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 pick-and-place mechanism, a follow-up tray and a linkage mechanism. The taking and placing mechanism is arranged on the base and is configured to stretch out or retract relative to the base so as to take and place a container; the follow-up tray is configured to be used for carrying containers when the pick-and-place mechanism extends to a preset position; the linkage mechanism is arranged between the pick-and-place mechanism and the follow-up tray and is configured to have a coupling state and a decoupling state; when in the coupling state, the linkage mechanism is in transmission fit with the follow-up tray, and the pick-and-place mechanism is constructed to drive the follow-up tray to extend or retract through the linkage mechanism; and in the decoupling state, the linkage mechanism and the follow-up tray are separated from transmission. According to the follow-up tray, the gap between the storage position and the taking and placing device is filled up, containers are prevented from being clamped into or falling into the gap in the taking and placing process, and the carrying stability is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of logistics and warehousing, and in particular to a picking and placing 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 multi-level gantries to carry out high-level container pick-up and placement operations.

[0003] Due to the limited operating accuracy of the robot, when the robot is retrieving or returning a container, there will be a certain gap between the robot and the storage location. The edge of the container may get stuck in the gap, resulting in failure to retrieve or return the container, and the container may also fall from the gap. Therefore, how to prevent the container from falling into the gap is a key issue that needs to be solved in this field. 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 pick-and-place mechanism, disposed on the base and configured to extend or retract relative to the base to pick and place the container;

[0008] A follower tray, wherein the follower tray is configured to receive the container when the pick-and-place mechanism extends to a predetermined position;

[0009] A linkage mechanism is arranged between the pick-and-place mechanism and the follower tray, and is constructed to have a coupled state and a decoupled state; when in the coupled state, the linkage mechanism cooperates with the follower tray in transmission, and the pick-and-place mechanism is constructed to drive the follower tray to extend or retract through the linkage mechanism; when in the decoupled state, the linkage mechanism is disengaged from the follower tray in transmission.

[0010] In one embodiment of the present disclosure, during the process of the pick-and-place mechanism extending outward, the pick-and-place mechanism is constructed to drive the follower tray to extend outward to a predetermined position through a linkage mechanism, and then the linkage mechanism switches to a decoupled state to allow the pick-and-place mechanism to continue to extend outward.

[0011] In one embodiment of the present disclosure, during the retraction of the pick-and-place mechanism, the pick-and-place mechanism is constructed to retract until the linkage mechanism switches to a coupled state, and then drive the follower tray located at a predetermined position to continue to retract inward through the linkage mechanism.

[0012] In one embodiment of the present disclosure, the follower tray is configured to move between a first movement stop point and a second movement stop point, and the follower tray is configured to be able to retract inwardly to the first movement stop point;

[0013] When the follower tray extends outward to be located at a predetermined position, the follower tray is configured to cooperate with the storage position, or is located at a second movement stop point.

[0014] In one embodiment of the present disclosure, the pick-and-place mechanism is constructed to drive the follower tray located at a predetermined position to continue to retract inward to the first movement stop point, and then the linkage mechanism switches to a decoupled state; the pick-and-place mechanism is constructed to continue to retract inward a predetermined distance or stop when the linkage mechanism switches to the decoupled state.

[0015] In one embodiment of the present disclosure, the linkage mechanism includes a pushing portion and a matching portion, wherein the pushing portion is arranged on one of the pick-and-place mechanism and the follow-up tray, and the matching portion is arranged on the other of the pick-and-place mechanism and the follow-up tray; when in a coupled state, the pushing portion abuts against the matching portion; when in a decoupled state, the pushing portion is disengaged from the matching portion.

[0016] In one embodiment of the present disclosure, the pushing portion includes a fixed member, and a movable member pre-pressed on the fixed member by an elastic device; when in a coupled state, the movable member is constructed to abut against the mating portion so that the movable member pushes the mating portion to move synchronously; the movable member is constructed to move relative to the fixed member to a decoupling state disengaged from the mating portion when the squeezing force of the mating portion reaches a threshold value, so that the movable member crosses the mating portion.

[0017] In one embodiment of the present disclosure, a guide groove is provided on the fixing member, and the movable member is slidably engaged with the guide groove; the direction in which the movable member moves along the guide groove is constructed to deviate from the movement direction of the pick-and-place mechanism.

[0018] In one embodiment of the present disclosure, a first pushing surface and a second pushing surface for abutting against the matching portion are provided on opposite sides of the movable part; when the pick-and-place mechanism extends outward, the first pushing surface is constructed to abut against the matching portion; when the pick-and-place mechanism retracts inward, the second pushing surface is constructed to abut against the matching portion.

[0019] In one embodiment of the present disclosure, the first pushing surface and the second pushing surface are configured as inclined guiding surfaces.

[0020] In one embodiment of the present disclosure, a first finger is disposed at the rear end of the pick-and-place mechanism; the first finger is configured to push the container outward when the pick-and-place mechanism is extended; and the pushing portion is disposed on the first finger.

[0021] In one embodiment of the present disclosure, there is a predetermined gap between the movable member and the first finger; during the process of the pick-and-place mechanism retracting inward, the movable member is constructed to allow the second pushing surface to cross the matching portion so that the first pushing surface faces the matching portion, and the matching portion is located within the predetermined gap.

[0022] In one embodiment of the present disclosure, the force of the movable member moving relative to the fixed member is configured to be greater than the movement resistance of the follower tray.

[0023] In one embodiment of the present disclosure, during the retraction of the pick-and-place mechanism, the container is configured to always be carried on the follower tray;

[0024] Alternatively, a bearing portion is provided on the base; in the process of taking a container, the container is configured to be transferred from the bearing surface of the storage position to the upper end surface of the follower tray, and then to the upper end surface of the bearing portion; in the process of returning a container, the container is configured to be transferred from the bearing surface of the bearing portion to the upper end surface of the follower tray, and then to the bearing surface of the storage position.

[0025] In one embodiment of the present disclosure, a resistance device is further included, which is arranged between the base and the follower tray and is configured to provide movement resistance to at least the follower tray located at a predetermined position, and the resistance is greater than the friction force of the container on the follower tray.

[0026] In one embodiment of the present disclosure, during the process of taking a container, the pick-and-place mechanism is constructed to drive the follower tray to extend outward to a predetermined position through a linkage mechanism, and then the linkage mechanism switches to a decoupled state, so that the pick-and-place mechanism continues to extend outward to cooperate with the container on the storage position; the resistance device is constructed to provide resistance to the follower tray, so that the pick-and-place mechanism is constructed to drive the container to move onto the follower tray during the process of retracting inward; the pick-and-place mechanism is constructed to retract until the linkage mechanism switches to a coupled state, and then the follower tray located at the predetermined position and the container located on the follower tray continue to retract inward through the linkage mechanism.

[0027] In one embodiment of the present disclosure, during the process of returning the container, the pick-and-place mechanism is constructed to drive the follower tray and the container on the follower tray to extend outward to a predetermined position through a linkage mechanism, and then the linkage mechanism switches to a decoupled state, so that the pick-and-place mechanism continues to extend outward and transfers the container on the follower tray to a storage position; the pick-and-place mechanism is constructed to retract until the linkage mechanism switches to a coupled state, and then the follower tray located at the predetermined position continues to retract inward through the linkage mechanism.

[0028] In one embodiment of the present disclosure, during the process of returning the container, during the process of the pick-and-place mechanism extending outward, the first finger provided at the rear end of the pick-and-place mechanism is constructed to push the container in advance so that the container and the follower tray extend outward to a predetermined position; during the process of the pick-and-place mechanism continuing to extend outward, the linkage mechanism switches to a decoupled state, and the pick-and-place mechanism transfers the container on the follower tray to a storage position; after the pick-and-place mechanism is constructed to retract until the linkage mechanism switches to a coupled state, the follower tray located at the predetermined position is driven to continue to retract inward through the linkage mechanism.

[0029] In one embodiment of the present disclosure, during at least part of the process of the pick-and-place mechanism extending outward, the resistance provided by the resistance device gradually increases; the first finger is constructed to pre-push the container so that the container and the follower tray extend outward until the friction between the container and the follower tray is less than the resistance provided by the resistance device, and the first finger pushes the container to slide on the follower tray until the linkage mechanism switches to a coupled state, and the pick-and-place mechanism is constructed to push the follower tray to a predetermined position through the linkage mechanism, or through the combined action of the linkage mechanism and the first finger.

