Manipulator and storing and taking device

Abstract

The utility model provides a manipulator and a storing and taking device. The manipulator comprises a bearing mechanism; the driving mechanism comprises a transmission assembly and a driving assembly, the transmission assembly is arranged in the first direction and rotationally connected to the bearing mechanism, and the driving assembly is connected with the transmission assembly; the grabbing mechanism is connected with the transmission assembly and slidably connected to the bearing mechanism, the grabbing mechanism comprises a first adsorption set and a second adsorption set, the first adsorption set and the second adsorption set are arranged in the second direction and located on the same straight line, and the first direction and the second direction meet the perpendicular condition. The first adsorption group and the second adsorption group are respectively used for grabbing materials with different specifications; the control mechanism comprises a first control assembly and a second control assembly, the first control assembly is connected with the first adsorption set, and the second control assembly is connected with the second adsorption set. According to the manipulator and the storing and taking device, materials of at least three different specifications can be grabbed, the application range of the manipulator is enlarged, and the storing and taking efficiency can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of automatic control technology, and in particular to a manipulator and a storage and retrieval device. Background Art

[0002] In various social activities, people usually use archives to record and preserve valuable original records. Therefore, with the accumulation of time, the number of archives has increased exponentially, and the workload of archiving, accessing and consulting archives has increased day by day. Therefore, the existing archive access device is usually set as an unmanned archive access device to realize automatic access to archives. At present, conventional manipulators are relatively simple and can only meet the requirements of grabbing archive boxes of certain specifications, and cannot be compatible with the grabbing function of archive boxes of various specifications at the same time; moreover, the existing manipulators are large in size, with low space utilization, and cannot be applied to warehouses with small access space, resulting in a small scope of application of the manipulator. Utility Model Content

[0003] The present disclosure provides a manipulator and a storage and retrieval device to at least solve the above technical problems existing in the prior art.

[0004] A robot according to the present disclosure comprises:

[0005] Carrying mechanism;

[0006] The driving mechanism comprises a transmission assembly and a driving assembly, wherein the transmission assembly is arranged along a first direction and is rotationally connected to the bearing mechanism, and the driving assembly is connected to the transmission assembly;

[0007] a grabbing mechanism connected to the transmission assembly and slidably connected to the bearing mechanism, the grabbing mechanism comprising a first adsorption group and a second adsorption group, the first adsorption group and the second adsorption group are arranged along a second direction and are located on the same straight line, the first direction and the second direction meet a vertical condition, and the first adsorption group and the second adsorption group are respectively used to grab materials of different specifications; and

[0008] The control mechanism comprises a first control component and a second control component, wherein the first control component is connected to the first adsorption group, and the second control component is connected to the second adsorption group;

[0009] Wherein, the driving assembly is used to drive the transmission assembly to operate, so as to drive the grabbing mechanism to move along the first direction.

[0010] In one embodiment, the gripping mechanism includes a seat body, the seat body is connected to the transmission assembly and can slide relative to the supporting mechanism along the first direction, and the first adsorption group and the second adsorption group are fixedly connected to the seat body.

[0011] In one embodiment, the first adsorption group includes a plurality of first adsorption members, the second adsorption group includes a plurality of second adsorption members, and the plurality of first adsorption members and the plurality of second adsorption members are alternately arranged.

[0012] In one possible embodiment, the supporting mechanism includes a supporting seat, a slide rail is provided on the supporting seat, and the slide rail is extended along the first direction; the manipulator also includes a sliding member, the sliding member has a sliding part and a connecting part, the connecting part is connected to the transmission assembly, the sliding part is slidably connected to the slide rail, and the seat body is connected to the transmission assembly through the sliding member.

[0013] In one embodiment, it also includes a guiding mechanism, which is arranged on the supporting seat, and the guiding mechanism includes two telescopic components arranged opposite to each other, and the two telescopic components are arranged along a third direction, and the telescopic components are fixedly connected with a guiding member; wherein the third direction satisfies a perpendicular condition with the first direction, and the third direction satisfies a perpendicular condition with the second direction.

[0014] In one possible implementation manner, the guide mechanism further includes a guide slide assembly, the guide slide assembly is located below the telescopic assembly and is arranged along the third direction, and the guide slide assembly is provided with a rolling element.

[0015] In one embodiment, the transmission assembly includes a driving wheel, a driven wheel and a transmission belt, the driving wheel and the driven wheel are spaced apart along the first direction and are rotatably connected to the supporting mechanism, and opposite ends of the transmission belt are respectively wound around the driving wheel and the driven wheel.

