Workbin taking and placing device, workbin carrying robot and workbin carrying system

Abstract

The embodiment of the utility model provides a material box taking and placing device and a material box carrying robot and system. The material box taking and placing device comprises a rotating mechanism, a lateral moving mechanism, a telescopic mechanism and a goods taking mechanism. The rotating mechanism comprises a rotating assembly; the lateral moving mechanism is arranged on the rotating assembly and comprises a lateral moving chassis and a lateral moving top frame; the lateral moving chassis drives the lateral moving top frame to rotate along with the rotating assembly and laterally move relative to the rotating assembly; the telescopic mechanism is arranged on the lateral moving top frame, can laterally move along with the lateral moving mechanism and can stretch and retract front and back relative to the lateral moving mechanism. The goods taking mechanism is arranged at the telescopic end of the telescopic mechanism and can stretch out and draw back along with the telescopic mechanism. The rotating mechanism, the lateral moving mechanism and the telescopic mechanism are used for driving the goods taking mechanism to rotate and horizontally move, the material box is clamped, taken and placed from the top of the material box, and compared with a taking and placing device adopting a straight plate forking mode in the related technology, the material box taking and placing device can take and place the material box on a conventional goods shelf; and the material boxes on the goods shelf adopting a stacking storage mode can be taken and placed.

Description

Technical Field

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

[0002] At present, in the field of intelligent warehousing technology, goods are usually placed in boxes, which are stored on warehouse shelves. Box handling robots are used to pick up and place boxes on the warehouse shelves to achieve automatic entry and exit.

[0003] In the related art, a material box handling robot adopts a straight plate fork to pick up and place material boxes on the shelf, that is, through a retractable straight plate, based on the gap between the shelf layers, it extends into the bottom of the material box, and the straight plate carrying the material box retracts horizontally in the direction away from the shelf to remove the material box from the shelf; or the material box is placed on the shelf through the reverse operation.

[0004] However, not all shelves have gaps between layers. For example, some warehouse shelves use stacking to store boxes, with each box stacked up and down. In this case, since there is no gap between the boxes, the box handling robot of the related art cannot effectively pick up and place the boxes on the shelf. Utility Model Content

[0005] The purpose of the embodiments of the present application is to provide a material box picking and placing device, a material box handling robot and a system, which can pick and place material boxes stored in a stacked manner. The specific technical solution is as follows:

[0006] An embodiment of the first aspect of the present application provides a material box picking and placing device, including: a rotating mechanism, a side shifting mechanism, a telescopic mechanism and a picking mechanism; the rotating mechanism includes a bottom fixed frame and a rotating component arranged on the top surface of the bottom fixed frame, and the rotating component can rotate relative to the bottom fixed frame; the side shifting mechanism is arranged on the rotating component, and the side shifting mechanism includes: a side shifting chassis and a side shifting top frame; the side shifting top frame is arranged on the top of the side shifting chassis and is fixedly connected to the side shifting chassis; the side shifting chassis is slidably connected to the rotating component to drive the side shifting top frame to rotate with the rotating component and move laterally in the horizontal direction relative to the rotating component; the telescopic mechanism is arranged on the side shifting top frame, the telescopic mechanism can move laterally with the side shifting mechanism, and the telescopic end of the telescopic mechanism can be telescoped forward and backward relative to the side shifting mechanism; the picking mechanism is arranged at the telescopic end of the telescopic mechanism, can be telescoped with the telescopic mechanism, and is used to lift and put down the material box from the top of the material box.

[0007] In some embodiments of the present application, the rotating assembly includes: a rotating motor and a slewing support mechanism installed on the top of the bottom fixed frame; the side shift mechanism is arranged on the top of the slewing support mechanism, and the rotating motor is used to drive the slewing support mechanism to rotate, thereby driving the side shift mechanism to rotate.

[0008] In some embodiments of the present application, the slewing support mechanism is a worm gear slewing support mechanism, including a worm gear mechanism and a slewing support; the output end of the rotating motor is transmission-connected to the input end of the worm gear mechanism; the bottom of the slewing support is fixedly connected to the bottom fixing frame, and the top is rotatably connected to the side-shift chassis.

[0009] In some embodiments of the present application, a connecting plate is fixedly provided on the top of the rotating assembly, and the side-shift chassis of the side-shift mechanism is slidably connected to the top surface of the connecting plate.

[0010] In some embodiments of the present application, the side-shift chassis includes: a side-shift bottom frame, a side-shift driving mechanism, and at least two groups of sliding rails and sliders; the side-shift driving mechanism is arranged on the side-shift bottom frame along the moving direction of the side-shift mechanism; the sliding rail faces the top surface of the connecting plate and is fixedly arranged on the side-shift bottom frame along the moving direction of the side-shift mechanism; the slider is arranged on the top surface of the connecting plate, and is used to cooperate with the sliding rail to drive the side-shift top frame to rotate with the rotating component, and move laterally in the horizontal direction relative to the rotating component.

[0011] In some embodiments of the present application, the side-shift driving mechanism includes: a side-shift motor, a first synchronous belt and two first synchronous wheels; the two first synchronous wheels are respectively fixedly arranged on the outside of a group of relative borders of the side-shift bottom frame; the first synchronous belt is fixedly connected to the connecting plate; the first synchronous belt passes through the border of the side-shift bottom frame and engages with the two first synchronous wheels for transmission; the side-shift motor is fixedly arranged on the side-shift bottom frame and is connected to a first synchronous wheel; the side-shift motor is used to drive the first synchronous belt and the first synchronous wheel to engage for transmission, thereby driving the side-shift bottom frame to move along the slide rail relative to the rotating component.

[0012] In some embodiments of the present application, the telescopic mechanism includes a telescopic fork; the telescopic fork is fixedly disposed on the side-moving top frame; the picking mechanism is disposed at the telescopic end of the telescopic fork; the telescopic fork is used to drive the picking mechanism to extend out of the side-moving top frame to pick up and place the material box from the top of the material box.

[0013] In some embodiments of the present application, the side-shifting top frame includes a supporting bottom plate, a supporting top plate and four supporting columns for connecting the supporting bottom plate and the supporting top plate; the supporting bottom plate is fixedly connected to the side-shifting chassis; the telescopic fork includes a bottom fork plate, a middle fork plate and a top fork plate which are arranged in sequence from the inside to the outside; the sides of the bottom fork plate, the middle fork plate and the top fork plate are all slidably connected to the bottom surface of the supporting top plate by linear guide rails; the picking mechanism is arranged at the telescopic end of the top fork plate.

[0014] In some embodiments of the present application, the telescopic mechanism further includes a telescopic drive assembly; the telescopic drive assembly is connected to the telescopic fork and is used to drive the telescopic fork to drive the picking mechanism to telescope.

[0015] In some embodiments of the present application, the telescopic drive assembly includes: a telescopic motor, a gear, a rack, two first sprockets and a first chain; the telescopic motor is fixedly arranged on the bottom fork plate; the rack is arranged between the bottom fork plate and the middle fork plate, and is fixedly connected to the middle fork plate; the two first sprockets are respectively fixedly arranged on the bottom fork plate and the middle fork plate; the first chain is wound around the two first sprockets, and its head and tail ends are fixedly arranged on the top fork plate; the telescopic motor is used to drive the gear to roll along the rack, driving the middle fork plate to slide relative to the bottom fork plate; the middle fork plate is transmitted through the first sprocket and the first chain, driving the top fork plate and the picking mechanism to slide relative to the bottom fork plate.

[0016] In some embodiments of the present application, the picking mechanism is a clamping mechanism or a suction mechanism.

