Motion assembly, taking and placing device and carrying robot

Abstract

The embodiment of the utility model provides a motion assembly, a pick-and-place device and a transfer robot, and the motion assembly comprises a pick-and-place mechanism which is configured to pick and place articles; the pick-and-place mechanism is rotationally connected to the mounting platform; the moving assembly comprises a driving mechanism connected to the mounting platform, and the power output end of the driving mechanism is located on the rotating axis of the taking and placing mechanism and connected with the taking and placing mechanism so as to drive the taking and placing mechanism to rotate relative to the mounting platform; wherein the driving mechanism comprises a motor and a speed reduction structure, a motor output shaft of the motor is configured as a power input shaft of the speed reduction structure, and one end of a power output part of the speed reduction structure is configured as a power output end.

Description

Technical Field

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

[0002] With the rapid development of the logistics industry and the continuous increase of human resource costs, in order to improve the utilization efficiency of warehouses and reduce warehousing costs, more and more people choose to use automated stereoscopic warehouses to solve warehousing problems. At present, in a warehousing system, a handling robot provided with multiple levels of gantries is usually adopted to perform the picking and placing operations of high and low position containers.

[0003] In order to adapt to the access of the cargo boxes on the storage positions of the shelves on both sides of the roadway, the picking and placing mechanism of the handling robot can rotate relative to the installation platform under the drive of the motion component, so that the picking and placing mechanism extends in different directions. The motion component in the related art includes a driving mechanism and a transmission mechanism, that is, the driving mechanism drives the picking and placing mechanism to rotate through the transmission mechanism. For example, the picking and placing mechanism can be driven to rotate by a motor through a transmission mechanism such as a chain or a belt.

[0004] However, the motion component of the above-mentioned picking and placing mechanism has a complex structure, which makes disassembly and assembly cumbersome and occupies a large space. Summary of the Utility Model

[0005] The embodiments of the present application provide a motion component, a picking and placing device, and a handling robot, which simplify the structure of the motion component, make the disassembly and assembly of the motion component simple, and reduce the occupied space of the motion component.

[0006] One aspect of the embodiments of the present application provides a picking and placing device, including:

[0007] A picking and placing mechanism configured to pick and place articles;

[0008] An installation platform, wherein the picking and placing mechanism is rotatably connected to the installation platform;

[0009] A motion component, including a driving mechanism connected to the installation platform, the power output end of the driving mechanism is located on the rotation axis of the picking and placing mechanism and is connected to the picking and placing mechanism to drive the picking and placing mechanism to rotate relative to the installation platform;

[0010] Wherein, the driving mechanism includes a motor and a deceleration structure, the motor output shaft of the motor is configured as the power input shaft of the deceleration structure, and one end of the power output member of the deceleration structure is configured as the power output end.

[0011] In some implementation manners, the driving mechanism includes:

[0012] A housing, both the motor and the deceleration structure are embedded in the housing;

[0013] The housing is connected to the installation platform.

[0014] In some implementations, the driving mechanism further includes a rolling component;

[0015] The rolling component is disposed between the side wall of the power output member and the inner side wall of the housing. The power output member is configured to roll along the inner side wall of the housing through the rolling component during the process of driving the picking and placing mechanism to rotate.

[0016] In some implementations, the speed reduction structure includes at least one set of gear sets;

[0017] The central gear of the gear set is fixed to the motor output shaft. The peripheral gear of the gear set meshes with the central gear and is connected to the power output member;

[0018] Internal teeth are provided on the inner side wall of the housing. The peripheral gear meshes with the internal teeth to rotate around the central gear under the drive of the central gear, so as to drive the power output member to rotate.

[0019] In some implementations, at least one set of gear sets includes a first gear set and a second gear set. The first gear set and the second gear set are stacked along the extension direction of the motor output shaft;

[0020] The speed reduction structure further includes a fixing frame. The peripheral gear of the first gear set is connected to the fixing frame and deviates from the central axis of the fixing frame, so as to drive the fixing frame to rotate during the process of the peripheral gear rotating around the central gear;

[0021] The central gear of the second gear set is fixed on the fixing frame and is located on the central axis of the fixing frame, so as to rotate under the drive of the fixing frame.

[0022] In some implementations, the motion component includes a connecting member;

[0023] The connecting member is disposed on the outer wall of the housing and is connected to the mounting platform;

[0024] In some implementations, a through hole is provided on the mounting platform. The inner diameter of the through hole is configured to be adapted to the outer diameter of the driving mechanism; the driving mechanism passes through the through hole; the connecting member is fixed to the outer edge on the side of the through hole facing away from the picking and placing mechanism.

[0025] In some implementations, the housing includes a first housing and a second housing;

[0026] The motor is embedded in the first housing, and the speed reduction structure is embedded in the second housing;

[0027] The first housing and the second housing are detachably connected.

[0028] In some implementations, the rotation axis of the power output member of the speed reduction structure coincides with the rotation axis of the motor output shaft.

[0029] In some implementations, the picking and placing mechanism is configured to rotate relative to the mounting platform to face the first direction, so as to pick and place the items of the vehicle in the first direction in the roadway; the picking and placing mechanism is further configured to rotate relative to the mounting platform to face the second direction, so as to pick and place the items of the vehicle in the second direction in the roadway.

[0030] Another aspect of the embodiments of the present application provides a handling robot, including:

[0031] A chassis assembly;

[0032] A gantry assembly disposed on the chassis assembly;

[0033] A picking and placing mechanism configured to pick and place items;

[0034] A mounting platform, the picking and placing mechanism is rotatably connected to the mounting platform, and the mounting platform is configured to drive the picking and placing mechanism to lift along the gantry assembly;

[0035] A motion assembly, including a driving mechanism connected to the mounting platform, the power output end of the driving mechanism is located on the rotation axis of the picking and placing mechanism, and is connected to the picking and placing mechanism to drive the picking and placing mechanism to rotate relative to the mounting platform;

[0036] Wherein, the driving mechanism includes a motor and a reduction structure, the output shaft of the motor is configured as the power input shaft of the reduction structure, and one end of the power output member of the reduction structure is configured as the power output end.

[0037] In some implementations, a temporary storage position is provided on the gantry assembly;

[0038] The picking and placing mechanism is configured to rotate relative to the mounting platform under the drive of the driving mechanism to face the temporary storage position, so that the items are transferred between the picking and placing mechanism and the temporary storage position.

[0039] Another aspect of the embodiments of the present application provides a motion assembly, applied to a picking and placing device, including:

[0040] A driving mechanism configured to be connected to the mounting platform of the picking and placing device, the power output end of the driving mechanism is configured to be located on the rotation axis of the picking and placing mechanism of the picking and placing device, and is connected to the picking and placing mechanism to drive the picking and placing mechanism to rotate relative to the mounting platform;

[0041] Wherein, the driving mechanism includes a motor and a reduction structure, the motor output shaft of the motor is configured as the power input shaft of the reduction structure, and one end of the power output member of the reduction structure is configured as the power output end.

[0042] In some implementations, the driving mechanism includes:

[0043] A housing, both the motor and the reduction structure are embedded in the housing;

[0044] The housing is configured to be connected to the mounting platform.

[0045] In some implementations, the drive mechanism further includes a rolling component;

[0046] The rolling component is disposed between the side wall of the power output member and the inner side wall of the housing. The power output member is configured to roll along the inner side wall of the housing through the rolling component during the process of driving the picking and placing mechanism to rotate.

[0047] In some implementations, the speed reduction structure includes at least one set of gear sets;

[0048] The central gear of the gear set is fixed to the motor output shaft. The peripheral gear of the gear set meshes with the central gear and is connected to the power output member;

[0049] Internal teeth are provided on the inner side wall of the housing. The peripheral gear meshes with the internal teeth to rotate around the central gear under the drive of the central gear, so as to drive the power output member to rotate.

[0050] In some implementations, the rotation axis of the power output member of the speed reduction structure coincides with the rotation axis of the motor output shaft.

