A retrieval device and a transport robot

Abstract

The embodiment of the present application provides a kind of taking device and handling robot, comprising: pedestal;Selectively extend or retract pedestal to reciprocate between target location and pedestal;Taking component is configured to carry target article by acting on the front end surface of target article when taking or returning target article, wherein the front end surface of target article is the side of target article when being taken or returned towards taking component;Support component, at least part of support component is located on the moving path of target article when taking component takes or returns target article, and support component can extend pedestal to support target article when taking component carries article;At least part of support component is movable relative to pedestal to adjust the support size of support component to target article.

Description

Technical Field

[0001] This application belongs to the field of warehousing and logistics equipment technology, and in particular relates to a retrieval device and a handling robot. Background Technology

[0002] Handling robots are important equipment in warehousing. They can automatically place items (such as boxes) onto carriers (such as shelves) to complete the loading process (such as the box return process), and can also remove items from carriers and then transport them to designated locations.

[0003] Current handling robots typically employ a telescopic fork and a rotating finger mounted at the front of the fork. When retrieving or returning a box, the telescopic fork extends to the side of the box under the drive of a actuator, while the finger moves behind the box to either pick it up from the shelf or place it between the telescopic forks into the shelf.

[0004] However, current handling robots require that when a cargo box is stored on a shelf, there must be a certain distance between the left and right sides and the front and back sides to allow room for the telescopic forks and levers to move, which reduces the storage density of the cargo box. Summary of the Invention

[0005] This application provides a retrieval device and a handling robot. When handling cargo boxes, it is not necessary to insert them into the gaps between adjacent cargo boxes. Therefore, when storing cargo boxes, the gaps between adjacent cargo boxes can be effectively reduced, thereby effectively increasing the storage density of cargo boxes.

[0006] According to a first aspect of the embodiments of this application, a device for retrieving objects is provided, comprising:

[0007] Base;

[0008] The retrieval assembly can selectively extend or retract from the base to reciprocate between the target location and the base; the retrieval assembly is configured to move the target item by acting on the front face of the target item when retrieving or returning the target item, wherein the front face of the target item is the side of the target item facing the retrieval assembly when it is to be retrieved or returned.

[0009] The supporting component is located at least partly on the movement path of the target item when the retrieval component retrieves or returns the target item, and the supporting component can extend out of the base to support the target item when the retrieval component is carrying an item.

[0010] At least a portion of the support component is movable relative to the base to adjust the support dimensions of the support component on the target item.

[0011] In some embodiments, the object retrieval device further includes:

[0012] A width adjustment component is connected to a support component and configured to move the support component to adjust the support size of the support component on the target item.

[0013] In some embodiments, the support assembly includes at least two support members;

[0014] At least two support components should be spaced apart;

[0015] The width adjustment component is connected to at least one support member to drive at least one support member closer to or further away from another support member to adjust the distance between the two support members.

[0016] In some embodiments, the width adjustment component includes:

[0017] Width adjustment drive components;

[0018] The width-adjusting transmission component is connected to the width-adjusting drive component at one end. The width-adjusting transmission component includes a first part and a second part. Under the drive of the width-adjusting drive component, the first part and the second part move in opposite directions.

[0019] One of the support members is connected to the first part, and the other support member is connected to the second part.

[0020] In some embodiments, the width-adjusting drive includes a drive motor and a drive wheel, with the output end of the drive motor connected to the drive wheel to drive the drive wheel to rotate;

[0021] The width-adjusting transmission component includes a driven pulley and a timing belt. The drive pulley and the driven pulley are spaced apart. The two ends of the timing belt are sleeved on the drive pulley and the driven pulley. The drive pulley and the driven pulley divide the timing belt into a first segment and a second segment that are arranged opposite to each other. One support member is connected to the first segment, and the other support member is connected to the second segment. The first segment is configured as the first part, and the second segment is configured as the second part.

[0022] In some embodiments, the support component may move relative to the base along the direction of movement of the retrieval component, and when the support component extends out of the base, one end of the support component abuts against the target vehicle.

[0023] In some embodiments, the object retrieval device further includes: a support platform;

[0024] The support platform is movably mounted on the base, and the supporting components are located on the support platform and can move relative to the support platform to extend out of the base;

[0025] The width adjustment component is connected to the support platform to drive the support platform to move relative to the base. The support component adjusts the support size of the target item under the drive of the support platform.

[0026] In some embodiments, the object retrieval device further includes a width-adjusting guide rail and a width-adjusting slider;

[0027] The width-adjusting guide rail is set on one of the base and the support platform, and the width-adjusting slider is set on the other of the base and the support platform;

[0028] The width adjustment slider is configured to slide along the width adjustment guide rail when the support platform moves.

[0029] In some embodiments, there are at least two width-adjusting guide rails, and correspondingly, at least two width-adjusting sliders;

[0030] At least two width-adjusting guide rails are located on both sides of the width-adjusting component, and each width-adjusting guide rail is equipped with a corresponding width-adjusting slider.

[0031] In some embodiments, the object retrieval device further includes:

[0032] Two guide bars are positioned opposite each other on both sides of the support component, and the arrangement direction of the two guide bars intersects with the movement direction of the retrieval component; the guide bars are configured to restrict the movement of the target item on the support component along the arrangement direction;

[0033] The width adjustment component is also connected to each guide bar and is configured to drive the two guide bars to move relative to or away from each other in order to adjust the distance between the two guide bars.

[0034] In some embodiments, the object retrieval device further includes:

[0035] A telescopic structure is provided on the base. The free end of the telescopic structure can be selectively extended or retracted from the base, and the object retrieval component is provided at the free end.

[0036] The drive mechanism, connected to the telescopic structure, drives the free end to extend or retract from the base, thereby causing the object-grabbing component to move relative to the base.

[0037] In some embodiments, the object retrieval device further includes:

[0038] The movable seat is movably mounted on the base and is capable of moving relative to the base;

[0039] The telescopic structure is connected to the movable base. The free end of the telescopic structure is connected to the object-grabbing component, and can drive the object-grabbing component to selectively extend or retract from the base.

[0040] The drive mechanism is connected to the movable base and the telescopic structure respectively. When retrieving or returning the target item, the drive mechanism can selectively drive at least one of the movable base and the telescopic structure to move, so as to drive the retrieval component to extend or retract from the base.

[0041] In some embodiments, the drive mechanism includes:

[0042] A first drive structure is connected to a movable base and configured to drive the movable base to move relative to the base, so that the picking component moves relative to the base under the drive of the movable base;

[0043] The second drive structure is connected to the telescopic structure. The second drive structure is configured to drive the free end to move closer to or further away from the movable seat, so that the picking component moves relative to the movable seat under the drive of the free end.

[0044] When retrieving or returning a target item, the retrieval component is configured to move relative to the base under the drive of a first drive structure and / or a second drive structure to reciprocate within the base at the target location.

[0045] In some embodiments, the retrieval device is configured to perform one of the following actions when retrieving and returning the target item:

[0046] The first drive structure drives the moving seat to move, thereby moving the retrieval component a first preset distance toward the target location. The second drive structure then drives the telescopic structure to extend, thereby moving the retrieval component a second preset distance toward the target location, so that the retrieval component moves to the target location and transfers the target item between the retrieval component and the target location.

[0047] The second drive structure drives the telescopic structure to extend, so as to move the retrieval component to the target storage location by a third preset distance. The first drive structure then drives the moving seat to move, so as to move the retrieval component to the target storage location by a fourth preset distance, so that the retrieval component moves to the target storage location and transfers the target item between the retrieval component and the target storage location.

[0048] The first and second drive structures simultaneously drive the moving seat and the telescopic structure to move the retrieval component a working distance toward the target location, so that the retrieval component moves to the target location and transfers the target item between the retrieval component and the target location.

[0049] In some embodiments, when the target cargo location is the inner depth of the target vehicle, the second drive structure first drives the telescopic structure to extend, so as to move the retrieval component toward the target cargo location, thereby reducing the width of the telescopic structure. Then, the first drive structure drives the moving seat to move, so as to move the retrieval component toward the target cargo location until the retrieval component moves to the target cargo location, thereby transferring the target item between the retrieval component and the target cargo location.

[0050] The width direction of the telescopic structure intersects with the telescopic direction.

[0051] In some embodiments, the telescopic structure and / or movable seat of the object retrieval device are provided with a force-applying member, and the support assembly is provided with a force-receiving part. The force-applying member can at least apply a force to the force-receiving part during the retraction of the object retrieval assembly, so as to drive the support assembly back to the base.

[0052] In some embodiments, the object retrieval device further includes:

[0053] The elastic component has a third end and a fourth end that are arranged opposite to each other along the elastic direction. The third end of the elastic component is connected to the supporting component, and the fourth end of the elastic component is connected to the support platform of the picking device.

[0054] The force-applying component includes a bent portion disposed at one end of the movable seat, and the force-receiving component includes a protruding portion disposed at one end of the support assembly; when the support assembly is in the initial position, the bent portion abuts against the side of the protruding portion facing the front end of the support assembly.

[0055] The support component is configured to pop out under the elastic action of the elastic component when the moving seat moves forward and abut against the front end of the target vehicle, and when the moving seat retracts, the bending part drives the extension part back to the support platform.

[0056] In some embodiments, the object retrieval assembly includes a mounting plate and a suction cup, the mounting plate being movable relative to a base, and the suction cup being disposed on the mounting plate and configured to adsorb a target object.

[0057] Alternatively, the retrieval component may include a hook structure configured to hook the target item.

[0058] According to a second aspect provided in the embodiments of this application, a handling robot is provided, comprising:

[0059] Chassis;

[0060] The gantry is mounted on the chassis.

[0061] The object retrieval device described above is mounted on a gantry and is capable of moving up and down along the gantry.

[0062] In some embodiments, the handling robot further includes:

[0063] Temporary storage plate, installed on the gantry;

[0064] A rotating mechanism is connected to a retrieval device and configured to drive the retrieval device to rotate so that the retrieval device places the target item on a temporary storage plate, or retrieves it from the temporary storage plate by the retrieval device.

[0065] The retrieval device, handling robot, and warehousing system provided in this application embodiment, by setting a retrieval component on a base, the retrieval component can extend or retract from the base, and the retrieval component is configured to act on the front face of the item (i.e., the side of the item facing the retrieval component when it is in the retrieval state) when retrieving or returning the item, thereby transporting the item. In this way, compared with related technologies, it is not necessary to insert one end of the retrieval component into the gap between two adjacent boxes. That is, when storing boxes, it is no longer necessary to maintain a certain gap between two adjacent boxes, thus reducing the storage gap between adjacent boxes and effectively increasing the storage density of the boxes. In addition, in this application embodiment, by movably setting a support component on the base, it supports the target item when the retrieval component is carrying the target item. Furthermore, at least a portion of the support component can move relative to the base, allowing the support size of the support component for the target item to be adjusted, improving the adaptability to retrieving and returning items of different sizes. Attached Figure Description

[0066] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0067] Figure 1 This is an application scenario view of the handling robot provided in the embodiments of this application;

[0068] Figure 2 This is a schematic diagram of the structure of the handling robot provided in the embodiments of this application;

[0069] Figure 3 This is a schematic diagram of an overall structure of the object retrieval device provided in an embodiment of this application;

[0070] Figure 4 This is another overall structural schematic diagram of the object retrieval device provided in the embodiments of this application;

[0071] Figure 5 This is a schematic diagram of the structure of the base, width adjustment component, and support component cooperating with each other in the object retrieval device provided in the embodiments of this application;

[0072] Figure 6 This is a schematic diagram of a structure in which the width adjustment component and the support component cooperate in the object retrieval device provided in this application embodiment;

[0073] Figure 7 This is another structural schematic diagram of the cooperation between the width adjustment component and the support component in the object retrieval device provided in the embodiments of this application;

[0074] Figure 8 This is another overall structural schematic diagram of the object-retrieving device provided in the embodiments of this application;

[0075] Figure 9 This is a schematic diagram of the mechanism for the movement base and the base to cooperate in the object retrieval device provided in the embodiments of this application;

[0076] Figure 10 This is a schematic diagram of the structure of the base, the movable seat and the first driving structure in the object retrieval device provided in the embodiments of this application;

[0077] Figure 11 This is a schematic diagram of the structure of the movable seat, telescopic structure and second drive structure cooperating in the object retrieval device provided in the embodiments of this application;

[0078] Figure 12 This is a schematic diagram of the structure of the telescopic structure cooperating with the base in the object retrieval device provided in the embodiments of this application;

[0079] Figure 13 This is a schematic diagram of the structure of the movable seat, telescopic structure and object retrieval component in the object retrieval device provided in the embodiments of this application;

[0080] Figure 14 This is a schematic diagram of the telescopic structure in the object retrieval device provided in the embodiments of this application;

[0081] Figure 15 This is a schematic diagram of the support component in the object retrieval device provided in the embodiments of this application;

[0082] Figure 16 This is a schematic diagram of the structure of the movable seat and the support component cooperating in the object retrieval device provided in the embodiments of this application;

[0083] Figure 17 This is a schematic diagram of the structure of the object retrieval component in the object retrieval device provided in the embodiments of this application.

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

[0085] 1-Retrieval device; 2-Chassis; 3-Gantry; 4-Target item; 5-Target vehicle;

[0086] 101-Base; 102-Item retrieval assembly; 103-Support assembly; 104-Width adjustment assembly; 105-Guide bar; 106-Support platform; 107-Width adjustment guide rail; 108-Width adjustment slider; 109-Moving seat; 110-Telescopic structure; 10-Drive mechanism; 11-Drive assembly; 11a-Drive assembly; 11b-Transmission assembly; 12-Transmission assembly; 111-Second drive structure; 112-First drive structure; 113-First limiting member; 114-Second limiting member; 115-First guide rail; 116-Second guide rail; 117-Elastic assembly;

[0087] 1021-Mounting plate; 1022-Suction cup; 1023-Air source equipment; 1024-Support component; 1031-Support area; 1032-Supporting component; 1041-Width adjustment drive component; 1042-Width adjustment transmission component; 1051-Guide surface; 1091-First slide rail; 1092-Third slider; 1093-Bending part; 1101-First end; 1102-Second end; 1103-Cross component unit; 1104-Hinge shaft; 1105 - Rotating shaft; 1106 - Second slider; 1111 - Second driving component; 1112 - Second power wheel; 1113 - Second transmission component; 1114 - Second idler wheel; 1115 - Second driving block; 1121 - First driving component; 1122 - First power wheel; 1123 - First transmission component; 1124 - First idler wheel; 1125 - First driving block; 1131 - Connecting rod; 1141 - Extension; 1142 - Limiting cavity;

[0088] 10321 - Protrusion; 10411 - Drive motor; 10412 - Drive wheel; 10421 - First part; 10422 - Second part; 11031 - Cross member; 10322 - Third guide rail; 10323 - Fourth slider;

[0089] 11031a - Transmission rod. Detailed Implementation

[0090] To facilitate the explanation of the technical solution of this application, some concepts involved in this application will be explained first below.

[0091] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in 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, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0092] It should be noted that many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0093] In the description of this application, it should be understood that the terms "upper," "lower," "horizontal," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In this application, unless otherwise expressly specified and limited, the first feature being "upper" or "lower" than the second feature can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0094] In this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral unit; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. However, specifying a direct connection indicates that the two entities connected are not linked by an intermediate structure, but are simply connected to form a whole. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0095] In this application, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0096] With the rapid development of e-commerce, it is playing an increasingly important role in consumers' lives. To facilitate the storage and handling of goods, goods are usually stored and handled in warehousing systems.

[0097] To improve efficiency and reduce workload when handling boxes or items on shelves, handling robots are typically used to retrieve and return them. Handling robots are essential equipment in warehousing, capable of automatically placing items (e.g., boxes) onto carriers (e.g., shelves) to complete the loading process (e.g., box return), and also removing items from carriers (e.g., box retrieval) and transporting them to designated locations.

[0098] Figure 1 This is an application scenario view of the handling robot provided in the embodiments of this application. Figure 2 This is a schematic diagram of the structure of the handling robot provided in an embodiment of this application. (Refer to...) Figure 1 and Figure 2As shown, specifically, this application provides a handling robot, including a chassis 2, a gantry 3, and a retrieval device 1. The gantry 3 is mounted on the chassis 2, and the retrieval device 1 is mounted on the gantry 3.

[0099] Specifically, in this embodiment, the chassis 2 can be the same as or similar to the chassis 2 in the related art, and the gantry 3 can be fixedly mounted on the chassis 2 and move under the drive of the chassis 2. The connection method between the gantry 3 and the chassis 2 can be the same as or similar to that in the related art, and will not be described in detail in this embodiment.

[0100] Additionally, it is understood that in this embodiment, a communication module may be provided on the chassis 2 or the gantry 3. The communication module can communicate with the host computer and receive control signals sent by the host computer. Furthermore, the communication module can also upload the location information of the handling robot to the host computer. The host computer controls the handling robot to move within the warehousing system according to the handling task, such as moving it to the designated position of the target carrier 5, so as to dock with the target cargo location within the target carrier 5 and realize the process of picking up or returning goods.

[0101] The retrieval device 1 is mounted on the gantry 3 and can move up and down along the gantry 3. For example, after the handling robot moves to the target carrier 5, the retrieval device 1 moves up and down along the gantry 3 to reach the height of the corresponding target item 4.

[0102] In some examples, the transport robot also includes: a temporary storage plate (not shown in the figure) and a rotating mechanism (not shown in the figure).

[0103] A temporary storage plate is installed on the gantry 3. The rotating mechanism is connected to the retrieval device 1. The rotating mechanism is configured to drive the retrieval device 1 to rotate so that the retrieval device 1 can store the target item 4 on the temporary storage plate, or retrieve the target item 4 from the temporary storage plate by the retrieval device 1.

[0104] It is understood that the retrieval device 1 can be located on one side of the gantry 3, and the temporary storage plate can be located on the other side of the gantry 3. In some examples, multiple temporary storage plates can be arranged along the height direction of the gantry 3, or, in some interpretations, it can be understood that multiple layers of temporary storage plates can be arranged along the height direction of the gantry 3. In this way, the handling robot can carry multiple target items 4 at a time, improving the transfer efficiency of the target items 4.

[0105] In some examples, the drive structure on the gantry 3 can be connected to the lifting plate, which is raised and lowered by the drive structure. A rotating mechanism is provided on the lifting plate, which is connected to the retrieval device 1. The retrieval device 1 can rotate relative to the lifting plate, thereby driving the retrieval device 1 to rotate.

[0106] In related technologies, the picking device 1 (e.g., a box-picking structure) of a handling robot typically includes a telescopic fork and a rotatable finger mounted at the front end of the telescopic fork. When picking up or returning a box, the telescopic fork extends to the side of the box under the drive of a drive unit to grip the box. Additionally, when picking up a box, when the telescopic fork extends into the shelf and its front end protrudes from the box, the finger rotates to the rear end of the box to assist the telescopic fork in retrieving the box from the shelf.

[0107] During the above-mentioned process of picking up and returning boxes, it is required that when placing or putting boxes on the shelf, a certain gap must be maintained between two adjacent boxes (for the telescopic fork to insert or pull out), and a certain distance must be maintained between two boxes in front and behind (for the fork to insert). This gap occupies part of the storage space of the boxes, resulting in a low storage density of boxes on the shelf.

[0108] Therefore, this application provides a retrieval device 1 to solve the technical problem in the related art that there are certain gaps between cargo boxes and the storage density of cargo boxes is low.

[0109] Figure 3 This is a schematic diagram of an overall structure of the object retrieval device 1 provided in an embodiment of this application. Figure 4 This is another overall structural schematic diagram of the object retrieval device 1 provided in the embodiments of this application.

[0110] Reference Figure 3 and Figure 4 As shown, this application provides a picking device 1, including a base 101, a picking component 102, a supporting component 103, and a width adjustment component 104.

[0111] Specifically, in this embodiment, the base 101 can be made of rigid plastic (e.g., engineering plastic). In some optional examples, the base 101 can also be made of metal or alloy materials such as aluminum alloy, stainless steel, or cast iron. It is understood that the specific arrangement of the base 101 can be the same as or similar to the arrangement of the base 101 in related technologies, and will not be described again in this embodiment.

[0112] The retrieval assembly 102 is movably mounted on the base 101 and can selectively extend or retract from the base 101. The drive mechanism 10 is configured to drive the retrieval assembly 102 to move relative to the base 101, thereby extending or retracting the retrieval assembly 102 to achieve the retrieval and return of the target item 4 through reciprocating motion within the target storage location and the base 101.

[0113] It should be noted that the retrieval component 102 can move along a first direction (as shown by the x-direction in the diagram) under the drive of the drive mechanism 10, and this first direction can be parallel to the retrieval direction. In some examples, there is a preset angle between the first direction and the retrieval direction, and this preset angle can be an acute angle, so that the first direction x has a certain component in the retrieval direction, as long as it is ensured that the retrieval component 102 can eventually reach the target storage location.

[0114] The retrieval direction refers to the direction of the line connecting the retrieval component 102 and the target storage location. This embodiment of the application specifically uses an example where the first direction is parallel to the retrieval direction.

[0115] It is understood that the target storage location can be a location on the target carrier 5, such as a shelf, or a temporary storage location formed by a storage pallet. Correspondingly, the retrieval direction can be the direction in which the retrieval component 102 moves towards the target carrier 5 when retrieving the target item 4, or it can be the direction in which the retrieval component 102 moves towards the storage pallet location. It is understood that the direction in which the retrieval component 102 moves towards the storage location on the target carrier 5 can be perpendicular to the direction in which the retrieval component 102 moves towards the storage pallet location.

