Material taking and placing device and carrying robot

Abstract

The utility model relates to the technical field of distribution equipment, and provides a material taking and placing device and a transfer robot, the material taking and placing device is used for an automatic guided vehicle, and the material taking and placing device comprises a material storage mechanism, a material taking and placing mechanism and a lifting mechanism; the material storage mechanism comprises a plurality of storage positions for storing materials; the material taking and placing mechanism is used for obtaining materials in the material storage mechanism; and the lifting mechanism is connected with the material storage mechanism, and the lifting mechanism can drive at least one storage position to do lifting motion, so that the material taking and placing mechanism can obtain the materials at the storage position and / or store the materials in the storage position. The lifting mechanism drives the storage position to do lifting motion, that is, in the material taking or placing process of the material taking and placing mechanism, the lifting mechanism drives the storage position to ascend or descend, so that the material taking and placing mechanism can take or place materials at the position of the same height; the material taking or placing position of the material taking and placing mechanism does not need to be adjusted frequently, and the flexibility of the mechanism is improved.

Description

Technical Field

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

[0002] With the development of industry, the replacement of manual handling with machines is becoming increasingly common. An AGV (Automated Guided Vehicle) is an industrial vehicle that automatically or manually loads cargo, then drives along a set route or tows a loaded trolley to a designated location, where it then automatically or manually loads and unloads the cargo. Today, AGVs are widely used in various fields.

[0003] In related technologies, the material picking and placing mechanism installed on the AGV, such as a robot arm, can usually only actively pick up materials. During the process of picking up and placing materials, the materials are generally at different heights. Since the material picking and placing mechanism can only actively pick up materials at different positions, the uncertainty of picking up materials is increased, resulting in poor flexibility. Utility Model Content

[0004] The main purpose of this application is to provide a material picking and placing device and a handling robot, so that the material picking and placing mechanism can pick up or place materials at the same height without frequently adjusting the position of the material picking and placing mechanism to pick up or place materials, thereby improving the flexibility of the mechanism.

[0005] The present application provides a material picking and placing device, which is used for an automatic guided vehicle, and includes:

[0006] A material storage mechanism, comprising a plurality of storage locations for storing materials;

[0007] A material taking and placing mechanism, used for obtaining materials from the material storage mechanism;

[0008] A lifting mechanism is connected to the material storage mechanism, and the lifting mechanism can drive at least one of the storage positions to perform lifting movements, so that the material picking and placing mechanism can obtain the material at the storage position and / or store the material in the storage position.

[0009] Optionally, it also includes:

[0010] The storage position is movably connected to the mounting frame, and the lifting mechanism is arranged on the mounting frame.

[0011] Optionally, the mounting frame includes a fixed position for connecting to the material loading and placing mechanism, and the number of the storage positions includes multiple; at least one of the multiple storage positions is located on one side of the fixed position, and the remaining storage positions are located on the other opposite side of the fixed position.

[0012] Optionally, it also includes:

[0013] The detection mechanism is used to detect the storage status of the storage location, so as to control the lifting mechanism to drive the storage location to perform lifting movement according to the storage status. The storage status includes whether there is a vacant location or whether there is material at the preset position of the storage location.

[0014] Optionally, the lifting mechanism includes:

[0015] an abutting member capable of abutting against the material storage mechanism;

[0016] A lifting shaft connected to one end of the abutting member;

[0017] a transmission rod connected to the other end of the abutting member;

[0018] The motor is in driving connection with the transmission rod and is used for driving the transmission rod to rise or fall, so as to drive the abutting member to abut against the material storage mechanism to perform a lifting motion.

[0019] Optionally, the storage location includes:

[0020] Material warehouse;

[0021] The loading platform is used for loading the material; it is movably connected to the material bin, and the loading platform can move up and down relative to the material bin under the supporting action of the supporting member.

[0022] Optionally, the material storage mechanism further includes:

[0023] A limiting frame is arranged on the loading platform and is used to fix the material.

[0024] Optionally, the side wall of the material bin is provided with a bin door that can be opened and closed manually.

