Pick-and-place device, pick-up apparatus and control method and control device therefor

Abstract

This disclosure relates to a pick-and-place device, a material handling equipment, and a control method and control device thereof. The pick-and-place device includes a telescopic assembly, a hook assembly, and a supporting structure. The telescopic assembly includes a fixed structure and a transmission mechanism assembled to the fixed structure, and the supporting structure is assembled to the fixed structure. The hook assembly is assembled to the output component of the transmission mechanism to move along the telescopic direction of the telescopic assembly. The hook assembly includes a first lifting mechanism and a hook structure, the hook structure being driven by the first lifting mechanism in the height direction to drive the hook structure to switch between at least two height positions. The hook structure can switch between at least two height positions using the first lifting mechanism. This solution allows the hook structure to not only telescopically extend and retract in the telescopic direction but also to rise and fall in the height direction, simplifying the structure of the pick-and-place device and reducing the cost of the pick-and-place device and material handling equipment.

Description

Technical Field

[0001] This disclosure relates to the field of material handling equipment technology, and in particular to pick-and-place devices, material handling equipment and their control methods and control devices. Background Technology

[0002] In related technologies, loading and unloading devices can control the actuator to load and unload material bins, effectively reducing labor costs and alleviating manual labor intensity. The actuators can be scissor lifts, hook lifts, etc.

[0003] The scissor lift mechanism uses a cross-link structure, and the movement of the fork legs is achieved by hydraulic or electric drive to move the hopper. However, the fork legs themselves are relatively large in size, and the forward and backward extension and retraction of the fork legs still requires a large operating space, resulting in technical problems such as large size of the loading and unloading device and inconvenient operation.

[0004] The hook-type mechanism requires little structural and operational space during use, but it requires flexible coordination and separation between the hook and the hopper, which can easily lead to problems such as complex mechanism and low reliability. Summary of the Invention

[0005] This disclosure provides a pick-and-place device, a material handling equipment, and a control method and control device thereof to address the shortcomings of related technologies.

[0006] According to a first aspect of this disclosure, a pick-and-place device is provided, comprising: a telescopic assembly, a hook assembly, and a load-bearing structure; The telescopic component includes a fixed structure and a transmission mechanism assembled to the fixed structure, and the load-bearing structure is assembled to the fixed structure; The hook assembly is assembled to the output component of the transmission mechanism to move along the extension direction of the telescopic assembly; the hook assembly includes a first lifting mechanism and a hook structure, the hook structure being driven to the first lifting mechanism in the height direction to drive the hook structure to switch between at least two height positions.

[0007] Optionally, the first lifting mechanism includes a lead screw, the axis of which is parallel to the height direction; the hook structure includes a threaded structure that is drivenly connected to the lead screw.

[0008] Optionally, the first lifting mechanism further includes a base frame, the base frame having a pair of oppositely arranged support structures, the lead screw being located between the pair of support structures, and the lead screw being fixedly connected to each of the support structures.

[0009] Optionally, the first lifting mechanism further includes a base plate, a slide rail, and a slider; the base frame is fixedly assembled on the base plate, and the slide rail is fixedly connected to one of the base plate and the base frame; the slider is fixedly connected to the hook structure, and the slider is slidably connected to the slide rail.

[0010] Optionally, the support structure includes an outer sidewall facing away from the lead screw, and the outer sidewall is respectively equipped with the slide rail; the first lifting mechanism includes a pair of sliders that are slidably engaged with the slide rail.

[0011] Optionally, the hook structure includes a hook body and a nut, the nut being fixedly connected to the hook body, and the nut having the threaded structure.

[0012] Optionally, the first lifting mechanism further includes a base frame, which encloses a hook claw movement space, the lead screw is located in the hook claw movement space, and the hook claw body is provided with a notch to avoid the lead screw.

[0013] Optionally, the transmission mechanism includes a primary transmission structure; one of the primary transmission structure and the fixed structure is provided with a first guide rail arranged along the telescopic direction, and the other is slidably connected to the first guide rail.

[0014] Optionally, the transmission mechanism further includes a secondary transmission structure, and the output component includes a mounting plate fixedly assembled to the secondary transmission structure; one of the secondary transmission structure and the primary transmission structure is provided with a second guide rail arranged along the telescopic direction, and the other is slidably connected to the second guide rail.

[0015] Optionally, the transmission mechanism further includes a first motor, a first belt assembly, and a second belt assembly. The first belt assembly is connected to the output end of the first motor and the primary transmission structure, respectively. The first belt assembly drives the primary transmission structure to move relative to the fixed structure in the telescopic direction. The secondary transmission structure and the primary transmission structure are connected in the telescopic direction through the second belt assembly.

[0016] Optionally, the first lifting mechanism includes a base plate, and the base plate and the output component are movably connected in the telescopic direction.

[0017] Optionally, one of the base plate and the output component is provided with a gear structure and the other with a rack structure, the gear structure meshing with the rack structure to cause the claw assembly to move relative to the output component in the telescopic direction.

[0018] Optionally, the picking and placing device further includes a device base plate, a fork, and a rotating assembly. The telescopic assembly is assembled on the device base plate, and the device base plate and the fork are rotatably connected through the rotating assembly.

[0019] According to a second aspect of this disclosure, a material handling device is provided, the material handling device comprising a vehicle body and any of the handling and placement devices described in the first aspect, the handling and placement devices being assembled to the vehicle body.