[0016] In one possible implementation, it further includes a detection mechanism, which includes a visual recognition component and a position sensing component. The visual recognition component is connected to the supporting mechanism and is detachable relative to the supporting mechanism, and the position sensing component is connected to the supporting mechanism.

[0017] In one possible implementation manner, the supporting mechanism further includes a protective cover, and the protective cover is connected to the supporting seat.

[0018] According to a second aspect of the present disclosure, there is provided a storage and retrieval device, comprising a transfer mechanism and a manipulator as in any one of the above-mentioned embodiments, wherein the manipulator is connected to the transfer mechanism.

[0019] In the present disclosure, the driving component drives the transmission component to drive the grasping mechanism to move along the first direction, so as to facilitate the grasping mechanism to grasp the material; and because the grasping mechanism includes the first adsorption group and the second adsorption group, it can grasp at least three materials of different specifications, thereby increasing the application range of the manipulator and improving the access efficiency; and because the first adsorption group and the second adsorption group are located on the same straight line, the overall structure is compact, the space utilization rate is higher, and it can be suitable for warehouses with smaller spaces.

[0020] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present disclosure are shown in an exemplary and non-limiting manner, in which:

[0022] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0023] Figure 1 The figure shows the overall structure of a manipulator according to an exemplary embodiment of the present disclosure;

[0024] Figure 2 A schematic diagram of the internal structure of a manipulator according to an exemplary embodiment of the present disclosure is shown;

[0025] Figure 3 A schematic diagram showing the structure of the cooperation between the driving mechanism and the grasping mechanism of a manipulator according to an exemplary embodiment of the present disclosure is shown;

[0026] Figure 4 A schematic diagram of the guide mechanism structure of a manipulator according to an exemplary embodiment of the present disclosure is shown;

[0027] Figure 5 The figure shows the internal structure of a manipulator according to an exemplary embodiment of the present disclosure (grasping a 1 cm file box);

[0028] Figure 6 The figure shows the internal structure of a manipulator according to an exemplary embodiment of the present disclosure (grasping a 5 cm file box);

[0029] Figure 7 The figure shows the overall structure of an access device according to an exemplary embodiment of the present disclosure.

[0030] Explanation of the numbers in the figure: 1. Carrying mechanism; 2. Driving mechanism; 3. Grasping mechanism; 4. Guide mechanism; 5. Detection mechanism; 6. Protective cover; 7. 1 cm file box; 8. 5 cm file box; 11. Carrying seat; 12. Slide rail; 21. Transmission assembly; 22. Driving assembly; 31. First adsorption group; 32. Second adsorption group; 33. Seat body; 34. Sliding member; 41. Telescopic assembly; 42. Guide member; 43. Guide assembly; 51. Visual recognition assembly; 52. Position The sensor component is disposed; 53, the through-beam sensor; 61, the top plate; 62, the bottom plate; 63, the first side plate; 64, the second side plate; 65, the third side plate; 101, the first direction component; 102, the second direction component; 103, the third direction component; 211, the driving wheel; 212, the driven wheel; 213, the transmission belt; 221, the driving part; 222, the drag chain; 311, the first adsorption part; 321, the second adsorption part; 341, the sliding part; 342, the connecting part; 431, the rolling part. DETAILED DESCRIPTION

[0031] In order to make the purpose, features, and advantages of the present disclosure more obvious and easy to understand, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0032] The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0033] Reference Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, a manipulator of an exemplary embodiment of the present disclosure includes a carrying mechanism 1, a driving mechanism 2, a grasping mechanism 3 and a control mechanism. The driving mechanism 2 includes a transmission component 21 and a driving component 22. The transmission component 21 is arranged along the first direction and is rotatably connected to the carrying mechanism 1. The driving component 22 is connected to the transmission component 21. The grasping mechanism 3 is connected to the transmission component 21 and is slidably connected to the carrying mechanism 1. The grasping mechanism 3 includes a first adsorption group 31 and a second adsorption group 32. The first adsorption group 31 and the second adsorption group 32 are arranged along the second direction and are located on the same straight line. The first direction and the second direction meet the vertical condition. The first adsorption group 31 and the second adsorption group 32 are respectively used to grasp materials of different specifications. The control mechanism includes a first control component and a second control component. The first control component is connected to the first adsorption group 31, and the second control component is connected to the second adsorption group 32. Among them, the driving component 22 is used to drive the transmission component 21 to operate, so as to drive the grasping mechanism 3 to move along the first direction.