[0017] In some embodiments of the present application, the picking mechanism includes a mounting seat, a clamping drive assembly and a claw assembly; the mounting seat is fixedly connected to the telescopic end of the telescopic mechanism, facing one side of the bottom fixed frame; the clamping drive assembly and the claw assembly are installed on the mounting seat; the clamping drive assembly is used to drive the claw assembly to clamp the material box from the top of the material box downward.

[0018] In some embodiments of the present application, the clamping drive assembly includes: a clamping motor, a left and right rotating screw, two second synchronous wheels, and a second synchronous belt; the clamping jaw assembly includes two clamping jaw sheet metals; the clamping motor and the left and right rotating screws are arranged in parallel on the mounting seat; the output end of the clamping motor and the input end of the left and right rotating screws pass through the mounting seat and are connected by the second synchronous wheel and the second synchronous belt; a nut is respectively provided on the left and right sections of the left and right rotating screws; two clamping jaw sheet metals are fixedly connected to the two nuts respectively; the clamping motor drives the left and right rotating screws to rotate through the second synchronous wheel and the second synchronous belt, driving the two clamping jaw sheet metals to move toward or away from each other to pick up and release the material box.

[0019] In some embodiments of the present application, the picking mechanism also includes a clamping jaw rotating assembly; the clamping jaw rotating assembly includes two third synchronous wheels, a third synchronous belt and a clamping jaw rotating motor; the two third synchronous wheels are fixedly arranged at the bottom of the telescopic end of the telescopic mechanism; the mounting seat is fixedly arranged on the bottom surface of one of the third synchronous wheels; the other third synchronous wheel is sleeved on the output shaft of the clamping jaw rotating motor; the clamping jaw rotating motor is used to drive the third synchronous wheel and the third synchronous belt transmission to drive the mounting seat to rotate.

[0020] An embodiment of the second aspect of the present application provides a material box handling robot, comprising the material box picking and placing device, the moving chassis and the lifting gantry described in any of the above embodiments; the lifting gantry is a hollow frame, including four door posts; the material box picking and placing device is arranged inside the lifting gantry; a lifting mechanism is provided on the door posts, and the material box picking and placing device is connected to the lifting mechanism; the lifting mechanism is used to drive the material box picking and placing device to move up and down in the vertical direction.

[0021] In some embodiments of the present application, the lifting mechanism includes a lifting guide rail and a lifting power assembly; the lifting guide rail is vertically arranged on the inner side of the two diagonally arranged door columns; the lifting power assembly includes a lifting motor, a second chain and a second sprocket; the second sprocket is arranged at the top and bottom of the other two door columns, and the two ends of the second chain are fixedly connected to the material box picking and placing device and are wound around the second sprocket; the lifting motor drives the second sprocket and the second chain to drive the material box picking and placing device to move up and down in the vertical direction along the lifting guide rail.

[0022] In some embodiments of the present application, the lifting gantry is provided with a plurality of storage layers arranged in a vertical direction on both sides of the material box picking and placing device; each of the storage layers is divided into a plurality of storage positions for storing the material boxes; the material box picking and placing device is used to pick and place the material boxes from the storage positions.

[0023] In some embodiments of the present application, a positioning camera is provided on the picking mechanism for scanning an external QR code to position the material box handling robot and the material box.

[0024] An embodiment of the third aspect of the present application provides a material box handling system, including: the material box handling robot, driving channel and machine platform described in any of the above embodiments; a positioning camera is provided on the picking mechanism; the material box handling robot can move on the driving channel, and two-dimensional codes are provided at intervals on the driving channel; the material box handling robot locates and identifies the two-dimensional code on the driving channel by the positioning camera to control the moving position of the material box handling robot; the machine platform is arranged on one side of the driving channel, and a plurality of material boxes are stacked in a vertical direction on the machine platform; a two-dimensional code is provided on the material box, and the material box handling robot locates and identifies the two-dimensional code on the material box by the positioning camera to control the extension and retraction amount of the telescopic mechanism.

[0025] The material box picking and placing device provided in the embodiment of the present application drives the picking mechanism to rotate and translate through the rotating mechanism, the side shifting mechanism and the telescopic mechanism, and clamps and picks up the material box from the top of the material box. Compared with the picking and placing device using a straight plate fork picking method in the related art, in addition to being able to pick up and place the material box 7 on a conventional shelf, it can also pick up and place the material box on a shelf using a stacking storage method. Of course, any product implementing the present application does not necessarily need to achieve all the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and a person skilled in the art can also obtain other drawings based on these drawings.

[0027] Figure 1 A three-dimensional structural diagram of a material box picking and placing device provided in an embodiment of the first aspect of the present application;

[0028] Figure 2 for Figure 1 A three-dimensional exploded schematic diagram of a material box picking and placing device shown;

[0029] Figure 3 for Figure 1 A front view of the material box picking and placing device shown;

[0030] Figure 4 for Figure 1 A top view of the material box picking and placing device shown;

[0031] Figure 5 for Figure 1 A bottom view of the material box picking and placing device shown;

[0032] Figure 6 for Figure 1 A side view of the material box picking and placing device shown;

[0033] Figure 7 for Figure 3 An exploded schematic diagram of a material box picking and placing device is shown;

[0034] Figure 8 for Figure 1 A three-dimensional structural diagram of the rotating mechanism shown;

[0035] Fig. 9 for Figure 1 A three-dimensional structural diagram of the rotating mechanism and the side-shift chassis shown;

[0036] Fig.10 for Fig. 9 A top view of the rotating mechanism and the side shift chassis shown;

[0037] Fig.11 for Fig. 9 A bottom view of the rotating mechanism and the side shift chassis shown;

[0038] Fig.12 for Figure 1 A three-dimensional structural diagram of the telescopic mechanism and the pickup mechanism at a first angle;

[0039] Fig.13 for Fig.12 A three-dimensional structural diagram of the telescopic mechanism and the cargo-picking mechanism at a second angle;

[0040] Fig.14 for Figure 1 A three-dimensional structural diagram of the pickup mechanism at a first angle;

[0041] Fig.15 for Fig.14 A three-dimensional structural diagram of the pickup mechanism at a second angle;

[0042] Fig.16 A three-dimensional structural diagram of a material box handling robot provided in an embodiment of the second aspect of the present application;

[0043] Fig.17 for Fig.16 A front view of the box handling robot shown;

[0044] Fig.18 A top view of a material box handling system provided in an embodiment of the third aspect of the present application;

[0045] Fig.19 for Fig.18 The shown top view of the material box handling robot moving to the front of the machine platform;

[0046] Fig. 20 for Fig.19 The telescopic mechanism shown drives the picking mechanism to extend toward the machine platform in a top view;

[0047] Fig.21a for Fig.19 The rotating mechanism shown drives the picking mechanism to rotate toward the three-dimensional structure of the storage layer;

[0048] Figure 21b for Fig.21a A top view of the container handling system shown;

[0049] Fig. 22 for Fig.21a The side shift mechanism shown drives the picking mechanism to move to a top view facing the corresponding storage position.

[0050] Description of reference numerals:

[0051] Material box picking and placing device 1;

[0052] Rotating mechanism 100; bottom fixing frame 110; sliding connection member 111; fixed connection member 112; rotating assembly 120; rotating motor 121; slewing bearing mechanism 122; worm mechanism 1221; slewing bearing 1222; connecting plate 130;

[0053] Side shift mechanism 200; side shift chassis 210; side shift bottom frame 211; frame 2111; fixing bar 2112; side shift driving mechanism 212; side shift motor 2121; first synchronous belt 2122; first synchronous wheel 2123; slide rail 213; slider 214; side shift top frame 220; support bottom plate 221; support top plate 222; support column 223; first drag chain 230;

[0054] Telescopic mechanism 300; telescopic fork 310; bottom fork plate 311; middle fork plate 312; top fork plate 313; telescopic drive assembly 320; telescopic motor 321; gear 322; rack 323; first sprocket 324; first chain 325;

[0055] Pick-up mechanism 400; mounting base 410; clamping drive assembly 420; clamping motor 421; left-right screw 422; second synchronous wheel 423; second synchronous belt 424; clamping claw assembly 430; clamping claw sheet metal 431; clamping claw rotating assembly 440; third synchronous wheel 441; third synchronous belt 442; clamping claw rotating motor 443; positioning camera 450;

[0056] The material box handling robot 5; the moving chassis 51; the lifting door frame 52; the door column 52a; the lifting mechanism 53; the lifting guide rail 531; the lifting power assembly 532; the sprocket 5323; the storage layer 54; the storage position 541; the second drag chain 550;

[0057] Material box handling system 6; driving channel 61; machine 62; QR code 63;

[0058] Material box 7. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only 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 based on the present application belong to the scope of protection of the present application.

