Pick-and-place mechanism and transfer robot

Abstract

The embodiment of the utility model provides a taking and placing mechanism and a transfer robot. The pick-and-place mechanism comprises: a base having an entrance and exit for a target article to enter and exit; the limiting piece is arranged at the inlet and outlet; the limiting piece has a first state and a second state; in the first state, the limiting piece protrudes out of the supporting face of the base, in the second state, the limiting piece is lower than the supporting face, and the supporting face is configured to support a target object. Under the condition that the target article moves to a preset position, an action signal is triggered, and the limiting piece is switched to a first state according to the action signal, so that the target article is limited in the base; the preset position is located on the side, facing the interior of the base, of the limiting piece. According to the pick-and-place mechanism and the transfer robot, the situation that the target object cannot enter the transfer robot smoothly due to the fact that the target object is clamped by the limiting piece can be avoided, and the target object can be smoothly transferred to the transfer robot conveniently.

Description

Technical Field

[0001] This application belongs to the technical field of warehousing and logistics equipment, and particularly relates to a picking and placing mechanism and a handling robot. Background Art

[0002] A handling robot is an important device in a warehouse. It can automatically place a target item (such as a cargo box) onto a target carrier (such as a shelf) to complete the loading process (such as the process of returning the box), and can also pick up the target item from the target carrier and then transport it to a designated location.

[0003] Currently, the going structure of a handling robot includes a telescopic structure and a picking component arranged on the telescopic structure. The picking component applies a force to the target item and drives the transfer of the target item under the telescopic structure. To prevent the target item from falling off the handling robot, a limiting member is usually arranged at the inlet and outlet of the handling robot. The limiting member is telescopically linked with the telescopic structure, so as to limit the target item when there is a target item on the handling robot.

[0004] However, in the related art, the limiting member is likely to jam the target item, resulting in the situation that the target item cannot enter the handling robot, and the use effect is not good. Utility Model Content

[0005] The embodiments of this application provide a picking mechanism and a handling robot, which can avoid the situation that the limiting member jams the target item and causes the target item to fail to enter the handling robot smoothly, and facilitate the smooth transfer of the target item onto the handling robot.

[0006] On the one hand, the embodiments of this application provide a picking and placing mechanism, including:

[0007] A base, having an inlet and outlet for the target item to enter and exit;

[0008] A limiting member, arranged at the inlet and outlet; the limiting member has a first state and a second state; in the first state, the limiting member protrudes from the supporting surface of the base, and in the second state, the limiting member is lower than the supporting surface, and the supporting surface is configured to support the target item;

[0009] Wherein, when the target item moves to a preset position, an action signal is triggered, and the limiting member switches to the first state according to the action signal to limit the target item within the base; the preset position is located on the side of the limiting member facing the inside of the base.

[0010] In one implementation, the picking and placing mechanism further includes:

[0011] A second driving member, arranged on the base, and the second driving member is configured to drive the limiting member to switch between the first state and the second state;

[0012] When the target object moves to a preset position, the second driving member drives the limiting member to switch to the first state.

[0013] In one implementation, the limiting member is rotatably arranged on the base, and the second driving member drives the limiting member to rotate to switch between the first state and the second state.

[0014] In one implementation, a first stop member is provided on the base, and the first stop member is configured to limit the rotation angle of the limiting member when the limiting member switches to the first state, so that the limiting member stops at the first state.

[0015] In one implementation, a support frame is provided on the second driving member, the first stop member is provided on the support frame, the first stop member extends to the rotation path of the limiting member, and in the first state, the first stop member is located on one side of the limiting member.

[0016] In one implementation, a second stop member is provided on the base, and the second stop member is configured to limit the rotation angle of the limiting member when the limiting member switches to the second state, so that the limiting member stops at the second state.

[0017] In one implementation, a third mounting plate is provided on the base, the second driving member is arranged on the third mounting plate, the second stop member is arranged on the third mounting plate and extends to the rotation path of the limiting member, and in the second state, the second stop member is located on the other side of the limiting member.

[0018] In one implementation, the picking and placing mechanism further includes:

[0019] A first sensor, arranged on the base, the first sensor is configured to detect the position of the target object and trigger a first trigger signal when the target object is in the preset position;

[0020] The limiting member switches from the second state to the first state according to the first trigger signal; the action signal includes the first trigger signal.

[0021] In one implementation, the first sensor includes:

[0022] A first signal transmitting part, arranged on the base;

[0023] A first signal receiving part, arranged on the base, the first signal receiving part is configured to receive the signal emitted by the first signal transmitting part;

[0024] A triggering part, movably arranged on the base, when the target object enters and exits the base, the triggering part moves synchronously with the target object, and when the triggering part is located between the first signal transmitting part and the second signal receiving part, the first sensor triggers the first trigger signal.

[0025] In one implementation, the picking and placing mechanism further includes:

[0026] A telescopic structure is provided on the base, and the free end of the telescopic structure can selectively extend out of or retract into the base from the inlet and outlet.

[0027] An object picking component is provided at the free end. The object picking component can move relative to the base under the drive of the free end, and the object picking component is configured to apply a force to the target object to carry the target object.

[0028] Wherein, the telescopic structure cooperates with the trigger member to drive the trigger member to move relative to the base; and when the object picking component is in the initial position on the base, the trigger member is located between the first signal transmitting part and the first signal receiving part.

[0029] In one implementation, the picking and placing mechanism further includes:

[0030] A second sensor is provided on the base. The second sensor is configured to detect whether there is a target object at a preset position before the limiting member switches to the first state.

[0031] When there is a target object at the preset position, a trigger action signal is triggered, and the limiting member switches to the first state according to the action signal.

[0032] In one implementation, when there is a target object at the preset position, the second sensor triggers a second trigger signal;

[0033] The limiting member switches to the first state according to the first trigger signal and the second trigger signal, and the action signal includes the first trigger signal and the second trigger signal.

[0034] In one implementation, the second sensor includes:

[0035] A second signal transmitting part is provided on the base;

[0036] A second signal receiving part is provided on the base. The second signal receiving part is configured to receive the signal emitted by the second signal transmitting part; the signal transmission path between the second signal transmitting part and the second signal receiving part intersects with the moving path of the target object to determine whether the target object is located on the base.

[0037] In one implementation, the picking and placing mechanism further includes:

[0038] A follow-up tray is provided on the base. At least part of the follow-up tray can extend out of the base from the inlet and outlet to support the target object on the moving path of the target object;

[0039] The limiting member is located at the front end of the follow-up tray; when the target object is in the preset position, the follow-up tray retracts into the base; wherein, the side of the follow-up tray facing away from the base is configured as a supporting surface.

[0040] In one implementation, the follow-up tray includes:

[0041] A first follower tray is provided on the base, and at least part of the first follower tray can extend out of the base from the inlet and outlet to support the target item on the moving path of the target item;

[0042] A second follower tray is arranged side by side with the first follower tray on the base, and at least part of the second follower tray can extend out of the base from the inlet and outlet to support the target item on the moving path of the target item;

[0043] The limiting member is located at the front end of at least one of the first follower tray and the second follower tray.

[0044] In one implementation, before the target item moves out of the base from the preset position, the limiting member switches to the second state.

[0045] On the other hand, an embodiment of the present application provides a handling robot, including:

[0046] A chassis;

[0047] A gantry is arranged on the chassis; and,

[0048] The picking and placing mechanism provided in the foregoing embodiment of the present application, the picking and placing mechanism is arranged on the gantry, and the picking and placing mechanism can move up and down along the gantry.

[0049] In one implementation, the handling robot further includes:

[0050] A temporary storage board is arranged on the gantry;

[0051] A rotating mechanism is connected to the picking and placing mechanism, and the rotating mechanism is configured to drive the picking and placing mechanism to rotate, so that the picking and placing mechanism stores the target item on the temporary storage board, or the picking and placing mechanism takes out the target item from the temporary storage board.

[0052] For the picking and placing mechanism and the handling robot provided in the embodiments of the present application, a limiting member is arranged at the inlet and outlet of the base; the limiting member has a first state and a second state. In the first state, the limiting member protrudes from the supporting surface of the base, and in the second state, the limiting member is lower than the supporting surface; and after the target item moves to the preset position of the base, an action signal is triggered, and the limiting member switches to the first state according to the action signal, so as to limit the target item within the base; wherein, the preset position is located on the side of the limiting member facing the inside of the base; that is to say, in the embodiments of the present application, after the target item completely passes over the limiting member, the state of the limiting member is switched to the first state according to the action signal again. Compared with the related art, it can be ensured that after the target item completely passes over the limiting member, the limiting member performs the switching action again, which can avoid the interference between the limiting member and the target item and the occurrence of the situation of card box when the target item is not completely entered. It is convenient for the target item to be smoothly transferred to the handling robot. Description of the Drawings

[0053] The drawings described herein are provided to further understand the present application and form a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings:

[0054] Figure 1 is a schematic diagram of an overall structure of a pick-and-place mechanism provided by an embodiment of the present application;

[0055] Figure 2 is a schematic diagram of an overall structure of a pick-and-place mechanism provided by an embodiment of the present application;

[0056] Figure 3 is a schematic diagram of the structure of the base and the follower tray in the pick-and-place mechanism provided by an embodiment of the present application;

[0057] Figure 4 is a schematic diagram of the structure of the first follower tray, the second follower tray, and the connecting member in the pick-and-place mechanism provided by an embodiment of the present application;

[0058] Figure 5 is Figure 4 a partial enlarged view of part A in;

[0059] Figure 6 is Figure 4 a partial cross-sectional view of part A in;

[0060] Figure 7 is a schematic diagram of the structure of the first follower tray, the second follower tray, the first sliding assembly, and the second sliding assembly in the pick-and-place mechanism provided by an embodiment of the present application;

[0061] Figure 8 is a schematic diagram of any one of the first sliding assembly and the second sliding assembly in the pick-and-place mechanism provided by an embodiment of the present application;

[0062] Figure 9 is Figure 8 a partial enlarged view of part B in;

[0063] Figure 10 is a schematic diagram of the telescopic structure in the pick-and-place mechanism provided by an embodiment of the present application;

[0064] Figure 11 is a schematic diagram of the structure of the telescopic structure and the driving structure in the pick-and-place mechanism provided by an embodiment of the present application;

[0065] Figure 12 is a schematic diagram of the structure of the telescopic structure and the third guide rail in the pick-and-place mechanism provided by an embodiment of the present application;

[0066] Figure 13It is another schematic structural view of the telescopic structure cooperating with the third guide rail in the picking and placing mechanism provided by the embodiment of the present application;

[0067] Figure 14 is Figure 13 a partial enlarged view at position C in;

[0068] Figure 15 It is another schematic structural view of the telescopic structure cooperating with the first mounting plate in the picking and placing mechanism provided by the embodiment of the present application;

[0069] Figure 16 is Figure 15 a partial enlarged view at position D in;

[0070] Figure 17 It is yet another schematic structural view of the telescopic structure cooperating with the first mounting plate in the picking and placing mechanism provided by the embodiment of the present application;

[0071] Figure 18 It is a schematic structural view of the telescopic structure cooperating with the fourth guide rail in the picking and placing mechanism provided by the embodiment of the present application;

[0072] Figure 19 is Figure 18 a partial enlarged view at position E in;

[0073] Figure 20 It is a schematic structural view of the second driving member cooperating with the limiting member in the picking and placing mechanism provided by the embodiment of the present application;

[0074] Figure 21 It is another schematic structural view of the second driving member cooperating with the limiting member in the picking and placing mechanism provided by the embodiment of the present application;

[0075] Figure 22 It is a schematic structural view of the handling robot provided by the embodiment of the present application.

[0076] Explanation of reference numerals:

[0077] 1 - picking and placing mechanism; 2 - gantry; 3 - chassis;

[0078] 11 - base; 12 - telescopic structure; 13 - picking component; 14 - driving structure; 15 - follower tray; 151 - first follower tray; 152 - second follower tray; 153 - connecting piece; 16 - first slider; 17 - first guide rail; 111 - limiting member; 116 - first sensor; 117 - second sensor; 118 - third sensor;

[0079] 1101 - Bottom plate; 1102 - First mounting plate; 1103 - Third slider; 1104 - Third guide rail; 1105 - Inlet and outlet; 1106 - First guiding strip; 1107 - Second guiding strip; 1108 - First mounting position; 1109 - First supporting block; 1110 - Second driving member; 1111 - First stopping member; 1112 - Support frame; 1113 - Second stopping member; 1114 - Third mounting plate; 1161 - First signal transmitting part; 1162 - First signal receiving part; 1163 - Triggering member; 1171 - Second signal transmitting part; 1172 - Second signal receiving part; 1202 - Scissor unit; 1203 - First connecting rod; 1204 - Second connecting rod; 1301 - Second mounting plate; 1302 - Second force - applying member; 1303 - Gas source device; 1306 - Control valve; 1307 - Vacuum - degree detection sensor; 1308 - Fourth guide rail; 1309 - Fourth slider; 1401 - First driving member; 1402 - Driving wheel; 1403 - Transmission belt; 1404 - Idler wheel; 1505 - Second slider; 1506 - Second guide rail; 1531 - First sub - connecting member; 1532 - Second sub - connecting member; 1533 - Pin shaft; 1534 - Buffer and shock - absorbing member

[0080] 11041 - First fixing part; 11042 - First guiding part; 11043 - First bushing; 12021 - Scissor member; 12022 - Transmission rod; 12023 - First hinge position; 12024 - Second hinge position; 12025 - Extension member; 13081 - Second fixing part; 13082 - Second guiding part; 13083 - Third guiding part; 13084 - Second bushing; 15311 - First shaft hole; 15321 - Second shaft hole; 15331 - First shaft section; 15332 - Second shaft section; 15333 - Locking section Detailed implementation manners

[0081] In order to enable those skilled in the art to better understand the technical solutions in this application, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of this application

[0082] It should be noted that many specific details are set forth in the following description to facilitate a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Therefore, the protection scope of this application is not limited by the specific implementation manners disclosed below

[0083] In the description of this application, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "horizontal", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to this application. In this application, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or that the first and second features are indirectly in contact through an intermediate medium.