[0020] Optionally, the telescopic component, the hook component, and the load-bearing structure are assembled on the vehicle body, and the bottom of the vehicle body is provided with a differential drive mechanism or an omnidirectional drive mechanism.

[0021] Optionally, in the height direction, the vehicle body is provided with at least two storage positions; the vehicle body also includes a second lifting mechanism, and the retrieval and placement device is connected to the vehicle body through the second lifting mechanism; one end of the storage position is provided with a guide opening, the guide opening includes a first end near the accommodating space formed by the storage position and a second end opposite to the first end, and the opening size of the guide opening gradually increases from the first end to the second end.

[0022] According to a third aspect of this disclosure, a method for controlling a material handling device is provided, applicable to any of the material handling devices described in the second aspect; the vehicle body includes a second lifting mechanism, and the picking and placing device is tractively connected to the vehicle body via the second lifting mechanism; the method includes: After receiving the signal that the hook structure has moved to the position below the snap-fit ​​groove of the material box through the telescopic component, a first lifting signal is sent to the first lifting mechanism so that the hook structure rises into the snap-fit ​​groove and snaps into the material box. After receiving a confirmation signal that there is no structural interference between the picking and placing device and the shelf in the height direction, a descent signal is sent to the second lifting mechanism and a second ascending signal is sent to the first lifting mechanism, so that the bearing plane of the bearing structure is lowered to be flush with or below the shelf placement surface, and the hook structure is located in the snap-fit ​​groove during the descent of the bearing structure. A first contraction signal is sent to the telescopic assembly to move the hopper to the bearing plane.

[0023] According to a fourth aspect of this disclosure, a material handling equipment control device is provided, applied to any of the material handling equipment described in the second aspect; the vehicle body includes a second lifting mechanism, and the picking and placing device is tractively connected to the vehicle body via the second lifting mechanism; the device includes: After receiving a signal indicating that the hook structure has moved to the position below the snap-fit ​​groove of the material box through the telescopic component, the first processing unit sends a first lifting signal to the first lifting mechanism so that the hook structure rises into the snap-fit ​​groove and snaps into the material box. After receiving a confirmation signal that there is no structural interference between the pick-and-place device and the shelf in the height direction, the second processing unit sends a descent signal for the second lifting mechanism and a second ascending signal for the first lifting mechanism, so that the bearing plane of the bearing structure descends to be flush with or below the shelf placement surface, and the hook structure is located in the snap-fit ​​groove during the descent of the bearing structure. The third processing unit sends a first contraction signal to the telescopic component to move the hopper to the bearing plane.

[0024] According to a fifth aspect of this disclosure, a computer-readable storage medium is provided having computer instructions stored thereon that, when executed by a processor, implement the steps of any of the material handling device control methods described in the third aspect.

[0025] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: As can be seen from the above embodiments, the claw assembly of the pick-and-place device of this disclosure is assembled on the output component of the telescopic assembly. The claw assembly includes a first lifting mechanism and a claw structure. The claw structure switches between at least two height positions using the first lifting mechanism. This solution enables the claw structure to not only extend and retract in the telescopic direction but also to rise and fall in the height direction, simplifying the structure of the pick-and-place device and reducing the cost of the pick-and-place device and material handling equipment.

[0026] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a three-dimensional structural diagram of a telescopic component of a pick-and-place device in an extended state according to an exemplary embodiment of the present disclosure; Figure 2 This is a three-dimensional structural diagram of a pick-and-place device in a retracted state according to an exemplary embodiment of the present disclosure; Figure 3This is a three-dimensional structural schematic diagram of a hook assembly according to an exemplary embodiment of the present disclosure; Figure 4 This is a schematic diagram of the bottom structure of a pick-and-place device according to an exemplary embodiment of the present disclosure; Figure 5 This is a schematic diagram of the bottom structure of a pick-and-place device according to another exemplary embodiment of this disclosure; Figure 6 This is a schematic diagram of the bottom structure of a pick-and-place device in yet another exemplary embodiment of this disclosure; Figure 7 This is a three-dimensional structural schematic diagram of a material handling device according to an exemplary embodiment of the present disclosure; Figure 8 This is a three-dimensional structural schematic diagram of a material handling device according to another exemplary embodiment of this disclosure; Figure 9 This is a schematic diagram of the working scenario of a material handling device according to an exemplary embodiment of this disclosure; Figure 10 This is a flowchart of a material handling device control method according to an exemplary embodiment of this disclosure; Figure 11 This is a structural block diagram of a material handling equipment control device according to an exemplary embodiment of the present disclosure; Figure 12 This is a block diagram illustrating an exemplary embodiment of the present disclosure of a device for controlling a material handling equipment.

[0029] Figure label: 1. Picking and placing device; 11. Bearing structure; 12 Telescopic assembly; 121 Fixed structure; 122 Transmission mechanism; Output component 1221; Primary transmission structure 1222; Secondary transmission structure 1223; First guide rail 1224; Second guide rail 1225; First belt assembly 1226; Power wheel 1226a; Second belt assembly 1227; Idler pulley 1228; Flat belt fastener 1229; Hook assembly 13; hook structure 131; hook body 1311; nut 1312; first lifting mechanism 132; lead screw 1321; base frame 133; support structure 1331; base plate 134; slider 135; slide rail 136; Device base plate 14; fork body 15; positioning camera 16; rotating assembly 17; small synchronous pulley 171; large synchronous pulley 172; Material handling equipment 2; vehicle body 21; gantry 211; storage space 22; second lifting mechanism 23. Detailed Implementation

[0030] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The manner described in the following exemplary embodiments does not represent all manner consistent with this disclosure. Rather, they are merely examples of apparatuses consistent with some aspects of this disclosure as detailed in the appended claims.

