Workbin carrying robot and workbin taking and placing system

Abstract

The utility model discloses a workbin carrying robot which comprises a movable chassis and a workbin taking and placing mechanism arranged on the movable chassis, the workbin taking and placing mechanism is used for taking and placing a workbin in the set direction relative to a goods shelf, and the workbin carrying robot further comprises a stability maintaining mechanism; the stability keeping mechanism comprises a connecting piece which can be switched between an initial position and a positioning position relative to the movable chassis; the stability keeping mechanism is fixedly connected with an external positioning point when the connecting piece is located at the positioning position and enables the material box taking and placing mechanism to be kept stable relative to the goods shelf in the direction perpendicular to the set direction, and the stability keeping mechanism is separated from the external positioning point when the connecting piece is located at the initial position. The utility model further discloses a workbin taking and placing system comprising the workbin carrying robot. By means of the method and device, the material box taking and placing mechanism in the material box carrying robot conducting material taking and placing operation can be kept stable relative to the goods shelf, and the material box taking and placing mechanism is prevented from shaking in the material taking and placing process.

Description

Technical Field

[0001] The present application relates to the field of intelligent warehousing technology, and in particular to a material box handling robot and a material box picking and placing system. Background Art

[0002] With the development of automation technology, the material box handling robot is more and more widely used in the storage system. The material box handling robot is also called the material box AGV. Compared with the common AGV trolley for handling materials, the material box handling robot includes not only a mobile chassis, but also a gantry, a storage position and a material box pick-up and placement mechanism arranged on the mobile chassis. Among them, the material box pick-up and placement mechanism can move relative to the gantry, and the material box pick-up and placement mechanism can pick up and place the material box relative to the shelf. Therefore, the material box handling robot has a high height. When the material box handling robot is loaded with a large load (more material boxes are arranged on the storage position) or the ground flatness is poor, the material box handling robot will shake. When the material box pick-up and placement mechanism picks up and places the material box relative to the target storage position on the shelf, the above-mentioned shaking will affect the alignment of the material box pick-up and placement mechanism relative to the target storage position. For this reason, in the related art, a special support structure is generally provided to support the material box handling robot. Specifically, a push rod is provided from both sides of the material box handling robot between two rows of shelves, and the push rod is used to support the material box handling robot from both sides of the material box handling robot to prevent the material box handling robot from shaking. However, there are many problems with the above solution. First, the above solution needs to strictly ensure that the material box handling robot is centered relative to the shelves on both sides, otherwise the push rod will only be connected to the shelf on one side and will not be able to maintain stability. Secondly, the usage scenario of the above solution is single, and it must be required that there are shelves on both sides of the material box handling robot at the same time, and the shelves must be completely consistent. Utility Model Content

[0003] The present application aims to solve one of the technical problems in the related art to a certain extent. To this end, the present application provides a material box handling robot and a material box picking and placing system.

[0004] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme: a material box handling robot, comprising a mobile chassis and a material box picking and placing mechanism arranged on the mobile chassis, the material box picking and placing mechanism is used to pick up and place materials boxes along a set direction relative to a shelf, the material box handling robot also includes a stabilizing holding mechanism, the stabilizing holding mechanism includes a connecting member that can switch between an initial position and a positioning position relative to the mobile chassis; the stabilizing holding mechanism is fixedly connected to an external positioning point when the connecting member is at the positioning position and keeps the material box picking and placing mechanism stable relative to the shelf along a direction perpendicular to the set direction, and the stabilizing holding mechanism is separated from the external positioning point when the connecting member is at the initial position.

[0005] The application of the present application has the following beneficial effects: by setting up a stabilizing holding mechanism, when the material box handling robot performs a picking and placing operation, the connecting parts in the stabilizing holding mechanism are used to keep the material box picking and placing mechanism fixed relative to the shelf along a direction perpendicular to the set direction, thereby maintaining the relative stability of the material box picking and placing mechanism and preventing the material box picking and placing mechanism from shaking along a direction perpendicular to the set direction, thereby enabling the material box picking and placing mechanism to be aligned with the target storage position on the shelf, preventing the material box picking and placing mechanism from colliding with the shelf or the material box during the process of picking and placing the material box.

