may include a third drive unit 150, which may be disposed at one end of the fork assembly 120 away from the picking direction. The third drive unit 150 is configured to drive the fork assembly 120 to rotate so that the fork assembly 120 is toward the shelf 200 or the storage unit 113.

[0244] It is understood that the fork device 120 can pick up and put down goods from the side of the robot (but not only the side, but any position that the fork device can rotate to). That is, the side of the robot can be opposite the shelf 200. When the fork device 120 is opposite the shelf 200 and picks up the material box 300 from the shelf 200, the fork device 120 can rotate under the drive of the third drive unit 150, so as to be opposite the storage unit 113. Then, the material box 300 can be placed into the storage unit 113 by the movement of the picking mechanism 122.

[0245] For example, the third drive unit 150 can be a motor. The main body of the third drive unit 150 can be connected to the fork device 120, and the output end of the third drive unit 150 can be connected to the lifting mechanism 130 through chain drive or belt drive, thereby realizing the rotation of the fork device 120 relative to the robot body 110.

[0246] Figure 36 This is a schematic diagram of the first state of the robot picking process provided in an embodiment of this application. Figure 37 This is a schematic diagram of the second state of the robot picking process provided in the embodiments of this application. Figure 38 This is a schematic diagram of the third state of the robot picking process provided in the embodiments of this application. Figure 39 This is a cross-sectional view of the third state of the robot picking process provided in the embodiments of this application. Figure 40 This is a cross-sectional view of the fourth state of the robot picking process provided in the embodiments of this application. Figure 41 This is a schematic diagram of the fifth state of the robot pickup process provided in the embodiments of this application. Figure 42 This is a cross-sectional view of the sixth state of the robot picking process provided in the embodiments of this application. Figure 43 This is a schematic diagram of the seventh state of the robot picking process provided in the embodiments of this application.

[0247] The following example illustrates the operation of robot 100 by showing it picking up goods from shelf 200. Please refer to [link / reference]. Figures 36 to 43 .

[0248] ① The robot 100 moves in the aisle 201 to the location of the target storage location 211, and at the same time the forklift device 120 moves to the height position corresponding to the target storage location 211.

[0249] 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.

[0250] ③ The picking mechanism 122 moves back, driving the material box 300 to the fork device 120. At the same time, the telescopic plate 1212 returns to its original position relative to the base plate 1211. During this process, the pull plate 1223b is inserted into the slot 302 of the material box 300.

[0251] ④ The fork device 120 is raised to a certain height under the drive of the lifting mechanism 130, so that the hooks 301 and slots 302 of the material box 300 on the fork device 120 are disengaged from the material box 300 inside the storage location 211.

[0252] ⑤ Retract the telescopic plate 1212 to the center position relative to the base plate 1211. At this time, the position of the material box 300 is opposite to the storage unit 113. Remove the pull plate 1223b from the slot 302 of the material box 300.

[0253] ⑥ The material box 300 is transferred from the forklift device 120 to the storage unit 113 through the first conveying mechanism 124 and the second conveying mechanism 1131 to complete the picking process.

[0254] 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.

[0255] This application provides a warehousing system, a method for picking and placing goods, and a robot. The warehousing system includes shelves and a robot. The shelves have at least two storage layers, each storage layer has at least one storage location, and the storage location is configured to store at least two material boxes. Multiple material boxes are arranged sequentially and connected from the entrance of the storage location into the interior of the storage location. The robot includes a robot body and a fork device. The robot body includes a chassis, a vertical frame, and a storage unit. The vertical frame is mounted on the chassis, and the fork device is mounted on the robot body. The storage unit and the fork device are located on opposite sides of the vertical frame. The fork device includes a first conveying mechanism that docks with the storage unit. The fork device is configured to dock with the entrance of the storage location and pick up or place any material box from the storage location into the storage unit, or pick up or place a material box from the storage unit into the storage location. This achieves deep storage of material boxes in the shelf storage location, providing better flexibility and scalability. At the same time, when the robot picks up or places material boxes on the shelf, the fork device does not need to rotate to complete the transfer of material boxes from the shelf to the storage unit, reducing the width between shelves and increasing the storage density of the warehousing system.