[0031] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the disclosure. Unless otherwise defined, the technical or scientific terms used in this disclosure should be understood in their ordinary sense by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar terms used in this disclosure and the claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “a” or “one,” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one, which will be separately stated if referring only to “a.” “A plurality” or “several” means two or more. Unless otherwise indicated, the terms “front,” “rear,” “lower,” and / or “upper,” and similar terms are for ease of description only and are not limited to a location or spatial orientation. The terms “comprising,” “including,” or “including,” and similar terms mean that the elements or objects preceding “comprising” or “including” encompass the elements or objects listed following “comprising” or “including” and their equivalents, but do not exclude other elements or objects. The terms “connection” or “link” are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The singular forms “a,” “the,” and “the” used in this disclosure and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0032] In related technologies, pick-and-place devices can control the actuators to pick up and place hoppers, effectively reducing labor costs and alleviating manual labor intensity. The actuators include scissor lifts and hook lifts. Scissor lift mechanisms use a cross-link structure, using hydraulic or electric drive to move the forks and thus rotate the hopper. However, the forks themselves are relatively large, and their forward and backward extension requires significant operating space, resulting in a large pick-and-place device and inconvenient operation. Hook lift mechanisms require less structural and operating space, but the need for flexible engagement and disengagement between the hook and the hopper can lead to complex mechanisms and low reliability.

[0033] This disclosure provides a pick-and-place device. Figure 1 This is a three-dimensional structural diagram of a telescopic component of a pick-and-place device in an extended state according to an exemplary embodiment of the present disclosure. Figure 2 This is a three-dimensional structural diagram of a pick-and-place device in a retracted state according to an exemplary embodiment of this disclosure, as shown below. Figure 1 , Figure 2 As shown, Figure 1 A dashed arrow represents the height direction, and a double-dotted arrow represents the telescopic direction. The loading / unloading device 1 includes a telescopic assembly 12, a claw assembly 13, and a support structure 11. The telescopic assembly 12 includes a fixed structure 121 and a transmission mechanism 122 assembled to the fixed structure 121. The support structure 11 is assembled to the fixed structure 121. The claw assembly 13 is assembled to the output component 1221 of the transmission mechanism 122 to move along the telescopic direction of the telescopic assembly 12. The claw assembly 13 includes a first lifting mechanism 132 and a claw structure 131. The claw structure 131 is connected to the first lifting mechanism 132 in the height direction to drive the claw structure 131 to switch between at least two height positions.

[0034] The hook assembly 13 of the aforementioned pick-and-place device 1 is assembled to the output component 1221 of the telescopic assembly 12. The hook assembly 13 includes a first lifting mechanism 132 and a hook structure 131. The hook structure 131 can switch between at least two height positions using the first lifting mechanism 132. This design allows the hook structure 131 to not only extend and retract in the telescopic direction but also rise and fall in the height direction, simplifying the structure of the pick-and-place device 1 and reducing the cost of both the pick-and-place device 1 and the material handling equipment 2.

[0035] It should be noted that the first lifting mechanism 132 can be a lead screw mechanism, a sprocket and chain mechanism, a belt mechanism, a gear mechanism, a linkage mechanism, an electric actuator, etc., as long as it can realize the lifting and lowering movement of the hook structure 131 in the height direction. This disclosure does not limit it in this way.

[0036] In some embodiments, such as Figure 3 As shown, the first lifting mechanism 132 includes a lead screw 1321, the axis of which is parallel to the height direction, and a hook structure 131 including a threaded structure that is drivenly connected to the lead screw 1321. The threaded transmission connection between the lead screw 1321 and the threaded structure of the hook structure 131 enables the lifting of the hook structure 131 in the height direction, and the threaded transmission improves the reliability of the drive.

[0037] The first lifting mechanism 132 may further include a base frame 133, which has a pair of oppositely arranged support structures 1331. A lead screw 1321 is located between the pair of support structures 1331 and is fixedly connected to each support structure 1331. By placing the lead screw 1321 between the two support structures 1331, the two support structures 1331 can be used to fix and support the lead screw 1321, which helps to improve the structural reliability of the first lifting mechanism 132.

[0038] In some embodiments, the first lifting mechanism 132 further includes a base plate 134, a slide rail 136, and a slider 135. A base frame 133 is fixedly assembled to the base plate 134. The slide rail 136 is fixedly connected to one of the base plate 134 and the base frame 133. The slider 135 is fixedly connected to the claw structure 131 and slidably connected to the slide rail 136. Assembling the base frame 133 to the base plate 134, and through the cooperation of the slide rail 136 and the slider 135, enables the claw structure 131 to obtain a stable movement trajectory in the height direction, which helps to improve the overall reliability and transmission stability of the first lifting mechanism 132.