[0006] Optionally, the material box picking and placing mechanism includes a base arranged on the mobile chassis and a telescopic assembly arranged on the base, the stabilizing and holding mechanism also includes a reset elastic member arranged between the base and the telescopic assembly, the connecting member is movably arranged on the base, and the telescopic assembly cooperates with the reset elastic member to drive the connecting member to switch between the initial position and the positioning position.

[0007] Optionally, the resetting elastic member always applies pressure to the telescopic assembly so that the connecting member has a tendency to move toward an external positioning point.

[0008] Optionally, the telescopic component includes:

[0009] A support plate, which is slidably disposed on the base;

[0010] A power source, which is fixedly arranged on the base;

[0011] a telescopic arm connected to the power source and capable of switching between a retracted position and an extended position relative to the base under the drive of the power source;

[0012] a push plate fixedly disposed on the telescopic arm; and

[0013] A baffle plate, which is fixedly arranged on the support plate and points in the direction from the retracted position to the extended position, and the baffle plate is located at the rear side of the push plate;

[0014] Wherein, the connecting member is arranged on the support plate, one end of the reset elastic member is fixed to the support plate, and the other end is fixed to the base, the stretching amount of the reset elastic member when the telescopic assembly is in the retracted position is greater than the stretching amount when the telescopic assembly is in the extended position, and the baffle is in contact with the push plate when the connecting member is in the initial position and the positioning position.

[0015] Optionally, the stabilizing and holding mechanism further includes a guide rail fixedly disposed on the base and a slider slidably disposed on the guide rail, and the support plate and the connecting member are both fixedly disposed on the slider.

[0016] Optionally, the stabilizing and holding mechanism also includes a driving mechanism, an output end of the driving mechanism is connected to a connecting member to drive the connecting member to switch between an initial position and a positioning position, and when the connecting member is at the positioning position, the stabilizing and holding mechanism is fixedly connected to an external positioning point through a connecting member and fixed relative to the movable chassis, so that the material box handling robot remains stable relative to the shelf in a direction perpendicular to the set direction.

[0017] Optionally, the material box handling robot also includes a gantry, a column and a storage plate arranged on the column, the gantry and the column are both arranged on the mobile chassis, the driving mechanism is arranged on the gantry or the column or the storage plate or the material box picking and placing mechanism, and the connecting part is arranged on the gantry or the column or the storage plate or the material box picking and placing mechanism.

[0018] Optionally, the connecting piece is a suction cup, and the stabilizing and holding mechanism further includes an air pump, which is connected to the suction cup through an air pipe.

[0019] Optionally, the air tube includes a flexible tube and a rigid tube that are interconnected, the flexible tube is connected to the air pump, and the rigid tube is connected to the suction cup.

[0020] In addition, the present application also provides a material box picking and placing system, including a shelf for storing material boxes, and also including a material box handling robot as described in any of the above technical solutions. The material box picking and placing system provided by the present application has a similar reasoning process to the beneficial effects of the aforementioned material box handling robot, which will not be repeated here.

[0021] These features and advantages of the present application will be disclosed in detail in the following specific embodiments and drawings. The best embodiments or means of the present application will be described in detail in conjunction with the drawings, but they are not intended to limit the technical solutions of the present application. In addition, there are multiple features, elements, and components that appear in each of the following texts and drawings, and different symbols or numbers are marked for convenience, but they all represent components with the same or similar structures or functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present application will be further described below in conjunction with the accompanying drawings:

[0023] Figure 1 A schematic diagram of the structure of a material box handling robot provided in Example 1 of the present application;

[0024] Figure 2 It is a schematic diagram of the state when the material box picking and placing mechanism in the material box handling robot is lifted and lowered to align with the target storage position on the shelf;

[0025] Figure 3It is a schematic diagram of the state when the telescopic component in the material box picking and placing mechanism is extended to make the suction cup reach the positioning position;

[0026] Figure 4 It is a schematic diagram of the state in which the telescopic component in the material box picking and placing mechanism continues to extend to the material box positioned at the target storage position;

