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 telescopic structure is arranged on the base, and the free end of the telescopic structure can selectively stretch out of or retreat back to the base from the inlet and outlet; the object taking assembly is arranged at the free end, and the object taking assembly can be driven by the free end to move relative to the base; the driving structure is connected with the telescopic structure, and the driving structure is configured to be matched with a power piece of the telescopic structure and provide power for the power piece so that the power piece can drive the telescopic structure to stretch out of or retract back to the base; when the object taking assembly takes and returns the target object, at least part of the follow-up tray is located on the moving path of the target object, and the follow-up tray can stretch out of the base so as to support the target object when the object taking assembly carries the target object; and in the process that the telescopic structure retreats towards the base, the power piece is configured to be matched with the follow-up tray so as to drive the follow-up tray to retreat to the base.

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 a box), and can also pick up the target item from the target carrier and then transport it to a designated location.

[0003] The current box picking structure of a 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. To prevent the target item from falling, a follow-up tray is usually provided. The follow-up tray extends as the telescopic fork extends, so as to fill the gap between the base and the shelf and prevent the target item from falling.

[0004] However, in the related art, the structure for driving the follow-up tray to retract to the base is complex, and the production cost is relatively high. Utility Model Content

[0005] This application provides a picking and placing mechanism and a handling robot, which simplifies the structure for driving the push tray to retract to the base and can effectively reduce the costs of the picking and placing mechanism and the handling robot.

[0006] On the one hand, an embodiment of this application provides a picking and placing mechanism, including:

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

[0008] A telescopic structure 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;

[0009] A picking component provided at the free end. The picking component can move relative to the base under the drive of the free end. The picking component is configured to act on the front end face of the target item when picking up 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 when the target item is to be picked up and returned.

[0010] A driving structure connected to the telescopic structure. The driving structure is configured to cooperate with the power component of the telescopic structure and provide power to the power component, so that the power component drives the telescopic structure to extend out of or retract into the base; a follow-up tray. When the picking component picks up and returns the target item, at least a part of the follow-up tray is located on the moving path of the target item, and the follow-up tray can extend out of the base to support the target item when the picking component carries the target item.

[0011] Wherein, during the process of the telescopic structure retracting towards the base, the power member is configured to cooperate with the follower tray to drive the follower tray to retract towards the base.

[0012] In one implementation, the follower tray includes:

[0013] A first follower tray, disposed on the base, at least a part of the first follower tray can extend out of the base from the inlet and outlet to support the target article on the moving path of the target article;

[0014] A second follower tray, disposed side by side with the first follower tray on the base, at least a part of the second follower tray can extend out of the base from the inlet and outlet to support the target article on the moving path of the target article;

[0015] A connecting member, connecting the first follower tray and the second follower tray to enable the first follower tray and the second follower tray to move synchronously relative to the base;

[0016] The power member is configured to cooperate with the connecting member to drive the first follower tray and the second follower tray to retract towards the base.

[0017] In one implementation, the first follower tray and the second follower tray are slidably disposed on the base; the connecting member movably connects the first follower tray and the second follower tray.

[0018] In one implementation, the connecting member includes:

[0019] A first sub-connecting member, connected to the first follower tray;

[0020] A second sub-connecting member, connected to the second follower tray, and the second sub-connecting member is movably connectable to the first sub-connecting member.

[0021] In one implementation, a first shaft hole is provided on the first sub-connecting member, and a second shaft hole is provided on the second sub-connecting member; a pin shaft is inserted into the first shaft hole and the second shaft hole to movably connect the first sub-connecting member and the second sub-connecting member.

[0022] In one implementation, the pin shaft includes:

[0023] A first shaft section, inserted into the first shaft hole;

[0024] A second shaft section, inserted into the second shaft hole;

[0025] The first shaft section is movably inserted into the first shaft hole, and / or, the second shaft section is movably inserted into the second shaft hole.

[0026] In one implementation, the aperture of the first shaft hole is larger than the aperture of the second shaft hole, the first shaft section is movably inserted into the first shaft hole, and the second shaft section is threadedly connected to the second shaft hole.

[0027] In one implementation, the diameter of the first shaft segment is greater than the diameter of the second shaft segment, and the aperture of the first shaft hole is greater than the diameter of the first shaft segment.

[0028] In one implementation, the pin shaft further includes: a locking segment located at one end of the first shaft segment facing away from the second shaft segment, the diameter of the locking segment being greater than the aperture of the first shaft hole, and the locking segment being configured to axially lock the first sub-connector and the second sub-connector along the pin shaft.

[0029] In one implementation, the connector is located on the side of the power component facing away from the inlet and outlet; at least one of the connector and the power component is provided with a buffer and shock absorber, the buffer and shock absorber being located between the connector and the power component, and the buffer and shock absorber being configured to abut between the power component and the connector when the power component cooperates with the connector.

[0030] In one implementation, a sliding assembly is provided on the base, and the follower tray is provided on the sliding assembly so that the follower tray is slidably disposed on the base.

[0031] In one implementation, the telescopic structure is a scissor structure, and the scissor structure has a plurality of first hinge positions and a plurality of second hinge positions; the plurality of first hinge positions are arranged along the telescopic direction of the scissor structure, and the second hinge positions are located on both sides of the arrangement direction of the plurality of first hinge positions;

[0032] One of the plurality of first hinge positions is configured as a power hinge position, and the power hinge position cooperates with the power component to drive the follower tray to retract into the base.

[0033] In one implementation, the scissor structure includes:

[0034] Two groups of scissor units;

[0035] A first connecting rod connected between the first hinge positions of the two groups of scissor units;

[0036] A second connecting rod connected between the second hinge positions of the two groups of scissor units;

[0037] The power component includes a first connecting rod and an extension member, the extension member being connected to one of the plurality of first connecting rods, and the extension member being configured to cooperate with the follower tray.

[0038] In one implementation, the base includes:

[0039] A bottom plate;

[0040] A first mounting plate provided on the bottom plate, the first mounting plate being located at one end of the bottom plate facing away from the inlet and outlet;

[0041] The scissor structure includes at least one group of scissor members, and the first scissor member in the at least one group of scissor members is movably disposed on the first mounting plate.

[0042] In one implementation, a third guide rail is provided on the first mounting plate;

[0043] The first scissor member includes two transmission rods, the two transmission rods are rotatably connected at the first hinge position, and the two transmission rods are slidably disposed on the third guide rail.

[0044] In one implementation, the third guide rail includes:

[0045] A first fixing portion fixedly connected to the first mounting plate;

[0046] A first guiding portion located on one side of the first fixing portion;

[0047] A third slider is provided on the transmission rod, the third slider is sleeved on the first guiding portion, and the third slider is rotatably connected to the transmission rod.

[0048] In one implementation, a first bushing is provided between the first guiding portion and the third slider.

[0049] In one implementation, the object taking assembly includes:

[0050] A second mounting plate movably disposed on the second scissor member in at least one group of scissor members;

[0051] A second force applying member disposed on the second mounting plate; the second force applying member is configured to apply a force to the front end face of the target object to carry the target object;

[0052] Wherein, the front end face of the target object is the end face of the target object facing the object taking assembly when the target object is to be retrieved or returned.

[0053] In one implementation, a fourth guide rail is provided on the second mounting plate;

[0054] The second scissor member includes two transmission rods, the two transmission rods are rotatably connected at the first hinge position, and the two transmission rods are slidably disposed on the fourth guide rail.

[0055] In one implementation, the fourth guide rail includes:

[0056] A second fixing portion fixedly connected to the second mounting plate;

[0057] A second guiding portion located on one side of the second fixing portion;

[0058] A third guiding portion arranged side by side with the second guiding portion and disposed on the other side of the second fixing portion;

[0059] A fourth slider is provided on the transmission rod, the fourth slider is sleeved on the second guiding portion and the third guiding portion, and the fourth slider is rotatably connected to the transmission rod.

[0060] In one implementation, a second bushing is provided between the fourth slider and the second guiding portion, and a second bushing is also provided between the fourth slider and the third guiding portion.

[0061] In one implementation, the second force applying member includes an adsorbing member;

[0062] An adsorption control assembly is provided on the base, and the adsorption control assembly is connected to the adsorbing member; the adsorption control assembly is configured to control the acting force applied by the adsorbing member to the target article.

[0063] In one implementation, the adsorbing member includes a suction cup, and the suction cup is provided on one side of the second mounting plate facing the inlet and outlet;

[0064] The adsorption control assembly includes:

[0065] An air source device, which is provided on the base;

[0066] A vacuum tube is connected between the suction cup and the air source device, and the air source device is configured to control the acting force of the suction cup on the target article through the vacuum tube.

[0067] In one implementation, the adsorption control assembly further includes:

[0068] A control valve, which is provided between the vacuum tube and the air source device, and the control valve is configured to control the on-off of the air path between the vacuum tube and the air source device.

[0069] In one implementation, the adsorption control assembly further includes:

[0070] A vacuum degree detection sensor, which is provided on the base, and the vacuum degree detection sensor is connected to the vacuum tube;

[0071] The control valve is configured to control the on-off of the air path between the vacuum tube and the air source device according to the detection signal of the vacuum degree detection sensor.

[0072] In one implementation, a first sensor is provided on the base, and the first sensor is configured to cooperate with the power member to trigger a first trigger signal;

[0073] The driving structure stops driving the power member according to the first trigger signal.

