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

Abstract

The embodiment of the utility model provides a workbin taking and placing device, a workbin carrying robot and a workbin carrying system. The workbin taking and placing device comprises a rotating mechanism, a lateral moving mechanism, a telescopic mechanism and a suction cup taking and placing mechanism. The rotating mechanism comprises a rotating assembly; the lateral moving mechanism is arranged on the rotating assembly, can rotate along with the rotating assembly and can laterally move relative to the rotating assembly; the telescopic mechanism is arranged on the lateral moving mechanism, can laterally move along with the lateral moving mechanism and can stretch and retract front and back relative to the lateral moving mechanism. The sucker taking and placing mechanism is arranged at the telescopic end of the telescopic mechanism and can stretch out and draw back along with the telescopic mechanism. The sucker picking and placing mechanism is driven to rotate and translate through the rotating mechanism, the lateral moving mechanism and the telescopic mechanism, the sucker picking and placing mechanism can suck and place down the material box from the upper portion, and compared with a picking and placing device adopting a straight plate forking mode in the related technology, the sucker picking and placing mechanism can pick 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, comprising: a rotating mechanism, a side shifting mechanism, a telescopic mechanism and a suction cup picking and placing mechanism; the rotating mechanism comprises a first base plate and a rotating assembly arranged on the top surface of the first base plate, and the rotating assembly can rotate relative to the first base plate; the side shifting mechanism is arranged on the rotating assembly, can rotate with the rotating assembly, and can move laterally in a horizontal direction relative to the rotating assembly; the telescopic mechanism is arranged on the side shifting mechanism, 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 suction cup picking and placing mechanism comprises a suction cup assembly, which is arranged at the telescopic end of the telescopic mechanism and can be telescoped with the telescopic mechanism, and is used to suck and place the material box from the top of the material box.

[0007] In some embodiments of the present application, the telescopic mechanism includes two telescopic guide rails; the telescopic guide rails are arranged at the top of the side shift mechanism and are slidably connected to the top of the side shift mechanism; the suction cup picking and placing mechanism is arranged at the lower part of the telescopic end of the telescopic guide rail, and the telescopic guide rail is used to extend the suction cup picking and placing mechanism out of the top of the side shift mechanism to pick and place the material box from the top of the material box.

[0008] In some embodiments of the present application, each of the telescopic guide rails includes an outer guide rail and an inner guide rail; the outer side of the outer guide rail is slidably connected to the top of the lateral shift mechanism, and the inner side is slidably connected to the inner guide rail; the telescopic end of the inner guide rail is fixedly connected to the suction cup pick-and-place mechanism.

[0009] In some embodiments of the present application, the telescopic mechanism also includes a telescopic motor, a second gear, a second rack and a fixed plate; the fixed plate is arranged between the two inner guide rails, and is fixedly connected to the inner guide rails on both sides; the second rack is fixedly arranged on the top surface of the fixed plate; the telescopic motor is fixedly connected to the side shifting mechanism; the telescopic motor is used to drive the second gear to roll along the second rack, thereby driving the fixed plate, the telescopic guide rail and the suction cup pick-and-place mechanism to move relative to the side shifting mechanism.

[0010] In some embodiments of the present application, the suction cup assembly of the suction cup picking and placing mechanism includes a suction cup, a vacuum pump and a solenoid valve connected by a gas pipeline; the suction cup is arranged on the bottom surface of the telescopic end of the fixed plate; the vacuum pump and the solenoid valve are arranged on the top surface of the fixed plate; the solenoid valve is used to control the vacuum pump to suck air into or deflate the suction cup, thereby sucking up or putting down the material box.

[0011] In some embodiments of the present application, the suction cup picking and placing mechanism also includes a suction cup rotating assembly; the suction cup rotating assembly includes a suction cup rotating motor, a synchronous belt, a first synchronous wheel and a second synchronous wheel; the suction cup rotating motor is fixedly connected to the bottom surface of the fixed plate, and the first synchronous wheel is sleeved on the output end of the suction cup rotating motor; the second synchronous wheel is arranged between the suction cup and the fixed plate, the suction cup is fixedly arranged on the bottom surface of the second synchronous wheel, and the synchronous belt is wound around the first synchronous wheel and the second synchronous wheel; the suction cup rotating motor is used to drive the synchronous belt, the first synchronous wheel and the second synchronous wheel to drive the suction cup to rotate.

[0012] In some embodiments of the present application, the rotating assembly includes a rotating motor and a slewing support mechanism, 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.

[0013] In some embodiments of the present application, a connecting plate is fixedly arranged on the top of the rotating assembly; the bottom of the lateral shift mechanism is slidably connected to the top surface of the connecting plate through no less than two groups of sliding rails and sliders; the arrangement direction of the sliding rails is parallel to the moving direction of the lateral shift mechanism.

[0014] In some embodiments of the present application, the side-shift mechanism includes a second base plate, a side-shift motor, a first gear, a first rack and a support frame; the telescopic guide rail is arranged on the top of the support frame and is slidably connected to the support frame; the second base plate is slidably connected to the top surface of the connecting plate through the slide rail and the slider; the side-shift motor is arranged on a side edge of the second base plate parallel to the slide rail; the first gear is sleeved on the output shaft of the side-shift motor, the first rack is fixedly arranged on the connecting plate, and the first gear is meshed with the first rack; the side-shift motor is used to drive the first gear to roll along the first rack, thereby driving the second base plate to move along the slide rail relative to the connecting plate.

[0015] 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; a lifting mechanism is arranged on the inner sides of the two door columns of the lifting gantry, 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.