[0060] As mentioned in the background technology, in the related art, the material box handling robot adopts the method of picking up the material box with a straight plate fork to pick up the material box on the shelf, that is, through a retractable straight plate, based on the gap between the shelves, it extends into the bottom of the material box, and the straight plate carrying the material box shrinks horizontally in the direction away from the shelf to remove the material box from the shelf; or the material box is placed on the shelf by reverse operation. However, not all shelves have gaps between layers. For example, some warehouse shelves use a stacked method to store material boxes, and each material box is stacked closely in the upper and lower directions. In this case, since there is no gap between the material boxes, the material box handling robot of the related art cannot effectively pick up and place the material boxes on the shelf.

[0061] In view of this, the embodiment of the first aspect of the present application provides a material box picking and placing device. Figures 1 to 7 , Figure 1 A three-dimensional structural diagram of a material box picking and placing device provided in an embodiment of the first aspect of the present application; Figure 2 for Figure 1 A three-dimensional exploded schematic diagram of a material box picking and placing device shown; Figure 3 for Figure 1 A front view of the material box picking and placing device shown; Figure 4 for Figure 1 A top view of the material box picking and placing device shown; Figure 5 for Figure 1 A bottom view of the material box picking and placing device shown; Figure 6 for Figure 1 A side view of the material box picking and placing device shown; Figure 7 for Figure 3 An exploded schematic diagram of the material box picking and placing device is shown.

[0062] like Figures 1 to 7 As shown, the material box picking and placing device provided by the embodiment of the first aspect of the present application includes: a rotating mechanism 100, a side shifting mechanism 200, a telescopic mechanism 300 and a picking mechanism 400.

[0063] The rotating mechanism 100 includes a bottom fixing frame 110 and a rotating assembly 120 disposed on a top surface of the bottom fixing frame 110 . The rotating assembly 120 can rotate relative to the bottom fixing frame 110 .

[0064] The side shift mechanism 200 is arranged on the rotating component 120, and the side shift mechanism 200 includes: a side shift chassis 210 and a side shift top frame 220; the side shift top frame 220 is arranged on the top of the side shift chassis 210 and is fixedly connected to the side shift chassis 210; the side shift chassis 210 is slidably connected to the rotating component 120 to drive the side shift top frame 220 to rotate with the rotating component 120, and move laterally in the horizontal direction relative to the rotating component 120.

[0065] The telescopic mechanism 300 is disposed on the side shift top frame 220 . The telescopic mechanism 300 can move laterally along with the side shift mechanism 200 , and the telescopic end of the telescopic mechanism 300 can telescope forward and backward relative to the side shift mechanism 200 .

[0066] The picking mechanism 400 is arranged at the telescopic end of the telescopic mechanism 300 and can be telescoped along with the telescopic mechanism 300 , and is used to lift and put down the material box 7 from the top of the material box 7 .

[0067] The embodiment of the present application provides such a material box picking and placing device, which drives the picking mechanism 400 to rotate and translate through the rotating mechanism 100, the side shifting mechanism 200 and the telescopic mechanism 300, and clamps and picks up the material box 7 from the top of the material box 7. Compared with the picking and placing device using a straight plate fork picking method in the related art, in addition to being able to pick up and place material boxes 7 on conventional shelves, it can also pick up and place material boxes 7 on shelves using a stacking storage method.

[0068] In some embodiments of the present application, see Figure 8 , Figure 8 for Figure 1 The three-dimensional structure diagram of the rotating mechanism is shown in FIG. Figure 2 , Figure 7 and Figure 8 As shown, the rotating assembly 120 includes: a rotating motor 121 and a slewing support mechanism 122 installed on the top of the bottom fixing frame 110 .

[0069] The side shift mechanism 200 is disposed on the top of the slewing support mechanism 122 , and the rotary motor 121 is used to drive the slewing support mechanism 122 to rotate, thereby driving the side shift mechanism 200 to rotate.

[0070] In the embodiment of the present application, the rotating motor 121 drives the slewing bearing mechanism 122 to rotate so that the side shift mechanism 200 rotates with the rotating assembly 120, so that the material box picking and placing device 1 can rotate and adjust the angle to pick up and place the material box 7 or rotate and transport the material box 7 to other positions. The rotating assembly 120 occupies a small space in the height direction, which can reduce the volume of the material box picking and placing device 1, making the overall structure of the material box picking and placing device 1 more compact.

[0071] In some embodiments of the present application, Figure 8As shown, the slewing support mechanism 122 is a worm gear slewing support mechanism, including a worm mechanism 1221 and a slewing support 1222; the output end of the rotating motor 121 is transmission-connected to the input end of the worm mechanism 1221; the bottom of the slewing support 1222 is fixedly connected to the bottom fixing frame 110, and the top is rotatably connected to the side shift chassis 210.

[0072] Specifically, the output end of the rotating motor 121 is connected to the input end of the worm mechanism 1221 by transmission, and a synchronous pulley or the like can be used; the slewing bearing 1222 includes an inner ring and an outer ring; the bottom of the inner ring is fixedly connected to the bottom fixing frame 110, and the top of the outer ring is connected to the side shift chassis 210 of the side shift mechanism 200; the outer ring is in the form of a worm gear, and is meshed with the worm mechanism 1221 arranged on one side of the slewing bearing 1222; under the drive of the rotating motor 121, the worm mechanism 1221 drives the outer ring to rotate relative to the inner ring, thereby driving the side shift mechanism 200 to rotate relative to the bottom fixing frame 110.

[0073] In the embodiment of the present application, the slewing support mechanism 122 adopts a worm gear slewing support mechanism, so that the rotation of the rotating mechanism 100 is more stable, the rotation accuracy is higher, and the load-bearing capacity is stronger.

[0074] In some embodiments of the present application, Figures 1 to 3 As shown, a connecting plate 130 is fixedly provided on the top of the rotating assembly 120 , and the side shift chassis 210 of the side shift mechanism 200 is slidably connected to the top surface of the connecting plate 130 .

[0075] Specifically, the outer ring of the slewing bearing 1222 is fixedly connected to the connecting plate 130 , so that the connecting plate 130 can carry the side shift mechanism 200 to rotate.

[0076] By applying the embodiment of the present application, the connection plate 130 is provided to increase the contact area between the slewing bearing 1222 and the side shift chassis 210 , thereby improving the stability of the material box picking and placing device 1 .

[0077] In some embodiments of the present application, see Figures 9 to 11 , Fig. 9 for Figure 1 A three-dimensional structural diagram of the rotating mechanism and the side-shift chassis shown; Fig.10 for Fig. 9 A top view of the rotating mechanism and the side shift chassis shown; Fig.11 for Fig. 9 The bottom view of the rotating mechanism and the side shift chassis is shown. Figures 9 to 11 As shown, the side shift chassis 210 includes: a side shift bottom frame 211, a side shift driving mechanism 212, and no less than two groups of slide rails 213 and sliders 214.