[0051] The embodiments of the present application provide a motion component, a picking and placing device and a handling robot. By setting the output end of the drive mechanism on the rotation axis of the picking and placing mechanism, a motion component capable of directly driving the picking and placing mechanism to rotate is realized. Compared with the prior art, the motion component provided by the embodiments of the present application does not need to be provided with a transmission structure such as a belt or a chain, but directly drives the picking and placing mechanism to rotate relative to the mounting platform. The motion component provided by the embodiments of the present application has a simple structure, low cost, high reliability, and is simple to disassemble and assemble, facilitating maintenance, and also reducing the occupied space of the motion component. In addition, by directly using the motor output shaft of the drive mechanism as the power input shaft of the speed reduction structure, that is, the drive mechanism is a speed reduction integrated motor. Compared with the method of separately setting the motor and the speed reducer, the elastic coupling or gear coupling and other structures between the motor output shaft and the power input shaft of the speed reducer can be saved, and the axes of the motor and the speed reduction structure are also in the same direction, so as to realize the miniaturization and integration of the drive mechanism, save the occupied space of the drive mechanism on the mounting platform, provide installation space for other components on the mounting platform, and also realize the light weight of the drive mechanism, reducing the power consumption of the mounting platform for driving the drive mechanism and the picking and placing mechanism to move up and down. Description of the Drawings

[0052] To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0053] Figure 1 It is a schematic structural diagram of a handling robot and a vehicle provided by an embodiment of the present application;

[0054] Figure 2 It is a schematic structural diagram of a handling robot provided by an embodiment of the present application;

[0055] Figure 3 It is a schematic structural diagram of a chassis assembly provided by an embodiment of the present application;

[0056] Figure 4 It is a schematic structural diagram of a door clamp assembly provided by an embodiment of the present application;

[0057] Figure 5 It is a schematic structural diagram of a picking device provided by an embodiment of the present application;

[0058] Figure 6 It is a schematic structural diagram of a picking mechanism, an installation platform and a motion component provided by an embodiment of the present application;

[0059] Figure 7 It is a schematic structural diagram of the installation platform and the motion component from the first perspective provided by an embodiment of the present application;

[0060] Figure 8 It is a schematic structural diagram of a motion component provided by an embodiment of the present application;

[0061] Figure 9 It is one of the longitudinal sectional views of a motion component provided by an embodiment of the present application;

[0062] Figure 10 It is a schematic structural diagram of an installation platform provided by an embodiment of the present application;

[0063] Figure 11 It is a schematic structural diagram of the installation platform and the motion component from the second perspective provided by an embodiment of the present application;

[0064] Figure 12 It is one of the transverse sectional views of a motion component provided by an embodiment of the present application.

[0065] Explanation of reference numerals:

[0066] 1. Chassis assembly; 11. Driving wheel; 12. Radar; 13. Chassis camera;

[0067] 2. Gantry assembly; 21. Temporary storage position; 22. Fixed gantry; 23. Movable gantry; 24. Cross beam

[0068] 3. Pick-and-place device; 31. Installation platform; 31a. Through hole; 31b. Connection structure; 311. Lifting mechanism; 32. Pick-and-place mechanism; 321. Carrying part; 322. Pick-and-place component

[0069] 4. Support assembly; 401. First support assembly; 402. Second support assembly

[0070] 5. Carrier

[0071] 6. Movement assembly; 6a. Driving mechanism; 61. Motor; 611. Motor main body; 612. Motor output shaft; 62. Reduction structure; 621. Transmission main body; 6211. Gear set; 621a. Central gear; 621b. Peripheral gear; 6211a. First gear set; 6211b. Second gear set; 6212. Fixed frame; 622. Power output part; 63. Housing; 63a. Internal teeth; 631. First housing; 632. Second housing; 64. Connecting piece; 65. Rolling assembly Detailed implementation manners

[0072] In order to enable those skilled in the art to better understand the technical solutions in this application, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all 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.

[0073] 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.

[0074] In the description of this application, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "horizontal", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of this application. In this application, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium.

[0075] In this application, unless otherwise clearly specified and defined, terms such as "connected", "connected to", "fixed", etc. shall 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 communication inside two components or the interaction relationship between two components. However, indicating a direct connection means that there is no connection relationship constructed through an excessive structure between the two connected main bodies, and they are only connected through the connection structure to form a whole. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0076] In this application, descriptions such as "first", "second", etc. are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second" can explicitly or implicitly include at least one of such features.

[0077] Figure 1 It is a schematic structural diagram of a handling robot and a vehicle provided by an embodiment of this application. Figure 2 It is a schematic structural diagram of a handling robot provided by an embodiment of this application. Figure 3 It is a schematic structural diagram of a chassis assembly provided by an embodiment of this application. Figure 4 It is a schematic structural diagram of a gantry assembly provided by an embodiment of this application. Figure 5 It is a schematic structural diagram of a pick-and-place device provided by an embodiment of this application. Figure 6 It is a schematic structural diagram of a pick-and-place mechanism, an installation platform, and a motion component. Refer to Figures 1 to 6 , an embodiment of this application provides a handling robot. The handling robot is configured to move to a storage area to pick and place target items. Specifically, the storage area may include a plurality of vehicles 5 and aisles formed by adjacent vehicles 5. Items are stored on the vehicle 5, and the items may include but are not limited to goods, bins, pallets, original boxes, packaging boxes, cargo boxes, storage boxes, etc., and the present disclosure does not limit this here.

[0078] Refer to Figures 2 to 5 As shown, the handling robot of the embodiment of this application includes: a chassis assembly 1, a gantry assembly 2, and a pick-and-place device 3. Among them, the pick-and-place device 3 includes: a pick-and-place mechanism 32, an installation platform 31, and a motion component 6.

[0079] As Figure 3As shown, the chassis assembly 1 is configured to support the handling robot on the working surface, which may include the aisles between the carriers 5 and the ground outside the storage area. The driving wheels 11 and / or the universal wheels cooperating with the driving wheels 11 may be provided on the chassis assembly 1. The driving wheels 11 and / or the universal wheels cooperate to drive the handling robot to walk and turn on the working surface, facilitating the subsequent pick-up and placement of the target object by the handling robot.

[0080] In some examples, radars 12 may also be provided at the front and rear ends in the walking direction of the chassis assembly 1, and a chassis camera 13 may also be provided on the chassis assembly 1. When the handling robot receives the instruction to pick up and return items, the handling robot can walk to the target position based on the positioning of the radar 12. During the walking process, the chassis camera 13 can scan the two-dimensional code set on the ground of the storage system in real time, thereby confirming the walking path of the handling robot. The radar 12 also has an obstacle avoidance function. The radar 12 can sense whether there are obstacles on the walking path of the handling robot. When encountering an obstacle, the handling robot needs to perform obstacle avoidance based on the signal feedback of the radar 12.

[0081] The chassis assembly 1 is also configured to support other components of the handling robot, such as the gantry assembly 2, the mounting platform 31, the pick-up and placement mechanism 32, and the motion assembly 6. The gantry assembly 2 is provided on the chassis assembly 1 and is configured to extend upward from the chassis assembly 1. Usually, the extension height of the gantry assembly 2 is the same as or exceeds the height of the carrier 5, which is beneficial for the handling robot to access the target objects at different positions on the carrier 5.

[0082] In some examples, refer to Figure 4 As shown, since the height of the handling robot needs to be adjusted according to the height of the carrier 5, if the non-adjustable gantry assembly 2 is set too high, it will not only affect the handling robot's access to the warehouse but also affect its stability during movement. Therefore, in this embodiment, the gantry assembly 2 further includes a fixed gantry 22 and a movable gantry 23 that moves in the height direction of the fixed gantry 22. Cross beams 24 may be provided on both the fixed gantry 22 and the movable gantry 23 to enhance the rigidity of the gantry assembly 2. The pick-up and placement mechanism 32 is configured to move in the height direction along the movable gantry 23 to pick up and place the target item.

[0083] In some examples, the pick-and-place mechanism 32 can be arranged on the outermost movable gantry 23 through a lifting platform, enabling the pick-and-place range of the pick-and-place mechanism 32 to cover the height space on the fixed gantry 22 and the movable gantry 23. In the handling robot provided in this embodiment, the lifting platform is the mounting platform 31. In other application scenarios, the lifting platform and the mounting platform 31 can also be two independently arranged structures. The pick-and-place mechanism 32 is configured to move in the height direction along the gantry assembly 2 to pick and place target items.

