A box taking-out mechanism and a carrying robot

Abstract

This application provides a box retrieval mechanism and a handling robot, including a base; at least two telescopic forks, which are disposed opposite to each other on the base and are retractable relative to the base; a retrieval component, movably disposed on at least one telescopic fork, and extending or retracting from the base with the telescopic fork; the retrieval component is configured to move the item by acting on the front end face of the item when retrieving or returning the item, wherein the front end face of the item is the side of the item facing the retrieval component when it is to be retrieved or returned; a first drive structure connected to the retrieval component, the first drive structure being configured to drive the retrieval component to move within a receiving space formed between the two telescopic forks, so that the retrieval component reciprocates at least between the item entrance / exit of the receiving space and the interior of the receiving space. The box retrieval mechanism of this application reduces the spacing reserved for the retrieval mechanism on the left, right and front and rear sides of the box, thereby increasing the storage density of the box on the shelf.

Description

Technical Field

[0001] This application belongs to the field of warehousing and logistics equipment technology, and in particular relates to a box-retrieving mechanism 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' box-retrieving structure includes a telescopic fork and a rotating finger mounted at the front end of the telescopic fork. When retrieving or returning a box, the telescopic fork extends to the side of the box under the drive of the drive unit, and the finger moves behind the box to push the box out of the shelf or push the box 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 cargo boxes on the shelf. Summary of the Invention

[0005] This application provides a box-retrieving mechanism and a handling robot, which reduces the spacing reserved for the box-retrieving mechanism on the left, right, front, and back sides of the box, thereby increasing the storage density of the box on the shelf.

[0006] One embodiment of this application provides a box retrieval mechanism, including:

[0007] Base;

[0008] At least two telescopic forks are arranged opposite each other on the base and are capable of telescopic extension and retraction relative to the base;

[0009] A retrieval component is movably mounted on at least one telescopic fork and extends or retracts from the base with the telescopic fork; the retrieval component is configured to move an item by acting on the front face of the item when retrieving or returning the item, wherein the front face of the item is the side of the item facing the retrieval component when it is to be retrieved or returned.

[0010] A first drive structure, connected to the object retrieval component, is configured to drive the object retrieval component to move within a receiving space formed between two telescopic forks, such that the object retrieval component reciprocates at least between the object entrance / exit of the receiving space and the interior of the receiving space.

[0011] In some implementations, the first drive structure is disposed on the telescopic fork so as to move with the telescopic fork, and the object-grabbing component is movably disposed on the telescopic fork through the first drive structure.

[0012] In some implementations, the first drive structure is mounted on one of the telescopic forks, one end of the object-grabbing component is connected to the first drive structure, and the other end of the object-grabbing component is slidably mounted on the other telescopic fork.

[0013] In some implementations, the first driving structure includes:

[0014] First driving component;

[0015] The first transmission component is connected to the first drive component and is capable of reciprocating relative to the telescopic fork. The object-grabbing assembly is connected to the first transmission component.

[0016] The transmission path of the first transmission component extends to both ends of the telescopic fork along the extension direction, and the extension direction of the telescopic fork is consistent with the telescopic direction.

[0017] In some implementations,

[0018] The first transmission component includes a first driving wheel, a first driven wheel, and a first transmission belt;

[0019] The output end of the first driving member is connected to the first driving wheel to drive the first driving wheel to rotate. The first driving wheel and the first driven wheel are spaced apart on the telescopic fork. The two ends of the first transmission belt are sleeved on the first driving wheel and the first driven wheel. The first transmission belt is configured to move under the drive of the first driving wheel and drive the first driven wheel to rotate.

[0020] The picking component is connected to the first drive belt.

[0021] In some implementations,

[0022] The telescopic fork is equipped with a first guide rail;

[0023] A first slider is slidably mounted on a first guide rail. One end of the object retrieval component is connected to the first slider. The first slider is configured to slide along the first guide rail when the object retrieval component moves relative to the telescopic fork.

[0024] In some implementations,

[0025] The box retrieval mechanism also includes an adjustment component;

[0026] The adjustment component is configured to drive the two telescopic forks to move in the same direction relative to the base to adjust the offset distance of the picking component relative to the target cargo location;

[0027] And / or, the adjustment component is configured to drive at least one telescopic fork to move relative to the base to adjust the distance between the two telescopic forks.

[0028] In some implementations, the regulating components include:

[0029] Two sets of adjustment drive mechanisms, each set of adjustment drive mechanisms includes an adjustment drive component and an adjustment transmission component, the adjustment transmission component is connected to the adjustment drive component, and the adjustment transmission component is configured to reciprocate under the drive of the adjustment drive component;

[0030] One of the telescopic forks is connected to the adjusting transmission of one set of adjusting drive mechanisms, and the other telescopic fork is connected to the adjusting transmission of another set of adjusting drive mechanisms.

[0031] The two adjustment drive elements are configured to drive the two adjustment transmission elements to move in the same or opposite directions.

[0032] In some implementations, each set of adjustment drive mechanisms includes an adjustment drive wheel, an adjustment driven wheel, and an adjustment drive belt. The output end of the adjustment drive is connected to the adjustment drive wheel to drive the adjustment drive wheel to rotate.

[0033] The driving wheel and the driven wheel are spaced apart, and the two ends of the adjusting transmission belt are fitted onto the driving wheel and the driven wheel.

[0034] One of the telescopic forks is connected to the adjusting drive belt of one of the adjusting drive mechanisms, and the other telescopic fork is connected to the adjusting drive belt of another adjusting drive mechanism.

[0035] In some implementations, the regulating components include:

[0036] A set of adjustment drive mechanisms, the adjustment drive mechanism including an adjustment drive component and an adjustment transmission component, the adjustment transmission component being connected to the adjustment drive component, the adjustment transmission component being configured to reciprocate under the drive of the adjustment drive component;

[0037] Both telescopic forks are connected to the adjusting transmission component, so that they can move in the same or opposite directions under the drive of the adjusting transmission component.

[0038] In some implementations,

[0039] The adjusting transmission component includes an adjusting drive wheel, an adjusting driven wheel, and an adjusting transmission belt. The output end of the adjusting drive component is connected to the adjusting drive wheel to drive the adjusting drive wheel to rotate.

[0040] The driving pulley and the driven pulley are spaced apart, and the two ends of the adjusting transmission belt are fitted onto the driving pulley and the driven pulley; the adjusting transmission belt has two transmission sections;

[0041] Each telescopic fork is connected to one of the transmission sections so that the two telescopic forks move in the same direction under the drive of the adjusting transmission belt; or, one telescopic fork is connected to one of the transmission sections and the other telescopic fork is connected to the other transmission section so that the two telescopic forks move in opposite directions under the drive of the adjusting transmission belt.

[0042] In some implementations, the retrieval mechanism also includes:

[0043] Adjust the guide rail, which is mounted on the base;

[0044] An adjusting slider is mounted on the telescopic fork and is configured to slide along an adjusting guide rail as the telescopic fork moves.

[0045] In some implementations, the object retrieval component includes:

[0046] The object-retrieving unit is configured to retrieve items.

[0047] At least two connectors, each including a first end and a second end, wherein the first ends of the at least two connectors are respectively disposed on the corresponding telescopic forks, and the second ends of the at least two connectors are slidably disposed on the object-retrieving body, so that when the distance between the two telescopic forks changes, the second ends of the connectors slide along the object-retrieving body.

[0048] In some implementations, the object-grabbing component also includes: a slide rail and a slider;

[0049] One of the slide rail and the slider is set on the object-retrieving body;

[0050] The other of the slide rail and the slider is located at the second end of the connector, and the slider is configured to slide on the slide rail when the second end of the connector moves along the object-retrieving body.

[0051] In some implementations, the box-retrieving mechanism further includes a synchronous limiting structure, which is connected to the second end of at least two connectors respectively. The synchronous limiting structure is configured to drive at least two connectors to move synchronously so that the at least two connectors move equal distances relative to the box-retrieving body.

[0052] In some implementations,

[0053] The synchronous limit structure includes:

[0054] At least two links, one end of each of the at least two links being rotatably connected to the second end of a corresponding connector;

[0055] The swing arm has two ends that are rotatably connected to the other end of a corresponding connecting rod.

[0056] A fixed column is connected at one end to the object-retrieving body and at the other end to the center of the swing arm.

[0057] Both the connecting rod and the rocker arm can rotate along the sliding surface at the second end of the connecting member.

[0058] In some implementations, the base includes:

[0059] The base body has movable parts mounted on it.

[0060] The support is provided on the base body and located in the movement path of the object retrieval component. The support is configured to support the object.

[0061] An installation channel is provided on the support, and at least part of the adjustment component passes through the installation channel.

[0062] In some implementations, the box-retrieving mechanism also includes a second drive structure;

[0063] The telescopic fork includes a fixed fork plate and a movable fork plate. The fixed fork plate is disposed on the base, and the movable fork plate is disposed on the fixed fork plate. A second drive structure is connected to the movable fork plate and is configured to drive the movable fork plate to extend and retract relative to the fixed fork plate. The lifting component is movably disposed on the movable fork plate.

[0064] In some implementations, the second drive structure includes a second drive member and two second transmission members, wherein the second drive member is connected to the two second transmission members to drive the two second transmission members to move;

[0065] The two movable forks are respectively connected to the corresponding second transmission components, so that they can extend and retract relative to the fixed forks under the drive of the second transmission components.

[0066] In some implementations, the box-retrieving mechanism also includes a second guide rail and a second slider. One of the second guide rail and the second slider is disposed on a fixed fork plate, and the other is disposed on a movable fork plate. When the movable fork plate extends or retracts relative to the fixed fork plate, the second slider slides along the second guide rail.

[0067] And / or, a support portion is formed on the fixed fork plate opposite to the base, and the movable fork plate is supported on the support portion.

[0068] In some implementations, the object retrieval component includes:

[0069] Mounting plate for connection to the first drive structure;

[0070] A suction cup is mounted on a mounting plate, on which a channel is formed. One end of the channel is connected to the inner cavity of the suction cup, and the other end of the channel is used to connect to an air source device. The suction cup is configured to reduce the pressure in the inner cavity through the air source device in order to adsorb items.

[0071] Alternatively, the retrieval component may include:

[0072] The hook structure is connected at one end to the first drive structure and is configured to hook onto an object.

[0073] Another embodiment of this application provides a box retrieval mechanism, including:

[0074] Base;

[0075] At least two telescopic forks are arranged opposite each other on the base and are capable of telescopic extension and retraction relative to the base;

[0076] A retrieval component is movably mounted on at least one telescopic fork and extends or retracts from the base with the telescopic fork; the retrieval component is configured to move an item by acting on the front face of the item when retrieving or returning the item, wherein the front face of the item is the side of the item facing the retrieval component when it is to be retrieved or returned.

[0077] A first drive structure, connected to the object retrieval component, is configured to drive the object retrieval component to move within a receiving space formed between two telescopic forks, so that the object retrieval component reciprocates at least between the object inlet / outlet of the receiving space and the interior of the receiving space.

[0078] The adjustment component is configured to drive the two telescopic forks to move in the same direction to adjust the offset distance of the picking component relative to the target storage location.

[0079] In some implementations, the regulating components include:

[0080] A set of adjustment drive mechanisms, the adjustment drive mechanism including an adjustment drive component and an adjustment transmission component, the adjustment transmission component being connected to the adjustment drive component, the adjustment transmission component being configured to reciprocate under the drive of the adjustment drive component;

[0081] Both telescopic forks are connected to the adjusting transmission mechanism so that they move in the same direction under the drive of the adjusting transmission mechanism.

[0082] In some implementations,

[0083] The adjusting transmission component includes an adjusting drive wheel, an adjusting driven wheel, and an adjusting transmission belt. The output end of the adjusting drive component is connected to the adjusting drive wheel to drive the adjusting drive wheel to rotate.

[0084] The driving pulley and the driven pulley are spaced apart, and the two ends of the adjusting transmission belt are fitted onto the driving pulley and the driven pulley; the adjusting transmission belt has two transmission sections;

[0085] Each telescopic fork is connected to one of the drive sections, so that the two telescopic forks move in the same direction under the drive of the adjusting drive belt.

[0086] Another aspect of this application provides a box retrieval mechanism, including:

[0087] Base;

[0088] At least two telescopic forks are arranged opposite each other on the base and are capable of telescopic extension and retraction relative to the base;

[0089] A retrieval component is movably mounted on at least one telescopic fork and extends or retracts from the base with the telescopic fork; the retrieval component is configured to move an item by acting on the front face of the item when retrieving or returning the item, wherein the front face of the item is the side of the item facing the retrieval component when it is to be retrieved or returned.

[0090] A first drive structure, connected to the object retrieval component, is configured to drive the object retrieval component to move within a receiving space formed between two telescopic forks, so that the object retrieval component reciprocates at least between the object inlet / outlet of the receiving space and the interior of the receiving space;

[0091] An adjustment component is configured to drive at least one telescopic fork to move relative to the base in order to adjust the distance between the two telescopic forks.

[0092] In some implementations, the regulating components include:

[0093] A set of adjustment drive mechanisms, the adjustment drive mechanism including an adjustment drive component and an adjustment transmission component, the adjustment transmission component being connected to the adjustment drive component, the adjustment transmission component being configured to reciprocate under the drive of the adjustment drive component;

[0094] Both telescopic forks are connected to the adjusting transmission mechanism so that they can move in opposite directions under the drive of the adjusting transmission mechanism.

[0095] In some implementations,

[0096] The adjusting transmission component includes an adjusting drive wheel, an adjusting driven wheel, and an adjusting transmission belt. The output end of the adjusting drive component is connected to the adjusting drive wheel to drive the adjusting drive wheel to rotate.

[0097] The driving pulley and the driven pulley are spaced apart, and the two ends of the adjusting transmission belt are fitted onto the driving pulley and the driven pulley; the adjusting transmission belt has two transmission sections;

[0098] One of the telescopic forks is connected to one of the transmission sections, and the other telescopic fork is connected to another transmission section, so that the two telescopic forks move in opposite directions under the drive of the adjusting transmission belt.

[0099] In some implementations, the object retrieval component includes:

[0100] The object-retrieving unit is configured to retrieve items.

[0101] At least two connectors, each including a first end and a second end, wherein the first ends of the at least two connectors are respectively disposed on the corresponding telescopic forks, and the second ends of the at least two connectors are slidably disposed on the object-retrieving body, so that when the distance between the two telescopic forks changes, the second ends of the connectors slide along the object-retrieving body.

[0102] In some implementations, the box-retrieving mechanism also includes a synchronous limiting structure, which is connected to the second end of at least two connectors respectively, and is configured to drive at least two connectors to move synchronously.

[0103] Another aspect of this application provides a handling robot, including:

[0104] Chassis;

[0105] The gantry is mounted on the chassis.

[0106] As described in the above embodiment, the box retrieval mechanism is mounted on the gantry and can move up and down along the gantry.

[0107] The retrieval mechanism and handling robot provided in this application embodiment handle items by configuring the retrieval component 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-to-return state). This achieves several advantages: First, compared to related technologies that require a certain distance to be reserved for the retrieval mechanism's levers at the front and back of the cargo box, this application embodiment eliminates the need for levers, thus improving the storage density of the vehicle. Second, while related technologies require the telescopic fork to be inserted into the left and right sides of the cargo box, this application embodiment eliminates the need for the telescopic fork to be inserted into the left and right sides of the cargo box. Furthermore, the retrieval component is connected to the first drive structure, allowing it to move along the telescopic fork under the action of the first drive structure. This enables the retrieval component to extend at least to the front end of the telescopic fork, ensuring that the telescopic fork does not extend beyond the retrieval component when it docks with the target cargo location. Consequently, it does not need to reserve space for the telescopic fork on the left and right sides of the cargo box. For example, when the retrieval mechanism retrieves a cargo box from the outer depth, the retrieval component only needs to dock with the front end of the cargo box without extending into the vehicle. This reduces the storage gap between adjacent cargo boxes and effectively increases the storage density of the cargo box in the vehicle.

[0108] Furthermore, by movably mounting the retrieval component on the telescopic fork, the telescopic fork allows the retrieval component to extend or retract to the base, enabling the retrieval and return of items between storage locations at different depths on the shelf. Additionally, the retrieval component can move along the telescopic fork under the action of the first drive structure, allowing it to extend at least to the front end of the telescopic fork, reaching the target storage location to place or remove items from that location; or retracting into the receiving space of the telescopic fork to retract the retrieval component or the items carried on it, ensuring the stability of the items on the retrieval mechanism. Furthermore, the extension levels of the telescopic fork can be adjusted according to actual needs to effectively increase the movement distance of the retrieval component, facilitating the retrieval and return of boxes at different depths of the carrier.

