Hand hooking mechanism, goods picking and placing device, robot and warehousing system

Abstract

The utility model provides a hooking mechanism, a goods picking and placing device, a robot and a warehousing system, and relates to the technical field of warehouse logistics. The hand hooking mechanism is used for taking and placing the material box and comprises a bearing part, a driving assembly and two hand hooking parts, the driving assembly is arranged on the bearing part, and the two hand hooking parts are arranged in a spaced mode in the first direction; the driving assembly is configured to drive the at least two hooking pieces to ascend or descend relative to the bearing piece, the two different hooking pieces can be controlled by one driver to take and place the material box in different directions, and the structure of the hooking mechanism is simplified.

Description

Technical Field

[0001] The present disclosure relates to the technical field of warehousing logistics, and particularly relates to a hook mechanism, a goods picking and placing device, a robot and a warehousing system. Background Art

[0002] With the development of artificial intelligence and automation technologies, robots are widely used in the field of warehousing logistics for picking, placing, transporting and sorting goods. In a logistics system, goods are usually stored on shelves, and robots with corresponding functions pick and place goods or complete the task of transporting goods by docking with shelves or conveyor lines, etc.

[0003] In the related art, a forklift for picking and placing goods is usually provided on a robot, and a manipulator that can telescopically move relative to the body of the robot in a fixed direction is usually provided on the forklift. The manipulator usually has multiple joints, multiple sets of transmission mechanisms and multiple drive units, so that the manipulator can extend into the interior of the shelf to complete the operation of picking and placing material boxes.

[0004] However, at present, the structure of the goods picking mechanism on the robot is complex, with a relatively heavy weight and a high cost. Summary of the Utility Model

[0005] The present disclosure provides a hook mechanism, a goods picking and placing device, a robot and a warehousing system to at least partially solve at least one of the technical problems of the complex structure, relatively heavy weight and high cost of the goods picking mechanism on the current robot.

[0006] In a first aspect, the present disclosure provides a hook mechanism for picking and placing material boxes.

[0007] The hook mechanism includes a carrier, a drive assembly and two hook members. The drive assembly is arranged on the carrier, and the two hook members are arranged at intervals along a first direction at both ends of the drive assembly; the drive assembly is configured to simultaneously drive the two hook members to move asynchronously, so as to respectively rise or fall relative to the carrier.

[0008] For the hook mechanism provided by the present disclosure, the drive assembly drives the two hook members to move asynchronously, which can realize that one drive controls two different hook members to pick and place material boxes in different directions respectively, and simplifies the structure of the hook mechanism.

[0009] As an optional implementation manner, the hook mechanism further includes a swing rod, the swing rod is fixedly connected to the output end of the drive assembly, the hook member has a chute, and at least a part of the swing rod is located in the chute; the drive assembly is configured to drive the swing rod to rotate, so that the swing rod drives the hook member to move.

[0010] As an optional implementation manner, the swing rod has a sliding part, the sliding part is inserted into the chute, and the sliding part has a distance from the rotation center of the swing rod.

[0011] With such a setting, when the swing rod rotates, the sliding part can push the hook member to move, improving the reliability of the docking between the swing rod and the hook member.

[0012] As an optional implementation manner, the hook mechanism further includes a housing disposed on the carrier. The driving assembly and the two hook members are disposed inside the housing, and the housing has a guiding groove. The two hook members can move along the guiding groove so that the two hook members retract into the interior of the housing, or at least one of the two hook members partially extends outside the housing.

[0013] With such a setting, it is possible to provide limit and guidance for the movement of the hook member, improving the smoothness of the movement of the hook member.

[0014] As an optional implementation manner, the hook member may include a connecting portion and a hooking portion. The connecting portion is connected to the hooking portion, and the sliding groove is disposed on the connecting portion. The hooking portion passes through the guiding groove. The outer side of the material box has a clamping groove. When the hook member is docked with the material box, at least a part of the hooking portion is inserted into the clamping groove.

[0015] With such a setting, it is possible to improve the reliability of the docking between the hook member and the material box.

[0016] As an optional implementation manner, there are at least two hooking portions, and the at least two hooking portions are spaced apart along the length direction of the connecting portion.

[0017] With such a setting, it is possible to dock with the material box through multiple hooking portions at the same time, thereby improving the balance of the force on the material box when the hook member is docked with the material box.

[0018] As an optional implementation manner, the side wall of the guiding groove has a limiting protrusion, and the side wall of the hooking portion is provided with a groove. When the hooking portion moves along the guiding groove, the limiting protrusion is located in the groove.

[0019] With such a setting, it is possible to prevent the hooking portion from shaking when moving along the guiding groove.

[0020] As an optional implementation manner, the driving assembly includes a first driving unit and a rotating shaft. The first driving unit is configured to drive the rotating shaft to rotate. The rotating shaft extends along a first direction. The two hook members are fixedly connected to both ends of the rotating shaft. The projections of the two hook members on a plane perpendicular to the first direction extend in different directions, and / or the included angle between the projections of the two hook members on a plane perpendicular to the first direction is 60° - 180°.

[0021] As an optional implementation manner, there may be two swing rods, and the two swing rods are respectively arranged corresponding to the two hook members.

[0022] With such a setting, when the driving assembly drives the two swing rods to rotate, the two hook members have different telescopic positions relative to the housing, meeting the docking requirements between the hook member and the material box when picking up and placing goods in different directions.

[0023] As an optional embodiment, the drive assembly may include a first drive unit and a drive shaft, the first drive unit is arranged on the carrier, and the drive shaft extends along the first direction; the first drive unit is configured to drive the drive shaft to rotate; and the two rocker arms are fixedly connected to the drive shaft.

[0024] With such an arrangement, multiple hook members can be driven by the driving shaft to perform linkage, thereby simplifying the driving structure of the hook mechanism.

[0025] As an optional implementation, two swing rods are connected to two ends of the driving shaft, and projections of the two swing rods on a plane perpendicular to the first direction have an angle.

[0026] As an optional implementation, the included angle of the projections of the two swing rods on the plane perpendicular to the first direction is 90°.

[0027] As an optional embodiment, the driving assembly may further include a first gear and a second gear, the first gear being connected to the output end of the first driving unit, and the second gear being coaxially connected to the driving shaft; the first gear and the second gear are meshing.

[0028] Such an arrangement can improve the compactness of the layout of the drive components and reduce space occupation.

[0029] In a second aspect, the present disclosure provides a cargo picking and placing device, which includes a device body, a telescopic mechanism and the hook mechanism in the above technical solution. The telescopic mechanism is arranged on the device body and can be telescoped along a first direction relative to the device body, and the hook mechanism is connected to the telescopic mechanism.

[0030] As an optional embodiment, the device body may include a fixed base plate, a first transmission member, a first transmission wheel, a driving wheel and a second driving unit; the second driving unit is arranged on the fixed base plate; there are at least two first transmission wheels, and at least two first transmission wheels are respectively arranged at both ends of the fixed base plate along the moving direction of the telescopic mechanism, the driving wheel is connected to the output end of the second driving unit, and the first transmission member is sequentially wound around the first transmission wheels and the driving wheel at both ends of the fixed base plate.

[0031] The telescopic mechanism is connected to the first transmission member, and the second driving unit is configured to drive the driving wheel to rotate, and the driving wheel drives the first transmission member to drive, so that the first transmission member drives the telescopic mechanism to move relative to the fixed bottom plate.

[0032] With such an arrangement, the telescopic mechanism can achieve bidirectional telescopic movement relative to the device body.

[0033] As an alternative embodiment, the telescopic mechanism may include a telescopic member, a second transmission member, and at least two second transmission wheels. The at least two second transmission wheels are respectively disposed at two ends of the telescopic member along the moving direction of the hook mechanism. The second transmission member is wound around the at least two second transmission wheels.

[0034] The second transmission member has a connection point with the fixed bottom plate. The hook mechanism is connected to the second transmission member. The connection positions of the hook mechanism and the second transmission member and the connection positions of the fixed bottom plate and the second transmission member are respectively located on opposite sides of the second transmission member.

[0035] With such an arrangement, the telescopic movement of the telescopic mechanism can drive the hook mechanism to perform linkage, simplify the drive structure of the picking and placing device, and reduce the weight and cost of the picking and placing device.