[0074] In one implementation, the first sensor includes:

[0075] A first signal transmitting portion, which is provided on the base;

[0076] A first signal receiving portion, which is provided on the base, and the first signal receiving portion is configured to receive the signal emitted by the first signal transmitting portion;

[0077] The trigger is movably arranged on the base. When the picking component is in the initial position on the base, the trigger is located between the first signal transmitting part and the first signal receiving part, so that the first sensor triggers the first trigger signal.

[0078] In one implementation, the trigger cooperates with the power component. When the telescopic structure moves relative to the base, the trigger and the power component move synchronously relative to the base.

[0079] In one implementation, the picking and placing mechanism further includes:

[0080] The first guide rail is arranged on the base, and the first guide rail extends along the telescopic direction of the telescopic structure;

[0081] The first slider is slidably arranged on the first guide rail, and the first slider is configured to be connected to the power component.

[0082] In one implementation, the first guide rail includes at least two, and the two first guide rails are arranged side by side on the base.

[0083] In one implementation, the picking and placing mechanism further includes:

[0084] The first guide bar is arranged on the base, and the first guide bar is located on one side of the follower tray;

[0085] The second guide bar is arranged on the base, and the second guide bar is located on the other side of the follower tray;

[0086] The first guide bar and the second guide bar are configured to guide the target item into the base.

[0087] In one implementation, along the direction in which the target item enters the base, the distance between the first guide bar and the second guide bar decreases, so that the inlet and outlet are constricted along the entering direction of the target item;

[0088] The side of the first guide bar and the second guide bar facing away from the base is higher than the side of the follower tray facing away from the base.

[0089] In one implementation, the distance between the first guide bar and the second guide bar is adjustable.

[0090] In one implementation, a plurality of first mounting positions are provided on the base, and the plurality of first mounting positions are arranged along the arrangement direction of the first guide bar and the second guide bar; any one of the mounting positions is configured to mount the first guide bar;

[0091] And / or,

[0092] A plurality of second mounting positions are provided on the base, and the plurality of second mounting positions are arranged along the arrangement direction of the first guide bar and the second guide bar; any one of the second mounting positions is configured to mount the second guide bar.

[0093] In one implementation, the picking and placing mechanism further includes:

[0094] A second sensor, disposed on the base, and configured to detect whether there is a target item on the base.

[0095] In one implementation, the second sensor includes:

[0096] A second signal transmitting part, disposed on the base;

[0097] A second signal receiving part, disposed on the base, and configured to receive the signal emitted by the second signal transmitting part;

[0098] The signal transmission path between the second signal transmitting part and the second signal receiving part intersects with the movement path of the target item on the base to determine whether the target item is located on the base.

[0099] In one implementation, the picking and placing mechanism further includes:

[0100] A third sensor, configured to detect whether there is a target item on the target vehicle.

[0101] In one implementation, the third sensor is disposed between the first follower tray and the second follower tray of the follower tray.

[0102] In one implementation, the picking and placing mechanism further includes:

[0103] A second limiting member, disposed on the base, and located at the front end of the follower tray; the second limiting member has a first state and a second state;

[0104] A second driving member, disposed on the base, connected to the second limiting member, and configured to drive the second limiting member to switch between the first state and the second state;

[0105] Wherein, in the first state, at least a part of the second limiting member protrudes from the supporting surface of the follower tray to limit the moving direction of the target item on the base; in the second state, the second limiting member is lower than the supporting surface of the follower tray.

[0106] On the other hand, an embodiment of the present application provides a handling robot, including:

[0107] A chassis;

[0108] A gantry, disposed on the chassis; and,

[0109] The picking and placing mechanism provided in the foregoing embodiment of the present application, the picking and placing mechanism is disposed on the gantry, and the picking and placing mechanism can move up and down along the gantry.

[0110] In one implementation, the handling robot further includes:

[0111] A temporary storage board, which is arranged on the gantry;

[0112] A rotating mechanism, which is connected to the picking and placing mechanism. 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.

[0113] The picking and placing mechanism and the handling robot provided by the embodiments of the present application are provided with a picking component at the free end of the telescopic structure arranged on the base. When the free end of the telescopic structure extends out of the base, it drives the picking component to extend out of the base, or when the free end of the telescopic structure retracts into the base, it drives the picking component to retract into the base; thereby realizing the handling and exchange of the target item between the base and the target storage location; wherein, when the picking component picks 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 picking component when the target item is to be picked and returned). In this way, compared with the related art, it is not necessary to insert one end of the picking component facing the target item into the gap between two target items. That is to say, when storing the target item, it is not necessary to keep a certain gap between adjacent target items, reducing the storage gap between adjacent target items and improving the storage density of the target item.

[0114] In addition, by setting the follower tray, at least part of the follower tray is located on the moving path of the target item when the picking component picks and returns the target item, and the follower tray can extend out of the base, so as to support the target item when the picking component carries the target item; in this way, the force that the picking component needs to exert on the target item can be reduced, thereby reducing the design requirements for the picking component and the production and processing cost of the picking and placing mechanism.

[0115] Furthermore, by the cooperation of the driving structure and the power component of the telescopic structure and providing power to the power component to make the telescopic structure extend out of or retract into the base, during the process of the telescopic structure retracting into the base, the power component is configured to cooperate with the follower tray, thereby driving the follower tray to retract into the base; in this way, the power component of the telescopic structure can be directly used to provide power to the follower tray, without setting a complex structure to provide power to the follower tray, simplifying the structure of the picking and placing mechanism and the handling robot, and reducing the production and processing cost of the picking and placing mechanism. Description of the Drawings

[0116] The drawings described herein are used to provide a further understanding of the present application and constitute 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:

[0117] Figure 1It is a schematic diagram of the overall structure of the picking and placing mechanism provided by the embodiments of the present application;

[0118] Figure 2 It is a schematic diagram of the structure of the base and the follower tray in the picking and placing mechanism provided by the embodiments of the present application;

[0119] Figure 3 It is a schematic diagram of the structure of the first follower tray, the second follower tray and the connecting member in the picking and placing mechanism provided by the embodiments of the present application;

[0120] Figure 4 It is Figure 3 A partial enlarged view of part A in

[0121] Figure 5 It is Figure 3 A partial cross-sectional view of part A in

[0122] Figure 6 It 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 embodiments of the present application;

[0123] Figure 7 It is a schematic 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;

[0124] Figure 8 It is Figure 7 A partial enlarged view of part B in

[0125] Figure 9 It is a schematic diagram of the telescopic structure in the picking and placing mechanism provided by the embodiments of the present application;

[0126] Figure 10 It is a schematic diagram of the structure of the cooperation between the telescopic structure and the driving structure in the picking and placing mechanism provided by the embodiments of the present application;

[0127] Figure 11 It is a schematic diagram of a structure 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;

[0128] Figure 12 It is another schematic diagram of the structure 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;

[0129] Figure 13 It is Figure 12 A partial enlarged view of part C in

[0130] Figure 14 It is another schematic diagram of the structure of the cooperation between the telescopic structure and the first mounting plate in the picking and placing mechanism provided by the embodiments of the present application;

[0131] Figure 15 It isFigure 14 Partial enlarged view at D in the figure;

[0132] Figure 16 It is another schematic structural view of the telescopic structure and the first mounting plate in the picking and placing mechanism provided by the embodiment of the present application;

[0133] Figure 17 It is a schematic structural view of the telescopic structure and the fourth guide rail in the picking and placing mechanism provided by the embodiment of the present application;

[0134] Figure 18 is Figure 17 Partial enlarged view at E in the figure;

[0135] Figure 19 It is a schematic structural view of the handling robot provided by the embodiment of the present application.

[0136] Explanation of reference numerals:

[0137] 1 - Picking and placing mechanism; 2 - Gantry; 3 - Chassis;

[0138] 11 - Base; 12 - Telescopic structure; 13 - Object picking component; 14 - Driving structure; 121 - Power component; 15 - Follow-up tray; 151 - First follow-up tray; 152 - Second follow-up tray; 153 - Connecting piece; 16 - First slider; 17 - First guide rail; 111 - Second limiting piece; 116 - First sensor; 117 - Second sensor; 118 - Third sensor;

[0139] 1101 - Bottom plate; 1102 - First mounting plate; 1103 - Third slider; 1104 - Third guide rail; 1105 - Import and export; 1106 - First guiding strip; 1107 - Second guiding strip; 1108 - First mounting position; 1109 - First supporting block; 1110 - Second driving part; 1161 - First signal transmitting part; 1162 - First signal receiving part; 1163 - Triggering part; 1171 - Second signal transmitting part; 1172 - Second signal receiving part; 1202 - Scissor fork unit; 1203 - First connecting rod; 1204 - Second connecting rod; 1301 - Second mounting plate; 1302 - Second force applying part; 1303 - Gas source device; 1306 - Control valve; 1307 - Vacuum degree detection sensor; 1308 - Fourth guide rail; 1309 - Fourth slider; 1401 - First driving part; 1402 - Driving wheel; 1403 - Transmission belt; 1404 - Idler wheel; 1505 - Second slider; 1506 - Second guide rail; 1531 - First sub-connecting piece; 1532 - Second sub-connecting piece; 1533 - Pin shaft; 1534 - Buffer and shock absorber;

[0140] 11041 - First fixing part; 11042 - First guiding part; 11043 - First bushing; 12021 - Scissor fork 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

[0141] 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 in conjunction with 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 creative efforts shall fall within the protection scope of this application.

[0142] 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 can 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.

[0143] 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 accompanying 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 therefore cannot be construed as a limitation to this application. In this application, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium.