[0116] In addition, the retrieval component 102 is configured to act on the front end of the target item 4 when retrieving or returning the target item 4, so as to transport the target item 4; wherein, the front end of the target item 4 is the end face of the target item 4 facing the retrieval component 102 when it is to be retrieved or returned.

[0117] In this embodiment, the front face of the target item 4 can refer to the side of the target item 4 facing the retrieval component 102 when it is to be retrieved or returned; or, in some application scenarios, the target item 4 is stored on a shelf (also referred to as the target carrier 5), and the front face of the target item 4 can also refer to the side of the target item 4 facing the outside of the shelf. In this embodiment, a cargo box is used as a specific example for illustration. The front face of the cargo box can refer to the side facing / facing the outside of the shelf, which facilitates the retrieval component 102 to pick up and retrieve the item.

[0118] In some examples, the target vehicle 5 may also refer to the temporary storage plate of the transport robot. That is, the retrieval component 102 may extend from the base 101 to the temporary storage plate and retrieve the target item 4 from the temporary storage plate, or place the target item 4 on the temporary storage plate.

[0119] As a specific example of the embodiments of this application, a force-providing component that can provide force to the front face of the cargo box may be provided at the movable end of the retrieval component 102, thereby realizing the movement, handling or retrieval of the cargo box.

[0120] As a specific example of the embodiments of this application, a force-providing component that can provide force to the front face of the cargo box can be provided at the active end (or free end in some examples) of the picking component 102, thereby realizing the movement, handling or picking up and returning of the cargo box.

[0121] In a specific example of the embodiments of this application, the force-providing component may be a hook. At the same time, a slot for inserting the hook may be provided on the front face of the cargo box. When the cargo box is picked up or returned, the hook may be inserted into the slot, thereby connecting with the front face of the cargo box and providing a carrying force to the cargo box.

[0122] In other specific examples of the embodiments of this application, the force-providing component may also be a dual-axis or multi-axis gripper mechanism, and a through hole for the gripper mechanism to insert is provided on the front end face of the cargo box; when picking up or returning the cargo box, specifically, the gripper mechanism may be controlled to be in a clamping state and inserted into the through hole; then the gripper mechanism is opened, so that the outer wall of the gripper mechanism contacts the inner wall of the through hole, and the cargo box is moved by the friction between the outer wall of the gripper and the inner wall of the through hole. It can be understood that in some possible examples, barbs may also be provided on the outer wall of the gripper mechanism, so that the barbs can be hooked on the edge of the hole on the inner wall of the cargo box, thereby ensuring that the gripper mechanism can provide sufficient moving force when moving the cargo box.

[0123] It is also understood that in some alternative examples of the embodiments of this application, the force providing component may also be an electromagnet. Accordingly, the front end face of the cargo box may be made of a material that can be attracted by a magnet (such as an iron material). When the cargo box is picked up or returned, the electromagnet may be energized when the force providing component is close to or in contact with the cargo box, so as to provide the carrying force of the cargo box through the magnetic attraction of the electromagnet.

[0124] It is understood that in some other possible examples of embodiments of this application, the force-providing component may also be made of a material that can be attracted by a magnet, and accordingly, an electromagnet is provided on the front end face of the cargo box; thus, when the cargo box is retrieved or returned, the electromagnet may be energized when the force-providing component is close to or in contact with the cargo box, thereby generating a magnetic attraction between the force-providing component and the electromagnet on the cargo box, thereby providing a carrying force for the cargo box.

[0125] In this embodiment, by configuring the retrieval component 102 to move the target item 4 by acting on the front end of the target item 4 when retrieving or returning the target item 4, there is no need to reserve a gap between the boxes (i.e., between adjacent boxes) when placing, storing, or storing boxes on the shelf. This can effectively reduce the storage gap between adjacent boxes, increase the storage density of boxes, and effectively utilize the same storage space to store more boxes.

[0126] The retrieval device 1 provided in this application embodiment uses a retrieval component 102 movably mounted on a base 101. A drive mechanism 10 drives the retrieval component 102 to reciprocate, for example, along a first direction, to extend from or retract from the base 101, thereby transferring the target item 4 between the target location and the target storage location. Furthermore, the retrieval component 102 is configured to act on the front end of the target item 4 (i.e., the side of the target item 4 facing the retrieval component 102 when it is in the pending retrieval state) when retrieving the target item 4, thus transporting the target item 4. Compared to related technologies, this eliminates the need to insert one end of the retrieval component 102 into the gap between two adjacent boxes. In other words, when storing boxes, it is no longer necessary to maintain a certain gap between adjacent boxes, thereby reducing the storage gap between adjacent boxes and effectively increasing the storage density of the boxes.

[0127] Continue to refer to Figure 3 and Figure 4 As shown in this embodiment, the supporting component 103 is disposed on the base 101. When the retrieval component 102 retrieves or returns the target item 4, at least a portion of the supporting component 103 is located on the movement path of the target item 4, and the supporting component 103 can extend out of the base 101 to support the target item 4 when the retrieval component 102 is carrying an item. For example, when the retrieval component 102 retracts into the base 101 carrying the target item 4, the target item 4 can be supported on the supporting component 103 to ensure the stability of the target item 4 on the retrieval component 102.

[0128] For example, a support area 1031 for supporting the cargo box is formed on the support component 103. Specifically, in the embodiments of this application, refer to... Figure 3 and Figure 4 As shown, at least a portion of the support region 1031 is located on the movement path of the retrieval component 102. For example, the support region 1031 may extend along a first direction, and the retrieval component 102 may move within the support region 1031, such that when the retrieval component 102 retrieves or returns an item, the support region 1031 of the supporting component 103 supports the item (e.g., a cargo box) carried on the retrieval component 102.

[0129] In some examples, the supporting component 103 can be movably disposed on the base 101. For example, in this embodiment, the direction of movement of the supporting component 103 can be consistent with the first direction. That is, the direction of movement of the supporting component 103 on the base 101 can be consistent with the direction of movement of the retrieval component 102, for example, parallel or approximately parallel to the first direction. In a specific application scenario, when the retrieval component 102 retrieves or returns the target item 4, the supporting component 103 abuts against the front end face of the target carrier 5, thereby filling the gap between the base 101 and the target carrier 5. In this way, when the retrieval component 102 retrieves or returns the target item 4, the supporting component 103 can support and hold the target item 4 carried on the retrieval component 102, effectively preventing the target item 4 from falling out of the gap between the base 101 and the target carrier 5.

[0130] In specific configurations, the movement of the support component 103 along the first direction can be driven by a driving component. For example, in some examples, a linear motor can drive the support component 103; or, in other examples, a cylinder, piston cylinder, or hydraulic cylinder can drive the support component 103 along the first direction. It is understood that in other optional embodiments of this application, the movement of the support component 103 along the first direction can also be driven by the cooperation of a lead screw and a power block. For example, a rotatable lead screw is provided on the base 101, and the lead screw is driven to rotate by a motor. A power block is provided on the side of the support component 103 facing the base 101. The power block has a through hole with internal threads, and the power block is threadedly connected to the lead screw (in some examples, this can also be called a threaded connection). During the rotation of the lead screw, the power block moves under the push of the thread, thereby driving the support component 103 to move. This facilitates the support component 103 in supporting the items carried on the retrieval component 102, preventing the items from falling.

[0131] Reference Figure 3 and Figure 4 As shown in the embodiment of this application, at least a portion of the support component 103 is movable relative to the base 101 to adjust the support size of the support component 103 on the target item 4. It can be understood that the support size of the support component 103 on the target item 4 specifically refers to the size of the support area 1031 formed by the support component 103.

[0132] For example, at least a portion of the support component 103 moves on the base 101 along a second direction, thereby adjusting the width of the support region 1031 in the second direction.

[0133] Specifically, in this embodiment, the second direction intersects the first direction, for example, perpendicular or approximately perpendicular, and the second direction is along the surface of the base 101, or parallel or approximately parallel to the surface of the base 101. That is, in this embodiment, at least a portion of the supporting component 103 can also move relative to the base 101 along the second direction; or, in some examples, the movement of at least a portion of the supporting component 103 on the base 101 along the second direction has a certain component, thereby making the width of the support area 1031 formed by the supporting component 103 adjustable along the second direction. As a specific example of this embodiment, referring to Figures 1 and 2, the second direction can specifically be the direction shown by the y-axis in Figures 1 and 2. That is, at least a portion of the supporting component 103 can move along the direction shown by the y-axis in Figures 1 and 2, thereby adjusting the width of the support area 1031.

[0134] In an optional example of this application embodiment, the supporting component 103 can be specifically configured as a telescopic plate structure that can extend and retract along the second direction. The width adjustment component 104 can be connected to the front end or first end telescopic joint of the telescopic plate structure. By adjusting the distance between the front end or first end telescopic joint and the tail end telescopic joint, the width of the supporting area 1031 can be adjusted. In a specific configuration, the tail end telescopic joint of the telescopic plate structure can be fixedly set relative to the base 101, while the first end telescopic joint can be connected to the width adjustment component 104, thereby moving along the second direction under the drive of the width adjustment component 104.

[0135] In some alternative embodiments of this application, the supporting component 103 may be fixedly disposed in the middle relative to the base 101, and the two ends or both sides of the supporting component 103 along the second direction may extend or retract relative to the middle, thereby adjusting the width of the supporting area 1031 of the supporting component 103. It is understood that the specific arrangement of the supporting component 103 extending or retracting from the middle along the second direction to both sides is similar to the method of fixing one end of the telescopic plate structure in the foregoing embodiments of this application. For details, please refer to the detailed description of the foregoing embodiments of this application; further details will not be repeated in this embodiment.

[0136] In addition, in this embodiment of the application, by setting the support component 103 to be at least partially movable along the second direction, wherein the second direction intersects the first direction, for example, perpendicularly, the width of the support area 1031 of the support component 103 along the second direction can be changed and adjusted, thereby improving the adaptability to picking up and returning items of different sizes.

[0137] The support dimension of the support component 103 can be manually adjusted. For example, when the width of the target item 4 to be retrieved or returned, such as a cargo box, is a first width, the support component 103 can be manually adjusted so that the support dimension (e.g., support width) is greater than or equal to the first width. When the width of the target item 4 to be retrieved or returned next time, such as a cargo box, is a second width, the support component 103 can be manually adjusted so that the support dimension (e.g., support width) is greater than or equal to the second width. The second width is different from the first width.

[0138] In other examples, the retrieval device 1 may also include a width adjustment component 104, which is connected to the support component 103 and configured to move the support component 103 to adjust the support size of the support component 103 on the target item 4. For example, the width adjustment component 104 may move at least a portion of the support component 103 in a second direction. For example, the width adjustment component 104 may be electrically connected to a controller. When the width of the target item 4 to be retrieved is a first width, the controller may control the width adjustment component 104 to move the support component 103 in the second direction, adjusting the support size of the support component 103 to be greater than or equal to the first width, thereby automating the entire process and improving the working efficiency of the retrieval device 1.

[0139] Continue to refer to Figure 3 and Figure 4 As shown, in some optional examples of embodiments of this application, the support component 103 may include two support members 1032. Specifically, the two support members 1032 are spaced apart. For example, the two support components 103 may be arranged opposite each other along the second direction. Alternatively, in some examples, it can also be understood that the two support members 1032 are arranged along the second direction, so that the two support members 1032 together form a support area 1031 (see reference). Figure 1 (As shown). Reference Figure 3 and Figure 4 As shown in the embodiment of this application, at least a portion of the retrieval component 102 is located between the two support members 1032. Thus, when the retrieval component 102 retrieves or returns an item, it moves and transports the item onto the two support members 1032, making it easier for the support component 103 to support the item.

[0140] It should be noted that when the support component 103 includes two support members 1032, the support area 1031 in this embodiment includes the bearing surfaces of the two support members 1032 and the suspended area between the bearing surfaces.

[0141] By configuring the support assembly 103 to include two spaced-apart support members 1032, the support function for the target item is achieved while also saving on the material used for the support assembly 103, thereby reducing costs. In addition, the installation of the two spaced-apart support members 1032 facilitates avoidance of other structures on the base 101.

[0142] In this embodiment, the width adjustment component 104 is connected to at least one support member 1032 and drives at least one of the support members 1032 to move closer to or further away from another support member 1032, thereby adjusting the distance between the two support members 1032 to change the width of the support area 1031.

[0143] In some specific examples of embodiments of this application, the width adjustment component 104 can be connected to one of the support members 1032, and the other support member 1032 can be fixed relative to the base 101. When adjusting the width of the two support areas 1031, the width adjustment component 104 can drive one of the support members 1032, thereby making the distance between the two support members 1032 move away from or closer to each other, thereby adjusting the width of the support area 1031.

[0144] In some alternative examples of embodiments of this application, the width adjustment component 104 may also be connected to both support members 1032. That is, in embodiments of this application, both support members 1032 are connected to the width adjustment component 104 and move under the drive of the width adjustment component 104.

[0145] Specifically, in the embodiments of this application, the width adjustment component 104 may be the lead screw and power block described in the foregoing embodiments of this application. It can be understood that each support 1032 may be connected to one of the power blocks, and the two power blocks are sleeved on the lead screw, and the thread directions of the internal threads in the through holes on the two power blocks are opposite. In this way, when the lead screw rotates, the movement directions of the two power blocks are always kept opposite (e.g., moving towards each other, or moving away from each other), thereby adjusting the width of the support area 1031.

[0146] In other examples of embodiments of this application, two sets of width adjustment components 104 may be provided, one set of width adjustment components 104 being connected to one of the two support members 1032, and the other set of width adjustment components 104 being connected to the other of the two support members 1032; that is, in embodiments of this application, the two support members 1032 can be driven by the two sets of width adjustment components 104 respectively, thereby adjusting the support area 1031 formed by the two support members 1032.

[0147] In some specific examples, the two sets of width adjustment components 104 can drive the two support members 1032 in opposite directions. For example, when it is necessary to increase the width of the support area 1031, the two sets of width adjustment components 104 can drive the two support members 1032 away from each other along the second direction, thereby increasing the width of the support area 1031 to accommodate larger cargo boxes. When it is necessary to reduce the width of the support area 1031, the two sets of width adjustment components 104 can drive the two support members 1032 closer to each other along the second direction, thereby reducing the width of the support area 1031, preventing smaller cargo boxes from swaying in the support area 1031, and improving the stability of cargo box handling.

[0148] In some other specific examples of embodiments of this application, the driving directions of the two sets of width adjustment components 104 on the two support members 1032 may be the same, and the driving speeds of the two sets of width adjustment components 104 on the two support members 1032 may be different, so that the two support members 1032 move closer to each other or further away from each other due to the difference in their moving speeds, so as to adjust the width of the support area 1031 formed by the two support members 1032.

[0149] In this embodiment, two support members 1032 are arranged along a second direction to form a support area 1031. At least a portion of the retrieval component 102 is disposed between the two support members 1032, thus supporting the items carried on the retrieval component 102. In addition, the width adjustment component 104 is connected to at least one of the support members 1032, thereby driving the two support members 1032 to move closer or further apart. This simplifies the structure of the support members 1032, facilitates the driving of the support members 1032, improves the convenience of adjusting the width of the support area 1031, enhances the adaptability of the retrieval device 1 to boxes of different sizes, and expands the applicable scenarios of the retrieval device 1.

[0150] Figure 5 This is a schematic diagram of the structure of the base 101, the width adjustment component 104, and the support component 103 cooperating with each other in the object retrieval device 1 provided in the embodiments of this application. Figure 6 This is a schematic diagram of the structure of the retrieval device 1 provided in this application embodiment, in which the width adjustment component 104 and the support component 103 cooperate.

[0151] Reference Figure 5 and Figure 6 As shown, in some specific examples of embodiments of this application, the width adjustment component 104 includes a width adjustment drive component 1041 and a width adjustment transmission component 1042.

[0152] Specifically, in this embodiment, one end of the width-adjusting transmission member 1042 is connected to the width-adjusting drive member 1041, and the width-adjusting transmission member 1042 has a first portion 10421 and a second portion 10422. In specific configurations, the width-adjusting drive member 1041 can be a motor capable of forward and reverse rotation (e.g., a servo motor, synchronous motor, or stepper motor). It is understood that in some optional examples of this embodiment, the width-adjusting drive member 1041 can also be a handwheel. In specific configurations, the width-adjusting transmission member 1042 has a first portion 10421 and a second portion 10422, and under the drive of the width-adjusting drive member 1041, the first portion 10421 and the second portion 10422 move in opposite directions in a second direction. For example, referring to Figures 1 and 2, in some examples of embodiments of this application, the first part 10421 may move along the positive direction of the y-axis in Figures 1 and 2, and the second part 10422 may move along the negative direction of the y-axis in Figures 1 and 2; or, in other examples of embodiments of this application, the first part 10421 may move along the negative direction of the y-axis in Figures 1 and 2, and the second part 10422 may move along the positive direction of the y-axis.

[0153] As a specific example of an embodiment of this application, the width-adjusting transmission component 1042 can specifically be a lead screw and two power blocks sleeved on the lead screw. One of the two power blocks can be a first part 10421, and the other power block can be a second part 10422. In this embodiment, the specific cooperative connection relationship between the lead screw and the two power blocks can be referred to the detailed description of the foregoing embodiments of this application, and will not be repeated here.

[0154] It is understood that in this embodiment of the application, one of the two support members 1032 is connected to the first part 10421, and the other of the two support members 1032 is connected to the second part 10422. In this way, when the first part 10421 and the second part 10422 move in opposite directions, the two support members 1032 move closer to each other or further away from each other, thereby adjusting the width of the support area 1031 along the second direction, which is convenient to adapt to cargo boxes of different sizes.

[0155] In this embodiment, the width-adjusting drive member 1041 drives the first part 10421 and the second part 10422 of the width-adjusting transmission member 1042 to move in opposite directions in the second direction, thereby causing the two support members 1032 to move closer and further apart. This simplifies the overall structure of the width-adjusting assembly 104, thus simplifying the overall structure of the retrieval device 1 and facilitating its lightweight design. Furthermore, it saves on the materials used in the width-adjusting assembly 104, reducing the processing and production costs of the retrieval device 1.

[0156] Continue to refer to Figure 5 and Figure 6As shown, in a specific example of an embodiment of this application, the width adjustment drive 1041 specifically includes a drive motor 10411 and a drive wheel 10412. Specifically, the output end of the drive motor 10411 is connected to the drive wheel 10412, and the drive wheel 10412 rotates under the drive of the drive motor 10411. In some possible examples, the axial direction of the drive wheel 10412 can be perpendicular or approximately perpendicular to the surface of the base 101, that is, the rotation direction of the drive wheel 10412 is parallel to the surface of the base 101; or, in other possible examples of the embodiments of this application, the axial direction of the drive wheel 10412 can also be parallel or approximately parallel to the surface of the base 101. The specific arrangement of the drive wheel 10412 is not limited in the embodiments of this application. It can be understood that in the embodiments of this application, the drive motor 10411 can specifically be a servo motor, a synchronous motor, or a stepper motor, etc. Of course, it can be understood that in the embodiments of this application, the drive motor 10411 can also be other types of motors, and the specific type of the drive motor 10411 is not limited in the embodiments of this application.

[0157] In the embodiments of this application, reference is made to Figure 5 and Figure 6 As shown, the width-adjusting transmission component 1042 includes a driven pulley and a synchronous belt. It can be understood that in this embodiment, the drive pulley 10412 and the driven pulley are arranged at intervals along a second direction. The synchronous belt is sleeved on the drive pulley 10412 and the driven pulley and is tensioned by them. Thus, when the drive motor 10411 drives the drive pulley 10412 to rotate, the drive pulley 10412 drives the synchronous belt and the driven pulley to rotate together through the tension force.

[0158] It is also understandable that after the timing belt is fitted onto the drive pulley 10412 and the driven pulley, referring to... Figure 6 As shown, the synchronous belt is constructed along a first direction to form a first segment and a second segment, wherein the first segment can be a first part 10421 and the second segment is a second part 10422. That is, in this embodiment of the application, the first segment is connected to one of the two support members 1032, and the second segment is connected to the other support member 1032.

[0159] Specifically, in this embodiment, the timing belt can be any one of a chain, belt, timing belt, or timing belt. In other words, in this embodiment, the drive wheel 10412 can be a sprocket, and the driven wheel can be an idler wheel.

[0160] In a specific configuration, in this embodiment of the application, the drive wheel 10412 can be connected to the output end (also referred to as the output shaft in some examples) of the drive motor 10411 via a coupling, a reducer, etc., so that the drive wheel 10412 rotates relative to the base 101 under the drive of the drive motor 10411; the driven wheel can be specifically mounted on the base 101 via a rotating shaft and rotatably connected to the base 101.

[0161] In this embodiment, a synchronous belt sleeved on the drive wheel 10412 and the driven wheel is driven by a drive motor 10411 and a drive wheel 10412. One of the two support members 1032 is fixed to the first section of the synchronous belt, and the other of the two support members 1032 is fixed to the second section of the synchronous belt. In this way, the drive wheel 10412 and the transmission wheel are equivalent to two fixed pulleys, thereby changing the direction of movement of the first section and the second section, that is, causing the first section and the second end 1102 to move in opposite directions, thereby driving the two support members 1032 to move, so as to adjust the width of the support area 1031 formed by the two support members 1032.

[0162] Specifically, refer to Figure 6 As shown, when the first segment moves along the negative y-axis in the figure, it causes a support member 1032 located at the far end of the y-axis (the end away from the origin of the coordinate system in the figure) to move along the negative y-axis. When the second segment moves along the positive y-axis in the figure, it causes a support member 1032 located at the near end of the y-axis (the end close to the origin of the coordinate system in the figure) to move along the positive y-axis. This causes the two support members 1032 to move closer to each other, thus reducing the width of the support area 1031. In another specific scenario, when the first segment moves along the positive y-axis in the figure, it causes a support member 1032 located at the far end of the y-axis to move along the positive y-axis. At this time, when the second segment moves along the negative y-axis in the figure, it causes a support member 1032 located at the near end of the y-axis to move along the negative y-axis. This causes the two support members 1032 to move further apart, thus increasing the width of the support area 1031.