[0084] Since the gantry assembly 2 has a height adapted to the vehicle 5, the pick-and-place mechanism 32 can access target items at any position on the vehicle 5 without any inaccessible areas. During the movement of the handling robot driven by the chassis assembly 1, all the movable gantries 23 in the gantry assembly 2 can be in a retracted state relative to the fixed gantry 22 in the gantry assembly 2, that is, all the movable gantries 23 are located at the lowest mating position relative to the upper-level gantry, and the overall height of the gantry assembly 2 is in the lowest state. In this state, compared with a handling robot with a non-adjustable gantry assembly 2 set at a higher height, the handling robot of the present disclosure can maintain the stability of movement when walking with the movable gantry 23 in a retracted state. In addition to the above scenario of the handling robot picking and placing target items on the high-level vehicle 5, the handling robot can also pick and place target items on the low-level vehicle 5. Therefore, the handling robot of the present disclosure can flexibly adjust the overall height of the gantry assembly 2 to adapt to vehicles 5 of different heights, improving the applicable range of the handling robot's work.

[0085] When the pick-and-place mechanism 32 is arranged on the outermost movable gantry 23 through the mounting platform 31, the mounting platform 31 can be in guiding cooperation with the outermost movable gantry 23. The movement of the movable gantry 23 and the mounting platform 31 can be independent of each other, that is, there is no linkage relationship between the movement of the movable gantry 23 and the movement of the mounting platform 31, thus improving the flexibility of the movement of the mounting platform 31 and the pick-and-place mechanism 32 itself. Of course, for those skilled in the art, the movement of the movable gantry 23 and the pick-and-place mechanism 32 can be synchronized, that is, the movement of the movable gantry 23 is coupled with the movement of the pick-and-place mechanism 32, and the present disclosure does not limit this here.

[0086] Reference Figure 5, the picking and placing mechanism 32 is rotatably connected to the mounting platform 31, and the mounting platform 31 is configured to drive the picking and placing mechanism 32 to rise or fall along the gantry assembly 2. The mounting platform 31 can move in the height direction along the gantry assembly 2, so as to drive the picking and placing mechanism 32 to different target heights and pick and place different target items. One side of the mounting platform 31 adjacent to the gantry assembly 2 is configured to be connected to the gantry assembly 2 through the lifting mechanism 311. The mounting platform 31 can cooperate with the gantry assembly 2 through the lifting mechanism 311, which enables the mounting platform 31 and the picking and placing mechanism 32 located on the mounting platform 31 to be driven to rise or fall synchronously to the target position under the drive of the lifting mechanism 311. The present disclosure does not specifically limit the cooperation mode between the lifting mechanism 311 and the gantry assembly 2.

[0087] Among them, the picking and placing mechanism 32 can rotate relative to the mounting platform 31 to different angles to pick and place target items in different directions. For example, referring to Figure 1 As shown, when the picking and placing mechanism 32 needs to be docked with the vehicle 5 on the left side of the roadway, the picking and placing mechanism 32 can rotate relative to the mounting platform 31 to face the left side so as to extend into the target storage position of the left vehicle 5 to pick and place the target item. When the picking and placing mechanism 32 needs to be docked with the vehicle 5 on the right side of the roadway, the picking and placing mechanism 32 can move relative to the mounting platform 31 to face the right side so as to extend into the target storage position of the right vehicle 5 to pick and place the target item.

[0088] In some examples, the picking and placing mechanism 32 includes a carrying part 321 for carrying items, and also includes a picking and placing member 322 for picking and placing items. The picking and placing member 322 can pick an item onto the carrying part 321 or carry the item located on the carrying part 321 to other positions. The picking and placing member 322 can be a telescopic fork, a clamping fork, a robotic arm, a hook claw structure, a suction cup or other mechanical structures that can realize the operation of picking and returning items. The specific structure of the picking and placing member 322 is not limited in the embodiments of the present application.

[0089] In order to improve the working efficiency of the handling robot, in some examples, referring to Figure 2 and Figure 4 , a temporary storage position 21 can be provided on the gantry assembly 2. The picking and placing mechanism 32 is configured to rotate relative to the mounting platform 31 to face the temporary storage position 21 so that items can be directly transferred between the picking and placing mechanism 32 and the temporary storage position 21. At least one temporary storage position 21 can be provided on the side of the gantry assembly 2 opposite to the picking and placing machine. The items taken out by the picking and placing mechanism 32 can be temporarily stored on the temporary storage position 21, and then the picking and placing mechanism 32 can continue to pick and place items.

[0090] In some examples, the pick-and-place device 3 further includes a motion component 6. The pick-and-place mechanism 32 is connected to the mounting platform 31 through the motion component 6, and the pick-and-place mechanism 32 can rotate relative to the mounting platform 31 driven by the motion component 6.

[0091] In the related art, the motion component 6 includes a driving mechanism and a transmission mechanism. The driving mechanism drives the pick-and-place mechanism 32 to rotate through the transmission mechanism. For example, the pick-and-place mechanism 32 can be driven to rotate through transmission mechanisms such as chains and belts by a motor.

[0092] However, the above-mentioned motion component 6 has more components, a complex structure, is cumbersome to disassemble and assemble during maintenance, has a high failure rate, and occupies a large space.

[0093] In the embodiment of the present application, the motion component 6 is set to include a driving mechanism 6a, and the output end of the driving mechanism 6a is arranged on the rotation axis of the pick-and-place mechanism 32, so as to realize the motion component 6 that can directly drive the pick-and-place mechanism 32 to rotate. Compared with the prior art, the motion component 6 provided by the embodiment of the present application does not need to be provided with a transmission structure such as a belt or a chain, but directly drives the pick-and-place mechanism 32 to rotate relative to the mounting platform 31. The motion component 6 provided by the embodiment of the present application has a simple structure, low cost, high reliability, simple disassembly and assembly, convenient maintenance, low failure rate, and reduced occupied space. In addition, by directly using the motor output shaft 612 of the driving mechanism 6a as the power input shaft of the reduction structure 62, that is, the driving mechanism 6a is a reduction integrated motor, compared with the method of separately arranging the motor and the reducer, the elastic coupling or gear coupling and other structures for connecting between the motor output shaft 612 and the power input shaft of the reducer can be saved, and the axes of the motor and the reduction structure 62 are also oriented in the same direction, so as to realize the miniaturization and integration of the driving mechanism 6a, save the occupied space of the driving mechanism 6a on the mounting platform 31, provide installation space for other components on the mounting platform 31, and also realize the lightweight of the driving mechanism 6a, reducing the power consumption of the mounting platform 31 for driving the driving mechanism 6a and the pick-and-place mechanism 32 to move up and down.

[0094] It should be noted that a pick-and-place device 3 provided by the embodiment of the present application can be applied to a handling robot in the warehousing field. Through the pick-and-place device 3, target items in the warehousing area can be transferred, for example, transferred between different carriers 5, or transferred between different storage positions of the same carrier 5, or transferred between the carrier 5 and other positions. Of course, the pick-and-place device 3 of the embodiment of the present application can also be used in other application scenarios, such as in shopping malls, hotels, workshops and other scenarios that require handling and transfer well-known to those skilled in the art. The embodiment of the present application will not be specifically described herein.

[0095] The following will describe in detail the specific structure of the pick-and-place device 3 provided by the embodiment of the present application with reference to the accompanying drawings.

[0096] Figure 7 It is a schematic structural diagram of the installation platform and the moving component provided by an embodiment of the present application from a first perspective. Figure 8 It is a schematic structural diagram of the moving component provided by an embodiment of the present application. Figure 9 It is one of the longitudinal sectional views of the moving component provided by an embodiment of the present application. Refer to Figures 6 to 9 As shown, an embodiment of the present application provides a picking and placing device 3, including a picking and placing mechanism 32 and an installation platform 31, and the picking and placing mechanism 32 is configured to pick and place items. Figure 6 Shown is the carrying part 321 of the picking and placing mechanism 32. The picking and placing mechanism 32 is rotatably connected to the installation platform 31 to rotate relative to the installation platform 31 to different directions. Among them, a connection structure 31b is provided on the installation platform 31, and the connection structure 31b is connected to the lifting mechanism 311 so that the installation platform 31 can be lifted along the height direction of the gantry assembly 2 under the drive of the lifting mechanism 311.