[0109] In addition, another retrieval mechanism provided in this application embodiment, by setting an adjustment component, drives two telescopic forks to move in the same direction along a first direction, so that the two telescopic forks and the retrieval component between the telescopic forks translate along the first direction, so that the retrieval component and the accommodating space are aligned with the corresponding cargo position on the carrier. In this way, the lateral offset distance caused by the shaking of the handling robot can be compensated. Compared with the related technology that moves the box retrieval mechanism by the chassis and then moves the retrieval component, this application embodiment directly moves the retrieval component by the adjustment component in the box retrieval mechanism, which improves the adjustment accuracy and efficiency, thereby improving the box retrieval mechanism and the box retrieval and return efficiency of the handling robot.

[0110] Furthermore, another retrieval mechanism provided in this application embodiment drives at least one telescopic fork to move closer to or further away from another telescopic fork via an adjusting component, thereby adjusting the distance between the two telescopic forks. This allows the distance between the two telescopic forks to be adjusted according to the actual size requirements of the items, enabling items of different sizes to be clamped between them. For example, when the two telescopic forks move away from the target storage location, the adjusting component can increase the distance between them, allowing items of any size carried on the retrieval component to enter between the two telescopic forks, thus improving the adaptability of the retrieval mechanism and the handling robot to items of different sizes. Additionally, by adjusting the distance between the two telescopic forks, the adjusting component can reduce the distance between them when the retrieval component moves towards the target storage location. This ensures that the distance between the two telescopic forks can be adjusted to be less than or equal to the width of the item before extending into the carrier, effectively saving space occupied by the telescopic forks on the left and right sides of the item during retrieval and increasing the storage density of the carrier. Attached Figure Description

[0111] Figure 1 This is a schematic diagram of the structure of a box-retrieving mechanism provided in one embodiment of this application;

[0112] Figure 2 yes Figure 1 A schematic diagram of the front structure of the object extraction component;

[0113] Figure 3 yes Figure 1 A schematic diagram of the back structure of the object extraction component;

[0114] Figure 4 yes Figure 1 Partial structural diagram;

[0115] Figure 5 yes Figure 1 A schematic diagram of the retrieval mechanism containing items;

[0116] Figure 6 This is a schematic diagram of the box-retrieving mechanism provided in one embodiment of this application in one of its extended states;

[0117] Figure 7 This is a schematic diagram of the first state of the box retrieval mechanism provided in an embodiment of this application when returning the box;

[0118] Figure 8 This is a schematic diagram of the second state of the box retrieval mechanism provided in an embodiment of this application when returning the box;

[0119] Figure 9 This is a schematic diagram of the third state of the box retrieval mechanism provided in an embodiment of this application when returning the box;

[0120] Figure 10 yes Figure 1 Exploded view of part of the structure of the telescopic fork;

[0121] Figure 11 yes Figure 10 Schematic diagram of the movable fork plate in the middle;

[0122] Figure 12 yes Figure 1 Assembly drawing of the telescopic fork assembly and the first drive structure;

[0123] Figure 13 yes Figure 12 Exploded view of the telescopic fork assembly;

[0124] Figure 14 yes Figure 13 Partial exploded view of the fixed fork plate and the second drive structure;

[0125] Figure 15 yes Figure 1 Schematic diagram of the central base;

[0126] Figure 16 yes Figure 1 A schematic diagram of the structure after the two telescopic forks have been translated.

[0127] Figure 17 yes Figure 1 A schematic diagram of the structure after the width adjustment of the two telescopic forks in the middle;

[0128] Figure 18 yes Figure 17 Top view;

[0129] Figure 19 yes Figure 17 A magnified view of a section at point I.

[0130] Explanation of reference numerals in the attached figures:

[0131] 1-Box retrieval mechanism; 2-Item; 3-Vehicle;

[0132] 100 - Base; 200 - Telescopic fork assembly; 300 - Item retrieval assembly; 400 - First drive structure; 500 - Adjustment assembly; 600 - Second drive structure;

[0133] 110 - Base body; 120 - Support part; 210 - Telescopic fork; 220 - Accommodation space; 310 - Object retrieval body; 320 - Connector; 330 - Synchronous limiting structure; 340 - Slide rail; 350 - Slider; 410 - First driving component; 420 - First transmission component; 510 - Adjustment driving mechanism; 520 - Adjustment guide rail; 530 - Adjustment slider; 610 - Second driving component; 620 - Second transmission component; 630 - Intermediate transmission component;

[0134] 211-Moving fork plate; 212-Fixed fork plate; 213-Second guide rail; 214-Second slider; 311-Mounting plate; 312-Suction cup; 331-Connecting rod; 332-Swing arm rod; 333-Fixed column; 421-First drive wheel; 422-First driven wheel; 423-First transmission belt; 424-First guide rail; 425-First slider; 511-Adjusting drive component; 512-Adjusting transmission component; 621-Second drive wheel; 622-Second driven wheel; 623-Second transmission belt; 631-Drive shaft; 632-Intermediate drive wheel; 633-Intermediate driven wheel; 634-Intermediate transmission belt; 635-First fixed seat; 636-Second fixed seat;

[0135] 211a - First mounting groove; 211b - Second mounting groove; 221 - Support part; 222 - Groove; 5121 - Adjusting drive wheel; 5122 - Adjusting driven wheel; 5123 - Adjusting transmission belt; 5124 - Fixing block; 5125 - First fixing member; 5126 - Second fixing member.

[0136] 5123a - First transmission section; 5123b - Second transmission section. Detailed Implementation

[0137] 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.

[0138] 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.

[0139] 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.

[0140] 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.

[0141] 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.

[0142] 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, they are usually stored and handled in warehousing systems.

[0143] To improve handling efficiency and reduce workload when moving boxes or items 2 on shelves, handling robots are typically used to retrieve and return boxes or items 2 from the shelves. Handling robots are important equipment in warehousing, capable of automatically placing items 2 (e.g., boxes, goods) onto carriers 3 (e.g., shelves, pallets) to complete the loading process (e.g., box return process), and also capable of removing items 2 from carriers 3 (e.g., box retrieval process) and transporting them to designated locations.

[0144] This application provides a handling robot, including a chassis, a gantry, and a box-retrieving mechanism 1. The gantry is mounted on the chassis, and the box-retrieving mechanism 1 is mounted on the gantry.

[0145] Specifically, in this embodiment, the chassis can be the same as or similar to the chassis in related technologies, and will not be described in detail here. The gantry can be fixedly mounted on the chassis and move under the drive of the chassis. The connection method between the gantry and the chassis can be the same as or similar to that in related technologies, and will not be described in detail here.

[0146] Additionally, it is understood that a communication module can be installed on the chassis or gantry. 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 a designated position in carrier 3, so as to dock with the target cargo location within carrier 3 and realize the process of picking up or returning goods.

[0147] The box-picking mechanism 1 is mounted on the gantry and can move up and down along the gantry. For example, after the handling robot moves to the carrier 3, the box-picking mechanism 1 moves up and down along the gantry to reach the height of the corresponding target item 2.

[0148] In some examples, the transport robot also includes a temporary storage plate and a rotating mechanism.

[0149] A temporary storage plate is mounted on a gantry. A rotating mechanism is connected to a box retrieval mechanism 1. The rotating mechanism is configured to drive the box retrieval mechanism 1 to rotate so that the box retrieval mechanism 1 can store the target item 2 on the temporary storage plate or retrieve the target item 2 from the temporary storage plate via the box retrieval mechanism 1.

[0150] It is understood that the box-retrieving mechanism 1 can be located on one side of the gantry, and the temporary storage plate can be located on the other side of the gantry. In some examples, multiple temporary storage plates can be arranged along the height direction of the gantry, 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. In this way, the handling robot can carry multiple target items 2 at a time, improving the transfer efficiency of target items 2.

[0151] In some examples, the drive structure on the gantry can be connected to a lifting plate, which is raised and lowered by the drive mechanism. A rotating mechanism is provided on the lifting plate, which is connected to the base 100 of the box retrieval mechanism 1. The base 100 can rotate relative to the lifting plate, thereby driving the box retrieval mechanism 1 to rotate.

[0152] In related technologies, the box-retrieving structure of a handling robot typically includes a telescopic fork and a rotatable finger mounted at the front end of the telescopic fork. During box retrieval, the telescopic fork extends to the side of the box under the drive of a drive unit to grip it. Additionally, during box retrieval, when the telescopic fork extends into the shelf and its front end protrudes from the box, the rotatable finger rotates to the rear end of the box to assist the telescopic fork in retrieving the box from the shelf.

[0153] 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 extend). This gap occupies part of the storage space for boxes, resulting in a low storage density of boxes on the shelf.

[0154] To address this issue, this application provides a box retrieval mechanism. When retrieving or returning items, the retrieval component of the mechanism acts on the front face of the box, eliminating the need to extend to the left, right, front, and rear sides of the box. This solves the technical problem in related technologies where there are gaps between boxes and the storage density of boxes is low.

[0155] The following is a detailed description of the specific structure of the box-retrieving mechanism 1, with reference to the accompanying drawings.

[0156] Figure 1 This is a schematic diagram of the structure of a box-retrieving mechanism provided in one embodiment of this application. Figure 2 yes Figure 1 A schematic diagram of the front structure of the object extraction component. Figure 3 yes Figure 1 A schematic diagram of the back structure of the object retrieval component. Figure 4 yes Figure 1 A partial structural diagram. Figure 5 yes Figure 1 A schematic diagram of the structure of the retrieval mechanism containing the items. Figure 6 This is a schematic diagram of the box-retrieving mechanism provided in one embodiment of this application, in one of its extended states. (Refer to...) Figures 1 to 6 As shown, this application embodiment provides a box retrieval mechanism 1, including a base 100, a telescopic fork assembly 200, a retrieval assembly 300, and a first drive structure 400.

[0157] Specifically, the base 100 can be made of rigid plastic (e.g., engineering plastic). In some examples, the base 100 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 100 can be the same as or similar to the arrangement of the base 100 in related technologies, and will not be described in detail in the embodiments of this application.

[0158] The telescopic fork assembly 200 is disposed on the base 100 and is telescopic relative to the base 100. In some examples, the telescopic fork assembly 200 may include at least two telescopic forks 210 disposed opposite to each other. For example, the two telescopic forks 210 may be disposed opposite to each other along a first direction, forming a receiving space 220 for receiving the article 2 between the two telescopic forks 210, and each telescopic fork 210 is capable of extending or retracting relative to the base 100.

[0159] The extension and retraction direction of the telescopic fork 210 can be referred to as follows. Figure 1As shown in the x-direction, the first direction intersects with, for example, the extension direction of the telescopic fork 210, for example, perpendicular to it, as shown in the reference. Figure 1 Shown in the y direction.

[0160] Reference Figure 4 and Figure 6 As shown, in some examples, the telescopic fork 210 may include a fixed fork plate 212 and a movable fork plate 211 disposed opposite to each other. The fixed fork plate 212 is disposed on the base 100, and the movable fork plate 211 is disposed on the fixed fork plate 212 and is telescopic relative to the fixed fork plate 212. That is, the movable fork plate 211 is disposed on the base 100 through the fixed fork plate 212 to improve the stability of the movable fork plate 211. The lifting assembly 300 is disposed on the movable fork plate 211 to extend or retract from the base 100 under the action of the movable fork plate 211.

[0161] In configuration, the telescopic fork assembly 200 can be a single-stage telescopic fork structure, meaning each telescopic fork 210 has one movable fork plate 211. In some examples, the telescopic fork assembly 200 can also be a two-stage or higher telescopic fork structure, meaning each telescopic fork 210 has two or more movable fork plates 211, and the lower-level movable fork plates 211 can extend or retract relative to the upper-level movable fork plates 211. This extends the extension stroke of the telescopic fork assembly 200 while reducing the length of the telescopic fork assembly 200 in its retracted state, thereby reducing the overall volume of the box-retrieving mechanism 1. When the telescopic fork assembly 200 is a multi-stage telescopic fork 210 structure, the retrieval component 300 is positioned on the highest-level movable fork plate 211 in the telescopic fork assembly 200. It can be understood that the highest-level movable fork plate 211 is the movable fork plate 211 with the furthest extension position (farthest from the fixed fork plate 212) when the telescopic fork assembly 200 is in its fully extended state.

[0162] In this embodiment of the application, the object retrieval component 300 is movably disposed on the telescopic fork component 200, and extends or retracts from the base 100 as the telescopic fork component 200 extends. For example, the object retrieval component 300 may be located between two telescopic forks 210, and one end may be movably disposed on one or both telescopic forks 210.

[0163] In some examples, the telescopic forks 210 can be three or more. Taking three telescopic forks 210 as an example, the three telescopic forks 210 can be arranged at intervals along the first direction y, and a receiving space 220 is formed between every two telescopic forks 210. There can be two retrieval components 300, which are respectively set in two receiving spaces 220. For example, one retrieval component 300 is set in the receiving space 220 between one pair of adjacent telescopic forks 210, and the other retrieval component 300 is set in the receiving space 220 between another pair of adjacent telescopic forks 210. In this way, the three telescopic forks 210 can drive two retrieval components 300 to extend or retract from the base 100 to realize the work of retrieving and returning items. Moreover, multiple telescopic forks 210 drive multiple retrieval components 300 to dock with the target storage location to realize the transfer of multiple items 2, thereby improving the working efficiency of the retrieval mechanism 1.

[0164] This application specifically uses two telescopic forks 210 and a retrieval component 300 as an example to illustrate the box retrieval mechanism.

[0165] Reference Figure 2 and Figure 3 As shown, in some examples, the object retrieval assembly 300 may include an object retrieval body 310 and a connector 320. The object retrieval body 310 is configured to retrieve the item 2. The connector 320 has a first end 320a and a second end 320b. The first end 320a is movably disposed on the telescopic fork assembly 200, and the second end 320b is disposed on the object retrieval body 310, such that the object retrieval body 310 is movably connected to the telescopic fork assembly 200 through the connector 320.

[0166] The connector 320 can be a single component, with its first end 320a movably mounted on one of the telescopic forks 210, allowing the object-retrieving body 310 to move via the connector 320 when the telescopic fork 210 extends or retracts. In some examples, the connector 320 can also be two components, with the first ends 320a of each component 320 movably mounted on a corresponding telescopic fork 210. For example, the first end 320a of one connector 320 can be movably mounted on one telescopic fork 210, and the first end 320a of the other connector 320 can be movably mounted on the other telescopic fork 210.

[0167] Compared to the retrieval component 300 which only works with one of the telescopic forks 210, the retrieval component 300, for example, the retrieval body 310, is mounted on two telescopic forks 210 via two connectors 320, which improves the stability of the retrieval component 300 between the telescopic fork components 200.

[0168] For example, the second end 320b of the connector 320 may be disposed on the back side of the object-retrieving body 310, the front side of the object-retrieving body 310 being used to interact with the item 2.

[0169] The telescopic fork assembly 200 is configured to selectively extend or retract towards or away from the target storage location when retrieving or returning item 2. For example, during the retrieval or return of item 2, the two telescopic forks 210 can extend in the positive direction of retrieval to drive the retrieval assembly 300 out of the base 100, allowing the retrieval assembly 300 to eventually reach the target storage location. Alternatively, they can move in the opposite direction of retrieval to retract back to the base 100 until they return to their initial position. Here, the retrieval direction refers to the direction in which the line connecting the retrieval assembly 300 and the target storage location extends after the retrieval mechanism has moved to the designated position under the drive of the chassis; that is, the direction in which the retrieval assembly 300 faces the target storage location.

[0170] It should be noted that the telescopic fork assembly 200's telescopic direction x can be parallel to the object-retrieving direction (refer to...). Figure 1 As shown in the direction a), it is consistent with the direction of picking up the item. In some examples, the extension direction x of the telescopic fork assembly 200 can also have a preset angle with the direction of picking up the item. This preset angle can be an acute angle, so that the extension direction x of the telescopic fork assembly 200 has a certain component in the direction of picking up the item. As long as it is ensured that the telescopic fork assembly 200 carrying the picking up component 300 can eventually reach the target location.

[0171] It is understood that the target storage location can be a location on the carrier 3, 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 300 moves towards the carrier 3 when retrieving or returning item 2, or the direction in which the retrieval component 300 moves towards the storage pallet location. It is understood that the direction in which the retrieval component 300 moves towards the storage location on the carrier 3 can be perpendicular to the direction in which the retrieval component 300 moves towards the storage pallet location.