[0144] In this application, unless otherwise clearly specified and limited, the terms "connected", "joined", "fixed", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, and can be the internal communication between two elements or the interaction relationship between two elements. However, indicating a direct connection means that there is no connection relationship constructed by an excessive structure between the two connected main bodies, and only a connection structure is used to connect them 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.

[0145] In this application, descriptions such as "first" and "second" are for descriptive purposes only, and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature.

[0146] When handling the bins or target items on the shelf, to improve the handling efficiency and reduce the working intensity, a handling robot is usually used to pick up and return the bins or target items from the shelf. The handling robot is an important device in the warehouse, which can automatically place the target item (such as a bin) onto the target carrier (such as a shelf) to complete the loading process (such as the bin-returning process), and can also pick up the target item from the target carrier (such as the bin-picking process) and transport it to the designated location.

[0147] In the related art, the bin-picking structure of the current handling robot includes a telescopic structure and a picking component arranged 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; to prevent the target item from falling, a follower tray is usually provided, and the follower tray extends as the telescopic fork extends, so as to fill the gap between the base and the shelf, and can prevent the target item from falling.

[0148] However, in the related art, the supporting effect of the follower tray on the target item is not good, and it is easy to cause the situation that the target item falls.

[0149] Therefore, the embodiment of the present application provides a picking and placing mechanism to solve the problem that the target item is easy to fall in the related art.

[0150] Figure 1 It is an overall structural schematic diagram of the picking and placing mechanism provided by the embodiment of the present application. Figure 2 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 3 It is a structural schematic diagram of the cooperation between the first follower tray, the second follower tray and the connecting piece in the picking and placing mechanism provided by the embodiment of the present application.

[0151] Refer to Figure 1 As shown in the figure, the embodiment of the present application provides a picking and placing mechanism 1. The picking and placing mechanism 1 may include a base 11 and a follower tray.

[0152] In the embodiment of the present application, the base 11 can be made of hard plastic (such as engineering plastic). In some optional 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 method of the base 11 can be the same as or similar to that of the base 11 in the related art, and will not be elaborated in the embodiment of the present application.

[0153] Refer toFigure 1 As shown, in some examples of the embodiments of the present application, the base 11 may have an inlet / outlet 1105. The inlet / outlet 1105 may be for the target article to enter and exit the base 11.

[0154] In some examples of the embodiments of the present application, during the process of the target article entering and exiting the base 11 through the inlet / outlet 1105, in order to prevent the target article from falling and facilitate the support of the target article. Refer to Figure 1 and Figure 2 As shown, the follower tray may be arranged on the base 11. In some examples of the embodiments of the present application, during the process of the target article entering and exiting the base 11 through the inlet / outlet 1105, at least a part of the follower tray 15 may be located on the moving path of the target article, and the follower tray 15 can extend out of the base 11 to support the target article on the moving path of the target article.

[0155] In some examples, the follower tray can extend out of the base 11 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 11, so that when the picking component 1313 carries the target article, it can support the target article. For example, when the target article moves with the picking component 1313 to between the target carrier and the base 11 (generally, in order to avoid interference between the handling robot and the target carrier when the handling robot moves in the storage space, there is a certain gap between the base 11 and the target carrier 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 article. In this way, the gap between the base 11 and the target carrier can be filled, thereby preventing the target article from falling.

[0156] In some examples, refer to Figure 1 As shown, the picking and placing mechanism 1 may include a telescopic structure 12 and a picking component 13.

[0157] Refer to Figure 1 As shown, in the embodiments of the present application, the telescopic structure 12 may 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 may be a free end. Among them, the free end of the telescopic structure 12 can selectively extend out or retract into the base 11.

[0158] In an alternative example of the embodiments of the present application, the telescopic structure 12 may specifically be a telescopic rod (such as a telescopic cylinder, a hydraulic cylinder or an electric cylinder); in other possible examples, the telescopic structure 12 may also be a lead screw or a linear motor. In the embodiments of the present application, the specific type of the telescopic structure 12 is not limited.

[0159] In some examples of the embodiments of the present application, the object fetching component 13 is disposed at the free end. The object fetching component 13 can move relative to the base 11 under the drive of the free end. The object fetching component 13 is configured to act on the front end face of the target object when fetching and returning the target object, so as to carry the target object; wherein, the front end face of the target object is the end face of the target object facing the object fetching component 13 when the target object is to be fetched and returned.

[0160] In the embodiments of the present application, the front end face of the target object may refer to the side face of the target object facing the object fetching component 13 when the target object is to be fetched and returned; or, in some application scenarios, the target object is stored on a shelf (which may also be referred to as a target carrier), and the front end face of the target object may also refer to the side face of the target object facing the outside of the shelf. In the embodiments of the present application, taking a cargo box as a specific example, the front end face of the cargo box may refer to the side face facing the outside of the shelf, so that it is convenient for the object fetching component 13 to pick up.

[0161] In some examples, the target carrier may also refer to the temporary storage board of the handling robot. That is, the object fetching component 13 can also extend out of the base 11 to the temporary storage board, and fetch the target object on the temporary storage board, or place the target object on the temporary storage board.

[0162] As a specific example of the embodiments of the present application, a force providing component that can provide a force to the front end face of the cargo box may be disposed at the movable end of the object fetching component 13 (in some examples, it may also be referred to as the free end, that is, the end away from or far from the telescopic structure 12), so as to realize the movement, handling or fetching and returning of the cargo box.

[0163] 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 fetching and returning the cargo box, it may also be when the force providing component is close to or in contact with the cargo box, power on the electromagnet, so as to provide the handling force for the cargo box through the magnetic suction force of the electromagnet on the cargo box.

[0164] It can be understood that in some other possible examples of the embodiments 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 disposed on the front end face of the cargo box; thus, when fetching and returning the cargo box, it may be when the force providing component is close to or in contact with the cargo box, power on the electromagnet, so as to generate a magnetic suction force between the force providing component and the electromagnet on the cargo box, thereby providing the handling force for the cargo box.

[0165] In the embodiments of the present application, the fetching component 13 is configured to act on the front end surface of the target item when fetching and returning the target item, so as to carry the target item. In this way, when placing, storing or stocking the bins on the shelf, there is no need to reserve a gap between bins (i.e., between adjacent bins), which can effectively reduce the storage gap between adjacent bins, improve the storage density of the bins, and effectively utilize the same storage space to store more bins.

[0166] By arranging the fetching component 13 at the free end of the telescopic structure 12 provided on the 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, so as to realize the transportation and exchange of the target item between the base 11 and the target storage location. Among them, when the fetching component 13 fetches and returns the target item, it can act on the front end surface of the target item (that is, the end surface of the target item facing the fetching component 13 when waiting to be fetched and returned). In this way, compared with the related art, there is no need to insert the 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 keep a certain gap between two adjacent target items, that is, the storage gap between adjacent target items is reduced, and the storage density of the target item is effectively improved.

[0167] In some examples, referring to Figure 1 and Figure 2 as shown, for the convenience of driving the telescopic structure 12, the fetching and placing mechanism 1 may include a driving structure 14.

[0168] In some examples, the driving structure 14 may be arranged on the base 11. The driving structure 14 may 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, so as to drive the fetching component 13 to reciprocate between the target storage location and the base 11.

[0169] Referring to Figure 9 as shown, in some examples, the driving structure 14 may be configured to cooperate with the power member 121 of the telescopic structure 12 and provide power to the power member 121 to drive the power member 121 to drive the telescopic structure 12 to extend out of or retract into the base 11.

[0170] In some examples, the driving structure 14 may be a lead screw. A driving block may be fixed on the power member 121, and a perforation with an internal thread is arranged on the driving block. 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). In this way, 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 power member 121, so as to drive the fetching component 13 to extend out of or retract into the base 11.

[0171] In some examples, with reference to Figure 1 and Figure 2 As 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 or retract from the base 11 through the power hinge position.

[0172] In the embodiment of the present application, the first driving member 1401 may be a motor (for example, 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. The specific type of the first driving member 1401 is not limited in the embodiment of the present application.

[0173] In some examples, the transmission member may include a driving wheel 1402, an idler wheel 1404 and a transmission belt 1403; the driving wheel 1402 and the idler wheel 1404 are arranged at intervals, the transmission belt 1403 is sleeved on the driving wheel 1402 and the idler 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 idler wheel 1404 to drive the telescopic structure 12 to extend or retract from the base 11.

[0174] 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 idler 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 idler wheel 1404 (for example, the transmission belt 1403 is sleeved on the driving wheel 1402 and the idler 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 idler wheel 1404.

[0175] 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 of the transmission belt 1403, and the main body is located between the driving wheel 1402 and the idler 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.

[0176] In the embodiments of the present application, the power articulated position is driven to move 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, so as to drive the telescopic structure 12 to expand and contract. In this way, the driving form of the telescopic structure 12 can be simplified, which is convenient for the arrangement of transmission parts. In addition, 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 object taking component 13, which is convenient for taking and returning the target item in the deep position of the target shelf.

[0177] In some examples, during the process of the telescopic structure 12 retracting towards the base 11, the power component 121 is configured to cooperate with the follower tray 15 to drive the follower tray 15 to retract to the base 11.

