Pick-and-place devices and robots

Abstract

The present application provides a cargo picking and placing device and a robot. The cargo picking and placing device is used for picking and placing material boxes. The cargo picking and placing device comprises a supporting assembly, a driving assembly and a push-pull assembly. The driving assembly comprises a driving unit and two flexible transmission members. The driving unit is arranged on the supporting assembly, and the driving unit is configured to drive the two flexible transmission members to transmit. The push-pull assembly is located between the two flexible transmission members, and the two sides of the push-pull assembly are respectively connected to the two flexible transmission members, so that the flexible transmission members drive the push-pull assembly to move along its transmission direction. The connection positions of the two sides of the push-pull assembly and the two flexible transmission members are staggered along the cargo picking and placing direction of the cargo picking and placing device, and the two flexible transmission members are correspondingly staggered along the cargo picking and placing direction of the cargo picking and placing device, so that the push-pull assembly can maintain translational motion during the entire transmission stroke of the flexible transmission member, thereby simplifying the overall structure of the cargo picking and placing device, and reducing weight and cost.

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 and a robot. 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, a robot used for picking up and placing goods can move in the aisles between the shelves. The robot is usually provided with a fork for picking up and placing goods. 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 and a robot, so as 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 for picking and placing material boxes, and includes a supporting assembly, a driving assembly and a push-pull assembly, wherein the driving assembly includes a driving unit and two flexible transmission members, the driving unit is arranged on the supporting assembly, and the driving unit is configured to drive the two flexible transmission members to transmit; the push-pull assembly is located between the two flexible transmission members, and the two sides of the push-pull assembly are respectively connected to the two flexible transmission members, so that the flexible transmission member drives the push-pull assembly to move along its transmission direction.

[0007] Among them, the connection positions of the two sides of the push-pull component and the two flexible transmission members are staggered along the picking and releasing direction of the picking and releasing device; the two flexible transmission members are correspondingly staggered along the picking and releasing direction of the picking and releasing device.

[0008] The cargo picking and placing device provided by the present application drives the material box to move through a push-pull assembly to pick up and place the material box. The connection positions of the push-pull assembly and the two flexible transmission members are staggered so that the push-pull assembly does not sag. In order to enable the push-pull assembly to move smoothly at the turning position of the flexible transmission member, the two flexible transmission members are also staggered. In this way, the push-pull assembly can maintain translational motion during the entire transmission stroke of the flexible transmission member, thereby simplifying the overall structure of the cargo picking and placing device and reducing weight and cost.

[0009] In the second aspect, the present application also provides a cargo picking and placing device, including a push-pull assembly and a flexible transmission member that drives the push-pull assembly to move, the push-pull assembly including a first push-pull member and a second push-pull member, the first push-pull member and the second push-pull member are respectively connected to different positions in the extension direction of the flexible transmission member, and the first push-pull member and the second push-pull member are configured to dock with different docking parts of the material box during a single cargo picking or placing process.

[0010] In a third aspect, the present application provides a robot comprising a robot body and a cargo picking and placing device as in any one of the above technical solutions, 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.

[0011] 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 and robot 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

[0012] 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.

[0013] Figure 1 A schematic diagram of the structure of the cargo pick-up and delivery device provided in the embodiment of the present application Figure 1 ;

[0014] Figure 2 A schematic diagram of the structure of the cargo pick-up and delivery device provided in the embodiment of the present application Figure 2 ;

[0015] Figure 3 A schematic diagram of the structure of a push-pull assembly in an initial position in a cargo picking and placing device provided in an embodiment of the present application;

[0016] Figure 4 A side view of a push-pull assembly in an initial position of a cargo picking and placing device provided in an embodiment of the present application;

[0017] Figure 5 A top view of a push-pull assembly in an initial position in a cargo picking and placing device provided in an embodiment of the present application;

[0018] Figure 6A schematic diagram of the structure of the cargo picking and placing device provided in an embodiment of the present application when the push-pull assembly is extended;

[0019] Figure 7 A side view of the push-pull assembly of the cargo picking and placing device provided in an embodiment of the present application when extended;

[0020] Figure 8 A top view of the push-pull assembly of the cargo picking and placing device provided in an embodiment of the present application when extended;

[0021] Fig. 9 A schematic diagram of the cooperation between the push-pull assembly and the support assembly in the cargo picking and placing device provided in an embodiment of the present application;

[0022] Fig.10 A side view of the cooperation between the push-pull assembly and the support assembly in the cargo picking and placing device provided in an embodiment of the present application;

[0023] Fig.11 A cross-sectional view of the cooperation between the push-pull assembly and the support assembly in the cargo picking and placing device provided in an embodiment of the present application;

[0024] Fig.12 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;

[0025] Fig.13 A bottom schematic diagram of a material box picked up and placed by the picking and placing device provided in an embodiment of the present application;

[0026] Fig.14 A schematic diagram of a detection mechanism in a cargo picking and placing device provided in an embodiment of the present application;

[0027] Fig.15 A schematic diagram of a detection mechanism in a cargo picking and placing device provided in an embodiment of the present application being in a first position;

[0028] Fig.16 A schematic diagram of a detection mechanism in a cargo picking and placing device provided in an embodiment of the present application being in a second position;

[0029] Fig.17 A schematic diagram of the structure of a support assembly in a cargo picking and placing device provided in an embodiment of the present application;

[0030] Fig.18 An inner side view of a support assembly in a cargo picking and placing device provided in an embodiment of the present application;

[0031] Fig.19 for Fig.18 Sectional view in the AA direction;

[0032] 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;

[0033] Fig.21 A schematic diagram of the structure of the robot provided in the embodiment of the present application;

[0034] Fig. 22 A flowchart of a method for picking up goods applied to a robot provided in an embodiment of the present application;

[0035] Fig.23 A flowchart of a method for placing goods by a robot provided in an embodiment of the present application.

[0036] Description of reference numerals:

[0037] 10-Cargo pick-up and delivery device;

[0038] 100-support assembly; 101-sliding groove; 101a-first sliding groove; 101b-second sliding groove; 110-outer guide member; 111-first arc-shaped guide surface; 120-inner guide member; 121-second arc-shaped guide surface; 130-support plate;

[0039] 200-driving assembly; 210-driving unit; 220-flexible transmission member; 230-first transmission wheel; 240-second transmission wheel; 250-third transmission wheel;

[0040] 300-push-pull assembly; 301-connecting portion; 302-sliding portion; 310-first push-pull member; 311-first push-pull portion; 320-second push-pull member; 321-second push-pull portion;

[0041] 400-detection mechanism; 410-elastic member; 411-roller; 420-reflective plate; 421-rolling groove;

[0042] 500-photoelectric detection device;

[0043] 20 - material box; 21 - first docking portion; 22 - second docking portion. DETAILED DESCRIPTION

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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 the warehousing and logistics system, goods are usually stored on shelves. Robots can pick up and place goods by docking with shelves or conveyor lines, and can transport goods. The robot is usually equipped with a fork for picking up and placing goods. The fork is usually equipped with a manipulator that can be extended to a fixed position relative to the robot body. The manipulator usually has multiple joints, multiple transmission mechanisms and multiple drive units, so that the manipulator can complete the operation of picking up and placing material boxes.