[0016] 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 door posts; the lifting power assembly includes a lifting motor, a chain and a sprocket; the sprocket is arranged at the top and bottom of the door post, and both ends of the chain are fixedly connected to the material box picking and placing device and are wound around the sprocket; the lifting motor drives the material box picking and placing device to move up and down in the vertical direction along the lifting guide rail through the driving sprocket chain transmission.

[0017] In some embodiments of the present application, a plurality of storage layers are arranged between the two door columns of the lifting gantry; each of the storage layers is divided into a plurality of storage positions for storing the material boxes; and the material box picking and placing device is used to pick and place the material boxes from the storage positions.

[0018] In some embodiments of the present application, a positioning camera is provided on the suction cup pick-and-place mechanism for scanning an external QR code to position the material box handling robot and the material box.

[0019] 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 suction cup pick-and-place mechanism; the material box handling robot can move on the driving channel, and two-dimensional codes are arranged 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.

[0020] The embodiments of the present application provide such a material box picking and placing device, a material box handling robot and a system, which drive a suction cup picking and placing mechanism to rotate and translate through a rotating mechanism, a lateral movement mechanism and a telescopic mechanism. The suction cup picking and placing mechanism includes a suction cup assembly, which can suck and place the material box from above. 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 on conventional shelves, it can also pick up and place material boxes on shelves using a stacked storage method.

[0021] Of course, any product implementing the present application does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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.

[0023] Figure 1 A three-dimensional structural diagram of a material box picking and placing device from a first angle provided in an embodiment of the first aspect of the present application;

[0024] Figure 2 for Figure 1 A three-dimensional structural diagram of the material box picking and placing device at a second angle;

[0025] Figure 3 for Figure 1 A three-dimensional structural diagram of the material box picking and placing device from a third angle;

[0026] Figure 4 for Figure 1 An exploded schematic diagram of a material box picking and placing device is shown;

[0027] Figure 5 for Figure 1 A three-dimensional structural diagram of the suction cup pick-and-place mechanism shown;

[0028] Figure 6 for Figure 1 A three-dimensional structural diagram of the rotating mechanism shown;

[0029] Figure 7 A three-dimensional structural diagram of a container handling robot from a first angle provided in an embodiment of the second aspect of the present application;

[0030] Figure 8 for Figure 7 A three-dimensional structural diagram of the box handling robot from a second angle;

[0031] Fig. 9 A top view of a material box handling system provided in an embodiment of the third aspect of the present application;

[0032] Fig.10 for Fig. 9 The shown top view of the material box handling robot moving to the front of the machine platform;

[0033] Fig.11 for Fig.10 The schematic diagram of the structure in which the telescopic mechanism drives the suction cup pick-and-place mechanism to extend toward the machine platform;

[0034] Fig.12 for Fig.11 A schematic diagram of the structure in which the rotating mechanism drives the suction cup pick-and-place mechanism to rotate toward the storage layer plate;

[0035] Fig.13 for Fig.12 The schematic diagram of the structure in which the lateral shift mechanism drives the suction cup pick-and-place mechanism to move toward the corresponding storage position.

[0036] Description of reference numerals:

[0037] Material box picking and placing device 1;

[0038] Rotating mechanism 100; first base plate 110; rotating assembly 120; rotating motor 121; slewing support mechanism 122; worm mechanism 1221; slewing support 1222; connecting plate 130;

[0039] Side shift mechanism 200; slide rail 210a; slider 210b; second bottom plate 220; side shift motor 230; first gear 240a; first rack 240b; support frame 250; support column 251; crossbeam 252; drag chain 260;

[0040] Telescopic mechanism 300; telescopic guide rail 310; telescopic end 310a; outer guide rail 311; inner guide rail 312; telescopic motor 320; telescopic motor frame 321; reducer 322; second gear 330a; second rack 330b; fixed plate 340;

[0041] Suction cup pick-and-place mechanism 400; suction cup assembly 410; suction cup 411; vacuum pump 412; solenoid valve 413; pressure gauge 414; suction cup rotation assembly 420; suction cup rotation motor 421; synchronous belt 422; first synchronous wheel 423; second synchronous wheel 424; positioning camera 430;

[0042] 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 power component 532; the sprocket 5323; the storage layer 54; the storage position 541; the partition 542;

[0043] Material box handling system 6; driving channel 61; machine 62; QR code 63;

[0044] Material box 7. DETAILED DESCRIPTION

[0045] 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.

[0046] 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.

[0047] In view of this, the embodiment of the first aspect of the present application provides a material box picking and placing device, see Figures 1 to 4 , Figure 1 A three-dimensional structural diagram of a material box picking and placing device from a first angle provided in an embodiment of the first aspect of the present application; Figure 2 for Figure 1 A three-dimensional structural diagram of the material box picking and placing device at a second angle; Figure 3 for Figure 1 A three-dimensional structural diagram of the material box picking and placing device from a third angle; Figure 4 for Figure 1 The exploded schematic diagram of the material box picking and placing device is shown in FIG. Figures 1 to 4 As shown, the material box picking and placing device includes: a rotating mechanism 100, a side shifting mechanism 200, a telescopic mechanism 300 and a suction cup picking and placing mechanism 400.

[0048] The rotating mechanism 100 includes a first bottom plate 110 and a rotating assembly 120 disposed on the top surface of the first bottom plate 110 . The rotating assembly 120 can rotate relative to the first bottom plate 110 .

[0049] The side shift mechanism 200 is disposed on the rotating assembly 120 , can rotate along with the rotating assembly 120 , and can move laterally in a horizontal direction relative to the rotating assembly 120 .

[0050] The telescopic mechanism 300 is disposed on the lateral shift mechanism 200 . The telescopic mechanism 300 can move laterally along with the lateral shift mechanism 200 , and the telescopic end of the telescopic mechanism 300 can telescope forward and backward relative to the lateral shift mechanism 200 .

