Pick-and-place device and transfer robot

Abstract

The utility model relates to a pick-and-place device and a transfer robot. The pick-and-place device comprises a base, a tray assembly, a supporting assembly, a pick-and-place assembly and a fluid source. The tray assembly is configured to extend to a preset position under the action of the first fluid actuating mechanism so as to carry a container; the supporting assembly is arranged on the base and is constructed to extend to the position abutting against the carrier under the action of the second fluid actuating mechanism so as to carry out supporting in the process of taking and placing the container; the taking and placing assembly is arranged on the base and is constructed to stretch out or retract relative to the base under the action of a third fluid actuating mechanism so as to take and place the container; at least two of the first fluid actuating mechanism, the second fluid actuating mechanism and the third fluid actuating mechanism are configured to be controlled by the same fluid source so as to drive the tray assembly, the supporting assembly and the taking and placing assembly to move. According to the invention, driving source parts are reduced, the occupied space is reduced, and the driving cost is reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of logistics and warehousing, and in particular to a pick-and-place device; the present disclosure also relates to a transport robot. Background Art

[0002] With the rapid development of the logistics industry and the continuous increase in human resource costs, in order to improve the utilization efficiency of warehouses and reduce storage costs, more and more people choose to use automated warehouses to solve storage problems. At present, storage systems usually use handling robots with pick-and-place devices to pick and place containers.

[0003] The pick-and-place device in the prior art includes a pick-and-place component that picks and places the container by telescopic means, which may be various types of structures such as a suction cup, a fork, a telescopic arm, etc. In the process of the pick-and-place component taking and returning the container, the handling robot is prone to shaking and has poor stability; in addition, the edge of the container may be stuck in the gap, resulting in failure to take and return the container, and the container may also fall from the gap. In order to solve the above problems, other telescopic structures can be added to the pick-and-place device to abut the carrier, but because these structures need to be driven separately, they lead to technical problems such as complex structure, large space occupation, and high cost due to multiple drive sources. Utility Model Content

[0004] In order to solve the problems existing in the prior art, the present disclosure provides a pick-and-place device and a transport robot.

[0005] According to a first aspect of the present disclosure, there is provided a pick-and-place device, comprising:

[0006] Pedestal;

[0007] A tray assembly, the tray assembly being configured to extend to a predetermined position under the action of a first fluid actuating mechanism to receive a container;

[0008] A support assembly, the support assembly being disposed on the base and being configured to extend to a position abutting against the carrier under the action of the second fluid actuating mechanism, so as to provide support during the process of taking and placing the container;

[0009] A pick-and-place assembly, the pick-and-place assembly being disposed on the base and being configured to extend or retract relative to the base under the action of a third fluid actuating mechanism so as to pick and place a container;

[0010] Fluid source, at least two of the first fluid actuation mechanism, the second fluid actuation mechanism, and the third fluid actuation mechanism are configured to be controlled by the same fluid source to respectively drive the tray assembly, the support assembly, and the pick-and-place assembly to move.

[0011] In one embodiment of the present disclosure, the fluid source is an air source device, and the first fluid actuating mechanism is configured as a first cylinder connected to the air source device;

[0012] The first cylinder includes a first sleeve connected to the base, and a first piston movably connected to the first sleeve; the free end of the first piston is configured to be connected to the tray assembly, and is configured to drive the tray assembly to move under the driving action of the air source device.

[0013] In one embodiment of the present disclosure, a first connecting seat is fixedly provided on the upper end surface of the base, and the first sleeve is constructed to be hinged to the first connecting seat; a second connecting seat is fixedly provided on the lower end surface of the tray assembly, and the free end of the first piston is constructed to be hinged to the second connecting seat.

[0014] In one embodiment of the present disclosure, a first guide mechanism is provided between the tray assembly and the base; the tray assembly is configured to extend or retract relative to the base along the X-axis direction under the action of the first guide mechanism;

[0015] The first guide mechanism includes a first guide portion extending along the X-axis direction, and a second guide portion guiding and cooperating with the first guide portion; one of the first guide portion and the second guide portion is constructed to be fixedly connected to the tray assembly, and the other is constructed to be fixedly connected to the base.

[0016] In one embodiment of the present disclosure, two first guide mechanisms are provided, and the two first guide portions are configured to be arranged in parallel and spaced apart; and the first cylinder is configured to be located between the two first guide portions.

[0017] In one embodiment of the present disclosure, the fluid source is an air source device, and the second fluid actuation mechanism is configured as a second cylinder connected to the air source device;

[0018] The second cylinder includes a second sleeve connected to the base, and a second piston movably connected to the second sleeve; the free end of the second piston is configured to be connected to the support assembly, and is configured to drive the support assembly to move under the driving action of the air source device.

[0019] In one embodiment of the present disclosure, a third connecting seat is fixedly provided on the upper end surface of the base, and the second sleeve is constructed to be hinged to the third connecting seat; a fourth connecting seat is fixedly provided on the support assembly, and the free end of the second piston is constructed to be hinged to the fourth connecting seat.

[0020] In one embodiment of the present disclosure, the support assembly includes a support portion and an abutment portion connected to the support portion; the support portion is constructed to be connected to the base through a second guide mechanism, and is constructed to extend outward relative to the base under the driving action of the second piston until the abutment portion abuts against the carrier.

[0021] In one embodiment of the present disclosure, two support assemblies are provided, and the two support assemblies are configured to extend outwardly away from each other to respectively abut against the carriers on opposite sides of the lane;

[0022] Alternatively, the extension direction of the support assembly is opposite to the extension direction of the tray assembly; when located at a predetermined position, the tray assembly is configured to abut against the carrier to provide support together with the support assembly during the process of taking and placing the container.

[0023] In one embodiment of the present disclosure, the fluid source is an air source device, and the third fluid actuating mechanism is constructed as a third cylinder connected to the air source device;

[0024] The third cylinder includes a third sleeve connected to the base, and a third piston movably connected to the third sleeve; the third piston is configured to be connected to the pick-and-place assembly, and is configured to drive the pick-and-place assembly to move under the driving action of the air source device.

[0025] In one embodiment of the present disclosure, the pick-and-place assembly includes a suction cup and a mounting base for mounting the suction cup; the mounting base is constructed to be connected to the base through a third guide mechanism, and is constructed to move relative to the base under the driving action of the third piston so that the suction cup cooperates with the side wall of the container.

[0026] In one embodiment of the present disclosure, the air source device is constructed to be in communication with the inner cavity of the suction cup, and is configured to adjust the vacuum degree in the inner cavity to adsorb the container.