[0049] However, the multi-joint manipulator driving and transmission structure of the current robot fork is complex, resulting in a heavy overall weight of the fork, a large load on the robot itself, and a high production cost. In addition, since the robot's end joint usually needs to reach deep into the shelf to pull the material box, it can only completely move the material box from the shelf to the fork, causing the manipulator to occupy too much space between the shelves when picking up and placing goods, resulting in a high shelf height and reduced storage density.

[0050] In response to the above problems, the embodiments of the present application provide a cargo picking and placing device, a robot, and a cargo picking and placing method. Through the structural design of the cargo picking and placing device on the transport robot, the cargo picking and placing device can drive the push-pull component to move through the misplaced flexible transmission member. The push-pull component can maintain translation along the transmission path of the flexible transmission member during the transmission stroke of the flexible transmission member to realize the cargo picking and placing function of the material box, thereby simplifying the structure of the cargo picking and placing device, reducing the overall weight of the cargo picking and placing device, and reducing the product cost.

[0051] To facilitate understanding, the application scenarios of the cargo picking and placing device and the robot provided in the embodiments of the present application are first described.

[0052] The cargo picking and placing device provided in this embodiment is applied to a robot, and the robot is applied to a warehousing and logistics system for picking and placing cargo. The robot can be applied to the logistics distribution of industrial production lines, the warehousing and unloading of inventory products in the manufacturing industry, the warehousing and unloading of products in the retail industry, and can also be applied to different fields such as express delivery warehousing and sorting in e-commerce logistics. The products or goods involved in the transportation can be industrial parts, electronic accessories or products, medicines, clothing accessories, food, books, etc., and it can directly transfer goods or transfer material boxes containing goods. The embodiment of the present application does not make specific limitations on this. The "material box" will be used below to refer to the handling object of the cargo picking and placing device, and no specific examples will be given.

[0053] Figure 1 A schematic diagram of the structure of the cargo pick-up and delivery device provided in the embodiment of the present application Figure 1 , Figure 2 A schematic diagram of the structure of the cargo pick-up and delivery device provided in the embodiment of the present application Figure 2 .

[0054] like Figure 1 and Figure 2 As shown, an embodiment of the present application provides a cargo pick-up and placement device 10, which is used for picking up and placing material boxes. The cargo pick-up and placement device 10 includes a support assembly 100, a drive assembly 200, and a push-pull assembly 300. The support assembly 100 is used to carry and assemble the drive assembly 200 and the push-pull assembly 300. The drive assembly 200 is used to drive the push-pull assembly 300 to move. The push-pull assembly 300 can pull the material box onto the cargo pick-up and placement device 10 or push the material box out of the cargo pick-up and placement device 10 under the drive of the drive assembly 200.

[0055] The driving assembly 200 includes a driving unit 210 and two flexible transmission members 220. The driving unit 210 is disposed on the supporting assembly 100, and the driving unit 210 is configured to drive the two flexible transmission members 220 to transmit. The push-pull assembly 300 is located between the two flexible transmission members 220, and both sides of the push-pull assembly 300 are respectively connected to the two flexible transmission members 220, so that the flexible transmission members 220 drive the push-pull assembly 300 to move along its transmission direction.

[0056] It is understandable that during a single picking-up process or placing-down process of the push-pull assembly 300 , the transmission direction of the flexible transmission member 220 may remain unchanged or may change.

[0057] Illustratively, during the picking process, the flexible transmission member 220 transmits clockwise, and the push-pull assembly 300 translates clockwise along the transmission path of the flexible transmission member 220 until the push-pull assembly 300 docks with the material box, after which the flexible transmission member 220 continues to transmit clockwise, and the push-pull assembly 300 can pull the material box from the outside to the support assembly 100; during the placing process, the flexible transmission member 220 transmits counterclockwise, the push-pull assembly 300 translates counterclockwise along the transmission path of the flexible transmission member 220, and the push-pull assembly 300 can push the material box from the support assembly 100.

[0058] Illustratively, during the picking process, the flexible transmission member 220 first transmits counterclockwise, and the push-pull assembly 300 translates counterclockwise along the transmission path of the flexible transmission member 220 until the push-pull assembly 300 docks with the material box, and then the flexible transmission member 220 changes direction and transmits clockwise, and the push-pull assembly 300 can pull the material box from the outside to the support assembly 100; the placing process is the reverse process of the above-mentioned picking process, which will not be repeated here.

[0059] In some embodiments, the two flexible transmission members 220 are staggered along the picking and placing direction of the picking and placing device 10, and the connection positions of the two sides of the push-pull component 300 and the two flexible transmission members 220 are correspondingly staggered along the picking and placing direction of the picking and placing device 10, so that the push-pull component 300 can always maintain translation during the transmission stroke of the flexible transmission member 220, whether in the linear transmission part of the flexible transmission member 220 or in the arc-shaped turning part of the flexible transmission member 220.

[0060] The length direction of the picking and placing device 10 is defined as the X direction, the width direction of the picking and placing device 10 is defined as the Y direction, the two flexible transmission members 220 can be distributed on both sides of the picking and placing device 10 along the Y direction, the picking and placing direction of the picking and placing device 10 is the X direction, and the two flexible transmission members 220 are staggered along the X direction, that is, the two flexible transmission members 220 are arranged one after the other along the X direction.

[0061] It can be understood that the push-pull assembly 300 maintains translation means that, with the support assembly 100 as a reference, the movement path of the push-pull assembly 300 is consistent with the transmission path of the flexible transmission member 220, that is, the movement path of the push-pull assembly 300 can include movement along a straight line or along an arc, but the push-pull assembly 300 as a whole will not flip relative to the support assembly 100. For example, if the surface of the push-pull assembly 300 is parallel to the horizontal direction, then during the translation process of the push-pull assembly 300, its surface always remains parallel to the horizontal direction.