[0097] The picking and placing device 3 of the embodiment of the present application further includes a moving component 6, and the moving component 6 is respectively connected to the picking and placing mechanism 32 and the installation platform 31, so that the picking and placing mechanism 32 can rotate relative to the installation platform 31 under the drive of the moving component 6.

[0098] Refer to Figure 8 As shown, specifically, the moving component 6 includes a driving mechanism 6a connected to the installation platform 31, and the power output end of the driving mechanism 6a is located on the rotation axis of the picking and placing mechanism 32 and is connected to the picking and placing mechanism 32 to drive the picking and placing mechanism 32 to rotate relative to the installation platform 31.

[0099] The driving mechanism 6a can directly transmit the rotational force to the picking and placing mechanism 32 through the power output end, so that the picking and placing mechanism 32 rotates relative to the installation platform 31. Compared with the related art, the moving component 6 of the embodiment of the present application does not need to be provided with a transmission structure such as a belt or a chain, but more directly drives the picking and placing mechanism 32 to rotate relative to the installation platform 31 through the driving mechanism 6a. The moving component 6 provided by the embodiment of the present application has a simple structure, low cost, high reliability, simple disassembly and assembly, convenient maintenance, low failure rate, and reduced occupied space, so as to realize the miniaturization of the entire picking and placing device 3. In addition, the moving component 6 of the embodiment of the present application omits the transmission mechanism, thereby realizing the lightweight of the moving component 6, and reducing the power consumption of the lifting mechanism 311 driving the picking and placing mechanism 32 to move up and down.

[0100] Refer to Figure 9 As shown, in some examples, the driving mechanism 6a includes a motor 61 and a reduction structure 62. Among them, the motor 61 may include a motor body 611 and a motor output shaft 612. After the motor body 611 is powered on, it can drive the motor output shaft 612 to rotate around its own axis.

[0101] The speed reduction structure 62 may include a power input shaft, a transmission main body 621, and a power output member 622. The two ends of the transmission main body 621 are respectively connected to the power input shaft and the power output member 622, so that the rotational force of the power input shaft is transmitted to the power output member 622 through the transmission main body 621. It can be understood that one end of the power output member 622 is configured as the power output end of the driving mechanism 6a, that is, one end of the power output member 622 is connected to the picking and placing mechanism 32, so that the power output member 622 drives the picking and placing mechanism 32 to rotate during rotation.

[0102] In some examples, the transmission main body 621 of the speed reduction structure 62 may include, but is not limited to, a gear transmission structure, a worm and worm gear transmission structure, etc., and the embodiments of the present application do not make limitations.

[0103] Taking the transmission main body 621 of the speed reduction structure 62 as a worm and worm gear structure as an example, the power input shaft of the speed reduction structure 62 is connected to the worm to drive the worm to rotate, and the worm gear rotates driven by the worm. The power output member 622 is connected to the worm gear to rotate driven by the worm gear, thereby driving the picking and placing mechanism 32 to rotate. It can be understood that in some examples, the power input shaft can directly serve as the worm, and the power output member 622 can directly serve as the worm gear and be connected to the picking and placing mechanism 32.

[0104] In some examples, the power input shaft of the speed reduction structure 62 and the motor output shaft 612 are two independent components, and the two are connected through structures such as an elastic coupling or a gear coupling. In this way, the motor output shaft 612 rotates driven by the motor body 611. The motor output shaft 612 transmits the rotational force to the power input shaft of the speed reduction structure 62, and then is transmitted to the power output member 622 through the transmission main body 621 to drive the picking and placing mechanism 32 to rotate.

[0105] In this example, the power input shaft, the transmission main body 621, and the power output member 622 of the speed reduction structure 62 all adjust the rotational speed output from the motor output shaft 612 to avoid the situation where the motor output shaft 612 directly drives the picking and placing mechanism 32 and causes uncontrollable speed. When setting, the extending directions of the power output shaft of the motor and the power input shaft of the speed reduction structure 62 can face different directions, such as perpendicular, so that the picking and placing mechanism 32 can avoid other components on the installation platform 31.

[0106] In some examples, the motor output shaft 612 is configured as the power input shaft of the speed reduction structure 62. In other words, the power input shaft of the speed reduction structure 62 is omitted, and the motor output shaft 612 is directly mated with the transmission main body 621 of the speed reduction structure 62, so that the motor output shaft 612 directly drives the transmission main body 621 of the speed reduction structure 62 to move, and the rotational force output by the motor output shaft 612 is transmitted to the power output member 622 through the transmission main body 621.

[0107] Continuing to take the transmission main body 621 of the speed reduction structure 62 as a worm - worm gear structure as an example, the motor output shaft 612 can be directly connected to the worm or directly used as the worm.

[0108] In this example, both the transmission main body 621 and the power output member 622 of the speed reduction structure 62 adjust the rotational speed output from the motor output shaft 612. It can be understood that the drive mechanism 6a in this example is a speed - reduction integrated motor, that is, the motor and the speed reduction structure in the above example are integrated. Thus, structures such as elastic couplings or gear couplings for connecting between the motor output shaft 612 and the power input shaft of the speed reduction structure can be saved, and the axial directions of the motor and the speed reduction structure 62 are also made consistent. Thereby, the miniaturization and integration of the drive mechanism 6a can be achieved, the occupied space of the drive mechanism 6a on the mounting platform 31 can be saved, and installation space for other components can be provided on the mounting platform 31. Also, the weight reduction of the drive mechanism 6a can be realized, and the power consumption for the mounting platform 31 to drive the drive mechanism 6a and the picking - placing mechanism 32 to move up and down can be reduced.

[0109] In some examples, when the drive mechanism 6a is a speed - reduction integrated motor, the rotational axis of the power output member 622 of the speed reduction structure 62 can coincide with the rotational axis of the motor output shaft 612, making the overall axis direction of the drive mechanism 6a consistent, and all located on the rotational axis of the picking - placing mechanism 32. In this way, the radial compactness of the drive mechanism 6a can be improved, and the occupied space of the drive mechanism 6a on the mounting platform 31 can be saved.

[0110] In some examples, the power output member 622 of the speed reduction structure 62 can be connected to the picking - placing mechanism 32 by means such as screw connection, snap connection, welding, etc., and the embodiments of the present application do not limit this.

[0111] For example, with reference to Figure 8 As shown, screw holes such as a first screw hole can be provided on the power output member 622 of the speed reduction structure 62, and screw holes coaxial with this screw hole such as a second screw hole can be provided on the bearing portion 321 of the picking - placing mechanism 32. The fixed connection between the picking - placing mechanism 32 and the power output member 622 is realized by fasteners such as screws passing through the first screw hole and the second screw hole.

[0112] In some examples, the driving mechanism 6a may include a housing 63, and both the motor and the reduction structure 62 are embedded in the housing 63, so that the motor 61 and the reduction structure 62 can be isolated from the external environment under the protection of the housing 63, avoiding damage to electronic components such as the motor 61 of the driving mechanism 6a caused by collision or water vapor, etc.

[0113] In addition, the motor 61 and the reduction structure 62 are arranged in the housing 63, and the housing 63 is connected to the mounting platform 31, so that the entire driving mechanism 6a is integrated in the housing 63, which can realize the modularization of the driving mechanism 6a, facilitate the assembly and disassembly between the driving mechanism 6a and the mounting platform 31, and also make the driving mechanism 6a more compact.

[0114] It can be understood that one side of the housing 63 facing the picking and placing mechanism 32 is an open structure, so as to facilitate the connection between the power output member 622 of the reduction structure 62 and the picking and placing mechanism 32.

