Goods taking and placing device, robot and warehousing system

Abstract

The utility model provides a goods taking and placing device, a robot and a warehousing system.The goods taking and placing device is used for taking and placing a material box and comprises a device body, a telescopic mechanism and a hooking mechanism, the telescopic mechanism is movably connected with the device body, and the hooking mechanism is movably connected with the telescopic mechanism; the hooking mechanism comprises a mounting base, a first driving unit and a hooking part, the first driving unit is arranged on the mounting base, the hooking part is rotationally connected with the mounting base, and the first driving unit is configured to drive the hooking part to rotate relative to the mounting base so that the hooking part can be in butt joint with or separated from the material box; when the hooking piece is in butt joint with the butt joint groove of the material box, the hooking piece is higher than the bearing face, and when the hooking piece is separated from the butt joint groove of the material box, the hooking piece is lower than the bearing face, and therefore the material box can be taken and placed, the structure of the goods taking and placing device is simplified, and cost is reduced.

Description

Technical Field

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

[0002] With the development of artificial intelligence and automation technology, robots are widely used in the field of warehousing and logistics for picking up, transporting and sorting goods. In logistics systems, goods are usually stored on shelves, and robots with corresponding functions pick up and place goods or complete cargo delivery tasks by docking with shelves or conveyor lines.

[0003] In the related art, the robot is usually provided with a fork for picking up and placing goods, and the fork is usually provided with a manipulator that can be extended and retracted to a fixed position relative to the robot body. The manipulator usually has multiple joints, multiple sets of transmission mechanisms and multiple drive units, so that the manipulator can complete the operation of picking up and placing material boxes.

[0004] However, the forks on current robots have a complex structure, are heavy and costly. Utility Model Content

[0005] The present application provides a cargo picking and placing device, a robot and a storage system to at least partially solve at least one of the technical problems of the cargo forks on the current robots being complex in structure, heavy in weight and high in cost.

[0006] In a first aspect, the present application provides a cargo picking and placing device, which is used to pick up and place material boxes. The cargo picking and placing device includes a device body, a telescopic mechanism and a hook mechanism. The telescopic mechanism is movably connected to the device body, and the hook mechanism is movably connected to the telescopic mechanism.

[0007] Among them, the hook mechanism includes a mounting seat, a first driving unit and a hook piece, the first driving unit is arranged on the mounting seat, the hook piece is movably connected to the mounting seat, the outer side of the material box has a docking groove, and the first driving unit is configured to drive the hook piece to move relative to the mounting seat so that the hook piece can dock or separate with the docking groove of the material box.

[0008] The device body includes a bearing surface, which is used to bear the material box. When the hook piece is docked with the docking groove of the material box, the height of the hook piece is higher than the bearing surface. When the hook piece is separated from the docking groove of the material box, the height of the hook piece is lower than the bearing surface.

[0009] The cargo picking and placing device provided in the present application is provided with a movable hook mechanism on the telescopic mechanism. When the hook mechanism is opposite to the material box, the rotatable hook member on the hook mechanism is connected with the material box, so that the material box can be driven to move when the telescopic mechanism and the hook mechanism move, thereby realizing the picking and placing operation of the material box.

[0010] As an optional implementation, at least one end of the bottom of the material box has a docking groove; the hook piece is rotatably connected to the mounting seat, and when the hook piece is rotated to dock with the material box, the hook piece is at least partially inserted into the docking groove.

[0011] Such an arrangement can improve the reliability of the docking between the hook piece and the material box, and prevent the hook piece from falling off when the material box is dragged and moved.

[0012] As an optional implementation, the rotation plane of the hook member may be parallel to the extension direction of the docking groove.

[0013] With such arrangement, when the hook mechanism is opposite to the docking groove and the hook member is rotated, interference between the hook member and the bottom wall of the material box can be prevented.

[0014] As an optional implementation, the first driving unit has an output shaft, and the hook member is connected to the output shaft.

[0015] With such an arrangement, the hook member can be directly driven by the first driving unit, thereby simplifying the structure of the hook mechanism and reducing product costs.

[0016] As an optional implementation, there are at least two hook members and at least two first drive units; the hook members and the first drive units are arranged in a one-to-one correspondence.

[0017] With such arrangement, when placing or taking a material box, at least two hooks can be used to dock with the material box at the same time, thereby improving the stability of the material box movement process.

[0018] As an optional embodiment, the hook mechanism may further include a connecting rod member; the hook member is rotatably connected to the mounting base via a rotating shaft; the first end of the connecting rod member is connected to the first driving unit, and the second end of the connecting rod member is connected to the hook member; there is a distance between the second end of the connecting rod member and the rotation center of the hook member.

[0019] With such arrangement, the hook member can be driven to rotate through the movement of the connecting rod member, thereby improving the smoothness of the rotation of the hook member.

[0020] As an optional implementation, the first driving unit has an output shaft, the output shaft is connected to a driving member, the first end of the connecting rod is connected to the driving member, and a distance is provided between the first end of the connecting rod and a rotation center of the output shaft.

[0021] With such arrangement, the hook member, the connecting rod member and the driving member can jointly form a connecting rod mechanism, thereby facilitating the design of the arrangement position of the first driving unit.

[0022] As an optional implementation, the connecting rod member may include a connecting rod body and a bending portion connected to the connecting rod body, the connecting rod body is connected to the hook member, and the bending portion is connected to the driving member.

[0023] Such an arrangement can prevent the connecting rod from interfering with the rotating shaft of the driving member when the driving member rotates, thereby increasing the rotation angle range of the driving member.

[0024] As an optional implementation, there are two hook members and two connecting rod members, the two hook members are located at both ends of the mounting seat, and the driving member is located between the two hook members; the connection positions of the two connecting rod members and the driving member are respectively located on opposite sides of the output shaft.

[0025] With such an arrangement, the linkage of the two hook members can be achieved through a single driving unit, thereby reducing costs.

[0026] As an optional embodiment, the cargo picking and placing device may further include a second drive unit and a drive wheel; the telescopic mechanism may include a telescopic member, a transmission member and at least two transmission wheels, the at least two transmission wheels are respectively arranged at both ends of the telescopic member along the first direction, and the transmission member is wound around the transmission wheel; the hook mechanism is connected to the transmission member.

[0027] The second driving unit is arranged on the device body, and the second driving unit is configured to drive the driving wheel to rotate. The driving wheel cooperates with the transmission member and drives the transmission member to transmit around the driving wheel, so that the hook mechanism moves relative to the telescopic member.

[0028] With such arrangement, the second driving unit can realize bidirectional telescopic mechanism for picking up and placing goods.

[0029] As an optional implementation, the transmission member surrounds at least two transmission wheels to form a closed ring; the drive wheel is located on the inner side of the transmission member and meshes with the transmission member.

[0030] Such an arrangement can improve the compactness of the component layout on the device body and reduce space occupation.

[0031] As an optional embodiment, the telescopic part is slidably connected to the device body; abutment parts are respectively provided at both ends of the telescopic part along the first direction; when the hook mechanism moves to either end of the telescopic part in the first direction and abuts against the abutment part, the driving wheel drives the telescopic mechanism to move relative to the device body.

[0032] With such arrangement, when the hook mechanism moves to the two ends of the telescopic mechanism, the positions of the hook mechanism and the telescopic mechanism are relatively fixed and extend together.

[0033] As an optional implementation, a first guide rail may be provided on the device body, a first slider is connected to the telescopic member, and the first slider is slidably connected to the first guide rail; and / or,

[0034] The telescopic member may be provided with a second guide rail, the mounting seat is connected with a second slider, and the second slider is slidably connected to the second guide rail.

[0035] Such an arrangement can improve the smoothness of the movement of the telescopic member relative to the device body, and improve the smoothness of the movement of the hook mechanism relative to the telescopic mechanism.

[0036] As an optional embodiment, the cargo picking and placing device may further include an elastic member and at least two hanging shafts, wherein a first hanging portion is respectively provided at both ends of the device body along the first direction, and at least two hanging shafts are respectively located at both ends of the device body, and the hanging shafts are abutted against the first hanging portion at the same end; the two ends of the elastic member are respectively connected to the hanging shafts at both ends of the device body; and the hanging shaft stopper is provided at the end of the telescopic member.

[0037] With such arrangement, when the hook mechanism moves between the two ends of the telescopic mechanism, the position of the telescopic mechanism can be limited by the hanging shaft, thereby preventing the telescopic mechanism from being offset relative to the device body.

[0038] As an optional embodiment, the telescopic part is a tension spring, and the second hanging parts are respectively provided at both ends of the telescopic part along the first direction, and at least two hanging shafts are respectively located at both ends of the telescopic part; when the telescopic part is extended relative to the device body, the hanging shaft located at the extended end of the telescopic part abuts against the second hanging part, and the hanging shaft located at the extended end away from the telescopic part abuts against the first hanging part.

