Material box taking manipulator

Abstract

The invention relates to the technical field of manipulators, in particular to a material box taking manipulator which comprises a rack, a sliding mechanism and a clamping mechanism. Wherein the sliding mechanism is arranged on the rack; the clamping mechanism comprises a driving assembly, an adsorption assembly and a clamping assembly, the driving assembly and the clamping assembly are arranged on the sliding mechanism, the adsorption assembly is connected with the driving assembly, and the driving assembly is used for driving the adsorption assembly to be close to or away from the clamping assembly; the sliding mechanism is used for driving the driving assembly and the clamping assembly to move. The material taking device has the technical effect that the application range of the material taking device is widened.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and in particular to a material box picking robot. Background Art

[0002] At present, the technical field of material box retrieving has developed rapidly in recent years, especially in automated production lines, where efficient material handling has become one of the key factors in improving production efficiency. In related technologies, material box retrieving devices are mainly divided into two categories: robotic arm gripper type and vacuum adsorption type. These devices are widely used in industries such as electronics and automobile manufacturing, effectively improving the automation level of production lines, reducing the cost and error of manual operation, and also improving production safety. In practical applications, in order to cope with different types of materials, robotic arm gripper devices usually adapt to different materials by adjusting the shape of the clamp. This flexibility makes it highly applicable under complex working conditions. The vacuum adsorption device relies on negative pressure to adsorb materials, which is suitable for materials with high surface flatness. Its non-contact characteristics avoid scratches on the surface of the material and ensure the integrity of the material.

[0003] However, although the robot gripper type device is highly flexible, it is easy to cause material damage when operating at high speed, especially when handling fragile or delicate materials. This instability problem is particularly prominent. Although the vacuum adsorption type device has good stability, its suction force will be greatly reduced for porous or uneven materials, and it cannot guarantee the reliable handling of materials. Therefore, there is a technical problem that the application range of the material box retrieving device is narrow, and a material box retrieving robot is urgently needed. Summary of the invention

[0004] In order to improve the application scope of the material picking device, the present application provides a material box picking robot.

[0005] The present application provides a material box picking robot, which adopts the following technical solution: A material box picking robot, comprising: frame; A sliding mechanism is arranged on the frame; The clamping mechanism includes a driving component, an adsorption component and a clamping component. The driving component and the clamping component are respectively arranged on the sliding mechanism. The adsorption component is connected to the driving component. The driving component is used to drive the adsorption component to move closer to or away from the clamping component. The sliding mechanism is used to drive the driving component and the clamping component to move.

[0006] By adopting the above technical solution, the sliding mechanism can move accurately on the frame to ensure that the adsorption component and the clamping component accurately reach the target position, and the driving component can drive the adsorption component to move and drive the adsorption component close to or away from the clamping component, so as to facilitate the use of the adsorption component to adsorb the material box and drive the material box to move to the clamping component, so that the clamping component can clamp the material box. At this time, the sliding mechanism can drive the material box to move to the specified position through the adsorption component and the clamping component to complete the handling of the material box. This design enables the material retrieving manipulator to handle both fragile or delicate materials and porous or uneven materials, effectively reducing material damage caused by improper operation, thereby effectively improving the scope of application of the material retrieving manipulator and improving the stability and safety of the handling process.

[0007] Optionally, the sliding mechanism includes a sliding drive component, a sliding rail and a sliding frame, the sliding rail and the sliding drive component are respectively arranged on the frame, the sliding frame is slidably connected to the sliding rail and connected to the sliding drive component, the sliding drive component is used to drive the sliding frame to move, and the driving component and the clamping component are respectively arranged on the sliding frame.

[0008] By adopting the above technical solution, the setting of the slide rail ensures the stable movement of the slide frame in the horizontal direction and reduces the error caused by shaking or offset. At the same time, the use of the sliding drive assembly enables the slide frame to be accurately positioned to the specified position, thereby ensuring that the material box will not be misplaced during the process of picking and placing. This design not only improves work efficiency, but also enhances the reliability of the system and avoids the problem of material damage that may occur during high-speed operation.