[0030] In one embodiment of the present disclosure, the resistance device includes a fixed portion, and a movable portion pre-pressed on the fixed portion by an elastic device;

[0031] The movable part is arranged on the base and is constructed to abut against the follower tray under the elastic force of the elastic device, providing resistance to the movement of the follower tray; or, the movable part is arranged on the follower tray and is constructed to abut against the base under the elastic force of the elastic device, providing resistance to the movement of the follower tray.

[0032] In one embodiment of the present disclosure, the surface on the follower tray or the base for cooperating with the movable part includes a first inclined surface gradually inclined from the inside to the outside toward the movable part; when the follower tray is at a predetermined position, the movable part is constructed to abut against the first inclined surface.

[0033] In one embodiment of the present disclosure, the surface on the follower tray or the base for cooperating with the movable part further includes a second inclined surface, the first inclined surface and the second inclined surface are transitionally connected, and the inclined directions are opposite; when the pick-and-place mechanism is retracted, the movable part is configured to abut against the second inclined surface;

[0034] Alternatively, the surface on the follower tray or the base for cooperating with the movable part also includes a plane transitionally connected to the first inclined surface, and when the pick-and-place mechanism is retracted, the movable part is constructed to abut against the plane.

[0035] In one embodiment of the present disclosure, a rolling portion is rotatably connected to the movable portion, and the rolling portion is configured to abut against the follower tray or the base.

[0036] According to a second aspect of the present disclosure, there is also provided a transport robot, comprising:

[0037] Chassis components;

[0038] A door frame assembly is arranged on the chassis assembly;

[0039] A lifting platform, movably connected to the gantry assembly;

[0040] According to the pick-and-place device described in the first aspect of the present disclosure, the base is arranged on the 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.

[0041] One beneficial effect of the present disclosure is that the pick-and-place mechanism drives the follower tray to extend and retract by setting a linkage mechanism. In the actual container picking and returning scenario, the distance that the pick-and-place mechanism extends is longer than the distance that the follower tray extends. Therefore, when the pick-and-place mechanism drives the follower tray to extend to a predetermined position, the linkage mechanism can switch to a decoupled state, so that the pick-and-place mechanism continues to extend independently. The present disclosure fills the gap between the storage position and the pick-and-place device by setting a follower tray that extends and retracts with the pick-and-place mechanism and using the follower tray to receive the container, thereby preventing the container from getting stuck or falling into the gap during the pick-and-place process and improving the stability of transportation.

[0042] 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

[0043] 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.

[0044] Figure 1 It is a schematic diagram of the structure of the handling robot, i.e., the carrier, disclosed in the present invention;

[0045] Figure 2 yes Figure 1 A partial enlarged view of the location of the pick-and-place device of the handling robot;

[0046] Figure 3 is a front view of the handling robot and the carrier disclosed in the present invention;

[0047] Figure 4 is a schematic diagram of the structure of the pick-and-place device disclosed in the present invention;

[0048] Figure 5 is a schematic structural diagram of the pick-and-place device disclosed in the present invention from another angle;

[0049] Figure 6 is a schematic structural diagram of the pick-and-place device disclosed in the present invention from another angle;

[0050] Figure 7 is a schematic diagram of the structure of the pick-and-place mechanism disclosed in the present invention;

[0051] Figure 8 is a cross-sectional view of the pick-and-place device disclosed herein and a partial enlarged view of the position of the linkage mechanism;

[0052] Fig. 9 is a cross-sectional view of the resistance device disclosed herein;

[0053] Fig.10 is a schematic diagram of the structure of the resistance device disclosed in the present invention;

[0054] Fig.11 It is a schematic diagram of the transition connection between the first inclined surface and the second inclined surface or the plane.

[0055] Figures 1 to 11 The one-to-one correspondence between the component names and the reference numerals is as follows:

[0056] 1. Chassis components;

[0057] 2. Mast assembly; 20. Temporary storage rack; 21. Fixed mast; 22. Movable mast;

[0058] 3. Pick-and-place device; 30. Lifting platform; 31. Base; 32. Motor; 33. Rotating shaft; 34. Transmission belt; 35. Pick-and-place mechanism; 36. First finger; 37. Second finger; 38. Follow-up tray; 381. First inclined surface; 382. Second inclined surface; 383. Plane;

[0059] 4. Support assembly; 401. First support assembly; 402. Second support assembly;

[0060] 5. Vehicle;

[0061] 60, pushing part; 61, fixing part; 611, guide groove; 62, movable part; 621, first pushing surface; 622, second pushing surface; 63, first spring; 64, matching part; 65, predetermined gap;

[0062] 7. Resistance device; 71. Fixed portion; 72. Movable portion; 73. Second spring; 74. Rolling portion; 75. Stop groove; 76. Stop member. DETAILED DESCRIPTION

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] The pick-and-place device disclosed in the present invention comprises: a base, a pick-and-place mechanism, a follower tray and a linkage mechanism. The pick-and-place mechanism is arranged on the base and is configured to extend or retract relative to the base to pick up and place the container. Specifically, the pick-and-place mechanism can be a mechanical structure such as a telescopic fork, a gripping fork, a mechanical 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 mechanism.

[0072] The follower tray may also be arranged on the base, and may extend or retract relative to the base together with the pick-and-place mechanism. The follower tray is configured to receive the container when the pick-and-place mechanism extends to a predetermined position. The predetermined position may be a position where the follower tray extends to match the storage position, at which point the follower tray may completely fill the gap between the storage position 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 may also be the maximum position where the follower tray extends, at which point the gap between the storage position and the pick-and-place device is at least partially filled by the follower tray, and a small gap may still remain between the follower tray and the storage position, so that the container will not get stuck or fall into such a narrow gap, and the follower tray may still play a role in preventing the container from getting stuck or falling into the gap.

[0073] The follower tray of the present disclosure is extended or retracted by the pick-and-place mechanism. Specifically, the pick-and-place mechanism can drive the follower tray to move through a linkage mechanism. The linkage mechanism is arranged between the pick-and-place mechanism and the follower tray, and is constructed to have a coupled state and a decoupled state. When in the coupled state, the linkage mechanism cooperates with the follower tray in transmission, and the pick-and-place mechanism is constructed to drive the follower tray to extend or retract through the linkage mechanism; when in the decoupled state, the linkage mechanism is disengaged from the follower tray in transmission. Those skilled in the art understand that the pick-and-place mechanism needs to extend a long distance when taking and returning boxes, so that containers placed in various deep storage positions can be taken and placed. The distance that the pick-and-place mechanism needs to extend is greater than the distance that the follower tray needs to extend. Therefore, when the pick-and-place mechanism drives the follower tray to extend to a predetermined position, the linkage mechanism can switch to a decoupled state, so that the pick-and-place mechanism continues to extend independently.

[0074] The present disclosure realizes the extension and retraction of the follower tray driven by the pick-and-place mechanism by setting a linkage mechanism. In the actual container picking and returning scenario, the distance the pick-and-place mechanism extends is longer than the distance the follower tray extends. Therefore, when the pick-and-place mechanism drives the follower tray to extend to a predetermined position, the linkage mechanism can switch to a decoupled state, so that the pick-and-place mechanism continues to extend independently. The present disclosure fills the gap between the storage position and the pick-and-place device by setting a follower tray that extends and retracts with the pick-and-place mechanism and using the follower tray to receive the container, thereby preventing the container from getting stuck or falling into the gap during the pick-and-place process and improving the stability of transportation.

[0075] For ease of understanding, refer to Figures 1 to 11 , 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.

[0076] 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 5 and lanes formed by adjacent carriers 5. The carrier 5 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.

[0077] The handling robot disclosed in the present invention comprises: a chassis assembly 1, a gantry assembly 2, a lifting platform 30 and a pick-and-place device 3, wherein the pick-and-place device 3 comprises: a base 31, a pick-and-place mechanism 35, a follower tray 38 and a linkage mechanism. The chassis assembly 1 is configured to support the handling robot on a working surface, and the working surface may include the lanes between the carriers 5 and the ground outside the storage area. The chassis assembly 1 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.