[0034] In one embodiment, the first adsorption group 31 includes a plurality of first adsorption members 311 , and the second adsorption group 32 includes a plurality of second adsorption members 321 . The plurality of first adsorption members 311 and the plurality of second adsorption members 321 are alternately arranged.

[0035] In this embodiment, the manipulator can be specifically applied to any storehouse or warehouse with automatic access function, including but not limited to unmanned archive storehouses. The embodiments shown in the present disclosure are all applied to unmanned archive storehouses as an example, and the manipulator is used to automatically pick up and put file boxes in cooperation with unmanned archive storehouses. There are three common thickness specifications of file boxes, which are 1cm, 3cm and 5cm, but it can be understood that the specifications of file boxes are not limited to the above three types. The embodiments shown in the present disclosure only take the file boxes with three specifications, which are 1cm, 3cm and 5cm, as an example. The first adsorption group 31 includes a plurality of first adsorption members 311, and the second adsorption group 32 includes a plurality of second adsorption members 321. The first adsorption member 311 and the second adsorption member 321 are both suction cups, but the sizes of the first adsorption member 311 and the second adsorption member 321 are different. Among them, the size of the first adsorbent 311 can be larger than the size of the second adsorbent 321. The first adsorbent 311 is used to adsorb and grab file boxes of 3 cm and 5 cm specifications, and the second adsorbent 321 is used to adsorb and grab file boxes of 1 cm specifications. The actual sizes of the first adsorbent 311 and the second adsorbent 321 can be adaptively designed according to the specifications of the file boxes. The first control component and the second control component (not shown in the figure) can be vacuum generators or solenoid valves, etc., which are respectively used to control the adsorption and release of multiple first adsorbents 311 and multiple second adsorbents 321 to grab file boxes of different specifications. In actual application, the number of the first adsorbent 311 and the second adsorbent 321 includes at least three each to ensure the stability of the operation of the grasping mechanism 3. In this disclosure, the number of the first adsorbent 311 is five and the number of the second adsorbent 321 is four as an example. Multiple first adsorbents 311 and multiple second adsorbents 321 are arranged alternately, that is, the arrangement order of the adsorbents from top to bottom is the first adsorbent 311, the second adsorbent 321, the first adsorbent 311... and so on, or the second adsorbent 321, the first adsorbent 311, the second adsorbent 321... and so on. When it is detected that a 1cm file box needs to be grabbed, the driving component 22 first drives the grabbing mechanism 3 to move to the corresponding position, the second control component independently controls the second adsorption group 32 to adsorb and grab the 1cm file box 7, and then the driving mechanism 2 drives the grabbing mechanism 3 to move, and drags the 1cm file box 7 to the inside of the manipulator, so that the manipulator can be moved as a whole to the access window of human-computer interaction later; when it is detected that a 3cm or 5cm file box needs to be grabbed, the driving component 22 first drives the grabbing mechanism 3 to move to the corresponding position, the first control component independently controls the first adsorption group 31, or the first control component controls the first adsorption group 31 while the second control component controls the second adsorption group 32, to adsorb and grab the 3cm or 5cm file box 8, and then the driving mechanism 2 drives the grabbing mechanism 3 to move, and drags the 3cm or 5cm file box 8 to the inside of the manipulator, so that the manipulator can be moved as a whole to the access window of human-computer interaction later.It is understandable that the first adsorption group 31 and the second adsorption group 32 can both grab one, two, three or even multiple specifications of file boxes, and can be adaptively selected and designed according to actual conditions.

[0036] In the present embodiment, the transmission component 21 is driven by the driving component 22 to drive the grasping mechanism 3 to move along the first direction, so that the grasping mechanism 3 can grasp the material; and because the grasping mechanism 3 includes a first adsorption group 31 and a second adsorption group 32, it can grasp at least three materials of different specifications, thereby increasing the scope of application of the manipulator and improving the access efficiency; and because the first adsorption group 31 and the second adsorption group 32 are located on the same straight line, the overall manipulator has a small appearance and a compact structure, and a 600mm channel is left between the dense shelves on both sides to complete the grasping action, so the space utilization rate is higher and it can be suitable for warehouses with smaller spaces.