[0256] It should be noted that, depending on the specific type of goods, the warehousing system and robot provided in this embodiment can be applied to different fields such as the inbound and outbound of manufacturing factory production lines or inventory products, retail logistics, and e-commerce logistics express delivery inbound and outbound. The products or goods involved in transportation can be industrial parts, electronic accessories or products, clothing and accessories, food, etc., but this application embodiment does not make specific limitations in this regard.

[0257] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A warehousing system, characterized in that, The warehousing system includes: The shelf has at least one storage layer, the storage layer has at least one storage location, the storage location is configured to store at least two material boxes, wherein the material boxes are arranged sequentially from the entrance of the storage location toward the inside of the storage location away from the entrance and are detachably connected; The robot includes at least one storage unit and a fork device configured to dock with the storage location and, when the fork device acquires the material box at the entrance of the storage location, drive other material boxes in the storage location to move toward the entrance of the storage location. The forklift device includes a telescopic mechanism, which includes a base plate, a telescopic plate, and a transmission assembly. The transmission assembly is disposed between the telescopic plate and the base plate, and the telescopic plate can extend and retract bidirectionally relative to the base plate along the length direction of the base plate. The transmission assembly includes a locking mechanism, a first driving unit, a flexible transmission component, and a transmission wheel set. The transmission wheel set includes multiple transmission wheels. The first driving unit drives the multiple transmission wheels to rotate. The multiple transmission wheels are respectively located on the base plate and the telescopic plate. The flexible transmission component surrounds the outside of the multiple transmission wheels and moves as the transmission wheels rotate. When the locking mechanism is locked, the telescopic plate and the base plate are fixed relative to each other; 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. The locking mechanism is disposed in the middle of the substrate. The locking mechanism includes a locking member, a first elastic member and a second driving unit. A positioning groove is provided in the middle of the telescopic plate. The locking member can be inserted into the positioning groove or disengaged from the positioning groove so that the telescopic plate is locked or unlocked with the substrate. The locking member is slidably disposed on the substrate, and a hook is provided on the locking member. The first end of the first elastic member is connected to the hook, 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. The output end of the second drive unit is provided with a rocker arm, which 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 engages with the positioning groove under the elastic force of the first elastic member.

2. The warehousing system according to claim 1, characterized in that, The storage layer comprises multiple layers arranged along the height direction of the shelf. The robot also includes a stand and a lifting mechanism. The fork device is connected to the lifting mechanism, which is connected to the stand and configured to move the fork device along the height direction of the stand, so that the fork device can dock with the storage layers at different heights.

3. The warehousing system according to claim 2, characterized in that, The shelving includes multiple uprights and multiple beams, with the beams connected between the uprights and spaced apart along the height of the uprights to form multiple storage layers.

4. The warehousing system according to claim 3, characterized in that, The shelf also includes multiple longitudinal beams, which are connected to the crossbeams and are spaced apart along the length of the crossbeams, forming storage locations between adjacent longitudinal beams; and / or, the longitudinal beams include support plates and limiting plates, the support plates are horizontally arranged, the support plates of adjacent longitudinal beams are supported on opposite sides of the bottom of the material box, and the limiting plates are positioned on the sides of the material box.

5. The warehousing system according to any one of claims 1-4, characterized in that, The width of the storage location matches the width of the material box. The material box is provided with hooks and slots on both ends of its sidewalls along the length of the storage location. The end sidewalls of adjacent material boxes in the same storage location are interlocked. The hooks and slots of adjacent material boxes are opposite to each other. When adjacent material boxes move relative to each other in the height direction, the hook engages or disengages from the slot.

6. The warehousing system according to claim 2, characterized in that, The forklift device includes a first conveying mechanism, which is connected to the storage unit to allow the forklift device to pick up and place the material box on the forklift device into the storage unit.

7. The warehousing system according to claim 6, characterized in that, The storage unit and the fork assembly are disposed on opposite sides of the upright. The storage unit includes a second conveying mechanism. The first conveying mechanism and the second conveying mechanism are connected to transfer the material box between the fork assembly and the storage unit. The conveying direction of the first conveying mechanism and / or the second conveying mechanism forms an angle with the picking and placing direction of the fork assembly.

8. The warehousing system according to any one of claims 1-4, characterized in that, The shelves are multiple and arranged at intervals, with aisles between adjacent shelves. The robot moves in the aisles, and the robot's forks can extend and retract bidirectionally along the width of the aisles to pick up and place the material boxes on the shelves on both sides of the aisles.