[0009] Optionally, a clearance groove is provided on the sliding frame, and the clamping assembly includes a first clamp block and a second clamp block, the first clamp block and the second clamp block are respectively movably connected to the sliding frame, and the first clamp block and the second clamp block are symmetrically arranged on both sides of the clearance groove. When the adsorption assembly drives the material box to be inserted into the clearance groove, the first clamp block and the second clamp block clamp the material box.

[0010] By adopting the above technical solution, the design of the clearance groove on the sliding frame allows the material box to smoothly enter the clamping area driven by the adsorption component, and when the material box is inserted into the clearance groove, the first clamp block and the second clamp block are closed, thereby firmly clamping the material box. This design not only improves the stability and reliability of the material box during the process of taking and placing, but also effectively avoids the problem of material damage caused by high-speed operation. At the same time, the symmetrically arranged first clamp block and the second clamp block ensure the uniform distribution of the clamping force, further enhancing the fixing effect of the material box.

[0011] Optionally, elastic members are respectively provided between the first clamping block and the sliding frame, and between the second clamping block and the sliding frame, and the elastic members are used to push the first clamping block and the second clamping block toward each other.

[0012] By adopting the above technical solution, when the adsorption component drives the material box to move into the clearance groove, the elastic member can push the first clamp block and the second clamp block to move, so that the first clamp block and the second clamp block clamp the material box, thereby ensuring that the material box remains stable during the movement and avoiding the material box from loosening or shifting due to external force.

[0013] Optionally, guide surfaces are respectively provided on opposite surfaces of the first clamping block and the second clamping block, the two guide surfaces are symmetrically arranged, and the guide surfaces are inclined in a direction away from the clearance groove.

[0014] By adopting the above technical solution, when the material box is adsorbed by the adsorption component and gradually approaches the clamping component, the design of the guide surface enables the material box to be smoothly inserted between the first clamping block and the second clamping block, reducing the collision and friction between the material box and the first clamping block and the second clamping block, thereby improving the positioning accuracy and clamping reliability of the material box. At the same time, since the guide surface is inclined, it is further ensured that the material box can be accurately positioned in a smaller space, enhancing the stability and safety of the entire material removal process.

[0015] Optionally, the adsorption assembly includes a support plate and a plurality of suction cups, the support plate is connected to the driving assembly, the plurality of suction cups are distributed in sequence along the length direction of the support plate and are respectively connected to the driving assembly, and the driving assembly is used to drive the support plate to approach or move away from the clamping assembly and enable the suction cups to adsorb the material box.

[0016] By adopting the above technical solution, the driving component can accurately control the movement of the support plate, making it close to or away from the clamping component. The support plate can drive the suction cup to move, thereby ensuring that the suction cup can adsorb the material box at the appropriate position, thereby improving the safety and reliability of the overall operation.

[0017] Optionally, the driving assembly includes a cylinder and an air pump, the air pump is arranged on the frame, the cylinder is arranged on the sliding mechanism and connected to the support plate, and the air pump is respectively connected to the cylinder and several of the suction cups.

[0018] By adopting the above technical solution, the air pump is set on the frame to provide a power source for the entire system. The cylinder is installed on the sliding mechanism and connected to the support plate. Under the drive of the air pump, the support plate can be accurately controlled to move closer to or farther from the clamping assembly. When it is necessary to pick up materials, the air pump drives the cylinder to extend and retract, so that the suction cup on the support plate approaches the material box and adsorbs the material box. At the same time, the air pump is also connected to several suction cups to ensure that each suction cup can evenly distribute pressure, thereby improving the reliability of adsorption. This design not only improves the response speed of the system, but also effectively avoids the problem of material falling due to suction cup failure, significantly enhancing the stability and safety of the material picking process.

[0019] Optionally, a track is provided on the frame, and the track is located below the adsorption assembly, and the track is used to guide the material box.

[0020] By adopting the above technical solution, the track on the frame is located below the adsorption component, so that after the adsorption component adsorbs the material box, it can drive the material box to move to the track, so that the track can be used to position the material box to guide the material box to accurately enter the preset position, thereby improving the accuracy and reliability of the material picking process. At the same time, the design of the track can also effectively reduce the deviation of the material box caused by external environmental factors, further improving the stability and safety of the entire material picking system.

[0021] Optionally, the cross section of the track is U-shaped, one end of the track is open, and two guide blocks are symmetrically arranged at one end of the track close to the opening, and the guide blocks are inclined in a direction away from the opening.