[0025] Optionally, the material taking and placing mechanism includes:

[0026] Fixed seat;

[0027] a first robotic arm, rotatably connected to the fixing base;

[0028] a second robotic arm, one end of the second robotic arm being rotatably connected to the first robotic arm;

[0029] an adjusting arm, one end of which is rotatably connected to the second mechanical arm;

[0030] The mechanical gripper is used to grab materials; the other end of the adjustment arm is rotatably connected to the mechanical gripper.

[0031] The present application also provides a transport robot, comprising:

[0032] Automated Guided Vehicles;

[0033] The material taking and placing device is arranged on the automatic guided vehicle.

[0034] The present application provides a material picking and placing device and a handling robot, wherein the material picking and placing device is used for an automatic guided vehicle, and the material picking and placing device includes: a material storage mechanism, a material picking and placing mechanism and a lifting mechanism; the material storage mechanism includes a plurality of storage positions for storing materials; the material picking and placing mechanism is used to obtain materials in the material storage mechanism; the lifting mechanism is connected to the material storage mechanism, and the lifting mechanism can drive at least one of the storage positions to perform lifting movements, so that the material picking and placing mechanism can obtain materials at the storage position and / or store materials in the storage position. The present application drives the storage position to perform lifting movements through the lifting mechanism, that is, in the process of the material picking and placing mechanism taking or placing materials, the lifting mechanism drives the storage position to rise or fall, so that the material picking and placing mechanism can take or place materials at the same height, without frequently adjusting the position of the material picking and placing mechanism to take or place materials, thereby improving the flexibility of the mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0036] Figure 1 A schematic diagram of the overall structure of a material loading and unloading device provided in an embodiment of the present application;

[0037] Figure 2 A schematic diagram of the structure of the lifting mechanism provided in an embodiment of the present application;

[0038] Figure 3 A schematic diagram of the structure of the material storage mechanism provided in an embodiment of the present application;

[0039] Figure 4 A schematic diagram of the connection between the lifting mechanism and the material storage mechanism provided in an embodiment of the present application;

[0040] Figure 5 A schematic diagram of the structure of the material loading and unloading mechanism provided in an embodiment of the present application;

[0041] Figure 6 A schematic diagram of the overall structure of a transport robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0043] The embodiments of the present application provide a material picking and placing device and a handling robot, so that the material picking and placing mechanism can pick up or place materials at the same position without frequently adjusting the position of the material picking and placing mechanism to pick up or place materials, thereby improving the flexibility of the mechanism.

[0044] In order to make the purpose, features, and advantages of the invention of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described below are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0045] See also Figures 1 to 6 , an embodiment of the present application provides a material picking and placing device, which is used for an automatic guided vehicle 600, and the material picking and placing device includes: a material storage mechanism 100, a material picking and placing mechanism 200 and a lifting mechanism 300; the material storage mechanism 100 includes a plurality of storage positions 101 for storing materials; the material picking and placing mechanism 200 is used to obtain the material in the material storage mechanism 100; the lifting mechanism 300 is connected to the material storage mechanism 100, and the lifting mechanism 300 can drive at least one storage position 101 to perform a lifting movement, so that the material picking and placing mechanism 200 can obtain the material at the storage position 101 and / or store the material in the storage position 101.

[0046] It should be noted that the storage position 101 driven by the lifting mechanism 300 is the storage position 101 where the material retrieval mechanism 200 stores or retrieves materials. In some embodiments, the number of storage positions 101 can be multiple, such as two, three, four, etc. In other embodiments, the number of storage positions 101 can also be one.