[0027] In one embodiment of the present disclosure, the fluid source includes an air pump and an air circuit control mechanism, and the air circuit control mechanism is used to control the air pump to drive the first fluid actuation mechanism, the second fluid actuation mechanism, and the third fluid actuation mechanism respectively;

[0028] When the tray assembly is extended to a predetermined position under the action of the first fluid actuating mechanism, and the support assembly is extended to a position abutting against the carrier under the action of the second fluid actuating mechanism, the air circuit control mechanism is configured to control the air pump to drive the third fluid actuating mechanism to drive the pick-and-place assembly to pick and place the container;

[0029] Alternatively, the air circuit control mechanism is configured to control the air pump to at least simultaneously drive the first fluid actuator mechanism and the third fluid actuator mechanism, so as to at least simultaneously drive the tray assembly and the pick-and-place assembly to extend; when the tray assembly is extended to a predetermined position and the support assembly is extended to a position abutting against the carrier, the pick-and-place assembly is configured to pick and place the container.

[0030] According to a second aspect of the present disclosure, there is also provided a transport robot, comprising:

[0031] Chassis components;

[0032] A door frame assembly is arranged on the chassis assembly;

[0033] According to the pick-and-place device described in the first aspect of the present disclosure, the base is arranged on a lifting platform; and the pick-and-place device is constructed to rise or fall along the gantry assembly under the driving action of the lifting platform.

[0034] One beneficial effect of the present disclosure is that the support assembly can move to a position abutting against the carrier, thereby improving the stability of the pick-and-place device in the process of carrying the container; the tray assembly can move to a predetermined position to receive the container, preventing the container from getting stuck in the gap and preventing the container from falling from the gap. The present disclosure achieves driving at least two of the tray assembly, the support assembly, and the pick-and-place assembly by the same fluid source, without the need to set up a separate drive source for each assembly. The present disclosure reduces the drive source, reduces the space occupied, simplifies the internal structure of the pick-and-place device, and reduces the drive cost.

[0035] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0037] Figure 1 It is a schematic diagram of the structure of the handling robot and the carrier disclosed in the present invention;

[0038] Figure 2 It is a schematic diagram of the structure of the pick-and-place device and the container disclosed in the present invention;

[0039] Figure 3 is a schematic diagram of the structure of the pick-and-place device disclosed in the present invention;

[0040] Figure 4 It is a partial structural schematic diagram of the pick-and-place device disclosed in the present invention.

[0041] Figures 1 to 4The one-to-one correspondence between the component names and the reference numerals is as follows:

[0042] 100, pick-and-place device; 101, lifting platform; 1, base; 2, tray assembly; 3, support assembly; 301, first support assembly; 302, second support assembly; 31, support portion; 32, abutment portion; 4, pick-and-place assembly; 41, suction cup; 42, mounting seat; 5, air pump; 61, first cylinder; 611, first sleeve; 612, first piston; 62, second cylinder; 621, second sleeve; 622, second piston; 631, first A connecting seat; 632, a second connecting seat; 633, a third connecting seat; 634, a fourth connecting seat; 71, a first guiding mechanism; 711, a first guiding portion; 712, a second guiding portion; 72, a second guiding mechanism; 721, a third guiding portion; 722, a fourth guiding portion; 73, a third guiding mechanism; 731, a fifth guiding portion; 732, a sixth guiding portion; 8, a carrier; 910, a chassis assembly; 920, a gantry assembly; 921, a temporary storage rack. DETAILED DESCRIPTION

[0043] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless otherwise specifically stated.

[0044] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0045] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0046] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0047] In this document, “upper”, “lower”, “front”, “back”, “left”, “right”, etc. are only used to indicate the relative position relationship between related parts, rather than to limit the absolute positions of these related parts.

[0048] In this article, "first", "second", etc. are only used to distinguish each other, and do not indicate the importance and order, or the premise of each other's existence.

[0049] In this document, “equal”, “same”, etc. are not strictly limited in a mathematical and / or geometric sense, but also include errors that can be understood by those skilled in the art and are allowed in manufacturing or use.

[0050] The present disclosure provides a pick-and-place device, which can be applied to a handling robot in the warehousing field. The pick-and-place device can be used to transfer target containers in the storage area, such as transferring between different carriers, or transferring between different storage locations of the same carrier, or transferring between a carrier and other locations. Of course, the pick-and-place device of the present disclosure can also be used in other application scenarios, such as shopping malls, hotels, workshops, and other scenarios that require handling and transfer that are well known to those skilled in the art, and the present disclosure will not be described in detail here.

[0051] The pick-and-place device disclosed in the present invention includes: a base, a tray assembly, a support assembly, a pick-and-place assembly and a fluid source. The tray assembly is constructed to extend to a predetermined position under the action of a first fluid actuating mechanism to receive a container. The tray assembly can be mounted on the base and can perform telescopic movement relative to the base. The predetermined position can be a position where the tray assembly extends to cooperate with the carrier. At this time, the tray assembly can completely fill the gap between the carrier and the pick-and-place device, and support the container during the pick-and-place process, thereby preventing the container from getting stuck or falling into the gap during the pick-and-place process. The predetermined position can also be the maximum position where the tray assembly extends. At this time, the gap between the carrier and the pick-and-place device is at least partially filled by the tray assembly, and a small gap may still remain between the tray assembly and the carrier. The container will not get stuck or fall into such a narrow gap, and the tray assembly can still play a role in preventing the container from getting stuck or falling into the gap.

[0052] The support assembly is arranged on the base, and is configured to extend to a position abutting against the carrier under the action of the second fluid actuating mechanism, so as to provide support during the process of picking and placing the container. The support assembly can perform telescopic movement relative to the base, and when the support assembly moves to abut against the carrier, the support assembly helps to keep the relative position between the picking and placing device and the carrier stable, thereby achieving the purpose of improving the success rate of the picking and placing device in picking and placing the target container.

[0053] The pick-and-place assembly is disposed on the base and is configured to extend or retract relative to the base under the action of the third fluid actuation mechanism to pick up and place the container. Specifically, the pick-and-place assembly can be a mechanical structure such as a suction cup, a telescopic fork, a gripping fork, a robotic arm, etc. that can realize the operation of picking up and returning the container. The present disclosure does not limit the specific structure of the pick-and-place assembly.

[0054] As mentioned above, the tray assembly, the support assembly, and the pick-and-place assembly respectively perform telescopic movements under the action of the first fluid actuation mechanism, the second fluid actuation mechanism, and the third fluid actuation mechanism, thereby realizing their respective functions. At least two of the first fluid actuation mechanism, the second fluid actuation mechanism, and the third fluid actuation mechanism are configured to be controlled by the same fluid source to respectively drive the tray assembly, the support assembly, and the pick-and-place assembly to move. The fluid source can be an air source device, a liquid source device, etc. Specifically, when the fluid source is an air source device, the first fluid actuation mechanism, the second fluid actuation mechanism, and the third fluid actuation mechanism can be air cylinders driven by the air source device; when the fluid source is a liquid source device, the first fluid actuation mechanism, the second fluid actuation mechanism, and the third fluid actuation mechanism can be hydraulic cylinders driven by the liquid source device.