[0062] It should be noted that in the cargo pick-up and placement device 10 provided in the embodiment of the present application, the push-pull assembly 300 drives the material box to move so as to pick up and place the material box. The push-pull assembly 300 is driven by two staggered flexible transmission members 220, and the connection position of the push-pull assembly 300 and the two flexible transmission members 220 is also staggered. In this way, the connection position of the push-pull assembly 300 and the two flexible transmission members 220 is staggered, so that the push-pull assembly 300 will not sag, and in order to allow the push-pull assembly 300 to move smoothly at the position where the flexible transmission member 220 turns, the two flexible transmission members are also staggered to maintain the translational movement of the push-pull assembly 300. The line between the connection position of the push-pull assembly 300 and the two flexible transmission members 220 can have a certain angle relative to the Y direction, and the push-pull assembly 300 can maintain the translational movement without the need for other telescopic joints and power units, thereby simplifying the overall structure of the cargo pick-up and placement device 10 and reducing weight and cost.

[0063] In addition, when the driving unit 210 drives the two flexible transmission members 220 to transmit, the transmission directions and transmission speeds of the two flexible transmission members 220 remain consistent, so as to ensure the stability of the push-pull assembly 300 during the translation process.

[0064] Figure 3 This is a schematic diagram of the structure of the push-pull assembly in the cargo picking and placing device provided in an embodiment of the present application in an initial position. Figure 4 A side view of a push-pull assembly in an initial position in a cargo picking and placing device provided in an embodiment of the present application, Figure 5 A top view of a push-pull assembly in an initial position of a cargo pick-up and delivery device provided in an embodiment of the present application, Figure 6 This is a schematic diagram of the structure of the push-pull assembly in the cargo picking and placing device provided in an embodiment of the present application when it is extended. Figure 7 This is a side view of the push-pull assembly of the cargo picking and placing device provided in an embodiment of the present application when extended. Figure 8 A top view of the push-pull assembly of the cargo picking and placing device provided in an embodiment of the present application when extended.

[0065] First, the specific connection structure between the push-pull assembly 300 and the flexible transmission member 220 will be described in detail below.

[0066] Please refer to Figures 1 to 8In some embodiments, both sides of the push-pull assembly 300 are provided with connecting parts 301, and the push-pull assembly 300 is rotatably connected to the flexible transmission member 220 through the connecting parts 301. The connecting parts 301 on both sides of the push-pull assembly 300 are staggered along the picking and placing direction of the picking and placing device 10. In this way, when the push-pull assembly 300 passes through the arc transmission position of the flexible transmission member 220, that is, when the push-pull assembly 300 passes through the turning position of the flexible transmission member 220, the connecting parts 301 on the push-pull assembly 300 can rotate relative to the flexible transmission member 220, so as to keep the overall posture of the push-pull assembly 300 unchanged relative to the support assembly 100, that is, the push-pull assembly 300 keeps translation.

[0067] The misalignment direction of the two flexible transmission members 220 is the same as the misalignment direction of the connection parts 301 on both sides of the push-pull assembly 300. The misalignment distance of the two flexible transmission members 220 is the same as the misalignment distance of the connection parts 301 on both sides of the push-pull assembly 300.

[0068] It can be understood that the two flexible transmission members 220 have the same structural shape, transmission path and speed. Therefore, when the two flexible transmission members 220 are staggered, the connection parts 301 on both sides of the push-pull component 300 maintain the same staggered direction and staggered distance, which can ensure that the positions of the two connection parts 301 on the moving paths of the two flexible transmission members 220 remain consistent, thereby keeping the push-pull component 300 in a translation state during the entire movement process.

[0069] Exemplarily, the flexible transmission member 220 can be a chain, and the connecting part 301 is hinged to the chain, so that the chain can drive the push-pull assembly 300 to move during transmission, and when passing the turning position of the chain, the connecting part 301 can rotate relative to the chain, and then the push-pull assembly 300 translates at the turning position of the chain.

[0070] In the embodiment of the present application, the support assembly 100 can guide the movement of the push-pull assembly 300. The matching mechanism between the support assembly 100 and the push-pull assembly 300 is described in detail below.

[0071] In some embodiments, the support assembly 100 has two sliding grooves 101, which are located on both sides of the push-pull assembly 300. Both sides of the push-pull assembly 300 are provided with sliding parts 302, which are located in the sliding grooves 101. When the flexible transmission member 220 is driven, the sliding part 302 moves along the sliding grooves 101.

[0072] The sliding parts 302 on both sides of the push-pull assembly 300 are staggered, and the staggered directions of the sliding parts 302 on both sides of the push-pull assembly 300 are opposite to the staggered directions of the two flexible transmission members 220. For example, when the sliding part 302 on one side is located at the front side of the connecting part 301 on the same side along the extension direction of the push-pull assembly 300, the sliding part 302 on the other side is located at the rear side of the connecting part 301 on the same side along the extension direction of the push-pull assembly 300.

[0073] It can be understood that the extension path of the two sliding grooves 101 matches the extension path of the corresponding flexible transmission member 220, and further, the relative positions of the two sliding grooves 101 are also staggered along the X direction, and the staggered direction of the two sliding grooves 101 is the same as the staggered direction of the two sliding parts 302. In this way, when the push-pull assembly 300 moves to the turning position of the flexible transmission member 220, the push-pull parts on both sides of the push-pull assembly 300 can pass through the turning positions of the two sliding grooves 101 respectively.

[0074] Fig.17 This is a schematic diagram of the structure of the support assembly in the cargo picking and placing device provided in an embodiment of the present application. Fig.18 This is an inner side view of a support assembly in a cargo picking and placing device provided in an embodiment of the present application. Fig.19 for Fig.18 Cross-sectional view along the AA direction.

[0075] Please refer to Figures 17 to 19 , and combined with Figures 1 to 11 In some embodiments, the support assembly 100 may include an outer guide member 110 and an inner guide member 120 , the outer guide member 110 is located circumferentially outside the inner guide member 120 , and the inner wall of the outer guide member 110 and the outer wall of the inner guide member 120 may be surrounded to form a sliding groove 101 .

[0076] There may be two outer guide members 110 and two inner guide members 120, and the outer guide members 110 and the inner guide members 120 are arranged one by one, and one outer guide member 110 and one inner guide member 120 are arranged to form a sliding groove 101. The two sliding grooves 101 may be arranged on both sides of the cargo picking and placing device.

[0077] The support assembly 100 may further include a support plate 130, and the outer guide members 110 on both sides may be connected through the support plate 130. Exemplarily, the outer guide members 110 on both sides of the cargo picking and placing device are connected to both sides of the support plate 130 through fasteners such as bolts, and the inner guide members 120 on both sides of the cargo picking and placing device are connected to both sides of the support plate 130 through fasteners such as bolts.

[0078] It can be understood that in order to improve the compactness of the spatial layout, the push-pull component 300 is located between the two sliding grooves 101, the two sides of the sliding groove 101 can be connected, and the flexible transmission member 220 on each side of the support component 100 can be arranged on the side of the sliding groove 101 away from the push-pull component 300, that is, the connecting part 301 on the push-pull component 300 can pass through the sliding groove 101 and connect with the flexible transmission member 220.