[0078] The chassis assembly 1 is also configured to support other components of the handling robot, such as the gantry assembly 2, the lifting platform 30, and the pick-and-place device 3. The gantry assembly 2 is disposed on the chassis assembly 1, and is configured to be extended upward from the chassis assembly 1. Generally, the extension height of the gantry assembly 2 is consistent with or exceeds the height of the carrier 5, which is conducive to the handling robot to access targets located at different positions on the carrier 5.

[0079] 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 5, if the height-unadjustable gantry assembly 2 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 2 also includes a fixed gantry 21 and a movable gantry 22 that moves along the height direction of the fixed gantry 21. Figure 2As shown, the lifting platform 30 is constructed to be movably connected to the gantry assembly 2, and the base 31 of the pick-and-place device 3 is arranged on the lifting platform 30. The pick-and-place device 3 is constructed to rise or fall along the gantry assembly 2 under the driving action of the lifting platform 30 to pick and place target containers of different heights. Specifically, the pick-and-place device 3 can be arranged on the last-stage movable gantry 22 through the lifting platform 30, so that the pick-and-place working range of the pick-and-place device 3 can cover the height space on the fixed gantry 21 and the movable gantry 22. Since the gantry assembly 2 has a height that matches the carrier 5, the pick-and-place device 3 can access the target container at any position on the carrier 5 without any access dead angle.

[0080] In the process of the transport robot being driven by the chassis assembly 1, all the movable gantries 22 in the gantry assembly 2 can be in a retracted state relative to the fixed gantry 21 in the gantry assembly 2, that is, all the movable gantries 22 are in the lowest matching position relative to the upper-level gantry, and the overall height of the gantry assembly 2 is in the lowest state. In this state, compared with the transport robot with a higher setting of the non-adjustable gantry assembly 2, the transport robot disclosed in the present invention can walk when the movable gantry 22 is in a retracted state, and can maintain the stability of the transport robot's movement. In addition to the above-mentioned scenario of the transport robot picking up and placing the target object on the high-level carrier 5, the transport robot can also pick up and place the target container on the low-level carrier 5, so the transport robot disclosed in the present invention can flexibly adjust the overall height of the gantry assembly 2 to adapt to carriers 5 of different heights, thereby improving the scope of application of the transport robot.

[0081] When the pick-and-place device 3 is disposed on the last-stage movable gantry 22, the pick-and-place device 3 can be guided and matched with the last-stage movable gantry 22, and the movements of the movable gantry 22 and the pick-and-place device 3 are independent of each other, that is, the movement of the movable gantry 22 and the movement of the pick-and-place device 3 are not linked, thus improving the flexibility of the movement of the pick-and-place device 3. Of course, for those skilled in the art, the movement of the movable gantry 22 and the pick-and-place device 3 can be synchronized, that is, the movement of the movable gantry 22 is coupled with the movement of the pick-and-place device 3, and the present disclosure does not limit this.

[0082] 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 20 is arranged on the gantry assembly 2, and the pick-and-place device 3 is configured to rotate relative to the lifting platform 30 to face the temporary storage rack 20, so that the container can be directly transferred between the pick-and-place device 3 and the temporary storage rack 20. The gantry assembly 2 can be provided with a temporary storage rack 20 for temporarily storing containers, and at least one temporary storage rack 20 is arranged on the side of the gantry assembly 2 opposite to the pick-and-place device 3. The container taken out by the pick-and-place device 3 can be temporarily stored on the temporary storage rack 20, and then the pick-and-place device 3 can continue to pick and place the container.

[0083] refer to Figures 4 to 7 The pick-and-place device 3 includes: a base 31, a pick-and-place mechanism 35, a follower tray 38 and a linkage mechanism. The base 31 is arranged on the lifting platform 30 so that the pick-and-place device 3 can move to different pick-and-place positions in the height direction relative to the gantry assembly 2. The pick-and-place mechanism 35 is arranged on the base 31 and is configured to extend or retract relative to the base 31 to pick and place the container. Specifically, the pick-and-place mechanism 35 can be a mechanical structure such as a telescopic fork, a gripping fork, a robotic arm, etc. that can realize the operation of taking and returning the container. The present disclosure does not limit the specific structure of the pick-and-place mechanism 35.

[0084] In a specific embodiment of the present disclosure, reference Figure 4 and Figure 7 The pick-and-place mechanism 35 is a telescopic fork, which can be a first-stage telescopic fork structure, a second-stage telescopic fork structure, or a telescopic fork structure with more stages to adapt to storage positions of various depths. Figure 4 As shown, the box-taking device 3 includes: a motor 32, a rotating shaft 33, and two transmission belts 34 connected to both ends of the rotating shaft 33. The motor 32 can drive the rotating shaft 33 to rotate, thereby driving the two driving wheels installed on both sides of the rotating shaft 33 to rotate. Figure 7 As shown, two driving wheels are respectively mounted on two pick-and-place mechanisms 35, and a transmission wheel is also respectively arranged on the two pick-and-place mechanisms 35, and two transmission belts 34 are respectively wound around the driving wheel and the transmission wheel on the same side. When the rotating shaft 33 drives the two driving wheels to rotate, the two transmission belts 34 drive the two pick-and-place mechanisms 35 to extend or retract at the same time under the driving action of the driving wheels, so as to pick and place the container.

[0085] In one embodiment of the present disclosure, reference Figures 4 to 7 The first finger 36 is disposed at the rear end of the pick-and-place mechanism 35, and the first finger 36 is configured to push the container outward when the pick-and-place mechanism 35 is extended. The second finger 37 is disposed at the front end of the pick-and-place mechanism 35, and the second finger 37 is configured to hook the container inward when the pick-and-place mechanism 35 is retracted. Specifically, two first fingers 36 are disposed flush at the rear ends of the two pick-and-place mechanisms 35. When the box-taking device 3 is to transfer the container carried thereon to the carrier 5 or the temporary storage tray 20, the two pick-and-place mechanisms 35 are extended outward, and the two first fingers 36 are extended synchronously with the pick-and-place mechanism 35, thereby pushing the container outward.

[0086] Two second fingers 37 are movably provided at the front ends of the two pick-up and placement mechanisms 35, and the second fingers 37 are configured to move between a vertical position and a horizontal position. When the two pick-up and placement mechanisms 35 extend toward the container, the two second fingers 37 are both kept in a vertical position to ensure that the pick-up and placement mechanisms 35 can be smoothly extended without hitting the container; when the two pick-up and placement mechanisms 35 extend to both sides of the container, the two second fingers 37 move and remain in a horizontal position to frame the container in the horizontal direction; when the two pick-up and placement mechanisms 35 retract inward, the two second fingers 37 continue to remain in a horizontal position to hook the container onto the pick-up and placement device 3.

[0087] refer to Figure 5 The follower tray 38 is disposed on the base 31, and can extend or retract relative to the base 31 together with the pick-and-place mechanism 35. The follower tray 38 is configured to receive the container when the pick-and-place mechanism 35 extends to a predetermined position. In one embodiment of the present disclosure, the follower tray 38 is configured to move between a first movement stop point and a second movement stop point, and the follower tray 38 is configured to be able to retract inward to the first movement stop point. It should be noted that the maximum inward retraction position of the follower tray 38 is the first movement stop point, that is, after the follower tray 38 is retracted to the first movement stop point, it cannot be further retracted inward; the maximum outward extension position of the follower tray 38 is the second movement stop point, that is, after the follower tray 38 is extended to the second movement stop point, it cannot be further extended outward.

[0088] When the follower tray 38 extends outward to the predetermined position, the follower tray 38 is configured to cooperate with the storage position, or to be located at the second movement stop point. Specifically, the storage position can be any position that can support the container, such as the carrier 5, the temporary storage rack 20, or the workbench. Taking the storage position as the container position on the carrier 5 as an example: the predetermined position can be the position where the follower tray 38 extends to cooperate with the carrier 5, that is, the position abutting the carrier 5. At this time, the follower tray 38 can completely fill the gap between the carrier 5 and the pick-and-place device 3, 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 of the follower tray 38, that is, the second movement stop point. At this time, the gap between the carrier 5 and the pick-and-place device 3 is at least partially filled by the follower tray 38, and there may still be a small gap between the follower tray 38 and the carrier 5. The container will not get stuck or fall into such a narrow gap, and the follower tray 38 can still play a role in preventing the container from getting stuck or falling into the gap.