[0039] As an optional embodiment, the telescopic part is a compression spring, and the second hanging parts are respectively provided at both ends of the telescopic part along the first direction, and at least two hanging shafts are respectively located at both ends of the telescopic part; when the telescopic part is extended relative to the device body, the hanging shaft located at the extended end of the telescopic part abuts against the second hanging part, and the hanging shaft located at the extended end of the telescopic part abuts against the first hanging part.

[0040] With such arrangement, when the hook mechanism moves to the end of the telescopic mechanism and is extended and retracted synchronously with the telescopic mechanism, the hook mechanism and the telescopic mechanism can be maintained in an abutting state.

[0041] As an optional implementation, the hook mechanism may further include a detection unit, which is connected to the mounting seat; the detection unit is configured to detect the relative position of the hook mechanism and the material box.

[0042] Such an arrangement can ensure the accuracy of the docking position between the hook piece and the material box.

[0043] In a second aspect, the present application provides a robot, which includes a robot body and a cargo picking and placing device in the above technical solution, wherein the cargo picking and placing device is arranged on the robot body, and the cargo picking and placing device can be raised and lowered and moved along the height direction of the robot body.

[0044] In a third aspect, the present application provides a cargo picking method applied to a robot, wherein the robot includes a cargo picking and placing device, the cargo picking and placing device includes a device body, a telescopic mechanism and a hook mechanism, the hook mechanism is movably connected to the telescopic mechanism; the hook mechanism includes a mounting seat, a first drive unit and a hook piece, the hook piece is movably connected to the mounting seat, and the first drive unit is configured to drive the hook piece to move relative to the mounting seat; the device body includes a bearing surface, the bearing surface is used to bear a material box, when the hook piece is docked with a docking groove of the material box, the height of the hook piece is higher than the bearing surface, and when the hook piece is separated from the docking groove of the material box, the height of the hook piece is lower than the bearing surface.

[0045] The method includes:

[0046] Receiving a pickup instruction, driving the hook mechanism to move to the first end of the telescopic mechanism, so that the hook mechanism pushes the telescopic mechanism to extend to the bottom of the target material box;

[0047] Determine that the hook mechanism is opposite to the docking groove of the target material box, and drive the hook member to move to dock with the docking groove; wherein the docking groove is located at the bottom side of the end of the target material box;

[0048] The hook mechanism is driven in reverse to drive the target material box to the picking and releasing device.

[0049] As an optional implementation, the hook mechanism may further include a detection unit;

[0050] As an optional implementation manner, determining that the hook mechanism is aligned with the docking groove of the target material box specifically includes:

[0051] When the detection unit detects the docking groove, it is determined that the hook mechanism is opposite to the docking groove.

[0052] As an optional implementation, reversely driving the hook mechanism to drive the target material box to the picking and releasing device includes:

[0053] Drive the hook mechanism and telescopic mechanism to retract synchronously, and drive the target material box part to the picking and placing device;

[0054] The hook mechanism is driven to move from the first end of the telescopic mechanism to the second end of the telescopic mechanism, and all target material boxes are driven to the picking and releasing device.

[0055] In a fourth aspect, the present application provides a cargo placing method applied to a robot, wherein the robot comprises a cargo picking and placing device, the cargo picking and placing device comprises a device body, a telescopic mechanism and a hook mechanism, the hook mechanism is movably connected to the telescopic mechanism; the hook mechanism comprises a mounting seat, a first driving unit and a hook member, the first driving unit is arranged on the mounting seat, the hook member is movably connected to the mounting seat, and the first driving unit is configured to drive the hook member to move relative to the mounting seat; the device body comprises a bearing surface, the bearing surface is used to bear a material box, when the hook member is docked with a docking groove of the material box, the height of the hook member is higher than the bearing surface, and when the hook member is separated from the docking groove of the material box, the height of the hook member is lower than the bearing surface;

[0056] Receive the cargo release instruction, control the robot to carry the target material box to the target cargo release position, dock the hook mechanism with the bottom docking groove of the second end of the target material box, drive the hook mechanism toward the target cargo release position, and move the hook mechanism from the second end of the telescopic mechanism to the first end of the telescopic mechanism, push the telescopic mechanism to extend synchronously, and drive the target material box to the target cargo release position;

[0057] The hook member is driven to move to separate from the docking groove of the target material box; the hook mechanism is driven in reverse to retract the hook mechanism and the telescopic mechanism into the picking and releasing device.

[0058] As an optional implementation, controlling the robot to carry the target material box to the target delivery position, and docking the hook mechanism with the bottom docking groove of the second end of the target material box includes:

[0059] The robot is controlled to move to the target delivery position. If the delivery direction of the target material box and its pickup direction are on different sides of the pickup and delivery device, the hook mechanism is moved to the second end of the telescopic mechanism, and the hook member is driven to move to dock with the bottom docking groove at the second end of the target material box.

[0060] An embodiment of the present application provides a warehousing system, including a shelf and a robot. The robot can pick up and place material boxes on the shelf. The robot is used to execute the above-mentioned picking method or the above-mentioned placing method.

[0061] The present application provides a cargo picking and placing device, a robot, a warehousing system and a cargo picking and placing method, wherein the cargo picking and placing device is used for picking and placing a material box, the cargo picking and placing device comprises a device body, a telescopic mechanism and a hook mechanism, the telescopic mechanism is movably connected to the device body, the hook mechanism is movably connected to the telescopic mechanism, the hook mechanism comprises a mounting seat, a first driving unit and a hook piece, the first driving unit is arranged on the mounting seat, the hook piece is movably connected to the mounting seat, the outer side of the material box has a docking groove, the first driving unit is configured to drive the hook piece to move relative to the mounting seat, so that the hook piece and the docking groove of the material box are docked or separated, so that the material box can be driven to move when the telescopic mechanism and the hook mechanism move, thereby realizing the picking and placing operation of the material box, simplifying the structure of the cargo picking and placing device and reducing the cost.

[0062] In addition to the technical problems solved by the embodiments of the present application described above, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions, other technical problems that can be solved by the cargo picking and placing device, robot, warehousing system and cargo picking and placing method provided by the present application, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. 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 paying any creative work.

[0064] Figure 1 A schematic diagram of the structure of a cargo picking and placing device provided in an embodiment of the present application;

[0065] Figure 2 A top view of a cargo picking and placing device provided in an embodiment of the present application;

[0066] Figure 3 A schematic diagram of the structure of a hook mechanism in a cargo picking and placing device provided in an embodiment of the present application;

[0067] Figure 4 A schematic diagram of the structure of a material box picked up and placed by the picking and placing device provided in an embodiment of the present application;

[0068] Figure 5 A schematic diagram of the docking of a hook member of a cargo picking and placing device and a material box provided in an embodiment of the present application;

[0069] Figure 6 A schematic diagram of the separation of the hook member of the cargo picking and placing device provided in an embodiment of the present application from the material box;

[0070] Figure 7 A schematic diagram of a first driving structure of a hook mechanism in a cargo picking and placing device provided in an embodiment of the present application;

[0071] Figure 8 A schematic diagram of a second driving structure of the hook mechanism in the cargo picking and placing device provided in an embodiment of the present application;

[0072] Fig. 9 A front view of a second driving structure of the hook mechanism in the cargo picking and placing device provided in an embodiment of the present application;

[0073] Fig.10 A schematic diagram of the structure of a connecting rod in a cargo picking and placing device provided in an embodiment of the present application;

[0074] Fig.11 A schematic diagram of the structure of the telescopic mechanism in the cargo picking and placing device provided in an embodiment of the present application;

[0075] Fig.12 A front view of a cargo picking and placing device provided in an embodiment of the present application;

[0076] Fig.13 A schematic diagram of a first transmission of the telescopic mechanism in the cargo picking and placing device provided in an embodiment of the present application;

[0077] Fig.14 A second transmission schematic diagram of the telescopic mechanism in the cargo picking and placing device provided in an embodiment of the present application;

[0078] Fig.15 for Fig.12 Partial view of the A position in the middle;

[0079] Fig.16 A schematic diagram of the connection between the transmission member and the mounting seat in the cargo picking and placing device provided in an embodiment of the present application;

[0080] Fig.17 A schematic diagram of the bottom side of a cargo picking and placing device provided in an embodiment of the present application;

[0081] Fig.18 A schematic diagram of the device body of the cargo picking and placing device provided in an embodiment of the present application;

[0082] Fig.19 A schematic diagram of a robot provided in an embodiment of the present application;

[0083] Fig. 20 A schematic diagram of a cargo picking process of a cargo picking and placing device provided in an embodiment of the present application;

[0084] Fig.21 A flowchart of a method for picking up goods provided in an embodiment of the present application;

[0085] Fig. 22A flowchart of a method for releasing goods provided in an embodiment of the present application.

