Object taking mechanism and carrying robot

Abstract

The embodiment of the utility model provides an object taking mechanism and a transfer robot. The object taking mechanism comprises a base; the telescopic structure is arranged on the base, and the free end of the telescopic structure selectively extends out of or retreats back to the base; the object taking assembly is arranged at the free end, the object taking assembly can be driven by the free end to move relative to the base, and the object taking assembly is configured to act on the front end face of the target object when the target object is taken and returned so as to carry the target object; wherein the front end face of the target object is the end face, facing the object taking assembly, of the target object when the target object is to be taken and returned; the driving structure is connected with the telescopic structure, and the driving structure drives the free end to stretch out of or retreat back to the base so as to drive the object taking assembly to do reciprocating motion in the target goods allocation and the base; and 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 extend out of the base so as to support the target object when the object taking assembly carries the target object.

Description

[0001] This application is a divisional application. The application number of the original application is 202322787876.2, and the original application date is October 17, 2023. The entire content of the original application is incorporated into this application by reference. Technical Field

[0002] The present application belongs to the technical field of warehousing and logistics equipment, and in particular to picking mechanisms and handling robots. Background Art

[0003] Handling robots are important equipment in warehousing. They can automatically place target items (such as cargo boxes) onto target carriers (such as shelves) to complete the loading process (such as the box return process). They can also remove target items from the target carrier and then transport them to the designated location.

[0004] The box-retrieving mechanism of current handling robots includes a telescopic fork with a rotating finger mounted on the front end of the fork. To retrieve or return a box, the fork, driven by a first drive member, extends into the side of the box, while the finger moves behind the box to either remove the box from the shelf or place it between the forks.

[0005] However, current handling robots require that when cargo boxes are stored on shelves, there must be a certain distance between the left and right sides and the front and back sides of the cargo boxes to reserve space for the telescopic forks and shift fingers to move, which reduces the storage density of the cargo boxes. Utility Model Content

[0006] The present application provides a picking mechanism and a transporting robot, which do not need to be inserted into the gap between adjacent cargo boxes when transporting cargo boxes. Therefore, when the cargo boxes are stored, the gap between adjacent cargo boxes can be effectively reduced, thereby effectively improving the storage density of the cargo boxes.

[0007] According to a first aspect of an embodiment of the present application, there is provided a retrieval mechanism, comprising:

[0008] base;

[0009] A telescopic structure is provided on the base, wherein the free end of the telescopic structure can selectively extend or retract into the base;

[0010] The object-retrieving assembly is provided at the free end and can move relative to the base under the drive of the free end. The object-retrieving assembly is configured to act on the front face of the target object when retrieving the target object to transport the target object; wherein the front face of the target object is the end face of the target object facing the object-retrieving assembly when the target object is to be retrieved;

[0011] A driving structure connected to the telescopic structure drives the free end to extend or retract to the base, thereby driving the picking component to reciprocate between the target cargo position and the base;

[0012] The follower tray is located at least partially on the moving path of the target item when the picking assembly retrieves and returns the target item, and the follower tray can extend from the base to support the target item when the picking assembly carries the target item.

[0013] In one implementation, the follower tray is movably connected to the base; when the follower tray extends out of the base, the follower tray is configured to be located between the target carrier and the base.

[0014] In one implementation, the follower tray is slidably disposed on the base;

[0015] A first force-applying member is provided on the telescopic structure, and a force-receiving portion is provided on the follower tray. The first force-applying member can apply a force to the force-receiving portion at least when the telescopic structure contracts, so as to drive the follower tray to retract into the base.

[0016] In one implementation, the telescopic structure is a scissor-fork structure, which 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-fork structure, and the second hinge positions are located on both sides of the arrangement direction of the plurality of first hinge positions;

[0017] The first force-applying member is arranged at the second hinge position. When the scissor fork structure contracts and drives the follower tray to retreat into the base, the first force-applying member slides in contact with the force-bearing part, and when the follower tray retreats into the base, the first force-applying member applies force to the force-bearing part.

[0018] In one implementation, a rolling member is provided on any one of the first force applying member and the force receiving portion, and the rolling member is in rolling contact with the other one of the first force applying member and the force receiving portion.

[0019] In one implementation, the rolling element includes any one of a first roller and a ball.

[0020] In one implementation, the follower tray is located between the telescopic structure and the base, and the first force applying member is provided on a side of the telescopic structure facing the follower tray;

[0021] The force-bearing portion is located on a side of the follower tray facing the first force-applying member; and the first force-applying member is located on a side of the force-bearing portion facing outside the base.

[0022] In one implementation, two second hinge positions located on opposite sides of the same first hinge position are both provided with a first force applying member.

[0023] In one implementation, the object-retrieving mechanism further includes: a force storage member, a portion of the force storage member being connected to the base, and another portion of the force storage member being connected to the follower tray;

[0024] The force storage member is configured to store force when the telescopic structure drives the follower tray to retract into the base, so that when the telescopic structure extends out of the base, the force storage member drives the follower tray to extend out of the base.

[0025] In one implementation, the force storage member includes an elastic member, one end of the elastic member is connected to the base, and the other end of the elastic member is connected to the follower tray.

[0026] In one implementation, the driving structure includes a first driving member and a transmission member, wherein the first driving member is connected to the transmission member;

[0027] One of the multiple first hinge positions is configured as a power hinge position, which is connected to the transmission member. When the first driving member drives the transmission member to move relative to the base, the transmission member drives the telescopic structure to extend or retract to the base through the power hinge position.

[0028] In one implementation, the transmission member includes a power wheel, an idler wheel, and a transmission belt;

[0029] The power wheel and the idler wheel are spaced apart, the transmission belt is sleeved on the power wheel and the idler wheel, and the power hinge is connected to the transmission belt;

[0030] The power output shaft of the first driving member is connected to the power wheel, and drives the transmission belt through the power wheel and the idler wheel to drive the telescopic structure to extend or retract to the base.

[0031] In one implementation, the object-picking mechanism further includes a first slider and a first guide rail, the first slider being connected to the power hinge, the first guide rail being provided on the base, and the first slider being slidably provided on the first guide rail;

[0032] Along the telescopic direction of the telescopic structure, the movable distance of the power hinge position is less than the length of the first guide rail.

[0033] In one implementation, the scissor fork structure includes two sets of scissor fork units arranged opposite to each other, a first connecting rod and a second connecting rod;

[0034] The first connecting rod is connected between the first hinge positions of the two groups of scissor fork units, and the second connecting rod is connected between the second hinge positions of the two groups of scissor fork units.

[0035] In one implementation, the object-retrieving mechanism further includes a limiting link, which is connected between the base and the telescopic structure to limit the translation of the telescopic structure relative to the base;

[0036] And / or, a limiting link is connected between the telescopic structure and the picking assembly to limit the translation of the telescopic structure relative to the picking assembly;

[0037] The limiting connecting rod is located on a side of the telescopic structure facing away from the base.

[0038] In one implementation, the object-retrieving mechanism further includes a first limiting member having a limiting groove;

[0039] The first limiting member is provided on the base, and a first connecting rod located at the fixed end of the scissor fork structure is passed through the limiting groove, and the first connecting rod can move along the limiting groove;

[0040] And / or, the first limiting member is provided on the object-picking assembly, and a first connecting rod located at the free end of the scissor fork structure is passed through the limiting groove, and the first connecting rod can move along the limiting groove.

[0041] In one implementation, the picking mechanism further includes a limiting link and a first limiting member, wherein the limiting link is connected between the base and the picking assembly and the picking assembly;

[0042] The first limiting member has a limiting groove. The first limiting member is arranged on the other of the base and the object-picking component. A first connecting rod located at one end of the scissor fork structure is passed through the limiting groove.

[0043] In one implementation, the picking mechanism further includes a displacement sensor configured to monitor the moving distance of the picking component.

[0044] In one implementation, the displacement sensor includes any one of a wire encoder, a laser ranging sensor, an ultrasonic sensor, and a millimeter wave sensor.

[0045] In one implementation, the object-retrieving assembly includes a second mounting plate and a suction cup, wherein the second mounting plate is disposed at the free end, and the suction cup is disposed on the second mounting plate and configured to absorb the target object;

[0046] Alternatively, the object-picking component includes a hook structure configured to hook the target object.

[0047] In one implementation, the object-picking mechanism further includes: a second position-limiting member, which is disposed on the base and located at the front end of the follower tray; the second position-limiting member has a first state and a second state;

[0048] In the first state, at least a portion of the second position-limiting member extends beyond the support surface of the follower tray; in the second state, the second position-limiting member is lower than the support surface of the follower tray;

[0049] The second limiting member is configured to be in the second state when the follower tray at least partially extends outside the base, and to be in the first state when the follower tray is located inside the base, so as to limit the moving direction of the target object on the follower tray.

[0050] In one implementation, the second limiting member includes a first portion and a second portion, the first portion and the second portion have an included angle, a connection between the first portion and the second portion is rotatably connected to the base, and the first portion is located at the bottom of the follower tray;

[0051] A resistance member is provided at the front end of the follower tray, which is provided between the first part and the second part. The resistance member is configured to push the second part when the front end of the follower tray extends out of the base, so that the second part rotates to the bottom of the support surface of the follower tray, so that the second limit member is in the second state, and push the first part when the front end of the follower tray retracts to the base, so that the second part rotates to the support surface extending out of the follower tray, so that the second limit member is in the first state.

[0052] In one implementation, the first part has a second roller that can rotate around its own axis, the circumferential surface of the second roller faces the resistance member, and the resistance member is configured to push the first part when the front end of the follower tray is retracted to the base, including: the resistance member is configured to push the second roller when the front end of the follower tray is retracted to the base;

[0053] And / or, the resistance member has a third roller that can rotate around its own axis, and the circumferential surface of the third roller faces the second part; the resistance member is configured to push the second part when the front end of the follower tray extends outside the base, including: the third roller is configured to push the second part when the front end of the follower tray extends outside the base.

[0054] In one implementation, a side surface of the resistance member facing the second roller is configured as a guide slope, which is inclined toward the base. When the front end of the follower tray retracts to the base, the second roller rolls along the guide slope.

[0055] In one implementation, the picking mechanism further includes: a second driving member, the second driving member is connected to the second limiting member, and the second driving member is configured to drive the second limiting member to move relative to the base so that the second limiting member switches between the first state and the second state.

[0056] In one implementation, the picking mechanism further includes: a depth camera, a QR code camera, at least one of a first sensor, a second sensor, a third sensor, and a fourth sensor, and a controller; wherein the controller is configured to determine the height of the target cargo location according to the recognition status of the QR code of the target cargo location by the QR code camera; and / or the controller is configured to determine the deflection distance according to the image of the target cargo location taken by the depth camera; and adjust the position of the picking component based on the cargo location height and / or the deflection distance, so that the picking component moves to the designated position of the target carrier;

[0057] The controller is further configured to determine whether the picking component is in the initial position according to the first trigger signal of the first sensor, or the controller is further configured to determine whether the picking component is in the initial position according to the zero position signal of the drive structure motor encoder;

[0058] The controller is further configured to determine whether there is a target object on the picking component in the initial position according to the second trigger signal of the second sensor;

[0059] The controller is further configured to determine whether the target cargo location has a target item according to a third trigger signal of the third sensor;

[0060] The controller is further configured to determine a position state between the target object and the object-retrieving component according to a fourth trigger signal from the fourth sensor;

[0061] The position state is that when the distance between the picking component and the target item on the target storage location is less than or equal to a first preset distance during the process of the picking component moving toward the target storage location, the controller controls the picking component to approach the target item at a first preset speed; or, the position state is that when the distance between the picking component and the target item is less than or equal to a second preset distance during the process of the picking component retreating into the base, the controller determines that there is a target item on the picking component.

[0062] According to a second aspect of an embodiment of the present application, there is provided a transport robot, comprising:

[0063] chassis;

[0064] a mast mounted on the chassis; and

[0065] The picking mechanism provided in any one of the first aspects of the embodiments of the present application is arranged on a door frame, and the picking mechanism can be raised and lowered along the door frame.

[0066] In one implementation, the transport robot further includes:

[0067] Temporary storage board, set on the door frame;

[0068] The rotating mechanism is connected to the picking mechanism, and is configured to drive the picking mechanism to rotate so that the picking mechanism stores the target object on the temporary storage board, or the picking mechanism takes the target object from the temporary storage board.

[0069] The picking mechanism and transport robot provided in the embodiments of the present application are configured such that a picking component is arranged at the free end of the telescopic mechanism arranged on the base, and the free end of the telescopic mechanism drives the picking component to extend out of the base when extending out of the base, or drives the picking component to return to the base when retracting into the base; thereby enabling the picking component to transport and exchange target items between the base and the target cargo position; wherein, when the picking component picks up 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 picking component when to be picked up and returned). In this way, compared with the related art, there is no need to insert the end of the picking component facing away from the movable seat (facing / towards the target item) into the gap between two adjacent target items. That is to say, when storing the target items, there is no need to maintain 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 items is effectively improved.

[0070] In addition, in the embodiment of the present application, the driving structure is connected to the telescopic structure, and the free end of the telescopic structure is driven to extend or retract to the base. In this way, the telescopic distance of the free end of the telescopic structure can be increased, which facilitates the retrieval of target items deep inside the target carrier, thereby improving the applicability of the object-retrieving mechanism.