[0047] like Figure 1 and Figure 2As shown, it can be understood that each storage position 101 in the material storage mechanism 100 can store only multiple materials or only one material. The storage position 101 in the embodiment of the present application can store multiple materials stacked in sequence. When the material taking and placing mechanism 200 obtains the materials stacked in sequence from the storage position 101, since each time a material is obtained, the material in the storage position 101 will be reduced in sequence, the material taking and placing mechanism 200 needs to adjust the operating position each time to correspond to the position of the material in the storage position 101. Based on this, the embodiment of the present application is provided with a lifting mechanism 300 connected to the material storage mechanism 100, and the storage position 101 is driven to perform lifting and lowering movements by the lifting mechanism 300. Specifically, the storage position 101 stores multiple materials stacked in sequence. In the process of the material picking and placing mechanism 200 obtaining materials from the storage position 101, after the material picking and placing mechanism 200 obtains the first material from the storage position 101, the storage position 101 can be driven to rise by the lifting mechanism 300, so that the second material can rise to a position with the same height as the first material. At this time, the material picking and placing mechanism 200 can directly obtain the second material from the storage position 101 according to the original working height and working direction; in the process of the material picking and placing mechanism 200 storing materials in the storage position 101, after the material picking and placing mechanism 200 stores the first material in the storage position 101, the storage position 101 can be driven to descend by the lifting mechanism 300. At this time, the height of the first material is lowered, so that the material picking and placing mechanism 200 can store the second material to a position with the same height as the first material was initially stored; thereby avoiding the need to frequently adjust the working height of the material picking and placing mechanism 200. If the material in the storage position 101 remains stationary, after the material picking and placing mechanism 200 obtains a material from the storage position 101 or stores a material in the storage position 101, it is necessary to readjust the working height before it can obtain the next material or store the next material. The working height of the material picking and placing mechanism 200 is repeatedly adjusted, and during the adjustment, it is necessary to try whether the material can be obtained or whether the position of the stored material is correct, resulting in low accuracy in material picking and placing. In this regard, the embodiment of the present application drives the storage position 101 to perform lifting movements through the lifting mechanism 300, thereby avoiding the need to frequently adjust the working height of the material picking and placing mechanism 200, thereby improving the accuracy of material picking and placing.

[0048] For example, one lifting mechanism 300 can drive one storage location 101 to perform lifting motion, or can simultaneously drive multiple storage locations 101 to perform lifting motion. In this embodiment, the same number of lifting mechanisms 300 and the same number of storage locations 101 can be provided, that is, one lifting mechanism 300 can only drive one storage location 101 to perform lifting motion, so as to facilitate the separate control of different storage locations 101, so that when the material retrieval mechanism 200 retrieves materials from one storage location 101 or deposits materials in one storage location 101, the operation of other storage locations 101 will not be affected.

[0049] An embodiment of the present application provides a material picking and placing device, which drives the storage position 101 to perform lifting and lowering movements through a lifting mechanism 300. That is, during the process of the material picking and placing mechanism 200 taking or placing materials, the storage position 101 is driven to rise or fall through the lifting mechanism 300, so that the material picking and placing mechanism 200 can take or place materials at the same height, and there is no need to frequently adjust the position of the material picking and placing mechanism 200 to take or place materials, thereby improving the flexibility of the mechanism.

[0050] In one embodiment, the device further includes: a mounting rack 400 , the storage position 101 is movably connected to the mounting rack 400 , and the lifting mechanism 300 is disposed on the mounting rack 400 .

[0051] like Figure 3 As shown, the embodiment of the present application may further include a mounting frame 400, the lifting mechanism 300 is arranged on the mounting frame 400, the storage position 101 can be movably connected to the mounting frame 400 through the lifting mechanism 300, and the mounting frame 400 is used as a support to improve the stability of the overall structure.

[0052] In one embodiment, the mounting frame 400 includes a fixed position 401 for connecting to the material loading and placing mechanism 200, and the number of storage positions 101 includes multiple; at least one of the multiple storage positions 101 is located on one side of the fixed position 401, and the remaining storage positions 101 are located on the other opposite side of the fixed position 401.

[0053] It is understandable that the mounting frame 400 of the embodiment of the present application may include a fixed position 401, which can be used to connect to the material retrieval mechanism 200. The number of storage positions 101 in the embodiment of the present application may include multiple. Generally, among the multiple storage positions 101, at least one is located on one side of the fixed position 401, and the remaining storage positions 101 are located on the other opposite side of the fixed position 401. Storage positions 101 are provided on both sides of the material retrieval mechanism 200 to facilitate the material retrieval mechanism 200 to obtain materials or store materials in different orientations. Specifically, if the material retrieval mechanism 200 needs to obtain materials from the storage position 101 and place the materials on the machine on the left side of the device, it can obtain materials from the storage position 101 on the left side of the device and place the obtained materials on the machine on the left side of the device, thereby improving the convenience of the operation of the material retrieval mechanism 200.