[0086] Description of reference numerals:

[0087] 1- Robot;

[0088] 10-Cargo pick-up and delivery device;

[0089] 100-device body; 101-carrying surface; 110-first guide rail; 120-first hanging part;

[0090] 200- telescopic mechanism; 210- telescopic member; 211- second hanging part; 220- transmission member; 230- transmission wheel; 240- abutment member; 250- first slider; 260- second guide rail;

[0091] 300-hook mechanism; 310-mounting seat; 320-first driving unit; 321-output shaft; 330-hook member; 340-connecting rod member; 341-connecting rod body; 342-bending portion; 350-driving member; 360-connecting member; 370-second slider; 380-detection unit;

[0092] 400 - second drive unit; 410 - drive wheel;

[0093] 500-hanging axis; 510-elastic part;

[0094] 20- material box; 21- docking slot;

[0095] 30-Robot body. DETAILED DESCRIPTION

[0096] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution 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 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 this field without creative work are within the scope of protection of this application.

[0097] First, those skilled in the art should understand that these implementations are only used to explain the technical principles of the present application and are not intended to limit the scope of protection of the present application. Those skilled in the art can make adjustments to them as needed to adapt to specific application scenarios.

[0098] Secondly, it should be noted that in the description of the present application, terms such as "up", "down", "left", "right", "front", "back", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present application.

[0099] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0100] In this application, the terms "installed" or "connected" are used interchangeably. "Connected" can be a direct connection or an indirect connection through an intermediate device; it can be a movable connection or a fixed connection. The term "and / or" includes any combination of the listed items, for example, "A and / or B" includes "A and B", "only A", or "only B".

[0101] Various types of robots are widely used in various fields such as industry and life, and robots play an important role in transportation, logistics and other industries. In warehousing and logistics systems, goods are usually stored on shelves. Robots pick up and place goods by docking with shelves or conveyor lines, and can transport goods. The robot used to pick up and place goods is usually equipped with a fork for picking up and placing goods. The fork is usually equipped with a manipulator that can extend in a fixed direction relative to the robot body, and the fork as a whole can rotate relative to the robot body. The manipulator usually completes the picking and placing operation on the side of the robot along the forward direction. Therefore, when the robot completes the task of picking up and placing goods on shelves on different sides, it is necessary to rotate the fork to change the direction of the fork.

[0102] Therefore, in the related art, when the handling robot performs cargo delivery tasks, when picking up and placing cargo from different sides of the robot, it is first necessary to rotate the position of the fork so that the fork faces the target shelf before the telescopic operation can be performed to pick up and place the cargo, resulting in low efficiency of the robot in picking up and placing cargo. The fork usually has multiple joints, multiple transmission mechanisms and multiple drive units, and the manipulator can complete the operation of picking up and placing material boxes. The fork on the robot has a complex structure, is heavy and has a high cost.

[0103] In addition, when the robot's fork picks up and places material boxes, the fork's joints need to extend into the interior of the shelf storage location, occupying the storage space inside the storage location, resulting in a decrease in storage density and reducing the overall space utilization of the storage system.

[0104] In view of the above problems, the embodiments of the present application provide a cargo picking and placing device, a robot, a storage system and a cargo picking and placing method. By designing the structure of the telescopic mechanism and the hook mechanism on the cargo picking and placing device, the fork device can be telescopic in both directions. The hook mechanism does not need to extend into the storage space of the shelf when docking with the material box, which improves space utilization and storage efficiency. The structure of the cargo picking and placing device is simplified, the weight of the equipment is reduced, and the product cost is reduced.

[0105] To facilitate understanding, the application scenarios of the cargo picking and placing device, robot, warehousing system and cargo picking and placing method provided in the embodiments of the present application are first described.

[0106] The cargo pick-up and placement device provided in the present application is applied to a robot, and the robot can be applied to a warehousing or logistics system to pick up and place cargo. Specifically, the robot can be applied to the logistics distribution of industrial production lines, the entry and exit of inventory products in the manufacturing industry, the entry and exit of retail products, and can also be applied to different fields such as express entry and exit of e-commerce logistics, and the products or goods involved in the transportation can be industrial parts, electronic accessories or products, medicines, clothing accessories, food, books, etc. The robot can directly transport goods, or it can transport a material box (container) filled with goods. This application does not make specific restrictions on this. The following will refer to the transport object of the transport robot as "material box", and no specific examples will be given. In one embodiment, the robot can walk on the ground, in another embodiment, the robot can also climb onto the shelf to pick up and place goods, and in some other embodiments, the robot can also walk on the guide rails set on the shelf.

[0107] Figure 1 This is a schematic diagram of the structure of the cargo picking and placing device provided in an embodiment of the present application. Figure 2 A top view of a cargo picking and placing device provided in an embodiment of the present application. Figure 3 This is a schematic diagram of the structure of the hook mechanism in the cargo picking and placing device provided in an embodiment of the present application. Figure 4 A schematic diagram of the structure of a material box picked up and placed by the picking and placing device provided in an embodiment of the present application, Figure 5 A schematic diagram of the docking of the hook member of the cargo picking and placing device provided in an embodiment of the present application with the material box, Figure 6 Schematic diagram of the separation of the hook member and the material box of the cargo picking and placing device provided in an embodiment of the present application.

[0108] like Figures 1 to 6As shown, the present embodiment provides a device 10 for picking up and placing goods, and the device 10 for picking up and placing material boxes 20. The device 10 for picking up and placing goods can be applied to robots in a warehousing and logistics system. The device 10 for picking up and placing goods takes a material box 20 from a shelf, or places a material box 20 on a shelf. The shelf (rack) may include one or more shelves (shelf) for placing the material box 20, and the shelf is provided with a plurality of storage locations for placing the material box 20. The present application does not limit the shape and structure of the shelf and the storage location, as long as the material box 20 can be placed on the storage location of the shelf.

[0109] The cargo picking and placing device 10 includes a device body 100, a telescopic mechanism 200 and a hook mechanism 300. The telescopic mechanism 200 is movably connected to the device body 100, and the hook mechanism 300 is movably connected to the telescopic mechanism 200. When performing the cargo picking and placing operation, the hook mechanism 300 may move relative to the telescopic mechanism 200, and the positions of the telescopic mechanism 200 and the device body 100 may be relatively fixed, or the hook mechanism 300 and the telescopic mechanism 200 may move together relative to the device body 100. In this way, the telescopic mechanism 200 can be extended, and the hook mechanism 300 can completely drive the material box 20 to the cargo picking and placing device 10.

[0110] The hook mechanism 300 includes a mounting seat 310, a first driving unit 320 and a hook member 330. The first driving unit 320 is disposed on the mounting seat 310, and the hook member 330 is movably connected to the mounting seat 310. The outer side of the material box 20 has a docking groove 21, and the first driving unit 320 is configured to drive the hook member 330 to move relative to the mounting seat 310, including but not limited to rotating or telescopic movement relative to the mounting seat 310, so that the hook member 330 docks with or separates from the docking groove 21 of the material box 20.

[0111] The device body 100 includes a bearing surface 101. The bearing surface 101 is used to bear the material box 20. When the hook member 330 is connected to the docking groove 21 of the material box 20, the height of the hook member 330 is higher than the bearing surface 101. When the hook member 330 is separated from the docking groove 21 of the material box 20, the height of the hook member 330 is lower than the bearing surface 101.

[0112] It can be understood that the first driving unit 320 can drive the hook member 330 to rotate, so that the hook member 330 has different positions and postures relative to the mounting base 310.

[0113] Taking the process of picking up goods as an example, the telescopic mechanism 200 needs to be extended first, and the hook mechanism 300 and the material box 20 are in a relative preset position for docking. Therefore, before the hook mechanism 300 reaches the preset position relative to the material box 20, the hook member 330 of the hook mechanism 300 can be in a retracted state relative to the mounting seat 310 (at this time, the height of the hook member 330 is lower than the bearing surface 101). When the hook mechanism 300 reaches the preset position, the first driving unit 320 can drive the hook member 330 to rotate, so that the hook member 330 is extended relative to the mounting seat 310 (at this time, the height of the hook member 330 is higher than the bearing surface 101), and then the hook member 330 is docked with the material box 20. Thereafter, as the telescopic mechanism 200 retracts, the hook member 330 can drive the material box 20 to move, thereby obtaining the material box 20.