[0089] The follower tray 38 of the present disclosure is extended or retracted by the pick-and-place mechanism 35. Specifically, the pick-and-place mechanism 35 can drive the follower tray 38 to move through a linkage mechanism. The linkage mechanism is arranged between the pick-and-place mechanism 35 and the follower tray 38, and is configured to have a coupling state and a decoupling state. In the coupling state, the linkage mechanism and the follower tray 38 are transmission-coordinated, and the pick-and-place mechanism 35 is configured to drive the follower tray 38 to extend or retract through the linkage mechanism; in the decoupling state, the linkage mechanism and the follower tray 38 are decoupled from the transmission. It is understood by those skilled in the art that the pick-and-place mechanism 35 needs to extend a long distance when taking and returning boxes, so that containers placed in various deep storage positions can be taken and placed. The distance that the pick-and-place mechanism 35 needs to extend is greater than the distance that the follower tray 38 needs to extend. Therefore, when the pick-and-place mechanism 35 drives the follower tray 38 to extend to a predetermined position, the linkage mechanism can be switched to a decoupling state, so that the pick-and-place mechanism 35 continues to extend independently.

[0090] The present disclosure realizes the extension and retraction of the follower tray 38 driven by the pick-up and placement mechanism 35 by setting a linkage mechanism. In the actual container picking and returning scenario, the distance that the pick-up and placement mechanism 35 extends is longer than the distance that the follower tray 38 extends. Therefore, after the pick-up and placement mechanism 35 drives the follower tray 38 to extend to a predetermined position, the linkage mechanism can switch to a decoupled state, so that the pick-up and placement mechanism 35 continues to extend independently. The present disclosure fills the gap between the storage position and the pick-up and placement device 3 by setting a follower tray 38 that extends and retracts with the pick-up and placement mechanism 35 and using the follower tray 38 to receive the container, thereby preventing the container from getting stuck or falling into the gap during the pick-up and placement process, and improving the stability of transportation.

[0091] Combine the following Figures 4 to 8 The structure of the linkage mechanism is introduced in detail.

[0092] In one embodiment of the present disclosure, the linkage mechanism includes a push portion 60 and a matching portion 64, wherein the push portion 60 is disposed on one of the pick-and-place mechanism 35 and the follower tray 38, and the matching portion 64 is disposed on the other of the pick-and-place mechanism 35 and the follower tray 38. Figure 4 As shown, in this embodiment, the pushing portion 60 is disposed on the pick-and-place mechanism 35, specifically, the pushing portion 60 is disposed on the first finger 36. The matching portion 64 is disposed on the follower tray 38, specifically, the matching portion 64 can be a driving shaft disposed at the rear end of the follower tray 38. In other embodiments, the pushing portion 60 can be disposed on the follower tray 38, and the matching portion 64 can be disposed on the pick-and-place mechanism 35. The present disclosure does not specifically limit the installation positions and specific structures of the two. To keep the text concise, the following description will be based on the example that the pushing portion 60 is on the pick-and-place mechanism 35 and the matching portion 64 is on the follower tray 38.

[0093] When in the coupled state, the pushing portion 60 abuts against the matching portion 64. When the pick-and-place mechanism 35 moves, the pushing portion 60 disposed on the pick-and-place mechanism 35 will move along with the pick-and-place mechanism 35, and drive the matching portion 64 abutting against it to move together, and the matching portion 64 in turn drives the follower tray 38 to move together. In this way, when the linkage mechanism is in the coupled state, the pick-and-place mechanism 35 drives the follower tray 38 to extend or retract through the linkage mechanism.

[0094] When in the decoupled state, the push portion 60 is disengaged from the mating portion 64. When the pick-and-place mechanism 35 moves, the push portion 60 disposed on the pick-and-place mechanism 35 will move along with the pick-and-place mechanism 35; since the push portion 60 and the mating portion 64 are disengaged from the transmission, the push portion 60 cannot drive the mating portion 64 to move together, so the mating portion 64 and the follower tray 38 will remain stationary. In this way, when the linkage mechanism is in the decoupled state, the pick-and-place mechanism 35 and the follower tray 38 are disengaged from the transmission, and the pick-and-place mechanism 35 can be extended or retracted independently.

[0095] In one embodiment of the present disclosure, Figure 8 As shown, the pusher 60 includes a fixed member 61 and a movable member 62 pre-pressed on the fixed member 61 by an elastic device, wherein the elastic device can be a first spring 63. The fixed member 61 can be fixedly connected to the first finger 36, and the movable member 62 is pre-pressed on the fixed member 61 by the first spring 63, and the first spring 63 continuously provides downward movement for the movable member 62 (refer to Figure 8 When in the coupled state, the movable member 62 is configured to abut against the matching portion 64, so that the movable member 62 pushes the matching portion 64 to move synchronously. The movable member 62 is continuously pushed out under the elastic force of the first spring 63, thereby maintaining abutment with the matching portion 64. When the pick-and-place mechanism 35 drives the pushing portion 60 to move, the movable portion 72 can drive the matching portion 64 and the follower tray 38 to move synchronously.

[0096] In one embodiment of the present disclosure, the force of the movable member 62 moving relative to the fixed member 61 is configured to be greater than the movement resistance of the follower tray 38. The force of the movable member 62 moving relative to the fixed member 61 must be sufficient to overcome the resistance caused by the gravity of the follower tray 38 itself, and also needs to overcome the friction force of the container carried on the follower tray 38 on the follower tray 38. The force of the movable member 62 moving relative to the fixed member 61 is the elastic force of the first spring 63, and the elastic force of the first spring 63 needs to be set large enough to ensure that the linkage mechanism will not be decoupled in advance when the follower tray 38 is pushed normally to move.

[0097] The movable member 62 is configured to move relative to the fixed member 61 to a decoupled state in which it is disengaged from the matching portion 64 when the squeezing force of the matching portion 64 reaches a threshold value, so that the movable member 62 crosses the matching portion 64. Specifically, when the follower tray 38 moves to a predetermined position, that is, moves to match the storage position or the second movement stop point, the follower tray 38 can no longer extend and will continue to apply squeezing force to the movable member 62. When the squeezing force on the movable member 62 reaches a threshold value, that is, when the squeezing force is greater than the elastic force of the first spring 63, the first spring 63 is compressed and drives the movable member 62 to move relative to the fixed member 61, so that the movable member 62 is disengaged from the matching portion 64. The movable member 62 crosses the matching portion 64, the linkage mechanism is decoupled, and the pick-and-place mechanism 35 is disengaged from the follower tray 38, so that the pick-and-place mechanism 35 can continue to move independently.

[0098] In a specific embodiment of the present disclosure, continue to refer to Figure 8 , a guide groove 611 is provided on the fixed member 61, and the movable member 62 is slidably matched with the guide groove 611. The direction in which the movable member 62 moves along the guide groove 611 is constructed to deviate from the movement direction of the pick-and-place mechanism 35. The movement direction of the movable member 62 is different from that of the pick-and-place mechanism 35, and is at a certain angle to the movement direction of the pick-and-place mechanism 35, so that the movable member 62 can slide under the extrusion force of the matching portion 64. In this embodiment, the direction in which the movable member 62 moves along the guide groove 611 is perpendicular to the movement direction of the pick-and-place mechanism 35, so the surface of the movable member 62 in contact with the matching portion 64 needs to be set as an inclined guide surface, so that the movable member 62 can move in the vertical direction under the lateral extrusion force of the matching portion 64.