[0022] By adopting the above technical solution, the cross section of the track is designed to be U-shaped, and an opening is provided at one end of the track. This design can not only ensure that the material box enters the track smoothly, but also effectively prevent the material box from deviating during movement. At the same time, two guide blocks are symmetrically arranged at one end of the track close to the opening. The two guide blocks are inclined in the direction away from the opening, so that the material box can be accurately guided when approaching the track, further improving the success rate and accuracy of the material box entering the track. This structural design significantly improves the stability and reliability of the material box picking and placing process, and reduces the risk of jamming and damage caused by the deviation of the material box.

[0023] Optionally, a visual control mechanism is provided on the frame, and the visual control mechanism is used to determine whether the frame is aligned with the material box.

[0024] By adopting the above technical solution, the visual control mechanism can monitor the alignment between the frame and the material box in real time during the operation of the manipulator, ensuring that the manipulator can accurately position the material box when picking up materials. This function significantly improves the accuracy and reliability of the manipulator's operation, reduces the failure rate of picking up materials due to misalignment, and thus improves overall production efficiency. At the same time, through the feedback of the visual control mechanism, the position of the manipulator can be adjusted in time, further enhancing the system's adaptability and stability.

[0025] In summary, the present application includes at least one of the following beneficial technical effects: 1. Through the cooperation of the sliding mechanism, driving assembly, adsorption assembly and clamping assembly, the material box is accurately positioned and firmly clamped, so that the retrieving manipulator can not only carry fragile or precision materials, but also carry porous or uneven materials, effectively reducing the material damage caused by improper operation, thereby effectively improving the application scope of the retrieving manipulator and improving the stability and safety of the handling process; 2. Through the cooperation between the first clamping block, the second clamping block and the elastic member, after the material box is inserted into the clearance groove, the first clamping block and the second clamping block can clamp the material box under the action of the elastic member, thereby improving the stability and reliability of the material box during the process of taking and placing, and effectively avoiding the problem of material damage caused by high-speed operation; 3. Through the mutual cooperation of the support plate, several suction cups, cylinder and air pump, the cylinder can accurately control the support plate to approach or move away from the clamping component under the action of the air pump, and the support plate can drive the suction cup to move, so as to facilitate the use of the suction cup to accurately and stably adsorb the material box, thereby effectively avoiding the problem of the material box falling due to the failure of the suction cup, and significantly enhancing the stability and safety of the material picking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of a material box picking robot in this application.

[0027] Figure 2 It is a partial structural diagram of a material box picking robot without tracks in the present application.

[0028] Figure 3 It is a partial structural diagram of a material box picking robot without an adsorption component in the present application.

[0029] Description of reference numerals: 1. Frame; 11. Track; 111. Opening; 112. Guide block; 2. Sliding mechanism; 21. Sliding drive assembly; 211. Motor; 212. Synchronous belt; 22. Slide rail; 23. Sliding frame; 231. Give way groove; 232. Through groove; 3. Clamping mechanism; 31. Drive assembly; 311. Cylinder; 312. Air pump; 32. Adsorption assembly; 321. Support plate; 322. Suction cup; 33. Clamping assembly; 331. First clamping block; 332. Second clamping block; 333. Elastic member; 334. Guide surface; 4. Visual control mechanism. DETAILED DESCRIPTION

[0030] The following is combined with Figure 1-3 This application is described in further detail.

[0031] The embodiment of the present application discloses a material box picking robot.

[0032] It should be noted that, in the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0033] Reference Figure 1 A material box picking robot includes a frame 1, a sliding mechanism 2, and a clamping mechanism 3, wherein the sliding mechanism 2 is arranged on the frame 1, and the clamping mechanism 3 is arranged on the sliding mechanism 2. The sliding mechanism 2 is used to drive the clamping mechanism 3 to move, and the clamping mechanism 3 is used to clamp the material box, thereby achieving the effect of improving the safety and accuracy of material box handling.

[0034] The frame 1 is the basic structure of the entire robot, which can be made of aluminum alloy or carbon fiber composite material to ensure sufficient rigidity and lightness.