[0114] During the cargo delivery process, the hook member 330 docks with the material box 20, and the material box 20 is driven to move from the device body 100 to the shelf through the movement of the hook mechanism 300 and the telescopic mechanism 200. After the cargo delivery is completed, under the drive of the first driving unit 320, the hook member 330 rotates from the extended state to the retracted state relative to the mounting seat 310, so that the hook member 330 is separated from the material box 20, and the telescopic mechanism 200 can be retracted.

[0115] It should be noted that in the pick-up and placement device 10 provided in the embodiment of the present application, a movable hook mechanism 300 is provided on the telescopic mechanism 200. When the hook mechanism 300 and the material box 20 are in the preset docking position, the rotatable hook member 330 on the hook mechanism 300 is used to dock with the docking structure of the material box 20 located on the outside of the shelf, so that the material box 20 can be driven to move when the telescopic mechanism 200 and the hook mechanism 300 move, so as to realize the pick-up and placement operation of the material box 20. When the hook mechanism 300 docks with the material box 20, it is not necessary to extend deep into the storage location, so that the space inside the storage location will not be occupied, which is conducive to reducing the width of the storage location of the shelf and improving the storage density of the shelf. In addition, the rotatable hook member 330 is used to cooperate with the material box 20, so that the pick-up and placement device 10 does not need to be lifted as a whole to cooperate with the material box 20, which simplifies the process of picking up and placing goods, simplifies the overall structure of the pick-up and placement device 10, reduces the weight of the pick-up and placement device 10, and reduces the production cost.

[0116] First, the specific docking method between the hook member 330 and the material box 20 will be described in detail below.

[0117] Please continue to refer to Figures 1 to 6In a possible implementation, the bottom of the material box 20 has a docking groove 21, and the hook member 330 is rotatably connected to the mounting seat 310. When the hook member 330 rotates to dock with the material box 20, the hook member 330 is at least partially inserted into the docking groove 21. When the hook member 330 drags the material box 20 to move, the hook member 330 abuts against the groove wall of the docking groove 21, thereby improving the reliability of the hook member 330 docking with the material box 20 and preventing the hook member 330 from falling off when dragging the material box 20 to move.

[0118] It is understandable that the hook member 330 may be a rod-shaped structure or a sheet-shaped structure. The diameter or thickness of the hook member 330 may be slightly smaller than the width of the docking groove 21 to avoid interference between the hook member 330 and the outer wall of the material box 20 when the hook member 330 is rotated and inserted into the docking groove 21 .

[0119] Exemplarily, the hook member 330 is a sheet-like structure, that is, the length and width of the hook member 330 are greater than its thickness. The rotation connection point of the hook member 330 relative to the mounting seat 310 can be eccentrically arranged relative to the center or center of gravity of the hook member 330, so as to ensure that the hook member 330 can dock with the docking groove 21 of the material box 20 while reducing the space occupied by the hook member 330 during the rotation stroke.

[0120] Exemplarily, the material of the hook member 330 may be plastic or metal or alloy material such as iron, aluminum, etc., which is not specifically limited in the embodiment of the present application.

[0121] In some embodiments, the rotation plane of the hook member 330 may be parallel to the extension direction of the docking slot 21. When the hook mechanism 300 is opposite to the docking slot 21 and the hook member 330 is rotated, the hook member 330 may be prevented from interfering with the bottom wall of the material box 20.

[0122] It is understandable that the docking slot 21 may extend along the width direction of the material box 20. Exemplarily, the extension direction of the docking slot 21 may be perpendicular to the cargo picking and placing direction of the cargo picking and placing device 10. The notch of the docking slot 21 may be arranged downward, and when the hook mechanism 300 is opposite to the docking slot 21, the hook member 330 is located below the docking slot 21. When the hook member 330 needs to dock with the docking slot 21, the first driving unit 320 may drive the hook member 330 to deflect upward.

[0123] Exemplarily, the hook member 330 can be arranged at both ends of the mounting seat 310, and the rotation plane of the hook member 330 is a vertical plane, and the X direction can be perpendicular to the vertical plane. The rotation plane of the hook member 330 can be perpendicular to the picking and releasing direction of the picking and releasing device 10. When the hook member 330 is disengaged from the docking groove 21 of the material box 20, the hook member 330 is retracted relative to the mounting seat 310. At this time, the hook member 330 is accommodated on the side of the mounting seat 310, and the height of the hook member 330 is lower than the top surface of the mounting seat 310. When the hook member 330 is docked with the docking groove 21 of the material box 20, the hook member 330 can be extended relative to the mounting seat 310. At this time, the hook member 330 is higher than the top surface of the mounting seat 310.

[0124] Exemplarily, in some embodiments, the docking slot 21 can be set on the bottom wall of the material box 20, or the docking slot 21 can be formed by a handle on the side of the material box 20. The embodiment of the present application does not limit the specific location of the docking slot 21. For example, the docking slot 21 can be set at the top of the side wall of the material box 20 facing the cargo pickup and delivery device 10, and the notch of the docking slot 21 is set upward. When the hook mechanism 300 is aligned with the docking slot 21, the hook member 330 is located above the docking slot 21. When the hook member 330 needs to dock with the docking slot 21, the first drive unit 320 can drive the hook member 330 to deflect downward.

[0125] In some embodiments, at least one end of the bottom of the material box 20 is provided with a docking groove 21. For example, only one docking groove 21 may be provided at one end of the bottom of the material box 20, or Figure 4 As shown, a docking groove 21 is respectively provided at two opposite ends of the bottom of the material box 20 .

[0126] It should be noted that when the hook member 330 is opposite to the docking groove 21 of the material box 20, since the hook member 330 will not interfere with the material box 20 during the rotation process, when the hook mechanism 300 is extended to the bottom of the material box 20, the hook structure can be as close to the bottom wall of the material box 20 as possible, thereby avoiding the hook mechanism 300 and the telescopic mechanism 200 from occupying too much space under the storage location where the target material box 20 is located, which is beneficial to reducing the floor height of the shelf storage location and improving the storage density.

[0127] In the embodiment of the present application, the first driving unit 320 can drive the hook member 330 by direct driving or indirect driving, which will be described in detail below.

[0128] Figure 7 A schematic diagram of the first driving structure of the hook mechanism in the cargo picking and placing device provided in an embodiment of the present application.

[0129] Please refer to Figure 7 , and combined with Figure 1, Figure 2 and Figure 4 In a possible implementation, the first driving unit 320 has an output shaft 321, and the hook member 330 is connected to the output shaft 321, so that the hook member 330 can be directly driven by the first driving unit 320, simplifying the structure of the hook mechanism 300 and reducing product costs.

[0130] Exemplarily, the first drive unit 320 may be a motor or an electromagnet, etc. The first drive unit 320 and the hook member 330 may be respectively disposed on opposite sides of the mounting base 310. The hook member 330 may be directly connected to the output shaft 321, or the hook member 330 may be connected to the output shaft 321 via a rotating shaft and a coupling, which is not specifically limited in the present embodiment of the application.

[0131] In some embodiments, there are at least two hook members 330 and at least two first drive units 320; the hook members 330 are arranged in a one-to-one correspondence with the first drive units 320. When taking and placing the material box 20, at least two hook members 330 can be docked with the material box 20 at the same time to improve the stability of the moving process of the material box 20.

[0132] Exemplarily, there may be two first drive units 320, and there may be two hook members 330. The two first drive units 320 and the two hook members 330 are respectively connected to each other, and the two first drive units 320 drive the two hook members 330 to rotate in opposite directions. In this way, when the two hook members 330 are retracted relative to the mounting seat 310, the two hook members 330 can be accommodated inside the mounting seat 310, so as to prevent the hook members 330 from occupying the space outside the end of the mounting seat 310.

[0133] Figure 8 This is a schematic diagram of a second driving structure of the hook mechanism in the cargo picking and placing device provided in an embodiment of the present application, Fig. 9 A front view of a second driving structure of the hook mechanism in the cargo picking and placing device provided in an embodiment of the present application, Fig.10 A schematic diagram of the structure of a connecting rod in a cargo picking and placing device provided in an embodiment of the present application.

[0134] Please refer to Figures 8 to 10 , and combined with Figures 1 to 6 In a possible implementation, the hook mechanism 300 may further include a connecting rod 340. The hook member 330 is rotatably connected to the mounting base 310 via a rotating shaft, a first end of the connecting rod 340 is connected to the first driving unit 320, and a second end of the connecting rod 340 is connected to the hook member 330. There is a distance between the second end of the connecting rod 340 and the rotation center of the hook member 330. When the first driving unit 320 drives the connecting rod 340, the hook member 330 can be driven to rotate by the movement of the connecting rod 340, and the consistency of the rotation of the two hook members 330 can be maintained.