[0172] Figure 7 This is a schematic diagram of the first state of the box retrieval mechanism provided in an embodiment of this application when returning the box. Figure 8 This is a schematic diagram of the second state of the box retrieval mechanism provided in one embodiment of this application when returning the box. Figure 9 This is a schematic diagram of the third state of the box retrieval mechanism provided in an embodiment of this application during box return. (Refer to...) Figures 7 to 9 As shown in the embodiment of this application, the item retrieval component 300 is configured to move the item 2 by acting on the front end face of the item 2 when retrieving or returning the item 2.

[0173] In this embodiment, the front face of item 2 refers to the side of item 2 facing the retrieval component 300 when it is to be retrieved or returned; or, in some specific application scenarios, item 2 is stored on a shelf (carrier 3), and the front face of item 2 can also refer to the side of item 2 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 specifically refer to the side facing / facing the outside of the shelf, which facilitates retrieval by the retrieval component 300.

[0174] 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 on one side of the retrieval component 300 (e.g., the front side of the retrieval body 310), thereby realizing the movement, handling or retrieval of the cargo box.

[0175] 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.

[0176] 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 be inserted 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.

[0177] In some alternative examples of 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 (e.g., iron material). 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 providing a carrying force for the cargo box through the magnetic attraction of the electromagnet to the cargo box.

[0178] It is understood that in some other possible examples of the embodiments of this application, the force-providing component may be made of a material that can be attracted by a magnet, and an electromagnet may be provided on the front end face of the cargo box accordingly; in this way, 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, 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.

[0179] In other examples, the force-providing component can also be a suction cup 312. By extracting air from the cavity of the suction cup 312, the pressure inside the suction cup 312 is made lower than the ambient pressure, thereby adsorbing the item 2. When it is necessary to release the item 2, air can be pumped into the cavity of the suction cup 312 so that the pressure inside the suction cup 312 is equal to or greater than the ambient pressure, thereby causing the item 2 to detach from the suction cup 312.

[0180] Reference Figure 2 As shown, specifically, the object-grabbing assembly 300, such as the object-grabbing body 310, may include a mounting plate 311 and a suction cup 312. The mounting plate 311 is movably disposed on the telescopic fork 210 of the telescopic fork assembly 200, and the suction cup 312 is disposed on the mounting plate 311. Exemplarily, the suction cup 312 is disposed on the front side of the mounting plate 311, and the second end 320b of the connector 320 is disposed on the back side of the mounting plate 311. A channel is formed on the mounting plate 311, one end of which communicates with the inner cavity of the suction cup 312, and the other end of which is used to communicate with a gas source device. As a specific example, in this embodiment, the gas source device may specifically be a vacuum pump.

[0181] Specifically, the channel on the mounting plate 311 can be formed by drilling or slotting the mounting plate 311. The other end of the channel can be connected to the air source device through a vacuum tube. In this way, when the air source device is running, the air source device reduces the pressure of the channel and the inner cavity of the suction cup 312 through the vacuum tube, so that the external atmospheric pressure drops and the item 2 that needs to be moved and transferred is pressed and adsorbed on the suction cup 312.

[0182] In some possible examples, the air source device can be a forward and reverse rotating air source device. For example, when the air source device rotates forward, it draws air into the channel and the inner cavity of the suction cup 312 through the vacuum tube to reduce the pressure in the inner cavity of the suction cup 312, making it easier to adsorb the item 2 that needs to be transferred; when the air source device rotates in reverse, it fills the channel and the inner cavity of the suction cup 312 with air through the vacuum tube, thereby releasing the suction force of the suction cup 312 on the item 2, making it easier to remove the item 2 from the suction cup 312.

[0183] 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 312 provides sufficient suction to the item 2 (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 312, avoiding the vacuum pump from running for a long time, and effectively saving energy.

[0184] In this embodiment, by configuring the retrieval component 300 to move the item 2 by acting on the front end of the item 2 when retrieving or returning the item 2, compared to the related technology which requires reserving a certain distance for the finger of the retrieval mechanism 1 in front of and behind the cargo box, this embodiment does not require the finger, and therefore does not require reserving activity space for the retrieval mechanism 1 in front of and behind the cargo box, thereby improving the storage density of the carrier 3.

[0185] In this embodiment of the application, the first drive structure 400 is connected to the picking component 300 and is configured to drive the picking component 300 to move within the receiving space 220 of the telescopic fork assembly 200, for example, to reciprocate along the telescopic direction x of the telescopic fork 210, so that the picking component 300 reciprocates between the target location and the receiving space 220.

[0186] Reference Figure 6 and Figure 9 As shown, when the retrieval component 300 reaches the target storage location and transfers items between the two locations, it needs to act on the front end of the item 2 and ensure that the telescopic forks 210 on both sides do not extend to the sides of the item 2. Therefore, the force-providing component of the retrieval component 300 needs to move at least to the front end of the telescopic fork assembly 200. For example, it can move to the front end of the telescopic fork assembly 200 so that the force-providing component of the retrieval component 300 is flush with the front end of the telescopic fork assembly 200. Alternatively, the force-providing component of the retrieval component 300 can extend beyond the front end of the telescopic fork assembly 200 and move to the outside of the telescopic fork assembly 200 to ensure that when the retrieval component 300 transfers items between the two locations, the telescopic fork assembly 200 will not exceed the retrieval component 300 and occupy the space on both sides of the item 2. In related technologies, the telescopic fork assembly 200 needs to be inserted into the left and right sides of the cargo box. In this embodiment, the telescopic fork assembly 200 does not need to be inserted into the left and right sides of the cargo box. Therefore, it is not necessary to reserve space for the telescopic fork assembly 200 on the left and right sides of the cargo box. For example, when the box retrieval mechanism 1 retrieves a box from the outer depth, the retrieval component 300 only needs to contact the front end of the box without extending into the carrier 3, and the telescopic fork component 200 does not need to extend into the sides of the item, thereby reducing the storage gap between adjacent boxes and effectively increasing the storage density of the box in the carrier 3.

[0187] Reference Figure 6 As shown, the front end of the telescopic fork assembly 200 refers to the item inlet / outlet of the accommodating space 220 (see reference). Figure 6 As shown in m), when retrieving or returning item 2, item 2 enters into the accommodating space 220 through the item entrance / exit, or is moved out of the accommodating space 220.

[0188] Reference Figures 7 to 9As shown, when it is necessary to transfer item 2 from the retrieval component 300 to the target storage location, the retrieval component 300 can move to the front end of the telescopic fork assembly 200 under the drive of the first drive structure 400. For example, when the force-providing component of the retrieval component 300 is a suction cup 312, the retrieval component 300 needs to move to the front end of the telescopic fork assembly 200 under the drive of the first drive structure 400. Thus, when the telescopic fork assembly 200 extends to the target storage location, that is, when the front end of the telescopic fork assembly 200 is flush with the front end of the target storage location, and the retrieval component 300 moves to the front end of the telescopic fork assembly 200, the item 2 carried by the retrieval component 300 is just located on the target storage location. Then, simply releasing the force exerted by the retrieval component 300 on the front end of the item 2 will transfer the item 2 to the target storage location. It should be noted that the front end of the target storage location refers to the side of the target storage location facing the retrieval mechanism.

[0189] For example, when it is necessary to retrieve item 2 from the target storage location, the retrieval component 300 can move to the front end of the telescopic fork component 200 under the drive of the first drive structure 400. Thus, when the telescopic fork component 200 extends to the target storage location, that is, when the front end of the telescopic fork component 200 is flush with the front end of the target storage location, and the force-providing component of the retrieval component 300 moves to the front end of the telescopic fork component 200, the force-providing component of the retrieval component 300 just contacts the front end of item 2 in the target storage location. Then, by simply applying the retrieval component 300 to the front end of item 2, item 2 can be transferred to the retrieval component 300.

[0190] Of course, in other examples, when retrieving or returning item 2, the retrieval component 300 can also extend the front end of the telescopic fork component 200 to reach the outside of the telescopic fork component 200 (not shown in the figure), reach the target storage location, and dock with the target storage location to transfer item 2. For example, the retrieval component 300 itself has a certain extension length. When the retrieval component 300 moves to the front end or near the front end of the telescopic fork component 200 under the drive of the first drive structure 400, the force-providing component of the retrieval component 300 can extend out of the telescopic fork component 200 to reach the outside of the telescopic fork component 200. For example, the force-providing component of the retrieval component 300 is a hook structure, which itself has a certain length along the retrieval direction. When the end of the retrieval component 300 connected to the first drive structure 400 moves to the front end or near the front end of the telescopic fork component 200, the hook structure can extend out of the telescopic fork component 200.

[0191] In this example, when retrieving item 2, when the retrieval component 300 extends the front end of the telescopic fork component 200 under the drive of the first drive structure 400, the telescopic fork component 200 does not need to extend to the front end of the target storage location. It can be moved to the target storage location by the combined action of the telescopic fork component 200 and the first drive structure 400.

[0192] In addition, after the retrieval component 300 takes out the item 2, it is not only necessary to use the telescopic fork component 200 to carry the retrieval component 300 back to the base 100, but also to use the first drive structure 400 to drive the retrieval component 300 to move into the receiving space 220, so that the item 2 on the retrieval component 300 can be retracted into the receiving space 220, so that the telescopic fork component 200 can limit the item 2 along the first direction y, ensuring the stability of the item 2 in the retrieval mechanism.

[0193] The following describes the process of retrieving and returning boxes using the retrieval mechanism 1 in this application embodiment.

[0194] First, the picking component 300 on the picking mechanism 1 moves to a specified height, for example, so that the picking component 300 corresponds to the height of the target storage location (flush or within the allowable deviation range).

[0195] In some examples, the retrieval mechanism 1 may include a QR code camera, which can be used to identify the QR code on the vehicle 3 to accurately determine the specific object to be retrieved by the retrieval mechanism 1.

[0196] It is understood that the QR code camera can be specifically mounted on the front end of the base 100, and a controller can also be mounted on the base 100. The controller can 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 can be other types, which are not listed in this embodiment. The controller is specifically used to control the QR code camera.

[0197] For example, the vehicle 3 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.

[0198] In this embodiment of the application, during the process of the container retrieval mechanism 1 moving to the carrier 3 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 carrier 3 has reached the cargo location height corresponding to the target cargo location.

[0199] Generally, the box-retrieving mechanism 1 can be installed on the gantry of the handling robot. When the handling robot moves to the designated position, the drive structure on the gantry adjusts the height of the box-retrieving mechanism 1 through, for example, a transmission chain. It can be understood that there is usually a certain clearance between the drive wheel and the chain, that is, the actual driving height of the drive structure on the box-retrieving mechanism 1 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 (i.e., the running height of the box-retrieving mechanism 1) to adjust the height of the box-retrieving mechanism 1 so that the height of the box-retrieving mechanism 1 is aligned with the height of the target cargo location (here, the height difference can be within a preset range).

[0200] In some examples, the retrieval mechanism 1 may also include a depth camera, and the controller may determine the offset distance between the retrieval component 300 and the target location based on the image captured by the depth camera. For example, the controller may compare the image captured by the depth camera with a standard image to determine the offset distance; this facilitates keeping the offset distance between the retrieval component 300 and the target location within a preset distance range, making it easier for the retrieval component 300 to align with the target location, and improving the stability when retrieving the target item 2 from the target location.

[0201] Next, the first drive structure 400 and the telescopic fork assembly 200 can operate simultaneously or sequentially. For example, the controller controls the first drive structure 400 and the telescopic fork assembly 200 to operate simultaneously or sequentially, so that the first drive structure 400 and the telescopic fork assembly 200, for example, the telescopic fork 210, drive the picking assembly 300 to move forward (see reference). Figures 7 to 9 (As shown in the positive direction of the x-axis), until the retrieval component 300 moves to the target storage location and docks with the target storage location to transfer the cargo box. For example, when returning the box, the controller controls the first drive structure 400 and the telescopic fork assembly 200 to work simultaneously or sequentially, so that the first drive structure 400 and the telescopic fork assembly 200, such as the telescopic fork 210, drive the retrieval component 300 forward, so that the cargo box moves forward until the cargo box is moved to the target storage location. The retrieval component 300 then releases the cargo box, so that the cargo box is placed on the target storage location, completing the return of the cargo box.

[0202] For example, when retrieving a box, the controller controls the first drive structure 400 and the telescopic fork assembly 200 to work simultaneously or sequentially, so that the first drive structure 400 and the telescopic fork assembly 200, such as the telescopic fork 210, drive the retrieval assembly 300 forward until the retrieval assembly 300 moves to the front end of the target cargo location, contacts the front end of the box, and applies a force to the front end of the box, so that the box is transferred onto the retrieval assembly 300.

[0203] For example, in some examples, the first drive structure 400 can first drive the picking component 300 to move toward the target storage location until the picking component 300 extends to the front end of the telescopic fork assembly 200 or extends outside the telescopic fork assembly 200; the telescopic fork assembly 200 then drives the picking component 300 to extend until the picking component 300 moves to the target storage location to transfer the target item 2 between the picking component 300 and the target storage location.

[0204] It is understandable that when the picking component 300 extends to the front end of the telescopic fork assembly 200, the moving distance of the telescopic fork assembly 200 is the distance between the front end of the telescopic fork assembly 200 and the front end of the target cargo location.

[0205] In other examples, the telescopic fork assembly 200 can first move the retrieval assembly 300 towards the target storage location, and then the first drive structure 400 can drive the retrieval assembly 300 to move to the front end of the telescopic fork assembly 200 or extend the telescopic fork assembly 200, so that the retrieval assembly 300 moves to the target storage location. It can be understood that when the telescopic fork assembly 200 moves to the target storage location (i.e., the front end of the target storage location), the first drive structure 400 only needs to move to the front end of the telescopic fork assembly 200 to reach the target storage location and perform the docking and transfer of item 2 with the target storage location.

[0206] Of course, in other examples, the first drive structure 400 and the telescopic fork assembly 200 can simultaneously drive the retrieval assembly 300 to move. In other words, while the first drive structure 400 drives the retrieval assembly 300 to move towards the front end of the telescopic fork assembly 200, the telescopic fork assembly 200 also extends forward to drive the retrieval assembly 300 to move towards the target storage location until the retrieval assembly 300 moves to the target storage location to transfer the target item 2 between the retrieval assembly 300 and the target storage location.

[0207] Understandably, in some other examples, the first drive structure 400 may first drive the picking component 300 to move forward, then the telescopic fork component 200 may extend a certain distance, and finally the first drive structure 400 may drive the picking component 300 to move again until the picking component 300 moves to the target location.

[0208] Alternatively, the telescopic fork assembly 200 first extends a first preset distance, then the first drive structure 400 drives the picking assembly 300 forward to the front end of the telescopic fork assembly 200. Finally, the telescopic fork assembly 200 extends again until it reaches the target storage location, at which point the picking assembly 300 is located at the target storage location. This embodiment does not limit the working order or number of operations of the first drive structure 400 and the telescopic fork assembly 200, as long as it ensures that the picking assembly 300 ultimately reaches the target storage location.

[0209] Once the retrieval component 300 reaches the target location and docks with it, it simultaneously or sequentially controls the first drive structure 400 and the telescopic fork component 200 to work, causing the retrieval component 300 to return to its initial position in the accommodating space 220, preparing for the next order.

[0210] Taking the box retrieval process as an example, after the box is transferred to the retrieval component 300, the first drive structure 400 can be controlled to work, so that the retrieval component 300 moves into the interior of the telescopic fork assembly 200, i.e., the receiving space 220, under the action of the first drive structure 400 (refer to...). Figures 7 to 9 (As shown in the opposite direction of the x-direction), so that the picking component 300 drives the cargo box back into the accommodating space 220. In this way, the telescopic fork component 200 can limit the cargo box and ensure the stability of the cargo box in the picking mechanism, and then drive the telescopic fork component 200 to retract onto the base 100.

[0211] The retrieval mechanism 1 provided in this application embodiment, by movably setting the retrieval component 300 on the telescopic fork component 200, so that the telescopic fork component 200 drives the retrieval component 300 to extend or retract to the base 100, realizes the retrieval and return of items 2 between different depth positions on the shelf. In addition, the retrieval component 300 is connected to the first drive structure 400, so that the retrieval component 300 can move along the telescopic fork assembly 200 under the action of the first drive structure 400. This allows the retrieval component 300 to extend at least to the front end of the telescopic fork assembly 200, so that it can reach the target storage location when retrieving or returning the item 2, place the item 2 in the target storage location or remove the item 2 from the target storage location, without extending the telescopic fork 210 to the sides of the item 2, thereby increasing the storage density of the item in the carrier 3; or it can retract into the receiving space 220 of the telescopic fork assembly 200, so as to retrieve the retrieval component 300 or the item 2 carried on the retrieval component 300 into the receiving space 220, ensuring the stability of the item 2 on the retrieval mechanism 1.