[0036] As an alternative embodiment, the connection point between the hook mechanism and the second transmission member is located between the two hook members.

[0037] With such an arrangement, when picking and placing goods, it is possible to prevent the clamping groove from protruding too much from the shelf cross beam, and further prevent the position of the material box placed on the shelf from protruding too much from the cross beam.

[0038] As an alternative embodiment, the first transmission member and the first transmission wheel are located on the first side in the width direction of the picking and placing device. The second transmission member and the second transmission wheel may be located on the second side in the width direction of the picking and placing device. A connecting member is provided on one side of the carrier member facing the second transmission member, and the connecting member is connected to the second transmission member.

[0039] With such an arrangement, the space on both sides of the picking and placing device can be fully utilized, and the rationality of the transmission structure layout can be improved.

[0040] In a third aspect, the present disclosure provides a robot, which includes a robot main body and the picking and placing device in the above technical solution, and the picking and placing device is connected to the robot main body.

[0041] In a fourth aspect, the present disclosure provides a warehousing system, which includes a shelf and the robot in the above technical solution. The robot is configured to move along the ground, and / or the robot is configured to dock with the shelf and climb and move along the height direction of the shelf.

[0042] Fifth aspect, the present disclosure provides a method for picking and placing goods applied to a robot. The robot includes a picking and placing device, and the picking and placing device includes a device main body, a telescopic mechanism, and a hook mechanism. The telescopic mechanism is arranged on the device main body and can be telescopic relative to the device main body. The hook mechanism is connected to the telescopic mechanism; the hook mechanism includes a carrier, a driving component, and two hook components. The driving component is arranged on the carrier, and the two hook components are arranged at both ends of the driving component at intervals along the first direction; the driving component is configured to drive the two hook components to move asynchronously at the same time so as to rise or fall relative to the carrier respectively; the robot is used for picking and placing a material box, and both ends of the bottom side of the material box have clamping grooves;

[0043] The method includes:

[0044] Receiving a picking instruction, controlling the robot to drive to a target picking position, driving the telescopic mechanism to extend, so that the hook mechanism moves to below the target material box along with the telescopic mechanism, and making the hook component at the first end of the hook mechanism opposite to the clamping groove of the target material box;

[0045] Driving the hook component at the first end of the hook mechanism to move towards the target material box, so as to dock with the clamping groove at the second end of the target material box; the first end of the hook mechanism is the end close to the target picking position, and the second end of the target material box is the end close to the opening side of the target picking position;

[0046] Driving the telescopic mechanism in the reverse direction, so that the hook mechanism drives the target material box to the picking and placing device.

[0047] As an optional implementation manner, the picking and placing method further includes:

[0048] Receiving a placing instruction, controlling the robot to carry the target material box and drive to a target placing position, wherein the target picking position and the target placing position are respectively on both sides of the picking and placing device along the first direction;

[0049] Driving the hook mechanism to move away from the target placing position, and making the hook component at the second end of the hook mechanism dock with the clamping groove at the first end of the target material box;

[0050] Driving the telescopic mechanism towards the target placing position, so that the hook mechanism moves towards the target placing position along with the telescopic mechanism, and drives the target material box to the target placing position;

[0051] Making the hook component withdraw from the clamping groove; driving the telescopic mechanism in the reverse direction, so that the hook mechanism retracts into the picking and placing device along with the telescopic mechanism.

[0052] The present disclosure provides a hook mechanism, a picking and placing device, a robot, and a warehousing system. The hook mechanism is used for picking and placing material boxes. The hook mechanism includes a carrier, a driving component, and two hook components. The driving component is arranged on the carrier, and the two hook components are arranged at both ends of the driving component at intervals in a first direction. The driving component is configured to drive the two hook components to move asynchronously, so as to rise or fall relative to the carrier respectively, realizing that one driving controls two different hook components to pick and place material boxes in different directions, simplifying the structure of the picking and placing device, and reducing the weight and cost of the picking and placing device.

[0053] In addition to the technical problems solved by the embodiments of the present disclosure described above, the technical features constituting the technical solutions, and the beneficial effects brought by these technical features of the technical solutions, the other technical problems that can be solved by the hook mechanism, the picking and placing device, the robot, the warehousing system, and the picking and placing method provided by the present disclosure, the other technical features included in the technical solutions, and the beneficial effects brought by these technical features will be further described in detail in the specific implementation manners. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0055] Figure 1 Structural schematic diagram of the picking and placing device provided by the embodiment of the present disclosure Figure 1 ;

[0056] Figure 2 Structural schematic diagram of the picking and placing device provided by the embodiment of the present disclosure Figure 2 ;

[0057] Figure 3 Structural schematic diagram of the hook mechanism in the picking and placing device provided by the embodiment of the present disclosure Figure 1 ;

[0058] Figure 4 Internal structure view of the hook mechanism in the picking and placing device provided by the embodiment of the present disclosure;

[0059] Figure 5 Structural schematic diagram of the material box picked and placed by the picking and placing device provided by the embodiment of the present disclosure;

[0060] Figure 6 Structural schematic diagram of the hook mechanism in the picking and placing device provided by the embodiment of the present disclosure Figure 2 ;

[0061] Figure 7 Schematic structure of the hook mechanism in the picking and placing device provided by the embodiment of the present disclosure Figure 3 ;

[0062] Figure 8 Schematic structure of the hook mechanism in the picking and placing device provided by the embodiment of the present disclosure Figure 4 ;

[0063] Figure 9 Schematic structure diagram of the robot provided by the embodiment of the present disclosure;

[0064] Figure 10 Schematic structure diagram of the storage system provided by the embodiment of the present disclosure;

[0065] Figure 11 Schematic diagram of the picking process of the picking and placing device provided by the present disclosure;

[0066] Figure 12 Flow chart of the picking method provided by the embodiment of the present disclosure;

[0067] Figure 13 Schematic diagram of the placing process of the picking and placing device provided by the present disclosure;

[0068] Figure 14 Flow chart of the placing method provided by the embodiment of the present disclosure.

[0069] Explanation of reference numerals:

[0070] 10 - Picking and placing device;

[0071] 100 - Device main body; 110 - Fixed bottom plate; 120 - First transmission member; 130 - First transmission wheel; 140 - Driving wheel; 150 - Second driving unit; 160 - First guide rail; 170 - Guide wheel;

[0072] 200 - Telescopic mechanism; 210 - Telescopic member; 220 - Second transmission member; 230 - Second transmission wheel; 240 - Second guide rail;

[0073] 300 - Hook mechanism; 301 - Carrier; 310 - Housing; 311 - Guide groove; 312 - Limit protrusion; 320 - Driving assembly; 321 - First driving unit; 322 - Driving shaft; 323 - First gear; 324 - Second gear; 325 - Support bearing; 330 - Swing rod; 331 - Sliding part; 340 - Hook member; 341 - Chute; 342 - Connection part; 343 - Hook part; 3431 - Groove; 350 - Connecting member; 360 - Rotating shaft;

[0074] 20 - Material box; 21 - Clamping groove;

[0075] 30 - Robot main body;

[0076] 40 - Shelf Specific Embodiments

[0077] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts shall fall within the protection scope of the present disclosure.

[0078] First of all, those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present disclosure and are not intended to limit the protection scope of the present disclosure. Those skilled in the art can adjust them as needed to adapt to specific application scenarios.

[0079] Secondly, it should be noted that in the description of the present disclosure, the terms indicating directions or positional relationships such as "upper", "lower", "left", "right", "front", "rear", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present disclosure.

[0080] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0081] In this application, the terms "installation" or "connection" can be used interchangeably. "Connection" can be a direct connection or an indirect connection through middleware; it can be a movable connection or a fixed connection. The term "and / or" includes any combination of the listed items. For example, "A and / or B" includes "A and B", "only A", or "only B" three situations.

[0082] All kinds of robots are widely used in various fields such as industry and life. Robots play an important role in industries such as transportation and logistics. In a warehousing and logistics system, goods are usually stored on shelves. Robots pick and place goods by docking with the shelves or conveyor lines and can transport the goods. The robot for picking and placing goods can move in the aisles between the shelves. A forklift for picking and placing goods is usually provided on the robot. A manipulator that can extend in a fixed direction relative to the body of the robot is usually provided on the forklift. The entire forklift can rotate relative to the body of the robot. The manipulator usually completes the operation of picking and placing goods on the side of the robot along the forward direction.