[0135] Exemplarily, the first end of the connecting rod 340 is rotatably connected to the first driving unit 320. For example, one of the connecting rod 340 and the first driving unit 320 is provided with a rotating shaft, and the other is provided with a rotating shaft, and the rotating shaft is plugged into the rotating shaft hole. In order to improve the smoothness of rotation, a bearing can be provided between the rotating shaft and the rotating shaft hole. The second end of the connecting rod 340 is rotatably connected to the hook member 330. The connecting rod 340 and the hook member 330 can also adopt the connection method of the rotating shaft and the rotating shaft hole, which will not be repeated here.

[0136] The first driving unit 320 has an output shaft 321, the output shaft 321 is connected to a driving member 350, and the first end of the connecting rod 340 is connected to the driving member 350. The first end of the connecting rod 340 is spaced from the rotation center of the output shaft 321.

[0137] It can be understood that the hook member 330 , the connecting rod member 340 , and the driving member 350 can jointly form a connecting rod mechanism, thereby facilitating the design of the arrangement position of the first driving unit 320 .

[0138] In some embodiments, the connecting rod member 340 may include a connecting rod body 341 and a bending portion 342 connected to the connecting rod body 341, the connecting rod body 341 is connected to the hook member 330, and the bending portion 342 is connected to the driving member 350, thereby preventing the connecting rod member 340 from interfering with the rotating shaft of the driving member 350 when the driving member 350 rotates, thereby increasing the rotation angle range of the driving member 350.

[0139] For example, the connecting rod body 341 can extend in a direction perpendicular to the X direction, and the bent portion 342 is bent upward or downward relative to the extending direction of the connecting rod body 341, so that the connecting rod member 340 forms a spoon-shaped structure. When the driving member 350 rotates to drive the connecting rod member 340 to move, and the bent portion 342 is located on the side of the output shaft 321, the bent portion 342 can avoid the output shaft 321 to avoid interference with the output shaft 321.

[0140] Exemplarily, the connecting rod body 341 and the bending portion 342 may be an integrally formed part, and the connecting rod part 340 may be made of plastic or metal, etc., which is not specifically limited in the embodiment of the present application.

[0141] In some embodiments, there may be two hook members 330, two connecting rod members 340, the two hook members 330 are located at both ends of the mounting base 310, and the driving member 350 is located between the two hook members 330. The connection positions of the two connecting rod members 340 and the driving member 350 are respectively located on opposite sides of the output shaft 321, so that the linkage of the two hook members 330 can be achieved through a single driving unit, which reduces the cost and allows the rotation of the two hook members 330 to be consistent.

[0142] Exemplarily, the rotation connection point between the two connecting rods 340 and the driving member 350 may be arranged colinearly with the center of the output shaft 321 , thereby improving the force balance when the driving member 350 drives the two connecting rods 340 .

[0143] It should be noted that when the two connecting rods 340 are installed on the hook mechanism 300, the bending directions of the bending portions 342 of the two connecting rods 340 can be opposite, so that when the two hook members 330 are retracted relative to the mounting base 310, the bending portions 342 of the two connecting rods 340 can avoid the output shaft 321 upward and downward respectively.

[0144] The specific structure of the telescopic mechanism 200 and the moving manner of the hook mechanism 300 and the telescopic mechanism 200 are described in detail below.

[0145] Fig.11 This is a schematic diagram of the structure of the telescopic mechanism in the cargo picking and placing device provided in an embodiment of the present application. Fig.12 This is a front view of the cargo picking and placing device provided in an embodiment of the present application. Fig.13 This is a schematic diagram of a first transmission of the telescopic mechanism in the cargo picking and placing device provided in an embodiment of the present application. Fig.14 This is a second transmission schematic diagram of the telescopic mechanism in the cargo picking and placing device provided in an embodiment of the present application, Fig.15 for Fig.12 Partial view of position A in the middle, Fig.16 A schematic diagram of the connection between the transmission member and the mounting seat in the cargo picking and placing device provided in an embodiment of the present application.

[0146] Please refer to Figures 11 to 16 , and combined with Figure 1 and Figure 2 In a possible implementation, the cargo picking and placing device 10 may further include a second driving unit 400 and a driving wheel 410. The telescopic mechanism 200 may include a telescopic member 210, a transmission member 220, and at least two transmission wheels 230. The at least two transmission wheels 230 are respectively disposed at both ends of the telescopic member 210 along the first direction (X direction), and the transmission member 220 is wound around the transmission wheels 230. The hook mechanism 300 is connected to the transmission member 220.

[0147] Among them, the second driving unit 400 is arranged on the device body 100, and the second driving unit 400 is configured to drive the driving wheel 410 to rotate. The driving wheel 410 cooperates with the transmission member 220 and drives the transmission member 220 to transmit around the transmission wheel 230. During the transmission process, the transmission member 220 can drive the hook mechanism 300 to move relative to the telescopic member 210.

[0148] It is understandable that when the hook mechanism 300 moves between the two ends of the telescopic member 210, the transmission member 220 drives around the transmission wheel 230, and at this time, the position of the telescopic member 210 relative to the device body 100 can remain fixed. When the hook mechanism 300 moves to the two ends of the telescopic member 210, as the driving wheel 410 continues to rotate, the positions of the hook mechanism 300 and the telescopic member 210 remain fixed, and at this time, the transmission member 220 no longer drives around the transmission wheel 230, and the telescopic mechanism 200 as a whole is telescoped relative to the device body 100. In this way, the two-way telescopic picking and placing of the telescopic mechanism 200 can be achieved through the second driving unit 400.

[0149] It can be seen that the cargo picking and placing device 10 provided in the embodiment of the present application drives the hook mechanism 300 to move relative to the telescopic member 210 through the driving wheel 410 and the transmission member 220, so that the hook mechanism 300 can pick up and place the material box 20. At the same time, the hook mechanism 300 can be used to drive the telescopic mechanism 200 to perform bidirectional telescoping relative to the device body 100, so that the cargo picking and placing device 10 can complete the cargo picking operation in the front and rear directions without rotating, thereby reducing the occupied space of the cargo picking and placing device 10, reducing the shelf spacing in the warehousing and logistics system, and improving the storage density.

[0150] The telescopic movement direction of the telescopic mechanism 200 relative to the device body 100 is defined as the X direction, that is, the first direction is the X direction, and the movement direction of the hook mechanism 300 relative to the telescopic mechanism 200 is also the X direction. The width direction of the picking and placing device 10 is defined as the Y direction, and the mounting seat 310 of the hook mechanism 300 can extend along the Y direction. The Y direction is perpendicular to the X direction.

[0151] The specific matching structure of the hook mechanism 300 and the telescopic mechanism 200 is described in detail below.

[0152] In some embodiments, the transmission member 220 surrounds at least two transmission wheels 230 to form a closed ring. The driving wheel 410 is located inside the transmission member 220 and meshes with the transmission member 220, thereby improving the compactness of the component layout on the device body 100 and reducing space occupation.

[0153] Exemplarily, the second drive unit 400 is a motor. The transmission member 220 may be a flexible transmission member, and the transmission member 220 may be a flexible member such as a belt or a chain, and the transmission wheel 230 may be a pulley, a sprocket, etc., which is not specifically limited in the embodiment of the present application. Taking the chain and the sprocket as an example, the mounting seat 310 of the hook mechanism 300 may be connected to the chain through a connecting member 360, wherein the connecting member 360 may be riveted to the chain through fasteners such as screws to ensure the reliability of the connection between the mounting seat 310 and the transmission member 220.

[0154] In some embodiments, the telescopic member 210 is slidably connected to the device body 100. The telescopic member 210 is provided with abutment members 240 at both ends along the first direction, and when the hook mechanism 300 moves to any end of the two ends of the telescopic member 210 in the first direction and abuts against the abutment members 240, the driving wheel 410 drives the telescopic mechanism 200 to move relative to the device body 100, so that when the hook mechanism 300 moves to both ends of the telescopic mechanism 200, the positions of the hook mechanism 300 and the telescopic mechanism 200 are relatively fixed and extend together.

[0155] It can be understood that, through the transmission of the transmission member 220, when a single driving source is used, that is, only the second driving unit 400 is used for driving, both the relative movement of the telescopic mechanism 200 and the device body 100 and the relative movement of the hook mechanism 300 and the telescopic mechanism 200 can be realized, thereby improving the compactness and transmission efficiency of the overall structure of the cargo picking and placing device 10.

[0156] In some embodiments, a buffer pad may be provided on one side of the abutment member 240 facing the hook mechanism 300. The buffer pad is elastic, thereby slowing down the impact force, preventing the impact force from being transmitted to the telescopic mechanism 200, and improving the stability of the cargo picking and placing process.