[0039] The support structure 1331 may include an outer wall facing away from the lead screw 1321, and slide rails 136 are respectively assembled on the outer wall. The first lifting mechanism 132 includes a pair of sliders 135 that slide in cooperation with the slide rails 136. Assembling slide rails 136 on the outer walls of the pair of support structures 1331 and using a pair of sliders 135 that slide in cooperation with the slide rails 136 helps to further improve the transmission stability and reliability of the first lifting mechanism 132.

[0040] In the above embodiment, the hook structure 131 includes a hook body 1311 and a nut 1312. The nut 1312 is fixedly connected to the hook body 1311. The nut 1312 has a threaded structure. When the threaded structure of the nut 1312 engages with the thread of the lead screw 1321, the hook body 1311 can move up and down relative to the lead screw 1321 with the nut 1312. Setting the threaded structure on the nut 1312 can avoid the structural interference caused by setting the threaded structure directly on the hook body 1311, which helps to simplify the hook-shaped body structure and improve the movement flexibility of the hook body 1311.

[0041] The nut 1312 can be configured with an avoidance structure according to the position of the base frame 133, the lead screw 1321 and the hook body 1311 to avoid interference of the nut 1312 with the movement of the hook assembly 13.

[0042] In some embodiments, the first lifting mechanism 132 further includes a base frame 133, which encloses a hook-claw movement space. A lead screw 1321 is located in the hook-claw movement space, and the hook-claw body 1311 has a notch to avoid the lead screw 1321. The base frame 133 not only serves as a support component for the lead screw 1321, nut 1312, and hook-claw body 1311, but also provides movement space for the hook-claw body 1311 to lift and extend. The notch in the hook-claw body 1311 avoids the lead screw 1321, which helps to improve the structural compactness of the hook-claw assembly 13.

[0043] In some embodiments, the transmission mechanism 122 includes a primary transmission structure 1222. One of the primary transmission structure 1222 and the fixed structure 121 is provided with a first guide rail 1224 arranged along the extension direction, and the other is slidably connected to the first guide rail 1224. The extension and retraction of the primary transmission structure 1222 relative to the fixed structure 121 is realized through the first guide rail 1224, so that the hook assembly 13 can realize the basic extension and retraction function in the extension direction.

[0044] The transmission mechanism 122 may further include a secondary transmission structure 1223. The output component 1221 includes a mounting plate fixedly assembled to the secondary transmission structure 1223. One of the secondary transmission structure 1223 and the primary transmission structure 1222 is provided with a second guide rail 1225 arranged along the telescopic direction, and the other is slidably connected to the second guide rail 1225. The secondary transmission structure 1223 increases the stroke length of the hook assembly 13 in the telescopic direction, which helps to adapt to larger sized bins and provides greater bin compatibility.

[0045] In the above embodiment, the transmission mechanism 122 further includes a first motor, a first belt assembly 1226 and a second belt assembly 1227. The first belt assembly 1226 is connected to the output end of the first motor and the primary transmission structure 1222 respectively. The first belt assembly 1226 drives the primary transmission structure 1222 to move relative to the fixed structure 121 in the telescopic direction. The secondary transmission structure 1223 and the primary transmission structure 1222 are connected in the telescopic direction through the second belt assembly 1227.

[0046] Specifically, such as Figure 1 , Figure 4 As shown, the telescopic assembly 12 may also include a base plate assembly, with a positioning camera 16 fixed at the front end of the base plate assembly, which can read the QR code of the shelf to achieve precise position and angle positioning. Figure 1The dashed arrow at the midpoint can represent the left and right directions. The aforementioned fixed structure 121 may include a left fixed plate and a right fixed plate, which are respectively assembled on the base plate assembly. The primary transmission structure 1222 may include a left primary plate and a right primary plate, and the secondary transmission structure 1223 may include a left secondary plate and a right secondary plate. The aforementioned left fixed plate, left primary plate, and left secondary plate form the left assembly, and the right fixed plate, right primary plate, and right secondary plate form the right assembly. An interval space may be formed between the left assembly and the right assembly, through which the hook assembly 13 moves in the telescopic direction.

[0047] The first belt assembly 1226 may include a drive pulley 1226a, an idler pulley 1228, and a first motor. The first motor is fixed to the left fixed plate. The drive pulley 1226a and the idler pulley 1228 are fixed to the left fixed plate by bearings and are connected by a double-sided synchronous belt. Two idler pulleys 1228 are fixed at the front and rear of the left primary plate. A flat belt passes over the idler pulleys 1228 and connects to a flat belt fixing member 1229. The flat belt fixing members 1229 on both sides are respectively connected to the left fixed plate and the secondary transmission structure 1223. A transmission plate is fixed to the primary transmission structure 1222, and the transmission plate meshes with the double-sided synchronous belt.

[0048] The first belt assembly 1226 described above can also be assembled onto the right fixed plate to give the right-side assembly the same transmission effect. Alternatively, the left telescopic fork of the left-side assembly and the right telescopic fork of the right-side assembly can be connected by a drive shaft, which is also connected to a motor reducer to achieve the transmission function.

[0049] The aforementioned telescopic component 12 drives the synchronous pulley, synchronous belt, transmission plate, left primary plate and right primary plate to achieve linear motion. The front and rear idler pulleys 1228 of the left primary plate and right primary plate drive the secondary plate through the flat belt to achieve the movement of the left secondary plate and right secondary plate. The speed of the aforementioned secondary transmission structure 1223 is twice that of the primary transmission structure 1222.

[0050] In some embodiments, the claw assembly 13 can be fixedly assembled to the output component 1221 to obtain a two-stage telescopic effect.