[0051] The suction cup pick-up and place mechanism 400 includes a suction cup assembly 410 , which is disposed at the telescopic end of the telescopic mechanism 300 and can be telescoped along with the telescopic mechanism 300 , and is used to suck and place the material box 7 from the top of the material box 7 .

[0052] The embodiment of the present application provides such a material box picking and placing device, which drives the suction cup picking and placing mechanism 400 to rotate and translate through the rotating mechanism 100, the side shifting mechanism 200 and the telescopic mechanism 300. The suction cup picking and placing mechanism 400 includes a suction cup assembly 410, which can suck and place the material box 7 from above. 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 boxes 7 on conventional shelves, it can also pick up and place the material boxes 7 on shelves using a stacking storage method.

[0053] In some embodiments of the present application, Figures 1 to 4 As shown, the telescopic mechanism 300 includes two telescopic guide rails 310; the telescopic guide rails 310 are arranged on the top of the side shift mechanism 200 and are slidably connected to the top of the side shift mechanism 200; the suction cup pick-up and place mechanism 400 is arranged at the lower part of the telescopic end 310a of the telescopic guide rails 310, and the telescopic guide rails 310 are used to extend the suction cup pick-up and place mechanism 400 out of the top of the side shift mechanism 200 to pick up and place the material box 7 from the top of the material box 7.

[0054] Specifically, the telescopic direction of the telescopic mechanism 300 is perpendicular to the lateral shifting direction of the lateral shifting mechanism 200 .

[0055] 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 guide rail 310 can improve the load-bearing capacity and structural compactness of the material box picking and placing device 1.

[0056] In some embodiments of the present application, Figures 1 to 4As shown, each telescopic guide rail 310 includes an outer guide rail 311 and an inner guide rail 312; the outer side of the outer guide rail 311 is slidably connected to the top of the lateral shift mechanism 200, and the inner side is slidably connected to the inner guide rail 312; the telescopic end 310a of the inner guide rail 312 is fixedly connected to the suction cup pick-and-place mechanism 400.

[0057] Specifically, when the telescopic mechanism 300 is extended, the inner guide rail 312 equipped with the suction cup pick-and-place mechanism 400 can slide relative to the outer guide rail 311 in a direction away from the material box pick-and-place device 1, and the outer guide rail 311 can slide relative to the side shift mechanism 200 in a direction away from the material box pick-and-place device 1. The telescopic guide rail 310 can also be a telescopic guide rail of more levels, depending on the telescopic distance required in actual working conditions.

[0058] Using the embodiment of the present application, the telescopic guide rail 310 includes an outer guide rail 311 and an inner guide rail 312, which increases the moving stroke of the telescopic mechanism 300; when the telescopic guide rail 310 is in a retracted state, the inner guide rail 312 can be retracted into the outer guide rail 311, reducing the volume of the telescopic guide rail 310 and making the structure of the telescopic mechanism 300 more compact.

[0059] In some embodiments of the present application, Figures 1 to 4 As shown, the telescopic mechanism 300 further includes a telescopic motor 320 , a second gear 330 a , a second rack 330 b and a fixing plate 340 .

[0060] The fixing plate 340 is disposed between the two inner guide rails 312 , and the two sides thereof are fixedly connected to the inner guide rails 312 ; the second rack 330 b is fixedly disposed on the top surface of the fixing plate 340 .

[0061] The telescopic motor 320 is fixedly connected to the lateral shift mechanism 200 ; the telescopic motor 320 is used to drive the second gear 330a to roll along the second rack 330b , driving the fixed plate 340 , the telescopic guide rail 310 and the suction cup pick-and-place mechanism 400 to move relative to the lateral shift mechanism 200 .

[0062] Specifically, the telescopic mechanism 300 also includes a telescopic motor frame 321, which is used to fix the telescopic motor 320 to the side shift mechanism 200. The telescopic motor frame 321 is arranged across the top of the side shift mechanism 200, and its height is higher than the telescopic guide rail 310, and there is a height gap between the telescopic guide rail 310, so that the fixed plate 340 carrying multiple mechanisms on the top can pass through. The specific mechanism carried is described in detail in the subsequent description. The output end of the telescopic motor 320 is connected to a reducer 322, and the output end of the reducer 322 passes downward through the telescopic motor frame 321 and is sleeved and connected with the second gear 330a. The telescopic motor 320 drives the second gear 330a to roll along the second rack 330b, so that the fixed plate 340 drives the inner guide rail 312 and the suction cup pick-and-place mechanism 400 on the inner guide rail 312 to move. After the inner guide rail 312 moves to the end of the stroke, it drives the outer guide rail 311 to move together.

[0063] By applying the embodiment of the present application, the fixed plate 340 can improve the strength of the telescopic guide rail 310. The use of the second gear 330a and the second rack 330b can improve the transmission efficiency, the strength and telescopic accuracy of the telescopic guide rail 310, making the overall structure of the material box picking and placing device 1 more compact.

[0064] In some embodiments of the present application, Figures 1 to 4 As shown, the suction cup assembly 410 of the suction cup pick-and-place mechanism 400 includes a suction cup 411, a vacuum pump 412 and a solenoid valve 413 connected by a gas pipeline; the suction cup 411 is arranged on the bottom surface of the telescopic end of the fixed plate 340; the vacuum pump 412 and the solenoid valve 413 are arranged on the top surface of the fixed plate 340; the solenoid valve 413 is used to control the vacuum pump 412 to suck air into or deflate the suction cup 411, thereby sucking or putting down the material box 7.