[0163] In this embodiment, the two ends of the timing belt are connected to two support members 1032 respectively, that is, one support member 1032 is connected to the first segment and the other support member 1032 is connected to the second segment. In this way, when the driving member drives the driving wheel 10412, the timing belt can simultaneously drive the two support members 1032 to move in opposite directions in the second direction. That is, in the same amount of time, the two support members 1032 move the same distance in opposite directions, and the actual adjustment distance of the support area 1031 is twice the moving distance of the support member 1032, which effectively improves the adjustment efficiency of the width adjustment of the support area 1031.

[0164] In addition, in this embodiment, the two support members 1032 are driven to move in opposite directions by a synchronous belt. In this way, the two support members 1032 move the same distance but in opposite directions; that is, the distances moved by the two support members 1032 are always symmetrical. This ensures that after the support area 1031 is adjusted, the retrieval component 102 is always kept in the middle of the two support members 1032, thereby ensuring that the item carried by the retrieval component 102 is in the middle of the two support members 1032, avoiding the item from tilting, and improving the accuracy of retrieving and returning the item.

[0165] Continue to refer to Figure 6 As shown, in an optional example of this application embodiment, the retrieval device 1 further includes two guide bars 105. They are disposed opposite to each other on both sides of the support component 103, and the arrangement direction of the two guide bars 105 intersects with the movement direction of the retrieval component 102. The guide bars 105 are configured to restrict the movement of the target item 4 on the support component 103 along the arrangement direction.

[0166] For example, each support member 1032 is provided with a guide strip 105, and the guide strip 105 is located on the side of the two supports 1032 facing away from each other. That is, in this embodiment of the application, each support member 1032 is provided with a guide strip 105 on the side facing away from each other. In this way, when the support member 1032 supports the item carried by the retrieval component 102, the two guide strips 105 can limit the movement of the item supported on the support member 1032 (or the support area 1031) in the second direction, which can effectively avoid the shaking of the box during the retrieval and handling process, thereby ensuring the stability of the box during the retrieval and handling process.

[0167] It is understood that in some optional examples of the embodiments of this application, the width adjustment component 104 is connected to each guide bar 105, and the width adjustment component 104 synchronously drives the two guide bars 105 to move closer or further apart while driving the two support members 1032 to move closer or further apart. That is to say, in the embodiments of this application, when the width adjustment component 104 adjusts the two support members 1032, it adjusts the two guide bars 105 accordingly, thereby ensuring that the two guide bars 105 can adapt to cargo boxes of different sizes and provide limiting for cargo boxes of different sizes.

[0168] In one specific implementation, refer to Figure 1As shown in the embodiment of this application, the guide strip 105 is fixedly connected to the support member 1032; that is, in this embodiment of this application, each support member 1032 is fixedly connected to a guide strip 105, and the two guide strips 105 are arranged opposite each other along the second direction, thereby forming a support area 1031 between the two guide strips 105. Specifically, in this embodiment of this application, the support member 1032 can be made of sheet metal, and the guide strip 105 can be formed by bending the sheet metal. Of course, in some possible examples, the guide strip 105 can also be fixedly connected to the support member 1032 by bolts, screws or threaded rods, or in other possible examples, the guide strip 105 can also be connected to the support member 1032 by welding.

[0169] In this embodiment, a guide bar 105 is provided on the side of each support member 1032 facing away from the other support member 1032, and the width adjustment component 104 is connected to each guide bar 105. When the width adjustment component 104 drives the support member 1032 to move, the two guide bars 105 move closer or further away from each other with the support member 1032, thereby adjusting the distance between the two guide bars 105. This facilitates the adjustment of the distance between the guide bars 105, makes it easier for the two guide bars 105 to adapt to different sized boxes, facilitates the limiting and guiding of different sized boxes, and improves the stability during the picking up, returning, and handling of boxes.

[0170] In one optional example of the embodiments of this application, referring to the figure, the front ends of the two guide bars 105 on opposite sides are formed with guide surfaces 1051. That is, in this embodiment, each guide bar 105 has a guide surface 1051 on the inner side of the end facing the front end of the base 101. In addition, in this embodiment, the guide surface 1051 is inclined towards the front end of the base 101. In other understandings of the embodiments of this application, referring to the figure, the item inlet and outlet of the retrieval device 1 can also be set in a widening shape along the first direction. This can avoid the guide bars 105 from obstructing the movement of the item, making it easier to retrieve the item and improving the efficiency of the retrieval device 1 in retrieving the item.

[0171] Figure 7 This is another structural schematic diagram of the cooperation between the width adjustment component 104 and the support component 103 in the object retrieval device 1 provided in the embodiments of this application.

[0172] It is understood that the supporting component 103 needs to be movable in the second direction under the drive of the adjusting component, and the supporting component 103 can also move relative to the base 101 in the first direction to extend or retract into the base 101 along with the picking component 102. Therefore, in order to ensure stable movement of the supporting component 103 in different directions, in some optional examples of the embodiments of this application, reference is made to... Figures 5 to 7As shown, the object-retrieving device 1 may further include a support platform 106. The support platform 106 is movably disposed on the base 101, and the supporting component 103 is located on the support platform 106 and is movable relative to the support platform 106 to extend out of the base 101. For example, the support platform 106 is located between the base 101 and the supporting component 103, and the width-adjusting component 104 is connected to the support platform 106 to drive the support platform 106 to move relative to the base 101. For example, the width-adjusting component 104 can drive the support platform 106 to move in a second direction to adjust the size of the support platform 106 in the second direction, and the supporting component 103 adjusts the supporting size of the target item 4 under the action of the support platform 106.

[0173] In some examples, the support platform 106 may be a telescopic plate that can extend and retract in the second direction, and the support component 103 may be disposed on the telescopic plate such that when the support platform 106 extends and retracts in the second direction, it drives the support component 103 to move in the second direction, so as to adjust the support size of the support component 103 in the second direction.

[0174] In other examples, refer to Figure 7 As shown, the object retrieval device 1 includes two support platforms 106. Specifically, the support platform 106 is located between the width adjustment component 104 and the support member 1032. In a specific configuration, one support platform 106 is provided with one support member 1032 and one guide bar 105; that is, in this embodiment, one support member 1032 and its adjacent guide bar 105 are located on one support platform 106, and the other support member 1032 and its adjacent guide bar 105 are located on the other support platform 106.

[0175] Specifically, in this embodiment, the width adjustment component 104 can be connected to two support platforms 106 respectively, thereby driving the two support platforms 106 to move in opposite directions along the second direction (e.g., moving towards each other or moving away from each other).

[0176] It is understood that in this embodiment, the connection method between the width adjustment component 104 and the two support platforms 106 is the same as or similar to the connection method between the width adjustment component 104 and the two support components 1032 in the previous embodiment of this application. For details, please refer to the detailed description of the connection method between the width adjustment component 104 and the two support components 103 in the previous embodiment of this application. This will not be repeated in this embodiment.

[0177] In this embodiment, two support platforms 106 are provided, the width adjustment component 104 is connected to the two support platforms 106, and a support member 1032 and a guide bar 105 are provided on each support platform 106. This facilitates the connection between the width adjustment component 104 and the support member 1032 and the guide bar 105, and improves the installation and production efficiency of the object retrieval device 1.

[0178] In one optional example of the embodiments of this application, refer to Figure 6 and Figure 7 As shown, the object retrieval device 1 also includes a width-adjusting guide rail 107 and a width-adjusting slider 108. Specifically, in this embodiment, the width-adjusting guide rail 107 can be disposed on one of the base 101 and the support platform 106, and the width-adjusting guide rail 107 extends along a second direction. The width-adjusting slider 108 is disposed on the other of the base 101 and the support platform 106, and the width-adjusting slider 108 is slidably connected to the width-adjusting guide rail 107.

[0179] In one specific example of an embodiment of this application, reference is made to Figure 4 and Figure 5 Specifically, the width-adjusting guide rail 107 can be mounted on the base 101, and the width-adjusting slider 108 can be mounted on the support platform 106. In practice, the width-adjusting guide rail 107 can be fixedly connected to the base 101, and correspondingly, the width-adjusting slider 108 can be fixedly connected to the support platform 106. Thus, when the support platform 106 moves, the width-adjusting slider 108 can slide along the width-adjusting guide rail 107, thereby facilitating guidance and support for the movement of the support platform 106 and improving the stability of the movement of the support platform 106.

[0180] In some optional examples of the embodiments of this application, reference is made to Figure 6 and Figure 7 As shown, there can be two width-adjusting guide rails 107. The two width-adjusting guide rails 107 are arranged at intervals along the first direction, and each width-adjusting guide rail 107 is provided with a width-adjusting slider 108. In this way, the support platform 106 can be supported and translated by the two width-adjusting guide rails 107 and the two width-adjusting sliders 108, which can effectively improve the stability of the movement of the support platform 106.

[0181] In some other optional examples of the embodiments of this application, refer to Figure 7 As shown, each support platform 106 is provided with two width-adjusting guide rails 107 along the first direction. That is to say, in this embodiment, a total of four width-adjusting guide rails 107 can also be provided. Of course, it can be understood that three width-adjusting guide rails 107 can also be provided (for example, one support platform 106 is provided with two width-adjusting guide rails 107 arranged along the first direction, and the other support platform 106 is provided with one width-adjusting guide rail 107); or, in some examples, the number of width-adjusting guide rails 107 can also be five. In this embodiment, the specific number of width-adjusting guide rails 107 is not limited, and can be selected according to actual needs when specifically setting them.

[0182] It is also understood that in some alternative examples of the embodiments of this application, the width adjustment guide rail 107 can also be disposed on the support platform 106, and correspondingly, the width adjustment slider 108 is disposed on the base 101. It is understood that in the embodiments of this application, the specific arrangement of the width adjustment guide rail 107 on the support platform 106 is the same as or similar to the specific arrangement of the width adjustment guide rail 107 on the base 101 in the foregoing embodiments of this application. For details, please refer to the detailed description of the foregoing embodiments of this application. The embodiments of this application will not repeat the details here.

[0183] In this embodiment of the application, the object retrieval component 102 can be configured in various ways.

[0184] In some examples, the retrieval device 1 may include a telescopic structure 110, which is disposed on a base 101. In other words, the telescopic structure 110 is movably disposed on the base 101 via the base 101. The retrieval component 102 is disposed at the free end of the telescopic structure 110. The drive mechanism 10 drives the telescopic structure 110 to extend or retract, so that the free end of the telescopic structure 110 drives the retrieval component 102 to extend or retract from the base 101.

[0185] For example, the telescopic structure 110 can be disposed on the base 101. For instance, one end of the telescopic structure 110, such as the fixed end, is connected to the fixed part of the base 101 (distributed opposite to the object-retrieving component 102), and the other end can be the free end. The free end of the telescopic structure 110 can selectively extend or retract from the base 101.

[0186] In one optional example of the embodiments of this application, the telescopic structure 110 can specifically be a telescopic rod (e.g., a telescopic cylinder, hydraulic cylinder, or electric cylinder); in other possible examples, the telescopic structure 110 can also be a scissor fork structure (as shown in the figure). The specific type of the telescopic structure 110 is not limited in the embodiments of this application.

[0187] In some examples of embodiments of this application, the retrieval component 102 is disposed at the free end, and the retrieval component 102 can move relative to the base 101 under the drive of the free end. In some examples, the drive mechanism 10 can be connected to the telescopic structure 110, and the drive mechanism 10 is configured to drive the free end to extend or retract from the base 101, so as to drive the retrieval component 102 to reciprocate within the target storage location and the base 101 (e.g., the base 101).

[0188] Taking the telescopic structure 110 as an example of a scissor fork structure, the drive mechanism 10 may specifically include a drive motor and a pulley structure. The pulley structure may include a drive wheel and a driven wheel spaced apart, and a transmission belt fitted onto the drive wheel and driven wheel. The drive motor is connected to the drive wheel to drive the drive wheel to rotate, thereby driving the transmission belt and driven wheel to move. It can be understood that the scissor fork structure may include multiple hinge positions arranged along the telescopic direction, one of which is located at the transmission belt connection, so that it moves along the telescopic direction under the drive of the transmission belt, thereby causing the free end of the scissor fork structure to extend or retract in the x-direction, thereby causing the object-grabbing component 102 to extend or retract from the base 101.

[0189] Figure 8 This is a schematic diagram of the structure of the base 101, translation component and drive structure in the object retrieval device 1 provided in this application.

[0190] Reference Figure 3 and Figure 8 As shown, in some other examples, the retrieval device 1 may include a telescopic structure 110 and a movable base 109.

[0191] Specifically, in this embodiment, the first end 1101 (i.e., the fixed end) of the telescopic structure 110 is disposed on the movable seat 109, and the second end 1102 (i.e., the free end) of the telescopic structure 110 is disposed on the retrieval component 102; in other words, in this embodiment, the telescopic structure 110 is disposed between the movable seat 109 and the retrieval component 102, the telescopic structure 110 extends to push the retrieval component 102 to move away from the movable seat 109, and the telescopic structure 110 retracts to drive the retrieval component 102 to move toward the movable seat 109.

[0192] Reference Figure 3 and Figure 8 As shown in the embodiment of this application, one end of the drive mechanism 10 is connected to the telescopic structure 110, and the drive mechanism 10 is configured to drive the second end 1102 of the telescopic structure 110 to approach or move away from the first end 1101 of the telescopic structure 110 along the first direction, so that the object retrieval component 102 reciprocates along the first direction under the drive of the second end 1102 of the telescopic structure 110.

[0193] It is understood that in this embodiment of the application, the drive mechanism 10 is also connected to the movable seat 109, and the drive mechanism 10 is used to drive the movable seat 109 to reciprocate along the first direction. When retrieving or returning the target item 4, the drive mechanism 10 may selectively drive at least one of the movable seat 109 and the telescopic structure 110 to move, so as to drive the retrieval component 102 to extend or retract from the base 101.

[0194] In some other optional examples of the embodiments of this application, refer to Figure 1As shown, a first guide rail 115 is also provided on the base 101, the first guide rail 115 extends along the first direction x, and a first slider (not shown in the figure) is provided on the movable seat 109, the first slider being slidably connected to the first guide rail 115.

[0195] It is also understood that, in this embodiment of the application, there may be two first guide rails 115, and the two first guide rails 115 are arranged at intervals along the second direction; in this way, the stability of the movable seat 109 during movement can be effectively improved.

[0196] As one example, the drive mechanism 10 can simultaneously drive the movable seat 109 and the telescopic structure 110 to move, so as to cause the picking component 102 to extend or retract from the base 101.

[0197] For example, the drive mechanism 10 may include a drive assembly 11 and a transmission assembly 12, wherein the drive assembly 11 is connected to one of the movable seat 109 and the telescopic structure 110, and the transmission assembly 12 is connected to the other of the movable seat 109 and the telescopic structure 110, and the transmission assembly 12 is connected to the drive assembly 11 to move under the drive of the drive assembly 11.

[0198] Reference Figure 8 As shown in the embodiment of this application, the drive assembly 11 may include a drive component 11a, such as a drive motor, and a first pulley structure 11b. The first pulley structure 11b may include two transmission rollers disposed on the base 101 and disposed opposite each other along the first direction. The two transmission rollers are connected by a transmission component such as a chain, belt, synchronous belt, or timing belt. A drive block is fixed on the chain, belt, synchronous belt, or timing belt. The drive block is fixedly connected to the telescopic structure 110. In this way, when the drive motor drives one of the transmission rollers to rotate, the chain, belt, synchronous belt, or timing belt can rotate accordingly, thereby driving the drive block to drive the telescopic structure 110 to extend and retract, and then driving the object-retrieving assembly 102 disposed on the second end 1102 of the telescopic structure 110 to move along the first direction.

[0199] In one specific example of the embodiments of this application, the axial directions of the two transmission rollers may be perpendicular to the surface of the base 101; or, in some examples, as shown in Figures 1 and 2, the axial directions of the two transmission rollers may also be parallel to the surface of the base 101. In the embodiments of this application, it is sufficient to ensure that the arrangement direction of the two transmission rollers is along the first direction; in other words, in the embodiments of this application, it is sufficient to ensure that the transmission direction of the two transmission rollers to the chain, belt, synchronous belt, or timing belt is along the first direction.

[0200] Alternatively, the transmission assembly 12 can be a second pulley structure. For example, the second pulley structure may include two transmission rollers, which are connected by a transmission component such as a chain, belt, synchronous belt, or timing belt. A drive block is fixed on the chain, belt, synchronous belt, or timing belt, and the drive block is fixedly connected to the movable seat 109. One of the transmission rollers of the second pulley structure is also connected to the output shaft of the drive motor. Thus, when the drive motor drives one of the transmission rollers of the second pulley structure to rotate, the chain, belt, synchronous belt, or timing belt can rotate accordingly, thereby driving the drive block to drive the movable seat 109 to move, and in turn driving the telescopic structure 110 and the picking assembly 102 set on the movable seat 109 to move along the first direction.

[0201] It can be understood that the transmission rollers in the first pulley structure 11b and the second pulley structure are arranged coaxially side by side along the axial direction of the motor output shaft, so that the two pulley structures can be driven to move simultaneously by one drive motor. That is to say, in this embodiment, the movable seat 109 and the picking component 102 can move synchronously.

[0202] It is understood that in this embodiment of the application, during the synchronous movement of the movable seat 109 and the object retrieval component 102, there may be mutual interference between the movable seat 109 and the object retrieval component 102. (Refer to...) Figure 5 and Figure 8 As shown in the embodiment of this application, the diameters of the two transmission rollers of the first pulley structure and the two transmission rollers of the second pulley structure can be set to be different.

[0203] Specifically, refer to Figure 8 As shown, when a drive motor provides power to the first pulley structure 11b and the second pulley structure, the rotational angular velocities of the power wheels (i.e., a transmission roller connected to the drive motor) of the first pulley structure 11b and the second pulley structure are the same. However, during the process of picking up or returning items, the picking component 102 is located on the side of the moving seat 109 facing / towards the cargo box. It is usually necessary to ensure that the moving speed of the picking component 102 is greater than the moving speed of the moving seat 109. Therefore, in this embodiment, the wheel diameter of the two transmission rollers of the first pulley structure 11b can be set to be greater than the wheel diameter of the two transmission rollers of the second pulley structure. In this way, under the drive of the same drive motor, the two transmission rollers of the first pulley structure 11b have a greater rotational linear velocity than the two transmission rollers of the second pulley structure. This results in the chain, belt, synchronous belt, or timing belt of the first pulley structure 11b having a greater transmission speed than the second pulley structure. That is, the picking component 102 has a faster moving speed than the moving seat 109, which can effectively avoid interference between the picking component 102 and the moving seat 109.

[0204] Figure 9This is a schematic diagram of the structure of the base 101 and the movable seat 109 cooperating in the object retrieval device 1 provided in this application embodiment. Figure 10 This is another structural schematic diagram of the cooperation between the base 101 and the movable seat 109 in the object retrieval device 1 provided in the embodiments of this application. Figure 11 This is a schematic diagram of the structure of the movable seat 109 and the telescopic structure 110 cooperating in the object retrieval device 1 provided in the embodiments of this application.

[0205] Reference Figures 9 to 11 As shown, as another example, the drive mechanism 10 may include a first drive structure 112 and a second drive structure 111, wherein the first drive structure 112 is connected to the movable seat 109, and the first drive structure 112 is configured to drive the movable seat 109 (e.g., along...). Figure 10 The moving seat 109 moves in the direction shown by the x-axis, thereby causing the picking component 102 to move along the first direction.

[0206] In some examples, the second drive structure 111 may be connected to the telescopic structure 110. The second drive structure 111 is configured to drive the second end 1102 to move closer to or further away from the first end 1101 in a first direction, so that the object retrieval component 102 moves in the first direction under the drive of the second end 1102.

[0207] In a specific example of an embodiment of this application, the telescopic structure 110 can be a telescopic rod structure, and the second drive structure 111 can be a lead screw. Specifically, the second end 1102 of the telescopic structure 110 can be a rod connected to the object-retrieving component 102 in the telescopic rod, and the first end 1101 of the telescopic structure 110 can be a rod connected to the movable seat 109 in the telescopic rod. In a specific configuration, a drive block can be fixed on the second end 1102. The drive block is provided with a through hole with internal threads, and the lead screw passes through the through hole and is connected to the through hole thread (in some examples, this can also be called a threaded connection). In this way, when the lead screw rotates, the lead screw pushes the drive block through the thread, and the drive block drives the telescopic rod to extend and retract, thereby driving the object-retrieving component 102 to move along the first direction.

[0208] Understandable, refer to Figure 10 As shown in this embodiment, two transmission rollers can also be arranged opposite each other on the movable seat 109 along the first direction. The two transmission rollers are connected by transmission components such as chains, belts, synchronous belts or timing belts. A drive block is fixed on the chain, belt, synchronous belt or timing belt. The drive block is fixedly connected to the telescopic structure 110. In this way, when the two transmission rollers are driven to rotate, the two transmission rollers drive the chain, belt, synchronous belt or timing belt to rotate, thereby driving the drive block to drive the telescopic structure 110 to extend and retract, and then driving the picking component 102 set on the second end 1102 of the telescopic structure 110 to move along the first direction.