[0071] In addition, in an embodiment of the present application, by providing a follower tray, when the picking component retrieves and returns the target item, at least a portion of the follower tray is located on the moving path of the target item, and the follower tray can extend out of the base, thereby supporting the target item when the picking component carries the target item; in this way, the force that the picking component needs to apply to the target item can be reduced, thereby reducing the design requirements for the picking component and reducing the production and processing costs of the picking mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0073] Figure 1 This is a schematic diagram of the overall structure of the object-retrieving mechanism provided in an embodiment of the present application;

[0074] Figure 2 This is another overall structural diagram of the object-retrieving mechanism provided in an embodiment of the present application;

[0075] Figure 3 This is a schematic diagram of a state structure when the object-retrieving mechanism provided in an embodiment of the present application cooperates with the target carrier;

[0076] Figure 4 This is a schematic diagram of the structure of the telescopic structure and the follower tray in the object-picking mechanism provided in an embodiment of the present application;

[0077] Figure 5 This is a schematic structural diagram of the cooperation between the follower tray, the second slider, and the second slide rail in the object-picking mechanism provided in an embodiment of the present application;

[0078] Figure 6 This is a schematic structural diagram of the base in the object-retrieving mechanism provided in an embodiment of the present application;

[0079] Figure 7 This is a schematic diagram of the structure of the driving structure and the telescopic structure in the object-picking mechanism provided in an embodiment of the present application;

[0080] Figure 8 1 is a top view of the cooperation between the first driving member, the telescopic structure and the first guide rail in the object-retrieving mechanism provided in an embodiment of the present application;

[0081] Figure 9 This is a side view of the cooperation between the first driving member, the telescopic structure, and the first guide rail in the object-retrieving mechanism provided in an embodiment of the present application;

[0082] Figure 10 This is a schematic diagram of the overall structure of the first driving member, the telescopic structure, and the first guide rail in the object-retrieving mechanism provided in an embodiment of the present application;

[0083] Figure 11 This is another side view of the cooperation between the first driving member, the telescopic structure, and the first guide rail in the object-retrieving mechanism provided in an embodiment of the present application;

[0084] Figure 12 This is a schematic structural diagram of a retrieving component in a retrieving mechanism provided in an embodiment of the present application;

[0085] Figure 13 This is another overall structural diagram of the object-retrieving mechanism provided in an embodiment of the present application;

[0086] Figure 14 This is a structural diagram of the cooperation between the second limiting member and the follower tray in the object-picking mechanism provided in an embodiment of the present application;

[0087] Figure 15 This is another structural diagram of the cooperation between the second limiting member and the follower tray in the object-picking mechanism provided in an embodiment of the present application;

[0088] Figure 16 It is a structural diagram of the object-picking robot provided in an embodiment of the present application.

[0089] Description of reference numerals:

[0090] 1- Pick-up mechanism; 2- Door frame; 3- Chassis;

[0091] 11-base; 12-telescopic structure; 13-picking assembly; 14-driving structure; 15-following tray; 16-first slider; 17-first guide rail; 18-limiting link; 19-first limiting member; 110-displacement sensor; 111-second limiting member; 112-force storage member; 113-QR code camera; 114-controller; 115-depth camera; 116-first sensor; 117-second sensor; 118-third sensor;

[0092] 1101-base plate; 1102-first mounting plate; 1103-third slider; 1104-third guide rail; 1201-first force-applying member; 1202-scissor fork unit; 1203-first connecting rod; 1204-second connecting rod; 1301-second mounting plate; 1302-second force-applying member; 1303-air source device; 1304-support member; 1305-fourth sensor; 1401-first driving member; 1402-power wheel; 1403-transmission belt; 1404-idler wheel; 1501-force-bearing part; 1502-resistance member; 1503-third roller; 1504-guide ramp; 1505-second slider; 1506-second guide rail; 1901-limiting groove; 11101-first part; 11102-second part; 11103-second roller;

[0093] 12011-rolling element; 12021-scissor fork element; 12022-transmission rod; 12023-first hinge position; 12024-second hinge position. DETAILED DESCRIPTION

[0094] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0095] It should be noted that many specific details are set forth in the following description to facilitate a full understanding of the present application. However, the present application can also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific implementation methods disclosed below.

[0096] In the description of this application, it should be understood that the terms "upper," "lower," "horizontal," "bottom," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting this application. In this application, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium.

[0097] In this application, unless otherwise expressly specified or limited, the terms "connected," "connected," "fixed," and the like should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two elements or an interaction between two elements. However, the phrase "directly connected" indicates that the two connected entities are not connected through an intermediate structure, but are connected to form a whole through a connecting structure. Those skilled in the art can understand the specific meanings of the above terms in this application based on the specific circumstances.

[0098] In this application, references to "first," "second," and the like are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include at least one of these features.

[0099] To improve handling efficiency and reduce workload, handling robots are often used to retrieve and return boxes or target items from shelves. Handling robots are essential equipment in warehouses, capable of automatically placing target items (e.g., boxes) onto target carriers (e.g., shelves) to complete the loading process (e.g., returning boxes), as well as removing them from target carriers (e.g., retrieving boxes) and transporting them to designated locations.

[0100] In related art, the box-retrieving mechanism of a handling robot typically includes a telescopic fork and a finger rotatably mounted at the front end of the fork. When retrieving or returning a box, the fork, driven by a first drive member, extends into the side of the box to grip the box. Furthermore, when retrieving a box, once the fork has entered the shelf and its front end has extended beyond the box, the finger rotates to the rear end of the box to assist the fork in retrieving the box from the shelf.

[0101] During the above-mentioned process of retrieving and returning boxes, a certain gap must be maintained between adjacent boxes when the boxes are placed or put on the shelves (for the telescopic fork to be inserted or pulled out), and a certain distance must be maintained between the front and rear boxes (for the dial finger to be extended). This gap occupies part of the space for storing the boxes, resulting in a low storage density of the boxes on the shelves.

[0102] To this end, an embodiment of the present application provides a retrieval mechanism to solve the technical problem in the related art that there are certain gaps between cargo boxes when storing goods, and the storage density of the cargo boxes is low.

[0103] Figure 1 This is a schematic diagram of the overall structure of the object-retrieving mechanism provided in the embodiment of the present application. Figure 2 This is another overall structural diagram of the object-retrieving mechanism provided in an embodiment of the present application. Figure 3 This is a schematic diagram of the state structure when the object-picking mechanism provided in an embodiment of the present application cooperates with the target carrier.

[0104] Reference Figure 1-Figure 3 As shown, an embodiment of the present application provides a picking mechanism 1, comprising: a base 11, a telescopic structure 12, a picking assembly 13, a driving structure 14 and a follower tray 15.

[0105] In the embodiment of the present application, the base 11 can be made of hard plastic (e.g., 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 is understood that the configuration of the base 11 can be the same or similar to the configuration of the base 11 in the related art, and this will not be repeated in the embodiment of the present application.

[0106] Reference Figure 1 As shown, in the embodiment of the present application, the telescopic structure 12 can be disposed on the base 11. For example, one end of the telescopic structure 12 is connected to the base 11, and the other end can be a free end. The free end of the telescopic structure 12 can selectively extend or retract into the base 11.

[0107] In one optional example of the embodiment of the present application, the telescopic structure 12 may be a telescopic rod (e.g., 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. The specific type of the telescopic structure 12 is not limited in the embodiment of the present application.

[0108] In some examples of the embodiments of the present application, the picking component 13 is arranged at the free end, and the picking component 13 can move relative to the base 11 driven by the free end. The picking component 13 is configured to act on the front end surface of the target item when retrieving and returning the target item to transport the target item; wherein, the front end surface of the target item is the end surface of the target item facing the picking component 13 when to be retrieved and returned.

[0109] In the embodiment of the present application, the front end of the target object may refer to a side of the target object facing the object taking component 13 when the target object is to be taken back (for example, referring to Figure 3 As shown, the front end of the target object can be along Figure 3 Alternatively, in some application scenarios, the target item is stored on a shelf (also referred to as a target carrier), and the front face of the target item may also refer to the side of the target item facing outward from the shelf. In the embodiment of the present application, a cargo box is used as a specific example, and the front face of the cargo box may refer to the side facing outward from the shelf, which facilitates the retrieval of the item by the retrieval component 13.

[0110] In some examples, the target carrier may also refer to a temporary storage board of a transport robot, that is, the object-picking component 13 may extend from the base 11 to the temporary storage board and pick up the target object on the temporary storage board, or place the target object on the temporary storage board.

[0111] As a specific example of an embodiment of the present application, a force-providing component that can provide force to the front end face of the cargo box may be provided at the movable end (which may also be called the free end in some examples, that is, the end facing away from or away from the moving seat) of the picking component 13, thereby realizing the movement, transportation or retrieval of the cargo box.

[0112] The force-providing component can also be an electromagnet. Accordingly, the front end face of the cargo box can be made of a material that can be adsorbed by a magnet (such as an iron material). When taking or returning the cargo box, the electromagnet can be powered on when the force-providing component is close to or in contact with the cargo box, thereby providing a carrying force for the cargo box through the magnetic attraction of the electromagnet to the cargo box.

[0113] It can be understood that in other possible examples of the embodiments of the present application, the force-providing component can also be made of a material that can be attracted by a magnet, and accordingly, an electromagnet is set on the front end face of the cargo box; in this way, when the cargo box is taken or returned, the electromagnet can be powered on when the force-providing component is close to or in contact with the cargo box, so that a magnetic attraction force is generated between the force-providing component and the electromagnet on the cargo box, thereby providing a carrying force for the cargo box.

[0114] In the embodiment of the present application, the picking component 13 is configured to act on the front end surface of the target item when retrieving or returning the target item, thereby transporting the target item; in this way, when placing, storing or storing cargo boxes on the shelf, there is no need to reserve gaps between cargo boxes (i.e., between adjacent cargo boxes), which can effectively reduce the storage gaps between adjacent cargo boxes, improve the storage density of cargo boxes, and effectively utilize the same storage space to store more cargo boxes.

[0115] By arranging a picking component 13 at the free end of the telescopic mechanism arranged on the base 11, the free end of the telescopic mechanism drives the picking component 13 to extend out of the base 11 when extending the base 11, or drives the picking component 13 to retract into the base 11 when retracting the base 11; thereby, the picking component 13 is used to transport and exchange the target items between the base 11 and the target cargo position; wherein, when the picking component 13 retrieves 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 picking component 13 when waiting to be retrieved). In this way, compared with the related art, there is no need to insert the end of the picking component 13 facing away from the movable seat (facing / towards the target item) into the gap between two adjacent target items. That is to say, when storing the target items, there is no need to maintain 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 items is effectively improved.

[0116] In some examples, the driving structure 14 can be connected to the telescopic structure 12 , and the driving structure 14 is configured to drive the free end to extend or retract into the base 11 to drive the picking component 13 to reciprocate between the target cargo position and the base 11 .

[0117] In a specific example of an embodiment of the present application, the telescopic structure 12 can be a telescopic rod structure, and the driving structure 14 can be specifically a screw, wherein the free end of the telescopic structure 12 can be a rod body in the telescopic rod connected to the object picking component 13, and the end of the telescopic structure 12 connected to the base 11 can be a rod body in the telescopic rod connected to the base 11; in some examples, a driving block can be fixed on the free end, and a through hole with an internal thread is provided on the driving block, and the screw passes through the through hole and is connected to the through hole thread (in some examples, it can also be called a threaded connection); in this way, when the screw rotates, the screw pushes the driving block through the thread, and the driving block drives the telescopic rod to extend and retract, thereby driving the object picking component 13 to extend or retract to the base 11.

[0118] In the embodiment of the present application, the driving structure 14 is connected to the telescopic structure 12, and drives the free end of the telescopic structure 12 to extend or retract to the base 11. In this way, the telescopic distance of the free end of the telescopic structure 12 can be increased, which facilitates the retrieval of target items located deep inside the target carrier, thereby improving the applicability of the object-retrieving mechanism 1.

[0119] In some examples of the embodiments of the present application, the follower tray 15 may be disposed on the base 11 ; or, in other examples, the follower tray 15 may also be disposed on the telescopic structure 12 .

[0120] In the embodiment of the present application, when the object-picking component 13 retrieves the target object, at least a portion of the follower tray 15 is located on the moving path of the target object (for example, referring to Figure 3 As shown, the target item Figure 3 When the base 11 moves in the direction indicated by the middle y-axis, the follower tray 15 is located on the moving path of the target object, and the follower tray 15 can extend out of the base 11 to support the target object when the target object is carried on the picking component 13.

[0121] In some examples, the follower tray 15 can be driven to extend out of the base 11 by a driving member such as a motor or a cylinder, or the follower tray 15 can also be driven to extend out of the base 11 by the telescopic structure 12; in other examples, the follower tray 15 can also remain in a state of extending out of the base 11, so that when the target item is carried on the picking component 13, it can support the target item. For example, when the target item moves with the picking component 13 to between the target carrier and the base 11 (generally, in order to avoid interference between the transport robot and the target carrier when moving in the storage space, a certain gap is provided between the base 11 and the target carrier in the movement route planning of the transport robot, and the follower tray 15 can be located in the gap), the follower tray 15 supports the target item. In this way, the gap between the base 11 and the target carrier can be filled, thereby preventing the target item from falling.

