Manipulator, intelligent goods shelf and material taking and placing control system

Abstract

The utility model discloses a mechanical arm, an intelligent goods shelf and a material taking and placing control system, and the mechanical arm is used for moving materials and comprises a driving device and two shifting rods. The two ends of the shifting rods in the length direction are the first end and the second end respectively, the first end is in transmission connection with the driving device, and the second end is located on the side, facing materials, of the mechanical arm. Wherein the driving device drives the at least one shifting rod to rotate, when the manipulator is used for moving materials, the materials are located between the two shifting rods, the two shifting rods abut against the materials at the same time, and the distance from the second end of the at least one shifting rod to the other shifting rod is reduced; when the two shifting rods are not crossed, the at least one shifting rod abuts against the side, away from the manipulator, of the materials; when the two driving levers intersect, the material is located on the side, away from the first end, of the intersection point of the two driving levers, and at least one driving lever abuts against the side, close to the manipulator, of the material. The manipulator is simple in structure, and the space occupied by the manipulator can be reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of storage equipment, and in particular to a manipulator, an intelligent shelf and a material taking and placing control system. Background Art

[0002] A manipulator is a device that can imitate certain movements of human hands and arms, and can grasp or move materials through fixed program control. It can replace humans in some heavy labor to achieve automation, but current manipulators mainly move materials by clamping, and after the manipulator clamps the material, the clamping structure needs to move as a whole to move the material for transportation. The overall movement of the clamping structure will result in the need to reserve space for the clamping structure to move in the manipulator, or the manipulator needs to move as a whole, which will increase the size of the manipulator or increase the space for the manipulator to move. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model proposes a manipulator with a simple structure and capable of reducing the space occupied by the manipulator.

[0004] The utility model also provides an intelligent shelf with the above-mentioned manipulator.

[0005] The utility model also provides a material taking and placing control system including the above-mentioned intelligent shelf.

[0006] According to the robot arm of the utility model embodiment, the robot arm is used to move materials, and includes: a driving device; two levers, the two levers can cross, the two ends of the lever along the length direction are respectively a first end and a second end, the first end is connected to the driving device by transmission, and the second end is located on the side of the robot arm facing the material; wherein, the driving device drives at least one of the levers to rotate, and when the robot arm is used to move materials, the material is located between the two levers, the two levers abut the material at the same time, and the distance from the second end of at least one lever to the other lever is reduced: when the two levers are not crossed, the two levers abut against the side of the material away from the robot arm; when the two levers cross, the material is located on the side of the intersection of the two levers away from the first end, and the two levers abut against the side of the material close to the robot arm.

[0007] According to the manipulator of the embodiment of the utility model, the manipulator can move materials by pushing the lever, and the lever can achieve the movement of materials at a relatively small rotation angle. At the same time, the first end of the lever has a relatively small movement range in the manipulator, which can save the internal space of the manipulator, is conducive to improving the space utilization rate inside the manipulator, and reducing the volume of the manipulator.

[0008] In some embodiments, the driving device includes: a driving motor; a reduction gear, the reduction gear is drivingly connected to the driving motor and the shift rod, the first end of the shift rod is rotatably connected to the axial end face of the reduction gear; a rotating sleeve, the rotating sleeve is sleeved on the shift rod, the rotating sleeve is radially provided with a rotating axis, the rotating axis is perpendicular to the rotating plane of the shift rod, and the rotating sleeve is rotatable around the rotating axis.

[0009] Furthermore, the distance between the transmission shaft and the first end is a, the distance between the transmission shaft and the second end is b, and b is set to be much larger than a.

[0010] Furthermore, the driving device drives the two shifting rods to rotate simultaneously, and the rotation directions of the two shifting rods are opposite. The driving device also includes: two worm gears, the two worm gears are transmission-connected to the output shaft of the same driving motor, and the rotation directions of the two worm gears are opposite. The two worm gears are respectively transmission-connected to the two shifting rods through the reduction gears; wherein each of the shifting rods is sleeved with one of the rotating sleeves.

[0011] In some embodiments, the robot further includes: a carrying platform, wherein in the vertical direction, a projection of the carrying platform is located between the projections of the two shifting rods.

[0012] Furthermore, the carrying platform is vertically movable.

[0013] According to the embodiment of the utility model, the intelligent shelf includes: a shelf, the shelf has a plurality of material placement positions, the material placement is used to store materials; a manipulator, the manipulator is the manipulator described in the above embodiment, and the manipulator can move to the openings of the plurality of material placement positions accordingly.