[0051] In other embodiments, the first lifting mechanism 132 includes a base plate 134, which is movably connected to the output component 1221 in the telescopic direction. The movable connection between the base plate 134 and the output component 1221 increases the travel length of the hook assembly 13 in the telescopic direction, which helps to adapt to larger hoppers and provides greater hopper compatibility.

[0052] One of the base plate 134 and the output component 1221 may be provided with a gear structure and the other with a rack structure. The gear structure meshes with the rack structure to make the pawl assembly 13 move relative to the output component 1221 in the extension direction. The meshing of the gear and the rack can reduce space occupation and improve transmission reliability.

[0053] The output component 1221 includes an output base plate and a rack structure. The output base plate is fixed to the aforementioned left and right secondary plates to move together with the secondary transmission structure 1223. The rack structure can mesh with the gear structure on the base plate 134 to drive the pawl assembly 13 to extend and retract. The aforementioned left and right telescopic forks can be fixed to both sides of the base plate assembly, and the secondary plates of the left and right telescopic forks are connected through the output base plate.

[0054] In the above embodiment, the supporting device is fixed on the left fixed plate and the right fixed plate. The supporting device is divided into two parts, left and right. Each part includes a flared guide and a guide for the feeding box to pick up materials.

[0055] In some embodiments, such as Figure 5 , Figure 6 As shown, the picking and placing device 1 may also include a device base plate 14, a fork body 15 and a rotating assembly 17. The telescopic assembly 12 is assembled on the device base plate 14. The device base plate 14 and the fork body 15 are rotatably connected through the rotating assembly 17, so that the device base plate 14, the telescopic assembly 12 assembled on the device base plate 14, and the load-bearing structure 11 fixedly connected to the fixed structure 121 of the telescopic assembly 12 can rotate relative to the fork body 15, thereby realizing the turning and transportation of the material box located on the load-bearing structure 11 between the shelf and the storage position 22 of the picking device 2.

[0056] The aforementioned rotating assembly 17 may include a servo motor, a reducer, a belt, a small synchronous pulley 171, and a large synchronous pulley 172. The large synchronous pulley 172 is fixed to the fork body 15. The motor reducer and the small synchronous pulley 171 are sequentially connected and fixed to the device base plate 14. The motor reducer drives the small synchronous pulley 171 to rotate. The synchronous belt connects the small synchronous pulley 171 and the large synchronous pulley 172, causing the device base plate 14, along with the motor reducer and the small synchronous pulley 171, to rotate relative to the fork body 15 and the large synchronous pulley 172.

[0057] The rotation angle of the rotating component 17 can be set according to the angle between the shelf and the storage position 22, for example, the rotation angle can be 90°.

[0058] This disclosure further provides a material handling device 2, such as Figures 7-9 As shown, Figures 7-9The dashed arrow in the middle can represent the height direction. The material handling equipment 2 includes a vehicle body 21 and the above-mentioned handling device 1. The handling device 1 is assembled on the vehicle body 21, so that the material handling equipment 2 can have a handling device 1 with a simplified structure of the hook assembly 13 and reduced cost.

[0059] In some embodiments, the telescopic component 12, the hook component 13, and the load-bearing structure 11 are assembled on the vehicle body 21, and the bottom of the vehicle body 21 is provided with a differential drive mechanism or an omnidirectional drive mechanism. The differential drive vehicle body 21 chassis can realize forward and backward movement and rotational movement, while the omnidirectional drive vehicle body 21 chassis can realize forward and backward movement and left and right movement of the vehicle body 21.

[0060] In the vertical direction, the vehicle body 21 may be provided with at least two storage positions 22. The vehicle body 21 also includes a second lifting mechanism 23. The loading and unloading device 1 is connected to the vehicle body 21 via the second lifting mechanism 23 to switch between different positions corresponding to the storage positions 22. One end of the storage position 22 is provided with a guide opening, which includes a first end near the receiving space formed by the storage position 22 and a second end opposite to the first end. The opening size of the guide opening gradually increases from the first end to the second end. The storage position 22 can be fixed to the rear of the vehicle body 21 mast 211. The storage position 22 has multiple layers in the vertical direction, and each layer can hold multiple material boxes. There are partitions between the material boxes, and the partitions have upper flared guides for guiding the material during loading.

[0061] The second lifting mechanism 23 can be a sprocket and chain installed on the gantry 211. The sprocket and chain can be driven by the power below to move up and down. The chain is fixed to the rear connecting block of the fork body 15, and the rear connecting block is fixed to the front end of the fork body 15. The lifting action of the picking and placing device 1 is realized as the chain moves up and down.

[0062] It should be noted that the above-mentioned material handling equipment 2 can be applied to the handling of material boxes in single-deep or double-deep racks, and this disclosure does not limit it in this respect.

[0063] This disclosure further provides a material handling device control method, applied to the above-mentioned material handling device 2, wherein the vehicle body 21 includes a second lifting mechanism 23, and the picking and placing device 1 is connected to the vehicle body 21 through the second lifting mechanism 23. Figure 10 This is a flowchart of a material handling device control method according to an exemplary embodiment of this disclosure, such as... Figure 10 As shown, the above-mentioned control method for the material handling equipment can be implemented through the following steps: In step S1001, after receiving the positioning signal that the hook structure 131 has moved to the position below the locking groove of the material box through the telescopic component 12, a first lifting signal is sent to the first lifting mechanism 132 so that the hook structure 131 rises into the locking groove and locks with the material box.