[0055] The present disclosure realizes driving at least two of the tray assembly, the support assembly, and the pick-and-place assembly by the same fluid source, without the need to separately set up a drive source component for each component. For example: the tray assembly and the support assembly can be driven by the same fluid source, while the pick-and-place assembly is driven by another fluid source; or, the tray assembly and the pick-and-place assembly can be driven by the same fluid source, while the support assembly is driven by another fluid source; or, the support assembly and the pick-and-place assembly can be driven by the same fluid source, while the tray assembly is driven by another fluid source. Preferably, the tray assembly, the support assembly, and the pick-and-place assembly can be driven by the same fluid source, thereby minimizing the drive source components, reducing space occupancy, simplifying the internal structure of the pick-and-place device, and reducing the driving cost.

[0056] For ease of understanding, refer to Figures 1 to 4 , the specific structure and working principle of the pick-and-place device of the present disclosure are described in detail in combination with an embodiment. It should be noted that the present disclosure also provides a handling robot. In order to keep the text concise, the handling robot is introduced together with the pick-and-place device. The specific implementation of the present disclosure is described below in combination with the accompanying drawings.

[0057] refer to Figure 1 The present disclosure provides a transport robot. The transport robot is configured to move to a storage area to pick up and place a target container. Specifically, the storage area may include a plurality of carriers 8 and lanes formed by adjacent carriers 8. The carrier 8 stores a target container, which may be a container for loading goods in the logistics field, including but not limited to a material box, a pallet, an original box, a packaging box, a cargo box, a storage box, etc., which is not limited in the present disclosure.

[0058] The handling robot disclosed in the present invention includes: a chassis assembly 910, a gantry assembly 920, a lifting platform 101 and a pick-and-place device 100. The chassis assembly 910 is configured to support the handling robot on a working surface, and the working surface may include the lanes between the carriers 8 and the ground outside the storage area. The chassis assembly 910 may be provided with a driving wheel and / or a universal wheel matched with the driving wheel, and the driving wheel and / or the universal wheel are matched together to drive the handling robot to walk and turn on the working surface, so as to facilitate the subsequent handling robot to perform pick-and-place work on the target object.

[0059] The chassis assembly 910 is also configured to support other components of the transport robot, such as the gantry assembly 920, the lifting platform 101, and the pick-and-place device 100. The gantry assembly 920 is disposed on the chassis assembly 910 and is configured to be extended upward from the chassis assembly 910. Generally, the extension height of the gantry assembly 920 is consistent with or exceeds the height of the carrier 8, which is beneficial for the transport robot to access objects located at different positions on the carrier 8.

[0060] In one embodiment of the present disclosure, since the height of the transport robot needs to be adjusted according to the height of the carrier 8, if the height-inadjustable gantry assembly 920 is set too high, it will not only affect the transport robot's entry and exit of the warehouse, but also affect its stability during movement. Therefore, in this embodiment, the gantry assembly 920 also includes a fixed gantry and a movable gantry that moves along the height direction of the fixed gantry. Figure 1 As shown, the lifting platform 101 is constructed to be movably connected to the gantry assembly 920, and the base 1 of the pick-and-place device 100 is arranged on the lifting platform 101. The pick-and-place device 100 rises or falls along the gantry assembly 920 under the driving action of the lifting platform 101 to pick and place target containers of different heights. Specifically, the pick-and-place device 100 can be arranged on the last-level movable gantry through the lifting platform 101, so that the pick-and-place working range of the pick-and-place device 100 can cover the height space on the fixed gantry and the movable gantry. Since the gantry assembly 920 has a height that is compatible with the carrier 8, the pick-and-place device 100 can access the target container at any position on the carrier 8 without any access dead angle.

[0061] In the process of the transport robot being driven by the chassis assembly 910, all movable gantries in the gantry assembly 920 can be in a retracted state relative to the fixed gantry in the gantry assembly 920, that is, all movable gantries are in the lowest matching position relative to the upper-level gantry, and the overall height of the gantry assembly 920 is in the lowest state. In this state, compared with the transport robot with a higher non-adjustable gantry assembly 920, the transport robot disclosed in the present invention can walk when the movable gantry is in a retracted state, and the stability of the transport robot's movement can be maintained. In addition to the above-mentioned scenario of the transport robot picking up and placing the target object on the high-level carrier 8, the transport robot can also pick up and place the target container on the low-level carrier 8, so the transport robot disclosed in the present invention can flexibly adjust the overall height of the gantry assembly 920 to adapt to carriers 8 of different heights, thereby improving the scope of application of the transport robot.

[0062] The pick-and-place device 100 can be guided and coordinated with the last-stage movable gantry through the lifting platform 101. The movements of the movable gantry and the pick-and-place device 100 are independent of each other, that is, there is no linkage relationship between the movement of the movable gantry and the movement of the pick-and-place device 100, which improves the flexibility of the movement of the pick-and-place device 100. Of course, for those skilled in the art, the movement of the movable gantry and the pick-and-place device 100 can be synchronized, that is, the movement of the movable gantry is coupled with the movement of the pick-and-place device 100, and the present disclosure does not limit this.

[0063] In order to improve the working efficiency of the handling robot, in one embodiment of the present disclosure, reference Figure 1 , a temporary storage rack 921 is arranged on the gantry assembly 920, and the pick-and-place device 100 is configured to rotate relative to the lifting platform 101 to face the temporary storage rack 921, so that the container can be directly transferred between the pick-and-place device 100 and the temporary storage rack 921. The gantry assembly 920 can be provided with a plurality of temporary storage racks 921 for temporarily storing containers, and at least one temporary storage rack 921 is arranged on the side of the gantry assembly 920 opposite to the pick-and-place device 100. The container taken out by the pick-and-place device 100 can be temporarily stored on the temporary storage rack 921, and then the pick-and-place device 100 can continue to pick and place the container.

[0064] refer to Figures 2 to 4 The pick-and-place device 100 includes: a base 1, a tray assembly 2, a support assembly 3, a pick-and-place assembly 4 and a fluid source. The base 1 is arranged on a lifting platform 101. Figure 3As shown, the tray assembly 2 is configured to extend to a predetermined position under the action of the first fluid actuating mechanism to receive the container. The tray assembly 2 can be mounted on the base 1 and can perform telescopic movement relative to the base 1. The predetermined position can be a position where the tray assembly 2 extends to cooperate with the carrier 8, for example, the edge of the tray assembly 2 can abut against the carrier 8. At this time, the tray assembly 2 can completely fill the gap between the carrier 8 and the pick-and-place device 100, and support the container during the pick-and-place process, thereby preventing the container from getting stuck or falling into the gap during the pick-and-place process.