[0014] According to the smart shelf of the embodiment of the utility model, by adopting the manipulator of the above embodiment, the manipulator can realize automatic material picking or material discharge at the material discharge position. At the same time, the structure of the manipulator is simple, which can reduce the space occupied by the manipulator, thereby reducing the overall volume of the smart shelf.

[0015] In some embodiments, the smart shelf also includes: the smart shelf also includes: a first guide rail and a second guide rail, the first guide rail extends along a first direction, the second guide rail extends along the second direction, and the manipulator is movably connected to the first guide rail or the second guide rail; wherein, when the manipulator is connected to the first guide rail, the first guide rail is movably connected to the second guide rail along the second direction; when the manipulator is connected to the second guide rail, the second guide rail is movably connected to the first guide rail along the first direction.

[0016] Furthermore, the smart shelf includes: a shelf frame; a plurality of storage units, each of which is provided with a plurality of material placement positions, and the storage units are detachably mounted on the shelf frame.

[0017] Furthermore, it is characterized in that the material is placed transversely at the discharge position, and the width of the discharge position is greater than the width of the material.

[0018] According to the embodiment of the utility model, the material picking and discharging control system includes: an intelligent shelf, which is the intelligent shelf described in the above embodiment; a monitoring module, which monitors whether the material is stored in each of the discharging positions; a moving control module, which controls the manipulator to move to the target discharging position; a picking and placing control module, which controls at least one of the levers to rotate to perform material picking or discharging operations, and the distance from the second end of at least one of the levers to the other lever is reduced: wherein, when performing a material picking operation, the moving control module controls the manipulator to move to the discharging position where the material is stored, and the picking and placing control module controls the two levers to remain non-crossed, and the lever drives the material to leave the discharging position; when performing a discharging operation, the moving control module controls the manipulator to move to an empty discharging position, and the picking and placing control module controls the two levers to remain cross-crossed, and the lever pushes the material to move into the discharging position.

[0019] According to the material picking and placing control system of the embodiment of the utility model, the material storage information of multiple placing positions is first obtained through the monitoring module, and the position of the manipulator is controlled through the mobile detection module. The material picking and placing module controls the manipulator to perform material picking or placing operations based on the material storage information of the corresponding target placing position, thereby realizing the control of automatic material picking and placing of the smart shelf.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0022] Figure 1 It is a structural schematic diagram of a manipulator according to an embodiment of the utility model;

[0023] Figure 2 yes Figure 1 A schematic diagram of the structure of the manipulator shown in the embodiment when taking materials;

[0024] Figure 3 yes Figure 1A schematic diagram of the structure of the manipulator shown in the embodiment when discharging materials;

[0025] Figure 4 is a schematic diagram of the structure of a smart shelf according to an embodiment of the utility model;

[0026] Figure 5 is a schematic structural diagram of a first guide rail and a second guide rail according to an embodiment of the utility model;

[0027] Figure 6 It is a structural schematic diagram of a storage unit according to an embodiment of the utility model;

[0028] Figure 7 It is a structural schematic diagram of a shelf frame according to an embodiment of the utility model.

[0029] Reference numerals:

[0030] Smart Shelves 1000,

[0031] Robot 100,

[0032] The driving device 11, the driving motor 111, the reduction gear 112, the worm 113, the rotating sleeve 114, the rotating shaft 1141, the lever 12, the first end 121, the second end 122, the avoidance groove 123,

[0033] Carrying platform 13,

[0034] Shelf 200, material placement position 210, shelf frame 220, storage unit 230, status indicator light 240,

[0035] A first guide rail 300 , a second guide rail 400 , and a material 500 . DETAILED DESCRIPTION

[0036] The embodiments of the present invention 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 having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0037] In the description of the present utility model, it is necessary to understand that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, unless otherwise specified, "multiple" means two or more.

[0038] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] The following describes the manipulator 100, the smart shelf 1000 and the material picking and placing control system according to the embodiments of the present utility model with reference to the accompanying drawings.

[0040] like Figure 1-Figure 3 As shown, the manipulator 100 according to the embodiment of the utility model is used to move materials 500, and includes: a driving device 11 and two levers 12.