[0065] Specifically, the number of suction cups 411 can be one or more. In the embodiment of the present application, the number of suction cups 411 is 2, which are symmetrically arranged at the bottom of the fixed plate 340. The suction cups 411 are connected to the vacuum pump 412 through the gas channel. When the vacuum pump 412 is evacuating, air flows into the gas channel from the suction hole on the suction cup 411, thereby forming a vacuum environment at the suction cup 411, and the material box 7 is adsorbed on the suction cup 411; the solenoid valve 413 is arranged on the gas channel, and the switch and suction force of the suction cup 411 can be adjusted by adjusting the solenoid valve 413. A pressure gauge 414 is also arranged on the gas channel, and the pressure gauge 414 is fixed on the top surface of the fixed plate 340 to display the air pressure value in real time.

[0066] By using the embodiment of the present application, the material box 7 is adsorbed and clamped from above the material box 7 by means of vacuuming through the suction cup assembly 410. Compared with the pick-and-place device using a straight plate fork pick-up method in the related technology, it can pick and place the material box 7 on the shelf using a stacked storage method; compared with the pick-and-place device using a clamping claw, the adsorption is stable and reliable, and will not damage the surface of the material box 7; it is small in size and simple in structure, which simplifies the structure of the material box pick-and-place device 1.

[0067] In some embodiments of the present application, see Figure 5 , Figure 5 for Figure 1 The three-dimensional structure diagram of the suction cup pick-up and place mechanism is shown in FIG. Figure 5 As shown, the suction cup pick-and-place mechanism 400 further includes a suction cup rotating assembly 420 ; the suction cup rotating assembly 420 includes a suction cup rotating motor 421 , a synchronous belt 422 , a first synchronous wheel 423 and a second synchronous wheel 424 .

[0068] The suction cup rotating motor 421 is fixedly connected to the bottom surface of the fixed plate 340, and the first synchronous wheel 423 is sleeved on the output end of the suction cup rotating motor 421; the second synchronous wheel 424 is arranged between the suction cup 411 and the fixed plate 340, the suction cup 411 is fixedly arranged on the bottom surface of the second synchronous wheel 424, and the synchronous belt 422 is wound around the first synchronous wheel 423 and the second synchronous wheel 424.

[0069] The suction cup rotating motor 421 is used to drive the synchronous belt 422 , the first synchronous wheel 423 and the second synchronous wheel 424 to drive the suction cup 411 to rotate.

[0070] Specifically, the suction cup rotating assembly 420 drives the first synchronous wheel 423 and the second synchronous wheel 424 to transmit, so that the position of the suction cup 411 can be adjusted. When the position of the suction cup 411 is not aligned with the material box 7, the suction cup rotating assembly 420 can be adjusted to adjust the suction cup 411 to a suitable position; when placing the material box 7, the suction cup rotating assembly 420 can be adjusted to adjust the material box 7 to be placed horizontally or vertically according to the actual scene requirements. The diameter of the second synchronous wheel 424 is larger than the diameter of the first synchronous wheel 423, which plays a deceleration role, reduces the rotation speed of the suction cup 411, and thus improves the adjustment accuracy.

[0071] By applying the embodiment of the present application and setting a suction cup rotating assembly 420, the flexibility of the suction cup pick-up and placement mechanism 400 can be improved, so that the suction cup pick-up and placement mechanism 400 has an adjustment function, and the adsorption position of the suction cup 411 and the placement of the material box 7 can be adjusted.

[0072] In some embodiments of the present application, see Figure 6 , Figure 6 for Figure 1 The three-dimensional structure diagram of the rotating mechanism is shown in FIG. Figure 1 , Figure 4 and Figure 6 As shown, the rotating assembly 120 includes a rotating motor 121 and a slewing support mechanism 122 , and the side shift mechanism 200 is arranged on the top of the slewing support mechanism 122 . The rotating motor 121 is used to drive the slewing support mechanism 122 to rotate, thereby driving the side shift mechanism 200 to rotate.

[0073] Specifically, the rotating motor 121 and the slewing support mechanism 122 are both fixed on the top surface of the first bottom plate 110. The slewing support mechanism 122 is a worm gear type slewing support mechanism, including a worm mechanism 1221 and a slewing support 1222; the output end of the rotating motor 121 is connected to the input end of the worm mechanism 1221 by transmission, and can be connected by a synchronous pulley or the like; the slewing support 1222 includes an inner ring and an outer ring; the inner ring is fixedly connected to the first bottom plate 110, and the outer ring is connected to the side shift mechanism 200; the outer ring is in the form of a worm gear, and meshes with the worm mechanism 1221 provided on one side of the slewing support 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 first bottom plate 110.

[0074] In the embodiment of the present application, the rotating motor 121 is used to drive 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. The slewing bearing mechanism 122 adopts a worm gear slewing bearing 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.

[0075] In some embodiments of the present application, Figures 1 to 4 As shown, a connecting plate 130 is fixedly arranged on the top of the rotating assembly 120; the bottom of the side shift mechanism 200 is slidably connected to the top surface of the connecting plate 130 through no less than two groups of slide rails 210a and sliders 210b; the arrangement direction of the slide rail 210a is parallel to the moving direction of the side shift mechanism 200.

[0076] 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. The slide rail 210a is a linear guide rail, which can be fixedly arranged on the top surface of the connecting plate 130, and the slider 210b is correspondingly fixedly arranged on the bottom of the side shift mechanism 200; or Figures 1 to 3 The slide rail 210 a is fixedly disposed on the bottom of the side shift mechanism 200 , and the slider 210 b is correspondingly fixedly disposed on the top surface of the connecting plate 130 .

[0077] By using the embodiment of the present application, the side shift mechanism 200 uses the slide rail 210a and the slider 210b to realize the side shift mechanism 200 carrying the telescopic mechanism 300 and the suction cup pick-and-place mechanism 400 to move sideways on the horizontal plane, so that the material box pick-and-place device 1 can move sideways to pick up and place the material box 7 or to sideways transfer the material box 7 to other locations. The slide rail 210a 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.