[0099] Specifically, the movable member 62 is provided with a first push surface 621 and a second push surface 622 on opposite sides thereof for contacting with the matching portion 64. The first push surface 621 and the second push surface 622 are configured as inclined guide surfaces. When the pick-and-place mechanism 35 extends outward, the first push surface 621 is configured to contact with the matching portion 64. When the pick-and-place mechanism 35 extends outward, it drives the movable member 62 to move along the Figure 8 Move in the direction indicated by the bottom arrow, at this time, the first pushing surface 621 abuts against the matching portion 64, and the movable member 62 pushes the matching portion 64 to move together; when the follower tray 38 moves to the predetermined position, the squeezing force of the matching portion 64 on the movable member 62 reaches a threshold value, the movable member 62 will move upward to squeeze the first spring 63, and the matching portion 64 will slide relative to the first pushing surface 621 until the movable member 62 crosses the matching portion 64.

[0100] During the process of the pick-and-place mechanism 35 retracting inwardly, the second pushing surface 622 is configured to abut against the matching portion 64. When the pick-and-place mechanism 35 retracts inwardly, it drives the movable member 62 to move along the Figure 8The movable member 62 moves in the opposite direction to the direction indicated by the bottom arrow. At this time, the second pushing surface 622 abuts against the matching portion 64, and the movable member 62 pushes the matching portion 64 to move together. When the follower tray 38 moves to the first moving stop point, the squeezing force of the matching portion 64 on the movable member 62 reaches a threshold value, and the movable member 62 will move upward to squeeze the first spring 63, and the matching portion 64 will slide relative to the second pushing surface 622 until the movable member 62 crosses the matching portion 64.

[0101] In a specific embodiment of the present disclosure, Figure 8 As shown, there is a predetermined gap 65 between the movable member 62 and the first finger 36. When the pick-and-place mechanism 35 is retracted inwardly, the movable member 62 is configured to make the second push surface 622 cross the matching portion 64, so that the first push surface 621 faces the matching portion 64, and the matching portion 64 is located in the predetermined gap 65. When the pick-and-place mechanism 35 is retracted inwardly until the movable member 62 crosses the matching portion 64, the linkage mechanism is in Figure 8 In the state shown, the first pushing surface 621 faces the matching portion 64, and the matching portion 64 is located in the predetermined gap 65. When the matching portion 64 is located in the predetermined gap 65, the first finger 36 and the movable member 62 play a limiting role, ensuring that the follower tray 38 can only move in the predetermined gap 65 after retracting, and will not shake and extend. Specifically, the follower tray 38 of the present disclosure is movably arranged on the base 31. If the first finger 36 does not limit the retracted follower tray 38, the follower tray 38 will move outward uncontrollably without extending. In addition, when the matching portion 64 is located in the predetermined gap 65, the pick-and-place mechanism 35 can continue to retract inward independently.

[0102] In one embodiment of the present disclosure, the pick-and-place mechanism 35 is configured to drive the follower tray 38 located at a predetermined position to continue to retract inward to the first movement stop point, and then the linkage mechanism switches to the decoupling state; the pick-and-place mechanism 35 is configured to continue to retract inward by a predetermined distance or stop when the linkage mechanism switches to the decoupling state. In the actual process of picking up boxes, after the pick-and-place mechanism 35 hooks the container onto the pick-and-place device 3, the container may be located too far outward, and the container is far away from the first finger 36 at this time, which is not conducive to pushing the box when the box is returned later. At this time, the pick-and-place mechanism 35 can continue to retract inward by a predetermined distance after retracting to decouple the linkage mechanism, that is, independently retract within the predetermined gap 65, so as to continue to hook the container inward to adjust the position of the container. The pick-and-place mechanism 35 can adjust the container to a position that matches the first finger 36 when it is in the coupling state, so that in the subsequent process of returning the box, the container can be pushed out synchronously when the pick-and-place mechanism 35 begins to extend.

[0103] When the pick-and-place mechanism 35 is retracted in the box return scenario, that is, when it is independently retracted without a container, the pick-and-place mechanism 35 does not need to continue to retract inward after retracting to the point where the linkage mechanism switches to the decoupled state, and the pick-and-place mechanism 35 can be directly stopped. In addition, if the container position is at a more appropriate position during decoupling, or if the interval between the movable member 62 and the first finger 36 is not sufficient to adjust the container position, the pick-and-place mechanism 35 can also be directly stopped when it is retracted to the point where the linkage mechanism switches to the decoupled state.

[0104] The above describes a specific structure of the linkage mechanism of the present disclosure. The linkage mechanism can also be set to other structures, and the present disclosure does not limit this. Based on the structure of the linkage mechanism, those skilled in the art can understand the extension and retraction process of the pick-and-place mechanism 35:

[0105] During the process of the pick-and-place mechanism 35 extending outward, the pick-and-place mechanism 35 is configured to drive the follower tray 38 to extend outward to a predetermined position through the linkage mechanism, and then the linkage mechanism switches to a decoupled state, so that the pick-and-place mechanism 35 continues to extend outward. Specifically, when the pick-and-place mechanism 35 begins to extend, the matching portion 64 can be in a predetermined gap 65 between the movable member 62 and the first finger 36, and the linkage mechanism is in a decoupled state at this time; when the pick-and-place mechanism 35 extends outward until the first push surface 621 abuts against the matching portion 64, the linkage mechanism switches to a coupled state, and the pick-and-place mechanism 35 can drive the follower tray 38 to extend together. When the follower tray 38 moves to the predetermined position, the extrusion force of the matching portion 64 on the movable member 62 reaches a threshold value, and the movable member 62 moves upward to squeeze the first spring 63, and the matching portion 64 slides relative to the first push surface 621 until the movable member 62 crosses the matching portion 64, and the linkage mechanism switches to a decoupled state. At this time, the pick-and-place mechanism 35 can continue to extend independently without driving the follower tray 38 to move together.

[0106] During the retraction of the pick-and-place mechanism 35, the pick-and-place mechanism 35 is configured to retract until the linkage mechanism switches to the coupling state, and then the follower tray 38 located at the predetermined position continues to retract inward through the linkage mechanism. Specifically, when the pick-and-place mechanism 35 begins to retract, the linkage mechanism is in the decoupling state, and the pick-and-place mechanism 35 can retract inward independently. When the pick-and-place mechanism 35 moves until the second pushing surface 622 abuts against the matching portion 64, the linkage mechanism switches to the coupling state, and the pick-and-place mechanism 35 can drive the follower tray 38 located at the predetermined position to retract together. When the follower tray 38 retracts to the first movement stop point, the extrusion force of the matching portion 64 on the movable member 62 reaches the threshold value, the movable member 62 moves upward to squeeze the first spring 63, and the matching portion 64 slides relative to the second pushing surface 622 until the movable member 62 crosses the matching portion 64, and the linkage mechanism switches to the decoupling state. The pick-and-place mechanism 35 can continue to retract inward by a predetermined distance or stop when the linkage mechanism switches to the decoupling state.

[0107] In one embodiment of the present disclosure, during the retraction of the pick-and-place mechanism 35 , the container is constructed to always be carried on the follower tray 38 , and the follower tray 38 is located above the base 31 throughout the entire extension and retraction process, so that the container can always be supported on the follower tray 38 .

[0108] In another embodiment of the present disclosure, a bearing portion is provided on the base 31. When the container is taken into the box-taking device 3, the container is not supported on the follower tray 38, but on the bearing portion. In this embodiment, the follower tray 38 will only receive the container when it is extended, and plays a role of transitional reception. For example, the follower tray 38 can be set to move in the height direction while extending and retracting. When the follower tray 38 is in a retracted state, it is located below the bearing portion, and when it is extended, the follower tray 38 can move upward to a position flush with the bearing portion to fill the gap and temporarily support the container. Specifically, in the process of taking the container, the container is configured to transfer from the bearing surface of the storage position to the upper end surface of the follower tray 38, and then to the upper end surface of the bearing portion; in the process of returning the container, the container is configured to transfer from the bearing surface of the bearing portion to the upper end surface of the follower tray 38, and then to the bearing surface of the storage position.

[0109] In the actual process of taking and returning boxes, since the containers in the storage system are usually heavy and large, when the containers move on the follower tray 38, the containers will exert a large friction force on the follower tray 38. The friction force from the container may cause the follower tray 38 to move with the container, which will reduce the stability of the handling. For example: when the follower tray 38 is located at the predetermined position, the pick-and-place mechanism 35 drives the container to retract inward together. When the container moves to support part of the bottom surface on the follower tray 38, the follower tray 38 retracts with the container under the action of friction, which causes the gap between the follower tray 38 and the storage position to increase, and there is a risk that the container will get stuck or fall into the gap.