[0178] The pick-and-place mechanism provided by the embodiments of the present application drives the object taking component 13 to extend out of the base 11 when the free end of the telescopic structure 12 extends out of the base 11, or drives the object taking component 13 to retract to the base 11 when the free end of the telescopic structure 12 retracts to the base 11 by arranging the object taking component 13 at the free end of the telescopic structure 12 provided on the base 11; thereby realizing the handling and exchange of the target item between the base 11 and the target storage location; wherein, when the object taking component 13 takes 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 object taking component when waiting to be taken and returned). In this way, compared with the related art, it is not necessary to insert one end of the object taking component 13 facing the target item into the gap between two target items. That is to say, when storing the target item, it is not necessary to reserve a certain gap between adjacent target items, reducing the storage gap between adjacent target items and improving the storage density of the target item.

[0179] In addition, by setting the follower tray 15, at least a part of the follower tray 15 is located on the moving path of the target item when the object taking component 13 takes and returns the target item, and the follower tray 15 can extend out of the base 11, so as to support the target item when the object taking component 13 carries the target item; in this way, the force that the object taking component needs to exert on the target item can be reduced, thereby reducing the design requirements for the object taking component and reducing the production and processing cost of the pick-and-place mechanism 1.

[0180] In addition, by cooperating the driving structure 14 with the power member 121 of the telescopic structure 12 and providing power to the power member 121, the telescopic structure 12 can be extended or retracted from the base 11. During the process of the telescopic structure 12 retracting into the base 11, the power member 121 is configured to cooperate with the follower tray 15, thereby driving the follower tray 15 to retract into the base 11. In this way, the power member 121 of the telescopic structure 12 can be directly used to provide power to the follower tray 15, without the need to set up a complex structure to provide power to the follower tray 15, simplifying the structure of the picking and placing mechanism 1 and the handling robot, and reducing the production and processing cost of the picking and placing mechanism.

[0181] In some examples of the embodiments of the present application, referring to Figure 1 and Figure 2 as shown, the follower tray 15 may include a first follower tray 151 and a second follower tray 152.

[0182] In some examples, the first follower tray 151 may be disposed on the base 11, and at least a part of the first follower tray 151 may extend out of the base 11 from the inlet / outlet 1105 to support the target item on the moving path of the target item.

[0183] In some examples, the second follower tray 152 may be disposed on the base 11, and the second follower tray 152 may be arranged side by side with the first follower tray 151. At least a part of the second follower tray 152 may extend out of the base 11 from the inlet / outlet 1105 to support the target item on the moving path of the target item.

[0184] 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.

[0185] 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 degree of synchronism. That is, the first follower tray 151 and the second follower tray 152 move synchronously relative to the base 11.

[0186] Referring to Figures 1 - 3 as shown, in some examples of the embodiments of the present application, the picking and placing mechanism 1 may include a connecting member 153. The connecting member 153 may be connected to the first follower tray 151 and the second follower tray 152.

[0187] 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.

[0188] The picking and placing mechanism 1 provided by the embodiments of the present application, by arranging 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.

[0189] 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, thereby enhancing the stability of the support of the first follower tray 151 and the second follower tray 152 for the target item, enhancing the supporting effect on the target item, and avoiding the situation that the target item drops.

[0190] In some examples of the embodiments of the present application, for the convenience of 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 arranged 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.

[0191] 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.

[0192] 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.

[0193] 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.

[0194] 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.

[0195] 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.

[0196] 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 existing between the first follower tray 151 and the second follower tray 152 due to non-parallelism, 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.

[0197] Figure 4 Yes Figure 3 Partial enlarged schematic view of A in the figure. Figure 5Yes Figure 3 A partial sectional view at A in the figure.

[0198] In some other examples of the embodiments of the present application, referring to Figure 3 and Figure 4 as shown, the connecting member 153 may include a first sub-connecting member 1531 and a second sub-connecting member 1532.

[0199] 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.

[0200] 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.

[0201] 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.

[0202] 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.

[0203] In some examples of the embodiments of the present application, referring to Figure 5 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.

[0204] 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, and the pin shaft 1533 may be fixedly connected to the first sub-connecting member 1531 by means of 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 realized.

[0205] 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.

[0206] In some examples, referring to Figure 5 as shown, the pin shaft 1533 can include a first shaft section 15331. The first shaft section 15331 can be inserted through the first shaft hole 15311.

[0207] In some examples, the first shaft section 15331 can be movably inserted through the first shaft hole 15311, thereby enabling the pin shaft 1533 to rotate within the first shaft hole 15311.

[0208] In some examples, the pin shaft 1533 can include a second shaft section 15332. The second shaft section 15332 can be inserted through the second shaft hole 15321.

[0209] In some examples, the second shaft section 15332 can be movably inserted through the second shaft hole 15321, thereby enabling the pin shaft 1533 to rotate within the second shaft hole 15321.

[0210] In some examples, when the first shaft section 15331 is movably inserted through the first shaft hole 15311, the second shaft section 15332 can be movably inserted through the second shaft hole 15321. Alternatively, the second shaft section 15332 can be fixed within the second shaft hole 15321.

[0211] In some examples, when the first shaft section 15331 is fixed to the first shaft hole 15311, the second shaft section 15332 can be movably inserted through the second shaft hole 15321.

[0212] In some examples, taking the case where the second shaft section 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 be movably inserted through the first shaft hole 15311.

[0213] In some examples, the second shaft section 15332 can be provided with an external thread, and the second shaft hole 15321 can be provided with an internal thread. The second shaft section 15332 can be connected to the second shaft hole 15321 through threading.

[0214] 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 to 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.

[0215] 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 to 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.

[0216] 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.

[0217] In some examples, referring to Figure 5 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.

[0218] 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.

[0219] Figure 6 is a schematic structural diagram of the cooperation of the first follower tray, the second follower tray, the first sliding component and the second sliding component in the embodiments of the present application. Figure 7 is a schematic structural diagram of any one of the first sliding component and the second sliding component in the picking and placing mechanism provided by the embodiments of the present application. Figure 8 is Figure 7Partial enlarged view at B in the [drawing].

[0220] In some examples, referring to Figures 6 - 8 as shown, a first sliding assembly may be provided on the base 11. The first follower tray 151 may be provided on the first sliding assembly so that the first follower tray 151 is slidably disposed on the base 11.

[0221] In some examples, referring to Figures 6 - 8 as shown, a second sliding assembly may be provided on the base 11. The second follower tray 152 may be provided on the second sliding assembly so that the second follower tray 152 is slidably disposed on the base 11.

[0222] In some examples, any one of the first sliding assembly and the second sliding assembly 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 assembly is taken as a specific example for illustration.

[0223] 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 when the second guide rail 1506 moves together with the first follower tray 151, it slides relative to the second slider 1505.

[0224] In some alternative examples, it may also be that the second guide rail 1506 is fixed on the base 11 and the second slider 1505 is disposed 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 sliding of the first follower tray 151 relative to the base 11 can be effectively improved.

[0225] 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.

[0226] In some examples, referring to Figure 7 and Figure 8 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.

[0227] 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. Thus, the second guide rail 1506 can slide in the guiding holes along the extending direction.

[0228] In some examples, referring to Figure 8 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.

[0229] 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.

[0230] In some examples, during the process of the telescopic structure 12 retracting towards the base 11, the telescopic structure 12 can be configured to cooperate with the connecting member 153 to drive the first follower tray 151 and the second follower tray 152 to retract towards the base 11.

[0231] That is to say, during the process of the telescopic structure 12 retracting towards the base 11, a force can be applied to the connecting member 153, and the connecting member 153 can serve as a force-bearing part for the first follower tray 151 and the second follower tray 152 to bear the force applied 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 towards the base 11 through the connecting member 153 at the same time.

[0232] In some examples of the embodiments of the present application, by cooperating the telescopic structure 12 with the connecting member 153, so that during the process of the telescopic structure 12 retracting towards the base 11, the first follower tray 151 and the second follower tray 152 are driven to retract towards the base 11 through the connecting member 153. In this way, the power of the telescopic structure 12 retracting towards 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 towards the base 11, which simplifies the structure of the first follower tray 151 and the second follower tray 152 retracting towards the base 11 and reduces the energy consumption.

[0233] Figure 9 It is a schematic structural diagram of the telescopic structure in the picking and placing mechanism provided by the embodiments of the present application.

[0234] In some examples of the embodiments of the present application, referring to Figure 1 and Figure 9 As 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.

[0235] In some examples, with reference to Figure 1 and Figure 9 as shown, the scissors cross structure includes multiple groups of scissors cross members 12021 connected in sequence along the telescopic direction, and each group of scissors cross members 12021 has two transmission rods 12022 that cross each other and are rotatably connected; that is, with reference to Figure 1 and Figure 9 as shown, the middle parts of the 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 parts of the transmission rods 12022 are pivotally connected to the end parts of the transmission rods 120221 of the adjacent group of scissors cross members 12021 (i.e., the pivot connection at the end of the transmission rod 12022 is the second hinge position 12024).

[0236] In some examples, to facilitate the cooperation between the telescopic structure 12 and the connecting member 153, and to 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 multiple first hinge positions 12023 can be configured as a power hinge position. The power hinge position can cooperate with the connecting member 153 to apply a force to the connecting member 153.

[0237] In some examples, with reference to Figure 9 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. With reference 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. In some examples, the power member 121 can include the extension member 12025.

[0238] 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 process of the telescopic structure 12 retracting towards the base 11, the extension member 12025 can interfere with the connecting member 153 to apply a force to the connecting member 153. To drive the first follower tray 151 and the second follower tray 152 to retract into the base 11.

[0239] In some examples of the embodiments of the present application, by providing the extension member 12025 at the power hinge position, and the extension member 12025 is located between the telescopic structure 12 and the base 11, it can be made such that the power hinge position of the telescopic structure 12 cooperates 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.