[0115] In some examples, when the motor 61 and the reduction structure 62 are embedded in the housing 63, they can be connected to the inner wall of the housing 63. For example, at least one of the motor 61 and the reduction structure 62 is fixed on the inner wall of the housing 63 to improve the stability of the motor 61 and the reduction structure 62 in the housing 63. For example, both the motor 61 and the reduction structure 62 can be clamped or adhered to the inner wall of the housing 63.

[0116] In some examples, the housing 63 can be an integral structure, that is, the motor 61 and the reduction structure 62 are embedded in a housing 63. When the motor 61 or the reduction structure 62 needs to be repaired, the entire housing 63 needs to be removed.

[0117] In some examples, the housing 63 may include a first housing 631 and a second housing 632 that are detachably connected. The motor is embedded in the first housing 631, and the reduction structure 62 is embedded in the second housing 632. Exemplarily, after the motor 61 is embedded in the first housing 631, it can be connected to the first housing 631. After the reduction structure 62 is embedded in the second housing 632, it can be connected to the second housing 632 to improve the stability of the motor 61 and the reduction structure 62 in the housing 63.

[0118] By setting the housing 63 to include a first housing 631 and a second housing 632 that are detachably connected, when the motor 61 needs to be repaired, only the first housing 631 can be removed, maintaining the cooperation between the second housing 632 and the reduction structure 62. Or, when the reduction structure 62 needs to be repaired, only the second housing 632 can be removed, maintaining the cooperation between the first housing 631 and the motor 61, thereby simplifying the repair disassembly process for separately repairing the motor 61 or the reduction structure 62.

[0119] In some examples, the first housing 631 and the second housing 632 can be fixed by means of snap connection, screw connection, etc. The embodiments of the present application do not limit the connection manner between the first housing 631 and the second housing 632.

[0120] Figure 10 It is a schematic structural diagram of an installation platform provided by an embodiment of the present application. In some examples, a through hole 31a is provided on the installation platform 31, and the inner diameter of the through hole 31a is configured to be adapted to the outer diameter of the driving mechanism 6a; the driving mechanism 6a passes through the through hole 31a and is fixed on the installation platform 31.

[0121] In some examples, a part of the driving mechanism 6a can be located on the back surface of the installation platform 31, and another part, such as the power output end, is exposed on the front surface of the installation platform 31. For example, it can extend to the front surface of the installation platform 31 and be connected to the picking and placing mechanism 32 to drive the picking and placing mechanism 32 to rotate relative to the installation platform 31. It should be noted that the front surface of the installation platform 31 is the side where the picking and placing mechanism 32 is provided, and the back surface of the installation platform 31 is the side facing away from the picking and placing mechanism 32.

[0122] Exemplarily, at least a part of the power output member 622 of the deceleration structure 62, such as the power output end of the driving mechanism 6a, can extend out of the front surface of the installation platform 31 to facilitate connection with the picking and placing mechanism 32. Of course, in some examples, the power output member 622 of the driving mechanism 6a can also be located in the through hole 31a, and one end of the power output member 622, that is, the power output end of the driving mechanism 6a, is flush with the front surface of the installation platform 31 to reduce the occupied size of the front surface of the installation platform 31, as long as it is ensured that the picking and placing mechanism 32 can be connected to the power output end.

[0123] In some other examples, the power output end of the driving mechanism 6a may not be flush with the front surface of the installation platform 31. In this example, the picking and placing mechanism 32 can be provided with a connecting portion and extend into the through hole 31a of the installation platform 31 to be connected to the power output end and rotate under the drive of the driving mechanism 6a.

[0124] In some examples, in order to facilitate the fixation of the housing 63 to the installation platform 31, the moving component 6 may further include a connecting member 64 provided on the outer wall of the housing 63, and the connecting member 64 is connected to the installation platform 31 to improve the connection stability between the housing 63 and the installation platform 31.

[0125] For example, the connecting member 64 extends horizontally away from the axis of the housing 63 from the outer side wall of the housing 63, such that the connecting member 64 protrudes from the outer side wall of the housing 63. In this way, mounting structures such as screw holes or clamping members can be provided on the connecting member 64 to connect with the mounting platform 31. For example, screw holes can be provided on both the connecting member 64 and the mounting platform 31, and fasteners such as screws and rivets are passed through the screw holes on the connecting member 64 and the mounting platform 31 to realize the connection between the connecting member 64 and the mounting platform 31, thereby fixing the driving mechanism 6a on the mounting platform 31. The embodiments of the present application do not limit the connection manner between the connecting member and the mounting platform 31.

[0126] Figure 11 FIG. 4 is a schematic structural view of the mounting platform and the moving assembly provided by an embodiment of the present application from a second perspective. Refer to Figure 8 and Figure 11 As shown, in some examples, the connecting member 64 can be fixed to the outer edge of one end of the through hole 31a facing away from the picking and placing mechanism 32, that is, the connecting member 64 can be fixed to the side of the mounting platform 31 facing away from the picking and placing mechanism 32. For example, the connecting member 64 can be a protruding plate extending outward from the outer side wall of the housing 63, such as the first housing 631. The protruding plate is blocked on the back of the mounting platform 31 and is fixedly connected to the mounting platform 31.

[0127] In addition, when the moving assembly 6 is assembled with the mounting platform 31, as the moving assembly 6 passes through the through hole 31a from bottom to top through the through hole 31a of the mounting platform 31, the protruding plate will be blocked on the back of the mounting platform 31. At this time, the power output end of the moving assembly 6 reaches a suitable position for connecting with the picking and placing mechanism 32, that is, the protruding plate plays a preliminary positioning role in the installation process of the moving assembly 6, and then the protruding plate is fixed to the back of the mounting platform 31.

[0128] The setting of the connecting member 64, on the one hand, can increase the contact area between the connecting member 64 and the mounting platform 31, facilitating the fixed connection between the connecting member 64 and the mounting platform 31 and making the assembly between the connecting member 64 and the mounting platform 31 more stable. On the other hand, the connecting member 64 can play a positioning role in the assembly process of the moving assembly 6 and the mounting platform 31, preventing the power output end of the moving assembly 6 from protruding too much from the front of the mounting platform 31 and affecting the installation of the picking and placing mechanism 32, and improving the assembly efficiency of the moving assembly 6 and the mounting platform 31.

[0129] In some examples, the connecting member 64 can be in an annular structure and wound around the housing 63 for one week to increase the contact area between the connecting member 64 and the mounting platform 31 and improve the connection stability between the connecting member 64 and the mounting platform 31.

[0130] In some examples, there may be multiple connecting members 64. The multiple connecting members 64 are circumferentially spaced around the side wall of the housing 63, so as to save the amount of the connecting members 64 and reduce the weight of the entire moving assembly 6 on the basis of ensuring the assembly stability of the moving assembly 6 and the mounting platform 31.

[0131] For example, referring to Figure 8 and Figure 11 as shown, the number of the connecting members 64 is two, and the two connecting members 64 are respectively arranged on both sides of the housing 63.

[0132] In some examples, the connecting member 64 may be arranged on the first housing 631, so that when the connecting member 64 is fixed to the back surface of the mounting platform 31, the reduction structure 62 of the driving mechanism 6a can pass through the through hole 31a, and the power output end of the driving mechanism 6a can extend out of the through hole 31a to be connected with the picking and placing mechanism 32.

[0133] Of course, the examples in the embodiments of the present application do not exclude the example of arranging the connecting member 64 on the second housing 632, as long as it is ensured that one end of the power output member 622 in the second housing 632, that is, the power output end of the driving mechanism 6a, can pass through the through hole 31a to be connected with the picking and placing mechanism 32. The embodiments of the present application do not limit the arrangement position of the connecting member 64 on the housing 63.

[0134] In some examples, the connecting member 64 may be a structure independent of the housing 63, that is, the connecting member 64 and the housing 63 are of a split structure. For example, the connecting member 64 can be fixed to the housing 63 by means of screws, welding, bonding, etc. The embodiments of the present application do not limit the connection manner between the connecting member 64 and the housing 63.