[0035] Reference Figure 1 and Figure 2 The sliding mechanism 2 includes a sliding drive assembly 21, a slide rail 22 and a slide frame 23. The slide rail 22 and the sliding drive assembly 21 are respectively mounted on the frame 1. In this embodiment, the sliding drive assembly 21 includes a motor 211 and a synchronous belt 212, the motor 211 and the synchronous belt 212 are respectively mounted on the frame 1, and the motor 211 is connected to the synchronous belt 212.

[0036] The sliding frame 23 is slidably connected to the slide rail 22, and the sliding frame 23 is connected to the synchronous belt 212, so that the motor 211 can drive the sliding frame 23 to move smoothly on the slide rail 22 through the synchronous belt 212, which is conducive to reducing friction and wear. In other embodiments, rollers or linear bearings can be set on the sliding frame 23 to reduce sliding resistance and ensure smooth movement of the sliding frame 23.

[0037] Reference Figure 1 and Figure 2 The clamping mechanism 3 includes a driving component 31, an adsorption component 32 and a clamping component 33. The driving component 31 and the clamping component 33 are respectively arranged on the sliding frame 23, the adsorption component 32 is connected to the driving component 31, and the driving component 31 is used to drive the adsorption component 32 to approach or move away from the clamping component 33.

[0038] There are two groups of clamping assemblies 33 , which are evenly distributed along the height direction of the sliding frame 23 , and the two groups of clamping assemblies 33 can clamp the material box together, which is beneficial to improve the stability of the material box after being clamped.

[0039] Reference Figure 3 The clamping assembly 33 includes a first clamping block 331 and a second clamping block 332. The first clamping block 331 and the second clamping block 332 are respectively hinged on the sliding frame 23, and one end of the first clamping block 331 and the second clamping block 332 are arranged close to each other. The sliding frame 23 is provided with a clearance groove 231, and the first clamping block 331 and the second clamping block 332 are symmetrically arranged on both sides of the clearance groove 231.

[0040] Reference Figure 1 and Figure 3 When the adsorption component 32 drives the material box to be inserted into the clearance groove 231, the first clamping block 331 and the second clamping block 332 clamp the material box. In this embodiment, the first clamping block 331 and the second clamping block 332 can be made of stainless steel to ensure durability and reliability.

[0041] Reference Figure 3 Elastic members 333 are connected between the first clamping block 331 and the sliding frame 23, and between the second clamping block 332 and the sliding frame 23. In this embodiment, the elastic members 333 are springs, so that the two elastic members 333 cooperate with each other to push the first clamping block 331 and the second clamping block 332 closer to each other. The setting of the elastic members 333 enables the first clamping block 331 and the second clamping block 332 to move freely within a certain range, so as to adapt to material boxes of different sizes and shapes.

[0042] A guide surface 334 is respectively provided on the opposite side of the first clamping block 331 and the second clamping block 332. The two guide surfaces 334 are symmetrically arranged and inclined in a direction away from the clearance groove 231. The design of the guide surface 334 avoids interference between the first clamping block 331 and the second clamping block 332 on the material box to a certain extent, and helps to guide the material box to smoothly enter the clearance groove 231, so as to reduce the risk of jamming and deviation.

[0043] When the magazine is inserted into the clearance groove 231, the magazine first applies a force to the two guide surfaces 334, so that the first clamping block 331 and the second clamping block 332 are separated from each other, so that the magazine is inserted into the clearance groove 231. At this time, the first clamping block 331 and the second clamping block 332 clamp the magazine under the action of the elastic member 333, so as to facilitate the fixing of the magazine.

[0044] Reference Figure 2 The driving assembly 31 includes a cylinder 311 and an air pump 312. The air pump 312 is mounted on the frame 1, and the cylinder 311 is mounted on the sliding frame 23 and connected to the air pump 312 through a hose, so that the air pump 312 can drive the cylinder 311 to extend and retract. In other embodiments, the cylinder 311 can also be connected to the air pump 312 through a bellows.

[0045] Reference Figure 1 and Figure 2 The adsorption assembly 32 includes a support plate 321 and a plurality of suction cups 322. The support plate 321 is fixedly connected to the output end of the cylinder 311, so that the cylinder 311 can drive the support plate 321 to approach or move away from the sliding frame 23, and when the support plate 321 approaches the sliding frame 23, the support plate 321 can be inserted into the clearance groove 231. The support plate 321 can be made of aluminum alloy to ensure sufficient rigidity and lightness.