[0240] In some examples, to simplify the structural design, facilitate the cooperation between the extension member 12025 and the connection member 153, and apply a force to the connection member 153. The connection member 153 may be located on a side of the extension member 12025 facing away from the inlet / outlet 1105. Thus, during the process of the telescopic structure 12 retracting towards the base 11, the extension member 12025 can approach the connection member 153 and come into contact with the connection member 153, thereby applying a force to the connection member 153, causing the connection member 153 to drive the first follower tray 151 and the second follower tray 152 to retract towards the base 11.

[0241] In some examples, to protect the connection member 153 and reduce the noise and vibration of the picking and placing mechanism 1. Refer to Figure 3 and Figure 4 As shown, at least one of the connection member 153 and the extension member 12025 may be provided with a buffer and shock absorber 1534.

[0242] In some examples, the buffer and shock absorber 1534 may be located between the connection 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 connection member 153 when the extension member 12025 cooperates with the connection member 153.

[0243] 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 connection member 153 and coming into contact with the connection member 153, the rubber sleeve first comes into contact with the connection member 153, thereby playing a role in buffering and shock absorption for the contact and impact between the extension member 12025 and the connection member 153, and being able to absorb the impact caused by the extension member 12025 on the connection member 153, thereby being able to protect the connection member 153.

[0244] 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.

[0245] In some examples, the buffer and shock absorber 1534 may be provided on the connection member 153. For example, the buffer and shock absorber 1534 may be any one of a rubber sleeve, a silica gel sleeve or a sponge sleeve. The buffer and shock absorber 1534 may be sleeved on the connected part of the first sub-connection member 1531 and the second sub-connection member 1532.

[0246] In some examples, the buffer shock absorber 1534 can be a shock pad; the shock 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 shock pad, and the shock 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.

[0247] Figure 10 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.

[0248] In some examples, referring to Figure 2 and Figure 10 as shown, the picking and placing mechanism 1 can include a first slider 16 and a first guide rail 17. The first slider 16 can be connected to the power hinge position, and the first guide rail 17 can be disposed on the base 11. The first slider 16 is slidably disposed on the first guide rail 17.

[0249] In the embodiment of the present application, a first guide rail 17 is provided on the base 11, and a power hinge position is provided on the telescopic structure 12 to connect the first slider 16; wherein, the first guide rail 17 can specifically extend along the telescopic direction of the telescopic structure 12, that is to say, the extension 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.

[0250] It can be understood that in some examples, the first slider 16 can also be disposed at other first hinge positions 12023 except the power hinge position. In the embodiment of the present application, the first slider 16 is connected to the power hinge position as a specific example. In the embodiment 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 moves telescopically, 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 telescopic movement of the telescopic structure 12.

[0251] In some examples, referring to Figure 10 as shown, the first slider 16 can be configured to be connected to the extension member 12025.

[0252] In some examples, referring to Figure 2 as shown, the first guide rail 17 can include multiple ones. In the embodiment of the present application, it is shown by taking the first guide rail 17 including two as an example. The two first guide rails 17 can be arranged side by side on the base 11.

[0253] 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, and thus improving the stability of moving the target item.

[0254] In some examples, with reference to Figure 1 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 screws.

[0255] 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.

[0256] 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.

[0257] 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.

[0258] 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.

[0259] Figure 11 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 12 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 13 is Figure 12 a partial enlarged view at C in

[0260] 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.

[0261] In some examples, referring to Figures 9 - 12 as shown, the third guide rail 1104 may include a first fixing portion 11041 and a first guiding portion 11042.

[0262] 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 threaded rods.

[0263] 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.

[0264] 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.

[0265] In some examples, the third sliders 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 sliders 1103, and the first guiding portion 11042 passes through the guiding hole, so that the third sliders 1103 are sleeved on the outer periphery of the first guiding portion 11042.

[0266] In an embodiment 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.

[0267] In some examples, referring to Figure 12 and Figure 13 as shown, a first bushing 11043 may be provided between the first guiding portion 11042 and the third slider 1103.

[0268] 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.

[0269] In some examples, the first bushing 11043 may be provided inside 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.

[0270] In some examples, the third slider 1103 may include an engineering plastic part.

[0271] In some examples of the embodiment 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.

[0272] In some examples, to improve the stability of the telescopic structure 12 during telescoping, referring to Figures 9 - 11 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. In some examples, the power member 121 of the telescopic structure 12 may include the first connecting rod 1203 and an extension member 12025. The extension member 12025 may be connected to one of the multiple first connecting rods 1203.

[0273] In the embodiments of the present application, each set of scissor units 1202 may include a plurality of scissor members 12021 connected in sequence. Refer to Figures 9 - 11 As 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 in parallel above the base 11.

[0274] Refer to Figures 9 - 11 As shown, the two sets of scissor units 1202 are connected by a first connecting rod 1203 at the middle hinge position and are connected by a second connecting rod 1204 at the side hinge position.

[0275] As an optional example, when setting, a middle shaft hole may 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.

[0276] 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 may 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 on this.

[0277] Exemplarily, refer to Figure 9 As shown, in the embodiments of the present application, the first slider 16 may 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.

[0278] 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.

[0279] In some examples, refer to Figures 9 - 11 As shown, the third guide rails 1104 may include two. The two third guide rails 1104 may be arranged side by side on the first mounting plate 1102.

[0280] 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 along 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.

[0281] 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 sets 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.

[0282] Figure 14 FIG. Figure 15 is Figure 14 a partial enlarged view at D in Figure 16 FIG. 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.

[0283] In some examples, referring to Figures 14 - 16 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 assembly 13. That is to say, in the embodiment of the present application, when the object picking assembly 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 assembly 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.

[0284] In the embodiment of the present application, the first sensor 116 is used to detect whether the object picking assembly 13 is in the initial position. In this way, it can be accurately determined whether the object picking assembly 13 moves in place when returning to the position, 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.

[0285] In addition, by detecting whether the object picking assembly 13 is in the initial position through the first sensor 116, it is also possible to facilitate determining the distance that the object picking assembly 13 needs to move towards the target storage location during the process of picking and returning the target item.

[0286] For example, in some examples, the distance between the object fetching component 1313 and the front end of the base 11 can be determined. Generally, when the object fetching component 1313 is in the initial position, the distance between the object fetching component 1313 and the front end of the base 11 can be a determined distance (which can be referred to as the second distance in some examples).

[0287] In other examples, the zero position signal of the motor encoder of the driving structure 14 can also be used to determine whether the object fetching component 13 is in the initial position, which is convenient for determining the distance between the object fetching component 13 and the front end of the base 11. In addition, the displacement sensor can also be used to detect the moving distance of the object fetching component 13. For example, when the detected moving distance is zero, it can be determined that the object fetching component 13 is in the initial position.

[0288] In some examples, referring to Figure 15 as shown, the first sensor 116 can include a first signal transmitting part 1161, a first signal receiving part 1162, and a triggering part 1163.

[0289] 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 14 and Figure 16 as shown, the first signal transmitting part 1161 can be arranged on the first mounting plate 1102.

[0290] 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.

[0291] 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.

[0292] 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.

[0293] In some examples, the triggering part 1163 can be movably arranged on the base 11. When the object fetching component 13 is in the initial position on the base 11, the triggering part 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 the first trigger signal.

[0294] In some examples, the trigger 1163 can be a signal shielding member. When the trigger 1163 is located between the first signal transmitting part 1161 and the first signal receiving part 1162, the first signal receiving part 1162 cannot receive the signal transmitted by the first signal transmitting part 1161, thereby causing the first sensor 116 to trigger the first trigger signal.

[0295] In some examples of the embodiments of the present application, when the fetching component 13 is in the initial position, the trigger 1163 is located between the first signal transmitting part 1161 and the first signal receiving part 1162. By physically changing the signal transmission between the first signal transmitting part 1161 and the first signal receiving part 1162 using the trigger 1163, the accuracy of judging the position of the fetching component 13 can be improved, misjudgment of the position of the fetching component 13 can be avoided, and the safety of using the handling robot is enhanced.

[0296] In some examples, referring to Figure 16 As shown, the trigger 1163 can cooperate with the extension member 12025. During the movement of the telescopic structure 12 relative to the base 11, the trigger 1163 and the extension member 12025 move relative to the base 11 synchronously.

[0297] In some examples, the trigger 1163 can be connected to the extension member 12025. Or, in some examples, the trigger 1163 can be connected to a component directly connected to the extension member 12025.

[0298] In some examples of the embodiments of the present application, through the cooperation of the trigger 1163 and the extension member 12025, the trigger 1163 and the extension member 12025 move synchronously relative to the base 11. Thus, when the trigger 1163 enters the gap between the first signal transmitting part 1161 and the first signal receiving part 1162, the driving mechanism can stop driving the extension member 12025 in time, thereby stopping the movement of the trigger 1163, and improving the accuracy of controlling the stop position of the fetching component 13.

[0299] In some examples of the embodiments of the present application, referring to Figure 1 As shown, the fetching component 13 can include a second mounting plate 1301 and a second force applying member 1302.

[0300] 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.

[0301] In some examples, for the convenience of description, a group of scissor arms 12021 connected to the fetching component 13 is called the second scissor arms. The second mounting plate 1301 can be movably provided on the second scissor arms.

[0302] Figure 17 It is a schematic structural diagram of the cooperation between the telescopic structure and the fourth guide rail in the picking and placing mechanism provided by the embodiment of the present application. Figure 18 It is Figure 17 a partial enlarged view of the position E in

[0303] In some examples, with reference to Figure 17 and Figure 18 as shown, a fourth guide rail 1308 may be provided on the second mounting plate 1301.