[0054] For example, if Figure 1 As shown, in some embodiments, the number of storage positions 101 can include four. The embodiment of the present application has a relatively large number of storage positions 101, which effectively utilizes space and has a large storage space, allowing for the storage of a large amount of materials. Two storage positions 101 are located on one side of the fixed position 401, and the other two storage positions 101 are located on the opposite side of the fixed position 401 to increase the overall balance of the device.

[0055] In one embodiment, a detection mechanism 500 is further included, which is used to detect the storage status of the storage position 101, so as to control the lifting mechanism 300 to drive the storage position 101 to perform lifting and lowering movements according to the storage status. The storage status includes whether there is a vacant space or whether there is material at the preset position of the storage position 101.

[0056] For example, the detection mechanism 500 in the embodiment of the present application may be a photoelectric sensor.

[0057] like Figure 4 As shown, the detection mechanism 500 can be set at the upper edge of the inner wall of the storage position 101 to facilitate detection of whether there is an empty space in the storage position 101 or whether there is material at the preset position of the storage position 101, that is, the top.

[0058] It is understandable that the detection mechanism 500 can detect the storage status of the storage position 101, for example, it can detect whether there is a vacant space in the storage position 101 or whether there is material in the preset position of the storage position 101. Specifically, in the process of the material picking and placing mechanism 200 obtaining materials from the storage position 101, after the material picking and placing mechanism 200 obtains the first material from the storage position 101, the detection mechanism 500 detects that the first material has been taken away, and can feedback a signal to the control module of the material picking and placing device (not shown in the figure), and the control module (not shown in the figure) then controls the lifting mechanism 300 to drive the storage position 101 to rise, so that the second material can rise to the same height as the first material. At this time, the material picking and placing mechanism 200 can directly take the second material from the storage position 101 according to the original working height and working direction. 101; in the process of the material taking and placing mechanism 200 storing the material in the storage position 101, when the material taking and placing mechanism 200 stores the first material in the storage position 101, the detection mechanism 500 can detect the presence of material, and then send a feedback signal to the control module (not shown) of the material taking and placing device, and the control module (not shown) then controls the lifting mechanism 300 to drive the storage position 101 to descend. At this time, the height of the first material is lowered, so that the material taking and placing mechanism 200 can store the second material to the same height as the first material at the beginning. The embodiment of the present application detects the storage status of the storage position 101 through the detection mechanism 500, which can more intelligently control the material taking and placing mechanism 100.

[0059] In one embodiment, the lifting mechanism 300 includes: a support member 301, a lifting shaft 302, a transmission rod 303 and a motor 304; the support member 301 can be abutted against the material storage mechanism 100; the lifting shaft 302 is connected to one end of the support member 301; the transmission rod 303 is connected to the other end of the support member 301; the motor 304 is in transmission connection with the transmission rod 303, and is used to drive the transmission rod 303 to rise or fall, so as to drive the support member 301 to push against the material storage mechanism 100 for lifting and lowering movement.

[0060] like Figure 2As shown, the lifting mechanism 300 of the embodiment of the present application may include a push-up member 301, a lifting shaft 302, a transmission rod 303 and a motor 304. The push-up member 301 abuts against the material storage mechanism 100, the lifting shaft 302 and the transmission rod 303 are respectively connected to the two ends of the push-up member 301, and the motor 304 is in transmission connection with the transmission rod 303. Specifically, in the process of the material taking and placing mechanism 200 obtaining materials from the storage position 101, when the detection mechanism 500 detects that the first material located at the top of the storage position 101 has been taken away, the control module (not shown in the figure) of the material taking and placing device can control the motor 304 to turn on, so that the motor 304 drives the transmission rod 303 to rise, and at the same time, the lifting shaft 302 also rises. Since the lifting shaft 302 and the transmission rod 303 are both connected to the push-up member 301, they can drive the push-up member 301 to abut against the material storage mechanism 100 and rise, thereby The material in the storage position 101 is lifted to the top of the storage position 101, and the cycle is repeated. During the process of the material taking and placing mechanism 200 storing the material in the storage position 101, when the detection mechanism 500 detects that there is material on the top of the storage position 101, the control module (not shown) can control the motor 304 to turn on, so that the motor 304 drives the transmission rod 303 to descend, and at the same time the lifting shaft 302 also descends, driving the material storage mechanism 100 that the supporting member 301 abuts to descend, thereby causing the material in the top of the storage position 101 to descend, and the cycle is repeated. The working principle of the lifting mechanism 300 in the embodiment of the present application is relatively simple and easy to control.