[0135] In some examples, when the housing 63 includes a first housing 631 and a second housing 632 that are detachably connected, the first housing 631 and the second housing 632 can be connected by the connecting member 64, and then the connecting member 64 is connected to the mounting platform 31. In this way, the number of components of the driving mechanism 6a can be reduced, that is, no additional connecting structure is required to fix the first housing 631 and the second housing 632, the assembly process of the driving mechanism 6a can be simplified, and the overall size of the driving mechanism 6a can also be reduced, realizing the miniaturization and light weight of the driving mechanism 6a.

[0136] In some examples, the connecting member 64 can be an integrally formed unit with the housing 63. For example, the housing 63 and the connecting member 64 are directly integrally injection molded. In this way, on the one hand, the connection strength between the connecting member 64 and the housing 63 can be ensured, making the structure of the integral unit more stable, so as to ensure that the housing 63 is more stably fixed on the mounting platform 31 through the connecting member 64. On the other hand, the integrally formed connecting member 64 and housing 63 also simplify the connection process between the connecting member 64 and the housing 63, thus simplifying the assembly process of the moving component 6.

[0137] In the above example, the housing 63 is connected to the mounting platform 31 through the connecting member 64, that is, the housing 63 is indirectly connected to the mounting platform 31.

[0138] In some examples, the housing 63 can also be directly connected to the mounting platform 31. For example, the housing 63 can be connected to the mounting platform 31 by means of welding, screw connection, internal and external thread mating, snap connection, etc. The embodiments of the present application do not limit the connection method between the housing 63 and the mounting platform 31.

[0139] Referring to Figure 9 As shown, in some examples, the drive mechanism 6a can further include a rolling component 65. The rolling component 65 is arranged between the side wall of the power output member 622 and the inner wall of the housing 63. The power output member 622 is configured to roll along the inner wall of the housing 63 through the rolling component 65 during the process of driving the picking and placing mechanism 32 to rotate.

[0140] On the one hand, the power output member 622 is supported on the inner wall of the housing 63 through the rolling component 65. In this way, the situation that the power output member 622 tilts towards the inner wall of the housing 63 during rotation can be avoided, so as to ensure that the rotation axis of the power output member 622 is always consistent with the rotation axis of the motor output shaft 612, and thus the rotation axis of the picking and placing mechanism 32 will not be deflected. For example, it can be ensured that the rotation axis of the picking and placing mechanism 32 is perpendicular to the mounting platform 31, thereby ensuring that the docking position between the picking and placing mechanism 32 and the storage location on the carrier 5 will not be affected.

[0141] On the other hand, the setting of the rolling component 65 can realize the rolling contact between the power output member 622 and the inner wall of the housing 63, thereby reducing the frictional resistance between the power output member 622 and the inner wall of the housing 63 during rotation, ensuring the controllability of the rotational force output by the power output member 622 to the picking and placing mechanism 32, and enabling the power output member 622 to drive the picking and placing mechanism 32 to move smoothly at a controllable speed.

[0142] On the other hand, compared with additionally providing a bearing with an inner ring and an outer ring outside the driving mechanism 6a, the power output member 622 of the embodiment of the present application is supported on the inner side wall of the housing 63 through the rolling assembly 65, which not only achieves the effect of a bearing, but also reduces the number of components of the moving assembly 6 compared with additionally providing a bearing independent of the driving mechanism 6a for the moving assembly 6, realizing the miniaturization and light weight of the moving assembly 6.

[0143] For example, the housing 63 of the moving assembly 6 is directly regarded as the outer ring of the bearing, the power output member 622 is regarded as the inner ring of the bearing, and the rolling assembly 65 is regarded as the ball of the bearing, that is, the bearing is integrated in the driving mechanism 6a and is integrated with the driving mechanism 6a.

[0144] In some examples, the rolling assembly 65 can be a plurality of balls, rollers, etc. embedded in the power output member 622 or the inner side wall of the housing 63. For example, a plurality of balls are arranged at intervals along the side wall of the power output member 622 for one week, that is, a plurality of balls are arranged at intervals around the axis of the power output member 622.

[0145] In some examples, the rolling assembly 65 may include an annular fixing member and rolling members arranged in the annular fixing member. The annular fixing member is fixed to the power output member 622 or the inner side wall of the housing 63, and both sides of the rolling members are in contact with the power output member 622 and the inner side wall of the housing 63.

[0146] In some examples, the rolling assembly 65 can be one group or multiple groups. When the rolling assembly 65 is one group, the rolling assembly 65 can be arranged at any position along the axis of the power output member 622. When the rolling assembly 65 is multiple groups, multiple groups of rolling assemblies 65 can be arranged at intervals along the axis of the power output member 622 to increase the contact area between the power output member 622 and the inner side wall of the housing 63, thereby improving the stability and movement smoothness of the power output member 622 in the housing 63.

[0147] Figure 12 is one of the transverse sectional views of the moving assembly provided by an embodiment of the present application. Refer to Figure 9 and Figure 12 As shown, in some examples, the transmission main body 621 of the speed reduction structure 62 can be a gear structure. For example, the transmission main body 621 of the speed reduction structure 62 can include at least one set of gear sets 6211. Among them, the gear set 6211 includes a central gear 621a and a peripheral gear 621b.

[0148] The central gear 621a is connected to the motor output shaft 612. For example, the central gear 621a is sleeved and fixed on the motor output shaft 612 so that the rotation axis of the motor output shaft 612 is consistent with the rotation axis of the central gear 621a. The peripheral gear 621b meshes with the central gear 621a and is connected to the power output member 622.

[0149] An internal tooth 63a is provided on the inner sidewall of the housing 63, and the outer peripheral gear 621b meshes with the internal tooth 63a to rotate around the central gear 621a driven by the central gear 621a, so as to drive the power output member 622 to rotate.

[0150] For example, during the rotation of the central gear 621a driven by the motor output shaft 612, the central gear 621a can drive the outer peripheral gear 621b to rotate. Since the outer peripheral gear 621b meshes with the internal tooth 63a on the inner sidewall of the housing 63, the outer peripheral gear 621b can rotate around the central gear 621a, that is, rotate along the inner sidewall of the housing 63. Since the outer peripheral gear 621b is connected to the power output member 622, in this way, the outer peripheral gear 621b can drive the power output member 622 to rotate around the central gear 621a.

[0151] It can be understood that the outer peripheral gear 621b is arranged between the central gear 621a and the inner sidewall of the housing 63, and one side of the outer peripheral gear 621b meshes with the central gear 621a, and the other side meshes with the internal tooth 63a on the inner sidewall of the housing 63.

[0152] In some examples, the transmission main body 621 of the deceleration structure 62 may include a set of gear sets 6211. For example, the central gear 621a of the gear set 6211 is directly connected to the motor output shaft 612, and the gear shaft a of the outer peripheral gear 621b of the gear set 6211 can be directly connected to the power output member 622. In this way, the rotational force of the motor output shaft 612 can be first transmitted to the outer peripheral gear 621b through the central gear 621a, and then the outer peripheral gear 621b transmits the rotational force to the power output member 622, realizing the first-stage transmission of the rotational force of the motor output shaft 612.

[0153] Exemplarily, the central gear 621a can be directly fixedly sleeved on the motor output shaft 612, or a ring of external teeth can be integrally formed on the sidewall of the motor output shaft 612 to simplify the structural assembly process of the drive mechanism 6a.

[0154] In some examples, the gear shaft of the outer peripheral gear 621b can be directly fixedly connected to the power output member 622. For example, the gear shaft of the outer peripheral gear 621b can be connected to the power output member 622 by means of welding, clamping or screw fixation.

[0155] In some examples, mounting holes can be formed in the power output member 622, and the gear shaft of the outer gear 621b passes through the mounting holes but is not connected to the hole wall of the mounting holes. In this way, during the rotation of the outer gear 621b around the central gear 621a, the power output member 622 is pushed to rotate by the gear shaft of the outer gear 621b, thereby reducing the connecting components between the outer gear 621b and the power output member 622 and simplifying the assembly process between the outer gear 621b and the power output member 622.