[0209] In one specific example of the embodiments of this application, the axial direction of the two transmission rollers may be perpendicular to the surface of the base 101; or, in some examples, the axial direction of the two transmission rollers may be parallel to the surface of the base 101. In the embodiments of this application, it is sufficient to ensure that the arrangement direction of the two transmission rollers is along the first direction. In other words, in the embodiments of this application, it is sufficient to ensure that the transmission direction of the two transmission rollers to the chain, belt, synchronous belt, or timing belt is along the first direction.

[0210] It is understood that in this embodiment of the application, the first driving structure 112 is connected to the movable seat 109, and the first driving structure 112 is used to drive the movable seat 109 to reciprocate along the first direction.

[0211] In this embodiment, the specific configuration of the first driving structure 112 may be the same as or similar to that of the second driving structure 111. For details, please refer to the detailed description of the second driving structure 111 in the foregoing embodiments of this application. This will not be repeated in this embodiment.

[0212] In some examples, referring to the figures, the first drive structure 112 may be disposed on the base 101; the second drive structure 111 may be movable relative to the base 101 along a first direction. For example, in some examples, the second drive structure 111 may be disposed on the movable seat 109 (see Figure 109). Figure 11 (As shown).

[0213] The working process of the retrieval device 1 provided in this embodiment of the application when retrieving and returning the target item 4 is as follows:

[0214] Depending on the actual situation when retrieving or returning the target item 4, the retrieval component 102 can move along the first direction under the drive of the first drive structure 112 and / or the second drive structure 111 to extend into the target cargo location of the target vehicle 5, or retract into the base 101.

[0215] Driven by the first drive structure 112, the moving base 109 moves along the first direction. When the moving base 109 moves along the first direction, it drives the telescopic structure 110 and the retrieval component 102, both mounted on the moving base 109, to move a working distance together, so that the retrieval component 102 eventually reaches the target location. This working distance can be understood as the distance the retrieval component 102 moves to the target location when retrieving or returning the box, i.e., the retrieval distance or return distance.

[0216] Alternatively, in some examples, the retrieval component 102 may move along the first direction only under the drive of the second drive structure 111. For example, the first drive structure 112 is not working, that is, the relative position of the moving seat 109 and the base 101 remains stationary; the second drive structure 111 drives the telescopic structure 110 to extend and retract along the first direction, and the second end 1102 of the telescopic structure 110 drives the retrieval component 102 connected to the telescopic structure 110 to move a working distance along the first direction, so that the retrieval component 102 finally reaches the target storage location.

[0217] Alternatively, in other examples, the object retrieval component 102 may also be driven together by the first drive structure 112 and the second drive structure 111 and move along the first direction.

[0218] For example, in some examples, the first drive structure 112 can first drive the movable seat 109 to move, so as to move the telescopic structure 110 and the retrieval component 102 to the target location by a first preset distance. Then, the second drive structure 111 drives the telescopic structure 110 to extend, so as to move the retrieval component 102 to the target location by a second preset distance, so that the retrieval component 102 moves to the target location and transfers the target item 4 between the retrieval component 102 and the target location.

[0219] The first preset distance and the second preset distance are determined by the working distance; for example, the sum of the first preset distance and the second preset distance is equal to the working distance. Of course, due to factors such as drive deviation and movement deviation, the sum of the first preset distance and the second preset distance may also be less than or greater than the working distance.

[0220] For example, the first preset distance can be a suitable value such as / , / or / of the working distance. For instance, the first drive structure 112 can first move the retrieval component 102 to the foremost end of the base 101 via the moving seat 109, and then drive the telescopic structure 110 to extend via the second drive structure 111, extending the retrieval component 102 to the target storage location. Of course, in other examples, the first drive structure 112 can first drive the moving seat 109 to the foremost end of the base 101, and then drive the telescopic structure 110 to extend via the second drive structure 111, extending the retrieval component 102 to the target storage location. This application embodiment does not limit the specific ratio of the first preset distance and the second preset distance, as long as it ensures that the retrieval component 102 eventually moves to the target storage location.

[0221] In other examples, the second drive structure 111 can first drive the telescopic structure 110 to extend, thereby moving the retrieval component 102 a third preset distance toward the target location. Then, the first drive structure 112 drives the moving seat 109 to move, thereby moving the telescopic structure 110 and the retrieval component 102 a fourth preset distance toward the target location, so that the retrieval component 102 moves to the target location.

[0222] The fourth and fifth preset distances are determined by the working distance; for example, the sum of the fourth and fifth preset distances equals the working distance. However, due to factors such as drive deviation and movement deviation, the sum of the third and fourth preset distances can be less than or greater than the working distance.

[0223] For example, the fourth preset distance can be a suitable value such as / , / or / of the working distance. For instance, the second drive structure 111 can first move the retrieval component 102 to the foremost end of the base 101 via the telescopic structure 110, and then drive the moving seat 109 forward via the first drive structure 112 until the retrieval component 102 reaches the target storage location. This application embodiment does not limit the specific ratio of the third and fourth preset distances, as long as it ensures that the retrieval component 102 eventually moves to the target storage location.

[0224] Of course, in other examples, the first drive structure 112 and the second drive structure 111 can simultaneously drive the movable seat 109 and the telescopic structure 110 to move. In other words, the first drive structure 112 drives the movable seat 109 to move, while the second drive structure 111 drives the telescopic structure 110 to extend and retract, so as to move the retrieval component 102 to the target location by a working distance, so that the retrieval component 102 moves to the target location and transfers the target item 4 between the retrieval component 102 and the target location.

[0225] Understandably, in some other examples, the first drive structure 112 may first drive the movable seat 109 to move, the second drive structure 111 may then drive the telescopic structure 110 to extend, and finally the first drive structure 112 may drive the movable seat 109 to move again until the retrieval component 102 moves to the target location.

[0226] Alternatively, the second drive structure 111 can first drive the telescopic structure 110 to extend, then the first drive structure 112 can drive the movable seat 109 to move, and finally, the second drive structure 111 can drive the telescopic structure 110 to extend again until the retrieval component 102 moves to the target location. This embodiment does not limit the working order or number of times the first drive structure 112 and the second drive structure 111 work, as long as it ensures that the retrieval component 102 eventually reaches the target location.

[0227] The object retrieval device 1 provided in this application embodiment movably mounts a movable base 109 on a base 101, and when retrieving or returning the target item 4, the movable base 109 moves along a first direction on the base 101; furthermore, a telescopic structure 110 is provided on the movable base 109, the telescopic structure 110 having a first end 1101 and a second end 1102 along the first direction, the first end 1101 being mounted on the movable base 109, the second end 1102 being able to move closer to or further away from the first end 1101 along the first direction, and an object retrieval component 102 being provided on the second end 1102, thus, when retrieving or returning the target item 4, the object retrieval component 102 is used to retrieve the target item. When retrieving and returning item 4, the moving speed of the retrieval component 102 can be increased, which can effectively improve the efficiency of retrieving and returning the target item 4 and improve the efficiency of goods handling. Through the joint movement of the moving seat 109 and the retrieval component 102 (for example, the first drive structure 112 connected to the moving seat 109 moves the moving seat 109 along the first direction, and the second drive structure 111 drives the second end 1102 of the telescopic structure 110 along the first direction), the moving distance of the end of the retrieval component 102 facing the target item 4 can be effectively increased, which makes it easier to retrieve and return the target item 4 located inside the shelf.

[0228] In addition, in this embodiment, by configuring the retrieval component 102 to act on the front surface of the target item 4 (i.e., the side of the target item 4 facing the retrieval component 102 when it is in the retrieval state) when retrieving the target item 4, the target item 4 is moved. In this way, compared with related technologies, it is not necessary to insert the end of the retrieval component 102 facing away from the moving seat 109 (facing / towards the target item 4) into the gap between two adjacent boxes. That is to say, when storing the boxes, it is not necessary to maintain a certain gap between two adjacent boxes, which reduces the gap between adjacent boxes and effectively improves the storage density of the boxes.

[0229] Furthermore, in this embodiment, the first driving structure 112 is connected to the movable seat 109 and drives the movable seat 109 to move along the first direction, thereby driving the retrieval component 102 to move; and the second driving structure 111 drives the telescopic structure 110 disposed between the movable seat 109 and the retrieval component 102, so that the telescopic structure 110 extends and retracts, and drives the retrieval component 102 connected to the second end 1102 of the telescopic structure 110 to move.

[0230] In this way, firstly, the movement of the movable seat 109 and the movement of the telescopic structure 110 are decoupled when retrieving and returning the cargo box. That is, the movement of the movable seat 109 and the movement of the telescopic structure 110 become two independent movement processes. Thus, the movement speed of the movable seat 109 and the extension speed of the telescopic structure 110 are decoupled and independent of each other. This allows the retrieval device 1 of this application embodiment to arbitrarily select one of the driving structures to drive when retrieving and returning the target item 4, or to freely control the driving speed of both driving structures, so that the movement displacement of the movable seat 109 and the extension amount of the telescopic structure 110 can be freely adjusted.

[0231] On the other hand, the above-mentioned configuration ensures that if the movement of one component fails, the other can still continue to move, guaranteeing the smooth retrieval and return of the target item 4 without interfering with it. Furthermore, it improves the efficiency of maintenance and replacement, thus enhancing the overall efficiency of cargo container retrieval and return operations.

[0232] On the other hand, during the process of retrieving and returning the target item 4, different movement modes of the retrieval component 102 can be selected according to the actual working conditions, which improves the flexibility of the movement of the retrieval component 102. This avoids the situation where the machine must be stopped for maintenance if either the movement of the moving seat 109 or the movement of the retrieval component 102 fails, thus improving the efficiency of the cargo box retrieval and return operation.

[0233] In some examples of embodiments of this application, reference is made to Figure 10 As shown, the first driving structure 112 may include a first driving member 1121 and a first transmission member 1123. The first driving member 1121 is fixedly disposed on the base 101. One end of the first driving member 1121 is connected to the first transmission member 1123 to drive the first transmission member 1123 to move along the first direction. The first transmission member 1123 is connected to the side of the movable seat 109 facing the base 101, thereby driving the movable seat 109 to move along the first direction.

[0234] In other words, in this embodiment of the application, the first transmission member 1123 can be disposed on the base 101 along a first direction. In some examples, the first transmission member 1123 can be a lead screw, cylinder, or electric cylinder as described in the foregoing embodiments of this application.

[0235] In this embodiment, the first transmission component 1123 is disposed on the side of the movable seat 109 facing the base 101. This facilitates the placement of the telescopic structure 110 and the object retrieval component 102 on the side of the movable seat 109 facing away from the base 101, thereby improving space utilization.

[0236] For example, the first transmission member 1123 includes a first drive wheel 1122, a first transmission belt, and a first idler wheel 1124.

[0237] In some examples, the output shaft of the first drive member 1121 (also referred to as the power output end of the first drive member 1121) is connected to the first drive wheel 1122, thereby driving the first drive wheel 1122 to rotate, see reference. Figure 10 As shown in the embodiments of this application, the first idler wheel 1124 and the first drive wheel 1122 are spaced apart along a first direction. In specific configurations, the axial directions of the first idler wheel 1124 and the first drive wheel 1122 can be parallel or approximately parallel to the surface of the base 101. In some optional examples, the axial directions of the first idler wheel 1124 and the first drive wheel 1122 can also be perpendicular or approximately perpendicular to the surface of the base 101. The accompanying drawings of the embodiments of this application illustrate, as a specific example, that the axial directions of the first drive wheel 1122 and the first idler wheel 1124 are perpendicular or approximately perpendicular to the surface of the base 101.

[0238] Specifically, refer to Figure 10 As shown in the embodiments of this application, the first transmission belt (such as the chain, belt, synchronous belt or timing belt described in the foregoing embodiments of this application) is tensioned between the first drive wheel 1122 and the first idler wheel 1124 (for example, the first transmission belt is sleeved on the first drive wheel 1122 and the first idler wheel 1124); that is, when the first drive member 1121 drives the first drive wheel 1122 to rotate, the first transmission belt rotates under the drive of the first drive wheel 1122.

[0239] As a specific example of an embodiment of this application, the movable seat 109 can be fixed on the first transmission belt, for example, the movable seat 109 can be fixed on the first main body portion of the first transmission belt. It is understood that, as shown in the figure, the first main body portion can be located between the first drive wheel 1122 and the first idler wheel 1124.

[0240] In some examples, refer to Figure 10 As shown in this embodiment, the movable seat 109 can be fixed to the first main body of the first transmission belt via the first drive block 1125, thereby moving under the drive of the first transmission belt. The first drive component 1121 can be any one of a servo motor, a synchronous motor, or a stepper motor.

[0241] Understandable, refer to Figure 11 As shown in the embodiment of this application, the second driving structure 111 includes a second driving member 1111 and a second transmission member 1113. One end of the second driving member 1111 is connected to the second transmission member 1113 to drive the second transmission member 1113 to move along the first direction.

[0242] In the embodiments of this application, reference is made to Figure 11As shown, the second driving member 1111 and the second transmission member 1113 can both be mounted on the movable seat 109. That is to say, in this embodiment of the application, the second driving member 1111 and the second transmission member 1113 can move together with the movable seat 109.

[0243] In some examples, refer to Figure 11 As shown, the movable seat 109 includes a first movable part and a second movable part. The extension direction of the first movable part is consistent with the first direction. The second movable part is connected to the first movable part and is disposed opposite to the object retrieval component 102. The first end 1101 of the telescopic structure 110 is disposed on the second movable part.

[0244] In some examples, the first moving part can be a plate-like or sheet-like structure. Of course, the structural shape of the second moving part can be the same as or similar to that of the first moving part. As an optional example, after the first moving part and the second moving part are constructed to form the moving base 109, the cross-sectional shape of the moving base 109 can be "L"-shaped, that is, the first moving part and the second moving part can be perpendicular or approximately perpendicular to each other.

[0245] For example, the first moving part may be disposed on the base 101 and parallel or approximately parallel to the surface of the base 101; the second moving part may be disposed at the end of the first moving part facing away from the telescopic structure 110. Alternatively, in some examples, it may be understood that the object-retrieving component 102 is disposed on the first moving part.

[0246] In some examples, the object-retrieving component 102 may be located at the end opposite to the second moving part. In addition, the telescopic structure 110 may be provided on the first moving part, and in some examples, the telescopic structure 110 is located between the second moving part and the object-retrieving component 102; that is, the first end 1101 of the telescopic structure 110 may be provided on the second moving part.

[0247] In some optional examples of the embodiments of this application, refer to Figure 11 As shown, the second driving member 1111 can be disposed on the side of the second moving part opposite to the telescopic structure 110, and the second transmission member 1113 can be disposed on the side of the first moving part opposite to the telescopic structure 110.

[0248] It is understood that in this embodiment, the second transmission member 1113 is disposed on the side of the first moving part away from the telescopic structure 110 as a specific example, and is not intended to limit the specific placement of the second transmission member 1113. In some examples, the second transmission member 1113 may also be disposed in other positions.

[0249] In other examples, it can also be understood that the second transmission member 1113 is disposed on the side of the first moving part facing the base 101. In this case, at least a portion of the second driving member 1111 can extend out of the second moving part and be drively connected to the second transmission member 1113.

[0250] In this embodiment, the movable seat 109 is configured to include a first movable part and a second movable part, with the second movable part disposed at one end of the first movable part; the first end 1101 of the telescopic structure 110 is disposed on the second movable part, and the telescopic structure 110 is disposed between the second movable part and the retrieval assembly 102; then, the second driving member 1111 is disposed on the side of the second movable part opposite to the telescopic structure 110, and the second transmission member 1113 is disposed on the side of the first movable part opposite to the telescopic structure 110; thus, it is convenient to arrange the positions of the telescopic structure 110, the second driving member 1111, and the second transmission member 1113, effectively improving space utilization. Referring to the figures, in this embodiment, the type of the second driving member 1111 can be the same as or similar to the first driving member 1121. In some examples, the second transmission member 1113 includes: a second drive wheel 1112, a second idler wheel 1114, and a second transmission belt.

[0251] In some examples, the output shaft of the second drive member 1111 (which may also be referred to as the power output end in some examples) is connected to the second drive wheel 1112 and drives the second drive wheel 1112 to rotate. The second idler wheel 1114 is spaced apart from the second drive wheel 1112 along a first direction. The second transmission belt (such as the chain, belt, synchronous belt, or timing belt described in the foregoing embodiments of this application) can be tensioned between the second drive wheel 1112 and the second idler wheel 1114 (for example, the second transmission belt is sleeved on the second drive wheel 1112 and the second idler wheel 1114). When the second drive member 1111 drives the second drive wheel 1112 to rotate, the second drive wheel 1112 drives the second transmission belt to move between the second drive wheel 1112 and the second idler wheel 1114.

[0252] In some alternative examples, the telescopic structure 110 can be connected to the second drive belt. For example, the telescopic structure 110 can be connected to the second main body of the second drive belt, which is located between the second drive wheel 1112 and the second idler wheel 1114. In this way, the movement of the second drive belt causes the telescopic structure 110 to extend and retract, thereby causing the retrieval component 102 to move toward the cargo box or to move away from the cargo box.

[0253] It is understood that in the embodiments of this application, the transmission method of the first drive structure 112 through the first power wheel 1122, the first transmission belt and the first idler wheel 1124 is only shown as a specific example. In some possible examples, the first drive structure 112 may also be the transmission method of the lead screw and the power block described in the foregoing embodiments of this application, that is, by setting a rotatable lead screw on the base 101 along the first direction, and sleeve a power block with internal threads on the lead screw, and the power block is connected to the moving seat 109; in this way, when the first drive member 1121 drives the lead screw to rotate, the power block can drive the moving seat 109 to move along the first direction.

[0254] In some possible examples, the first drive structure 112 may also be the telescopic rod described in the foregoing embodiments of this application.

[0255] It is also understood that the second drive structure 111 may be the same as or similar to the first drive structure 112. The difference between the second drive structure 111 and the first drive structure 112 is that the second drive structure 111 may be disposed on the movable seat 109 and driven by the second drive member 1111 disposed on the movable seat 109.

[0256] In this embodiment, two different power sources are provided, namely a first driving member 1121 and a second driving member 1111. The first driving member 1121 drives the movable seat 109 to move through the first transmission member 1123. The second driving member 1111 is disposed on the movable seat 109 and moves together with the movable seat 109. Furthermore, the second driving member 1111 drives the telescopic structure 110 to extend and retract through the second transmission member 1113 disposed on the movable seat 109, thereby driving the retrieval component 102 to move. In this way, when it is necessary to move the cargo box, there are at least three ways to move the retrieval component 102 so that the retrieval component 102 can move closer to or away from the cargo box located on the shelf.

[0257] The first method of movement:

[0258] The first driving member 1121 drives the movable seat 109 to move along the first direction through the first transmission member 1123, thereby causing the retrieval component 102, which is provided on the movable seat 109 through the telescopic structure 110, to move and retrieve the cargo box.

[0259] The second method of movement:

[0260] The second drive unit 1111 drives the retrieval assembly 102 mounted on the movable seat 109 to move along the first direction via the second transmission unit 1113, thereby retrieving and returning the cargo box.

[0261] The third mode of movement:

[0262] The first driving member 1121 drives the movable seat 109 to move along the first direction through the first transmission member 1123. At the same time, the second driving member 1111 drives the retrieval assembly 102 disposed on the movable seat 109 to move along the first direction through the second transmission member 1113, thereby retrieving and returning the cargo box.

[0263] It is understood that in some possible examples, the movement of the retrieval component 102 may also be a combination of the three movement methods described above in the embodiments of this application; for example, the first driving member 1121 drives the moving seat 109 to move a certain distance along the first direction through the first transmission member 1123, and then the second driving member 1111 drives the retrieval component 102 disposed on the moving seat 109 to move a certain distance through the second transmission member 1113. Then, while the first driving member 1121 drives the moving seat 109 to move, the second driving member 1111 drives the retrieval component to move.

[0264] It should be noted that, in this embodiment of the application, the specific movement mode of the object retrieval component 102 can be set according to the actual working conditions. In this embodiment of the application, there is no restriction on the specific movement mode of the object retrieval component 102.

[0265] In this embodiment, two different power sources are used to drive the first transmission component 1123 and the second transmission component 1113. Specifically, the first driving component 1121 drives the first transmission component 1123, and the second driving component 1111 drives the second transmission component 1113. This achieves two advantages: firstly, decoupling the movement of the movable seat 109 from the movement of the retrieval device 1 during the retrieval of the cargo box; that is, the movement of the movable seat 109 and the movement of the retrieval component 102 are considered two independent movement processes (although the movement of the movable seat 109 can drive the movement of the retrieval component 102, the movement of the retrieval component 102 does not depend on the movement of the movable seat 109; it can also be driven by the second driving component 1111 through the second...). The transmission component 1113 drives the telescopic structure 110, so that if the movement of either component fails, the other component can still continue to move, ensuring the smooth retrieval and return of the cargo box without interfering with the retrieval and return of the target item 4, and improving the efficiency of maintenance and replacement, thus improving the efficiency of cargo box retrieval and return operations. Secondly, during the retrieval and return of the cargo box, different movement modes of the retrieval component 102 can be selected according to the actual working conditions, improving the flexibility of the movement of the retrieval component 102. This avoids the situation where the machine must be stopped for maintenance if either the movement of the moving seat 109 or the movement of the retrieval component 102 fails, thus improving the efficiency of cargo box retrieval and return operations.

[0266] Furthermore, by arranging the second drive member 1111 and the second transmission member 1113 on the movable seat 109, when retrieving and returning the cargo box, the movable seat 109 can be moved simultaneously by the first drive member 1121, and the retrieval component 102 can be moved by the second drive member 1111, thereby increasing the moving speed of the retrieval component 102 and thus improving the efficiency of retrieving and returning the cargo box.