[0083] Therefore, in the related art, when a handling robot performs a goods transportation task and picks and places goods from different sides of the robot, it is first necessary to rotate the position of the forklift so that the forklift faces the target shelf before performing the telescopic operation to pick and place goods, resulting in a low picking and placing efficiency of the robot. The forklift usually has multiple joints, multiple sets of transmission mechanisms and multiple drive units. The manipulator can extend into the interior of the shelf compartment to complete the operation of picking and placing the material box, resulting in a complex structure, heavy weight and high cost of the forklift on the robot.

[0084] In addition, when the forklift of the robot picks and places the material box, the joints of the forklift need to extend into the interior of the shelf compartment, occupying the storage space inside the compartment, resulting in a reduced storage density and a reduced overall space utilization rate of the warehousing system.

[0085] In view of the above problems, the embodiments of the present disclosure provide a hook mechanism, a picking and placing device, a robot, and a warehousing system. By designing the structures of the hook mechanism and the telescopic mechanism on the picking and placing device, the forklift device can be telescopically extended in both the front and rear directions. The hook mechanism does not need to extend into the interior of the shelf compartment when docking with the material box, improving the space utilization rate and warehousing efficiency. The structure of the picking and placing device is simplified, the weight of the equipment is reduced, and the product cost is reduced.

[0086] To facilitate understanding, the application scenarios of the hook mechanism, the picking and placing device, the robot, the warehousing system, and the picking and placing method provided by the embodiments of the present disclosure are first described.

[0087] The picking and placing device provided by the embodiments of the present disclosure is applied to a robot, which can be applied to a warehousing system for picking and placing goods. Specifically, the robot can be applied to logistics distribution in industrial production lines, inbound and outbound of inventory products in manufacturing, inbound and outbound of products in retail, and also to express inbound and outbound in e-commerce logistics and other different fields. The products or goods involved in transportation can be industrial parts, electronic accessories or products, drugs, clothing and ornaments, food, books, etc. The robot can directly transfer goods or transfer a material box (container) containing goods. The embodiments of the present disclosure do not make specific limitations on this, and hereinafter, "material box" will be used to refer to the handling object of the handling robot without specific examples. In one embodiment, the robot can walk on the ground. In another embodiment, the robot can also climb onto the shelf to pick and place goods. In some other embodiments, the robot can also walk on the guide rail provided on the shelf.

[0088] Figure 1 Structural schematic of the picking and placing device provided by the embodiments of the present disclosure Figure 1 , Figure 2 Structural schematic of the picking and placing device provided by the embodiments of the present disclosure Figure 2 , Figure 3 Structural schematic of the hook mechanism in the picking and placing device provided by the embodiments of the present disclosure Figure 1 , Figure 4 Internal structure view of the hook mechanism in the picking and placing device provided by the embodiments of the present disclosure Figure 5 Structural schematic diagram of the material box picked and placed by the picking and placing device provided by the embodiments of the present disclosure.

[0089] As Figures 1 to 5 shown, this embodiment provides a hook mechanism 300, which can be applied to the picking and placing device 10 for picking and placing the material box 20. The picking and placing device 10 picks the material box 20 from the shelf 40, or places the material box 20 on the shelf 40. The shelf 40 (rack) can include one or more shelves (shelf) for placing the material box 20, and the shelf is provided with a plurality of storage locations for placing the material box 20. The present application does not limit the shape and structure of the shelf and the storage location, as long as the material box 20 can be placed on the storage location of the shelf.

[0090] Among them, the hook mechanism 300 includes a carrier 301, a drive assembly 320, and two hook members 340. The drive assembly 320 is arranged on the carrier 301, and the two hook members 340 are arranged at both ends of the drive assembly 320 at intervals in the first direction. The drive assembly 320 is configured to simultaneously drive the two hook members 340 to move asynchronously, so as to respectively rise or fall relative to the carrier 301, so that at least one of the two hook members 340 is docked with the material box 20, or both of the two hook members 340 are separated from the material box 20.

[0091] Asynchronous movement refers to non-synchronous movement. In the embodiments of the present disclosure, the movement directions of the two hook members 340 are not the same at the same moment. Even at some specific moments, although the two hook members 340 are at the same height, their movement directions are still different. For example, one of the hook members 340 rises while the other hook member 340 descends.

[0092] It can be understood that by driving the two hook members 340 to move asynchronously, the driving component 320 can achieve the separate control of two different hook members to pick up and place the material box in different directions, which simplifies the structure of the hook mechanism.

[0093] It can be understood that through the linkage cooperation of the two hook members 340 of the hook mechanism 300, when the driving component 320 drives the hook members 340 to move, the hook member 340 at the end close to the picking position is used for docking and cooperation with the material box 20 when picking up goods, and the hook member 340 at the end far from the placing position is used for docking and cooperation with the material box 20 when placing goods. Therefore, the hook mechanism 300 does not need to penetrate deep into the shelf, which is beneficial to simplifying the structure of the hook mechanism 300 and increasing the storage density of the shelf.

[0094] In some embodiments, the hook mechanism 300 may further include a swing rod 330, and the swing rod 330 is fixedly connected to the output end of the driving component 320. The hook member 340 has a chute 341, and at least a part of the swing rod 330 is located in the chute 341. The driving component 320 is configured to drive the swing rod 330 to rotate. During the rotation of the swing rod 330, the swing rod 330 can drive the hook member 340 to rise or fall relative to the carrier 301, so as to realize the docking or separation of the hook member 340 and the material box 20.

[0095] It can be understood that the swing stroke of the swing rod 330 corresponds to the moving stroke of the hook member 340. By rotating the swing rod 330, the hook member 340 can be raised and lowered relative to the carrier 301. When the hook member 340 rises relative to the carrier 301, the hook member 340 can be docked with the material box 20, and then the material box 20 can be driven to move when the hook mechanism 300 moves; when the hook member 340 descends relative to the carrier 301, the hook member 340 can be separated from the material box 20, and then the movement of the hook mechanism 300 will not drive the material box 20 to move. Taking the process of picking up goods as an example, the hook mechanism 300 can move to one end facing the material box 20 and face the material box 20. Therefore, before the hook mechanism 300 reaches the preset position opposite to the material box 20, the hook member 340 of the hook mechanism 300 is in a low position or a retracted state relative to the carrier 301. When the hook mechanism 300 reaches the preset position, the swing rod 330 can be driven to rotate by the driving component 320. During the rotation of the swing rod 330, the hook member 340 is driven to move, so that the hook member 340 rises relative to the carrier 301, and then the hook member 340 is docked with the material box 20. After that, the hook member 340 can drive the material box 20 to move to achieve the acquisition of the material box 20.

[0096] During the process of putting goods, the hook member 340 is in an extended state relative to the carrier 301, so that the hook member 340 is docked with the material box 20 and drives the material box 20 to move to the shelf. After the goods are put, under the drive of the driving component 320, the swing rod 330 rotates and drives the hook member 340 to descend relative to the carrier 301, moving from the extended state to the retracted state, so that the hook member 340 is separated from the material box 20.

[0097] In some embodiments, the hook mechanism 300 further includes a housing 310. The housing 310 is disposed on the carrier 301, and the driving component 320 and the two hook members 340 are disposed inside the housing 310.

[0098] The specific driving method of the hook member 340 will be described in detail below.

[0099] Please continue to refer to Figures 1 to 5 , in a possible implementation manner, the swing rod 330 has a sliding portion 331. The sliding portion 331 is inserted into the sliding groove 341, and the sliding portion 331 has a distance from the rotation center of the swing rod 330. When the swing rod 330 rotates, the sliding portion 331 can push the hook member 340 to move, improving the reliability of the docking between the swing rod 330 and the hook member 340. When the sliding portion 331 pushes the hook member 340 to move, the sliding portion 331 moves along the sliding groove 341, so that the hook member 340 only makes a lifting motion.