[0084] In this application, unless otherwise clearly specified and defined, the terms "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be directly connected, or indirectly connected through an intermediate medium, and may be the internal communication of two elements or the interaction relationship between two elements. However, indicating a direct connection means that there is no connection relationship constructed through an excessive structure between the two connected main bodies, and they are only connected through the connection structure to form a whole. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0085] In this application, descriptions such as "first", "second", etc. are only for descriptive purposes, and should not be construed as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features.

[0086] When handling a cargo box or a target item on a shelf, in order to improve the handling efficiency and reduce the working intensity, a handling robot is usually used to pick up and return the cargo box or target item from the shelf. The handling robot is an important device in the warehouse, which can automatically place the target item (such as a cargo box) onto a target carrier (such as a shelf) to complete the loading process (such as the process of returning the box), and can also pick up the target item from the target carrier (such as the process of picking up the box) and transport it to a designated location.

[0087] In the related art, the current box-picking structure of the handling robot includes a telescopic structure and a picking component provided on the telescopic structure. The picking component applies a force to the front end face of the target item and transfers the target item under the drive of the telescopic structure; generally, in order to prevent the target item from falling off the handling robot, a limiting member is usually provided at the inlet and outlet of the handling robot, and the limiting member is in telescopic linkage with the telescopic structure, so as to limit the target item when there is a target item on the handling robot.

[0088] However, in the related art, the limiting member is likely to jam the target item, which may cause the situation that the target item cannot enter the handling robot, resulting in poor use effect.

[0089] For this reason, the embodiment of the present application provides a picking and placing mechanism to solve the problem that the limiting member in the related art is likely to clamp the target item, which may cause the target item to be unable to enter the handling robot.

[0090] Figure 1 It is an overall structural schematic diagram of the picking and placing mechanism provided by the embodiment of the present application.

[0091] Refer to Figure 1 As shown, the embodiment of the present application provides a picking and placing mechanism 1, including a base 11 and a limiting member 111.

[0092] In the embodiment of the present application, the base 11 can be made of hard plastic (such as engineering plastic). In some alternative examples, the base 11 can also be made of metal or alloy materials such as aluminum alloy, stainless steel or cast iron. It can be understood that the setting manner of the base 11 can be the same as or similar to that in the related art, and will not be elaborated herein in the embodiment of the present application.

[0093] Refer to Figure 1 As shown, in some examples of the embodiment of the present application, the base 11 can have an inlet / outlet 1105. The inlet / outlet 1105 can allow the target item to enter and exit the base 11.

[0094] In some examples of the embodiment of the present application, after the target item enters the base 11, in order to prevent the target item from sliding out of the inlet / outlet 1105 during the movement of the handling robot, the limiting member 111 can be arranged at the inlet / outlet 1105.

[0095] Refer to Figure 1 As shown, in the embodiment of the present application, the limiting member 111 can be specifically arranged at the edge of the front end of the base 11; wherein, the front end of the base 11 can specifically refer to the end of the base 11 facing the target carrier when the picking and placing mechanism 1 picks up and returns the target item.

[0096] Specifically, in the embodiment of the present application, the limiting member 111 has a first state. In the first state, at least part of the limiting member 111 protrudes from the supporting surface of the base 11. It can be understood that, referring to Figure 1 As shown, the supporting surface can specifically refer to a surface of the base 11 that supports the target item (such as the upper surface of the base 11 in Figure 1 ). That is to say, in the embodiment of the present application, at least part of the limiting member 111 extends perpendicular to the surface of the base 11 and protrudes from the upper surface of the base 11. In this way, after the target item enters the base 11, the part of the limiting member 111 protruding from the supporting surface can limit or block the target item.

[0097] In some examples, for the convenience of the target article leaving the base 11 from the inlet / outlet 1105, the limiting member 111 may have a second state. In the second state, the limiting member 111 may retract into the support surface. For example, referring to Figure 1 As shown, in the second state, the height of the limiting member 111 in the z-axis direction may be lower than the height of the support surface. In this way, it is convenient for the target article in the base 11 to leave the base 11 from the inlet / outlet 1105. For example, when the picking and placing mechanism 1 needs to place the target article in the target storage location, the limiting member 111 may switch to the second state to facilitate the placement of the target article.

[0098] In some examples, the base 11 may have a preset position. When the target article moves to the preset position, an action signal is triggered, and the limiting member 111 may switch to the first state according to the action signal to limit the target article within the base 11. When the target article is at the preset position, the limiting member 111 may be located on the side of the target article facing the inlet / outlet 1105.

[0099] In some examples, a detection sensor may be provided on the base 11. The detection sensor may be configured to detect whether the target article moves to the preset position. When the target article moves to the preset position, the detection sensor may trigger an action signal. In some examples, the detection sensor may be an infrared sensor, a proximity switch, a magnetic induction sensor, etc. The embodiments of the present application do not limit the type of the detection sensor.

[0100] For example, it may be that the picking and placing mechanism 1 takes the target article from the target storage location (shelf or temporary storage tray), and the target article moves towards the base 11. During the movement of the target article towards the base 11, the limiting member 111 may be in the second state to facilitate the entry of the target article into the base 11 from the inlet / outlet 1105. After the target article enters the inlet / outlet 1105, the target article continues to move towards the base 11; at this time, the limiting member 111 may remain in the second state until the target article moves to the preset position (the whole target article crosses the limiting member 111); the limiting member 111 may switch from the second state to the first state, thereby limiting the target article within the base 11 and preventing the target article from sliding out of the inlet / outlet 1105.

[0101] The picking and placing mechanism 1 provided by the embodiment of the present application is provided with a limiting member 111 at the inlet and outlet 1105 of the base 11; the limiting member 111 has a first state and a second state. In the first state, the limiting member 111 protrudes from the supporting surface of the base 11, and in the second state, the limiting member 111 retracts into the supporting surface; and after the target item moves to a preset position of the base 11, an action signal is triggered, and the limiting member 111 switches to the first state according to the action signal, thereby limiting the target item within the base 11; wherein, when the target item is at the preset position, the limiting member 111 is located on the side of the target item facing the inlet and outlet 1105; that is to say, in the embodiment of the present application, after the target item completely enters the base 11 and passes over the limiting member 111, the state of the limiting member 111 switches to the first state again. Compared with the related art, it can be ensured that after the target item completely passes over the limiting member 111, the limiting member 111 performs the switching action again, which can avoid the interference between the limiting member 111 and the target item caused by the limiting member 111 starting to act when the target item is not completely entered, resulting in the situation of stuck boxes. It is convenient for the target item to be smoothly transferred to the handling robot.

[0102] Figure 2 It is an overall structural schematic diagram of the picking and placing mechanism provided by the embodiment of the present application. Figure 3 It is a structural schematic diagram of the cooperation between the base and the follower tray in the picking and placing mechanism provided by the embodiment of the present application. Figure 4 It is a structural schematic diagram of the cooperation between the first follower tray, the second follower tray and the connecting member in the picking and placing mechanism provided by the embodiment of the present application.

[0103] In some examples, to prevent the target item from falling during the process of moving towards or away from the base 11, a follower tray 15 is usually provided. The follower tray 15 can extend out of the base, so as to fill the gap between the base and the shelf, and can prevent the target item from falling.

[0104] In some examples of the embodiment of the present application, during the process of the target item entering and exiting the base 11 from the inlet and outlet 1105, to prevent the target item from falling and facilitate the support of the target item. Refer to Figure 1 and Figure 2 As shown in, the follower tray 15 can be arranged on the base 11. In some examples of the embodiment of the present application, during the process of the target item entering and exiting the base 11 from the inlet and outlet 1105, at least a part of the follower tray 15 can be located on the moving path of the target item, and the follower tray 15 can extend out of the base 11 to support the target item on the moving path of the target item.

[0105] In some examples, the follower tray 15 can extend out of the base 1111 under the drive of a motor, a cylinder, etc. In other examples, the follower tray 15 can also always remain in the state of extending out of the base 1111, so as to support the target item when the picking component 1313 carries the target item. For example, when the target item moves with the picking component 1313 to between the target vehicle and the base 1111 (generally, to avoid interference between the handling robot and the target vehicle when the handling robot moves in the storage space, there is a certain gap between the base 1111 and the target vehicle in the movement route planning of the handling robot, and the follower tray 15 can be located in this gap), the follower tray 15 supports the target item. In this way, the gap between the base 1111 and the target vehicle can be filled, so as to prevent the target item from falling.

[0106] In some examples of the embodiments of the present application, with reference to Figure 2 and Figure 3 as shown, the follower tray 15 can include a first follower tray 151 and a second follower tray 152.

[0107] In some examples, the first follower tray 151 can be arranged on the base 11, and at least part of the first follower tray 151 can extend out of the base 11 from the inlet / outlet 1105 to support the target item on the movement path of the target item.

[0108] In some examples, the second follower tray 152 can be arranged on the base 11, and the second follower tray 152 can be arranged side by side with the first follower tray 151. At least part of the second follower tray 152 can extend out of the base 11 from the inlet / outlet 1105 to support the target item on the movement path of the target item.

[0109] That is to say, in some examples of the embodiments of the present application, the target item can be supported by two follower trays, namely the first follower tray 151 and the second follower tray 152; in this way, the contact area between the target item and the follower tray is increased, and the stability of the follower tray in supporting the target item can be improved.

[0110] In some examples, to improve the stability of the first follower tray 151 and the second follower tray 152 in supporting the target item, the first follower tray 151 and the second follower tray 152 need to move with a certain synchronism. That is, the first follower tray 151 and the second follower tray 152 move synchronously relative to the base 11.

[0111] With reference to Figures 2 - 4 as shown, in some examples of the embodiments of the present application, the picking and placing mechanism 1 can include a connecting piece 153. The connecting piece 153 can be connected to the first follower tray 151 and the second follower tray 152.

[0112] That is, in some examples of the embodiments of the present application, the first follower tray 151 and the second follower tray 152 are connected by a connecting member 153. Thus, when the first follower tray 151 moves relative to the base 11, the second follower tray 152 can be driven by the connecting member 153 to move relative to the base 11. Or, when the second follower tray 152 moves relative to the base 11, the first follower tray 151 can be driven by the connecting member 153 to move relative to the base 11. In other words, by connecting the first follower tray 151 and the second follower tray 152 with the connecting member 153, the first follower tray 151 and the second follower tray 152 can move synchronously relative to the base 11. The synchronism of the movement of the first follower tray 151 and the second follower tray 152 relative to the base 11 can be improved, and the supporting effect on the target item can be enhanced.

[0113] In some examples of the embodiments of the present application, by providing the first follower tray 151 and the second follower tray 152 on the base 11, at least a part of the first follower tray 151 and the second follower tray 152 can extend out of the base 11 from the inlet / outlet 1105 of the base 11, so as to support the target item on the movement path of the target item; in this way, the first follower tray 151 and the second follower tray 152 can extend out of the base 11 to support the target item, and the situation that the target item drops when entering or leaving the base 11 from the inlet / outlet 1105 can be avoided.

[0114] In addition, in the embodiments of the present application, the connecting member 153 connects the first follower tray 151 and the second follower tray 152. In this way, it can be ensured that the first follower tray 151 and the second follower tray 152 move synchronously under the drive of the connecting member 153 during the process of extending out or retracting into the base 11. The synchronism of the movement of the first follower tray 151 and the second follower tray 152 relative to the movement of the base 11 can be improved, so as to improve the stability of the support of the first follower tray 151 and the second follower tray 152 on the target item, enhance the supporting effect on the target item, and avoid the situation that the target item drops.

[0115] In some examples of the embodiments of the present application, to facilitate the movement of the first follower tray 151 and the second follower tray 152 relative to the base 11. The first follower tray 151 and the second follower tray 152 can be slidably arranged on the base 11. For example, in some examples, slide rails can be provided on the base 11, and the first follower tray 151 and the second follower tray 152 can be slidably arranged on the slide rails through sliders, so as to be slidably arranged on the base 11.

[0116] It can be understood that in some examples, a slider may also be provided on the base 11, and slide rails may be provided on the first follower tray 151 and the second follower tray 152. The slide rails are slidably connected to the slider, so as to realize that the first follower tray 151 and the second follower tray 152 are slidably arranged on the base 11.

[0117] In some examples, when installing and fixing the slide rail or the slider, there may be a certain installation error in the installation and fixing of the slide rail or the slider, or there may be a certain machining tolerance when machining and producing the slide rail and the slider. After the first follower tray 151 and the second follower tray 152 are installed on the base 11, it is difficult to maintain absolute parallelism. To facilitate the sliding of the first follower tray 151 and the second follower tray 152 relative to the base 11 and avoid jamming of the first follower tray 151 and the second follower tray 152 during the sliding process relative to the base 11, in some examples of the embodiments of the present application, the connecting member 153 is movably connected to the first follower tray 151 and the second follower tray 152.

[0118] In some examples, the connecting member 153 may be movably connected to the first follower tray 151. For example, the first follower tray 151 and the connecting member 153 may be rotatably connected through a rotating shaft.

[0119] In some examples, the connecting member 153 may be movably connected to the second follower tray 152. For example, the second follower tray 152 and the connecting member 153 may be rotatably connected through a rotating shaft.

[0120] In some examples, the connecting member 153 may be movably connected to the first follower tray 151 and the connecting member 153 may be movably connected to the second follower tray 152. For example, the first follower tray 151 and the connecting member 153 may be rotatably connected through a rotating shaft, and the second follower tray 152 and the connecting member 153 may be rotatably connected through a rotating shaft.