[0064] In step S1002, after receiving a confirmation signal that there is no structural interference between the pick-and-place device 1 and the shelf in the height direction, a descent signal is sent to the second lifting mechanism 23 and a second ascending signal is sent to the first lifting mechanism 132, so that the bearing plane is lowered to be flush with or below the shelf placement surface, and the hook structure 131 is located in the locking groove during the descent of the bearing structure 11.

[0065] Due to differences in the structure and engagement of the shelf and telescopic assembly 12 in different designs, there may be structural interference in the height direction between the picking and placing device 1 and the shelf after the hook structure 131 rises into the locking groove, or there may be no structural interference. If there is structural interference in the height direction between the picking and placing device 1 and the shelf after the hook structure 131 rises into the locking groove, the material box can be pulled up to be flush with the edge of the shelf using the telescopic assembly 12 to eliminate the structural interference in the height direction before proceeding with the descent step for the second lifting mechanism 23. If there is no structural interference in the height direction between the picking and placing device 1 and the shelf after the hook structure 131 rises into the locking groove, the descent step for the second lifting mechanism 23 can be performed directly.

[0066] In step S1003, a first contraction signal is sent to the telescopic assembly 12 to move the hopper to the bearing plane.

[0067] In the above control scheme, the lifting and lowering of the hook structure 131 is used to hook the material box and avoid the rack structure, so as to avoid the telescopic component 12 from interfering with the rack and the load-bearing structure 11 during operation and improve the reliability of operation.

[0068] In an exemplary working process: the system platform issues a picking task, the bin robot moves to the designated bin location, the positioning camera 16 reads the distance between the hook body 1311 of the picking device 1 and the bin slot, and controls the telescopic component 12 to extend its output component 1221 under the action of the power reducer, based on the distance value. The hook body 1311 moves to below the bin slot through a movable connection with the output component 1221, and after the hook body 1311 is in place, it rises into the locking slot to engage. Because the extended part of the telescopic component 12 is below the carrying device, when picking up the inner bin, the telescopic component 12 needs to extend into the shelf panel; directly pulling the bin cannot pull it into the carrying device. Therefore, when retrieving materials, the material box can be pulled up until it is flush with the edge of the shelf. The retrieval device 1 descends under the power of the second lifting mechanism 23. During the descent, the hook screw 1321 drives the hook to rise, ensuring that the hook will not come out of the locking groove. When the surface of the bearing device is lower than the shelf surface, the telescopic component 12 and the hook component 13 work synchronously to pull the material box into the bearing device. The retrieval device 1 rotates 90° under the action of the rotating component 17, and the opening of the bearing structure 11 faces the storage position 22. Under the action of the telescopic component 12, the material box is placed into the storage position 22, and the retrieval action is completed. The reversal of the above process can be achieved for the placement action.

[0069] This disclosure further provides a material handling equipment control device applied to the above-mentioned material handling equipment 2. The vehicle body 21 includes a second lifting mechanism 23, and the picking and placing device 1 is connected to the vehicle body 21 through the second lifting mechanism 23. Figure 11 This is a structural block diagram of a material handling equipment control device according to an exemplary embodiment of this disclosure, such as... Figure 11 As shown, the above-mentioned material handling equipment control unit 110 includes: a first processing unit 1101, a second processing unit 1102, and a third processing unit 1103. Among them, The first processing unit 1101 is configured to send a first lifting signal to the first lifting mechanism 132 after receiving a positioning signal indicating that the hook structure 131 has moved to the position below the engagement slot of the material box via the telescopic component 12, so that the hook structure 131 rises into the engagement slot and engages with the material box.

[0070] The second processing unit 1102 is configured to send a descent signal for the second lifting mechanism 23 and a second ascending signal for the first lifting mechanism 132 after receiving a confirmation signal that there is no structural interference between the pick-and-place device 1 and the shelf in the height direction, so that the bearing plane of the bearing structure 11 is lowered to be flush with or below the shelf placement surface, and the hook structure 131 is located in the locking groove during the descent of the bearing structure 11.

[0071] The third processing unit 1103 is configured to send a first contraction signal to the telescopic assembly 12 to move the hopper to the bearing plane.

[0072] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0073] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this disclosure according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0074] Accordingly, this disclosure also provides a device for controlling a material handling equipment, comprising: a processor; and a memory for storing processor-executable instructions. The processor is configured to: After receiving the signal that the hook structure 131 has moved to the position below the snap-fit ​​groove of the material box through the telescopic component 12, a first lifting signal is sent to the first lifting mechanism 132 so that the hook structure 131 rises into the snap-fit ​​groove and snaps into the material box. After receiving a confirmation signal that there is no structural interference between the pick-and-place device 1 and the shelf in the height direction, a descent signal is sent to the second lifting mechanism 23 and a second ascending signal is sent to the first lifting mechanism 132, so that the bearing plane of the bearing structure 11 is lowered to be flush with or below the shelf placement surface, and the hook structure 131 is located in the locking groove during the descent of the bearing structure 11. A first contraction signal is sent to the telescopic assembly 12 to move the hopper to the bearing plane.

[0075] Figure 12 This is a block diagram illustrating an exemplary embodiment of the present disclosure of a device for controlling a material handling equipment. For example, device 1200 may be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness equipment, personal digital assistant, etc.