[0061] In one embodiment, the storage location 101 includes: a material bin 1011 and a loading platform 1012; the loading platform 1012 is used to load materials; and is movably connected to the material bin 1011. The loading platform 1012 can move up and down relative to the material bin 1011 under the supporting action of the supporting member 301.

[0062] like Figure 3 and Figure 4 As shown, the storage location 101 may include a material bin 1011 and a loading platform 1012. For example, the material bin 1011 in the embodiment of the present application may be a hollow box, and the loading platform 1012 may be used to load materials. The loading platform 1012 may be movably connected to the material bin 1011 so as to be able to move up and down relative to the material bin 1011 within the material bin 1011 under the abutting action of the abutting member 301. In the embodiment of the present application, materials are stored in the material bin 1011, which provides better safety.

[0063] The loading platform 1012 in the embodiment of the present application may include a movable platform A and a fixed platform B. Specifically, the fixed platform B is disposed above the movable platform A and can be used to place materials. The movable platform A has a through hole, through which the transmission rod 303 and the lifting shaft 302 pass and are connected to the fixed platform B. The abutment 301 abuts against the movable platform A, so that the movable platform A can be lifted and lowered relative to the material bin 1011 within the material bin 1011 under the abutting action of the abutment 301.

[0064] In one embodiment, the material storage mechanism 100 further includes a limiting frame 102 ; the limiting frame 102 is disposed on the loading platform 1012 and is used to fix the material.

[0065] like Figure 4 As shown, the material storage mechanism 100 may further include a limiting frame 102. In one embodiment, the limiting frame 102 may be disposed on the loading platform 1012, specifically, the limiting frame 102 may be disposed on the movable platform A to fix the material.

[0066] For example, the shape of the limiting frame 102 matches the shape of the material. For example, if the material is cylindrical, the relative positions of the limiting frame 102 and the material form an arc to prevent the limiting frame 102 from being too sharp and causing damage to the material. In addition, the height of the limiting frame 102 can be the same as the height of all the materials that can be stored in the material bin 1011 when stacked together to better protect the materials.

[0067] In one embodiment, a side wall of the material bin 1011 is provided with a bin door 1013 that can be opened and closed manually.

[0068] like Figure 3 and Figure 4 As shown, the side wall of the material bin 1011 in the embodiment of the present application may be provided with a manually opened and closed bin door 1013 to facilitate staff to check the actual situation of the materials in the material bin 1011.

[0069] In one embodiment, the material picking and placing mechanism 200 includes: a fixed base 201, a first robotic arm 202, a second robotic arm 203, an adjusting arm 204 and a mechanical gripper 205; the first robotic arm 202 is rotatably connected to the fixed base 201; one end of the second robotic arm 203 is rotatably connected to the first robotic arm 202; one end of the adjusting arm 204 is rotatably connected to the second robotic arm 203; the other end of the adjusting arm 204 is rotatably connected to the mechanical gripper 205; the mechanical gripper 205 is used to grab materials.

[0070] like Figure 5As shown, the material picking and placing mechanism 200 may include a fixed base 201, a first robotic arm 202, a second robotic arm 203, an adjustment arm 204, and a mechanical gripper 205. The fixed base 201 may be provided on a fixed position 401. One end of the first robotic arm 202 is rotatably connected to the fixed base 201; one end of the second robotic arm 203 is rotatably connected to the other end of the first robotic arm 202; one end of the adjustment arm 204 is rotatably connected to the other end of the second robotic arm 203; the other end of the adjustment arm 204 is rotatably connected to the mechanical gripper 205; and the mechanical gripper 205 may be used to grab materials. In the embodiment of the present application, the mechanical gripper 205 may be extended to storage positions 101 at different locations by using the first robotic arm 202 and the second robotic arm 203. The mechanical gripper 205 is then adjusted by the adjustment arm 204 so that the mechanical gripper 205 can always remain horizontal during the process of grabbing materials in the material bin 1011.