[0078] The side shift driving mechanism 212 is disposed on the side shift bottom frame 211 along the moving direction of the side shift mechanism 200 .

[0079] The slide rail 213 faces the top surface of the connecting plate 130 and is fixedly arranged on the side-shifting bottom frame 211 along the moving direction of the side-shifting mechanism 200; the slider 214 is arranged on the top surface of the connecting plate 130, and is used to cooperate with the slide rail 213 to drive the side-shifting top frame 220 to rotate with the rotating component 120, and move laterally in the horizontal direction relative to the rotating component 120.

[0080] Specifically, the side-shift bottom frame 211 includes four side frames 2111 and two fixing bars 2112 arranged on the top of the side frames; the side frames 2111 are used to fix the side-shift driving mechanism 212, and the fixing bars 2112 are used to fix the side-shift top frame 220, which can improve the stability and bearing capacity of the side-shift bottom frame 211.

[0081] This embodiment includes two sets of slide rails 213 and sliders 214, which are respectively arranged at positions close to the edges of the side shift bottom frame 211 and the connecting plate 130, and can improve the stability and load-bearing capacity of the side shift mechanism 200. A first drag chain 230 fixedly connected to the connecting plate 130 is also arranged between the two sets of slide rails 213, which is used to restrain the cables of the material box picking and placing device 1. The cables include power cables and signal cables.

[0082] By using the embodiment of the present application, the side shift mechanism 200 can carry the telescopic mechanism 300 and the picking mechanism 400 and move them sideways on a horizontal plane through the slide rail 213 and the slider 214, so that the material box picking and placing device 1 can move sideways to pick up and place the material box 7 or move the material box 7 sideways to other locations. The slide rail 213 uses a linear guide rail, which can improve the load-bearing capacity of the side shift mechanism 200 and the lateral movement accuracy of the side shift mechanism 200.

[0083] In some embodiments of the present application, Figures 9 to 11 As shown, the lateral shift driving mechanism 212 includes: a lateral shift motor 2121 , a first synchronous belt 2122 and two first synchronous wheels 2123 .

[0084] The two first synchronous wheels 2123 are respectively fixedly disposed outside a group of relative frame frames 2111 of the side-shifting bottom frame 211 .

[0085] The first synchronous belt 2122 is fixedly connected to the connecting plate 130 ; the first synchronous belt 2122 passes through the frame 2111 of the side-shift bottom frame 211 and meshes with the two first synchronous wheels 2123 for transmission.

[0086] The side shift motor 2121 is fixedly mounted on the side shift bottom frame 211 and connected to a first synchronous wheel 2123 ; the side shift motor 2121 is used to drive the first synchronous belt 2122 and the first synchronous wheel 2123 to mesh and drive, thereby driving the side shift bottom frame 211 to move along the slide rail 213 relative to the rotating assembly 120 .

[0087] Specifically, the rotation axis of the first synchronous wheel 2123 is in the vertical direction, and a through hole for the first synchronous belt 2122 to pass through is provided on the frame where the first synchronous wheel 2123 is located.

[0088] The first synchronous belt 2122 is fixed to the connecting plate 130 by a fixing member. When driven by the side-shifting motor 2121, the first synchronous belt 2122 and the first synchronous wheel 2123 are driven. Since the connecting plate 130 is in a fixed state and cannot move sideways, the side-shifting bottom frame 211 moves along the slide rail 213 relative to the connecting plate 130.

[0089] In the embodiment of the present application, the side shift motor 2121 drives the side shift mechanism 200 to move sideways by driving the first synchronous belt 2122 and the first synchronous wheel 2123, thereby driving the telescopic mechanism 300 and the picking mechanism 400 to move sideways on the horizontal plane, so that the material box picking and placing device 1 can move sideways to pick up and place the material box 7 or move the material box 7 sideways to other locations. The first synchronous belt 2122 and the first synchronous wheel 2123 can improve the transmission efficiency, have a simple structure, and are easy to install, and can simplify the structure of the side shift mechanism 200.

[0090] In some embodiments of the present application, see Fig.12 and Fig.13 , Fig.12 for Figure 1 A three-dimensional structural diagram of the telescopic mechanism and the pickup mechanism at a first angle; Fig.13 for Fig.12 The third perspective structural diagram of the telescopic mechanism and the pickup mechanism is shown in FIG. Figures 1 to 4 , Fig.12 and Fig.13 As shown, the telescopic mechanism 300 includes a telescopic fork 310; the telescopic fork 310 is fixedly arranged on the side-moving top frame 220; the picking mechanism 400 is arranged at the telescopic end of the telescopic fork 310; the telescopic fork 310 is used to drive the picking mechanism 400 to extend out of the side-moving top frame 220 to pick up and place the material box 7 from the top of the material box 7.

[0091] Specifically, the telescopic direction of the telescopic mechanism 300 is perpendicular to the lateral shift direction of the lateral shift mechanism 200 , that is, the arrangement direction of the telescopic fork 310 is perpendicular to the slide rail 213 .

[0092] By using the embodiment of the present application, the material box picking and placing device 1 can move the material box 7 on a horizontal plane to any position within the travel range of the telescopic mechanism 300 and the side shift mechanism 200. The telescopic fork 310 can improve the load-bearing capacity and structural compactness of the material box picking and placing device 1.

[0093] In some embodiments of the present application, Figures 1 to 3As shown, the side-shift top frame 220 includes a supporting bottom plate 221 , a supporting top plate 222 and four supporting columns 223 for connecting the supporting bottom plate 221 and the supporting top plate 222 ; the supporting bottom plate 221 is fixedly connected to the side-shift chassis 210 .

[0094] The telescopic fork 310 includes a bottom fork plate 311, a middle fork plate 312 and a top fork plate 313 which are arranged in sequence from the inside to the outside; the sides of the bottom fork plate 311, the middle fork plate 312 and the top fork plate 313 are all slidably connected by linear guide rails.

[0095] The bottom fork plate 311 is fixedly disposed on the bottom surface of the supporting top plate 222 ; the picking mechanism 400 is disposed at the telescopic end of the top fork plate 313 .

[0096] Specifically, the support bottom plate 221 is fixedly connected to two fixing bars 2112 of the side shift bottom frame 211, and the support columns 223 are arranged at the four corners of the support bottom plate 221. The side shift top frame 220 is a hollow frame, which is used to accommodate the telescopic mechanism 300 in a retracted state and the suction cup pick-and-place mechanism 400 at its telescopic end, thereby improving the space utilization and making the overall structure of the material box pick-and-place device 1 more compact.

[0097] When the telescopic mechanism 300 is extended, the top fork plate 313 on which the pickup mechanism 400 is installed can slide relative to the middle fork plate 312 in a direction away from the material box pickup device 1, and the middle fork plate 312 can slide relative to the bottom fork plate 311 in a direction away from the material box pickup device 1. The telescopic fork 310 can also be a telescopic fork of more stages, depending on the telescopic distance required in actual working conditions.

[0098] By using the embodiment of the present application, the telescopic fork 310 includes a bottom fork plate 311 , a middle fork plate 312 and a top fork plate 313 which are sequentially arranged from the inside to the outside, thereby increasing the moving stroke of the telescopic mechanism 300 .

[0099] In some embodiments of the present application, Figure 12 to Figure 13 As shown, the telescopic mechanism 300 further includes a telescopic driving assembly 320 ; the telescopic driving assembly 320 is connected to the telescopic fork 310 , and is used to drive the telescopic fork 310 to drive the picking mechanism 400 to telescope.

[0100] In some embodiments of the present application, Figures 1 to 4 , Fig.12 and Fig.13 As shown, the telescopic driving assembly 320 includes: a telescopic motor 321, a gear 322, a rack 323, two first sprockets 324 and a first chain 325.