[0078] In some embodiments of the present application, Figures 1 to 4 As shown, the lateral shift mechanism 200 includes a second base plate 220 , a lateral shift motor 230 , a first gear 240 a , a first rack 240 b and a support frame 250 ; the telescopic guide rail 310 is disposed on the top of the support frame 250 and is slidably connected to the support frame 250 .

[0079] The second bottom plate 220 is slidably connected to the top surface of the connecting plate 130 via the sliding rail 210a and the sliding block 210b.

[0080] The side shift motor 230 is arranged on a side edge of the second base plate 220 parallel to the slide rail 210a; the first gear 240a is sleeved on the output shaft of the side shift motor 230, the first rack 240b is fixedly arranged on the connecting plate 130, and the first gear 240a is meshed with the first rack 240b.

[0081] The side shift motor 230 is used to drive the first gear 240a to roll along the first rack 240b, thereby driving the second bottom plate 220 to move relative to the connecting plate 130 along the slide rail 210a.

[0082] Specifically, the support frame 250 is a hollow frame, which can be Figures 1 to 3 As shown, it is composed of four support columns 251 arranged at the four corners of the second bottom plate 220 and two crossbeams 252 at the top, which are used to accommodate the side shift motor 230 on the second bottom plate 220 and the suction cup pick-and-place mechanism 400 at the telescopic end of the telescopic mechanism 300 in the retracted state, thereby improving the space utilization rate and making the overall structure of the material box pick-and-place device 1 more compact. Among them, the telescopic motor frame 321 is arranged across the top of the two crossbeams 252, and the height spacing between the crossbeam 252 and the telescopic motor frame 321 is for the fixed plate 340 carrying the vacuum pump 412, the solenoid valve 413 and the pressure gauge 414 to pass. The inner side of the two crossbeams 252 is fixedly provided with a guide rail, and the outer side of the outer guide rail 311 is slidably connected to the guide rail on the inner side of the crossbeam 252. The setting direction of the crossbeam 252 and the telescopic guide rail 310 is perpendicular to the slide rail 210a, so that the telescopic direction of the telescopic mechanism 300 and the side shift direction of the side shift mechanism 200 are mutually perpendicular.

[0083] A drag chain 260 is arranged on the top surface of the second bottom plate 220, and is used to bind the cables of the material box picking and placing device 1. The cables include power cables and signal cables, etc. In the embodiment of the present application, the drag chain 260 is shown to be arranged vertically. The actual arrangement of the drag chain 260 can be selected according to the size and model of the drag chain used and the space size on the side shift mechanism 200, and the present application does not limit this.

[0084] In the embodiment of the present application, the side shifting motor 230 drives the first gear 240a and the first rack 240b to mesh and drive the side shifting mechanism 200 to move sideways; the telescopic mechanism 300 and the suction cup pick-and-place mechanism 400 are driven to move sideways on the horizontal plane, so that the material box pick-and-place 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 gear 240a and the first rack 240b can improve the transmission efficiency, the load-bearing capacity of the side shifting mechanism 200 and the lateral movement accuracy, making the overall structure of the material box pick-and-place device 1 more compact. The support frame 250 can be provided to improve the load-bearing capacity and structural compactness of the material box pick-and-place device 1.

[0085] The second aspect of the present application provides a box handling robot. Figure 7 and Figure 8 , Figure 7 A three-dimensional structural diagram of a container handling robot from a first angle provided in an embodiment of the second aspect of the present application; Figure 8 for Figure 7 The third perspective structural diagram of the container handling robot is shown in FIG. Figure 7 and Figure 8 As shown, the material box handling robot includes a material box picking and placing device 1, a moving chassis 51 and a lifting gantry 52 of any embodiment of the first aspect; a lifting mechanism 53 is arranged on the inner side of the two door columns 52a of the lifting gantry 52, 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.

[0086] 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.

[0087] 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 boxes 7 located at different heights; the material box picking and placing device 1 of the material box handling robot 5 drives the suction cup picking and placing mechanism 400 to rotate and translate through the rotating mechanism 100, the side shifting mechanism 200 and the telescopic mechanism 300, and the suction cup picking and placing mechanism 400 includes a suction cup assembly 410, which can suck and put down the material box 7 from above. 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 boxes 7 on conventional shelves, it can also pick up and place the material boxes 7 on shelves using a stacking storage method.

[0088] In some embodiments of the present application, Figure 7 and Figure 8 As shown, the lifting mechanism 53 includes a lifting guide rail and a lifting power assembly 532; the lifting guide rail is vertically arranged on the inner side of the two door columns 52a; the lifting power assembly 532 includes a lifting motor, a chain and a sprocket 5323; the sprocket 5323 is arranged at the top and bottom of the door column 52a, and both ends of the chain are fixedly connected to the material box picking and placing device 1 and are wound around the sprocket 5323; the lifting motor drives the sprocket 5323 chain transmission to drive the material box picking and placing device 1 along the lifting guide rail and move up and down in the vertical direction.

[0089] Specifically, the first base plate 110 is fixedly connected to the chain and slidably connected to the lifting rail.

[0090] By applying the embodiment of the present application, a lifting guide rail is provided on the door column 52a, thereby improving the rigidity and load-bearing capacity of the door column 52a; the lifting motor drives the chain and sprocket 5323 to transmit, thereby realizing the lifting and lowering of the material box picking and placing device 1, and improving the transmission efficiency and the load-bearing capacity of the lifting mechanism 53.