[0121] In some examples of the embodiments of the present application, the connecting member 153 is movably connected to the first follower tray 151 and the second follower tray 152. In this way, during the synchronous movement of the first follower tray 151 and the second follower tray 152 relative to the base 11, if the slide rails are not installed in parallel, the first follower tray 151 and the second follower tray 152 can move relative to the connecting member 153, thereby absorbing the moving resistance caused by non-parallelism between the first follower tray 151 and the second follower tray 152, and being able to avoid jamming of the first follower tray 151 and the second follower tray 152, improving the smoothness of the synchronous movement of the first follower tray 151 and the second follower tray 152 relative to the base 11.

[0122] Figure 5 Yes Figure 4 Partial enlarged schematic view at position A in the figure. Figure 6Yes Figure 4 A partial cross-sectional view at location A in [the figure].

[0123] In some other examples of the embodiments of the present application, with reference to Figure 4 and Figure 5 as shown, the connecting member 153 may include a first sub-connecting member 1531 and a second sub-connecting member 1532.

[0124] In some examples, the first sub-connecting member 1531 may be connected to the first follower tray 151. The first sub-connecting member 1531 may be fixedly connected to the first follower tray 151.

[0125] In some examples, the second sub-connecting member 1532 may be connected to the second follower tray 152. The second sub-connecting member 1532 may be fixedly connected to the second follower tray 152. The second sub-connecting member 1532 may be movably connected to the first sub-connecting member 1531.

[0126] In some examples of the embodiments of the present application, the first sub-connecting member 1531 is connected to the first follower tray 151, and the second sub-connecting member 1532 is connected to the second follower tray 152; the first sub-connecting member 1531 is movably connected to the second sub-connecting member 1532; in this way, after the first follower tray 151 and the second follower tray 152 are installed on the base 11, it is convenient to connect the first sub-connecting member 1531 and the second sub-connecting member 1532.

[0127] In addition, the movably connected first sub-connecting member 1531 and second sub-connecting member 1532 can absorb and adapt to the possible non-parallel state between the first follower tray 151 and the second follower tray 152 in a movable manner, facilitating the synchronous movement of the first follower tray 151 and the second follower tray 152 relative to the base 11.

[0128] In some examples of the embodiments of the present application, with reference to Figure 6 as shown, the first sub-connecting member 1531 may be provided with a first shaft hole 15311. The second sub-connecting member 1532 may be provided with a second shaft hole 15321. A spool may be inserted through the first shaft hole 15311 and the second shaft hole 15321 to movably connect the first sub-connecting member 1531 and the second sub-connecting member 1532.

[0129] In some examples, the pin shaft 1533 may be fixedly connected to the first sub-connecting member 1531. For example, the pin shaft 1533 may be provided with an external thread, and the first shaft hole 15311 may be provided with an internal thread. The pin shaft 1533 may be fixedly connected to the first sub-connecting member 1531 through the thread. At this time, the pin shaft 1533 may be rotatably connected to the second sub-connecting member 1532. Thus, the movable connection between the first sub-connecting member 1531 and the second sub-connecting member 1532 is achieved.

[0130] In some examples, the pin shaft 1533 can be fixedly connected to the second sub-connector 1532. Additionally, the pin shaft 1533 can be rotatably connected to the first sub-connector 1531, thereby enabling the first sub-connector 1531 to be movably connected to the second sub-connector 1532.

[0131] In some examples, referring to Figure 6 as shown, the pin shaft 1533 can include a first shaft segment 15331. The first shaft segment 15331 can pass through the first shaft hole 15311.

[0132] In some examples, the first shaft segment 15331 can pass through the first shaft hole 15311 movably, thereby enabling the pin shaft 1533 to rotate within the first shaft hole 15311.

[0133] In some examples, the pin shaft 1533 can include a second shaft segment 15332. The second shaft segment 15332 can pass through the second shaft hole 15321.

[0134] In some examples, the second shaft segment 15332 can pass through the second shaft hole 15321 movably, thereby enabling the pin shaft 1533 to rotate within the second shaft hole 15321.

[0135] In some examples, when the first shaft segment 15331 passes through the first shaft hole 15311 movably, the second shaft segment 15332 can pass through the second shaft hole 15321 movably. Alternatively, the second shaft segment 15332 can be fixed within the second shaft hole 15321.

[0136] In some examples, when the first shaft segment 15331 is fixed to the first shaft hole 15311, the second shaft segment 15332 can pass through the second shaft hole 15321 movably.

[0137] In some examples, taking the case where the second shaft segment 15332 is fixed within the second shaft hole 15321 as a specific example for illustration. The aperture of the first shaft hole 15311 can be larger than the aperture of the second shaft hole 15321. The first shaft end can pass through the first shaft hole 15311 movably.

[0138] In some examples, the second shaft segment 15332 can be provided with an external thread, and the second shaft hole 15321 can be provided with an internal thread. The second shaft segment 15332 can be connected to the second shaft hole 15321 through threading.

[0139] In the embodiments of the present application, the aperture of the first shaft hole 15311 is set to be larger than the aperture of the second shaft hole 15321; after the second shaft section 15332 is threadedly connected into the second shaft hole 15321, there is a certain gap between the inner wall of the first shaft section 15331 of the pin shaft 1533 and the hole wall of the first shaft hole 15311, so that there is a certain movement gap between the first sub-connector 1531 and the second sub-connector 1532 along the radial direction of the pin shaft 1533; that is to say, there is a certain movement gap between the first follower tray 151 and the second follower tray 152 in the arrangement direction, which can absorb the jamming caused by the non-parallelism of the first follower tray 151 and the second follower tray 152, and facilitate the smooth synchronous movement of the first follower tray 151 and the second follower tray 152.

[0140] In addition, since the aperture of the first shaft hole 15311 is larger than the aperture of the second shaft hole 15321, after the second shaft section 15332 is threadedly connected into the second shaft hole 15321, there is also a certain gap between the inner wall of the first shaft hole 15311 and the peripheral wall of the first shaft section 15331 in the arrangement direction of the first follower tray 151, the second follower tray 152 and the base 11, which can absorb the jamming caused by the unevenness of the base 11 or the guide rail, and facilitate the smooth synchronous movement of the first follower tray 151 and the second follower tray 152.

[0141] In some examples, the diameter of the first shaft section 15331 can be larger than the diameter of the second shaft end, and the aperture of the first shaft hole 15311 can be larger than the diameter of the first shaft end.

[0142] In some examples, referring to Figure 6 As shown, the pin shaft 1533 can include a locking section 15333. The locking section 15333 can be located at one end of the first shaft section 15331 facing away from the second shaft section 15332. The diameter of the locking section 15333 can be larger than the diameter of the first shaft hole 15311.

[0143] In some examples, the locking section 15333 can be configured to axially crush the first sub-connector 1531 and the second sub-connector 1532 along the pin shaft 1533. In this way, the separation of the first sub-connector 1531 and the second sub-connector 1532 along the axial direction of the pin shaft 1533 can be avoided. It is convenient for the connector 153 to drive the first follower tray 151 and the second follower tray 152 to move synchronously relative to the base 11.

[0144] Figure 7 is a schematic structural diagram of the cooperation of the first follower tray, the second follower tray, the first sliding assembly and the second sliding assembly in the embodiments of the present application. Figure 8 is a schematic structural diagram of any one of the first sliding assembly and the second sliding assembly in the picking and placing mechanism provided by the embodiments of the present application. Figure 9 is Figure 8Partial enlarged view at position B in [Chinese context].

[0145] In some examples, referring to Figures 7 - 9 as shown, a first sliding component may be provided on the base 11. The first follower tray 151 may be provided on the first sliding component so that the first follower tray 151 is slidably disposed on the base 11.

[0146] In some examples, referring to Figures 7 - 9 as shown, a second sliding component may be provided on the base 11. The second follower tray 152 may be provided on the second sliding component so that the second follower tray 152 is slidably disposed on the base 11.

[0147] In some examples, any one of the first sliding component and the second sliding component may include a second guide rail 1506 and a second slider 1505. For ease of description, in some examples of the embodiments of the present application, the first sliding component is taken as a specific example for illustration.

[0148] In some examples of the embodiments of the present application, one of the second guide rail 1506 and the second slider 1505 may be disposed on the side of the first follower tray 151 facing the base 11. For example, the second guide rail 1506 may be fixedly connected to the first follower tray 151. Additionally, the other of the second guide rail 1506 and the second slider 1505 may be disposed on the base 11, and the second slider 1505 is slidably connected to the second guide rail 1506. In a specific example, the second slider 1505 may be fixed on the base 11, and the second guide rail 1506 slides relative to the second slider 1505 when moving together with the first follower tray 151.

[0149] In some alternative examples, it may also be to fix the second guide rail 1506 on the base 11 and dispose the second slider 1505 on the first follower tray 151, so that the first follower tray 151 moves along the direction of the second guide rail 1506. In this way, the stability of the first follower tray 151 sliding relative to the base 11 can be effectively improved.

[0150] In an alternative example of the embodiments of the present application, two second sliders 1505 may be provided, and the two second sliders 1505 are arranged side by side along the telescopic direction of the first follower tray 151. In this way, the stability of the movement of the first follower tray 151 can be effectively improved.

[0151] In some examples, referring to Figure 8 and Figure 9 as shown, the second guide rail 1506 may have two guide posts, and the two guide posts may be arranged side by side. The second slider 1505 may be sleeved on the two guide posts.

[0152] In some examples, two guiding holes arranged side by side can be provided on the second slider 1505, and the guiding posts are inserted into the guiding holes. Thereby, the second guide rail 1506 can slide in the guiding holes along the extending direction.

[0153] In some examples, referring to Figure 9 as shown, a bushing can be provided between the guiding hole and the guiding post. The bushing can contact the peripheral wall of the guiding post, and the bushing can be located on the inner wall of the guiding hole.

[0154] In some examples, the bushing can be an engineering plastic part. Using an engineering plastic part to make the bushing can reduce the friction between the second slider 1505 and the second guide rail 1506, and the engineering plastic part has the characteristics of being hard and wear-resistant, which can improve the sliding performance between the second slider 1505 and the second guide rail 1506.

[0155] In some examples, referring to Figure 1 and Figure 2 as shown, the picking and placing mechanism 1 can include a telescopic structure 12 and a picking component 13.

[0156] Referring to Figure 2 as shown, in the embodiment of the present application, the telescopic structure 12 can be arranged on the base 11. For example, one end of the telescopic structure 12 is connected to the base 11, and the other end can be a free end. Wherein, the free end of the telescopic structure 12 can selectively extend out or retract into the base 11.

[0157] In an alternative example of the embodiment of the present application, the telescopic structure 12 can specifically be a telescopic rod (such as a telescopic air cylinder, a hydraulic cylinder or an electric cylinder); in some other possible examples, the telescopic structure 12 can also be a lead screw or a linear motor. In the embodiment of the present application, the specific type of the telescopic structure 12 is not limited.

[0158] In some examples of the embodiment of the present application, the picking component 13 is arranged at the free end. The picking component 13 can move relative to the base 11 under the drive of the free end. The picking component 13 is configured to act on the front end face of the target item when picking and returning the target item to carry the target item; wherein, the front end face of the target item is the end face of the target item facing the picking component 13 when the target item is to be picked and returned.

[0159] In the embodiment of the present application, the front end face of the target item can refer to the side face of the target item facing the picking component 13 when the target item is to be picked and returned; or, in some application scenarios, the target item is stored on a shelf (which can also be called a target carrier), and the front end face of the target item can also refer to the side face of the target item facing the outside of the shelf. In the embodiment of the present application, taking a cargo box as a specific example, the front end face of the cargo box can refer to the side face facing the outside of the shelf, so that it is convenient for the picking component 13 to pick up.

[0160] In some examples, the target vehicle may also refer to the staging board of the handling robot. That is, the picking component 13 can also extend from the base 11 to the staging board, pick up the target item on the staging board, or place the target item on the staging board.

[0161] As a specific example of the embodiment of the present application, a force-providing component that can provide a force to the front end face of the cargo box may be provided at the movable end of the picking component 13 (which may also be referred to as the free end in some examples, that is, the end facing away from or far from the telescopic structure 12), so as to move, handle, or pick up and return the cargo box.

[0162] The force-providing component may be an electromagnet. Correspondingly, the front end face of the cargo box may specifically be made of a material that can be adsorbed by a magnet (such as iron material). When picking up and returning the cargo box, it may also be when the force-providing component approaches or contacts the cargo box, the electromagnet is powered on, so as to provide the handling force for the cargo box through the magnetic attraction force of the electromagnet on the cargo box.

[0163] It can be understood that in some other possible examples of the embodiment of the present application, the force-providing component may also be made of a material that can be adsorbed by a magnet. Correspondingly, an electromagnet is provided on the front end face of the cargo box; thus, when picking up and returning the cargo box, it may be when the force-providing component approaches or contacts the cargo box, the electromagnet is powered on, so that a magnetic attraction force is generated between the force-providing component and the electromagnet on the cargo box, thereby providing the handling force for the cargo box.

[0164] In the embodiment of the present application, by configuring the picking component 13 to act on the front end face of the target item when picking up and returning the target item, the target item is thus handled; in this way, when placing, storing, or storing the cargo boxes on the shelf, there is no need to reserve a gap between the cargo boxes (i.e., between adjacent cargo boxes), which can effectively reduce the storage gap between adjacent cargo boxes, improve the storage density of the cargo boxes, and effectively utilize the same storage space to store more cargo boxes.

[0165] By arranging a fetching component 13 at the free end of a telescopic structure 12 provided on a base 11, when the free end of the telescopic structure 12 extends out of the base 11, it drives the fetching component 13 to extend out of the base 11, or when the free end of the telescopic structure 12 retracts into the base 11, it drives the fetching component 13 to retract into the base 11; thus, the fetching component 13 can carry and exchange target items between the base 11 and a target storage location. Among them, when the fetching component 13 picks up and returns the target item, it can act on the front end face of the target item (that is, the end face of the target item facing the fetching component 13 when it is to be picked up and returned). In this way, compared with the related art, there is no need to insert one end of the fetching component 13 facing away from the telescopic structure 12 (facing / towards the target item) into the gap between two adjacent target items. That is to say, when storing the target item, there is no need to reserve a certain gap between two adjacent target items, that is, the storage gap between adjacent target items is reduced, effectively improving the storage density of the target item.