[0157] Exemplarily, the material used for the buffer pad may include but is not limited to rubber, silicone, sponge, etc., and the embodiments of the present application do not specifically limit this.

[0158] The specific arrangement position and transmission method of the transmission wheel 230 are described below.

[0159] In some embodiments, there may be two transmission wheels 230 that cooperate with one transmission member 220 . The two transmission wheels 230 are rotatably connected to two ends of the telescopic member 210 along the X direction, and the transmission member 220 is wound around the two transmission wheels 230 .

[0160] In other embodiments, there may be six transmission wheels 230, and three transmission wheels 230 are respectively provided at both ends of the telescopic member 210 along the X direction, wherein, among the three transmission wheels 230 at one end of the telescopic member 210, two transmission wheels 230 are inner transmission wheels 230, which abut against the inner side of the transmission member 220, and one transmission wheel 230 is an outer transmission wheel 230, which abuts against the outer side of the transmission member 220, wherein the outer transmission wheel 230 is located between the two inner transmission wheels 230.

[0161] It should be noted that in the embodiment of the present application, other numbers of transmission wheels 230 can be used as long as the transmission member 220 can form a closed ring and drive the hook mechanism 300 to move when the transmission member 220 rotates around the transmission wheel 230. The embodiment of the present application does not limit the specific number of transmission wheels 230.

[0162] In a possible implementation, the device body 100 may be provided with a first guide rail 110, and the telescopic member 210 may be connected with a first slider 250, which is slidably connected to the first guide rail 110 to improve the smoothness of the movement of the telescopic member 210 relative to the device body 100. The first guide rail 110 extends along the X direction.

[0163] Exemplarily, there may be two first guide rails 110, which may be parallel and disposed on opposite sides of the device body 100. First sliders 250 may be disposed on opposite sides of the bottom of the telescopic member 210, and at least one first slider 250 on each side may be slidably matched with the first guide rail 110.

[0164] In a possible implementation, the telescopic member 210 may be provided with a second guide rail 260, the mounting seat 310 is connected with a second slider 370, and the second slider 370 is slidably connected to the second guide rail 260, thereby improving the smoothness of the movement of the hook mechanism 300 relative to the telescopic mechanism 200. The second guide rail 260 extends along the X direction.

[0165] Exemplarily, there may be two second guide rails 260, which may be parallel and respectively disposed on opposite sides of the upper surface of the telescopic member 210. Second sliders 370 may be respectively disposed on opposite sides of the bottom of the hook mechanism 300, and at least one second slider 370 on each side may be slidably matched with the second guide rail 260.

[0166] Fig.17 This is a bottom schematic diagram of a cargo picking and placing device provided in an embodiment of the present application. Fig.18 A schematic diagram of the device body of the cargo picking and placing device provided in an embodiment of the present application.

[0167] Please refer to Figures 12 to 18 In a possible implementation, the cargo picking and placing device 10 may further include an elastic member 510 and at least two hanging shafts 500. The first hanging parts 120 are respectively provided at both ends of the device body 100 along the first direction, and the at least two hanging shafts 500 are respectively opposite to the first hanging parts 120 at both ends of the device body 100. At least two hanging shafts 500 are located at both ends of the device body 100, and the hanging shafts 500 abut against the first hanging parts 120 at the same end. The two ends of the elastic member 510 are respectively connected to the hanging shafts 500 at both ends of the device body 100. The hanging shafts 500 may be blocked at the ends of the telescopic member 210.

[0168] It is understandable that when the hook mechanism 300 moves between the two ends of the telescopic mechanism 200 , the position of the telescopic mechanism 200 can be limited by the hanging shaft 500 to prevent the telescopic mechanism 200 from being offset relative to the device body 100 .

[0169] Exemplarily, the elastic member 510 is a spring.

[0170] In some embodiments, the telescopic member 210 is provided with a second hanging portion 211 at both ends along the first direction, and at least two hanging shafts 500 are respectively located at both ends of the telescopic member 210 .

[0171] In one implementation, the elastic member 510 may be a tension spring. When the telescopic member 210 is extended relative to the device body 100, the hanging shaft 500 at the extended end of the telescopic member 210 abuts against the second hanging portion 211, and the hanging shaft 500 at the extended end away from the telescopic member 210 abuts against the first hanging portion 120, and the elastic member 510 is stretched. Therefore, when the hook mechanism 300 moves to the end of the telescopic mechanism 200 and is extended and retracted synchronously with the telescopic mechanism 200, the hook mechanism 300 and the telescopic mechanism 200 can be maintained in abutment with each other, and the relative position of the two can be kept stable.

[0172] In another implementation, the elastic member 510 can be a compression spring. When the telescopic member 210 is extended relative to the device body 100, the hanging shaft 500 located at the end away from the telescopic member 210 abuts against the second hanging part 211, and the hanging shaft 500 located at the end of the telescopic member 210 abuts against the first hanging part 120. The elastic member 510 is compressed, so that the hook mechanism 300 and the telescopic mechanism 200 can maintain the abutment state, thereby keeping the relative positions of the two stable.

[0173] Exemplarily, both the first hanging part 120 and the second hanging part 211 may be provided with hanging grooves. The hanging shaft 500 may be arranged along the Y direction. The hanging grooves of the first hanging part 120 and the second hanging part 211 face the same side. When the elastic member 510 may be a tension spring, the hanging grooves of the first hanging part 120 and the second hanging part 211 face the outer side of the end of the device body 100, that is, the hanging shaft 500 is blocked at the side of the corresponding first hanging part 120 and the second hanging part 211 facing the outside of the device body 100. When the elastic member 510 may be a compression spring, the hanging grooves of the first hanging part 120 and the second hanging part 211 face the inner side of the end of the device body 100, that is, the hanging shaft 500 is blocked at the side of the corresponding first hanging part 120 and the second hanging part 211 facing the inside of the device body 100.

[0174] In a possible implementation, the hook mechanism 300 may further include a detection unit 380 connected to the mounting base 310. The detection unit 380 is configured to detect the relative position between the hook mechanism 300 and the material box 20, thereby ensuring the accuracy of the docking position between the hook member 330 and the material box 20.

[0175] Exemplarily, the detection unit 380 may be a photoelectric sensor, and the detection unit 380 may detect the distance between the hook mechanism 300 and the bottom surface of the material box 20. When the hook mechanism 300 is opposite to the docking slot 21 of the material box 20, the distance detected by the detection unit 380 is the preset distance between the hook mechanism 300 and the bottom of the docking slot 21 or the signal detected by the detection unit 380 changes suddenly, and the specific detection method is not limited here, so as to judge that the hook mechanism 300 has moved to the preset position relative to the docking slot 21.

[0176] It should be noted that a bearing surface 101 may be provided on the device body 100 , and the bearing surface 101 may be connected to two opposite sides of the device body 100 , and the height of the bearing surface 101 is higher than the position of the telescopic mechanism 200 .

[0177] In addition, the device body 100 may also be provided with a first detection module and a second detection module. The first detection module may detect the position of the material box 20 relative to the device body 100, thereby determining whether the material box 20 has been completely placed on the carrying surface 101 of the device body 100, or whether the material box 20 has been completely removed from the device body 100. The second detection module is used to detect the height position of the picking and placing device 10 relative to the shelf, thereby ensuring that the picking and placing device 10 is relative to the target storage location where the material box 20 needs to be picked up and placed. Both the first detection module and the second detection module may be photoelectric sensors, which are not specifically limited in the embodiments of the present application.

[0178] Fig.19 A schematic diagram of the robot 1 provided in an embodiment of the present application.

[0179] Please refer to Fig.19 An embodiment of the present application provides a robot 1, which includes a robot body 30 and a cargo picking and placing device 10 in the above technical solution. The cargo picking and placing device 10 is arranged on the robot body 30, and the cargo picking and placing device 10 can be raised and lowered along the height direction of the robot body 30.

[0180] Among them, the robot 1 is applied to a warehousing system, and can move between the shelves of the warehousing system and / or climb and descend along the shelves, and obtain material boxes 20 from the shelves or place the material boxes 20 on the shelves, playing the role of picking up, placing and transferring material boxes 20.

[0181] In some embodiments, the picking and placing device 10 can be raised and lowered relative to the robot body 30, and the robot body 30 can move on the ground and / or climb and descend along the shelf, so that the picking and placing device 10 can be opposite to different storage locations of the shelf to obtain the target material box 20. After the picking and placing device 10 is docked with the corresponding storage location of the shelf, it can perform picking and placing operations on the material box 20.

[0182] It should be noted that the robot 1 provided in the embodiment of the present application can include all the technical solutions and technical effects of the above-mentioned cargo picking and placing device 10, which will not be repeated here.