[0212] In addition, in this embodiment of the application, the telescopic fork 210 drives the picking component 300 to extend or retract, so as to reciprocate between the target cargo position and the base 100. In this way, the telescopic fork component 200 can be adjusted according to actual needs to effectively increase the moving distance of the picking component 300, so as to facilitate the picking and returning of boxes at different depths of the carrier 3.

[0213] In this embodiment of the application, the first drive structure 400 can be set at any position. For example, the first drive structure 400 can be set on the base 100, and one end can be connected to the object-taking component 300 on the telescopic fork assembly 200 so as to drive the object-taking component 300 to move along the telescopic fork assembly 200.

[0214] Figure 10 yes Figure 1Exploded view of the middle telescopic fork. (Refer to...) Figure 6 and Figure 10 As shown, the first drive structure 400 can be disposed on the telescopic fork assembly 200 and can move with the telescopic fork assembly 200. The object retrieval assembly 300 is movably disposed on the telescopic fork assembly 200 through the first drive structure 400.

[0215] For example, the first drive structure 400 can be disposed on the movable fork plate 211 of the telescopic fork 210. The movable fork plate 211 of the telescopic fork 210 can drive the first drive structure 400 to extend or retract. Since the object-retrieving component 300 is disposed on the movable fork plate 211 of the telescopic fork 210, the first drive structure 400 and the object-retrieving component 300 can move synchronously, thereby making the connection and force transmission between the first drive structure 400 and the object-retrieving component 300 more stable and the structure simpler.

[0216] For example, a first drive structure 400 is disposed on the inner surface of the telescopic fork 210 (e.g., the surface of the movable fork plate 211 facing the receiving space 220), and one end of the retrieval component 300 is connected to the first drive structure 400. Thus, when the telescopic fork 210 extends or retracts, the retrieval component 300 can be moved by the first drive structure 400. In addition, the first drive structure 400 can drive the retrieval component 300 to move along the extension direction x (e.g., the retrieval direction) on the telescopic fork 210, so that the retrieval component 300 reciprocates between the front end of the telescopic fork 210 and the interior of the telescopic fork 210.

[0217] Reference Figure 6 As shown, in some examples, there may be only one first drive structure 400, which drives the object-grabbing component 300 to move along the telescopic fork 210. For example, a first drive structure 400 can be provided on the inner surface of one telescopic fork 210, with one end of the object-grabbing component 300 (e.g., the first end 320a of one of the connectors 320) connected to the first drive structure 400, and the other end of the object-grabbing component 300 (e.g., the first end 320a of another connector 320) directly sliding on the inner surface of another telescopic fork 210, so that the object-grabbing component 300 moves along the telescopic fork 210 through the first drive structure 400 provided at one end. Compared to driving with two first drive structures 400, this ensures the synchronicity of both sides of the object-grabbing component 300 and avoids the object-grabbing component 300 from tilting forward or backward (e.g., tilting along the object-grabbing direction) due to speed deviation between the two first drive structures 400.

[0218] Of course, this application embodiment does not exclude the possibility of having two first drive structures 400, with each of the two first drive structures 400 correspondingly disposed on one of the two telescopic forks 210, and each end of the object-grabbing component 300 connected to one of the two first drive structures 400. This application embodiment does not limit the number of first drive structures 400, as long as it ensures that the object-grabbing component 300 can move relative to the telescopic fork 210. The following uses one first drive structure 400 as an example to introduce other structures.

[0219] In some examples, the first drive structure 400 may specifically be a telescopic rod (e.g., a cylinder, piston cylinder, electric cylinder, or hydraulic cylinder) connected to the object-retrieving assembly 300. Of course, in other examples, the first drive structure 400 may also be connected to one end of the object-retrieving assembly 300 via a telescopic rod, with a drive member connected to the telescopic joint of the telescopic rod. The drive member drives the extension and retraction of the telescopic rod, thereby driving one end of the object-retrieving assembly 300 along the first direction y.

[0220] Alternatively, in some optional examples of the embodiments of this application, the first drive structure 400 may also drive the picking component 300 through the cooperation between the lead screw and the power block, thereby causing the picking component 300 to move on the telescopic fork 210 along the picking direction. For example, a lead screw extending along the picking direction is provided on the telescopic fork 210, and a power block is provided at one end of the picking component 300, with the power block threadedly connected to the lead screw (or it may also be called a threaded connection); in this way, when the lead screw is driven to rotate by the motor, the lead screw drives the picking component 300 connected to the power block to move through the thread.

[0221] Reference Figure 4 and Figure 10 As shown in the embodiments of this application, the first drive structure 400 may include a first drive member 410 and a first transmission member 420. For example, the first drive member 410 may be disposed on the inner surface of the telescopic fork 210, the first transmission member 420 is connected to the first drive member 410, and the first transmission member 420 is capable of reciprocating relative to the telescopic fork assembly 200. For example, the first transmission member 420 is capable of reciprocating relative to the movable fork plate 211 along the telescopic direction x (e.g., the picking direction), and the picking assembly 300 is connected to the first transmission member 420.

[0222] The first driving member 410 and the first transmission member 420 of the first driving structure 400 are both located on the inner surface of the corresponding telescopic fork 210, so that when the telescopic fork 210 extends and retracts along the object-taking direction, the various parts of the first driving structure 400 can move synchronously without affecting the connection stability and transmission effect between the various parts (e.g., the first driving member 410 and the first transmission member 420) in the first driving structure 400.

[0223] The first transmission member 420, driven by the first drive member 410, can selectively reciprocate along the extension direction x (e.g., the picking direction) of the telescopic fork 210. For example, when the picking component 300 needs to be extended to the target location on the shelf, the first drive member 410 can drive the first transmission member 420 to move in the forward direction of the picking direction, so that the picking component 300 connected to the first transmission member 420 can move synchronously in the forward direction of the picking direction. When the picking component 300 needs to be retracted into the box-picking mechanism 1, the first drive member 410 can drive the first transmission member 420 to move in the reverse direction of the picking direction, so that the picking component 300 connected to the first transmission member 420 can move synchronously in the reverse direction of the picking direction.

[0224] In some examples, the first drive component 410 may include a first drive motor, and the first transmission component 420 may include a lead screw and a power block. The first drive motor is fixed to the telescopic fork 210, and the output end of the first drive motor is connected to one end of the lead screw. To ensure that the first transmission component 420 and other structures have suitable installation space, the first drive motor can be fixed to the rear end of the telescopic fork 210. In this way, effective installation space can be provided for the middle and front end areas of the telescopic fork 210 along its entire extension direction, facilitating the installation of the first transmission component 420 and other structures.

[0225] In the first driving component 410, the length direction of the lead screw is consistent with the extension direction of the telescopic fork 210, and the lead screw can rotate around its own axis under the drive of the first driving motor. For example, when the output end of the first driving motor rotates in the forward direction, it can drive the lead screw to rotate in the forward direction; when the output end of the first driving motor rotates in the reverse direction, it can drive the lead screw to rotate in the reverse direction. It can be understood that the forward and reverse rotation directions are opposite. For example, the forward direction can be clockwise, and correspondingly, the reverse direction can be counterclockwise; of course, the forward direction can also be counterclockwise, and correspondingly, the reverse direction can be clockwise.

[0226] In the example above, the power block may have an internal thread, which is sleeved on the lead screw and threadedly connected to it. Thus, when the lead screw rotates about its own axis, the power block can move along the lead screw.

[0227] One end of the picking component 300 is connected to a power block. Thus, when the power block moves along the lead screw, it can drive the picking component 300 to move in the picking direction. For example, when the picking component 300 needs to be extended to the target location on the shelf, the first drive motor can drive the lead screw to rotate forward, and the power block on the lead screw moves forward along the lead screw, thereby driving the picking component 300 forward. When the picking component 300 needs to be retracted into the box-picking mechanism 1, the first drive motor can drive the lead screw to rotate in the opposite direction, and the power block on the lead screw moves backward along the lead screw, thereby driving the picking component 300 backward.

[0228] Continue to refer to Figure 10 As shown, in some other examples, the first transmission component 420 may include a first drive wheel 421, a first driven wheel 422, and a first transmission belt 423. The output end of the first drive motor is connected to the first drive wheel 421 to drive the first drive wheel 421 to rotate, for example, along the inner surface of the telescopic fork 210. The arrangement of the first drive motor is the same as in the above examples and will not be repeated here.

[0229] The first drive wheel 421 and the first driven wheel 422 are spaced apart along the extension direction (i.e., the picking direction) of the telescopic fork 210. For example, the first drive wheel 421 and the first driven wheel 422 are respectively located at both ends of the telescopic fork assembly 200 along the telescopic direction x. For example, the first drive wheel 421 and the first driven wheel 422 are respectively located at both ends (front end and rear end) of the telescopic fork 210. The first transmission belt 423 is sleeved on the first drive wheel and the first driven wheel 422 at both ends, and the picking assembly 300 is connected to the first transmission belt 423.

[0230] In one example, the first driving wheel 421 and the first driven wheel 422 can be sprockets, and the first transmission belt 423 can be a chain, which meshes with the sprocket gear. In another example, the first driving wheel 421 and the first driven wheel 422 can be pulleys, and the first transmission belt 423 can be a belt, which makes damped contact with the pulley.

[0231] During operation, the output end of the first drive motor can drive the first drive wheel 421 to rotate. The first drive wheel 421 can drive the first transmission belt 423 to move along its own extension direction. The first driven wheel 422 can rotate during the movement of the first transmission belt 423, so as to support and assist in driving the first transmission belt 423 to move.

[0232] For example, when the output end of the first drive motor drives the first drive wheel 421 to rotate in the positive direction of arrow a, the first transmission belt 423 can rotate around the first drive wheel 421 and the first driven wheel 422 in the positive direction of arrow a; when the output end of the first drive motor drives the first drive wheel 421 to rotate in the opposite direction of arrow a, the first transmission belt 423 can rotate around the first drive wheel 421 and the first driven wheel 422 in the opposite direction of arrow a.

[0233] Reference Figure 4 and Figure 10As shown, it should be noted that the first drive wheel 421 and the first driven wheel 422 divide the first transmission belt 423 into a first side section and a second side section. The first side section and the second side section are arranged opposite to each other. For example, the first side section and the second side section can be arranged opposite to each other along the height direction of the telescopic fork 210 (i.e., the direction perpendicular to the base 100, such as the z-direction), with the first side section located above and the second side section located below. Thus, when the output end of the first drive motor drives the first drive wheel 421 to rotate in the positive direction of arrow a, the first side section moves in the opposite direction of the picking-up direction, and the second side section moves in the positive direction of the picking-up direction. When the output end of the first drive motor drives the first drive wheel 421 to rotate in the opposite direction of arrow a, the first side section moves in the positive direction of the picking-up direction, and the second side section moves in the opposite direction of the picking-up direction.

[0234] One end of the retrieval component 300 is connected to either the first side segment or the second side segment. For example, the retrieval component 300 is connected to either the first side segment or the second side segment.

[0235] When the retrieval component 300 needs to be extended to the target location on the shelf, the output end of the first drive motor drives the first drive wheel 421 to rotate in the positive direction of arrow a, so as to drive the second side section to move in the positive direction of the retrieval direction, so that the retrieval component 300 on the second side section moves forward in the positive direction of the retrieval direction until it moves to the left end of the second side section (i.e., the right side of the first driven wheel 422).

[0236] When the retrieval component 300 needs to be retracted into the box retrieval mechanism 1, the output end of the first drive motor drives the first drive wheel 421 to rotate in the opposite direction of arrow a, so as to drive the second side section to move in the opposite direction of the retrieval direction, so that the retrieval component 300 on the second side section moves backward in the opposite direction of the retrieval direction until it moves to the right end of the second side section (i.e., the left side of the first drive wheel 421).

[0237] In some examples, the two ends of the first transmission member 420 may extend to the two ends of the telescopic fork assembly 200 distributed along the telescopic direction x, respectively. Exemplarily, the two ends of the active path of the first transmission member 420 are located at the front and rear ends of the telescopic fork 210, respectively. For example, the first drive wheel 421 is located at the rear end of the telescopic fork 210, and the first driven wheel 422 is located at the front end of the telescopic fork 210, such that the two ends of the first and second side sections of the first transmission belt 423 extend to the front and rear ends of the telescopic fork 210, respectively. Alternatively, the two ends of the lead screw extend to the two ends of the telescopic fork 210, allowing the power block to move along the entire extension direction of the telescopic fork 210, so that the picking assembly 300 can move to the front and rear ends of the telescopic fork 210 under the drive of the first transmission member 420, thereby enabling the picking assembly 300... The starting position of 0 is located at the innermost side of the telescopic fork 210, so that when the item 2 is carried on the retrieval component 300, the item 2 can be completely stored at the innermost side of the telescopic fork component 200, ensuring the stability of the item 2 in the retrieval mechanism 1. It also ensures that the ending position of the retrieval component 300 is located at the front end of the telescopic fork 210, ensuring that the extension position of the retrieval component 300 is the farthest. This not only ensures that the retrieval component 300 is at least flush with or extends beyond the front end of the telescopic fork 210, so as to make contact with the front end of the item 2 in the target storage location, or to place the item 2 in the target storage location, but also correspondingly extends the extension distance of the retrieval component 300.

[0238] Of course, in other examples, at least one end of the first transmission member 420 may also be located between the two ends of the telescopic fork 210. For example, the first driven wheel 422 may be set at a position at a preset distance from the front end of the telescopic fork 210. In this way, there is a preset distance between the front end of the first transmission belt 423 and the front end of the telescopic fork 210, and the end of the picking component 300 connected to the first transmission belt 423 may move to a position at a preset distance from the front end of the telescopic fork 210 under the drive of the first transmission belt 423.

[0239] It is understood that the back of the retrieval body 310 can be connected to the first transmission belt 423 via the connector 320, and the front of the retrieval body 310 interacts with the front end of the item 2. For example, the force-acting end of the force-providing component can be understood as the front of the retrieval body 310. The distance between the front and back of the retrieval body 310 is greater than or equal to a preset distance, so that when the first transmission belt 423 drives the retrieval component 300 to move to a position at a preset distance from the front end of the telescopic fork 210, the front of the retrieval component 300, i.e., the force-acting end, can at least reach the front end of the telescopic fork 210, so that the telescopic fork 210 will not extend out of the retrieval component 300 and occupy the front end of the item. It also ensures that the retrieval component 300 can dock and transfer the item 2 with the target location without being affected by the telescopic fork 210.

[0240] For example, the preset distance can be a suitable value such as 1 / 3, 1 / 4, or 1 / 5 of the extension length of the telescopic fork 210, and there is no limitation here.

[0241] In this embodiment, the object retrieval component 300 can be fixed to the first transmission belt 423 (e.g., the second side section) by means of snap-fit, adhesive, screw connection, etc., so as to ensure that the first transmission belt 423 carries the object retrieval component 300 to move synchronously. Here, the connection method between the object retrieval component 300 and the first transmission belt 423 is not limited.

[0242] Reference Figure 4 and 10 As shown, to ensure that one end of the object-grabbing component 300 moves stably along the object-grabbing direction, in some embodiments, a first guide rail 424 may be provided on the telescopic fork assembly 200. For example, a first guide rail 424 may be provided on the inner surface of the movable fork plate 211 of the telescopic fork 210, and the first guide rail 424 extends along the object-grabbing direction. A first slider 350 is slidably mounted on the first guide rail 424, and one end of the object-grabbing component 300 is connected to the first slider 350. The first slider 350 is configured to slide along the first guide rail 424 when the object-grabbing component 300 moves relative to the telescopic fork assembly 200, thereby ensuring that one end of the object-grabbing component 300 moves stably along the first guide rail 424 without deviating from the object-grabbing direction.

[0243] In addition, the arrangement of the first guide rail 424 and the first slider 350 also reduces the friction between one end of the picking component 300 and the telescopic fork component 200, such as the movable fork plate 211, ensuring that the first drive structure 400 can drive the picking component 300 to move at a preset speed, thereby ensuring that the picking component 300 reaches the predetermined position within a preset time.

[0244] In some examples, the first guide rail 424 may be located on one side of the first transmission member 420 along the height direction of the telescopic fork 210, and a portion of one end of the picking assembly 300 is connected to the first transmission member 420, and the other portion is connected to the first slider 350 and slides on the first guide rail 424.

[0245] Taking the first drive structure as an example, in the object retrieval assembly 300, a portion of the first end 320a of one of the connectors 320 is fixed on the second side section of the first transmission belt 423, and the first guide rail 424 can be set on the side of the second side section away from the first side section. The other portion of the first end 320a of the connector 320 can be fixed on the first slider 350. In this way, when the first end 320a of the connector 320 moves synchronously with the first transmission belt 423, it can slide along the first guide rail 424.