[0267] In one application scenario, when the target cargo location is the inner depth of the target carrier 5, the retrieval device 1 provided in this application embodiment, when retrieving and returning the target item 4, can first activate the second drive structure 111. For example, the second drive component 1111 starts and drives the second transmission component 1113 to move along the first direction via the second power wheel 1112. The second transmission component 1113 drives the telescopic structure 110 to move along the first direction, thereby pushing the retrieval assembly 102 to move along the first direction. In this way, due to the extension of the telescopic structure 110 along the first direction, the telescopic structure 110 moves along the second direction (e.g., ...). Figure 11 The width of the second direction (in the y-direction) is reduced, thereby facilitating the telescopic structure 110 to push the retrieval assembly 102 into the target vehicle 5. It can be understood that this second direction may intersect, for example, be perpendicular to, the first direction, i.e., the telescopic direction.

[0268] It is understood that after the telescopic structure 110 drives the retrieval component 102 to move a preset distance, for example, after the telescopic structure 110 drives the retrieval component 102 to extend into the target vehicle 5, the first drive structure 112 will then work, for example, the first drive component 1121 will be activated, thereby driving the movable seat 109 connected to the first transmission component 1123 and the telescopic structure 110 set on the movable seat 109 to move together toward the direction of approaching the target cargo location, until the retrieval component 102 moves to the target cargo location. At this time, the target item 4 can be transferred between the retrieval component 102 and the target cargo location.

[0269] For example, the retrieval component 102 removes the target item 4 from the target storage location, or the retrieval component 102 places the target item 4 on the target storage location.

[0270] In this way, it is convenient to pick up and take up target items 4 with small width dimensions, and it is convenient for the telescopic structure 110 to extend into the target storage position in the inner depth to transfer the target item 4, thereby improving the adaptability of the picking device 1 to different target items 4, that is, improving the applicable range of the picking device 1.

[0271] Figure 12 This is a schematic diagram of the structure of the telescopic structure 110 and the base 101 in the object retrieval device 1 provided in this application embodiment. Figure 13 This is a schematic diagram of the structure of the movable base 109, the telescopic structure 110, and the retrieval component 102 in the retrieval device 1 provided in this application embodiment. Figure 14This is a schematic diagram of the telescopic structure 110 in the object retrieval device 1 provided in the embodiments of this application.

[0272] In one optional example of the embodiments of this application, refer to Figures 12-14 As shown, the telescopic structure 110 includes at least two intersecting member units 1103 arranged sequentially along a first direction.

[0273] Specifically, refer to Figures 12-14 As shown in the embodiments of this application, each cross member unit 1103 may include two cross members 11031 arranged opposite to each other. For example, the two cross members 11031 in each cross member unit 1103 are arranged opposite to each other along a third direction, wherein the third direction can be the direction shown by the z-axis in the figure, and the arrangement direction of the two cross members 11031 can specifically be along the direction shown by the z-axis in the figure. As a specific example of the embodiments of this application, after the telescopic structure 110 is set on the movable seat 109, the two cross members 11031 can specifically be arranged in a direction perpendicular to the surface of the base 101. In the embodiments of this application, by arranging two opposite cross members 11031 in a third direction, the stability of the telescopic structure 110 during telescopic extension and retraction can be guaranteed, and the stability of the retrieval component 102 in retrieving and returning the cargo box can be improved.

[0274] Continue to refer to Figures 12-14 As shown in the embodiment of this application, each cross member 11031 includes two intersecting transmission rods 11031a. The cross member 11031 corresponding to the cross member unit 1103 at the first end 1101 is the first cross member, and the cross member 11031 corresponding to the cross member unit 1103 at the second end 1102 is the second cross member. In this embodiment of the application, the first cross member is slidably connected to the movable seat 109, and the second cross member is slidably connected to the object retrieval component 102.

[0275] In some examples, refer to Figure 12 As shown, a first slide rail 1091 can be provided at one end of the movable seat 109 facing / or toward the object-grabbing assembly 102, and a third slider 1092 can be provided at the ends of the two transmission rods 11031a of the first cross member. The third slider 1092 is slidably connected to the first slide rail 1091. It is understood that in this embodiment, when the two intersecting transmission rods 11031a of the cross member 11031 rotate intersectingly, the third slider 1092 moves closer to or further away from each other on the first slide rail 1091. Furthermore, to ensure that the two intersecting transmission rods 11031a can rotate intersectingly normally, in this embodiment, the third slider 1092 is rotatably connected to the transmission rods 11031a, wherein the rotation axis of the third slider 1092 and the transmission rods 11031a is parallel or approximately parallel to the transmission axis of the two intersecting transmission rods 11031a.

[0276] It should be noted that, in the embodiments of this application, the sliding connection method between the second cross member and the object retrieval component 102 can be the same as or similar to the sliding connection method between the first cross member and the movable seat 109. For details, please refer to the detailed description of the sliding connection method between the first cross member and the movable seat 109 in the foregoing embodiments of this application. This application will not repeat the description in this regard.

[0277] Each cross member unit 1103 has a cross member 11031 with a hinge shaft 1104. It is understood that the two drive rods 11031a of the cross member 11031 are hinged together via the hinge shaft 1104. A second drive structure 111 is connected to the hinge shaft 1104 in one of the cross member units 1103 to drive the cross member 11031 to increase or decrease the angle towards the object-grabbing assembly 102, thereby causing the second end 1102 of the telescopic structure 110 to move closer to or further away from the first end 1101 accordingly.

[0278] In some examples (not shown in the figures), each cross member 11031 corresponds to a hinge axis 1104, that is, a cross member unit 1103 has two hinge axes 1104. The two drive rods 11031a in one cross member 11031 are hinged through one hinge axis 1104, and the two drive rods 11031a in the other cross member 11031 are hinged through the other hinge axis 1104. The second drive structure 111 can be connected to one of the hinge axes 1104 in one of the cross member units 1103 to drive the cross member 11031 connected to the hinge axis 1104 to move along the first direction x.

[0279] Because one of the two intersecting members 11031 facing each other along a third direction is rotatably connected to the end of the other intersecting member 11031 by a rotating shaft 1105 (see reference). Figure 12 As shown, the rotating shaft 1105 is used to connect two adjacent cross members 11031 along the first direction. Thus, when one of the cross members 11031 moves under the drive of the second drive structure 111, the rotating shaft 1105 can drive the other cross member 11031 in a cross member unit 1103 to move, thereby realizing the extension and retraction of the scissor fork structure along the first direction.

[0280] In other examples, each cross member unit 1103 is provided with a corresponding hinge axis 1104. That is, in this embodiment, the number of hinge axes 1104 corresponds to the number of cross member units 1103, and the two cross members 11031 in each cross member unit 1103 share one hinge axis 1104. For example, refer to Figures 12-14As shown, in each cross member unit 1103, the two ends of the hinge shaft 1104 extend to two cross members 11031 respectively, and the two cross members 11031 are respectively hinged to the ends of the hinge shaft 1104. That is, one cross member 11031 is hinged to one end of the hinge shaft 1104, and the other cross member 11031 is hinged to the other end of the hinge shaft 1104.

[0281] In this way, the four transmission rods 11031a in each cross member unit 1103 only need to be connected by one hinge shaft 1104, which saves the number of hinge shafts 1104, facilitates the installation and connection of the cross member unit 1103, and improves the stability of the cross member unit 1103 during telescopic transmission.

[0282] It is understood that in this example, the two cross members 11031 arranged along the third direction are connected by a hinge shaft 1104. The second drive structure 111 is connected to one of the hinge shafts 1104 among the multiple cross member units 1103, thereby driving the hinge shaft 1104 to move along the first direction. The hinge shaft 1104 can simultaneously drive the two cross members 11031 arranged along the third direction z to move along the first direction x, thereby ensuring that the entire scissor fork structure moves stably along the first direction x and improving the driving accuracy of the second drive structure 111 on the scissor fork structure.

[0283] Reference Figure 13 As shown, when the second drive structure 111 drives the hinge shaft 1104 to move along the positive x-axis in the figure, the ends of the two transmission rods 11031a in the cross member 11031 move towards each other (i.e., the included angle between the two transmission rods 11031a decreases along the first direction), thereby reducing the angle between the length direction of the transmission rod 11031a and the direction shown by the x-axis, that is, the length component of the transmission rod 11031a in the direction shown by the x-axis increases. At this time, the telescopic structure 110 pushes the retrieval assembly 102 to move away from / away from the moving seat 109 along the first direction; in some application scenarios, it can also be understood that the telescopic structure 110 pushes the retrieval assembly 102 to move towards the cargo box along the first direction. That is to say, in the first direction, the distance between the two ends of the cross member unit 1103 increases.

[0284] It is understood that at this time, the end of the first cross member that is slidably connected to the movable seat 109 moves toward the direction of mutual approach / closeness, and correspondingly, the end of the second cross member that is slidably connected to the picking component 102 also moves toward the direction of mutual approach / closeness.

[0285] Understandable, continue to refer to Figure 13As shown, when the second drive structure 111 drives the hinge shaft 1104 to move along the negative x-axis in the figure, the ends of the two transmission rods 11031a in the cross member 11031 move away from each other (that is, along the first direction, the included angle between the two transmission rods 11031a increases), thereby increasing the included angle between the length direction of the transmission rod 11031a and the direction shown by the x-axis, that is, the length component of the transmission rod 11031a in the direction shown by the x-axis decreases. At this time, the telescopic structure 110 pulls the retrieval assembly 102 to move along the first direction toward / towards the moving seat 109; in some application scenarios, it can also be understood that the telescopic structure 110 pulls the retrieval assembly 102 to move along the first direction toward the moving seat 109.

[0286] In other words, in the first direction, the distance between the two ends of the telescopic structure 110 decreases. It can be understood that at this time, the end of the first cross member that is slidably connected to the movable seat 109 moves in a direction opposite to each other, and correspondingly, the end of the second cross member that is slidably connected to the picking assembly 102 also moves in a direction opposite to each other.

[0287] In this embodiment, at least two cross member units 1103 are arranged sequentially along a first direction. Each cross member unit 1103 includes two cross members 11031 arranged opposite each other along a direction perpendicular to the first direction. Each cross member 11031 includes mutually intersecting transmission rods 11031a. Each set of cross member units 1103 is connected by a hinge shaft 1104, so that the two transmission rods 11031a are rotatably connected by the hinge shaft 1104, and the two cross members 11031 are connected by the hinge shaft 1104, thus forming a double-layer scissor fork structure. In this way, when the second drive structure 111 is connected to one of the hinge shafts 1104 and drives the telescopic structure 110 to extend and retract along the first direction, the stability of the telescopic structure 110 is ensured, that is, the stability and success rate of retrieving and returning the target item 4 are improved.

[0288] Furthermore, when using the retrieval device 1 provided in this application embodiment to retrieve and return a cargo box, the second drive member 1111 can first drive the second transmission member 1113, thereby causing the telescopic structure 110 to extend. In this way, the length component of the transmission rod 11031a in the cross member unit 1103 increases in the direction shown by the x-axis in the figure, that is, the length component of the transmission rod 11031a decreases in the direction perpendicular to the x-axis and parallel to the surface of the base 101. Thus, the width space required for the transmission rod 11031a is smaller, which is beneficial for some cargo boxes that are narrow and located in the inner depth (some examples). The cargo box (which can also be understood as being stored in an inner position) can be accessed by first inserting the retrieval component 102 along the first direction into the channel formed after the cargo box in the outer position is retrieved. After the retrieval component 102 provides sufficient moving / carrying force to the cargo box, the first driving component 1121 drives the moving seat 109 to move. The moving seat 109 drives the telescopic structure 110 and the retrieval component 102 to move, and moves the cargo box to the outer deep position. Then, the second driving component 1111 drives the telescopic structure 110 to retract. This can effectively adapt to the retrieval and handling of cargo boxes with narrow widths.

[0289] It is understood that when returning the cargo box, the control can be reversed compared to the box retrieval operation in the aforementioned embodiments of this application. For example, the telescopic structure 110 can be unfolded first by the second driving member 1111, and the cargo box to be returned can be placed into the outer depth position. At this time, since the telescopic structure 110 is in the unfolded state, the transmission rod 11031a moves along... Figure 13 As the length component increases in the direction shown by the x-axis, the length component of the transmission rod 11031a in the direction perpendicular to the x-axis and parallel to the surface of the base 101 is smaller, requiring less space. At this point, the moving seat 109 is then driven by the first driving member 1121 along the first direction (i.e.,... Figure 13 Move the container (in the direction shown by the x-axis) to the inner depth position.

[0290] In some optional examples of the embodiments of this application, refer to Figures 12-14 As shown, the telescopic structure 110 includes multiple sets of cross member units 1103. Specifically, the cross member units 1103 are shown as a group in the accompanying drawings of this application embodiment as a specific example. It can be understood that in some examples, the cross member units 1103 may also be groups, sets, or more groups. In specific settings, the specific number of cross member units 1103 can be determined according to the storage depth. In this application embodiment, the specific number of cross member units 1103 is not limited.

[0291] It is also understood that when there are multiple sets of cross member units 1103, the ends of adjacent sets of cross member units 1103 are connected to each other through a hinge shaft 1104. In some specific examples, the hinge shaft 1104 can be a rotating shaft 1105, that is, the transmission rod 11031a between adjacent sets of cross member units 1103 is rotatably connected through the rotating shaft 1105, thereby facilitating the overall extension and retraction of the entire telescopic structure 110.

[0292] In this embodiment of the application, by setting multiple sets of cross-component units 1103, it is convenient to extend the telescopic range of the telescopic structure 110, thereby facilitating the retrieval and return of target items 4 for different warehousing needs and improving adaptability to different warehousing needs.

[0293] In some optional examples of the embodiments of this application, reference is made to Figure 13 As shown, the object retrieval device 1 also includes a first limiting member 113. Specifically, in this embodiment, the first limiting member 113 is connected between the first intersecting member and the movable seat 109. That is, the first intersecting member can be connected to the movable seat 109 via the first limiting member 113. Alternatively, in some examples, it can be understood that one end of the first limiting member 113 is connected to the movable seat 109, and the other end of the first limiting member 113 is connected to the first intersecting member, thereby limiting the movement of the first intersecting member on the movable seat 109.

[0294] It should be noted that the end of the transmission rod 11031a of the first cross member can be slidably connected between the first slide rail 1091 and the third slider 1092 described in the foregoing embodiments of this application. Since the two transmission rods 11031a of the first cross member are rotatably connected to each other, the sliding directions of the two third sliders 1092 are always opposite, specifically, they slide towards each other (approaching or moving closer to each other) or away from each other (moving away from each other). In this embodiment, the first limiting member 113 specifically restricts the entire first cross member from sliding along the first slide rail 1091. That is, the first limiting member 113 specifically restricts the two third sliders 1092 from sliding in the same direction, thereby restricting the translation of the first end 1101 of the telescopic structure 110 on the moving seat 109.

[0295] In one specific example, the first limiting member 113 can be a connecting rod 1131, one end of which is rotatably connected to the movable seat 109, and the other end of which is rotatably connected to the transmission rod 11031a. Thus, when the transmission rod 11031a rotates, causing the telescopic structure 110 to extend or retract, the connecting rod 1131 can rotate with the transmission rod 11031a. When the telescopic structure 110 translates, the connecting rod 1131 can limit the translation of the telescopic structure 110.

[0296] It should be noted that there is a first rotation axis between the connecting rod 1131 and the movable seat 109, and a second rotation axis between the connecting rod 1131 and the transmission rod 11031a. The first rotation axis is parallel or approximately parallel to the second rotation axis. In addition, the first rotation axis, the second rotation axis and the rotation axis between the two transmission rods 11031a are parallel or approximately parallel.

[0297] In another example of the embodiments of this application, continuing to refer to the figure, the object-retrieving device 1 further includes a second limiting member 114, which is connected between the second cross member and the object-retrieving component 102, thereby limiting the translation of the second end 1102 of the telescopic structure 110 on the object-retrieving component 102. That is, one end of the second limiting member 114 is connected to the object-retrieving component 102, and the other end of the second limiting member 114 is connected to the second cross member.

[0298] As a specific example of an embodiment of this application, the structure and specific arrangement of the second limiting member 114 may be the same as or similar to the first limiting member 113. For details, please refer to the detailed description of the first limiting member 113 in the foregoing embodiments of this application. This will not be repeated in the embodiments of this application.

[0299] In this embodiment, by setting a first limiting member 113 between the first cross member and the movable seat 109, the translational movement between the first end 1101 of the telescopic structure 110 and the movable seat 109 is limited. This ensures that when the telescopic structure 110 moves the retrieval component 102 along the first direction, the positions of the telescopic structure 110 and the movable seat 109 are relatively fixed, which can ensure the stability of the retrieval and return of the cargo box and avoid the situation where the telescopic structure 110 is translated during the retrieval and return of the cargo box, resulting in the cargo box being unable to be retrieved and returned normally.

[0300] In addition, by setting a second limiting member 114 between the second cross member and the retrieval component 102, the translation between the retrieval component 102 and the second end 1102 of the telescopic structure 110 is limited by the second limiting member 114, ensuring that the retrieval component 102 will not translate or shift relative to the second end 1102 of the telescopic structure 110 during the retrieval and return of the cargo box, thereby ensuring the accuracy of cargo box retrieval and return.

[0301] In some other optional examples of the embodiments of this application, refer to Figure 13 As shown, one of the first limiting member 113 and the second limiting member 114 includes two connecting rods 1131. Specifically, in this embodiment of the application, the case where the first limiting member 113 includes two connecting rods 1131 is shown as a specific example.

[0302] Specifically, one of the two connecting rods 1131 is rotatably connected to one of the transmission rods 11031a in the first cross member, and the other connecting rod 1131 is rotatably connected to the other transmission rod 11031a in the first cross member. Furthermore, both connecting rods 1131 are rotatably connected to the movable seat 109. In a specific configuration, the rotation axes of the two connecting rods 1131 and the movable seat 109 can be the same, meaning that the two connecting rods 1131 rotate around the same rotation point on the movable seat 109. Thus, the two connecting rods 1131 and the two transmission members in the first cross member form a parallelogram structure (or, in some examples, a four-bar 1131 structure). Because the rotation points of the two connecting rods 1131 on the movable seat 109 are fixed, the translation of the telescopic structure 110 on the movable seat 109 is limited.

[0303] It is understood that in some optional examples of the embodiments of this application, the specific structure of the second limiting member 114 may be the same as or similar to that of the first limiting member 113.

[0304] It is also understood that, as described in the foregoing detailed description of the embodiments of this application, in the embodiments of this application, the movable seat 109, the telescopic structure 110, and the object-retrieving component 102 are all disposed on the base 101, that is, during the telescopic movement of the telescopic structure 110 along the first direction, the telescopic structure 110 has a relative movement tendency with respect to the base 101. To avoid structural interference between the first limiting member 113 and the base 101, refer to... Figure 13 As shown in the embodiment of this application, the first limiting member 113 is disposed on the side of the telescopic structure 110 facing away from the base 101, which facilitates the telescopic movement of the telescopic structure 110.

[0305] In some other optional examples of the embodiments of this application, refer to Figure 13 As shown, the other of the first limiting member 113 and the second limiting member 114 may include two oppositely arranged extensions 1141. Specifically, in this embodiment of the application, the second limiting member 114 is shown as a specific example comprising two oppositely arranged extensions 1141.

[0306] Specifically, in this embodiment, the two extensions 1141 are fixedly connected to the side of the retrieval assembly 102 facing the movable seat 109. Alternatively, in some examples, the two extensions 1141 can be understood as being fixedly connected to the side of the retrieval assembly 102 facing the telescopic structure 110. A limiting cavity 1142 or a limiting slot is formed between the two extensions 1141. In a specific configuration, the hinge shaft 1104 between the two second intersecting members passes through the limiting cavity 1142 or the limiting slot, so that during the telescopic movement of the telescopic structure 110 in the first direction, the hinge shaft 1104 moves along the limiting cavity 1142 or the limiting slot.

[0307] In other words, in this embodiment of the application, the extension direction of the limiting cavity 1142 or the limiting groove can be consistent with the first direction. For example, the extension direction of the limiting cavity 1142 or the limiting groove is parallel or approximately parallel to the first direction.

[0308] In some optional examples, the length of the limiting cavity 1142 or the limiting slot extending along the first direction can be greater than or equal to the distance that the hinge shaft 1104 between the two second intersecting members can move along the first direction. This ensures that the hinge shaft 1104 is always limited within the limiting cavity 1142 or the limiting slot, preventing the hinge shaft 1104 from coming out of the limiting cavity 1142 or the limiting slot, and improving the stability of the limiting between the telescopic structure 110 and the picking assembly 102.

[0309] Understandable, refer to Figure 13 As shown in the embodiment of this application, the second limiting member 114 can be specifically disposed between the two second intersecting members. In this way, the hinge shaft 1104 between the two second intersecting members can be directly inserted into the limiting cavity 1142 without the need to extend the hinge shaft 1104, which can effectively save the material used by the hinge shaft 1104 and reduce the space required.

[0310] It is also understood that in some alternative examples of embodiments of this application, the first limiting member 113 may also be provided in the form of two oppositely arranged extensions 1141.

[0311] As a specific example, in this embodiment of the application, the first limiting member 113 specifically includes two connecting rods 1131, and the second limiting member 114 specifically includes two oppositely arranged extensions 1141. That is to say, the specific structures of the first limiting member 113 and the second limiting member 114 can be different.

[0312] Reference Figure 13As shown, in an optional example of an embodiment of this application, a hinge shaft 1104 connected to the second drive structure 111 is configured as a power shaft. In a specific configuration, the second drive structure 111 further includes a second drive block 1115, which is connected to one end of the power shaft. Specifically, the second drive block 1115 is fixedly connected to the power shaft. In some examples, refer to... Figure 12 As shown, the second transmission belt in the second drive structure 111 can be one of a chain, belt, synchronous belt or timing belt. In this case, the second drive block 1115 can be fixed on the second transmission belt. When the second drive member 1111 drives the second transmission belt to move, it drives the second drive block 1115, thereby driving the transmission shaft to move along the first direction.