[0041] The two levers 12 may cross each other, and the two ends of the lever 12 along the length direction are respectively a first end 121 and a second end 122, the first end 121 is transmission-connected to the driving device 11, and the second end 122 is located on the side of the manipulator 100 facing the material 500;

[0042] The driving device 11 drives at least one lever 12 to rotate. When the manipulator 100 is used to move the material 500, the material 500 is located between the two levers 12. The two levers 12 abut against the material 500 at the same time, and the distance from the second end 122 of at least one lever 12 to the other lever 12 is reduced:

[0043] When the two levers 12 do not cross, at least one lever 12 abuts against a side of the material 500 away from the robot 100;

[0044] When the two levers 12 intersect, the material 500 is located at a side of the intersection of the two levers 12 away from the first end 121 , and at least one lever 12 abuts against a side of the material 500 close to the robot 100 .

[0045] It should be noted that when one lever 12 abuts against the side of the material 500 away from the robot 100, the other lever 12 does not abut against the side of the material 500 close to the robot 100. Similarly, when one lever 12 abuts against the side of the material 500 close to the robot 100, the other lever 12 does not abut against the side of the material 500 away from the robot 100. That is, the two levers 12 cannot abut against both sides of the material 500 opposite to the robot 100 at the same time.

[0046] It can be understood that, under the premise that the material 500 is located between the two levers 12. When the manipulator 100 is used to pick up the material, refer to Figure 2 As shown, the two levers 12 are in contact with the side of the material 500 away from the manipulator 100. At this time, the distance between the second ends 122 of the two levers 12 is smaller than the width of the material 500, and the two levers 12 both generate thrust on the material 500, and the thrusts of the two levers 12 acting on the material 500 form a combined force toward the manipulator 100, so that the material 500 moves toward the manipulator 100 under the action of the two levers 12.

[0047] When the robot 100 is used for unloading, refer to Figure 3 As shown, the two levers 12 abut against the side of the material 500 close to the manipulator 100. At this time, the thrust of the two levers 12 on the material 500 forms a combined force away from the manipulator 100, so that the material 500 moves away from the manipulator 100 under the action of the two levers 12.

[0048] Thus, the manipulator 100 can move the material 500 by pushing the lever 12, and the lever 12 can achieve the movement of the material 500 at a relatively small rotation angle. At the same time, the first end 121 of the lever 12 has a relatively small movement range in the manipulator 100, which can save the internal space of the manipulator 100, improve the space utilization rate in the manipulator 100, and reduce the volume of the manipulator 100.

[0049] It should be noted that, in the present application, there is no limitation on the way in which the two levers 12 can be crossed. For example, the two levers 12 can be arranged in different rotation planes so that the two levers 12 will not block each other when they are rotated to any position. For another example, the two levers 12 are provided with avoidance structures.

[0050] In some embodiments, Figure 1-Figure 3As shown, the driving device 11 includes: a driving motor 111; a reduction gear 112, the reduction gear 112 is transmission-connected to the driving motor 111 and the shifting rod 12, and the first end 121 of the shifting rod 12 is rotatably connected to the axial end surface of the reduction gear 112; a rotating sleeve 114, the rotating sleeve 114 is sleeved on the shifting rod 12, and the rotating sleeve 114 is radially provided with a rotating shaft 1141, the rotating shaft 1141 is perpendicular to the rotating plane of the shifting rod 12, and the rotating sleeve 114 is rotatable around the rotating shaft 1141.

[0051] Thus, the rotating sleeve 114 can limit the degrees of freedom of the lever 12, which are: the lever 12 slides along the axial direction of the rotating sleeve 114, and the lever 12 rotates around the rotating shaft 1141. The driving device 11 controls the movement of the first end 121, that is, the position of the first end 121 moves relative to the rotating shaft 1141, so that the lever 12 can move in two degrees of freedom driven by the first end 121, thereby realizing the control of the rotation of the lever 12.

[0052] It should be noted that, in order to prevent the rotating shaft 1141 from blocking the lever 12 from moving axially along the rotating sleeve 114, the rotating shaft 1141 and the lever 12 need to be arranged to avoid each other in the axial direction of the transmission sleeve. Figure 1-Figure 3 In the example, the lever 12 is provided with an avoidance groove 123 along the axial direction, the avoidance groove 123 extends along the axial direction of the lever 12, and the rotating shaft 1141 is slidably provided in the avoidance groove 123. For another example, the rotating shaft 1141 is provided on the radial outer side of the rotating sleeve 114, that is, the rotating shaft 1141 does not penetrate the radial inner side of the rotating sleeve 114, and in this case, the rotating shaft 1141 will not hinder the movement of the lever 12 in the rotating sleeve 114.