[0246] The first end 320a of the connector 320 can be fixed to the first slider 350 by means of screws, snap-fit, or adhesive. This embodiment does not limit the connection method between the connector 320 and the first slider 350. For example, the first end 320a of the connector 320 has a connecting part, which snaps onto the second side section of the first transmission belt 423, and the bottom of the connecting part is fixed to the first slider 350 by screws.

[0247] Figure 11 yes Figure 10 A schematic diagram of the movable fork plate in the middle. (Refer to...) Figure 10 and Figure 11 As shown, in a specific configuration, a mounting groove (e.g., a first mounting groove 211a) can be recessed on the side of the telescopic fork assembly 200 facing the accommodating space 220. For example, a first mounting groove 211a is recessed on the inner surface of the movable fork plate 211, and at least a portion of the first drive structure 400 is disposed in the first mounting groove 211a to reduce the size occupied by the first drive structure 400 on the accommodating space 220, so that the accommodating space 220 can accommodate larger items 2, such as cargo boxes.

[0248] The first mounting slot 211a can be an additional opening after the movable fork plate 211 is manufactured, or it can be integrally formed by the movable fork plate 211. There are no restrictions on the manufacturing method of the mounting slot.

[0249] For example, the top of the first mounting groove 211a extends through the top of the telescopic fork 210 (i.e., the side away from the base 100), and the two ends of the first mounting groove 211a extend through the two ends of the telescopic fork 210, such as the movable fork plate 211, along the picking direction. Thus, the mounting groove can be a structure with four open sides.

[0250] For ease of description, the wall of the first mounting groove 211a facing the receiving space 220 is designated as the inner sidewall A, and the wall of the first mounting groove 211a facing the top of the telescopic fork 210 is designated as the inner bottom wall B. For example, the first driving member 410 and the first transmission member 420 are disposed on the inner sidewall A of the mounting groove, and the first guide rail 424 is disposed on the inner bottom wall B of the first mounting groove 211a. The mounting surface of the first guide rail 424 for mounting the first slider 350 faces the first transmission member 420 (or faces the top of the telescopic fork 210). This makes it easier to connect the first end 320a of the connector 320 of the picking assembly 300 to the second side section of the first transmission belt 423 and the first slider 350, respectively.

[0251] Figure 12 yes Figure 1 Assembly drawing of the telescopic fork assembly and the first drive structure. Figure 13 yes Figure 12 Exploded view of the telescopic fork assembly. Figure 14yes Figure 13 Partial exploded view of the fixed fork plate and the second drive structure. (Refer to...) Figures 12 to 14 As shown, in order to drive the telescopic fork 210, the box-retrieving mechanism 1 of this embodiment may further include a second drive structure 600. The second drive structure 600 is connected to the telescopic fork 210 and is configured to drive the telescopic fork 210 to reciprocate. For example, the second drive structure 600 is connected to the movable fork plate 211 of the telescopic fork 210 to drive the movable fork plate 211 to extend or retract relative to the fixed fork plate 212.

[0252] It should be noted that the second drive structure 600 can be one or more combinations based on a drive motor, hydraulic drive system, pneumatic system, etc. There are no restrictions here, as long as it can drive the telescopic fork 210.

[0253] In some examples, there can be two second drive structures 600, each connected to a corresponding telescopic fork 210. For example, one second drive structure 600 is connected to the movable fork plate 211 of one telescopic fork 210 to drive the movable fork plate 211 of one telescopic fork 210 to move relative to the fixed fork plate 212, and the other second drive structure 600 is connected to the movable fork plate 211 of the other telescopic fork 210 to drive the movable fork plate 211 of the other telescopic fork 210 to move relative to the fixed fork plate 212.

[0254] In other examples, the second drive structure 600 may be a single second drive structure 600 connected to two telescopic forks 210, for example, the movable fork plates 211 of the two telescopic forks 210, to drive the movable fork plates 211 of the two telescopic forks 210 to move relative to the fixed fork plate 212.

[0255] For example, the second drive structure 600 may include a second drive member 610 and two second transmission members 620. The second drive member 610 may be one of a second drive motor, a hydraulic cylinder, an air pump, an engine, etc. Taking the second drive motor as an example, the power output shaft of the second drive member 610 is connected to the two second transmission members 620. Each second transmission member 620 is connected to the movable fork plate 211 of the corresponding telescopic fork 210. The two second transmission members 620 can move along the telescopic direction x of the telescopic fork 210 under the drive of the second drive member 610, thereby driving the telescopic fork 210 to move.

[0256] It is understood that the second driving component 610 can be a dual-axis motor. For example, the two power output shafts of the dual-axis motor are respectively connected to two corresponding second transmission components 620 to drive the movement of the two second transmission components 620, thereby driving the extension and retraction of the two telescopic forks 210. Alternatively, the second transmission component 620 can be a power block threaded onto a lead screw. The power block is connected to the movable fork plate 211 of the telescopic fork 210. The second driving component 610 drives the two lead screws to rotate, thereby driving the power block on each lead screw to move along the lead screw, thus causing the power block to drive the corresponding movable fork plate 211 to move. Of course, in other examples, the second transmission component 620 can also be a telescopic rod, piston rod, or other structures, which are not limited here.

[0257] In some examples, the second drive structure 600 also includes an intermediate transmission member 630, one end of which is connected to the second drive member 610, and both second transmission members 620 are connected to the intermediate transmission member 630. In this way, the power output by the second drive member 610 can be transmitted to the two second transmission members 620 through the intermediate transmission member 630 to drive the second transmission members 620 to move.

[0258] The intermediate transmission component 630 can be a transmission shaft 631 (e.g., a splined shaft), and the second transmission component 620 includes a second drive wheel 621 (or a splined nut) fixedly sleeved on the transmission shaft 631. The second transmission component 620 also includes a second driven wheel 622 and a second transmission belt 623 sleeved on the second driven wheel 622 and the second drive wheel 621. The movable fork plate 211 of the telescopic fork 210 is connected to the second transmission belt 623. Exemplarily, the second driven wheel 622 is disposed on the fixed fork plate 212 of the corresponding telescopic fork 210.

[0259] During operation, the second driving component 610 drives the transmission shaft 631 to rotate around its own axis, thereby driving the two second driving wheels 621 to rotate. The second driving wheels 621 drive the second transmission belt 623 to rotate, and the second driven wheel 622 also rotates under the drive of the second transmission belt 623. Because the second transmission belt 623 is connected to the movable fork plate 211 of the telescopic fork 210, the second transmission belt 623 drives the movable fork plate 211 to move during the movement.

[0260] The configuration of the drive shaft 631 ensures, on the one hand, that the driving force output by the second drive motor to the two second transmission components 620 is more stable, and on the other hand, it improves the synchronization of the driving force of the second drive component 610 to the two second transmission components 620, thus ensuring that the extension and retraction of the two telescopic forks 210 are more synchronized. Furthermore, by setting the second transmission component 620 to a pulley drive, the transmission ratio is constant, and the transmission efficiency is high.

[0261] It should be noted that, since the output speed of the second driving component 610, such as the drive motor, is determined by the specifications of the motor and other components, its output speed may not be directly used to drive the second driving wheel 621 to rotate. Therefore, a reducer or other transmission component can be provided between the second driving component 610 and the second driving wheel 621. The transmission component can change the transmission ratio between the second driving component 610 and the second driving wheel 621, so that the second driving wheel 621 can rotate at a set speed to meet the speed and power requirements of the telescopic fork 210's extension and retraction, i.e., the retrieval and return of the item 2.

[0262] For example, the intermediate transmission component 630 may also include an intermediate drive wheel 632, an intermediate driven wheel 633, and an intermediate transmission belt 634. The intermediate drive wheel 632 is connected to the output shaft of the second drive motor, and the intermediate driven wheel 633 is fixedly sleeved on the transmission shaft 631. The second drive motor drives the intermediate driven wheel 633 to rotate through the intermediate drive wheel 632 and the intermediate transmission belt 634, thereby driving the transmission shaft 631 to rotate, causing the second drive wheels 621 on both sides of the transmission shaft 631 to rotate.

[0263] The transmission ratio of the second drive motor to the second drive wheel 621 is changed through the transmission of the intermediate drive wheel 632, the intermediate driven wheel 633 and the intermediate transmission belt 634, so that the second drive wheel 621 rotates according to the set rotation.

[0264] It should be noted that the pulley drive structure (such as the first drive member 420, the second drive member 620, and the intermediate drive member 630) in the embodiments of this application can extend the transmission distance and increase the smoothness. On the other hand, it can make the first drive structure 400 and the second drive structure 600 adopt the same transmission method, which facilitates the maintenance of the first drive structure 400 and the second drive structure 600 and the standardization of components.

[0265] In this design, the transmission belts, such as the first transmission belt 423, the second transmission belt 623, and the intermediate transmission belt 634, can be belts. Since belt drives are prone to fatigue defects such as slippage and loosening after prolonged use, in some embodiments, the transmission belts, such as the first transmission belt 423, the second transmission belt 623, and the intermediate transmission belt 634, can be toothed synchronous belts (or chain belts). Correspondingly, the first drive pulley 421, the first driven pulley 422, the second drive pulley 621, the second driven pulley 622, the intermediate drive pulley 632, and the intermediate driven pulley 633 are also toothed pulleys (or sprockets). Through the meshing of the internal teeth of the chain belt and the teeth on the toothed pulleys, high-efficiency power transmission is provided, improving synchronization and reducing backlash, supporting high torque transmission capacity, and enhancing the carrying capacity of the drive structure.

[0266] During installation, the second drive component 610, such as the second drive motor, can be fixed to the base 100 via the first fixing seat 635 to ensure the stability of the second drive motor. The two ends of the drive shaft 631, such as a splined shaft, can be fixed to the base 100 via the second fixing seat 636. It is understood that the two ends of the drive shaft 631 can rotate relative to the second fixing seat 636. For example, mounting holes can be provided in the second fixing seat 636, and the two ends of the drive shaft 631 pass through and can rotate within the mounting holes.

[0267] In this embodiment, at least a portion of the second drive structure 600 is disposed in the space between the movable fork plate 211 and the fixed fork plate 212, so as to make reasonable use of the gap between the movable fork plate 211 and the fixed fork plate 212 and save space in other positions of the box-retrieving mechanism 1. For example, at least a portion of the second driven wheel 622 and the second transmission belt 623 of the two second transmission members 620 are located between the movable fork plate 211 and the fixed fork plate 212.

[0268] For example, at least a portion of the second drive structure 600 may be disposed between the side of the movable fork plate 211 facing away from the receiving space 220 and the fixed fork plate 212. For instance, a mounting groove, such as a second mounting groove 211b, may be recessed on the side of the movable fork plate 211 facing away from the receiving space 220, and a mounting cavity for accommodating the second drive structure 600 may be formed between the inner cavity of the mounting groove and the fixed fork plate 212.

[0269] Reference Figure 13 and Figure 14 As shown, to improve the stability of the movable fork plate 211 on the fixed fork plate 212, a support portion 221 can be formed on the fixed fork plate 212. The support portion 221 is disposed opposite to the base 100, and the movable fork plate 211 is supported on the support portion 221, thereby enabling the movable fork plate 211 to stably extend or retract along the support portion 221. In this configuration, a groove 222 can be formed on the support portion 221 to reduce the contact area between the movable fork plate 211 and the support portion 221, thereby reducing the frictional resistance between the movable fork plate 211 and the support portion 221 and ensuring that the extension and retraction speed of the movable fork plate 211 is controllable.

[0270] Reference Figure 13As shown, the box-retrieving mechanism 1 of this application embodiment may also include a second guide rail 213 and a second slider 350. One of the second guide rail 213 and the second slider 350 is disposed on the fixed fork plate 212, and the other is disposed on the movable fork plate 211. When the movable fork plate 211 extends or retracts relative to the fixed fork plate 212, the second slider 350 slides along the second guide rail 213. For example, the second guide rail 213 may be disposed on the inner surface of the fixed fork plate 212 facing the receiving space 220, and the second slider 350 is slidably disposed on the second guide rail 213. The fork plate 211 is connected to the side facing away from the receiving space 220. This reduces the frictional resistance between the movable fork plate 211 and the fixed fork plate 212, allowing the movable fork plate 211 to move stably. In addition, the second guide rail 213 also guides the movement direction of the movable fork plate 211, ensuring that the movable fork plate 211 moves only along the extension direction of the second guide rail 213 without deflection. This ensures that when the telescopic fork 210 drives the picking component 300, the picking component 300 can reach the target cargo location or the initial position of the base 100 along the predetermined direction.

[0271] Of course, in other examples, the second guide rail 213 and the second slider 350 can also be set at other positions on the telescopic fork 210. For example, the second guide rail 213 can be set on the support 221 of the fixed fork plate 212, and the second slider 350 is connected to the bottom end (the end facing the base 100) of the movable fork plate 211, so that the bottom end of the movable fork plate 211 slides along the second guide rail 213. Here, the setting position of the second guide rail 213 and the second slider 350 is not limited.

[0272] For example, the second guide rail 213 may be a groove provided on the fixed fork plate 212, with the groove opening facing the movable fork plate 211, and the two ends of the groove may extend to the two ends of the fixed fork plate 212 distributed along the extension direction. The second slider 350 may be a guide bar, with the two ends of the guide bar extending to the two ends of the movable fork plate 211 distributed along the extension direction. When the movable fork plate 211 moves relative to the fixed fork plate 212, the guide bar may slide in the groove.

[0273] In some examples, during the process of the retrieval component 300 retrieving or returning an item, the distance the retrieval component 300 moves towards the target location can be determined by the motor encoders of the first drive structure 400 and the second drive structure 600. The encoder's setting is determined by the motor speed and rotation time. The encoder's setting determines the distance the motor drives the movable fork plate 211 or the retrieval component 300 moves relative to the movable fork plate 211, thus determining the distance the retrieval component 300 moves towards the target location. For example, the motor encoder of the first drive structure 400 can detect the extension distance of the movable fork plate 211, and the second drive structure 600 can detect the distance the retrieval component 300 moves relative to the movable fork plate 211, thereby determining the distance the retrieval component 300 moves.

[0274] In other examples, the retrieval mechanism 1 may also include a detection structure configured to detect the movement distance of the retrieval component 300 toward the target storage location to determine the position of the retrieval component 300 relative to the base 100 in real time. For example, the position of the retrieval component 300 relative to the base 100 can be determined based on the movement distance of the retrieval component 300 toward the target storage location and the initial position of the retrieval component 300 relative to the base 100. For example, the controller is configured to determine the position of the retrieval component 300 based on the movement distance of the retrieval component 300 toward the target storage location detected by the detection structure.

[0275] It can be understood that the moving distance refers to the distance that the retrieval component 300 extends relative to its initial position on the base 100, that is, the distance between the current position and the initial position of the retrieval component 300. The initial position is the position of the retrieval component 300 on the base 100 before the retrieval mechanism 1 has performed the retrieval or return of the item.

[0276] For example, during the retrieval and return of items, when the detection structure detects that the moving distance of the retrieval component 300 is the working distance, it determines that the retrieval component 300 has reached the target storage location, and then controls the docking and transfer of item 2 between the retrieval component 300 and the target storage location. The working distance refers to the moving distance (i.e., retrieval and return distance) of the retrieval component 300 from its initial position on the base 100 to the target storage location.

[0277] For example, when the detection structure detects that the moving distance of the retrieval component 300 is zero, it determines that the retrieval component 300 is in the initial position. For example, after the retrieval component 300 completes the docking and transfer of item 2 with the target storage location, the retrieval component 300 retracts into the base 100. When the detection structure detects that the moving distance of the retrieval component 300 is zero, it determines that the retrieval component 300 has reached the initial position.

[0278] 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.

[0279] Taking a pull-wire encoder as an example, during installation, one end of the pull wire can be fixed to the base 100. For instance, one end of the pull wire can be located at the rear end of the base 100 (the end facing away from the target location), and the other end of the pull wire is fixed to the picking component 300. Thus, when the picking component 300 extends or retracts, the pull wire of the encoder will also extend or retract accordingly. This allows for accurate feedback of the moving distance of the picking component 300 towards the target location via the length of the pull wire, thereby controlling the extension accuracy of the telescopic fork 210 and the picking component 300. For example, when the moving distance of the picking component 300 is zero, the pull wire length can be set to zero.