[0037] Reference Figure 3 As shown, in one embodiment, the gripping mechanism 3 includes a seat body 33 , which is connected to the transmission assembly 21 and can slide relative to the supporting mechanism 1 along a first direction, and the first adsorption group 31 and the second adsorption group 32 are fixedly connected to the seat body 33 .

[0038] Further, in one embodiment, the supporting mechanism 1 includes a supporting seat 11, a slide rail 12 is arranged on the supporting seat 11, and the slide rail 12 is extended along the first direction. The manipulator also includes a sliding member 34, the sliding member 34 has a sliding part 341 and a connecting part 342, the connecting part 342 is connected to the transmission assembly 21, the sliding part 341 is slidably connected to the slide rail 12, and the seat body 33 is connected to the transmission assembly 21 through the sliding member 34.

[0039] In this embodiment, the sliding member 34 is detachably connected to the transmission assembly 21, so that the connecting portion 342 of the sliding member 34 can be quickly installed and matched with the transmission assembly 21, thereby improving the assembly efficiency between the grasping mechanism 3 and the driving mechanism 2, and the sliding portion 341 of the sliding member 34 is slidably connected to the slide rail 12, so that the sliding member 34 can stably move in the first direction, thereby improving the stability of the grasping mechanism 3 when moving. There are two slide rails 12, the two slide rails 12 are arranged at intervals along the third direction, and the two slide rails 12 meet the parallel condition, and each slide rail 12 extends along the first direction.

[0040] Reference Figure 4 As shown, in one embodiment, the manipulator further includes a guide mechanism 4, which is disposed on the bearing seat 11, and includes two telescopic components 41 disposed opposite to each other, the two telescopic components 41 are disposed along a third direction, and the telescopic components 41 are fixedly connected to a guide member 42. The third direction satisfies the perpendicularity condition to the first direction and the second direction respectively.

[0041] Further, in one embodiment, the guide mechanism 4 further includes a guide slide component 43 , the guide slide component 43 is located below the guide slide component and is arranged along the third direction, and the guide slide component 43 is provided with a rolling element 431 .

[0042] In this embodiment, when the grabbing mechanism 3 drags the file box into the manipulator, the guide mechanism 4 works, and the two guide members 42 work together to guide. The telescopic assembly 41 can be a telescopic spring structure to make compatible processing for file boxes of different specifications. The guide sliding assembly 43 is provided with a rolling member 431, which can be a roller, a guide wheel or a rolling bearing, etc., which has the function of guiding the file box while reducing the friction coefficient when the file box is grabbed into the manipulator. There are multiple guide sliding assemblies 43, and the multiple guide sliding assemblies 43 are arranged at a certain distance in the first direction.

[0043] In one embodiment, the transmission assembly 21 includes a driving wheel 211, a driven wheel 212 and a transmission belt 213. The driving wheel 211 and the driven wheel 212 are arranged at intervals along the first direction and are rotatably connected to the supporting mechanism 1. The opposite ends of the transmission belt 213 are respectively wrapped around the driving wheel 211 and the driven wheel 212.

[0044] In this embodiment, the transmission belt 213 includes but is not limited to a belt or a cloth belt, etc. The driving assembly 22 drives the driving wheel 211 to rotate to drive the portion of the transmission belt 213 located between the driving wheel 211 and the driven wheel 212 to move along the first direction. The transmission assembly 21 is arranged adjacent to the grasping mechanism 3 in the third direction, that is, the transmission assembly 21 is arranged beside the grasping mechanism 3, so that the manipulator has a smaller space structure, so that the manipulator is suitable for a warehouse with a smaller space, thereby expanding the scope of application of the manipulator. The driving assembly 22 includes a driving part 221, and the driving part 221 can be including but not limited to a servo motor, which can automatically control the rotation of the driving wheel 211. The driving assembly 22 also includes a drag chain 222, which is used to protect the movement of wires, cables, etc. in the manipulator, and plays a traction and protection role. The drag chain 222 is designed as a chain structure, which can be retracted and bent, and can move with the movement of the manipulator, while protecting its internal structure from damage, and has high strength, high hardness and high wear resistance, and can withstand large external shocks and vibrations.

[0045] In one embodiment, the manipulator further includes a detection mechanism 5 , which includes a visual recognition component 51 and a position sensing component 52 . The visual recognition component 51 is connected to the supporting mechanism 1 and is detachable relative to the supporting mechanism 1 , and the position sensing component 52 is connected to the supporting mechanism 1 .