[0101] The telescopic motor 321 is fixedly arranged on the bottom fork plate 311 ; the rack 323 is arranged between the bottom fork plate 311 and the middle fork plate 312 , and is fixedly connected to the middle fork plate 312 .

[0102] The two first sprockets 324 are fixedly disposed on the bottom fork plate 311 and the middle fork plate 312 , respectively. The first chain 325 is wound around the two first sprockets 324 , and its head and tail ends are fixedly disposed on the top fork plate 313 .

[0103] The telescopic motor 321 is used to drive the gear 322 to roll along the rack 323 , thereby driving the middle fork plate 312 to slide relative to the bottom fork plate 311 .

[0104] The middle fork plate 312 is driven by the first sprocket 324 and the first chain 325 to drive the top fork plate 313 and the pickup mechanism 400 to slide relative to the bottom fork plate 311 .

[0105] By applying the embodiment of the present application, the telescopic fork 310 is telescoped by driving the gear 322 and the rack 323 and the first sprocket 324 and the first chain 325 through the telescopic motor 321, so as to improve the transmission efficiency, the strength and the telescopic accuracy of the telescopic fork 310, and make the overall structure of the material box picking and placing device 1 more compact.

[0106] In some embodiments of the present application, see Fig.14 and Fig.15 , Fig.14 for Figure 1 A three-dimensional structural diagram of the pickup mechanism at a first angle; Fig.15 for Fig.14 The third perspective structural diagram of the pickup mechanism is shown in FIG. Figure 3 , Fig.14 and Fig.15 As shown, the picking mechanism 400 is a clamping mechanism or a suction mechanism. Specifically, the picking mechanism 400 can clamp the material box 7 by a clamping claw, or absorb the material box 7 by a suction cup.

[0107] In some embodiments of the present application, Figure 3 , Fig.14 and Fig.15 As shown, the picking mechanism 400 includes a mounting seat 410, a clamping drive assembly 420 and a clamping claw assembly 430; the mounting seat 410 is fixedly connected to the telescopic end of the telescopic mechanism 300, facing one side of the bottom fixed frame 110.

[0108] The clamping drive assembly 420 and the clamping claw assembly 430 are installed on the mounting seat 410; the clamping drive assembly 420 is used to drive the clamping claw assembly 430 to clamp the material box 7 from the top of the material box 7 downward.

[0109] By using the embodiment of the present application, the clamping drive assembly 420 drives the clamping claw assembly 430 to clamp the material box 7, so that the material box 7 can be clamped accurately, and the clamping accuracy of the picking mechanism 400 is improved; and the operation is simple and easy to control.

[0110] In some embodiments of the present application, Figure 3 , Fig.14 and Fig.15 As shown, the clamping drive assembly 420 includes: a clamping motor 421, a left and right screw screw 422, two second synchronous wheels 423, and a second synchronous belt 424; the clamping jaw assembly 430 includes two clamping jaw sheet metals 431.

[0111] The clamping motor 421 and the left and right screws 422 are arranged in parallel on the mounting seat 410; the output end of the clamping motor 421 and the input end of the left and right screws 422 pass through the mounting seat 410 and are connected through the second synchronous wheel 423 and the second synchronous belt 424.

[0112] A nut is sleeved on each of the left and right sections of the left and right screw screws 422; and the two clamping jaw sheet metals 431 are fixedly connected to the two nuts respectively.

[0113] The clamping motor 421 drives the left and right screws 422 to rotate through the second synchronous wheel 423 and the second synchronous belt 424, driving the two clamping claws 431 to move toward or away from each other to take and put the material box 7.

[0114] Specifically, different clamping fingers can be selected to be connected to the nut according to the shape of the object to be clamped. The material box picking and placing device 1 provided in the present application is used to clamp the material box 7, so a clamping sheet metal 431 that fits the shape of the material box 7 is selected to pick up and place the material box 7.

[0115] By applying the embodiment of the present application, the clamping motor 421 and the left and right rotating screw 422 are used to drive the clamping jaw assembly 430 to clamp the material box 7, so that the clamping drive assembly 420 has a simple structure, a small size, and simple control. The overall structure of the material box picking and placing device 1 is more compact, and the control of the clamping jaw mechanism 400 is simplified; the left and right rotating screws 422 make the clamping drive assembly 420 have high transmission efficiency and high precision, thereby improving the clamping speed of the picking mechanism 400 and avoiding damage to the surface of the material box 7.

[0116] In some embodiments of the present application, Figure 3 , Fig.14 and Fig.15 As shown, the picking mechanism 400 also includes a clamping claw rotating assembly 440; the clamping claw rotating assembly 440 includes two third synchronous wheels 441, a third synchronous belt 442 and a clamping claw rotating motor 443.

[0117] The two third synchronous wheels 441 are fixedly arranged at the bottom of the telescopic end of the telescopic mechanism 300 .

[0118] The mounting seat 410 is fixedly disposed on the bottom surface of a third synchronous wheel 441 ; the other third synchronous wheel 441 is sleeved on the output shaft of the clamping jaw rotating motor 443 .

[0119] The clamping jaw rotating motor 443 is used to drive the third synchronous wheel 441 and the third synchronous belt 442 to drive the mounting seat 410 to rotate.

[0120] In the embodiment of the present application, the jaw rotating assembly 440 drives the third synchronous wheel 441 and the third synchronous belt 442 to transmit, so that the angle of the jaw assembly 430 can be adjusted. When the jaw assembly 430 is not aligned with the material box 7, the jaw rotating assembly 440 can be used to rotate the jaw assembly 430 to a state where it is aligned with the material box 7; when placing the material box 7, the placement angle of the material box 7 can be adjusted by the jaw rotating assembly 440 according to the actual scene requirements. The diameter of the third synchronous wheel 441 where the jaw assembly 430 is located is larger than the diameter of the third synchronous wheel 441 where the jaw rotating motor 443 is located, which plays a deceleration role, reduces the rotation speed of the jaw assembly 430, and thus improves the adjustment accuracy.

[0121] The second aspect of the present application provides a box handling robot. Fig.16 and Fig.17 , Fig.16 A three-dimensional structural diagram of a material box handling robot provided in an embodiment of the second aspect of the present application; Fig.17 for Fig.16 The front view of the box handling robot is shown in Figure 1. Fig.16 and Fig.17 As shown, the material box handling robot includes a material box picking and placing device 1 of any embodiment of the first aspect, a moving chassis 51 and a lifting gantry 52; the lifting gantry 52 is a hollow frame, including four door columns 52a; the material box picking and placing device 1 is arranged inside the lifting gantry 52; a lifting mechanism 53 is arranged on the door column 52a, and the material box picking and placing device 1 is connected to the lifting mechanism 53; the lifting mechanism 53 is used to drive the material box picking and placing device 1 to move up and down in the vertical direction.

[0122] Specifically, the motion chassis 51 can be configured as a differential drive or an omnidirectional drive, and the differential drive motion chassis 51 can realize the forward and backward movement and rotational movement of the container handling robot 5. The omnidirectional drive motion chassis 51 can realize the forward and backward movement and left and right movement of the container handling robot 5.

[0123] The embodiment of the present application provides such a material box handling robot 5, which drives the material box picking and placing device 1 to move through the moving chassis 51 to realize the transportation of the material box 7, and drives the material box picking and placing device 1 to be lifted and lowered through the lifting mechanism 53 to realize the picking and placing of the material box 7 located at different heights; the material box picking and placing device 1 drives the picking mechanism 400 to rotate and translate through the rotating mechanism 100, the side shifting mechanism 200 and the telescopic mechanism 300, and clamps and picks up the material box 7 from the top of the material box 7. Compared with the picking and placing device using a straight plate fork picking method in the related art, in addition to being able to pick up and place the material box 7 on the conventional shelf, it can also pick up and place the material box 7 on the shelf using a stacking storage method.