[0065] In another embodiment, the predetermined position may also be the maximum extended position of the tray assembly 2. At this time, the gap between the carrier 8 and the pick-up and placement device 100 is at least partially filled by the tray assembly 2, and a very small gap may still remain between the tray assembly 2 and the carrier 8. The container will not get stuck or fall into such a narrow gap, and the tray assembly 2 can still prevent the container from getting stuck or falling into the gap.

[0066] The support assembly 3 is arranged on the base, and is configured to extend to a position abutting against the carrier 8 under the action of the second fluid actuating mechanism, so as to provide support during the process of picking and placing the container. The support assembly 3 can perform telescopic movement relative to the base 1. When the support assembly 3 moves to abut against the carrier 8, the support assembly 3 is conducive to maintaining the relative position between the picking and placing device 100 and the carrier 8 stable, thereby achieving the purpose of improving the success rate of the picking and placing device 100 in picking and placing the target container.

[0067] In one embodiment of the present disclosure, two support assemblies 3 are provided, and the two support assemblies 3 are configured to extend outwardly away from each other to abut against the carriers 8 on opposite sides of the lane. Figure 1 As shown, the two support assemblies 3 can be respectively recorded as a first support assembly 301 for extending to one side, and a second support assembly 302 extending to the opposite direction. The structures of the two are exactly the same, and the only difference is the extension direction. The first support assembly 301 and the second support assembly 302 are symmetrically distributed on the base 1. The two can be constructed to be independently controlled or to be synchronously controlled to be extended and retracted through a second fluid actuating mechanism. The two support assemblies 3 are respectively abutted against the carriers 8 on both sides of the lane, so that the pick-and-place device 100 is supported on both sides during the process of taking and returning the container, thereby improving stability.

[0068] In another embodiment of the present disclosure, referring to Figure 2 and Figure 3, the extension direction of the support assembly 3 is opposite to the extension direction of the tray assembly 2. When located at the predetermined position, the tray assembly 2 is configured to abut against the carrier 8, so as to provide support together with the support assembly 3 during the process of taking and placing the container. The tray assembly 2 and the support assembly 3 can be moved to abut against the carrier 8 on opposite sides of the lane under the action of the first fluid actuating mechanism and the second fluid actuating mechanism, respectively, so that the picking and placing device 100 is supported on both sides during the process of taking and returning the container, thereby improving stability.

[0069] refer to Figure 2 and Figure 3 The pick-and-place assembly 4 is disposed on the base 1 and is configured to extend or retract relative to the base 1 under the action of the third fluid actuation mechanism to pick and place the container. In one embodiment of the present disclosure, the pick-and-place assembly 4 includes a suction cup 41 and a mounting seat 42 for mounting the suction cup 41. The mounting seat 42 is configured to move relative to the base 1 under the driving action of the third fluid actuation mechanism until the suction cup 41 cooperates with the side wall of the container, thereby adsorbing the container.

[0070] The suction cup 41 may have an inner cavity, and the vacuum degree in the inner cavity of the suction cup 41 may be adjusted by a device such as a vacuum generator, thereby forming a negative pressure in the suction cup 41, so that the suction cup 41 is adsorbed on the side wall of the container. After adsorption is formed, the suction cup 41 can pull the container onto the pick-and-place device 100 under the driving action of the mounting seat 42, thereby completing the container taking operation. When the device such as the vacuum generator is turned off, the negative pressure disappears, the adsorption force of the suction cup 41 is reduced, and the suction cup 41 releases the container. When the container needs to be returned, the suction cup 41 can extend outward relative to the base 1 under the driving action of the mounting seat 42, and push the container to the target storage position.

[0071] Further, such as Figure 3 As shown, in one embodiment of the present disclosure, two suction cups 41 are provided, and the two suction cups 41 are configured to be arranged horizontally on the mounting base 42 to be adsorbed on the container side wall together. By providing two suction cups 41, not only can the adsorption force on the container be effectively improved, but also the force on the left and right sides of the container can be more balanced.

[0072] In one embodiment of the present disclosure, the pick-and-place component 4 may also be an electromagnetic adsorption component, a telescopic fork, a gripping fork, a robotic arm, or other mechanical structures that can realize container retrieval operations. The present disclosure does not limit the specific structure of the pick-and-place component 4.

[0073] As mentioned above, the tray assembly 2, the support assembly 3, and the pick-and-place assembly 4 respectively perform telescopic movements under the action of the first fluid actuation mechanism, the second fluid actuation mechanism, and the third fluid actuation mechanism, thereby realizing their respective functions. At least two of the first fluid actuation mechanism, the second fluid actuation mechanism, and the third fluid actuation mechanism are configured to be controlled by the same fluid source to respectively drive the tray assembly 2, the support assembly 3, and the pick-and-place assembly 4 to move. The fluid source can be an air source device, a liquid source device, etc. Specifically, when the fluid source is an air source device, the first fluid actuation mechanism, the second fluid actuation mechanism, and the third fluid actuation mechanism can be an air cylinder driven by the air source device; when the fluid source is a liquid source device, the first fluid actuation mechanism, the second fluid actuation mechanism, and the third fluid actuation mechanism can be a hydraulic cylinder driven by the liquid source device.

[0074] The present disclosure realizes driving at least two of the tray assembly 2, the support assembly 3, and the pick-and-place assembly 4 by the same fluid source, without the need to separately set up a driving source component for each component. For example: the tray assembly 2 and the support assembly 3 can be driven by the same fluid source, while the pick-and-place assembly 4 is driven by another fluid source; or, the tray assembly 2 and the pick-and-place assembly 4 can be driven by the same fluid source, while the support assembly 3 is driven by another fluid source; or, the support assembly 3 and the pick-and-place assembly 4 can be driven by the same fluid source, while the tray assembly 2 is driven by another fluid source. Preferably, the tray assembly 2, the support assembly 3, and the pick-and-place assembly 4 can be driven by the same fluid source, thereby minimizing the driving source components, reducing the space occupied, simplifying the internal structure of the pick-and-place device 100, and reducing the driving cost.

[0075] Combine the following Figures 2 to 4 The detailed structures and movement modes of the first fluid actuating mechanism, the second fluid actuating mechanism and the third fluid actuating mechanism are introduced in detail.

[0076] In one embodiment of the present disclosure, reference Figure 3 and Figure 4 The fluid source is an air source device, which may include an air pump 5 and an air circuit control mechanism. The first fluid actuating mechanism is configured as a first air cylinder 61 connected to the air source device, and the first air cylinder 61 can be driven by the air pump 5 to drive the tray assembly 2 to extend or retract relative to the base 1. Specifically, Figure 4 As shown, the first cylinder 61 includes a first sleeve 611 connected to the base 1, and a first piston 612 movably connected to the first sleeve 611. The free end of the first piston 612 is configured to be connected to the tray assembly 2, and is configured to drive the tray assembly 2 to move under the driving action of the air source device.