[0280] Figure 15 yes Figure 1 Schematic diagram of the central base. Figure 16 yes Figure 1 A schematic diagram of the structure after the two telescopic forks have been translated. (Refer to...) Figure 1 , Figure 15 and Figure 16 As shown, the retrieval mechanism 1 of this application embodiment may further include an adjustment component 500. The adjustment component 500 is configured to drive two telescopic forks 210 to move in the same direction relative to the base 100 (e.g., along the first direction y), thereby driving the retrieval component 300 to move along the first direction y, thereby adjusting the offset distance of the retrieval component 300 relative to the target storage location. The first direction y intersects with the telescopic direction x (e.g., the retrieval direction). It is understood that when storing items 2, in order to fully utilize the longitudinal space of the shelves and warehouse, items 2 usually need to be stacked or piled up to a certain height in the vertical direction. During the process of the handling robot retrieving and returning high-level boxes, the retrieval mechanism 1 is usually at a certain height above the ground (e.g., the height of the retrieval mechanism 1 is raised or lowered by a lifting device). At this time, the handling robot will swing to some extent, which may cause a certain deviation or error in the position between the retrieval component 300 and the item 2.

[0281] In this embodiment, the adjusting component 500 drives the two telescopic forks 210 to move in the same direction relative to the base 100 along the first direction y. In this way, on the one hand, the telescopic forks 210 can drive the retrieval component 300 to translate along the first direction y, which can effectively compensate for the skew or offset caused by the swing of the retrieval component 300 during the retrieval or return of items, that is, reduce the offset distance between the retrieval component 300 and the target storage location during the retrieval or return of items, thereby ensuring the accuracy of the retrieval component 300 in retrieving and returning items 2 and improving the efficiency of item retrieval and return.

[0282] Compared to moving the entire handling robot by driving the chassis of the handling robot, thereby moving the picking component 300, this embodiment adds an adjustment component 500 to the picking mechanism 1, which directly drives the picking component 300 to move by two telescopic forks 210. This reduces the transmission path of the driving force, increases the adjustment speed of the picking component 300, and also improves or avoids the situation where the driving force weakens due to an excessively long transmission path, thereby improving the adjustment accuracy of the picking component 300.

[0283] In addition, by synchronously moving the two telescopic forks 210, it is ensured that during the retrieval process, the accommodating space 220 formed by the two telescopic forks 210 is aligned with the item 2 on the target storage location, so that the item 2 can smoothly enter between the two telescopic forks 210 under the drive of the retrieval component 300.

[0284] It should be noted that during the process of retrieving and returning the item 2, the two telescopic forks 210 translate along the first direction y, the telescopic forks 210 extend and retract, and the item retrieval component 300 moves along the telescopic forks 210. These three actions can be performed simultaneously or sequentially, and this application embodiment does not limit this.

[0285] Taking the retrieval mechanism 1 as an example, the second drive structure 600 drives the two telescopic forks 210 to extend along the retrieval direction x, so as to drive the retrieval component 300 to move closer to the target storage location. At the same time, the adjustment component 500 adjusts the two telescopic forks 210 to move in the same direction along the first direction y until the telescopic forks 210 reach the front end of the target storage location. Then, the first drive structure 400 continues to drive the retrieval component 300 to extend to the front end of the telescopic forks 210 so as to cooperate with the front end of the item 2.

[0286] Of course, in some examples, the two telescopic forks 210 can be translated first by adjusting component 500, so that the two telescopic forks 210 and the retrieval component 300 are aligned with the target storage location. Then, the first drive structure 400 and the second drive structure 600 are controlled sequentially or simultaneously, so that the retrieval component 300 finally moves to the front of the target storage location and docks with the item 2. It can be understood that by first translating the two telescopic forks 210 by adjusting component 500, the two telescopic forks 210 and the retrieval component 300 are aligned with the target storage location before entering the carrier 3, thereby preventing the telescopic forks 210 or the retrieval component 300 from affecting the items 2 in other storage locations after entering the carrier 3.

[0287] It is understandable that when the adjustment component 500 drives the two telescopic forks 210 to move in the same direction along the first direction y, the adjustment component 500 can be called a translation component.

[0288] Figure 17 yes Figure 1A schematic diagram of the structure after the width of the two telescopic forks in the middle is adjusted. Figure 18 yes Figure 17 A top view. (Refer to...) Figure 15 , Figure 17 and Figure 18 As shown, in some other examples, the adjustment component 500 may be configured to drive at least one telescopic fork 210 to move relative to the base 100 (e.g., along a first direction y) to adjust the distance between the two telescopic forks 210. For example, when the retrieval component 300 moves toward the target storage location, the distance between the two telescopic forks 210 may be reduced. For example, the distance between the two telescopic forks 210 may be reduced to less than or equal to the width of the item 2 before the retrieval component 300 extends into the carrier 3, effectively saving the space occupied by the telescopic forks on the left and right sides of the item when retrieving and returning the item, and improving the storage density of the carrier.

[0289] The adjustment component 500 can also drive at least one telescopic fork 210 to move relative to the base 100 in the first direction y when the retrieval component 300 moves away from the target storage location, so as to increase the distance between the two telescopic forks 210. For example, before the retrieval component 300 carries the item 2 into the receiving space 220, the distance between the two telescopic forks 210 is adjusted to be greater than the width of the item 2, so that the retrieval component 300 carries the item back into the receiving space between the two telescopic forks 210, so that the two telescopic forks 210 play a limiting role for the retrieval component 300 in the first direction.

[0290] In this embodiment, the adjustment component 500 can be connected to one telescopic fork 210 to drive one telescopic fork 210 toward or away from another telescopic fork 210, thereby adjusting the distance between the two telescopic forks 210. In other examples, the adjustment component 500 can also be connected to both telescopic forks 210, and by driving the two telescopic forks 210 toward or away from each other, adjust the distance between the two telescopic forks 210, thereby adjusting the size of the accommodating space 220.

[0291] In practice, the size of the item 2, such as the width of the box, will vary depending on the type of item 2. In order to ensure that the box-retrieving mechanism 1 of this application embodiment can adapt to items 2 of different sizes, that is, to ensure that items 2 of different sizes can enter the accommodating space 220 of the telescopic fork assembly 200 under the drive of the retrieval component 300, the distance between the two opposing telescopic forks 210 can be adjusted by adjusting the component 500 to accommodate items 2 of different widths.

[0292] Reference Figure 17 and Figure 18As shown, in this embodiment, when the retrieval component 300 retrieves or returns the item 2, it acts on the front end of the item 2, without needing to use the telescopic fork 210 to clamp the item 2. Therefore, when the retrieval component 300 retrieves or returns the item 2 deep inside the carrier 3, the distance between the two telescopic forks 210 can be adjusted to be equal to or less than the width of the item 2 before extending into the carrier 3. This can further reduce the space occupied by the two telescopic forks 210 on both sides of the target storage location and increase the storage density of the carrier 3.

[0293] It is understood that during the process of retrieving and returning item 2, the telescopic fork 210 moves along the first direction y, the telescopic fork 210 extends and retracts, and the item retrieval component 300 moves along the telescopic fork 210. These three actions can be performed simultaneously or sequentially, and this application embodiment does not limit this.

[0294] Taking the retrieval mechanism 1 as an example, the second drive structure 600 drives two telescopic forks 210 to extend along the retrieval direction, so as to drive the retrieval component 300 to move closer to the target cargo position. At the same time, the adjustment component 500 adjusts the two telescopic forks 210 to move relative to or away from each other along the first direction y until the telescopic forks 210 reach the front end of the carrier 3, and the distance between the two telescopic forks 210 is less than or equal to the width of the item 2. Then, the second drive structure 600 and the first drive structure 400 continue to work sequentially or simultaneously, so that the retrieval component 300 finally extends to the front end of the target cargo position to cooperate with the front face of the item 2.

[0295] Of course, in some examples, the two telescopic forks 210 can be driven to move relative to each other by adjusting component 500 so that the distance between the two telescopic forks 210 is less than or equal to the item 2. Then, the first drive structure 400 and the second drive structure 600 can be controlled to work sequentially or simultaneously so that the picking component 300 can finally move to the front end of the target location and dock with the item 2.

[0296] After the item 2 is transferred to the retrieval component 300, the telescopic fork 210 can carry the retrieval component 300 out of the vehicle 3. After the telescopic fork 210 is out of the vehicle 3, the adjustment component 500 can drive the two telescopic forks 210 to move in opposite directions, so that the distance between the two telescopic forks 210 is greater than the width of the item 2. Then, the first drive structure 400 drives the retrieval component 300 to move into the receiving space 220 of the telescopic fork component 200, so as to retract the item 2 into the receiving space 220.

[0297] It is understandable that when the adjustment component 500 drives the two telescopic forks 210 to move relative to or away from each other along the first direction y, the adjustment component 500 can be called a width adjustment component.

[0298] Reference Figure 15As shown, in some other examples, the adjustment component 500 can also realize both the translation of the telescopic fork component 200 and the width adjustment of the telescopic fork component 200. In other words, the adjustment component 500 can be used as both a translation component and a width adjustment component.

[0299] When the box-retrieving mechanism 1 of this application embodiment needs to both widen and translate, the order of execution of the widening and translating actions is not limited. For example, when retrieving items, the box-retrieving mechanism 1 can first drive the two telescopic forks 210 to move in the same direction through the adjustment component 500 so that the retrieval component 300 and the two telescopic forks 210 are aligned with the target storage location. Then, the adjustment component 500 can drive at least one telescopic fork 210 to move towards the other telescopic fork 210 to reduce the distance between the two telescopic forks 210 so that the distance between the two telescopic forks 210 is less than or equal to the width of the item 2. Then, the first drive structure 400 and the second drive structure 600 can be driven sequentially or simultaneously so that the retrieval component 300 finally moves to the front end of the target storage location and contacts the front end of the item 2 on the target storage location.

[0300] In specific installation, the adjustment component 500 can be connected to the fixed fork plate 212 in the telescopic fork 210. The adjustment component 500 is configured to drive the movable fork plate 211 to move through the fixed fork plate 212. For example, the adjustment component 500 can be set on the base 100. The adjustment component 500 drives the fixed fork plate 212 to move in the y direction, so as to drive the movable fork plate 211 on one side of the fixed fork plate 212 to move in the y direction, thereby realizing the telescopic fork 210 moving in the y direction.

[0301] For example, the adjusting component 500 can be connected to the support portion 221 of the fixed fork plate 212, wherein the outer contour dimension of the support portion 221, for example, the width along the first direction y, is greater than the width at other locations of the fixed fork plate 212. Therefore, the connection between the adjusting component 500 and the fixed fork plate 212 is increased, thereby improving the connection stability between the adjusting component 500 and the fixed fork plate 212.

[0302] Reference Figure 1 and Figure 15 As shown, in one implementation, the adjustment component 500 may include two sets of adjustment drive mechanisms 510. The two sets of adjustment drive mechanisms 510 may be arranged sequentially along the object picking direction. Each set of adjustment drive mechanisms 510 includes an adjustment drive member 511 and an adjustment transmission member 512. The adjustment transmission member 512 is connected to the adjustment drive member 511. The adjustment transmission member 512 is configured to reciprocate along the first direction y under the drive of the adjustment drive member 511. One telescopic fork 210 is connected to the adjustment transmission member 512 of one set of adjustment drive mechanisms 510, and the other telescopic fork 210 is connected to the adjustment transmission member 512 of the other set of adjustment drive mechanisms 510.

[0303] The two adjustment drive members 511 are configured to drive the two adjustment transmission members 512 to move in the same or opposite directions.

[0304] Reference Figure 15 and Figure 16 As shown, two adjusting drive members 511 drive two adjusting transmission members 512 to move in the same direction, causing the two adjusting transmission members 512 to drive the two telescopic forks 210 to move in the same direction, thus achieving the same-direction translation of the two telescopic forks 210 and the object-grabbing assembly 300. For example, when the two adjusting transmission members 512 move along the positive direction of the first direction y under the drive of the two adjusting drive members 511, they can drive the two telescopic forks 210 to translate along the positive direction of the first direction y. As another example, when the two adjusting transmission members 512 move along the opposite direction of the first direction y under the drive of the two adjusting drive members 511, they can drive the two telescopic forks 210 to translate along the opposite direction of the first direction y. When the two adjusting drive members 511 drive the two adjusting transmission members 512 to move in opposite directions, the two adjusting transmission members 512 drive the two telescopic forks 210 to move in opposite directions, thus increasing or decreasing the distance between the two telescopic forks 210.

[0305] Reference Figure 15 As shown, for example, the two adjusting transmission members 512 move relative to each other along the first direction y under the drive of the two adjusting drive members 511. For example, the front adjusting transmission member 512 moves in the positive direction of the first direction y under the drive of the adjusting drive member 511, and the rear adjusting transmission member 512 moves in the opposite direction of the first direction y under the drive of the adjusting drive member 511, so that the two telescopic forks 210 move relative to each other to reduce the distance between the two telescopic forks 210. For example, the two adjusting transmission members 512 move relative to each other along the first direction y under the drive of the two adjusting drive members 511.

[0306] For example, the front adjustment transmission member 512 (the adjustment transmission member 512 near the front end of the base 100) moves in the opposite direction of the first direction y under the drive of the adjustment drive member 511, and the rear adjustment transmission member 512 (the adjustment transmission member 512 near the rear end of the base 100) moves in the positive direction of the first direction y under the drive of the adjustment drive member 511, so that the two telescopic forks 210 move in opposite directions to increase the distance between the two telescopic forks 210.

[0307] As can be seen, by setting the adjustment component 500 as two sets of adjustment drive mechanisms 510, the translation and width adjustment of the telescopic fork 210 can be realized. For example, by simply adjusting the driving direction of the two adjustment drive members 511, the movement direction of the two adjustment transmission members 512 can be adjusted, thereby realizing the translation and width adjustment functions of the telescopic fork 210.

[0308] In some examples, the adjusting drive component 511 may include, but is not limited to, a drive motor, hydraulic cylinder, air pump, engine, etc. The adjusting transmission component 512 may include, but is not limited to, a lead screw, air cylinder, and electric cylinder.

[0309] For example, the adjusting transmission member 512 can also be a belt drive structure. For instance, the adjusting transmission member 512 may include an adjusting drive wheel 5121, an adjusting driven wheel 5122, and an adjusting transmission belt 5123. The output end of the adjusting drive member 511 is connected to the adjusting drive wheel 5121 to drive the adjusting drive wheel 5121 to rotate.

[0310] Reference Figure 15 As shown, the adjusting drive wheel 5121 and the adjusting driven wheel 5122 are spaced apart. For example, the adjusting drive wheel 5121 and the adjusting driven wheel 5122 are spaced apart along the first direction y. The two ends of the adjusting transmission belt 5123 are sleeved on the adjusting drive wheel 5121 and the adjusting driven wheel 5122. Exemplarily, the adjusting driven wheel 5122 can be fixed to the base 100 by the first fixing member 5125. For example, an installation space is formed between the first fixing member 5125 and the base 100, and the adjusting driven wheel 5122 is disposed in the installation space. In addition, the adjustment drive member 511 can be fixed to the base 100 by the second fixing member 5126. For example, the second fixing member 5126 is arranged opposite to the base 100 and fixed to the base 100. The adjustment drive member 511 is fixed to the side of the second fixing member 5126 facing away from the base 100, and the adjustment drive wheel 5121 is fixed to the side of the second fixing member 5126 facing the base 100, that is, fixed in the installation space formed by the second fixing member 5126 and the base 100, so as to improve the stability of the adjustment drive member 511 and the adjustment drive wheel 5121 on the base 100.

[0311] The adjusting drive component 511, for example, drives the adjusting drive wheel 5121 to rotate via a drive motor, thereby causing the adjusting transmission belt 5123 and the adjusting driven wheel 5122 to rotate. In this configuration, the adjusting drive wheel 5121 and the adjusting driven wheel 5122 can rotate along the surface of the base 100. For example, the rotation axes of the adjusting drive wheel 5121 and the adjusting driven wheel 5122 are perpendicular to the surface of the base 100, such that the two adjusting transmission sections of the adjusting transmission belt 5123 are spaced apart along the surface of the base 100, for example, spaced apart along the picking direction, and both adjusting transmission sections extend along the first direction y. When the adjusting transmission belt 5123 rotates, the two adjusting transmission sections move along the first direction y.

[0312] One telescopic fork 210 is connected to the adjusting drive belt 5123 of one adjusting drive mechanism 510, and the other telescopic fork 210 is connected to the adjusting drive belt 5123 of the other adjusting drive mechanism 510. For example, a fixing block 5124 can be connected (e.g., fixedly sleeved) to the adjusting drive belt 5123, and the telescopic fork 210, for example, a fixed fork plate 212 is connected to the fixing block 5124 to improve the connection stability between the telescopic fork 210 and the adjusting drive belt 5123.