[0110] To solve the above problems, refer to Figures 9 to 11The pick-and-place device 3 of the present disclosure further includes a resistance device 7, which is disposed between the base 31 and the follower tray 38 and is configured to at least provide resistance to the movement of the follower tray 38 located at a predetermined position, and the resistance is greater than the friction force of the container on the follower tray 38. The resistance device 7 may be a retainer, which at least enables the follower tray 38 located at a predetermined position to remain stationary under the friction force of the container. The follower tray 38 located at a predetermined position can overcome the friction force of the container under the action of the resistance, so that when the pick-and-place mechanism 35 drives the container to retract inward together, the follower tray 38 can be stably maintained at the predetermined position, playing a role of filling the gap and preventing the container from getting stuck or falling into the gap. The resistance device 7 may not only provide resistance to the follower tray 38 located at a predetermined position, but also always provide resistance to the follower tray 38, and the present disclosure does not limit this. In addition, it should be noted that the resistance provided by the resistance device 7 to the movement of the follower tray 38 cannot be too large, otherwise the follower tray 38 cannot be driven by the pick-and-place mechanism 35. The resistance must at least be smaller than the driving force of the pick-and-place mechanism 35 driving the follower tray 38 to move in the coupled state of the linkage mechanism.

[0111] In the case where the resistance device 7 is provided, during the process of taking the container, the pick-and-place mechanism 35 is configured to drive the follower tray 38 to extend outward to a predetermined position through the linkage mechanism, and then the linkage mechanism switches to a decoupled state, so that the pick-and-place mechanism 35 continues to extend outward to cooperate with the container on the storage position. The resistance device 7 is configured to provide resistance to the follower tray 38, so that the pick-and-place mechanism 35 drives the container to move onto the follower tray 38 during the process of retracting inward. It can be understood that the follower tray 38 can remain stationary during the process of transferring the container under the action of the resistance provided by the resistance device 7, so as to stably receive the container. When the pick-and-place mechanism 35 is configured to retract until the linkage mechanism switches to a coupled state, the follower tray 38 located at the predetermined position and the container on the follower tray 38 are driven to continue to retract inward through the linkage mechanism.

[0112] In the process of returning the container, the pick-and-place mechanism 35 is constructed to drive the follower tray 38 and the container on the follower tray 38 to extend outward to a predetermined position through the linkage mechanism, and then the linkage mechanism switches to a decoupled state, so that the pick-and-place mechanism 35 continues to extend outward and transfers the container on the follower tray 38 to the storage position. In this application scenario, the linkage mechanism is initially in a coupled state, and the first finger 36 abuts against the container, and the pick-and-place mechanism 35 can simultaneously drive the follower tray 38 and the container to extend together; when the follower tray 38 extends to the predetermined position, the linkage mechanism is decoupled, and the pick-and-place mechanism 35 continues to drive the container to extend and transfer the container to the storage position. After the container is transferred, the pick-and-place mechanism 35 is constructed to retract until the linkage mechanism switches to a coupled state, and then the follower tray 38 at the predetermined position is driven to continue to retract inward through the linkage mechanism.

[0113] In another application scenario of the container, the resistance device 7 only provides resistance for the follower tray 38 located at the predetermined position, so at other positions except the predetermined position, the follower tray 38 will move with the container under the friction of the container. Specifically, during the process of the pick-and-place mechanism 35 extending outward, the first finger 36 provided at the rear end of the pick-and-place mechanism 35 is configured to push the container in advance, so that the container and the follower tray 38 extend outward to the predetermined position; during the process of the pick-and-place mechanism 35 continuing to extend outward, the linkage mechanism switches to the decoupling state, and the pick-and-place mechanism 35 transfers the container located on the follower tray 38 to the storage position; after the pick-and-place mechanism 35 is configured to retract to make the linkage mechanism switch to the coupling state, the follower tray 38 located at the predetermined position is driven to continue to retract inward through the linkage mechanism.

[0114] In another application scenario of the container, the resistance device 7 not only provides resistance for the follower tray 38 located at the predetermined position, but also, in the initial stage of extension, the friction of the container is greater than the resistance, and the follower tray 38 will move with the container under the action of the friction of the container; after extending a certain distance, the resistance gradually increases to exceed the friction of the container, and the follower tray 38 cannot be driven by the friction of the container, but needs to be driven by the pick-up and placement mechanism 35 through the linkage mechanism. Specifically: during at least part of the process of the pick-up and placement mechanism 35 extending outward, the resistance provided by the resistance device 7 gradually increases; the first finger 36 is configured to pre-push the container so that the container and the follower tray 38 extend outward until the friction between the container and the follower tray 38 is less than the resistance provided by the resistance device 7, and the first finger 36 pushes the container to slide on the follower tray 38 until the linkage mechanism switches to the coupling state. The pick-up and placement mechanism 35 is configured to push the follower tray 38 to move to the predetermined position through the linkage mechanism, or through the joint action of the linkage mechanism and the first finger 36.

[0115] In this application scenario, the linkage mechanism is initially in a decoupled state, and the pick-and-place mechanism 35 cannot drive the follower tray 38, but can only drive the container forward. The follower tray 38 moves forward with the container under the action of friction. During the movement of the follower tray 38, the resistance provided by the resistance device 7 gradually increases to exceed the friction, and the follower tray 38 can no longer be driven by the container. At this time, the pick-and-place mechanism 35 continues to drive the container forward, and the follower tray 38 remains stationary. Until the pick-and-place mechanism 35 extends to make the linkage mechanism switch to the coupled state, the pick-and-place mechanism 35 drives the follower tray 38 to extend together through the linkage mechanism; at this time, the container will continue to provide friction for the follower tray 38, so the follower tray 38 can extend outward under the combined action of the container friction and the driving force of the linkage mechanism.

[0116] Combine the following Figures 9 to 11 The structure of the resistance device 7 is described in detail.

[0117] In one embodiment of the present disclosure, the resistance device 7 includes a fixed portion 71, and a movable portion 72 pre-pressed on the fixed portion 71 by an elastic device, wherein the elastic device may be a second spring 73. In a specific embodiment of the present disclosure, the movable portion 72 is disposed on the base 31, and is configured to abut against the follower tray 38 under the elastic force of the elastic device, thereby providing resistance to the movement of the follower tray 38. Specifically, the resistance device 7 is disposed as a whole on the base 31, the fixed portion 71 is fixed on the base 31, the movable portion 72 is pre-pressed on the fixed portion 71 by a second spring 73, and the second spring 73 continuously provides elastic force toward the follower tray 38 for the movable portion 72, thereby providing resistance to the movement of the follower tray 38.

[0118] In another specific embodiment of the present disclosure, the movable portion 72 is disposed on the follower tray 38, and is configured to abut against the base 31 under the elastic force of the elastic device, thereby providing resistance to the movement of the follower tray 38. Specifically, the resistance device 7 is disposed as a whole on the follower tray 38, the fixed portion 71 is fixed on the follower tray 38, the movable portion 72 is pre-pressed on the fixed portion 71 by the second spring 73, and the second spring 73 continuously provides elastic force toward the base 31 for the movable portion 72, thereby providing resistance to the movement of the follower tray 38.

[0119] In one embodiment of the present disclosure, reference Fig. 9 and Fig.10 The fixed portion 71 may be provided with a stopper 76, and both sides of the movable portion 72 are provided with stopper grooves 75 adapted to the stopper 76. The stopper grooves 75 are slidably matched with the stopper 76. Under the limiting action of the stopper grooves 75, the movable portion 72 has a maximum pop-up displacement, and the second spring 73 has a maximum compression amount. The stopper grooves 75 and the stopper 76 can prevent the movable portion 72 from popping out to a position separated from the fixed portion 71 under the elastic force of the second spring 73.