[0077] One end of the first piston 612 extends into the first sleeve 611, and the air pump 5 can supply air into the first sleeve 611, thereby driving the first piston 612 to perform linear motion in the first sleeve 611. During the movement, the first piston 612 can drive the tray assembly 2 connected to its free end to move in a linear direction, thereby driving the tray assembly 2 to move. It can be understood that the maximum movement stroke of the tray assembly 2 depends on the length of the first piston 612. The length of the first piston 612 must at least be able to drive the tray assembly 2 to a predetermined position, thereby ensuring that the tray assembly 2 can play the role of receiving the container.

[0078] In one embodiment of the present disclosure, Figure 4 As shown, a first connection seat 631 is fixedly provided on the upper end surface of the base 1, and the first sleeve 611 is configured to be hinged with the first connection seat 631; a second connection seat 632 is fixedly provided on the lower end surface of the tray assembly 2, and the free end of the first piston 612 is configured to be hinged with the second connection seat 632. The first cylinder 61 can be arranged between the base 1 and the tray assembly 2, and its opposite ends can be hinged to the upper end surface of the base 1 and the lower end surface of the tray assembly 2 through the first connection seat 631 and the second connection seat 632 respectively. When the tray assembly 2 is extended relative to the base 1, the relative height position of the two will not change, and the total length of the first cylinder 61 will gradually increase with the extension of the first piston 612; if the two ends of the first cylinder 61 are fixedly connected to the base 1 and the tray assembly 2, the movement of the first piston 612 will be limited, and it will not be able to smoothly extend the first sleeve 611. In order to enable the first piston 612 to smoothly drive the tray assembly 2 to move, it is necessary to respectively connect the two ends of the first cylinder 61 in a hinged manner.

[0079] In one embodiment of the present disclosure, Figure 4 As shown, a first guide mechanism 71 is provided between the tray assembly 2 and the base 1, and the tray assembly 2 is configured to extend or retract relative to the base 1 along the X-axis direction under the action of the first guide mechanism 71. Figure 2 As shown, the X-axis direction is the direction of taking and returning the container. The first guide mechanism 71 can limit the moving path of the tray assembly 2, ensuring that the tray assembly 2 extends straight along the X-axis direction without being skewed.

[0080] Specifically, the first guide mechanism 71 includes a first guide portion 711 extending along the X-axis direction, and a second guide portion 712 guidingly matched with the first guide portion 711. The first guide portion 711 may be a slide rail extending along the X-axis direction, and the second guide portion 712 may be a slider guidingly matched on the slide rail. One of the first guide portion 711 and the second guide portion 712 is configured to be fixedly connected to the tray assembly 2, and the other is configured to be fixedly connected to the base 1.

[0081] like Figure 4 As shown, in this embodiment, the first guide portion 711 is a slide rail fixedly connected to the lower end surface of the tray assembly 2, and the second guide portion 712 is a slider fixedly connected to the upper end surface of the base 1. The slide rail can slide relative to the slider along the X-axis direction, thereby playing a role of guiding and limiting. Under the action of the first guide mechanism 71, the tray assembly 2 can only extend or retract relative to the base 1 along the X-axis direction.

[0082] Furthermore, if Figure 4 As shown, two first guide mechanisms 71 are provided, and the two first guide portions 711 are configured to be arranged in parallel and spaced apart. The structures of the two first guide mechanisms 71 can be completely consistent, and the two first guide portions 711 both extend along the X-axis direction and are fixed on the tray assembly 2 in parallel and spaced apart. By providing two first guide mechanisms 71, not only can the guiding effect between the tray assembly 2 and the base 1 be effectively improved, but also the force on both sides of the tray assembly 2 can be more balanced.

[0083] The first cylinder 61 is configured to be located between the two first guides 711, so that the position on the tray assembly 2 that is subjected to the driving force is centered as much as possible, so that the force on the tray assembly 2 is more balanced. In addition, the two first guides 711 are located relatively close to the edges of the tray assembly 2 on both sides. There may not be enough installation space on the side of the first guide 711 for installing the first cylinder 61. Therefore, the first cylinder 61 can be installed at a position between the two first guides 711, thereby optimizing the spatial layout inside the pick-and-place device 100.

[0084] In one embodiment of the present disclosure, reference Figure 3 and Figure 4 The second fluid actuating mechanism is constructed as a second air cylinder 62 connected to the air source device, and the second air cylinder 62 can be driven by the air pump 5 to drive the support assembly 3 to extend or retract relative to the base 1. Specifically, Figure 4 As shown, the second cylinder 62 includes a second sleeve 621 connected to the base 1, and a second piston 622 movably connected to the second sleeve 621, and the free end of the second piston 622 is constructed to be connected to the support assembly 3, and is constructed to drive the support assembly 3 to move under the driving action of the air source device.

[0085] One end of the second piston 622 extends into the second sleeve 621, and the air pump 5 can supply air into the second sleeve 621, thereby driving the second piston 622 to perform linear motion in the second sleeve 621. During the movement, the second piston 622 can drive the support assembly 3 connected to its free end to move in a straight line, thereby driving the support assembly 3 to move. It can be understood that the maximum movement stroke of the support assembly 3 depends on the length of the second piston 622. The length of the second piston 622 must at least be able to drive the support assembly 3 to a position abutting against the carrier 8, thereby ensuring that the support assembly 3 can play a supporting role.

[0086] In one embodiment of the present disclosure, the second cylinder 62 can be arranged between the base 1 and the tray assembly 2, specifically, can be installed between the two first guide portions 711, thereby eliminating the need to set up additional installation space for the second cylinder 62, thereby optimizing the spatial layout inside the picking and placing device 100.

[0087] In one embodiment of the present disclosure, Figure 4 As shown, a third connection seat 633 is fixedly provided on the upper end surface of the base 1, and the second sleeve 621 is constructed to be hinged with the third connection seat 633; ​​a fourth connection seat 634 is fixedly provided on the support assembly 3, and the free end of the second piston 622 is constructed to be hinged with the fourth connection seat 634. The opposite ends of the second cylinder 62 can be hinged to the upper end surface of the base 1 and the support assembly 3 through the third connection seat 633 and the fourth connection seat 634 respectively. When the support assembly 3 is extended relative to the base 1, the total length of the second cylinder 62 will gradually increase with the extension of the second piston 622; if the two ends of the second cylinder 62 are fixedly connected to the base 1 and the support assembly 3, the movement of the second piston 622 will be restricted, and the second sleeve 621 cannot be smoothly extended. In order for the second piston 622 to smoothly drive the support assembly 3 to move, it is necessary to respectively connect the two ends of the second cylinder 62 in a hinged manner.