[0313] For ease of description, the transmission section of each adjusting transmission belt 5123 near the front end of the base 100 is designated as the first transmission section 5123a, and the transmission section of each adjusting transmission belt 5123 away from the front end of the base 100 is designated as the second transmission section 5123b.

[0314] For ease of description, Figure 16 The telescopic forks 210 arranged sequentially along the positive y-direction are called the first telescopic fork 210a and the second telescopic fork 210b. For example, the first telescopic fork 210a is connected to the first transmission section 5123a of the front adjusting transmission belt 5123, and the second telescopic fork 210b is connected to the second transmission section 5123b of the rear adjusting transmission belt 5123.

[0315] When the telescopic fork assembly 200 needs to be translated, the front adjustment drive member 511 and the rear adjustment drive member 511 can drive the corresponding adjustment drive wheel 5121 to rotate in different directions, so that the first transmission segment 5123a of the front adjustment drive belt 5123 and the second transmission segment 5123b of the rear adjustment drive belt 5123 move in the same direction. For example, if the front adjustment drive member 511 drives the corresponding adjustment drive wheel 5121 to rotate clockwise, the first transmission segment 5123a of the front adjustment drive belt 5123 moves in the positive direction of the first direction y. If the rear adjustment drive member 511 drives the corresponding adjustment drive wheel 5121 to rotate counterclockwise, the second transmission segment 5123b of the rear adjustment drive belt 5123 moves in the positive direction of the first direction y. Thus, the two adjustment drive belts 5123 respectively drive the two telescopic forks 210 to translate in the positive direction of the first direction y.

[0316] Similarly, when the front adjustment drive member 511 drives the corresponding adjustment drive wheel 5121 to rotate counterclockwise, the first transmission segment 5123a of the front adjustment drive belt 5123 moves in the opposite direction of the first direction y. When the rear adjustment drive member 511 drives the corresponding adjustment drive wheel 5121 to rotate clockwise, the second transmission segment 5123b of the rear adjustment drive belt 5123 moves in the opposite direction of the first direction y. Thus, the two adjustment drive belts 5123 respectively drive the two telescopic forks 210 to translate in the opposite direction of the first direction y.

[0317] Of course, in other examples, the first telescopic fork 210a and the second telescopic fork 210b may also be connected to the first transmission section 5123a of the corresponding adjusting transmission belt 5123, or both may be connected to the second transmission section 5123b of the corresponding adjusting transmission belt 5123. In this case, in order to make the two telescopic forks 210 translate in the same direction, it is only necessary to drive the corresponding adjusting drive wheel 5121 to rotate in the same direction through the two adjusting drive members 511.

[0318] Continuing with the example of the first telescopic fork 210a being connected to the first transmission section 5123a of the front adjusting transmission belt 5123, and the second telescopic fork 210b being connected to the second transmission section 5123b of the rear adjusting transmission belt 5123.

[0319] When the telescopic fork assembly 200 needs to be widened, the corresponding adjustment drive wheel 5121 can be driven to rotate clockwise by the front adjustment drive member 511. Then the first transmission segment 5123a of the front adjustment transmission belt 5123 moves in the positive direction of the first direction y. The rear adjustment drive member 511 drives the corresponding adjustment drive wheel 5121 to rotate clockwise. Then the second transmission segment 5123b of the rear adjustment transmission belt 5123 moves in the opposite direction of the first direction y. Thus, the two adjustment transmission belts 5123 respectively drive the two telescopic forks 210 to move relative to each other in the first direction y, thereby reducing the distance between the two telescopic forks 210.

[0320] Similarly, the front adjustment drive member 511 can drive the corresponding adjustment drive wheel 5121 to rotate counterclockwise, causing the first transmission segment 5123a of the front adjustment drive belt 5123 to move in the opposite direction of the first direction y. The rear adjustment drive member 511 can drive the corresponding adjustment drive wheel 5121 to rotate counterclockwise, causing the second transmission segment 5123b of the rear adjustment drive belt 5123 to move in the positive direction of the first direction y. This allows the two adjustment drive belts 5123 to drive the two telescopic forks 210 to move in opposite directions along the first direction y, thereby increasing the distance between the two telescopic forks 210.

[0321] In summary, taking the first telescopic fork 210a connected to the first transmission section 5123a of the front adjusting transmission belt 5123 and the second telescopic fork 210b connected to the second transmission section 5123b of the rear adjusting transmission belt 5123 as an example, when the two adjusting drive members 511 drive the corresponding adjusting drive wheels 5121 to rotate in different directions, the two telescopic forks 210 can be translated. When the two adjusting drive members 511 drive the corresponding adjusting drive wheels 5121 to rotate in the same direction, the width of the two telescopic forks 210 can be adjusted.

[0322] In configuration, the two adjustment drive members 511 can be located on different sides of the two bases 100. For example, the front adjustment drive member 511 is located on the left side of the base 100, and the rear adjustment transmission member 512 is located on the right side of the base 100. Furthermore, to increase the drive stroke of the adjustment drive mechanism 510, the adjustment drive wheel 5121 and adjustment transmission wheel of each adjustment drive mechanism 510 are respectively arranged on the left and right sides of the base 100, so that the adjustment transmission belt 5123 can utilize the width space of the base 100 to a greater extent.

[0323] In another implementation, the adjustment assembly 500 may include a set of adjustment drive mechanisms 510. The adjustment drive mechanism 510 includes an adjustment drive member 511 and an adjustment transmission member 512, the adjustment transmission member 512 being connected to the adjustment drive member 511. The adjustment transmission member 512 is configured to reciprocate along a first direction y under the drive of the adjustment drive member 511. Each telescopic fork 210 is connected to the adjustment transmission member 512 to move in the same or opposite direction along the first direction y under the drive of the adjustment transmission member 512.

[0324] For example, the adjusting drive component 511 is a lead screw, on which two power blocks with the same thread direction are threaded. The two power blocks are respectively connected to the two telescopic forks 210 one-to-one. The adjusting drive component 511 drives the lead screw to rotate, for example, by a drive motor. The two power blocks move in the same direction along the lead screw, thereby realizing the same-direction translation of the two telescopic forks 210. However, the adjusting drive component 511 drives the lead screw in different directions, and the two power blocks drive the two telescopic forks 210 to translate in different directions.

[0325] For example, the adjusting drive component 511 is a lead screw, on which two power blocks with opposite thread directions are threaded. Each of the two power blocks is connected to one of the two telescopic forks 210. The adjusting drive component 511, for example, drives a motor to rotate the lead screw, causing the two power blocks to move in the same direction along the lead screw, thereby achieving the same-direction translation of the two telescopic forks 210. However, since the adjusting drive component 511 drives the lead screw in different directions, the two power blocks drive the two telescopic forks 210 in different directions of translation.

[0326] Taking the adjustment transmission component 512, which includes the adjustment drive wheel 5121, the adjustment driven wheel 5122, and the adjustment transmission belt 5123, as an example, the output end of the adjustment drive component 511 is connected to the adjustment drive wheel 5121 to drive the adjustment drive wheel 5121 to rotate.

[0327] The adjusting drive wheel 5121 and the adjusting driven wheel 5122 are spaced apart, and the adjusting transmission belt 5123 is sleeved on both ends of the adjusting drive wheel 5121 and the adjusting driven wheel 5122. The adjusting transmission belt 5123 has two transmission segments extending along a first direction y. For example, the adjusting transmission belt 5123 has a first transmission segment 5123a and a second transmission segment 5123b extending along the first direction y, and the two transmission segments can be spaced apart along the picking direction. For ease of description, the first transmission segment 5123a is the transmission segment near the front end of the base 100, and the second transmission segment 5123b is the transmission segment away from the front end of the base 100.

[0328] To achieve translation of the telescopic fork assembly 200, in other words, to make the adjustment assembly 500 a translation assembly, each telescopic fork 210 can be connected to one of the transmission segments, so that the two telescopic forks 210 move in the same direction under the drive of the adjustment transmission belt 5123. For example, each telescopic fork 210 is connected to the first transmission segment 5123a. Thus, when the adjustment drive member 511 drives the adjustment drive wheel 5121 to rotate clockwise, the first transmission segment 5123a drives the two telescopic forks 210 to move in the positive direction of the first direction y. When the adjustment drive member 511 drives the adjustment drive wheel 5121 to rotate counterclockwise, the first transmission segment 5123a drives the two telescopic forks 210 to move in the opposite direction of the first direction y, thereby achieving translation of the two telescopic forks 210.

[0329] To achieve width adjustment of the telescopic fork assembly 200, in other words, to make the adjustment assembly 500 function as a width adjustment assembly, one telescopic fork 210 is connected to one transmission segment, and the other telescopic fork 210 is connected to another transmission segment, so that the two telescopic forks 210 move in opposite directions under the drive of the adjustment transmission belt 5123. For example, the first telescopic fork 210a is connected to the first transmission segment 5123a, and the second telescopic fork 210b is connected to the second transmission segment 5123b. When the adjustment drive member 511 drives the adjustment drive wheel 5121 to rotate clockwise, the first transmission segment 5123a drives the first telescopic fork 210a to move in the positive direction of the first direction y, and the second transmission segment 5123b drives the second telescopic fork 210b to move in the opposite direction of the first direction y, so that the two telescopic forks 210 move relative to each other to reduce the distance between the two telescopic forks 210. When the adjusting drive component 511 drives the adjusting drive wheel 5121 to rotate counterclockwise, the first transmission section 5123a drives the first telescopic fork 210a to move in the opposite direction of the first direction y, and the second transmission section 5123b drives the second telescopic fork 210b to move in the positive direction of the first direction y, so that the two telescopic forks 210 move in opposite directions to increase the distance between the two telescopic forks 210.

[0330] Reference Figure 5 and Figure 15As shown, in some implementations, the base 100 may include a base body 110 and a support portion 120. The telescopic fork assembly 200 may be disposed on the base body 110 by an adjustment component 500. For example, the adjustment component 500 may be disposed on the base body 110 and connected to the telescopic fork assembly 200 to drive the telescopic fork assembly 200 to move.

[0331] The support part 120 is disposed on the base body 110 and located on the movement path of the retrieval component 300. The support part 120 is configured to support the item 2 so that the item 2 can move within the base 100 under the drive of the retrieval component 300. The support part 120 can play an auxiliary support role for the item 2, thereby improving the stability of the item 2 on the retrieval component 300.

[0332] For example, an installation channel extending in the first direction y may be provided on the support portion 120, and at least a portion of the adjustment assembly 500 passes through the installation channel. For instance, an adjustment drive belt 5123 passes through the installation channel and is fitted onto the adjustment drive wheel 5121 and the adjustment driven wheel 5122 on both sides of the support portion 120.

[0333] The box-retrieving mechanism 1 of this application embodiment may further include an adjusting guide rail 520 and an adjusting slider 530. The adjusting guide rail 520 is disposed on the base 100, and the adjusting slider 530 is slidably disposed on the adjusting guide rail 520 and connected to the telescopic fork 210. Thus, when the telescopic fork 210 moves under the drive of the adjusting component 500, it can slide on the adjusting guide rail 520 through the adjusting slider 530, thereby reducing the frictional resistance between the telescopic fork 210 and the base 100 during movement, making the movement speed of the telescopic fork 210 more controllable and smooth. In addition, the setting of the adjusting guide rail 520 also plays a guiding role in the movement of the telescopic fork 210, ensuring that the telescopic fork 210 slides along the extension direction of the adjusting guide rail 520 and does not deviate in other directions. For example, when the adjusting guide rail 520 is set, its extension direction can be consistent with the first direction y. Thus, when the telescopic fork 210 slides along the adjusting guide rail 520, its movement direction can be ensured to be the first direction y.

[0334] In some examples, both telescopic forks 210 can be connected to the base 100 via adjusting guide rails 520 and adjusting sliders 530. For example, there can be four adjusting guide rails 520, with two adjusting guide rails 520 respectively disposed between the first telescopic fork 210a and the base 100. When disposed, the two adjusting guide rails 520 can be disposed on both sides of the support portion 120, so that they can respectively cooperate with the two positions of the first telescopic fork 210a through the corresponding adjusting sliders 530. The other two adjusting guide rails 520 are respectively disposed between the second telescopic fork 210b and the base 100. When disposed, the two adjusting guide rails 520 can be disposed on both sides of the support portion 120, so that they can respectively cooperate with the two positions of the second telescopic fork 210b through the corresponding adjusting sliders 530.

[0335] It is understandable that in the above example, the two telescopic forks 210 move on the left and right sides of the support 120, respectively.

[0336] Figure 19 yes Figure 17 A magnified view of section I in the middle. (Refer to...) Figure 3 , 17 and Figure 19 As shown in the embodiment of this application, in order to ensure that the object-grabbing component 300 can remain stable between the two telescopic forks 210 when the distance between the two telescopic forks 210 changes,

[0337] The first ends 320a of the two connectors 320 of the object retrieval assembly 300 are respectively disposed on the corresponding telescopic forks 210. For example, the first end 320a of one connector 320 is connected to the first drive structure 400 disposed on the telescopic fork 210 so as to move along one of the telescopic forks 210. The first end 320a of the other connector 320 is movably disposed on the other telescopic fork 210. The second ends 320b of both connectors 320 are slidably disposed on the object retrieval body 310 so that when the distance between the two telescopic forks 210 changes, the second end 320b moves along the object retrieval body 310.

[0338] For example, when the two telescopic forks 210 move relative to or away from each other, the second ends 320b of the two connectors 320 can slide along the first direction y on the object-retrieving assembly 300 to adjust the overall size of the object-retrieving assembly 300 along the first direction y. For instance, when the two telescopic forks 210 move relative to each other, the first telescopic fork 210a drives the second end 320b of the left connector 320 to slide to the right along the object-retrieving body 310, and the second telescopic fork 210b drives the second end 320b of the right connector 320 to slide to the left along the object-retrieving body 310, thereby shortening the size of the entire object-retrieving assembly 300 along the first direction y to accommodate the distance between the two telescopic forks 210.

[0339] For example, when the two telescopic forks 210 move in opposite directions, the first telescopic fork 210a drives the second end 320b of the left connector 320 to slide to the left along the object-retrieving body 310, and the second telescopic fork 210b drives the second end 320b of the right connector 320 to slide to the right along the object-retrieving body 310, thereby extending the size of the entire object-retrieving assembly 300 along the first direction y to accommodate the distance between the two telescopic forks 210.

[0340] By making the second end 320b of the connector 320 movable along the object-retrieving body 310, on the one hand, the size of the object-retrieving component 300 can adapt to the change of the distance between the two telescopic forks 210, so as to ensure that the object-retrieving component 300 can be stably set between the two telescopic forks 210 when the two telescopic forks 210 move relative to or away from each other. On the other hand, the second end 320b of the connector 320 can move along the surface of the object-retrieving body 310, which can ensure the contact area between the second end 320b of the connector 320 and the object-retrieving body 310, thereby improving the connection stability between the second end 320b of the connector 320 and the object-retrieving body 310, and can also ensure that the connector 320 moves on a plane, so that the object-retrieving component 300 will not tilt back and forth in the object-retrieving direction.

[0341] Reference Figure 3 As shown, in some examples, the picking component 300 may also include a slide rail 340 and a slider 350;

[0342] One of the slide rail 340 and the slider 350 is disposed on the object-retrieving body 310, and the other of the slide rail 340 and the slider 350 is disposed on the second end 320b of the connector 320. The slider 350 is configured to slide on the slide rail 340 when the second end 320b of the connector 320 moves along the object-retrieving body 310, thereby reducing the frictional resistance between the second end 320b of the connector 320 and the object-retrieving body 310, making the sliding speed of the second end 320b of the connector 320 more controllable. In addition, the slide rail 340 can guide the sliding of the second end 320b of the connector 320, ensuring that the second end 320b of the connector 320 can slide along the extension direction of the slide rail 340. For example, if the extension direction of the slide rail 340 is the first direction y, then the second end 320b of the connector 320 can slide stably along the first direction y.

[0343] Reference Figure 3 and Figure 19As shown, in order to ensure that the relative position of the object-retrieving component 300 between the two telescopic forks 210 does not shift when the two telescopic forks 210 move relative to or away from each other, that is, to ensure that the position of the object-retrieving component 300, such as the object-retrieving body 310, remains centered between the two telescopic forks 210, a synchronous limiting structure 330 may be provided between the second ends 320b of the two connecting members 320. The synchronous limiting structure 330 is configured to drive at least two connecting members 320 to move synchronously, so that the moving distance of the two connecting members 320 relative to the object-retrieving body is equal. In other words, the sliding distance of the two connecting members 320 is kept consistent, thereby ensuring that when any one telescopic fork 210 moves toward or away from the other telescopic fork 210, the distance between the object-retrieving body 310 and the two telescopic forks 210 is equal.