[0183] Fig. 20 A schematic diagram of a cargo picking process of a cargo picking and placing device provided in an embodiment of the present application, Fig.21 A flowchart of the pickup method provided in an embodiment of the present application.

[0184] Please refer to Fig. 20 and Fig.21 The present application provides a method for picking up goods applied to a robot 1, wherein the robot 1 includes a picking and placing device 10, a receiver, a processor, and a memory. The picking and placing device 10 includes a device body 100, a telescopic mechanism 200, and a hook mechanism 300. The hook mechanism 300 is movably connected to the telescopic mechanism 200; the hook mechanism 300 includes a mounting seat 310, a first driving unit 320, and a hook member 330; the device body 100 includes a bearing surface 101, and the bearing surface 101 is used to carry a material box 20. When the hook member 330 is docked with the docking groove 21 of the material box 20, the height of the hook member 330 is higher than the bearing surface 101, and when the hook member 330 is separated from the docking groove 21 of the material box 20, the height of the hook member 330 is lower than the bearing surface 101. The memory stores computer executable program codes for performing various tasks. After the receiver receives the instruction sent by the server, the processor executes the program code to control the robot 1 and its various actuators (such as the picking and placing device 10) to perform corresponding actions.

[0185] In one embodiment, the pickup method includes:

[0186] S101 , receiving a pickup instruction, driving the hook mechanism 300 to move to the first end of the telescopic mechanism 200 , so that the hook mechanism 300 pushes the telescopic mechanism 200 to extend to the bottom of the target material box 20 .

[0187] It should be noted that the order in which the robot 1 drives the hook mechanism 300 to move to the first end of the telescopic mechanism 200 is not limited, and they can be executed one after the other or simultaneously. For example, the hook mechanism 300 can be driven to move to the first end of the telescopic mechanism 200 during the process of driving to the target pickup position, or the hook mechanism 300 can be driven to move to the first end of the telescopic mechanism 200 after reaching the target pickup position, or the hook mechanism 300 can be driven to move to the first end of the telescopic mechanism 200 at the same time as reaching the target pickup position. The first end of the telescopic mechanism 200 is the end close to the target pickup position, and the second end of the telescopic mechanism 200 is the end away from the target pickup position.

[0188] Specifically, the hook mechanism 300 first moves relative to the telescopic mechanism 200, and the position of the telescopic mechanism 200 remains fixed during the process of the hook mechanism 300 moving to the first end of the telescopic mechanism 200. After the hook mechanism 300 moves to the first end of the telescopic mechanism 200, the hook structure abuts against the end of the telescopic mechanism 200, and the relative positions of the hook mechanism 300 and the telescopic mechanism 200 remain unchanged, and both extend relative to the device body 100.

[0189] S102 , determining that the hook mechanism 300 is opposite to the docking groove 21 of the target material box 20 , and driving the hook member 330 to dock with the docking groove 21 .

[0190] It is understood that, in one embodiment, the bottom of the target material box 20 has a docking slot 21, and the notch of the docking slot 21 faces downward. When the hook mechanism 300 is opposite to the docking slot 21, the hook member 330 is located below the docking slot 21. It should be noted that only the docking slot 21 with the notch facing downward is used as an example for description here, and the notch of the docking slot 21 can also face upward, which will not be repeated here.

[0191] The hook mechanism 300 may further include a detection unit 380 .

[0192] The process of determining that the hook mechanism 300 is aligned with the docking groove 21 of the target material box 20 specifically includes:

[0193] S1021 . When the detection unit 380 detects the docking slot 21 , it is determined that the hook mechanism 300 is opposite to the docking slot 21 .

[0194] It should be noted that the detection unit 380 can be a photoelectric sensor, and the detection unit 380 can detect the distance between the hook mechanism 300 and the bottom surface of the material box 20. When the hook mechanism 300 is opposite to the docking slot 21 of the material box 20, the distance detected by the detection unit 380 is the preset distance between the hook mechanism 300 and the bottom of the docking slot 21 or the signal detected by the detection unit 380 changes suddenly, and the specific detection method is not limited here, so as to judge that the hook mechanism 300 has moved to the preset position relative to the docking slot 21. At this time, the hook member 330 can be driven to rotate so that the hook member 330 docks with the docking slot 21.

[0195] S103 , driving the hook mechanism 300 in reverse direction to drive the target material box 20 to the picking and placing device 10 .

[0196] In the process of the hook mechanism 300 driving the material box 20 to the picking and placing device 10, the hook mechanism 300 and the telescopic mechanism 200 are first driven to retract synchronously, and the target material box 20 is partially driven to the picking and placing device 10. In this process, the telescopic mechanism 200 moves from the extended state to the initial state.

[0197] Afterwards, the hook mechanism 300 is driven to move from the first end of the telescopic mechanism 200 to the second end of the telescopic mechanism 200, and all the target material boxes 20 are driven to the picking and placing device 10. In this process, the position of the telescopic mechanism 200 remains fixed relative to the device body 100, and the hook mechanism 300 moves relative to the telescopic mechanism 200.

[0198] Fig. 22 A flowchart of a method for releasing goods provided in an embodiment of the present application.

[0199] Please refer to Fig. 22 , an embodiment of the present application provides a cargo placing method applied to a robot 1, wherein the robot 1 includes a cargo picking and placing device 10, the cargo picking and placing device 10 includes a device body 100, a telescopic mechanism 200 and a hook mechanism 300, the hook mechanism 300 is movably connected to the telescopic mechanism 200; the hook mechanism 300 includes a mounting seat 310, a first driving unit 320 and a hook member 330. The device body 100 includes a bearing surface 101, the bearing surface 101 is used to carry a material box 20, when the hook member 330 is docked with the docking groove 21 of the material box 20, the height of the hook member 330 is higher than the bearing surface 101, when the hook member 330 is separated from the docking groove 21 of the material box 20, the height of the hook member 330 is lower than the bearing surface 101. In addition, the robot 1 also includes a receiver, a processor and a memory, which can be referred to the above description. Fig.21 The description of the corresponding embodiments will not be repeated here.

[0200] The delivery method includes:

[0201] S201, receiving a cargo release instruction, controlling the robot 1 to carry the target material box 20 to the target cargo release position, the hook mechanism 300 docks with the bottom docking groove at the second end of the target material box 20, and the hook mechanism 300 is driven toward the target cargo release position. The hook mechanism 300 moves from the second end of the telescopic mechanism 200 to the first end of the telescopic mechanism 200, pushing the telescopic mechanism 200 to extend synchronously, and driving the target material box 20 to the target cargo release position.

[0202] Among them, the first end of the telescopic mechanism 200 is the end close to the target cargo delivery position, the second end of the telescopic mechanism 200 is the end far away from the target cargo delivery position, the first end of the target material box 20 is the end close to the target cargo delivery position, and the second end of the target material box 20 is the end far away from the target cargo delivery position.

[0203] It should be noted that when the robot 1 takes a target material box 20 from the shelf, the target material box 20 can enter the picking and placing device 10 from one end of the telescopic mechanism 200. When placing the target material box on the shelf, it can enter the shelf from the same end or the other end of the telescopic mechanism 200. This application does not limit this.

[0204] When the hook mechanism 300 starts to drive the target material box 20 to move, that is, when the target material box 20 starts to be placed at the target placement position, the hook mechanism 300 first moves from one end of the telescopic mechanism 200 to the other end. During this process, the position of the telescopic mechanism 200 remains fixed, and the target material box 20 partially leaves the picking and placing device 10. Thereafter, the hook mechanism 300 and the telescopic mechanism 200 extend together, and the hook mechanism 300 drives the material box 20 to completely leave the picking and placing device 10, and the material box 20 is placed in the storage position of the shelf.

[0205] In one embodiment, the robot is controlled to carry the target material box 20 to the target delivery position, and the hook mechanism 300 docks with the bottom docking groove 21 at one end of the target material box 20, specifically including:

[0206] S2011, control the robot 1 to move to the target delivery position. If the delivery direction and the pickup direction of the target material box 20 are on different sides of the pickup and delivery device 10, move the hook mechanism 300 to the second end of the telescopic mechanism 200, and drive the hook member 330 to move to dock with the bottom docking groove 21 at the second end of the target material box 20.

[0207] It is understandable that before driving the hook mechanism 300 toward the target delivery position, if a same-side delivery instruction is received, that is, the delivery direction of the target material box 20 and its pickup direction are on the same side of the pickup and delivery device 10, the target material box 20 is picked up and delivered on the same side, and the hook member 330 can be directly rotated to dock with the docking slot 21 of the target material box 20 or the docking between the hook member 330 and the docking slot 21 of the target material box 20 can be maintained when the robot 1 obtains the target material box 20. If a different-side delivery instruction is received, that is, the delivery direction of the target material box 20 and its pickup direction are on different sides of the pickup and delivery device 10, the target material box 20 is picked up and delivered on the different sides, and the hook mechanism 300 can be first moved to the second end of the telescopic mechanism 200, and then the hook member 330 can be rotated to dock with the docking slot 21 of the target material box 20.