[0304] 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 elaborate herein.

[0305] In some examples, the two transmission rods 12022 may be slidably disposed on the fourth guide rail 1308.

[0306] 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.

[0307] In some examples, with reference to Figure 17 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.

[0308] 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.

[0309] 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.

[0310] 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.

[0311] In some examples, the structures of the third guiding part 13083 and the second guiding part 13082 and the connection manner with the second fixing part 13081 may be the same as or similar to those of the first guiding part 11042 in the foregoing embodiments of the present application. Specifically, reference may be made to the detailed description of the first guiding part 11042 in the foregoing embodiments of the present application, and the embodiments of the present application will not elaborate thereon.

[0312] 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 part 13082 and the third guiding part 13083. The fourth slider 1309 is rotatably connected to the transmission rod 12022.

[0313] In some examples, a second bushing 13084 may be provided between the fourth slider 1309 and the second guiding part 13082 and the third guiding part 13083. The second bushing 13084 may include an engineering plastic part.

[0314] 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.

[0315] 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.

[0316] 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 item. When retrieving the target item, the hook may be inserted into the slot, so as to be connected to the front end face of the target item and apply a force to the target item.

[0317] 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 item. When retrieving the target item, the jaw mechanism may be controlled to be in a clamped 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 item is carried by the frictional 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 item, thereby ensuring that the jaw mechanism provides sufficient force to the target item.

[0318] 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.

[0319] 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.

[0320] 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.

[0321] In some examples, refer to Figure 1 As shown, the suction cup is disposed on the second mounting plate 1301. The suction cup may be disposed on a 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 1 and Figure 2 As shown, the gas source device 1303 may be specifically disposed on the base 11.

[0322] 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.

[0323] 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, facilitating the adsorption of 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 and facilitating the removal of the target article from the suction cup.

[0324] It can also be understood that, in some alternative 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 shut 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 the 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.

[0325] 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.

[0326] 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.

[0327] In some examples of the embodiments of the present application, with reference to Figure 1 and Figure 2 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 referred to as the first guiding bar 1106, and the other guiding bar of the two guiding bars can be referred to as the second guiding bar 1107.

[0328] 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.

[0329] In some examples, with reference to Figure 1 and Figure 2 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

[0330] ), 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 necked shape along the entering direction of the target item.In some examples, a first guiding inclined surface (not labeled in the figure) can be provided on the first guiding strip 1106. The first guiding inclined surface is located at one end of the first guiding strip 1106 facing the inlet / outlet 1105, and the first guiding inclined surface faces the second guiding strip 1107.

[0331] In some examples, a second guiding inclined surface (not labeled in the figure) can be provided on the second guiding strip 1107. The second guiding inclined surface is located at one end of the second guiding strip 1107 facing the inlet / outlet 1105, and the second guiding inclined surface faces the first guiding strip 1106.

[0332] In some examples, along the direction in which the target item enters the base 11, the distance between the first guiding inclined surface and the second guiding inclined surface 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 inclined surface and the second guiding inclined surface, facilitating the smooth entry of the target item onto the base 11.

[0333] In some examples, referring to Figure 1 and Figure 2 As shown, the sides of the first guiding strip 1106 and the second guiding strip 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 strip 1106 and the second guiding strip 1107 protrude from the supporting surfaces of the first follower tray 151 and the second follower tray 152 that support the target item. In some examples, it can also be understood that the sides of the first guiding strip 1106 and the second guiding strip 1107 facing away from the base 11 are higher than the supporting surfaces of the first follower tray 151 and the second follower tray 152. In this way, there are limiting steps between the first guiding strip 1106 and the first follower tray 151, and there are limiting steps between the second guiding strip 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 handle and transfer the target item.

[0334] It can be understood that in some examples, the first guiding strip 1106 and the second guiding strip 1107 can be provided on the base 11 and fixedly connected to the base 11. In other examples, the first guiding strip 1106 can be provided on the first follower tray 151. For example, the first guiding strip 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 strip 1106 can be provided on the base 11 through the first follower tray 151. The second guiding strip 1107 can be provided on the second follower tray 152. For example, the second guiding strip 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 strip 1107 can be provided on the base 11 through the second follower tray 152.

[0335] 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 guiding strip 1106 and the second guiding strip 1107 is adjustable.

[0336] In some examples, at least one of the first guiding strip 1106 and the second guiding strip 1107 can be driven by a driving member such as a motor or a cylinder, so as to adjust the distance between the first guiding strip 1106 and the second guiding strip 1107. For example, in some examples, the first guiding strip 1106 can be driven by a driving member such as a motor or a cylinder to move away from or close to the second guiding strip 1107, so as to adjust the distance between the first guiding strip 1106 and the second guiding strip 1107. In some examples, the second guiding member can be driven to move away from or close to the first guiding strip 1106, so as to adjust the distance between the first guiding strip 1106 and the second guiding strip 1107. In some examples, the first guiding strip 1106 and the second guiding strip 1107 can be driven to move away from each other or close to each other, so as to adjust the distance between the first guiding strip 1106 and the second guiding strip 1107.

[0337] 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 guiding strip 1106 can be mounted on any one of the plurality of first mounting positions 1108.

[0338] In some examples, to facilitate the first guiding strip 1106 protruding from the supporting surface of the first follower tray 151, referring to Figure 1 as shown, a first supporting block 1109 can be provided on the base 11. The first supporting block 1109 can be fixedly provided on the base 11. The first guiding strip 1106 is provided on the first supporting block 1109.

[0339] In some examples, it can be that the first supporting block 1109 is mounted on any one of the plurality of first mounting positions 1108.

[0340] In some examples, the plurality of first mounting positions 1108 can be provided on the first supporting block 1109. The first guiding strip 1106 can be mounted on any one of the plurality of first mounting positions 1108.

[0341] 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

[0342] 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.

[0343] In some examples, referring to Figure 1 and Figure 2 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.

[0344] 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 described in detail herein.

[0345] In some other alternative examples of the embodiments of the present application, referring to Figure 1 and Figure 2 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.

[0346] 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 where the target item detaches from the picking component 13 may occur. 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.

[0347] Based on this, by setting the second sensor 117, when the object fetching component 13 retracts to the initial position and there is a target object on the object fetching 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 fetching component 13 is in the initial position. Conversely, when the object fetching 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 fetching component 13 when the object fetching 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.

[0348] 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 fetching component 13 to move to the position of 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 causing the problem that the action timing between the object fetching component 13 and the target object is uncontrollable when the handling robot unloads goods at the workstation.

[0349] As a specific example, in the embodiments of the present application, the second sensor 117 can be a contact switch or a magnetic switch. It can be understood that in the embodiments of the present application, the second sensor 117 can also be set at other positions. In the embodiments of the present application, only the example of setting the second sensor 117 on the base 11 is given for illustration.

[0350] In some examples of the embodiments of the present application, with reference to Figure 1 and Figure 2 as shown, the second sensor 117 can include a second signal transmitting part 1171 and a second signal receiving part 1172. The second signal transmitting part 1171 can be arranged on one side of the moving path of the target object, and the second signal receiving part 1172 can be arranged on the other side of the moving path of the target object. The signal transmission path between the second signal transmitting part 1171 and the second signal receiving part 1172 can intersect with the moving path of the target object.

[0351] 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 portion 1171 and the second signal receiving portion 1172. As the fetching component 13 moves, the target item follows the fetching component 13 and continues to move. When the target item is located at the preset position of the base 11, for example, when the first follower tray 151 and the second follower 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 portion 1171 and the second signal receiving portion 1172. At this time, it is possible to determine whether the target item is located on the base 11 based on the time when the signal between the second signal transmitting portion 1171 and the second signal receiving portion 1172 is blocked.

[0352] In some examples, when the target item enters the base 11 and the target item is located at the preset position of the base 11, for example, when the first follower tray 151 and the second follower tray 152 retract to the initial position of the base 11, the target item can block between the second signal transmitting portion 1171 and the second signal receiving portion 1172.

[0353] In some examples, the second signal transmitting portion 1171 can be provided on one of the first guiding strip 1106 and the second guiding strip 1107. The second signal receiving portion 1172 can be provided on the other of the first guiding strip 1106 and the second guiding strip 1107.

[0354] In some examples, the second signal transmitting portion 1171 can be provided on the first guiding strip 1106, and the second signal receiving portion 1172 can be provided on the second guiding strip 1107.

[0355] In some examples, the second signal transmitting portion 1171 can be provided on the second guiding strip 1107, and the second signal receiving portion 1172 can be provided on the first guiding strip 1106.

[0356] In some examples, the second signal receiving portion 1172 can receive the signal emitted by the second signal transmitting portion 1171. The signal transmission path between the second signal transmitting portion 1171 and the second signal receiving portion 1172 can intersect with the moving path of the target item on the moving base 11. For example, referring to Figure 1 and Figure 2 as shown, the signals of the second signal transmitting portion 1171 and the second signal receiving portion 1172 can be transmitted along the direction shown by the y-axis in Figure 1 and Figure 2 .

[0357] It can be understood that in some examples of the embodiments of the present application, the second sensor 117 may be an opposed sensor. The working principle of the second sensor 117 may 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 may 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 herein.

[0358] In some examples, the second sensor 117 may cooperate with the first sensor 116 to determine whether the target item has returned 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 has returned 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 has returned to the base 11 with the picking component 13.