[0122] By providing the follower tray 15, when the picking component 13 retrieves and returns the target item, at least a portion of the follower tray 15 is located on the moving path of the target item, and the follower tray 15 can extend out of the base 11, so as to support the target item when the picking component 13 carries the target item; in this way, the force that the picking component 13 needs to apply to the target item can be reduced, thereby reducing the design requirements for the picking component 13 and reducing the production and processing costs of the picking mechanism 1.

[0123] The working process of the object-retrieving mechanism 1 provided in the embodiment of the present application when retrieving a target object can be as follows:

[0124] After the transport robot drives the picking mechanism 1 to move to the target carrier, the picking mechanism 1 is raised and lowered along the gantry 2 of the transport robot to the target position. At this time, the follower tray 15 can be driven by a driving member such as a motor or a cylinder, so that at least part of the follower tray 15 extends out of the base 11, and the follower tray 15 is located between the base 11 and the target carrier.

[0125] Then, the driving structure 14 drives the picking component 13 through the telescopic structure 12, and the picking component 13 extends or retracts with the target item. After the picking component 13 completes the transportation of the target item (for example, the picking component 13 moves the target item from the target carrier to the base 11; or, the picking component 13 transports the target item from the base 11 to the target carrier and retracts it into the base 11), the motor or cylinder and other driving parts drive the follower tray 15 to retract to the base 11.

[0126] In some other examples of the embodiments of the present application, the follower tray 15 may also extend out of the base 11 or retract into the base 11 along with the extension and retraction of the telescopic structure 12 .

[0127] It will be appreciated that in some optional examples of the embodiments of the present application, the follower tray 15 can be movably connected to the base 11. For example, the follower tray 15 can be slidably connected to the base 11, or, in some examples, the follower tray 15 can be rotatably connected to the base 11. In some examples, when the retrieval assembly 13 carries a target item, the follower tray 15 can be driven by a motor to rotate between the base 11 and the target carrier, thereby supporting the target item. In the embodiments of the present application, a sliding connection between the follower tray 15 and the base 11 is used as a specific example.

[0128] Reference Figure 3 As shown, in some examples of the embodiments of the present application, the length of the follower tray 15 is greater than the gap between the base 11 and the target carrier; when the follower tray 15 extends out of the base 11, the follower tray is used to abut between the target carrier and the base 11.

[0129] In a specific application scenario, refer to Figure 3 As shown, when the picking component 13 retrieves and returns the target item, the follower tray 15 can abut against the front end surface of the target carrier, thereby filling the gap between the base 11 and the target carrier; in this way, when the picking component 13 retrieves and returns the target item, the follower tray 15 can support and hold the target item carried by the picking component 13, and can effectively prevent the target item from falling from the gap between the base 11 and the target carrier.

[0130] It is understood that in some examples, the length of the follower tray 15 may be smaller than the gap between the base 11 and the target carrier. For example, in some examples, the follower tray 15 may be connected and supported on the base 11 via a connector or support arm, so that the follower tray 15 is located within the gap between the base 11 and the target carrier, thereby filling the gap between the base 11 and the target carrier.

[0131] It is also understood that, in some examples, the length of the follower tray 15 may also be equal to the gap between the base 11 and the target carrier.

[0132] In some examples, before the picking component 13 extends out of the base 11, the follower tray 15 may be driven by the motor described in the previous embodiments of the present application to extend out of the base 11 (for example, the base 11 may be extended by rotating), and the end of the follower tray 15 abuts against the front end surface of the target carrier.

[0133] Generally, the target carrier can be equipped with multiple layers of cargo space (refer to Figure 3 As shown, Figure 3(As shown in the figure, one level of the cargo area is used as an example), the end of the follower tray 15 can abut against the front crossbar of each level of the target carrier. As an alternative, the support surface of the follower tray 15 (generally, the upper surface of the follower tray 15) can be flush or nearly flush with the support surface of the target carrier's cargo area. This facilitates the follower tray 15 to support the target item carried by the retrieval assembly 13.

[0134] It can be understood that after the telescopic structure 12 drives the target item to move into the base 11 through the picking component 13, or after the telescopic structure 12 places the target item on the cargo position on the target carrier through the picking component 13 and returns it to the base 11, the follower tray 15 can be driven by the motor to return to the base 11, thereby facilitating the movement of the transport robot.

[0135] Figure 4 It is a structural schematic diagram of the cooperation between the telescopic structure and the follower tray in the picking mechanism provided in an embodiment of the present application.

[0136] In some other examples of the embodiments of the present application, the follower tray 15 is slidably disposed on the base 11 .

[0137] In the embodiment of the present application, the movement direction of the follower tray 15 can be consistent with the extension direction of the telescopic structure 12, that is, the movement direction of the follower tray 15 on the base 11 can be parallel or approximately parallel to the extension direction of the telescopic structure 12.

[0138] Reference Figure 3 As shown, the telescopic structure 12 can be extended in the direction of Figure 3 The direction shown by the y-axis, for example Figure 3 As an example, when the free end of the telescopic structure 12 extends out of the base 11, the extending direction of the telescopic structure 12 can be along Figure 3 The contraction direction (also referred to as the retraction direction in some examples) of the telescopic structure 12 can be along the negative direction of the y-axis. Figure 3 The direction shown is the positive direction of the y-axis.

[0139] Reference Figure 4 As shown, a first force-applying member 1201 is provided on the telescopic structure 12, and a force-bearing portion 1501 is provided on the follower tray 15. The first force-applying member 1201 can at least apply a force to the force-bearing portion 1501 when the telescopic structure 12 contracts, so as to drive the follower tray 15 to retract into the base 11.

[0140] In some examples, the first force-applying member 1201 can be fixedly connected to the force-receiving portion 1501. When the free end of the telescopic structure 12 extends outward, the telescopic structure 12 drives the follower tray 15 to move, thereby extending the follower tray 15 out of the base 11. When the free end of the telescopic structure 12 retracts into the base 11, the telescopic structure 12 drives the follower tray 15 back into the base 11.

[0141] As an optional example, the first force applying member 1201 may have two force arms (not shown in the figure), one of which is located at the front side of the force receiving portion 1501 (for example, see Figure 4 As shown, one of the force arms can be located on the side of the force-bearing part 1501 shown along the positive direction of the x-axis, which can generally be the side of the force-bearing part 1501 facing the target vehicle), and the other force arm can be located on the rear side of the force-bearing part 1501 (in some examples, it can also be the side of the force-bearing part 1501 facing away from the target vehicle); the force arm located on the rear side of the force-bearing part 1501 can be rotatably connected to the telescopic structure 12 through a torsion spring.

[0142] In one application scenario, when the free end of the telescopic structure 12 extends outward, the telescopic structure 12 pushes the follower tray 15 to extend out of the base 11 through the force arm located on the rear side of the force-bearing part 1501. When the follower tray 15 abuts against the target carrier, the force arm on the rear side of the force-bearing part 1501 applies force, and the force arm rotates relative to the telescopic structure 12 and rotates to the side wall of the follower tray 15. At this time, the torsion spring stores force; in this way, the telescopic structure 12 can continue to drive the picking component 13 to extend out of the base 11 without affecting the movement of the picking component 13.

[0143] In another application scenario, when the free end of the telescopic structure 12 drives the picking component 13 back into the base 11, the target item carried on the picking component 13 is supported by the follower tray 15, and the force arm located in front of the force-bearing part 1501 contacts the force-bearing part 1501 and applies a force to the force-bearing part 1501, thereby driving the follower tray 15 and the target item located on the follower tray 15 back into the base 11.

[0144] Figure 5 It is a structural diagram of the cooperation among the follower tray, the second slider and the second slide rail in the picking mechanism provided in an embodiment of the present application.

[0145] Reference Figure 5 As shown, in some optional examples of the embodiments of the present application, the sliding of the follower tray 15 and the base 11 can be set in the following manner:

[0146] A second guide rail 1506 and a second slider 1505 are arranged between the follower tray 15 and the base 11; in the embodiment of the present application, one of the second guide rail 1506 and the second slider 1505 can be arranged on the side of the follower tray 15 facing the base 11 (in specific use, it can be understood as the bottom of the follower tray 15), for example, the second guide rail 1506 can be fixedly connected to the follower tray 15; in addition, the other of the second guide rail 1506 and the second slider 1505 can be specifically arranged 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 can be fixed on the base 11, and the second guide rail 1506 slides relative to the second slider 1505 when moving with the follower tray 15.

[0147] In some optional examples, the second guide rail 1506 may be fixed to the base 11, and the second slider 1505 may be disposed on the follower tray 15, so that the follower tray 15 moves along the direction of the second guide rail 1506. In this way, the sliding stability of the follower tray 15 relative to the base 11 can be effectively improved.

[0148] In an optional example of the embodiment of the present application, two second sliders 1505 may be provided, and the two second sliders 1505 are arranged side by side along the extension and contraction direction of the follower tray 15. In this way, the stability of the movement of the follower tray 15 can be effectively improved.

[0149] In some optional examples of the embodiments of the present application, refer to Figure 3 and Figure 4 As shown, the telescopic structure 12 can be a scissors-fork structure; the scissors-fork structure has a first hinge position 12023 and a second hinge position 12024; the first hinge position 12023 is arranged along the telescopic direction of the scissors-fork structure, and the second hinge position 12024 is located on both sides of the first hinge position 12023.

[0150] For some examples, refer to Figure 3 and Figure 4 As shown, the scissor fork structure includes multiple groups of scissor fork members 12021 connected in sequence along the telescopic direction, and each group of scissor fork members 12021 has two mutually intersecting and rotationally connected transmission rods 12022; that is, referring to Figure 3 and Figure 4 As shown, the middle parts of the two mutually crossed transmission rods 12022 can be pivotally connected (i.e., the middle pivot connection is the first hinge position 12023), and the ends of the transmission rods 12022 are pivotally connected to the ends of the transmission rods 12022 of an adjacent group of scissors fork members 12021 (i.e., the pivot connection at the ends of the transmission rods 12022 is the second hinge position 12024).

[0151] In some optional examples of the embodiments of the present application, the first force-applying member 1201 is arranged at the second hinge position 12024. When the scissor fork structure contracts and drives the follower tray 15 to retreat into the base 11, the first force-applying member 1201 slides in contact with the force-bearing part 1501, and when the follower tray 15 retreats into the base 11, the first force-applying member 1201 applies force to the force-bearing part 1501.

[0152] Understandable, refer to Figure 3 As shown, in the process of the free end of the scissor fork structure extending out of the base 11, the scissor fork structure is moved along the width direction (eg Figure 3 The size of the direction along the x-axis is reduced, and the length direction (i.e., the direction of expansion and contraction, which can also be Figure 3 The free end of the telescopic structure 12 (in the direction indicated by the y-axis) increases, thereby extending the free end of the telescopic structure 12 out of the base 11 and driving the retrieval assembly 13 to extend out of the base 11. As the free end of the scissor-fork structure retracts into the base 11, the scissor-fork structure increases in width and decreases in length. In other words, the first force-applying member 1201 disposed at the second hinge position 12024 has a certain displacement in the width direction of the scissor-fork structure. In this embodiment of the present application, the first force-applying member 1201 is arranged to be in sliding contact with the force-receiving portion 1501, which facilitates the extension and retraction of the telescopic structure 12.

[0153] In addition, when the follower pallet 15 retreats into the base 11, the first force-applying member 1201 applies force to the force-bearing portion 1501. That is, after the first force-applying member 1201 on the scissors fork structure drives the follower pallet 15 to retreat into the base 11 through the force-bearing portion 1501, the range of movement of the first force-applying member 1201 in the width direction is within the width range of the follower pallet 15 (or the width of the force-bearing portion 1501), which can stably maintain the follower pallet 15 in the base 11 and reduce the space required for the conveying mechanism to move.

[0154] In some other optional examples of the embodiments of the present application, refer to Figure 4 As shown, a rolling member 12011 is provided on any one of the first force applying member 1201 and the force receiving portion 1501 , and the rolling member 12011 is in rolling contact with the other one of the first force applying member 1201 and the force receiving portion 1501 .

[0155] In some examples, reference Figure 4 As shown, the rolling element 12011 includes any one of a first roller or a ball. Figure 4 The first roller is used as a specific example. In the embodiment of the present application, the first roller can be rotatably connected to the first force-applying member 1201. The rotation axis of the first roller can be perpendicular or approximately perpendicular to the sliding direction of the first force-applying member 1201 relative to the force-bearing portion 1501.

[0156] It can be understood that in some optional examples, the first roller can also be set on the force-bearing part 1501 and be rotatably connected to the force-bearing part 1501.

[0157] In other examples of the present application, the rolling element 12011 may also be a ball. It is understood that the arrangement of the ball may be similar to that of the first roller. For details, please refer to the detailed description of the first roller in the previous embodiment of the present application, which will not be repeated in the present application.

[0158] For some examples, refer to Figure 2 and Figure 4 As shown, the follower tray 15 is located between the telescopic structure 12 and the base 11, and the first force-applying member 1201 is provided on the side of the telescopic structure 12 facing the follower tray 15; the force-bearing portion 1501 is located on the side of the follower tray 15 facing the first force-applying member 1201; and the first force-applying member 1201 is located on the side of the force-bearing portion 1501 facing the outside of the base 11.