[0166] In some examples, during the process of the telescopic structure 12 retracting into the base 11, the telescopic structure 12 can be configured to cooperate with a connecting member 153 to drive a first follower tray 151 and a second follower tray 152 to retract into the base 11.

[0167] That is to say, during the process of the telescopic structure 12 retracting into the base 11, it can exert a force on the connecting member 153, and the connecting member 153 can serve as the force-receiving part for the first follower tray 151 and the second follower tray 152 to bear the force exerted by the telescopic structure 12; so that the telescopic structure 12 can drive the first follower tray 151 and the second follower tray 152 to retract into the base 11 simultaneously through the connecting member 153.

[0168] In some examples of the embodiments of the present application, by the cooperation of the telescopic structure 12 and the connecting member 153, during the process of the telescopic structure 12 retracting into the base 11, the first follower tray 151 and the second follower tray 152 are driven to retract into the base 11 through the connecting member 153. In this way, the power of the telescopic structure 12 retracting into the base 11 can be utilized, and there is no need to set a separate power source for the first follower tray 151 and the second follower tray 152 to retract into the base 11, simplifying the structure for the first follower tray 151 and the second follower tray 152 to retract into the base 11 and reducing energy consumption.

[0169] Figure 10 It is a schematic structural diagram of the telescopic structure in the fetching and placing mechanism provided by the embodiments of the present application.

[0170] In some examples of the embodiments of the present application, refer to Figure 2 and Figure 10As shown, the telescopic structure 12 can be a scissor structure. The scissor structure has a first hinge position 12023 and a second hinge position 12024; a plurality of first hinge positions 12023 are arranged along the telescopic direction of the scissor structure, and the second hinge position 12024 is located on both sides of the first hinge position 12023.

[0171] In some examples, referring to Figure 2 and Figure 10 As shown, the scissor structure includes multiple groups of scissor members 12021 connected in sequence along the telescopic direction, and each group of scissor members 12021 has two transmission rods 12022 that cross each other and are rotatably connected; that is, referring to Figure 2 and Figure 10 As shown, the middle parts of two mutually crossing transmission rods 12022 can be pivotally connected (i.e., the middle pivot connection is the first hinge position 12023), and the end of the transmission rod 12022 is pivotally connected to the end of the transmission rod 120221 of the adjacent group of scissor members 12021 (i.e., the pivot connection at the end of the transmission rod 12022 is the second hinge position 12024).

[0172] In some examples, to facilitate the cooperation between the telescopic structure 12 and the connecting member 153, and drive the first follower tray 151 and the second follower tray 152 to retract into the base 11 through the connecting member 153. One of the plurality of first hinge positions 12023 can be configured as a power hinge position. The power hinge position can cooperate with the connecting member 153 to exert a force on the connecting member 153.

[0173] In some examples, referring to Figure 10 As shown, the connecting member 153 can be located between the telescopic structure 12 and the base 11. To facilitate the cooperation between the power hinge position and the connecting member 153. Referring to Figure 9 As shown, the power hinge position can be provided with an extension member 12025. The extension member 12025 can be located between the telescopic structure 12 and the base 11. That is, the extension member 12025 can extend from the power hinge position towards the base 11.

[0174] It can be understood that the extension length of the extension member 12025 can exceed the surface of the connecting member 153 on the side facing away from the base 11, so that during the retraction of the telescopic structure 12 towards the base 11, the extension member 12025 can interfere with the connecting member 153 to exert a force on the connecting member 153. So as to drive the first follower tray 151 and the second follower tray 152 to retract into the base 11.

[0175] In some examples of the embodiments of the present application, by providing an extension member 12025 at the power hinge position, the extension member 12025 is located between the telescopic structure 12 and the base 11, so that the power hinge position of the telescopic structure 12 can cooperate with the connecting member 153 through the extension member 12025; it is convenient to apply a force to the connecting member 153 during the process of the telescopic structure 12 retracting towards the base 11; it is convenient for the telescopic structure 12 to drive the first follower tray 151 and the second follower tray 152 to retract into the base 11.

[0176] In some examples, to simplify the structural design and facilitate the cooperation between the extension member 12025 and the connecting member 153 and apply a force to the connecting member 153. The connecting member 153 can be located on the side of the extension member 12025 facing away from the inlet / outlet 1105. In this way, during the process of the telescopic structure 12 retracting towards the base 11, the extension member 12025 can approach the connecting member 153 and come into contact with the connecting member 153, thereby applying a force to the connecting member 153, causing the connecting member 153 to drive the first follower tray 151 and the second follower tray 152 to retract towards the base 11.

[0177] In some examples, to protect the connecting member 153 and reduce the noise and vibration of the picking and placing mechanism 1. Refer to Figure 4 and Figure 5 As shown, at least one of the connecting member 153 and the extension member 12025 may be provided with a buffer and shock absorber 1534.

[0178] In some examples, the buffer and shock absorber 1534 may be located between the connecting member 153 and the extension member 12025. The buffer and shock absorber 1534 may be configured to be disposed between the extension member 12025 and the connecting member 153 when the extension member 12025 cooperates with the connecting member 153.

[0179] In some examples, the buffer and shock absorber 1534 may be provided on the extension member 12025. For example, the buffer and shock absorber 1534 may be a rubber sleeve, and the rubber sleeve may be sleeved on the outer periphery of the extension member 12025. During the process of the extension member 12025 moving towards the connecting member 153 and coming into contact with the connecting member 153, the rubber sleeve first comes into contact with the connecting member 153, thereby playing a role in buffering and shock absorption for the contact impact between the extension member 12025 and the connecting member 153, being able to absorb the impact caused by the extension member 12025 on the connecting member 153, and thus being able to protect the connecting member 153.

[0180] In some examples, the buffer and shock absorber 1534 may be a silica gel sleeve. Or, in some examples, the buffer and shock absorber 1534 may be a sponge sleeve.

[0181] In some examples, the buffer shock absorber 1534 can be disposed on the connecting member 153. For example, the buffer shock absorber 1534 can be any one of a rubber sleeve, a silica gel sleeve, or a sponge sleeve. The buffer shock absorber 1534 can be sleeved on the connected part of the first sub-connecting member 1531 and the second sub-connecting member 1532.

[0182] In some examples, the buffer shock absorber 1534 can be a damping pad; the damping pad can be disposed on the side of the connecting member 153 facing the extension member 12025. During the movement of the extension member 12025 towards the connecting member 153, the extension member 12025 first contacts the damping pad, and the damping pad absorbs the impact caused by the extension member 12025 on the connecting member 153, thereby protecting the connecting member 153 and reducing the vibration and noise of the picking and placing mechanism 1.

[0183] Figure 11 It is a schematic structural diagram of the cooperation between the telescopic structure and the driving structure in the picking and placing mechanism provided by the embodiment of the present application.

[0184] In some examples, referring to Figure 3 and Figure 11 As shown, for facilitating the driving of the telescopic structure 12, the picking and placing mechanism 1 can include a driving structure 14.

[0185] In some examples, the driving structure 14 can be disposed on the base 11. The driving structure 14 can be connected to the telescopic structure 12, and the driving structure 14 is configured to drive the free end to extend out of or retract into the base 11 to drive the picking component 13 to reciprocate between the target storage location and the base 11.

[0186] In some examples, the driving structure 14 can be configured to cooperate with the extension member 12025 and provide power to the extension member 12025 to drive the extension member 12025 to drive the telescopic structure 12 to extend out of or retract into the base 11.

[0187] In some examples, the driving structure 14 can be a lead screw. A driving block can be fixed on the extension member 12025. A perforation with an internal thread is provided on the driving block, and the lead screw passes through the perforation and is threadedly connected to the perforation (in some examples, it can also be called a threaded connection); thus, when the lead screw rotates, the lead screw pushes the driving block through the thread, and the driving block drives the power hinge position connected to the extension member 12025, thereby driving the picking component 13 to extend out of or retract into the base 11.

[0188] In some examples, referring to Figure 3 and Figure 11As shown, the driving structure 14 may include a first driving member 1401 and a transmission member. The first driving member 1401 is connected to the transmission member, and the power hinge position may be connected to the transmission member. When the first driving member 1401 drives the transmission member to move relative to the base 11, the transmission member drives the telescopic structure 12 to extend out of or retract into the base 11 through the power hinge position.

[0189] In the embodiment of the present application, the first driving member 1401 may be a motor (such as a synchronous motor, a servo motor or a stepper motor that can rotate forward and backward). It can be understood that the first driving member 1401 may also be other types of motors, and the specific type of the first driving member 1401 is not limited in the embodiment of the present application.

[0190] In some examples, the transmission member may include a driving wheel 1402, a driven wheel 1404 and a transmission belt 1403; the driving wheel 1402 and the driven wheel 1404 are arranged at intervals, the transmission belt 1403 is sleeved on the driving wheel 1402 and the driven wheel 1404, and the power hinge position is connected to the transmission belt 1403; the power output shaft of the first driving member 1401 is connected to the driving wheel 1402, and drives the transmission belt 1403 through the driving wheel 1402 and the driven wheel 1404 to drive the telescopic structure 12 to extend out of or retract into the base 11.

[0191] In some alternative examples, the output shaft of the first driving member 1401 (which may also be referred to as the power output end in some examples) is connected to the driving wheel 1402 and drives the driving wheel 1402 to rotate. The driven wheel 1404 and the driving wheel 1402 are arranged at intervals along the telescopic direction of the telescopic structure 12. The transmission belt 1403 (such as a chain, a belt, a synchronous belt or a timing belt, etc.) can be tensioned between the driving wheel 1402 and the driven wheel 1404 (for example, the transmission belt 1403 is sleeved on the driving wheel 1402 and the driven wheel 1404). When the first driving member 1401 drives the driving wheel 1402 to rotate, the driving wheel 1402 drives the transmission belt 1403 to move between the driving wheel 1402 and the driven wheel 1404.

[0192] In some alternative examples, the power hinge position may be connected to the transmission belt 1403. For example, the power hinge position may be connected to the main body portion of the transmission belt 1403. The main body portion is located between the driving wheel 1402 and the driven wheel 1404. In this way, the movement of the transmission belt 1403 drives the telescopic structure 12 to expand and contract, thereby driving the object taking assembly 13 to move towards the cargo box, or driving the object taking assembly 13 to move away from the cargo box.

[0193] In the embodiments of the present application, the power articulated position is driven by the driving wheel 1402, the idler wheel 1404, and the transmission belt 1403 tensioned on the driving wheel 1402 and the idler wheel 1404, thereby driving the telescopic structure 12 to expand and contract. In this way, the driving form of the telescopic structure 12 can be simplified, facilitating the arrangement of transmission components. Additionally, through the expansion and contraction of the scissor structure, the relatively small displacement of the power articulated position can be amplified into a relatively large displacement of the picking component 13, facilitating the picking and returning of target items located deep within the target shelf.

[0194] In some examples, referring to Figure 3 and Figure 11 as shown, the picking and placing mechanism 1 may include a first slider 16 and a first guide rail 17. The first slider 16 may be connected to the power articulated position, and the first guide rail 17 may be disposed on the base 1111. The first slider 16 is slidably arranged on the first guide rail 17.

[0195] In the embodiments of the present application, a first guide rail 17 is provided on the base 11, and a power articulated position is provided on the telescopic structure 12 to connect the first slider 16; wherein, the first guide rail 17 may specifically extend along the telescopic direction of the telescopic structure 12, that is to say, the extending direction of the first guide rail 17 is consistent with the telescopic direction of the telescopic structure 12, and the first slider 16 specifically slides along the first guide rail 17.

[0196] It can be understood that, in some examples, the first slider 16 may also be provided at other first articulated positions 12023 other than the power articulated position. In the embodiments of the present application, the connection of the first slider 16 to the power articulated position is shown as a specific example. In the embodiments of the present application, by providing the first guide rail 17 on the base 11 and the first slider 16 on the telescopic structure 12, when the telescopic structure 12 expands and contracts, the first slider 16 slides on the first guide rail 17; in this way, the cooperation between the first slider 16 and the first guide rail 17 can play a certain guiding and limiting role in the telescopic direction of the telescopic structure 12, ensuring the stability of the expansion and contraction of the telescopic structure 12.

[0197] In some examples, referring to Figure 11 as shown, the first slider 16 may be configured to be connected to the extension member 12025.

[0198] In some examples, referring to Figure 3 as shown, the first guide rail 17 may include multiple pieces. In the embodiments of the present application, it is shown by taking the first guide rail 17 including two pieces as an example. The two first guide rails 17 may be arranged side by side on the base 11.

[0199] In some examples of the embodiments of the present application, by arranging two first guide rails 17 side by side on the base 11, in this way, two first sliders 16 can be slidably connected to the two first guide rails 17. It can be understood that two points determine a straight line, so that the extension member 12025 or the power hinge position can move relative to the base 11 along a straight line, improving the stability of the telescopic structure 12 telescoping relative to the base 11, thereby improving the stability of moving the target item.

[0200] In some examples, referring to Figure 2 As shown, for the convenience of installing the scissor structure (i.e., the telescopic structure 12), the base 11 may include a bottom plate 1101 and a first mounting plate 1102. Among them, the first mounting plate 1102 may be disposed above the bottom plate 1101 and be perpendicular or approximately perpendicular to the surface of the bottom plate 1101. In some examples, the first mounting plate 1102 may be integrally formed with the base; of course, in other examples, the first mounting plate 1102 may also be fixed to the bottom plate 1101 by connecting components such as bolts, screws or studs.

[0201] In some examples, the first mounting plate 1102 may be located at one end of the bottom plate 1101 facing away from the inlet / outlet 1105.