[0088] In one embodiment of the present disclosure, the support assembly 3 includes a support portion 31 and an abutment portion 32 connected to the support portion 31. The support portion 31 is configured to be connected to the base 1 through the second guide mechanism 72, and is configured to extend outward relative to the base 1 under the driving action of the second piston 622 until the abutment portion 32 abuts against the carrier 8. Figure 4 As shown, the support portion 31 may be a rod-shaped structure. If the end of the support portion 31 directly abuts against the carrier 8, the contact area is too small and the support effect is poor. Therefore, an abutment portion 32 for abutting against the carrier 8 may be provided at the end of the support portion 31. The abutment portion 32 may be constructed as a plate-shaped structure perpendicular to the support portion 31. The abutment portion 32 has a sufficiently large area in a direction parallel to the end surface of the carrier 8, so that a stable support can be formed when abutting against the carrier 8.

[0089] One end of the support portion 31 away from the abutment portion 32 is hinged to the free end of the second piston 622. The support portion 31 can drive the abutment portion 32 to move in a straight line under the action of the second piston 622, so as to move to abut against the carrier 8, and move to separate from the carrier 8. Figure 4 As shown, since the gap between the mounting seat 42 of the pick-and-place assembly 4 and the base 1 is not enough for the abutment portion 32 to pass through, the mounting seat 42 can be set above the support portion 31, and the support portion 31 can pass through the gap between the mounting seat 42 and the base 1, thereby driving the abutment portion 32 to move.

[0090] In one embodiment of the present disclosure, Figure 4 As shown, a second guide mechanism 72 is provided between the tray assembly 2 and the base 1, and the support assembly 3 is configured to extend or retract relative to the base 1 along the X-axis direction under the action of the second guide mechanism 72. The second guide mechanism 72 can limit the moving path of the support assembly 3, ensuring that the support assembly 3 extends straight along the X-axis direction without being skewed.

[0091] Specifically, the second guide mechanism 72 includes a third guide portion 721 extending along the X-axis direction, and a fourth guide portion 722 guidingly matched with the third guide portion 721. The third guide portion 721 may be a slide rail extending along the X-axis direction, and the fourth guide portion 722 may be a slider guidingly matched on the slide rail. One of the third guide portion 721 and the fourth guide portion 722 is configured to be fixedly connected to the support assembly 3, and the other is configured to be fixedly connected to the base 1.

[0092] like Figure 4 As shown, the third guide portion 721 in this embodiment is a slide rail fixedly connected to the lower end surface of the support assembly 3, specifically, it can be fixed to the lower end surface of the support portion 31. The fourth guide portion 722 is a slider fixedly connected to the upper end surface of the base 1, and the slide rail can slide relative to the slider along the X-axis direction, thereby playing a role of guiding and limiting. Under the action of the second guide mechanism 72, the support assembly 3 can only extend or retract relative to the base 1 along the X-axis direction.

[0093] In one embodiment of the present disclosure, the second guide mechanism 72 and the support portion 31 can be arranged between the base 1 and the tray assembly 2, specifically, can be located between the two first guide portions 711, thereby eliminating the need to set up additional installation space for the second guide mechanism 72 and the support assembly 3, thereby optimizing the internal spatial layout of the picking and placing device 100.

[0094] In one embodiment of the present disclosure, the third fluid actuation mechanism is constructed as a third cylinder connected to the air source device, and the third cylinder can be driven by the air pump 5, thereby driving the pick-and-place assembly 4 to move relative to the base 1 to pick and place the container. Specifically, the third cylinder can be specifically arranged in the mounting seat 42 of the pick-and-place assembly 4, and therefore is not shown in the figure. The third cylinder may include a third sleeve connected to the base 1, and a third piston movably connected to the third sleeve, the third piston is constructed to be connected to the pick-and-place assembly 4, and is constructed to drive the pick-and-place assembly 4 to move under the driving action of the air source device. The specific structure of the third cylinder can be consistent with the first cylinder 61 or the second cylinder 62, or other cylinder structures known to those skilled in the art can be adopted, and the present disclosure does not make specific restrictions on this.

[0095] The mounting base 42 of the pick-and-place assembly 4 is configured to be connected to the base 1 through the third guide mechanism 73, and is configured to move relative to the base 1 under the driving action of the third piston until the suction cup 41 is matched with the side wall of the container. Figure 4 As shown, the third guide mechanism 73 can be arranged between the base 1 and the mounting seat 42. The third guide mechanism 73 can limit the moving path of the pick-and-place assembly 4, ensuring that the pick-and-place assembly 4 extends straight along the X-axis direction without being skewed.

[0096] Specifically, the third guide mechanism 73 includes a fifth guide portion 731 extending along the X-axis direction, and a sixth guide portion 732 guidingly matched with the fifth guide portion 731. The fifth guide portion 731 may be a slide rail extending along the X-axis direction, and the sixth guide portion 732 may be a slider guidingly matched on the slide rail. One of the fifth guide portion 731 and the sixth guide portion 732 is configured to be fixedly connected to the mounting seat 42, and the other is configured to be fixedly connected to the base 1.

[0097] like Figure 4 As shown, the fifth guide portion 731 in this embodiment is a slide rail fixedly connected to the lower end surface of the mounting seat 42, and the sixth guide portion 732 is a slider fixedly connected to the upper end surface of the base 1. The slide rail can slide relative to the slider along the X-axis direction, thereby playing a role of guiding and limiting. Under the action of the third guide mechanism 73, the pick-and-place assembly 4 can only extend or retract relative to the base 1 along the X-axis direction.

[0098] Further, two third guide mechanisms 73 may be provided, and the two fifth guide portions 731 are configured to be arranged in parallel and spaced apart. The structures of the two third guide mechanisms 73 may be completely consistent, and the two fifth guide portions 731 both extend along the X-axis direction and are fixed in parallel and spaced apart on the mounting seat 42 or the base 1. By providing two third guide mechanisms 73, not only can the guiding effect between the pick-and-place assembly 4 and the base 1 be effectively improved, but also the force on both sides of the pick-and-place assembly 4 can be more balanced.

[0099] refer to Figure 4 As described above, the fifth guide portion 731, the third guide portion 721 and the first guide portion 711 are all slide rails extending along the X-axis direction, and the plurality of slide rails can be constructed to be arranged in parallel and at intervals, so that the first guide mechanism 71, the second guide mechanism 72 and the third guide mechanism 73 can all perform guiding independently without interfering with each other.