[0076] Reference Figure 12 The device 1200 may include one or more of the following components: a processing component 1202, a memory 1204, a power supply component 1206, a multimedia component 1208, an audio component 1210, an input / output (I / O) interface 1218, a sensor component 1214, and a communication component 1216.

[0077] Processing component 1202 typically controls the overall operation of device 1200, such as operations associated with display, telephone calls, data communication, camera operation, and recording operations. Processing component 1202 may include one or more processors 1220 to execute instructions to perform all or part of the steps of the methods described above. Furthermore, processing component 1202 may include one or more modules to facilitate interaction between processing component 1202 and other components. For example, processing component 1202 may include a multimedia module to facilitate interaction between multimedia component 1208 and processing component 1202.

[0078] Memory 1204 is configured to store various types of data to support the operation of device 1200. Examples of this data include instructions for any application or method operating on device 1200, contact data, phonebook data, messages, pictures, videos, etc. Memory 1204 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0079] Power supply component 1206 provides power to various components of device 1200. Power supply component 1206 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to device 1200.

[0080] Multimedia component 1208 includes a screen that provides an output interface between the device 1200 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 1208 includes a front-facing camera and / or a rear-facing camera. When the device 1200 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0081] Audio component 1210 is configured to output and / or input audio signals. For example, audio component 1210 includes a microphone (MIC) configured to receive external audio signals when device 1200 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 1204 or transmitted via communication component 1216. In some embodiments, audio component 1210 also includes a speaker for outputting audio signals.

[0082] I / O interface 1218 provides an interface between processing component 1202 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0083] Sensor assembly 1214 includes one or more sensors for providing status assessments of various aspects of device 1200. For example, sensor assembly 1214 may detect the on / off state of device 1200, the relative positioning of components such as the display and keypad of device 1200, changes in the position of device 1200 or a component of device 1200, the presence or absence of user contact with device 1200, the orientation or acceleration / deceleration of device 1200, and temperature changes of device 1200. Sensor assembly 1214 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 1214 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 1214 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor.

[0084] Communication component 1216 is configured to facilitate wired or wireless communication between device 1200 and other devices. Device 1200 can access wireless networks based on communication standards, such as WiFi, 2G or 3G, 4G LTE, 5G NR, or combinations thereof. In one exemplary embodiment, communication component 1216 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 1216 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0085] In an exemplary embodiment, the apparatus 1200 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

[0086] This disclosure further proposes a computer-readable storage medium storing computer instructions thereon, which, when executed by a processor, implement the steps of the aforementioned material handling device control method. In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 1204 including instructions, which can be executed by a processor 1220 of the device 1200 to complete the aforementioned material handling device control method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, or optical data storage device, etc.

[0087] The specific embodiments described herein are merely illustrative examples of the spirit of this disclosure. Those skilled in the art to which this disclosure pertains may make various modifications, additions, or use similar methods to replace the described specific embodiments without departing from the spirit of this disclosure or exceeding the scope defined by the appended claims.

[0088] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A pick-and-place device, characterized in that, include: Telescopic assembly (12), hook assembly (13) and load-bearing structure (11); The telescopic component (12) includes a fixed structure (121) and a transmission mechanism (122) assembled on the fixed structure (121), and the load-bearing structure (11) is assembled on the fixed structure (121). The hook assembly (13) is assembled to the output component (1221) of the transmission mechanism (122) to move along the extension direction of the telescopic assembly (12); the hook assembly (13) includes a first lifting mechanism (132) and a hook structure (131), the hook structure (131) being connected to the first lifting mechanism (132) in the height direction to drive the hook structure (131) to switch between at least two height positions.

2. The pick-and-place device according to claim 1, characterized in that, The first lifting mechanism (132) includes a lead screw (1321), the axis of which is parallel to the height direction; the hook structure (131) includes a threaded structure that is drivenly connected to the lead screw (1321).

3. The pick-and-place device according to claim 2, characterized in that, The first lifting mechanism (132) further includes a base frame (133), the base frame (133) is provided with a pair of support structures (1331) arranged opposite to each other, the lead screw (1321) is located between the pair of support structures (1331), and the lead screw (1321) is fixedly connected to the support structures (1331) respectively.

4. The pick-and-place device according to claim 3, characterized in that, The first lifting mechanism (132) further includes a base plate (134), a slide rail (136), and a slider (135); the base frame (133) is fixedly assembled on the base plate (134), and the slide rail (136) is fixedly connected to one of the base plate (134) and the base frame (133); the slider (135) is fixedly connected to the claw structure (131), and the slider (135) is slidably connected to the slide rail (136).

5. The pick-and-place device according to claim 4, characterized in that, The support structure (1331) includes an outer sidewall facing away from the lead screw (1321), and the slide rail (136) is assembled on the outer sidewall respectively; the first lifting mechanism (132) includes a pair of sliders (135) that are slidably engaged with the slide rail (136) respectively.

6. The pick-and-place device according to claim 2, characterized in that, The hook structure (131) includes a hook body (1311) and a nut (1312), the nut (1312) being fixedly connected to the hook body (1311), and the nut (1312) having the threaded structure.

7. The pick-and-place device according to claim 6, characterized in that, The first lifting mechanism (132) also includes a base frame (133), which forms a hook claw activity space. The lead screw (1321) is located in the hook claw activity space, and the hook claw body (1311) is provided with a notch to avoid the lead screw (1321).