[0159] In the embodiment of the present application, the follower tray 15 can be disposed above the base 11, with the telescopic structure 12 located on the side of the follower tray 15 facing away from the base 11. The first force-applying member 1201 can be a rod connected to the second hinge 12024 and extending toward the follower tray 15. In some examples, the rod can be a cylindrical structure to reduce the contact area between the first force-applying member 1201 and the force-receiving portion 1501. Alternatively, the force-receiving portion 1501 can be a protrusion at the rear end of the follower tray 15 (the end located inside the base 11, or the end facing away from the outside of the base 11) that protrudes toward the telescopic structure 12.

[0160] That is to say, the first force-applying member 1201 can be a rod-shaped structure, and the force-bearing part 1501 can be a plate-shaped structure, so that when the telescopic structure 12 is telescopic, the range of movement of the first force-applying member 1201 relative to the force-bearing part 1501 along the width direction of the telescopic structure 12 is within the width range of the force-bearing part 1501.

[0161] It is understood that in some examples, the first force applying member 1201 may be a plate-shaped structure, and the force receiving portion 1501 may be a rod-shaped structure. In the embodiment of the present application, the specific structures of the first force applying member 1201 and the force receiving portion 1501 are not limited.

[0162] In an embodiment of the present application, the follower tray 15 is arranged between the telescopic structure 12 and the base 11, the first force-applying member 1201 is arranged on the side of the telescopic structure 12 facing the follower tray 15, the force-bearing portion 1501 is arranged on the side of the follower tray 15 facing the first force-applying member 1201, and the first force-applying member 1201 is arranged on the side of the force-bearing portion 1501 facing the outside of the base 11; in this way, the connection relationship between the first force-applying member 1201 and the force-bearing portion 1501 can be simplified, thereby facilitating the mutual movement of the follower tray 15 and the telescopic structure 12.

[0163] In one implementation, the two second hinge positions 12024 located on opposite sides of the same first hinge position 12023 are both provided with a first force applying member 1201 .

[0164] For some examples, refer to Figure 3 As shown, the two second hinge positions 12024 can refer to Figure 3 The two second hinge positions 12024 are opposite to each other in the direction indicated by the mid-x axis. It can also be understood that the two second hinge positions 12024 opposite to each other in the width direction of the telescopic structure 12 are both provided with a first force-applying member 1201. In this way, the two first force-applying members 1201 can apply force to the follower tray 15 from both sides, thereby improving the stability of the follower tray 15's movement. For example, in some examples, the follower tray 15 can be an integral tray disposed on the base 11, thereby improving the stability and balance of the follower tray 15's movement.

[0165] It can be understood that when the follower tray 15 is an integral tray, an avoidance groove can be provided in the middle of the follower tray 15 , so as to facilitate the driving structure 14 to drive the telescopic structure 12 .

[0166] Reference Figure 5 As shown, in some other optional examples of the embodiments of the present application, the picking mechanism 1 also includes: a force storage member 112, part of the force storage member 112 is connected to the base 11, and the other part of the force storage member 112 is connected to the follower tray 15; the force storage member 112 is configured to store force when the telescopic structure 12 drives the follower tray 15 to retreat into the base 11, so that when the telescopic structure 12 extends out of the base 11, the force storage member 112 drives the follower tray 15 to extend out of the base 11.

[0167] In some examples, the force storage direction of the force storage member 112 can be along the extension direction of the follower tray 15, or the force storage direction of the force storage member 112 can also be along the extension direction of the telescopic structure 12, for example, Figure 4 As an example, the direction of the force storage member 112 can be along Figure 4 The direction shown by the x-axis.

[0168] In some examples, the force storage member 112 can be two magnets with the same poles facing each other, one of which is arranged at the front end of the follower tray 15, and the other is arranged on the base 11. When the follower tray 15 retracts into the base 11, the distance between the two magnets is reduced and the repulsive force increases, thereby storing force between the two magnets; in the process of the free end of the telescopic structure 12 driving the picking component 13 to extend outward, the repulsive force between the two magnets pushes the follower tray 15 to extend outward from the base 11.

[0169] In other optional examples, the force storage member 112 can also be a compressible cylinder or an elastic column. When the follower tray 15 retreats into the base 11, the compressible cylinder or the elastic column is compressed to store force. In the process of the free end of the telescopic structure 12 driving the picking component 13 to extend outward, the stored force of the compressible cylinder or the elastic column is released, thereby pushing the follower tray 15 to extend outward from the base 11.

[0170] In some other optional examples of the embodiments of the present application, the force storage member 112 includes an elastic member, one end of the elastic member is connected to the base 11 , and the other end of the elastic member is connected to the follower tray 15 .

[0171] In an optional example, the elastic member may be a compression spring. When the follower tray 15 retracts into the base 11 , the elastic member may be in a compressed state, that is, the elastic member may have a compression deformation.

[0172] As the free end of the telescopic structure 12 drives the retrieval assembly 13 to extend outward, the compressed deformation of the elastic member is released, thereby pushing the movable tray out of the base 11. When the follower tray 15 abuts the target carrier, the compressed deformation of the elastic member can be fully released, or in some examples, the compressed deformation of the elastic member can be only partially released.

[0173] It is understood that in some examples, the elastic member can also be a tension spring. When the follower tray 15 retracts into the base 11, the tension spring is stretched, that is, the elastic member is in a stretched state. When the free end of the telescopic structure 12 drives the retrieval assembly 13 to extend outward, the elastic member releases the stretched deformation, returning to its natural state from the stretched state. It is understood that in some examples, the stretched deformation of the elastic member can also be only partially released.

[0174] In the embodiment of the present application, a force storage member 112 is provided, wherein a portion of the force storage member 112 is connected to the follower tray 15, and the other portion of the force storage member 112 is connected to the base 11; in this way, when the follower tray 15 retracts into the base 11, the force storage member 112 stores force, so that in the process of the free end of the telescopic structure 12 driving the picking component 13 to extend outward, the force stored in the force storage member 112 is released to push the follower tray 15 to extend, which can simplify the driving form of the follower tray 15, save energy consumption for driving the follower tray 15, simplify the structure of the picking mechanism 1, and save costs.

[0175] Figure 6 It is a structural diagram of the base in the object-retrieving mechanism provided in an embodiment of the present application.

[0176] Reference Figure 6 As shown, in some examples of the embodiments of the present application, to facilitate the installation of the scissor fork structure (i.e., the telescopic structure 12), the base 11 may include a bottom plate 1101 and a first mounting plate 1102, wherein 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.

[0177] Reference Figure 1 and Figure 2 As shown, in the embodiment of the present application, the telescopic structure 12 can 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 toward the first mounting plate 1102.

[0178] In the embodiment of the present application, the set of scissor fork members 12021 connected to the first mounting plate 1102 is referred to as a first scissor fork member; the set of scissor fork members 12021 connected to the picking assembly 13 is referred to as a second scissor fork member, and the transmission rod 12022 corresponding to the second scissor fork member is referred to as a second transmission rod 12022;

[0179] For some examples, refer to Figure 2As shown, a third guide rail 1104 can be provided on the first mounting plate 1102, and a third slider 1103 can be provided at the ends of the two transmission rods 12022 of the first scissor fork member, and the third slider 1103 is slidably connected to the third guide rail 1104. It will be understood that in the embodiment of the present application, when the two pivotally connected transmission rods 12022 in the scissor fork member 12021 rotate crosswise with each other, the third slider 1103 moves closer to or away from each other on the third guide rail 1104. In addition, to ensure that the two pivotally connected transmission rods 12022 can rotate crosswise with each other normally, in the embodiment of the present application, the third slider 1103 is rotatably connected to the transmission rod 12022, wherein the rotation axis of the third slider 1103 and the transmission rod 12022 is parallel or approximately parallel to the rotation axis of the two transmission rods 12022 pivotally connected.

[0180] It can be understood that in the embodiment of the present application, the sliding connection method between the second scissors fork component and the picking component 13 can be the same as or similar to the sliding connection method between the first scissors fork component and the first mounting plate 1102. For details, please refer to the detailed description of the sliding connection method between the first scissors fork component and the first mounting plate 1102 in the aforementioned embodiment of the present application, and the embodiment of the present application will not go into details about this.

[0181] Figure 7 It is a structural diagram of the cooperation between the driving structure and the telescopic structure in the picking mechanism provided in an embodiment of the present application.

[0182] Reference Figure 7 As shown, in some optional examples of the embodiments of the present application, the driving structure 14 includes a first driving member 1401 and a transmission member, the first driving member 1401 is connected to the transmission member, one of the multiple first hinge positions 12023 is configured as a power hinge position, and the power hinge position is 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 to the base 11 through the power hinge position.

[0183] In the embodiment of the present application, the first driving member 1401 can be a motor (for example, a synchronous motor, a servo motor or a stepper motor that can rotate forward and reverse, etc.). It can be understood that the first driving member 1401 can 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.

[0184] Generally, the telescopic structure 12 may have a plurality of scissor fork members 12021, for example Figure 7In the figure, five scissor fork members 12021 are shown as an example; of course, the number of scissor fork members 12021 can also be four or six. It can be understood that each scissor fork member 12021 has a corresponding first hinge position 12023. In the embodiment of the present application, any one of the multiple first hinge positions 12023 can be used as a power hinge position to connect to the transmission member, so that the first driving member 1401 can easily drive the power hinge position through the transmission member. For example, referring to Figure 3 As shown, the first driving member 1401 is along Figure 3 When the transmission member is driven in the negative direction of the middle y-axis, the transmission member drives the power hinge to move back to the first mounting plate 1102, so that the scissor fork structure moves in the width direction (for example Figure 3 The size of the scissor-fork structure decreases along the length direction (e.g. Figure 3 The size of the image increases in the direction shown by the y-axis.

[0185] It can be understood that when the first driving member 1401 drives the power hinge position to move in the opposite direction through the transmission member, the free end of the telescopic structure 12 retracts into the base 11.

[0186] In some examples, the transmission member includes a power wheel 1402, an idler wheel 1404 and a transmission belt 1403; the power wheel 1402 and the idler wheel 1404 are spaced apart, the transmission belt 1403 is sleeved on the power wheel 1402 and the idler wheel 1404, and the power hinge is connected to the transmission belt 1403; the power output shaft of the first driving member 1401 is connected to the power wheel 1402, and drives the transmission belt 1403 through the power wheel 1402 and the idler wheel 1404 to drive the telescopic structure 12 to extend or retract to the base 11.

[0187] In some optional examples, the output shaft of the first driving member 1401 (which may also be referred to as a power output end in some examples) is connected to the power wheel 1402 and drives the power wheel 1402 to rotate. The idler wheel 1404 and the power wheel 1402 are spaced apart along the telescopic direction of the telescopic structure 12. The transmission belt 1403 (such as a chain, belt, synchronous belt, or timing belt) can be tensioned between the power wheel 1402 and the idler wheel 1404 (for example, the transmission belt 1403 is sleeved on the power wheel 1402 and the idler wheel 1404). When the first driving member 1401 drives the power wheel 1402 to rotate, the power wheel 1402 drives the transmission belt 1403 to move between the power wheel 1402 and the idler wheel 1404.

[0188] In some optional examples, the power articulated position can be connected to the second transmission belt 1403. For example, the power articulated position can be connected to the main body of the transmission belt 1403, and the main body is located between the power wheel 1402 and the idler wheel 1404. In this way, the movement of the transmission belt 1403 drives the telescopic structure 12 to extend and retract, thereby driving the picking component 13 to move toward the cargo box, or driving the picking component 13 to move back to the cargo box.

[0189] In the embodiment of the present application, the power hinge is driven by a power wheel 1402, an idler wheel 1404, and a transmission belt 1403 tensioned between the power wheel 1402 and the idler wheel 1404, thereby driving the telescopic structure 12 to extend and retract. This simplifies the drive mechanism for the telescopic structure 12 and facilitates the arrangement of transmission components. Furthermore, the extension and retraction of the scissor-fork structure amplifies the relatively small displacement of the power hinge into a relatively large displacement of the retrieval assembly 13, facilitating the retrieval of items located deep within the target shelf.

[0190] Figure 8 : is a top view of the cooperation between the first driving member, the telescopic structure and the first guide rail in the object-picking mechanism provided in an embodiment of the present application. Figure 9 It is a side view of the cooperation among the first driving member, the telescopic structure and the first guide rail in the picking mechanism provided in an embodiment of the present application.

[0191] In some optional examples of the embodiments of the present application, refer to Figure 5 、 Figure 8 and Figure 9 As shown, the object-picking mechanism 1 further includes a first slider 16 and a first guide rail 17 . The first slider 16 is connected to the power hinge. The first guide rail 17 is provided on the base 11 , and the first slider 16 is slidably provided on the first guide rail 17 .

[0192] In an embodiment of the present application, a first guide rail 17 is provided on the base 11, and a power hinge 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, 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.

[0193] It is understood that in some examples, the first slider 16 can also be disposed at a first hinge position 12023 other than 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. It is understood that in the embodiment of the present application, when the follower tray 15 is a monolithic structure, the connection between the first slider 16 and the power hinge position can be disposed within the avoidance groove of the follower tray 15.