[0079] Exemplarily, the outer guide member 110 has a first arcuate guide surface 111, and the inner guide member 120 has a second arcuate guide surface 121, and the first arcuate guide surface 111 and the second arcuate guide surface 121 are respectively located at two ends of the support component 100; when the push-pull component 300 passes the turning position of the flexible transmission member 220, the sliding part 302 slides along the first arcuate guide surface 111 or the second arcuate guide surface 121.

[0080] It should be noted that the flexible transmission member 220 drives the push-pull assembly 300 to rotate clockwise or counterclockwise. At both ends of the support assembly 100, the flexible transmission member 220 turns, and the push-pull assembly 300 changes the translation direction along the sliding groove 101. During this process, the sliding part 302 moves along the first arc-shaped guide surface 111 at one end of the sliding groove 101 and changes the translation direction, and the sliding part 302 moves along the second arc-shaped guide at the other end of the sliding groove 101 and changes the translation direction.

[0081] In addition, the first arc-shaped guide surface 111 of one of the two sliding grooves 101 and the second arc-shaped guide surface 121 of the other are located at the same end of the support assembly 100. For example, please refer to Fig.19 The two sliding grooves 101 are respectively the first sliding groove 101a and the second sliding groove 101b, the first arcuate guide surface 111 of the first sliding groove 101a and the second arcuate guide surface 121 of the second sliding groove 101b are located at the same end of the cargo picking and placing device 10, and the second arcuate guide surface 121 of the first sliding groove 101a and the first arcuate guide surface 111 of the second sliding groove 101b are located at the same end of the cargo picking and placing device 10.

[0082] Fig. 9 This is a schematic diagram of the cooperation between the push-pull assembly and the support assembly in the cargo picking and placing device provided in an embodiment of the present application. Fig.10 A side view of the cooperation between the push-pull assembly and the support assembly in the cargo picking and placing device provided in an embodiment of the present application, Fig.11 A cross-sectional view of the cooperation between the push-pull assembly and the support assembly in the cargo picking and placing device provided in an embodiment of the present application, Fig.12 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, Fig.13 A bottom schematic diagram of a material box picked up and placed by the picking and placing device provided in an embodiment of the present application.

[0083] The specific structure of the push-pull assembly 300 and the specific method of moving the push-pull material box 20 are described in detail below.

[0084] Please refer to Figures 1 to 3 In some embodiments, the push-pull assembly 300 may include a first push-pull member 310 and a second push-pull member 320, and the first push-pull member 310 and the second push-pull member 320 are respectively connected to different positions in the extension direction of the flexible transmission member 220. When the picking and placing device 10 picks and places the material box 20, at least one of the first push-pull member 310 and the second push-pull member 320 drives the material box 20 to move.

[0085] In the process of the material box 20 moving in and out of the picking and placing device 10, the first push-pull member 310 may drive the material box 20 to move, or the second push-pull member 320 may drive the material box 20 to move, or the first push-pull member 310 and the second push-pull member 320 may simultaneously drive the material box 20 to move. For example, in the moving stroke of the material box 20, different moving strokes can respectively realize the movement of the material box 20 by the above-mentioned multiple methods.

[0086] It can be understood that the push-pull assembly 300 has an initial position. When the push-pull assembly 300 is in the initial position, the first push-pull member 310 is located at the rear end of the support assembly 100 along the direction of picking up and placing goods, and the second push-pull member 320 is located in the middle of the support assembly 100 along the direction of picking up and placing goods.

[0087] Exemplarily, during the process of picking up goods, the first push-pull member 310 is extended under the drive of the flexible transmission member 220 and cooperates with the material box 20. With the transmission of the flexible transmission member 220, the first push-pull member 310 changes its translation direction after passing the turning position of the flexible transmission member 220, so that the first push-pull member 310 drives the material box 20 to move onto the support assembly 100. During the movement, the second push-pull member 320 moves with the flexible transmission member 220 and begins to cooperate with the material box 20 until the second push-pull member 320 completely pulls the material box 20 onto the support assembly 100. In this process, the first push-pull member 310 and the second push-pull member 320 are both translated one circle along the transmission direction of the flexible transmission member 220, that is, after the material box 20 is taken onto the support assembly 100, the push-pull assembly 300 returns to the initial position.

[0088] In the embodiment of the present application, the cargo releasing process of the push-pull assembly 300 is opposite to the cargo picking process described above, that is, the flexible transmission member 220 can be transmitted in the opposite direction, which will not be described in detail here.

[0089] In some embodiments, the bottom of the material box 20 has a first docking portion 21 and a second docking portion 22, and the first docking portion 21 and the second docking portion 22 are arranged at intervals along the pick-and-place direction of the material box 20. The first push-pull member 310 is configured to dock with the first docking portion 21 under the drive of the flexible transmission member 220, and drive the material box 20 to move into or out of the pick-and-place device 10. The second push-pull member 320 is configured to dock with the second docking portion 22 under the drive of the flexible transmission member 220, and drive the material box 20 to move from the edge of the pick-and-place device 10 to the middle of the pick-and-place device 10.

[0090] It can be understood that the first docking portion 21 can be located at the bottom edge of the material box 20, and the second docking portion 22 can be located at the middle position of the bottom of the material box 20. During the picking process of the push-pull assembly 300, the first push-pull member 310 first docks with the first docking portion 21 and drives the material box 20 to move onto the support assembly 100. When the material box 20 is partially moved onto the support assembly 100, the second docking portion 22 at the bottom of the material box 20 moves to the edge close to the picking and placing assembly. At this time, the second push-pull member 320 docks with the second docking portion 22, driving the material box 20 to continue to move onto the support assembly 100, and with the transmission of the flexible transmission member 220, the first push-pull member 310 withdraws from the first docking portion 21, and the second push-pull member 320 completely moves the material box 20 to the support assembly 100.

[0091] For example, the first docking portion 21 and the second docking portion 22 may be slots, or the first docking portion 21 and the second docking portion 22 may be other docking structures such as buckles, clamping protrusions, etc.

[0092] In some embodiments, the first push-pull member 310 may be provided with a first push-pull portion 311, and the second push-pull member may be provided with a second push-pull portion 321. When the first push-pull member 310 is docked with the material box 20, the first push-pull portion 311 may be plugged with the first docking portion 21. When the second push-pull member 320 is docked with the material box 20, the second push-pull portion 321 may be plugged with the second docking portion 22.

