Object taking device and logistics robot

Abstract

The embodiment of the utility model provides an object taking device and a logistics robot, and the object taking device comprises a base which is provided with a first entrance and exit at one end; the annular driving mechanism is arranged on the base; the first taking and placing mechanism is arranged on the annular driving mechanism, and the first taking and placing mechanism is configured to extend out of or return to the base from the first inlet and outlet under the driving of the annular driving mechanism so as to take and return the target object; the annular driving mechanism is configured to drive the first taking and placing mechanism to reciprocate on the base along an annular track so as to stretch out of or return to the base from the first inlet and outlet. According to the object taking device and the logistics robot, the structure of the logistics robot is simplified, the operation space is reduced, and the use requirements of different environments can be met.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing equipment, and in particular to a picking device and a logistics robot. Background Art

[0002] Logistics robots (also called handling robots) are important equipment in warehousing systems. They can transport target items (such as cargo boxes) from one location in the warehousing system to another location for processing. In addition, logistics robots can also automatically place target items on target carriers (such as shelves) to complete the loading process (such as the box return process); they can also remove target items from the target carrier and transport them to another designated location.

[0003] In the related technology, a logistics robot usually includes a walking chassis, a gantry and a picking device arranged on the gantry. The picking device is provided with a steering mechanism and a picking and placing mechanism. The picking and placing mechanism is usually a suction cup, a fork or a hook, etc. The steering mechanism drives the picking and placing mechanism to turn, thereby realizing picking up objects from different directions.

[0004] However, the logistics robots in related technologies have complex structures and large operating spaces, and cannot meet the usage requirements in different environments. Utility Model Content

[0005] The embodiments of the present application provide a picking device and a logistics robot, which simplify the structure of the logistics robot, reduce the operating space, and can meet the usage requirements of different environments.

[0006] According to a first aspect of an embodiment of the present application, there is provided a device for picking up objects, comprising:

[0007] A base; one end of the base has a first inlet and outlet;

[0008] An annular driving mechanism, the annular driving mechanism is arranged on the base;

[0009] A first pick-and-place mechanism, the first pick-and-place mechanism is disposed on the annular driving mechanism, and the first pick-and-place mechanism is configured to extend from the first inlet or outlet or retract to the base under the drive of the annular driving mechanism to retrieve the target object;

[0010] The annular driving mechanism is configured to drive the first pick-and-place mechanism to reciprocate along an annular track on the base so as to extend from the first entrance or retract into the base.

[0011] In an optional implementation, the other end of the base further has a second inlet and outlet, and the first inlet and outlet and the second inlet and outlet are located on opposite sides of the base; the object-retrieving device further includes:

[0012] A second pick-and-place mechanism, the second pick-and-place mechanism is disposed on the annular driving mechanism, and the second pick-and-place mechanism is configured to extend from the second inlet or outlet or retract to the base under the drive of the annular driving mechanism to retrieve the target object;

[0013] The annular driving mechanism is also configured to drive the second pick-and-place mechanism to reciprocate along an annular track on the base so as to extend from the second entrance or retract into the base.

[0014] In an optional implementation, the annular drive mechanism includes:

[0015] A first driving member is disposed on the base;

[0016] A driving wheel connected to the output shaft of the first driving member;

[0017] A driven wheel, the driven wheel is rotatably disposed on the base, the driving wheel and the driven wheel are arranged along a first direction, and the first direction is the direction where the first inlet and the second inlet are located;

[0018] An annular transmission member is sleeved on the driving wheel and the driven wheel, and the first pick-and-place mechanism and the second pick-and-place mechanism are connected to the annular transmission member; the annular transmission member is configured to rotate under the drive of the driving wheel; to drive the first pick-and-place mechanism to extend from the first entrance or retract to the base; or, to drive the second pick-and-place mechanism to extend from the second entrance or retract to the base.

[0019] In an optional implementation, the rotation plane of the annular transmission member intersects with the base; the annular transmission member has a first transmission portion away from the base and a second transmission portion close to the base;

[0020] The annular transmission member is configured to drive the first pick-and-place mechanism and the second pick-and-place mechanism to switch positions between the first transmission part and the second transmission part; wherein,

[0021] During the process of the first pick-and-place mechanism retreating toward the base, the second pick-and-place mechanism is configured to move from the first transmission part to the second transmission part, and the second pick-and-place mechanism moves from a side away from the first entrance to a side close to the first entrance;

[0022] During the process of the second pick-and-place mechanism retreating toward the base, the first pick-and-place mechanism is configured to move from the first transmission part to the second transmission part, and the first pick-and-place mechanism moves from the side away from the second entrance to the side close to the second entrance.

[0023] In an optional implementation, the first pick-and-place mechanism and the second pick-and-place mechanism are fixedly connected to the annular transmission member, the first pick-and-place mechanism has a first front end surface, and the first front end surface is an end of the first pick-and-place mechanism that interacts with the target object; the second pick-and-place mechanism has a second front end surface, and the second front end surface is an end of the second pick-and-place mechanism that interacts with the target object;

[0024] When the first pick-and-place mechanism and the second pick-and-place mechanism are both located at the first transmission part, the first front end face and the second front end face face opposite to each other;

[0025] When one of the first pick-and-place mechanism and the second pick-and-place mechanism is located at the first transmission part and the other is located at the second transmission part, the first front end face and the second front end face have the same orientation.

[0026] In an optional implementation, the object-retrieving device further includes:

[0027] A first guide member is disposed on the base and extends along a first direction; a driving wheel and a driven wheel are rotatably disposed on the first guide member;

[0028] Any one of the first pick-and-place mechanism and the second pick-and-place mechanism comprises:

[0029] A connecting shaft, the connecting shaft is inserted into the annular transmission member, and the connecting shaft and the annular transmission member are rotatably connected; at least a portion of the connecting shaft is inserted into the first guide member;

[0030] A force applying member, the force applying member is connected to the connecting shaft, and the force applying member is configured to apply a force to the target object;

[0031] When the annular transmission member rotates, the force applying member is driven to switch positions between the first transmission part and the second transmission part through the connecting shaft; the connecting shaft is configured to rotate relative to the annular transmission member to maintain the relative angle between the force applying member and the base.

[0032] In an optional implementation, any one of the first pick-and-place mechanism and the second pick-and-place mechanism further includes:

[0033] A second guide member, the second guide member is located between the annular transmission member and the first guide member, the second guide member is movably connected to the first guide member, and the second guide member is fixedly connected to the connecting shaft;

[0034] A guide groove is provided on one side of the first guide member close to the annular transmission member, and the second guide member is inserted into the guide groove and can move along the guide groove relative to the first guide member;

[0035] The second guide member is configured to cooperate with the guide groove to maintain a relative angle between the force applying member and the base when the force applying member switches positions between the first transmission part and the second transmission part.

[0036] In an optional implementation, the annular transmission member has a rotation center axis, the rotation center axis is located between the rotation axis of the driving wheel and the rotation axis of the driven wheel, and the guide groove includes:

[0037] A first annular guide groove, the first annular guide groove is eccentrically arranged on one side of the rotation center axis;

[0038] A second annular guide groove, the second annular guide groove is eccentrically arranged on the other side of the rotation center axis;

[0039] The second guide member has a first guide column and a second guide column, the first guide column is inserted in the first annular guide groove, the second guide column is inserted in the second annular guide groove, the first guide column is configured to move along the first annular guide groove, and the second guide column is configured to move along the second annular guide groove.

[0040] In an optional implementation, the first annular guide groove and the second annular guide groove are arranged in a vertical direction, and the first annular guide groove and the second annular guide groove intersect;

[0041] Alternatively, the first annular guide groove and the second annular guide groove are arranged along the extension direction of the first guide member, and the first annular guide groove and the second annular guide groove partially overlap.

[0042] In an optional implementation, the guide groove further includes: a third annular guide groove, the third annular guide groove is misaligned with the first annular guide groove, and the third annular guide groove is misaligned with the second annular guide groove;

[0043] The second guide member also has a third guide column, which is inserted into the third annular guide groove and is configured to move along the third annular guide groove.

[0044] In an optional implementation, the guide groove further includes:

[0045] a third annular guide groove, the third annular guide groove is misaligned with the first annular guide groove, and the third annular guide groove is misaligned with the second annular guide groove;

[0046] A fourth annular guide groove, the fourth annular guide groove is misaligned with the first annular guide groove, the second annular guide groove and the third annular guide groove;

[0047] The second guide member also has a third guide column and a fourth guide column, the third guide column is inserted in the third annular guide groove, and the fourth guide column is inserted in the fourth annular guide groove; the third guide column is configured to move along the third annular guide groove, and the fourth guide column is configured to move along the fourth annular guide groove.

[0048] In an optional implementation, any one of the first pick-and-place mechanism and the second pick-and-place mechanism further includes:

[0049] A connecting arm is connected between the connecting shaft and the force-applying member, and the connecting arm extends from the connecting shaft along a side away from the base, so that when any one of the first pick-and-place mechanism and the second pick-and-place mechanism rotates to the first transmission part along with the annular transmission member, there is a first distance between the force-applying member and the base, and there is a second distance between the side of the first guide member away from the base and the base; the first distance is greater than the second distance.

[0050] In an optional implementation, the object-picking device further includes: a support frame, the support frame is arranged on both sides of the base, and a placement area is formed between the two support frames, and the placement area is used to place the target object;

[0051] A supporting beam is arranged on the supporting frame, and a third distance is provided between the supporting beam and the base, the third distance is greater than or equal to the second distance, and the third distance is less than the first distance; the supporting beam is configured to support the target object.

[0052] In an optional implementation, when any one of the first pick-and-place mechanism and the second pick-and-place mechanism rotates to the second transmission part along with the annular transmission member, a fourth distance exists between the force-applying member and the base, and the fourth distance is smaller than the third distance;

[0053] When taking or returning an item, one of the first taking-and-placing mechanism and the second taking-and-placing mechanism is located at the first transmission part, and the other of the first taking-and-placing mechanism and the second taking-and-placing mechanism is located at the second transmission part.

[0054] In an optional implementation, the first pick-and-place mechanism has a first front end surface, which is one end of the first pick-and-place mechanism interacting with the target object; the second pick-and-place mechanism has a second front end surface, which is one end of the second pick-and-place mechanism interacting with the target object;

[0055] When the first pick-and-place mechanism and the second pick-and-place mechanism are both located at the first transmission part, the first front end face and the second front end face face opposite to each other;

[0056] When one of the first pick-and-place mechanism and the second pick-and-place mechanism is located at the first transmission part and the other is located at the second transmission part, the first front end face and the second front end face face face opposite to each other.

[0057] In an optional implementation, there are two annular drive mechanisms, and the two annular drive mechanisms are arranged on the base along the second direction; the second direction intersects with the direction where the first inlet and outlet and the second inlet and outlet are located;

[0058] The first pick-and-place mechanism is connected to one of the annular driving mechanisms, and the second pick-and-place mechanism is connected to the other annular driving mechanism.