[0124] In some embodiments of the present application, the lifting mechanism 53 includes a lifting guide rail 531 and a lifting power assembly 532; the lifting guide rail 531 is vertically arranged on the inner side of two diagonally arranged door columns 52a; the lifting power assembly 532 includes a lifting motor (not shown in the figure), a second chain (not shown in the figure) and a second sprocket 5323; the second sprocket 5323 is arranged at the top and bottom of the remaining two door columns 52a, and both ends of the second chain are fixedly connected to the material box picking and placing device 1 and are wound around the second sprocket 5323; the lifting motor drives the second sprocket 5323 and the second chain to drive the material box picking and placing device 1 along the lifting guide rail 531 and move up and down in the vertical direction.

[0125] Specifically, Figures 1 to 4 and Fig.17 As shown, the bottom fixing frame 110 is provided with sliding connectors 111 at two corners corresponding to the lifting guide rail 531, and the sliding connector 111 is clamped with the lifting slider of the lifting guide rail 531; the other two corners are provided with fixed connectors 112, and the fixed connector 112 is fixedly connected to the second chain.

[0126] A second drag chain 550 is also provided on the door post 52a for binding cables of the material box handling robot 5. The cables include power cables and signal cables.

[0127] By applying the embodiment of the present application, the lifting motor drives the chain and sprocket 5323 to realize the lifting and lowering of the material box picking and placing device 1, thereby improving the transmission efficiency and the carrying capacity of the lifting mechanism 53; the lifting guide rail 531 and the lifting power assembly 532 are arranged diagonally to improve the stability of the lifting process.

[0128] In some embodiments of the present application, Fig.16 and Fig.17 As shown, the lifting gantry 52 is provided with a plurality of storage layers 54 arranged in the vertical direction on both sides of the material box picking and placing device 1; each storage layer 54 is divided into a plurality of storage positions 541 for storing the material box 7; the material box picking and placing device 1 is used to pick up and place the material box 7 from the storage positions 541.

[0129] Specifically, the storage positions 541 on the storage layer plate 54 are divided by partitions (not shown in the figure), and guide bell mouths are provided on the partitions for assisting in guiding when the picking mechanism 400 places the material box 7. The material box 7 is placed on different storage layers 54 on both sides of the material box picking and placing device 1 through the rotating mechanism 100, thereby improving the storage capacity of the material box handling robot 5.

[0130] By applying the embodiment of the present application, a plurality of storage layers 54 are arranged on both sides of the lifting gantry 52 , so that the material box handling robot 5 has the function of storing material boxes 7 , and a plurality of material boxes 7 can be transported at one time, thereby improving the handling efficiency of the material box handling robot 5 .

[0131] In some embodiments of the present application, Figure 3 , Fig.14 and Fig.15 As shown, a positioning camera 450 is provided on the picking mechanism 400 for scanning the external two-dimensional code 63 , thereby positioning the material box handling robot 5 and the material box 7 .

[0132] Specifically, the positioning camera 450 can be disposed on the mounting base 410. By using the embodiment of the present application, the container handling robot 5 and the container 7 are positioned by the positioning camera 450, so that the container handling robot 5 can control its own displacement and the telescopic amount of the telescopic mechanism 300.

[0133] The third aspect of the present application provides a material box handling system. Fig.18 , Fig.18 A top view of a material box handling system provided in the third embodiment of the present application. Fig.18 As shown, the material box handling system includes: a material box handling robot 5 of any embodiment of the second aspect, a driving channel 61 and a machine platform 62.

[0134] The pickup mechanism 400 is provided with a positioning camera 450;

[0135] The material box handling robot 5 can move on the driving channel 61, and the driving channel 61 is provided with two-dimensional codes 63 at intervals; the material box handling robot 5 locates and identifies the two-dimensional codes 63 on the driving channel 61 through the positioning camera 450 to control the moving position of the material box handling robot 5;

[0136] The platform 62 is arranged on one side of the driving channel 61 , and a plurality of material boxes 7 are stacked on the platform 62 in the vertical direction; a QR code 63 is provided on the material box 7 , and the material box handling robot 5 locates and identifies the QR code 63 on the material box 7 through the positioning camera 450 to control the telescopic amount of the telescopic mechanism 300 .

[0137] Specifically, a plurality of platforms 62 for stacking material boxes 7 are arranged at intervals beside the driving passage 61, and four columns are arranged on the platforms 62. The material boxes 7 are stacked and stored among the four columns. The material box handling robot 5 locates the target platform 62 according to the QR code 63 on the driving passage 61, and goes to the target platform 62 to pick up and place the material boxes 7. The QR code 63 of the material box 7 is arranged on the top surface of the material box 7. During the extension process of the telescopic mechanism 300, when the positioning camera 450 at the telescopic end recognizes the QR code 63, the material box 7 can be located and the telescopic mechanism 300 can be controlled to move the picking mechanism 400 to the top of the material box 7 for clamping.

[0138] By applying the embodiment of the present application, the image of the QR code 63 is captured by the positioning camera 450, and the position information of the QR code 63 in the image of the QR code 63 is identified, and finally the position information of the QR code 63 is converted into position information, thereby realizing the positioning and navigation of the material box handling robot 5 itself and the telescopic mechanism 300, simplifying the structure of the material box handling system 6 and improving the accuracy of positioning.

[0139] See also Figures 19 to 22 , Fig.19 for Fig.18 The shown top view of the material box handling robot moving to the front of the machine platform; Fig. 20 for Fig.19 The telescopic mechanism shown drives the picking mechanism to extend toward the machine platform in a top view; Fig.21a for Fig.19 The rotating mechanism shown drives the picking mechanism to rotate toward the three-dimensional structure of the storage layer; Figure 21b for Fig.21a A top view of the container handling system shown; Fig. 22 for Fig.21a The side shift mechanism drives the picking mechanism to move to the top view facing the corresponding storage position. Figures 19 to 22 As shown, the specific process of picking up, placing and transferring the material box 7 by the material box handling robot 5 in the material box handling system 6 provided in the embodiment of the present application is described in detail.

[0140] In step S1 , the material box transport robot 5 recognizes the two-dimensional code 63 on the driving channel 61 through the positioning camera 450 and drives to the front of the machine platform 62 .

[0141] In step S2 , the telescopic mechanism 300 drives the picking mechanism 400 to extend toward the platform 62 , and the positioning camera 450 locates and identifies the two-dimensional code 63 on the material box 7 stacked on the platform 62 .

[0142] Step S3 , the lifting mechanism 53 adjusts the material box picking and placing device 1 to a suitable height, and the picking mechanism 400 clamps the material box 7 .

[0143] Here, if the clamping jaw assembly 430 is not aligned with the material box 7, the clamping jaw rotating assembly 440 needs to rotate the clamping jaw assembly 430 to a state of being aligned with the material box 7, and then clamp the material box 7. The lifting mechanism 53 and the clamping jaw rotating assembly 440 can be operated simultaneously, which can save time and improve work efficiency.

[0144] In step S4 , the lifting mechanism 53 and the telescopic mechanism 300 drive the picking mechanism 400 to leave the platform 62 .

[0145] Specifically, the lifting mechanism 53 drives the material box picking and placing device 1 to move upward, and the telescopic mechanism 300 drives the picking mechanism 400 to shrink. The two actions can be performed simultaneously, which can save time and improve work efficiency.

[0146] In step S5 , the telescopic mechanism 300 drives the picking mechanism 400 to retract, and the rotating mechanism 100 drives the lateral movement mechanism 200 , the telescopic mechanism 300 and the picking mechanism 400 to rotate toward the storage layer plate 54 .