[0091] In some embodiments of the present application, Figure 7 and Figure 8 As shown, a plurality of storage layers 54 are arranged between the two door columns 52a of the lifting gantry 52; each storage layer 54 is divided into a plurality of storage positions 541 for storing material boxes 7; and the material box picking and placing device 1 is used for picking and placing the material boxes 7 from the storage positions 541.

[0092] Specifically, the storage positions 541 on the storage layer 54 are divided by partitions 542, and the partitions 542 are provided with guide bell mouths for assisting in guiding when the suction cup pick-and-place mechanism 400 places the material box 7. Multiple material boxes 7 can be placed front and back on each storage position 541, thereby improving the storage capacity of the material box handling robot 5.

[0093] By applying the embodiment of the present application, multiple storage layers 54 are set between the two door pillars 52a, so that the material box handling robot 5 has the function of storing material boxes 7 and can transport multiple material boxes 7 at a time, thereby improving the handling efficiency of the material box handling robot 5; in addition, it also improves the space utilization rate of the lifting door frame 52, making the structure of the material box handling robot 5 more compact.

[0094] In some embodiments of the present application, Figure 1 and Figure 5 As shown, a positioning camera 430 is provided on the suction cup pick-and-place mechanism 400 for scanning the external two-dimensional code 63 , thereby positioning the material box handling robot 5 and the material box 7 .

[0095] Specifically, the positioning camera 430 may be disposed on the bottom surface of the second synchronization wheel 424 .

[0096] By using the embodiment of the present application, the material box handling robot 5 and the material box 7 are positioned by the positioning camera 430, so that the material box handling robot 5 can control its own displacement and the telescopic amount of the telescopic mechanism 300.

[0097] The third aspect of the present application provides a material box handling system. Fig. 9 , Fig. 9 A top view of a material box handling system provided in the third embodiment of the present application. Fig. 9 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.

[0098] A positioning camera 430 is provided on the suction cup pick-and-place mechanism 400 .

[0099] 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 430 to control the moving position of the material box handling robot 5;

[0100] 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 430 to control the telescopic amount of the telescopic mechanism 300 .

[0101] 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 set on the top surface of the material box 7. During the extension process of the telescopic mechanism 300, when the positioning camera 430 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 suction cup pick-and-place mechanism 400 to the top of the material box 7 for suction.

[0102] In this embodiment, the material box handling system further includes a control device, which is in communication connection with the rotating mechanism 100, the side shifting mechanism 200, the telescopic mechanism 300, the suction cup pick-and-place mechanism 400, and the moving chassis 51 and the lifting mechanism 53 of the material box handling robot 5. The control process of the material box handling system is as follows:

[0103] 1. The positioning camera 430 performs image acquisition and recognition on the QR code 63 on the driving channel 61 and feeds back to the control device; the control device sends a command to the moving chassis 51, instructing the moving chassis 51 to go to the target machine 62, and based on the result of image recognition, determines that the material box handling robot 5 has arrived at the target machine 62, and instructs the moving chassis 51 to stop.

[0104] 2. The control device sends a command to the telescopic mechanism 300, instructing the telescopic mechanism 300 to extend toward the target machine 62. The positioning camera 430 recognizes the QR code 63 on the top of the material box 7 on the target machine and feeds back to the control device. The control device sends a command to the telescopic mechanism 300, instructing the telescopic mechanism 300 to stop extending.

[0105] 3. The control device sends a command to the lifting mechanism 53 , instructing the lifting mechanism 53 to move the material box picking and placing device 1 in the vertical direction to a position close to the top of the target material box 7 .

[0106] Fourth, the control device sends a command to the suction cup pick-and-place mechanism 400, instructing the suction cup assembly 410 to draw a vacuum and suck the material box 7.

[0107] 5. After determining that the suction cup pick-up and place mechanism 400 has sucked the loading box 7, the control device sends a command to the telescopic mechanism 300 and the lifting mechanism 53, instructing the telescopic mechanism 300 and the lifting mechanism 53 to retract the suction cup pick-up and place mechanism 400; and sends a command to the rotating mechanism 100 and the side shifting mechanism 200, instructing the rotating mechanism 100 and the side shifting mechanism 200 to adjust the suction cup pick-up and place mechanism 400 to face the target storage position 541.

[0108] 6. The control device sends a command to the telescopic mechanism 300 , instructing the telescopic mechanism 300 to extend the suction cup pick-and-place mechanism 400 to above the target storage position 541 ; and sends a command to the suction cup pick-and-place mechanism 400 to place the material box 7 on the target storage position 541 .

[0109] 7. The control device instructs the material box transporting robot 5 to transport the material box to the destination.

[0110] By applying the embodiment of the present application, the image of the QR code 63 is captured by the positioning camera 430, 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.

[0111] See also Figures 10 to 13 , Fig.10 for Fig. 9 The shown top view of the material box handling robot moving to the front of the machine platform; Fig.11 for Fig.10 The schematic diagram of the structure in which the telescopic mechanism drives the suction cup pick-and-place mechanism to extend toward the machine platform; Fig.12 for Fig.11 A schematic diagram of the structure in which the rotating mechanism drives the suction cup pick-and-place mechanism to rotate toward the storage layer plate; Fig.13 for Fig.12 The side shift mechanism shown drives the suction cup pick-and-place mechanism to move toward the corresponding storage position. Figures 10 to 13 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.

[0112] In step S1 , the material box transport robot 5 recognizes the two-dimensional code 63 on the driving channel 61 through the positioning camera 430 and drives to the front of the machine platform 62 .

[0113] In step S2 , the telescopic mechanism 300 drives the suction cup pick-and-place mechanism 400 to extend toward the platform 62 , and the positioning camera 430 locates and identifies the two-dimensional code 63 on the material box 7 stacked on the platform 62 .