[0059] According to a second aspect of an embodiment of the present application, there is provided a device for picking up objects, comprising:

[0060] A base, one end of which has a first inlet and outlet;

[0061] A telescopic mechanism, which is movably arranged on the base and can selectively telescope toward the first inlet and outlet;

[0062] An annular driving mechanism, the annular driving mechanism is arranged on the base;

[0063] A first pick-and-place mechanism, the first pick-and-place mechanism is disposed on the annular driving mechanism, and the first pick-and-place mechanism is configured to extend from the first inlet or outlet or retract to the base under the drive of the annular driving mechanism to retrieve the target object;

[0064] The annular driving mechanism is configured to drive the first pick-and-place mechanism to reciprocate along an annular track on the base so as to extend from the first entrance or retract into the base.

[0065] The telescopic mechanism is configured to drive the annular driving mechanism and the first pick-and-place mechanism to telescope toward the first inlet and outlet directions.

[0066] In an optional implementation, the other end of the base further has a second inlet and outlet, and the first inlet and outlet and the second inlet and outlet are located on opposite sides of the base; the object-retrieving device further includes:

[0067] A second pick-and-place mechanism, the second pick-and-place mechanism is disposed on the annular driving mechanism, and the second pick-and-place mechanism is configured to extend from the second inlet or outlet or retract to the base under the drive of the annular driving mechanism to retrieve the target object;

[0068] The annular drive mechanism is also configured to drive the second pick-and-place mechanism to reciprocate along an annular trajectory on the base to extend from the second inlet or outlet or retract into the base;

[0069] The telescopic mechanism is also configured to drive the annular driving mechanism and the second pick-and-place mechanism to telescope toward the second inlet and outlet directions.

[0070] In an optional implementation, the telescopic mechanism includes:

[0071] A telescopic member, the telescopic member is movably arranged on the base;

[0072] The second driving member is configured to drive the telescopic member to move relative to the base.

[0073] In an optional implementation, the telescopic member includes:

[0074] A first sub-telescopic plate, the first sub-telescopic plate is movably arranged on the base;

[0075] At least one second sub-telescopic plate is slidably connected to the first sub-telescopic plate, and two adjacent second sub-telescopic plates among the plurality of second sub-telescopic plates are slidably connected.

[0076] According to a third aspect of an embodiment of the present application, there is provided a logistics robot, comprising:

[0077] Chassis;

[0078] a gantry, the gantry being arranged on the chassis; and,

[0079] The picking device provided by any optional implementation method of the first aspect of the embodiment of the present application is connected to the door frame, and the picking device can be raised and lowered along the door frame.

[0080] The picking device and logistics robot provided in the embodiments of the present application are configured with a first inlet and outlet at one end of a base, and a ring-shaped driving mechanism is configured on the base, and a first picking and placing mechanism is configured on the ring-shaped driving mechanism; in this way, when it is necessary to retrieve or return a target item, the ring-shaped driving mechanism can drive the first picking and placing mechanism to reciprocate along a ring track on the base, thereby extending from the first inlet and outlet or retracting to the base to complete the retrieval of the target item; in this way, only one ring-shaped driving structure is required to realize the reciprocating drive of the first picking and placing mechanism, which simplifies the structure of the picking device and the logistics robot and can meet the use requirements of different environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0082] Figure 1 It is a schematic diagram of the overall structure of the object-retrieving device provided in an embodiment of the present application;

[0083] Figure 2 It is a structural schematic diagram of the cooperation between the annular driving mechanism and the first picking and placing mechanism and the second picking and placing mechanism in the object picking device provided in an embodiment of the present application;

[0084] Figure 3 This is a simplified structural diagram of the cooperation between the annular transmission member and the first pick-and-place mechanism and the second pick-and-place mechanism in the object-picking device provided in an embodiment of the present application;

[0085] Figure 4 It is another structural diagram of the cooperation between the annular transmission member and the first pick-and-place mechanism and the second pick-and-place mechanism in the object-picking device provided in an embodiment of the present application;

[0086] Figure 5 It is an exploded structural schematic diagram of the annular driving mechanism, the first picking and placing mechanism, the second picking and placing mechanism and the first guide member in the object picking device provided in an embodiment of the present application;

[0087] Figure 6 This is a structural schematic diagram of a first guide member in a picking device provided in an embodiment of the present application;

[0088] Figure 7 This is a front view of a first guide member in the object-picking device provided in an embodiment of the present application;

[0089] Figure 8 This is another front view of the first guide member in the object-picking device provided in an embodiment of the present application;

[0090] Fig. 9 This is a structural schematic diagram of a second guide member in the object-picking device provided in an embodiment of the present application;

[0091] Fig.10 This is another front view of the first guide member in the object-picking device provided in the embodiment of the present application;

[0092] Fig.11 is another structural schematic diagram of the second guide member in the object-picking device provided in an embodiment of the present application;

[0093] Fig.12 This is another front view of the first guide member in the object-picking device provided in the embodiment of the present application;

[0094] Fig.13 This is another front view of the first guide member in the object-picking device provided in the embodiment of the present application;

[0095] Fig.14 This is another structural schematic diagram of the second guide member in the object-picking device provided in an embodiment of the present application;

[0096] Fig.15 This is another front view of the first guide member in the object-picking device provided in the embodiment of the present application;

[0097] Fig.16 This is another structural schematic diagram of the second guide member in the object-picking device provided in an embodiment of the present application;

[0098] Fig.17 is a perspective view of the cooperation between the first guide member and the second guide member in the object-picking device provided in an embodiment of the present application;

[0099] Fig.18 This is another structural diagram of the cooperation between the annular transmission member and the first pick-and-place mechanism and the second pick-and-place mechanism in the object-picking device provided in the embodiment of the present application;

[0100] Fig.19 This is another structural diagram of the cooperation between the annular transmission member and the first pick-and-place mechanism and the second pick-and-place mechanism in the object-picking device provided in the embodiment of the present application;

[0101] Fig. 20 This is another structural diagram of the cooperation between the annular transmission member and the first pick-and-place mechanism and the second pick-and-place mechanism in the object-picking device provided in the embodiment of the present application;

[0102] Fig.21 This is another structural diagram of the cooperation between the annular transmission member and the first pick-and-place mechanism and the second pick-and-place mechanism in the object-picking device provided in the embodiment of the present application;

[0103] Fig. 22 It is a right view of the object-retrieving device provided in an embodiment of the present application.

[0104] Description of reference numerals:

[0105] 10- Retrieving device;

[0106] 110-base; 120-annular driving mechanism; 130-first pick-and-place mechanism; 140-second pick-and-place mechanism; 150-first guide member; 160-support frame; 170-telescopic mechanism;

[0107] 111-first inlet and outlet; 112-second inlet and outlet; 121-first driving member; 122-driving wheel; 123-driven wheel; 124-annular transmission member; 131-first front end face; 132-connecting shaft; 133-force member; 134-second guide member; 135-connecting arm; 141-second front end face; 151-guide groove; 161-support beam; 171-telescopic member; 172-slide rail; 173-second driving member;

[0108] 1241 - first transmission part; 1242 - second transmission part; 1341 - first guide column; 1342 - second guide column; 1343 - third guide column; 1344 - fourth guide column; 1511 - first annular guide groove; 1512 - second annular guide groove; 1513 - third annular guide groove; 1514 - fourth annular guide groove. DETAILED DESCRIPTION

[0109] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0110] It should be noted that many specific details are set forth in the following description to facilitate a full understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific implementation methods disclosed below.

[0111] In the description of the present application, it should be understood that the terms "upper", "lower", "horizontal", "bottom", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In the present application, unless otherwise clearly specified and limited, a first feature being "upper" or "lower" than a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0112] In this application, unless otherwise clearly specified and limited, the terms "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. However, if it is indicated as a direct connection, it means that the two connected entities are not connected through an intermediate structure, but are only connected to form a whole through a connecting structure. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0113] In this application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0114] When moving boxes or target items on the shelves, in order to improve the handling efficiency and reduce the workload, logistics robots are usually used to retrieve and return boxes or target items from the shelves. Logistics robots are important equipment in warehousing. They can automatically place target items (such as boxes) on target carriers (such as shelves) to complete the loading process (such as the box return process), and can also take the target items off the target carrier (such as the box retrieval process) and transport them to the designated location.

[0115] It can be understood that in warehousing and handling, the logistics robot moves in the storage space and takes items from the target carrier or places items on the target carrier. Generally, in order to improve the utilization rate of the storage space, a plurality of target carriers are usually arranged in the storage space, and the plurality of target carriers are arranged at intervals to form lanes, and the logistics robot moves in the lanes to retrieve the target items on the target carrier.

[0116] In some examples, the logistics robot may need to pick up items from target carriers on both sides of the alley. To this end, the relevant technology provides a rotating mechanism on the logistics robot, which drives the picking device of the logistics robot to rotate, thereby turning from one side of the alley to the other side. That is, the logistics robot may be in the alley and pick up target items from both sides of the alley, thereby improving the operating efficiency of the logistics robot.

[0117] However, the overall rotation of the picking device requires a large operating space, and the setting of the rotating mechanism makes the overall structure of the logistics robot more complicated; in some narrow alleys, the logistics robot is difficult to rotate; or, in order to accommodate the rotation of the logistics robot, the width of the alleys between adjacent target vehicles needs to be relatively increased, which is not conducive to full utilization of the storage space.

[0118] Figure 1 is a schematic diagram of the overall structure of the object-retrieving device provided in an embodiment of the present application, Figure 2 It is a structural schematic diagram of the cooperation between the annular drive mechanism and the first pick-up and placement mechanism and the second pick-up and placement mechanism in the object picking device provided in an embodiment of the present application.

[0119] For technical problems existing in related technologies, refer to Figure 1 and Figure 2 As shown, the embodiment of the present application provides a picking device 10, including: a base 110, a ring-shaped driving mechanism 120 and a first picking and placing mechanism 130. In some examples, the picking device 10 may further include a second picking and placing mechanism 140.

[0120] In some examples of the embodiments of the present application, the base 110 may be made of a hard material; for example, in some examples, it may be made of alloys or metal materials such as aluminum alloy, stainless steel or cast iron, and in some examples, it may also be made of hard plastic, such as engineering plastic. The embodiments of the present application are not limited to this.

[0121] It is understood that the base 110 can be used to place, support or transfer target items (such as cargo boxes, material boxes, original boxes, goods themselves, etc.), refer to Figure 1 As shown, in some examples of the embodiments of the present application, one end of the base 110 has a first inlet and outlet 111. In some examples, the other end of the base 110 may also have a second inlet and outlet 112, wherein the first inlet and outlet 111 and the second inlet and outlet 112 are located on opposite sides of the base 110.

[0122] For example, refer to Figure 1 As shown, the first inlet and outlet 111 and the second inlet and outlet 112 can be arranged along Figure 1The direction indicated by the x-axis is set on both sides of the base 110. In some examples, the directions of the first entrance 111 and the second entrance 112 may intersect with the extension direction of the lane in the storage space (in some examples, it may be vertical or approximately vertical), so that the first entrance 111 may be close to a target position on one side of the lane (such as a shelf, a workbench, or a temporary storage board of a handling robot), and the second entrance 112 may be close to a target position on the other side of the lane, so as to facilitate the retrieval of target items from the first entrance 111 and the second entrance 112 respectively.