[0359] In the embodiments of the present application, by providing a second signal transmitting portion 1171 on one of the first guide bar 1106 and the second guide bar 1107, and providing a 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.

[0360] In some examples, referring to Figure 1 and Figure 2 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.

[0361] 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 provided 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.

[0362] In some examples, referring to Figure 1 and Figure 2As shown, the picking and placing mechanism 1 further includes a second limiting member 111. Specifically, in the embodiment of the present application, the second limiting member 111 may be specifically disposed on the base 11. The second 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.

[0363] In some examples, the second limiting member 111 may be located at the front end of the first follower tray 151.

[0364] In some examples, the second limiting member 111 may be located at the front end of the second follower tray 152.

[0365] In some examples, there are two second limiting members 111. One of the second limiting members 111 may be located at the front end of the first follower tray 151, and the other second limiting member 111 may be located at the front end of the second follower tray 152.

[0366] Referring to Figure 1 As shown, in the embodiment of the present application, the second limiting member 111 may be specifically disposed at the edge of the front end of the base 11; wherein, the front end of the base 11 may specifically refer to the end of the base 11 facing the target carrier when the picking and placing mechanism 1 picks and returns the target item.

[0367] Specifically, in the embodiment of the present application, the second limiting member 111 has a first state. In the first state, at least a part of the second 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 on the side facing away from the base 11. That is to say, in the embodiment of the present application, at least a part of the second limiting member 111 extends perpendicular to the surface of the base 11, and at least a part of the second 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 second limiting member 111 protruding from the supporting surface can limit or block the target item on the follower tray.

[0368] In some examples, the second limiting member 111 further has a second state. In the second state, the second limiting member 111 is entirely located between the first follower tray 151 and the second follower tray 152 and the base 11. That is to say, in a specific application, when the first follower tray 151 and the second follower tray 152 extend out of the base 11, the second limiting member 111 switches from the first state to the second state. In this way, it can effectively avoid the second limiting member 111 affecting or blocking the movement of the first follower tray 151 and the second follower tray 152, and facilitate the movement of the first follower tray 151 and the second follower tray 152.

[0369] In an alternative example of the embodiment of the present application, the second limiting member 111 may be specifically rotatably connected to the base 11. When the second limiting member 111 switches from the first state to the second state, the second limiting member 111 rotates from perpendicular to the surface of the base 11 to parallel to the surface of the base 11; when the second limiting member 111 switches from the second state to the first state, the second limiting member 111 may rotate from parallel to the surface of the base 11 to perpendicular to the surface of the base 11.

[0370] In some examples, 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 is connected to the second limiting member 111 to drive the second limiting member 111 to switch between the first state and the second state. The second driving member 1110 may include a motor.

[0371] 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 supported target item or cargo box on the first follower tray 151 and the second follower tray 152 at this time. At this time, the motor can be used to drive the second limiting member 111 to switch to the second state (i.e., the second 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 second limiting member 111 to switch to the first state.

[0372] Figure 19 It is a schematic structural diagram of the handling robot provided by the embodiment of the present application.

[0373] Refer to Figure 19 As shown, the 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.

[0374] Specifically, in the embodiment of the present application, the chassis 3 may 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 may be made to the detailed description of the foregoing embodiments of the present application, and details will not be repeated herein.

[0375] In the embodiment of the present application, the gantry 2 may be fixedly disposed on the chassis 3 and move under the drive of the chassis 3. The connection manner between the gantry 2 and the chassis 3 may be the same as or similar to that in the related art, and details will not be repeated in the embodiment of the present application.

[0376] In addition, it can be understood that in the embodiments of the present application, a communication module may be provided on the chassis 3 or the gantry 2. The communication module can communicate with the host computer and receive the control signals sent by the host computer. In addition, the communication module can also upload the position information of the handling robot to the host computer, and the host computer controls the handling robot to move within the warehousing system according to the handling task, such as moving to a specified position of the target vehicle, so as to dock with the target cargo space in the target vehicle to realize the process of fetching or returning items.

[0377] The picking and placing mechanism 1 is arranged 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 reaches the height of the cargo space where the corresponding target item is located by moving up and down along the gantry 2.

[0378] 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).

[0379] The temporary storage board is arranged on the gantry 2, the rotating mechanism is connected to the picking and placing mechanism 1, and 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 takes out the target item from the temporary storage board through the picking and placing mechanism 1. Among them, the temporary storage board cargo spaces mentioned above are formed on the temporary storage board. The temporary storage board cargo space can be one of the target cargo spaces, that is, the picking component 13 can extend into the temporary storage board cargo space under the drive of the drive structure 14.

[0380] It can be understood that the direction in which the picking component 13 moves towards the cargo space of the target vehicle can be perpendicular to the direction in which the picking component 13 moves towards the temporary storage board cargo space. In other words, when the target cargo space is the temporary storage board cargo space, the movement direction of the picking component 13 can be perpendicular to the movement direction of the picking component 13 when the target cargo space is the cargo space on the target vehicle.

[0381] 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.

[0382] 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 rotating mechanism is arranged on the lifting plate, and the rotating mechanism 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.

[0383] The above specific implementation manners have further elaborated in detail the objectives, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only the specific implementation manners of the embodiments of the present application, and are 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 shall be included within the protection scope of the embodiments of the present application.

Claims

1. A picking and placing mechanism, characterized in that, Comprising: A base (11) having an inlet / outlet (1105) for the target article to enter and exit; A telescopic structure (12) provided on the base (11), and a free end of the telescopic structure (12) is selectively extendable from or retractable into the base (11) through the inlet / outlet (1105); An article picking component (13) provided at the free end, and the article picking component (13) is movable relative to the base (11) driven by the free end. The article picking component (13) is configured to act on a front end face of the target article when picking up and returning the target article to carry the target article; wherein, the front end face of the target article is the end face of the target article facing the article picking component (13) when the target article is to be picked up and returned; A driving structure (14) connected to the telescopic structure (12), and the driving structure (14) is configured to cooperate with a power member (121) of the telescopic structure (12) and provide power to the power member (121) to drive the power member (121) to drive the telescopic structure (12) to extend from or retract into the base (11); A follow-up tray (15), when the article picking component (13) picks up and returns the target article, at least a part of the follow-up tray (15) is located on a moving path of the target article, and the follow-up tray (15) is extendable from the base (11) to support the target article when carrying the target article on the article picking component (13); Wherein, during the process of the telescopic structure (12) retracting into the base (11), the power member (121) is configured to cooperate with the follow-up tray (15) to drive the follow-up tray (15) to retract into the base (11).

2. The pick-and-place mechanism according to claim 1, wherein, The follow-up tray (15) includes: A first follow-up tray (151) provided on the base (11), and at least a part of the first follow-up tray (151) is extendable from the base (11) through the inlet / outlet (1105) to support the target article on the moving path of the target article; A second follow-up tray (152) arranged side by side with the first follow-up tray (151) on the base (11), and at least a part of the second follow-up tray (152) is extendable from the base (11) through the inlet / outlet (1105) to support the target article on the moving path of the target article; A connecting member (153) connecting the first follow-up tray (151) and the second follow-up tray (152) to enable the first follow-up tray (151) and the second follow-up tray (152) to move synchronously relative to the base (11); The power member (121) is configured to cooperate with the connecting member (153) to drive the first follow-up tray (151) and the second follow-up tray (152) to retract into the base (11).

3. The pick-and-place mechanism according to claim 2, wherein The first follow-up tray (151) and the second follow-up tray (152) are slidably provided on the base (11); the connecting member (153) is movably connected to the first follow-up tray (151) and the second follow-up tray (152).

4. The picking and placing mechanism according to claim 3, characterized in that, The connecting member (153) includes: A first sub-connecting member (1531) connected to the first follower tray (151); A second sub-connecting member (1532) connected to the second follower tray (152), and the second sub-connecting member (1532) is movably connected to the first sub-connecting member (1531).

5. The pick-and-place mechanism according to claim 4, characterized in that, A first shaft hole (15311) is provided on the first sub-connecting member (1531), and a second shaft hole (15321) is provided on the second sub-connecting member (1532); a pin shaft (1533) is 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).

6. The pick-and-place mechanism according to claim 5, wherein, The pin shaft (1533) includes: A first shaft section (15331) inserted through the first shaft hole (15311); A second shaft section (15332) inserted through the second shaft hole (15321); The first shaft section (15331) is movably inserted through the first shaft hole (15311), and / or the second shaft section (15332) is movably inserted through the second shaft hole (15321).

7. The pick-and-place mechanism according to claim 6, characterized in that, The aperture of the first shaft hole (15311) is larger than the aperture of the second shaft hole (15321), the first shaft section (15331) is movably inserted through the first shaft hole (15311), and the second shaft section (15332) is threadedly connected to the second shaft hole (15321).

8. The pick-and-place mechanism according to claim 7, wherein, The diameter of the first shaft section (15331) is larger than the diameter of the second shaft section (15332), and the aperture of the first shaft hole (15311) is larger than the diameter of the first shaft section (15331).

9. The pick-and-place mechanism according to claim 8, wherein, The pin shaft (1533) further includes: a locking section (15333) 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) is larger than the aperture of the first shaft hole (15311), and the locking section (15333) is configured to lock the first sub-connecting member (1531) and the second sub-connecting member (1532) along the axial direction of the pin shaft (1533).

10. The pick-and-place mechanism according to any one of claims 1-9, characterized in that, A sliding assembly is provided on the base (11), and the follower tray (15) is arranged on the sliding assembly so that the follower tray (15) is slidably arranged on the base (11).