[0053] In addition, by connecting the drive motor 111 and the lever 12 through the reduction gear 112, the speed can be reduced and the torque can be increased, that is, the rotation speed of the lever 12 can be reduced, the control accuracy of the lever 12 can be improved, and at the same time the maximum thrust that can be provided by the lever 12 when rotating can be increased, thereby improving the stability of the lever 12 in pushing the material 500.

[0054] Furthermore, if Figure 1 The distance between the transmission shaft and the first end 121 is a, and the distance between the transmission shaft and the second end 122 is b, and b is set to be much larger than a. It can be understood that a lever-like structure is formed between the transmission shaft and the first end 121 and between the rotating shaft 1141 and the second end 122.

[0055] Therefore, by setting b to be much larger than a, when the first end 121 moves a smaller distance, the second end 122 can produce a larger movement, so that when the lever 12 is rotated and the material 500 is pushed to move, the moving distance of the first end 121 can be reduced, and the moving space of the first end 121 in the manipulator 100 can be further reduced, thereby further improving the space utilization rate in the manipulator 100.

[0056] Furthermore, the driving device 11 drives the two levers 12 to rotate simultaneously, and the rotation directions of the two levers 12 are opposite. The driving device 11 also includes: two worm gears 113, the two worm gears 113 are transmission-connected to the output shaft of the same driving motor 111, and the rotation directions of the two worm gears 113 are opposite. The two worm gears 113 are transmission-connected to the two levers 12 through the reduction gear 112 respectively; wherein each lever 12 is sleeved with a rotating sleeve 114.

[0057] Thus, a single drive motor 111 can control the two levers 12 to rotate simultaneously, and the two levers 12 rotate in opposite directions. Thus, only one drive motor 111 is needed to control the two levers 12, which is beneficial to reducing the size of the manipulator 100.

[0058] In some embodiments, Figure 5 As shown, the robot 100 further includes: a carrying platform 13 , and in the vertical direction, the projection of the carrying platform 13 is located between the projections of the two levers 12 .

[0059] It is understandable that the carrying platform 13 is used to place the material 500. When taking the material, the taken material 500 is moved to the carrying platform 13; when unloading the material, the robot 100 pushes the material 500 on the carrying platform 13 to move and realize unloading.

[0060] Furthermore, the carrying platform 13 is vertically movable.

[0061] Therefore, when a plurality of materials 500 are placed on the carrying platform 13 in the vertical direction, by controlling the carrying platform 13 to move in the vertical direction, the materials 500 can be moved from top to bottom in sequence between the two levers 12, so that the robot 100 can release the materials in sequence.

[0062] Alternatively, when the manipulator 100 continuously takes materials, the carrying platform 13 can move vertically according to the number of materials 500 placed thereon, so that the materials 500 taken out by the manipulator 100 move to the topmost layer of multiple materials 500 on the carrying platform 13, thereby realizing continuous material taking by the manipulator 100.

[0063] like Figure 4-7As shown, the smart shelf 1000 according to the embodiment of the utility model includes: a shelf 200, the shelf 200 has a plurality of material discharge positions 210, and the material discharge is used to store materials 500; a manipulator 100, the manipulator 100 is the manipulator 100 of the above embodiment, and the manipulator 100 can move to the openings of the plurality of material discharge positions 210 accordingly.

[0064] The smart shelf 1000 of the present application adopts the manipulator 100 of the above embodiment, and can realize automatic material picking or material placing of the material 500 at the placing position 210. At the same time, the structure of the manipulator 100 is simple, which can reduce the space occupied by the manipulator 100, thereby reducing the overall volume of the smart shelf 1000.

[0065] In some embodiments, Figure 4 , Figure 5 As shown, the smart shelf 1000 also includes: the smart shelf 1000 also includes: a first guide rail 300 and a second guide rail 400, the first guide rail 300 extends along the first direction, the second guide rail 400 extends along the second direction, and the manipulator 100 is movably connected to the first guide rail 300 or the second guide rail 400; wherein, when the manipulator 100 is connected to the first guide rail 300, the first guide rail 300 is movably connected to the second guide rail 400 along the second direction; when the manipulator 100 is connected to the second guide rail 400, the second guide rail 400 is movably connected to the first guide rail 300 along the first direction.