[0123] In some examples of the embodiments of the present application, the annular drive mechanism 120 may be disposed on the base 110. Here, it should be noted that the annular drive mechanism 120 may be directly disposed on the base 110, and in some examples, the annular drive mechanism 120 may also be indirectly disposed on the base 110.

[0124] Reference Figure 1 As shown, in some optional examples of the embodiments of the present application, the first pick-and-place mechanism 130 can be arranged on the annular driving mechanism 120, and the annular driving mechanism 120 is used to drive the first pick-and-place mechanism 130 to extend from the first inlet and outlet 111 or to retract the base 110, so as to retrieve the target item. In some application scenarios, when the annular driving mechanism 120 drives the first pick-and-place mechanism 130, the first pick-and-place mechanism 130 can reciprocate along the annular track on the base 110, so as to extend the base 110 to the first inlet and outlet 111, or retract the base 110 from the first inlet and outlet 111. It should be noted here that the reciprocating motion of the first pick-and-place mechanism 130 on the base along the annular track can be reciprocating motion along a part of the annular track; in some examples, the first pick-and-place mechanism 130 can also be reciprocating motion along a complete annular track of the annular, and the embodiments of the present application are not limited to this.

[0125] For example, refer to Figure 1 As shown, in some specific application scenarios, taking the target object from the target position is used as an example to illustrate:

[0126] After receiving the order information or the location information of the target item sent by the host computer, the logistics robot moves to the lane where the target item is located. At this time, the annular drive mechanism 120 drives the first pick-and-place mechanism 130 to extend out of the base 110 from the first entrance 111 and move to the target position. After the first pick-and-place mechanism 130 contacts the target item, the annular drive mechanism 120 drives the first pick-and-place mechanism 130 to return from the first entrance 111 to the base 110. At this time, the first pick-and-place mechanism 130 acts on the target item and drives the target item to move into the base 110. After the target item moves into the base 110, the annular drive mechanism 120 stops driving the first pick-and-place mechanism 130.

[0127] It can be understood that the process of returning the target object by the first picking and placing mechanism 130 can be the same as or similar to the process of the first picking and placing mechanism 130 picking up the target object in the aforementioned embodiment of the present application. For example, the annular driving mechanism 120 can drive the first picking and placing mechanism 130, and the first picking and placing mechanism 130 drives the target object on the base 110 to move toward the first entrance 111. After the first picking and placing mechanism 130 extends out of the base 110 from the first entrance 111 and moves to the target position, the first picking and placing mechanism 130 releases the force on the target object; then, the annular driving mechanism 120 drives the first picking and placing mechanism 130 to return from the first entrance 111 to the base 110, thereby completing the process of returning the target object.

[0128] In some other optional examples of the embodiments of the present application, two annular driving mechanisms 120 may also be provided, and the first picking and placing mechanism 130 is connected to one of the annular driving mechanisms 120, and is extended from the first inlet and outlet 111 or retracted into the base 110 under the drive of the annular driving mechanism 120; the second picking and placing mechanism 140 may be connected to the other annular driving mechanism 120, and is extended from the second inlet and outlet 112 or retracted into the base 110 under the drive of the annular driving mechanism 120.

[0129] The object-picking device 10 provided in the embodiment of the present application is configured by setting a first inlet and outlet 111 at one end of a base 110, and setting an annular driving mechanism 120 on the base 110, and a first picking and placing mechanism 130 on the annular driving mechanism 120; in this way, when it is necessary to retrieve or return a target item, the annular driving mechanism 120 can drive the first picking and placing mechanism 130 to reciprocate along an annular trajectory on the base, thereby extending from the first inlet and outlet 111 or retracting into the base 110 to complete the retrieval of the target item; in this way, only one annular driving structure is required to realize the reciprocating drive of the first picking and placing mechanism, which simplifies the structure of the object-picking device and the logistics robot and can meet the use requirements of different environments.

[0130] In addition, in the embodiment of the present application, a second inlet and outlet 112 is provided at the other end of the picking device 10 opposite to the first inlet and outlet 111, and a second pick-up and placement mechanism 140 is provided on the annular transmission member 124. In this way, when picking up and returning the target item, the annular drive mechanism 120 can also drive the second pick-up and placement mechanism 140 to reciprocate along the annular trajectory on the base 110, and extend from the second inlet and outlet 112 or retract to the base 110 to complete the picking up and returning of the target item; that is, for the target items on both sides of the logistics robot, the picking device 10 can pick up and return the target items on one side from the first inlet and outlet 111 through the first pick-up and placement mechanism 130, and the picking device 10 can also pick up and return the target items on the other side from the second inlet and outlet 112 through the second pick-up and placement mechanism 140; compared with the related art, the target items can be picked up and returned from two directions respectively, and there is no need to set a rotating mechanism to rotate the picking device 10, which simplifies the overall structure of the logistics robot and reduces the space occupied by the picking device 10 during operation, so as to meet the use requirements of some narrow alley use environments and improve the adaptability of the logistics robot to the use requirements of different environments.

[0131] Reference Figure 1 and Figure 2 As shown, in some examples of the embodiments of the present application, the annular drive mechanism 120 includes: a first drive member 121, a driving wheel 122 (in some examples, it may also be called a sprocket), a driven wheel 123 (in some examples, it may also be called an idler wheel) and an annular transmission member 124. Among them, the first drive member 121 can be arranged on the base 110; it can be understood that the first drive member 121 can be directly connected to the base 110; in some examples, the first drive member 121 can also be indirectly connected to the base 110 through other components. In addition, in some examples of the embodiments of the present application, the first drive member 121 can be relatively fixed to the base 110, or, in other examples, the first drive member 121 can also be movably arranged on the base 110.

[0132] It can be understood that in some examples of the embodiments of the present application, the first driving member 121 can be a motor that can rotate forward and reverse. For example, the first driving member 121 can be a stepping motor, a servo motor, or a synchronous motor.

[0133] In the embodiment of the present application, the driving wheel 122 is connected to the output shaft of the first driving member 121. In some examples, the driving wheel 122 can be fixedly connected to the output shaft of the first driving member 121; as an optional example, the driving wheel 122 can be fixedly connected to the output shaft of the first driving member 121 through a spline.

[0134] In some examples of the embodiments of the present application, the driven wheel 123 is rotatably disposed on the base 110; that is, the driven wheel 123 can rotate relative to the base 110. It is understood that the driven wheel can be rotatably connected to the base 110 via a rotating shaft; in some examples, the rotating shaft of the driven wheel 123 can be disposed on other components connected to the base 110 and rotate relative to the other components, that is, the driven wheel 123 can be indirectly rotatably connected relative to the base 110.

[0135] Reference Figure 1 As shown, in some examples of the embodiments of the present application, the driving wheel 122 and the driven wheel 123 are arranged along a first direction, wherein the first direction may be the direction where the first inlet and outlet 111 and the second inlet and outlet 112 are located; Figure 1 As shown, as an example, the first direction can be Figure 1 The direction shown on the x-axis.

[0136] In some examples of the embodiments of the present application, the annular transmission member 124 is sleeved on the driving wheel 122 and the driven wheel 123, that is, the driving wheel 122 and the driven wheel 123 tension the annular transmission member 124, and when the first driving member 121 drives the driving wheel 122 to rotate, the driving wheel 122 drives the annular transmission member 124 and the driven wheel 123 to rotate.

[0137] Reference Figure 1 and Figure 2 As shown, the first and second retrieval mechanisms are connected to the annular transmission member 124, so that when the driving wheel 122 drives the annular transmission member 124 to rotate, the annular transmission member 124 drives the first retrieval mechanism 130 to extend from the first inlet and outlet 111 or retract to the base 110. Figure 1 and Figure 2 As shown, the first driving member 121 drives the annular transmission member 124 along Figure 2 When rotating in the direction indicated by the middle arrow a, the first pick-and-place mechanism 130 extends out of the base 110 from the first inlet and outlet 111, and the second pick-and-place mechanism 140 retracts back into the base 110 from the second inlet and outlet 112; the first driving member 121 drives the annular transmission member 124 along Figure 2 When rotating in the direction indicated by the middle arrow b, the first pick-and-place mechanism 130 retracts from the first entrance 111 to the base 110 ; and the second pick-and-place mechanism 140 extends from the second entrance 112 to the base 110 .

[0138] In some examples of the embodiments of the present application, the annular transmission member 124 may be a chain, a transmission belt or a timing belt; it is understood that in the embodiments of the present application, a chain is used as an example, and the specific type of the annular transmission member 124 is not limited. When the annular transmission member 124 is a chain, the driving wheel 122 and the driven wheel 123 may both be gears.

[0139] In some optional examples, the rotation axes of the driving wheel 122 and the driven wheel 123 can be arranged vertically or approximately vertically to the surface of the base 110; that is, the rotation plane of the annular transmission member 124 (which can be understood as the annular surface of the annular transmission member 124) can be parallel or approximately parallel to the base 110. It should be noted here that in the embodiments of the present application, "vertical" and "parallel" are only approximate values, and those skilled in the art can understand that in actual processing and production, due to tolerances or errors in the processing technology, a certain degree of deflection is allowed. This part of the deflection can be ignored by those skilled in the art.

[0140] In the embodiment of the present application, an annular transmission member 124 is sleeved on the driving wheel 122 and the driven wheel 123, and the driven wheel 123 is rotatably arranged on the base 110; the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 are connected to the annular transmission member 124; in this way, when the first driving member 121 drives the driving wheel 122 to rotate, the driving wheel 122 drives the annular transmission member 124 to rotate, so that when the first pick-and-place mechanism 130 extends out of the base 110 from the first inlet and outlet 111, the second pick-and-place mechanism 140 extends out of the first inlet and outlet 111. The second inlet and outlet 112 retracts into the base 110; and when the first pick-and-place mechanism 130 retracts into the base 110 from the first inlet and outlet 111, the second pick-and-place mechanism 140 extends out of the base 110 from the second inlet and outlet 112; that is, the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 are linked through the annular transmission member 124; the setting of the driving member can be effectively reduced, and the overall structure of the picking device 10 can be simplified, thereby reducing the space occupied by the picking device 10 and the logistics robot for operation, and improving the applicability of the logistics robot in multiple scenarios.

[0141] It can be understood that in some examples, when there are two annular drive mechanisms 120, the two annular drive mechanisms 120 can be arranged side by side along the second direction, wherein the second direction and the first direction can intersect. Figure 1 As shown, the second direction can be Figure 1 direction shown by the middle y-axis; at this time, the two annular transmission members 124 can be arranged side by side along the second direction, the first pick-and-place mechanism 130 can be set on one of the annular transmission members 124, and the second pick-and-place mechanism 140 can be set on the other annular transmission member 124.