[0114] Step S3 , the lifting mechanism 53 adjusts the material box picking and placing device 1 to a suitable height, and the suction cup assembly 410 sucks the material box 7 .

[0115] Here, if the suction cup 411 of the suction cup pick-and-place mechanism 400 deviates from the appropriate suction position, the suction cup 411 needs to be adjusted to the appropriate suction position by the suction cup rotating assembly 420, and then the material box 7 is sucked. The lifting mechanism 53 and the suction cup rotating assembly 420 can be operated simultaneously, which can save time and improve work efficiency.

[0116] In step S4 , the lifting mechanism 53 and the telescopic mechanism 300 drive the suction cup pick-and-place mechanism 400 to leave the platform 62 .

[0117] Specifically, the lifting mechanism 53 drives the material box picking and placing device 1 to move upward, and the telescopic mechanism 300 drives the suction cup picking and placing mechanism 400 to shrink. The two actions can be performed simultaneously, which can save time and improve work efficiency.

[0118] In step S5 , the telescopic mechanism 300 drives the suction cup pick-and-place mechanism 400 to retract, and the rotating mechanism 100 drives the lateral movement mechanism 200 , the telescopic mechanism 300 , and the suction cup pick-and-place mechanism 400 to rotate toward the storage layer 54 .

[0119] Step S6 , the lifting mechanism 53 and the lateral shifting mechanism 200 adjust the telescopic mechanism 300 and the suction cup placing and retrieving mechanism 400 to move to the corresponding storage position 541 .

[0120] 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.

[0121] In step S7 , the telescopic mechanism 300 drives the suction cup pick-up and place mechanism 400 to extend toward the storage position 541 . After the suction cup assembly 410 places the material box 7 on the storage position 541 , the telescopic mechanism 300 drives the suction cup pick-up and place mechanism 400 to retract.

[0122] The above steps S1 to S7 are the process of the material box handling robot 5 sucking up a material box 7 and temporarily storing it on the storage layer 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 54 and then transport them to the destination, thereby improving the transportation efficiency.

[0123] 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:

[0124] 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 suction cup picking and placing mechanism 400 to extend, and the suction cup picking and placing mechanism 400 sucks the material box 7 .

[0125] Here, if the lateral shift mechanism 200, the telescopic mechanism 300 and the suction cup pick-up and place mechanism 400 are not facing the storage layer 54, and the suction cup 411 deviates from the appropriate adsorption position, it is necessary to rotate the lateral shift mechanism 200, the telescopic mechanism 300 and the suction cup pick-up and place mechanism 400 to face the storage layer 54 through the rotating mechanism 100, and adjust the suction cup 411 to the appropriate adsorption position through the suction cup rotating assembly 420, and then suck the material box 7.

[0126] In step S10 , the telescopic mechanism 300 drives the suction cup pick-up and place mechanism 400 to retract, and the rotating mechanism 100 rotates the side shift mechanism 200 , the telescopic mechanism 300 , and the suction cup pick-up and place mechanism 400 to face the destination machine 62 .

[0127] In step S11 , the telescopic mechanism 300 drives the suction cup pick-up and place mechanism 400 to extend toward the destination machine 62 , and the lifting mechanism 53 adjusts the height of the telescopic mechanism 300 and the suction cup pick-up and place mechanism 400 to a suitable position, and the suction cup pick-up and place mechanism 400 is released and places the material box 7 .

[0128] Specifically, a QR code 63 is also provided on the plane surrounded by the four pillars on the machine table 62. When no material box has been placed on the machine table 62, the material box handling robot 5 recognizes the QR code 63 based on the positioning camera 430 on the suction cup pick-and-place mechanism 400 to perform positioning, thereby placing the material box among the four pillars.

[0129] In step S12 , the telescopic mechanism 300 and the lifting mechanism 53 drive the suction cup pick-and-place mechanism 400 to move away from the platform 62 .

[0130] 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.

[0131] 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 boxes 7 located at different heights; the material box picking and placing device 1 drives the suction cup picking and placing mechanism 400 to rotate and translate through the rotating mechanism 100, the side shifting mechanism 200 and the telescopic mechanism 300. The suction cup picking and placing mechanism 400 includes a suction cup assembly 410, which can suck and put down the material box 7 from above. 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 boxes 7 on conventional shelves, it can also pick up and place the material boxes 7 on shelves using a stacking storage method.

[0132] 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 lateral shifting mechanism (200), a telescopic mechanism (300) and a suction cup pick-and-place mechanism (400); The rotating mechanism (100) comprises a first bottom plate (110) and a rotating assembly (120) arranged on the top surface of the first bottom plate (110), wherein the rotating assembly (120) is capable of rotating relative to the first bottom plate (110); The side shift mechanism (200) is arranged on the rotating assembly (120), can rotate with the rotating assembly (120), and can move laterally in a horizontal direction relative to the rotating assembly (120); The telescopic mechanism (300) is arranged on the side shift mechanism (200), 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); The suction cup pick-up and place mechanism (400) comprises a suction cup assembly (410), which is arranged at the telescopic end of the telescopic mechanism (300) and can be telescoped along with the telescopic mechanism (300) and is used for sucking and placing 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 telescopic mechanism (300) comprises two telescopic guide rails (310); The telescopic guide rail (310) is arranged at the top of the lateral movement mechanism (200) and is slidably connected to the top of the lateral movement mechanism (200); the suction cup pick-up and placement mechanism (400) is arranged at the lower part of the telescopic end (310a) of the telescopic guide rail (310); the telescopic guide rail (310) is used to extend the suction cup pick-up and placement mechanism (400) from the top of the lateral movement mechanism (200) to pick up and place the material box (7) from the top of the material box (7).