[0120] In one embodiment of the present disclosure, reference Fig.11 The surface of the follower tray 38 or the base 31 for cooperating with the movable part 72 includes a first inclined surface 381 which is gradually inclined from the inside to the outside toward the movable part 72; when the follower tray 38 is located at the predetermined position, the movable part 72 is configured to abut against the first inclined surface 381. Taking the resistance device 7 disposed on the base 31 as an example, the bottom of the follower tray 38 is provided with a first inclined surface 381 which is gradually inclined from the inside to the outside toward the movable part 72. Fig.11 The first inclined surface 381 gradually tilts downward (the direction indicated by the middle arrow is the outer side). During the extension of the follower tray 38, the movable portion 72 always abuts against the first inclined surface 381 under the elastic force of the second spring 73. The movable portion 72 applies an elastic force perpendicular to the first inclined surface 381 to the first inclined surface 381, and generates a rightward movement in the horizontal direction (reference Fig.11The component force of the second spring 73 in the direction of the view (view direction) serves as resistance. It is understandable that the elastic force of the second spring 73 will gradually decrease during the extension of the follower tray 38, so the resistance in the extension direction will also gradually decrease, and the follower tray 38 can be extended more smoothly. After the follower tray 38 moves to the predetermined position, when the container is hooked onto the follower tray 38, the friction force of the container makes the follower tray 38 tend to retract, but the friction force is not enough to overcome the horizontal rightward resistance provided by the resistance device 7, so that the follower tray 38 can remain stationary and will not move in the retraction direction with the container.

[0121] In one embodiment of the present disclosure, reference Fig.11 In the figure A, the surface on the follower tray 38 or the base 31 for cooperating with the movable part 72 also includes a second inclined surface 382, ​​and the first inclined surface 381 and the second inclined surface 382 are transitionally connected and inclined in opposite directions; when the pick-and-place mechanism 35 is retracted, the movable part 72 is constructed to abut against the second inclined surface 382. Still taking the resistance device 7 set on the base 31 as an example, when the follower tray 38 extends outward, it needs to overcome the horizontal leftward resistance caused by the second inclined surface 382 first, until it passes the inflection point between the first inclined surface 381 and the second inclined surface 382, ​​the resistance in the extension direction will gradually decrease, and the follower tray 38 can extend more smoothly; when the follower tray 38 moves to the predetermined position, the resistance device 7 prevents the follower tray 38 from moving in the retraction direction with the container. Specifically, the closer the follower tray 38 is to the inflection point, the greater the resistance it is subjected to. The follower tray 38 can only move under the driving action of the linkage mechanism to make the resistance device 7 pass the inflection point. The follower tray 38 at the predetermined position will experience resistance from the first inclined surface 381, which is greater than the friction force of the container on the follower tray 38 and is opposite to the friction force, so that the follower tray 38 can remain stationary at the predetermined position and play a role in stably receiving the container.

[0122] When the follower tray 38 retracts inward, it needs to first overcome the horizontal rightward resistance caused by the first inclined surface 381 until it passes the inflection point between the first inclined surface 381 and the second inclined surface 382. Then, the resistance in the retraction direction will gradually decrease, and the follower tray 38 can retract more smoothly. When the follower tray 38 moves to the first movement stop position, the resistance device 7 prevents the follower tray 38 from moving in the extending direction together with the container, but is only driven to extend by the pick-and-place mechanism 35 through the linkage mechanism.

[0123] In another embodiment of the present disclosure, referring to Fig.11In FIG. B, the surface on the follower tray 38 or the base 31 for cooperating with the movable portion 72 also includes a plane 383 transitionally connected to the first inclined surface 381. When the pick-and-place mechanism 35 is retracted, the movable portion 72 is constructed to abut against the plane 383. Similar to the previous embodiment, there is also an inflection point between the plane 383 and the first inclined surface 381. As long as it is ensured that when the follower tray 38 moves to the moving position, the movable portion 72 of the resistance device 7 is abutted against the first inclined surface 381, it can be ensured that the follower tray 38 located at the predetermined position will not move under the friction of the container. After the follower tray 38 moves to the first movement stop position, the resistance device 7 cooperating with the plane 383 is difficult to provide a sufficiently large resistance in the horizontal direction. Therefore, the follower tray 38 may be extended together under the driving effect of the friction of the container, which makes the extension process of the follower tray 38 more labor-saving.

[0124] In one embodiment of the present disclosure, reference Fig.10 The movable portion 72 is rotatably connected with a rolling portion 74, and the rolling portion 74 is configured to abut against the follower tray 38 or the base 31. The rolling portion 74 makes the resistance applied by the resistance device 7 to the follower tray 38 or the base 31 a rolling force, so that the abutting surface of the follower tray 38 or the base 31 will not be scratched by the resistance device 7, and the extension and retraction process of the follower tray 38 is smoother and more labor-saving.

[0125] In one embodiment of the present disclosure, the handling robot further includes a support assembly 4, Figure 2 and Figure 3 , the support assembly 4 is arranged on the lifting platform 30, specifically, it can be arranged on the side of the lifting platform 30 away from the gantry assembly 2. The support assembly 4 is constructed to move between a first position and a second position. When located at the first position, the support assembly 4 extends to abut against the carrier 5; when located at the second position, the support assembly 4 retracts relative to the carrier 5. The support assembly 4 is in the second position in the initial state, at which time the support assembly 4 does not play a supporting role. When support is required, the support assembly 4 is constructed to extend relative to the transport robot until it abuts against the carrier 5 located on one side of the transport robot, which is the first position. This is conducive to keeping the relative position between the pick-and-place mechanism 35 and the carrier 5 stable, thereby achieving the purpose of improving the success rate of the pick-and-place mechanism 35 in picking up and placing the target container.

[0126] like Figure 3 As shown, the support assembly 4 is provided with at least two, respectively denoted as a first support assembly 401 for extending to one side, and a second support assembly 402 extending to the opposite direction. Figure 4In terms of viewing direction, the present disclosure defines the support assembly 4 extending to the right as the first support assembly 401, and defines the support assembly 4 extending to the left as the second support assembly 402. The specific structures of the first support assembly 401 and the second support assembly 402 are exactly the same, and the only difference is the extending direction.

[0127] 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 (31); A pick-and-place mechanism (35) is disposed on the base (31) and is configured to extend or retract relative to the base (31) to pick and place the container; A follower tray (38), wherein the follower tray (38) is configured to receive the container when the pick-and-place mechanism (35) is extended to a predetermined position; A linkage mechanism is provided between the pick-and-place mechanism (35) and the follower tray (38), and is constructed to have a coupled state and a decoupled state; when in the coupled state, the linkage mechanism and the follower tray (38) are in transmission cooperation, and the pick-and-place mechanism (35) is constructed to drive the follower tray (38) to extend or retract through the linkage mechanism; when in the decoupled state, the linkage mechanism and the follower tray (38) are disengaged from transmission.

2. The pick-and-place device according to claim 1, characterized in that: During the process of the pick-and-place mechanism (35) extending outward, the pick-and-place mechanism (35) is constructed such that after driving the follower tray (38) to extend outward to a predetermined position through a linkage mechanism, the linkage mechanism switches to a decoupled state so that the pick-and-place mechanism (35) continues to extend outward.

3. The pick-and-place device according to claim 2, characterized in that: During the retraction of the pick-and-place mechanism (35), the pick-and-place mechanism (35) is constructed to retract until the linkage mechanism switches to a coupled state, and then drive the follower tray (38) located at a predetermined position to continue to retract inwards through the linkage mechanism.

4. The pick-and-place device according to claim 3, characterized in that: The follower tray (38) is configured to move between a first movement stop point and a second movement stop point, and the follower tray (38) is configured to be able to retract inward to the first movement stop point; When the follower tray (38) extends outward to a predetermined position, the follower tray (38) is configured to cooperate with a storage position or to be located at a second movement stop point.

5. The pick-and-place device according to claim 4, characterized in that: The pick-and-place mechanism (35) is constructed to drive the follower tray (38) located at a predetermined position to continue to retract inward to a first movement stop point, and then the linkage mechanism switches to a decoupled state; the pick-and-place mechanism (35) is constructed to continue to retract inward to a predetermined distance or stop when the linkage mechanism switches to the decoupled state.