[0027] Figure 5 A schematic diagram of the structure of a material box picking and placing mechanism and a stabilizing holding mechanism in the material box handling robot provided in the first embodiment;

[0028] Figure 6 A schematic structural diagram of the material box picking and placing mechanism and the stable holding mechanism provided in the first embodiment from another perspective;

[0029] Figure 7 An exploded diagram of the material box picking and placing mechanism and the stabilizing holding mechanism provided in the first embodiment;

[0030] Figure 8 for Figure 2 A magnified schematic diagram of part A;

[0031] Fig. 9 for Figure 3 A magnified schematic diagram of part B;

[0032] Fig.10 for Figure 4 Enlarged schematic diagram of part C.

[0033] Among them, 1. Mobile chassis; 2. Material box picking and placing mechanism; 20. Base; 200. Bottom plate; 201. Horizontal support frame; 2010. First limit protrusion; 202. Longitudinal support frame; 21. Telescopic assembly; 210. Support plate; 2100. Second limit protrusion; 211. Telescopic arm; 212. Push plate; 213. Baffle; 3. Stable holding mechanism; 30. Suction cup; 31. Air pump; 32. Flexible tube; 33. Rigid tube; 34. Guide rail; 35. Slider; 36. Connecting seat; 37. Reset elastic member; 4. Door frame; 5. Column; 50. Storage plate; 6. Shelf; 7. Material box. DETAILED DESCRIPTION

[0034] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments based on the embodiments are intended to be used to explain the present application and cannot be understood as limiting the present application.

[0035] References to "one embodiment" or "an example" or "an example" in this specification mean that a particular feature, structure, or characteristic described in conjunction with the embodiment itself may be included in at least one embodiment disclosed in the present application. The appearance of the phrase "in one embodiment" in various places in the specification does not necessarily refer to the same embodiment.

[0036] Embodiment 1: This embodiment provides a box handling robot, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown in , the material box handling robot includes a mobile chassis 1 and a material box picking and placing mechanism 2 arranged on the mobile chassis 1, and the material box picking and placing mechanism 2 is used to pick up and place the material box 7 relative to the shelf 6 along a set direction. The material box handling robot also includes a stabilizing holding mechanism 3, and the stabilizing holding mechanism 3 includes a connecting member that can switch between an initial position and a positioning position relative to the mobile chassis 1. When the connecting member is at the positioning position, the stabilizing holding mechanism 3 is fixedly connected to an external positioning point and makes the material box picking and placing mechanism 2 relative to the shelf 6 stable in a direction perpendicular to the set direction, and the stabilizing holding mechanism 3 is separated from the external positioning point when the connecting member is at the initial position. The positioning position refers to the position of the connecting member in the material box picking and placing mechanism 2 in the material box handling robot when performing the material box picking and placing operation. When the connecting member is in the positioning position, it can be fixedly connected to the external positioning point. At this time, the stabilizing holding mechanism 3 is fixedly connected to the external positioning point as a whole through the connecting member, and makes the material box picking and placing mechanism 2 fixed relative to the external positioning point in a direction perpendicular to the set direction, thereby maintaining the relative stability of the material box picking and placing mechanism 2. The initial position refers to the position of the connecting member when the box handling robot is not performing a box picking and placing operation, for example, when the box handling robot is in the process of driving, or when the box picking and placing mechanism 2 in the box handling robot is in the process of lifting and lowering relative to the mobile chassis 1. The set direction refers to the moving direction of the box picking and placing mechanism 2 during the box picking and placing operation, which will be described in detail later.

[0037] By setting up a stabilizing holding mechanism 3, when the material box handling robot performs the picking and placing operation, the connecting parts in the stabilizing holding mechanism 3 are used to fix the material box picking and placing mechanism 2 relative to the shelf 6 in a direction perpendicular to the set direction, so as to maintain the relative stability of the material box picking and placing mechanism 2. In this way, it can be ensured that the material box picking and placing mechanism 2 is aligned with the target storage position when performing the material box picking and placing operation, and the material box picking and placing mechanism 2 is prevented from colliding with the shelf or the material box during the material box picking and placing operation.