[0100] It can be understood that the sliding part 331 can be located on the side of the swing rod 330, and the sliding part 331 can protrude laterally from the surface of the main body of the swing rod 330. Exemplarily, the cross-section of the swinging part can be circular, and the diameter of the swinging part can be equal to or less than the width of the sliding groove 341. The cross-section of the swing can also be square or other shapes, and the swing part can be rotatably connected to the main body structure of the swing rod 330. The specific shape of the swing part is not limited in the embodiments of the present disclosure.

[0101] Exemplarily, the swinging part and the main body structure of the swing rod 330 can be integrally formed parts, reducing the manufacturing cost.

[0102] Exemplarily, the swinging part can be a roller structure. The swinging part is rotatably connected to the main body structure of the swing rod 330. When the swinging part moves along the sliding groove 341, the roller can roll along the groove wall of the sliding groove 341, thereby reducing the friction between the swinging part and the sliding groove 341, improving the smoothness of the swinging part moving along the sliding groove 341, and reducing the wear of the swinging part and the sliding groove 341.

[0103] In some embodiments, the housing 310 has a guiding groove 311. The hook member 340 is at least partially inserted into the guiding groove 311. The two hook members 340 can move along the guiding groove 311 so that the two hook members 340 retract into the interior of the housing 310, or at least one of the two hook members 340 partially extends outside the housing 310.

[0104] It can be understood that the guiding groove 311 communicates with the inside and outside of the housing 310. When the swing rod 330 rotates, the swing rod 330 can push the hook member 340 to move along the guiding groove 311, and the guiding groove 311 can provide limit and guidance for the movement of the hook member 340, improving the smoothness and certainty of the movement of the hook member 340.

[0105] In some embodiments, the hook member 340 can include a connecting portion 342 and a hook portion 343. The connecting portion 342 is connected to the hook portion 343, and the sliding groove 341 is provided on the connecting portion 342. The hook portion 343 is inserted into the guiding groove 311, and the outer side of the material box 20 has a clamping groove 21; when the hook member 340 is docked with the material box 20, at least a part of the hook portion 343 is inserted into the clamping groove 21, which can improve the reliability of the docking between the hook member 340 and the material box 20.

[0106] It can be understood that when the hook member 340 drags the material box 20 to move, the hook member 340 abuts against the groove wall of the clamping groove 21, thereby improving the reliability when the hook member 340 is docked with the material box 20 and preventing the hook member 340 from falling off when dragging the material box 20 to move.

[0107] Exemplarily, the guiding groove 311 can be provided at the top of the housing 310, and the hook member 340 can move in the vertical direction. When the hook member 340 retracts along the guiding groove 311 relative to the housing 310, the top surface of the hook portion 343 can be lower than the top surface of the housing 310 or flush with the top surface of the housing 310. When the hook member 340 extends along the guiding groove 311 relative to the housing 310, at least a part of the hook portion 343 protrudes outside the top of the housing 310. The hook portion 343 forms a protruding structure outside the top of the housing 310, and the part of the hook portion 343 protruding outside the top of the housing 310 can be docked and matched with the clamping groove 21 of the material box 20.

[0108] In some embodiments, there are at least two hook portions 343. The at least two hook portions 343 are spaced apart along the length direction of the connecting portion 342, so that the material box 20 can be docked with the multiple hook portions 343 simultaneously, thereby improving the balance of the force on the material box 20 when the hook member 340 is docked with the material box 20.

[0109] Wherein, the number of the hook portions 343 of each hook member 340 can be two, three or more, and the embodiments of the present disclosure do not make specific limitations thereto.

[0110] Exemplarily, there are two hook portions 343. The two hook portions 343 are connected to both ends of the connecting portion 342. The connecting portion 342 is horizontally arranged. The two hook portions 343 can be vertically arranged, and the top surfaces of the two hook portions 343 can be flush, so as to ensure that when the swing rod 330 drives the hook member 340 to move, the two hook portions 343 can be inserted into or disengaged from the clamping groove 21 of the material box 20 synchronously.

[0111] Exemplarily, the hook portion 343 and the connecting portion 342 can be integrally formed, or the hook portion 343 and the connecting portion 342 can be welded, or the hook portion 343 and the connecting portion 342 can be detachably connected by fasteners such as bolts. The embodiments of the present disclosure do not limit the specific connection manner between the hook portion 343 and the connecting portion 342.

[0112] In some embodiments, the side wall of the guiding groove 311 can be provided with a limiting protrusion 312, and the side wall of the hook portion 343 is provided with a groove 3431. The limiting protrusion 312 can cooperate with the groove 3431. When the hook portion 343 moves along the guiding groove 311, the limiting protrusion 312 is located in the groove 3431.

[0113] It can be understood that the cooperation between the limiting protrusion 312 and the groove 3431 can improve the tightness of the cooperation between the hook portion 343 and the guiding groove 311, and can prevent the hook portion 343 from shaking when moving along the guiding groove 311.

[0114] Exemplarily, limiting protrusions 312 can be provided on the groove walls on the opposite sides of the guiding groove 311, and grooves 3431 can be respectively provided on the opposite sides of the hook portion 343. The two limiting protrusions 312 and the two grooves 3431 are respectively matched. The cross-sections of the guiding groove 311 and the hook portion 343 can both be in the shape of a "work" character.

[0115] Exemplarily, the material of the hook member 340 can be plastic or metals and alloys such as iron and aluminum, and the embodiments of the present disclosure do not make specific limitations thereto.

[0116] In some embodiments, the moving direction of the hook member 340 can be the second direction, and the second direction is the vertical direction. Among them, the rotation plane of the swing rod 330 can be perpendicular to the picking and placing direction of the picking and placing device 10. When the hook member 340 is disengaged from the clamping groove 21 of the material box 20, the hook member 340 is retracted relative to the housing 310. At this time, the hook member 340 is received inside the housing 310, and the height of the hook member 340 in the second direction is lower than the top surface of the housing 310. When the hook member 340 is docked with the clamping groove 21 of the material box 20, the hook member 340 can extend relative to the housing 310. At this time, the hook member 340 is higher than the top surface of the housing 310.

[0117] In some embodiments, the clamping groove 21 can be provided on the bottom wall of the material box 20, or the clamping groove 21 can be formed by the handle on the end side of the material box 20. The embodiments of the present disclosure do not limit the specific setting position of the clamping groove 21. For example, the clamping groove 21 can be provided at the top of the side wall of the material box 20 facing the picking and placing device 10, and the notch of the clamping groove 21 is arranged upward. When the hook mechanism 300 is aligned with the clamping groove 21, the hook member 340 is located above the clamping groove 21. When the hook member 340 needs to be docked with the clamping groove 21, the first driving unit 321 can drive the hook member 340 to move downward. When the clamping groove 21 is at the bottom or top of the material box 20, it can be provided close to the bottom edge of the material box 20, so that the hook mechanism 300 can be docked with the material box 20 at the entrance position of the shelf without extending into the interior of the shelf storage location, so that the hook mechanism 300 does not occupy the interior space of the storage location during the process of picking and placing the material box 20, which is beneficial to improving the storage density of the shelf.

[0118] Please refer to Figure 9 , when the material box 20 is placed on the shelf, the end of the material box 20 protrudes a certain distance from the shelf cross beam, so that the clamping groove 21 at the bottom of the material box 20 can be exposed outside the warehouse entrance. In this way, when the hook member 340 is docked with the clamping groove 21, the hook member 340 will not interfere with the cross beam of the shelf.

[0119] It should be noted that when the hook member 340 is opposite to the clamping groove 21 of the material box 20, since the hook member 340 will not interfere with the material box 20 in the retracted state, during the process of the hook mechanism 300 extending below the material box 20, the hook mechanism 300 can be as close as possible to the bottom wall of the material box 20, thereby preventing the hook mechanism 300 and the telescopic mechanism 200 from occupying too much space below the storage location of the target material box 20, which is beneficial to reducing the height of the shelf storage location and improving the storage density.

[0120] Figure 6 Structural schematic of the hook mechanism in the loading and unloading device provided by the embodiment of the present disclosure Figure 2 , Figure 7 Structural schematic of the hook mechanism in the loading and unloading device provided by the embodiment of the present disclosure Figure 3 .

[0121] Please refer to Figures 3 to 7 , in some embodiments, there may be two swing rods 330, and the two swing rods 330 are respectively arranged corresponding to the two hook members 340.