[0046] In this embodiment, the visual recognition component 51 is detachably connected to the supporting mechanism 1 and is used to take photos to locate the material. The visual recognition component 51 includes a visual fill light, a CCD camera and a corresponding electrically connected controller. Thus, the material to be grasped can be photographed through the visual recognition component 51 to scan and identify the barcode on the material, obtain the information of the material, and locate the material to be grasped, so that the grasping mechanism 3 can grasp the material more accurately and improve the grasping accuracy. The position sensing component 52 can specifically include a position sensor or a laser sensor to detect the distance between the material and the grasping mechanism 3. The driving mechanism 2 can drive the grasping mechanism 3 to move according to the distance information obtained by the position sensing component 52, so as to improve the grasping accuracy. In addition, the detection mechanism 5 also includes a beam sensor 53, which is used to detect whether the material is successfully grasped into the manipulator.

[0047] Reference Figure 1 and Figure 2 As shown, in one possible implementation manner, the supporting mechanism 1 further includes a protective cover 6 , and the protective cover 6 is connected to the supporting seat 11 .

[0048] In this embodiment, the protective cover 6 includes a top plate 61, a bottom plate 62, a first side plate 63, a second side plate 64, and two third side plates 65 arranged opposite to each other. The bearing seat 11 is fixedly arranged on the bottom plate 62. The first side plate 63 is opposite to the second side plate 64 and is arranged at intervals along the first direction. The top plate 61 and the bottom plate 62 are arranged at intervals along the second direction. The two third side plates 65 are arranged at intervals along the third direction. The first side plate 63 has an opening so that the grabbing mechanism 3 can extend from the opening to grab the material. The top plate 61, the second side plate 64, the bottom plate 62, the two third side plates 65, and the first side plate 63 enclose the protective cover 6.

[0049] Reference Figure 7 As shown, the present disclosure also provides a storage and retrieval device, including a transfer mechanism, and also includes a manipulator as in any one of the above-mentioned embodiments, and the manipulator is connected to the transfer mechanism.

[0050] The first direction of the present disclosure is the direction of the X-axis in the three-dimensional rectangular coordinate system, the second direction is the direction of the Z-axis, and the third direction is the direction of the Y-axis. In this embodiment, the transfer mechanism includes a third-direction component 103, two groups of first-direction components 101, and two groups of second-direction components 102. The first-direction components 101 are arranged at intervals along the third direction, and each group of first-direction components 101 is extended along the first direction; the second-direction components 102 are arranged at intervals along the third direction, and the two groups of first-direction components 101 are correspondingly connected to the two groups of second-direction components 102, and the second-direction components 102 are extended along the second direction; the third-direction component 103 extends along the third direction, and the opposite ends of the third-direction component 103 in the third direction are respectively connected to the two groups of second-direction components 102. The manipulator is connected to the third direction component 103, and the third direction component 103 can drive the manipulator to move along the third direction; the second direction component 102 can drive the third direction component 103 to move along the second direction, thereby driving the manipulator to move along the second direction; the first direction component 101 can drive the second direction component 102 and drive the third direction component 103 to move along the first direction, thereby driving the manipulator to move along the first direction. During operation, the host computer terminal gives access instructions, and the transfer mechanism controls the manipulator to move to the workstation that needs to be accessed, and then the manipulator performs subsequent grasping actions. Since the operation process of the manipulator is the same as the process mentioned above, it will not be described in detail here. Therefore, the access device can grab at least three materials of different specifications, which increases the scope of application of the access device, can improve access efficiency, and has higher space utilization, and can be applied to warehouses with smaller spaces.

[0051] In the description of the present disclosure, it is necessary to understand that the orientation or positional relationship indicated by the directional words is usually based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present disclosure and simplifying the description. Unless otherwise stated, these directional words do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present disclosure; the directional words "inside" and "outside" refer to the inside and outside relative to the outline of each component itself.

[0052] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between one or more components or features shown in the figure and other components or features. It should be understood that spatially relative terms include not only the orientation of the components as described in the figure, but also different orientations in use or operation. For example, if the components in the accompanying drawings are inverted as a whole, the components "above other components or features" or "above other components or features" will include the situation where the components are "below other components or structures" or "below other components or structures". Therefore, the exemplary term "above" may include both "above" and "below". In addition, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and this article is intended to include all of these situations.

[0053] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, parts, components and / or combinations thereof.

[0054] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein.