[0100] In one embodiment of the present disclosure, the air source device is constructed to be connected to the inner cavity of the suction cup 41, and is configured to adjust the vacuum degree in the inner cavity to adsorb the container. Specifically, the air pump 5 in the air source device can be connected to the inner cavity of the suction cup 41, so that the vacuum degree in the inner cavity is adjusted by the air pump 5 to form a negative pressure in the suction cup 41, and the suction cup 41 can be adsorbed on the side wall of the container to take and return the container. The present disclosure realizes that the movement of the pick-up and place assembly 4, the tray assembly 2, and the support assembly 3 are driven by the same air source device, and the vacuum degree of the inner cavity of the suction cup 41 can also be adjusted by the air source device, so that there is no need to set an additional vacuum generator in the pick-up and place assembly 4, which further simplifies the structure of the pick-up and place device 100 and reduces the cost.

[0101] In one embodiment of the present disclosure, the air source device includes an air pump 5 and an air circuit control mechanism, and the air circuit control mechanism is used to control the air pump 5 to drive the first fluid actuation mechanism, the second fluid actuation mechanism, and the third fluid actuation mechanism respectively. Specifically, the air circuit control mechanism can be a control valve assembly on the air circuit between the air pump 5 and the first cylinder 61, the second cylinder 62, and the third cylinder respectively. The air circuit control mechanism can control the air supply amount, air supply time, and air supply object of the air pump 5, so that the tray assembly 2, the support assembly 3, and the pick-and-place assembly 4 can move in an orderly manner and cooperate with each other to complete the operation of taking and returning the container.

[0102] In a specific embodiment of the present disclosure, when the tray assembly 2 is extended to a predetermined position under the action of the first fluid actuating mechanism, and the support assembly 3 is extended to a position abutting against the carrier 8 under the action of the second fluid actuating mechanism, the air circuit control mechanism is configured to control the air pump 5 to drive the third fluid actuating mechanism to drive the pick-and-place assembly 4 to pick and place the container. It is understandable that before taking or returning the container, the tray assembly 2 needs to be extended to a predetermined position to receive the container, and the support assembly 3 needs to be extended to a position abutting against the carrier 8 before the pick-and-place assembly 4 can be driven to take or return the container. The tray assembly 2 and the support assembly 3 can first make the pick-and-place device 100 stable, non-shaking, and without an excessive gap between the device and the carrier 8, and then the container can be taken or returned, thereby ensuring the stability of the pick-and-place device 100 in the process of transporting the container, preventing the container from getting stuck in the gap, and preventing the container from falling from the gap.

[0103] In the process of taking out and returning the container, the tray assembly 2 can be kept at a predetermined position, and the support assembly 3 can be kept at a position abutting against the carrier 8. That is, under the action of the air circuit control mechanism, the air pump 5 continuously supplies air to the first cylinder 61 and the second cylinder 62, so that the first piston 612 and the second piston 622 are respectively kept in the extended position relative to the first sleeve 611 and the second sleeve 621, thereby allowing the tray assembly 2 to continuously receive and the support assembly 3 to continuously support in the process of taking out and returning the container.

[0104] When the pick-and-place assembly 4 completes the operation of picking up and returning the container, the air circuit control mechanism can control the air pump 5 to stop supplying air to the first cylinder 61 and the second cylinder 62, so that the first piston 612 and the second piston 622 are retracted relative to the first sleeve 611 and the second sleeve 621, respectively, to drive the tray assembly 2 and the support assembly 3 to retract relative to the base 1. In this way, the pick-and-place device 100 can be restored to a state of minimum volume, and the tray assembly 2 and the support assembly 3 will not occupy too much external space, thereby improving the compactness of the pick-and-place device 100. During the operation of the transport robot, the pick-and-place device 100 located at a high position will not interfere with or collide with the surrounding carrier 8, which facilitates the flexible operation of the transport robot.

[0105] In another specific embodiment of the present disclosure, the air circuit control mechanism is configured to control the air pump 5 to at least simultaneously drive the first fluid actuation mechanism and the third fluid actuation mechanism, so as to at least simultaneously drive the tray assembly 2 and the pick-and-place assembly 4 to extend; when the tray assembly 2 extends to a predetermined position, and the support assembly 3 extends to a position abutting against the carrier 8, the pick-and-place assembly 4 is configured to pick and place the container. The difference from the previous embodiment is that the air pump 5 can simultaneously drive the tray assembly 2 and the pick-and-place assembly 4 to extend outward, and can also simultaneously drive the tray assembly 2, the support assembly 3, and the pick-and-place assembly 4 to extend outward together, which saves the time of extension compared to the scheme of extending in sequence and improves the efficiency of taking out boxes.

[0106] In the case of simultaneous extension, it is necessary to ensure that the tray assembly 2 and the support assembly 3 have been extended to the proper position, and then the pick-and-place assembly 4 can be controlled to start picking up and placing the container. If the pick-and-place assembly 4 has moved to the position that matches the container before the tray assembly 2 and the support assembly 3 have not been extended to the proper position, it is necessary to wait in situ for the tray assembly 2 and the support assembly 3 to continue to extend, so as to ensure the stability of picking up and placing the container. If the tray assembly 2 and the support assembly 3 have moved to the receiving and supporting positions before the pick-and-place assembly 4 extends to the position that matches the container, the air pump 5 can be controlled to drive the pick-and-place assembly 4 to continue to extend, and the operation of picking up and placing the container can be performed.

[0107] refer to Figure 2 and Figure 3, since the pick-and-place assembly 4 in this embodiment is located behind the front end face of the tray assembly 2 in the extension direction (X-axis direction), when the tray assembly 2 and the pick-and-place assembly 4 are controlled to extend at the same time and at the same speed, the tray assembly 2 can move to the predetermined position first, and then the pick-and-place assembly 4 needs to continue to extend for a distance to reach the position where the container or carrier 8 is located. Further, since the handling robot usually stops at a position that is basically in the middle of the lane, the extension of the support assembly 3 is basically the same as that of the tray assembly 2. It can be seen that if the tray assembly 2, the support assembly 3, and the pick-and-place assembly 4 are controlled to extend at the same time and at the same speed, the tray assembly 2 and the support assembly 3 can both move to the position first. Therefore, in the actual box picking and returning scene, the tray assembly 2 and the pick-and-place assembly 4 can be controlled to extend together, or the tray assembly 2, the support assembly 3, and the pick-and-place assembly 4 can be controlled to extend together. After the tray assembly 2 and the support assembly 3 move to the position, the pick-and-place assembly 4 continues to move and picks and places the container. As a result, the tray assembly 2 continues to receive during the process of picking up and returning the container, and the support assembly 3 continues to support during the process of picking up and returning the container.

[0108] As mentioned above, the present disclosure also provides a handling robot, comprising: a chassis assembly 910, a gantry assembly 920 and the aforementioned pick-and-place device 100. The gantry assembly 920 is disposed on the chassis assembly 910, and the base 1 of the pick-and-place device 100 is disposed on the lifting platform 101. The pick-and-place device 100 is configured to rise or fall along the gantry assembly 920 under the driving action of the lifting platform 101. The effect of the handling robot is referred to above and will not be repeated here.