[0093] Exemplarily, the first push-pull portion 311 may be a protruding structure on the surface of the first push-pull member 310. The first push-pull portion 311 may be integrally formed with the first push-pull member 310, welded, or connected by fasteners such as bolts. The second push-pull portion 321 may be a protruding structure on the surface of the second push-pull member 320. The second push-pull portion 321 may be integrally formed with the second push-pull member 320, welded, or connected by fasteners such as bolts. The present application embodiment does not specifically limit this.

[0094] In the embodiment of the present application, the cargo picking and placing device 10 can realize bidirectional picking and placing of the material box 20, that is, when the cargo picking and placing device 10 does not need to rotate as a whole to change the direction, the push-pull assembly 300 can pick up and place the material box 20 at both ends of the cargo picking and placing device 10.

[0095] In some embodiments, there may be two first push-pull members 310. When the push-pull assembly 300 is in the initial position, the two first push-pull members 310 are located at both ends of the support assembly 100. The two first push-pull members 310 are respectively used to pick up and place the material boxes 20 at both ends of the cargo picking and placing device 10.

[0096] It can be understood that the two first push-pull members 310 are synchronously driven by the flexible transmission member 220. When the first first push-pull member 310 picks up and places the material box 20 at one end of the picking and placing device 10, the first push-pull member 310 cooperates with the second push-pull member 320, and the second first push-pull member 310 only translates with the flexible transmission member 220 and does not play the role of pushing and pulling the material box 20. Correspondingly, when the second first push-pull member 310 picks up and places the material box 20 at the other end of the picking and placing device 10, the first push-pull member 310 cooperates with the second push-pull member 320, and the first first push-pull member 310 only translates with the flexible transmission member 220 and does not play the role of pushing and pulling the material box 20. That is, the two first push-pull members 310 cooperate with the same second push-pull member 320 to pick up and place the material box 20.

[0097] The second push-pull member 320 and the two first push-pull members 310 may be respectively provided with a connecting portion 301 and a sliding portion 302 on both sides. The staggered setting direction of the connecting portion 301 on the second push-pull member 320 and the two first push-pull members 310 is the same, and the staggered setting direction of the sliding portion 302 on the second push-pull member 320 and the two first push-pull members 310 is the same, which will not be repeated here.

[0098] In some embodiments, the second push-pull member 320 may be one, two or three, and the specific number is not limited and is set according to actual conditions. At this time, a docking portion corresponding to the second push-pull member 320 is set at the bottom of the material box 20.

[0099] It should be noted that since the two first push-pull members 310 and the second push-pull members 320 cooperate to realize two-way picking and placing of the material box 20, the picking and placing device 10 can complete the picking operation in the front and rear directions without rotating. When the picking and placing device 10 is used in the alley between two shelves to pick up and place the material box 20, the space occupied by the picking and placing device 10 can be reduced, thereby reducing the distance between the shelves in the storage system and improving the storage density.

[0100] In the embodiment of the present application, the cargo picking and placing device 10 may further include a detection mechanism 400 , which is disposed on the push-pull assembly 300 , and is configured to detect a docking state between the push-pull assembly 300 and the material box 20 .

[0101] Among them, when the first push-pull member 310 of the push-pull assembly 300 extends to the front end of the cargo picking and placing device 10, the first push-pull member 310 can be abutted against the bottom wall of the material box 20 by lifting the cargo picking and placing device 10 as a whole, and the detection mechanism 400 can detect the docking state of the first push-pull member 310 and the bottom wall of the material box 20, so that after the first push-pull member 310 abuts against the material box 20, a signal is fed back to the controller, so that the controller controls the driving unit 210 to continue to drive the flexible transmission member 220 to drive the first push-pull member 310 to move, and then drag the material box 20 to move.

[0102] Fig.14 A schematic diagram of a detection mechanism in a cargo picking and placing device provided in an embodiment of the present application, Fig.15 This is a schematic diagram of a detection mechanism in a first position in a cargo picking and placing device provided in an embodiment of the present application. Fig.16 This is a schematic diagram of a detection mechanism in a cargo picking and placing device provided in an embodiment of the present application being in a second position.

[0103] The specific structure and working principle of the detection mechanism 400 are described in detail below.

[0104] Please refer to Figures 14 to 16 , and combined with Figure 1 and Figure 2 In some embodiments, the detection mechanism 400 may include an elastic member 410 and a reflective plate 420, wherein the first end of the elastic member 410 is connected to the push-pull assembly 300, and the second end of the elastic member 410 is directed toward the top of the support assembly 100. At this time, the second end of the elastic member 410 is not subjected to external pressure and is in a natural state. The reflective plate 420 is rotatably connected to the push-pull assembly 300, and the reflective plate 420 is disposed at the second end of the elastic member 410. The cargo picking and placing device 10 may further include a photoelectric detection device 500, which is disposed at the support assembly 100. Exemplarily, the elastic member 410 is a leaf spring.

[0105] When the push-pull assembly 300 contacts the material box 20, the second end of the elastic member 410 contacts the material box 20 and pushes the reflector 420 to rotate to the first position so that the reflector 420 is opposite to the photoelectric detection device 500; when the push-pull assembly 300 separates from the material box 20, the second end of the elastic member 410 separates from the material box 20 and rebounds to a natural state, and pushes the reflector 420 to rotate to the second position so that the reflector 420 is staggered with the photoelectric detection device 500. The photoelectric detection device 500 can be a photoelectric switch or other non-contact photoelectric detection units.

[0106] It is understandable that when the reflector 420 is in the first position, the reflector 420 is vertically arranged and blocks the light emitted by the photoelectric detection device 500. The photoelectric detection device 500 can feedback a signal to the controller through the light reflected by the reflector 420, so that it can be determined that the first push-pull member 310 is inserted into the first docking portion 21. When the reflector 420 is in the second position, the reflector 420 is horizontally arranged. At this time, the reflector 420 avoids the light emitted by the photoelectric detection device 500, so that the reflected light cannot be detected.

[0107] In some embodiments, the second end of the elastic member 410 is connected to a roller 411, and the reflective plate 420 has a rolling groove 421. The rolling groove 421 is eccentrically arranged relative to the rotation center of the reflective plate 420, and the roller 411 is located in the rolling groove 421, thereby improving the smoothness of the elastic member 410 driving the reflective plate 420 to rotate.

[0108] Exemplarily, the elastic member 410 may be a leaf spring, and the embodiment of the present application does not limit the specific length and damping coefficient of the elastic member 410 .

[0109] It should be noted that a detection mechanism 400 can be respectively provided on the two first push-pull members 310 used for bidirectional picking and placing of goods. Accordingly, two photoelectric detection devices 500 are respectively provided at both ends of the support assembly 100 for receiving the reflected light on the two first push-pull members 310.

[0110] The specific structure of the driving unit 210 driving the flexible transmission member 220 for transmission is described in detail below.