[0313] In this embodiment, one of the hinge shafts 1104 connected to the second drive structure 111 in the hinge shaft 1104 corresponding to the cross member unit 1103 is configured as a power shaft, and the power shaft is connected to the second drive structure 111 through the second drive block 1115; in this way, it is convenient for the second drive structure 111 to drive the telescopic structure 110, without the need to set up another power mechanism, thus simplifying the overall structure of the telescopic structure 110.

[0314] It is understood that, as shown in the figure, in this embodiment of the application, three sets of cross member units 1103 are provided along the first direction as a specific example for illustration. In this embodiment of the application, the hinge shaft 1104 corresponding to any set of cross member 11031 can be used as a power shaft and connected to the second drive structure 111 through the second drive block 1115.

[0315] In a specific example of the embodiments of this application, the hinge shaft 1104 corresponding to the set of cross member units 1103 that are close to / towards the moving seat 109 among the three sets of cross member units 1103 is used as the power shaft. That is, the hinge shaft 1104 set between the two first cross members is connected to the second drive block 1115, thereby connecting to the second drive structure 111 through the second drive block 1115, so that the second drive structure 111 drives the telescopic structure 110 to extend and retract along the first direction.

[0316] In this embodiment, the hinge shaft 1104 between the two first intersecting members is used as the power shaft. This reduces the length of the second transmission belt that needs to be set along the first direction, effectively saving the space occupied by the second transmission belt and saving the material used for the second transmission belt.

[0317] In some alternative examples of embodiments of this application, referring to the figures, in this embodiment of the application, a second guide rail 116 is provided on the base 101, and a second slider 1106 is provided on the telescopic structure 110; wherein, the second guide rail 116 can specifically extend along the first direction, that is, the extension direction of the second guide rail 116 is consistent with the first direction, and the second slider 1106 specifically slides along the second guide rail 116.

[0318] It is understood that, in specific configurations, in this embodiment of the application, the telescopic structure 110 is specifically a telescopic structure 110 formed by connecting multiple sets of cross member units 1103. The two adjacent sets of transmission rods 11031a form a parallelogram structure (which can also be understood as a four-bar linkage 1131 structure). During the specific telescopic process, the positions of the two intersecting transmission rods 11031a in each set of cross member units 1103 will change except for the intersection point of the cross rotation. In order to ensure the normal telescopic structure 110 and avoid the situation where the second slider 1106 and the second guide rail 116 are unable to slide due to stress, in this embodiment of the application, the second slider 1106 can be set on any hinge shaft 1104 other than the power shaft. This ensures that the second slider 1106 will not have a tendency to move at an angle relative to the first direction when sliding along the second guide rail 116, thus ensuring the smoothness of the second slider 1106 sliding along the second guide rail 116.

[0319] In this embodiment, a second guide rail 116 extending along a first direction is provided on the base 101, and a second slider 1106 is provided on the telescopic structure 110. When the telescopic structure 110 moves telescopically along the first direction, the second slider 1106 slides on the second guide rail 116. In this way, the cooperation between the second slider 1106 and the second guide rail 116 can play a certain guiding and limiting role in the telescopic direction of the telescopic structure 110, ensuring the stability of the telescopic structure 110's telescopic movement.

[0320] When set up, the telescopic structure 110 and / or the movable seat 109 in the object retrieval device 1 are provided with force-applying components, and the support component 103 is provided with a force-receiving part. The force-applying components can apply force to the force-receiving part at least during the retraction of the object retrieval component 102, so as to drive the support component 103 back to the base 101 (e.g., the support platform 106).

[0321] When retrieving the target item 4, the retrieval component 102 can move by moving the movable seat 109; or, in some examples, by moving the telescopic structure 110; or, in other examples, by the combined action of the movable seat 109 and the telescopic structure 110. Therefore, in this embodiment, the support component 103 can move together with at least one of the movable seat 109 and the retrieval component 102.

[0322] In an optional example of the embodiments of this application, the supporting component 103 can be fixedly connected to the movable seat 109; during the process of the retrieval component 102 retrieving and returning the target item 4, it can be determined first whether there is a gap between the base 101 and the target vehicle 5; when there is a gap between the base 101 and the target vehicle 5, the first driving member 1121 can first drive the movable seat 109 to move, so that the supporting component 103 abuts against the front end surface of the target vehicle 5. At this time, the driving of the movable seat 109 can be stopped, and the telescopic structure 110 can be driven by the second driving member 1111, so that the retrieval component 102 continues to move.

[0323] Figure 15 This is a schematic diagram of the structure of the support member 1032 in the object retrieval device 1 provided in this application embodiment. Figure 16 This is a schematic diagram of the structure of the movable seat 109 and the support member 1032 cooperating in the object retrieval device 1 provided in the embodiments of this application.

[0324] In some other optional examples of the embodiments of this application, refer to Figure 15 As shown, the object-retrieving device 1 also includes an elastic component 117 (not shown in the figure). Specifically, the elastic component 117 has a third end and a fourth end disposed opposite to each other along the elastic direction, wherein the third end is connected to the supporting component 103, such as the supporting member 1032, and the fourth end is connected to the supporting platform 106. In a specific configuration, refer to... Figure 16 As shown, the force-applying component may include a bent portion 1093 at one end of the movable seat 109, and the force-receiving component may include a protruding portion 10321 at one end of the support member 1032; when the support member 1032 is in the initial position, refer to Figure 16 As shown, the bent portion 1093 abuts against the side of the protrusion 10321 facing the front end face of the support member 1032, and at this time, the elastic component 117 has a first deformation.

[0325] In this embodiment, the initial position specifically refers to the position where neither the movable seat 109 nor the picking component 102 has moved, i.e., the support member 1032 is on the support platform 106 and no positional movement has occurred. In a specific example, the elastic component 117 can specifically be a compression spring. When the support member 1032 is in the initial position, the third end can specifically be the end of the elastic component 117 facing away from the movable seat 109, and the fourth end can specifically be the end of the elastic component 117 facing the movable seat 109. At this time, the elastic component 117 can be in a compressed state, i.e., the first deformation of the elastic component 117 is a compression deformation.

[0326] Furthermore, when the support member 1032 is in the terminated position, the elastic component 117 has a second deformation. In this embodiment, the terminated position can specifically be the position of the support member 1032 on the support platform 106 when the support member 1032 abuts against the front end face of the carrier. At this time, due to the relative movement between the support member 1032 and the support platform 106, the compressed state of the elastic component 117 is gradually released, causing the compression amount (or deformation) of the elastic component 117 to gradually decrease, that is, the second deformation is less than the first deformation.

[0327] As a specific example, when the support 1032 is in the terminated state, the compressive deformation of the elastic component 117 can be completely released, that is, the second deformation of the elastic component 117 can be zero at this time.

[0328] In some alternative examples of embodiments of this application, the elastic component 117 may further include a tension spring, wherein both the third and fourth ends are provided with tension spring hooks (not labeled in the figure). Specifically, the third end may be the end of the tension spring facing the movable seat 109, and the fourth end may be the end of the tension spring facing away from the movable seat 109; that is, the third end of the tension spring is hooked to the support member 1032 through the tension spring hook, and the fourth end of the tension spring is hooked to the support platform 106 through the tension spring hook. When the support member 1032 is in the initial position, the tension spring has a first deformation, at which time the tension spring may be in a stretched state, that is, the first deformation of the tension spring is a stretching deformation; when the support member 1032 is in the terminated position, the stretched state of the tension spring is gradually released, thereby gradually returning from the stretched state to the naturally stretched state.

[0329] It is understood that, in this embodiment of the application, in order to ensure that the support member 1032 can abut against the front end of the vehicle when it is in the terminated position, the elastic component 117 can still have a certain deformation (i.e., the second deformation) when the support member 1032 is in the terminated position. In this way, the support member 1032 will still be subjected to a certain elastic force provided by the elastic component 117 when it is in the terminated position, thereby ensuring the tightness and stability of the abutment between the support member 1032 and the front end of the vehicle.

[0330] Reference Figure 15 As shown, in some optional examples of the embodiments of this application, a third guide rail 10322 and a fourth slider 10323 are provided between the support member 1032 and the support platform 106. Specifically, in the embodiments of this application, one of the third guide rail 10322 and the fourth slider 10323 can be provided on the side of the support member 1032 facing the support platform 106 (in specific use, it can be understood as the bottom of the support member 1032). For example, the third guide rail 10322 can be fixedly connected to the support member 1032. In addition, the other of the third guide rail 10322 and the fourth slider 10323 can be specifically provided on the support platform 106, and the fourth slider 10323 is slidably connected to the third guide rail 10322. In a specific example, the fourth slider 10323 can be fixed on the support platform 106, and the third guide rail 10322 slides relative to the fourth slider 10323 when it moves together with the support member 1032. It is understood that in some alternative examples, the third guide rail 10322 can be fixed to the support platform 106, and the fourth slider 10323 can be disposed on the support member 1032, thereby allowing the support member 1032 to move along the direction of the third guide rail 10322. This can effectively improve the stability of the support member 1032 moving under the drive of the elastic component 117.

[0331] In one specific example of an embodiment of this application, two fourth sliders 10323 may be provided, arranged side by side along the first direction. This effectively improves the stability of the movement of the support member 1032. Of course, it is understood that, referring to... Figure 1 As shown, when there are two support members 1032, each support member 1032 can be provided with two corresponding fourth sliders 10323.

[0332] The specific movement process of the support member 1032 in the embodiments of this application will be described in detail below:

[0333] Reference Figure 16 As shown, when the support member 1032 is in the initial position, the bent portion 1093 abuts against the side of the protrusion 10321 facing the vehicle, or the bent portion 1093 provides a lateral support to the support member 1032 through the protrusion 10321. Figure 16 The force applied in the negative x-axis direction causes the elastic component 117 to deform and exhibit a first deformation. When it is necessary to pick up or return the cargo box, the first driving member 1121 drives the moving seat 109 along the x-axis. Figure 16 When the moving seat 109 moves along the positive x-axis, the force exerted by the bent portion 1093 on the protruding portion 10321 changes. The elastic force provided by the elastic component 117 on the support member 1032 causes the support member 1032 to move along the x-axis. Figure 16 As the elastic component 117 moves in the positive x-axis direction, its deformation gradually decreases until the support 1032 abuts against the front end of the vehicle. At this point, the support 1032 can no longer move, and the elastic component 117 has a second deformation.

[0334] It is understood that in this embodiment of the application, after the support member 1032 abuts against the front end of the carrier, the movable seat 109 and the support member 1032 interact through the bending part 1093 and the protrusion part 10321, that is, the movable seat 109 and the support member 1032 are not fixedly connected; therefore, the movable seat 109 can continue to move under the drive of the first drive structure 112, and the support member 1032 will not affect the movement of the movable seat 109, thereby facilitating the retrieval and return of the cargo box in the inner position.

[0335] It is also understood that, in this embodiment of the application, after the retrieval component 102 completes the return or retrieval of the cargo box, the first drive structure 112 can drive the movable seat 109 to move until the bent portion 1093 contacts the protruding portion 10321. At this point, the telescopic structure 110 retracts along the first direction, thereby driving the retrieval component 102 and the cargo box on the retrieval component 102 to move, and moving the cargo box onto the support member 1032. The support member 1032 supports and supports the cargo box. Then, the first drive structure 112 continues to drive the movable seat 109 to move. At this time, the bent portion 1093 applies pressure along the protruding portion 10321. Figure 16 The force applied in the negative x-axis direction causes the support 1032 and the cargo box on the support 1032 to move together, thereby removing the cargo box. The elastic component 117 deforms and stores energy until the support 1032 moves to the initial position.

[0336] In this embodiment, the third end of the elastic component 117 is connected to the support member 1032, and the fourth end of the elastic component 117 is connected to the base. Thus, when the retrieval component 102 retrieves or returns an item, the support member 1032 can move under the deformation of the elastic component 117. This eliminates the need for a separate drive mechanism 10 for the movement of the support member 1032, effectively simplifying the structure of the retrieval device 1. Furthermore, the movement of the support member 1032 is synchronized with the movement of the moving seat 109, ensuring that the support member 1032 fills the gap between the base 101 and the carrier during the retrieval and return of items, effectively preventing items from falling.

[0337] Figure 17 This is a schematic diagram of the structure of the object retrieval component 102 in the object retrieval device 1 provided in the embodiments of this application.

[0338] Reference Figure 17As shown, in some alternative examples of embodiments of this application, the object retrieval component 102 includes a mounting plate 1021 and a suction cup 1022.

[0339] Specifically, in this embodiment, the mounting plate 1021 is connected to the movable base 109. It can be understood that in this embodiment, the mounting plate 1021 can be connected to the movable base 109 via a telescopic structure 110. For specific configuration, refer to... Figure 17 As shown in the embodiment of this application, the suction cup 1022 is disposed on the mounting plate 1021, and a channel is formed on the mounting plate 1021. One end of the channel communicates with the inner cavity of the suction cup 1022, and the other end of the channel is used to connect with the air source device 1023 (see reference). Figure 3 (As shown) connected. As a specific example, in this embodiment of the application, the gas source device 1023 can specifically be a vacuum pump. See reference... Figure 1 As shown, the gas source device 1023 can be specifically installed on the base 101.

[0340] Specifically, the channel on the mounting plate 1021 can be formed by drilling or slotting the mounting plate 1021. The other end of the channel can be connected to the air source device 1023 through a vacuum tube. In this way, when the air source device 1023 is running, the air source device 1023 reduces the pressure of the channel and the inner cavity of the suction cup 1022 through the vacuum tube, thereby causing the external atmospheric pressure drop to press and adsorb the object to be moved onto the suction cup 1022.

[0341] In some possible examples, the air source device 1023 can be a forward and reverse rotating air source device 1023. For example, when the air source device 1023 rotates forward, it draws air into the channel and the inner cavity of the suction cup 1022 through the vacuum tube to reduce the pressure in the inner cavity of the suction cup 1022, making it easier to adsorb the items that need to be transferred. When the air source device 1023 rotates in reverse, it inflates the channel and the inner cavity of the suction cup 1022 through the vacuum tube, thereby releasing the suction force of the suction cup 1022 on the items, making it easier to remove the items from the suction cup 1022.

[0342] It is also understood that in some optional examples of the embodiments of this application, the vacuum tube may also be equipped with components such as a solenoid valve and a vacuum pressure gauge. The solenoid valve is used to shut off the vacuum tube when the suction cup 1022 provides sufficient suction to the object (for example, when the pressure in the channel or vacuum tube is detected by the pressure gauge to reach a preset negative pressure value), thereby maintaining the negative pressure in the cavity of the suction cup 1022, avoiding the vacuum pump from running for a long time, and effectively saving energy.

[0343] Continue to refer to Figure 17As shown, in some optional examples of embodiments of this application, a support member 1024 is provided at the bottom of the mounting plate 1021. Specifically, the support member 1024 is fixedly connected to the mounting plate 1021. The bottom of the mounting plate 1021 can specifically refer to the side of the mounting plate 1021 facing the base 101. Thus, during the process of the second drive structure 111 driving the retrieval component 102 to move via the telescopic structure 110 (e.g., during the process of the retrieval component 102 moving an item), the support member 1024 can abut against the surface of the carrier, thereby providing good support for the telescopic structure 110 and the retrieval component 102, avoiding potential damage to the telescopic structure 110 when the item is heavy, and effectively protecting the telescopic structure 110.

[0344] As a specific example of an embodiment of this application, refer to Figure 17 As shown, the support member 1024 can specifically be a third roller or a rotating roller, which is rotatably connected to the bottom of the support member 1024. In this way, during the movement of the support member 1024 on the surface of the carrier, the friction force on the support member 1024 can be effectively reduced, and the surface of the carrier can also be better protected.

[0345] In this embodiment, by providing a support member 1024 at the bottom of the mounting plate 1021, when the retrieval component 102 extends and moves onto the carrier, the support member 1024 contacts the surface of the carrier, thereby supporting the retrieval component 102. This prevents the retrieval component 102 from drooping (also referred to as head-down in some examples) due to the long extension distance of the telescopic structure 110, ensuring the accuracy of the contact position when the retrieval component 102 picks up the item.

[0346] In some optional examples of the embodiments of this application, the object retrieval device 1 may also include a QR code camera, which can be used to identify the QR code of the target vehicle 5, thereby accurately determining the specific object to be retrieved by the current object retrieval device 1.

[0347] It is understood that in this embodiment, the QR code camera may be disposed at the front end of the base 101 and below the movable base 109. In some possible examples, the QR code camera may also be disposed above the object retrieval component 102, for example, above the mounting plate 1021 in the foregoing embodiment of this application.

[0348] It is also understood that, in this embodiment, a controller may be provided on the base 101. Specifically, the controller may be a Central Processing Unit (CPU), a Microcontroller Unit (MCU), a Field Programmable Gate Array (FPGA), or a Programmable Logic Controller (PLC), etc. It is understood that the types of controllers shown in this embodiment are only specific examples; in some possible examples, the controller may be other types, which are not listed in this embodiment. The controller can be used to control the QR code camera. Of course, the controller can also control the first drive unit 1121 and the second drive unit 1111 in the aforementioned embodiments of this application.

[0349] For example, the target vehicle 5 may have multiple target storage locations, wherein a QR code may be set on the front crossbeam of each target storage location, for example, in the middle of the crossbeam.

[0350] In this embodiment of the application, during the process of the retrieval device 1 moving to the target vehicle 5 according to the target location information sent by the host computer and moving towards the target location, the QR code corresponding to the target cargo location can be identified by the QR code camera; thereby determining whether the target vehicle 5 has reached the cargo location height corresponding to the target cargo location.

[0351] Generally, the retrieval device 1 can be installed on the gantry 3 of the handling robot. When the handling robot moves to the designated position, the drive structure on the gantry 3 adjusts the height of the retrieval device 1 through, for example, a transmission chain. It is understood that there is usually a certain clearance between the drive wheel 10412 and the chain, that is, the actual driving height of the retrieval device 1 by the drive structure may be less than the height of the target cargo location. After the QR code camera scans the QR code of the corresponding target cargo location, the controller can determine the actual height of the target cargo location based on the corresponding QR code. Then, it compares the actual cargo location height with the recorded height of the motor encoder rotation of the drive structure on the gantry 3 (i.e., the running height of the retrieval device 1) to adjust the height of the retrieval device 1 so that the height of the retrieval device 1 is aligned with the height of the target cargo location (here, the height difference can be within a preset range).

[0352] In some examples, the retrieval device 1 may also include a depth camera, which may be mounted on the base 101 or the movable base 109. In this embodiment, the controller may also determine the offset distance between the retrieval component 102 and the target location based on the image captured by the depth camera.

[0353] In this embodiment, the controller can compare the image captured by the depth camera with a standard image to determine the offset distance. This makes it easier to keep the skew distance between the retrieval component 102 and the target location within a preset distance range, making it easier for the retrieval component 102 to align with the target location and improving the stability when retrieving the target item 4 from the target location.

[0354] In some optional embodiments of this application, a first sensor is further provided on the base 101. Specifically, the first sensor can be used to detect the positions of the movable seat 109 and the object-grabbing component 102. That is, in this embodiment, when the movable seat 109 and the object-grabbing component 102 are in their initial positions, the first sensor is triggered and generates a first trigger signal; the controller can determine that the movable seat 109 and the object-grabbing component 102 are in their initial positions based on the first trigger signal. As a specific example, the first sensor can be a contact switch or a magnetic switch.

[0355] It is understood that in this embodiment of the application, the first sensor is set on the base 101 as a specific example. In some examples, the first sensor may also be set on, for example, the movable base 109, or it may be set in other locations. This embodiment of the application will not elaborate on this.

[0356] In this embodiment, a first sensor detects whether the movable seat 109 and the retrieval component 102 are in their initial positions. This accurately determines whether the movable seat 109 and the retrieval component 102 have moved into their correct positions during return, facilitating accurate control of the first drive unit 1121 and the second drive unit 1111 to stop operating. Furthermore, detecting whether the movable seat 109 and the retrieval component 102 are in their initial positions using the first sensor also helps determine the distance the retrieval component 102 needs to move towards the target location during the retrieval and return of the target item 4.

[0357] For example, in some examples, the distance between the picking component 102 and the front end of the base 101 can generally be a defined distance (in some examples, it can be called a second distance) when the picking component 102 and the movable seat 109 are in the initial position.

[0358] In other examples, the first zero-position signal of the motor encoder of the first drive structure 112 and the second zero-position signal of the motor encoder of the second drive structure 111 can also be used to determine whether the picking component 102 is in the initial position, which makes it easier to determine the distance between the picking component 102 and the front end of the base 101.

[0359] In another optional example of the embodiments of this application, continuing to refer to the figure, the object retrieval device 1 further includes a second sensor, which can be disposed on the base 101. The second sensor is used to detect whether the object retrieval component 102 in the initial position has the target item 4.

[0360] For example, during the retrieval process, when the retrieval component 102 takes the target item 4 from the target location and retracts it onto the base 101 under the drive of the moving seat 109 and / or the telescopic structure 110, the target item 4 may detach from the retrieval component 102 due to unstable force. This could result in the retrieval component 102 not retracting to its initial position before the target item 4 is fully returned. This could cause the target item 4 to easily fall off the front of the base 101 during the movement of the handling robot within the warehousing system, or it could lead to uncontrollable timing of the interaction between the retrieval component 102 and the target item 4 when the handling robot is unloading at the workstation.