8. The pick-and-place device according to claim 1, characterized in that, The transmission mechanism (122) includes a primary transmission structure (1222); one of the primary transmission structure (1222) and the fixed structure (121) is provided with a first guide rail (1224) arranged along the telescopic direction, and the other is slidably connected to the first guide rail (1224).

9. The pick-and-place device according to claim 8, characterized in that, The transmission mechanism (122) further includes a secondary transmission structure (1223), and the output component (1221) includes a mounting plate fixedly assembled to the secondary transmission structure (1223); one of the secondary transmission structure (1223) and the primary transmission structure (1222) is provided with a second guide rail (1225) arranged along the telescopic direction, and the other is slidably connected to the second guide rail (1225).

10. The pick-and-place device according to claim 9, characterized in that, The transmission mechanism (122) further includes a first motor, a first belt assembly (1226), and a second belt assembly (1227). The first belt assembly (1226) is connected to the output end of the first motor and the first-stage transmission structure (1222) respectively. The first belt assembly (1226) drives the first-stage transmission structure (1222) to move in the telescopic direction relative to the fixed structure (121). The second-stage transmission structure (1223) and the first-stage transmission structure (1222) are connected in the telescopic direction through the second belt assembly (1227).

11. The pick-and-place device according to claim 1, characterized in that, The first lifting mechanism (132) includes a base plate (134), and the base plate (134) and the output component (1221) are movably connected in the extension and retraction direction.

12. The pick-and-place device according to claim 11, characterized in that, One of the base plate (134) and the output component (1221) is provided with a gear structure and the other is provided with a rack structure. The gear structure meshes with the rack structure to make the claw assembly (13) move relative to the output component (1221) in the telescopic direction.

13. The pick-and-place device according to claim 1, characterized in that, It also includes a device base plate (14), a fork (15) and a rotating assembly (17), wherein the telescopic assembly (12) is assembled on the device base plate (14), and the device base plate (14) and the fork (15) are rotatably connected by the rotating assembly (17).

14. A material handling device, characterized in that, The material handling equipment (2) includes a vehicle body (21) and a picking and placing device (1) as described in any one of claims 1-13, wherein the picking and placing device (1) is assembled on the vehicle body (21).

15. The material handling device according to claim 14, characterized in that, The telescopic component (12), the hook component (13) and the load-bearing structure (11) are assembled on the vehicle body (21), and the bottom of the vehicle body (21) is provided with a differential drive mechanism or an omnidirectional drive mechanism.

16. The material handling device according to claim 14, characterized in that, In the height direction, the vehicle body (21) is provided with at least two storage positions (22); the vehicle body (21) also includes a second lifting mechanism (23), and the pick-up and put-down device (1) is connected to the vehicle body (21) through the second lifting mechanism (23); one end of the storage position (22) is provided with a guide opening, the guide opening includes a first end near the accommodating space formed by the storage position (22) and a second end opposite to the first end, and the opening size of the guide opening gradually increases from the first end to the second end.

17. A method for controlling a material handling device, characterized in that, The method is applied to the material handling equipment as described in any one of claims 14-16; the vehicle body (21) includes a second lifting mechanism (23), and the picking and placing device (1) is tractively connected to the vehicle body (21) via the second lifting mechanism (23); the method includes: After receiving the positioning signal of the hook structure (131) moving to the position below the snap-fit ​​groove of the material box through the telescopic component (12), a first lifting signal is sent to the first lifting mechanism (132) so that the hook structure (131) rises into the snap-fit ​​groove and snaps into the material box. After receiving a confirmation signal that there is no structural interference between the pick-and-place device (1) and the shelf in the height direction, a descent signal is sent to the second lifting mechanism (23) and a second ascending signal is sent to the first lifting mechanism (132) so that the bearing plane of the bearing structure (11) is lowered to be flush with or below the shelf placement surface, and the hook structure (131) is located in the snap-fit ​​groove during the descent of the bearing structure (11); Send a first contraction signal to the telescopic assembly (12) to move the hopper to the bearing plane.

18. A control device for a material handling equipment, characterized in that, The device is applied to the material handling equipment (2) as described in any one of claims 14-16; the vehicle body (21) includes a second lifting mechanism (23), and the picking and placing device (1) is tractively connected to the vehicle body (21) via the second lifting mechanism (23); the device includes: After receiving the signal that the hook structure (131) has moved to the position below the snap-fit ​​groove of the material box through the telescopic component (12), the first processing unit sends a first lifting signal to the first lifting mechanism (132) so that the hook structure (131) rises into the snap-fit ​​groove and snaps into the material box. After receiving a confirmation signal that there is no structural interference between the pick-and-place device (1) and the shelf in the height direction, the second processing unit sends a descent signal for the second lifting mechanism (23) and a second ascending signal for the first lifting mechanism (132) so that the bearing plane of the bearing structure (11) is lowered to be flush with or below the shelf placement surface, and the hook structure (131) is located in the snap-fit ​​groove during the descent of the bearing structure (11). The third processing unit sends a first contraction signal to the telescopic component (12) to move the hopper to the bearing plane.

19. A computer-readable storage medium storing computer instructions thereon, characterized in that, When executed by the processor, this instruction implements the steps of the material handling equipment control method as described in claim 17.

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