[0202] In the embodiments of the present application, the telescopic structure 12 may be connected to the first mounting plate 1102. When the free end of the telescopic structure 12 extends out of the base 11, it can move in a direction away from the first mounting plate 1102. When the free end of the telescopic structure 12 retracts into the base 11, it can move towards the first mounting plate 1102.

[0203] In some examples, for the convenience of description, a set of scissor members 12021 connected to the first mounting plate 1102 may be referred to as the first scissor members 12021. The first scissor members 12021 may be movably disposed on the first mounting plate 1102.

[0204] In some examples of the embodiments of the present application, the base 11 is set as the bottom plate 1101 and the first mounting plate 1102, and the first scissor members 12021 are movably disposed on the first mounting plate 1102. In this way, it is convenient for the scissor structure to be connected to the base 11 and for the movement of the scissor structure.

[0205] Figure 12 is a schematic structural view of the cooperation between the telescopic structure and the third guide rail in the picking and placing mechanism provided by the embodiments of the present application. Figure 13 is another schematic structural view of the cooperation between the telescopic structure and the third guide rail in the picking and placing mechanism provided by the embodiments of the present application. Figure 14 is Figure 13 a partial enlarged view at C in

[0206] In some examples, a third guide rail 1104 may be provided on the first mounting plate 1102, and third sliders 1103 may be provided at the ends of the two transmission rods 12022 of the first scissor arm member 12021. The third sliders 1103 are slidably connected to the third guide rail 1104. It can be understood that in the embodiments of the present application, when the two pivotally connected transmission rods 12022 in the scissor arm member 12021 cross and rotate relative to each other, the third sliders 1103 approach or move away from each other on the third guide rail 1104. Additionally, to ensure that the two pivotally connected transmission rods 12022 can cross and rotate relative to each other normally, in the embodiments of the present application, the third sliders 1103 are rotatably connected to the transmission rods 12022, wherein the rotation axis of the third sliders 1103 and the transmission rods 12022 is parallel or approximately parallel to the rotation axis of the pivotal connection between the two transmission rods 12022.

[0207] In some examples, referring to Figures 10 - 13 As shown, the third guide rail 1104 may include a first fixing portion 11041 and a first guiding portion 11042.

[0208] In some examples, the first fixing portion 11041 may be fixedly connected to the first mounting plate 1102. For example, the first fixing portion 11041 may be fixed to the first mounting plate 1102 by means of components such as screws, bolts, or studs.

[0209] In some examples, the first guiding portion 11042 may be located on one side of the first fixing portion 11041. The first guiding portion 11042 may be located on one side of the first fixing portion 11041 along the extending direction of the first fixing portion 11041. The first guiding portion 11042 may be fixedly connected to the first fixing portion 11041, thereby fixing the first guiding portion 11042 to the first mounting plate 1102.

[0210] In some examples, the first guiding portion 11042 and the first fixing portion 11041 may be an integral part. The first guiding portion 11042 may be a guiding post.

[0211] In some examples, the third slider 1103 may be sleeved on the outer periphery of the first guiding portion 11042. For example, a guiding hole may be provided on the third slider 1103, and the first guiding portion 11042 passes through the guiding hole, so that the third slider 1103 is sleeved on the outer periphery of the first guiding portion 11042.

[0212] In the embodiments of the present application, the third guide rail 1104 includes a first fixing portion 11041 and a first guiding portion 11042. The first fixing portion 11041 is fixedly connected to the first mounting plate 1102. In this way, it is convenient to install and fix the third guide rail 1104 on the first mounting plate 1102. By sleeving the third slider 1103 on the outer periphery of the first guiding portion 11042, it is convenient for the third slider 1103 to slide along the first guiding portion 11042, and it is convenient to guide the sliding direction of the third slider 1103, thereby improving the stability of the telescopic structure 12 during telescoping.

[0213] In some examples, referring to Figure 13 and Figure 14 as shown, a first bushing 11043 may be provided between the first guiding portion 11042 and the third slider 1103.

[0214] In some examples, the first bushing 11043 may be sleeved on the outer periphery of the first guiding portion 11042, and the third slider 1103 is sleeved on the outer periphery of the first bushing 11043.

[0215] In some examples, the first bushing 11043 may be disposed within the third slider 1103. After the third slider 1103 is sleeved on the first guiding portion 11042, the first bushing 11043 is located between the first guiding portion 11042 and the third slider 1103.

[0216] In some examples, the third slider 1103 may include an engineering plastic part.

[0217] In some examples of the embodiments of the present application, by providing the first bushing 11043 between the first guiding portion 11042 and the third slider 1103, the first bushing 11043 includes an engineering plastic part. In this way, the friction between the first guiding portion 11042 and the third slider 1103 can be reduced, the smoothness of the sliding between the first guiding portion 11042 and the third slider 1103 can be improved, and the stability of the telescopic structure 12 during telescoping can be improved.

[0218] In some examples, to improve the stability of the telescopic structure 12 during telescoping, referring to Figures 10 - 12 as shown, the scissor structure includes two sets of scissor units 1202 arranged oppositely, a first connecting rod 1203, and a second connecting rod 1204. The first connecting rod 1203 is connected between the first hinge positions 12023 of the two sets of scissor units 1202, and the second connecting rod 1204 is connected between the second hinge positions 12024 of the two sets of scissor units 1202.

[0219] In the embodiments of the present application, each set of scissor units 1202 may include a plurality of scissor members 12021 connected in sequence. Referring to Figures 10 - 12As shown, in the embodiments of the present application, two sets of scissor units 1202 are arranged in a direction perpendicular to or approximately perpendicular to the surface of the base 11; that is, in the embodiments of the present application, one of the two sets of scissor units 1202 is located between the other set of scissor units 1202 and the base 11, and the two sets of scissor units 1202 are stacked parallel above the base 11.

[0220] Referring to Figures 10 - 12 As shown, the two sets of scissor units 1202 are connected by a first connecting rod 1203 at the middle hinge position and connected by a second connecting rod 1204 at the side hinge position.

[0221] As an optional example, when setting, a middle shaft hole can be provided in the middle of the transmission rod 12022, and the first connecting rod 1203 passes through the middle shaft hole and is rotatably connected to the transmission rod 12022; that is, two transmission rods 12022 are pivotally connected by the first connecting rod 1203 to form a scissor member 12021, and one of the two scissor members 12021 is connected to one end of the first connecting rod 1203, and the other scissor member 12021 is connected to the other end of the first connecting rod 1203.

[0222] In some examples, the connection manner of the second connecting rod 1204 to the transmission rod 12022 is similar to or close to that of the first connecting rod 1203. For details, reference can be made to the detailed description of the first connecting rod 1203 in the foregoing embodiments of the present application, and the embodiments of the present application will not elaborate herein.

[0223] Exemplarily, referring to Figure 10 As shown, in the embodiments of the present application, the first slider 16 can be connected to one of the scissor units 1202 close to the base 11. In this way, the length that the first slider 16 needs to extend can be reduced, the torque on the first slider 16 can be reduced, and the stability of the first slider 16 moving under the drive of the transmission belt 1403 can be improved.

[0224] In the embodiments of the present application, the first hinge position 12023 of the two sets of scissor units 1202 is connected by the first connecting rod 1203, and the second hinge position 12024 of the two sets of scissor units 1202 is linked by the second connecting rod 1204; in this way, the two sets of scissor units 1202 are connected to form an integral telescopic structure 12, and in this way, the stability of the telescopic structure 12 during telescoping can be improved.

[0225] In some examples, referring to Figures 10 - 12 As shown, there can be two third guide rails 1104. The two third guide rails 1104 can be arranged side by side on the first mounting plate 1102.

[0226] In some examples, two first guide rails 17 can be arranged side by side longitudinally on the mounting plate. The extending directions of the two third guide rails 1104 can extend in the horizontal direction. One of the two third guide rails 1104 can be connected to one of the first scissor members, and the other third guide rail 1104 can be connected to the other first scissor member.

[0227] In some examples, referring to Figure 10 and Figure 11 as shown, the first guiding portions 11042 of the two third guide rails 1104 can be arranged back to back. That is to say, the first guiding portions 11042 of the two third guide rails 1104 are located on the sides of the two third guide rails 1104 away from each other. In this way, after the first scissor members of the two groups of scissor units 1202 are connected to the third guide rails 1104, the projected area of the telescopic structure 12 on the first mounting plate 1102 can be increased, thereby improving the installation stability of the telescopic structure 12, that is, improving the telescopic stability of the telescopic structure 12.

[0228] Figure 15 FIG. Figure 16 is another schematic structural view of the cooperation between the telescopic structure and the first mounting plate in the picking and placing mechanism provided by the embodiment of the present application, Figure 15 is the partial enlarged view at D in Figure 17 FIG. is still another schematic structural view of the cooperation between the telescopic structure and the first mounting plate in the picking and placing mechanism provided by the embodiment of the present application.

[0229] In some examples, referring to Figures 15 - 17 as shown, a first sensor 116 is further arranged on the base 11. The first sensor 116 can be used to detect the position of the object picking component 13. That is to say, in the embodiment of the present application, when the object picking component 13 is in the initial position, the first sensor 116 is triggered and generates a first trigger signal; the controller can determine that the object picking component 13 is in the initial position according to the first trigger signal. As a specific example, the first sensor 116 can be a contact switch or a magnetic switch.

[0230] In some examples, the action signal described in the foregoing embodiment of the present application can include the first trigger signal.

[0231] In the embodiment of the present application, the first sensor 116 is used to detect whether the object picking component 13 is in the initial position. In this way, it can be accurately determined whether the object picking component 13 moves into place when returning, which is convenient for the controller to accurately control the stop operation of the first driving member 1401. For example, the driving structure 14 can stop driving the extension member 12025 according to the first trigger signal.

[0232] In addition, the first sensor 116 detects whether the item fetching assembly 13 is in the initial position, which can also facilitate determining the distance that the item fetching assembly 13 needs to move towards the target storage location during the process of fetching and returning the target item.

[0233] For example, in some examples, the distance between the item fetching assembly 1313 and the front end of the base 1111 can be determined. Generally, when the item fetching assembly 1313 is in the initial position, the distance between the item fetching assembly 1313 and the front end of the base 1111 can be a determined distance (which can be referred to as the second distance in some examples).

[0234] In other examples, whether the item fetching assembly 13 is in the initial position can also be determined through the zero position signal of the motor encoder of the driving structure 14, which is convenient for determining the distance between the item fetching assembly 13 and the front end of the base 1111. In addition, the moving distance of the item fetching assembly 13 can also be detected through a displacement sensor. For example, when the detected moving distance is zero, it can be determined that the item fetching assembly 13 is in the initial position.

[0235] In some examples, referring to Figure 16 as shown, the first sensor 116 can include a first signal transmitting part 1161, a first signal receiving part 1162, and a trigger 1163.

[0236] In some examples, the first signal transmitting part 1161 can be arranged on the base 11. For example, the first signal transmitting part 1161 can be relatively fixed to the position of the base 11. Referring to Figure 15 and Figure 17 as shown, the first signal transmitting part 1161 can be arranged on the first mounting plate 1102.

[0237] In some examples, the first signal receiving part 1162 can be arranged on the base 11. The first signal receiving part can be configured to receive the signal emitted by the first signal transmitting part 1161.

[0238] In some examples, the first sensor 116 can be an opposed type sensor. A certain gap can be reserved between the first signal transmitting part 1161 and the first signal receiving part 1162.

[0239] In some examples, the first sensor 116 can be a U-shaped sensor, and there can be a gap between the first signal transmitting part 1161 and the first signal receiving part 1162.

[0240] In some examples, the trigger 1163 can be movably arranged on the base 11. When the item fetching assembly 13 is in the initial position on the base 11, the trigger 1163 can be located between the first signal transmitting part 1161 and the first signal receiving part 1162, so that the first sensor 116 triggers a first trigger signal.

[0241] In some examples, the trigger member 1163 can be a signal shielding member. When the trigger member 1163 is located between the first signal transmitting portion 1161 and the first signal receiving portion 1162, the first signal receiving portion 1162 cannot receive the signal transmitted by the first signal transmitting portion 1161, thereby causing the first sensor 116 to trigger a first trigger signal.

[0242] In some examples of the embodiments of the present application, when the picking component 13 is in the initial position, the trigger member 1163 is located between the first signal transmitting portion 1161 and the first signal receiving portion 1162. By physically changing the signal transmission between the first signal transmitting portion 1161 and the first signal receiving portion 1162 using the trigger member 1163, the accuracy of judging the position of the picking component 13 can be improved, misjudgment of the position of the picking component 13 can be avoided, and the safety of using the handling robot is improved.

[0243] In some examples, referring to Figure 17 As shown, the trigger member 1163 can cooperate with the extension member 12025. During the movement of the telescopic structure 12 relative to the base 11, the trigger member 1163 and the extension member 12025 move relative to the base 11 synchronously.

[0244] In some examples, the trigger member 1163 can be connected to the extension member 12025. Or, in some examples, the trigger member 1163 can be connected to a component directly connected to the extension member 12025.

[0245] In some examples of the embodiments of the present application, through the cooperation of the trigger member 1163 and the extension member 12025, the trigger member 1163 and the extension member 12025 move synchronously relative to the base 11; thus, when the trigger member 1163 enters the gap between the first signal transmitting portion 1161 and the first signal receiving portion 1162, the driving mechanism can stop driving the extension member 12025 in time, thereby stopping the movement of the trigger member 1163, and improving the accuracy of controlling the stop position of the picking component 13.

[0246] In some examples of the embodiments of the present application, referring to Figure 2 As shown, the picking component 13 can include a second mounting plate 1301 and a second force applying member 1302.

[0247] In some examples, the second mounting plate 1301 is provided at the free end, and the second force applying member 1302 is configured to apply a force to the front end face of the target item to carry the target item.