[0142] In some examples of the embodiments of the present application, refer to Figure 1 and Figure 2 As shown, the rotation plane of the annular transmission member 124 intersects with the base 110. Figure 1 As shown, as an example, the rotation plane of the annular transmission member 124 can be Figure 1Alternatively, the rotation plane of the annular transmission member 124 is perpendicular or approximately perpendicular to the base 110, that is, the rotation axes of the driving wheel 122 and the driven wheel 123 can be arranged parallel or approximately parallel to the surface of the base 110. Figure 2 As shown, the annular transmission member 124 has a first transmission part 1241 and a second transmission part 1242, wherein the first transmission part 1241 is far away from the base 110, and the second transmission part 1242 is close to the base 110. That is, the first transmission part 1241 and the second transmission part 1242 can be arranged along a vertical plane.

[0143] It can be understood that when the annular transmission member 124 rotates, the annular transmission member 124 can drive the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 to switch positions between the first transmission part 1241 and the second transmission part 1242. In other words, the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 can rotate from the first transmission part 1241 to the second transmission part 1242; or, the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 can also rotate from the second transmission part 1242 to the first transmission part 1241.

[0144] For example, refer to Figure 1 and Figure 2 As shown in FIG. 1 , during the process in which the second pick-and-place mechanism 140 extends from the second inlet and outlet 112 to the base 110 to retrieve the target object, the first driving member 121 can drive the annular transmission member 124 to move along the Figure 2 Rotate in the direction indicated by the middle arrow b. At this time, the first retrieval mechanism can rotate and move from the side of the driving wheel 122 away from the driven wheel 123 to the second transmission part 1242; accordingly, the second retrieval mechanism can move from the side of the driven wheel 123 away from the driving wheel 122 to the first transmission part 1241, and move toward the second entrance 112.

[0145] In some examples, during the process of the first pick-and-place mechanism 130 retreating toward the base 110, the second pick-and-place mechanism 140 is configured to move from the first transmission part 1241 to the second transmission part 1242, and the second pick-and-place mechanism 140 moves from the side away from the first entrance 111 to the side close to the first entrance 111. For example, in the early stage of the first pick-and-place mechanism 130 retreating to the base 110, the second pick-and-place mechanism 140 and the first pick-and-place mechanism 130 can be located at the first transmission part 1241, and the second pick-and-place mechanism 140 is located on the side of the first pick-and-place mechanism 130 away from the first inlet and outlet 111. As the first driving member 121 drives the annular transmission member 124, the annular rotating member rotates with the driving wheel 122, and the first pick-and-place mechanism 130 gradually retreats toward the base 110; at this time, the second pick-and-place mechanism 140 can move from the first transmission part 1241 to the second transmission part 1242 with the rotation of the annular transmission member 124; as the annular transmission member 124 continues to rotate, the second pick-and-place mechanism 140 moved to the second transmission part 1242 moves toward the first inlet and outlet 111 with the annular transmission member 124.

[0146] It can be understood that in other application scenarios, during the process of the second pick-and-place mechanism 140 retreating toward the base 110, the first pick-and-place mechanism 130 is configured to move from the first transmission part 1241 to the second transmission part 1242, and the first pick-and-place mechanism 130 moves from the side away from the second entrance and exit 112 to the side close to the second entrance and exit 112.

[0147] In the embodiment of the present application, the process of the second picking and placing mechanism 140 retreating toward the base 110 is similar to the process of the first picking and placing mechanism 130 retreating toward the base 110. For details, please refer to the detailed description of the first picking and placing mechanism 130 in the previous embodiment of the present application, and the embodiment of the present application will not repeat it again.

[0148] In the embodiment of the present application, the rotation plane of the annular transmission member 124 is set to intersect with the base 110, so that the annular transmission member 124 has a first transmission part 1241 away from the base 110 and a second transmission part 1242 close to the base 110; in the process of the first pick-and-place mechanism 130 retreating toward the base 110, the second pick-and-place mechanism 140 moves from the first transmission part 1241 to the second transmission part 1242; in this way, the second pick-and-place mechanism 140 moves on the second transmission part 1242 close to the first inlet and outlet 111, and there is a height difference between the first transmission part 1241 and the second transmission part 1242. That is, there is a height difference between the second pick-and-place mechanism 140 and the first pick-and-place mechanism 130, which can effectively prevent the second pick-and-place mechanism 140 from interfering with the target item carried on the first pick-and-place mechanism 130, ensure the effectiveness of the first pick-and-place mechanism 130 in retrieving the target item, and prevent the target item from falling off the first pick-and-place mechanism 130; accordingly, in the process of the second pick-and-place mechanism 140 returning to the base 110, the first pick-and-place mechanism 130 can also move from the first transmission part 1241 to the second transmission part 1242, so as to avoid interfering with the target item carried on the second pick-and-place mechanism 140.

[0149] Figure 3 This is a simplified structural diagram of the cooperation between the annular transmission member and the first pick-and-place mechanism and the second pick-and-place mechanism in the object-picking device provided in an embodiment of the present application. Figure 4 This is another structural diagram of the cooperation between the annular transmission member and the first pick-and-place mechanism and the second pick-and-place mechanism in the object-picking device provided in an embodiment of the present application.

[0150] Reference Figure 3 and Figure 4 As shown, in some examples of the embodiments of the present application, the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 are fixedly connected to the annular transmission member 124; that is, in some examples of the embodiments of the present application, the first pick-and-place mechanism 130 is fixedly connected to the annular transmission member 124, and in addition, the second pick-and-place mechanism 140 is fixedly connected to the annular transmission member 124.

[0151] In some examples, the first pick-and-place mechanism 130 has a first front end surface 131, and the first front end surface 131 is the end of the first pick-and-place mechanism 130 that interacts with the target object. As a specific example, the first pick-and-place mechanism 130 may be a suction cup, and the first front end surface 131 may be the end of the suction cup that adsorbs the target object; or, in some examples, the first pick-and-place mechanism 130 may also be a hook or an electromagnet. The first front end surface 131 may be the end of the hook or the electromagnet that interacts with the target object.

[0152] It can be understood that the second pick-and-place mechanism 140 has a second front end face 141, and the second front end face 141 is an end of the second pick-and-place mechanism 140 that interacts with the target object. It can be understood that in some examples, the specific structure of the second pick-and-place mechanism 140 can be the same or similar to that of the first pick-and-place mechanism 130. For details, please refer to the detailed description of the first pick-and-place mechanism 130 in the previous embodiment of the present application, and the present embodiment will not repeat it in detail.

[0153] In some examples, when the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 are both suction cups, a vacuum module can be provided on the base 110, and each suction cup is connected to an air pipe, which is connected to the vacuum module. The suction cup is evacuated or inflated by the vacuum module, so that the suction cup applies force to the target object, or the suction cup releases the force on the target object.

[0154] Reference Figure 3 As shown, in some application scenarios of the embodiments of the present application, the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 can be both located on the first transmission part 1241. For example, when the first pick-and-place mechanism 130 extends out of the base 110 from the first inlet and outlet 111, the second pick-and-place mechanism 140 can be driven by the annular transmission member 124 to move to the first transmission part 1241, so that the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 are both located on the first transmission part 1241; Figure 3 As shown, at this time, the first front end face 131 and the second front end face 141 face opposite to each other. For example, the first front end face 131 faces the first inlet and outlet 111, while the second front end face 141 faces the second inlet and outlet 112.

[0155] Reference Figure 4 As shown, when one of the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 is located at the first transmission part 1241 and the other is located at the second transmission part 1242, the first front end face 131 and the second front end face 141 are oriented in the same direction. Figure 4 For example, when the second pick-and-place mechanism 140 rotates to the second transmission part 1242 with the annular transmission member 124, since the second pick-and-place mechanism 140 is fixedly connected to the annular transmission member 124, the second pick-and-place mechanism 140 flips over with the annular transmission member 124, that is, the second pick-and-place mechanism 140 located above the annular transmission member 124 flips to the bottom of the annular transmission member 124, so that the first front end face 131 and the second front end face 141 face the same direction, for example, the first front end face 131 faces the first inlet and outlet 111, and the second front end face 141 also faces the first inlet and outlet 111.

[0156] It is understandable that in some application scenarios, the second pick-and-place mechanism 140 may be located in the first transmission part 1241 , and the first pick-and-place mechanism 130 may be located in the second transmission part 1242 . In this case, the second front end face 141 faces the second inlet and outlet 112 , and the first front end face 131 also faces the second inlet and outlet 112 .

[0157] In the embodiment of the present application, the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 are fixedly connected to the annular transmission member 124. When the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 are both located on the first transmission part 1241, the first front end face 131 and the second front end face 141 face opposite to each other; when one of the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 is located on the first transmission part 1241 and the other is located on the second transmission part 1242, the first front end face 131 and the second front end face 141 face the same direction. In this way, it is convenient to set the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140, improve the assembly and installation efficiency of the object-picking device 10, and simplify the overall structure of the object-picking device 10.

[0158] Figure 5 It is a schematic diagram of the exploded structure of the annular driving mechanism, the first picking and placing mechanism, the second picking and placing mechanism and the first guide member in the picking device provided in an embodiment of the present application.

[0159] Reference Figure 5 As shown, in some examples of the embodiments of the present application, the object-retrieving device 10 further includes: a first guide member 150; Figure 1 As shown, in the embodiment of the present application, the first guide member 150 may be disposed on the base 110, and the first guide member 150 extends along the first direction; wherein the driving wheel 122 and the driven wheel 123 are rotatably disposed on the first guide member 150. That is to say, in some examples of the embodiment of the present application, the rotation axis of the driving wheel 122 and the driven wheel 123 may be parallel or approximately parallel to the base 110, so that the rotation plane of the annular transmission member 124 is perpendicular or approximately perpendicular to the base 110, so that the first transmission part 1241 and the second transmission part 1242 of the annular transmission member 124 have a certain height difference, thereby avoiding the mutual interference between the first retrieval mechanism and the second retrieval mechanism when they are driven by the annular transmission member 124 to move in a linked manner, and ensuring that the target item can be effectively retrieved.

[0160] It can be understood that the structures of the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 in the embodiments of the present application can be the same or similar. The first pick-and-place mechanism 130 is used as an example for explanation in the embodiments of the present application, wherein the structure of the second pick-and-place mechanism 140 can refer to the detailed description of the first pick-and-place mechanism 130 in the embodiments of the present application.

[0161] Reference Figure 5As shown, in some examples of the embodiments of the present application, the first pick-and-place mechanism 130 includes: a connecting shaft 132 and a force-applying member 133. The connecting shaft 132 is provided through the annular transmission member 124, and the connecting shaft 132 is rotatably connected to the annular transmission member 124. In some optional examples, an axial hole may be provided on the annular transmission member 124, and the connecting shaft 132 is provided in the axial hole and rotatably connected to the axial hole.

[0162] Understandable, refer to Figure 5 As shown, the annular transmission member 124 has a rotation center axis i, and the annular transmission member 124 rotates around the rotation center axis i when rotating; wherein, the driving wheel 122 has a first rotation axis i1, and the driven wheel 123 has a second rotation axis i2; it can be understood that the rotation center axis i is located at the midpoint of the line connecting the first rotation axis i1 and the second rotation axis i2, in other words, the first rotation axis i1 and the second rotation axis i2 are symmetrical relative to the rotation center axis i.