[0122] Among them, the two swing rods 330 are connected to both ends of the driving shaft 322, and the projections of the two swing rods 330 on the plane perpendicular to the first direction have an included angle. The driving shaft 322 extends along the first direction.

[0123] During the process of the swing rod 330 rotating one week, the moving stroke of the hook member 340 cooperating with the swing rod 330 includes two processes of extending upward and retracting downward. Since the two swing rods 330 have an included angle, the moving strokes of the two hook members 340 corresponding to the two swing rods 330 are arranged in a staggered manner. When the driving assembly 320 drives the two swing rods 330 to rotate, the two hook members 340 have different telescopic positions relative to the housing 310, so as to meet the docking requirements of the hook member 340 and the material box 20 when loading and unloading goods in different directions.

[0124] The specific value of the included angle of the projections of the two swing rods 330 along their rotation axis direction can be 30°, 60°, 90°, 120°, 150°, 180°, etc., and the embodiment of the present disclosure does not make specific limitations on this.

[0125] Exemplarily, the included angle of the projections of the two swing rods 330 on the plane perpendicular to the first direction can be 90°. That is, the included angle of the projections of the two swing rods 330 along the first direction is 90°.

[0126] Taking the included angle between the projections of the two swing rods 330 along the axial direction of their rotation axes as 90° as an example, in the 360° rotation stroke of the swing rod 330 rotating one week, it can be divided into four stroke intervals, and the four stroke intervals respectively correspond to four states of the two hook members 340. The four states are: both of the two hook members 340 retract relative to the housing 310, both of the two hook members 340 extend relative to the housing 310, the first of the two hook members 340 extends relative to the housing 310 and the second retracts relative to the housing 310, and the second of the two hook members 340 extends relative to the housing 310 and the first retracts relative to the housing 310.

[0127] It can be understood that in the embodiments of the present disclosure, the loading and unloading device 10 can perform two-way loading and unloading operations from both ends of its length direction. As Figure 3 shown, when it is necessary to separate the hook member 340 from the material box 20, the two swing rods 330 can be rotated so that both of the two hook members 340 are in a state of retracting relative to the housing 310. As Figure 6 and Figure 7 shown, when it is necessary to dock the hook member 340 with the material box 20, the two swing rods 330 can be rotated according to the specific loading and unloading direction of the loading and unloading device 10 so that one of the two hook members 340 is in an extended state relative to the housing 310 and the other of the two hook members 340 is in a retracted state relative to the housing 310. Among them, the two hook members 340 respectively correspond to the two directions of the two-way loading and unloading of the loading and unloading device 10.

[0128] Exemplarily, when the telescopic mechanism 200 extends from the first end of the length direction of the device main body 100 to load and unload goods, the hook member 340 facing the first end of the device main body 100 among the two hook members 340 is configured to dock with the material box 20. When the telescopic mechanism 200 extends from the second end of the length direction of the device main body 100 to load and unload goods, the hook member 340 facing the second end of the device main body 100 among the two hook members 340 is configured to dock with the material box 20. In this way, the stroke of the hook mechanism 300 driving the material box 20 to move can be increased, and interference between the hook mechanism 300 and the shelf 40 can be avoided.

[0129] It should be noted that clamping grooves 21 can be respectively provided at both ends of the bottom of the material box 20, so that when the loading and unloading device 10 performs loading and unloading operations on the material box 20 in different directions, the corresponding hook member 340 can dock with the clamping grooves 21 at different positions at the bottom of the material box 20.

[0130] Figure 8 It is a schematic structural diagram of another hook mechanism provided by the embodiments of the present disclosure.

[0131] Please refer to Figure 8In some embodiments, the driving assembly 320 includes a first driving unit 321 and a rotating shaft 360, the first driving unit 321 is configured to drive the rotating shaft 360 to rotate; the rotating shaft 360 extends along a first direction; two hook members 340 are fixedly connected at both ends of the rotating shaft 360; the projections of the two hook members 340 on a plane perpendicular to the first direction extend along different directions.

[0132] It is understandable that the rotating shaft 360 can directly drive the two hook members 340 to rotate. Exemplarily, the two hook members 340 can be perpendicular to the rotating shaft 360, and the two hook members 340 extend in opposite directions. When the hook members 340 are docked with the material box, one of the hook members 340 faces upward and the other hook member 340 faces downward; when the hook members 340 are separated from the material box, the two hook members 340 are both arranged horizontally.

[0133] In some embodiments, the angle between the projections of the two hook members 340 on the plane perpendicular to the first direction is 60°-180°. Exemplarily, the angle between the projections of the two hook members 340 on the plane perpendicular to the first direction is 60°, 61°, 70°, 90°, 120°, 150°, 170°, 179°, 180°, etc., which is not specifically limited in the embodiments of the present disclosure.

[0134] The specific structure of the driving assembly 320 is described in detail below.

[0135] Please continue to refer to Figures 1 to 5 In a possible implementation, the driving assembly 320 may include a first driving unit 321 and a driving shaft 322, wherein the first driving unit 321 is disposed in the housing 310, and the driving shaft 322 is rotatably connected to the housing 310. The first driving unit 321 is configured to drive the driving shaft 322 to rotate. Both swing rods 330 are connected to the driving shaft 322, so that the driving shaft 322 can drive multiple hook members 340 to be linked, thereby simplifying the driving structure of the hook mechanism 300.

[0136] It can be understood that the two hook members 340 are arranged at intervals along the first direction, the driving shaft 322 extends along the first direction, and the two swing rods 330 can be respectively connected to the two ends of the driving shaft 322. The two swing rods 330 are relatively fixed to the driving shaft 322, so as to keep the angle between the projections of the two swing rods 330 in the length direction of the driving shaft 322 unchanged, so as to ensure the stability of the rotation stroke of the two swing rods 330.

[0137] Exemplarily, the driving assembly 320 may further include a first gear 323 and a second gear 324. The first gear 323 is connected to the output end of the first driving unit 321, the second gear 324 is coaxially connected to the driving shaft 322, and the first gear 323 meshes with the second gear 324, thereby improving the layout compactness of the driving assembly 320 and reducing the space occupation.

[0138] It should be noted that the first driving unit 321 may be a motor. The first driving unit 321 may be disposed on the side of the driving shaft 322. A support bearing 325 may be disposed on the driving shaft 322. The inner ring of the support bearing 325 is connected to the driving shaft 322, and the outer ring of the support bearing 325 is connected to the bearing seat on the housing 310 to improve the rotation stability of the driving shaft 322 and provide support for the driving shaft 322.

[0139] An embodiment of the present disclosure provides a picking and placing device 10 for picking and placing a material box 20. The picking and placing device 10 may be applied to a robot in a warehousing and logistics system to obtain the material box 20 from a shelf or place the material box 20 on the shelf.

[0140] The picking and placing device 10 provided by the present disclosure includes a device main body 100, a telescopic mechanism 200, and a hook mechanism 300. The telescopic mechanism 200 is movably connected to the device main body 100, and the hook mechanism 300 is movably connected to the telescopic mechanism 200. When performing picking and placing operations, the telescopic mechanism 200 may extend or retract relative to the device main body 100, the hook mechanism 300 may move relative to the telescopic mechanism 200, and the hook mechanism 300 may be docked with the material box 20 and drive the material box 20 to move. The structure of the hook mechanism 300 is any one provided by the embodiment of the present disclosure and will not be elaborated herein.

[0141] It should be noted that in the picking and placing device 10 provided by the embodiment of the present disclosure, by providing a movable hook mechanism 300 on the telescopic mechanism 200, when the hook mechanism 300 is docked with the material box 20, it is not necessary to extend deep into the interior of the storage location, so that the space inside the storage location is not occupied, which is beneficial to reducing the width and height of the storage location of the shelf and improving the storage density of the shelf.

[0142] In addition, by using the movable and telescopic hook member 340 to cooperate with the material box 20, the structure of docking the picking and placing device 10 with the material box 20 is simplified, the weight of the picking and placing device 10 is reduced, and the production cost is lowered.