[0344] In some examples, the synchronous limiting structure 330 may include a gear and racks disposed on both sides of the gear, with both racks meshing with the gear. Two connecting members 320 are respectively connected to the two racks one-to-one. Thus, when the second end 320b of one of the connecting members 320 moves in the positive direction of the first direction y, the connecting member 320 can drive the gear to rotate through one rack. The gear then drives the other rack to move in the opposite direction of the first direction y, thereby driving the second end 320b of the other connecting member 320 to move in the opposite direction of the first direction y, thereby keeping the moving speed and moving distance of the two connecting members 320 equal.

[0345] Similarly, the gears and racks on both sides can synchronously restrict the sliding of the two connecting parts 320. That is, when one connecting part 320 stops sliding, the other connecting part 320 can also stop sliding, thereby realizing the synchronous movement of the two connecting parts 320 and ensuring that the object-retrieving body 310 is always centered between the two telescopic forks 210.

[0346] In other examples, the synchronous limiting structure 330 may include a link 331, a swing arm, and a fixed post 333, wherein there are at least two links 331, and one end of at least two links 331 is rotatably connected to the second end 320b of a corresponding connector 320. For example, one end of one link 331 is connected to the second end 320b of one connector 320, and one end of another link 331 is connected to the second end 320b of another connector 320.

[0347] Both ends of the swing arm 332 are rotatably connected to the other end of a corresponding connecting rod 331. The swing arm 332 is rotatably connected to the object-retrieving body 310 via a fixed post 333. For example, one end of the fixed post 333 is connected to the object-retrieving body 310, and the other end is rotatably connected to the center of the swing arm 332. Both the connecting rod 331 and the swing arm 332 can rotate along the sliding surface of the second end 320b of the connecting member 320. In this way, when one of the connecting members 320 is sliding, the force can be transmitted to the other connecting member 320 in sequence through the connecting rod 331, the swing arm 332, and the connecting rod 331, so that the other connecting member 320 moves synchronously. Similarly, the two connecting rods 331 and the swing arm rod 332 can synchronously restrict the sliding of the two connecting parts 320. That is, when one connecting part 320 stops sliding, the other connecting part 320 can also stop sliding, thereby realizing the synchronous movement of the two connecting parts 320 and ensuring that the object-retrieving body 310 will not shift in position when the two telescopic forks 210 move relative to or away from each other.

[0348] In addition, the two connectors 320 can be connected to the object-retrieving body 310 through the fixing post 333 of the synchronous limiting structure 330, which improves the stability of the two connectors 320 on the object-retrieving body 310.

Claims

1. A box-retrieving mechanism, characterized in that, include: Base (100); At least two telescopic forks (210) are disposed opposite to each other on the base (100) and are telescopic relative to the base (100); A retrieval assembly (300) is movably disposed on at least one of the telescopic forks (210) and extends or retracts from the base (100) with the telescopic forks (210); the retrieval assembly (300) is configured to move the item (2) by acting on the front end face of the item (2) when retrieving or returning the item (2), wherein the front end face of the item (2) is the side of the item (2) facing the retrieval assembly (300) when it is to be retrieved or returned; A first drive structure (400) is connected to the object retrieval assembly (300), and the first drive structure (400) is configured to drive the object retrieval assembly (300) to move within a receiving space (220) formed between the two telescopic forks (210), so that the object retrieval assembly (300) reciprocates at least between the object inlet / outlet of the receiving space (220) and the interior of the receiving space (220); The object retrieval component (300) includes: The object-taking body (310) is configured to take an item (2); At least two connectors (320) each include a first end and a second end. The first ends of the at least two connectors (320) are respectively disposed on the corresponding telescopic forks (210), and the second ends of the at least two connectors (320) are slidably disposed on the object-retrieving body (310) so that when the distance between the two telescopic forks (210) changes, the second ends of the connectors (320) slide along the object-retrieving body (310). The box retrieval mechanism further includes a synchronous limiting structure (330), which is connected to the second end of the at least two connectors (320) respectively. The synchronous limiting structure (330) is configured to drive the at least two connectors (320) to move synchronously so that the at least two connectors (320) move the same distance relative to the retrieval body (310).

2. The box-retrieving mechanism according to claim 1, characterized in that, The first drive structure (400) is disposed on the telescopic fork (210) to move with the telescopic fork (210), and the object retrieval component (300) is movably disposed on the telescopic fork (210) through the first drive structure (400).

3. The box-retrieving mechanism according to claim 2, characterized in that, The first drive structure (400) is disposed on one of the telescopic forks (210), one end of the object retrieval component (300) is connected to the first drive structure (400), and the other end of the object retrieval component (300) is slidably disposed on the other telescopic fork (210).

4. The box-retrieving mechanism according to claim 1, characterized in that, The first driving structure (400) includes: First drive unit (410); The first transmission member (420) is connected to the first drive member (410), and the first transmission member (420) is capable of reciprocating relative to the telescopic fork (210). The object-retrieving assembly (300) is connected to the first transmission member (420). The transmission path of the first transmission member (420) extends to both ends of the telescopic fork (210) along the extension direction, and the extension direction of the telescopic fork (210) is consistent with the telescopic direction.

5. The box-retrieving mechanism according to claim 4, characterized in that, The first transmission component (420) includes a first drive wheel (421), a first driven wheel (422), and a first transmission belt (423). The output end of the first driving member (410) is connected to the first driving wheel (421) to drive the first driving wheel (421) to rotate. The first driving wheel (421) and the first driven wheel (422) are spaced apart on the telescopic fork (210). The two ends of the first transmission belt (423) are sleeved on the first driving wheel (421) and the first driven wheel (422). The first transmission belt (423) is configured to move under the drive of the first driving wheel (421) and drive the first driven wheel (422) to rotate. The object retrieval component (300) is connected to the first transmission belt (423).

6. The box-retrieving mechanism according to claim 1, characterized in that, The telescopic fork (210) is provided with a first guide rail (424). A first slider (425) is slidably mounted on the first guide rail (424). One end of the object retrieval assembly (300) is connected to the first slider (425). The first slider (425) is configured to slide along the first guide rail (424) when the object retrieval assembly (300) moves relative to the telescopic fork (210).

7. The box-retrieving mechanism according to any one of claims 1-6, characterized in that, The box retrieval mechanism also includes an adjustment component (500); The adjustment assembly (500) is configured to drive the two telescopic forks (210) to move in the same direction relative to the base (100) to adjust the offset distance of the retrieval assembly (300) relative to the target storage location; And / or, the adjustment component (500) is configured to drive at least one of the telescopic forks (210) to move relative to the base (100) to adjust the distance between the two telescopic forks (210).

8. The box-retrieving mechanism according to claim 7, characterized in that, The adjustment component (500) includes: Two sets of adjustment drive mechanisms (510), each set of adjustment drive mechanisms (510) includes an adjustment drive member (511) and an adjustment transmission member (512), the adjustment transmission member (512) is connected to the adjustment drive member (511), and the adjustment transmission member (512) is configured to reciprocate under the drive of the adjustment drive member (511); One of the telescopic forks (210) is connected to the adjustment transmission (512) of one set of adjustment drive mechanisms (510), and the other telescopic fork (210) is connected to the adjustment transmission (512) of another set of adjustment drive mechanisms (510). The two said adjustment drive members (511) are configured to drive the two said adjustment transmission members (512) to move in the same or opposite directions.

9. The box-retrieving mechanism according to claim 8, characterized in that, In each set of the adjustment drive mechanism (510), the adjustment transmission member (512) includes an adjustment drive wheel (5121), an adjustment driven wheel (5122), and an adjustment transmission belt (5123). The output end of the adjustment drive member (511) is connected to the adjustment drive wheel (5121) to drive the adjustment drive wheel (5121) to rotate. The adjusting drive wheel (5121) and the adjusting driven wheel (5122) are spaced apart, and the two ends of the adjusting transmission belt (5123) are sleeved on the adjusting drive wheel (5121) and the adjusting driven wheel (5122); One of the telescopic forks (210) is connected to the adjusting drive belt (5123) of one of the adjusting drive mechanisms (510), and the other telescopic fork (210) is connected to the adjusting drive belt (5123) of the other adjusting drive mechanism (510).

10. The box-retrieving mechanism according to claim 7, characterized in that, The adjustment component (500) includes: A set of adjustment drive mechanisms (510) includes an adjustment drive member (511) and an adjustment transmission member (512), the adjustment transmission member (512) being connected to the adjustment drive member (511), and the adjustment transmission member (512) being configured to reciprocate under the drive of the adjustment drive member (511). Both of the telescopic forks (210) are connected to the adjusting transmission member (512) so that they can move in the same or opposite directions under the drive of the adjusting transmission member (512).

11. The box-retrieving mechanism according to claim 10, characterized in that, The adjusting transmission component (512) includes an adjusting drive wheel (5121), an adjusting driven wheel (5122), and an adjusting transmission belt (5123). The output end of the adjusting drive component (511) is connected to the adjusting drive wheel (5121) to drive the adjusting drive wheel (5121) to rotate. The adjusting drive wheel (5121) and the adjusting driven wheel (5122) are spaced apart, and the two ends of the adjusting transmission belt (5123) are sleeved on the adjusting drive wheel (5121) and the adjusting driven wheel (5122); the adjusting transmission belt (5123) has two transmission sections. Each of the telescopic forks (210) is connected to one of the transmission sections so that the two telescopic forks (210) move in the same direction under the drive of the adjusting transmission belt (5123); or, one of the telescopic forks (210) is connected to one of the transmission sections and the other telescopic fork (210) is connected to the other transmission section so that the two telescopic forks (210) move in opposite directions under the drive of the adjusting transmission belt (5123).

12. The box-retrieving mechanism according to claim 7, characterized in that, The box retrieval mechanism also includes: An adjusting guide rail (520) is mounted on the base (100); An adjusting slider (530) is disposed on the telescopic fork (210) and is configured to slide along the adjusting guide rail (520) when the telescopic fork (210) moves.

13. The box-retrieving mechanism according to claim 1, characterized in that, The object retrieval component (300) further includes: a slide rail (340) and a slider (350); One of the slide rail (340) and the slider (350) is disposed on the object-retrieving body (310); The other of the slide rail (340) and the slider (350) is disposed at the second end of the connector (320), and the slider (350) is configured to slide on the slide rail (340) when the second end of the connector (320) moves along the object-retrieving body (310).

14. The box-retrieving mechanism according to claim 1, characterized in that, The synchronous limiting structure (330) includes: At least two links (331), one end of which is rotatably connected to the second end of a corresponding connector (320); A swing arm (332), the two ends of which are rotatably connected to the other end of a corresponding connecting rod (331); A fixed column (333) is connected at one end to the object-retrieving body (310) and at the other end to the center of the swing arm (332); Both the connecting rod (331) and the swing arm (332) are capable of rotating along the sliding surface of the second end of the connector (320).

15. The box-retrieving mechanism according to claim 7, characterized in that, The base (100) includes: The base body (110) has the telescopic fork (210) mounted on it. A support (120) is disposed on the base body (110) and located on the movement path of the object retrieval component (300), and the support (120) is configured to support the item (2). An installation channel is provided on the support (120), and at least a portion of the adjustment component (500) extends through the installation channel.

16. The box-retrieving mechanism according to any one of claims 1-6, characterized in that, The box retrieval mechanism also includes a second drive structure (600). The telescopic fork (210) includes a fixed fork plate (212) and a movable fork plate (211). The fixed fork plate (212) is disposed on the base (100), and the movable fork plate (211) is disposed on the fixed fork plate (212). The second drive structure (600) is connected to the movable fork plate (211) and is configured to drive the movable fork plate (211) to extend and retract relative to the fixed fork plate (212). The object retrieval assembly (300) is movably disposed on the movable fork plate (211).

17. The box-retrieving mechanism according to claim 16, characterized in that, The second drive structure (600) includes a second drive member (610) and two second transmission members (620). The second drive member (610) is connected to the two second transmission members (620) to drive the two second transmission members (620) to move. The two movable forks (211) are respectively connected to the corresponding second transmission member (620) so as to extend and retract relative to the fixed fork (212) under the drive of the second transmission member (620).

18. The box-retrieving mechanism according to claim 16, characterized in that, The box retrieval mechanism further includes a second guide rail (213) and a second slider (214). One of the second guide rail (213) and the second slider (214) is disposed on the fixed fork plate (212), and the other is disposed on the movable fork plate (211). When the movable fork plate (211) extends or retracts relative to the fixed fork plate (212), the second slider (214) slides along the second guide rail (213). And / or, a support portion (221) is formed on the fixed fork plate (212) opposite to the base (100), and the movable fork plate (211) is supported on the support portion (221).

19. The box-retrieving mechanism according to any one of claims 1-6, characterized in that, The object retrieval assembly (300) includes: a mounting plate (311) for connection with the first drive structure (400); A suction cup (312) is disposed on the mounting plate (311), and a channel is formed on the mounting plate (311). One end of the channel is connected to the inner cavity of the suction cup (312), and the other end of the channel is used to connect to an air source device. The suction cup (312) is configured to reduce the pressure in the inner cavity through the air source device to adsorb the article (2). Alternatively, the object retrieval component (300) may include: A hook structure, one end of which is connected to the first drive structure (400), and the hook structure is configured to hook onto an article (2).

20. A box-retrieving mechanism, characterized in that, include: Base (100); At least two telescopic forks (210) are disposed opposite to each other on the base (100) and are telescopic relative to the base (100); A retrieval assembly (300) is movably disposed on at least one of the telescopic forks (210) and extends or retracts from the base (100) with the telescopic forks (210); the retrieval assembly (300) is configured to move the item (2) by acting on the front end face of the item (2) when retrieving or returning the item (2), wherein the front end face of the item (2) is the side of the item (2) facing the retrieval assembly (300) when it is to be retrieved or returned; A first drive structure (400) is connected to the object retrieval assembly (300), and the first drive structure (400) is configured to drive the object retrieval assembly (300) to move within a receiving space (220) formed between the two telescopic forks (210), so that the object retrieval assembly (300) reciprocates at least between the object inlet / outlet of the receiving space (220) and the interior of the receiving space (220); An adjustment component (500) is configured to drive at least one of the telescopic forks (210) to move relative to the base (100) to adjust the distance between the two telescopic forks (210); The object retrieval component (300) includes: The object-taking body (310) is configured to take an item (2); At least two connectors (320) each include a first end and a second end. The first ends of the at least two connectors (320) are respectively disposed on the corresponding telescopic forks (210), and the second ends of the at least two connectors (320) are slidably disposed on the object-retrieving body (310) so that when the distance between the two telescopic forks (210) changes, the second ends of the connectors (320) slide along the object-retrieving body (310). The box retrieval mechanism further includes a synchronous limiting structure (330), which is connected to the second end of the at least two connectors (320) respectively. The synchronous limiting structure (330) is configured to drive the at least two connectors (320) to move synchronously so that the at least two connectors (320) move the same distance relative to the retrieval body (310).

21. The box-retrieving mechanism according to claim 20, characterized in that, The adjustment component (500) includes: A set of adjustment drive mechanisms (510) includes an adjustment drive member (511) and an adjustment transmission member (512), the adjustment transmission member (512) being connected to the adjustment drive member (511), and the adjustment transmission member (512) being configured to reciprocate under the drive of the adjustment drive member (511). Both of the telescopic forks (210) are connected to the adjusting transmission member (512) to move in opposite directions under the drive of the adjusting transmission member (512).

22. The box-retrieving mechanism according to claim 21, characterized in that, The adjusting transmission component (512) includes an adjusting drive wheel (5121), an adjusting driven wheel (5122), and an adjusting transmission belt (5123). The output end of the adjusting drive component (511) is connected to the adjusting drive wheel (5121) to drive the adjusting drive wheel (5121) to rotate. The adjusting drive wheel (5121) and the adjusting driven wheel (5122) are spaced apart, and the two ends of the adjusting transmission belt (5123) are sleeved on the adjusting drive wheel (5121) and the adjusting driven wheel (5122); the adjusting transmission belt (5123) has two transmission sections. One of the telescopic forks (210) is connected to one of the transmission sections, and the other telescopic fork (210) is connected to the other transmission section, so that the two telescopic forks (210) move in opposite directions under the drive of the adjusting transmission belt (5123).

23. A transport robot, characterized in that, include: Chassis; The gantry is mounted on the chassis; The box retrieval mechanism (1) as described in any one of claims 1-22 is disposed on the gantry and is capable of moving up and down along the gantry.

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