[0111] Please continue to refer to Figures 1 to 10 In some embodiments, the driving assembly 200 may further include a plurality of first transmission wheels 230, and the plurality of first transmission wheels 230 are respectively disposed at both ends of the supporting assembly 100, and the flexible transmission member 220 is disposed around the first transmission wheels 230 at both ends of the supporting assembly 100, and is surrounded to form a closed ring.

[0112] It can be understood that the shape and setting position of the flexible transmission member 220 can be formed by the first transmission wheel 230, and the first transmission wheel 230 around which the two flexible transmission members 220 are arranged is staggered along the picking and placing direction of the picking and placing device 10, so as to realize that the two flexible transmission members 220 can be staggered in the picking and placing direction of the picking and placing device 10.

[0113] Among them, the driving component 200 can also include a second transmission wheel 240 and a third transmission wheel 250, and the second transmission wheel 240 and the third transmission wheel 250 are located between the first transmission wheel 230 at both ends of the supporting component 100; the second transmission wheel 240 can abut against the inner side of the flexible transmission member 220, and the third transmission wheel 250 can abut against the outer side of the flexible transmission member 220; the driving unit 210 is configured to drive either the second transmission wheel 240 or the third transmission wheel 250 to rotate, so as to drive the flexible transmission member 220 to transmit.

[0114] Exemplarily, two first transmission wheels 230 may be respectively provided on both sides of the width direction of the support assembly 100, and the two first transmission wheels 230 on each side are distributed at both ends of the support assembly 100 along the X direction, and each flexible transmission member 220 may be respectively provided with two second transmission wheels 240 and two third transmission wheels 250. After the inner side of the flexible transmission member 220 is wound around the two first transmission wheels 230, the outer side thereof is wound around a third transmission wheel 250, and the inner side thereof is wound around the two second transmission wheels 240 in sequence, and finally the outer side thereof is wound around another third transmission wheel 250, and then returns to the initial first transmission wheel 230, thereby forming a closed loop.

[0115] It should be noted that the drive unit 210 can be a motor, the output end of the motor is connected to the second transmission wheel 240 or the third transmission wheel 250 by a chain after passing through a reducer, and the corresponding second transmission wheels 240 or the third transmission wheels 250 of the two flexible transmission members 220 can be connected by a transmission shaft to maintain synchronous transmission. The clockwise or counterclockwise transmission of the two flexible transmission members 220 can be achieved by the forward and reverse rotation of the motor.

[0116] Fig.21 A schematic diagram of the structure of the robot provided in an embodiment of the present application.

[0117] Please refer to Fig.21 The present application also provides a robot, which includes a robot body 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, and the cargo picking and placing device 10 can be raised and lowered and moved along the height direction of the robot body.

[0118] Among them, the robot is used in a warehousing system, and can move between shelves in the warehousing system and / or climb and descend along the shelves, and obtain material boxes from the shelves or place material boxes on the shelves, playing the role of picking up, placing and transferring material boxes.

[0119] In some embodiments, the picking and placing device 10 can be raised and lowered relative to the robot body, and the robot body 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. 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.

[0120] It should be noted that the robot 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.

[0121] An embodiment of the present application also provides a warehousing system, which includes shelves and the robot in the above technical solution. There can be multiple shelves, which are arranged at intervals. There are lanes between adjacent shelves. The robot moves in the lanes. The robot's picking and placing device can be telescopic in both directions along the width direction of the lane to pick up and place material boxes on the shelves on both sides of the lane.

[0122] It is understandable that, since the robot's picking and placing device can pick up goods on both sides along the width of the aisle, the fork device does not need to turn around, and the aisle does not need to reserve rotation space for the picking and placing device, thereby improving the storage density of the storage system.

[0123] Fig. 22 A flowchart of a method for picking up goods by a robot provided in an embodiment of the present application.

[0124] Please refer to Fig. 22 An embodiment of the present application provides a cargo picking method applied to a robot, the robot includes a cargo picking and placing device, the cargo picking and placing device includes a push-pull component and a flexible transmission member driving the push-pull component to move, the push-pull component includes a first push-pull member and a second push-pull member, the first push-pull member and the second push-pull member are respectively connected to different positions in the extension direction of the flexible transmission member.

[0125] The method includes:

[0126] S101. When the robot drives to a target pickup position, the robot extends a first push-pull member to below a first docking portion of a target material box, and lifts the first push-pull member to dock with the first docking portion.

[0127] The first docking portion is the first docking portion at the bottom of the material box. When the push-pull assembly is translated to below the target material box, the first push-pull member of the push-pull assembly is opposite to the first docking portion at the bottom of the target material box.

[0128] S102, determining that the first push-pull member is docked with the first docking portion, driving the first push-pull member in reverse to drive the target material box portion to the picking and releasing device, so that the second push-pull member is docked with the second docking portion of the target material box, and the first push-pull member is disengaged from the first docking portion.

[0129] The cargo pick-up and release device further includes a detection mechanism and a photoelectric detection device, the detection mechanism includes a reflector, the reflector is rotatably connected to the push-pull assembly, and when the push-pull assembly abuts against the target material box, the reflector rotates to protrude from the push-pull assembly. Determining that the first push-pull member and the first docking portion are docked specifically includes: when the photoelectric detection device receives a signal reflected by the reflector, determining that the docking is completed.

[0130] The cargo picking and placing device further comprises a support assembly, the push-pull assembly has an initial position, when the push-pull assembly is in the initial position, the second push-pull member is located in the middle of the support assembly along the cargo picking and placing direction, and the second push-pull member is located on the upper side of the flexible transmission member. The first push-pull member is located on opposite sides of the second push-pull member, and the first push-pull member is located on the lower side of the second push-pull member.

[0131] It can be understood that as the cargo picking and placing device is lifted, the first push-pull member of the push-pull assembly is plugged into the first docking portion at the bottom of the target material box, and the material box will press the reflective plate to rotate so that the photoelectric detection device detects the reflected signal, thereby controlling the push-pull assembly to drag the target material box to move onto the support assembly.

[0132] S103, driving the second push-pull member to move all target material boxes to the picking and releasing device.

[0133] After the second push-pull member is driven to bring all target material boxes to the cargo picking and placing device, the first push-pull member and the second push-pull member are driven to return to their initial positions.

[0134] It should be noted that the second docking portion is the second docking portion at the bottom of the material box. This method is a robot picking method. In the process of the push-pull component driving the target material box to move, the first push-pull member will withdraw from the first docking portion, and the second push-pull member will be plugged into the second docking portion at the bottom of the target material box. For details, please refer to the specific structure of the aforementioned picking and placing device, which will not be repeated here.