[0361] Based on this, by setting a second sensor, when the retrieval component 102 retracts to the initial position and the target item 4 is on the retrieval component 102, the second sensor can emit a second trigger signal and send it to the controller. The controller determines, based on the second trigger signal from the second sensor, that the retrieval component 102 has the target item 4 when it is in the initial position. Conversely, when the retrieval component 102 retracts to the initial position and the controller does not receive the second trigger signal from the second sensor, it determines that the retrieval component 102 does not carry the target item 4 when it is in the initial position. In this way, it is possible to promptly detect if the target item 4 has not retracted to the initial position.

[0362] When the retrieval component 102 retracts to its initial position, if the retrieval component 102 is not carrying the target item 4, i.e., the controller has not received the second trigger signal, the controller can again control the first drive structure 112 and / or the second drive structure 111 to operate (e.g., forward drive), causing the retrieval component 102 to move forward along the first direction under the drive of the moving seat 109 and / or the telescopic structure 110 (e.g., forward drive). Figure 3 (in the positive direction of the x-direction) until the controller receives the second trigger signal, controlling the picking component 102 to act on the front end of the target item 4. Then, the controller again controls the first drive structure 112 and / or the second drive structure 111 to work (e.g., reverse drive), so that the picking component 102 moves backward along the first direction under the drive of the moving seat 109 and / or the telescopic structure 110 (e.g., in the positive direction of the x-direction) until the controller receives the second trigger signal, controlling the picking component 102 to act on the front end of the target item 4. Then, the controller controls the first drive structure 112 and / or the second drive structure 111 to work (e.g., reverse drive), so that the picking component 102 moves backward along the first direction under the drive of the moving seat 109 and / or the telescopic structure 110 (e.g., in the positive direction of the x-direction). Figure 3 (in the opposite direction of the x-axis) until the object retrieval component 102 returns to the initial position carrying the target item 4.

[0363] By setting the second sensor, it can be detected in time that the target item 4 has not returned to the initial position. This allows the first drive structure 112 and / or the second drive structure 111 to drive the picking component 102 to move to the target item 4 and bring it back to the initial position. This improves or avoids the problem that the target item 4 is very likely to fall off the front of the base 101 during the movement of the handling robot in the warehousing system, or that the timing of the interaction between the picking component 102 and the target item 4 is uncontrollable when the handling robot is unloading at the workstation.

[0364] As a specific example, in this embodiment, the second sensor can also be a contact switch or a magnetic switch. Specifically, in this embodiment, the working principle of the second sensor is the same as or similar to that of the first sensor; for details, please refer to the detailed description of the first sensor in the foregoing embodiments of this application.

[0365] It is understood that in this embodiment, the second sensor may also be set in other locations. In this embodiment, the second sensor is set on the base 101 as an example for illustration.

[0366] In another optional example of the embodiments of this application, the retrieval device 1 may also include a third sensor. In some examples, the third sensor may be set on the base 101. Specifically, the third sensor may be an infrared sensor or an ultrasonic sensor. The third sensor is used to detect the target item 4 on the target carrier 5. For example, the controller determines whether the target item 4 exists in the cargo position of the target carrier 5 according to the third trigger signal of the third sensor.

[0367] In some alternative examples of embodiments of this application, referring to the figure, the object retrieval device 1 may further include a fourth sensor. Referring to the figure, the fourth sensor may be disposed on the object retrieval component 102. The fourth sensor is used to detect the positional state between the target item 4 and the object retrieval component 102. For example, the controller determines the positional state between the target item 4 and the object retrieval component 102 based on the fourth trigger signal of the fourth sensor.

[0368] The position status may include the distance between the retrieval component 102 and the target item 4 being less than or equal to a fifth preset distance during the movement of the retrieval component 102 towards the target storage location. Additionally, the position status may also include the distance between the retrieval component 102 and the target item 4 being less than or equal to a sixth preset distance during the retraction of the retrieval component 102 into the base 101.

[0369] For example, when the retrieval component 102 is moving towards the target storage location and the distance between it and the target item 4 is less than or equal to a fifth preset distance, the controller can control the retrieval component 102 to approach the target item 4 at a first preset speed. In some examples, the first preset speed is less than a second preset speed, which is the movement speed of the retrieval component 102 when the distance between it and the target item 4 is greater than the fifth preset distance. This ensures that when the retrieval component 102 moves near the target item 4, it can slowly approach the target item 4 until it makes contact with it, preventing the target item 4 from moving backward or even falling off the target storage location, thus ensuring safety during retrieval.

[0370] For example, when the object retrieval component 102 retracts into the base 101, if the distance between it and the target item 4 is less than or equal to a sixth preset distance, it is determined that the object retrieval component 102 has the target item 4 on it, meaning that the object retrieval component 102 and the target item 4 have not separated, ensuring that the object retrieval component 102 carries the target item 4 smoothly to the initial position. In some examples, the fifth preset distance is greater than the sixth preset distance. It can be understood that when the distance between the object retrieval component 102 and the target item 4 is less than or equal to the fifth or sixth preset distance, the fourth sensor can trigger a fourth trigger signal; conversely, when the distance between the object retrieval component 102 and the target item 4 is greater than the fifth or sixth preset distance, the fourth sensor will not trigger a fourth trigger signal. Thus, when the controller receives the fourth trigger signal from the fourth sensor, it determines that the distance between the object retrieval component 102 and the target item 4 is less than or equal to the fifth or sixth preset distance; when the controller does not receive the fourth trigger signal from the fourth sensor, it determines that the distance between the object retrieval component 102 and the target item 4 is greater than the fifth or sixth preset distance.

[0371] For example, when the object retrieval component 102 is retracting into the base 101 carrying the target item 4, if the controller does not receive the fourth trigger signal from the fourth sensor and determines that the distance between the object retrieval component 102 and the target item 4 is greater than the sixth preset distance, it is determined that the object retrieval component 102 and the target item 4 have separated. Then, the object retrieval component 10 can be driven to move toward the target item 4 through the drive mechanism 10, such as the first drive structure 112 and / or the second drive structure 111, until the object retrieval component 102 contacts the target item 4. Then, the object retrieval component 102 is controlled to retract carrying the target item 4 again until it reaches the initial position.

[0372] In some specific examples, the fourth sensor can be any of the following: a contact switch, an infrared sensor, or an ultrasonic sensor. The fourth sensor can also be a magnetic sensor (e.g., a Hall switch).

[0373] In some examples, during the process of the retrieval component 102 retrieving or returning an item, the distance the retrieval component 102 moves toward the target location can be determined by the motor encoder of the drive structure, such as the motor encoder of the first drive structure 112 and the motor encoder of the second drive structure 111. The encoder's setting is determined by the motor speed and rotation time, and the encoder's setting determines the distance the motor drives the telescopic structure 110 and / or the movable seat 109 to move, thereby determining the distance the retrieval component 102 moves toward the target location. For example, the motor encoder of the first drive structure 112 can detect the movement distance of the movable seat 109, and the second drive structure 111 can detect the movement distance of the drive shaft of the telescopic structure 110, thereby determining the movement distance of the retrieval component 102.

[0374] In some other examples, the retrieval device 1 may also include a detection structure configured to detect the movement distance of the retrieval component 102 toward the target storage location to determine the position of the retrieval component 102 in real time. For example, the position of the retrieval component 102 relative to the base 101 can be determined based on the movement distance of the retrieval component 102 toward the target storage location and the initial position of the retrieval component 102 relative to the base 101. For example, the controller is configured to determine the position of the retrieval component 102 based on the movement distance of the retrieval component 102 toward the target storage location detected by the detection structure. It can be understood that the movement distance refers to the distance that the retrieval component 102 extends relative to its initial position on the base 101, that is, the distance between the current position and the initial position of the retrieval component 102. Herein, the initial position is the position of the retrieval component 102 on the base 101 before the retrieval device 1 has performed a retrieval or return operation.

[0375] The detection structure can be any one of the following, including but not limited to a wire encoder, a laser rangefinder, an ultrasonic sensor, and a millimeter-wave sensor.

[0376] Taking a pull-wire encoder as an example, during installation, one end of the pull wire in the pull-wire encoder can be fixed to the base 101. For example, one end of the pull wire of the pull-wire encoder can be set at the rear end of the base 101 (the end facing away from the target location, such as on the fixing part of the base 101), and the other end of the pull wire of the pull-wire encoder is fixed to the picking component 102. In this way, when the picking component 102 extends or retracts, the pull wire of the pull-wire encoder will also extend or retract accordingly. Thus, the length of the pull wire can accurately feed back the moving distance of the picking component 102 toward the target location, and control the extension accuracy.

[0377] The fixing part of the base 101 can be located on the side of the movable seat 109 facing away from the telescopic structure 110, and is opposite to and spaced apart from the movable seat 109.

[0378] The process of retrieving and returning the target item 4 by the retrieval device 1 provided in the embodiments of this application will be described separately below.

[0379] The process of retrieving the item:

[0380] First, the picking device 1 can move under the drive of the transport robot. For example, the host computer can send the order information to the transport robot, and the transport robot moves to the corresponding target vehicle 5 according to the order information; or, the host computer can also determine the location of the corresponding target vehicle 5 according to the order information and send the corresponding location information to the transport robot. The transport robot moves according to the corresponding location information and drives the picking device 1 to the corresponding location.

[0381] Generally, refer to Figure 1 As shown, the target vehicle 5 has multiple cargo compartments, each of which can store multiple target items 4 (e.g., ...). Figure 1 (The cargo box or container shown in the figure). The picking device 1 is usually installed on the gantry 3 of the handling robot and can move up and down along the gantry 3; after the handling robot moves to the target carrier 5, the picking device 1 moves up and down along the gantry 3 to reach the height of the corresponding target item 4.

[0382] For example, each layer of the storage location has a QR code on its end face, which records the actual height of the current storage location. When the drive structure on the gantry 3 drives the retrieval device 1 to move up and down, the height of the retrieval device 1 can be detected and recorded by means of, for example, a motor encoder. In this embodiment, the controller compares the height of the retrieval device 1 with the storage location height corresponding to the QR code to determine the possible deviation between the retrieval device 1 and the target storage location in the height direction (mainly due to the fit clearance of the drive structure). At this time, the height of the retrieval device 1 can be adjusted according to the comparison result to make the height of the retrieval device 1 the same as the height of the target storage location.

[0383] In some examples, an image of the target vehicle 5 can be captured by a depth camera, and the image captured by the depth camera can be analyzed by the controller to determine the offset of the base 101 or the retrieval component 102 relative to the target cargo location. This makes it easier to align the retrieval component 102 with the target cargo location, ensuring the effectiveness and accuracy of retrieval.

[0384] Additionally, the controller can control the width adjustment component 104 according to the pre-stored width of the target item 4, causing the width adjustment component 104 to drive the support component 103, such as two support members 1032, to move relative to or away from each other along a second direction, thereby adjusting the load-bearing size of the support component 103 to adapt to the width of the corresponding target item 4. Simultaneously, the width adjustment component 104 can drive two guide bars 105 to move relative to or away from each other along a second direction according to the width of the target item 4, thereby adjusting the width between the two guide bars 105 to ensure adaptation to the corresponding target item 4.

[0385] It is understood that the timing of adjusting the support size of the support component 103 and the guide bar 105 can be before the transport robot moves to the target carrier 5, during the transport robot's movement to the target carrier 5, or after the retrieval device 1 reaches the designated position. In this embodiment, the timing of adjusting the width of the support component 103 and the guide bar 105 is not specifically limited, as long as the target item 4 carried on the retrieval component 102 can be stably supported on the support component 103 and between the two guide bars 105.

[0386] Generally, during the movement of the retrieval device 1 driven by the transport robot, the transport robot moves along the planned path on the ground according to the position information sent by the host computer and identifies the ground markings; thereby determining the position of the target vehicle 5 through the ground markings. After the transport robot moves to the designated position according to the position information sent by the host computer, there is a first distance between the front end of the base 101 of the retrieval device 1 and the front end face of the target vehicle 5.

[0387] Subsequently, the controller can determine whether the object-grabbing component 102 and the movable seat 109 are in the initial position by whether the first sensor sends a first trigger signal; for example, when the first sensor sends a first trigger signal, it is determined that the object-grabbing component 102 and the movable seat 109 are in the initial position, which makes it easier to determine the second distance between the object-grabbing component 102 and the front end of the base 101.

[0388] Alternatively, in some examples, the initial position of the moving base 109 and the telescopic structure 110 can be determined based on the first zero-position signal of the encoder of the first drive structure 112 and the second zero-position signal of the encoder of the second drive structure 111, thereby determining whether the picking component 102 is in its initial position. Alternatively, the movement distance of the picking component 102 toward the target location can be detected by a detection structure, such as a wire encoder; when this movement distance is zero, it can be determined that the picking component 102 is in its initial position. That is, the picking component 102 can be determined to be in its initial position even when neither the first drive member 1121 nor the second drive member 1111 has rotated. This facilitates the determination of the second distance between the picking component 102 and the front end of the base 101.

[0389] In addition, in some examples, the controller can also determine whether the target item 4 exists on the target vehicle 5 through a third sensor. For example, if the third sensor emits a third trigger signal, the controller can determine that the target item 4 exists in the target location and can perform the retrieval operation; if the third sensor does not emit a third trigger signal, it proves that the target item 4 does not exist in the target location, or that the target item 4 in the target location is tilted to a certain extent; at this time, the controller can issue an alarm message or report to the host computer for timely handling.

[0390] The detection signal emitted by the third sensor can be transmitted to the target object 4, and the target object 4 provides a feedback signal, such as a reflected signal of the detection signal.

[0391] It is understood that during the process of the movable seat 109 moving and extending, the bearing component extends out of the base 101 under the action of the elastic component 117. As the movable seat 109 moves, the front end of the bearing component pushes the third limiting component to switch from the first state to the second state. Until the front end of the bearing component abuts against the target carrier 5, the bearing component stops moving, and the movable seat 109 can continue to move under the drive of the first driving component 1121.

[0392] During the process of the suction cup 1022 of the picking component 102 contacting or approaching the material box, the fourth sensor sends a fourth trigger signal. The controller determines that the distance between the suction cup 1022 and the target item 4 is less than or equal to a preset distance based on the fourth trigger signal of the fourth sensor. At this time, the controller can control the first drive structure 112 and the second drive structure 111 to decelerate the picking component 102 to avoid collision damage to the target item 4 caused by the picking component 102.

[0393] In some examples, the first distance, the second distance, and the third distance (the third distance can be the distance between the target location and the front end of the target carrier 5, which is generally a fixed value) can determine the working distance that the retrieval component 102 needs to move from its initial position to the target location. After the retrieval component 102 has moved the working distance toward the target location, it can be determined that the retrieval component 102 has reached the target location and the suction cup 1022 is in contact with the target item 4. At this time, the controller controls the air source device 1023 to start, sucking the inner cavity of the suction cup 1022, so that the suction cup 1022 is tightly attached to the surface of the target item 4. For example, when the detection structure detects that the moving distance of the retrieval component 102 toward the target location is the working distance, it can be determined that the retrieval component 102 has reached the target location.

[0394] When the vacuum level in the suction cup 1022 or the channel reaches the preset vacuum level (the preset vacuum level can also be a preset negative pressure, which can be determined according to the weight of the target item 4 to be transported), the controller controls the first drive component 1121 and the second drive component 1111 to operate, and the object retrieval component 102 drives the target item 4 to move towards the base 101; when the target item 4 moves onto the support component, it can be supported by the support component (see figure), which can effectively prevent the target item 4 from falling. As the moving seat 109 continues to move, the bent part 1093 on the moving seat 109 contacts the protruding part 10321 of the support component and drives the support component to move towards the base 101. The movement of the support component causes deformation of the elastic component 117, so that the elastic component 117 stores energy so as to drive the support component when it extends again.

[0395] When the first sensor detects that the moving seat 109 and the object-grabbing component 102 are in their initial positions (i.e., the moving seat 109 and the object-grabbing component 102 have retracted to their initial positions after picking up the object), the controller controls the first drive component 1121 to stop, and the moving seat 109 to stop; and when the second sensor detects the target item 4, it indicates that the object-grabbing component 102 is also in its initial position, the target item 4 has moved into place, the controller controls the second drive component 1111 to stop, and the telescopic structure 110 stops moving.

[0396] Finally, the controller controls the air source device 1023 to supply air to the suction cup 1022 in the reverse direction, thereby releasing the negative pressure between the suction cup 1022 and the target item 4, and releasing the target item 4 from the retrieval component 102. During the process of the carrying component returning to its original position with the moving seat 109, the abutment at the front end of the carrying component pushes the first part 10421 of the third limiting component, thereby causing the third limiting component to switch from the second state to the first state and limit the target item 4.

[0397] Afterwards, the transport robot can move the target item 4 to other locations according to the transport instructions issued by the host computer.

[0398] Return process:

[0399] It is understood that in this embodiment of the application, the process of returning the item is similar to the process of the moving seat 109 and the retrieval component 102 extending out of the base 101 during the process of retrieving the item. The difference is that during the process of returning the item, the retrieval component 102 carries the target item 4 during the extension of the moving seat 109 and the retrieval component 102. For details, please refer to the detailed description of the retrieval process in the foregoing embodiments of this application, which will not be repeated in this embodiment of the application.

[0400] This application also provides an article handling method, which is applied to the retrieval device 1 provided in any optional example of the foregoing embodiments of this application;

[0401] The methods for moving items include the following steps:

[0402] S1. Determine the size of the target item 4 and adjust the support component 103 to support the size of the target item 4.

[0403] In this embodiment of the application, the size of the target item 4 refers to the width of the target item 4 along the second direction, as shown in the reference. Figure 1 As shown.

[0404] In some examples, staff can manually adjust the support size of the support component 103 according to the size of the target item 4 in the order, so as to adjust the support size of the support component 103 to be greater than or equal to the width of the target item 4, so as to ensure that the support component 103 can stably support the target item 4.

[0405] In other examples, in order to automate the entire retrieval and return process, the width of the target item 4 can be measured by a range sensor or a depth camera, and the width information can be fed back to the controller. The controller controls the width adjustment component 104 based on the width information to adjust the support size of the support component 103 to be greater than or equal to the width of the target item 4.

[0406] In other examples, the width information of the target item 4 can be manually input into the controller, and the controller can then control the width adjustment component 104 based on the width information to adjust the support size of the support component 103 to be greater than or equal to the width of the target item 4.

[0407] S2. Determine the offset distance of the retrieval component 102 relative to the target storage location;

[0408] For example, the controller can determine the offset distance (i.e., the horizontal offset distance) based on the image of the target location captured by the depth camera. It is understood that this offset distance refers to the deviation between the retrieval component 102 and the target location in a second direction.

[0409] In other examples, the controller can also determine the offset distance (i.e., vertical offset distance) between the retrieval component 102 and the target location based on the recognition status of the QR code on the target location by the QR code camera. It can be understood that the vertical offset distance refers to the deviation of the retrieval component 102 from the target location in the height direction.

[0410] For example, based on the offset distance, the controller can control the chassis 2 to move along the second direction, so that the retrieval component 102, for example, the support base, moves along the second direction by the offset distance, so that the deviation between the retrieval component 102 and the target location in the second direction is controlled within the allowable range. Alternatively, a translation component can be provided in the retrieval device 1, which drives the retrieval component 102, for example, the base 101, to move along the second direction by the offset distance, so that the retrieval component 102 is aligned with the target location, thereby ensuring that the retrieval component 102 can accurately reach the target location when retrieving or returning the target item 4, and transfer and dock the target item 4.

[0411] In addition, the controller can also control the lifting device on the gantry 3 to drive the picking device 1 to move up and down along the gantry 3 according to the determined vertical offset distance, so as to reduce the deviation of the picking component 102 and the target cargo position in the height direction until the deviation of the picking component 102 and the target cargo position in the height direction is within the allowable deviation range. For example, the picking component 102 can be moved up and down directly to be aligned with the target cargo position.

[0412] S4. The drive mechanism 10 drives the picking component 102 to move toward the target location until it reaches the target location.

[0413] For example, the controller can acquire the moving distance of the retrieval component 102 toward the target storage location. When the moving distance is equal to the working distance, the retrieval component 102 reaches the target storage location. For example, during the process of the drive mechanism 10 driving the retrieval component 102 to move toward the target storage location along the first direction, the detection structure can detect the moving distance of the retrieval component 102 toward the target storage location in real time. When the controller acquires that the moving distance detected by the detection structure is equal to the working distance, it indicates that the retrieval component 102 has reached the target storage location. Then, the controller controls the drive mechanism 10 to stop working, so that the retrieval component 102 stops moving forward.

[0414] In some examples, before the drive mechanism 10 drives the retrieval component 102 to move toward the target location, the controller can first determine the working distance between the retrieval component 102 and the target location.

[0415] In some examples, the retrieval device 1 can be mounted on the chassis of the transport robot. After receiving a transport instruction or designated location information from a host computer, the transport robot moves along a path marked on the ground within the warehousing system to the designated location of the target vehicle 5.

[0416] Here, the controller determining the working distance between the retrieval component 102 and the target storage location may include:

[0417] Obtain the first distance between the front end of the base 101 and the front end of the target vehicle 5. Generally, after the retrieval robot moves to the target location, since the mobile robot moves along the marked path on the ground, the first distance between the front end of the base 101 and the front end of the target vehicle 5 is usually a certain value. In some examples, it can be set according to the actual needs of storing the target item 4.

[0418] The controller determines the initial position of the object-picking component 102 based on the first trigger signal of the first sensor, and / or the zero position signal of the encoder of the first drive structure 112 motor and the zero position signal of the encoder of the second drive structure 111 motor. The initial position has a second distance between it and the front end of the base 101.