[0038] The connecting member in this embodiment is a suction cup 30, and the stabilizing and holding mechanism 3 also includes an air pump 31, which is connected to the suction cup 30 through an air pipe. When the suction cup 30 is in the positioning position, the suction cup 30 is attached to the external positioning point, and a cavity is formed by the suction cup 30 and the external positioning point. The suction cup 30 can be fastened to the external positioning point by evacuating the cavity with the air pump 31. When the suction cup 30 needs to be separated from the external positioning point, the cavity is inflated with air using the air pump 31, so that the suction cup 30 can be separated from the external positioning point. When the connecting member adopts the suction cup 30 described in this embodiment, the external positioning point is stable and has a structural part that allows the suction cup 30 to be attached thereto, such as a crossbeam or a longitudinal beam of the shelf 6, or a wall or ground near the shelf 6, etc.

[0039] In other optional embodiments, magnets can also be used as connecting parts. Accordingly, the external positioning point can be selected as a shelf. The magnet is connected to the shelf through magnetic attraction to make the material box picking and placing mechanism remain stable relative to the external positioning point in a direction perpendicular to the set direction.

[0040] Combination Figure 5 , Figure 6 and Figure 7 As shown in , the material box pick-and-place mechanism 2 in this embodiment includes a base 20 disposed on the mobile chassis 1 and a telescopic assembly 21 disposed on the base 20, and the stabilizing and holding mechanism 3 also includes a reset elastic member 37 disposed between the base 20 and the telescopic assembly 21. The connecting member is movably disposed on the base 20, and the telescopic assembly 21 cooperates with the reset elastic member 37 to drive the connecting member to switch between the initial position and the positioning position. Through the above design, there is no need to set a special driving structure for the connecting member. The telescopic action of the telescopic assembly 21 is used to drive the connecting member to move, and then with the setting of the reset elastic member 37, the connecting member can be driven to switch between the initial position and the positioning position.

[0041] Specifically, in this embodiment, the reset elastic member 37 is selected to always press the telescopic assembly 21 so that the connecting member has a tendency to move toward the external positioning point. In this embodiment, the reset elastic member 37 is a spring. Of course, a stretchable elastic rubber band or the like can also be selected as the reset elastic member 37. The telescopic assembly 21 in this embodiment includes a support plate 210, a power source (not shown in the figure), a telescopic arm 211, a push plate 212 and a baffle 213, wherein the support plate 210 and the telescopic arm 211 are both slidably arranged relative to the base 20, the power source is fixedly arranged relative to the base 20, the push plate 212 is fixedly mounted on the telescopic arm 211, the baffle 213 is fixedly mounted on the support plate 210, and the connecting member is arranged on the support plate 210 to move with the support plate 210. The power source is connected to the telescopic arm 211, and the telescopic arm 211 can switch between a retracted position and an extended position relative to the base 20 under the drive of the power source. One end of the reset elastic member 37 is fixed to the support plate 210, and the other end is fixed to the base 20. The stretching amount of the reset elastic member 37 when the telescopic assembly 21 is in the retracted position is greater than the stretching amount when the telescopic assembly 21 is in the extended position, and the baffle 213 is in contact with the push plate 212 when the connecting member is in the initial position and the positioning position.

[0042] By setting the relative positions of the push plate 212 and the baffle 213, the baffle 213 is designed to be located at the rear side of the push plate 212 in the direction from the retracted position to the extended position. It is easy to understand that the direction from the retracted position to the extended position is the set direction. When the telescopic arm 211 is extended in the set direction, the telescopic arm 211 can be moved to the extended position (the telescopic arm 211 can enter the storage position on the shelf 6); when the telescopic arm 211 is retracted in the opposite direction of the set direction, the telescopic arm 211 can be restored to the retracted position. In this way, when the telescopic arm 211 moves in the direction opposite to the set direction, the baffle 213 can contact the push plate 212 and apply pressure to the baffle 213, and then apply pressure to the pallet 210.