[0135] Fig.23 Flowchart of a method for placing goods on a robot provided in an embodiment of the present application

[0136] Please refer to Fig.23 An embodiment of the present application provides a cargo placing method applied to a robot, the robot includes a cargo picking and placing device, the cargo picking and placing device includes a push-pull component and a flexible transmission member driving the push-pull component to move, the push-pull component includes a first push-pull member and a second push-pull member, the first push-pull member and the second push-pull member are respectively connected to different positions in the extension direction of the flexible transmission member.

[0137] The method includes:

[0138] S201. When the robot carries the target material box to the target delivery position, the second push-pull member is driven toward the target delivery position to partially drive the target material box to the target delivery position, so that the first push-pull member docks with the first docking portion of the target material box, and the second push-pull member is separated from the target material box.

[0139] The first docking part is the first docking part at the bottom of the material box, and the second docking part is the second docking part at the bottom of the material box. When the push-pull assembly drives the target material box to move inside the target storage location, the second push-pull member first drives the target material box to move by plugging into the second docking part at the bottom of the target material box, and then the second push-pull member withdraws from the second docking part, while the first push-pull member plugs into the first docking part at the bottom of the target material box, thereby continuing to drive the target material box to move inside the target storage location.

[0140] S202: Determine that the first push-pull member is docked with the first docking portion, drive the first push-pull member toward a target cargo release position, and place the target material box at the target cargo release position.

[0141] S203, lowering the first push-pull member to disengage from the first docking portion, and driving the first push-pull member in reverse direction so that the first push-pull member is retracted into the cargo picking and placing device.

[0142] Among them, when the picking and releasing device descends, the first push-pull member withdraws from the first docking part at the bottom of the target material box. At this time, the reflector of the detection mechanism rotates under the drive of the elastic member, so that the photoelectric detection device cannot detect the reflected light of the reflector. The push-pull assembly can be controlled to move to the initial position to complete the reset.

[0143] It should be noted that this method is a method for placing goods by a robot, which is the reverse process of the aforementioned method for picking up goods, and will not be described in detail here.

[0144] 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 on the shelf, and then the above-mentioned placing method is used to place the material box on the shelf. Alternatively, the above-mentioned placing method is used to first place a material box on the shelf, and then the above-mentioned picking up method is used to obtain a material box on the shelf.

[0145] For example, a storage system includes two shelves arranged opposite to each other, and the robot 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 uses the picking method to obtain a material box at the first storage location, and then continues to use the placing method to place the material box at the second storage location without rotating or lifting. In this way, the position of the material box can be adjusted conveniently, the action is simple, and the process is fast.

[0146] It should be noted that the picking and placing device mentioned in the above-mentioned picking up method and / or placing method can be any one or a combination of the picking and placing devices provided in the embodiments of the present application, as long as the picking and placing device includes the necessary structure for implementing the above-mentioned picking up method and / or placing method.

[0147] The following is a description of the process of picking up a material box on a shelf by the picking and placing device provided in an embodiment of the present application.

[0148] Fig. 20 A schematic diagram of the cargo picking process of the cargo picking and placing device provided in an embodiment of the present application.

[0149] Please refer to Fig. 20 , the process of obtaining material box 20:

[0150] ①, the picking and placing device 10 is opposite to the target material box 20, and the push-pull assembly 300 of the picking and placing device is in the initial position. Fig. 20 In the middle state ①, the push-pull assembly 300 includes two first push-pull members 310, the material box 20 is located on the first side of the cargo picking and placing device, and the initial position is that the second push-pull member 320 is located on the upper side of the flexible transmission member 220 and is located in the middle of the cargo picking and placing device 10, and the two first push-pull members 310 are located on both sides of the second push-pull member 320 and are located in the middle of the flexible transmission member 220 in the vertical direction. The first push-pull member 310 for acquiring the target material box is on the second side of the cargo picking and placing device 10, and its first push-pull portion 311 faces the first side of the cargo picking and placing assembly 10, and the other first push-pull member 310 is on the first side of the cargo picking and placing device 10, and its cargo picking portion faces the second side of the cargo picking and placing assembly 10.

[0151] ②, the flexible transmission member 220 drives counterclockwise or clockwise, and the first push-pull member 310 of the picking and placing device moves to face the first docking portion 21 at the bottom of the material box 20. Fig. 20 In middle state ②, the first push-pull member 310 and the second push-pull member 320 rotate counterclockwise following the flexible transmission member 220, and the first push-pull member 310 located on the second side of the picking and placing device 10 translates through the turning point on the second side of the flexible transmission member 220 and moves to the upper side of the flexible transmission member 220, and continues to move counterclockwise to the first side of the picking and placing device 10 until the picking part of the first push-pull member 310 is located below the first docking part of the material box. At this time, the flexible transmission member 220 stops rotating, and the second push-pull member 320 is located on the lower side of the flexible transmission member 220.

[0152] ③. The whole device for picking up and releasing goods is lifted, so that the picking up part of the first push-pull member 310 is inserted into the first docking part 21. Fig. 20 Middle state③.

[0153] ④. The flexible transmission member 220 drives clockwise, and the first push-pull member 310 drives the material box 20 to move toward the picking and placing device 10 until the second push-pull member 320 is opposite to the second docking portion 22 and inserted into the second docking portion 22. Fig. 20 Middle state④.

[0154] ⑤. The flexible transmission member 220 continues to drive clockwise, and the first push-pull member 310 and the second push-pull member 320 drive the material box 20 to continue to move toward the cargo pick-up and release device 10. The first push-pull member 310 moves to the turning point of the flexible transmission member 220 and drops to the middle of the flexible transmission member 220, thereby separating from the material box 20. At this time, the second push-pull member 320 continues to drive the material box 20 to move until the push-pull assembly 300 returns to the initial position. Fig. 20 Middle state⑤.

[0155] The process of storing the material box 20 on the shelf is the reverse process of the above-mentioned process of obtaining the material box 20, and will not be described in detail here.

[0156] 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 supporting assembly, a driving assembly and a push-pull assembly, the driving assembly comprises a driving unit and two flexible transmission members, the driving unit is arranged on the supporting assembly, and the driving unit is configured to drive the two flexible transmission members to transmit; the push-pull assembly is located between the two flexible transmission members, and the two sides of the push-pull assembly are respectively connected to the two flexible transmission members, so that the flexible transmission member drives the push-pull assembly to move along its transmission direction; The connection positions of the two sides of the push-pull assembly and the two flexible transmission members are staggered along the picking and placing direction of the picking and placing device; the two flexible transmission members are correspondingly staggered along the picking and placing direction of the picking and placing device.

2. The cargo picking and placing device according to claim 1, characterized in that: Both sides of the push-pull assembly are provided with connecting parts, and the push-pull assembly is rotatably connected to the flexible transmission member through the connecting parts; the connecting parts on both sides of the push-pull assembly are staggered along the picking and placing direction of the picking and placing device.