11. The pick-and-place mechanism according to any one of claims 1-9, characterized in that, The telescopic structure (12) is a scissor structure, and the scissor structure has a plurality of first hinge positions (12023) and a plurality of second hinge positions (12024); the plurality of first hinge positions (12023) are arranged along the telescopic direction of the scissor structure, and the second hinge positions (12024) are located on both sides of the arrangement direction of the plurality of first hinge positions (12023); One of the plurality of first hinge positions (12023) is configured as a power hinge position, and the power hinge position cooperates with the power member (121) to drive the follower tray (15) to retract into the base (11).

12. The pick-and-place mechanism according to claim 11, wherein, The scissor structure includes: Two groups of scissor units (1202); A first connecting rod (1203) connected between the first hinge positions (12023) of the two groups of scissor units (1202); A second connecting rod (1204) connected between the second hinge positions (12024) of the two groups of scissor units (1202); The power member (121) includes the first connecting rod (1203) and an extension member (12025), the extension member (12025) is connected to one of the plurality of first connecting rods (1203), and the extension member (12025) is configured to cooperate with the follower tray (15).

13. The pick-and-place mechanism according to claim 11, wherein The base (11) includes: A bottom plate (1101); A first mounting plate (1102) provided on the bottom plate (1101), the first mounting plate (1102) is located at one end of the bottom plate (1101) facing away from the inlet / outlet (1105); a third guide rail (1104) is provided on the first mounting plate (1102); The scissor structure includes at least one group of scissor members (12021), the first scissor member in the at least one group of scissor members (12021) includes two transmission rods (12022), the two transmission rods (12022) are rotatably connected at the first hinge position (12023), and the two transmission rods (12022) are slidably arranged on the third guide rail (1104).

14. The pick-and-place mechanism according to claim 13, wherein The third guide rail (1104) includes: A first fixing portion (11041) fixedly connected to the first mounting plate (1102); A first guiding portion (11042) located on one side of the first fixing portion (11041); A third slider (1103) is provided on the transmission rod (12022), the third slider (1103) is sleeved on the first guiding portion (11042), and the third slider (1103) is rotatably connected to the transmission rod (12022).

15. The pick-and-place mechanism according to claim 13, characterized in that, The object taking component (13) includes: A second mounting plate (1301) movably arranged on the second scissor member in the at least one group of scissor members (12021); a fourth guide rail (1308) is provided on the second mounting plate (1301); the second scissor member includes two transmission rods (12022), the two transmission rods (12022) are rotatably connected at the first hinge position (12023), and the two transmission rods (12022) are slidably arranged on the fourth guide rail (1308); A second force applying member (1302) provided on the second mounting plate (1301); the second force applying member (1302) is configured to apply a force to the front end face of the target object to carry the target object; Wherein, the front end face of the target object is the end face of the target object facing the object taking component (13) when the target object is to be retrieved or returned.

16. The pick-and-place mechanism according to claim 15, characterized in that, The fourth guide rail (1308) includes: A second fixing portion (13081) fixedly connected to the second mounting plate (1301); The second guiding part (13082) is located on one side of the second fixing part (13081); The third guiding part (13083) is arranged side by side with the second guiding part (13082) and is located on the other side of the second fixing part (13081); A fourth slider (1309) is provided on the transmission rod (12022), and the fourth slider (1309) is sleeved on the second guiding part (13082) and the third guiding part (13083), and the fourth slider (1309) is rotatably connected to the transmission rod (12022).

17. The pick-and-place mechanism according to claim 15 or 16, characterized in that, The second force applying member (1302) includes an adsorbing member; An adsorption control assembly is 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 acting force applied by the adsorbing member to the target article.

18. The pick-and-place mechanism according to claim 17, characterized in that, The adsorbing member includes a suction cup, and the suction cup is arranged on one side of the second mounting plate (1301) facing the inlet and outlet (1105); The adsorption control assembly includes: An air source device (1303) is provided on the base (11); A vacuum tube is communicated between the suction cup and the air source device (1303), and the air source device (1303) is configured to control the acting force of the suction cup on the target article through the vacuum tube; A control valve (1306) is provided between the vacuum tube and the air source device (1303), and the control valve (1306) is configured to control the on-off of the air path between the vacuum tube and the air source device (1303); A vacuum degree detection sensor (1307) is provided on the base (11), and the vacuum degree detection sensor (1307) is communicated with the vacuum tube; The control valve (1306) is configured to control the on-off of the air path between the vacuum tube and the air source device (1303) according to the detection signal of the vacuum degree detection sensor (1307).

19. The pick-and-place mechanism according to any one of claims 1-9, characterized in that, A first sensor (116) is provided on the base (11), and the first sensor (116) is configured to cooperate with the power member (121) to trigger a first trigger signal; The driving structure (14) stops driving the power member (121) according to the first trigger signal.

20. The pick-and-place mechanism according to claim 19, wherein, The first sensor (116) includes: A first signal transmitting part (1161) is provided on the base (11); A first signal receiving part (1162) is provided on the base (11), and the first signal receiving part (1162) is configured to receive the signal emitted by the first signal transmitting part (1161); A triggering member (1163) is movably provided on the base (11), and when the article picking component (13) is in the initial position on the base (11), the triggering member (1163) is located between the first signal transmitting part (1161) and the first signal receiving part (1162) so that the first sensor (116) triggers the first trigger signal.

21. The pick-and-place mechanism according to claim 20, wherein The triggering member (1163) cooperates with the power member (121). When the telescopic structure (12) moves relative to the base (11), the triggering member (1163) and the power member (121) move synchronously relative to the base (11).

22. The pick-and-place mechanism according to any one of claims 1-9, characterized in that, The picking and placing mechanism further includes: A first guide rail (17) is provided on the base (11), and the first guide rail (17) extends along the telescopic direction of the telescopic structure (12); A first slider (16) is slidably provided on the first guide rail (17), and the first slider (16) is configured to be connected to the power member (121).

23. The pick-and-place mechanism according to any one of claims 1-9, characterized in that, The picking and placing mechanism further includes: A first guiding strip (1106) is provided on the base (11), and the first guiding strip (1106) is located on one side of the follower tray (15); A second guiding strip (1107) is provided on the base (11), and the second guiding strip (1107) is located on the other side of the follower tray (15); Along the direction in which the target item enters the base (11), the distance between the first guiding strip (1106) and the second guiding strip (1107) decreases, so that the inlet and outlet (1105) is in a constricted shape along the entering direction of the target item; the first guiding strip (1106) and the second guiding strip (1107) are configured to guide the target item into the base (11); Wherein, the distance between the first guiding strip (1106) and the second guiding strip (1107) is adjustable.

24. The pick-and-place mechanism according to claim 23, wherein, A plurality of first mounting positions (1108) are provided on the base (11), and the plurality of first mounting positions (1108) are arranged along the arrangement direction of the first guiding strip (1106) and the second guiding strip (1107); any one of the mounting positions is configured to mount the first guiding strip (1106); And / or, A plurality of second mounting positions are provided on the base (11), and the plurality of second mounting positions are arranged along the arrangement direction of the first guiding strip (1106) and the second guiding strip (1107); any one of the second mounting positions is configured to mount the second guiding strip (1107).

25. The pick-and-place mechanism according to any one of claims 1-9, characterized in that, The picking and placing mechanism further includes: A second sensor (117) is provided on the base (11), and the second sensor (117) is configured to detect whether the target item is on the base (11).

26. The pick-and-place mechanism according to claim 25, characterized in that, The second sensor (117) includes: A second signal transmitting part (1171) is provided on the base (11); A second signal receiving part (1172) is provided on the base (11), and the second signal receiving part (1172) is configured to 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) intersects with the moving path of the target item on the base (11) to determine whether the target item is located on the base (11).

27. The pick-and-place mechanism according to any one of claims 1-9, characterized in that, The picking and placing mechanism further includes: A third sensor (118) configured to detect the presence of the target article on the target vehicle.

28. The pick-and-place mechanism according to claim 27, wherein The third sensor is disposed between a first follower tray (151) and a second follower tray (152) of the follower tray (15).

29. The pick-and-place mechanism according to any one of claims 1-9, characterized in that, The picking and placing mechanism further includes: A second limiting member (111) disposed on the base (11), the second limiting member (111) being located at the front end of the follower tray (15); the second limiting member (111) has a first state and a second state; A second driving member (1110) disposed on the base (11), the second driving member (1110) being connected to the second limiting member (111), the second driving member being configured to drive the second limiting member (111) to switch between the first state and the second state; Wherein, in the first state, at least a part of the second limiting member (111) protrudes from the supporting surface of the follower tray (15) to limit the moving direction of the target article on the base (11); in the second state, the second limiting member (111) is lower than the supporting surface of the follower tray (15).

30. A handling robot, characterized in that, Comprising: A chassis (3); A gantry (2) disposed on the chassis (3); And, The picking and placing mechanism (1) according to any one of claims 1-29, the picking and placing mechanism (1) being disposed on the gantry (2), and the picking and placing mechanism (1) being capable of lifting along the gantry (2).

31. The handling robot according to claim 30, characterized in that, The handling robot further includes: A temporary storage board disposed on the gantry (2); A rotating mechanism connected to the picking and placing mechanism (1), the rotating mechanism being configured to drive the picking and placing mechanism (1) to rotate so that the picking and placing mechanism (1) stores the target article on the temporary storage board, or the picking and placing mechanism takes out the target article from the temporary storage board.

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