9. A method for picking up and placing goods, characterized in that, Applied to the warehousing system according to any one of claims 1-8, the method comprises: Receive the location information of the target material box, the location information including the target storage location where the target material box is located and its arrangement position in the target storage location; Control the robot to move to the target storage location and align the robot's forks with the target storage location; The robot is controlled to acquire the target material box and store the target material box in the robot's target storage unit.

10. The method for picking up and placing goods according to claim 9, characterized in that, The control of the robot to acquire the target material box specifically includes: If the target material box is located at the entrance of the target storage location, then the target material box is directly obtained; Acquiring the target material box includes: Control the fork assembly to engage with the target material box; Control the forklift device to drag the target material box onto the forklift device, and simultaneously move other material boxes in the target storage location; Control the forklift device to move vertically, so that the target material box is separated from other material boxes in the target storage location.

11. The method for picking up and placing goods according to claim 9, characterized in that, Controlling the robot to acquire the target material box specifically includes: If the target material box is located inside the target storage location, the robot is controlled to obtain the material box outside the target material box and temporarily store the material box outside the target material box in the robot's idle storage unit or in another storage location with space, until the target material box is obtained.

12. A method for picking up and placing goods, characterized in that, Applied to the warehousing system according to any one of claims 1-8, the method comprises: Receive the location information of the target storage location and control the robot to move to the target storage location; Control the robot's forklift device to dock with the target storage location, store the target material box in the target storage location, and make the target material box snap into the material box at the entrance of the target storage location.

13. The method for picking up and placing goods according to claim 12, characterized in that, The forklift device controlling the robot docks with the target storage location, stores the target material box in the target storage location, and engages the target material box with the material box at the entrance of the target storage location, specifically including: Control the fork device to move to a first height position. At the first height position, the vertical projection of the docking structure between the target material box and the material box at the entrance of the target storage location does not coincide. The target material box is moved to the edge of the target storage location, and the projection of the docking structure between the target material box and the material box at the entrance of the target storage location in the horizontal direction at least partially overlaps. Control the fork device to move to the second height position, where the projections of the docking structure between the target material box and the material box at the entrance of the target storage location overlap at least partially in both the vertical and horizontal directions, and the second height position is not lower than the height of the target storage location; Push the target material box into the target storage location.

14. A robot, characterized in that, The robot is used for picking up and placing material boxes in a warehousing system. The robot includes a robot body, a lifting mechanism, and a fork device. The fork device is mounted on the robot body. The lifting mechanism is configured to drive the fork device to move along the height direction of the robot body. The fork device is configured to dock with the storage location of the shelf. When the fork device picks up the material box at the entrance of the storage location, it drives other material boxes in the storage location that are detachably connected to the material box at the entrance of the storage location to move towards the entrance of the storage location. The robot body includes a chassis, a stand, and a storage unit. The stand is mounted on the chassis, and the storage unit and the fork assembly are located on opposite sides of the stand. The forklift device includes a telescopic mechanism, which includes a base plate, a telescopic plate, and a transmission assembly. The transmission assembly is disposed between the telescopic plate and the base plate, and the telescopic plate can extend and retract bidirectionally relative to the base plate along the length direction of the base plate. The transmission assembly includes a locking mechanism, a first driving unit, a flexible transmission component, and a transmission wheel set. The transmission wheel set includes multiple transmission wheels. The first driving unit drives the multiple transmission wheels to rotate. The multiple transmission wheels are respectively located on the base plate and the telescopic plate. The flexible transmission component surrounds the outside of the multiple transmission wheels and moves as the transmission wheels rotate. When the locking mechanism is locked, the telescopic plate and the base plate are fixed relative to each other; 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. The locking mechanism is disposed in the middle of the substrate. The locking mechanism includes a locking member, a first elastic member and a second driving unit. A positioning groove is provided in the middle of the telescopic plate. The locking member can be inserted into the positioning groove or disengaged from the positioning groove so that the telescopic plate is locked or unlocked with the substrate. The locking member is slidably disposed on the substrate, and a hook is provided on the locking member. The first end of the first elastic member is connected to the hook, 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. The output end of the second drive unit is provided with a rocker arm, which 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 engages with the positioning groove under the elastic force of the first elastic member.