[0147] Step S6, the lifting mechanism 53 and the side shifting mechanism 200 adjust the telescopic mechanism 300 and the picking mechanism 400 to move to the corresponding storage position 541.

[0148] Here, the movements of the lifting mechanism 53 and the side shifting mechanism 200 can be performed simultaneously, which can save time and improve work efficiency.

[0149] In step S7 , the telescopic mechanism 300 drives the picking mechanism 400 to extend toward the storage position 541 . After the picking mechanism 400 places the material box 7 on the storage position 541 , the telescopic mechanism 300 drives the picking mechanism 400 to retract.

[0150] The above steps S1 to S7 are the process of the material box handling robot 5 clamping a material box 7 and temporarily storing it on the storage layer plate 54. If multiple material boxes 7 need to be transported to the destination, the above steps S1 to S7 can be repeated multiple times to place all the material boxes 7 to be transported on the storage layer plate 54 and then transport them to the destination, thereby improving the transportation efficiency.

[0151] After the storage layer 54 is filled with boxes 7 or the boxes 7 to be transferred are all loaded on the storage layer 54, the box handling robot 5 moves to the destination machine 62 via the moving chassis 51 and places the boxes 7 through the following steps:

[0152] In step S9 , the lifting mechanism 53 adjusts the material box picking and placing device 1 to the storage position 541 to be unloaded, and the telescopic mechanism 300 drives the picking mechanism 400 to extend, and the picking mechanism 400 clamps the material box 7 .

[0153] Here, if the side shift mechanism 200, the telescopic mechanism 300 and the picking mechanism 400 are not facing the storage layer plate 54, and the clamping jaw assembly 430 is not aligned with the material box 7, it is necessary to rotate the side shift mechanism 200, the telescopic mechanism 300 and the picking mechanism 400 to face the storage layer plate 54 through the rotating mechanism 100, and the clamping jaw assembly 430 is rotated to a state of being aligned with the material box 7 by the clamping jaw rotating assembly 440, and then the material box 7 is clamped.

[0154] In step S10 , the telescopic mechanism 300 drives the pickup mechanism 400 to retract, and the rotating mechanism 100 rotates the side shift mechanism 200 , the telescopic mechanism 300 , and the pickup mechanism 400 to face the destination platform 62 .

[0155] In step S11 , the telescopic mechanism 300 drives the picking mechanism 400 to extend toward the destination platform 62 , the lifting mechanism 53 adjusts the heights of the telescopic mechanism 300 and the picking mechanism 400 to a suitable position, and the picking mechanism 400 is released and places the material box 7 .

[0156] Specifically, a QR code 63 is also provided on the plane surrounded by the four pillars on the machine platform 62. When no material box is placed on the machine platform 62, the material box handling robot 5 recognizes the QR code 63 based on the positioning camera 450 at the telescopic end to locate the material box, thereby placing the material box among the four pillars.

[0157] In step S12 , the telescopic mechanism 300 and the lifting mechanism 53 drive the picking mechanism 400 to move away from the platform 62 .

[0158] The above steps S9 to S12 are the process of the material box handling robot 5 clamping a material box 7 and placing it on the machine table 62. If multiple material boxes 7 need to be placed on the machine table 62, the above steps S9 to S12 can be repeated multiple times to place all the material boxes 7 to be placed on the machine table 62.

[0159] By applying the above-mentioned embodiment, the material box picking and placing device 1 is driven to move by the moving chassis 51 to realize the transportation of the material box 7, and the material box picking and placing device 1 is driven to be lifted and lowered by the lifting mechanism 53 to realize the picking and placing of the material box 7 located at different heights; the material box picking and placing device 1 drives the picking mechanism 400 to rotate and translate through the rotating mechanism 100, the side shifting mechanism 200 and the telescopic mechanism 300, and the material box 7 is clamped and placed from the top of the material box 7. Compared with the picking and placing device using a straight plate fork picking method in the related technology, in addition to being able to pick up and place the material box 7 on the conventional shelf, it can also pick up and place the material box 7 on the shelf using a stacking storage method.

[0160] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A material box picking and placing device, characterized in that: include: A rotating mechanism (100), a side shifting mechanism (200), a telescopic mechanism (300) and a cargo picking mechanism (400); The rotating mechanism (100) comprises a bottom fixing frame (110) and a rotating assembly (120) arranged on the top surface of the bottom fixing frame (110), wherein the rotating assembly (120) is capable of rotating relative to the bottom fixing frame (110); The side shift mechanism (200) is arranged on the rotating assembly (120), and comprises: a side shift chassis (210) and a side shift top frame (220); the side shift top frame (220) is arranged on the top of the side shift chassis (210) and is fixedly connected to the side shift chassis (210); the side shift chassis (210) is slidably connected to the rotating assembly (120) to drive the side shift top frame (220) to rotate with the rotating assembly (120) and to move laterally in a horizontal direction relative to the rotating assembly (120); The telescopic mechanism (300) is arranged on the side-shifting top frame (220), the telescopic mechanism (300) can move laterally along with the side-shifting mechanism (200), and the telescopic end of the telescopic mechanism (300) can telescope forward and backward relative to the side-shifting mechanism (200); The picking mechanism (400) is arranged at the telescopic end of the telescopic mechanism (300), can be telescoped along with the telescopic mechanism (300), and is used for lifting and lowering the material box (7) from the top of the material box (7).

2. The material box picking and placing device according to claim 1, characterized in that: The rotating assembly (120) comprises: a rotating motor (121) and a slewing support mechanism (122) mounted on the top of the bottom fixing frame (110); The side shift mechanism (200) is arranged on the top of the slewing support mechanism (122), and the rotating motor (121) is used to drive the slewing support mechanism (122) to rotate, thereby driving the side shift mechanism (200) to rotate.

3. The material box picking and placing device according to claim 2, characterized in that: The slewing bearing mechanism (122) is a worm gear slewing bearing mechanism, comprising a worm gear mechanism (1221) and a slewing bearing (1222); the output end of the rotating motor (121) is drivingly connected to the input end of the worm gear mechanism (1221); the bottom of the slewing bearing (1222) is fixedly connected to the bottom fixing frame (110), and the top is rotatably connected to the side shift chassis (210).

4. The material box picking and placing device according to claim 1, characterized in that: A connecting plate (130) is fixedly arranged on the top of the rotating assembly (120), and a side shift chassis (210) of the side shift mechanism (200) is slidably connected to the top surface of the connecting plate (130).

5. The material box picking and placing device according to claim 4, characterized in that: The side shift chassis (210) comprises: a side shift bottom frame (211), a side shift driving mechanism (212), and at least two groups of slide rails (213) and slide blocks (214); The side shift driving mechanism (212) is arranged on the side shift bottom frame (211) along the moving direction of the side shift mechanism (200); The slide rail (213) faces the top surface of the connecting plate (130) and is fixedly arranged on the side-shifting bottom frame (211) along the moving direction of the side-shifting mechanism (200); the slider (214) is arranged on the top surface of the connecting plate (130) and is used to cooperate with the slide rail (213) to drive the side-shifting top frame (220) to rotate with the rotating component (120) and move laterally in the horizontal direction relative to the rotating component (120).

6. The material box picking and placing device according to claim 5, characterized in that: The side shift driving mechanism (212) comprises: a side shift motor (2121), a first synchronous belt (2122) and two first synchronous wheels (2123); The two first synchronous wheels (2123) are respectively fixedly arranged outside a group of relative frame frames (2111) of the side-shifting bottom frame (211); The first synchronous belt (2122) is fixedly connected to the connecting plate (130); the first synchronous belt (2122) passes through the frame of the side-shifting bottom frame (211) and meshes with the two first synchronous wheels (2123) for transmission; The side-shift motor (2121) is fixedly arranged on the side-shift bottom frame (211) and connected to a first synchronous wheel (2123); the side-shift motor (2121) is used to drive the first synchronous belt (2122) and the first synchronous wheel (2123) to mesh and transmit, thereby driving the side-shift bottom frame (211) to move relative to the rotating component (120) along the slide rail (213).