[0419] The controller acquires a third distance between the target storage location and the front end of the base 101. In this embodiment, the determination of the second and third distances can be found in the detailed description of the foregoing embodiments of this application, and will not be repeated here.

[0420] The working distance is determined based on the first distance, the second distance, and the third distance. It can be understood that the working distance can be the distance traveled by the retrieval component 102 from its initial position to its target location. In some examples, the working distance can be the sum of the first distance, the second distance, and the third distance.

[0421] Next, the drive mechanism 10, such as the first drive structure 112 and / or the second drive structure 111, drives the picking assembly 102 to move a working distance toward the target location in the first direction to reach the target location.

[0422] In other words, in the embodiments of this application, the first driving structure 112 may operate to drive the object-grabbing component 102; or the second driving structure 111 may operate to drive the object-grabbing component 102; in other examples, both the first driving structure 112 and the second driving structure 111 may operate. For details, please refer to the detailed description of the foregoing embodiments of this application.

[0423] It is understood that in some examples the target cargo location may be located in the inner depth of the target vehicle 5. In this case, the second drive structure 111 can first drive the telescopic structure 110 to extend. For example, the controller can first control the second drive structure 111 to work so that the second end 1102 of the telescopic structure 110 moves toward the target cargo location, for example, along the first direction, so as to reduce the width of the telescopic structure 110, for example, along the third direction.

[0424] After the telescopic structure 110 drives the retrieval component 102 to move a preset distance, the first drive structure 112 then drives the moving seat 109 to move. For example, the controller controls the first drive structure 112 to work so that the moving seat 109 drives the telescopic structure 110 to move toward the target location until the moving distance of the retrieval component 102 is the working distance.

[0425] In this way, for some target items 4 with small width dimensions, that is, the interval between adjacent target items 4 on both sides of the target storage location is narrow, the telescopic structure 110 can be moved a first preset distance so that the width of the telescopic structure 110 in the third direction is less than or equal to the width of the target storage location, ensuring that the telescopic structure 110 can drive the retrieval component 102 to extend into the target carrier 5, and then the moving seat 109 can be moved; this can reduce the size space occupied by the telescopic structure 110 in the width direction of the target item 4, and ensure the accuracy of the position of the target items 4 on both sides of the target storage location.

[0426] For example, after the telescopic structure 110 can drive the retrieval component 102 to extend into the target vehicle 5, the first drive structure 112 then drives the moving seat 109 to move forward until the retrieval component 102 moves to the target location and docks with the target item 4.

[0427] S5: Transfer of target item 4 between the retrieval component 102 and the target storage location.

[0428] Here, the transfer of the target item 4 can be achieved by the retrieval component 102 applying force to the target item 4 on the target location, i.e., taking the target item 4 from the target location (e.g., controlling the vacuum pump to evacuate the suction cup 1022); in some examples, it can also be achieved by the retrieval component 102 releasing the force on the target item 4, i.e., the retrieval component 102 placing the target item 4 on the target location.

[0429] In other examples of embodiments of this application, the article handling method may further include:

[0430] S6: The drive mechanism 10 drives the picking component 102 to move away from the target location until it reaches the initial position of the base 101.

[0431] For example, the first drive structure 112 and / or the second drive structure 111 drive the picking assembly 102 to move a working distance away from the target location along a first direction to reach the initial position.

[0432] For example, when the controller can obtain the detection information of the detection structure, and when the moving distance of the picking component 102 detected by the detection structure toward the target location is equal to zero, it determines that the picking component 102 is in the initial position of the base 101. The controller can then control the drive mechanism 10 to stop working, so that the picking component 102 stops retracting.

[0433] In some examples, the first drive structure 112 first drives the movable seat 109 to move backward. For example, the controller can first control the first drive structure 112 to work so that the movable seat 109 drives the telescopic structure 110 to move away from the target cargo position until the telescopic structure 110 exits the target vehicle 5.

[0434] Then, the second drive structure 111 drives the telescopic structure 110 to retract. For example, the controller can control the second drive structure 111 to work so that the second end 1102 of the telescopic structure 110 moves away from the target location, for example, along the first direction, until the retrieval component 102 reaches the initial position.

[0435] It is understood that, generally, the retrieval device 1 has a retrieval working state. In the retrieval working state, in this embodiment of the application, before S4, i.e., before the drive mechanism 10 drives the retrieval component 102 to move toward the target storage location, the item handling method further includes:

[0436] Step S4a: Based on the third trigger signal from the third sensor, confirm that the target item 4 is present in the target location.

[0437] In other words, in this embodiment, before moving the retrieval component 102, the presence of the target item 4 in the target location can be confirmed by checking whether the third sensor emits a third trigger signal. If the target item 4 is present in the target location, the retrieval component 102 is then moved. If the target item 4 is not present in the target location, the possible reasons are that the location information sent by the host computer is incorrect, or that the target item 4 in the target location is lost or has been moved. In this case, the controller can send an alarm message to the host computer for timely handling.

[0438] In other examples of embodiments of this application, in the retrieval working state, S4, i.e., the drive mechanism 10 drives the retrieval component 102 to move toward the target storage location, including:

[0439] S4b: Based on the fourth trigger signal from the fourth sensor, reduce the driving speed of the driving mechanism 10, such as the first driving structure 112 and / or the second driving structure 111, so that when the distance between the object retrieval component 102 and the target item 4 is less than or equal to the fifth preset distance, approach the target item 4 at a first preset speed; wherein, the first preset speed is less than the second preset speed, and the second preset speed is the moving speed of the object retrieval component 102 when the distance between it and the target item 4 is greater than the fifth preset distance.

[0440] For example, the rotational speed of the first drive member 1121 or the rotational speed of the second drive member 1111 can be reduced; or, in other examples, the rotational speeds of the first drive member 1121 and the second drive member 1111 can be reduced simultaneously.

[0441] This allows the object retrieval component 102 to contact the target item 4 at a lower speed, reducing the impact force of the object retrieval component 102 on the target item 4 and effectively protecting the target item 4.

[0442] It is understood that in some other examples, the retrieval device 1 also has a return operation state. In the return operation state, in this embodiment of the application, S4, namely the drive mechanism 10, drives the retrieval component 102 to move toward the target storage location, including:

[0443] The drive mechanism 10, such as the first drive structure 112 and / or the second drive structure 111, drives the retrieval assembly 102 to move a working distance toward the target storage location, for example, along a first direction, so that the target item 4 is moved to the target storage location. The retrieval assembly 102 carries the target item 4.

[0444] In this embodiment of the application, the return working state of the retrieval device 1 is basically similar to the retrieval working state, except that in the return working state, the retrieval component 102 carries the target item 4.

[0445] Additionally, it is understandable that in some examples, before step S4, during the return operation, the presence of the target item 4 in the target location can be confirmed via the third trigger signal from the third sensor. In this case, when the third sensor issues the third trigger signal, the controller sends an alarm message to the host computer.

[0446] In other examples of embodiments of this application, in the item retrieval working state, the first drive structure 112 and / or the second drive structure 111 drive the item retrieval component 102 to move away from the target storage location, for example, along a first direction, including:

[0447] Based on the fourth trigger signal from the fourth sensor, and / or, the vacuum level inside the suction cup 1022 is at a preset vacuum level, it is determined that the object 4 is on the object retrieval assembly 102.

[0448] Specifically, when the object-retrieving component 102, such as the suction cup 1022, is within a sixth preset distance L (e.g., within mm) from the target item 4, the fourth sensor sends a fourth trigger signal to the controller. Conversely, if the controller does not receive the fourth trigger signal, it indicates that the distance between the suction cup 1022 and the target item 4 is greater than the sixth preset distance. Thus, during the process of the suction cup 1022 retrieving the target item 4 from the target location and retracting in a direction away from the target location (i.e., towards the base 101), when the controller receives the fourth trigger signal, it indicates that the suction cup 1022 has the target item 4 on it; when the controller does not receive the fourth trigger signal, it indicates that the suction cup 1022 has separated from the target item 4.

[0449] In addition, the vacuum pressure gauge can monitor the vacuum level inside the suction cup 1022 and the vacuum tube connected to it in real time. When the suction cup 1022 is adsorbed with the target item 4, the value on the vacuum pressure gauge is the preset vacuum level. In other words, the target item 4 is adsorbed on the suction cup 1022 at this preset vacuum level. When the target item 4 falls off the suction cup 1022, the vacuum level is disrupted, and the value on the vacuum pressure gauge is lower than the preset vacuum level. Thus, when the suction cup 1022 removes the target item 4 from the target location and retracts in a direction away from the target location (i.e., towards the base 101), if the vacuum level on the vacuum pressure gauge (i.e., the vacuum level inside the suction cup 1022) is lower than the preset vacuum level, it indicates that the suction cup 1022 has separated from the target item 4.

[0450] It is understandable that, in some examples, the presence of the target item 4 on the retrieval assembly 102 can be determined based on the fourth trigger signal of the fourth sensor, or the vacuum level of the inner cavity of the suction cup 1022 being at a preset vacuum level.

[0451] To improve the accuracy of determining whether the suction cup 1022 has separated from the target item 4, in some other examples, the presence of the target item 4 on the object-retrieving component 102 can be determined based on the fourth trigger signal from the fourth sensor and the vacuum level inside the suction cup 1022 being at a preset vacuum level. This dual-condition determination makes the judgment result more accurate. Furthermore, it avoids the possibility that a malfunction of either the fourth sensor or the vacuum pressure gauge could affect the smooth progress of the judgment process or the accuracy of the judgment result.

[0452] When the target item 4 is on the retrieval assembly 102, the first drive structure 112 and / or the second drive structure 111 drive the retrieval assembly 102 to move away from the target location along a first direction.

[0453] It is understandable that the picking component 102 may detach from the target item 4 during the retraction process due to insufficient force or other reasons. If the picking component 102 continues to retract under the action of the moving base 109 or the telescopic structure 110 when the target item 4 detaches from the picking component 102, the picking component 102 will cause the handling robot to move to the next stage position, such as the picking workstation, without a load, which will affect the smooth progress of the entire picking operation and waste resources.

[0454] For example, during the retraction process of the retrieval component 102, when there is a target item 4 on the retrieval component 102, the fourth sensor can send a fourth trigger signal to the controller. Based on the fourth trigger signal, the controller determines that there is a target item 4 on the retrieval component 102, and / or, when the controller determines that the vacuum degree of the inner cavity of the suction cup 1022 is a preset vacuum degree, it determines that there is a target item 4 on the retrieval component 102, and then controls the first drive structure 112 and / or the second drive structure 111 to work (i.e., reverse drive work), so that the retrieval component 102 moves in the negative direction of the x direction (i.e., away from the target position) under the drive of the telescopic structure 110 and / or the moving seat 109.

[0455] When the controller does not receive the fourth trigger signal, and / or when the controller determines that the vacuum level inside the suction cup 1022 is lower than the preset vacuum level, indicating that there is no target item 4 on the retrieval component 102, the controller can control the first drive structure 112 and / or the second drive structure 111 to stop the reverse drive operation, so that the retrieval component 102 stops moving towards the base 101. When the retrieval component 102 picks up the target item 4 again, the controller receives the fourth trigger signal and continues to control the first drive structure 112 and / or the second drive structure 111 to reverse drive, so that the retrieval component 102 continues to move towards the initial position.

[0456] For example, when the object-grabbing component 102 includes a suction cup 1022, if the controller does not receive the fourth trigger signal, it controls the first drive structure 112 and / or the second drive structure 111 to stop the reverse drive operation and controls the first drive structure 112 and / or the second drive structure 111 to perform the forward drive operation, so that the object-grabbing component 102 moves forward in the positive direction of the x direction, and controls the inner cavity of the suction cup 1022 to be in a vacuum state so as to adsorb the target item 4 again. When the target item 4 is adsorbed on the suction cup 1022, the fourth sensor sends the fourth trigger signal to the controller again. Based on the fourth trigger signal, the controller controls the first drive structure 112 and / or the second drive structure 111 to work (i.e., reverse drive operation), so that the object-grabbing component 102 continues to retract until it retracts to the initial position.

[0457] The embodiments of this application have the same or corresponding technical features as the foregoing embodiments. Therefore, they have the same or similar technical effects as the foregoing embodiments of this application. For details, please refer to the detailed description of the foregoing embodiments of this application. This will not be repeated in the embodiments of this application.

[0458] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A device for retrieving objects, characterized in that, include: Base (101); The retrieval assembly (102) is selectively extended or retracted from the base (101) to reciprocate between the target location and the base (101); the retrieval assembly (102) is configured to move the target item by acting on the front end face of the target item when retrieving it, wherein the front end face of the target item is the side of the target item facing the retrieval assembly (102) when it is to be retrieved; The supporting component (103) is located at least partly on the movement path of the target item when the retrieval component (102) retrieves and returns the target item, and the supporting component (103) can extend out of the base (101) to support the target item when the item is carried on the retrieval component; At least a portion of the support assembly (103) is movable relative to the base (101) to adjust the support size of the support assembly (103) on the target article; The object retrieval device also includes: A movable seat (109) is movably disposed on the base (101) and is capable of moving relative to the base (101). A first guide rail (115) is disposed on the base (101), and a first slider is disposed on the movable seat (109). The first slider is slidably connected to the first guide rail (115). A telescopic structure (110) is connected to the movable seat (109). The free end of the telescopic structure (110) is connected to the object-retrieving component (102), and can drive the object-retrieving component (102) to selectively extend or retract from the base (101). The drive mechanism (10) is connected to the movable seat (109) and the telescopic structure (110) respectively. When retrieving or returning the target item, the drive mechanism (10) can selectively drive at least one of the movable seat (109) and the telescopic structure (110) to move, so as to drive the retrieval component (102) to extend or retract from the base (101). The telescopic structure (110) and / or movable base (109) of the object retrieval device are provided with force-applying components, and the supporting component (103) is provided with a force-receiving part. The force-applying components can at least apply force to the force-receiving part during the retraction of the object retrieval component (102) to drive the supporting component (103) back to the base (101). The object retrieval device also includes: The elastic component (117) has a third end and a fourth end arranged opposite to each other along the elastic direction. The third end of the elastic component (117) is connected to the support component (103), and the fourth end of the elastic component (117) is connected to the support platform (106) of the object-retrieving device. The force-applying component includes a bent portion (1093) disposed at one end of the movable seat (109), and the force-receiving portion includes a protruding portion (10321) disposed at one end of the support component (103). When the support component (103) is in the initial position, the bent portion (1093) abuts against the side of the protruding portion (10321) facing the front end of the support component (103). The supporting component (103) is configured to pop out under the elastic action of the elastic component (117) when the movable seat (109) moves forward and abut against the front end of the target vehicle, and when the movable seat (109) retracts, the bending portion (1093) drives the protruding portion (10321) to retract to the support platform (106), wherein the support platform (106) is movably disposed on the base (101), the supporting component (103) is located on the support platform (106) and is movable relative to the support platform (106) to extend out of the base (101).

2. The object-retrieving device according to claim 1, characterized in that, The object retrieval device also includes: A width adjustment component (104) is connected to the support component (103) and configured to move the support component (103) to adjust the support size of the support component (103) on the target item.

3. The object-retrieving device according to claim 2, characterized in that, The support assembly (103) includes at least two support members (1032); At least two of the aforementioned support members (1032) are spaced apart; The width adjustment component (104) is connected to at least one of the supports (1032) to drive at least one of the supports (1032) closer to or further away from the other support (1032) to adjust the distance between the two supports (1032).

4. The object-retrieving device according to claim 3, characterized in that, The width adjustment component (104) includes: Width adjustment drive (1041); A width-adjusting transmission component (1042) is connected at one end to the width-adjusting drive component (1041). The width-adjusting transmission component (1042) includes a first part (10421) and a second part (10422). Under the drive of the width-adjusting drive component (1041), the first part (10421) and the second part (10422) move in opposite directions. One of the support members (1032) is connected to the first part (10421), and the other support member (1032) is connected to the second part (10422).

5. The object-retrieving device according to claim 4, characterized in that, The width adjustment drive (1041) includes a drive motor (10411) and a drive wheel (10412). The output end of the drive motor (10411) is connected to the drive wheel (10412) to drive the drive wheel (10412) to rotate. The width-adjusting transmission component (1042) includes a driven pulley and a timing belt. The drive pulley (10412) is spaced apart from the driven pulley. The two ends of the timing belt are sleeved on the drive pulley (10412) and the driven pulley. The drive pulley (10412) and the driven pulley divide the timing belt into a first segment and a second segment arranged opposite to each other. One of the support members (1032) is connected to the first segment, and the other support member (1032) is connected to the second segment. The first segment is configured as the first part (10421), and the second segment is configured as the second part (10422).

6. The object-retrieving device according to claim 2, characterized in that, The support component (103) can move relative to the base (101) along the direction of movement of the object retrieval component (102), and when the support component (103) extends out of the base (101), one end of the support component (103) abuts against the target vehicle.

7. The object-retrieving device according to claim 6, characterized in that, The width adjustment component (104) is connected to the support platform (106) to drive the support platform (106) to move relative to the base (101), and the support component (103) adjusts the support size of the target item under the drive of the support platform (106).

8. The object-retrieving device according to claim 7, characterized in that, The object retrieval device (1) also includes a width-adjusting guide rail (107) and a width-adjusting slider (108); The width-adjusting guide rail (107) is disposed on one of the base (101) and the support platform (106), and the width-adjusting slider (108) is disposed on the other of the base (101) and the support platform (106); The width-adjusting slider (108) is configured to slide along the width-adjusting guide rail (107) when the support platform (106) is in motion.

9. The object-retrieving device according to claim 8, characterized in that, There are at least two width-adjusting guide rails (107), and correspondingly, there are at least two width-adjusting sliders (108); At least two of the width adjustment guide rails (107) are located on both sides of the width adjustment assembly (104), and each of the width adjustment guide rails (107) is provided with a corresponding width adjustment slider (108).

10. The object-retrieving device according to claim 2, characterized in that, The object retrieval device (1) further includes: Two guide bars (105) are disposed opposite to each other on both sides of the support component (103), and the arrangement direction of the two guide bars (105) intersects with the movement direction of the object retrieval component (102); the guide bars (105) are configured to restrict the movement of the target item on the support component (103) along the arrangement direction; The width adjustment component (104) is also connected to each of the guide bars (105) and is configured to drive the two guide bars (105) to move relative to or away from each other in order to adjust the distance between the two guide bars (105).

11. The object-retrieving device according to claim 10, characterized in that, The drive mechanism (10) includes: A first drive structure (112) is connected to the movable seat (109) and configured to drive the movable seat (109) to move relative to the base (101) so that the object retrieval assembly (102) moves relative to the base (101) under the drive of the movable seat (109); A second drive structure (111) is connected to the telescopic structure (110). The second drive structure (111) is configured to drive the free end to move closer to or further away from the movable seat (109) so that the object-taking component (102) moves relative to the movable seat (109) under the drive of the free end. When retrieving or returning the target item, the retrieval assembly (102) is configured to move relative to the base (101) under the drive of the first drive structure (112) and / or the second drive structure (111) to reciprocate within the base (101) at the target location.

12. The object-retrieving device according to claim 11, characterized in that, The retrieval device (1) is configured to perform one of the following actions when retrieving and returning the target item: The first driving structure (112) drives the movable seat (109) to move, thereby moving the retrieval component (102) a first preset distance toward the target location. The second driving structure (111) then drives the telescopic structure (110) to extend, thereby moving the retrieval component (102) a second preset distance toward the target location, so that the retrieval component (102) moves to the target location and performs the transfer of the target item between the retrieval component (102) and the target location. The second driving structure (111) drives the telescopic structure (110) to extend, thereby moving the retrieval component (102) a third preset distance toward the target location. The first driving structure (112) then drives the movable seat (109) to move, thereby moving the retrieval component (102) a fourth preset distance toward the target location, so that the retrieval component (102) moves to the target location and performs the transfer of the target item between the retrieval component (102) and the target location. The first drive structure (112) and the second drive structure (111) simultaneously drive the moving seat (109) and the telescopic structure (110) to move, thereby moving the retrieval component (102) a working distance toward the target storage location, so that the retrieval component (102) moves to the target storage location and performs the transfer of the target item between the retrieval component (102) and the target storage location.

13. The object-retrieving device according to claim 12, characterized in that, When the target cargo location is the inner depth of the target vehicle, the second drive structure (111) first drives the telescopic structure (110) to extend, so as to move the retrieval component (102) towards the target cargo location, thereby reducing the width of the telescopic structure (110). The first drive structure (112) then drives the moving seat (109) to move, so as to move the retrieval component (102) towards the target cargo location until the retrieval component (102) moves to the target cargo location, and the target item is transferred between the retrieval component (102) and the target cargo location. The width direction of the telescopic structure (110) intersects with the telescopic direction.

14. The object-retrieving device according to any one of claims 1-13, characterized in that, The object retrieval component (102) includes a mounting plate (1021) and a suction cup (1022). The mounting plate (1021) is movable relative to the base (101). The suction cup (1022) is disposed on the mounting plate (1021) and configured to adsorb the target item. Alternatively, the object-grabbing component may include a hook structure configured to grab a target object.

15. A transport robot, characterized in that, include Chassis (2); A gantry (3) is mounted on the chassis (2); The object retrieval device (1) as described in any one of claims 1-14 is disposed on the gantry (3) and is capable of moving up and down along the gantry (3).

16. The handling robot according to claim 15, characterized in that, The transport robot also includes: A temporary storage plate is installed on the gantry (3); A rotating mechanism is connected to the retrieval device (1) and configured to drive the retrieval device (1) to rotate so that the retrieval device (1) places the target item on the temporary storage plate, or retrieves it from the temporary storage plate by the retrieval device (1).

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