3. The cargo picking and placing device according to claim 2, characterized in that: The misalignment direction of the two flexible transmission members is the same as the misalignment direction of the connecting parts on both sides of the push-pull assembly; the misalignment distance of the two flexible transmission members is the same as the misalignment distance of the connecting parts on both sides of the push-pull assembly.

4. The cargo picking and placing device according to claim 2, characterized in that: The flexible transmission member is a chain, and the connecting portion is hinged to the chain.

5. The cargo picking and placing device according to any one of claims 1 to 4, characterized in that: The support component has two sliding grooves, which are located on both sides of the push-pull component. Both sides of the push-pull component are provided with sliding parts, which are located in the sliding grooves. When the flexible transmission member transmits power, the sliding parts move along the sliding grooves.

6. The cargo picking and placing device according to claim 5, characterized in that: The sliding parts on both sides of the push-pull assembly are staggered, and the staggered directions of the sliding parts on both sides of the push-pull assembly are opposite to the staggered directions of the two flexible transmission members.

7. The cargo picking and placing device according to claim 5, characterized in that: The support assembly includes an outer guide member and an inner guide member, wherein the outer guide member is located outside the inner guide member in the circumferential direction; the inner wall of the outer guide member and the outer wall of the inner guide member are arranged to form the sliding groove.

8. The cargo picking and placing device according to claim 7, characterized in that: The outer guide member has a first arcuate guide surface, and the inner guide member has a second arcuate guide surface, and the first arcuate guide surface and the second arcuate guide surface are respectively located at two ends of the support component; when the push-pull component passes the turning position of the flexible transmission member, the sliding part slides along the first arcuate guide surface or the second arcuate guide surface.

9. The cargo picking and placing device according to claim 8, characterized in that: The first arc-shaped guide surface of one of the two sliding grooves and the second arc-shaped guide surface of the other sliding groove are located at the same end of the supporting component.

10. The cargo picking and placing device according to any one of claims 1 to 4, characterized in that: The push-pull assembly includes a first push-pull member and a second push-pull member, and the first push-pull member and the second push-pull member are respectively connected to different positions in the extension direction of the flexible transmission member; when the picking and placing device picks and places the material box, at least one of the first push-pull member and the second push-pull member drives the material box to move.

11. The cargo picking and placing device according to claim 10, characterized in that: The push-pull assembly has an initial position. When the push-pull assembly is in the initial position, the first push-pull member is located at the rear end of the support assembly along the direction of picking up and placing goods, and the second push-pull member is located in the middle of the support assembly along the direction of picking up and placing goods.

12. The cargo picking and placing device according to claim 10, characterized in that: The bottom of the material box has a first docking portion and a second docking portion, and the first docking portion and the second docking portion are arranged at intervals along the picking and placing direction of the material box; the first push-pull member is configured to dock with the first docking portion under the drive of the flexible transmission member, and drive the material box to move in or out of the picking and placing device; the second push-pull member is configured to dock with the second docking portion under the drive of the flexible transmission member, and drive the material box to move from the edge of the picking and placing device to the middle of the picking and placing device.

13. The cargo picking and placing device according to claim 10, characterized in that: There are two first push-pull members. When the push-pull assembly is in the initial position, the two first push-pull members are located at both ends of the support assembly. The two first push-pull members are respectively used to pick up and place the material boxes at both ends of the cargo picking and placing device.

14. The cargo picking and placing device according to any one of claims 1 to 4, characterized in that: It also includes a detection mechanism, which is arranged on the push-pull assembly and is configured to detect the abutment state between the push-pull assembly and the material box.

15. The cargo picking and placing device according to claim 14, characterized in that: The detection mechanism includes an elastic member and a reflective plate, wherein the first end of the elastic member is connected to the push-pull assembly, and the second end of the elastic member faces upwardly of the support assembly; the reflective plate is rotatably connected to the push-pull assembly, and the reflective plate is opposite to the second end of the elastic member; the cargo picking and placing device also includes a photoelectric detection device, and the photoelectric detection device is arranged on the support assembly; When the push-pull assembly is in contact with the material box, the second end of the elastic member is in contact with the material box and pushes the reflector to rotate to the first position so that the reflector is opposite to the photoelectric detection device; when the push-pull assembly is separated from the material box, the second end of the elastic member is separated from the material box and rebounds, pushing the reflector to rotate to the second position so that the reflector is staggered with the photoelectric detection device.

16. The cargo picking and placing device according to claim 15, characterized in that: The second end of the elastic member is connected to a roller, the reflector has a rolling groove, the rolling groove is eccentrically arranged relative to the rotation center of the reflector, and the roller is located in the rolling groove.

17. The cargo picking and placing device according to any one of claims 1 to 4, characterized in that: The driving assembly further comprises a plurality of first transmission wheels, which are respectively arranged at two ends of the supporting assembly, and the flexible transmission member is arranged around the first transmission wheels at two ends of the supporting assembly to form a closed ring; The first transmission wheels around which the two flexible transmission members are wound are staggered along the cargo picking and placing direction of the cargo picking and placing device.

18. The cargo picking and placing device according to claim 17, characterized in that: The driving assembly also includes a second transmission wheel and a third transmission wheel, wherein the second transmission wheel and the third transmission wheel are located between the first transmission wheels at both ends of the supporting assembly; the second transmission wheel abuts against the inner side of the flexible transmission member, and the third transmission wheel abuts against the outer side of the flexible transmission member; the driving unit is configured to drive any one of the second transmission wheel and the third transmission wheel to rotate, so as to drive the flexible transmission member to transmit.

19. A cargo picking and placing device, characterized in that: Used for picking up and placing material boxes, the picking up and placing device includes a push-pull component and a flexible transmission member driving the push-pull component to move, the push-pull component includes a first push-pull member and a second push-pull member, the first push-pull member and the second push-pull member are respectively connected to different positions in the extension direction of the flexible transmission member, and the first push-pull member and the second push-pull member are configured to dock with different docking parts of the material box during a single picking up or placing process.

20. The cargo picking and placing device according to claim 19, characterized in that: The cargo picking and placing device also includes a detection mechanism and a photoelectric detection device. The detection mechanism includes a reflector, which is rotatably connected to the push-pull assembly. When the push-pull assembly abuts against the target material box, the reflector rotates to protrude from the push-pull assembly.

21. The cargo picking and placing device according to claim 19, characterized in that: The cargo picking and placing device also includes a support assembly, and the push-pull assembly has an initial position. When the push-pull assembly is in the initial position, the first push-pull member is located at the rear end of the support assembly along the cargo picking and placing direction, and the second push-pull member is located in the middle of the support assembly along the cargo picking and placing direction.

22. 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 18, 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.

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