7. The material box picking and placing device according to claim 1, characterized in that: The telescopic mechanism (300) comprises a telescopic fork (310); The telescopic fork (310) is fixedly arranged on the side-moving top frame (220); the picking mechanism (400) is arranged at the telescopic end of the telescopic fork (310); the telescopic fork (310) is used to drive the picking mechanism (400) to extend out of the side-moving top frame (220) to pick up and place the material box (7) from the top of the material box (7).

8. The material box picking and placing device according to claim 7, characterized in that: The side-shift top frame (220) comprises a supporting bottom plate (221), a supporting top plate (222), and four supporting columns (223) used to connect the supporting bottom plate (221) and the supporting top plate (222); the supporting bottom plate (221) is fixedly connected to the side-shift chassis (210); The telescopic fork (310) comprises a bottom fork plate (311), a middle fork plate (312) and a top fork plate (313) which are arranged in sequence from the inside to the outside; the sides of the bottom fork plate (311), the middle fork plate (312) and the top fork plate (313) are all slidably connected via a linear guide rail; The bottom fork plate (311) is fixedly arranged on the bottom surface of the supporting top plate (222); and the picking mechanism (400) is arranged on the telescopic end of the top fork plate (313).

9. The material box picking and placing device according to claim 8, characterized in that: The telescopic mechanism (300) further comprises a telescopic driving assembly (320); The telescopic driving assembly (320) is connected to the telescopic fork (310) and is used to drive the telescopic fork (310) to drive the cargo picking mechanism (400) to telescope.

10. The material box picking and placing device according to claim 9, characterized in that: The telescopic driving assembly (320) comprises: a telescopic motor (321), a gear (322), a rack (323), two first sprocket wheels (324) and a first chain (325); The telescopic motor (321) is fixedly arranged on the bottom fork plate (311); the rack (323) is arranged between the bottom fork plate (311) and the middle fork plate (312), and is fixedly connected to the middle fork plate (312); The two first sprockets (324) are fixedly arranged on the bottom fork plate (311) and the middle fork plate (312) respectively; the first chain (325) is wound around the two first sprockets (324), and its head and tail ends are fixedly arranged on the top fork plate (313); The telescopic motor (321) is used to drive the gear (322) to roll along the rack (323), thereby driving the middle fork plate (312) to slide relative to the bottom fork plate (311); The middle fork plate (312) is driven by the first sprocket (324) and the first chain (325), thereby driving the top fork plate (313) and the picking mechanism (400) to slide relative to the bottom fork plate (311).

11. The material box picking and placing device according to claim 1, characterized in that: The picking mechanism (400) is a clamping mechanism or a suction mechanism.

12. The material box picking and placing device according to claim 11, characterized in that: The picking mechanism (400) comprises a mounting seat (410), a clamping drive assembly (420) and a clamping claw assembly (430); The mounting seat (410) is fixedly connected to the telescopic end of the telescopic mechanism (300) and faces one side of the bottom fixing frame (110); The gripping drive assembly (420) and the clamping claw assembly (430) are mounted on the mounting seat (410); the gripping drive assembly (420) is used to drive the clamping claw assembly (430) to grip the material box (7) downward from the top of the material box (7).

13. The material box picking and placing device according to claim 12, characterized in that: The clamping drive assembly (420) comprises: a clamping motor (421), a left and right screw screw (422), two second synchronous wheels (423), and a second synchronous belt (424); The clamping jaw assembly (430) comprises two clamping jaw sheet metals (431); The clamping motor (421) and the left and right screws (422) are arranged in parallel on the mounting seat (410); the output end of the clamping motor (421) and the input end of the left and right screws (422) pass through the mounting seat (410) and are connected by transmission through the second synchronous wheel (423) and the second synchronous belt (424); A nut is sleeved on each of the left and right sections of the left and right screw screws (422); two clamping claw sheet metals (431) are fixedly connected to the two nuts respectively; The clamping motor (421) drives the left and right screws (422) to rotate via the second synchronous wheel (423) and the second synchronous belt (424), thereby driving the two clamping claws (431) to move toward or away from each other, thereby taking in and placing the material box (7).

14. The material box picking and placing device according to claim 12, characterized in that: The picking mechanism (400) further includes a clamping claw rotating assembly (440); The clamping jaw rotating assembly (440) comprises two third synchronous wheels (441), a third synchronous belt (442) and a clamping jaw rotating motor (443); The two third synchronous wheels (441) are fixedly arranged at the bottom of the telescopic end of the telescopic mechanism (300); The mounting seat (410) is fixedly arranged on the bottom surface of one of the third synchronous wheels (441); the other third synchronous wheel (441) is sleeved on the output shaft of the clamping jaw rotating motor (443); The clamping jaw rotating motor (443) is used to drive the third synchronous wheel (441) and the third synchronous belt (442) to drive the mounting seat (410) to rotate.

15. A box handling robot, characterized in that: include: The material box picking and placing device (1), the moving chassis (51) and the lifting gantry (52) as described in any one of claims 1 to 14; the lifting gantry (52) is a hollow frame, including four door columns (52a); the material box picking and placing device (1) is arranged inside the lifting gantry (52); the door columns (52a) are provided with a lifting mechanism (53), and the material box picking and placing device (1) is connected to the lifting mechanism (53); the lifting mechanism (53) is used to drive the material box picking and placing device (1) to move up and down in the vertical direction.

16. The container handling robot according to claim 15, characterized in that: The lifting mechanism (53) includes a lifting guide rail (531) and a lifting power assembly (532); the lifting guide rail (531) is vertically arranged on the inner side of the two diagonally arranged door columns (52a); the lifting power assembly (532) includes a lifting motor, a second chain and a second sprocket (5323); the second sprocket (5323) is arranged at the top and bottom of the other two door columns (52a), and the two ends of the second chain are fixedly connected to the material box picking and placing device (1) and are wound around the second sprocket (5323); the lifting motor drives the second sprocket (5323) and the second chain to drive the material box picking and placing device (1) along the lifting guide rail (531) to move up and down in the vertical direction.

17. The container handling robot according to claim 16, characterized in that: The lifting gantry (52) is provided with a plurality of storage layers (54) arranged in a vertical direction on both sides of the material box picking and placing device (1); each of the storage layers (54) is divided into a plurality of storage positions (541) for storing the material boxes (7); the material box picking and placing device (1) is used to pick and place the material boxes (7) from the storage positions (541).

18. The container handling robot according to claim 17, characterized in that: The picking mechanism (400) is provided with a positioning camera (450) for scanning an external two-dimensional code (63) so as to position the material box transport robot (5) and the material box (7).

19. A material box handling system, characterized in that: include: The material box handling robot (5), driving channel (61) and machine platform (62) according to any one of claims 15 to 18; The picking mechanism (400) is provided with a positioning camera (450); The material box handling robot (5) is capable of moving on the driving channel (61), and two-dimensional codes (63) are arranged at intervals on the driving channel (61); the material box handling robot (5) locates and identifies the two-dimensional codes (63) on the driving channel (61) through the positioning camera (450) to control the moving position of the material box handling robot (5); The platform (62) is arranged on one side of the driving passage (61), and a plurality of material boxes (7) are stacked on the platform (62) in a vertical direction; a two-dimensional code (63) is provided on the material box (7), and the material box handling robot (5) controls the telescopic amount of the telescopic mechanism (300) by positioning and identifying the two-dimensional code (63) on the material box (7) through the positioning camera (450).

Images