[0248] In some examples, for the convenience of description, a set of scissor fork members 12021 connected to the picking component 13 is called the second scissor fork member. The second mounting plate 1301 can be movably provided on the second scissor fork member.

[0249] Figure 18 This is a schematic structural diagram of the telescopic structure cooperating with the fourth guide rail in the picking and placing mechanism provided by the embodiment of the present application. Figure 19 For Figure 18 a partial enlarged view of the E position in

[0250] In some examples, with reference to Figure 18 and Figure 19 as shown, a fourth guide rail 1308 may be provided on the second mounting plate 1301.

[0251] In some examples, the second scissor member may include two transmission rods 12022. It can be understood that the setting manner of the second scissor member may be the same as or similar to the setting manner of the first scissor member in the foregoing embodiments of the present application. Specifically, reference may be made to the detailed description of the first scissor member in the front view embodiment of the present application, and the embodiments of the present application will not repeat it here.

[0252] In some examples, the two transmission rods 12022 may be slidably disposed on the fourth guide rail 1308.

[0253] In some examples, the sliding setting manner of the fourth guide rail 1308 and the two transmission rods 12022 may be the same as or similar to the sliding setting manner of the third guide rail 1104 and the two transmission rods 12022 in the foregoing embodiments of the present application.

[0254] In some examples, with reference to Figure 18 as shown, the fourth guide rail 1308 may include a second fixing portion 13081, a second guiding portion 13082, and a third guiding portion 13083.

[0255] In some examples, the second fixing portion 13081 may be fixedly connected to the second mounting plate 1301. The fixed connection manner between the second fixing portion 13081 and the second mounting plate 1301 may be the same as or similar to the connection manner between the first fixing portion 11041 and the first mounting plate 1102 in the foregoing embodiments of the present application.

[0256] In some examples, the second guiding portion 13082 may be located on one side of the second fixing portion 13081. In some examples, the setting manner of the second guiding portion 13082 may be the same as or similar to the setting manner of the first guiding portion 11042 in the foregoing embodiments of the present application.

[0257] In some examples, the third guiding portion 13083 may be arranged side by side with the second guiding portion 13082. The third guiding portion 13083 may be disposed on the other side of the second fixing portion 13081. That is to say, the third guiding portion 13083 and the second guiding portion 13082 may be located on opposite sides of the second fixing portion 13081.

[0258] In some examples, the structures of the third guiding portion 13083 and the second guiding portion 13082 and the connection manner with the second fixing portion 13081 may be the same as or similar to those of the first guiding portion 11042 in the foregoing embodiments of the present application. Specifically, reference may be made to the detailed description of the first guiding portion 11042 in the foregoing embodiments of the present application, and the embodiments of the present application will not elaborate thereon.

[0259] In some examples, a fourth slider 1309 may be provided on the transmission rod 12022. The fourth slider 1309 may be sleeved on the second guiding portion 13082 and the third guiding portion 13083. The fourth slider 1309 is rotatably connected to the transmission rod 12022.

[0260] In some examples, a second bushing 13084 may be provided between the fourth slider 1309 and the second guiding portion 13082 and the third guiding portion 13083. The second bushing 13084 may include an engineering plastic part.

[0261] In some examples, the setting manner of the second bushing 13084 may be the same as or similar to the setting manner of the first bushing 11043 in the foregoing embodiments of the present application. Specifically, reference may be made to the detailed description of the first bushing 11043 in the foregoing embodiments of the present application, and the embodiments of the present application will not elaborate thereon.

[0262] In some examples, there may be two fourth guide rails 1308. The two fourth guide rails 1308 are arranged side by side on the second mounting plate 1301. It can be understood that the setting manner of the two fourth guide rails 1308 may be the same as or similar to the setting manner of the two third guide rails 1104, and the embodiments of the present application will not elaborate thereon.

[0263] In some examples of the embodiments of the present application, the second force applying member 1302 may include a hook. A slot may be provided on the front end face of the target article. When retrieving the target article, the hook may be inserted into the slot, so as to be connected to the front end face of the target article and provide a force to the target article.

[0264] In some examples, the second force applying member 1302 may be a double-axis jaw mechanism or a multi-axis jaw mechanism. A through hole into which the jaw mechanism is inserted may be provided on the front end face of the target article. When retrieving the target article, the jaw mechanism may be controlled to be in a clamping state and inserted into the through hole; then the jaw mechanism is opened, so that the outer side wall of the jaw mechanism contacts the inner wall of the through hole, and the target article is carried by the friction force between the outer side wall of the jaw mechanism and the inner wall of the through hole. It can be understood that in some possible examples, barbs may be provided on the outer side wall of the jaw mechanism, so that the barbs can be hooked on the hole edge of the target article, thereby ensuring that the jaw mechanism provides sufficient force to the target article.

[0265] In some examples of the embodiments of the present application, the second force-applying member 1302 may include an adsorbing member. Refer to Figure 1 As shown, an adsorption control assembly may be provided on the base 11, and the adsorption control assembly is connected to the adsorbing member; the adsorption control assembly is configured to control the adsorbing member to apply a force to the target article.

[0266] In some examples of the embodiments of the present application, a force is applied to the front end face of the target article through the adsorbing member; and the adsorbing member is controlled by providing an adsorption control assembly on the base 11. In this way, it is convenient for the second force-applying member 1302 to apply a force to the target article, and the operation is simple; in addition, the force between the adsorbing member and the target article can be controlled, which can improve the stability of the second force-applying member 1302 applying a force to the target article and prevent the target article from falling off.

[0267] In some examples, the adsorbing member may be any one of the electromagnets or suction cups described in the foregoing embodiments of the present application. In the embodiments of the present application, the suction cup is taken as a specific example for illustration.

[0268] In some examples, refer to Figure 2 As shown, the suction cup is provided on the second mounting plate 1301. The suction cup may be provided on the side of the second mounting plate 1301 facing the inlet / outlet 1105. A channel is formed on the second mounting plate 1301, one end of the channel communicates with the inner cavity of the suction cup, and the other end of the channel is used to communicate with the gas source device 1303. As a specific example, in the embodiments of the present application, the gas source device 1303 may be a vacuum pump. Refer to Figure 2 and Figure 3 As shown, the gas source device 1303 may be specifically provided on the base 11.

[0269] In some examples, the channel on the second mounting plate 1301 may be formed by punching or grooving the second mounting plate 1301, and the other end of the channel may be specifically connected to the gas source device 1303 through a vacuum tube. In this way, when the gas source device 1303 operates, the gas source device 1303 reduces the pressure in the channel and the inner cavity of the suction cup through the vacuum tube (not shown in the figure), so that the external atmospheric pressure presses and adsorbs the target article to be moved and transferred on the suction cup.

[0270] In some possible examples, the gas source device 1303 may be specifically a gas source device 1303 that can rotate forward and backward. For example, when the gas source device 1303 rotates forward, the channel and the inner cavity of the suction cup are sucked through the vacuum tube to reduce the pressure in the inner cavity of the suction cup, which is convenient for adsorbing the target article to be transferred; when the gas source device 1303 rotates backward, the gas source device 1303 fills the inner cavity of the channel and the suction cup with gas through the vacuum tube, thereby releasing the suction force of the suction cup on the target article, which is convenient for unloading the target article from the suction cup.

[0271] It can also be understood that, in some optional examples of the embodiments of the present application, components such as solenoid valves and vacuum pressure gauges can also be provided on the vacuum tube. Among them, the solenoid valve is used to turn off the vacuum tube through the solenoid valve when the suction cup provides sufficient suction to the target item (for example, when the pressure in the channel or the vacuum tube is detected by the pressure gauge to reach a preset negative pressure value), so as to maintain the negative pressure in the inner cavity of the suction cup, avoiding the long-term operation of the vacuum pump and effectively saving energy consumption.

[0272] That is to say, the adsorption control assembly can include a control valve 1306 (the control valve 1306 can be a solenoid valve). The control valve 1306 can be arranged between the vacuum tube and the gas source device 1303. The control can be configured to control the on-off of the gas path between the vacuum tube and the gas source device 1303.

[0273] In addition, the adsorption control assembly can include a vacuum degree detection sensor 1307 (for example, it can be a vacuum pressure gauge). The vacuum degree detection sensor 1307 can be arranged on the base 11 and communicated with the vacuum tube. The control valve 1306 can be configured to control the on-off of the gas path between the vacuum tube and the gas source device 1303 according to the detection signal of the vacuum degree detection sensor 1307.

[0274] In some examples of the embodiments of the present application, with reference to Figure 2 and Figure 3 as shown, the picking and placing mechanism 1 can include two guiding bars. For the convenience of description, one of the two guiding bars can be called the first guiding bar 1106, and the other guiding bar of the two guiding bars can be called the second guiding bar 1107.

[0275] In some examples, the first guiding bar 1106 is arranged on the base 11. The first guiding bar 1106 can be located on the side of the first follower tray 151 facing away from the second follower tray 152. The second guiding bar 1107 can be arranged on the base 11. The second guiding bar 1107 can be located on the side of the second follower tray 152 facing away from the first follower tray 151. That is to say, in some examples of the embodiments of the present application, the first follower tray 151 and the second follower tray 152 can be located between the first guiding bar 1106 and the second guiding bar 1107.

[0276] In some examples, with reference to Figure 2 and Figure 3 as shown, along the direction in which the target item enters the base 11 (for example Figure 1 the negative direction of the x-axis in

[0277] ), the distance between the first guiding bar 1106 and the second guiding bar 1107 can be reduced so that the inlet and outlet 1105 is in a constricted shape along the entering direction of the target item.In some examples, a first guiding slope (not labeled in the figure) can be provided on the first guiding bar 1106. The first guiding slope is located at one end of the first guiding bar 1106 facing the inlet / outlet 1105, and the first guiding slope faces the second guiding bar 1107.

[0278] In some examples, a second guiding slope (not labeled in the figure) can be provided on the second guiding bar 1107. The second guiding slope is located at one end of the second guiding bar 1107 facing the inlet / outlet 1105, and the second guiding slope faces the first guiding bar 1106.

[0279] In some examples, along the direction in which the target item enters the base 11, the distance between the first guiding slope and the second guiding slope decreases, so that the inlet / outlet 1105 is constricted along the entering direction of the target item. In this way, the movement path of the target item with a certain deviation can be guided and corrected by the first guiding slope and the second guiding slope, facilitating the smooth entry of the target item onto the base 11.

[0280] In some examples, referring to Figure 2 and Figure 3 As shown, the sides of the first guiding bar 1106 and the second guiding bar 1107 facing away from the base 11 protrude from the sides of the first follower tray 151 and the second follower tray 152 facing away from the base 11. That is to say, the first guiding bar 1106 and the second guiding bar 1107 protrude from the supporting surfaces of the first follower tray 151 and the second follower tray 152 for supporting the target item. In this way, there is a limiting step between the first guiding bar 1106 and the first follower tray 151, and there is a limiting step between the second guiding bar 1107 and the second follower tray 152, which can limit the swaying of the target item on the base 11 and improve the stability of the target item on the base 11, facilitating the handling robot to carry and transfer the target item.

[0281] It can be understood that in some examples, the first guiding bar 1106 and the second guiding bar 1107 can be provided on the base 11 and fixedly connected to the base 11. In other examples, the first guiding bar 1106 can be provided on the first follower tray 151. For example, the first guiding bar 1106 is fixedly connected to the side of the first follower tray 151 facing away from the second follower tray 152. That is to say, the first guiding bar 1106 can be provided on the base 11 through the first follower tray 151. The second guiding bar 1107 can be provided on the second follower tray 152. For example, the second guiding bar 1107 is fixedly connected to the side of the second follower tray 152 facing away from the first follower tray 151. That is to say, the second guiding bar 1107 can be provided on the base 11 through the second follower tray 152.

[0282] In some examples, the target article may have different widths. The width direction of the target article may intersect the direction in which the target article enters and exits the base 11. For example, the width direction of the target article may be the direction shown by the y-axis in Figure 1 . To accommodate target articles of different widths, in some examples of the embodiments of the present application, the distance between the first guide bar 1106 and the second guide bar 1107 is adjustable.

[0283] In some examples, at least one of the first guide bar 1106 and the second guide bar 1107 can be driven by a driving member such as a motor or a cylinder, so as to adjust the distance between the first guide bar 1106 and the second guide bar 1107. For example, in some examples, the first guide bar 1106 can be driven by a driving member such as a motor or a cylinder to move away from or close to the second guide bar 1107, so as to adjust the distance between the first guide bar 1106 and the second guide bar 1107. In some examples, the second guide member can be driven to move away from or close to the first guide bar 1106, so as to adjust the distance between the first guide bar 1106 and the second guide bar 1107. In some examples, the first guide bar 1106 and the second guide bar 1107 can be driven to move away from each other or close to each other, so as to adjust the distance between the first guide bar 1106 and the second guide bar 1107.

[0284] In some examples, a plurality of first mounting positions 1108 can be provided on the base 11, and the plurality of first mounting positions 1108 are arranged along the arrangement direction of the first follower tray 151 and the second follower tray 152 (i.e., the width direction of the target article). The first guide bar 1106 can be mounted on any one of the plurality of first mounting positions 1108.

[0285] In some examples, to facilitate the first guide bar 1106 protruding from the support surface of the first follower tray 151, referring to Figure 2 as shown, a first support block 1109 can be provided on the base 11. The first support block 1109 can be fixedly provided on the base 11. The first guide bar 1106 is provided on the first support block 1109.

[0286] In some examples, it can be that the first support block 1109 is mounted on any one of the plurality of first mounting positions 1108.

[0287] In some examples, a plurality of first mounting positions 1108 can be provided on the first support block 1109. The first guide bar 1106 can be mounted on any one of the plurality of first mounting positions 1108.