[0043] Combination Figure 2 , Figure 5 , Figure 7 and Figure 8As shown in , in the above-mentioned illustrated state, the suction cup 30 is located at the initial position, and the telescopic arm 211 is located at the retracted position. The push plate 212 on the telescopic arm 211 applies pressure to the baffle 213 on the support plate 210, so that the push plate 212 applies pressure to the reset elastic member 37 so that the reset elastic member 37 has the maximum stretching amount. When it is necessary to carry out the picking and placing operation, the power source drives the telescopic arm 211 to move along the set direction. Accordingly, under the action of the reset elastic member 37, the support plate 210 will move along the set direction, thereby driving the suction cup 30 to move along the set direction until the suction cup 30 reaches the positioning position. At this time, the reset elastic member 37 is still in a stretched state, but the stretching amount of the reset elastic member 37 is relatively small. When the telescopic arm 211 completes the operation of taking and placing the material box 7 relative to the shelf 6, the telescopic arm 211 moves and retracts in the direction opposite to the set direction. During this process, the push plate 212 on the telescopic arm 211 will contact the baffle 213 on the pallet 210, and then the push plate 212 will apply pressure to the baffle 213 until the suction cup 30 is driven to move to the initial position through the baffle 213 and the pallet 210, and the telescopic arm 211 also moves to the retracted position.

[0044] Further, the stable holding mechanism 3 in this embodiment also includes a guide rail 34 fixedly arranged on the base 20 and a slider 35 slidably arranged on the guide rail 34, and the support plate 210 and the connecting member are fixedly arranged on the slider 35. Specifically, in this embodiment, a connecting seat 36 is also arranged on the slider 35, and the tail end of the suction cup 30 is provided with a rigid tube 33 connected thereto, the rigid tube 33 is fixed on the connecting seat 36, and the support plate 210 is also fixedly connected to the connecting seat 36. The above design can ensure the stability of the suction cup 30 during the movement, and prevent the suction cup 30 from offsetting relative to the external positioning point. In addition, as mentioned above, the air pump 31 is connected to the suction cup 30 through an air pipe. Specifically, the air pipe includes a flexible tube 32 and the aforementioned rigid tube 33 that are connected to each other, the flexible tube 32 is connected to the air pump 31, and the rigid tube 33 is connected to the suction cup 30. The rigid tube 33 is arranged to facilitate the fixed installation of the suction cup 30 and the connecting seat 36, and the flexible tube 32 is arranged to facilitate the movement of the suction cup 30.

[0045] The base 20 in this embodiment includes a bottom plate 200, a transverse support frame 201 fixedly arranged on the bottom plate 200, and a longitudinal support frame 202, wherein the transverse support frame 201 and the longitudinal support frame 202 are perpendicular to each other, and the axial direction of the longitudinal support frame 202 is the same as the set direction. A first limiting protrusion 2010 is arranged on the transverse support frame 201, and a second limiting protrusion 2100 is fixedly arranged on the side of the support plate 210 facing the bottom plate 200, and the two ends of the reset elastic member 37 are respectively fixed to the first limiting protrusion 2010 and the second limiting protrusion 2100. As mentioned above, the reset elastic member 37 in this embodiment is a spring, and the legs at both ends of the spring can be respectively hung and fixed on the first limiting protrusion 2010 and the second limiting protrusion 2100. The guide rail 34 is fixedly installed on the bottom plate 200, and the air pump 31 is fixedly installed on the longitudinal support frame 202.

[0046] The material box handling robot can be applied to a material box picking and placing system, wherein the material box picking and placing system comprises a shelf 6 for storing material boxes 7 and the material box handling robot provided in this embodiment, and the material box handling robot can pick up and place material boxes 7 relative to the shelf 6. Figure 2 , Figure 3 , Figure 4 , Figure 8 , Fig. 9 and Fig.10 As shown in FIG. 1 , the specific operation process is described as follows: the material box handling robot further comprises a gantry 4, a column 5 and a storage plate 50 arranged on the column 5, and the gantry 4 and the column 5 are both arranged on the mobile chassis 1. The material box picking and placing mechanism 2 can be lifted and moved relative to the gantry 4, and can then pick and place the material box 7 relative to the storage plate 50, and can also pick and place the material box 7 relative to the shelf 6.