3. The material box picking and placing device according to claim 2, characterized in that: Each of the telescopic guide rails (310) comprises an outer guide rail (311) and an inner guide rail (312); the outer side of the outer guide rail (311) is slidably connected to the top of the lateral shift mechanism (200), and the inner side is slidably connected to the inner guide rail (312); the telescopic end (310a) of the inner guide rail (312) is fixedly connected to the suction cup pick-and-place mechanism (400).

4. The material box picking and placing device according to claim 3 is characterized in that: The telescopic mechanism (300) further comprises a telescopic motor (320), a second gear (330a), a second rack (330b) and a fixing plate (340); The fixed plate (340) is disposed between the two inner guide rails (312), and is fixedly connected to the inner guide rails (312) on both sides; the second rack (330b) is fixedly disposed on the top surface of the fixed plate (340); The telescopic motor (320) is fixedly connected to the lateral shift mechanism (200); the telescopic motor (320) is used to drive the second gear (330a) to roll along the second rack (330b), thereby driving the fixed plate (340), the telescopic guide rail (310) and the suction cup pick-and-place mechanism (400) to move relative to the lateral shift mechanism (200).

5. The material box picking and placing device according to claim 4, characterized in that: The suction cup assembly (410) of the suction cup pick-and-place mechanism (400) comprises a suction cup (411), a vacuum pump (412) and a solenoid valve (413) connected via a gas pipeline; the suction cup (411) is arranged on the bottom surface of the telescopic end of the fixed plate (340); the vacuum pump (412) and the solenoid valve (413) are arranged on the top surface of the fixed plate (340); the solenoid valve (413) is used to control the vacuum pump (412) to suck air into or release air from the suction cup (411), thereby sucking or placing the material box (7).

6. The material box picking and placing device according to claim 5, characterized in that: The suction cup pick-and-place mechanism (400) further includes a suction cup rotating assembly (420); The suction cup rotating assembly (420) comprises a suction cup rotating motor (421), a synchronous belt (422), a first synchronous wheel (423) and a second synchronous wheel (424); The suction cup rotating motor (421) is fixedly connected to the bottom surface of the fixing plate (340), and the first synchronous wheel (423) is sleeved on the output end of the suction cup rotating motor (421); The second synchronous wheel (424) is arranged between the suction cup (411) and the fixing plate (340), the suction cup (411) is fixedly arranged on the bottom surface of the second synchronous wheel (424), and the synchronous belt (422) is wound around the first synchronous wheel (423) and the second synchronous wheel (424); The suction cup rotating motor (421) is used to drive the synchronous belt (422), the first synchronous wheel (423) and the second synchronous wheel (424) to drive the suction cup (411) to rotate.

7. 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); the side shift mechanism (200) is arranged on the top of the slewing support mechanism (122); the rotating motor (121) is used to drive the slewing support mechanism (122) to rotate, thereby driving the side shift mechanism (200) to rotate.

8. The material box picking and placing device according to claim 2, characterized in that: A connecting plate (130) is fixedly arranged on the top of the rotating assembly (120); the bottom of the lateral shift mechanism (200) is slidably connected to the top surface of the connecting plate (130) via no less than two groups of slide rails (210a) and sliders (210b); the arrangement direction of the slide rails (210a) is parallel to the moving direction of the lateral shift mechanism (200).

9. The material box picking and placing device according to claim 8, characterized in that: The side shift mechanism (200) comprises a second bottom plate (220), a side shift motor (230), a first gear (240a), a first rack (240b) and a support frame (250); the telescopic guide rail (310) is arranged on the top of the support frame (250) and is slidably connected to the support frame (250); The second bottom plate (220) is slidably connected to the top surface of the connecting plate (130) via the sliding rail (210a) and the sliding block (210b); The side shift motor (230) is arranged on a side edge of the second bottom plate (220) parallel to the slide rail (210a); the first gear (240a) is sleeved on the output shaft of the side shift motor (230), the first rack (240b) is fixedly arranged on the connecting plate (130), and the first gear (240a) is meshed with the first rack (240b); The side shift motor (230) is used to drive the first gear (240a) to roll along the first rack (240b), thereby driving the second bottom plate (220) to move relative to the connecting plate (130) along the slide rail (210a).

10. 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 9; a lifting mechanism (53) is arranged on the inner side of the two door columns (52a) of the lifting gantry (52), 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.

11. The container handling robot according to claim 10, characterized in that: The lifting mechanism (53) includes a lifting guide rail and a lifting power assembly (532); the lifting guide rail is vertically arranged on the inner side of the two door columns (52a); the lifting power assembly (532) includes a lifting motor, a chain and a sprocket (5323); the sprocket (5323) is arranged at the top and bottom of the door column (52a), and both ends of the chain are fixedly connected to the material box picking and placing device (1) and are wound around the sprocket (5323); the lifting motor drives the sprocket (5323) chain transmission to drive the material box picking and placing device (1) along the lifting guide rail to move up and down in the vertical direction.

12. The container handling robot according to claim 11, characterized in that: A plurality of storage layers (54) are arranged between the two door pillars (52a) of the lifting gantry (52); each of the storage layers (54) is divided into a plurality of storage positions (541) for storing the material boxes (7); and the material box picking and placing device (1) is used to pick and place the material boxes (7) from the storage positions (541).

13. The container handling robot according to claim 12, characterized in that: The suction cup pick-and-place mechanism (400) is provided with a positioning camera (430) for scanning an external two-dimensional code (63) so as to position the material box transport robot (5) and the material box (7).

14. 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 10 to 13; The suction cup pick-and-place mechanism (400) is provided with a positioning camera (430); 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) uses the positioning camera (430) to locate and identify the two-dimensional codes (63) on the driving channel (61) 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 (430).

Images