[0143] In the embodiments of the present disclosure, the picking and placing direction of the picking and placing device 10 is defined as the X direction, that is, the first direction is the X direction. The telescopic mechanism 200 can move relative to the device main body 100 along the X direction, and the hook mechanism 300 can move relative to the telescopic mechanism 200 along the X direction. The length direction of the device main body 100 is the X direction, the width direction of the device main body 100 is the Y direction, and the height direction of the device main body 100 is the Z direction. The Y direction is perpendicular to the X direction, and the Z direction is perpendicular to the XY plane. The second direction is the Z direction.

[0144] The following will detail the specific driving and transmission structures for the movement of the telescopic mechanism 200 and the hook mechanism 300.

[0145] In a possible implementation, the device main body 100 may include a fixed bottom plate 110, a first transmission member 120, a first transmission wheel 130, a driving wheel 140, and a second driving unit 150. The second driving unit 150 is disposed on the fixed bottom plate 110. There are at least two first transmission wheels 130, and the at least two first transmission wheels 130 are respectively disposed at both ends of the fixed bottom plate 110 along the moving direction of the telescopic mechanism 200. The driving wheel 140 is connected to the output end of the second driving unit 150, and the first transmission member 120 is sequentially wound around the first transmission wheels 130 at both ends of the fixed bottom plate 110 and the driving wheel 140.

[0146] Among them, the telescopic mechanism 200 is connected to the first transmission member 120, and the second driving unit 150 is configured to drive the driving wheel 140 to rotate. The driving wheel 140 drives the first transmission member 120 to transmit, so that the first transmission member 120 drives the telescopic mechanism 200 to move relative to the fixed bottom plate 110, thereby realizing the two-way telescopic movement of the telescopic mechanism 200 relative to the device main body 100.

[0147] It can be understood that there are two first transmission wheels 130, and the two first transmission wheels 130 are rotatably disposed at both ends of the fixed bottom plate 110 along the X direction. The first transmission member 120 is a flexible transmission member such as a chain or a belt. The driving wheel 140 can mesh with the inner side of the first transmission member 120. When the second driving unit 150 drives the driving wheel 140 to rotate, the driving wheel 140 can drive the first transmission member 120 to transmit along the X direction, and the first transmission member 120 can drive the telescopic mechanism 200 to move.

[0148] Exemplarily, the driving wheel 140 can rotate clockwise or counterclockwise. Correspondingly, the first transmission member 120 can transmit forward or reversely, and the telescopic mechanism 200 can move bidirectionally along the X direction.

[0149] Exemplarily, the first driving unit 321 may be a motor. The first driving unit 321 may be disposed below the fixed base plate 110, making full use of the space below the fixed base plate 110 to avoid interference between the first driving unit 321 and the fixed base plate 110. The device body 100 may also be provided with guide wheels 170. Exemplarily, there are two guide wheels 170. The two guide wheels 170 are located on both sides of the driving wheel 140, and the two guide wheels 170 abut against the outside of the first transmission member 120. The guide wheels 170 can provide a guiding function for the transmission of the first transmission member 120.

[0150] In some embodiments, the telescopic mechanism 200 may include a telescopic member 210, a second transmission member 220, and at least two second transmission wheels 230. At least two second transmission wheels 230 are respectively disposed at two ends of the telescopic member 210 along the moving direction of the hook mechanism 300, and the second transmission member 220 is wound around at least two second transmission wheels 230.

[0151] Wherein, the second transmission member 220 has a connection point with the fixed base plate 110. The hook mechanism 300 is connected to the second transmission member 220. The connection positions of the hook mechanism 300 and the second transmission member 220 and the connection position of the fixed base plate 110 and the second transmission member 220 are respectively located on opposite sides of the second transmission member 220.

[0152] It can be understood that the telescopic member 210 is connected to the first transmission member 120. When the first transmission member 120 is driven by the second driving unit 150 to transmit, the telescopic member 210 moves along the X direction. At this time, since the second transmission member 220 is connected to the fixed base plate 110, the second transmission member 220 will transmit around the second transmission wheel 230, thereby driving the hook mechanism 300 to move relative to the telescopic member 210. Thus, the hook mechanism 300 is driven to perform linkage through the telescopic movement of the telescopic mechanism 200, simplifying the driving structure of the picking and placing device 10 and reducing the weight and cost of the picking and placing device 10.

[0153] It should be noted that in the embodiments of the present disclosure, a single driving source is used to achieve two-stage transmission of the telescopic mechanism 200 relative to the device body 100 and the hook mechanism 300 relative to the telescopic mechanism 200. Taking the fixed base plate 110 as a reference, the moving speed of the telescopic member 210 relative to the fixed base plate 110 is v, and the moving stroke is L; then the moving speed of the hook mechanism 300 relative to the fixed base plate 110 is 2v, and the moving stroke is 2L.

[0154] In some embodiments, the connection point of the hook mechanism 300 and the second transmission member 220 is located between the two hook members 340, so that the hook mechanism 300 can partially extend beyond the length of the telescopic mechanism 200, facilitating docking with the clamping groove 21.

[0155] It can be understood that when picking up and placing goods, it is possible to prevent the clamping groove 21 from protruding too much from the shelf crossbeam, thereby avoiding the position of the material box 20 placed on the shelf from protruding too much from the crossbeam, improving the stability of the material box 20 placed on the shelf, and at the same time avoiding interference between the material box 20 and external moving objects.

[0156] In some embodiments, the first transmission member 120 and the first transmission wheel 130 can be located on the first side in the width direction of the picking and placing device 10. The second transmission member 220 and the second transmission wheel 230 can be located on the second side in the width direction of the picking and placing device 10. A connecting member 350 is provided on one side of the carrier 301 facing the second transmission member 220, and the connecting member 350 is connected to the second transmission member 220. Thus, the space on both sides of the picking and placing device 10 can be fully utilized, and the rationality of the transmission structure layout can be improved.

[0157] It can be understood that the connecting member 350 can extend from the housing 310 to the side of the telescopic member 210, and the connecting member 350 can be fixedly connected to the second transmission member 220 by screws or rivets. The telescopic member 210 can also be connected to the first transmission member 120 by fasteners such as screws or rivets.

[0158] Exemplarily, when the telescopic mechanism 200 is in the initial state, that is, when the telescopic mechanism 200 is in the retracted state relative to the device main body 100, the hook member 340 can be at the middle position of the telescopic member 210 along the X direction. At this time, the connection position of the telescopic member 210 and the first transmission member 120 can be at the middle of the fixed base plate 110 along the X direction, and the connection position of the second transmission member 220 and the fixed base plate 110 can be at the middle of the fixed base plate 110 along the X direction. In this way, during the two-way picking and placing process of the picking and placing device 10, both the telescopic mechanism 200 and the hook mechanism 300 can have sufficient moving strokes.

[0159] In some embodiments, the picking and placing device 10 can further include a first guide rail 160 and a first slider. The first guide rail 160 is provided on the fixed base plate 110, and the first slider is connected to the telescopic member 210. The first slider is slidably connected to the first guide rail 160, thereby improving the smoothness of the movement of the telescopic mechanism 200 relative to the device main body 100.

[0160] Exemplarily, there can be two first guide rails 160, and the two first guide rails 160 can be parallel and are respectively arranged on opposite sides of the device main body 100. Opposite sides of the bottom of the telescopic member 210 can be respectively provided with first sliders, and at least one first slider on each side is slidably engaged with the first guide rail 160.

[0161] In some embodiments, the picking and placing device 10 may further include a second guide rail 240 and a second slider. The second guide rail 240 is disposed on the telescopic member 210. The second slider is connected to the housing 310, and the second slider is slidably connected to the second guide rail 240, thereby improving the smoothness of the movement of the hook mechanism 300 relative to the telescopic mechanism 200.

[0162] Exemplarily, the second guide rail 240 may be disposed in the middle of the telescopic member 210 and extend along the X direction. The second guide rail 240 may be located between the two first guide rails 160 and parallel to the first guide rails 160. The second slider may be connected to the bottom of the housing 310 of the hook mechanism 300.

[0163] It should be noted that the device main body 100 may further be provided with a first detection module and a second detection module. Among them, the first detection module may detect the position of the material box 20 relative to the device main body 100, so as to determine whether the material box 20 has been completely picked and placed on the tray of the device main body 100, or whether the material box 20 has been completely removed from the device main body 100. The second detection module is used to detect the height position of the picking and placing device 10 relative to the shelf, so as to ensure that the picking and placing device 10 is opposite to the target storage location where the material box 20 needs to be picked and placed. The first detection module and the second detection module may both be a photoelectric sensor, an infrared sensor, a vision sensor, etc., and the embodiments of the present disclosure do not make specific limitations thereto.