[0066] Thus, the robot arm 100 can move in two dimensions, namely, the first direction and the second direction, so that the robot arm 100 can move to different material discharge positions 210 accordingly.

[0067] Furthermore, if Figure 4 , Figure 6 and Figure 7 As shown, the smart shelf 1000 includes: a shelf frame 220; a plurality of storage units 230, each storage unit 230 is provided with a plurality of material placement positions 210, and the storage units 230 are detachably mounted on the shelf frame 220.

[0068] Therefore, the storage unit 230 of the smart shelf 1000 can be replaced, so that the discharge position 210 can match different materials 500 by replacing different storage units 230, thereby improving the versatility of the smart shelf 1000.

[0069] In addition, the material 500 is placed horizontally in the discharge position 210, which can reduce or prevent the material 500 from crushing the lower half of the material 500 under the action of its own gravity. At the same time, in the vertical direction, the height of the discharge position 210 can be set close to the height of the material 500, that is, the height of the discharge position 210 is slightly greater than the height of the material 500, thereby improving the space utilization of the discharge position 210.

[0070] Furthermore, if Figure 6 As shown, the material 500 is placed horizontally at the discharge position 210, and the horizontal width of the discharge position 210 is greater than the horizontal width of the material 500. It can be understood that the lever 12 of the manipulator 100 needs to rotate and extend into the discharge position 210 when taking the material.

[0071] Therefore, when the material 500 is placed at the discharge position 210, there is space on both sides of the material 500 in the width direction for the lever 12 to extend into the discharge position 210, thereby ensuring that the lever 12 can enter the discharge position 210 and push the material 500 to achieve material removal.

[0072] In some embodiments, Figure 5 , Figure 7 As shown, the smart shelf 1000 is also provided with a status indicator light 240, which is used to display whether the manipulator 100 is in a working state of picking up or placing materials, thereby facilitating monitoring of the working state of the manipulator 100 and improving the reliability of the smart shelf 1000.

[0073] In some specific embodiments, the smart shelf 1000 is further provided with a plurality of discharge indicator lights, which are arranged in one-to-one correspondence with the plurality of discharge positions 210 , and are used to display whether there is material 500 placed in each discharge position 210 .

[0074] According to the embodiment of the utility model, the material picking and placing control system includes: an intelligent shelf 1000, which is the intelligent shelf 1000 described in the above embodiment; a monitoring module, which monitors whether each material placing position 210 stores materials 500; a moving control module, which controls the manipulator 100 to move to the target material placing position 210; and a picking and placing control module, which controls at least one lever 12 to rotate to perform material picking or placing operations, and the distance from the second end 122 of at least one lever 12 to another lever 12 is reduced.

[0075] Among them, when performing the material picking operation, the mobile control module controls the manipulator 100 to move to the discharge position 210 where the material 500 is stored, and the pick-up and placement control module controls the two levers 12 to remain non-crossed, and the levers 12 drive the material 500 to leave the discharge position 210; when performing the material discharging operation, the mobile control module controls the manipulator 100 to move to the empty discharge position 210, and the pick-up and placement control module controls the two levers 12 to remain crossed, and the levers 12 push the material 500 to move into the discharge position 210.

[0076] The control system of the present application first obtains the storage information of materials 500 of multiple discharge positions 210 through the monitoring module, and controls the position of the manipulator 100 through the mobile detection module. The material picking and discharging module controls the manipulator 100 to pick up or discharge materials according to the storage information of materials 500 of the corresponding target discharge position 210, thereby realizing the control of automatic picking and discharging of materials on the smart shelf 1000.

[0077] Other structures and operations of the manipulator 100, the smart shelf 1000 and the material picking and placing control system according to the embodiment of the utility model are well known to ordinary technicians in the field and will not be described in detail here.

[0078] 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 utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0079] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A robot for moving materials (500), characterized in that: include: A driving device (11); two shifting rods (12), the two shifting rods (12) being crossable, the two ends of the shifting rod (12) along the length direction being respectively a first end (121) and a second end (122), the first end (121) being transmission-connected to the driving device (11), and the second end (122) being located on a side of the manipulator facing the material (500); The driving device (11) drives at least one of the levers (12) to rotate, and when the manipulator is used to move a material (500), the material (500) is located between two of the levers (12), the two levers (12) simultaneously abut against the material (500), and the distance from the second end (122) of at least one of the levers (12) to the other lever (12) is reduced: When the two levers (12) do not cross, at least one of the levers (12) abuts against a side of the material (500) away from the robot; When the two levers (12) intersect, the material (500) is located on a side of the intersection of the two levers (12) away from the first end (121), and at least one of the levers (12) abuts against a side of the material (500) close to the robot.