[0047] like Figure 2 and Figure 8 As shown in , after the material box handling robot moves to align the material box pick-and-place mechanism 2 with the target storage position, the material box handling robot may shake due to uneven ground, excessive load, etc. during the process of changing from the driving state to the stopping state (braking). The overall shaking of the material box handling robot will cause the material box pick-and-place mechanism 2 to shake relative to the target storage position, making it impossible for the material box pick-and-place mechanism 2 to align with the target storage position. At this time, the telescopic arm 211 can be driven by the power source to move along the set direction, such as Figure 3 and Fig. 9As shown in , after the telescopic arm 211 moves a certain distance, the support plate 210 contacts the crossbeam on the shelf 6, and the suction cup 30 reaches the positioning position (the suction cup 30 contacts the shelf 6). The air pump 31 sucks air, so that the suction cup 30 is fastened to the shelf 6. Since the suction cup 30 is fixedly connected to the support plate 210, the material box picking and placing mechanism 2 can be kept stable along the set direction relative to the shelf through the restriction of the support plate 210, so that the material box picking and placing mechanism 2 can be aligned with the target storage position, avoiding the material box picking and placing mechanism 2 from colliding with the shelf or the material box during the process of picking and placing the material box, which is convenient for the material box picking and placing operation. Afterwards, the power source continues to drive the telescopic arm 211 to move along the set direction until the telescopic arm 211 moves to the extended position. At this time, the telescopic arm 211 extends into the interior of the target storage position, and the material box 7 can be placed in the target storage position, or the material box 7 can be hugged from the target storage position. Afterwards, the air pump 31 is used to inflate the suction cup 30, so that the suction cup 30 is no longer tightly connected to the shelf 6, but only adheres to the shelf 6. The power source then drives the telescopic arm 211 to move and retract in the direction opposite to the set direction. After the telescopic arm 211 is retracted to the point where the push plate 212 on it contacts the baffle 213, the suction cup 30 can be driven to move through the baffle 213 and the support plate 210, and the suction cup 30 is separated from the shelf 6 and moves back to the initial position, and the telescopic arm 211 returns to the retracted position.

[0048] It is easy to understand that when the material box handling robot places the material box 7, the material box 7 is placed on the pallet 210 in advance, and the telescopic arm 211 drives the material box 7 on the pallet 210 to move to the inside of the target storage position, thereby completing the placement operation of the material box 7. When the material box handling robot removes the material box 7, the telescopic arm 211 drives the material box 7 on the target storage position of the shelf 6 to move to the pallet 210, thereby completing the removal operation of the material box 7.

[0049] Embodiment 2: This embodiment also provides a material box handling robot. The difference between this embodiment and the aforementioned embodiment 1 is that the stabilizing and holding mechanism 3 in this embodiment also includes a driving mechanism, and the output end of the driving mechanism is connected to the connecting member to drive the connecting member to switch between the initial position and the positioning position. That is, the connecting member in this embodiment relies on the driving of the driving mechanism to switch between the initial position and the positioning position. With such an arrangement, the installation position of the stabilizing and holding mechanism 3 is not limited to the material box picking and placing mechanism 2. Specifically, the driving mechanism can be arranged on the door frame 4 or the column 5 or the storage plate 50 or the material box picking and placing mechanism 2, and the connecting member can also be arranged on the stabilizing and holding mechanism 3 on the door frame 4 or the column 5 or the storage plate 50 or the material box picking and placing mechanism 2.

[0050] In this embodiment, the stabilizing and holding mechanism 3 is fixedly connected to the external positioning point through the connecting member and is fixed relative to the movable chassis 1 when the connecting member is at the positioning position. Thus, the entire material box handling robot can be kept stable relative to the shelf in a direction perpendicular to the set direction, rather than just keeping the material box picking and placing mechanism stable relative to the shelf in a direction perpendicular to the set direction.

[0051] The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Those skilled in the art should understand that the present application includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the present application will be included in the scope of the claims.