15. The robot according to claim 14, characterized in that, The forklift device further includes a first conveying mechanism, which is used to transfer the material box obtained by the forklift device to the storage unit. The first conveying mechanism is connected to the telescopic plate and is configured to support the material box.

16. The robot according to claim 15, characterized in that, The storage unit is located to the side of the fork assembly along the extension direction of the telescopic plate. The storage unit includes a second conveying mechanism. The first conveying mechanism and the second conveying mechanism are connected. The first conveying mechanism and the second conveying mechanism have the same transmission direction. The transmission direction of the first conveying mechanism is at an angle to the extension direction of the telescopic plate.

17. The robot according to claim 16, characterized in that, The first conveying mechanism includes a first transmission member and a plurality of parallel and spaced first rollers, adjacent first rollers are connected by the first transmission member, and the first rollers extend along the length direction of the telescopic plate; The second conveying mechanism includes a second transmission member and a plurality of parallel and spaced second rollers. Adjacent second rollers are connected by the second transmission member, and the second rollers are arranged parallel to the first rollers.

18. The robot according to claim 17, characterized in that, The fork assembly is provided with a first limiting member on the side away from the storage unit. The first limiting member is connected to the base plate and protrudes vertically from the upper side of the first roller so that when the first roller supports the material box, the first limiting member blocks the side of the material box.

19. The robot according to claim 17, characterized in that, The storage unit is provided with a second limiting member on the side away from the fork assembly. The second limiting member is connected to the edge of the storage unit and protrudes vertically from the upper side of the second roller so that when the second roller supports the material box, the second limiting member blocks the side of the material box.

20. The robot according to any one of claims 17-19, characterized in that, The forklift device further includes a sliding plate and a picking mechanism. The sliding plate is slidably disposed on the telescopic plate, and the picking mechanism is connected to the sliding plate and connected to the transmission assembly. 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 when the transmission assembly is in motion.

21. The robot according to claim 20, characterized in that, The telescopic mechanism comprises two parts, and the fork assembly further includes a connecting bracket and a drive shaft. The two telescopic mechanisms are distributed on opposite sides of the first conveying mechanism. The first conveying mechanism also includes two mounting brackets located at both ends of the first roller, and the first roller is rotatably connected to the mounting brackets. The two ends of the mounting bracket are respectively connected to the telescopic plates of the two telescopic mechanisms; the base plates of the two telescopic mechanisms are connected through the connecting bracket; the two ends of the sliding plate are respectively slidably connected to the telescopic plates of the two telescopic mechanisms; the first driving unit is disposed between the two telescopic mechanisms, and the output end of the first driving unit is connected to the transmission shaft, and the two ends of the transmission shaft are respectively connected to the transmission wheels of the two telescopic mechanisms.

22. The robot according to claim 20, characterized in that, The picking mechanism includes a rotating component and a push-pull component. The rotating component includes a rotating unit, a mounting base, and a rotating shaft. The rotating shaft is connected to the sliding plate, and the mounting base is rotatably connected to the rotating shaft. The rotating unit is disposed on the mounting base and drives the mounting base to rotate relative to the rotating shaft. The push-pull component is disposed on the mounting base.

23. The robot according to claim 22, characterized in that, The push-pull assembly includes a push plate, a pull plate, and a first driving member. The push plate is connected to the mounting base, the first driving member is disposed on the push plate, and the pull plate is connected to the first driving member. The first driving member is configured to drive the pull plate to move relative to the mounting base so that the pull plate can be inserted into or disengaged from the material box.

24. The robot according to any one of claims 20-23, characterized in that, The sliding plate is connected to the flexible transmission member and moves with the flexible transmission member; the transmission wheel on the telescopic plate has a variable relative position with respect 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.

25. The robot according to claim 24, 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 belt wraps 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.

26. The robot according to claim 14, characterized in that, The fork assembly includes a picking mechanism and a rotating mechanism. The picking mechanism is movably mounted on the fork assembly, and the rotating mechanism is located between the fork assembly and the lifting mechanism. A connector is provided on the side of the picking mechanism facing the picking direction of the fork assembly. The connector is configured to connect or disconnect from the material box via the lifting mechanism.

27. The robot according to claim 26, characterized in that, The rotating mechanism includes a third drive unit, which is located at one end of the fork assembly away from the picking direction. The third drive unit is configured to drive the fork assembly to rotate so that the fork assembly faces the shelf or the storage unit.

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