2. The robot according to claim 1, characterized in that: The driving device (11) comprises: Driving motor (111); a reduction gear (112), the reduction gear (112) being transmission-connected to the drive motor (111) and the shifting rod (12), the first end (121) of the shifting rod (12) being rotatably connected to an axial end surface of the reduction gear (112); A rotating sleeve (114), the rotating sleeve (114) being sleeved on the shifting rod (12), the rotating sleeve (114) being provided with a rotating shaft (1141) along a radial direction, the rotating shaft (1141) being perpendicular to a rotating plane of the shifting rod (12), and the rotating sleeve (114) being rotatable around the rotating shaft (1141).

3. The robot according to claim 2, characterized in that: The distance between the transmission shaft and the first end (121) is a, and the distance between the transmission shaft and the second end (122) is b, and b is set to be much larger than a.

4. The robot according to claim 2, characterized in that: The driving device (11) drives the two levers (12) to rotate simultaneously, and the two levers (12) rotate in opposite directions. The driving device (11) further comprises: Two worm gears (113), the two worm gears (113) are transmission-connected to the output shaft of the same driving motor (111), the two worm gears (113) rotate in opposite directions, and the two worm gears (113) are transmission-connected to the two shifting rods (12) via the reduction gears (112); Wherein, each of the shifting rods (12) is sleeved with a rotating sleeve (114).

5. The manipulator according to any one of claims 1 to 4, characterized in that: The robot further comprises: a bearing platform (13); in the vertical direction, at least a portion of the projection of the bearing platform (13) is located between the projections of the two shifting rods (12).

6. The robot according to claim 5, characterized in that: The carrying platform (13) is movable in a vertical direction.

7. A smart shelf, characterized in that: include: A shelf (200), the shelf (200) having a plurality of material placement positions (210), the material placement positions being used to store materials (500); A robot (100), wherein the robot (100) is the robot (100) according to any one of claims 1 to 6, and the robot (100) can be moved to the openings of the plurality of material discharge positions (210) accordingly.

8. The smart shelf according to claim 7, characterized in that: The smart shelf further comprises: the smart shelf further comprises: a first guide rail (300) and a second guide rail (400), the first guide rail (300) extending along a first direction, the second guide rail (400) extending along a second direction, the manipulator (100) being movably connected to the first guide rail (300) or the second guide rail (400); Wherein, when the robot arm (100) is connected to the first guide rail (300), the first guide rail (300) is movably connected to the second guide rail (400) along a second direction; When the robot (100) is connected to the second guide rail (400), the second guide rail (400) is movably connected to the first guide rail (300) along a first direction.

9. The smart shelf according to claim 7, characterized in that: The smart shelf comprises: Shelf frame (220); A plurality of storage units (230), each of the storage units (230) being provided with a plurality of the material placing positions (210), and the storage units (230) being detachably mounted on the shelf frame (220).

10. The smart shelf according to claim 7, characterized in that: The material (500) is placed transversely at the material discharge position (210), and the width of the material discharge position (210) is greater than the width of the material (500).

11. A material taking and placing control system, characterized in that: include: A smart shelf (1000), wherein the smart shelf (1000) is the smart shelf (1000) according to any one of claims 7 to 10; A monitoring module, the monitoring module monitoring whether each of the discharge positions (210) has the material (500) stored therein; A movement control module, the movement control module controlling the manipulator (100) to move to a target discharge position (210); a pick-and-place control module, wherein the pick-and-place control module controls at least one of the levers (12) to rotate to perform a material picking or material placing operation, and a distance between the second end (122) of at least one of the levers (12) and another of the levers (12) is reduced; Wherein, when performing a material picking operation, the movement control module controls the manipulator (100) to move to a material discharge position (210) where the material (500) is stored, and the picking and placing control module controls the two levers (12) to remain non-crossed, and the levers (12) drive the material (500) to leave the material discharge position (210); When performing a material discharge operation, the movement control module controls the manipulator (100) to move to an empty material discharge position (210), and the pick-and-place control module controls the two levers (12) to remain crossed, and the levers (12) push the material (500) to move into the material discharge position (210).

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