[0194] For some examples, refer to Figure 1-Figure 3As shown, two follower trays 15 can also be provided, with the two follower trays 15 located on both sides of the telescopic structure 12, and each follower tray 15 can correspond to a first force-applying member 1201. In some optional examples, the range of motion of the first force-applying member 1201 along the width direction of the telescopic structure 12 can be less than or equal to the width of the follower tray 15.

[0195] In an embodiment of the present application, a first guide rail 17 extending along a first direction is provided on the base 11, and a first slider 16 is provided on the telescopic structure 12. When the telescopic structure 12 is telescopically moved, 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, thereby ensuring the stability of the telescopic structure 12 during telescopic movement.

[0196] In an optional example, along the telescopic direction of the telescopic structure 12, the movable distance of the power hinge position is less than the length of the first guide rail 17. For example, referring to Figure 8 As shown, the power hinge position can be the first hinge position 12023 close to the first mounting plate 1102. With the first mounting plate 1102 as a position reference, from the first mounting plate 1102 to the outside of the base 11, the power hinge position can be any one of the first hinge position 12023, the second first hinge position 12023 or the third first hinge position 12023, wherein Figure 8 The third first hinge position 12023 is used as a specific example. That is, in this embodiment of the present application, when the free end of the telescopic mechanism is extended to its maximum extendable position, the maximum movable position of the third first hinge position 12023 along the first guide rail 17 is within the length of the first guide rail 17. This ensures that the first slider 16 is always on the first guide rail 17, guiding and stabilizing the telescopic structure 12 during its extension and retraction, thereby improving the stability of the telescopic structure 12 during its extension and retraction.

[0197] Figure 10 This is a schematic diagram of the overall structure of the first driving member, the telescopic structure and the first guide rail in the object-picking mechanism provided in an embodiment of the present application. Figure 11 This is another side view of the cooperation among the first driving member, the telescopic structure and the first guide rail in the picking mechanism provided in an embodiment of the present application.

[0198] In some optional examples of the embodiments of the present application, refer to Figure 10 and Figure 11As shown, the scissors fork structure includes two relatively arranged groups of scissors fork units 1202, 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 groups of scissors fork units 1202, and the second connecting rod 1204 is connected between the second hinge positions 12024 of the two groups of scissors fork units 1202.

[0199] In the embodiment of the present application, each set of scissor fork units 1202 may include a plurality of scissor fork members 12021 connected in sequence. Figure 2 and Figure 11 As shown, in the embodiment of the present application, the two groups of scissors fork units 1202 are arranged in a direction perpendicular to or approximately perpendicular to the surface of the base 11; that is, in the embodiment of the present application, one of the two groups of scissors fork units 1202 is located between the other group of scissors fork units 1202 and the base 11, and the two groups of scissors fork units 1202 are formed in parallel stacking above the base 11.

[0200] Reference Figure 10 and Figure 11 As shown, the two sets of scissor fork units 1202 are connected at the middle hinge position through a first connecting rod 1203 and at the side hinge position through a second connecting rod 1204.

[0201] As an optional example, during the setting, a middle axial hole can be set in the middle of the transmission rod 12022, and the first connecting rod 1203 passes through the middle axial hole and is rotatably connected to the transmission rod 12022; that is, the two transmission rods 12022 are pivotally connected through the first connecting rod 1203 to form a scissors fork piece 12021, one of the two scissors fork pieces 12021 is connected to one end of the first connecting rod 1203, and the other scissors fork piece 12021 is connected to the other end of the first connecting rod 1203.

[0202] In some examples, the connection method between the second connecting rod 1204 and the transmission rod 12022 is close to or similar to that of the first connecting rod 1203. For details, please refer to the detailed description of the first connecting rod 1203 in the previous embodiment of this application, and the embodiments of this application will not repeat them.

[0203] For example, referring to Figure 11 As shown, in the embodiment of the present application, the first slider 16 can be connected to a scissor fork unit 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.

[0204] In an embodiment of the present application, the first hinge positions 12023 of the two sets of scissor fork units 1202 are connected by a first connecting rod 1203, and the second hinge positions 12024 of the two sets of scissor fork units 1202 are connected by a second connecting rod 1204; in this way, the two sets of scissor fork units 1202 are connected to form an integral telescopic structure 12, which can improve the stability of the telescopic structure 12 during telescoping.

[0205] In some other optional examples of the embodiments of the present application, continue to refer to Figure 10 As shown, the object-retrieving mechanism 1 further includes a limiting link 18 , which is connected between the base 11 and the telescopic structure 12 to limit the translation of the telescopic structure 12 relative to the base 11 .

[0206] Reference Figure 10 As shown, in some examples of the embodiments of the present application, one end of the limit link 18 is rotatably connected to the first mounting plate 1102, and the other end of the limit link 18 is rotatably connected to the transmission rod 12022; in this way, when the transmission rod 12022 rotates to cause the telescopic structure 12 to extend or retract, the limit link 18 can rotate following the transmission rod 12022, and when the telescopic structure 12 translates, the limit link 18 can limit the translation of the telescopic structure 12.

[0207] It should be noted here that there is a first rotation axis between the limiting link 18 and the first mounting plate 1102, and a second rotation axis between the limiting link 18 and the transmission rod 12022, wherein the first rotation axis is parallel or approximately parallel to the second rotation axis; in addition, the first rotation axis, the second rotation axis and the rotation axis between the two transmission rods 12022 are parallel or approximately parallel.

[0208] For some examples, continue to refer to Figure 10 As shown, there can be two limit links 18, one of the two limit links 18 is rotatably connected to one of the transmission rods 12022 of the scissors fork member 12021, and the other limit link 18 is rotatably connected to the other transmission rod 12022 in the scissors fork member 12021; and the two limit links 18 are rotatably connected to the first mounting plate 1102. In a specific setting, the rotation axes of the two limit links 18 and the first mounting plate 1102 can be the same rotation axis, that is, the two limit links 18 rotate around the same rotation point on the first mounting plate 1102. In this way, the two limiting links 18 and the two transmission parts in a scissors fork part 12021 connected to the base 11 form a parallelogram structure (or in some examples it can also be called a four-link structure). In this way, since the two limiting links 18 are fixed at the rotation point on the first mounting plate 1102, the translation of the telescopic structure 12 on the first mounting plate 1102 is limited.

[0209] In some optional examples of the embodiments of the present application, the limiting link 18 may also be connected between the telescopic structure 12 and the picking assembly 13 to limit the translation of the telescopic structure 12 relative to the picking assembly 13.

[0210] It can be understood that the connection method between the limiting link 18 and the picking component 13 can refer to the connection method between the limiting link 18 and the first mounting plate 1102 in the aforementioned embodiment of the present application, and will not be repeated in the embodiment of the present application.

[0211] In some examples, the limiting link 18 is located on the side of the telescopic structure 12 facing away from the base 11. Figure 2 and Figure 11 As shown, that is to say, the limiting link 18 can be connected to the upper side of the telescopic structure 12. In this way, interference between the limiting link 18 and the first connecting rod 1203 can be avoided, thereby improving the telescopic distance and space of the telescopic structure 12.

[0212] In some other optional examples of the embodiments of the present application, continue to refer to Figure 10 As shown, the picking mechanism 1 also includes a first limiting member 19, which has a limiting groove 1901; the first limiting member 19 is arranged on the base 11, and a first connecting rod 1203 located at the fixed end of the scissors fork structure is passed through the limiting groove 1901, and the first connecting rod 1203 can move along the limiting groove 1901.

[0213] In some examples, the first limiting member 19 can be two extensions relatively fixed on the first mounting plate 1102, and a limiting groove 1901 is constructed between the two extensions. In the specific setting, the first connecting rod 1203 between the two scissors fork members 12021 is passed through the limiting groove 1901, so that during the telescopic movement of the telescopic structure 12, the first connecting rod 1203 moves along the limiting groove 1901.

[0214] That is to say, in the embodiment of the present application, the extension direction of the limiting groove 1901 can be specifically consistent with the telescopic direction, for example, the extension direction of the limiting groove 1901 is parallel or approximately parallel to the telescopic direction.

[0215] In some optional examples, the length of the limit groove 1901 extending along the telescopic direction can be greater than or equal to the movable distance of the two middle connecting axes relative to the base 11 along the telescopic direction. In this way, the first connecting rod 1203 can be always limited in the limit groove 1901, and the first connecting rod 1203 can be prevented from escaping from the limit groove 1901, thereby improving the stability of the limit between the telescopic structure 12 and the base 11.

[0216] In some optional examples, the first limiting member 19 can also be provided on the picking component 13, and a first connecting rod 1203 located at the free end of the scissors fork structure is passed through the limiting groove 1901, and the first connecting rod 1203 can move along the limiting groove 1901.

[0217] It is understood that the configuration of the first stopper 19 on the access assembly 13 is the same or similar to that on the base 11. For details, please refer to the detailed description of the previous embodiment of this application, and the present embodiment will not be repeated. In the drawings of this application specification, the first stopper 19 is shown as a specific example on the access assembly 13.

[0218] In other optional examples, refer to Figure 10 As shown, a limiting link 18 may be provided on one of the first mounting plate 1102 and the picking assembly 13 , and a first limiting member 19 may be provided on the other of the first mounting plate 1102 and the picking assembly 13 .

[0219] Figure 12 It is a structural diagram of the object-picking component in the object-picking mechanism provided in an embodiment of the present application.

[0220] Reference Figure 15 In some examples shown, the object-picking assembly 13 includes a second mounting plate 1301 and a second force-applying member 1302 . The second mounting plate 1301 is provided at the free end, and the second force-applying member 1302 is configured to apply force to the front end surface of the target object to carry the target object.

[0221] In some examples, the second force applying member 1302 may be a magnetic member or hook described in the previous embodiments of this application. In other examples, the second force applying member 1302 may also be a suction cup; the suction cup is used as a specific example in the embodiments of this application.

[0222] Reference Figure 12 As shown, in the embodiment of the present application, the suction cup is arranged on the second mounting plate 1301, and a channel is formed on the second mounting plate 1301, one end of the channel is connected to the inner cavity of the suction cup, and the other end of the channel is used to communicate with the air source device 1303. As a specific example, in the embodiment of the present application, the air source device 1303 can be a vacuum pump. Figure 1 and Figure 2 As shown, the gas source device 1303 can be specifically arranged on the base 11.

[0223] In some examples, the channel on the second mounting plate 1301 can be formed by punching or grooving the second mounting plate 1301, and the other end of the channel can be connected to the gas source device 1303 through a vacuum tube. In this way, when the gas source device 1303 is running, the gas source device 1303 reduces the pressure in the channel and the inner cavity of the suction cup through the vacuum tube, so that the external atmospheric pressure presses the target object to be moved and transferred onto the suction cup.

[0224] In some possible examples, the air source device 1303 can specifically be an air source device 1303 that can rotate forward and reverse. For example, when the air 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, thereby facilitating the adsorption of the target object to be transferred; when the air source device 1303 reverses, the air source device 1303 inflates the inner cavity of the channel and the suction cup through the vacuum tube, thereby releasing the suction force of the suction cup on the target object, thereby facilitating the removal of the target object from the suction cup.

[0225] It can also be understood that in some optional examples of the embodiments of the present application, the vacuum tube may also be provided with components such as a solenoid valve and a vacuum pressure gauge, wherein the solenoid valve is used to shut off the vacuum tube when the suction cup provides sufficient suction to the target object (for example, when the pressure in the channel or vacuum tube reaches a preset negative pressure value as detected by the pressure gauge), thereby maintaining the negative pressure in the suction cup cavity, avoiding the long-term operation of the vacuum pump, and effectively saving energy consumption.

[0226] Continue to refer to Figure 12 As shown, in some optional examples of the embodiment of the present application, a support member 1304 is provided at the bottom of the picking component 13, for example, a support member 1304 is provided at the bottom of the second mounting plate 1301. Specifically, the support member 1304 is fixedly connected to the second mounting plate 1301. The bottom of the second mounting plate 1301 can specifically refer to the side of the second mounting plate 1301 facing the base 11. In this way, referring to Figure 3 As shown, in the process of the driving structure 14 driving the picking component 13 to move through the telescopic structure 12 (for example, in the process of the picking component 13 moving the target object), the support member 1304 can be supported on the surface of the target carrier, thereby being able to provide better support for the telescopic structure 12 and the picking component 13, avoiding the possibility of damage to the telescopic structure 12 when the target object is heavy, and effectively protecting the telescopic structure 12.

[0227] It is understandable that the support member 1304 can also be set at other positions of the picking component 13, such as the bottom of the suction cup or claw structure. The embodiment of the present application does not limit the setting position of the support member 1304, as long as it is ensured that when the picking component 13 is moved into the target carrier, the support member 1304 can be supported on the surface of the target carrier.

[0228] As a specific example of the embodiment of the present application, refer to Figure 12 As shown, the support member 1304 can be a roller or a rotating roller, which is rotatably connected to the bottom of the support member 1304. In this way, the support member 1304 can effectively reduce the friction force on the support member 1304 during its movement on the surface of the target vehicle, and can also better protect the surface of the target vehicle.