[0163] In the embodiment of the present application, the axis of the connecting shaft 132 or the axis of the shaft hole provided on the annular transmission member 124 may be parallel or approximately parallel to the rotation center axis i.

[0164] So, refer to Figure 2 As shown, the annular transmission member 124 is along Figure 2 When rotating in the direction indicated by the middle arrow b, the first transmission part 1241 away from the base 110 bypasses the driving wheel 122 and flips over. For example, the side of the first transmission part 1241 away from the base 110 is the side of the second transmission part 1242 close to the base 110 when it rotates to the second transmission part 1242; in this embodiment of the present application, the connecting shaft 132 is configured to be rotatably connected to the annular transmission member 124; in this way, in the process of the first transmission part 1241 bypassing the driving wheel 122 and flipping over, the connecting shaft 132 can rotate with the annular transmission part, that is, the connecting shaft 132 can maintain the relative angle with the base 110 or the first guide member 150 unchanged, and only the annular transmission member 124 flips over.

[0165] In some examples, when the annular transmission member 124 rotates, the force applying member 133 is driven by the connecting shaft 132 to switch positions between the first transmission part 1241 and the second transmission part 1242; for example, referring to Figure 2 As shown, the annular transmission member 124 is along Figure 2When rotating in the direction indicated by the arrow b, the connecting shaft 132 drives the force applying member 133 (the force applying member 133 corresponding to the first pick-and-place mechanism 130) to move from the first transmission part 1241 to the second transmission part 1242; or, the connecting shaft 132 drives the force applying member 133 (the force applying member 133 corresponding to the second pick-and-place mechanism 140) to move from the second transmission part 1242 to the first transmission part 1241. At this time, the connecting shaft 132 can rotate relative to the annular transmission member 124, so as to maintain the relative angle between the force applying member 133 and the base 110.

[0166] Reference Figure 5 As shown, in the embodiment of the present application, the force member 133 is connected to the connecting shaft 132, and the force member 133 is configured to apply a force to the target object. It is understandable that the force member 133 can be a component such as a suction cup, a hook or an electromagnet described in the aforementioned embodiment of the present application, and the embodiment of the present application will not be repeated. It is understandable that in order to facilitate the force member 133 to provide a force on the target object and improve the stability of the force member 133 applying the force to the target object, generally, the action position of the force member 133 and the target object can be set near the middle of the target object. In other words, when the first pick-and-place mechanism 130 retrieves and returns the target object, the position of the force member 133 can be higher than the first transmission part 1241, that is, the force member 133 can extend away from the base 110 along the radial direction of the connecting shaft 132.

[0167] In the embodiment of the present application, the force-applying member 133 is rotatably connected to the annular transmission member 124 through the connecting shaft 132, and a first guide member 150 is provided on the base 110, and at least a portion of the connecting shaft 132 is inserted into the first guide member 150; in this way, when the annular transmission member 124 drives the force-applying member 133 to move from the first transmission part 1241 to the second transmission part 1242, or from the second transmission part 1242 to the first transmission part 1241 through the connecting shaft 132, the connecting shaft 132 can be connected to the annular transmission member 124 through the connecting shaft 132. The force-applying member 133 rotates between the first transmission member 1241 and the second transmission member 1242, and the force-applying member 133 is maintained by the first guide member 150 so as not to flip over with the annular transmission member 124, that is, the connecting shaft 132 maintains the relative angle between the force-applying member 133 and the base 110 unchanged through the first guide member 150; in this way, after the position of the force-applying member 133 moves from the first transmission member 1241 to the second transmission member 1242, the force-applying member 133 is still maintained on the side of the annular transmission member 124 away from the base 110; the space required for the force-applying member 133 to flip over can be reduced, thereby reducing the overall volume of the object-picking device 10.

[0168] Figure 6 is a structural schematic diagram of a first guide member in a picking device provided in an embodiment of the present application, Figure 7 It is a front view of the first guide member in the object picking device provided in an embodiment of the present application.

[0169] Reference Figures 5 to 7 As shown, in some examples of the embodiments of the present application, the first pick-and-place mechanism 130 may also include a second guide member 134, the second guide member 134 is located between the annular transmission member 124 and the first guide member 150, the second guide member 134 is movably connected to the first guide member 150, and the second guide member 134 is fixedly connected to the connecting shaft 132.

[0170] In some examples of the embodiments of the present application, a guide groove 151 is provided on one side of the first guide member 150 close to the annular transmission member 124, and the second guide member 134 is inserted into the guide groove 151 and can move relative to the first guide member 150 along the guide groove 151. It can be understood that in the embodiments of the present application, driven by the annular transmission member 124, the movement trajectory of the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 is the same as that of the annular transmission member 124. Therefore, in the embodiments of the present application, referring to Figure 6 and Figure 7 As shown, the guide groove 151 can also be set as an annular guide groove 151 matching the annular transmission member 124.

[0171] In the embodiment of the present application, the second guide member 134 is configured to cooperate with the guide groove 151 to maintain the relative angle between the force applying member 133 and the base 110 when the force applying member 133 switches positions between the first transmission portion 1241 and the second transmission portion 1242 .

[0172] For example, in some examples, during the process in which the annular transmission member 124 drives the force-applying member 133 to move from the first transmission part 1241 to the second transmission part 1242, or during the process in which the annular transmission member 124 drives the force-applying member 133 to move from the second transmission part 1242 to the first transmission part 1241, the second guide member 134 and the guide groove 151 rub against each other and do not rotate, while the connecting shaft 132 and the annular transmission member 124 rotate, thereby maintaining the relative angle between the force-applying member 133 and the base 110. In other words, the friction between the second guide member 134 and the inner wall of the guide groove 151 may be greater than the rotational friction between the connecting shaft 132 and the annular transmission member 124, thereby causing the connecting shaft 132 and the annular transmission member 124 to rotate, while the second guide member 134 and the first guide member 150 do not rotate.

[0173] In this way, the number of guide grooves 151 that need to be set can be reduced, the structure of the picking device 10 can be simplified, the processing efficiency of the picking device 10 can be improved, and the production cost can be saved.

[0174] Figure 8 is another front view of the first guide member in the object-picking device provided in an embodiment of the present application, Fig. 9 It is a structural schematic diagram of the second guide member in the object-picking device provided in an embodiment of the present application.

[0175] Reference Figure 8 and Fig. 9 As shown, in some examples of the embodiments of the present application, the guide groove 151 includes: a first annular guide groove 1511 and a second annular guide groove 1512. The first annular guide groove 1511 is eccentrically arranged on one side of the rotation center axis; the second annular guide groove 1512 is eccentrically arranged on the other side of the rotation center axis; the second guide member 134 has a first guide column 1341 and a second guide column 1342, the first guide column 1341 is inserted in the first annular guide groove 1511, the second guide column 1342 is inserted in the second annular guide groove 1512, the first guide column 1341 is configured to move along the first annular guide groove 1511, and the second guide column 1342 is configured to move along the second annular guide groove 1512.

[0176] For some examples, refer to Figure 8 As shown, the first annular guide groove 1511 can be arranged along the height direction of the first guide member 150 (eg Figure 8 The direction shown by the y-axis) is determined by the rotation center axis (eg Figure 8 The second annular guide groove 1512 may be eccentric downward from the rotation center axis along the height direction of the first guide member 150, thereby causing the first annular guide groove 1511 and the second annular guide groove 1512 to be misaligned.

[0177] Reference Figure 2 , Figure 8 and Fig. 9As described above, it can be understood that in the process of the annular transmission member 124 driving the connecting shaft 132 to move from the first transmission part 1241 to the second transmission part 1242, or driving the connecting shaft 132 to move from the second transmission part 1242 to the first transmission part 1241; the first guide column 1341 moves along the first annular guide groove 1511, and the second guide column 1342 moves along the second annular guide groove 1512, so that on the side opposite to the driving wheel 122 and the driven wheel 123, or on the side opposite to the driving wheel 123; the first guide column 1341 and the second guide column 1342 move along their respective guide grooves 151, so that the first annular guide groove 1511 is moved. 511 can limit the moving trajectory of the first guide column 1341, and the second guide ring guide groove 151 can limit the moving trajectory of the second guide column 1342; after the connecting shaft 132 moves from the first transmission part 1241 to the second transmission part 1242, the first guide column 1341 located at the top is still located at the top, and the second guide column 1342 located at the bottom is still located at the bottom, and the second guide member 134 will not flip over. Therefore, the connecting shaft 132 fixedly connected to the second guide member 134 will not flip over, so that the relative angles of the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 relative to the first guide member 150 or the base 110 remain unchanged.

[0178] It can be understood that in the embodiment of the present application, the first annular guide groove 1511 and the second annular guide groove 1512 can intersect with each other, that is, the rotation center axis is located within the region where the first annular guide groove 1511 and the second annular guide groove 1512 intersect with each other. Of course, in some examples, the first annular guide groove 1511 and the second annular guide groove 1512 can also be arranged side by side in the vertical direction, and the first annular guide groove 1511 and the second annular guide groove 1512 have no cross interference.

[0179] Fig.10 This is another front view of the first guide member in the object-picking device provided in the embodiment of the present application. Fig.11 This is another structural schematic diagram of the second guide member in the object-picking device provided in an embodiment of the present application.

[0180] Reference Fig.10 and Fig.11 As shown, refer to Fig.10 As shown, the first annular guide groove 1511 may also be arranged along the length direction of the first guide member 150 (eg Fig.10 The direction indicated by the x-axis in the middle, which may also be referred to as the extension direction of the first guide member 150 in some examples, is eccentric to one side of the rotation center axis; the second annular guide groove 1512 may be eccentric to the other side of the rotation center axis along the length direction of the first guide member 150. In some examples, referring to Fig.10As shown, portions of the first annular guide groove 1511 and the second annular guide groove 1512 may overlap.

[0181] Reference Fig.11 As shown, in the embodiment of the present application, the first guide column 1341 and the second guide column 1342 can be arranged along the length direction of the first guide member 150. In the process that the annular transmission member 124 drives the connecting shaft 132 to move from the first transmission part 1241 to the second transmission part 1242, or drives the connecting shaft 132 to move from the second transmission part 1242 to the first transmission part 1241; the movement mode of the first guide column 1341 and the second guide column 1342 is the same or similar to the above-mentioned embodiment of the present application, and the mutual position relationship between the first guide column 1341 and the second guide column 1342 will not be flipped, that is, the second guide member 134 will not be flipped, therefore, the connecting shaft 132 fixedly connected to the second guide member 134 will not be flipped, so that the relative angles of the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 relative to the first guide member 150 or the base 110 remain unchanged.

[0182] Fig.12 This is another front view of the first guide member in the object picking device provided in the embodiment of the present application.

[0183] Reference Fig.12 and Fig.13 In some examples of the embodiments of the present application, one of the first annular guide groove 1511 and the second annular guide groove 1512 can be eccentric along the height direction of the first guide member 150, and the first annular guide groove 1511 and the second annular guide groove 1512 can be eccentric along the length direction of the first guide member 150. That is to say, in the embodiments of the present application, it is only necessary to ensure that the first annular guide groove 1511 and the second annular guide groove 1512 are misaligned; wherein, the arrangement and movement of the first guide column 1341 and the second guide column 1342 on the second guide member 134 can refer to the detailed description of the aforementioned embodiments of the present application, and the embodiments of the present application will not be repeated.