Claims

1. A material box handling robot, comprising a mobile chassis (1) and a material box picking and placing mechanism (2) arranged on the mobile chassis (1), wherein the material box picking and placing mechanism (2) is used to pick and place material boxes relative to a shelf along a set direction, and is characterized in that: The material box handling robot further comprises a stabilizing and holding mechanism (3), wherein the stabilizing and holding mechanism (3) comprises a connecting member capable of switching between an initial position and a positioning position relative to the mobile chassis (1); The stabilizing and holding mechanism (3) is fixedly connected to the external positioning point via the connecting member when the connecting member is located at the positioning position and enables the material box picking and placing mechanism (2) to remain stable relative to the shelf in a direction perpendicular to the set direction. The stabilizing and holding mechanism (3) is separated from the external positioning point when the connecting member is located at the initial position.

2. The container handling robot according to claim 1, characterized in that: The material box picking and placing mechanism (2) comprises a base (20) arranged on the mobile chassis (1) and a telescopic component (21) arranged on the base (20); the stabilizing and holding mechanism (3) further comprises a reset elastic member (37) arranged between the base (20) and the telescopic component (21); the connecting member is movably arranged on the base (20); the telescopic component (21) cooperates with the reset elastic member (37) to drive the connecting member to switch between the initial position and the positioning position.

3. The container handling robot according to claim 2, characterized in that: The resetting elastic member (37) always applies pressure to the telescopic assembly (21) so that the connecting member has a tendency to move toward an external positioning point.

4. The container handling robot according to claim 3, characterized in that: The telescopic assembly (21) comprises: A support plate (210) slidably disposed on the base (20); A power source, which is fixedly mounted on the base (20); a telescopic arm (211), which is connected to the power source and can be switched between a retracted position and an extended position relative to the base (20) under the drive of the power source; a push plate (212) fixedly disposed on the telescopic arm (211); and a baffle (213) fixedly disposed on the support plate (210) and pointing in a direction from the retracted position to the extended position, the baffle (213) being located at the rear side of the push plate (212); The connecting member is arranged on the supporting plate (210), one end of the reset elastic member (37) is fixed to the supporting plate (210), and the other end is fixed to the base (20), the stretching amount of the reset elastic member (37) when the telescopic component (21) is in the retracted position is greater than the stretching amount when the telescopic component (21) is in the extended position, and the baffle (213) is in contact with the push plate (212) when the connecting member is in the initial position and the positioning position.

5. The container handling robot according to claim 4, characterized in that: The stabilizing and holding mechanism (3) further comprises a guide rail (34) fixedly arranged on the base (20) and a slider (35) slidably arranged on the guide rail (34), and the support plate (210) and the connecting member are both fixedly arranged on the slider (35).

6. The container handling robot according to claim 1, characterized in that: The stabilizing and holding mechanism (3) further comprises a driving mechanism, the output end of which is connected to a connecting member to drive the connecting member to switch between an initial position and a positioning position, and the stabilizing and holding mechanism (3) is fixedly connected to an external positioning point via a connecting member when the connecting member is at the positioning position and is fixed relative to the movable chassis (1), so that the material box handling robot is kept stable relative to the shelf in a direction perpendicular to the set direction.

7. The container handling robot according to claim 6, characterized in that: The material box handling robot also includes a gantry (4), a column (5) and a storage plate (50) arranged on the column (5); the gantry (4) and the column (5) are both arranged on the mobile chassis (1); the driving mechanism is arranged on the gantry (4) or the column (5) or the storage plate (50) or the material box picking and placing mechanism (2); and the connecting piece is arranged on the gantry (4) or the column (5) or the storage plate (50) or the material box picking and placing mechanism (2).

8. The container handling robot according to any one of claims 1 to 7, characterized in that: The connecting piece is a suction cup (30), and the stabilizing and holding mechanism (3) further comprises an air pump (31), wherein the air pump (31) is connected to the suction cup (30) via an air pipe.

9. The container handling robot according to claim 8, characterized in that: The air pipe comprises a flexible tube (32) and a rigid tube (33) which are connected to each other. The flexible tube (32) is connected to the air pump (31), and the rigid tube (33) is connected to the suction cup (30).

10. A material box picking and placing system, comprising a shelf for storing material boxes, characterized in that: It also includes a container handling robot as claimed in any one of claims 1 to 9.

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