[0229] In the embodiment of the present application, by setting a support member 1304 at the bottom of the second mounting plate 1301, when the picking component 13 is extended and moved to the target carrier, the support member 1304 contacts the surface of the target carrier, thereby supporting the picking component 13. In this way, the picking component 13 can be prevented from sagging (also called lowering in some examples) due to the long telescopic distance of the telescopic structure 12, thereby ensuring the accuracy of the contact position of the picking component 13 when picking up the target item.

[0230] Figure 13 This is another overall structural diagram of the object-retrieving mechanism provided in an embodiment of the present application.

[0231] Reference Figure 13 As shown, in some examples of the embodiments of the present application, the retrieval mechanism 1 further includes a displacement sensor 110, which is configured to monitor the movement distance of the retrieval assembly 13. It is understood that the movement distance refers to the distance the retrieval assembly 13 extends relative to its initial position on the base 11, that is, the distance between the current position of the retrieval assembly 13 and the initial position. The initial position is the position of the retrieval assembly 13 on the base 11 when the retrieval mechanism 1 has not yet retrieved or returned an object.

[0232] For example, when retrieving or returning items, when the displacement sensor 110 detects that the moving distance of the picking component 13 toward the target cargo location is the working distance, it can be determined that the picking component 13 has reached the target cargo location, and then the picking component 13 takes out the target item on the target cargo location, or takes out the target item on the target cargo location.

[0233] In some optional examples, the displacement sensor 110 can be any one of a wire encoder, a laser ranging sensor, an ultrasonic sensor, and a millimeter wave sensor. Among them, the displacement sensor 110 can be set on the first mounting plate 1102. Taking the displacement sensor 110 as a wire encoder as a specific example, the free end of the wire of the wire encoder can be connected to the second mounting plate 1301. In some examples, the free end of the wire can also be connected to the free end of the telescopic structure 12; in this way, in the process of the free end of the telescopic structure 12 pushing the object picking component 13 outward, the wire encoder determines the actual moving distance of the object picking component 13 by the length of the wire; in addition, the comparison between the motor rotation angle of the first driving member 1401 and the motor zero position angle can also determine the moving distance of the object picking component 13, so that the moving distance of the object picking component 13 can be calibrated by the wire encoder, thereby improving the accuracy of the object picking component 13.

[0234] Figure 14 This is a structural diagram of the cooperation between the second limiting member and the follower tray in the object-picking mechanism provided in an embodiment of the present application. Figure 15 This is another structural schematic diagram of the cooperation between the second limiting member and the follower tray in the picking mechanism provided in an embodiment of the present application.

[0235] In some other optional examples of the embodiments of the present application, refer to Figure 1 、 Figure 14 and Figure 15 As shown, the object-retrieving mechanism 1 further includes a second position-limiting member 111. Specifically, in the embodiment of the present application, the second position-limiting member 111 can be specifically provided on the base 11, and the second position-limiting member 111 is located at the front end of the follower tray 15.

[0236] It should be noted here that, referring to Figure 1 As shown, in the embodiment of the present application, the second limit member 111 can be specifically set at the edge of the front end of the base 11; wherein, the front end of the base 11 can specifically refer to the end of the base 11 facing the target carrier when the picking mechanism 1 retrieves and returns the target item.

[0237] Specifically, in the embodiments of this application, referring to Figure 14 As shown, the second limiting member 111 has a first state, in which at least a portion of the second limiting member 111 extends out of the support surface of the follower tray 15. Figure 1As shown, the support surface of the follower tray 15 can specifically refer to a surface of the follower tray 15 that supports the target item. In some specific examples, the support surface can also refer to the surface of the follower tray 15 facing away from the base 11. That is, in this embodiment of the present application, at least a portion of the second stopper 111 extends along a surface perpendicular to the base 11, and at least a portion of the second stopper 111 protrudes from the support surface of the follower tray 15. In this way, when a target item or a container is placed on the follower tray 15, the portion of the second stopper 111 that protrudes from the support surface can limit or block the target item on the follower tray 15.

[0238] Reference Figure 15 As shown, the second limit member 111 also has a second state. In the second state, the second limit member 111 is located as a whole between the follower tray 15 and the base 11. That is to say, in a specific application, when the follower tray 15 extends out of the base 11 under the action of the elastic component, the second limit member 111 switches from the first state to the second state. In this way, the second limit member 111 can be effectively prevented from affecting or blocking the movement of the follower tray 15, thereby facilitating the movement of the follower tray 15.

[0239] In an optional example of an embodiment of the present application, the second limit member 111 can be specifically rotatably connected to the base 11, and when the second limit member 111 switches from the first state to the second state, the second limit member 111 rotates from perpendicular to the surface of the base 11 to parallel to the surface of the base 11; and when the second limit member 111 switches from the second state to the first state, the second limit member 111 can be rotated from parallel to the surface of the base 11 to perpendicular to the surface of the base 11.

[0240] In some possible examples, the rotation of the second limiting member 111 can be specifically driven by a motor (e.g., a second driving member). For example, when the follower tray 15 needs to be extended, it can be determined that there is no target item or cargo box supported on the follower tray 15. At this time, the motor can 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), and then the first driving structure 14 drives the moving base to move, so that the follower tray 15 is extended from the base 11. When the follower tray 15 returns to the initial position, the motor drives the second limiting member 111 to switch to the first state.

[0241] In some other optional examples of the embodiments of the present application, continue to refer to Figure 14 and Figure 15As shown, the second limiting member 111 includes a first portion 11101 and a second portion 11102 that are at a certain angle. It should be noted here that, in the embodiment of the present application, the first portion 11101 and the second portion 11102 can specifically be an integrally formed structure; of course, in some examples, the first portion 11101 and the second portion 11102 can also be connected as a whole by welding. Among them, the first portion 11101 and the second portion 11102 being at a certain angle specifically means that the first portion 11101 and the second portion 11102 are not parallel; in some specific examples, the angle between the first portion 11101 and the second portion 11102 can be an acute angle, a right angle or an obtuse angle. As a specific example of an embodiment of the present application, refer to Figure 14 and Figure 15 As shown, the angle between the first portion 11101 and the second portion 11102 can be a right angle or approximately a right angle.

[0242] In a specific configuration, the connection between the first portion 11101 and the second portion 11102 is rotatably connected to the base 11, which can effectively reduce the space required by the second limiting member 111 when it rotates facing the base 11, thereby facilitating the rotation of the second limiting member 111. Figure 14 and Figure 15 As shown, in an embodiment of the present application, the second part 11102 is located between the first part 11101 and the front end of the base 11, that is, the second part 11102 is connected to the side of the first part 11101 facing the front end of the base 11, and the first part 11101 is located between the follower tray 15 and the base 11. In other words, the first part 11101 is located at the bottom of the follower tray 15.

[0243] Understandable, refer to Figure 14 As shown, when the second limiting member 111 is in the first state (ie, when the follower tray 15 is in the initial position), the second portion 11102 is located at the front end of the follower tray 15, and the first portion 11101 is located at the bottom of the follower tray 15; in addition, referring to Figure 14 As shown, the front end of the follower tray 15 is provided with a resisting member 1502, the resisting member 1502 is located between the follower tray 15 and the base 11, and the resisting member 1502 is provided between the first portion 11101 and the second portion 11102; Figure 14As shown, when the second limiting member 111 is in the first state, the resistance member 1502 can contact the first part 11101 (for example, direct contact or indirect contact), thereby locking the second limiting member 111 in the first state, that is, when the follower pallet 15 supports the target item or cargo box, the position of the follower pallet 15 remains unchanged. At this time, the resistance member 1502 presses against the first part 11101, so that the second limiting member 111 cannot rotate with the base 11, thereby ensuring that the second part 11102 limits the target item or cargo box on the follower pallet 15.

[0244] It is also understandable that, with reference to Figure 15 As shown, in the embodiment of the present application, when the front end of the follower tray 15 extends out of the base 11 (that is, when the position of the follower tray 15 switches from the initial position to the end position), the resistance member 1502 pushes the second part 11102 (the resistance member 1502 can be directly in contact with the second part 11102 to push the second part 11102; or it can be in indirect contact with the second part 11102, thereby pushing the second part 11102), so that the second limit member 111 rotates relative to the base 11, that is, the second limit member 111 switches from the first state to the second state.

[0245] Continue to refer to Figure 15 As shown, in an embodiment of the present application, when the second limit member 111 is in the second state, the distance between the second part 11102 and the support surface of the follower tray 15 can be greater than or equal to the length of the first part 11101, thereby ensuring the smooth rotation of the first part 11101 when the second limit member 111 is switched from the first state to the second state.

[0246] In the embodiment of the present application, the second limiting member 111 is configured to include a first portion 11101 and a second portion 11102 at a certain angle, and a resisting member 1502 is provided at the front end of the follower tray 15, the resisting member 1502 being located between the first portion 11101 and the second portion 11102. Thus, when the follower tray 15 switches from the initial position to the final position, the resisting member 1502 can push against the second portion 11102, thereby causing the second limiting member 111 to rotate on the base 11 around the connection between the first portion 11101 and the second portion 11102, thereby facilitating the switching of the second limiting member 111 from the first position to the second position. In addition, when the follower tray 15 is retracted into the base 11, the resisting member 1502 pushes the first portion 11101, thereby causing the second limiting member 111 to switch from the second position to the first position, thereby facilitating the positioning of the target item or cargo box supported by the follower tray 15 and preventing the target item from falling.

[0247] It is understandable that, referring to Figure 14As shown, when a target item or cargo box is supported on the follower pallet 15, when the target item applies force to the second part 11102, the resistance member 1502 applies resistance force to the first part 11101, thereby maintaining the second limiting member 111 in the first state and limiting the target item or cargo box.

[0248] In some optional examples of the embodiments of the present application, the rotation connection between the second limiting member 111 and the base 11 can be a damping rotation connection; that is, when the position of the follower tray 15 switches from the initial position to the end position, the second limiting member 111 changes from the first state (refer to Figure 14 shown) switches to the second state (refer to Figure 15 After the follower tray 15 is moved, the position of the follower tray 15 may not reach the end position, that is, the follower tray 15 may continue to move. In the embodiment of the present application, the rotation of the second limiter 111 and the base 11 is set to be a damped rotation. In this way, the state of the second limiter 111 can be maintained at Figure 15 The angle of the second state shown in the figure, that is, the second part 11102 remains parallel to the surface of the base 11; in this way, when the follower push plate retreats into the base 11, the influence of the second part 11102 on the resistance member 1502 can be effectively avoided, which facilitates the position switching of the follower push plate and the state switching of the second limit member 111.

[0249] In some other optional examples of the embodiments of the present application, continue to refer to Figure 14 and Figure 15 As shown, the first portion 11101 is provided with a second roller 11103 that can rotate around its own axis, and the circumferential surface of the second roller 11103 is arranged toward the abutment 1502. In some specific examples, the second roller 11103 can be arranged at the end of the first portion 11101 facing away from the second portion 11102, or it can also be understood that the second roller 11103 is arranged at the end of the first portion 11101. In this way, when the follower tray 15 is retracted into the base 11, the abutment 1502 pushes the first portion 11101 via the second roller 11103, thereby causing the second limiting member 111 to rotate, that is, converting the surface-to-surface contact between the abutment 1502 and the first portion 11101 into surface-to-line contact with the second roller 11103, which can effectively reduce the friction force received by the abutment 1502 and facilitate the switching of the position of the follower tray 15.

[0250] It can be understood that in some specific examples of the embodiments of this application, reference Figure 14 and Figure 15As shown, the side of the resisting member 1502 facing the first portion 11101 has a guiding slope 1504, and the guiding slope 1504 is inclined toward the direction of the base 11; thus, in the process of the follower tray 15 retreating into the base 11 (for example, referring to Figure 15 As the follower tray 15 moves, the guide slope 1504 can provide a force component perpendicular to the follower tray 15 to the first portion 11101 through the second roller 11103 (for example, Figure 15 Alternatively, it can be understood that the thrust of the guiding slope 1504 on the second roller 11103 causes the first portion 11101 to form a rotational torque at the rotation connection with the base 11, thereby causing the second limit member 111 to move along the Figure 15 The second limiting member 111 rotates in the direction indicated by the arc arrow a, that is, the second limiting member 111 switches from the second state to the first state.

[0251] In addition, it can also be understood that in the embodiment of the present application, the second roller 11103 and the first part 11101 can be specifically connected in a rotatable manner. In this way, the surface-line sliding friction between the guide bevel 1504 and the second roller 11103 is converted into rolling friction, thereby reducing the friction between the guide bevel 1504 and the second roller 11103 and improving the smoothness of the position switching of the follower tray 15.

[0252] In some other optional examples of the embodiment of the present application, as shown in Figures and Figures, the resisting member 1502 is provided with a third roller 1503 that can rotate around its own axis; in a specific configuration, the circumferential surface of the third roller 1503 faces the second portion 11102. Figure 14 As shown, when the position of the follower tray 15 is switched from the initial position to the end position (for example, the follower tray 15 moves along Figure 15 When the second part 11102 moves in the direction indicated by the x-axis, the third roller 1503 abuts against the second part 11102 and applies a thrust to the second part 11102, thereby causing the second part 11102 to form a rotational torque at the rotation connection with the base 11, causing the second limit member 111 to move along the Figure 14 The second limiting member 111 rotates in the direction indicated by the arc arrow b (ie, the second limiting member 111 switches from the first state to the second state).