[0288] In some examples, to improve the stability of the support for the first guiding strip 1106, two first support blocks 1109 may be provided, and the two first support blocks 1109 may be arranged along the extending direction of the first guiding strip 1106. For example, the two first support blocks 1109 may be arranged along Figure 1 the direction shown by the x-axis in

[0289] In some examples of the embodiments of the present application, by providing the first support block 1109 to support the first guiding strip 1106, the first guiding strip 1106 protrudes from the support surface of the first follower tray 151. In this way, the material used for the first guiding strip 1106 can be saved, and the production and processing cost of the handling robot can be reduced. In addition, the processing and production difficulty of the base 11 can be reduced, and the production and processing cost of the handling robot can be reduced.

[0290] In some examples, referring to Figure 2 and Figure 3 as shown, a plurality of second mounting positions may be provided on the base 11. The plurality of second mounting positions may be arranged along the arrangement direction of the second follower tray 152 and the second follower tray 152. The second guiding strip 1107 may be mounted on any one of the plurality of second mounting positions.

[0291] It can be understood that in some examples of the embodiments of the present application, the setting manner of the second mounting position may be the same as, similar to, or analogous to the setting manner of the first mounting position 1108 in the foregoing embodiments of the present application. Specifically, reference may be made to the detailed description of the foregoing embodiments of the present application, and the embodiments of the present application will not be elaborated herein.

[0292] In some other alternative examples of the embodiments of the present application, referring to Figure 2 and Figure 3 as shown, the picking and placing mechanism 1 further includes a second sensor 117. The second sensor 117 may be provided on the base 11, and the second sensor 117 is used to detect whether a target item is present on the picking component 13 in the initial position.

[0293] For example, during the picking process of the picking and placing mechanism 1, when the picking component 13 picks up the target item from the target storage location and retreats towards the base 11 under the drive of the telescopic structure 12, due to reasons such as unstable acting force of the picking component 13, the situation that the target item detaches from the picking component 13 may occur, so that when the picking component 13 finally retreats to the initial position, the target item does not retreat in place. This will cause the target item to easily fall from the front end of the base 11 during the movement of the handling robot in the warehousing system, or will cause problems such as uncontrollable acting timing between the picking component 13 and the target item when the handling robot unloads goods at the workstation.

[0294] Based on this, by setting the second sensor 117, when the object picking component 13 retracts to the initial position and there is a target object on the object picking component 13, the second sensor 117 can emit a second trigger signal. According to the second trigger signal of the second sensor 117, it is determined that there is a target object when the object picking component 13 is in the initial position. Conversely, when the object picking component 13 retracts to the initial position and the second sensor 117 does not trigger the second trigger signal, it can be determined that there is no target object on the object picking component 13 when the object picking component 13 is in the initial position. In this way, it can be timely discovered that the target object does not retract to the initial position.

[0295] In some examples, the action signal described in the foregoing embodiments of the present application may include a second trigger signal.

[0296] In some examples of the embodiments of the present application, through the setting of the second sensor 117, it can be timely discovered that the target object does not retract to the initial position, so as to timely control the driving structure 14 to drive the object picking component 13 to move to the target object again and bring the target object back to the initial position, improving or avoiding the problem that the target object is extremely likely to fall from the front end of the base 11 during the movement of the handling robot in the warehousing system, or, when the handling robot unloads goods at the workstation, the problem that the acting timing between the object picking component 13 and the target object is uncontrollable occurs.

[0297] As a specific example, in the embodiments of the present application, the second sensor 117 may be a contact switch or a magnetic switch. It can be understood that in the embodiments of the present application, the second sensor 117 may also be set at other positions. In the embodiments of the present application, only the case where the second sensor 117 is set on the base 11 is taken as an example for illustration.

[0298] In some examples of the embodiments of the present application, with reference to Figure 2 and Figure 3 As shown, the second sensor 117 may include a second signal transmitting portion 1171 and a second signal receiving portion 1172. The second signal transmitting portion 1171 may be disposed on one side of the moving path of the target object, and the second signal receiving portion 1172 may be disposed on the other side of the moving path of the target object. The signal transmission path between the second signal transmitting portion 1171 and the second signal receiving portion 1172 may intersect with the moving path of the target object.

[0299] In some examples, when the target object enters the base 11 and the target object is located at a preset position of the base 11, for example, when the first follow-up tray 151 and the second follow-up tray 152 retract to the initial position of the base 11, the target object may block between the second signal transmitting portion 1171 and the second signal receiving portion 1172.

[0300] In some examples, during the process of the fetching component 13 carrying the target item and moving towards the base 11, the target item may first block between the second signal transmitting part 1171 and the second signal receiving part 1172. As the fetching component 13 moves, the target item continues to move following the fetching component 13. When the target item is located at the preset position of the base 11, for example, when the first follow-up tray 151 and the second follow-up tray 152 retract to the initial position of the base 11, the target item can cross the signal transmission path between the second signal transmitting part 1171 and the second signal receiving part 1172. At this time, the time when the signal between the second signal transmitting part 1171 and the second signal receiving part 1172 is blocked can be used to determine whether the target item is located on the base 11. For example, to determine whether the target item is located at the preset position on the base 11.

[0301] In some examples, the second signal transmitting part 1171 can be provided on one of the first guiding strip 1106 and the second guiding strip 1107. The second signal receiving part 1172 can be provided on the other one of the first guiding strip 1106 and the second guiding strip 1107.

[0302] In some examples, the second signal transmitting part 1171 can be provided on the first guiding strip 1106, and the second signal receiving part 1172 can be provided on the second guiding strip 1107.

[0303] In some examples, the second signal transmitting part 1171 can be provided on the second guiding strip 1107, and the second signal receiving part 1172 can be provided on the first guiding strip 1106.

[0304] In some examples, the second signal receiving part 1172 can receive the signal emitted by the second signal transmitting part 1171. The signal transmission path between the second signal transmitting part 1171 and the second signal receiving part 1172 can intersect with the movement path of the target item on the moving base 11. For example, referring to Figure 2 and Figure 3 shown, the signals of the second signal transmitting part 1171 and the second signal receiving part 1172 can be transmitted along the Figure 1 and Figure 2 direction shown by the y-axis in.

[0305] It can be understood that in some examples of the embodiments of the present application, the second sensor 117 can be an opposed sensor. The working principle of the second sensor 117 can be the same as, similar to, or close to the working principle of the first sensor 116 in the foregoing embodiments of the present application. Specifically, reference can be made to the detailed description of the first sensor 116 in the foregoing embodiments of the present application, and the embodiments of the present application will not elaborate on this again.

[0306] In some examples, the second sensor 117 can cooperate with the first sensor 116 to determine whether the target item returns to the base 11 when the picking component 13 returns to the initial position. For example, when the first sensor 116 determines that the picking component 13 returns to the initial position and triggers the first trigger signal, it can be confirmed whether the second sensor 117 triggers the second trigger signal. When the second sensor 117 triggers the second trigger signal, it can be determined that the target item returns to the base 11 with the picking component 13.

[0307] In the embodiments of the present application, by providing the second signal transmitting portion 1171 on one of the first guide bar 1106 and the second guide bar 1107, and providing the second signal receiving portion 1172 on the other of the first guide bar 1106 and the second guide bar 1107, the position of the target item is determined by whether the second signal receiving portion 1172 receives the signal emitted by the second signal transmitting portion 1171, improving the accuracy of confirming the position of the target item and enhancing the safety of using the handling robot.

[0308] In some examples, referring to Figure 2 and Figure 3 As shown, the picking and placing mechanism 1 may further include a third sensor 118. In some examples, the third sensor 118 may be provided on the base 11. Specifically, the third sensor 118 may be an infrared sensor or an ultrasonic sensor. The third sensor 118 is used to detect the target item on the target carrier. For example, it can be determined whether there is a target item on the target carrier position to be picked according to the third trigger signal of the third sensor 118.

[0309] In some examples, to improve the accuracy of detecting whether there is a target item on the target carrier position by the third sensor 118, the third sensor 118 may be disposed between the first follower tray 151 and the second follower tray 152. In this way, when the third sensor 118 detects the target item on the target carrier position, the signal emitted by the third sensor 118 can act on the front end face of the target item, avoiding the situation where the signal of the third sensor 118 passes through the perforation on the side of the target item, and improving the accuracy of judging whether there is a target item on the target carrier position.

[0310] In some examples, referring to Figure 2 and Figure 3 As shown, the limiting member 111 may be located at the front end of at least one of the first follower tray 151 and the second follower tray 152.

[0311] In some examples, the limiting member 111 may be located at the front end of the first follower tray 151.

[0312] In some examples, the limiting member 111 may be located at the front end of the second follower tray 152.

[0313] In some examples, there may be two limiting members 111. One of the limiting members 111 may be located at the front end of the first follower tray 151, and the other limiting member 111 may be located at the front end of the second follower tray 152.

[0314] Specifically, in the embodiments of the present application, the limiting member 111 has a first state. In the first state, at least a part of the limiting member 111 protrudes from the supporting surfaces of the first follower tray 151 and the second follower tray 152. It can be understood that referring to Figure 1 as shown, the supporting surface may specifically refer to a surface of the first follower tray 151 and the second follower tray 152 that supports the target item. In some specific examples, the supporting surface may also refer to the surface of the first follower tray 151 and the second follower tray 152 facing away from the base 11. That is to say, the surface of the first follower tray 151 and the second follower tray 152 facing away from the base 11 can be configured as the supporting surface of the base 11.

[0315] That is to say, in the embodiments of the present application, at least a part of the limiting member 111 extends along a direction perpendicular to the surface of the base 11, and at least a part of the limiting member 111 protrudes from the supporting surface of the follower tray. In this way, when there is a target item or a cargo box on the follower tray, the part of the limiting member 111 protruding from the supporting surface can limit or block the target item on the follower tray.

[0316] In some examples, the limiting member 111 also has a second state. In the second state, the whole limiting member 111 is located between the first follower tray 151 and the second follower tray 152 and the base 11. That is to say, in specific applications, when the first follower tray 151 and the second follower tray 152 extend out of the base 11, the limiting member 111 switches from the first state to the second state. In this way, it can effectively prevent the limiting member 111 from affecting or blocking the movement of the first follower tray 151 and the second follower tray 152, facilitating the movement of the first follower tray 151 and the second follower tray.

[0317] Figure 20 is a schematic structural diagram of the cooperation between the second driving member and the limiting member in the picking and placing mechanism provided by the embodiments of the present application, Figure 21 is another schematic structural diagram of the cooperation between the second driving member and the limiting member in the picking and placing mechanism provided by the embodiments of the present application.

[0318] In some examples, referring to Figure 1 , Figure 20 and Figure 21As shown, the picking and placing mechanism 1 may include a second driving member 1110. The second driving member 1110 may be disposed on the base 11. The second driving member 1110 may be configured to drive the limiting member 111 to switch between a first state and a second state. In some examples, the second driving member 1110 is connected to the limiting member 111.

[0319] For example, when the target item needs to enter or exit the base 11, the second driving member 1110 may drive the limiting member 111 to switch from the first state to the second state. Or, in some examples, after the target item enters the base 11, when the picking and placing mechanism 1 or the handling robot needs to move as a whole to transfer the target item, the second driving member 1110 may drive the limiting member 111 to switch from the second state to the first state, so as to limit the target item within the base 11.

[0320] In some examples, the second driving member 1110 may be a cylinder, a linear motor, a piston cylinder, etc. The second driving member 1110 may drive the limiting member 111 to move in a direction perpendicular to the base 11, so that the limiting member 111 switches between the first state and the second state.

[0321] In an alternative example of the embodiment of the present application, the limiting member 111 may be specifically rotatably connected to the base 11. When the limiting member 111 switches from the first state to the second state, the limiting member 111 rotates from perpendicular to the surface of the base 11 to parallel to the surface of the base 11; and when the limiting member 111 switches from the second state to the first state, the limiting member 111 may rotate from parallel to the surface of the base 11 to perpendicular to the surface of the base 11.

[0322] In some examples, the second driving member 1110 may include a motor. For example, when the first follower tray 151 and the second follower tray 152 need to extend, it can be determined that there is no support for the target item or the cargo box on the first follower tray 151 and the second follower tray 152 at this time. At this time, the motor can drive the limiting member 111 to switch to the second state (i.e., the limiting member 111 is parallel to the base 11). When the first follower tray 151 and the second follower tray 152 return to the initial position, the motor drives the limiting member 111 to switch to the first state.

[0323] In some examples, the second driving member 1110 may switch from the second state to the first state according to a first trigger signal.

[0324] For example, the first driving member 1401 drives the telescopic structure 12 to expand and contract relative to the base 11 through the extension member 12025. When the telescopic structure 12 retracts into the base 11, the extension member 12025 drives the trigger member 1163 to retract into the base 11 together, and the extension member 12025 drives the first follower tray 151 and the second follower tray 152 through the connecting member 153, so that the first follower tray 151 and the second follower tray 152 retract into the base 11; when the trigger member 1163 retracts between the first signal transmitting portion 1161 and the second signal transmitting portion 1171, the first sensor 116 triggers a first trigger signal; at this time, the first follower tray 151 and the second follower tray 152 return to the initial position, and the target item carried on the item picking assembly 13 enters the preset position of the base 11; the second driving member 1110 can drive the limiting member 111 according to the first trigger signal, so that the limiting member 111 switches from the second state to the first state.

[0325] In some examples, during the process of the item picking assembly 13 transferring the target item into the base 11, since the item picking assembly 13 acts on the front end face of the target item, the item picking assembly 13 and the target item may be separated, resulting in that although the item picking assembly 13, the first follower tray 151 and the second follower tray 152 return to the initial position, the target item supported on the first follower tray 151 and the second follower tray 152 may not have reached the preset position yet. To avoid the situation that the limiting member 111 jams the target item, in some examples of the embodiments of the present application, the limiting member 111 can be switched to the first state according to the second trigger signal triggered by the second sensor 117.

[0326] That is to say, the second driving member 1110 can drive the limiting member 111 according to the first trigger signal and the second trigger signal, so as to switch the limiting member 111 to the first state.