[0184] Fig.13 This is another front view of the first guide member in the object-picking device provided in the embodiment of the present application. Fig.14 This is another structural schematic diagram of the second guide member in the object-picking device provided in an embodiment of the present application.

[0185] Reference Fig.13 and Fig.14 As shown, in some examples of the embodiments of the present application, the guide groove 151 further includes: a third annular guide groove 1513, the third annular guide groove 1513 is misaligned with the first annular guide groove 1511, and the third annular guide groove 1513 is misaligned with the second annular guide groove 1512;

[0186] The second guide member 134 further has a third guide post 1343 . The third guide post 1343 is inserted into the third annular guide groove 1513 , and the third guide post 1343 is configured to move along the third annular guide groove 1513 .

[0187] As an optional example of the embodiment of the present application, refer to Fig.13 As shown, the first annular guide groove 1511 and the second annular guide groove 1512 are arranged in the vertical direction, and the first annular guide groove 1511 and the second annular guide groove 1512 intersect each other; the third annular guide groove 1513 is located between the first annular guide groove 1511 and the second annular guide groove 1512.

[0188] In other examples, refer to Fig.13 As shown, the third annular guide groove 1513 is eccentrically arranged on one side of the rotation center axis along the extension direction of the first guide member 150 ; in addition, the third annular guide groove 1513 intersects with the first annular guide groove 1511 and the second annular guide groove 1512 .

[0189] It can be understood that in the embodiment of the present application, the first guide column 1341 moves in the first annular guide groove 1511, the second guide column 1342 moves in the second annular guide column, and the third guide column 1343 moves in the third annular guide groove 1513, which is similar to the first guide column 1341 moving in the first annular guide groove 1511 and the second guide column 1342 moving in the second annular guide groove 1512 in the aforementioned embodiment of the present application, and the embodiment of the present application will not be repeated here.

[0190] The embodiment of the present application sets a first annular guide groove 1511, a second annular guide groove 1512 and a third annular guide groove 1513; and sets a first guide column 1341, a second guide column 1342 and a third guide column 1343 on the second guide member 134; the first guide column 1341 moves in the first annular guide groove 1511, the second guide column 1342 moves in the second annular guide groove 1512, and the third guide column 1343 moves in the third annular guide groove 1513; in this way, the second guide member 134 is limited by three points, which improves the stability of the second guide member 134 moving with the annular transmission member 124, that is, the stability of the first pick-and-place mechanism 130 or the second pick-and-place mechanism 140 applying a force to the target object is improved, and the success rate of retrieving the target object is improved.

[0191] Fig.15 This is another front view of the first guide member in the object-picking device provided in the embodiment of the present application. Fig.16 is another structural schematic diagram of the second guide member in the object-picking device provided in an embodiment of the present application. Fig.17 It is a perspective view of the cooperation between the first guide member and the second guide member in the object picking device provided in an embodiment of the present application.

[0192] Reference Figure 15-17 As shown, in some other examples of the embodiments of the present application, the guide groove 151 also includes: a fourth annular guide groove 1514, wherein the fourth annular guide groove 1514 is offset from the first annular guide groove 1511, the second annular guide groove 1512 and the third annular guide groove 1513.

[0193] The second guide member 134 further has a fourth guide post 1344 . The fourth guide post 1344 is inserted into the fourth annular guide groove 1514 . The fourth guide post 1344 is configured to move along the fourth annular guide groove 1514 .

[0194] In some optional examples, refer to Fig.15 As shown, the first annular guide groove 1511 and the second annular guide groove 1512 are arranged in the vertical direction, and the first annular guide groove 1511 and the second annular guide groove 1512 intersect each other; the third annular guide groove 1513 is located between the first annular guide groove 1511 and the second annular guide groove 1512, and the third annular guide groove 1513 is eccentrically arranged on one side of the rotation center axis along the extension direction of the first guide member 150; the third annular guide groove 1513 intersects with the first annular guide groove 1511 and the second annular guide groove 1512; the fourth annular guide groove 1514 is located between the first annular guide groove 1511 and the second annular guide groove 1512, and the fourth annular guide groove 1514 is eccentrically arranged on the other side of the rotation center axis along the extension direction of the first guide member 150; the fourth annular guide groove 1514 intersects with the first annular guide groove 1511 and the second annular guide groove 1512, and a portion of the fourth annular guide groove 1514 overlaps with the third annular guide groove 1513.

[0195] The process of the annular transmission member 124 driving the first pick-and-place mechanism 130 to move from the first transmission part 1241 to the second transmission part 1242 is described as an example. Fig.17 As shown, in the second guide member 134 of the first pick-and-place mechanism 130, the first guide column 1341 can be Fig.17 The track indicated by the arrow a moves along the first annular guide groove 1511, and the second guide post 1342 can move along the Fig.17 The track indicated by the arrow b in the middle moves along the second annular guide groove 1512, and the third guide column 1343 can move along Fig.17 The track indicated by the arrow c moves along the third annular guide groove 1513, and the fourth guide column 1344 can move along the Fig.17 The trajectory indicated by the middle arrow d moves along the fourth annular guide groove 1514 .

[0196] In some examples, the first annular guide groove 1511 and the second annular guide groove 1512 may be symmetrical with respect to the rotation center axis of the annular transmission member 124 , and the third annular guide groove 1513 and the fourth annular guide groove 1514 may also be symmetrical with respect to the rotation center axis of the annular transmission member 124 .

[0197] In the embodiment of the present application, the second guide member 134 is guided by staggered means of the first annular guide groove 1511, the second annular guide groove 1512, the third annular guide groove 1513 and the fourth annular guide groove 1514, so that the stability of the second guide member 134 moving with the annular transmission member 124 can be improved, that is, the stability of the force applied by the first pick-and-place mechanism 130 or the second pick-and-place mechanism 140 to the target object is improved, thereby improving the success rate of retrieving the target object.

[0198] Fig.18 This is another structural diagram of the cooperation between the annular transmission member and the first pick-and-place mechanism and the second pick-and-place mechanism in the object-picking device provided in the embodiment of the present application. Fig.19 This is another structural diagram of the cooperation between the annular transmission member and the first pick-and-place mechanism and the second pick-and-place mechanism in the object-picking device provided in the embodiment of the present application. Fig. 20 This is another structural diagram of the cooperation between the annular transmission member and the first pick-and-place mechanism and the second pick-and-place mechanism in the object-picking device provided in the embodiment of the present application. Fig.21 This is another structural diagram of the cooperation between the annular transmission member and the first pick-and-place mechanism and the second pick-and-place mechanism in the object-picking device provided in an embodiment of the present application.

[0199] Reference Figure 18-Figure 21 As shown, in the embodiment of the present application, the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 are traversably connected to the annular transmission member 124 via a connecting shaft 132; in this way, when any one of the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 moves from the first transmission part 1241 to the second transmission part 1242, the force-applying member 133 of the first pick-and-place mechanism 130 or the second pick-and-place mechanism 140 is located on the side of the annular transmission member 124 away from the base 110, which can reduce the space required for the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 to flip, and effectively reduce the overall size and volume of the object-picking device 10.

[0200] by Fig.18 and Fig.19 For example, when the second pick-and-place mechanism 140 is needed to retrieve the target object, the annular transmission member 124 can be moved along Fig.18 The first pick-and-place mechanism 130 is rotated in the direction indicated by the arrow a, so that the first pick-and-place mechanism 130 moves to the second transmission part 1242 (i.e., rotates to Fig.19), the second pick-and-place mechanism 140 moves to the first transmission part 1241; then, the force applying member 133 of the second pick-and-place mechanism 140 acts on the target object, applies force to the target object, and then continues along Fig.18 The second pick-and-place mechanism 140 rotates in the direction indicated by the arrow a, so that the second pick-and-place mechanism 140 is withdrawn from the second entrance 112 to the base 110 , thereby moving the target object onto the base 110 .

[0201] In some examples, the installation positions of the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 on the annular transmission member 124 may also be Fig. 20 When the second pick-and-place mechanism 140 is needed to retrieve the target object, first, the Fig. 20 The annular transmission member 124 is rotated in the opposite direction of the arrow a until the force applying member 133 of the second pick-and-place mechanism 140 applies force to the target object; then, Fig. 20 The annular transmission member 124 is rotated in the direction indicated by the arrow a, and the first pick-and-place mechanism 130 is located on the side of the second pick-and-place mechanism 140 away from the second inlet and outlet 112, so as not to interfere with the movement of the target object, until the first pick-and-place mechanism 130 moves to the second transmission part 1242 (i.e. Fig.21 ), the target object can be completely moved to the base 110 under the drive of the second pick-and-place mechanism 140, thereby completing the process of picking up the target object.

[0202] In some examples of the embodiments of the present application, refer to Fig. 20 As shown, when the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 are both located at the first transmission portion 1241, the first front end face 131 and the second front end face 141 face opposite to each other. Fig.21 As shown, when one of the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 is located at the first transmission portion 1241 and the other is located at the second transmission portion 1242 , the first front end face 131 and the second front end face 141 face opposite to each other.

[0203] It can be understood that the process of returning the target item is the reverse process of the process of taking the item described in the aforementioned embodiment of the present application, and the embodiments of the present application will not be described in detail.

[0204] Fig. 22 It is a right view of the object-retrieving device provided in an embodiment of the present application.

[0205] Reference Fig. 22As shown, in some examples of the embodiments of the present application, the first pick-and-place mechanism 130 further includes: a connecting arm 135. The connecting arm 135 is connected between the connecting shaft 132 and the force-applying member 133, and the connecting arm 135 extends from the connecting shaft 132 along a side away from the base 110, so that when any one of the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 rotates to the first transmission part 1241 along the annular transmission member 124, there is a first distance D1 between the force-applying member 133 and the base 110, and there is a second distance D2 between the side of the first guide member 150 away from the base 110 and the base 110; the first distance D1 is greater than the second distance D2.

[0206] That is, when the first pick-and-place mechanism 130 is located at the first transmission part 1241, the force-applying member 133 protrudes from the top of the first guide member 150. In this way, when the force-applying member 133 carries the target object into the base 110, the target object moves on the top of the first guide member 150, and the first guide member 150 can avoid blocking the movement of the target object.

[0207] It can be understood that in the embodiment of the present application, the structures of the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 can be the same or similar. In the embodiment of the present application, only the first pick-and-place mechanism 130 is used as an example for description, and the specific structure of the second pick-and-place mechanism 140 can refer to the detailed description of the first pick-and-place mechanism 130.

[0208] In some examples of the embodiments of the present application, refer to Figure 1 and Fig. 22 As shown, the object-picking device 10 further includes: a support frame 160, which is disposed on both sides of the base 110, and a placement area is formed between the two support frames 160, and the placement area is used to place the target object. In other words, the two support frames 160 can extend along the first direction, and the two ends of the two support frames 160 and the base 110 are surrounded to form a first inlet and outlet 111 and a second inlet and outlet 112.