[0253] In the embodiment of the present application, the third roller 1503 pushes the second portion 11102, which effectively reduces the friction between the abutment 1502 and the second portion 11102, thereby improving the smoothness of the position switching of the follower tray 15. It is also understandable that the third roller 1503 can also be rotatably connected to the abutment 1502.

[0254] In some optional examples of the embodiments of the present application, refer to Figure 1 and Figure 2 As shown, the picking mechanism 1 may further include a QR code camera 113 , which may be used to identify the QR code of the target carrier, thereby accurately determining the specific picking operation object of the current picking mechanism 1 .

[0255] Understandable, refer to Figure 1 and Figure 2 As shown, in the embodiment of the present application, the QR code camera 113 can be specifically arranged at the front end of the base 11 and below the movable base. In some possible examples, the QR code camera 113 can also be arranged above the object picking component 13, for example, above the mounting plate in the aforementioned embodiment of the present application.

[0256] It is also understood that, as shown in the figures, in the embodiments of the present application, a controller 114 may also be provided on the base 11, wherein the controller 114 may specifically be a central processing unit (CPU), a microcontroller unit (MCU), a field programmable gate array (FPGA), or a programmable logic controller 114 (PLC). It is understood that in the embodiments of the present application, the types of controllers 114 are shown only as some specific examples. In some possible examples, the controller 114 may also be other types of controllers 114, which are not listed one by one in the embodiments of the present application. The controller 114 can specifically be used to control the QR code camera 113. Of course, the controller 114 can also control the first drive member 1401 and the second drive member in the aforementioned embodiments of the present application.

[0257] Exemplarily, the target carrier may have multiple layers of target cargo locations, wherein the QR code may be set on the front end beam of each layer of target cargo locations, for example, in the middle of the beam.

[0258] In an embodiment of the present application, when the picking mechanism 1 moves to the target carrier according to the target position information sent by the upper computer and moves to the target position, the QR code corresponding to the target cargo location can be identified by the QR code camera 113; thereby determining whether the target carrier has reached the cargo location height corresponding to the target cargo location.

[0259] Generally, the picking mechanism 1 can be set on the gantry 2 of the transport robot. When the transport robot moves to the specified position, the driving structure 14 on the gantry 2 adjusts the height of the picking mechanism 1 through, for example, a transmission chain. It can be understood that there is usually a certain fitting gap between the driving wheel and the chain, that is, the actual driving height of the picking mechanism 1 by the driving structure 14 may be less than the height of the target cargo location. After the QR code camera 113 scans the QR code of the corresponding target cargo location, the controller 114 can determine the actual cargo location height of the target cargo location according to the corresponding QR code, and then compare the actual cargo location height with the recorded height of the motor encoder of the driving structure 14 on the gantry 2 (that is, the operating height of the picking mechanism 1), thereby adjusting the height of the picking mechanism 1 so that the height of the picking mechanism 1 is aligned with the height of the target cargo location (the height difference here can be within a preset range).

[0260] For some examples, refer to Figure 1 and Figure 2 As shown, the picking mechanism 1 may further include a depth camera 115, which may be disposed on the base 11 or the mobile base. In the embodiment of the present application, the controller 114 may further determine the deflection distance (e.g., offset distance) between the picking component 13 and the target location based on the image captured by the depth camera 115 of the target location.

[0261] In the embodiment of the present application, the controller 114 can compare the image taken by the depth camera 115 with the standard image to determine the deviation distance; in this way, it is convenient to maintain the deviation distance between the picking component 13 and the target cargo location within a preset distance range, facilitate the alignment of the picking component 13 with the target cargo location, and improve the stability when picking up the target item on the target cargo location.

[0262] In some other optional examples of the embodiments of the present application, refer to Figure 13 As shown, the base 11 is also provided with a first sensor 116, which can be used to detect the position of the retrieval assembly 13. Specifically, in this embodiment of the present application, when the retrieval assembly 13 is in the initial position, the first sensor 116 is triggered and generates a first trigger signal; the controller 114 can determine that the retrieval assembly 13 is in the initial position based on the first trigger signal. As a specific example, the first sensor 116 can be a contact switch or a magnetic switch.

[0263] In the embodiment of the present application, the first sensor 116 detects whether the retrieval assembly 13 is in its initial position. This allows accurate determination of whether the retrieval assembly 13 has moved into position when returning to its original position, facilitating accurate control by the controller 114 of stopping the first driving member 1401. Furthermore, the first sensor 116 detects whether the retrieval assembly 13 is in its initial position, making it easier to determine the distance the retrieval assembly 13 needs to move toward the target location during the retrieval and return process.

[0264] For example, in some examples, the distance between the picking component 13 and the front end of the base 11, generally, when the picking component 13 is in the initial position, the distance between the picking component 13 and the front end of the base 11 can be a certain distance (which can be called a second distance in some examples).

[0265] In other examples, the zero position signal of the motor encoder of the drive structure 14 can also be used to determine whether the picking assembly 13 is in the initial position, thereby facilitating the determination of the distance between the picking assembly 13 and the front end of the base 11. Furthermore, the displacement sensor 110 can also be used to detect the movement distance of the picking assembly 13. For example, when the movement distance is detected to be zero, it can be determined that the picking assembly 13 is in the initial position.

[0266] In another optional example of the embodiment of the present application, continue to refer to Figure 13 As shown, the picking mechanism 1 further includes a second sensor 117 , which can be disposed on the base 11 . The second sensor 117 is used to detect whether there is a target object on the picking component 13 in the initial position.

[0267] For example, during the picking process of the picking mechanism 1, when the picking component 13 takes the target item from the target cargo position and retreats to the base 11 under the drive of the telescopic structure 12, the target item may be separated from the picking component 13 due to unstable force of the picking component 13, so that when the picking component 13 finally retreats to the initial position, the target item has not retreated to its correct position. This will cause the target item to easily fall off the front end of the base 11 during the movement of the transport robot in the storage system, or it will cause problems such as uncontrollable timing of the action between the picking component 13 and the target item when the transport robot unloads at the workstation.

[0268] Based on this, by providing a second sensor 117, when the picking component 13 returns to its initial position and there is a target object on the picking component 13, the second sensor 117 can send a second trigger signal to the controller 114. The controller 114 then determines that the picking component 13 has the target object when it is in its initial position based on the second trigger signal from the second sensor 117. Conversely, when the picking component 13 returns to its initial position, the controller 114 does not receive the second trigger signal from the second sensor 117 and determines that the picking component 13 is in its initial position and that there is no target object on the picking component 13. In this way, it can be promptly discovered that the target object has not returned to its initial position.

[0269] When the picking component 13 retracts to the initial position and the target item is not carried on the picking component 13, that is, the controller 114 has not received the second trigger signal, the controller 114 can control the driving structure 14 to work again (for example, forward drive), so that the picking component 13 moves forward under the drive of the telescopic structure 12, until the controller 114 receives the second trigger signal, and controls the picking component 13 to act on the front end surface of the target item. Then, the controller 114 controls the driving structure 14 to work again (for example, reverse drive), so that the picking component 13 moves backward under the drive of the telescopic structure 12, until the picking component 13 returns to the initial position with the target item.

[0270] By setting the second sensor 117, it can be discovered in time that the target item has not returned to the initial position, so that the driving structure 14 can be controlled in time to drive the picking component 13 to move to the target item again, and bring the target item back to the initial position, thereby improving or avoiding the target item easily falling from the front end of the base 11 during the movement of the transport robot in the storage system, or causing the timing of the interaction between the picking component 13 and the target item to be uncontrollable when the transport robot unloads at the workstation.

[0271] As a specific example, in the embodiment of the present application, the second sensor 117 can also be a contact switch or a magnetic switch. Specifically, in the embodiment of the present application, the operating principle of the second sensor 117 is the same as or similar to that of the first sensor 116. For details, please refer to the detailed description of the first sensor 116 in the previous embodiment of the present application.

[0272] It can be understood that in the embodiment of the present application, the second sensor 117 can also be set at other positions. In the embodiment of the present application, the second sensor 117 is only set on the base 11 as an example for illustration.

[0273] Reference Figure 1 、 Figure 2 and Figure 13As shown, in another optional example of the embodiment of the present application, the picking mechanism 1 may further include a third sensor 118. In some examples, the third sensor 118 may be set 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, the controller 114 determines whether there is a target item on the cargo position of the target carrier to be picked up based on the third trigger signal of the third sensor 118.

[0274] In some other optional examples of the embodiments of the present application, refer to Figure 12 As shown, the object-retrieving mechanism 1 may further include a fourth sensor 1305, referring to Figure 12 As shown, the fourth sensor 1305 can be provided on the picking component 13, and the fourth sensor 1305 is used to detect the position state between the target object and the picking component 13. For example, the controller 114 determines the position state between the target object and the picking component 13 according to the fourth trigger signal of the fourth sensor 1305.

[0275] The position state may include that the distance between the picking component 13 and the target item is less than or equal to a first preset distance when the picking component 13 moves to the target location. In addition, the position state may also include that the distance between the picking component 13 and the target item is less than or equal to a second preset distance when the picking component 13 retreats into the base 11.

[0276] For example, when the distance between the picking assembly 13 and the target item is less than or equal to a first preset distance while moving toward the target location, the controller 114 may control the picking assembly 13 to approach the target item at a first preset speed. In some examples, the first preset speed is less than a second preset speed, which is the speed at which the picking assembly 13 moves when the distance between the picking assembly 13 and the target item is greater than the first preset distance. This ensures that when the picking assembly 13 moves near the target item, it can slowly approach the target item until it makes contact with the target item, preventing the target item from retreating or even falling from the target location, thereby ensuring safety during retrieval.

[0277] For another example, when the distance between the picking assembly 13 and the target object is less than or equal to the second preset distance during its retraction into the base 11, it is determined that the target object is on the picking assembly 13, i.e., the picking assembly 13 and the target object are not separated, ensuring that the picking assembly 13 successfully reaches the initial position with the target object. In some examples, the first preset distance is greater than the second preset distance. It will be understood that when the distance between the picking assembly 13 and the target object is less than or equal to the first preset distance or the second preset distance, the fourth sensor 1305 may trigger the fourth trigger signal. Conversely, when the distance between the picking assembly 13 and the target object is greater than the first preset distance or the second preset distance, the fourth sensor 1305 will not trigger the fourth trigger signal. Thus, when the controller 114 receives the fourth trigger signal from the fourth sensor 1305, it determines that the distance between the picking assembly 13 and the target object is less than or equal to the first preset distance or the second preset distance. When the controller 114 does not receive the fourth trigger signal from the fourth sensor 1305, it determines that the distance between the picking assembly 13 and the target object is greater than the first preset distance or the second preset distance.

[0278] For example, when the picking component 13 is carrying the target item and retreating into the base 11, the controller 114 does not receive the fourth trigger signal of the fourth sensor 1305, and determines that the distance between the picking component 13 and the target item is greater than the second preset distance, then it is determined that the picking component 13 and the target item have been separated, and the picking component 13 can be driven toward the target item by the first driving structure 14 and / or the second driving structure 14 until the picking component 13 contacts the target item, and the picking component 13 is controlled to retreat again with the target item until it reaches the initial position.

[0279] In some specific examples, the fourth sensor 1305 may be any one of a contact switch, an infrared sensor, or an ultrasonic sensor. The fourth sensor 1305 may also be a magnetic sensor (eg, a Hall switch).

[0280] Figure 16 It is a structural diagram of the object-picking robot provided in an embodiment of the present application.

[0281] Reference Figure 16 As shown, the embodiment of the present application further provides a transport robot, comprising a chassis 3, a gantry 2, and a picking mechanism 1 as provided in any of the aforementioned embodiments of the present application. The gantry 2 is disposed on the chassis 3, and the picking mechanism 1 is disposed on the gantry 2.

[0282] Specifically, in the embodiment of the present application, the chassis 3 can be the same as or similar to the chassis 3 in the related technology. In addition, the embodiment of the present application has the same or corresponding technical features as the aforementioned embodiment, and therefore has the same or similar technical effects as the aforementioned embodiment of the present application. For details, please refer to the detailed description of the aforementioned embodiment of the present application, and this will not be repeated in the embodiment of the present application.

[0283] In an embodiment of the present application, the gantry 2 can be fixedly set on the chassis 3 and move driven by the chassis 3, wherein the connection method between the gantry 2 and the chassis 3 can be the same or similar to the method in the related technology, and the embodiment of the present application will not be repeated.

[0284] In addition, it can be understood that in the embodiment of the present application, a communication module can be provided on the chassis 3 or the gantry 2, and the communication module can communicate with the host computer and receive control signals sent by the host computer; in addition, the communication module can also upload the position information of the transport robot to the host computer, and the host computer controls the transport robot to move within the storage system according to the transport task, for example, moving to the designated position of the target carrier, so as to facilitate docking with the target cargo position in the target carrier, thereby realizing the process of picking up or returning items.

[0285] The picking mechanism 1 is set on the gantry 2 and can move up and down along the gantry 2. For example, after the transport robot moves to the target carrier, the picking mechanism 1 moves up and down along the gantry 2 to reach the height of the cargo position where the corresponding target item is located.

[0286] In some examples, the transport robot further includes: a temporary storage plate (not shown in the figure) and a rotating mechanism (not shown in the figure).