[0164] Figure 9 It is a schematic structural diagram of the robot provided by the embodiment of the present disclosure.

[0165] Please refer to Figure 9 , the embodiment of the present disclosure provides a robot, which includes a robot main body 30 and the picking and placing device 10 in the above technical solution, and the picking and placing device 10 is connected to the robot main body 30.

[0166] Among them, the robot main body 30 can move along the ground, and the picking and placing device 10 can be disposed on the top of the robot main body 30. The robot provided by the embodiment of the present disclosure may include all the technical solutions and technical effects of the above picking and placing device 10, which will not be elaborated herein.

[0167] Figure 10 It is a schematic structural diagram of the storage system provided by the embodiment of the present disclosure.

[0168] Please refer to Figure 10 , the embodiment of the present disclosure provides a storage system, which includes a shelf 40 and the robot in the above technical solution. The robot is configured to move along the ground. The robot is configured to dock with the shelf 40 and climb and move along the height direction of the shelf 40.

[0169] Among them, the robot is configured to move along the ground, or the robot is configured to dock with the shelf 40 and climb and move along the height direction of the shelf 40, so that the picking and placing device 10 can face different storage locations of the shelf 40 to obtain the target material box 20. After the picking and placing device 10 docks with the corresponding storage location of the shelf 40, the picking and placing operation of the material box 20 can be performed.

[0170] The storage system provided by the embodiments of the present disclosure may include all the technical solutions and technical effects of the above-mentioned picking and placing device 10, which will not be elaborated here.

[0171] Figure 11 It is a schematic diagram of the picking process of the picking and placing device provided by the embodiments of the present disclosure. Figure 12 It is a flowchart of the picking method provided by the embodiments of the present disclosure.

[0172] Please refer to Figure 11 and Figure 12 The embodiments of the present disclosure provide a picking and placing method applied to a robot. The robot includes a picking and placing device 10, a receiver, a processor, and a memory. The picking and placing device 10 includes a device main body 100, a telescopic mechanism 200, and a hook mechanism 300. The hook mechanism 300 is arranged on the telescopic mechanism 200 and can be telescopic relative to the device main body. The hook mechanism 300 includes a carrier 301, a driving component 320, and two hook members 340. The driving component 320 is arranged on the carrier 301. The two hook members 340 are arranged at intervals along the first direction at both ends of the driving component 320; the driving component 320 is configured to drive the two hook members 340 to move asynchronously so as to rise or fall relative to the carrier 301 respectively; the robot is used to obtain the material box 20, and both ends of the bottom side of the material box 20 have clamping grooves 21. The memory stores computer-executable program codes for performing various tasks. After the receiver receives the instruction sent by the server, the processor executes the program codes to control the robot and its various actuators (such as the picking and placing device 10) to perform corresponding actions.

[0173] In one embodiment, the picking and placing method includes:

[0174] S101. Receive a picking instruction, control the robot to drive to the target picking position, drive the telescopic mechanism 200 to extend, so that the hook mechanism 300 moves to the lower part of the target material box 20 along with the telescopic mechanism 200, and make the hook member at the first end of the hook mechanism face the clamping groove 21 of the target material box 20.

[0175] Among them, the first end of the hook mechanism is the end close to the target picking position. The hook mechanism 300 and the telescopic mechanism 200 can be linked, that is, when the telescopic mechanism 200 extends, the hook mechanism 300 can move relative to the telescopic mechanism 200 at the same time, so that the hook mechanism 300 can move to the end of the telescopic mechanism 200, and the hook mechanism 300 can move to the bottom edge of the material box 20.

[0176] It should be noted that during the process of the telescopic mechanism 200 and the hook mechanism 300 moving towards the target material box 20, both the front and rear hook members 340 of the hook mechanism 300 are in the low position or retracted state to avoid interference with the material box 20.

[0177] S102. Drive the hook member 340 at the first end of the hook mechanism 300 to move towards the target material box 20, so as to dock with the clamping groove 21 at the second end of the target material box 20.

[0178] Among them, the second end of the target material box 20 is the end close to the opening side of the target picking position, that is, the side of the target material box 20 facing the robot. The notch of the clamping groove 21 of the target material box 20 faces downward. By rotating the swing rod 330, the swing rod 330 is driven to push the hook member 340 upward, and then the hook member 340 can be inserted into the clamping groove 21.

[0179] It should be noted that there are two hook members 340, front and rear, on the hook mechanism 300. When the telescopic mechanism 200 extends and the hook mechanism 300 reaches the preset position opposite to the material box 20, the hook member 340 at the front end along the extending direction of the telescopic mechanism 200 is located below the clamping groove 21, and as the swing rod 330 rotates, this hook member 340 can move upward and extend to dock with the clamping groove 21, while the hook member 340 at the rear end remains in the retracted state. The specific implementation structure refers to the hook mechanism 300 described above and will not be elaborated here.

[0180] S103. Reverse-drive the telescopic mechanism 200 so that the hook mechanism 300 drives the target material box 20 to the picking and placing device 10.

[0181] Among them, during the process of the hook mechanism 300 driving the target material box 20 to the picking and placing device 10, the position of the hook member 340 remains unchanged, and the telescopic mechanism 200 and the hook mechanism 300 move simultaneously.

[0182] It should be noted that when the telescopic mechanism 200 is retracted to the initial state, the target material box 20 has not yet been completely moved to the pallet of the picking and placing device 10. Therefore, after the telescopic mechanism 200 is retracted to the initial state, it is necessary to drive the telescopic mechanism 200 to continue to move a certain distance, that is, the telescopic mechanism 200 is extended in the reverse direction for a certain distance. During this process, the hook mechanism 300 can move to the end of the telescopic mechanism 200 that is away from the picking direction, thereby completely driving the target material box 20 to the pallet of the picking and placing device 10.

[0183] Figure 13 A schematic diagram of the cargo delivery process of the cargo delivery device provided for the implementation of the present disclosure, Figure 14 A flowchart of a method for releasing goods provided in an embodiment of the present disclosure.

[0184] Please refer to Figure 13 and Figure 14 In one embodiment, the cargo picking and placing method further comprises:

[0185] S201, receiving a cargo release instruction, and controlling the robot to carry the target material box 20 to a target cargo release position, wherein the target cargo pickup position and the target cargo release position are respectively oriented toward two sides of the cargo pickup and release device along a first direction.

[0186] The hook mechanism 300 has two front and rear hook members 340 . With the cargo releasing direction as a reference, the hook member 340 of the hook mechanism 300 at the front end along the cargo releasing direction can be aligned with the clamping groove 21 .

[0187] It is understandable that before driving the hook mechanism 300 toward the target delivery position, it is necessary to determine whether the delivery direction of the target material box 20 and its pickup direction are on the same side. If they are on the same side, the target material box 20 is picked up and placed on the same side. When picking up and placing on the same side, the same hook member 340 as when picking up can be used to dock with the target material box 20. If they are not on the same side, the target material box 20 is picked up and placed on the opposite side. When picking up and placing on the opposite side, another hook member 340 different from when picking up can be used to dock with the target material box 20.

[0188] S202, drive the hook mechanism 300 to move away from the target cargo delivery position, and make the hook member 340 at the second end of the hook mechanism 300 dock with the clamping groove 21 at the first end of the target material box 20; drive the telescopic mechanism 200 toward the target cargo delivery position, so that the hook mechanism 300 moves toward the target cargo delivery position along with the telescopic mechanism 200, and drives the target material box 20 to the target cargo delivery position.

[0189] It can be understood that since the hook mechanism 300 is docked with the second end of the target material box 20 during the aforementioned picking process and needs to be docked with the first end of the target material box 20 when placing the goods, the hook mechanism 300 needs to move from one end of the telescopic mechanism 200 to the other end. Before the hook member 340 at the second end of the hook mechanism 300 faces the clamping groove 21 at the first end of the target material box 20, both hook members 340 remain in the low position or retracted state.