[0071] See also Figure 6 , an embodiment of the present application provides a transport robot, including an automatic guided vehicle 600 and a material picking and placing device; the material picking and placing device is arranged on the automatic guided vehicle 600.

[0072] It can be understood that the handling robot has all the technical effects of the material picking and placing device mentioned above, that is, the storage position 101 is driven to perform lifting and lowering movements through the lifting mechanism 300, that is, in the process of the material picking and placing mechanism 200 picking up or placing materials, the storage position 101 is driven to rise or fall through the lifting mechanism 300, so that the material picking and placing mechanism 200 can pick up or place materials at the same height, and there is no need to frequently adjust the position of the material picking and placing mechanism 200 to pick up or place materials, thereby improving the flexibility of the mechanism.

[0073] In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they should not be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0074] In the description of the embodiments of the present application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, replaceable connections, or integral connections. They can also refer to mechanical connections or electrical connections. They can also refer to direct connections or indirect connections through an intermediate medium. They can also refer to internal connections between two components. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0075] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A material picking and placing device, characterized in that: The material picking and placing device is used for an automatic guided vehicle, and the material picking and placing device includes: A material storage mechanism, comprising a plurality of storage locations for storing materials; A material taking and placing mechanism, used for obtaining materials in the material storage mechanism; A lifting mechanism is connected to the material storage mechanism, and the lifting mechanism can drive at least one of the storage positions to perform lifting movements, so that the material picking and placing mechanism can obtain the material at the storage position and / or store the material in the storage position.

2. The material picking and placing device according to claim 1, characterized in that: Also includes: The storage position is movably connected to the mounting frame, and the lifting mechanism is arranged on the mounting frame.

3. The material taking and placing device according to claim 2, characterized in that: The mounting frame includes a fixed position for connecting to the material loading and placing mechanism, and the number of the storage positions includes multiple; at least one of the multiple storage positions is arranged on one side of the fixed position, and the remaining storage positions are arranged on the other opposite side of the fixed position.

4. The material taking and placing device according to claim 1, characterized in that: Also includes: The detection mechanism is used to detect the storage status of the storage position, so as to control the lifting mechanism to drive the storage position to perform lifting movement according to the storage status. The storage status includes whether there is an empty space or whether there is material at the preset position of the storage position.

5. The material taking and placing device according to claim 1, characterized in that: The lifting mechanism comprises: An abutting member capable of abutting against the material storage mechanism; A lifting shaft connected to one end of the abutting member; A transmission rod connected to the other end of the abutting member; The motor is connected to the transmission rod and is used to drive the transmission rod to rise or fall, so as to drive the abutting member to abut against the material storage mechanism to perform a lifting movement.

6. The material taking and placing device according to claim 5, characterized in that: The storage location includes: Material warehouse; The loading platform is used for loading the materials; it is movably connected with the material bin, and the loading platform can perform lifting motion relative to the material bin under the supporting action of the supporting member.

7. The material taking and placing device according to claim 6, characterized in that: The material storage mechanism also includes: A limiting frame is arranged on the loading platform and is used to fix the material.

8. The material taking and placing device according to claim 6, characterized in that: The side wall of the material bin is provided with a bin door which can be opened and closed manually.

9. The material taking and placing device according to claim 1, characterized in that: The material taking and placing mechanism comprises: Fixed seat; A first mechanical arm, rotatably connected to the fixing seat; a second mechanical arm, one end of which is rotatably connected to the first mechanical arm; an adjusting arm, one end of which is rotatably connected to the second mechanical arm; The mechanical gripper is used to grab materials; the other end of the adjusting arm is rotatably connected to the mechanical gripper.

10. A transport robot, characterized in that: It comprises an automatic guided vehicle and the material picking and placing device as described in any one of claims 1 to 9; the material picking and placing device is arranged on the automatic guided vehicle.

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