[0156] In some examples, the distance between the connection position of the outer gear 621b and the power output member 622 and the center of the power output member 622 is the first distance, and the distance between the gear shaft of the outer gear 621b and the gear shaft of the central gear 621a is the second distance. The first distance can be equal to the second distance, so that the rotation axis of the power output member 622 is consistent with the rotation axis of the central gear 621a, thereby making the rotation axis of the power output member 622 coincide with the rotation axis of the motor output shaft 612, ensuring the structural compactness of the drive mechanism 6a and the precise control of the rotation speed of the motor output shaft 612 by the reduction structure 62.

[0157] When setting, the power output member 622 and the central gear 621a can be coaxially arranged to ensure that the first distance and the second distance are equal.

[0158] Of course, in some examples, the first distance and the second distance may not be the same, as long as it is ensured that the power output member 622 can rotate.

[0159] Refer to Figure 9 As shown in the figure, in some examples, the transmission main body 621 of the reduction structure 62 can be a two-stage transmission. For example, at least one set of gear groups 6211 can include a first gear group 6211a and a second gear group 6211b, and the first gear group 6211a and the second gear group 6211b are stacked along the extension direction of the motor output shaft 612.

[0160] The reduction structure 62 further includes a fixing bracket 6212. The outer gear 621b of the first gear group 6211a is connected to the fixing bracket 6212 and deviates from the central axis of the fixing bracket 6212, so as to drive the fixing bracket 6212 to rotate during the rotation of the outer gear 621b around the central gear 621a. It can be understood that the central gear 621a of the first gear group 6211a is fixedly connected to the motor output shaft 612.

[0161] In some examples, the outer gear 621b of the first gear group 6211a can be connected to the fixing bracket 6212 through the gear shaft of the outer gear 621b. The specific connection method can be the same as the connection method between the outer gear 621b and the power output member 622 in the above examples, and will not be elaborated here.

[0162] For example, the output shaft 612 of the motor can drive the central gear 621a of the first set of gear sets 6211 to rotate. The central gear 621a can drive the peripheral gear 621b to rotate. Since the peripheral gear 621b meshes with the internal teeth 63a on the inner side wall of the housing 63, the peripheral gear 621b can rotate around the central gear 621a, that is, rotate along the inner side wall of the housing 63. Since the peripheral gear 621b is connected to the fixing bracket 6212, in this way, the peripheral gear 621b can drive the fixing bracket 6212 to rotate around the central gear 621a.

[0163] In addition, the central gear 621a of the second gear set 6211b is fixed on the fixing bracket 6212 and is located on the central axis of the fixing bracket 6212 to rotate under the drive of the fixing bracket 6212. It can be understood that the peripheral gear 621b of the second gear set 6211b is directly connected to the power output member 622, so that when the central gear 621a of the second gear set 6211b drives the peripheral gear 621b to rotate along the inner side wall of the housing 63, the power output member 622 can rotate around the gear axis of the central gear 621a during the rotation of the peripheral gear 621b.

[0164] It can be understood that the connection manner between the peripheral gear 621b of the second gear set 6211b and the power output member 622 can directly refer to the connection manner between the peripheral gear 621b and the power output member 622 in the above example, and will not be elaborated here.

[0165] When the transmission main body 62 of the speed reduction structure 62 has two sets of gear sets 6211, the rotational force output by the motor output shaft 612 can be transmitted through the meshing of the two sets of central gears 621a and peripheral gears 621b, realizing the two-stage transmission of the speed reduction structure 62.

[0166] Of course, the speed reduction structure 62 in the embodiment of the present application is not limited to two sets of gear sets 6211, and more than two sets of gear sets 6211 can also be provided, which can be specifically adjusted according to actual needs. It can be understood that adjacent two sets of gear sets 6211 are connected by the fixing bracket 6212. For example, the peripheral gear 621b of the lower-level gear set 6211 is connected to the central gear 621a of the adjacent-level gear set 6211 through the fixing bracket 6212, and the peripheral gear 621b of the highest-level gear set 6211 is directly connected to the power output member 622.

[0167] In the embodiment of the present application, by directly providing the internal teeth 63a on the inner side wall of the housing 63 to mesh with the gear sets 6211 of the speed reduction structure 62, the housing 63 as a component is reasonably utilized, and there is no need to additionally provide an internal tooth 63a member independent of the housing 63, such as a gear ring. Thus, the number of components of the drive mechanism 6a is reduced, the high integration of the drive mechanism 6a is realized, and the miniaturization and light weight of the drive mechanism 6a are achieved.

[0168] In some examples, the picking and placing mechanism 32 is configured to rotate relative to the mounting platform 31 to face the first direction. For example, the picking and placing mechanism 32 can be rotated relative to the mounting platform 31 under the drive of the moving component 6 so that the picking and placing member 322 of the picking and placing mechanism 32 faces the first direction, so as to pick and place the items of the vehicle 5 in the first direction in the roadway. The picking and placing mechanism 32 is further configured to rotate relative to the mounting platform 31 to face the second direction. For example, the picking and placing mechanism 32 can be rotated relative to the mounting platform 31 under the drive of the moving component 6 so that the picking and placing member 322 of the picking and placing mechanism 32 faces the second direction, so as to pick and place the items of the vehicle 5 in the second direction in the roadway.

[0169] Refer to Figure 2 As shown, the first direction can be referred to the x direction shown, and the second direction can be referred to the opposite direction of x shown. The picking and placing mechanism 32 is configured to extend in the first direction or the second direction to complete the picking and placing of the items in the first direction or the second direction. The first direction and the second direction in the present disclosure are defined to clearly illustrate the picking and placing actions of the picking and placing mechanism 32, and the first direction and the second direction can be two opposite directions.

[0170] In some examples, the picking and placing mechanism 32 can rotate relative to the mounting platform 31 to the third direction. The third direction can be the direction in which the picking and placing mechanism 32 faces the temporary storage position 21. Refer to Figure 2 the y direction in. The included angle between the third direction and the first direction is 90°. For example, when the picking and placing mechanism 32 takes out the items of one of the vehicles 5 from the first direction, it can rotate 90° to face the temporary storage position 21, and then place the items on the temporary storage position 21. Then the picking and placing mechanism 32 rotates to the first direction or the second direction again to continue picking other items on the vehicle 5.

[0171] Refer to Figure 2 and Figure 5 In the embodiment of the present application, the handling robot may further include a support component 4. The support component 4 is arranged on the mounting platform 31. Specifically, it can be arranged on the side of the mounting platform 31 away from the gantry component 2. The support component 4 is configured to move between a first position and a second position. When in the first position, the support component 4 extends to abut against the vehicle 5; when in the second position, the support component 4 retracts relative to the vehicle 5. The support component 4 is in the second position in the initial state, and at this time the support component 4 does not play a supporting role. When support is required, the support component 4 is configured to extend relative to the handling robot until it abuts against the vehicle 5 located on one side of the handling robot. This is the first position at this time. This is beneficial to keeping the relative positions of the picking and placing mechanism 32 and the vehicle 5 stable, so as to achieve the purpose of improving the success rate of the picking and placing mechanism 32 in picking and placing the target container.

[0172] There are at least two support components 4, denoted as the first support component 4014 that extends in the first direction and the second support component 4024 that extends in the opposite direction. As shown in the figure, in the present disclosure, the support component 4 that extends in the first direction is defined as the first support component 4014, and the support component 4 that extends in the second direction is defined as the second support component 4024. The specific structures of the first support component 4014 and the second support component 4024 are exactly the same, and the only difference is the extension direction.

[0173] The handling robot is configured to control the first support component 4014 and the second support component 4024 to extend the same or different displacements toward opposite sides based on the detected distance between itself and the vehicle 5 in the first direction and the width of the roadway.