[0208] It should be noted that the two actions of controlling the movement of the robot 1 and adjusting the position of the hook mechanism 330 can be performed either one after the other or simultaneously, and the embodiment of the present application does not make any specific limitation on this.

[0209] S202 , driving the hook member 330 to move to separate from the docking groove 21 of the target material box 20 ; and driving the hook mechanism 300 in reverse direction, so that the hook mechanism 300 and the telescopic mechanism 200 are retracted into the cargo picking and placing device 10 .

[0210] When the target material box 20 is completely placed in the storage position of the shelf, the hook member 330 can be separated from the docking groove 21, and the hook mechanism 300 and the telescopic mechanism 200 can be retracted. During the retraction of the telescopic mechanism 200, the hook mechanism 300 and the telescopic mechanism 200 can move synchronously until the telescopic mechanism 200 returns to the initial position.

[0211] In addition, the above-mentioned placing method and picking up method can be implemented one after the other. For example, the above-mentioned picking up method is used to first obtain a material box 20 on the shelf, and then the above-mentioned placing method is used to place the material box 20 on the shelf. Alternatively, the above-mentioned placing method is used to first place a material box 20 on the shelf, and then the above-mentioned picking up method is used to obtain a material box 20 on the shelf.

[0212] For example, the storage system includes two shelves arranged opposite to each other, and the robot 1 picks and places goods in the lane between the two shelves. The first storage location and the second storage location are two storage locations arranged opposite to each other on the two shelves. The robot 1 uses the picking method to obtain the material box 20 at the first storage location, and then continues to use the placing method to place the material box 20 at the second storage location without rotating or lifting. In this way, the position of the material box 20 can be conveniently adjusted, the action is simple, and the process is fast.

[0213] It should be noted that the cargo picking and placing device 10 mentioned in the above-mentioned cargo picking method and cargo placing method can be any one or a combination of the cargo picking and placing devices 10 provided in the embodiments of the present application, as long as the cargo picking and placing device 10 includes the necessary structure for implementing the above-mentioned cargo picking method and / or cargo placing method.

[0214] An embodiment of the present application provides a warehousing system, including a shelf and a robot 1. The robot 1 can pick up and place material boxes on the shelf. The robot 1 is used to execute the above-mentioned picking method or the above-mentioned placing method.

[0215] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solution to deviate from the scope of the technical solution of the embodiments of the present application.

Claims

1. A cargo picking and placing device, characterized in that: Used for picking up and placing material boxes, the picking up and placing device comprises a device body, a telescopic mechanism and a hook mechanism, the telescopic mechanism is movably connected to the device body, and the hook mechanism is movably connected to the telescopic mechanism; the hook mechanism comprises a mounting seat, a first driving unit and a hook member, the first driving unit is arranged on the mounting seat, and the hook member is movably connected to the mounting seat; the first driving unit is configured to drive the hook member to move relative to the mounting seat, so that the hook member is docked with or separated from the docking groove of the material box; The device body includes a bearing surface, which is used to bear the material box. When the hook piece is docked with the docking groove of the material box, the height of the hook piece is higher than the bearing surface. When the hook piece is separated from the docking groove of the material box, the height of the hook piece is lower than the bearing surface.

2. The cargo picking and placing device according to claim 1, characterized in that: At least one end of the bottom of the material box has a docking groove; the hook piece is rotatably connected to the mounting seat, and when the hook piece is rotated to dock with the material box, the hook piece is at least partially inserted into the docking groove.

3. The cargo picking and placing device according to claim 2, characterized in that: The rotation plane of the hook member is parallel to the extension direction of the docking groove.

4. The cargo picking and placing device according to any one of claims 1 to 3, characterized in that: The first driving unit has an output shaft, and the hook member is connected to the output shaft.

5. The cargo picking and placing device according to any one of claims 1 to 3, characterized in that: There are at least two hook members and at least two first driving units; the hook members and the first driving units are arranged in a one-to-one correspondence.

6. The cargo picking and placing device according to any one of claims 1 to 3, characterized in that: The hook mechanism also includes a connecting rod; the hook member is rotatably connected to the mounting seat via a rotating shaft; the first end of the connecting rod is connected to the first driving unit, and the second end of the connecting rod is connected to the hook member; there is a distance between the second end of the connecting rod and the rotation center of the hook member.

7. The cargo picking and placing device according to claim 6, characterized in that: The first driving unit has an output shaft, the output shaft is connected to a driving member, the first end of the connecting rod is connected to the driving member, and a distance is provided between the first end of the connecting rod and a rotation center of the output shaft.

8. The cargo picking and placing device according to claim 7, characterized in that: The connecting rod member comprises a connecting rod body and a bending portion connected to the connecting rod body, the connecting rod body is connected to the hook member, and the bending portion is connected to the driving member.

9. The cargo picking and placing device according to claim 7, characterized in that: There are two hook members and two connecting rod members. The two hook members are located at both ends of the mounting seat, and the driving member is located between the two hook members. The connection positions of the two connecting rod members and the driving member are respectively located on opposite sides of the output shaft.

10. The cargo picking and placing device according to any one of claims 1 to 3, characterized in that: The cargo picking and placing device further comprises a second driving unit and a driving wheel; the telescopic mechanism comprises a telescopic member, a transmission member and at least two transmission wheels, at least two of the transmission wheels are respectively arranged at two ends of the telescopic member along the first direction, and the transmission member is wound around the transmission wheels; the hook mechanism is connected to the transmission member; The second driving unit is disposed on the device body, and is configured to drive the driving wheel to rotate. The driving wheel cooperates with the transmission member and drives the transmission member to transmit around the transmission wheel, so that the hook mechanism moves relative to the telescopic member.

11. The cargo picking and placing device according to claim 10, characterized in that: The transmission member surrounds at least two transmission wheels to form a closed ring; the driving wheel is located at the inner side of the transmission member and meshes with the transmission member.

12. The cargo picking and placing device according to claim 10, characterized in that: The telescopic member is slidably connected to the device body; abutment members are respectively provided at both ends of the telescopic member along the first direction; when the hook mechanism moves to either end of the telescopic member in the first direction and abuts against the abutment member, the driving wheel drives the telescopic mechanism to move relative to the device body.

13. The cargo picking and placing device according to claim 10, characterized in that: The device body is provided with a first guide rail, the telescopic member is connected with a first slider, and the first slider is slidably connected to the first guide rail; and / or, The telescopic member is provided with a second guide rail, the mounting seat is connected with a second slider, and the second slider is slidably connected to the second guide rail.

14. The cargo picking and placing device according to claim 10, characterized in that: The cargo picking and placing device also includes an elastic member and at least two hanging shafts. The two ends of the device body along the first direction are respectively provided with a first hanging portion, and the at least two hanging shafts are respectively located at the two ends of the device body; the hanging shaft abuts against the first hanging portion at the same end; the two ends of the elastic member are respectively connected to the hanging shafts at the two ends of the device body; the hanging shaft stop is arranged at the end of the telescopic member.

15. The cargo picking and placing device according to claim 14, characterized in that: The elastic part is a tension spring, and the telescopic part is respectively provided with a second hanging part at both ends along the first direction, and at least two hanging shafts are respectively located at both ends of the telescopic part; when the telescopic part is extended relative to the device body, the hanging shaft located at the extended end of the telescopic part abuts against the second hanging part, and the hanging shaft located away from the extended end of the telescopic part abuts against the first hanging part.

16. The cargo picking and placing device according to claim 14, characterized in that: The elastic part is a compression spring, and the telescopic part is respectively provided with a second hanging part at both ends along the first direction, and at least two hanging shafts are respectively located at both ends of the telescopic part; when the telescopic part is extended relative to the device body, the hanging shaft located at the extended end of the telescopic part abuts against the second hanging part, and the hanging shaft located at the extended end of the telescopic part abuts against the first hanging part.

17. The cargo picking and placing device according to any one of claims 1 to 3, characterized in that: The hook mechanism further includes a detection unit, which is connected to the mounting seat; the detection unit is configured to detect the relative position of the hook mechanism and the material box.

18. A robot, characterized in that: It comprises a robot body and a cargo picking and placing device as described in any one of claims 1 to 17, wherein the cargo picking and placing device is arranged on the robot body, and the cargo picking and placing device can be lifted and moved along the height direction of the robot body.

19. A storage system, characterized in that: It comprises a shelf and a robot as claimed in claim 18, wherein the robot can pick up and place material boxes on the shelf.

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