6. The pick-and-place device according to claim 1, characterized in that: The linkage mechanism comprises a pushing portion (60) and a matching portion (64); the pushing portion (60) is arranged on one of the pick-and-place mechanism (35) and the follower tray (38); the matching portion (64) is arranged on the other of the pick-and-place mechanism (35) and the follower tray (38); when in a coupled state, the pushing portion (60) abuts against the matching portion (64); when in a decoupled state, the pushing portion (60) and the matching portion (64) are separated.

7. The pick-and-place device according to claim 6, characterized in that: The pushing portion (60) comprises a fixing member (61) and a movable member (62) pre-pressed on the fixing member (61) by an elastic device; when in a coupled state, the movable member (62) is configured to abut against the matching member (64) so ​​that the movable member (62) pushes the matching member (64) to move synchronously; and when the squeezing force of the matching member (64) reaches a threshold, the movable member (62) moves relative to the fixing member (61) to a decoupling state in which the movable member (62) is disengaged from the matching member (64) so ​​that the movable member (62) crosses over the matching member (64).

8. The pick-and-place device according to claim 7, characterized in that: The fixing member (61) is provided with a guide groove (611), and the movable member (62) is slidably matched with the guide groove (611); the direction in which the movable member (62) moves along the guide groove (611) is constructed to deviate from the direction in which the pick-and-place mechanism (35) moves.

9. The pick-and-place device according to claim 8, characterized in that: The movable member (62) is provided with a first pushing surface (621) and a second pushing surface (622) on opposite sides thereof for abutting against the matching portion (64); when the pick-and-place mechanism (35) extends outward, the first pushing surface (621) is configured to abut against the matching portion (64); when the pick-and-place mechanism (35) retracts inward, the second pushing surface (622) is configured to abut against the matching portion (64).

10. The pick-and-place device according to claim 9, characterized in that: The first pushing surface (621) and the second pushing surface (622) are constructed as inclined guide surfaces.

11. The pick-and-place device according to claim 9, characterized in that: A first finger (36) is provided at the rear end of the pick-and-place mechanism (35); the first finger (36) is configured to push the container outward when the pick-and-place mechanism (35) is extended; and the pushing portion (60) is provided on the first finger (36).

12. The pick-and-place device according to claim 11, characterized in that: A predetermined gap (65) is provided between the movable member (62) and the first finger (36); when the pick-and-place mechanism (35) retracts inwardly, the movable member (62) is constructed so that the second pushing surface (622) crosses the matching portion (64), so that the first pushing surface (621) faces the matching portion (64), and the matching portion (64) is located within the predetermined gap (65).

13. The pick-and-place device according to claim 7, characterized in that: The force of the movable member (62) moving relative to the fixed member (61) is configured to be greater than the movement resistance of the follower tray (38).

14. The pick-and-place device according to claim 1, characterized in that: During the retraction of the pick-and-place mechanism (35), the container is configured to always be carried on the follower tray (38); Alternatively, a bearing portion is provided on the base (31); in the process of taking a container, the container is configured to be transferred from the bearing surface of the storage position to the upper end surface of the follower tray (38), and then to the upper end surface of the bearing portion; in the process of returning a container, the container is configured to be transferred from the bearing surface of the bearing portion to the upper end surface of the follower tray (38), and then to the bearing surface of the storage position.

15. The pick-and-place device according to any one of claims 1 to 14, characterized in that: The container further comprises a resistance device (7), which is arranged between the base (31) and the follower tray (38) and is configured to provide a resistance to movement at least to the follower tray (38) located at a predetermined position, and the resistance is greater than the friction force of the container on the follower tray (38).

16. The pick-and-place device according to claim 15, characterized in that: During the process of taking a container, the pick-and-place mechanism (35) is constructed so that after the linkage mechanism drives the follower tray (38) to extend outward to a predetermined position, the linkage mechanism switches to a decoupled state, so that the pick-and-place mechanism (35) continues to extend outward to cooperate with the container on the storage position; the resistance device (7) is constructed to provide resistance to the follower tray (38), so that the pick-and-place mechanism (35) drives the container to move onto the follower tray (38) during the process of retracting inward; the pick-and-place mechanism (35) is constructed so that after it retracts until the linkage mechanism switches to a coupled state, the linkage mechanism drives the follower tray (38) located at the predetermined position and the container on the follower tray (38) to continue to retract inward.

17. The pick-and-place device according to any one of claims 1 to 14, characterized in that: During the process of returning the container, the pick-and-place mechanism (35) is constructed to drive the follower tray (38) and the container on the follower tray (38) to extend outward to a predetermined position through a linkage mechanism, and then the linkage mechanism switches to a decoupled state, so that the pick-and-place mechanism (35) continues to extend outward and transfers the container on the follower tray (38) to a storage position; the pick-and-place mechanism (35) is constructed to retract to a state where the linkage mechanism switches to a coupled state, and then the follower tray (38) at the predetermined position is driven to continue to retract inward through the linkage mechanism.

18. The pick-and-place device according to claim 15, characterized in that: In the process of returning the container, while the pick-and-place mechanism (35) is extending outward, a first finger (36) provided at the rear end of the pick-and-place mechanism (35) is constructed to push the container in advance, so that the container and the follower tray (38) extend outward to a predetermined position; while the pick-and-place mechanism (35) continues to extend outward, the linkage mechanism switches to a decoupled state, and the pick-and-place mechanism (35) transfers the container located on the follower tray (38) to a storage position; and after the pick-and-place mechanism (35) is constructed to retract until the linkage mechanism switches to a coupled state, the follower tray (38) located at the predetermined position is driven by the linkage mechanism to continue to retract inward.

19. The pick-and-place device according to claim 18, characterized in that: During at least part of the process of the pick-and-place mechanism (35) extending outward, the resistance provided by the resistance device (7) gradually increases; the first finger (36) is constructed to pre-push the container so that the container and the follower tray (38) extend outward until the friction between the container and the follower tray (38) is less than the resistance provided by the resistance device (7), the first finger (36) pushes the container to slide on the follower tray (38) until the linkage mechanism switches to a coupled state, and the pick-and-place mechanism (35) is constructed to push the follower tray (38) to a predetermined position through the linkage mechanism, or through the combined action of the linkage mechanism and the first finger (36).

20. The pick-and-place device according to claim 15, characterized in that: The resistance device (7) comprises a fixed portion (71) and a movable portion (72) pre-pressed on the fixed portion (71) by an elastic device; The movable portion (72) is arranged on the base (31) and is configured to abut against the follower tray (38) under the elastic force of the elastic device, thereby providing resistance to the movement of the follower tray (38); or, the movable portion (72) is arranged on the follower tray (38) and is configured to abut against the base (31) under the elastic force of the elastic device, thereby providing resistance to the movement of the follower tray (38).

21. The pick-and-place device according to claim 20, characterized in that: The surface on the follower tray (38) or the base (31) for cooperating with the movable part (72) comprises a first inclined surface (381) which is gradually inclined from the inside to the outside in the direction of the movable part (72); when the follower tray (38) is located at a predetermined position, the movable part (72) is configured to abut against the first inclined surface (381).

22. The pick-and-place device according to claim 21, characterized in that: The surface on the follower tray (38) or the base (31) for cooperating with the movable part (72) further comprises a second inclined surface (382), the first inclined surface (381) and the second inclined surface (382) are transitionally connected, and the inclined directions are opposite; when the pick-and-place mechanism (35) is retracted, the movable part (72) is configured to abut against the second inclined surface (382); Alternatively, the surface on the follower tray (38) or the base (31) for cooperating with the movable part (72) also includes a plane (383) transitionally connected to the first inclined surface (381), and when the pick-and-place mechanism (35) is retracted, the movable part (72) is constructed to abut against the plane (383).

23. The pick-and-place device according to claim 20, characterized in that: The movable part (72) is rotatably connected to a rolling part (74), and the rolling part (74) is configured to abut against the follower tray (38) or the base (31).

24. A transport robot, characterized in that: include: Chassis assembly (1); A door frame assembly (2) is arranged on the chassis assembly (1); A lifting platform (30) movably connected to the gantry assembly (2); The pick-and-place device (3) according to any one of claims 1 to 23, wherein: The base (31) is arranged on the lifting platform (30); and the picking and placing device (3) is constructed to rise or fall along the door frame assembly (2) under the driving action of the lifting platform (30).

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