[0046] In this embodiment, two suction cups 322 are provided, and the two suction cups 322 are sequentially distributed along the length direction of the support plate 321 and are respectively connected to the air pump 312 to ensure that each suction cup 322 can evenly distribute pressure, thereby improving the reliability of adsorption. The suction cup 322 can be made of silicone or nitrile rubber material, which has good sealing and adsorption. In other embodiments, the number and distribution of the suction cups 322 can be adjusted according to the size and weight of the material box to ensure evenly distributed suction.

[0047] When the material box needs to be adsorbed, the air pump 312 drives the air cylinder 311 to extend and retract, and the air cylinder 311 drives the support plate 321 to move away from the clearance groove 231, and the support plate 321 drives the suction cup 322 to move, so that the suction cup 322 fits the surface of the material box. At this time, the air pump 312 controls the suction cup 322 to work, so that the suction cup 322 adsorbs the material box. The air cylinder 311 then drives the support plate 321 to move toward the clearance groove 231, so as to drive the material box to move to the clearance groove 231, so as to facilitate the first clamping block 331 and the second clamping block 332 to clamp the material box.

[0048] It should be noted that, in the embodiment of the present application, how the air pump 312 is specifically connected to the cylinder 311 and the suction cup 322, and how to control the cylinder 311 and the suction cup 322 to work together, are conventional technical means for those skilled in the art, and therefore will not be elaborated in detail in the embodiment of the present application.

[0049] Reference Figure 1 , a track 11 is installed on the frame 1, and the track 11 can be made of aluminum alloy to ensure sufficient rigidity and light weight. The track 11 is located below the support plate 321, and a through slot 232 is provided on the sliding frame 23, and one end of the track 11 is arranged through the through slot 232, so that when the sliding frame 23 moves, the track 11 is not easy to interfere with the sliding frame 23. In other embodiments, the bottom of the sliding frame 23 can also be directly designed into an inverted U shape to avoid the track 11.

[0050] In this embodiment, the cross-section of the track 11 is U-shaped, and the track 11 has an opening 111 at one end away from the motor 211, so that the material box can enter the track 11, so that the track 11 can be used to position the material box, and then it is convenient to guide the material box to accurately enter the preset position, effectively reducing the deviation of the material box caused by external environmental factors, and further improving the stability and safety of the entire material picking system.

[0051] Two guide blocks 112 are symmetrically installed at one end of the track 11 close to the opening 111. The guide blocks 112 are inclined in the direction away from the opening 111, so that the material box can be accurately guided when approaching the track 11 through the mutual cooperation of the two guide blocks 112, which helps the material box to enter the track 11 smoothly and reduce the risk of jamming and deviation.

[0052] Reference Figure 1 , a visual control mechanism 4 is installed on the frame 1. In this embodiment, the visual control mechanism 4 includes a camera and an image processing unit. The camera can capture the position information of the material box in real time, and the image processing unit determines whether the frame 1 is aligned with the material box by analyzing the image, thereby achieving accurate positioning. The introduction of the visual control mechanism 4 greatly improves the working accuracy and reliability of the manipulator.

[0053] The implementation principle of a material box picking manipulator in the embodiment of the present application is as follows: when it is necessary to carry a material box, first use the visual control mechanism 4 to align the frame 1 with the material box. Then start the motor 211, and the motor 211 drives the sliding frame 23 to move to the specified position through the synchronous belt 212. At this time, start the air pump 312, the air pump 312 drives the cylinder 311 to extend, and the cylinder 311 drives the suction cup 322 to move in the direction close to the material box through the support plate 321, so that the suction cup 322 is close to the material box. At the same time, the air pump 312 controls the suction cup 322 to work so that the suction cup 322 adsorbs the material box.

[0054] Next, the cylinder 311 contracts, and drives the material box to move toward the sliding frame 23 through the support plate 321 and the suction cup 322, so that the material box moves onto the track 11 and moves along the track 11 into the clearance groove 231. At this time, the first clamping block 331 and the second clamping block 332 clamp the material box.