[0287] The temporary storage board is mounted on the gantry 2. The rotating mechanism is connected to the retrieval mechanism 1. The rotating mechanism is configured to drive the retrieval mechanism 1 to rotate, causing the retrieval mechanism 1 to deposit a target item on the temporary storage board or to retrieve a target item from the temporary storage board. The temporary storage board forms the aforementioned temporary storage board location. This temporary storage board location can be one of the target locations, i.e., the retrieval assembly 13 can be driven by the drive structure 14 to extend into the temporary storage board location.

[0288] It can be understood that the direction in which the picking component 13 moves toward the cargo location of the target carrier can be perpendicular to the direction in which the picking component 13 moves toward the temporary storage board cargo location. In other words, the movement direction of the picking component 13 when the target cargo location is the temporary storage board cargo location can be perpendicular to the movement direction of the picking component 13 when the target cargo location is the cargo location on the target carrier.

[0289] It is understood that the object-retrieving mechanism 1 can be located on one side of the gantry 2, and the temporary storage plate can be located on the other side of the gantry 2. In some examples, multiple temporary storage plates can be provided along the height of the gantry 2, or in some understandings, multiple layers of temporary storage plates can be provided along the height of the gantry 2. In this way, the transport robot can carry multiple target objects at a time, thereby improving the transfer efficiency of the target objects.

[0290] In some examples, the driving structure 14 on the gantry 2 can be connected to a lifting plate, which is driven by the driving mechanism to rise and fall. A rotating mechanism is provided on the lifting plate, which is connected to the base 11 of the picking mechanism 1. The base 11 can rotate relative to the lifting plate, thereby driving the picking mechanism 1 to rotate.

[0291] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not intended to limit the scope of protection of the embodiments of the present application. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the scope of protection of the embodiments of the present application.

Claims

1. A picking mechanism, characterized in that: include: base (11); a telescopic structure (12) disposed on the base (11), wherein the free end of the telescopic structure (12) can selectively extend from or retract into the base (11); A picking assembly (13) is provided at the free end. The picking assembly (13) can move relative to the base (11) under the drive of the free end. The picking assembly (13) is configured to act on the front end surface of the target object when retrieving the target object so as to carry the target object; wherein the front end surface of the target object is the end surface of the target object facing the picking assembly (13) when the target object is to be retrieved; A driving structure (14) is connected to the telescopic structure (12), and the driving structure (14) drives the free end to extend or retract into the base (11), thereby driving the picking component (13) to reciprocate between the target cargo position and the base (11); An air source device (1303), the object-retrieving component (13) includes a suction cup, and the air source device (1303) is connected to the suction cup; The air source device (1303) is configured to reduce the pressure in the inner cavity of the suction cup so that the target object is adsorbed on the suction cup; the air source device (1303) is configured to increase the pressure in the inner cavity of the suction cup so that the target object is detached from the suction cup.

2. The object-taking mechanism according to claim 1, characterized in that: The object-retrieving assembly (13) further comprises a second mounting plate (1301), wherein the second mounting plate (1301) is arranged at the free end, and the suction cup is arranged on the second mounting plate (1301).

3. The object-taking mechanism according to claim 2, characterized in that: A channel is formed on the second mounting plate (1301), one end of the channel is connected to the inner cavity of the suction cup, and the other end of the channel is connected to the air source device (1303); the air source device (1303) is configured to be connected to the inner cavity of the suction cup through the channel.

4. The object-taking mechanism according to claim 1, characterized in that: The object-retrieving component (13) is provided with a support member (1304); The support member (1304) is configured to be supported on the target carrier when the object-retrieving assembly (13) moves into the target carrier; Wherein, the target carrier has the target cargo location.

5. The object-taking mechanism according to claim 4, characterized in that: The support member (1304) is in rolling contact with the target vehicle.

6. The object-taking mechanism according to claim 1, characterized in that: The object-picking mechanism comprises a follower tray (15). When the object-picking component (13) retrieves and returns the target object, at least a portion of the follower tray (15) is located on a moving path of the target object, and the follower tray (15) can extend beyond the base (11) to support the target object when the object-picking component (13) carries the target object.

7. The object-taking mechanism according to claim 6, characterized in that: The follower tray (15) is movably connected to the base (11); when the follower tray (15) extends out of the base (11), the follower tray (15) is configured to be located between the target carrier and the base (11).

8. The object-taking mechanism according to claim 7, characterized in that: The telescopic structure (12) is provided with a first force-applying member (1201), and the follower tray (15) is provided with a force-bearing portion (1501). The first force-applying member (1201) can at least apply a force to the force-bearing portion (1501) when the telescopic structure (12) contracts, so as to drive the follower tray (15) to retract into the base (11).

9. The object-taking mechanism according to claim 8, characterized in that: The telescopic structure (12) is a scissor-fork structure, and the first force-applying member (1201) is arranged on the scissor-fork structure.

10. The object-taking mechanism according to claim 9, characterized in that: The scissor fork 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 fork structure, and the second hinge positions (12024) are located on both sides of the arrangement direction of the plurality of first hinge positions (12023).

11. The object-taking mechanism according to claim 10, characterized in that: The first force-applying member (1201) is arranged at the second hinge position (12024). When the scissor fork structure contracts and drives the follower tray (15) to retreat into the base (11), the first force-applying member (1201) slides in contact with the force-bearing portion (1501), and when the follower tray (15) retreats into the base (11), the first force-applying member (1201) applies force to the force-bearing portion (1501).

12. The object-taking mechanism according to claim 11, characterized in that: The two second hinge positions (12024) located on opposite sides of the same first hinge position (12023) are both provided with the first force applying member (1201).

13. The object-taking mechanism according to claim 12, characterized in that: There are two follower trays (15), and the two follower trays (15) are respectively located on both sides of the telescopic structure (12), and each follower tray (15) corresponds to one of the first force applying members (1201).

14. The object-taking mechanism according to claim 8, characterized in that: The follower tray (15) is located between the telescopic structure (12) and the base (11), and the first force-applying member (1201) is provided on a side of the telescopic structure (12) facing the follower tray (15); The force-bearing portion (1501) is located on the side of the follower tray (15) facing the first force-applying member (1201); at least part of the first force-applying member (1201) is located on the side of the force-bearing portion (1501) facing outside the base (11).

15. The object-taking mechanism according to claim 14, characterized in that: The first force applying member (1201) includes two force arms; One of the force arms is located on a side of the force-bearing portion (1501) facing the target carrier, so as to apply a force to the force-bearing portion (1501) when the telescopic structure (12) contracts, thereby driving the follower tray (15) to retract into the base (11); The other force arm is located on a side of the force-bearing portion (1501) facing away from the target carrier, so as to push the follower tray (15) out of the base (11) when the telescopic structure (12) extends outward.

16. The object-taking mechanism according to claim 6, characterized in that: The object-taking mechanism (1) further comprises: a force storage member (112), a portion of the force storage member (112) being connected to the base (11), and another portion of the force storage member (112) being connected to the follower tray (15); The force storage member (112) is configured to store force when the telescopic structure (12) drives the follower tray (15) to retract into the base (11), so that when the telescopic structure (12) extends out of the base (11), the force storage member (112) drives the follower tray (15) to extend out of the base (11).

17. The object-retrieving mechanism according to claim 10, characterized in that: The driving structure (14) comprises a first driving member (1401) and a transmission member, wherein the first driving member (1401) is connected to the transmission member; One of the plurality of first hinge positions (12023) is configured as a power hinge position, and the power hinge position is 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 to the base (11) through the power hinge position.

18. The object-retrieving mechanism according to claim 17, characterized in that: The transmission member includes a power wheel (1402), an idler wheel (1404) and a transmission belt (1403); The power wheel (1402) and the idler wheel (1404) are spaced apart, the transmission belt (1403) is sleeved on the power wheel (1402) and the idler wheel (1404), and the power hinge is connected to the transmission belt (1403); The power output shaft of the first driving member (1401) is connected to the power wheel (1402), and drives the transmission belt (1403) through the power wheel (1402) and the idler wheel (1404) to drive the telescopic structure (12) to extend or retract to the base (11).

19. The object-retrieving mechanism according to claim 18, characterized in that: The object-picking mechanism (1) further comprises a first slider (16) and a first guide rail (17), wherein the first slider (16) is connected to the power hinge, the first guide rail (17) is arranged on the base (11), and the first slider (16) is slidably arranged on the first guide rail (17); Along the telescopic direction of the telescopic structure (12), the movable distance of the power hinge position is less than the length of the first guide rail (17).

20. The object-taking mechanism according to claim 6, characterized in that: The follower tray (15) is slidably arranged on the base (11).

21. The object-retrieving mechanism according to claim 20, characterized in that: A second guide rail (1506) and a second slider (1505) are provided between the follower tray (15) and the base (11); one of the second guide rail (1506) and the second slider (1505) is provided on the follower tray (15), and the other of the second guide rail (1506) and the second slider (1505) is provided on the base (11); The follower tray (15) slides along the base (11) via the second guide rail (1506) and the second slider (1505).

22. The object-taking mechanism according to claim 6, characterized in that: The object-retrieving mechanism (1) further comprises: a second position-limiting member (111), the second position-limiting member (111) being arranged on the base (11) and located at the front end of the follower tray (15); the second position-limiting member (111) having a first state and a second state; In the first state, at least a portion of the second position-limiting member (111) extends beyond the support surface of the follower tray (15); in the second state, the second position-limiting member (111) is lower than the support surface of the follower tray (15); The second limiting member (111) is configured to be in the second state when the follower tray (15) at least partially extends outside the base (11), and to be in the first state when the follower tray (15) is located inside the base (11), so as to limit the moving direction of the target object on the follower tray (15).

23. The object-retrieving mechanism according to claim 22, characterized in that: The second limiting member (111) is rotatably connected to the base (11).

24. The object-retrieving mechanism according to claim 23, characterized in that: The second limiting member (111) comprises a first portion (11101) and a second portion (11102), the first portion (11101) and the second portion (11102) having an included angle, a connection point between the first portion (11101) and the second portion (11102) being rotatably connected to the base (11), and the first portion (11101) being located at the bottom of the follower tray (15); The front end of the follower tray (15) is provided with a resistance member (1502), and the resistance member (1502) is provided between the first part (11101) and the second part (11102). The resistance member (1502) is configured to push the second part (11102) when the front end of the follower tray (15) extends outside the base (11), so that the second part (11102) rotates to the bottom of the support surface of the follower tray (15), so that the second limiting member (111) is in the second state, and push the first part (11101) when the front end of the follower tray (15) retracts to the base (11), so that the second part (11102) rotates to the support surface extending out of the follower tray (15), so that the second limiting member (111) is in the first state.

25. The object-retrieving mechanism according to claim 23, characterized in that: The object-retrieving mechanism (1) further comprises: a second driving member connected to the second limiting member (111), the second driving member being configured to drive the second limiting member (111) to rotate relative to the base (11) so as to switch the second limiting member (111) between the first state and the second state.

26. The object-retrieving mechanism according to claim 1, characterized in that: The picking mechanism (1) further comprises: a depth camera (115), a QR code camera (113), at least one of a first sensor (116), a second sensor (117), a third sensor (118) and a fourth sensor (1305), and a controller (114); wherein the controller (114) is configured to determine the height of the target cargo location according to the recognition state of the QR code of the target cargo location by the QR code camera (113); and / or, the controller (114) is configured to determine the deflection distance according to the image of the target cargo location taken by the depth camera (115); and adjust the position of the picking component (13) based on the cargo location height and / or the deflection distance, so that the picking component (13) moves to the designated position of the target carrier; The controller (114) is further configured to determine whether the picking component (13) is in the initial position according to a first trigger signal of the first sensor (116), or the controller (114) is further configured to determine whether the picking component (13) is in the initial position according to a zero position signal of a motor encoder of a driving structure (14); The controller (114) is further configured to determine whether there is a target object on the object-retrieving component (13) at the initial position according to a second trigger signal from the second sensor (117); The controller (114) is further configured to determine whether the target cargo location has a target item according to a third trigger signal of the third sensor (118); The controller (114) is further configured to determine the position state between the target object and the object-retrieving component (13) according to the fourth trigger signal of the fourth sensor (1305); The position state is that when the distance between the picking component (13) and the target item on the target location is less than or equal to a first preset distance during the process of the picking component (13) moving toward the target location, the controller (114) controls the picking component (13) to approach the target item at a first preset speed; or, the position state is that when the distance between the picking component (13) and the target item is less than or equal to a second preset distance during the process of the picking component (13) retreating into the base (11), the controller (114) determines that there is a target item on the picking component (13).

27. A transport robot, characterized in that: include: chassis (3); A door frame (2) is arranged on the chassis (3); as well as, The picking mechanism (1) described in any one of claims 1 to 26 is arranged on the door frame (2), and the picking mechanism (1) can be raised and lowered along the door frame (2).

28. The transport robot according to claim 27, characterized in that: The handling robot further comprises: A temporary storage plate is arranged on the door frame (2); A rotating mechanism is connected to the object-retrieving mechanism (1), and the rotating mechanism is configured to drive the object-retrieving mechanism (1) to rotate so that the object-retrieving mechanism (1) stores the target object on the temporary storage board, or the object-retrieving mechanism (1) retrieves the target object from the temporary storage board.

Images