[0109] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The choice of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A pick-and-place device, characterized in that: include: Base (1); A tray assembly (2), wherein the tray assembly (2) is configured to extend to a predetermined position under the action of a first fluid actuating mechanism to receive a container; A support assembly (3), the support assembly (3) being arranged on the base (1) and being configured to extend to a position abutting against the carrier (8) under the action of a second fluid actuating mechanism, so as to provide support during the process of taking and placing the container; A pick-and-place assembly (4), the pick-and-place assembly (4) being arranged on the base (1) and being configured to extend or retract relative to the base (1) under the action of a third fluid actuating mechanism so as to pick and place a container; A fluid source, wherein at least two of the first fluid actuating mechanism, the second fluid actuating mechanism and the third fluid actuating mechanism are configured to be controlled by the same fluid source to respectively drive the tray assembly (2), the support assembly (3) and the pick-and-place assembly (4) to move.

2. The pick-and-place device according to claim 1, characterized in that: The fluid source is an air source device, and the first fluid actuating mechanism is constructed as a first cylinder (61) connected to the air source device; The first cylinder (61) comprises a first sleeve (611) connected to the base (1), and a first piston (612) movably connected to the first sleeve (611); the free end of the first piston (612) is configured to be connected to the tray assembly (2), and is configured to drive the tray assembly (2) to move under the driving action of the air source device.

3. The pick-and-place device according to claim 2, characterized in that: A first connecting seat (631) is fixedly arranged on the upper end surface of the base (1), and the first sleeve (611) is constructed to be hinged to the first connecting seat (631); a second connecting seat (632) is fixedly arranged on the lower end surface of the tray assembly (2), and the free end of the first piston (612) is constructed to be hinged to the second connecting seat (632).

4. The pick-and-place device according to claim 2, characterized in that: A first guide mechanism (71) is provided between the tray assembly (2) and the base (1); the tray assembly (2) is configured to extend or retract relative to the base (1) along the X-axis direction under the action of the first guide mechanism (71); The first guide mechanism (71) comprises a first guide portion (711) extending along the X-axis direction, and a second guide portion (712) guiding and cooperating with the first guide portion (711); one of the first guide portion (711) and the second guide portion (712) is configured to be fixedly connected to the tray assembly (2), and the other is configured to be fixedly connected to the base (1).

5. The pick-and-place device according to claim 4, characterized in that: Two first guide mechanisms (71) are provided, and the two first guide parts (711) are configured to be arranged in parallel and spaced apart; the first cylinder (61) is configured to be located between the two first guide parts (711).

6. The pick-and-place device according to claim 1, characterized in that: The fluid source is an air source device, and the second fluid actuating mechanism is constructed as a second cylinder (62) connected to the air source device; The second cylinder (62) comprises a second sleeve (621) connected to the base (1), and a second piston (622) movably connected to the second sleeve (621); the free end of the second piston (622) is configured to be connected to the support assembly (3), and is configured to drive the support assembly (3) to move under the driving action of the air source device.

7. The pick-and-place device according to claim 6, characterized in that: A third connecting seat (633) is fixedly arranged on the upper end surface of the base (1), and the second sleeve (621) is constructed to be hinged to the third connecting seat (633); a fourth connecting seat (634) is fixedly arranged on the support assembly (3), and the free end of the second piston (622) is constructed to be hinged to the fourth connecting seat (634).

8. The pick-and-place device according to claim 6, characterized in that: The support assembly (3) comprises a support portion (31) and an abutment portion (32) connected to the support portion (31); the support portion (31) is configured to be connected to the base (1) through a second guide mechanism (72), and is configured to extend outward relative to the base (1) under the driving action of the second piston (622) until the abutment portion (32) abuts against the carrier (8).

9. The pick-and-place device according to claim 8, characterized in that: Two support assemblies (3) are provided, and the two support assemblies (3) are configured to extend outwardly away from each other to respectively abut against the carriers (8) on opposite sides of the lane; Alternatively, the extension direction of the support component (3) is opposite to the extension direction of the tray component (2); when located at a predetermined position, the tray component (2) is constructed to abut against the carrier (8) so as to provide support together with the support component (3) during the process of taking and placing the container.

10. The pick-and-place device according to claim 1, characterized in that: The fluid source is an air source device, and the third fluid actuating mechanism is constructed as a third cylinder connected to the air source device; The third cylinder comprises a third sleeve connected to the base (1), and a third piston movably connected to the third sleeve; the third piston is configured to be connected to the pick-and-place assembly (4), and is configured to drive the pick-and-place assembly (4) to move under the driving action of the air source device.

11. The pick-and-place device according to claim 10, characterized in that: The pick-and-place assembly (4) comprises a suction cup (41) and a mounting seat (42) for mounting the suction cup (41); the mounting seat (42) is configured to be connected to the base (1) through a third guide mechanism (73), and is configured to move relative to the base (1) under the driving action of the third piston until the suction cup (41) cooperates with the side wall of the container.

12. The pick-and-place device according to claim 11, characterized in that: The air source device is constructed to be in communication with the inner cavity of the suction cup (41), and is configured to adjust the vacuum degree in the inner cavity so as to adsorb the container.

13. The pick-and-place device according to claim 1, characterized in that: The fluid source comprises an air pump (5) and an air circuit control mechanism, wherein the air circuit control mechanism is used to control the air pump (5) to respectively drive the first fluid actuating mechanism, the second fluid actuating mechanism, and the third fluid actuating mechanism; When the tray assembly (2) is extended to a predetermined position under the action of the first fluid actuating mechanism, and the support assembly (3) is extended to a position abutting against the carrier (8) under the action of the second fluid actuating mechanism, the air circuit control mechanism is configured to control the air pump (5) to drive the third fluid actuating mechanism to drive the pick-and-place assembly (4) to pick and place the container; Alternatively, the air circuit control mechanism is configured to control the air pump (5) to at least simultaneously drive the first fluid actuating mechanism and the third fluid actuating mechanism, so as to at least simultaneously drive the tray assembly (2) and the pick-and-place assembly (4) to extend; when the tray assembly (2) is extended to a predetermined position, and the support assembly (3) is extended to a position abutting against the carrier (8), the pick-and-place assembly (4) is configured to pick and place the container.

14. A transport robot, characterized in that: include: Chassis assembly (910); A door frame assembly (920) is arranged on the chassis assembly (910); The pick-and-place device according to any one of claims 1 to 13, wherein: The base (1) is arranged on a lifting platform (101); and the picking and placing device (100) is constructed to rise or fall along the door frame assembly (920) under the driving action of the lifting platform (101).

Images