[0190] It can be understood that the hook member 340 at the second end of the hook mechanism 300 is docked with the clamping groove 21 at the first end of the target material box 20. That is, among the two hook members 340, the hook member 340 at the front end of the hook mechanism 300 along the goods placement direction extends upward under the drive of the swing rod 330 and is docked with the clamping groove 21 at the rear end of the target material box 20 along the goods placement direction, while the hook member 340 at the rear end along the goods placement direction remains in the retracted state.

[0191] S203. Withdraw the hook member 340 from the clamping groove 21 and reversely drive the telescopic mechanism 200 so that the hook mechanism 300 retracts into the picking and placing device 10 along with the telescopic mechanism 200.

[0192] It can be understood that during the retraction process of the telescopic mechanism 200 and the hook mechanism 300, both hook members 340 of the hook mechanism 300 are in the retracted state. The telescopic mechanism 200 and the hook mechanism 300 can move simultaneously until the telescopic mechanism 200 returns to the initial state.

[0193] It should be noted that the step numbers in this disclosure are only for specifically illustrating the embodiments and do not necessarily represent a strict order between the steps. The order between multiple steps or the order of actions within multiple steps can be arbitrarily adjusted when the inventive purpose of this disclosure can be achieved.

[0194] It should be noted that this method is the goods placement method of the robot. When the target material box 20 is for picking and placing on the same side, this goods placement method is the reverse process of the aforementioned picking method and will not be elaborated here.

[0195] In addition, the above goods placement method and picking method can be implemented before and after. For example, the above picking method is used to obtain a material box 20 on the shelf first, and then the above goods placement method is used to place the material box 20 on the shelf. Or, the above goods placement method is used to place a material box 20 on the shelf first, and then the above picking method is used to obtain a material box 20 on the shelf.

[0196] For example, a storage system includes two oppositely arranged shelves, and a robot picks and places goods in the aisle between the two shelves. The first storage location and the second storage location are two oppositely arranged storage locations on the two shelves. The robot uses a picking method to obtain the material box 20 at the first storage location, and then, without rotation or lifting, continues to use a placing method to place the material box 20 at the second storage location. This can conveniently adjust the position of the material box 20, with simple actions and a rapid process.

[0197] It should be noted that the picking and placing device 10 mentioned in the above picking method and / or placing method can be any one or a combination of several of the picking and placing devices 10 provided in the embodiments of the present disclosure, as long as the picking and placing device 10 includes the necessary structures for implementing the above picking method and / or placing method.

[0198] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A hook mechanism, characterized in that: Used to pick up and place material boxes, The hook mechanism includes a supporting member, a driving assembly and two hook members, wherein the driving assembly is arranged on the supporting member, and the two hook members are arranged at both ends of the driving assembly at intervals along a first direction; the driving assembly is configured to simultaneously drive the two hook members to move asynchronously so as to rise or fall respectively relative to the supporting member.

2. The hook mechanism according to claim 1, characterized in that: The hook mechanism also includes a swing rod, which is fixedly connected to the output end of the driving assembly. The hook member has a slide groove, and the swing rod is at least partially located in the slide groove; the driving assembly is configured to drive the swing rod to rotate so that the swing rod drives the hook member to move.

3. The hook mechanism according to claim 2, characterized in that: The swing rod has a sliding portion, the sliding portion is inserted into the sliding groove, and there is a distance between the sliding portion and the rotation center of the swing rod.

4. The hook mechanism according to claim 3, characterized in that: The hook mechanism also includes a shell, which is arranged on the supporting member, and the driving assembly and the two hook members are arranged in the shell. The shell has a guide groove, and the two hook members can move along the guide groove to retract the two hook members into the shell, or at least one of the two hook members partially extends to the outside of the shell.

5. The hook mechanism according to claim 4, characterized in that: The hook member includes a connecting portion and a hook portion; the connecting portion is connected to the hook portion, and the slide groove is arranged on the connecting portion; the hook portion is passed through the guide groove; the outer side of the material box has a clamping groove; when the hook member is docked with the material box, the hook portion is at least partially inserted into the clamping groove.

6. The hook mechanism according to claim 5, characterized in that: There are at least two hook portions, and the at least two hook portions are spaced apart along the length direction of the connecting portion.

7. The hook mechanism according to claim 5, characterized in that: The side wall of the guide groove is provided with a limiting protrusion, and the side wall of the hook portion is provided with a groove; when the hook portion moves along the guide groove, the limiting protrusion is located in the groove.

8. The hook mechanism according to claim 1, characterized in that: The driving assembly includes a first driving unit and a rotating shaft, wherein the first driving unit is configured to drive the rotating shaft to rotate; The rotating shaft extends along the first direction; the two hook members are fixedly connected to the two ends of the rotating shaft; The projections of the two hook members on the plane perpendicular to the first direction extend in different directions, and / or the angle between the projections of the two hook members on the plane perpendicular to the first direction is 60°-180°.

9. The hook mechanism according to any one of claims 2 to 7, characterized in that: There are two swing rods, and the two swing rods are respectively arranged corresponding to the two hook members.

10. The hook mechanism according to claim 9, characterized in that: The driving assembly includes a first driving unit and a driving shaft, the first driving unit is arranged on the supporting member, and the driving shaft extends along the first direction; the first driving unit is configured to drive the driving shaft to rotate; the two rocker arms are fixedly connected to the driving shaft, the two rocker arms are connected at both ends of the driving shaft, and the projections of the two rocker arms on a plane perpendicular to the first direction have an angle.

11. The hook mechanism according to claim 10, characterized in that: The included angle of the projections of the two swing rods on the plane perpendicular to the first direction is 90°.

12. The hook mechanism according to claim 10, characterized in that: The driving assembly further includes a first gear and a second gear, wherein the first gear is connected to the output end of the first driving unit, and the second gear is coaxially connected to the driving shaft; the first gear and the second gear are meshed.

13. A cargo picking and placing device, characterized in that: The cargo picking and placing device comprises a device body, a telescopic mechanism and a hook mechanism according to any one of claims 1 to 12, wherein the telescopic mechanism is arranged on the device body and can be telescoped along a first direction relative to the device body, and the hook mechanism is connected to the telescopic mechanism.

14. The cargo picking and placing device according to claim 13, characterized in that: The device body comprises a fixed base plate, a first transmission member, a first transmission wheel, a driving wheel and a second driving unit; the second driving unit is arranged on the fixed base plate; there are at least two first transmission wheels, at least two of which are respectively arranged at both ends of the fixed base plate along the moving direction of the telescopic mechanism, the driving wheel is connected to the output end of the second driving unit, and the first transmission member is sequentially arranged around the first transmission wheels and the driving wheel at both ends of the fixed base plate; The telescopic mechanism is connected to the first transmission member, and the second driving unit is configured to drive the driving wheel to rotate, and the driving wheel drives the first transmission member to drive, so that the first transmission member drives the telescopic mechanism to move relative to the fixed base plate.

15. The cargo picking and placing device according to claim 14, characterized in that: The telescopic mechanism comprises a telescopic member, a second transmission member and at least two second transmission wheels, wherein the at least two second transmission wheels are respectively arranged at two ends of the telescopic member along the moving direction of the hook mechanism; the second transmission member is wound around the at least two second transmission wheels; The second transmission member has a connection point with the fixed base plate; the hook mechanism is connected to the second transmission member; the connection position of the hook mechanism and the second transmission member and the connection position of the fixed base plate and the second transmission member are respectively located on opposite sides of the second transmission member.

16. The cargo picking and placing device according to claim 15, characterized in that: The connection point between the hook mechanism and the second transmission member is located between the two hook members.

17. The cargo picking and placing device according to claim 15, characterized in that: The first transmission member and the first transmission wheel are located on a first side in a width direction of the cargo picking and placing device; the second transmission member and the second transmission wheel are located on a second side in a width direction of the cargo picking and placing device; a connecting portion is provided on a side of the bearing member facing the second transmission member, and the connecting portion is connected to the second transmission member.

18. A robot, characterized in that: It comprises a robot body and a cargo picking and placing device as described in any one of claims 13 to 17, wherein the cargo picking and placing device is connected to the robot body.

19. A storage system, characterized in that: It comprises a shelf and a robot as claimed in claim 18, wherein the robot is configured to move along the ground, and / or the robot is configured to dock with the shelf and climb and move along the height direction of the shelf.

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