[0174] In a specific application scenario of the present disclosure, the width of the roadway between the vehicles 5 is a fixed value, and a distance sensor may be provided in the picking and placing mechanism 32 or the support component 4. For example, the distance sensor can measure the distance information between itself and the vehicle 5 in the first direction and transmit the distance information to the control server; the control server can calculate the length that the first support component 4014 needs to extend according to the preset information (such as the distance data information between the distance sensor and the first support component 4014 in the first direction); the first support component 4014 can extend the corresponding distance under the control of the control server to abut against the vehicle 5 in the first direction; at the same time, the control server can also calculate the length that the second support component 4024 needs to extend according to the width of the roadway; the second support component 4024 can extend the corresponding length under the control of the control server to abut against the vehicle 5 in the second direction. In addition to the above-mentioned distance sensor, distance information can also be obtained by other means such as setting an image acquisition device. The present disclosure does not specifically limit the way for the handling robot to obtain distance information.

[0175] The above specific embodiments further elaborate on the purpose, technical solution, and beneficial effects of the embodiments of the present application. It should be understood that the above are only the specific embodiments 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 in the protection scope of the embodiments of the present application.

Claims

1. A pick-and-place device, characterized in that, Including: A pick-and-place mechanism (32) configured to pick and place articles; An installation platform (31), wherein the pick-and-place mechanism (32) is rotatably connected to the installation platform (31); A motion assembly (6), including a driving mechanism (6a) connected to the installation platform (31), wherein the power output end of the driving mechanism (6a) is located on the rotation axis of the pick-and-place mechanism (32) and is connected to the pick-and-place mechanism (32) to drive the pick-and-place mechanism (32) to rotate relative to the installation platform (31); Wherein, the driving mechanism (6a) includes a motor (61) and a reduction structure (62), the motor output shaft (612) of the motor (61) is configured as the power input shaft of the reduction structure (62), and one end of the power output member (622) of the reduction structure (62) is configured as the power output end.

2. The pick-and-place device according to claim 1, wherein The driving mechanism (6a) includes: A housing (63), wherein the motor (61) and the reduction structure (62) are both embedded in the housing (63); The housing (63) is connected to the installation platform (31).

3. The pick-and-place device according to claim 2, characterized in that, The driving mechanism (6a) further includes a rolling assembly (65); The rolling assembly (65) is arranged between the side wall of the power output member (622) and the inner side wall of the housing (63), and the power output member (622) is configured to roll along the inner side wall of the housing (63) through the rolling assembly (65) during the process of driving the pick-and-place mechanism (32) to rotate.

4. The pick-and-place device according to claim 2, wherein The reduction structure (62) includes at least one set of gear sets (6211); The central gear (621a) of the gear set (6211) is fixed to the motor output shaft (612), the peripheral gear (621b) of the gear set (6211) meshes with the central gear (621a) and is connected to the power output member (622); Inner teeth (63a) are provided on the inner side wall of the housing (63), and the peripheral gear (621b) meshes with the inner teeth (63a) to rotate around the central gear (621a) under the drive of the central gear (621a) to drive the power output member (622) to rotate.

5. The pick-and-place device according to claim 4, wherein, The at least one set of gear sets (6211) includes a first gear set (6211a) and a second gear set (6211b), and the first gear set (6211a) and the second gear set (6211b) are stacked along the extension direction of the motor output shaft (612); The reduction structure (62) further includes a fixing frame (6212), the peripheral gear (621b) of the first gear set (6211a) is connected to the fixing frame (6212) and deviates from the central axis of the fixing frame (6212) to drive the fixing frame (6212) to rotate during the process of the peripheral gear (621b) rotating around the central gear (621a); The central gear (621a) of the second gear set (6211b) is fixed on the fixing bracket (6212) and is located on the central axis of the fixing bracket (6212) to rotate under the drive of the fixing bracket (6212).

6. The pick-and-place device according to claim 2, wherein, The moving assembly (6) includes a connecting member (64); The connecting member (64) is arranged on the outer wall of the housing (63) and is connected to the mounting platform (31).

7. The pick-and-place device according to claim 6, wherein, A through hole (31a) is provided on the mounting platform (31), and the inner diameter of the through hole (31a) is configured to be adapted to the outer diameter of the driving mechanism (6a); the driving mechanism (6a) passes through the through hole (31a); the connecting member (64) is fixed to the outer edge of the side of the through hole (31a) facing away from the picking and placing mechanism (32).

8. The pick-and-place device according to claim 2, wherein The housing (63) includes a first housing (631) and a second housing (632); The motor (61) is embedded in the first housing (631), and the reduction structure (62) is embedded in the second housing (632); The first housing (631) and the second housing (632) are detachably connected.

9. The pick-and-place device according to claim 1, characterized in that, The rotation axis of the power output member (622) of the reduction structure (62) coincides with the rotation axis of the motor output shaft (612).

10. The pick-and-place device according to any one of claims 1-9, characterized in that, The picking and placing mechanism (32) is configured to rotate relative to the mounting platform (31) to face the first direction, so as to pick and place the items of the vehicle (5) in the first direction in the roadway; the picking and placing mechanism (32) is further configured to rotate relative to the mounting platform (31) to face the second direction, so as to pick and place the items of the vehicle (5) in the second direction in the roadway.

11. A handling robot, characterized in that, Comprising: A chassis assembly (1); A gantry assembly (2) provided on the chassis assembly (1); A picking and placing mechanism (32) configured to pick and place items; A mounting platform (31), the picking and placing mechanism (32) is rotatably connected to the mounting platform (31), and the mounting platform (31) is configured to drive the picking and placing mechanism (32) to lift along the gantry assembly (2); A moving assembly (6) including a driving mechanism (6a) connected to the mounting platform (31), the power output end of the driving mechanism (6a) is located on the rotation axis of the picking and placing mechanism (32) and is connected to the picking and placing mechanism (32) to drive the picking and placing mechanism (32) to rotate relative to the mounting platform (31); Wherein, the driving mechanism (6a) includes a motor (61) and a reduction structure (62), the motor output shaft (612) of the motor (61) is configured as the power input shaft of the reduction structure (62), and one end of the power output member (622) of the reduction structure (62) is configured as the power output end.

12. The handling robot according to claim 11, characterized in that, A temporary storage position (21) is provided on the gantry assembly (2); The picking and placing mechanism (32) is configured to rotate relative to the mounting platform (31) under the drive of the driving mechanism (6a) to face the temporary storage position (21), so that items can be transferred between the picking and placing mechanism (32) and the temporary storage position (21).

13. A motion component is applied to a pick-and-place device, characterized in that, Comprising: The driving mechanism (6a) is configured to be connected to the mounting platform (31) of the pick-and-place device. The power output end of the driving mechanism (6a) is configured to be disposed on the rotation axis of the pick-and-place mechanism (32) of the pick-and-place device and connected to the pick-and-place mechanism (32) to drive the pick-and-place mechanism (32) to rotate relative to the mounting platform (31). Wherein, the driving mechanism (6a) includes a motor (61) and a speed reduction structure (62). The motor output shaft (612) of the motor (61) is configured to be the power input shaft of the speed reduction structure (62), and one end of the power output member (622) of the speed reduction structure (62) is configured to be the power output end.

14. The motion component according to claim 13, wherein, The driving mechanism (6a) includes: A housing (63), both the motor (61) and the speed reduction structure (62) are embedded in the housing (63); The housing (63) is configured to be connected to the mounting platform (31).

15. The motion component according to claim 14, characterized in that, The driving mechanism (6a) further includes a rolling component (65); The rolling component (65) is disposed between the side wall of the power output member (622) and the inner side wall of the housing (63). The power output member (622) is configured to roll along the inner side wall of the housing (63) through the rolling component (65) during the process of driving the pick-and-place mechanism (32) to rotate.

16. The motion component according to claim 15, characterized in that, The speed reduction structure (62) includes at least one set of gear sets (6211); The central gear (621a) of the gear set (6211) is fixed to the motor output shaft (612). The peripheral gear (621b) of the gear set (6211) meshes with the central gear (621a) and is connected to the power output member (622); Internal teeth (63a) are provided on the inner side wall of the housing (63). The peripheral gear (621b) meshes with the internal teeth (63a) to rotate around the central gear (621a) under the drive of the central gear (621a), so as to drive the power output member (622) to rotate.

17. The motion component according to any one of claims 13-16, characterized in that, The rotation axis of the power output member (622) of the speed reduction structure (62) coincides with the rotation axis of the motor output shaft (612).

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