[0209] For some examples, refer to Figure 1 and Fig. 22 As shown, a support beam 161 is provided on the support frame 160, and a third distance D3 is provided between the support beam 161 and the base 110, the third distance D3 is greater than or equal to the second distance D2, and the third distance D3 is less than the first distance D1; the support beam 161 is configured to support the target object.

[0210] That is to say, in the embodiment of the present application, when the target object is retrieved, the target object can move on the supporting beam 161, thereby preventing the first guide member 150 from blocking the target object.

[0211] In some examples of the embodiments of the present application, continue to refer to Fig. 22As shown, when any one of the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 rotates to the second transmission part 1242 along with the annular transmission member 124 (in the embodiment of the present application, the second pick-and-place mechanism 140 is located at the second transmission part 1242 as an example), there is a fourth distance D4 between the force-applying member 133 and the base 110, and the fourth distance D4 is smaller than the third distance D3. In this way, when taking or returning an item, one of the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 is located at the first transmission part 1241, and the other of the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 is located at the second transmission part 1242. Interference with the movement of the target item can be avoided.

[0212] Continue to refer to Fig. 22 As shown, based on the detailed description of the aforementioned embodiments of the present application, in some examples of the embodiments of the present application, the object-picking device 10 further includes: a telescopic mechanism 170, which is movably arranged on the base 110, and the telescopic mechanism 170 can selectively telescope toward the first inlet and outlet 111 or toward the second inlet and outlet 112. Among them, the annular driving mechanism 120 can be arranged on the telescopic mechanism 170, and when the telescopic mechanism 170 telescopes and moves on the base 110, the annular driving mechanism 120 and the first pick-and-place mechanism 130 are driven to telescope toward the first inlet and outlet 111; and the annular driving mechanism 120 and the second pick-and-place mechanism 140 are driven to telescope toward the second inlet and outlet 112.

[0213] Reference Fig. 22 As shown, in some examples, a slide rail 172 may be provided on the base 110, wherein the slide rail 172 extends in the first direction, a bearing plate is provided on the slide rail 172, and the annular driving mechanism 120 is provided on the bearing plate. When the bearing plate slides along the slide rail 172, the annular driving mechanism 120 and the first pick-and-place mechanism 130 are driven to extend and retract toward the first inlet and outlet 111; or, the annular driving mechanism 120 and the second pick-and-place mechanism 140 are driven to extend and retract toward the second inlet and outlet 112. It can be understood that in some examples, in order to improve the stability of the sliding of the bearing plate relative to the base 110, two slide rails 172 may be provided, and the two slide rails 172 are arranged side by side along the second direction.

[0214] In this way, the telescopic mechanism 170 is used to move the annular drive mechanism 120, the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 as a whole, so that the moving distance of the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 relative to the base 110 can be controlled, so as to facilitate the retrieval of the target object at a deep position in the target position, thereby improving the flexibility and adaptability of the object-retrieving device 10 for retrieving the target objects at different positions, which is equivalent to extending the extendable length of the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140, and simplifying the overall structure of the object-retrieving device 10; in addition, when the first pick-and-place mechanism 130 or the second pick-and-place mechanism 140 moves from the target position When picking up a target item from a shelf, a workbench or a temporary storage board of a transport robot, due to the setting of the telescopic mechanism 170, the annular drive mechanism 120, the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 are set on the telescopic mechanism 170. The telescopic mechanism 170 can drive the annular drive mechanism 120, the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 to move as a whole, so that the first pick-and-place mechanism 130 or the second pick-and-place mechanism 140 can be closer to the target item at the target position, which is convenient for the first pick-and-place mechanism 130 or the second pick-and-place mechanism 140 to apply a force to the target item, thereby improving the success rate of picking up the target item.

[0215] In other examples of embodiments of the present application, the telescopic mechanism 170 may include: a telescopic member 171 and a second driving member 173. In some examples, the telescopic member 171 is movably disposed on the base 110. As a specific example, the telescopic member 171 may be the bearing plate described in the aforementioned embodiment of the present application. The second driving member 173 is connected to the telescopic member 171, and the second driving member 173 is configured to drive the telescopic member 171 to move relative to the base 110.

[0216] In some specific examples, the second driving member 173 can be fixed on the base 110. For example, a strip groove can be opened on the telescopic member 171 along the first direction. The fixed connection part between the second driving member 173 and the base 110 is connected to the base 110 through the strip groove, and a fixed block is provided on the base 110. A roller is provided on the fixed block. A belt, chain, etc. are provided between the second driving member 173 and the roller. The telescopic member 171 is connected to the belt or chain. When the second driving member 173 drives the belt or chain to rotate, it drives the telescopic member 171 to extend and retract relative to the base 110.

[0217] Of course, in some examples, the second driving member 173 can also drive the telescopic member 171 to extend and retract relative to the base 110 through a gear, a rack, etc. For example, in some examples, the second driving member 173 can be set on the telescopic member 171, and a strip-shaped notch is opened on the telescopic member 171 along the first direction, a rack is fixedly set on the base 110 along the first direction, and a gear is connected to the output shaft of the second driving member 173. When the gear rotates, the gear moves along the extension direction of the rack, thereby driving the telescopic member 171 to extend and retract relative to the base 110.

[0218] It can be understood that in the embodiment of the present application, the telescopic member 171 can also be a multi-stage telescopic member 171, for example, the telescopic member 171 includes: a first sub-telescopic plate and at least one second sub-telescopic plate, the first sub-telescopic plate is movably arranged on the base 110, the second sub-telescopic plate is slidably connected to the first sub-telescopic plate, and two adjacent sub-telescopic plates in the plurality of sub-telescopic plates are slidably connected. The second driving member 173 can drive the last second sub-telescopic plate in the multi-stage second sub-telescopic plate, wherein the last second sub-telescopic plate is a second sub-telescopic plate farthest from the first sub-telescopic plate when the telescopic member 171 is in an extended state, so that the entire telescopic member 171 is telescopic relative to the base 110.

[0219] In the embodiment of the present application, the annular drive mechanism 120, the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 are arranged on the multi-stage telescopic member 171. In this way, the telescopic distance of the first pick-and-place mechanism 130 and the second pick-and-place mechanism 140 relative to the base 110 can be extended, thereby improving the ability to retrieve target items in a deep position, thereby improving the use scenario of the object-retrieving device 10.

[0220] The embodiment of the present application also provides a logistics robot, including:

[0221] Chassis;

[0222] a gantry, the gantry being arranged on the chassis; and,

[0223] The object-picking device 10 provided in any optional example of the aforementioned embodiment of the present application is connected to the door frame, and the object-picking device 10 can be raised and lowered along the door frame.

[0224] In some embodiments of the present application, the chassis may be the same as or similar to the chassis in the related art. In addition, the embodiments of the present application have the same or corresponding technical features as the aforementioned embodiments, and therefore have the same or similar technical effects as the aforementioned embodiments of the present application. For details, please refer to the detailed description of the aforementioned embodiments of the present application, which will not be repeated in the embodiments of the present application.

[0225] In some embodiments of the present application, the gantry can be fixedly set on the chassis and move driven by the chassis, wherein the connection method between the gantry and the chassis can be the same as or similar to the method in the related art, and the embodiments of the present application will not be repeated here.

[0226] In addition, it can be understood that in some embodiments of the present application, a communication module can be provided on the chassis or the gantry, and the communication module can communicate with the host computer and receive control signals sent by the host computer; in addition, the communication module can also upload the location information of the logistics robot to the host computer, and the host computer controls the movement of the logistics robot in the warehousing system according to the handling task, for example, moving to the designated position of the target carrier, so as to facilitate docking with the target cargo position in the target carrier, and realize the process of picking up or returning boxes.

[0227] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not used to limit the protection scope of the embodiments of the present application. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A device for picking up objects, It is characterized in that include: A base (110), wherein one end of the base (110) has a first inlet and outlet (111); an annular driving mechanism (120), wherein the annular driving mechanism (120) is arranged on the base (110); a first pick-and-place mechanism (130), the first pick-and-place mechanism (130) being arranged on the annular driving mechanism (120), the first pick-and-place mechanism (130) being configured to extend from the first inlet and outlet (111) or retract into the base (110) under the drive of the annular driving mechanism (120) to retrieve a target object; The annular driving mechanism (120) is configured to drive the first pick-and-place mechanism (130) to reciprocate along an annular trajectory on the base (110) so as to extend from or retract into the base (110) from the first inlet and outlet (111).

2. The object-retrieving device according to claim 1, It is characterized in that The other end of the base (110) further comprises a second inlet and outlet (112), wherein the first inlet and outlet (111) and the second inlet and outlet (112) are located on opposite sides of the base (110); the object-retrieving device further comprises: a second picking and placing mechanism (140), the second picking and placing mechanism (140) being arranged on the annular driving mechanism (120), the second picking and placing mechanism (140) being configured to extend from the second entrance (112) or retract into the base (110) under the drive of the annular driving mechanism (120) to retrieve the target object; The annular driving mechanism (120) is also configured to drive the second pick-and-place mechanism (140) to reciprocate along an annular trajectory on the base (110) so as to extend from or retract into the base (110) from the second inlet and outlet (112).

3. The object-retrieving device according to claim 2, It is characterized in that The annular driving mechanism (120) comprises: A first driving member (121) is disposed on the base (110); A driving wheel (122), the driving wheel (122) being connected to an output shaft of the first driving member (121); A driven wheel (123), the driven wheel (123) being rotatably disposed on the base (110), the driving wheel (122) and the driven wheel (123) being arranged along a first direction, the first direction being the direction in which the first inlet and outlet (111) and the second inlet and outlet (112) are located; an annular transmission member (124), the annular transmission member (124) being sleeved on the driving wheel (122) and the driven wheel (123); the first pick-and-place mechanism (130) and the second pick-and-place mechanism (140) being connected to the annular transmission member (124); the annular transmission member (124) being configured to rotate under the drive of the driving wheel (122); so as to drive the first pick-and-place mechanism (130) to extend from the first inlet and outlet (111) or to retract into the base (110); or, to drive the second pick-and-place mechanism (140) to extend from the second inlet and outlet (112) or to retract into the base (110).

4. The object-retrieving device according to claim 3, It is characterized in that The rotation plane of the annular transmission member (124) intersects with the base (110); the annular transmission member (124) has a first transmission part (1241) away from the base (110) and a second transmission part (1242) close to the base (110); The annular transmission member (124) is configured to drive the first pick-and-place mechanism (130) and the second pick-and-place mechanism (140) to switch positions between the first transmission part (1241) and the second transmission part (1242); wherein, During the process of the first pick-and-place mechanism (130) retreating toward the base (110), the second pick-and-place mechanism (140) is configured to move from the first transmission part (1241) to the second transmission part (1242), and the second pick-and-place mechanism (140) moves from a side away from the first inlet and outlet (111) to a side close to the first inlet and outlet (111); During the process of the second picking and placing mechanism (140) retreating toward the base (110), the first picking and placing mechanism (130) is configured to move from the first transmission part (1241) to the second transmission part (1242), and the first picking and placing mechanism (130) moves from a side away from the second entrance (112) to a side close to the second entrance (112).