[0055] The present disclosure has been described through the above-mentioned embodiments, but it should be understood that the above-mentioned embodiments are only for the purpose of example and description, and are not intended to limit the present disclosure to the scope of the described embodiments. In addition, it can be understood by those skilled in the art that the present disclosure is not limited to the above-mentioned embodiments, and more variations and modifications can be made according to the teachings of the present disclosure, and these variations and modifications all fall within the scope of protection claimed by the present disclosure. The scope of protection of the present disclosure is defined by the attached claims and their equivalents.

Claims

1. A robot, characterized in that: include: Carrying mechanism (1); A driving mechanism (2) comprising a transmission assembly (21) and a driving assembly (22), wherein the transmission assembly (21) is arranged along a first direction and is rotatably connected to the supporting mechanism (1), and the driving assembly (22) is connected to the transmission assembly (21); A gripping mechanism (3) is connected to the transmission assembly (21) and is slidably connected to the bearing mechanism (1), the gripping mechanism (3) comprising a first adsorption group (31) and a second adsorption group (32), the first adsorption group (31) and the second adsorption group (32) are arranged along a second direction and are located on the same straight line, the first direction and the second direction meet a vertical condition, and the first adsorption group (31) and the second adsorption group (32) are respectively used to grip materials of different specifications; as well as A control mechanism, comprising a first control component and a second control component, wherein the first control component is connected to the first adsorption group (31), and the second control component is connected to the second adsorption group (32); The driving component (22) is used to drive the transmission component (21) to operate, so as to drive the grasping mechanism (3) to move along the first direction.

2. The robot according to claim 1, characterized in that: The gripping mechanism (3) comprises a seat body (33), the seat body (33) being connected to the transmission assembly (21) and being able to slide relative to the supporting mechanism (1) along the first direction, and the first adsorption group (31) and the second adsorption group (32) being fixedly connected to the seat body (33).

3. The robot according to claim 1, characterized in that: The first adsorption group (31) includes a plurality of first adsorption members (311), and the second adsorption group (32) includes a plurality of second adsorption members (321). The plurality of first adsorption members (311) and the plurality of second adsorption members (321) are arranged alternately.

4. The robot according to claim 2, characterized in that: The bearing mechanism (1) comprises a bearing seat (11), a slide rail (12) is arranged on the bearing seat (11), and the slide rail (12) is extended along the first direction; the manipulator also comprises a sliding member (34), the sliding member (34) has a sliding part (341) and a connecting part (342), the connecting part (342) is connected to the transmission assembly (21), the sliding part (341) is slidably connected to the slide rail (12), and the seat body (33) is connected to the transmission assembly (21) through the sliding member (34).

5. The robot according to claim 4, characterized in that: The invention also comprises a guiding mechanism (4), wherein the guiding mechanism (4) is arranged on the bearing seat (11), and the guiding mechanism (4) comprises two telescopic components (41) arranged opposite to each other, wherein the two telescopic components (41) are arranged along a third direction, and the telescopic components (41) are fixedly connected with a guiding member (42); wherein the third direction satisfies a perpendicular condition to the first direction, and the third direction satisfies a perpendicular condition to the second direction.

6. The robot according to claim 5, characterized in that: The guide mechanism (4) further comprises a guide slide component (43), the guide slide component (43) being located below the telescopic component (41) and arranged along the third direction, and the guide slide component (43) being provided with a rolling element (431).

7. The robot according to claim 1, characterized in that: The transmission assembly (21) comprises a driving wheel (211), a driven wheel (212) and a transmission belt (213); the driving wheel (211) and the driven wheel (212) are arranged at intervals along the first direction and are rotatably connected to the bearing mechanism (1); opposite ends of the transmission belt (213) are respectively wound around the driving wheel (211) and the driven wheel (212).

8. The robot according to claim 1, characterized in that: The device also comprises a detection mechanism (5), wherein the detection mechanism (5) comprises a visual recognition component (51) and a position sensing component (52), wherein the visual recognition component (51) is connected to the supporting mechanism (1) and is detachable relative to the supporting mechanism (1), and the position sensing component (52) is connected to the supporting mechanism (1).

9. The robot according to claim 4, characterized in that: The bearing mechanism (1) further comprises a protective cover (6), wherein the protective cover (6) is connected to the bearing seat (11).

10. A storage and retrieval device, comprising a transfer mechanism, characterized in that: It also includes a robot as described in any one of claims 1 to 9, and the robot is connected to the transfer mechanism.

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