[0055] Finally, the motor 211 drives the slide frame 23 to move again through the synchronous belt 212, and the slide frame 23 drives the suction cup 322, the first clamping block 331 and the second clamping block 332 to move, thereby driving the material box to move to a predetermined position on the track 11 to complete the transportation of the material box.

[0056] It should be noted that the material-grabbing robot in the present application can not only carry fragile or precision materials, but also carry porous or uneven materials, effectively reducing material damage caused by improper operation, thereby effectively improving the scope of application of the material-grabbing robot and improving the stability and safety of the handling process.

[0057] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A material box picking robot, characterized in that: include: Rack(1); A sliding mechanism (2) is arranged on the frame (1); The clamping mechanism (3) comprises a driving component (31), an adsorption component (32) and a clamping component (33), wherein the driving component (31) and the clamping component (33) are respectively arranged on the sliding mechanism (2), the adsorption component (32) is connected to the driving component (31), the driving component (31) is used to drive the adsorption component (32) to approach or move away from the clamping component (33), and the sliding mechanism (2) is used to drive the driving component (31) and the clamping component (33) to move.

2. The material box picking robot according to claim 1 is characterized in that: The sliding mechanism (2) comprises a sliding drive component (21), a sliding rail (22) and a sliding frame (23); the sliding rail (22) and the sliding drive component (21) are respectively arranged on the frame (1); the sliding frame (23) is slidably connected to the sliding rail (22) and is connected to the sliding drive component (21); the sliding drive component (21) is used to drive the sliding frame (23) to move; and the driving component (31) and the clamping component (33) are respectively arranged on the sliding frame (23).

3. The material box picking robot according to claim 2 is characterized in that: The sliding frame (23) is provided with a clearance groove (231), and the clamping assembly (33) comprises a first clamping block (331) and a second clamping block (332), the first clamping block (331) and the second clamping block (332) are respectively movably connected to the sliding frame (23), the first clamping block (331) and the second clamping block (332) are symmetrically arranged on both sides of the clearance groove (231), and when the adsorption assembly (32) drives the material box to be inserted into the clearance groove (231), the first clamping block (331) and the second clamping block (332) clamp the material box.

4. The material box picking robot according to claim 3 is characterized in that: Elastic members (333) are respectively provided between the first clamping block (331) and the sliding frame (23), and between the second clamping block (332) and the sliding frame (23), and the elastic members (333) are used to push the first clamping block (331) and the second clamping block (332) closer to each other.

5. The material box picking robot according to claim 3 is characterized in that: A guide surface (334) is respectively provided on one opposite surface of the first clamping block (331) and the second clamping block (332); the two guide surfaces (334) are symmetrically arranged, and the guide surfaces (334) are inclined in a direction away from the clearance groove (231).

6. The material box picking robot according to claim 1 is characterized in that: The adsorption component (32) comprises a support plate (321) and a plurality of suction cups (322); the support plate (321) is connected to the drive component (31); the plurality of suction cups (322) are sequentially distributed along the length direction of the support plate (321) and are respectively connected to the drive component (31); the drive component (31) is used to drive the support plate (321) to approach or move away from the clamping component (33) and to enable the suction cups (322) to adsorb the material box.

7. The material box picking robot according to claim 6 is characterized in that: The driving assembly (31) comprises a cylinder (311) and an air pump (312); the air pump (312) is arranged on the frame (1); the cylinder (311) is arranged on the sliding mechanism (2) and connected to the support plate (321); the air pump (312) is respectively connected to the cylinder (311) and a plurality of the suction cups (322).

8. The material box picking robot according to claim 1 is characterized in that: A track (11) is provided on the frame (1), the track (11) is located below the adsorption assembly (32), and the track (11) is used to guide the material box.

9. The material box picking robot according to claim 8, characterized in that: The cross section of the track (11) is U-shaped, one end of the track (11) is an opening (111), and two guide blocks (112) are symmetrically arranged at one end of the track (11) close to the opening (111), and the guide blocks (112) are arranged obliquely in a direction away from the opening (111).

10. The material box picking robot according to claim 1, characterized in that: The frame (1) is provided with a visual control mechanism (4), and the visual control mechanism (4) is used to determine whether the frame (1) is aligned with the material box.

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