5. The object-retrieving device according to claim 4, It is characterized in that The first pick-and-place mechanism (130) and the second pick-and-place mechanism (140) are fixedly connected to the annular transmission member (124); the first pick-and-place mechanism (130) has a first front end face (131), and the first front end face (131) is an end of the first pick-and-place mechanism (130) that interacts with the target object; the second pick-and-place mechanism (140) has a second front end face (141), and the second front end face (141) is an end of the second pick-and-place mechanism (140) that interacts with the target object; When the first pick-and-place mechanism (130) and the second pick-and-place mechanism (140) are both located on the first transmission portion (1241), the first front end surface (131) and the second front end surface (141) face opposite to each other; When one of the first pick-and-place mechanism (130) and the second pick-and-place mechanism (140) is located in the first transmission part (1241) and the other is located in the second transmission part (1242), the first front end face (131) and the second front end face (141) are oriented in the same direction.

6. The object-retrieving device according to claim 4, It is characterized in that The object-retrieving device further comprises: a first guide member (150), the first guide member (150) being disposed on the base (110), and the first guide member (150) extending along the first direction; the driving wheel (122) and the driven wheel (123) being rotatably disposed on the first guide member (150); Any one of the first pick-and-place mechanism (130) and the second pick-and-place mechanism (140) comprises: a connecting shaft (132), the connecting shaft (132) being inserted through the annular transmission member (124), and the connecting shaft (132) and the annular transmission member (124) being rotatably connected; at least a portion of the connecting shaft (132) being inserted into the first guide member (150); a force applying member (133), the force applying member (133) being connected to the connecting shaft (132), and the force applying member (133) being configured to apply a force to the target object; When the annular transmission member (124) rotates, the force-applying member (133) is driven by the connecting shaft (132) to switch positions between the first transmission part (1241) and the second transmission part (1242); the connecting shaft (132) is configured to rotate relative to the annular transmission member (124) to maintain a relative angle between the force-applying member (133) and the base (110).

7. The object-retrieving device according to claim 6, It is characterized in that Any one of the first pick-and-place mechanism (130) and the second pick-and-place mechanism (140) further includes: a second guide member (134), the second guide member (134) being located between the annular transmission member (124) and the first guide member (150), the second guide member (134) being movably connected to the first guide member (150), and the second guide member (134) being fixedly connected to the connecting shaft (132); A guide groove (151) is provided on a side of the first guide member (150) close to the annular transmission member (124); the second guide member (134) is inserted into the guide groove (151) and can move along the guide groove (151) relative to the first guide member (150); The second guide member (134) is configured to cooperate with the guide groove (151) to maintain the relative angle between the force applying member (133) and the base (110) when the force applying member (133) switches positions between the first transmission part (1241) and the second transmission part (1242).

8. The object-retrieving device according to claim 7, It is characterized in that The annular transmission member (124) has a rotation center axis, and the rotation center axis is located between the rotation axis of the driving wheel (122) and the rotation axis of the driven wheel (123). The guide groove (151) includes: A first annular guide groove (1511), wherein the first annular guide groove (1511) is eccentrically arranged on one side of the rotation center axis; A second annular guide groove (1512), wherein the second annular guide groove (1512) is eccentrically arranged on the other side of the rotation center axis; The second guide member (134) has a first guide column (1341) and a second guide column (1342), the first guide column (1341) is inserted in the first annular guide groove (1511), the second guide column (1342) is inserted in the second annular guide groove (1512), the first guide column (1341) is configured to move along the first annular guide groove (1511), and the second guide column (1342) is configured to move along the second annular guide groove (1512).

9. The object-retrieving device according to claim 8, It is characterized in that The first annular guide groove (1511) and the second annular guide groove (1512) are arranged in a vertical direction, and the first annular guide groove (1511) and the second annular guide groove (1512) intersect; Alternatively, the first annular guide groove (1511) and the second annular guide groove (1512) are arranged along the extension direction of the first guide member (150), and the first annular guide groove (1511) and the second annular guide groove (1512) partially overlap.

10. The object-retrieving device according to claim 8, It is characterized in that The guide groove (151) further comprises: a third annular guide groove (1513), wherein the third annular guide groove (1513) is misaligned with the first annular guide groove (1511), and the third annular guide groove (1513) is misaligned with the second annular guide groove (1512); The second guide member (134) further has a third guide column (1343), the third guide column (1343) is inserted into the third annular guide groove (1513), and the third guide column (1343) is configured to move along the third annular guide groove (1513).

11. The object-retrieving device according to claim 8, It is characterized in that The guide groove (151) further comprises: a third annular guide groove (1513), wherein the third annular guide groove (1513) is offset from the first annular guide groove (1511), and the third annular guide groove (1513) is offset from the second annular guide groove (1512); a fourth annular guide groove (1514), wherein the fourth annular guide groove (1514) is offset from the first annular guide groove (1511), the second annular guide groove (1512), and the third annular guide groove (1513); The second guide member (134) also has a third guide column (1343) and a fourth guide column (1344), the third guide column (1343) is inserted in the third annular guide groove (1513), and the fourth guide column (1344) is inserted in the fourth annular guide groove (1514); the third guide column (1343) is configured to move along the third annular guide groove (1513), and the fourth guide column (1344) is configured to move along the fourth annular guide groove (1514).

12. The object-retrieving device according to any one of claims 6 to 11, It is characterized in that Any one of the first pick-and-place mechanism (130) and the second pick-and-place mechanism (140) further includes: A connecting arm (135), wherein the connecting arm (135) is connected between the connecting shaft (132) and the force-applying member (133), and the connecting arm (135) extends from the connecting shaft (132) along a side away from the base (110), so that when any one of the first pick-and-place mechanism (130) and the second pick-and-place mechanism (140) rotates to the first transmission part (1241) along the annular transmission member (124), a first distance is provided between the force-applying member (133) and the base (110), and a second distance is provided between the side of the first guide member (150) away from the base (110) and the base (110); the first distance is greater than the second distance.

13. The object-retrieving device according to claim 12, It is characterized in that The object-picking device further comprises: a support frame (160), the support frame (160) being arranged on both sides of the base (110), a placement area being formed between the two support frames (160), the placement area being used to place the target object; The support frame (160) is provided with a support beam (161), and a third distance is provided between the support beam (161) and the base (110), wherein the third distance is greater than or equal to the second distance and less than the first distance; the support beam (161) is configured to support the target object.

14. The object-retrieving device according to claim 13, It is characterized in that When any one of the first pick-and-place mechanism (130) and the second pick-and-place mechanism (140) rotates to the second transmission part (1242) along with the annular transmission member (124), a fourth distance is provided between the force-applying member (133) and the base (110), and the fourth distance is smaller than the third distance; When retrieving or returning an item, one of the first pick-and-place mechanism (130) and the second pick-and-place mechanism (140) is located on the first transmission part (1241), and the other of the first pick-and-place mechanism (130) and the second pick-and-place mechanism (140) is located on the second transmission part (1242).

15. The object-retrieving device according to any one of claims 6 to 11, It is characterized in that The first pick-and-place mechanism (130) has a first front end surface (131), and the first front end surface (131) is an end of the first pick-and-place mechanism (130) interacting with the target object; the second pick-and-place mechanism (140) has a second front end surface (141), and the second front end surface (141) is an end of the second pick-and-place mechanism (140) interacting with the target object; When the first pick-and-place mechanism (130) and the second pick-and-place mechanism (140) are both located on the first transmission portion (1241), the first front end surface (131) and the second front end surface (141) face opposite to each other; When one of the first pick-and-place mechanism (130) and the second pick-and-place mechanism (140) is located in the first transmission part (1241) and the other is located in the second transmission part (1242), the first front end face (131) and the second front end face (141) are oriented in opposite directions.

16. The object-retrieving device according to any one of claims 2 to 11, It is characterized in that There are two annular drive mechanisms (120), and the two annular drive mechanisms (120) are arranged on the base (110) along a second direction; the second direction intersects with the direction in which the first inlet and outlet (111) and the second inlet and outlet (112) are located; The first pick-and-place mechanism (130) is connected to one of the annular drive mechanisms (120), and the second pick-and-place mechanism (140) is connected to the other annular drive mechanism (120).

17. A device for picking up objects, It is characterized in that include: A base (110), wherein one end of the base (110) has a first inlet and outlet (111); a telescopic mechanism (170), the telescopic mechanism (170) being movably disposed on the base (110), and the telescopic mechanism (170) being selectively telescopic toward the first inlet and outlet (111); an annular driving mechanism (120), wherein the annular driving mechanism (120) is arranged on the base (110); a first pick-and-place mechanism (130), the first pick-and-place mechanism (130) being arranged on the annular driving mechanism (120), the first pick-and-place mechanism (130) being configured to extend from the first inlet and outlet (111) or retract into the base under the drive of the annular driving mechanism (120) to retrieve a target object; The annular driving mechanism (120) is configured to drive the first pick-and-place mechanism (130) to reciprocate along an annular trajectory on the base (110) so as to extend from the first inlet and outlet (111) or retract into the base (110); The telescopic mechanism (170) is configured to drive the annular driving mechanism (120) and the first pick-and-place mechanism (130) to telescope in the direction of the first inlet and outlet (111).

18. The object-retrieving device according to claim 17, It is characterized in that The other end of the base (110) further comprises a second inlet and outlet (112), wherein the first inlet and outlet (111) and the second inlet and outlet (112) are located on opposite sides of the base (110); the object-retrieving device further comprises: a second picking and placing mechanism (140), the second picking and placing mechanism (140) being arranged on the annular driving mechanism (120), the second picking and placing mechanism (140) being configured to extend from the second entrance (112) or retract into the base (110) under the drive of the annular driving mechanism (120) to retrieve the target object; The annular driving mechanism (120) is further configured to drive the second pick-and-place mechanism (140) to reciprocate along an annular trajectory on the base (110) so as to extend from or retract into the base (110) from the second inlet and outlet (112); The telescopic mechanism (170) is also configured to drive the annular driving mechanism (120) and the second pick-and-place mechanism (140) to telescope in the direction of the second inlet and outlet (112).

19. The object-retrieving device according to claim 17 or 18, It is characterized in that The telescopic mechanism (170) comprises: A telescopic member (171), the telescopic member (171) being movably disposed on the base (110); A second driving member (173), wherein the second driving member (173) is configured to drive the telescopic member (171) to move relative to the base (110).

20. The object-retrieving device according to claim 19, It is characterized in that The telescopic member (171) comprises: a first sub-retractable plate, the first sub-retractable plate being movably disposed on the base (110); At least one second sub-telescopic plate, the second sub-telescopic plate is slidably connected to the first sub-telescopic plate, and two adjacent second sub-telescopic plates among the plurality of second sub-telescopic plates are slidably connected.

21. A logistics robot, It is characterized in that include: Chassis; A door frame, wherein the door frame is arranged on the chassis; as well as, The picking device (10) described in any one of claims 1 to 20 is connected to the gantry, and the picking device can be raised and lowered along the gantry.

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