[0327] In some examples, to facilitate the target item in the base 11 to leave the base 11 from the inlet / outlet 1105, before the target item moves from the preset position to the base 11, the limiting member 111 can be switched to the second state.

[0328] For example, in some examples, after the handling robot moves to the aisle corresponding to the target shelf, the second driving member 1110 can drive the limiting member 111 to switch from the first state to the second state; then, the telescopic structure 12 and the item picking assembly 13 move the target item to the target storage location.

[0329] In some examples, to prevent the second driving member 1110 from rotating excessively when driving the limiting member 111 to rotate, refer to Figure 20As shown in FIGS. 21, a first stop member 1111 may be provided on the base 11. The first stop member 1111 is configured to limit the rotation angle of the limiting member 111 when the limiting member 111 switches to the first state, so that the limiting member 111 stops at the first state.

[0330] In some examples, the first stop member 1111 may be provided on the rotation path of the limiting member 111 relative to the base 11. When the limiting member 111 rotates to the first state, the limiting member 111 abuts against the first stop member 1111, thereby preventing the limiting member 111 from continuing to rotate.

[0331] In some examples, referring to Figure 20 and Figure 21 As shown, a support frame 1112 is provided on the second driving member 1110, and the first stop member 1111 may be provided on the support frame 1112. In this way, it is convenient to install and set the first stop member 1111. In some examples, the first stop member 1111 may be fixedly connected to the support frame 1112. In some examples, the first stop member 1111 and the support frame 1112 may be an integral part.

[0332] In some examples, referring to Figure 20 and Figure 21 As shown, a second stop member 1113 may be provided on the base 11. The second stop member 1113 may be configured to limit the rotation angle of the limiting member 111 when the limiting member 111 switches to the second state, so that the limiting member 111 stops at the second state.

[0333] In some examples, the limiting member 111 may rotate between the first stop member 1111 and the second stop member 1113. That is to say, on the rotation path of the limiting member 111, the first stop member 1111 may be located on one side of the limiting member 111, and the second stop member 1113 may be located on the other side of the limiting member 111. In this way, when the limiting member 111 rotates to the first state, it can be stopped by the first stop member 1111; when the limiting member 111 rotates to the second state, it can be stopped by the second stop member 1113, which is convenient for positioning the position of the limiting member 111.

[0334] In some examples, referring to Figure 1 、 Figure 20 and Figure 21 As shown, a third mounting plate 1114 may be provided on the base 11. The second driving member 1110 may be mounted on the third mounting plate 1114. In this way, it is convenient to install and set the second driving member 1110, and the convenience of installing and connecting the second driving member 1110 to the base 11 is improved.

[0335] In some examples, the second stop member 1113 can be disposed on the third mounting plate 1114 and extend to the rotation path of the limiting member 111. When the limiting member 111 rotates to the second state, the second stop member 1113 can abut against the limiting member 111, thereby positioning the position of the limiting member 111.

[0336] In some examples, the second stop member 1113 can be fixedly connected to the third mounting plate 1114. In some examples, the second stop member 1113 and the third mounting plate 1114 can be an integral part.

[0337] Figure 22 It is a schematic structural diagram of a handling robot provided by an embodiment of the present application.

[0338] Refer to Figure 22 As shown, an embodiment of the present application further provides a handling robot, including a chassis 3, a gantry 2, and a picking and placing mechanism 1 provided in any implementation manner of the foregoing embodiments of the present application. Among them, the gantry 2 is disposed on the chassis 3, and the picking and placing mechanism 1 is disposed on the gantry 2.

[0339] Specifically, in the embodiment of the present application, the chassis 3 can be the same as or similar to the chassis 3 in the related art. In addition, the embodiment of the present application has the same or corresponding technical features as the foregoing embodiments. Therefore, it has the same or similar technical effects as the foregoing embodiments of the present application. For details, reference can be made to the detailed description of the foregoing embodiments of the present application, which will not be repeated herein.

[0340] In the embodiment of the present application, the gantry 2 can be fixedly disposed on the chassis 3 and move under the drive of the chassis 3. Among them, the connection manner between the gantry 2 and the chassis 3 can be the same as or similar to that in the related art, which will not be repeated herein.

[0341] In addition, it can be understood that in the embodiment of the present application, a communication module can be disposed on the chassis 3 or the gantry 2. The communication module can communicate with the host computer and receive the control signal sent by the host computer. In addition, the communication module can also upload the position information of the handling robot to the host computer. The host computer controls the handling robot to move in the warehousing system according to the handling task, for example, move to the designated position of the target vehicle, so as to dock with the target cargo space in the target vehicle to realize the process of picking up or returning goods.

[0342] The picking and placing mechanism 1 is disposed on the gantry 2 and can move up and down along the gantry 2. For example, after the handling robot moves to the target vehicle, the picking and placing mechanism 1 moves up and down along the gantry 2 to reach the height of the cargo space where the corresponding target item is located.

[0343] In some examples, the handling robot further includes: a temporary storage board (not shown in the figure) and a rotating mechanism (not shown in the figure).

[0344] The temporary storage board is arranged on the gantry 2. The rotation mechanism is connected to the picking and placing mechanism 1 and is configured to drive the picking and placing mechanism 1 to rotate, so that the picking and placing mechanism 1 stores the target item on the temporary storage board or takes out the target item from the temporary storage board through the picking and placing mechanism 1. Wherein, the above-mentioned temporary storage board locations are formed on the temporary storage board. The temporary storage board location can be one of the target locations, that is, the item picking component 13 can extend into the temporary storage board location under the drive of the drive structure 14.

[0345] It can be understood that the direction in which the item picking component 13 moves towards the location of the target vehicle can be perpendicular to the direction in which the item picking component 13 moves towards the temporary storage board location. In other words, when the target location is the temporary storage board location, the movement direction of the item picking component 13 can be perpendicular to the movement direction of the item picking component 13 when the target location is the location on the target vehicle.

[0346] It can be understood that the picking and placing mechanism 1 can be located on one side of the gantry 2, and the temporary storage board is arranged on the other side of the gantry 2; in some examples, multiple temporary storage boards can be arranged along the height direction of the gantry 2, or in some understandings, it can also be understood that multiple layers of temporary storage boards are arranged along the height direction of the gantry 2. In this way, the handling robot can carry multiple target items at a time, improving the transfer efficiency of the target items.

[0347] In some examples, the drive structure 14 on the gantry 2 can be connected to the lifting plate. The lifting plate is lifted and lowered under the drive of the drive mechanism. A rotation mechanism is arranged on the lifting plate and is connected to the base 11 of the picking and placing mechanism 1. The base 11 can rotate relative to the lifting plate, thereby driving the picking and placing mechanism 1 to rotate.

[0348] The above specific embodiments further elaborate on the purpose, technical solutions, and beneficial effects of the embodiments of the present application. It should be understood that the above is only the specific embodiments of the embodiments of the present application and is not used to limit the protection scope of the embodiments of the present application. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the protection scope of the embodiments of the present application.

Claims

1. A picking and placing mechanism, characterized in that, Including: A base (11) having an inlet / outlet (1105) for a target article to enter and exit; A limiting member (111) provided at the inlet / outlet (1105); the limiting member (111) has a first state and a second state; in the first state, the limiting member (111) protrudes from the support surface of the base (11), and in the second state, the limiting member (111) is lower than the support surface, and the support surface is configured to support the target article; Wherein, when the target article moves to a preset position, an action signal is triggered, and the limiting member (111) switches to the first state according to the action signal to limit the target article within the base (11); the preset position is located on the side of the limiting member (111) facing the inside of the base (11).

2. The pick-and-place mechanism according to claim 1, characterized in that, The picking and placing mechanism further includes: A second driving member (1110) provided on the base (11), and the second driving member (1110) is configured to drive the limiting member (111) to switch between the first state and the second state; When the target article moves to the preset position, the second driving member (1110) drives the limiting member (111) to switch to the first state.

3. The pick-and-place mechanism according to claim 2, characterized in that, The limiting member (111) is rotatably provided on the base (11), and the second driving member (1110) drives the limiting member (111) to rotate to switch between the first state and the second state.

4. The pick-and-place mechanism according to claim 3, characterized in that, A first stop member (1111) is provided on the base (11), and the first stop member (1111) is configured to limit the rotation angle of the limiting member (111) when the limiting member (111) switches to the first state, so that the limiting member (111) stops at the first state.

5. The pick-and-place mechanism according to claim 4, wherein, A support frame (1112) is provided on the second driving member (1110), the first stop member (1111) is provided on the support frame (1112), the first stop member (1111) extends to the rotation path of the limiting member (111), and in the first state, the first stop member (1111) is located on one side of the limiting member (111).

6. The pick-and-place mechanism according to claim 3, wherein, A second stop member (1113) is provided on the base (11), and the second stop member (1113) is configured to limit the rotation angle of the limiting member (111) when the limiting member (111) switches to the second state, so that the limiting member (111) stops at the second state.

7. The pick-and-place mechanism according to claim 6, characterized in that, A third mounting plate (1114) is provided on the base (11), the second driving member (1110) is provided on the third mounting plate (1114), the second stop member (1113) is provided on the third mounting plate (1114) and extends to the rotation path of the limiting member (111), and in the second state, the second stop member (1113) is located on the other side of the limiting member (111).

8. The pick-and-place mechanism according to any one of claims 1-7, characterized in that The picking and placing mechanism further includes: A first sensor (116) is provided on the base (11). The first sensor (116) is configured to detect the position of the target item and trigger a first trigger signal when the target item is in the preset position. The limiting member (111) switches from the second state to the first state according to the first trigger signal; the action signal includes the first trigger signal.

9. The pick-and-place mechanism according to claim 8, characterized in that, The first sensor (116) includes: A first signal transmitting part (1161) provided on the base (11); A first signal receiving part (1162) provided on the base (11). The first signal receiving part (1162) is configured to receive the signal emitted by the first signal transmitting part (1161). A trigger member (1163) is movably provided on the base (11). When the target item enters and exits the base (11), the trigger member (1163) moves synchronously with the target item. When the trigger member (1163) is located between the first signal transmitting part (1161) and the first signal receiving part (1162), the first sensor (116) triggers the first trigger signal.

10. The pick-and-place mechanism according to claim 9, characterized in that, The picking and placing mechanism further includes: A telescopic structure (12) provided on the base (11). The free end of the telescopic structure (12) can selectively extend out of or retract into the base (11) from the inlet / outlet (1105). A picking component (13) is provided at the free end. The picking component (13) can move relative to the base (11) driven by the free end. The picking component (13) is configured to apply a force to the target item to carry the target item. Wherein, the telescopic structure (12) cooperates with the trigger member (1163) to drive the trigger member (1163) to move relative to the base (11); and when the picking component (13) is at the initial position on the base (11), the trigger member (1163) is located between the first signal transmitting part (1161) and the first signal receiving part (1162).

11. The pick-and-place mechanism according to claim 8, wherein The picking and placing mechanism further includes: A second sensor (117) is provided on the base (11). The second sensor (117) is configured to detect whether the target item exists at the preset position before the limiting member (111) switches to the first state. When the target item exists at the preset position, trigger the action signal, and the limiting member (111) switches to the first state according to the action signal.

12. The pick-and-place mechanism according to claim 11, wherein When the target item exists at the preset position, the second sensor (117) triggers a second trigger signal; The limiting member (111) switches to the first state according to the first trigger signal and the second trigger signal. The action signal includes the first trigger signal and the second trigger signal.

13. The pick-and-place mechanism according to claim 11, characterized in that, The second sensor (117) includes: A second signal transmitting part (1171) provided on the base (11); A second signal receiving unit (1172) is provided on the base (11). The second signal receiving unit (1172) is configured to receive the signal emitted by the second signal transmitting unit (1171). The signal transmission paths of the second signal transmitting unit (1171) and the second signal receiving unit (1172) intersect the moving path of the target item to determine whether the target item is located at the preset position.

14. The pick-and-place mechanism according to any one of claims 1-7, characterized in that, The picking and placing mechanism further includes: A follow-up tray (15) is provided on the base (11). At least part of the follow-up tray (15) can extend out of the base (11) from the import and export (1105) to support the target item on the moving path of the target item. The limiting member (111) is located at the front end of the follow-up tray (15). When the target item is in the preset position, the follow-up tray (15) retracts into the base (11). Wherein, the side of the follow-up tray (15) facing away from the base (11) is configured as the support surface.

15. The pick-and-place mechanism according to claim 14, characterized in that, The follow-up tray (15) includes: A first follow-up tray (151) is provided on the base (11). At least part of the first follow-up tray (151) can extend out of the base (11) from the import and export (1105) to support the target item on the moving path of the target item. A second follow-up tray (152) is arranged side by side with the first follow-up tray (151) on the base (11). At least part of the second follow-up tray (152) can extend out of the base (11) from the import and export (1105) to support the target item on the moving path of the target item. The limiting member (111) is located at the front end limiting member of at least one of the first follow-up tray (151) and the second follow-up tray (152).

16. The pick-and-place mechanism according to any one of claims 1-7, characterized in that, Before the target item moves out of the base (11) from the preset position, the limiting member (111) switches to the second state.

17. A handling robot, characterized in that, It includes: A chassis (3); A gantry (2) is arranged on the chassis (3); And, The picking and placing mechanism (1) according to any one of claims 1-16, the picking and placing mechanism (1) is arranged on the gantry (2), and the picking and placing mechanism (1) can be lifted along the gantry (2).

18. The handling robot according to claim 17, wherein The handling robot further includes: A temporary storage board is arranged on the gantry (2); A rotating mechanism is connected to the picking and placing mechanism (1). The rotating mechanism is configured to drive the picking and placing mechanism (1) to rotate so that the picking and placing mechanism (1) stores the target item on the temporary storage board, or the picking and placing mechanism (1) takes out the target item from the temporary storage board.

Images